New ANM Nut Runner Series
GSL/GSLW Torque Control System（Current Control Type）

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 thatthey cannot be operated, and do not attempt to operate them. Any defect that would occur when the handlingprocess or the operation that is not listed in this instruction manual is executed should be excluded in the scopeof 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 theconnected equipment, or pull out all power cords from the plug outlets.
(“Dangerous condition” means the condition when the fire break out or the danger to personal injury can be
expected due to the excessive heat generation, smoking or ignition.)-1-Caution■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 ofeach axis. However, it is unnecessary when only one axis is used. Please refer to P95 page fordetails.

3． When the power is turned ON, input the SIO satellite station address setting of “Fn. 12 No. 3” of the GSL
controller. If it is not input, the SIO communication will not be established.
(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 when the GSL controller driver isreplaced. (If the axis number is not set, the communication from the setup personal computer is impossible.)*Axis number must be set up when the unit is replaced.
5．To confirm the wiring again after supplying power, check [Fn.03 No.2]. (Electrical check)
Please refer to P100 for details.
6． 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 ································································· P8
2-1-1 Specifications of nut runner ······················································································ P8
2-1-2 Dimensions table of nut runner (straight type) ································································ P9
2-1-3 Dimensions table of nut runner (offset type) ·································································· P9
2-2 Controller specification ······························································································· P10
2-3 Basic specification ······································································································ P11
2-4 Functions/Features ······································································································ P12
2-5 Dimensions
2-5-1-1 Dimensional drawing (with M-net ver. interface): Standard specification GSL-11 (13)-N04-M ···················· P13
2-5-1-2 Dimensional drawing (with CC-Link ver. interface): Standard specification GSL-11 (13)-N04-M ················ P14
2-5-2-1 Dimensional drawing (with M-net ver. interface): Standard specification GSL-14 (15)-N04-M ···················· P15
2-5-2-2 Dimensional drawing (with CC-Link ver. interface): Standard specification GSL-14 (15)-N04-M ················ P16
2-5-3-1 Dimensional drawing (with M-net ver. interface): Standard specification GSLW-11 (13)-N04-M ················· P17
2-5-3-2 Dimensional drawing (with CC-Link ver. interface): Standard specification GSLW-11 (13)-N04-M ············· P18
2-5-4-1 Dimensional drawing (with M-net ver. interface): T specification GSL-T1 (T3)-N04-M ···························· P19
2-5-4-2 Dimensional drawing (with CC-Link ver. interface): T specification GSL-T1 (T3)-N04-M························· P20
2-5-5-1 Dimensional drawing (with M-net ver. interface): T specification GSL-T4 (T5, T7)-N04-M ······················· P21
2-5-5-2 Dimensional drawing (with CC-Link ver. interface): T specification GSL-T4 (T5, T7)-N04-M ···················· P22
2-5-6-1 Dimensional drawing (with M-net ver. interface): T specification GSLW-T1 (T3)-N04-M ························· P23
2-5-6-2 Dimensional drawing (with CC-Link ver. interface): T specification GSLW-T1 (T3)-N04-M ······················ P24

2-5-7 Dimensional drawing: Standard specification GSL-11(13)-N04-M ········································ P25
2-5-8 Dimensional drawing: Standard specification GSL-14(15)-N04-M ·········································· P26
2-5-9 Dimensional drawing: Standard specification GSLW-11(13)-N04-M ······································ P27
2-5-10 Dimensional drawing: T specification GSL-T1(T3)-N02 ···················································· P28
2-5-11 Dimensional drawing: T specification GSL-T4(T5)-N02 ···················································· P29
2-5-12 Dimensional drawing: T specification GSLW-T1(T3)-N02 ················································· P30
2-5-13 Dimensional drawing: (Display): Model GSL-D2 ···························································· P31
2-5-14 Dimensional drawing: (Display): Model GS-D3 ······························································ P32

3.

Wiring connection
3-1 Wiring referential layout
3-1-1-1 【M-net ver.】GSL controller system wiring referential layout ············································ P33
3-1-1-2 【CC-Link ver.】GSL controller system wiring referential layout ········································· P34
3-1-2-1 【M-net ver.】GSLW controller system wiring referential layout ········································· P35
3-1-2-2 【CC-Link ver.】GSLW controller system wiring referential layout ······································ P36
3-2 Connector to be used and the other side connector-3-3-2-1 GSL connector and the other side connector ··································································· P37
3-2-1 GSSW connector and the other side connector ································································ P38
3-3 External connection
3-3-1 External connection diagram (between the GSL controller and NR):
Standard specification and T specification ····································································· P39
3-3-2 External connection diagram (between the GSLW controller and NR):
Standard specification and T specification ····································································· P40
3-3-3External connection diagram (between the M-net ver. interface and equipment to connect):
Standard specification and T specification ····································································· P41
3-3-4External connection diagram (between the CC-Link ver.interface and equipment to connect):
Standard specification and T specification ····································································· P42
3-4 Model table of cable
3-4-1 Model table of GSL cable ························································································· P43
3-4-2 Model table of GSLW cable ······················································································ P43

4.

Signal
4-1 Input/Output signal ······································································································ P44
4-2 Input/Output signal (PIO)
4-2-1 Input signal (PIO) ·································································································· P45
4-2-2 Output signal (PIO) ································································································ P46
4-3 Function of I/F unit······································································································ P47
4-4 SIO input/output signal
4-4-1 Input signal (SIO) ·································································································· P47
4-4-2 Output signal (SIO) ································································································ P49
4-5 Multiaxial operation function ·························································································· P53

5.

Operation timing chart
5-1 Power ON and inching operation ····················································································· P54
5-2 Program operation - 2 step operation 1 ··············································································· P55
5-3 Program operation - 2 step operation 2 ··············································································· P56
5-4 Program operation - 2 step operation 3 ··············································································· P57
5-5 Program operation - 1 step operation 1 ··············································································· P58
5-6 Program operation - 1 step operation 2 ··············································································· P59
5-7 Program operation - 2 step operation 4 ··············································································· P60
5-8 Program operation - 1 step operation 3 ··············································································· P61
5-9 Interruption of the program operation (Reset) ······································································· P62
5-10 Operation ready OFF and program start OFF during the program operation ·································· P63
5-11 Alarm generation and alarm reset during the program operation ················································ P64

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6.

Setting
6-1 Display/setting function
6-1-1 Display section layout ····························································································· P65
6-1-2 Operation of the display section ················································································· P66
6-2 Program
6-2-1 Tightening program ································································································ P68
6-2-2 Program configuration ···························································································· P69

7.

Setting function list
7-1 Fn.**display setting function list ·················································································· P70
7-2 Driver parameter setting ····························································································· P71
7-3 Rotation and the inching setting ···················································································· P72
7-4 Pretightening setting ································································································· P73
7-5 Reverse rotation setting ····························································································· P75
7-6 Final tightening setting ······························································································ P76
7-7 Rating setting ········································································································· P78
7-8 Input monitor·········································································································· P79
7-9 Output monitor········································································································ P79
7-10 Operation result monitor ··························································································· P80
7-11 Printer operation ···································································································· P80
7-12 Unused ··············································································································· P80
7-13 RAM monitor for debugging ······················································································ P80
7-14 Unused ·············································································································· P80
7-15 I/F unit setting ······································································································· P81
7-16 Unit setting··········································································································· P81
7-17 ID controller connection setting ·················································································· P81

8.

