New ANZM Nut Runner Series
GSS/GSSW Torque Control System

Instruction Manual

Mar, 2020

GIKEN INDUSTRIAL CO., LTD.

Before beginning operation:

Caution■Note(1) Please read this instruction manual carefully in order to ensure that you use this product correctly.
(2) A part or all part of this instruction manual may not be used or reproduced without the permission of Giken
Industrial Co., Ltd.
(3) Regarding the handling process and operation that are not listed in this instruction manual, please think that theycannot be operated, and do not attempt to operate them. Any defect that would occur when the handling process or theoperation that is not listed in this instruction manual is executed should be excluded in the scope of the warranty.
(4) Matters listed in this instruction manual are subject to change for the improvement without notice.
(5) For the product with special specifications, please consult us because it may not be pertinent to the use of this
instruction manual.
(6) The personal computer for setup operation is an option. Please contact us if it is required.

Caution■Measures in case of an emergency
If this product is in a dangerous condition, immediately turn OFF all power switches of the main unit or 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-Caution■Precautions to turn ON the power for the first time
1. Check the cable connection prior to turning ON the power. (Check by your eyes)
2. Set resistor(110.220Ω）on the connector part (COM port) of the arc net for communication of eachaxis. However, it is unnecessary when only one axis is used. Please refer to P109 page for details.
3. When the power is turned ON, input the SIO satellite station address setting of “Fn. 12 No. 3” of the GSS controller.
If it is not input, the SIO communication will not be established. It is not necessary to set up in the case of PIO.
(The contents mentioned above is M-net version only . CC-Link version don’t need. it)
4. Make sure to set the axis setting of “Fn.01 No. 26” from the panel section in order to make the GSS controller driverrecognize the axis number. If the axis number is not set, the communication from the setup personal computer is
impossible.
(Please refer to P112 for details.)*Axis number must be set up when the unit is replaced.
5. To confirm the wiring again after supplying power, check [Fn.03 No.1]・[Fn.03 No.2].

(Electrical check)(Please refer to P113～114 for details.)
6. Check the measurement value in “Fn. 03 No. 2” to confirm the zero point..
Using the setup software, it is also possible to adjust the zero point in respect of software.
(Please refer to P115 for details.)
7. Perform entering the setting or other operation after the contents mentioned above are finished.
Note) At CC-Link version IF , there is not the function of print about which the output can be done through RS422.

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Contents
1.

System outline····················································································································P7

2.

Specifications
2-1 Specifications of nut runner and dimensions table
2-1-1 Specifications of nut runner ······················································································p8
2-1-2 Torque range graph for use of each nut runner ·································································p9
2-1-3 Dimensions table of nut runner （straight type） ·······························································P10
2-1-4 Dimensions table of nut runner （offset type） ·································································P11
2-1-5 Dimensions table of torque sensor （straight type） ···························································P12
2-1-6 Dimensions table of torque sensor （offset type） ·····························································P13
2-2 Controller specification ·······························································································P14
2-3 Basic specification ·······································································································P15
2-4 Functions/Features ·······································································································P16
2-5 Dimensions
2-5-1-1 Dimensional drawing (with M-net ver. interface): Standard specification GSS-11 (13)-N04-M····················· P17
2-5-1-2 Dimensional drawing (with CC-Link ver. interface): Standard specification GSS-11 (13)-N04-M ················· P18
2-5-2-1 Dimensional drawing (with M-net ver. interface): Standard specification GSS-14 (15)-N04-M····················· P19
2-5-2-2 Dimensional drawing (with CC-Link ver. interface): Standard specification GSS-14 (15)-N04-M ················· P20
2-5-3-1 Dimensional drawing (with M-net ver. interface): Standard specification GSS-17-N04-M ·························· P21
2-5-3-2 Dimensional drawing (with CC-Link ver. interface): Standard specification GSS-17-N04-M ······················· P22
2-5-4-1 Dimensional drawing (with M-net ver. interface): Standard specification GSSW-11 (13)-N04-M ·················· P23
2-5-4-2 Dimensional drawing (with CC-Link ver. interface): Standard specification GSSW-11 (13)-N04-M ·············· P24
2-5-5-1 Dimensional drawing (with M-net ver. interface): T specification GSS-T1 (T3)-N04-M ····························· P25
2-5-5-2 Dimensional drawing (with CC-Link ver. interface): T specification GSS-T1 (T3)-N04-M ························· P26
2-5-6-1 Dimensional drawing (with M-net ver. interface): T specification GSS-T4 (T5, T7)-N04-M ························ P27
2-5-6-2 Dimensional drawing (with CC-Link ver. interface): T specification GSS-T4 (T5, T7)-N04-M····················· P28
2-5-7-1 Dimensional drawing (with M-net ver. interface): T specification GSSW-T1 (T3)-N04-M ·························· P29
2-5-7-2 Dimensional drawing (with CC-Link ver. interface): T specification GSSW-T1 (T3)-N04-M ······················· P30
2-5-8 Dimensional drawing: Standard specification GSS-11 (13)-N04-M ························································· P31
2-5-9 Dimensional drawing: Standard specification GSS-14 (15)-N04-M ························································· P32
2-5-10 Dimensional drawing: Standard specification GSS-17-N04-M ····························································· P33
2-5-11 Dimensional drawing: Standard specification GSSW-11 (13)-N04-M ···················································· P34
2-5-12 Dimensional drawing: T specification GSS-T1 (T3)-N04-M································································ P35
2-5-13 Dimensional drawing: T specification GSS-T4 (T5, T7)-N04-M··························································· P36
2-5-14 Dimensional drawing: T specification GSSW-T1 (T3)-N04-M ····························································· P37
2-5-15 Dimensional drawing (Display): Model GSS-D2 ············································································· P38
2-5-16 Dimensional drawing (Display): Model GS-D3 ··············································································· P39

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3.

Wiring connection
3-1 Wiring referential layout
3-1-1-1 【M-net ver.】GSS controller system wiring referential layout·············································P40
3-1-1-2 【CC-Link ver.】GSS controller system wiring referential layout ·········································P41
3-1-2-1 【M-net ver.】GSSW controller system wiring referential layout ··········································P42
3-1-2-2 【CC-Link ver.】GSSW controller system wiring referential layout ······································P43
3-2 Connector to be used and the other side connector
3-2-1 GSS connector and the other side connector····································································P44
3-2-2 GSSW connector and the other side connector ·································································P45

3-3 External connection
3-3-1 External connection diagram (between the GSS controller and NR):
Standard specification and T specification ······································································P46
3-3-2 External connection diagram (between the GSSW controller and NR):
Standard specification and T specification ······································································P47
3-3-3External connection diagram (between the M-net ver. interface and equipment to connect):
Standard specification and T specification ······································································P48
3-3-4External connection diagram (between the CC-Link ver.interface and equipment to connect):
Standard specification and T specification ······································································P49
3-4 Model table of cable
3-4-1 Model table of GSS cable ·························································································P50
3-4-2 Model table of GSSW cable ······················································································P50

4.

Signal
4-1 Input/Output signal ······································································································P51
4-2 Input/Output signal (PIO)
4-2-1 Input signal (PIO) ··································································································P52
4-2-2 Output signal (PIO) ································································································P53
4-3 Function of I/F unit ······································································································P54
4-4 Input/output signal (SIO)
4-4-1 Input signal (SIO) ··································································································P54
4-4-2 Output signal (SIO) ································································································P56
4-5 Multiaxial operation function ··························································································P60

5.

Operation timing chart
5-1 Power ON and inching operation ······················································································P61
5-2 Program operation - 2 step operation 1 ···············································································P62
5-3 Program operation - 2 step operation 2 ···············································································P63
5-4 Program operation - 2 step operation 3 ···············································································P64-4-

5-5 Program operation - 1 step operation 1 ···············································································P65
5-6 Program operation - 1 step operation 2 ···············································································P66
5-7 Program operation - 2 step operation 4 ···············································································P67
5-8 Program operation - 1 step operation 3 ···············································································P68
5-9 Interruption of the program operation (Reset) ·······································································P69
5-10 Operation ready OFF and program start OFF during the program operation ··································P70
5-11 Alarm generation and alarm reset during the program operation ················································P71
5-12 Tightening angle sampling operation ················································································P72

6.

Setting
6-1 Display/setting function
6-1-1 Display section layout ·····························································································P73
6-1-2 Operation of the display section ··················································································P74
6-2 Program
6-2-1 Tightening program ································································································P76
6-2-2 Program configuration ·····························································································P77

7.

Setting function list
7-1 Fn.**display setting function list ······················································································P78
7-2 Driver parameter setting ································································································P79
7-3 Rotation and the inching setting ·······················································································P80
7-4 Pretightening setting ·····································································································P81
7-5 Reverse rotation setting ·································································································P83
7-6 Final tightening setting ··································································································P84
7-7 Rating setting ·············································································································P89
7-8 Input monitor ·············································································································P90
7-9 Output monitor ···········································································································P91
7-10 Operation result monitor·······························································································P91
7-11 Printer operation ········································································································P92
7-12 Unused ···················································································································P92
7-13 RAM monitor for debugging ·························································································P92
7-14 Unused ···················································································································P92
7-15 I/F unit setting···········································································································P93
7-16 Unit setting ··············································································································P93
7-17 ID controller connection setting ······················································································P93

8.

Supplementary
8-1 Sub serving function for operation ···················································································P94
8-2 Driver function ···········································································································P94

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9.

Monitor output ···················································································································P95

10.

Code table10-1 NG code table ···········································································································P96
10-2 Alarm code table ········································································································P97

11.

Display layout ···················································································································P99

12. Maintenance and check12-1 Precautions
12-1-1 Precautions for maintenance and check ········································································P105
12-1-2 Check items ········································································································P105
12-1-3 Operating life ······································································································P105
12-1-4 Capacitor ···········································································································P105
12-1-5 Relay················································································································P105
12-1-6 Cooling fan ········································································································P105
12-1-7 Battery ··············································································································P106
12-1-8 E2PROM ···········································································································P106
12-2 Guarantee ················································································································P106
12-3 Tightening operation glossary ························································································P106
Supplemental explanation☆Precautions for wiring the arc net. ···························································································P109☆Precautions to use M-net communication. ·················································································P109☆Precautions to use CC-Link communication. ··············································································P109☆Password to write the setting data to GSS PC ·············································································P112☆Difference between GSS-D-2 and GS-D3 ··················································································P112☆Precautions to replace the unit ·······························································································P112☆How to set axis No. ············································································································P112☆Order of checking wiring of the sensor cable ··············································································P113☆Order of the wiring check with the encoder cable ·········································································P114☆Order of sensor zero point adjustment (Personal computer software) ··················································P115☆Explanation of additional items for GSS tightening setting ······························································P116☆Precautions for Input/Output communication ···············································································P116☆Precautions to read the history ································································································P117☆About connection setting of ID controller ···················································································P118☆Heat release fan ··················································································································P122☆Precautions to install the cable (about antinoise measures and noise influence )·······································P122
NR setting operation list ··············································································································P123
Revised Contents ······················································································································P124-6-

1. System outline

New torque control system “GSS” is the torque control type nut runner system that enables the various tightening
methods to many types of tightening objects.

This system has the name specified as GSS (Giken Single system) and it can be divided into the controller section,
AC nut runner section and IF unit section (Interface).
Controller section

Tightening accuracy: 3σ±2%
Compact design is provided by integrating the conventional GFC controller, power supply and driver amplifierfor GSS Series.

Tightening program sets the rotation number and torque control, facilitating the wide variety of tightening
patterns.

High-speed and highly accurate tightening control is provided by combining the position control and the torquecontrol.

Self diagnosis function displays the program number/operating condition/alarm information on the front LED
display.

Two setup methods are provided to setup the tightening program: the input method from the setup personal
computer; and that from the controller front panel.
(Please refer to P118 page for the items with setting- possible and items with setting- not- possible.)It is easy even for beginners to set up and input because the automatic setup and input function has been installed.
AC nut runner section

Conventional ANZ series motor part and gear reduction part are improved to design miniaturization andimprovement of durability.
Motor part: The latest neo-magnet is used for magnet and the coil is changed to the mold type forminiaturization.
Reduction gear part: 1.As the motor capacity is increased, the reduction mechanism is changed from 3 steps
reduction to 2 steps reduction.
(ANZM-250.350.500.850.1600)
2.Due to increase of the motor capacity, the reduction ratio decreased.(reduction
mechanism remains as 3 steps reduction.)(ANZM-2000.3000.5000.7000.9000)

Rotation number can be freely set in a range from low-speed to high-speed rotation.
Wide torque range from low torque to high torque with a variety range of types.

-7-

IF unit section

IF unit is the communication device to communicate with the external unit such as the sequencer/display/setup
personal computer/printer or other equipment.

GSS system allows you to check the information related to the tightening control such the setting data/tightening
results by connecting a personal computer to the IF unit.

It is possible to check the information by connecting to a printer without inputting the data such as thesetting/tightening results into a personal computer.

Communication setting is applicable to both specifications of PIO and SIO(M-net ver. / CC-Link ver.).
(M-net ver. IF and CC-Link ver.IF is not same model. )One IF unit is always required by set of controller.(2 units for 31 axes or more)
2. Specifications
2-1 Specifications of nut runner and dimensions table
2-1-1 Specifications of nut runner

Nut runner modelMax.tightening
torqueMax. rotation
numberPower supply
current

Motor model

Weight(Approx.)Kg

Transducer model

(N/m)
(rpm)
(A rms)ANZM-250
20310
0.8TS4603N1920E203
1.6
AZM-350
ANZM-35030430
1.5TS4617N1920E203
1.9
AZM-350
ANZM-50045310
1.5TS4617N1920E203
1.9
AZM-500
ANZM-85080420
2.8TS4609N1920E203
3.9
AZM-850
ANZM-1600
140
420
4.0
TS4618N1920E203
5.0
AZM-1500
ANZM-2000
180
290
4.0
TS4618N1920E203
6.8
AZM-2500
ANZM-3000
280
235
6.0
TS4619N1920E203
9.0
AZM-4000
ANZM-5000
470
253
6.5
TS4619N1922E207
10.5
AZM-7500
ANZM-7000
650
176
6.5
TS4619N1922E207
10.5
AZM-7500
ANZM-9000
850
131
6.5
TS4619N1920E207
11.5
AZM-12000*The maximum tightening torque is the output value based on the use at the speed, 20rpm.. When the speed
is decreased extremely, it is difficult to get the torque output mentioned in the table.

-8-2-1-2 Torque range graph of each nut runner-9-2-1-3 Dimensions table of nut runner （straight type）- 10 -

2-1-4 Dimensions table of nut runner （offset type）- 11 -

2-1-5 Dimensions table of torque sensor (straight type)* When the amplifier is installed independently:
The torque sensor model is changed from AZM-OOO to ATM-OOO and only the dimension Y in the table is changed
as shown in the following table.
Model
TAMC7-OM (Number in "O" shows the required meters.)
4 - 6 dia.drill holes

ATM-350
ATM-500
ATM-850
ATM-1500
ATM-2500
ATM-4000

Separately installed torque sensor

Torque sensor

2-1-6 Dimensions table of torque sensor (offset type)- 12 -

Dimension
Y
50
51
53

2-1-6 Dimensions table of torque sensor (offset type)- 13 -

2-2 GSS controller specification
Composition

IF unitController unit

Data

DATA communication function (PC)
Other unit control
DATA control (PC)DATA saving

Display
Indicator
Setting

Outsidedimensions(See P17 to 39)

Printer connection
Max. axis number for connection
DATA display
Extraordinary display
Display
Setting input method
Memory backup
Setting value backup
IF unitController unit (Standard specification)
GSS-11-N04-M, GSS-13-N04-M
GSS-14-N04-M, GSS-15-N04-M
GSSW-11-N04-M, GSSW-13-N04-M
GSS-17-N04-M

Tightening
setting

Controller unit (T specification)
Display GSS-D2
Display GS-D3
Program number
Step number
Block number
Setting items

Tightening
methodTightening
control

Accuracy

Connection
Alarm ,extracts(See P96 and97)

OthersTorque method, time and angle monitor
Angle method, time monitor
Breakdown point method
Sequencing tightening(Block tightening)
Retry
Baking determination
Reverse rotation for fixed quantity
Speed switching
Torque waveform
Angle stop accuracy
Angle display minimum unit
Tightening accuracy
Connection cable
Motor overcurrent, (Driver
heating)Over load
Over speed
Encoder initial failure
TOOL wrong connection
Zero point adjustment
Axis cutting function
Communication with other unit
Setting input
Communication with PLC
Display connectionover

1 typeGSS Standard specification: 5 types, GSS T specification: 5 types
GSSW Standard specification: 2 types, GSSW T specification: 2 types
RS232C conversion
Arc-NetRS422
Tightening data: about 6000 items
When IF is connected: Can be output from PC.
Connected to IF unit or a personal computer (output to a commercial printer)
30 axes control (60 axes as of software)
4-digit 7 SEG. LED
Alarm code display + NG code display
OK/NG, axial arrangement, tightening setting (applicable to the 60 axes display)
Personal computer or the controller front panel
EEPROM
PC =>FD,HD
25*220*170 (M-net ver.) 41*220*170 (CC-Link ver.)59(65)*238*170.5 Dimensions in parentheses show the dimension including the heatsink.
59(81)*238*170.5 Dimensions in parentheses show the dimension including the heatsink.
59(111)*238*170.5 Dimensions in parentheses show the dimension including the heatsink+ fan.
65*243*171.5(220) Dimensions in parentheses show the dimension including the heatsink.
182.5*138.8*57.3 Install it taking account of the protrusion clearance of the connector.
182.5*138.8*42.5
24 programs
77stepsMaximum 19 blocks
T: Rating 30 types
H: Final tightening, K: Pretightening, G: Reverse rotation, S: Rotation, Axial arrangement
Each 24 types
Zone monitoring YES
Gradient determination YES
Yield method (Tightening at the breakdown point)
Maximum 19 blocks (77 steps)
Setting of Yes/No per program
Reverse torqueTime, angle
3 steps angle control
Display, all axes display or a personal computer
Within ±0.5°(30rpm or less)
0.1°
3σ±2% or lessStandard specification: Terminal block type
Standard specification: CN (Connector) type T specification: CN (Connector) type
AL10
AL20
AL30
AL40
AL60, AL80
Automatic correction (Tolerance range setting is provided.)Can be connected from a personal computer or the controller front panel.
Arc-Net
RS232C conversion
SIO (M-NET) or SIO(CC-Link) or Parallel communication DC24V PIO
Connected to IF unit

- 14 -

2-3 Basic specification
GSS Standard
specification model
GSSW Standard
specification model
GSS T
specification model
GSSW T
specification model
I/F model(common)Control power
input
Drive power
input
WithstandvoltageInsulation
resistanceElectric
Capacity(per one axis of nut
runner)Momentary
power failure