Supplementary
8-1 Sub serving function for operation ···················································································· P82
8-2 Driver function··········································································································· P82

9.

Monitor output ··················································································································· P83

10.

Code table10-1 NG code list ············································································································ P84
10-2 Alarm code list ········································································································· P85

11.

Display layout ··················································································································· P87-5-

12. Maintenance and check12-1 Precautions
12-1-1 Precautions for maintenance and check ······································································· P92
12-1-2 Check items ······································································································· P92
12-1-3 Operating life ····································································································· P92
12-1-4 Capacitor ·········································································································· P92
12-1-5 Relay ··············································································································· P92
12-1-6 Battery ············································································································· P93
12-1-7 E2PROM ·········································································································· P93
12-2 Guarantee ··············································································································· P93
12-3 Tightening operation glossary ························································································ P93

Supplemental explanation☆Precautions for wiring the arc net. ·························································································· P95☆Precautions to use M-net communication. ················································································· P96☆Precautions to use CC-Link communication. ············································································· P96☆Password to write the setting data to GSS PC ············································································· P99☆Difference between GSS-D-2 and GS-D3 ················································································· P99☆Precautions to replace the unit ······························································································· P99☆How to set axis No. ··········································································································· P99☆Order of the wiring check with the encoder cable ········································································ P100
☆Explanation of additional items for GSS tightening setting ····························································· P101
☆Precautions for Input/Output communication ·············································································· P101
☆Precautions to read the history ································································································ P101
☆About connection setting of ID controller ··················································································· P102
☆Items of setting possible and setting not possible ·········································································· P106
☆Heat release fan ················································································································· P106
☆Precautions to install the cable (about antinoise measures and noise influence ) ······································ P107

NR setting operation list ············································································································· P108
Revised Contents ······················································································································ P109

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1. System outline

The new type current sensor feedback control system “GSL” is the stall type nut runner system that enables
the various tightening methods to many types of tightening objects.

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

Tightening accuracy : Target torque ±15%Compact design is provided by integrating the conventional GPC controller and driver amplifier for GSL
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 thetorque control.

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 P106 page for the items with settingpossible 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 AN 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.

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.
IF unit section

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

GSL 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）-7-

2. Specifications
2-1. Specifications of nut runner and dimensions table
2-1-1. Specifications of nut runner
Nut runnermodel
ANM-220
ANM-320
ANM-400
ANM-640
ANM-1200

Capacity
(Nm)
18
28
35
55
110

Rotation
(rpm)
310
430
310
420
420

Motor model

Weight (kg)TS4603

1.3
1.6
1.6
3.2
4.5

TS4617TS4609TS4618-8-

2-1-2. Dimensions table of nut runner (straight type)2-1-3 Dimensions table of nut runner (offset type)-9-

2-2. Controller specification
Composition

IF unit1 typeController unit
DATA communication function (PC)GSL Standard specification: 4 types, GSL T specification: 4 types
GSLW Standard specification: 2 types, GSLW T specification: 2 types
RS232C conversion

Other unit control

Arc-NetDATA control (PC)

RS422

DATA saving

Max. axis number for connection

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)

DATA display

4-digit 7 SEG. LED

Extraordinary display

Alarm code display + NG code display

Indicator

Display

Setting

Setting input method

OK/NG, axial arrangement, tightening setting (applicable to the 60 axes
display)
A personal computer or the controller front panel

Memory backup

EEPROM

Setting value backup

PC⇒FD, HD

IF unit

Display GS-D3

25*220*170 (M-net ver.) 41*220*170 (CC-Link ver.)59 (65)*238*170.5 The dimension in parentheses shows the dimension
including the heatsink.
59 （81）*238*170.5 The dimension in parentheses shows the dimension
including the heatsink.
65*243*171.5 (220) The dimension in parentheses shows the dimension
including the heatsink.
182.5*138.8*57.3 Install it taking account of the protrusion clearanceof the connector.
182.5*138.8*42.5

Program number

24 programs

Step number

77 steps

Block number

Maximum 19 blocks

Setting items

Data

Printer connection

Display

Outside dimensions（See P13 to 26）

Controller unit (Standard specification)
GSL-11-N04-M,GSL-13-N04-M
GSL-14-N02,GSL-15-N04-M
GSLW-11-N04-M,GSLW-13-N04-M
Controller unit (T specification)
Display GSL-D2

Tightening setting

Tightening method

Torque method

T: Rating 30 types
H: Final tightening, K: Pretightening, G: Reverse rotation,
S: Rotation, Axial arrangement Each 24 types
Torque method by the current sensor torque feedback system

Tightening control

Sequencing tightening

Maximum 19 blocks

Block tightening

19 blocks (77 steps)

Retry

Setting of Yes/No per program

Baking determination

Reverse torque

Reverse rotation for fixed quantity

Time, angle

Speed switching

3 steps, angle control, torque control

Torque waveform

Display, all axes display or a personal computer

Angle stop accuracy

Within ±0.5°(30rpm or less)Angle display minimum unit

0.1°

Tightening accuracy

Target torque ±15%

Connection

Connection cableStandard specification: CN (Connector) type

Alarm ,extracts（See P72 and 73）

Motor overcurrent, (Driver over heating)

AL10

Over load

AL20

Over speed

AL30

Encoder initial failure

AL40

TOOL wrong connection

AL60, AL80

Axis cutting function
Communication with other unit

Can be connected from a personal computer or the controller front
panel.
Arc-NetSetting input

RS232C conversion

Communication with PLC

SIO (M-NET) or parallel communication DC24V PIO

Display connection

Connected to IF unit

Accuracy

T specification: CN (Connector) type

Others- 10 -

2-3. Basic specification
GSL Standard
specification model
GSLW Standard
specification model

GSL T
specification model
GSLW T
specification model

GSL-11-N04-M

GSL-13-N04-M

GSLW-11-N04-M

GSLW-13-N04-M

GSL-T1-N04-M

GSL-T3-N04-M

GSLW-T1-N04-M

GSLW-T3-N04-M

GSL-14-N04-M

GSL-15-N04-M

GSL-T4-N04-M

GSL-T5-N04-M

I/F model (common)

GSL-IF-N2 (M-net ver.) / GSL-IF-CCN1 (CC-Link ver.)/
GSL-IF-CCN1 (CC-Link ver. for AISIN)

Control power input

Single phase, AC 100 to 220 V±10% 50/60 Hz(CC-Link ver. IF need power supply of DC 5V more than 2A)

Drive power input

3-phase AC200 to 220 V±10% 50/60 Hz

Withstand voltage

AC1,500 V for 1 minuteInsulation resistance

DC500 V 10 MΩor more

Electric capacity(per one axis of nut runner)

1A

Momentary power failure
Nut runner model

2A

3A

5A

No effect in the range less than 50 msec
（excluding the driving time）
ANM-220

ANM-320
ANM-400

ANM-640

Specifications of applicablemotors

TS4603N1920

TS4617N1920

TS4609N1920

TS4618N1920

Instantaneous maximum
current

5.4 Arms

10.7 Arms

19. 6Arms

38.6 Arms

0.95 N.m

1.91 N.m

3.82 N.m

7.64 N.m

Maximum stall torqueMaximum rotation number
without loads
Motor drive system
Angle sensor
Specification temperature andhumidity

ANM-1200

12,500 rpm
Transistor PWM Rectangular wave drive
Incremental encoder（With the zero magnification signal, line driver output, 256C/T）
0 to 50C, Less than 90%RH (No condensation)- 11 -

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
Gear check function
Simulation operation
Calendar function
Regenerative function(Over voltage detection)
Discharge function
Standard inertia (Inertia)

Rotating direction
Monitors(see 70)

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 (M-NET): Communication between IF
unit and sequencer
Parallel communication: 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 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  30 JM
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: Current monitor
M2: Speed monitor
G: Monitor GND- 12 -

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

2-5-1-2 Dimensional drawing (with CC-Link ver. interface): Standard specification  GSL-11 (13)-N04-M- 14 -

2-5-2-1 Dimensional drawing (with M-net ver. interface): Standard specification  GSL14 (15)-N04-M- 15 -

2-5-2-2 Dimensional drawing (with CC-Link ver. interface): Standard specification  GSL14 (15)-N04-M- 16 -

2-5-3-1 Dimensional drawing (with M-net interface): Standard specification  GSLW-11(13)-N04-M

2-5-3-2 Dimensional drawing (with CC-Link interface): Standard specification  GSL-11(13)-N04-M- 17 -

2-5-3-2 Dimensional drawing (with CC-Link interface): Standard specification  GSLW-11(13)-N04-M

2-5-6. Dimensional drawing: (with interface): T specification  GSLW-T1(T3)-N04-M

2-5-7. Dimensional drawing: Standard specification  GSL-11(13)-N04-M

2-5-8. Dimensional drawing: Standard specification  GSL-14 (15)-N04-M

2-5-9. Dimensional drawing: Standard specification  GSLW-11 (13)-N04-M

2-5-10. Dimensional drawing: T specification  GSL-T1(T3)-N04-M- 18 -

2-5-4-1 Dimensional drawing (with M-net interface): T specification  GSL-T1(T3)-N04-M- 19 -

2-5-4-2 Dimensional drawing (with CC-Link interface): T specification  GSL-T1(T3)-N04-M- 20 -

2-5-5-1 Dimensional drawing (with M-net interface): T specification  GSS-T4(T5)-N04-M- 21 -

2-5-5-2 Dimensional drawing (with CC-Link interface): T specification  GSS-T4(T5)-N04-M- 22 -

2-5-6. Dimensional drawing: (with M-net interface): T specification  GSLW-T1(T3)-N04-M- 23 -

2-5-6. Dimensional drawing: (with CC-Link interface): T specification  GSLW-T1(T3)-N04-M- 24 -

2-5-7. Dimensional drawing: Standard specification  GSL-11(13)-N04-M- 25 -

2-5-8. Dimensional drawing: Standard specification  GSL-14 (15)-N04-M- 26 -

2-5-9. Dimensional drawing: Standard specification  GSLW-11 (13)-N04-M- 27 -

2-5-10. Dimensional drawing: T specification  GSL-T1(T3)-N04-M- 28 -

2-5-11. Dimensional drawing: T specification  GSL-T4(T5)-N04-M- 29 -

2-5-12. Dimensional drawing: T specification  GSLW-T1(T3)-N04-M- 30 -

2-5-13 Dimensional drawing (Display)
Model: GSL-D2

・パネルカット寸法- 31 -

2-5-14 Dimensional drawing (Display)
Model: GS-D3- 32 -

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

GSL Controller(Commercial
product)

IF unitSetup personal
computer
Drive power(WINDOWS)RST（WINDOWS）(200 to220V)

Sequencer(SIO)

Arc-NET（Link with other axis）
Control power

Thermal printer(AC100 to
220 V)

ID controller

GSL
Display

DC24V

Encoder cable

Motor cable（UVW leads）
ANM Series NR- 33 -

3-1-2 【M-net ver.】GSLW controller system wiring referential layout
Printer(Commercial
product)

GSLW Controller
IF unitSetup personal
computer(WINDOWS)

Arc-NET（Link w/other axis）

Sequencer(SIO)
Thermal printerControl power(AC100 to 200V)

ID controller

Drive power
RST(200to
220V)

GSL
GSLW
W
Display

DC24V

Encoder cable
Two axes of CN3, CN9
Motor cable(UVW leads)
Two axes of CN8, CN10
ANM series NR2 axes

- 34 -

3-1-3 【CC-Link ver.】GSS controller system wiring referential layout
GSL 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 conver
From RS422 to RS322.)
GSS
Encorder ,Display

Torque sensor cable
DC24V

Motor Cable(UVW leads)
ANZM Series NR- 35 -

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

- 36 -

3-2 Connector to be used and the other side connector
3-2-1 GSL connector and the other side connector
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

CN5Power supply for I/O
5569-4A1(MOLEX)
For the connection of (DC24V) or equivalent

CN6

Unused5569-4A1(MOLEX)
or equivalent

CN7

For the connection of drive
power supply

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

CN8

For the connection to a motor

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

For communication among
Controllers

MSTB 2,5/4-FG-5,08(POHENIX CONTACT)

CN2

Connector: 5557-06R(MOLEX)
Terminal: 5556TL(MOLEX)
Connector: 5557-04R(MOLEX)
Terminal:5556TL(MOLEX)
Connector: 5557-04R(MOLEX)
Terminal: 5556TL(MOLEX)
Housing: 1-179958-4(Tyco electronics amplifier) X key
Contact: 316041-2(Tyco electronics amplifier)for AWG10,AWG12Counter attachment○○

Housing:2-179958-4(Tyco electronics amplifier) Y key
Contact: 316041-2(Tyco electronics amplifier)for AWG10,AWG12MSTB 2,5/4-STF-5,08○(POHENIX CONTACT)(Resistor to be
Wire directly installed typeattached)
Applicable wire: ： AWG24 ～AWG12I/F unit
Code
CN11

Application/contents
Applicable type
Inputs/outputs the related data to D-SUB 9 pins Male
tightening from the personal
computer with RS232C port.