GSS-11-N04-M

GSS-13-N04-M

GSSW-11-N04-M

GSSW-13-N04-M

GSS-T1-N04-M

GSS-T3-N04-M

GSSW-T1-N04-M

GSSW-T3-N04-M

GSS-14-N04-M

GSS-15-N04-M

GSS-15-N041-M

GSS-17-N04-M

GSS-T4-N04-M

GSS-T5-N04-M

GSS-T5N041-M

GSS-T7-N04-M

GSS-IF-N2 (M-net ver.) / GSS-IF-CCN1 (CC-Link ver.)Single phase, AC 100 to 220 V±10% 50/60 Hz (CC-Link ver. IF need power supply of DC 5V more than 2A)
3-phase AC 200 to 220 V±10% 50/60 Hz
AC 1500 V for 1 minute
DC 500 V 10MΩor more
1A

2A

3A

5A

No effect in the range less than 50 msec (excluding the driving time)
ANZM-250

ANZM-350
ANZM-500

ANZM-850

ANZM-1600
ANZM-2000

ANZM-3000

ANZM-5000
ANZM-7000
ANZM-9000

TS4603N1920

TS4617N1920

TS4609N1920

TS4618N1920

TS4619N1920

TS4619N1922

Motor output
(W)

75

150

300

600

1125

1125

Rotor inertia(kgm2)

0.04x10-4

0.083x10-4

0.38x10-4

0.79x10-4

2.62x10-4

2.62x10-4

1.0

1.9

3.6

6.8

7.1

11.0

5.4

10.7

19.6

38.6

40.2

62.9

0.159

0.318

0.64

1.27

2.39

2.39

0.95

1.91

3.82

7.64

14.32

14.32

7500

12500

Nut runner model
Applicable motor

Rating output
current(A rms)Instantaneous
maximum
current (A rms)
Rating torque(N.m)
Instantaneous
max. torque( N.m)
Maximumrotation number
without
loads( rpm)
Motor drive
system

12500
Transistor PWM sine wave drive

Angle sensor

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

Operatingtemperature andhumidity

0 to 50C, Less than 90%RH (No condensation)- 15 -

2-4 Functions/FeaturesProtective function
Displayfunction

7 SEGMENT LED

Parameter setting

Storing the tightening data

Applicable to the multiaxial

Communication with thesequencer (in serial or parallel)
Axis cutting function
Zero magnification check function
Gear check function
Simulation operation
Calendar function
Regenerative function (Overvoltage detection)
Discharge function
Standard inertia (INERTIA)

Rotating direction
Monitors(See P95)

Overcurrent, over load, over speed, encoder failure, drive power
failure, EEPROM failure and CPU failure, etc.
Alarm No., NG information
Program No., block No.
Operation monitor
Tightening result (Torque, etc.)
Set the following parameters by a personal computer and input
them to the IF unit.
 Program 24 types
 Rating 30 types
 Pretightening
 Final tightening
Each 24 types
 Reverse rotation
 Rotation
Tightening data: Stores about 6000 data.
(When it exceeds over 6000, the older data are overwritten inorder.)
It is possible to confirm by the setup software when necessary.
It is possible to connect single controller 1～30 sets or double
controller 1～15 sets per one IF unit.
Max. 30 axes multiaxial control is available.
Serial communication (SIO): Communication between IF unit
and sequencer
Parallel communication (PIO): Communication between eachcontroller and sequencer
Setting for axis cutting is possible by the PC setting or theoperation from the front panel.
(Used when the controller malfunctioned)
Diagnosis function for the torque sensor malfunction (Performs
per tightening operation)
Diagnosis function for biting of the gear and motor shaft(Selectable for Yes/No)
Simulation operation is available by the personal computer
operation(Sampling start for the seating angle by tightening)
Stores Year, Month, Day, Hour, Minute and Second per data.
Regenerative circuit is built in to make it consume by theinternal resistor when the drive voltage exceeds a certain value.
Discharges the drive charge voltage by pressing the press button
switch on the front panel.
JL  30JM
Direction of CCW should be the forward rotation viewed fromthe motor shaft end.
Monitor signal output at the check pin on the front panel:
M1  Torque monitor
M2  Speed monitor
G  Monitor GND- 16 -

2-5 Dimensions
2-5-1-1 Dimensional drawing (with M-net ver. interface): Standard specification  GSS-11 (13)-N04-M- 17 -

2-5-1-2 Dimensional drawing (with CC-Link ver. interface): Standard specification  GSS-11 (13)-N04-M- 18 -

2-5-2-1 Dimensional drawing (with M-net ver. interface): Standard specification  GSS-14 (15)-N04-M- 19 -

2-5-2-2 Dimensional drawing (with CC-Link ver. interface): Standard specification  GSS-14 (15)-N04-M- 20 -

2-5-3-1 Dimensional drawing (with M-net ver. interface): Standard specification  GSS-17-N04-M- 21 -

2-5-3-2 Dimensional drawing (with CC-Link ver. interface): Standard specification  GSS-17-N04-M- 22 -

2-5-4 Dimensional drawing (with M-net interface): Standard specification  GSSW-11(13)-N04-M- 23 -

2-5-4-2 Dimensional drawing (with CC-Link interface): Standard specification  GSSW-11(13)-N04-M- 24 -

2-5-5-1 Dimensional drawing (with M-net interface): T specification  GSS-T1(T3)-N04-M- 25 -

2-5-5-2 Dimensional drawing (with CC-Link interface): T specification  GSS-T1(T3)-N04-M- 26 -

2-5-6-1 Dimensional drawing (with M-net interface): T specification  GSS-T4(T5, T7)-N04-M- 27 -

2-5-6-2 Dimensional drawing (with CC-Link interface): T specification  GSS-T4(T5, T7)-N04-M- 28 -

2-5-7-1 Dimensional drawing (with M-net interface): T specification  GSSW-T1(T3)-N04-M- 29 -

2-5-7-2 Dimensional drawing (with CC-Link interface): T specification  GSSW-T1(T3)-N04-M- 30 -

2-5-8 Dimensional drawing: Standard specification  GSS-11 (13)-N04-M- 31 -

2-5-9 Dimensional drawing: Standard specification  GSS-14 (15)-N04-M- 32 -

2-5-10 Dimensional drawing: Standard specification  GSS-17 (15)-N04-M- 33 -

2-5-11 Dimensional drawing: Standard specification  GSSW-11 (13)-N04-M- 34 -

2-5-12 Dimensional drawing: T specification  GSS-T1 (T3)-N04-M- 35 -

2-5-13 Dimensional drawing: T specification  GSS-T4 (T5,T7)-N04-M- 36 -

2-5-14 Dimensional drawing: T specification  GSSW-T1 (T3)-N04-M- 37 -

2-5-15 Dimensional drawing (Display)
Model: GSS-D2・パネルカット寸法- 38 -

2-5-15 Dimensional drawing (Display)
Model: GS-D3- 39 -

3. Wiring connection
3-1 Wiring referential layout
3-1-1 【M-net ver.】GSS controller system wiring referential layout
GSS Controller

Printer(Commercial
IF unitproduct)

Setup personal
computer or QC
Drive power

personal computer

RST(WINDOWS)(200 to220V)

Sequencer(SIO)

Arc-NET（Link w./other axis）

QC personal computer
Control power(It is necessary to convert from RS442 to RS232.)(AC100 to

RS232RS232 に変換する必要があります)

220V)
Thermal printerID controller

GSS
Display

DC 24V
Integrated cable for theencoder and torque sensor
Motor cable（UVW leads）
ANZM Series NR- 40 -

3-1-2 【M-net ver.】GSSW controller system wiring referential layout

Printer（Commercial

GSSW Controller

product）
IF unitSetup personal
computer or QC
personal computer(WINDOWS)

Sequencer
Arc-NET(Link w/other axis)（SIO）
QC personal computer (It is necessary toControl power(AC100 to
220V)

convert fromRS422 toRS232)
RS232 RS442toRS232.
toRS232.)
Thermalprinter
RSRS232 に変換する必要があります)
ID controller

Drive power
RST(200V to220V)

GSS
Display

DC24V

Integrated cable for the encoder and torqueMotor cablesensor for two axes of CN3, CN9(UVW leads)
Two axes of CN8, CN10

ANZM Series NR2 axis

- 41 -

3-1-3 【CC-Link ver.】GSS controller system wiring referential layout
GSS Controller
Printer
IF unit(Commercial
product)
Setup personal
Computer or QC

Drive power

Personal computer

RST(WINDOWS)(200 to220V)

DC5V
Arc-NET （ Link w./other axis ）他軸とのリンク）

Control power(AC100 to

Sequencer（SIO）

220V)

ID Controller

Thermalprinter

QC personal computer(It is necessary to convert
From RS422 to RS322.)

GSS
Encorder ,Display

Torque sensor cable
DC24V

Motor Cable(UVW leads)
ANZM Series NR- 42 -

3-1-4 【CC-Link ver.】GSSW controller system wiring referential layout
GSSW Controller
Printer

IF unit(Commercial
Product)
Setup personal
Computer or QC
Personal computer（WINDOWS）

DC5V
Arc-NET（Link w./other axis）

Control power(AC100 to
220V)

Sequencer（SIO）

駆動電源
RST
(200～220V)
ID Controller

Thermalprinter

QC personal computer(It is necessary toconvert from RS422
to RS232C)

Integrated cable for the encoder
and torque sensor for two axes ofMotor cable

CN3,CN9

GSS
Display(UVW leads)
Two axes of CN8,CN10

DC24V
ANZM Series NR 2 axes

- 43 -

3-2 Connector to be used and the other side connector
3-2-1 GSS connector and the other side connection
Driver unit
CodeApplication/contents

Applicable typeCounter side type

CN1

Manufacturer use
RS232C connection
For the parallel interface

3MJ66HOPLP-N3(OKI WIRE)
or equivalent
10236-52A2JL(SUMITOMO 3M)
or equivalent

CN3

For the connection with theencoder

10220-52A2JL(SUMITOMO 3M)
or equivalent

Modular jack 6 pin(Each manufacturer)
Plug: 10136-3000VE(SUMITOMO 3M)
Shell: 10336-52A0-008(SUMITOMO 3M)
Plug: 10120-3000VE(SUMITOMO 3M)
Shell: 10320-52A0-008(SUMITOMO 3M)

CN4

For the connection of control
power supply

5569-6A1(MOLEX)
or equivalent

Connector: 5557-06R(MOLEX)
Terminal: 5556TL(MOLEX)

CN5

Power supply for I/O
5569-4A1(MOLEX)
For the connection of (DC24V) or equivalent

Connector: 5557-04R(MOLEX)
Terminal:5556TL(MOLEX)

CN6

Unused5569-4A1(MOLEX)
or equivalent

Connector: 5557-04R(MOLEX)
Terminal: 5556TL(MOLEX)

CN7

For the connection of drive
power supply

1-917541-2(Tyco electronics amplifier) X key
Or equivalent

Housing: 1-179958-4(Tyco electronics amplifier) X key
Contact: 316041-2(Tyco electronics amplifier)for AWG10,AWG12

CN8

For the connection to a motor

2-917541-2(Tyco electronics amplifier) Y key
or equivalent

Housing:2-179958-4(Tyco electronics amplifier) Y key
Contact: 316041-2(Tyco electronics amplifier)for AWG10,AWG12COMFor communication among
Controllers

MSTB 2,5/4-FG-5,08(POHENIX CONTACT)MSTB 2,5/4-STF-5,08○(POHENIX CONTACT)(Resistor to be
Wire directly installed typeattached)
applicable wire;AWG24～AWG12CN2Counter attachment○○

Applicable wire ： AWG24～AWG12
I/F unit
CodeApplication/contents

CN11

Inputs/outputs the related data to D-SUB 9 pins Male
tightening from the personal
computer with RS232C port.
For the connection with a
D-SUB 25 pins Female
printer, ID controller or QC
personal computers
For the connection with a
D-SUB 9 pins Femaleindicator (RS422 interface)

D-SUB 9 pins Female(Each manufacturer)

M-NET

For M-NET communication
MSTB 2,5/6-FG-5,08(CC-Link ver. IF need 5V power (POHENIX CONTACT)
supply)CC-Link(only for
CC-Linkver. IF)For CC-Link communication

MSTB 2,5/6-STF-5,08○(POHENIX CONTACT)
Wire directly installed type
Applicable wire：AWG24～AWG12MSTB 2,5/5-ST-5,08○(POHENIX CONTACT)

CN12
CN13

Applicable typeCounter side typeCounter attachment
aaattachment

D-SUB 25 pins Male
(Each manufacturer)
D-SUB 9 pins Male
(Each manufacturer)

MSTB 2,5/5-FG-5,08-AU(POHENIX CONTACT)- 44 -

3-2-2 GSSW connector and the other side connection
Driver unit
CodeApplication/contents

Applicable typeCounter side type

CN1

Manufacturer use
RS232C connection

3MJ66HOPLP-N3(OKI WIRE)
or equivalent

Modular jack 6 pin(Each manufacturer)Counter attachment

CN2

For the parallel interface10236-52A2JL(SUMITOMO 3M)
or equivalent

Plug: 10136-3000VE(SUMITOMO 3M)
Shell: 10336-52A0-008(SUMITOMO 3M)

CN3
CN9

For the connection with theencoder

10220-52A2JL(SUMITOMO 3M)
or equivalent

Plug: 10120-3000VE(SUMITOMO 3M)
Shell: 10320-52A0-008(SUMITOMO 3M)

CN4

For the connection of control
power supply

5569-6A1(MOLEX)
or equivalent

Connector: 5557-06R(MOLEX)
Terminal: 5556TL(MOLEX)

CN5

Power supply for I/O
5569-4A1(MOLEX)
For the connection of (DC24V) or equivalent

Connector: 5557-04R(MOLEX)
Terminal:5556TL(MOLEX)

CN6

Unused5569-4A1(MOLEX)
or equivalent

CN7

For the connection of drive
power supply

2-179277-2(Tyco electronics amplifier) X key
Or equivalent

CN8
CN10

For the connection to a motor

1-179277-2(Tyco electronics amplifier) Y key
or equivalent

Connector: 5557-04R(MOLEX)
Terminal: 5556TL(MOLEX)
Housing: 2-178128-4(Tyco electronics amplifier) X key
Contact: 1-353717-2(Tyco electronics amplifier)for AWG10,AWG12
Housing:1-178128-4(Tyco electronics amplifier) Y key
Contact: 1-353717-2(Tyco electronics amplifier)for AWG10,AWG12COMFor communication among
Controllers

MSTB 2,5/4-FG-5,08(POHENIX CONTACT)MSTB 2,5/4-STF-5,08(POHENIX CONTACT)
Wire directly installed type
Applicable wire:：AWG24～
AWG12○(Resistor to be
attached)

Applicable typeCounter side typeCounter attachment
aaattachment○○

I/F unit
CodeApplication/contents

CN11

Inputs/outputs the related data to D-SUB 9 pins Male
tightening from the personal
computer with RS232C port.
For the connection with a
D-SUB 25 pins Female
printer, ID controller or QC
personal computers
For the connection with a
D-SUB 9 pins Femaleindicator (RS422 interface)

CN12
CN13

D-SUB 9 pins Female(Each manufacturer)
D-SUB 25 pins Male
(Each manufacturer)
D-SUB 9 pins Male
(Each manufacturer)

M-NET For M-NET communication
MSTB 2,5/6-FG-5,08(CC-Link ver. IF need 5V power (POHENIX CONTACT)
supply)MSTB 2,5/6-STF-5,08○(POHENIX CONTACT)
Wire directly installed type
Applicable wire：AWG24～AWG12

CC-Link For CC-Link communication(only for
CC-Linkver. IF)MSTB 2,5/5-ST-5,08(POHENIX CONTACT)MSTB 2,5/5-FG-5,08-AU(POHENIX CONTACT)- 45 -○

UPPER SIGNAL
GND- 46 To connect to I/F
UNIT

PC PLC, etc.
(with RS-232C interface)Communication cable

Twist-pair lead

Twist pair lead:
Heavy line should be
AWG22 or more.
(2-lead connection)

Signal of Mag. check

To connect to other unit
(for multiaxial cable)

Control power
AC200V or AC100V

Drive power
AC200V, 3 phase

Amplifier for
torque (load)
sensorEquivalent to
TLP127

Output circuit

CN1: For a personal computercommunication (to check data andparameters)
CN2: For the upper controller I/O
CN3: For the encoder and torque (load)
sensor
CN4: For input of power supply AC200(100)V for controls
CN5: For input/output of DC24V for I/O
CN6: For the completion signal of screw
seating
CN7: For input of the drive power supply
AC200V, 3 phase
CN8: For the motor power line
TB3 (COM): For the connection to otherunit
For the connection to the brakes
J4: For the connection to I/F UNIT

Connector, terminal block applications

Equivalent
to TLP121

Input circuit

3-3 External connection
3-3-1 External connection diagram(between the GSS controller and NR):
Standard specification and T specification

UPPER SIGNAL GND- 47 Ditto

Ditto

Ditto

Drive power
AC200V, 3 phase

Amplifier for
torque (load)
sensor

Amplifier for
torque (load)
sensorTo connect to other unit
(for multiaxial cable)

Control power
AC200V or AC100V

PC, PLC, etc.
(with RS-232C interface)
To connect to I/F UNIT

Communication cable

Twist-pair lead

Ditto

Ditto

Twist pair lead:
Heavy line should
be AWG22 ormore.
(or 2-leadconnection)

Signal of Mag. check

Equivalent to
TLP127

Output circuit

Connector, terminal block application
CN1: For a personal computercommunication (to check data andparameters)
CN2: For the upper controller I/O
CN3: AXIS 1 For the encoder,torque (load) sensor
CN4: For input of power supply
AC200(100)V for controls
CN5 (DC24V): For input/output of DC24V
for I/O
CN6 (EXT IN): For the completion signal ofscrew seating
CN7: For input of the drive power supply
AC200V, 3 phase
CN8: AXIS 1 For the motor power line
CN9: AXIS 2 For the encoder,torque (load) sensor
CN10: AXIS 2 For the motor power line
TB3 (COM): For the connection to other unit
J2:
For the connection to I/F UNIT

Equivalent to
TLP121

Input circuit

3-3-2 External connection diagram(between the GSSW controller and NR):
Standard specification and T specification

To DRIVER UNIT

D-SUB 9P

(RS-422 interface)
D-SUB 9S

Indicator connection

D-SUB 9P

(RS-232C interface)

Personal computerconnection

Equivalent to SN75179

I/F UNIT (Only Model N**1*)- 48 -

D-SUB 25P

To a printer (Centronics
interface)* CN12 provides two ways to use. (bychanging the parameters)

GND

GND

GND

GND

GND

GND

GND

GND

Select input

Initialization

Selected
condition
Auto feedindication
Error

Permitted toreceive
Not permitted
to receive
Out of paper

Data bit 7

Data bit 6

Data bit 5

Data bit 4

Data bit 3

Data bit 2

Data bit 1

Data bit 0

StrobeEquivalent to
SN75ALS18

CN11: For a personal computer
CN12: For a printer, ID controller
or QC personal computer
CN13: For an indicator
M-NET: For M-NET
J4: For the connection to DRIVER
UNIT

Connector, terminal block application

To QC personal
computer(RS-422 interface)

To ID controller(RS-422 interface)

3-3-3【M-net ver.】External connection diagram (between the interface and equipment to connect):

Standard specification and T specification

3-3-4 【CC-Link】External connection diagram (between the interface and equipment to connect):
Standard specification and T specification- 49 -

3-4 Table of Cable model
3-4-1 Table of GSS Cable model〔Please be sure to read the following points to notice.〕
NR to be used
Cable model

Cable name
Motor integrated cable〔NR ～ Controller〕

Motor relay movable(NR ～Relay part)

Motor relay fixed cable(Relay part ～ Controller)

Encoder・sensor integrated cable(NR～Controller)
Encoder ・sensor relay movable cable(NR～Relay part)
Encoder ・sensor relay fixed cable(Relay part～Controller)
3-4-2 Table of GSSW Cable model
Cable name

ANZM-250～ANZM-500

8M5D-4R(5.10.15.20)M

ANZM-850～ANZM-3000

8M30D-4R(5.10.15.20)M

ANZM-5000～ANZM-9000

8M90D-4R(5.10.15.20)M

ANZM-250～ANZM-500

8M5T-4R(2.3.5.7)M

ANZM-850～ANZM-3000

8M30T-4R(2.3.5.7)M

ANZM-5000～ANZM-9000

8M90T-4R(2.3.5.7)M

ANZM-250～ANZM-500

8M5T-4A(5.10.15.20)M

ANZM-850～ANZM-3000

8M30T-4A(5.10.15.20)M

ANZM-5000～ANZM-9000

8M90T-4A(5.10.15.20)M

ANZM-250～ANZM-9000

8E*S*D-16R(5.10.15.20)M

ANZM-250～ANZM-9000

8E*S*T-16R(2.3.5.7)M

ANZM-250～ANZM-9000

8E*S*T-16A(5.10.15.20)M

NR to be used

Cable model

Motor integrated cable
ANZM-250～ANZM-500
8M5DW-4R（5.10.15.20）M(NR～Controller)
Motor relay movable cable
ANZM-250～ANZM-500
8M5TW-4R（2.3.5.7）M(NR～Relay part)
Motor relay fixed cable
ANZM-250～ANZM-500
8M5TW-4A（5.10.15.20）M(Relay part～Controller)
Encoder・sensor integrated cable
ANZM-250～ANZM-500
8E*S*D-16R（5.10.15.20）M(NR～Controller)
Encoder・sensor relay movable cable
ANZM-250～ANZM-500
8E*S*T-16R（2.3.5.7）M(NR～Relay part)
Encoder・sensor relay fixed cable
ANZM-250～ANZM-500
8E*S*T-16A（5.10.15.20）M（Relay part～Controller）
Notice 1 (Cable overall)(中継部～コントローラ)
Figures in ( ) are cable length in meter. Please select from the figures indicated.
Cables other than indicated in () are also available with some delivery time.

Notice 2 (Encoder ・Sensor cable )E*: Encoder cable length from a diverging point
S*:Sensor cable length from a diverging point

Standard (0.3m) in case of no indication.
Standard (1.5m) in case of no indication.

- 50 -

4. Signal
4-1 Input/Output signal
Parallel I/O
I/O

PointsNameSpecification

Contents

Parallel input
signal16 points IN0 to IN15

DC24V
11mA

See P53-54

Parallel output
signal16 points OUT0 to OUT15DC24V
30mA maxSee P53-54

Serial I/O
I/O

PointsApplication

RS232C

1 point

Manufacturer use (Should not be used by a customer)

ARC net1 point

Communication among controllers at multi-axial control(Provide jumping at COM)

Analog monitor
Output item

Description

M1

TORQUE Torque (load) sensor monitor (≒5V/sensor rating)

M2

SPEED

Motor rotation speed monitor (Note 5: In the case of CW rotation +)*The above data can be changed at setting before shipment. (See P95)

I/F unit
I/O

PointsApplication

RS232C

1 point Inputs/outputs parameters and various data by the personal computer connection

Centronics
or RS422

1 point Parallel printer connection, ID controller and QC personal computer connection
2 points (Simultaneous use with the printer is not permitted.)

RS422

1 point Connection with an indicator

RS485

1 point Connection via SIO interface with a sequencer and other devices (Option)

CC-Link(only for
CC-Link ver.)1 point Connection via SIO interface with a sequencer and other devices (Option)- 51 -

4-2 Input/Output signal (PIO)
4-2-1 Input signal (PIO)
PIO input(“PLC→”GSS”)

Input contents to the first axis in the unit
Note: The action which is enabled when Automatic/Inching is selected is marked with ○.
I/O

Name

Contents

Auto- Inchmatic ing
○
○

IN 0

Operation readyIN 1

Automatic/
ManualIN 2

Program start

IN 3

Inching start

IN 4

Determination reset

IN 5

Alarm reset

IN 6

QL input

IN 7

QL modeIN 8 to
IN 12

Program selection input

IN 13

Input ENABLE

IN 14

Reset

IN 15

IN delay input

Signal to start the motor operation(Level determination)
0: Stop (Motor does not run. It stops immediately during operation.)“0” during operation results in cycle stop output.
1: Condition in which the operation can start.
Motor operating method selection(Level determination)○
0: Inching motion
Motor rotates in the specified direction according to the inching startsignal. Using parameter depends on the rotating direction.
1: Automatic operation
Motor operates according to the program selected by the program
selection input.
Signal to start the automatic operation(Processed at the rising edge) ○0: Automatic operation stops.
1: Automatic operation starts. (Only a specified block operates. If no blockis specified, operation starts from the block 1.)
When it becomes “O”/”1” during operation, it will run from the first stepof block which stopped at “0”.
Signal to start inching motion(Processed at the rising edge)
0: Inching operation stops.
1: Inching motion starts.
Signal to reset the tightening determination output (Processed at the rising ○edge)
1: All determination signals (Determination data on OUT 3, OUT 4 and
M-NET ) are turned OFF. No object while inching.
Signal to reset the GSS alarm(Processed at the rising edge) ○1: Resets only GSS alarm.
QL processing input signal(Processed at the rising edge) ○1: QL processing input(It is limited when QL mode is 1.)
Signal that enables the QL input signal according to the signal input (Level ○determination)
1: QL input valid
2: QL input invalid
Program selection input(Level determination)○
Inputs the operation program number.
Inputs the number with ON state of the photocoupler power supply = "1"
and OFF state = "0" by accounting as 5-bit information with IN 12 set to
MSB side and IN 8 set to LSB side.
Program selection importing timing signal(Level determination)○
1: Imports the program selection input. Monitor the program selection
input/output on the higher rank and make it "0" when they match. Output
ENABLE will be "1" at the signal rising edge.
Reset input(Level determination)○
1: Reset to the state when the drive power supply is turned ON.
All determinations are OFF and the stop servo of motor is OFF.
IN signal(Level determination)○
If the step in the program has “IN delay” attribution, “the step” will not be
executed until this signal becomes “1”.
1: IN delay start

○

○

○

○

○

○

(“1”: Photocoupler power supply on, “0”: Photocoupler power supply off)

- 52 -

Input contents to the second axis in the unit
I/O

Name

Auto- Inchmatic Ing○
Axis cutting for 1st axis Set the axis cutting of the corresponding axis by setting ○IN 0=1st axis, IN 1=2nd axis, … IN 15=16th axis. Afterto 16th axischanging the setting, the changed contents will be valid
by turning the control power supply OFF/ON.
At "0": Normal
At "1": Axis cutting

IN 0 to IN 15

Contents(“1”: Photocoupler power supply on, “0”: Photocoupler power supply off)

Input contents to the third axis in the unit
I/O

Name

Auto- Inchmatic Ing
Axis cutting for 17th axis to Set the axis cutting of the corresponding axis by setting ○○30th axis
IN 0=17th axis, IN 1=18th axis, … IN 13=30th axis.
After changing the setting, the changed contents will bevalid by turning the control power supply OFF/ON.
At "0": Normal
At "1": Axis cutting

IN 0 to IN 13

Contents(“1”: Photocoupler power supply on, “0”: Photocoupler power supply off)

* Axis cutting is not possible with the controller (1st axis) which is connected to the interface unit.
4-2-2 Output signal (PIO)
PIO output (“GSS”→“PLC”)
Output contents from the first axis in the unit
I/O

Name

OUT 0

Ready complete

OUT 1

System OK

OUT 2

Battery OK

OUT 3

Total OK

OUT 4

Total NG

OUT 5

NR running

OUT 6

QL complete

OUT 7
OUT 8 toOUT 12

Program running
Program selection
outputOUT 13

Output ENABLE

OUT 14Block OK

Contents

Auto- Inchmatic Ing○○

0: Operation ready incomplete
This is the state that the controller cannot operate. (GSS alarm, drive power
supply disconnected, motor not initialized yet or operation ready signal OFF)
1: Operation ready complete
0: Operation error (GSS alarm)○
1: Operation normal
0: Battery voltage drop (2.7 V or less). Determined only when the control power ○supply is turned on.
1: Battery normal0:○
1: All axes programs in the unit advanced to the final step and tightening of all
blocks is correctly completed.
0:○1: Program advanced to the final step (all blocks operation) and error occurredwith either of tightening.
0: Motor is stopped. (Servo motors are turned off on all axes)○
1: Motor is running. (Either axis is controlled with motor)
It is “1” when the QL input of NG times in the unit entered in the state of block ○NG/total NG. It will be Block OK/total OK.
Outputs while the program is running.
○
Outputs the currently selected program number○
Outputs the number with ON state of the photocoupler power = “1” and OFF
state = "0" by accounting as 5-bit information with OUT 12 set to MSB side andOUT 8 set to LSB side.
0: Initial value○
1: It is "1" when the program selection completion signal is confirmed and "0" atrising of the input ENABLE.
0:○
1: Program advanced to the final step in the unit and tightening in the block iscorrectly completed.

- 53 -

○
○

○

○

○

I/O

Name

OUT 15Block NG

Contents
0:1: Program advanced to the final step and error occurred with either oftightening in the block.

Auto- Inchmatic Ing○(“1”: Photocoupler ON, 0: Photocoupler OFF)

Output contents from the second axis in the unit
I/O

Name

OUT 0 toOUT 15

Contents

1st axis OK to 16th axis OK

Outputs the block OK "1" of the corresponding axis
setting OUT 0=1st axis, OUT 1=2nd axis, … OUT
15=16th axis.
The corresponding axis advanced to the block end stepand final tightening is correctly completed.

Auto- Inchmatic Ing○(“1”: Photocoupler ON, 0: Photocoupler OFF)

Output contents from the third axis in the unit
I/O
OUT 0 toOUT 15

Name

Contents

17th axis OK to 32th axis OK

Outputs the block OK "1" of the corresponding axis setting
OUT 0=17th axis, OUT 1=18th axis, … OUT 15=32th axis.
The corresponding axis advanced to the block end step andfinal tightening is correctly completed.

Auto- Inchmatic Ing○(“1”: Photocoupler ON, 0: Photocoupler OFF)

Items to save
Items to save
Screw No.

Description
Screw number attached to each tightening screw. (Can be
specified as the format by xx-th axis and xx-th block)Tightening result

Torque (Determination time point)
Angle ( from sample start or snag torque)
Time ( from sample start or snap torque)
Data sent from ID controller“0” when ID controller is not used.

Work data No.

Remarks
Personal computer communication
function is used to set up.

4-3 Function of I/F unit
Connection function for the SIO communication, setup personal computer communication, external display
connection, printer connection, QC personal computer and ID controller connection
4-4 input/output signal (SIO)
4-4-1 Input signal (SIO)※M-net version
0
1
2

bit 0

bit 1

Operation
ready
Program bit 1
selection
Block bitselection 1

Auto/Each(Manual)Program bit 2
selection
Block bitselection 2

bit 2
Start

bit 3
Inching start

bit 4

Determination
reset
Program bit 3 Program bit 4 Program bit 5
selection
selection
selection
Block bit
Block bit
Block bitselection 3
selection 4
selection 5- 54 -

bit 5

bit 6

Alarm reset

QL signal
input
GSS reset(ALL reset)

Input
ENABLEbit 7
QL modeIN delay
input
Tightening
angle
sampling start※CC-Link version
Address：RYm ～RYm+DFh
Address

RYm+α～
RYm+α+Fh

RYm+α+10h～
RYm+α+1Fh

m:Initial I/O Number

α:Constant value of Unit（Note1）

bit 0

bit 1

bit 2

bit 3

bit 4

bit 5

bit 6

bit 7

Operation readyAuto/Each(Manual)Start

Inching start

Determination
reset

Alarm reset

QL signal input

QL mode

bit 8

bit 9

bit A

bit B

bit C

bit D

bit E

bit F

Program bit 1
selection

Program bit 2
selection

Program bit 3
selection

Program bit 4
selection

Program bit 5
selection

Input
ENABLEGSS reset (ALLreset)IN delay input

bit 0
Block bitselection 1

bit 1
Block bitselection 2

bit 2
Block bitselection 3

bit 3
Block bitselection 4

bit 4
Block bitselection 5

bit 5

bit 6

bit 7
Tightening angle
sampling start

bit 8

bit 9

bit A

bit B

bit C

bit D

bit E

bit F

bit 2
Axis 3Cutting
bit A
Axis 11
Cutting
bit 2
Axis 19
Cutting
bit A
Axis 27
Cutting

bit 3
Axis 4
Cutting
bit B
Axis 12
Cutting
bit 3
Axis 20
Cutting
bit B
Axis 28
Cutting

bit 4
Axis 5
Cutting
bit C
Axis 13
Cutting
bit 4
Axis 21
Cutting
bit C
Axis 29
Cutting

bit 5
Axis 6
Cutting
bit D
Axis 14
Cutting
bit 5
Axis 22
Cutting
bit D
Axis 30
Cutting

bit 6
Axis 7
Cutting
bit E
Axis 15
Cutting
bit 6
Axis 23
Cutting
bit E

bit 7
Axis 8Cutting
bit F
Axis 16
Cutting
bit 7
Axis 24
Cutting
bit F(Note1) α ＝ Unit1：00h
Unit2：20h
Unit3：40h
Unit4：60h
Unit5：80h
Unit6：A0h
Unit7：C0h
Address：RYm+E0h ～ RYm+FFh
RYm+E0h～
RYm+EFhRYm+F0h～
RYm+FFhbit 0
Axis 1
Cutting
bit 8
Axis 9Cutting
bit 0
Axis 17
Cutting
bit 8
Axis 25
Cutting

bit 1
Axis 2Cutting
bit 9
Axis 10
Cutting
bit 1
Axis 18
Cutting
bit 9
Axis 26
Cutting※No Axis Cutting in case of the value of”0” / Axis Cutting in case of the value ofApplication”1”

Address

Unit1
Unit2
Unit3
Unit4
Unit5
Unit6
Unit7
The signal of axis cutting
Not use

RYm～RYm+1Fh

RYm+20h～RYm+3Fh
RYm+40h～RYm+5Fh
RYm+60h～RYm+7Fh
RYm+80h～RYm+9Fh
RYm+A0h～RYm+BFh
RYm+C0h～RYm+DFh
RYm+E0h～RYm+FFh
RYm+100h～RYm+37Fh※The non using bit data must be value of “0” .

- 55 -

Following signals cannot be input from PIO.
I/O
SIO

Name

Contents

Block selection 1 to 5

Tightening angle sampling startAuto- Inchmatic Ing○

Input the operation block number“0”: Operates from block 1 in order.
“1 to 19”: Operates the specified block.
Input the signal accounting as 5-bit information
with the block selection 5 set to MSB side and the block selection 1
set to LSB side.
Tightening angle sampling movement start○
When it is not on the way of block movement but operation readycompletion output is ON, the sampling movement starts at standing
point of “1”.

4-4-2 Output signal (SIO)※M-net version
bit 0
0 Ready
complete
1 Completionof program
bit 1 selection

bit 1

bit 2

bit 3

bit 4

bit 5

bit 6

System OK

Battery OK

Total OK

Total NGNR running

Completion of Program
QL treatment running
Block
Block
determination determination
OKNG

2 Completionof block bit 1
selection
3 Block 1 OK

Completion of Completion
Completion of Completion Output
program bit 2 of program
program bit 4 of program
ENABLE
selection
bit 3 selection selection
bit 5
selection
Completion of Completion
Completion of Completion Step finished
block bit 2of block bit 3 block bit 4of block bit 5
selection
selection
selection
selection
Block 2 OK
Block 3 OK
Block 4 OK Block 5 OK Block 6 OK

4Block 9 OK

Block 10 OK

Block 11 OK

5

Block 17 OK

Block 18 OK

Block 19 OK

6

Block 25 OK

bit 7

Cycle stop

OUT

Block 7 OK

Block 8 OK

Block 12 OK Block 13 OK Block 14 OK

Block 15OK

Block 16 OK

Block 20 OK Block 21 OK Block 22 OK

Block 23 OK

Block 24 OK

7 Torque over

Block 26 OK Block 1
finished
Time overAngle over

Block 2finished
Zone NG

Block 5Block 6finished
Finished
Zero/Mag.OK Gear OK

8 Torque underTime underAngle under

Gradient NG

9 1st axis OK
10 9th axis OK
11 17th axis OK
12 25th axis OK
13 33rd axis OK
14 41st axis OK
15 49th axis OK
16 57th axis OK

2nd axis OK
10th axis OK
18th axis OK
26th axis OK
34th axis OK
42nd axis OK
50th axis OK
58th axis OK

3rd axis OK
11th axis OK
19th axis OK
27th axis OK
35th axis OK
43rd axis OK
51st axis OK
59th axis OK

Block 3finished
Snag NG

NR failure
precognition
4th axis OK
5th axis OK
12th axis OK 13th axis OK
20th axis OK 21st axis OK
28th axis OK 29th axis OK
36th axis OK 37th axis OK
44th axis OK 45th axis OK
52nd axis OK 53rd axis OK
60th axis OK*Each signal of No.9～16 is only output to the Unit 1.