Counter side type
D-SUB 9 pins Female(Each manufacturer)

CN12

For the connection with aprinter, ID controller or QC
personal computers

D-SUB 25 pins Female

D-SUB 25 pins Male
(Each manufacturer)

CN13

For the connection with aindicator (RS422 interface)

D-SUB 9 pins Female

D-SUB 9 pins Male
(Each manufacturer)

M-NET

For M-NET communication

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

For CC-Link communication

MSTB 2,5/5-FG-5,08-AU(POHENIX CONTACT)- 37 -Counter attachment
aaattachment○○

3-2-2 GSL connector and the other side connector
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)

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

CN4

For the connection of control
power supply

5569-6A1(MOLEX)
or equivalent

Plug: 10120-3000VE(SUMITOMO 3M)
Shell: 10320-52A0-008(SUMITOMO 3M)
Connector: 5557-06R(MOLEX)
Terminal: 5556TL(MOLEX)

CN5

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

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

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)

Counter side type
D-SUB 9 pins Female(Each manufacturer)Counter attachment
aaattachment

Connector: 5557-04R(MOLEX)
Terminal:5556TL(MOLEX)
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,AWG12Counter attachment○○

I/F unit
Code
CN11

Application/contents
Inputs/outputs the related data totightening from the personal
computer with RS232C port.

CN12

For the connection with a printer, D-SUB 25 pins Female
ID controller or QC personal
computers

D-SUB 25 pins Male
(Each manufacturer)

CN13

For the connection with a indicator D-SUB 9 pins Female(RS422 interface)

D-SUB 9 pins Male
(Each manufacturer)

M-NET

For M-NET 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)(CC-Link ver. IF need 5V power
supply)CC-Link
For CC-Link communication(only for
CC-Link ver.
IF)

Applicable type
D-SUB 9 pins MaleMSTB 2,5/6-FG-5,08(POHENIX CONTACT)MSTB 2,5/5-FG-5,08-AU(POHENIX CONTACT)- 38 -○○

3-3 External connection
3-3-1 External connection diagram(between the GSL controller and NR):
Standard specification and T specification- 39 -

3-3-2 External connection diagram(between the GSLW controller and NR):
Standard specification and T specification- 40 -

3-3-3 【M-net ver.】External connection diagram (between the interface and equipment to connect):
Standard specification and T specification- 41 -

3-3-4 【CC-Link】External connection diagram (between the interface and equipment to connect):
Standard specification and T specification- 42 -

3-4 Table of Cable model
3-4-1 Table of GSL 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〕

ANM-220～ANM-640

8M6D-4R（5.10.15.20）M

ANM-1200

8M12D-4R（5.10.15.20）M

Motor relay movable(NR ～Relay part)ANM-220～ANM-640

8M6T-4R（2.3.5.7）M

ANM-1200

8M12T-4R（2.3.5.7）M

Motor relay fixed cable(Relay part ～ Controller)

ANM-220～ANM-640

8M6T-4A（5.10.15.20）M

ANM-1200

8M12T-4A（5.10.15.20）M

Encoder integrated cable(NR～Controller)
Encoder relay movable cable(NR～Relay part)
Encoder relay fixed cable(Relay part～Controller)

ANM-220～ANM-1200

8ED-8R（5.10.15.20）M

ANM-220～ANM-1200

8ET-8R（2.3.5.7）M

ANM-220～ANM-1200

8ET-8A（5.10.15.20）M

NR to be used

Cable model

ANM-220～ANM-400

8M6DW-4R（5.10.15.20）M

ANM-220～ANM-400

8M6TW-4R（2.3.5.7）M

ANM-220～ANM-400

8M6TW-4A（5.10.15.20）M

ANM-220～ANM-1200

8ED-8R（5.10.15.20）M

ANM-220～ANM-1200

8ET-8R（2.3.5.7）M

ANM-220～ANM-1200

8ET-8A（5.10.15.20）M

3-4-2 Table of GSLW Cable model
Cable name
Motor integrated cable〔NR ～ Controller〕
Motor relay movable(NR ～Relay part)
Motor relay fixed cable(Relay part ～ Controller)
Encoder integrated cable(NR～Controller)
Encoder relay movable cable(NR～Relay part)
Encoder relay fixed cable(Relay part～Controller)
Notice (Cable overall)
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.

- 43 -

4. Signal
4-1. Input/Output signal

Parallel I/O
I/O

PointsName

Parallelinput signal
Paralleloutput signal

16 points

IN0 to IN15

16 points

OUT0 to OUT15

Specification
DC24V
11 mA
DC24V
30 mA max.

内容
See P36
See P37

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

Current sensor monitor

M2

SPEED

Motor rotation speed monitor （Note: Positive output during CW rotation）※The above data can be changed at setting before shipment.（See P70）

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
2 points

Parallel printer connection, ID controller and QC personal computer connection(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-Linkver.)

1 point

Connection via SIO interface with a sequencer and other devices (Option)- 44 -

4-2 Input/Output signal (PIO)

4-2-1 Input signal (PIO)
PIO input (“PLC”→“GSL”)
Input contents to the first axis in the unit
I/O
IN 0

IN 1

IN 2

IN 3
IN 4

IN 5
IN 6
IN 7

IN 8 to
IN 12

IN 13

IN 14
IN 15

Name

Contents

Operation ready

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.
Automatic/
Motor operating method selection(Level determination)
inching
0: Inching motion
Motor rotates in the specified direction according to the inching start signal.
Using parameter depends on the rotating direction.
1: Automatic operation
Motor operates according to the program selected by the program selection
input.
Program start
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 block is
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”.
Inching start
Signal to start inching motion(Processed at the rising edge)
0: Inching operation stops.
1: Inching motion starts.
Determination reset Signal to reset the tightening determination output (Processed at the risingedge)
1: All determination signals (Determination data on OUT 3, OUT 4 and
M-NET) are turned OFF.
No object while inching.
Alarm reset
Signal to reset the GSL alarm(Processed at the rising edge)
1: Resets only GSL alarm.
QL input
QL processing input signal(Processed at the rising edge)
1: QL processing input(It is limited when QL mode is 1.)
QL modeSignal that enables the QL input signal according to the signal input(Level determination)
1: QL input valid
2: QL input invalid
Program selection Program selection input(Level determination)
input
Inputs the operation program number (Note 7).
Inputs the number with ON state of the photocoupler power supply = "1" andOFF state = "0" by accounting as 5-bit information with IN 12 set to MSB
side and IN 8 set to LSB side.
Input ENABLE
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 falling edge.
Reset
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 delay input
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 startAuto- Inchmatic ing
○
○

○

○

○

○
○

○

○

○
○

○

○

○

○,,

○

○

○

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

Note: The action which is enabled when Automatic/Inching is selected is marked with ○.