- 56 -

Block 4finished
Passing
torqueBakingZero/Mag.
NG
6th axis OK
7th axis OK
14th axis OK 15th axis OK
22nd axis OK 23rd axis OK
30th axis OK 31st axis OK
38th axis OK 39th axis OK
46th axis OK 47th axis OK
54th axis OK 55th axis OK

Gear NG
8th axis OK
16th axis OK
24th axis OK
32nd axis OK
40th axis OK
48th axis OK
56th axis OK※CC-Link version
Address：RXm ~RXm+26Fh
RXm+β～
RXm+β+Fh

RXm+β+10h～
RXm+β+1Fh

RXm+β+20h～
RXm+β+2Fh

RXm+β+30h～
RXm+β+3Fh

RXm+β+40h～
RXm+β+4Fh
RXm+50h～
RXm+5Fh
RXm+60h～
RXm+6Fh
RXm+70h～RXm+7Fh
RXm+80h～RXm+8Fh(Note2)

m: Initial I/O Number

β: Constant value of Unit(Note2）

bit 0

bit 1

bit 2

bit 3

bit 4

bit 5

bit 6

bit 7

Ready
complete

System OK

Battery OK

Total OK

Total NGNR running

Completion of QL
treatment

Programrunning

bit 8Completion ofprogram bit 1
selection
bit 0
Completion ofblock bit 1
selection
bit 8

bit 9
Completion ofprogram bit 2
selection
bit 1
Completion ofblock bit 2
selection
bit 9

bit A
Completion ofprogram bit 3
selection
bit 2
Completion ofblock bit 3
selection
bit A

bit B
Completion ofprogram bit 4
selection
bit 3
Completion ofblock bit 4
selection
bit B

bit C
Completion ofprogram bit 5
selection
bit 4
Completion ofblock bit 5
selection
bit C

bit D

bit E

OutputENABLE

Blockdetermination OK

bit F
Block
determination
NG
bit 7

Block 1 OK

Block 2 OK

Block 3 OK

Block 4 OK

Block 5 OK

bit 5
Step finished

bit 6
Cycle stop

OUT

bit D

bit E

bit F

Block 6 OK

Block 7 OK

Block 8 OK

bit 0

bit 1

bit 2

bit 3

bit 4

bit 5

bit 6

bit 7

Block 9 OK

Block 10 OK

Block 11 OK

Block 12 OK

Block 13 OK

Block 14 OK

Block 15OK

Block 16 OK

bit 8

bit 9

bit A

bit B

bit C

bit D

bit E

bit F

Block 17 OK

Block 18 OK

Block 19 OK

Block 20 OK

Block 21 OK

Block 22 OK

Block 23 OK

Block 24 OK

bit 0

bit 1

bit 2

bit 3

bit 4

bit 5

bit 6

bit 7

Block 25 OK

Block 26 OK

Block 1
finished

Block 2finished

Block 3finished

Block 4finished

Block 5finished

Block 6
Finished

bit 8
Torque overbit 9
Time over

bit A

bit B

bit C

bit D

bit E

bit F

Angle over

Zone NG

Snag NG

Passing torqueZero/Mag.OK

Gear OK

bit 5

bit 6

bit 7

BakingZero/Mag. NG

Gear NG

bit D

bit E

bit F

6th axis OK

7th axis OK

8th axis OK

bit 0

bit 1

bit 2

bit 3

Torque underTime underAngle under

Gradient NG

bit 8

bit 9

bit A

bit B

bit 4
NR failure
precognition
bit C

1st axis OK

2nd axis OK

3rd axis OK

4th axis OK

5th axis OK

bit 0

bit 1

bit 2

bit 3

bit 4

bit 5

bit 6

bit 7

9th axis OK

10th axis OK

11th axis OK

12th axis OK

13th axis OK

14th axis OK

15th axis OK

16th axis OK

bit 8

bit 9

bit A

bit B

bit C

bit D

bit E

bit F

17th axis OK

18th axis OK

19th axis OK

20th axis OK

21st axis OK

22nd axis OK

23rd axis OK

24th axis OK

bit 0

bit 1

bit 2

bit 3

bit 4

bit 5

bit 6

bit 7

25th axis OK

26th axis OK

27th axis OK

28th axis OK

29th axis OK

30th axis OK

31st axis OK

32nd axis OK

bit 8

bit 9

bit A

bit B

bit C

bit D

bit E

bit F

33rd axis OK

34th axis OK

35th axis OK

36th axis OK

37th axis OK

38th axis OK

39th axis OK

40th axis OK

bit 0

bit 1

bit 2

bit 3

bit 4

bit 5

bit 6

bit 7

41st axis OK

42nd axis OK

43rd axis OK

44th axis OK

45th axis OK

46th axis OK

47th axis OK

48th axis OK

bit 8

bit 9

bit A

bit B

bit C

bit D

bit E

bit F

49th axis OK

50th axis OK

51st axis OK

52nd axis OK

53rd axis OK

54th axis OK

55th axis OK

56th axis OK

bit 4

bit 5

bit 6

bit 7

bit C

bit D

bit E

bit F

bit 0

bit 1

bit 2

bit 3

57th axis OK

58th axis OK

59th axis OK

60th axis OK

bit 8

bit 9

bit A

bit B

β

＝ Unit1： 00h
Unit2： 90h
Unit3： E0h
Unit4：130h
Unit5：180h
Unit6：1D0h
Unit7：220h- 57 -

Unit

Address

Not use bit

Unit1
Unit 2
Unit 3
Unit 4
Unit 5
Unit 6
Unit 7
Not useRXm～RXm+ 8Fh
RXm+ 90h～RXm+ DFh
RXm+ E0h～RXm+12Fh
RXm+130h～RXm+17Fh
RXm+180h～RXm+1CFh
RXm+1D0h～RXm+21Fh
RXm+220h～RXm+26Fh
RXm+270h～RXm+37Fh

RXm+ D8h ～ RXm+ DFh
RXm+ 128h ～ RXm+ 12Fh
RXm+ 178h ～ RXm+ 17Fh
RXm+ 1C8h ～ RXm+ 1CFh
RXm+ 218h ～ RXm+ 21Fh
RXm+ 268h ～ RXm+ 26Fh-

※The non using bit data is the value of “0” .
Result Word
Use WordData
GSS→PLC
Address：RWrm ～ RWrm+7Fh
Address

m: sation number
Contents

RWrm
RWrm + 1h
RWrm + 2h
RWrm + 3h
RWrm + 4h
RWrm + 5h
RWrm + 6h
RWrm + 7h
RWrm + 8h
RWrm + 9h
RWrm + Ah
RWrm + Bh
RWrm + Ch
RWrm + Dh
RWrm + Eh
RWrm + Fh・・

Bolt1 NG code
Bolt1 Time （Unit: 1ms）
Bolt1 Angle （Unit: 0.1 degree）
Bolt1 Torque （Unit: 0.1Nm）
Bolt2 NG code
Bolt2 Time （Unit: 1ms）
Bolt2 Angle （Unit: 0.1 degree）
Bolt2 Torque （Unit: 0.1Nm）
Bolt3 NG code
Bolt3 Time （Unit: 1ms）
Bolt3 Angle （Unit: 0.1 degree）
Bolt3 Torque （Unit: 0.1Nm）
Bolt4 NG code
Bolt4 Time （Unit: 1ms）
Bolt4 Angle （Unit: 0.1 degree）
Bolt4 Torque （Unit: 0.1Nm）
・・

RWrm + 78h
RWrm + 79h
RWrm + 7Ah
RWrm + 7Bh
RWrm + 7Ch
RWrm + 7Dh
RWrm + 7Eh
RWrm + 7Fh

Bolt31 NG code
Bolt31 Time （Unit: 1ms）
Bolt31 Angle （Unit: 0.1 degree）
Bolt31 Torque （Unit: 0.1Nm）
Bolt32 NG code
Bolt32 Time （Unit: 1ms）
Bolt32 Angle （Unit: 0.1 degree）
Bolt32 Torque （Unit: 0.1Nm）

Transmission of torque, time, angle data based on the kinds of operation.
Regarding torque data, time data and angle data, data of only one kind of operation is transmitted even if
many kinds of operation such as pretightening, real tightening,etc. are carried out within the same block.
Selection with kinds of operation is effected automatically basing on the following order of priority.
When the operation with higher priority is not carried out, it select the operation of following order of priority.
In case of carrying out same kind of operation more than two times within the same block, the last operationis selected.
Order of priority (High)（Low）

1. Real tightening
2. Reverse rotation
3. Pretightening
4. Rotation- 58 -

About ResultWord:
NG code: 0000～FFFF(h)(example) When NG code is 0412 , The value of 0x0412(h)[1042(d)] is input.
ResultWord except NG code: 0000～270F(h) 【0000～9999(d)】 not decimal(example) When Tightening Torque is 21Nm , D2(h)[210(d)] is input.

ResultWord is set at the timing of Block OK(NG).
0000 is set at the timing of [Determination reset] or [GSS reset].
Note)ResultWord don’t be outputted as soon as Block OK(NG) is outputted.
Please take enough wait .
ResultWord (NG code, Final Tightening Time, Angle, Torque) of Bolt number except 1-32 is not outputted.
When there is not tightening ResultWord of bolt number 1-32, the value of it is 0000.

- 59 -

Precautions to replace the unit
* Make sure to set the axis setting (Fn. 01 to No. 26 axis ID) from the setup section of the controller when the GSS
controller driver is replaced. (If the axis number is not set, the communication from the setup personal computer is
impossible.)
Following signals are not output from PIO.
I/O

Name

Contents

Auto- Inchmatic ing○

SIO

Block selection output 1 to 5

When the block selection input is O, it does not output.
When the block selection input is set except 0, the currently
selected block number is output.
It outputs “1” for 200msec at each finish of 1 step.
○

SIO

Step finish

SIO

Cycle stop

SIO
SIO

OUT
Block 1 to 26 OK/NG

SIO

Torque over/underIt becomes “1” in case of the cycle stop (operation ready signal during ○movement OFF or start signal OFF).
When the step set as OUT in program finishes, it becomes “1”.
○When the block movement finishes as OK, it becomes “1”.
○“1” when torque over/under is NG.
○

SIOTime over/under“1” when time over/under is NG.

○

SIO

Angle over/under“1” when angle over/under is NG.

○

SIO

Zone NG“1” when zone is NG.

○

SIO

Gradient NG“1” when gradient is NG.

○

SIO

Snag NG“1” when snag over/under is NG.

○

SIO

NR failure forecast

SIO
SIO
SIO
SIO
SIO

Passing torque NG
Baking NG
Zero magnification OK/NG
Gear OK/NG
1st to 60th axes OK

When the gear check NG occurs plural times (internal setting times), ○it becomes “1”.
At continuous occurrence
When the continuous times of the gear check NG exceed thesetting value of Fn.01 PA10, it becomes “1”.
Integration
When the gear check NG times from power ON exceed thesetting value of Fn.01 PA11, it becomes “1”.
“1” when passing torque is NG.
○“1” when baking is NG.
○“1” when zero magnification check is normal/abnormal.
○“1” when gear check ends normally/abnormally.
○“1” when operation of screws from No.1 to 60 is OK.
○

Note 4.1) Program selection input and selection output signal(Relation of program numbers corresponding to the status of IN8(OUT8) to IN12(OUT12))
Signal nameIN 8 / OUT 8
IN 9 / OUT 9
IN 10 / OUT 10
IN 11 / OUT 11
IN 12 / OUT 12

Program number
1 2 3 4 5
1 0 1 0 1
0 1 1 0 0
0 0 0 1 1
0 0 0 0 0
0 0 0 0 0

6
0
1
1
0
0

7
1
1
1
0
0

8
0
0
0
1
0

9
1
0
0
1
0

10
0
1
0
1
0

11
1
1
0
1
0

12
0
0
1
1
0

13
1
0
1
1
0

14
0
1
1
1
0

15
1
1
1
1
0

16
0
0
0
0
1

17
1
0
0
0
1

18
0
1
0
0
1

19
1
1
0
0
1

20
0
0
1
0
1

21
1
0
1
0
1

22
0
1
1
0
1

23 24
1 0
1 0
1 0
0 1
1 1

(“1”: Photocoupler ON, “0”: Photocoupler OFF)

4-5 Multiaxial operation function
Multiaxial control is possible up to 30 axes for one I/F unit (60 axes on the software)
Axis cutting function: Axis cutting (edge cutting) setting is possible by the push button operation on the panel.
(Fn. 11 SAVE no.** DATA **** Axis cutting with the unit number “-”)- 60 -

5. Operation timing chart
5-1 Power ON and inching operation (Operates by the speed/direction setting of the rotation/inching (1 to 24) selectedby the program selection signals (1 to 5))
Control power supply
Drive power supply

Input signal(PLCGSS)

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

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

Program selection(1 to 5)

Normal rotation

Reverse rotation

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

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

Forwardrotation ofinching

Commutation initialize

Executing
QL processing
end
Step completion
Program selection
output (1 to 5)
Output ENABLE
Block OK
Block NG
Block selection output(1 to 5)Blocks OK (1 to 26)
Block completion
Axes OK (1 to 60)- 61 -

Reverserotation ofinching5-2 Program operation - When the determination is OK for 2 step operation x 1 block

Control power supply
Drive power supply

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

0.2 sec. min.

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

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

1st step

2nd step

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

1 block
OK

Block completion

1 blockcompletion

Axes OK (1 to 60)

All axesOK- 62 -

5-3 Program operation - Setting for 2 step operation x 1 block, when 1st/2nd axis is NG on the first step and the 3rd axis
is OK until the second step in three axes (with QL)

Control power supply
Drive power supply

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

0.2 sec. min.

Alarm reset
QL input
QL modeIN wait input

0.2 sec. min.

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

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

1st step

2nd step

Executing
QL processing
end

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

1 block OK

Blocks OK (1 to 26)
1 block completion

Block completion
Axes OK (1 to 60)

3rd axis OK- 63 -

1st axis OK

2nd axis OK

5-4 Program operation - Setting for 2 step operation x 1 block, when 1st axis is NG on the first step and the 2nd axis is
OK until the second step in two axes (without QL)

Control power supply
Drive power supply

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

0.2 sec. min.

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

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

1st step

2nd step

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

Block completion

2nd axis
OK

Axes OK (1 to 60)- 64 -

5-5 Program operation - Setting for 1 step operation x 2 blocks, when 1st/2nd axis is NG and 3rd axis is OK on thefirst block and the all axes are OK on the second block in three axes (with QL after 1 block)Control power supply
Drive power supply

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

0.2 sec. min.

Alarm reset
QL input
QL modeIN wait input

0.2 sec. min.

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

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

1 block OK

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

1 block completion

3rd axis 1st axis 2nd axis OK
OK
OK- 65 -

2 block OK

2 block completion

1st to 3rd axes OK

5-6 Program operation - Setting for 1 step operation x 2 blocks, when 1st/2nd axis is NG and 3rd axis is OK on the first
block and the all axes are OK on the 2nd block in three axes (with batch QL after the program end)

Control power supply
Drive power supply

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

Automatic/inching
Program start
Inching start
Determination reset

0.2 sec. min.

Alarm reset
QL input
QL modeIN wait input

0.2 sec. min.

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

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

Blocks OK (1 to 26)
1 block completion

2 block completion

3rd axis OK

1st to 3rd axes OK

Block completion
Axes OK (1 to 60)- 66 -

5-7 Program operation - Setting for 2 steps operation x 1 block, when there is IN setting on the 2nd step

Control power supply
Drive power supply

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

0.2 sec. min.

0.2 sec. min.

0.2 sec. min.

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

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

2nd step

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

1 block OK

Blocks OK (1 to 26)

1 block completion

Block completion
1st axes OK

Axes OK (1 to 60)
OUT- 67 -

5-8 Program operation - 1 step operation x 3 blocks, when the unit is operated in sequence specified by the blockselection signal (It operates in order from the block 1 when the block selection is OFF for 1 to 5)

Control power supply
Drive power supply

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

0.2 sec. min.

Program selection(1 to 5)
Input ENABLE

0.2 sec. min.

0.2 sec. min.

Reset
Tightening angle samplingstart

Block 2Block selection (1 to 5)

Block 1

Block 3

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

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

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

2 block completion

1 block completion

Block 3Blocks OK (1 to 26)
Block completion
Axes OK (1 to 60)- 68 -

3 block completion

5-9 Interruption of the program operation (Reset)(When the reset is turned ON after 1 block is finished and the reset is turned ON during the 1st block operation in
the 1 step x 2 blocks operation)

Control power supply
Drive power supply

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

0.2 sec. min.

Program selection(1 to 5)
Input ENABLE

0.2 sec. min.

0.2 sec. min.

Reset
Tightening angle samplingstart
Block selection (1 to 5)

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

1 block

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

1st block

Output ENABLE
Block OK
Block NG
Block selection output

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

Block completion
Axes OK (1 to 60)- 69 -

Quick stop (1 sec. max.)

5-10 Operation ready OFF and program start OFF during the program operation(When the operation ready is OFF on the 1st block and the program start is OFF on the 2nd block in 1 step x 2
block operation)

Control power supply
Drive power supply

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

0.2 sec. min.

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

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

Quick stop (1 sec. max.)

1 block

Quick stop (1 sec. max.)

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

1 block NG

2 block NG

Running operation
NG

Running operationNG

All operating axesNG

All operating axes
NG

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

- 70 -

5-11 Alarm generation and alarm reset during the program operation(When the alarm occurred on the way of 1st block and the unit is rebooted after the alarm is reset in 1 step x 2
block operation)
Control power supply
Drive power supply

Input signal(PLCGSS)

0.2 sec. min.

Operation ready
Automatic/inching
Program start
Inching start
Determination reset

0.2 sec. min.

Alarm reset

Error check/cancel

QL input
QL modeIN wait input

0.2 sec. min.

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

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

1 block

Executing
QL processing
end
Step completion
Program selection
output (1 to 5)
Output ENABLE
Block OK
Block NG
Block selection output(1 to 5)
1 block ΟΚBlocks OK/NG (1 to 10)

1 block completion

Operations OK/NG
Axes OK/NG (1 to 30)
Cycle stop

- 71 -

5-12 Tightening angle sampling operation(When the tightening sampling start is turned ON with the preparation ready ON, the operation starts. When the
program ends, Total OK or Total NG becomes ON. After this moment, the determination is cleared by ALL
reset. The determination reset cannot be accepted)

Control power supply
Drive power supply

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

0.2 sec. min.
0.2 sec. min.

Tightening angle samplingstart
Block selection (1 to 5)

Output signal(GSSPLC)
Operation ready OK
Device OK
Battery OK
Total OK
Total NG
OperatingExecutingTightening
direction

QL processing
end
Step completion
Program selection
output (1 to 5)
Output ENABLE
Block OK
Block NG
Block selection output(1 to 5)Blocks OK (1 to 26)
Block completion
Axes OK/NG (1 to 60)- 72 -

Loosening direction

6. Setting
6-1 Display/setting function
Displays various data, parameters and conditions in 7 SEG. LED 4-digit. It is possible to set or change theparameters by the operation of push-button panel.

6-1-1 Display section layout

Setting section

GIKEN

Monitor terminal 1

Fn. display
buttonMonitor terminal 2
Monitor GND* For explanation of monitor
terminals, see Section 9.

Data display
button Parameter display
 SAVE button

Numeral value UP button
Digit control
Numeral value DOWN button
buttonボタン
Contents

7-segment display

Program is not selected.

A: Program No.
B: "0"
C: State of driver-: Servo OFF
0: Commutation initialize
1: Rotation
2: Pretightening
3: Reverse rotation
4: Final tightening
5: Inching
6: Zero magnification condition
7: Stop

0 1 0
A
. B C
**** 。
AL**。
。

NG code “****” occurred

Alarm “**” being generated- 73 -

6-1-2 Operation of the display section

Display unit operation
Power ON
(Program is not selected)

SEL

SAVE
Parameter setting

Ｆ n．0

1

Item selection

P A． 0 0

DATA＊ ＊ ＊ ＊

SEL

Operation data setting

Ｆ n．0

0１
Item change

Data change

SAVE Setting selection

SAVE Item selection

A _

2

1

0

SEL

SAVE
Ｆ n．0

3

DATA

N o． 0 0
SEL

Item selection

I n．0

0

Data display
DATA＊ ＊ ＊ ＊SEL

0１
Item change

SAVE
Output monitor

Ｆ n．0

4

Item selection
O U．0

0

Data display
DATA＊ ＊ ＊ ＊SEL

０１
Item change

Operation result monitor

Ｆ n．0

5

SAVE

Item selection

n o．0 0DATA

Data display＊ ＊ ＊ ＊

０１

SEL
Item change- 74 -

Data display＊ ＊ ＊ ＊

０１
Item change

Setting change

Input monitor

Data display

Data change

(Reserved)

Ｆ n 0

6．

(Reserved)

Ｆ n．0

7

SAVE
(Used by manufacturer)

Ｆ n．0

8

*Not permitted

Item selection
0

2

0

DATA

0

Data display＊ ＊ ＊ ＊

SEL

for the customer to use.

０１
Item change

SAVE
Calender setting

Ｆ n．0

Item selection

DATA－ － － b9

SEL

Data display＊ ＊ ＊ ＊．

０１
Data change

Item change

SAVE
I/F unit setting

Ｆ n．1

0

Item selection

I F．－ 0DATA

Data display＊ ＊ ＊ ＊SEL

０１
Data change

Item change

SAVE
Unit setting

Ｆ n．1

1

Axis selection

DATA

n o．0 1U

SEL

ID controller setting

Ｆ n．1

2

n．0 1

０１
Axis change

SAVE

Unit display

Item selectionn o．－ 0SEL

Unit change

DATA

Data display＊ ＊ ＊ ＊

０１
Item change- 75 -

Data change

6-2 Program
6-2-1 Tightening program- 76 -

6-2-2 Program configuration

30 axis × 24 types of programs × 77 steps
1st axis
Program 1(77 steps)

Control flag/rating

2nd axis

Step 1
Step 2
Step 3
Step 4
Step 5
Step 6
Step 7
Step 8
Step 9Program 2・・・・
Program 3
30th axis

・
・
・
・
・
・

・
・
・
・
Step 73
Step 74
Step 75
Step 76
Step 77

Program 24

Details of step setting (Example)
Step 1

Control flag
Rating 1

Step 2Screw 1

Step 3
Step 4
Step 5
Step 6
Step 7
Step 8
Step 9
Step 10
Step 77

The control flag (Zero magnification check, IN,with or without finish synchronize ) is notincluded in the step.

Rotation1
Pretightening 1
Reverse rotation 1
Final tightening 1
EndRating (block start declaration),finish(block
finish declaration),screw number and each operation to be counted

Rating 1
Screw 2

as 1 step.
Rotation 2

It is possible to set maximum 77 steps.

- 77 -

7. Setting function list
7-1 Fn.** display setting function list
Internal data can be set, changed and monitored on the panel of each axis of GSS. Each function is classified by “Fn”.
Fn No.
Fn. 01
Fn. 02

Fn. 03
Fn. 04
Fn. 05
Fn. 06
Fn. 07
Fn. 08Fn. 09Fn. 10Fn. 11
Fn. 12Functions/Contents
Each axis setting
Sets the driver parameter and axis number of each GSS axis.
Tightening setting
Changes setting of parameters related to the operation. This setting value canbe changed by GSS of each axis, but the changed value will be reflected to allaxes. Setting value is used as the common operation setting at all axes.
Available conditions are as follows:
Rotation, inching condition (A_01 to A_24)
Pretightening condition(b_01 to b_24)
Reverse rotation condition (C_01 to C_24)
Final tightening condition(d_01 to d_24)
Rating condition(E_01 to E_30)
24 types (Rating 30 types) of operating conditions can be set respectively.
Input monitor
Monitoring of input signal (PIO) is possible. This is effective only with theaxis (1st axis) connected with PIO.
Output monitor
Monitoring of output signal (PIO) is possible. This is effective only with theaxes (1st, 2nd and 3rd axes) connected with PIO.
Operation result monitor
Monitoring of tightening result performed just before is possible.
Printer operation
Printing out operation is possible for tightening data, programs and various
settings.
UnusedUsed by manufacturer
RAM monitor for debugging is performed.
UnusedI/F unit setting
Changes settings of printer output timing, setup personal computercommunication and external display
Unit setting
Sets the unit
ID controller connection setting
Sets the connection with ID controller

Object to set
Each axis
Common setting

Each axis
Common setting

Each axis

Common setting
Common setting
Common setting

Note: Common setting: Can be changed on the panel of each axis, but the changed value will be reflected to allaxes.
When the settings of Fn.01・10・11・12 are changed, please operate after switching OFF/ON the power supply.

- 78 -

7-2 (Fn. 01) Each axis setting
Number
PA.00
PA.01

PA.02

PA.03

PA.04
PA.05
PA.06
PA.07
PA.08

PA.09
PA.10

PA.11

PA.12

Driver parameter setting

Contents
Setting range
Unit
Position loop gain
0-9999This is the responsive parameter of position control system. Setting at a large value
increases rigidity and shortens the setting time, but the system becomes easy to oscillate.
Speed loop gain
0-9999This is the responsive parameter of speed control system. To set the higher position loop
gain, it is needed to make this value larger. Usually increase it proportionate to the load
inertia.
Speed integral gain
0-9999Sets the integral gain in the speed loop. When the value is set larger, the response becomes
faster and the rigidity increases, but the system becomes easy to oscillate. This function
works to drive a slight speed-deviation at the time of stop in zero.
Resonance control filter
0-7FFF
Sets the response of the filter to be inserted to the current command. It may suppress theoscillation caused by torsional resonance in the mechanical system to increase the control
gain. When the value is set smaller, the filter effect increases.
Motor speed limit
0-999910 rpmSets the motor speed limit value.
Over speed error detecting level
0-999910 rpmSets the speed to detect the speed alarm “AL30”
Overload error detecting level
0-99990.1 Arms
Sets the current level to detect the overload alarm “AL20”.
Sets the contents to output to Monitor terminal M1 (PA.07) and Monitor terminal M2
0-FFFF(PA.08), respectively. Changing parameters can change the contents to output to eachterminal. (See P95)
Setting at shipment M1: Torque sensor output
M2: Speed feed back
Clears the alarm history
Clears it by SAVE after inputting 8089 setting.
NR deterioration forecast (series)
0-9999When the number of continuously occurring times with gear check NG exceeds the set
value, NR failure forecast becomes “ON”. (Refer to P57-59 table of output signal.)
If the setting value is 0000, it does not work.
NR deterioration forecast (integrated)
0-9999When the integrated number of occurrence with gear check NG from power ON exceeds
this setting value, the NG failure forecast becomes “ON”. (Refer to P57-59 table of output
signal.)If the setting value is 0000, it does not work.
UnusedPA.13

No monitoring time for pretightening minimum torque.
It does not monitor the torque during the preset time when reaching to speed 1 andreaching to speed 2. (It is set to prevent wrong judgment of torque due to the change of
speed.)
PA.13 to 17 Unused

0-9999PA.18

0000/0002

PA.19

PA.20
PA.21

PA.22

Waveform output polarity
Waveform data (Waveform sampling function output) may tighten in the negative
direction depending on the configuration of mechanism (Torque sensor position). Thissetting allows the output polarity of waveform sampling function to reverse.
Direct values such as a monitor are not changed.
“0000”: (+) output as motor twists rightward“0002”: (-) output as motor twists leftward
No monitoring time for torque
No determination related to torque is performed during this time after each operation startin the rotation and reverse rotation modes.
Set the value in consideration of the transient torque fluctuation such as an accelerationtime.
Magnification check delay time
Sets the data importing delay time after the torque sensor bridge short-circuit when themagnification check is performed.
Motor acceleration speed control setting
Can suppress the acceleration speed lower than the limit value when controlling the speed.
Smooth acceleration and deceleration is possible against the acceleration command in stepform.
Standard current limit
Sets the maximum current of motor- 79 -

1ms

0-99991 ms

0-99991 ms

0-9999100 rpm/s

0-99990.1 Arms

Number
PA.23

PA.24
PA.25
PA.26

PA.--

Contents
Torque increase for the premature tightening NG detection
Sets the torque increase for the premature tightening NG detection.
(When it reaches to speed 3 select torque + torque increase for the premature tightening
NG detection within the premature tightening determination angle, it outputs NG.)
Tightening sampling operation end torque
Sets the torque value to end the tightening sampling operation
UnusedAxis number
Set from “1” in serial numbers.
Make sure to set “1” when I/F unit is provided.
Press SAVE button to save all data of Fn. 01 in one lump.

Setting range
Unit
0-99990.1 Nm0-99990.1 Nm

1-0030

Storing data: When “PA. ---” is displayed, if “SAVE” button is pressed, all parameters of Fn. 01 will be saved in memory.

Note: Please do not change the item of this driver parameter items on the user side. However, the customer side should
input for items of “PA.26” because they are inputs after the installation of the controller.

7-3 (Fn.02) Rotation and the inching setting (A_01 to 24: 24 types)
Number

No.00

No.01
No.02
No.03
No.04
No.05
No.06

No.07
No.08
No.09
No.—

Contents

Setting range

Unit

Rotation/ inching direction, rotation movement00*□|+—— Rotation/inching direction specified|
0: Rotate to tightening direction|
1: Rotate to loosening direction+——— Torque determination/fitting/gear check0: No torque determination
1: Torque determination
Determines normal/error by using torque upper limit/lower limit
values.
2: Fitting end exists
When rotation reaches the fitting torque, it stops rotation.
Torque upper limit/lower limit determination is not performed.
3: Gear check is performed
If the motor current while running exceeded the value equivalent totorque upper limit, it becomes “Gear Check NG”
Overtime (only when rotating)0-0065
If the rotation of cut angle is not performed within the preset time after rotation start,
the rotation stops and the rotation is determined. (Excluding the before-time)
Cut angle
0-9999Set the rotation end angle.
Speed
0-9999Set the rotation speed.
Before-time
0-9999
Rotation control actually starts when the preset time has elapsed after the rotation
start.
Torque upper
If the torque value is not within the present range when the
0-9999limit
product stops (When only the torque determination is provided.),it becomes “Rotation torque over or under”. If the motor current 0-9999
Torque lower
during rotation exceeds the equivalent value to the upper torquelimit
limit, it becomes “Gear check NG”. (Only when the gear check isprovided.)
Fitting torque (Fig. 8.1)
0-9999
Rotation ends when it reaches the preset value while rotating. If it does not reacheven if it passes over the cut angle, it becomes "Fitting Angle Over".
Unused1s
1 degree
1 rpm
1 ms

0.1 Nm
0.1 Nm

0.1 NmUnusedPress SAVE button to save data.
Save data on each one of 24 setting types.

Storing data: When “NO. ---” is displayed, if "SAVE" button is pressed, all parameters of Fn. 01 will be saved in memory. Save data oneach one of 24 setting types.

- 80 -

7-4 (Fn.02) Pretightening setting (b_01 to 24: 24 types)
Number

No.00
No.01
No.02
No.03
No.04
No.05
No.06
No.07
No.08
No.09
No.10
No.11
No.12
No.13
No.14
No.15
No.16
No.17
No.18
No.—

Contents
Setting range
Torque upper limit If the torque value is not within the present range when the product 0-9999
Torque lower limit stops, it becomes “Pretightening torque over or under”.
0-9999Time upper limit
If the time at stopping is not within the preset range, it becomes 0-9999“Pretightening time over or under”. (Measure from TQ1)
Time lower limit
0-9999Angle upper limit
If the angle at stopping is not within the preset range, it becomes 0-9999“Pretightening angle over or under”.
Angle lower limit
0-9999Overtime
0-0065
If pretightening does not end within the preset time, the rotation ends and thepretightening determination is performed. (Excluding the before-time.)
First speed
0-9999Set the pretightening first speed.
Position move angle
0-9999It will be unconditionally the third speed after the specified angle.
Third speed
0-9999Set the pretightening third speed.
Before-time
0-9999
Rotation control actually starts when the preset time has elapsed after the pretightening
operation start.
Sample start torque (TQ1)
0-9999Set the measurement standard torque of the time upper/lower limit, angle upper/lower
limit.
Cut torque
0-9999Set the target torque for pretightening. (Pretightening stops when it reaches the target
torque.)Second speed switching angle
0-9999Specify the angle to change to the second speed.
Second speed
0-9999Set the pretightening second speed.
Third speed switching torque
0-9999Set the torque to switch to third speed.
(It is given priority over the second switching angle.)
Premature tightening determination angle
0-9999Specify the angle to determine premature tightening NG. If it reaches the cut torque on
the way from pretightening start to this angle, it becomes premature tightening NG.
Cut angle: Set the target angle from TQ1. (Rotation stops when the angle reaches the 0-9999
target value.)No monitoring time for torque
0-9999Set the time from the pretightening start time to the start time of the torque monitoring.
Press SAVE button to save data.
Save data on each one of 24 setting types..

- 81 -

Unit

0.1 Nm
0.1 Nm1 ms
1 ms
0.1 degree
0.1 degree
1s
1 rpm
1 degree
1 rpm
1 ms

0.1 Nm
0.1 Nm
1 degree1 rpm
0.1 Nm
1 degree

0.1 degree
1 ms

- 82 -

7-5 (Fn.02) Reverse rotation setting (C_01 to 24: 24 types)(To be used for the lock determination and seating detection determination.)
Number

No.00
No.01
No.02
No.03
No.04

No.05
No.06
No.07

No.08
No.09
No.10
No.11
No.12
No.13
To 19
No.—

Torque upper
limit
Torque lower
limitTime upper limit
Time lower limit

Contents
Setting range
Unit
If the torque value at the measurement angle is not within the
0-99990.1Nm
preset range, it becomes “Reverse rotation torque over or under”.
(Determined while stopping)
0-99990.1 Nm

If the time at the stopping is not within the preset range, it
0-9999becomes “Reverse rotation time over or under”. (Measured from 0-0065
the start.)
Overtime
0-0065
If the rotation of cut angle is not performed within the preset time after rotation start,
the rotation stops and the reverse rotation determination is performed. (Measured
from the start, excluding the before-time.)
Cut angle
0-9999Set the angle of reverse rotation.
Second speed
0-9999Set reverse rotation second speed.
Measurement angle
0-9999Angle to store the torque. Performs the torque upper/lower limit determination when
the reverse rotation is finished.
(Measured from the start.)
Before-time
0-9999
Rotation control actually starts when the preset time has elapsed after the reverse
rotation start.
Speed switching angle
0-9999Angle to change speed. (First speed  second speed)First speed
0-9999Set reverse rotation first speed.
Passing torque
0-9999If there is no condition more than the preset value during reverse rotation, it becomesthe “Reverse rotation passing torque NG”.
Seize torque
0-9999If it reaches larger torque than the specified value during reverse rotation, it becomesthe "Reverse Rotation Seizure Torque NG".
UnusedPress SAVE button to save data.
Save data on each one of 24 setting types..
TorqueMeasurement angle
Upper torque limit
Lower torque limit

Passing torque

Speed
Time, angle
First speed
Before-time

Switching angle
Cut angle- 83 -

Second speed

1 ms
1 ms
1s

1 degree
1 rpm
1 degree

1 ms
1 degree1 rpm

0.1 Nm
0.1 NmG7-6 (Fn.02) Final tightening setting (d_01 to 24: 24 types)
The tightening method for final tightening can be selected from the following three methods.
However, if it has been set as no torque sensor in Fn.01, the selection of the tightening method will be ignored.
MethodEnd condition
Reaching the cut torque
TorquemethodAngle method Reaching the cutting angle
Yield method Stops when “Gradient” satisfies the Yield cut

NumberTightening Mode
0: Torque method
1: Angle method
2: Yield method

No.01

Torque upper
limit
Torque lower
limit

No.03
No.04
No.05
No.06
No.07
No.08
No.09
No.10
No.11
No.12

No.13

No.14
No.15
No.16
No.17

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

Zone determination
Tilt determination
Zone determination, tilt
determination

Contents

No.00

No.02

Determination item

Setting
range

Unit

Using parameters
Torque Angle Yield
method method method○○○
Sets the regulated upper limit value of the tightening torque. If ○0-9999 0.1 Nm○○
the torque is not in a range between the upper limit and lower
limit when the product stops, it becomes “Final tightening ○torque over or under”.
If the time at the stopping is not within the present range, it ○becomes “Final tightening time over or under”.
(Measured from TQ2.)○○

0-9999 0.1 Nm○○

0-9999 1 ms

○

○

○

0-9999 1 ms

If the angle at the stopping is not within the present range, it ○becomes “Final tightening angle over or under”. (Measured
from TQ2.)

○

○

○

○

○

Overtime○
If final tightening does not end within the preset time, the rotation ends and thefinal tightening determination is performed. (Excluding the before-time.)
First speed○
Set the final tightening first speed.
Speed switching angle○
Specify the angle to change the first speed to the second speed.
(Measured from the start.)
Second speed○
Set the final tightening second speed.
Before-time○
Rotation control actually starts when the preset time has elapsed after the final
tightening operation start.
Cut torque (TS2)○
Set the target torque for final tightening.
(Rotation ends when it reaches the preset torque.)Set the sufficient value in the case of Angle method.
Cut angle:○
Set the target tightening angle for final tightening. (Rotation stops when theangle reaches the target value.) (Measured from TQ2) Set the enough large value
when you use the Torque method.
snag torque, (TQ2)○
Set the upper/lower limit, the angle upper/lower, and the measurement standard
torque for Yield method.
TQ2 torque upper limit Set the tolerance of TQ2. If the actually used TQ2 is not
TQ2 torque lower limit within the present range, it becomes “Final tightening
snag torque over or under”. (Measured while stopping)
Washer slip detection torqueOnce the torque increases more than the preset value and then goes lower than
this value during final tightening, it is taken as washer slip and all sampled
gradient data will be disabled. (Set a larger value than the Yield sample startvalue.)○○

0-9999 0.1
degree0-9999 0.1
degree0-0065 1 s○○

0-9999 1 rpm○○

0-9999 1 degree○○

0-9999 1 rpm○○

0-9999 1 ms○○

0-9999 0.1 Nm○○

0-9999 1 degree○○

0-9999 0.1 Nm

○
○

○
○

0-9999 0.1 Nm
0-9999 0.1 Nm○

0-9999 0.1 Nm

Time upper
limitTime lower
limit
Angle upper
limit
Angle lower
limit- 84 -

Number

No.18

No.19
No.20
No.21
No.22

No.23

No.24

No.25

No.26

No.27
No.28

Contents

Settingrange

Yield restart torqueAfter the determination of washer slip, if the torque that exceeds the preset value
is detected, the sampling process for gradient data will be resumed. (Set a larger
value than the Yield sample start value.)
Gradient sampling number (0.5
Set the method to obtain the gradientdegree intervals)
data. (See P87)
Moving average quantity (0.5 degreeintervals)
Zone determination start torque(Torque method)○(Torque method)
Set the zone when the zone
determination is performed.
QC check torque (Yield method)
Zone determination torque tolerance (Yield method)○
If the torque at stopping is not within the(Torque method)range of （QC check torque）±（Torque
QC check torque tolerance (Yield
tolerance）, it becomes “QC check torquemethod)NG”.
Zone determination end angle○
Ifthe angle at stopping is not within the(Torque method)preset range, it becomes “QC check
Zone determination start torqueangle NG”. (Measured from TQ2)
standard
QC check angle (Yield method)
Zone determination angle tolerance(Torque method)
QC check angle tolerance (Yield
method)○Zone monitoring range (Torque method)
Set to enable/disable the zone determination.
0:No zone monitoring
1: NG over the range
2:NG less than the range 3: NG except the range
QC check cutting angle (Yield method)
If the angle at stopping exceeds the preset value, it becomes “QC check angleNG”. (Same as NG to be detected by No23, 24)(Measured from TQ2)
Over cut angle
Set the maximum rotation angle from the start of final tightening.
If it exceeds this angle, the rotation ends and it becomes the “Final Tightening
over cut angle NG”.
Yield sample start
Set the torque that starts obtaining the gradient data.
Yield cut（Angle method）
Performs the “Final tightening gradient NG” using the following formula.