- 45 -

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

Name

Contents

Auto- Inchmatic ing
IN 0 to IN Axis cutting for 1st Set the axis cutting of the corresponding axis by setting IN 0=1st axis, IN ○○15
axis to 16th axis
1=2nd axis, … IN 15=16th axis. After changing the setting, the changed
contents will be valid by turning the control power supply OFF/ON.
"0": Normal"1": Axis cutting(“1”: Photocoupler power supply on, “0”: Photocoupler power supply off)

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

Name

IN 0 to IN Axis cutting for13
17th axis to 30th
axis

Contents

Auto- Inchmatic ing
Set the axis cutting of the corresponding axis by setting IN 0=17th axis, IN ○○1=18th axis, … IN 13=30th axis. After changing the setting, the changed
contents will be valid by turning the control power supply OFF/ON.
"0": Normal"1": Axis cutting(“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 (“GSL”→“PLC”)
Output contents from the first axis in the unit
I/O

Name

OUT 0

Operation ready

OUT 1

Device OK

OUT 2Battery OK

OUT 3

Total OK

OUT 4

Total NGOUT 5Operating

OUT 6

QL processing end

OUT 7
OUT 8 toOUT 12

Program running
Program selection
outputOUT 13

Output ENABLE

OUT 14Block OK

OUT 15Block NG

Contents
0: Operation ready incomplete
This is the state that the controller cannot operate. (GSL alarm, drive power
supply disconnected, motor not initialized yet or operation ready signal
OFF)
1: Operation ready complete
0: Operation error (GSL 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 (operations of all blocks) and error
occurred with 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 frequency in the unit entered in the state ofblock 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 OUT12 set to MSB side
and OUT8 set to LSB side.
0: Initial value
1: It is "1" when the program selection completion signal is confirmed and "0"
at rising of the input ENABLE.
0:
1: Program advanced to the final step in the unit and tightening in the block iscorrectly completed.
0:1: Program advanced to the final step and error occurred with either oftightening in the block.

Automatic○

Inching

○
○

○

○
○
○
○
○

○

○
○

(“1”: Photocoupler ON, ‘‘0’’: Photocoupler OFF)- 46 -

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

Name

Contents

Automatic
1st axis OK to 16th Outputs the block OK "1" of the corresponding axis setting OUT0=1st axis, ○axis OKOUT0=1st axis, … OUT15=16th axis.
The corresponding axis advanced to the block end step and final tightening iscorrectly completed.

Inching(“1”: Photocoupler ON, ‘‘0’’: Photocoupler OFF)

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

Name

Contents

Automatic
17th axis OK to Outputs the block OK "1" of the corresponding axis setting OUT0=17th axis, ○32nd axis OK
OUT0=17th axis, … OUT13=32nd axis.
The corresponding axis advanced to the block end step and final tightening iscorrectly completed.

Inching(“1”: Photocoupler ON, ‘‘0’’: Photocoupler OFF)

Note: The action which is enabled when Automatic/Inching is selected is marked with ○.

4-3. Function of I/F unit
Connection function for the SIO communication, setup personal computer communication, external display, printer, QC personal
computer and ID controller

4-4. SIO input/output signal
4-4-1. Input signal (SIO)※M-net version
bit 0
Operation
ready
Program bit 1
selection
Block bitselection 1

0
1
2

bit 1
Auto/Each(Manual)Program bit 2
selection
Block bitselection 2

Start

bit 2

bit 3
Inching start

Program bit 3
selection
Block bitselection 3

Program bit 4
selection
Block bitselection 4

bit 4
Determination
reset

bit 5
Alarm reset

Program bit 5 Input
selection
ENABLE
Block bitselection 5

bit 6
QL signal
input
GSL reset(ALL reset)

bit 7
QL modeIN wait input
Tightening
angle
sampling start

Following signals cannot be input from PIO.
I/O

Name

Contents

SIO

Block selection 1 to 5

SIO

Tightening angle
sampling start

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 pointof “1”.

Note: The action which is enabled when Automatic/Inching is selected is marked with ○.

- 47 -

Automatic○○

Inching※CC-Link version
Address：RYm ～RYm+DFh
Address

RYm+α～
RYm+α+Fh

RYm+α+10h～
RYm+α+1Fh

m:Initial I/O Number

bit 0

bit 1

bit 2

Operation
readyAuto/Each(Manual)

bit 8

bit 9

Program bit 1
selection

Program bit 2
selection

Program bit 3
selection

α:Constant value of Unit（Note1）
bit 3

bit 4

bit 5

bit 6

bit 7

Start

Inching start

Determination
reset

Alarm reset

QL signal
input

QL mode

bit A

bit B

bit C

bit D

bit E

bit F

Program bit 4
selection

Program bit 5
selection

Input
ENABLEGSS reset(ALL reset)

IN delay input

bit 5

bit 6

bit 0

bit 1

bit 2

bit 3

bit 4

Block bitselection 1

Block bitselection 2

Block bitselection 3

Block bitselection 4

Block bitselection 5

bit 7

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

Tightening angle
sampling start(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” .

- 48 -

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.

- 49 -

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
bit 0

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

bit 1

bit 2

bit 3

β: Constant value of Unit(Note2）
bit 4

Ready
complete

System OK

Battery OK

Total OK

Total NG

bit 8
Completionof program
bit 1 selection
bit 0
Completionof block bit 1
selection
bit 8

bit 9
Completionof program
bit 2 selection
bit 1
Completionof block bit 2
selection
bit 9

bit A
Completionof program
bit 3 selection
bit 2
Completionof block bit 3
selection
bit A

bit B
Completionof program
bit 4 selection
bit 3
Completionof block bit 4
selection
bit B

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

Block 1 OK

Block 2 OK

Block 3 OK

Block 4 OK

Block 5 OK

bit 5

bit 6

bit 7

NR running

Completion of
QL treatment

Programrunning

bit E
Block
determination
OK
bit 6

bit F
Block
determination
NG
bit 7

bit D
OutputENABLEbit 5
Step finished

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 26 OK

Block 1
finished

Block 2finished

Block 3finished

Block 4finished

Block 5finished

Block 6
Finished

Block 25 OK
bit 8

bit 9

Torque over

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- 50 -

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- 51 -

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.

- 52 -

Following signals are not output from PIO.
I/O

Name

Contents

SIO

Block selection output 1 to 5

SIO

Step end

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

Cycle stop

SIO

OUT

SIO
SIO
SIO
SIO
SIO

Block 1 to 26 OK
Torque over/underTime overAngle overNR failure forecast

SIO
SIO
SIO
SIO

Passing torque
BakingGear OK/NG
1st to 60th axes OK

It 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” with torque over/under NG.
“1” when time over is NG.
“1” when angle over is NG.
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 unusual.
“1” when baking failure occurred.
“1” when gear check ends normally/abnormally.
“1” when operation of screws from No.1 to 60 is OK.

Automatic○

Inching

○
○
○
○
○
○
○
○

○
○
○
○

Note: The action which is enabled when Automatic/Inching is selected is marked with ○.

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
1
0
0
0
0

2
0
1
0
0
0

3
1
1
0
0
0

4
0
0
1
0
0

5
1
0
1
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
1
1
1
0
1

24
0
0
0
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 “-”)- 53 -

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

Input signal(PLCGSL)

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.
Normal rotation

Program selection(1 to 5)

Reverse rotation

Input ENABLE
Reset

Block selection (1 to 5)

Output signal(GSLPLC)

Operation ready OK
Device OK
Battery OK
Total OK
Total NG
Commutation initialize

Forwardrotation ofinching

Operating

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)- 54 -

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GSL)
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

Block selection (1 to 5)

Output signal(GSL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

All axes
OK

Axes OK (1 to 60)- 55 -

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

Control power supply
Drive power supply

Input signal(PLCGSL)
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
Block selection (1 to 5)

Output signal(GSL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 axisOK- 56 -

1st axis 2nd axis OKOK

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GSL)
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
Block selection (1 to 5)

Output signal(GSL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)- 57 -

5-5. 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 second block in three axes (with QL after 1 block)Control power supply
Drive power supply

Input signal(PLCGSL)
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
Block selection (1 to 5)

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

1 block OK

2 block OK

Blocks OK (1 to 26)

1 block completion

2 block completion

Block completion
Axes OK (1 to 60)

3rd axis 1st axis 2nd axis OK
OK
OK- 58 -

1st to 3rd axesOK

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 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GSL)
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
Block selection (1 to5)Output signal(GSL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)- 59 -

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

Control power supply
Drive power supply

Input signal(PLCGSL)
Operation ready
Automatic/inching
Program start
Inching start
Determination reset
Alarm reset
QL input
0.2 sec. min.