○

Unit

○

0-9999 0.1Nm

○

○

○

○

1 to
2
128
degrees
1 to1
128
0-9999/ 0.1 Nm/
0-9999 0.1 Nm

○
○

○
○

0-9999/ 0.1 Nm/
0-9999 0.1 Nm
0-9999/ 0.1
0-9999 degree/
0.1
degree0-9999/ 0.1
0-9999 degree/
0.1
degree0-9999 0.1
degree○○0-9999 1 degree○

0-9999 0.1 Nm
0-9999 1 %○*Preset valueGradient at the end of final tightening/Gradient immediately after the Yield
sample started x100

If “0 or 1” does not execute “Final tightening gradient NG” determination.
Yield cut（Yield method）
The following formula terminates the tightening process.

○

0-9999 1 %○○○0-9999 1 %0-9999 1○○

0-9999 1 ms○○

0-9999 1 rpm○○

0-9999 0.1Nm○○

0-9999 1 degree*Preset valueGradient at the end of final tightening/Gradient immediately after the Yield
sample started x100

No.29
No.30
No.31
No.32
No.33
No.34
No.35
No.36

Yield cut detection width
Yield cut detection number
Washer slip enabled
Set Enable/Disable of washer slip detection 0: Disabled 1: Enabled
No monitoring time for torque○Set the time from the start of pretightening to the time to start torque monitoring.
Unused3rd speed○
Set speed 3 of the final tightening.
Speed 3 select torque.
○
Set the torque to change to 3rd speed. （It is given priority over Speed 2 selectangle.）
Premature tightening determination angle○
Specify the angle to judge premature NG.
Premature tightening NG is judged when it reaches to the cut torque between
the final tightening start to this angle.

- 85 -

Number

No.37
To 39
No.—

Contents

Settingrange

UnusedPress SAVE button to save data.
Save data on each one of 24 setting types..

○- 86 -○○

Unit

Determination range
at stopping

Upper angle limit
Lower angle limit

Torque upper
limit

Determination angle
tolerance

Cut torque
Zone upper side
Zone range
Sample start torque
Zone determination
range setting

TorqueZone lower side

Zone determination
start torque
Determination torquetolerance

Zone determination
end angle

Torque lower
limit

Cut torque

Determination range whilerotating[Zone determination range setting]Washer slip detection method
TorqueYield restart torque
Washer slip detection torqueTime, angle- 87 -

- 88 -

7-7 (Fn.02) Rating setting (E_ 01 to 30: 30 types)
Number

No.00
No.01

No.02

No.03

No.04
No.05
No.06

Contents
Torque sensor rating
Set the torque when the torque sensor output is 10V.

Setting range

0-9999Tightening direction, Nut runner model**□□| | +——
Specify the Nut runner type (See, P90)
| +————
Existence of torque sensor|
0: Equipped
1: No+————— Tightening direction
0: Tighten the motor clockwise as viewed from the encoder side. (Tighten as the
motor axis end turned CCW.)
4: Tighten the motor counterclockwise as viewed from the encoder side. (Tighten as
the motor axis end turned CW.)
Limit over
0-9999Set the change tolerance of the value per zero magnification check.
When the output value of the last time zero magnification check and the present output
value are compared and the difference exceeded the preset value,
it becomes “Zero offset error” and “Magnification error” respectively.
(About 2% of torque sensor rating)Set over0-9999Set the tolerance of the value per zero output and magnification output in the case of zeromagnification check.
When it exceeds Zero point output=(zero point preset)±（set over） andMagnification output=(magnification preset)±（set over）, it becomes “Zero offset error” and“Magnification error”.
(About 5% of torque sensor rating)Zero point preset
0-9999Set t
he output voltage without torque sensor load by the torque conversion. Usually set “0”.
Magnification preset
0-9999Set the output voltage by the torque conversion when the torque sensor magnification ischecked. Usually set a half value of the “torque sensor rating”.
Gain offset
0-9999Use to correct the torque (current) sensor output (gradient). If gain offset is not
performed, set a half value of the "sensor rating". Torque after offset is calculated by
the following formula.

Unit

0.1 Nm

0.1 Nm

0.1 Nm

0.1 Nm
0.1 Nm
0.1 NmSensor output voltage (V)Torque after offset =Torque sensor rating ×

No.07
No.08
No.09
No.—

10 (V)

×

Gain offset
Magnification preset

If the torque after offset is set larger, it is qualified as the torque sensor with large
rating.
Deceleration ratio
Input deceleration ratio of Nut runner gear.
Set the motor axis rotation number required to rotate the tightening axis one turn.
UnusedUnusedPress SAVE button to save data.
Perform saving operation on each 30 types of data.

0-99990.1 rev

Saving the data: When the “SAVE” button is pressed at the “No. --“ display, the data will be saved. Perform the saving
operation for each one of 30 types setting.

- 89 -

□□

Nut runner type□□Nut runner type

00
01
02
03
04
05
06
07
08
09
0F
10
11
12
13
14
15
16
17
18
19
1A

ANZ-200
ANZ-350
ANZ-500
ANZ-850
ANZ-1500
ANZ-2000ANZ-3000ANZ-3500
ANZ-4500
ANZ-4500H
ANCKH-150
ANCKH-300
ANCKH-600
ANCKH-1000
ANZ-6000
ANZ-8000
ANZ-12000
TS4200TS4201TS4202TS4203
TS4204

1b
21
27
28
29
2A
2B
2C
2D
2E
2F
30
31
32
33
34
35
36
37
38
39
63

TS4204N31
ANCKHM-200
ANCKHM-500
ANZM-1600-old
ANZM-3000-old
ANCKHM-400
ANZM-250
TS4603N1920E203
ANZM-350
TS4617N1920E203
ANZM-500
ANZM-850
TS4609N1920E203
ANZM-1600-new
ANZM-2000
ANZKM-700
ANZM-3000-new
TS4619N1922E207
ANZM-5000
ANZM-7000
ANNZM-9000
Others* Rating setting

Fn.02 E_01～30

Refer to no.2

7-8 (Fn.03) Input monitor
Number

In.00
In.01
In.02
In.03
In.04
In.05
to
In.06

Contents
External input signal monitor
Indicates the state of input signal input from CN1.
Sensor importing value
Displays the torque sensor output +10V in "7FFF".
Encoder counter
Integration counter from the motor commutation initialize position(Motor one rotation at 400 hex)
Time (hour. minute) (Only when connected with I/F unit)
Display example: 07.30: 7:30
To change, perform by Fn. 09.
Date (month. day) (Only when connected with I/F unit)
Display example: 04.01: April 1st
To change, perform by Fn. 09.
SIO input signal monitor
It is possible to monitor SIO input signal. Select the unit to be monitored by Fn.10-IF. 5.
It shows the state as follows:
In.05 Upper 8 bit: SIO input "1"
Lower 8 bit: SIO input "0"In.06 Upper 8 bit: Not decided
Lower 8 bit: SIO input "2"

Monitor display only. Contents cannot be changed.

- 90 -

Display range

0-FFFF (bit)0-±7FFF
0-FFFF00.00 to 23.59
01.01 to 12.31
0-FFFF (bit)7-9 (Fn.04) Output monitor
NumberContents

Setting range

OU.00 External output signal monitor

0-FFFF (bit)OU.01 Dummy output

0-FFFF (bit)Indicates the state of output signal output from CN1.

OU.02
to
OU.10

It can output the forced ON/OFF command for the external output signal.
This output is to check connection with equipment at a higher rank.
Internal status will not be changed with this value.
SIO output signal monitor
0-FFFF (bit)
It is possible to monitor SIO output signal. Select the unit to be monitored by Fn.10-IF._5. It
shows the state as follows:(Unconf
irmed) OU.02
OU.03
OU.04
OU.05
OU.06
OU.07
OU.08
OU.09
OU.10

Upper 8 bit: SIO output "1"
Upper 8 bit: SIO output "3"Upper 8 bit: SIO output "5"Upper 8 bit: SIO output "7"Upper 8 bit: SIO output "9"Upper 8 bit: SIO output "11"Upper 8 bit: SIO output "13"Upper 8 bit: SIO output "15"Upper 8 bit: Not decided

Lower 8 bit: SIO
Lower 8 bit: SIO
Lower 8 bit: SIO
Lower 8 bit: SIO
Lower 8 bit: SIO
Lower 8 bit: SIO
Lower 8 bit: SIO
Lower 8 bit: SIO
Lower 8 bit: SIO

output "0"
output "2"
output "4"
output "6"
output "8"output "10"output "12"output "14"output "16"*Points to notice
Indication is displayed in hexadecimal numeral. To convert to data of parallel I/O, carry out the following conversion:
Convert (indication contents of 4 digits) from hexadecimal to binary numeral.
Right end value after conversion (LSB) corresponds to IN 0/OUT 0.
15/OUT 15.

As it goes to the left side, it becomes 1,2…IN

If there is no corresponding digit, convert as “O”.

1: Input/Output signal ON

0: Input/output signal OFF(Simple example) IN/OUT15 ----------- 0
Indication “0007” → “0000000000111” IN/OUT 0～2:ON

IN/OUT 3～15:OFF

Indication “E007” → “1110000000000” IN/OUT 0～2:OFF

IN/OUT 3～15:ON

7-10 (Fn.05) Operation result monitor
No.00
No.01

NumberContents
Final tightening torque (Torque when final tightening is complete)
Final tightening angle (Angle from TQ2 torque to the completion)

0-999.90-999.9

No.02
No.03
No.04
No.05
No.06
No.07

Final tightening time (Time from TQ2 torque to the completion)
Final tightening TQ2 torque (Actually used TQ2 torque)
Final tightening total angle (from start)
Final tightening total time (from start, including the before-time)
Pretightening torque (Torque when pretightening is complete)
Pretightening angle (Angle from TQ1 torque to the completion)

0-99990-999.90-99990-99.99
0-999.90-999.9

No.08
No.09
No.10
No.11
No.12
No.13
No.14
No.15
No.16
No.17
No.18
No.19
No.20
No.21

Pretightening time (Time from TQ1 torque to the completion)
Pretightening TQ1 torque (Actually used TQ1 torque)
Pretightening total angle (from start)
Pretightening total time (from start, including the before-time)
Reverse rotation torque (Torque at the measurement angle)
Reverse rotation angle (from start)
Reverse rotation measurement angle (Actually used measurement angle position)Reverse rotation total time (from start, including the before-time)
Rotation torque (maximum value during rotation)
Rotation angle (from start)
Rotation time (from start, including the before-time)
Program total time (from start to block end, including the before-time)
Zero point (indicating the value just before)
Magnification (Displays the value immediately before)

0-99990-999.90-99990-99.99
0-999.90-99990-99990-99.99
0-999.90-99990-99.99
0-99.99
0-999.90-999.9- 91 -

Setting range

Unit

0.1 Nm0.1
degree1 ms
0.1 Nm
1 degree
0.01s
0.1 Nm0.1
degree1 ms
0.1 Nm
1 degree0.01 s
0.1 Nm
1 degree1 degree0.01 s
0.1 Nm
1 degree0.01 s0.01 s
0.1 Nm
0.1 Nm[Following functions are valid only when the interface unit is connected.]
7-11 (Fn.06) Printer operation
Number

Pr.00
Pr.01
Pr.02
Pr.03
Pr.04
Pr.05
Pr.06
Pr.07
Pr.08
Pr.09
Pr.10

Contents
UnusedRotation setting print
Reverse rotation setting print
Pretightening setting print
Final tightening setting print
Rating setting print
Program contents print
Axes arrangement data print
Final data print
If there is no data, it does not print.
UnusedAll data print

Setting range
Set data and press SAVE
button to print the
1 to 24
specified contents.
1 to 24

1 to 24
1 to 24
1 to 30
1 to 24
1 to 24
1 to 30
Unnecessary

Set values cannot be saved.

7-12 (Fn.07) Unused

7-13 (Fn.08) RAM monitor for debugging(Used by the manufacturer)

Monitors the data of RAM in the CPU by designating the address.
Click on the SAVE button to change the address and DATA button to display the data.
RAM contents cannot be changed.

7-14 (Fn.09) Unused- 92 -

Unit7-14 (Fn.10) I/F unit setting
Number

IF._0

IF._1

IF._2
IF._3

IF._4

IF._5
IF._6

IF._-

Contents

Setting range

Printer output setting
0 to 30: No print out
1: All printed out 2: Only NG printed out
3: Only first N units + NG are printed out.
Printing is performed at the block end of each unit.
Print item:
Bit unit
Bit 0: Rotation result
1: Print 0: No
Bit 1: Pretightening result
1: Print 0: No
Bit 2: Reverse rotation result
1: Print 0: No
Bit 3: Final tightening result
1: Print 0: No
Bit 4: Zero magnification result 1: Print 0: No
Number of final tightening for the initial time
0 to 99
Set the number of final tightening to print out after the power is turned on when the print
mode is set 3.
Set the personal computer communication speed to the digit of 1.
0 to 22
0: 9600 bps 1: 19200 bps 2: 38400 bps
Set the display communication speed to the digit of 10.
0*:38400bps 1*:57600bps 2*:76800bps
External display
0, 1, 11
0: Disabled
1: Enabled
11: Language switching (Sends the language switching information to a printer.)(1: Japanese 11: English)
SIO signal monitor unit selection
1 to 7
Select the unit to monitor the SIO signal by Fn. 03 and Fn. 04.
Resolution of the wave data to the display.
5 to 20
Set the resolution of the wave data to transmit to the external display.
(Set at the unit of 0.5 degree.)
Example 0.5゜:05 1.0゜:10 1.5゜:15 2.0゜:20
Press SAVE button to save all data of Fn. 10 in one lump.

Unit

0.1 degree

7-15 (Fn.11) Unit setting
NumberNO. □□

Contents□□ is the axis number.
For data, set the unit number that each axis belongs to in the form of Un-○○.
Unit setting value will be the station number of SIO.
Make sure to set "Un. 01" for the axis with I/F unit.
For axes to axis cutting, set the unit number to "Un. _-".

NO.――

Press SAVE button to save all data of Fn. 11 in one lump.

7-16 (Fn.12) ID controller connection setting
Number
No._0
No._1
No._2
No._3
No._-

Contents
ID controller connection setting (Output contents setting)
ID controller connection setting (Output digit number setting)I/F unit

Selection of CH2 function

SIO start address settingEnter a number of “1” to “7”.
Press SAVE button to save all data of Fn. 12 in one lump.

Please refer to Page 117-120 for the details of the F12 abovementioned.

- 93 -

Setting range
Un. 01 to Un. 07
Un. _-

8. Supplementary8-1. Sub serving function for operation(1) Checking the zero magnification per zero magnification check function tightening block
To check the existence of CHECK, give or remove the check mark in the check box on the program setting screen.
(2) History data saving function
Saves the history data to each driver by using the reset input as a trigger signal after the tightening total determination is
output.
To check the data, read the data from the GSS_PC-Automatic measurement screen-Tightening history screen. (To read,load the history data to PC by specifying an axis or all axes. Cancel switch is provided.)(3) Waveform sampling function
Saves two data types of waveform 1 and waveform 2 in the 2048 data each axis driver.
(Next time, data will be overwritten by tightening)Waveform 1:Save at 10ms. intervals from the block start to the block end.
Waveform 2: Save at the angle 0.5 degree intervals from the final tightening snag TQ to the end of final tightening.
It is possible to store waveform data 1 after tightening by the setting soft and to get
waveform data 2 by the regular connection (online).
Automatic save selection function for waveform 1 or waveform 2 is provided by the GSS_PC ini fileIt is also possible to read and save the waveform from the start after tightening.
8-2. Driver function
Regenerative function: Regenerative circuit is built in order to consume the excessive drive voltage through theinternal resistor when it exceeded the preset value.
(Regenerative resistor is externally attached.)
Discharge function:

Discharges the drive charge voltage by pressing the puss button on the panel.

Analog monitor:

Outputs the monitor signal by the check pins on the panel. (Can be selected by parameters)
Standard load inertia: JL  30 JM

Parallel input/output:

Processes the basic operation with input 16 points and output 16 points.
Any tightening is possible at the multiple timing by connecting the parallel leads to the top
axis that is set by the unit when the multiple units is set.
1st axis: Parallel input/output (each 16 points)
2nd axis: 1 to 16 axes OK output, 1 to 16 axes - axes cutting set input
3rd axis: 17 to 30 axes OK output, 17 to 30 axes - axes cutting set input(* However, the axis cutting input as mentioned above is enabled only when #1 to 3 axis has Unit no.1.)

Tightening history save: Saves about 6000 tightening data at the E2PROM of each axis. Setup software is used to read thehistory.

Alarm history function: GSSW stores 16 times of alarms. Setup software is used to read the alarm history.