QL modeIN wait input

0.2 sec. min.

0.2 sec. min.

Program selection(1 to 5)
Input ENABLE
Reset
Block selection (1 to 5)

Output signal(GSL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

1st axis
OK

Axes OK (1 to 60)
OUT- 60 -

5-8. Program operation - 1 step operation x 3 blocks, when the unit is operated in sequence specified by theblock selection 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GSL)
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
Block 2Block 1

Block 3Block selection (1 to 5)

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

Block 2

Operating

Block 3

Executing
QL processing
end
Step completion
Program selection
output (1 to 5)
Output ENABLE
Block OK
Block NG
Block 2Block selection output(1 to 5)Blocks OK (1 to 26)

Block 3Block 1

Block 2
2 block completion

Block completion
Axes OK (1 to 60)- 61 -

Block 1
1 block completion

Block 33 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
action in the 1 step x 2 blocks operation)
Control power supply
Drive power supply

Input signal(PLCGSL)
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)0.2 sec. min.

Input ENABLE

0.2 sec. min.

Reset
Block selection (1 to 5)

Output signal(GSL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)

1 block

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

1 block OK

Blocks OK (1 to 26)
Block completion

1 block completion

Axes OK (1 to 60)- 62 -

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 blocks operation)

Control power supply
Drive power supply

Input signal(PLCGSL)
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
Block selection (1 to 5)

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

Quick stop (1 sec. max.)

1 block

Quick stop (1 sec. max.)

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 NG

Blocks OK/NG (1 to 10)

2 block NG

Running operation NG

Running operation NG

All operating axes NG

All operating axes NG

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

- 63 -

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 blocks operation)
Control power supply
Drive power supply

Input signal(PLCGSL)

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
Block selection (1 to5)Output signal(GSLPLC)
Operation ready OK
Device OK
Battery OK
Total OK
Total NG
1 block

1 block

OperatingExecuting

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

1 block ΟΚBlocks OK/NG (1 to 10)

1 block completion

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

- 64 -

6. Setting
6-1 Display/setting function
Displays various data, parameters and conditions in 7SEG. 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.
Numeral value UP button
 Parameter display
Digit control
 SAVE button
Numeral value DOWN button
buttonData display
buttonボタン
7-segment display

Contents

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
7: Stop

0 1 0
A
B C
.
****
AL**

。
。
。

NG code ”****” occurred

Alarm“**” being generated- 65 -

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

Data display＊ ＊ ＊ ＊

SEL

0１
Data change

Item change

SAVE Setting selection SAVE Item selection
Operation data setting

Ｆ n．0

A _

2

1

0

SEL

N o． 0 0
SEL

Input monitor

Ｆ n．0

3

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- 66 -＊ ＊ ＊ ＊

０１
Item change

Setting change

SAVE

Data display
DATA

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 1

U

SEL

SAVE
Ｆ n．1

2

n．0 1

０１
Axis change

ID controller setting

Unit display

Item selection

Unit change

DATA

Data display

n o．－ 0＊ ＊ ＊ ＊

Item change

Data change

SEL０１- 67 -

6-2 Program
6-2-1 Tightening program

Block

Block
(MAX 25)

Program(24 types)

Unit 1GSL

GSL

Unit 2

GSL

GSL

GSL

Unit nGSL

GSL

I/F unit

Common setting(Used commonly to all axes)

Rotationsetting
24 types

Pretightening
setting
24 types

Reverserotationsetting
24 types- 68 -

Unit (Max 7)

Finaltightening
setting
24 types

6-2-2 Program configuration

30 axes × 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

・
・
・
・
・
・

・
・
・
・
Program 24

Step 73
Step 74
Step 75
Step 76
Step 77

Details of step setting (Example)
Step number
Step 1
Step 2
Step 3
Step 4
Step 5
Step 6
Step 7
Step 8
Step 9
Step 10
Step 77

Tightening operation
Rating 1
Screw 1
Rotation 1
Pretightening 1
Reverse rotation 1
Final tightening1
End
Rating 1
Screw 2
Rotation 2

The control flag (Zero magnification check,IN, with or without finish synchronize ) is
not included in the step.

Rating (block start declaration),finish(block
finish declaration),screw number and each operation to be
counted as 1 step.
It is possible to set maximum 77 steps.

- 69 -

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 GSL.
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 GSL axis.
Tightening setting
Changes setting of parameters related to the operation. This setting value canbe changed by GSL 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 setting of printer output timing, setting personal computercommunication setting 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 all axes.
When the settings of Fn.01・10・11・12 are changed, please operate after switching OFF/ON the power
supply.

- 70 -

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
PA.13
PA.14
to18
PA.19

PA.20
PA.21

PA.22
PA.23

PA.24
PA.25

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 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
0-999910rpm
Sets the motor speed limit value.
Over speed error detecting level
0-999910rpm
Sets the speed to detect the speed alarm "AL30".
Overload error detecting level
0-99990.1Arms
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 P83)
Setting at shipment M1: Current command
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 P49,50 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 P49,50 table of output
signal.)If the setting value is 0000, it does not work.
UnusedIt does not monitor the torque during the preset time when reaching to speed anreaching tospeed 2. (It is set to prevent wrong judgment of torque due to the change of speed.)
UnusedNo monitoring time for torque
0-9999No 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
0-9999Sets the data importing delay time after the torque sensor bridge short-circuit when themagnification check is performed.
Motor acceleration speed control setting
0-9999Can 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
0-9999Sets the maximum current of motor
Torque increase for the premature tightening NG detection
0-9999Sets the torque increase for the premature tightening NG detection.
(When it reaches to speed 3 select torque + torque increase for the prematuretightening NG detection within the premature tightening determination angle, it outputs
NG.)
Tightening sampling operation end torque
0-9999Sets the torque value to end the tightening sampling operation
Unused- 71 -

1 ms

1 ms
100 rpm/s

0.1 Arms
0.1 Nm

0.1 NmNumber
PA.26

PA.--

Contents
Axis 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
1-0030

Unit

Storing data: When "PA. ---" is displayed, if "SAVE" button is pressed, all data 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 sideshould 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 range when the product stops 0-9999
limit(When only the torque determination is provided.), it becomes“Rotation torque over or under”. If the motor current during 0-9999
Torque lower
rotation exceeds the equivalent value to the upper torque limit, it
limit
becomes “Gear check NG.”. (Only when the gear check isprovided.)
Fitting torque
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

0.1Nm
0.1Nm

0.1 NmUnusedPress SAVE button to save data.
Perform saving operation on each 24 types of data.

Storing data: When “No. ---“ is displayed, if "SAVE" button is pressed, the data will be saved in memory.
Perform saving operation on each 24 types of data.

- 72 -

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

NumberContents
Setting range
Unit
No.00
Torque upper
If the torque value is not within the range when the product stops, 0-9999
0.1Nm
limit
it becomes “Pretightening torque over or under”.
No.01
Torque lower
0-9999
0.1Nm
limit
No.02
Unusedto 05
No.06
Overtime
0-0065
1s
When pretightening movement does not complete within the time starting frompretightening, it stops rotation and becomes “Pretightening timeover NG”.
(Time before pretightening is not included.)
No.07
First speed
0-99991 rpm
Set the pretightening first speed.
No.08
Position move angle
0-99991 degreeIt will be unconditionally the third speed after the specified angle.
No.09
Third speed
0-99991 rpm
Set the pretightening third speed.
No.10
Before-time
0-99991 ms
Rotation control actually starts when the preset time has elapsed after thepretightening operation start.
No.11
UnusedNo.12
Cut torque
0-99990.1 Nm
Set the target torque for pretightening. (Pretightening stops when it reaches the target
torque.)
No.13
Second speed switching angle
0-99991 degreeSpecify the angle to change to the second speed.
No.14
Second speed
0-99991 rpm
Set the pretightening second speed.
No.15
Third speed switching torque
0-99990.1 Nm
Set the torque to switch to third speed.
(It is given priority over the second switching angle.)
No.16
Premature tightening determination angle
0-99991 degreeSpecify the angle to determine premature tightening NG. If it reaches the cut torqueon the way from pretightening start to this angle, it becomes premature tightening
NG.
No.17
UnusedNo.18
No monitoring time for torque
0-99991 ms
Set the time from the pretightening start time to the start time of the torquemonitoring.
No.19
Stall time
0-99991 ms
Set the time from the stop caused by the cut torque to the state with the servo motor
turned OFF.
No.—
Press SAVE button to save data.
Perform saving operation on each 24 types of data.

* For the No.19 stall time, set the numeric value less than 2000. If the number is not complied, the motor may beburned out.

- 73 -

- 74 -

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.04

No.05
No.06
No.08
No.09
No.10
No.11
No.12
No.13
to19
No.—

Contents
If the torque value at the moment of reaching the cut angle is notwithin the range, it becomes “Reverse rotation torque over orunder”.

Setting range
Unit
0-99990.1 NmTorque upper
limit
Torque lower
0-9999limit
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.
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.
Perform saving operation on each 24 types of data.

- 75 -

0.1 Nm1s

1 degree
1 rpm
1 ms
1 degree1 rpm
0.1 Nm
0.1 Nm7-6 (Fn.02) Final tightening setting (d_01 to 24: 24 types)
Number Contents
No.01
No.02
No.07

No.08
No.09
No.10
No.11
No.12
No.13
to 25
No.26

No.27
to 31
No.32
No.33
No.34
to 39
No.—

Setting
range
Sets the regulated upper limit value of the tightening torque. If 0-9999

Unit

Torque upper
limit
the torque is not in a range between the upper limit and underlimit when the product stops, it becomes “Final tightening torque 0-9999
Torque lower
over or under”.
limit
Overtime
0-0065
When the real tightening movement does not finish within the time starting from realtightening, it stops rotation and becomes “Real tightening time over” (Time before
real tightening is not included.)First speed
0-9999Set the final tightening first speed.
Speed switching angle
0-9999Specify the angle to change the first speed to the second speed. (Measured from thestart.)
Second speed
0-9999Set the final tightening second speed.
Before-time
0-9999
Rotation control actually starts when the preset time has elapsed after the final
tightening operation start.
Cut torque (TS2)0-9999Set the target torque for pretightening. (Rotation ends when it reaches the preset
torque.) Set the sufficient value in the case of angle method.
Unused

0.1Nm

Over cut angle
0-9999Set the maximum rotation angle from the start of final tightening.
If it exceeds this angle, the rotation ends and it becomes the Final Tightening OverCut Angle NG.
Unused1 degreeNo monitoring time for torque
0-9999Set the time from the start of pretightening to the time to start torque monitoring.
Stall time
0-9999Set the time from the stop caused by the cut torque to the state with the servo motor
turned OFF.
Unused

1ms

0.1Nm
1s

1 rpm
1 degree
1 rpm
1 ms
0.1 Nm1ms

Press SAVE button to save data.
Perform saving operation on each 24 types of data.

* For the No.33 stall time, set the numeric value less than 2000. If the number is not complied, the motor may beburned out.

- 76 -

- 77 -

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

No.00

No.01

No.02

No.03

No.04
to 05
No.06
No.07
No.08
to 09
No.—

Contents
Current sensor rating
Initial setting sets the torque at the spindle end of nut runner when instant maximus
current is supplied to the motor. Torque compensation is as follows;
Torque rate after compensation = Torque rate before compensation x value of torquewrench/value of monitor.

Setting range
Unit
0-99990.1Ｎｍ

Tightening direction, Nutrunner model**□□| | +——
Specify the Nutrunner type (See the following table.)| +————
Existence of torque sensor|
0: Equipped
1: No+————— Tightening direction
0: Tighten the motor clockwise as viewed from the encoderside. (Tighten as the motor axis end turned CCW.)
4: Tighten the motor counterclockwise as viewed from theencoder side. (Tighten as the motor axis end turned CW.)
Limit over
0-9999Setting of tolerance when the value of the current sensor is checked at the state of current
command 0. When the difference with the previous check is larger than the motor
maximum current x limit over/sensor rate, it becomes NG output.
Set over0-9999Setting of tolerance when the value of the current sensor is checked at the state ofcurrent command 0. Whe the difference with the previous check is larger than the motor
maximum current x set over/ sensor rate, it becomes NG output.
UnusedCAL value
Sets the value of calibration with the nut runner itself.
It is indicated on the body of the nut runner. Ordinary number is 100.
Deceleration ratio
Input deceleration ratio of Nut runner gear.
Set the motor axis rotation number required to rotate the tightening axis one turn.
Unused

0.1Nm

0.1Nm

0-99990.1％

0-99990.1revPress SAVE button to save data.
Perform saving operation on each 30 types of data.