- 94 -

9. Monitor output
Usually, the current sensor output and speed feedback values are output to the M1 and M2 terminals on the front ofdriver. It is possible to change the contents to output to each terminal by changing the parameters.
Fn.-01–PA.07 (MADRS1)
Fn.-01–PA.08 (MADRS2)

Contents
Torque sensor output

Motor current command

Speed feedback

M1,M3 terminal output contents (Setting at shipment: 021F)
M2,M4 terminal output contents (Setting at shipment: 0222)

Settingvalue
021F

Applicable type
Common
GSS-*1-N04-M
GSSW-*1-N04-M
GSS-*3-N04-M
GSSW-*3-N04-M
GSS-*4-N04-M
GSS-*5-N04-M
GSS-*7-N04-M
Common0239

0222* 1: Standard specification (connector type)* T: T specification (with a heatsink + Connector type)- 95 -

Output scale
Max. torque of torquesensor/5V
8.8 Arms/5 V
17.7 Arms/5 V
29.5 Arms/5 V
44.3 Arms/5 V
88.6 Arms/5 V
16384 rpm/5 V“+” by rotating to the right(CCW)10. Code table10-1 NG code list
Operation

Code display

FFFF

0001
Zero
magnificationand others

0002

0003
0004

0033

0106
Rotation

0107

0108
0111
0112
0207
Pretightening

0208

0211
0212
0221
0222
0231
0232
0306
Reverse rotation

0307
0311
0312
0321
0322

Contents

Related parameters

Emergency stop
Operation ready OFF during operation, or start OFF during program
operation.
Zero point offset error
Fn02-E□-No03
Zero point output exceeded the set over during the zero point check.
Magnification error
Fn02-E□-No03
Magnification output exceeds the set over range when Zero/Magnificationis checked.
Zero point offset fluctuation error
Fn02-E□-No02
Output difference between this time and last time exceeded the limit over.
Magnification change error
Fn02-E□-No02
Difference between outputs of last time and preset time exceed the limit
over.
Sampling angle overFn01-PA.24
Rotated more than 9999 degrees during the tightening angle sampling
operation.
Gear check NG1
Fn02-A_□ -No02
It reached to the cut angle while monitoring no-torqueFn01-PA.19
Gear check NG2
Fn02-A_□ -No.05
Motor current exceeded the equivalent value to the upper torque limit whilerunning.
Fitting angle overFn02-A_□ -No02
Does not reach the fitting torque even if it exceeds the cut angle.
Fn02-A_□ -No07
Rotation torque overFn02-A_□ -No05
Torque at stopping exceeded the upper limit.
Rotation torque under
Fn02-A_□ -No06
Torque at stopping does not reach the lower limit.
Premature pretightening NG
Fn02-b_□ -No15
Reached the cut torque switching torque while operating in the first speed. Fn02-b_□ -No16
Twice tightening of pretightening NG Torque reached the total of the 3rd Fn02-b_□ -No15
speed switching torque + incremented torque (Fn01 -23) between the start Fn02-b_□ -No16
and premature tightening determination angle.
Fn01-PA.23
Deceleration NG Speed is not the 3rd speed when it reached the sample
start torque or cut torque.
Pretightening torque over Torque value at stopping exceeded the upper Fn02-b_□ -No00
limit.
Pretightening torque under
Fn02-b_□ -No01
Torque value at stopping does not reach the lower limit.
Pretightening time overFn02-b_□ -No02
Time at stopping exceeded the upper limit.
Pretightening time under
Fn02-b_□ -No03
Time at stopping does not reach the lower limit.
Pretightening angle overFn02-b_□ -No04
Angle at stopping exceeded the upper limit.
Pretightening angle under
Fn02-b_□ -No05
Angle at stopping does not reach the lower limit.
Reverse rotation passing torque NG
Fn02-c_□ -No11
Did not reach torque more than the preset torque during operation.
Reverse rotation seizure torque NG
Fn02-c_□ -No12
Reached torque more than the preset torque during operation.
Reverse rotation torque overFn02-c_□ -No00
Torque value at the measurement angle exceeded the upper limit.
Fn02-c_□ -No07
Reverse rotation torque under
Fn02-c_□ -No01
Torque value at the measurement angle does not reach the lower limit.
Fn02-c_□ -No07
Reverse rotation time overFn02-c_□ -No02
Time at stopping exceeded the upper limit.
Reverse rotation time under.
Fn02-c_□ -No03
Time at stopping doe not reach the lower limit.

- 96 -

Operation

Code display

0403
Final tightening

Contents

Related parameters

Final tightening zone NG
It became NG by the zone determination using Torque method
Final tightening gradient NG
Gradient exceeded the preset value by Gradient method.
Action ended before obtaining the basic gradient.
QC check torque NG
Torque at stopping exceeded the range.
QC check angle NG
Angle at stopping exceeded the range.

0404

Fn02-d_□ -No21 to 24

Fn02-d_□ -No19
Fn02-d_□ -No20
Fn02-d_□ -No21
Fn02-d_□ -No21
Fn02-d_□ -No21
Fn02-d_□ -No23
Fn02-d_□ -No24
Fn02-d_□ -No25
Final tightening premature tightening NG
Fn02-d_□ -No35
Torque reached the cut torque switching torque between the start and Fn02-d_□ -No36
premature tightening determination angle.
Final tightening torque overFn02-d_□ -No01
Torque value at stopping exceeded the upper limit.
Final tightening torque under
Fn02-d_□ -No02
Torque value at stopping does not reach the lower limit.
Final tightening time overFn02-d_□ -No03
Time at stopping exceed the upper limit.
Final tightening time under
Fn02-d_□ -No04
Time at stopping does not reach the lower limit.
Final tightening angle overFn02-d_□ -No05
Angle at stopping exceeds the upper limit.
Final tightening angle under
Fn02-d_□ -No06
Angle at stopping does not reach the lower limit.
Final tightening snag torque overFn02-d_□ -No14
Used TQ2 exceeded the range.
Fn02-d_□ -No15
Final snag torque under
Fn02-d_□ -No14
Used TQ2 does not reach the range.
Fn02-d_□ -No16

0405
0406

0407

0411
0412
0421
0422
0431
0432
0441
0442

10-2 Alarm code table
Driver alarm display list
Code display
contents
AL10
Power drive error

Detected cause
Power drive error is
detected.
Over current, over heaterror, control power
supply error

Situation

Cause

Occurs simply whenpower supply is turned on
Occurs when operated

Occurs during
acceleration anddeceleration
Occurs during operation
AL20
Overload alarm

AL30
Speed alarm

Average value ofmotor current
exceeded the detecting
level (Fn.01-PA06)

Motor speed exceeded
detection level(Fn01-PA05)

Motor vibrates whilerunning
Occurs during
acceleration anddeceleration
Occurs during rotation ata constant speed
Occurs simply when
operation starts
Occurs during operation

Measures

GSS defectReplace GSS

Wire short-circuit of motor

Check wiring to motor
Replace motor
Replace GSS
Replace GSS

GSS defect
GSS adjustment improper
Internal overheat
Adjustment improper
Too much acceleration/deceleration
Too much load torqueMotor wire wrong connection/not
connected
Locking of mechanical rotation part
Speed overshoot
Encoder error
Sensor signal receiver error- 97 -

Improve heat radiating
condition
Ease operating condition
Readjust gain
(Fn.01-PA00 to PA03)
Lower acceleration/
deceleration speed(Fn.01-PA21)
Increase motor size
Check wiring
Check mechanism
Readjust gain
(Fn.01-PA00 to PA03)
Replace motor
Replace GSS

AL40
Encoder initialerror

Failed to initialize
commutation

Motor does not rotate afterdrive power supply isturned on

Wrong wiring to motor
Motor defectMechanism is too heavy to operate

Motor rotates after drive
power supply is turned on

Disconnection in sensor signal leads
Motor defectSignal receiver defectSignal receiver defectCheck wiring to the motor
Replace motor
Improve mechanism
sectionCheck wiring
Replace motor
Replace GSS
Replace GSS

AL48
Angle data reading
error

Sensor position datacannot be read normally

Occurs during operation

AL60
Sensor signal error

Sensor is disconnected

Occurs when power supply
is turned on

Sensor signal disconnection

AL71
Drive power supply
over voltage

Drive voltage is highOccurs during deceleration

Regenerative ability insufficient

Occurs simply when power
supply is turned on

Drive voltage specification is wrong

Check wiring
Loose connection
Replace motor
Replace GSS
Lower acceleration/
deceleration speed(Fn.01-PA21)
Change GSS

GSS defectRegenerative resistor broken

Replace GSS
Replace GSS

Regenerative processing ability
insufficient
Drive voltage specification is wrong

Change GSS

AL72
Regeneration circuit
error

Regeneration processing
circuit malfunctioned

Occurs during deceleration

Occurs simply when power
supply is turned on

Voltage detecting circuit malfunction
AL80
Drive power supply
interrupted

Drive voltage is too low
Momentary powerinterruption (about 0.1
sec.) occurredOccurs during operation

AL90
Driver section
E2PROM error

Data cannot beread/written from/to
E2PROM

Occurs when power supply
is turned on
Occurs when parameters
are saved

ALC0
Program NO error

Program selection
error/contents error

Change GSS
Check power supply wiring
Replace GSS

Voltage drop and power supply
momentary interruption of input power
supplyDrive power supply was cut off during
GSS operation
E2PROM defect/operating life

Check input power supply

Occurs when program
starts/while executing

Specified program number is 0, or morethan 25

Check program selection
signalThere is no content of specified program
Block number is not set from 1 in order
Block numbers are doubled
There are more than 15 block numbers.
Block numbers of all axes in the unit do
not match.
E2PROM defect/operating life

Reconfigure program
Reconfigure program

Occurs at a specific timing

Check higher rank timing
Replace GSS

ALC1Program step error

Undecipherable step has
been set

Occurs when program starts

ALC2
No operating axis
error
ALC3
I/F unit E2PROM
failureSpecified axis is not
actually installed

Occurs when power supply
is turned on

Unit setting mistake

Check unit setting axis

Data cannot beread/written from/to
E2PROM

E2PROM defect/operating life

Replace I/F unit

ALC4
*M-NET
Communication error(M-net version)*CC-Link
Communication error(CC-Link version)

M-NET(CC-Link)
communication stopped

Occurs when power supply
is turned on
Occurs when parameters
are saved
Occurs within 10 seconds
after control power supply
is turned on

M-NET (CC-Link) connection wrong
wiringSequencer failure

Check wiring

Occurs during the operation

Check wiring=
CPU error

CPU cannot operate
normally

M-NET connecting leads shieldtreatment defectSensor/M-NET signal wrong wiring
GSS defectReplace GSS

Sensor/M-NET signal wrong wiring

Check wiring
Check/replace sensor

GSS defectReplace GSS

LED OFFCPU is not operating

Becomes normal when thesensor cable/M-NET
connection is disconnected
Occurs when power supply
is turned on
Becomes normal whensensor cable/M-NET
connection is disconnected
Occurs when power supply
is turned on- 98 -

Replace I/F unit

Check sequencer setting

Check wiring

11. Display layout

Displayed when the power is supplied.

Displays when the program is not selected.

12

Displays the arrangement of axes.

Displays the total OK when output after tightening

Displays white display before tightening,
green when tightening is OK and red when tightening is NG.

Displays the data of tightening result.
Tightening result message appears in the MSG section.

Example： Tightening condition

Message display

1. When tightening is OK

OK

2. Final tightening torque overFinal tightening torque
over
etc.

- 99 -

Waveform is displayed based on data obtained by thetightening results.
This is the waveform display from TQ2 value to thefinal torque of final tightening.

* It is not displayed in the case of pretightening NG orreverse rotation NG.
Mostly used for tightening by Angle method.

『+1』と『-1』のボタンにて表示軸を切替えます

It is possible to check the details of parameters fortightening setting.

* It is impossible to change the setting value.

It is possible to change the language to be displayed on
the display.

Available languages are Japanese and English.

- 100 -

It is possible to check the parameter for rating setting ofeach axis.

Display axis can be switched by “+1” and “-1” buttons.

It is possible to check the parameter of the rotation
setting.

Setting No. can be switched by “+1” and “-1” buttons.

It is possible to check the details of program list.

Program number and axis number can be switched by“+1” and “-1” buttons.

Up/down arrow buttons switch the list number.

- 101 -

It is possible to check the parameter for pretightening.

Setting No. can be switched by “+1” and “-1” buttons.

It is possible to check the parameter for reverse rotation setting.
Setting No. can be switched by “+1” and “-1” buttons.

- 102 -

It is possible to check the parameter for final tightening
setting.
Setting No. can be switched by
buttons.

- 103 -“+1” and “-1”

It is possible to check the input/output of I/O monitor.

Clicking on the arrow button switches the screen number.

- 104 -

12. Maintenance and check12-1 Precautions
12-1-1 Precautions for maintenance and checkBefore removing the unit, make sure to cut off the power supply, and discharge the voltage by operating DISCHARGE, anddetect the voltage.

Do not operate when your hands are wet. Doing so may cause electric shock.
Do not attempt the insulation resistance test of the driver with a Megger tester. Doing so may damage the driver.
Do not disassemble or repair the product at the customer end.
General operating condition:
Ambient temperature should be at the annual average 30C and the load ratio be less than 80% and operation be less than 20hours a day.

12-1-2 Check items
Daily checkCheck for unusual vibration or sound.
Check for abnormal odor.
Check the wire for flaw and cracks. Special care should be taken to inspect the movable cables.
Check the driver ventilation hole for foreign matters attached.
Periodical check (1 year)

Check the screws at tightening point for loosened condition.
Check the tightening section for alignment failure.
Check the cooling fan for any damage.
12-1-3 Operating life
Changes depending on the environmental condition and usage. It is required to replace the component if the abnormal condition
is detected.
To replace the parts, please return it to the manufacturer for repair.
Product
DriverComponentStandard replacement interval

Remarks

Capacitor

About 5 years

Relay

100,000 times operation

Cooling fan

10,000 to 30,000 hours

Battery

10,000 to 50,000 hours

E2PROM

10,000 times of overwriting operation

Standard replacement interval is
only for your reference. It is
required to replace when thedefective condition is found even
if it has not reached the standard
replacement interval.

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

12-1-5 Relay

Contacts wear due to the open/close current. Relay reaches the life limit by about 100,000 times of operation.
12-1-6 Cooling fan

Due to the bearing’s operating life, the cooling fan has the life of 10,000 to 30,000 hours under continuous operation.

- 105 -

12-1-7 Battery

Battery life is basically about 5 years, but it varies depending on the application to use.
12-1-8 E2PROM

E2PROM for parameters storing has the limit of overwriting frequency. Data holding time is about 10 years.
12-2 Guarantee
The overwriting frequency under the guaranteed condition is as follows as an outline. It is restricted by theshortest condition in the following terms.
Parameter overwrite (Fn01 to Fn12)

Each 10,000 times/total

Program overwrite

10,000 times/each axis

Tightening history data

Tightening of about 10,000,000 times/each axis

Engine number data

About 59,520,000 units

Alarm history

Alarm 10,000 times occurrence/each axis

12-3 Tightening operation glossary
UNIT:
Multiple axes control up to 30 axes can be treated as each axis to independently operate or as a group of several axes (aunit) to operate together. One interface unit can control the maximum 7 units. At least one controller belongs to one unit
(maximum 30 axes control to one unit), and one input command is assigned to one unit and then all belonging axes start
operation simultaneously. In SIO, different station numbers are assigned to each unit.

PROGRAM:
Screw tightening program can form the program from 1 to 24 on each axis. One program begins with the control flag
(Zero magnification check is performed or not, etc.) and rating setting, and it is possible to set operation to maximum 77
steps. However, the rating block number, screw number and end is handled as 1 step. At least one block should have been
set in the program.

BLOCK:
A set of operations in tightening program. Block start begins from rating step and shows the set of steps to the end
declaration. In automatic operation, one-time program start executes one block. It is also possible to start from the blockon the way by designating the block number. The determination (Block OK/NG) against the operated block is output on
the step in the block end declaration. If "NG" is determined on either step in the block, it becomes the "block NG"
determination (excluding the case when there is a retry); the next step will not be executed.
After determination output, the program start initiates the next block.

- 106 -

STEP:
Each operation (Rotation, pretightening, reverse rotation and final tightening), block start declaration, screw number,block end declaration, and retry are called steps respectively. Step 1 will be always the block start declaration and the step
2 will be always the screw number because more than one program is needed in a program. Program is executed from thestep 1 and finished by the end declaration at the final block. On the step of the final block end declaration, the total
determination (Total OK/NG) is output.
Each axis in the unit operates by step synchronization and the axis in which step has been complete turns OFF the servo
motor and waits for the step completion of other axes. When steps of all axes are complete, the next step will be operated.

QL 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 themanual torque wrench to the controller. This input is called a QL input.

RETRY:
It is possible to retry (try again) operation if NG occurred in each operation (rotation, pretightening, reverse rotation or
final tightening) in the block. When the retry operation is set on the step, if NG occurred on the way from the block startdeclaration till the previous step of retry, the operation following the retry will be executed. If NG did not occur, theoperation following the retry will not be executed.

ROTATION:
Used for screw pick up (a socket picks up a screw head) operation before tightening or preventive operation against
socket-engagement after tightening.
PRETIGHTENING:
Operation to perform temporary tightening until a screw seats.

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

FINAL TIGHTENING:
Final tightening operation of screws

ZERO MAGNIFICATION CHECK:
Inspects the torque sensor zero point and magnification (Output voltage at 1/8 momentary maximum current).
*When the zero magnification check is set on the program, the zero point of the torque sensor becomes zeroautomatically. However, the value exceeding the one of set over of the rating setting becomes “Zero magnification NG”.

- 107 -

Applicable to QC personal computer:
Automatic gain of the tightening data and tightening waveform (Simultaneous use with a printer is not possible.)*Tightening data: Machine No., Axis No., Screw No.,Date, Time, Program No., Pretightening torque, Pretightening angle, Reverse
torque, Reverse time, Reverse angle, Final tightening torque, Final tightening time, Final tightening angle, Finaltightening snag torque, Gradient, Rotation torque judgment, Unit No., Engine No.
*Tightening waveform: Waveform from the final tightening snag torque to the finish.

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

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

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

END, STOP：
During tightening operation (rotation, pretightening, reverse tightening and final tightening), the operation may befinished to stop when the condition is matched. This point that the condition matches (during the motor running) isdefined as “End” and the point actually the motor stopped is defined as “Stop”. Most NG determination is executed after“Stop” is established.

- 108 -

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

GSS(W) GSL(W)

Driver Unit

110Ω resistor

Arc NetDriver Unit

Connection Drawing

Driver Unit

Arc NetCOMMUNICATION

Driver Unit

InterfaceUnit

220Ω resister*Set 220Ωresistor to (+)(-) on the arc net connector of the driver (1 st axis) which is the closest to theInterface unit and set 110Ωresistor to (+)(-) of the end unit for the arc net connection.
*The arc net wiring is unnecessary when the driver unit to be used is one.

☆Precautions to use M-net communication
Make sure to set the SIO start address setting “Fn.12 No.03” from the controller panel when SIO is selected for thecommunication with PLC. (If the PLC SIO address does not match the GSS controller SIO start address, thecommunication between PLC and GSS cannot be established.)☆Precautions to use CC-Link communication
The CC-Link system to use with GSS,GSSW system is below (1).
I/F unit can set below (3) communication baud rate and below (4) slave station number.
PLC also must set below (1) system and match the PLC setting of (3)communication baud rate,(4)slave staition
number to CC-Link I/F setting of the same.
(1)CC-Link System Summary
・Version：

CC-Link Ver.2.00(Can not connect to Ver.1.00 Maseter terminal)・Terminal type：
Remote Device station(Slave station)
・Number of occupied stations
4
・Number of extention Cycles： 8
・Input Output size：
at each input points and output points, bit：896, word：128- 109 -

CC-Link ver. IF outside drawing(6)external power supply 5V input(2)CC-Link connector(3)Communication baud rate setting(4)Slave station setting(5) CC-Link communication status LEDs

(2)CC-Link connector
Connector Pin Number
1 （Up）
2
3
4
5 （Down）

Signal Name
DA
DB
DG
SLD
FG

(3)Communication baud rate setting
I/F unit can set communication baud rate with uppest rotary switch of I/F unit panel .
switch setting
Communication speed
0156kbps1
625kbps2
2.5Mbps3
5.0Mbps
4
10.0Mbps
5～8
9Reserve(4)Slave station number setting
I/F unit can set station number with rotary swich at middle and downest(LEDs side).
The middle rotary switch is 10x and the down rotary switch 1x.
The setting range is from 1to 64(decimal number). 99 is reserve.

- 110 -

(5)CC-Link communication status LEDs
There is the LEDs which can display CC-Link communication status.
The meaning is following.
Up(rotary switch side)

Number
1

4

1

3

2

Name
RUN（Green）

2

StatusOn
Off
On

ERROR(Red)3
4

RD(Green)SD（Green）

Off
On
Off
On
Off

MeaningAnybus Normal Operation
Anybus Stanby
Anybus CRC error detected（illegal station number or illegal baud rate
selected）
Anybus Nomal Operation
CC-Link Data being received
CC-Link No data reception
CC-Link Data being transmitted
CC-Link No data transmission（6）External power supply 5V input
CC-Link IF need to input external power supply 5V at M-net connector
Please see the below table.
Pin
Input voltage
1
5V
2
5V
3
GND
4
GND
Pin1,2 and Pin 3,4 is connected inside- 111 -

☆Password to write the setting data to GSS PC
Password when the setting is written: 2003.

☆Difference between GSS-D-2 and GS-D3
GSS-D2: Tightening result (OK.NG), tightening data (torque・time・angle), tightening waveform, indication of setting
values
GS-D3: The above mentioned functions of GSS-D2 in addition to the use as a versatile operation board.

☆Precautions to replace the unit
Make sure to set the axis setting of “Fn.01 No.26” from the panel when the GSS controller driver is replaced.
If the axis number is not set, the communication from the setup personal computer cannot be established.
(Setting is required for each driver.)☆How to set axis No.
To set axis No., manual input by the operation of the following push button from the 7 segment indication on
the front of the controller. is required.
Manual input operation shows

and 7 segment indication shows.

(Confirming the control power being supplied, set the axis no. at the condition that the machine is not operated.)

----

or

Initial screen indication

010.0

→

Program 1 selected

SEL

→

Fn.01

SEL button→

Function No.1

(Program bit 1 is being selected from the sequencer or PC software.)

→

SAVE

→

SAVE button

→

DATA

PA.00
Parameter No0→

DATA button

××××

→

↑

→

PA.26

→

Up butt ( Raise up to PA.26)

→

↑ ↓ ←

→

0001
st

(x) Numeral 1~9

0002

→

nd

(1 axis) (2 axis)
Set axis no. using Up, Down and CTRL button.
Notice (Set the driver with I/F unit as 1st axis and go on 2nd axis,
3rd axis, etc.setting as much as the number of the nut runners.
Please do not double the number.)→

DATA
DATA button

→

PA.26
Parameter No.

→

↑

→

Push Up button

PA.-Parameter No.

once.

→

SAVE

→

SAVE button
It turns on and off.

→ To establish the setting, save it and then carry out “On/ Off” of the power supply.

- 112 -

☆Order of checking wiring of the sensor cable
To check the wiring of the sensor cable, it is necessary to carry out manual input by the following
push button operation from the 7 segment indication of the front of the controller and twist thenut runner (sensor) manually.
Manual input operations shows, and 7 segment indication shows(Confirming the control power being supplied,.

set the axis no. at the condition that the machine is notoperated.)

----

or

010.0

Initial screen indication→

SEL

Program 1 selected

→

Fn.01

SEL button→

Function No.1

(Program bit 1 is selected from the sequencer or PC software.)

→

↑

→

Up button

Fn.03

→

Function No.3

SAVE

→

SAVE button

In.00

→

Input No0

(Raise up to Fn.03)

→

↑

→

Up button(Raise up to In.01)

In.01
Input No1→DATADATA button→

××××
Sensor reading value(ｘ)numeral 1~9After completion of operation, twist the nut runner (sensor) manually.
If the value of the controller same as the axis twisted changes, the wiring is done correctly.
（If it does not correspond, please check the wiring.）- 113 -

☆Order of the wiring check with the encoder cable
To check the wiring of the encoder cable, it is necessary to input manually by the following
push button operation from the 7 segment indication of the front of the controller and turn the
nut runner (the socket of the machine) manually.
Manual input operation shows、and7 segment indication shows.

(Confirming the control power being supplied, check the wiring at the condition when the machine
is not operated.)

----

or

Initial screen indication

010.0

→

SEL

Program 1 selected→

SEL button

Fn.01
Function No1(Program bit 1 is being selected from the sequencer or PC software.)

→

↑

→

Up button

Fn.03

→

Function No3

SAVE

→

SAVE button

In.00

→

Input No0

(Raise up to Fn.03)

→

↑

→

Up button

In.02
Input No2

→

DATA

→

DATA button(Raise up to In.02)

××××
Encoder counter(×) Numeral 1～9After completion of the operation, please turn the nut runner (the socket of the machine)
Manually.

If the value of the controller same as the axis turned changes, the wiring is correct.

(If it does not correspond, please check the wiring.)- 114 -→

☆Order of sensor zero point adjustment (Personal computer software)
Starting the setup software, select in order of Main menu →Quality control →Torque sensor zero point adjustment
According to the indication of "Do you want to communicate?”, please select “Yes”.

Click the axis which you want to adjust. (It turn to the yellow indication after your selection.)Push the zero point adjust button. (Although the sensor output value does not change, the GSS indication valuechanges to zero.)- 115 -

☆Explanation of additional items for GSS tightening setting
1. Pretightening setting1）Speed switching torque： Torque to switch the speed to the pretightening speed 3
When the torque reaches this preset torque, it can be switched from Speed 1 to 2 to Speed 3.
2）Premature tightening determination angle： Set angle in the range for premature tightening NG determination
When the torque reaches the speed switching torque until the preset angle since the pretightening start, thepremature tightening NG (NG code 207) occurs.
3）Cut angle: Restricted angle until the torque reaches the cut torque since the sample start during pretightening.
4）No monitoring time for torque： Time setting to ignore the acceleration reactive force at the pretightening start
It ignores the torque determination during the preset time after the pretightening start.

2.

Final tightening
1）Speed 3 switching torque：Torque to switch the speed to the final tightening speed 3
When the torque reaches this preset torque, it can be switched from Speed 1 to 2 to Speed 3.
2）Premature determination angle： Set angle in the range for premature tightening NG determination
When the torque reaches the speed switching torque until the preset angle since the pretightening start, thepremature tightening NG (NG code 407) occurs.
3）Speed 3： Final tightening No.3 speed setting4）No monitoring time for torque：Time setting to ignore the acceleration reactive force at the final tightening start
It ignores the torque determination during the preset time after the final tightening start.

☆Precautions for Input/Output communication
1.

Program selection
Make sure to select the program No.1 to No.24 for the program bit when the program is selected.
When the program number is 0 or more than 25, it becomes ALC0 (Program not selected NG).

2. Input ENABLE
Please always input “Input ENABLE’ after the program bit is selected.
If ENABLE is not input, the program cannot be changed or selected. After the program selection is changed, check thatthe output of program selection completion and the program number is securely changed.

3. Determination reset
Determination reset is not accepted except the total determination output after the program is finished.
(To prevent the double tightening, it is always required to input the determination reset after the program is finished(Total determination output)).

4. Inching start
Select the program number by selecting the program bit at the inching start.
Rotating speed and direction are decided during rotation by selecting the program.
(Rotation setting number is selected by the selected program number and the speed and rotating direction by this setting
controls the inching movement.) If the program is not selected, inching start is not accepted. Please be careful of it.
Do not input the inching start during the program operation. It may cause malfunction.

- 116 -

5. Alarm reset
Input for the alarm reset input is enabled only when the alarm occurred.

6. IN input
Effective only when IN is set in the program setting. If IN setting is performed in the program, make sure to enter IN
because the program waits for the input of IN after the program execution until the previous step before the IN is set.
Do not input the inching start and alarm reset. It may cause malfunction.

7. Auto/Each selection
Auto selection：Only the start input is accepted. Do not turn OFF the start signal input until the total determination is
output. Doing so causes “FFFF”NG. This is the interruption NG of the program while running.
Each selection：Only the inching start input is accepted. When the input signal is turned OFF after inching started, it
becomes to wait for the inching start and only operates when the inching start is turned ON.

8. GSS reset(ALL reset)
When GSS reset is input, make sure to input from the program selection because all steps return to the initial status.

9. Program bit selection
Program bit selection allows you to select the program number by combining the program bit.

10. Program setting
Rating setting and axis number setting is possible by each block and axis unit in the program.

☆Precautions to read the history
Make sure to give sufficient reading time to read the history data.
(In the case of communication speed at 19200 Bps, about 4 minutes of reading time is needed per axis.)☆ Items of setting possible and setting not possible
Ite m

Driver parameter internalsetting
RATE. SET
MOM.T SET
（内部設定）
PRE.T SETREV.T SETREA.T
AXIS ARRANGE SET
AXL.A
SET SETPROGRAMAXIS CUT INPUTID OUTPUT SET
M-NETSTARTADDRESS
開始アドレスMa n ua l
i np ut

Inp u t fro m
se t up so ft.

○

×

○
○
○
○
○
×
×
○
○
○

○
○
○
○
○
○
○
○
○
○

- 117 -

☆About connection setting of ID controller
1.Outline
Connecting the interface unit with ID controller by serial communication (RS422), transfer of engine number,setting of the calendar and transmission of result data become possible.
2.Specification of communication
Communication method: RS422
Communication speed: 9600 bps
Start bit : 1
Stop bit : 1
Parity; non
Transmission start character: “#“（23H）
Transmission finish character: CR(0DH)
Transmission character: ASCII code
3.Receive format (ID controller →Interface unit)
Receive of engine no.
#(engine no.) CREngine number should be maximum 7 figures by decimal numeral.

Data transmit demand or Specify of unit to send the data
#U［n］CR

Unit no. specified (n=1 to 6)

Setting of calendar#C(Calendar) CR

Calendar setting (year, month, date, hour, minute each 2 figures)

4.Transmission format (Interface unit →ID controller)(1) Standard specification setting ( 1st figure =1 of fn12 no.2)#[Date and time][Judge][Axis No.][Program No.][Unit No.][Torque][Time][Angle][Gradient][Engine No.] CR[Date and time]=01/12/29△15:59(14 letters) △means blank (20H)[Each axis judgement]=0000(OK)or NG code (4 letters)[Axis no.]=01 to 30(2 letters)[Program no.]=01 to 24(2 letters)[Unit No.]=1 to 6

(1 letter)[Torque]=123.4(Number of letter is according to the parameter.)[Time]=12.34(Number of letter is according to the parameter.)[Angle]=12.3(Number of letter is according to the parameter.)[Gradient]=99.9(Number of letter is according to the parameter.)[Engine No.]=1234567(Number of letter is according to the parameter.)- 118 -

(2)T specification with Torque (1st figure =2 of fn12 no.2)#[1st axis torque][1st axis judgment][2nd axis torque][2nd axis judgment]・・・[n axis torque][n axis judgment]CR[Each axis torque]=123.4(Number of letter is according to the parameter.)[Each axis judgment]=2(1=NG 2=OK)(3)T specification without torque (1st fingure=3 of fn12 no.2)#[1st axis torque][1st axis judgment][2nd axis torque][2nd axis judgment][n axis torque][n axis judgment]CR[Each axis torque =△△△

（Number of letter is according to the parameter.） △means blank(20H)[Each axis judgment]=2

(1=NG

2=OK)

Part of torque data always outputs zero.
(4)J specification (1st figure=4 of fn12 no.2)#[Date and time][Program No.][Unit No.][Engine No.]
[Axis No.(01)][1st axis torque][1st axis time][1st axis angle][1st axis gradient][1st axis judgment][Axis No.(02)][2nd axis torque][2nd axis time]・・・[n axis gradient][n axis judgment]CR[Date and time]=01/12/29△15:59(14 letters) △means blank. (20H)[Program No.]=01 to 24(2 letters)[Unit No.]= 1 to 6

(1 letter)[Engine No.]= 1234567(Number of letter is according to the parameter.)[Axis No.]=01 to 30(2 letters)[Torque]= 123.4(Number of letter is according to the parameter.)[Time]= 12.34(Number of letter is according to the parameter.)[Angle]= 12.3

(Number of letter is according to the parameter.)[Gradient] = 99.9

(Number of letter is according to the parameter.)[Each axis judgment] = 0000(K) or NG code (4 letters)
Select with condition of starting transmission
It is possible to set the timing of the transmission from the interface unit by the parameter.
Timing is able to be selected from one of followings;
・Data transmission at the time of the block judgement output
・Data transmission at the time of starting next block and judgment reset input.
・Data transmission according to the request of data transmission from the upper- 119 -

5.Selecting transmission data
It is possible to set each data to be transmitted or not to be transmitted, specifying figure
number, with or without decimal point to the parameter if necessary.
If there are some items which are not transmitted, the following items are transmitted shortening
the items not to be transmitted.
6.
Transmission of torque, time, angle data based on the kinds of operation.
Regarding torque data, time data and angle data, data of only one kind of operation is transmitted even if
many kinds of operation such as pretightening, real tightening,etc. are carried out within the same block.
Selection with kinds of operation is effected automatically basing on the following order of priority.
When the operation with higher priority is not carried out, it select the operation of following order of priority.
In case of carrying out same kind of operation more than two times within the same block, the last operationis selected.
Order of priority (High)

1. Real tightening
2. Reverse rotation
3. Pretightening（Low）

4. Rotation- 120 -

Parameter setting related to the ID controller
Fn.12
No.
No._0

Digit
1st digit

Setting value012Min. 30 to 7

2nd digit
3rd digit
4th digit
No._1

No._2

No._3

No._－
Setting
value
0
2
3
4
5
6
A
B
C
D
E

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

Transmission timing
Data transmission at block judgment output
Data transmission at start of next block and input of
judgment reset input
Data transmission from command from the upper device.
not used.
Set the digit no. of engine no. transmission (digit no.-1)
In case of the set value ;0, it does not transmit.

Setting of with or w/o transmission with axis no.
0:not to be transmitted. 1; to be transmitted.
Setting yes or no with transmission of each axis
0／1
judgment.
0:not to be transmitted. 1: to be transmitted.
Refer to the Set the digit no. of transmission with torque.
undermentioned Set the digit no. of transmission with time.
data.
Set the digit no. of transmission with angle.
0／1

Set the digit no. of transmission with gradient.
I/F unit Selection of CH2 function
0:Operation as printer port
1:Connection of ID controller of standard specification
2:Output of T spec.torque and judgment
3:Output of T spec. judgment
4:Connection with J spec.ID controller
Quality control PC port is possible with operation if theno. is other than zero.
2nddigit 0／1
Set Yes or No with transmission of date and time.
0:not to be transmitted. 1:to be transmitted.
3rd digit 0／1
Set Yes or No with transmission of program no.
0:not to be transmitted. 1:to be transmitted.
4th digit 0／1
Set Yes or No with transmission of unit no.
0:No/select gradient. 1:Yes/select gradient..
2:No/select snag.
3:Yes/select snag.
1 to 7
Set address of M-Net station.
Set station address of unit 1. Address after 2 is the serial
number following to setting value *1.
Save the whole data of Fn.12 in a lump by the SAVE button.
0 to 4Torque, angle, gradientTime

It does not transmit.
＊．＊
＊＊．＊
＊＊＊．＊
＊＊＊＊．＊＊＊＊＊＊．＊
＊＊
＊＊＊
＊＊＊＊
＊＊＊＊＊
＊＊＊＊＊＊

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

In case of setting value not provided, the operation is same as zero.
- 121 -

Remark2 digit with decimal point
3 digit with decimal point
4 digit with decimal point
5 digit with decimal point
6 digit with decimal point
2 digit without decimal point
3 digit without decimal point
4 digit without decimal point
5 digit without decimal point
6 digit without decimal point☆Heat release fan
1. Standard specification

GSS-1*-N04-M(Standard specification). GSSW-1*-No4-M(Standard specification) should be equipped witha fan or a cooler which cools throughout the controller.
Make sure to provide the interval more than 10 mm between the controllers.

2-1 T specification

GSS-T*-No4-M(T specification). GSS-T*-No4-M(T specification) is required to equip the fan to radiate
heat with the fin of the back of the controller. Please check the following contents and then equip it.
* Depending on the nut runner type, the figure from 1 to 7 will be entered. (For details, see P15.)

2-2 Airflow of the heat release fan
Install the fan, which has the airflow of 0.6 m3/min. or more per driver.

If one fan is installed for two drivers, make sure to install the fan with the airflow of twice or more. However, it is
not recommended to install one fan for three drivers because the wind will be dispersed.

2-3 Installation method
As the installation method, make sure to install the fan within the downward area of 150 mm from the driver andorient the air flow from the bottom up. If the installation place is 150 mm or further from the driver(s), make sure
to take measures so that the airflow is increased or the wind does not escape from the flow line.

☆Precations to set the cable (about antinoise measures and noise influence )1.Method of set
Please wire separetellly the encorder cable (communication line) and the motor cable (power line).
Please take antinoise measures of using the noise protected hook tube for the encorder cable (communicationline) and etc when there is it near the noise source.
2.About phenomenon of output noise
If the signal is not in order because of the noise , Gss (GSSW) Controller show AL20(over loaded).
If the above mentioned phenomenon occurs frequently , please take the antinoise measures grounded on[1.Method of installation].

- 122 -

- 123 -Revised Contents
Revised Date
Dec. 2006（first edition）
July 2009（second edition）
Nov. 2013（third edition）

Jan. 2014（fourth edition）

Mar. 2020（fifth edition）

Revised Contents
Add the contents of the setting about ID Controller connecting.
Add the detailed item of supplemental explanation
Add HomePageAddress
Add precautions of the cable installation
Rectify the wrong description of NG code table(at NG code 207,407)
Rectify the wrong description of the premature tightening determination angle(at PreTightening setting, Tightening setting)
Add the description of CC-Link version IF.
Change the item at the area of ResultWord in CC-Link .
( Final Tightening Time -> Time, Final Tightening Angle -> Angle,
Final Tightening Torque -> Torque )Change [Real tightening > Pretightening > Reverse rotation > Rotation ] to[Real tightening > Pretightening > Reverse rotation > Rotation ]at the priority of the data (torque,angle,time) of ID-Controller output .
Change of an e-mail address and the homepage address- 124 -

GIKEN INDUSTRIAL CO., LTD.
■ Headquarters
97-8, Imago-cho
Yamatokoriyama, Nara, 639-1031
TEL: 0743-59-3730
FAX: 0743-59-3733
E-Mail(Sales engineering department): gyomu@gikenkogyo.com
E-Mail(Control engineering section): seigyo@gikenkogyo.com
HomePage address: http://www.gikenkogyo.com■ Nagoya Branch Office1202, Kumada, Nagakute-cho
Aichi Country, Aichi, 480-1144
TEL: 0561-63-5321
FAX: 0561-63-5320
E-Mail: nagoya@gikenkogyo.com■ Kanto Branch Office
1-2-15, Matoba, Kawagoe-city,
Saitama, 350-1101
TEL: 0429-65-9321
FAX: 0429-65-9322
E-Mail: kanto@gikenkogyo.com
The fifth edition in Mar. 2020