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

Nut runner model specified table
Nut runner number□□

Nut unner type□□Nut runner type

0a
0b
0c
0d
0E
1c
1d
1E

AN-120AN-300AN-640AN-1100
AN-1800
4200E104201E104202E10

1F
20
2b
2d
2F
30
32
63

4203E104203E11
ANM-220
ANM-320
ANM-400
ANM-640
ANM-1200
Others- 78 -

7-8 (Fn.03) Input monitor
NumberContents
Display range
In.00
External input signal monitor
0-FFFF (bit)Indicates the state of input signal input from CN1.
In.02
Encoder counter0-FFFF
Integration counter from the motor commutation initialize position(Motor one rotation at 400 hex)
In.03
Time (hour. minute) (Only when connected with I/F unit)
00.00 to 23.59
Display example: 07.30: 7:30
To change, perform by Fn. 09.
In.04
Date (month. day) (Only when connected with I/F unit)
01.01 to 12.31
Display example: 04.01: April 1st
To change, perform by Fn. 09.
In.05
SIO input signal monitor
0-FFFF (bit)and
It is possible to monitor SIO input signal. Select the unit to monitor by Fn.10-IF._5. It shows
In.06
the state as follows:
In.05 Upper 8 bit: SIO input "1"
Lower 8 bit: SIO input "0"In.06 Upper 8 bit: Preliminary
Lower 8 bit: SIO input "2"

Monitor display only. Contents cannot be changed.

7-9 (Fn.04) Output monitor
NumberContents
Setting range
OU.00 External output signal monitor
0-FFFF (bit)Indicates the state of output signal output from CN1.
OU.01 Dummy output
0-FFFF (bit)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.
OU.02 SIO output signal monitor
0-FFFF (bit)to
It is possible to monitor SIO output signal. Select the unit to be monitored by Fn.10-IF.5. It
OU.10 shows the state as follows:(Unconf
irmed) OU.02 Upper 8 bit: SIO output “1”Lower 8 bit: SIO output “0”OU.03 Upper 8 bit: SIO output “3”Lower 8 bit: SIO output “2”OU.04 Upper 8 bit: SIO output “5”Lower 8 bit: SIO output “4”OU.05 Upper 8 bit: SIO output “7”Lower 8 bit: SIO output “6”OU.06 Upper 8 bit: SIO output “9”Lower 8 bit: SIO output “8”OU.07 Upper 8 bit: SIO output “11”Lower 8 bit: SIO output “10”OU.08 Upper 8 bit: SIO output “13”Lower 8 bit: SIO output “12”OU.09 Upper 8 bit: SIO output “15”Lower 8 bit: SIO output “14”OU.10 Upper 8 bit: Not decided
Lower 8 bit: SIO 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- 79 -

7-10 (Fn.05) Operation result monitor
NumberContents
No.00
Final tightening torque (Torque when final tightening is complete.)
No.01
—
No.02
—
No.03
—
No.04
Final tightening total angle (from start)
No.05
Final tightening total time (from start, including the before-time)
No.06
Pretightening torque (Torque when pretightening is complete.)
No.07
—
No.08
—
No.09
—
No.10
Pretightening total angle (from start)
No.11
Pretightening total time (from start including the before-time)
No.12
Reverse rotation torque (Torque at the measurement angle)
No.13
Reverse rotation angle (from start)
No.14
—
No.15
Reverse rotation total time (from start including the before-time)
No.16
Rotation torque (maximum value during rotation)
No.17
Rotation angle (from start)
No.18
Rotation time (from start including the before-time)
No.19
Program total time (from start to block end including the before-time)
No.20
Current sensor check value (Converted value to torque)No.21
A half value of the current sensor check value (Converted value to torque)

Setting range
Unit
0-999.9
0.1 Nm——————0-99991 degree0-99.99
0.01 s0-999.9
0.1 Nm——————0-99991 degree0-99.99
0.01 s0-999.9
0.1 Nm0-99991 degree——0-99.99
0.01 s0-999.9
0.1 Nm0-99991 degree0-99.99
0.01 s0-99.99
0.01 s0-999.9
0.1 Nm0-999.9
0.1Nm[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 Unit
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

Note: Set values cannot be saved.

7-12 (Fn.07) Unused

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

Note: Please do not change these RAM monitor items by the user.

7-14 (Fn.09) Unused- 80 -

7-15 (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
Unit
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 commnunication 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: Invalid
1: Valid
11: Language switching (Sends the language switching information to a printer.)
SIO signal monitor unit selection
1 to 7
Select the unit to monitor the M-NET signal by Fn. 03 and Fn. 04.
Resolution of the wave data to the display.
5-20
0.1 度
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.

7-16 (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.

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

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(Switching printer/ID&QC personal computer)0: Connect to printer
1: Connect to ID controller & QC personal computer
SIO start address setting. Enter a number of “1 to 7”
Press SAVE button to save all data of Fn. 12 in one lump.

Please refer to Page 87 for the details of the F12 abovementioned.

- 81 -

Setting range

8. Supplementary
8-1 Sub serving function for operation①History 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 GSL_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.)
Saved items of tightening history
Saved items
Screw No.
Date
Time
Program No.
Tightening result
NG codeUnit No.
Work data No.

Contents
Screw No. assigned to every screw to tighten.
(It is possible to specify the number in the form of xxx-th
axis or xxx-th block.)
Date the tightening is performed.
Time the tightening is performed.
Tightening program number that the tightening is actually
performed.
Torque (at the determination time)
Angle (from start time)
Time (from start time)
Records the tightening NG code.
○mark appears when tightening is OK.
Unit number that the tightening is actually performed.
Data sent from ID controller.
“0” when ID controller is not equipped.

Remarks
Personal computer communication
function is used to set.

②Waveform sampling function
Stores waveform data of 2048 data in the driver of each axis.
(It overwrites the data from next tightening.)
Waveform data: Stores at 10ms interval from the block start and block complete.
8-2 Driver function
Regenerative function : Regenerative circuit is built in order to consume the excessive drive voltage
through the internal 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 byparameters)
Standard load inertia : JL 30JM

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 axis OK output, 1 to 16 axis - axis cutting set input
3rd axis：17 to 30 axis OK output, 17 to 30 axis - axis cutting set input(* However, the axis cutting input as mentioned above is enabled only when #1
to 3 axis has Unit No.1.)- 82 -

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

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

9. Monitor output
Usually, the current sensor output and speed feedback values are output to the M1 and M2 terminals on thefront of driver. 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

Motor current command

Speed feedback

M1,M3 terminal output contents (Setting at shipment: 0238)
M2,M4 terminal output contents (Setting at shipment: 0222)
Setting
value

0239

0222

Applicable type
GSL-*1-N04-M
GSLW-*1-N04-M
GSL-*3-N04-M
GSLW-*3-N04-M
GSL-*4-N02
GSL-*5-N02
Common* 1: Standard specification (connector type)* T: T specification (with a heatsink + Connector type)- 83 -

Output scale
8.8 Arms/5 V
17.7 Arms/5 V
29.5 Arms/5 V
44.3 Arms/5 V
16,384 rpm/5 V“+” by rotating to theright (CCW)10. Code table10-1. NG code list
Operation

Codedisplay
FFFF

Zero
0001
magnificationand others
0003
0033
Rotation

0107
0108
0111
0112

Pretightening 0207
0208

0211
0212
0233
Reverserotation

0306
0307
0311
0312

Final
tightening

0411
0412
0433
0434

Contents
Emergency stop
Operation ready OFF during operation, or START OFF during
program operation.
Zero point offset error
Zero point output exceeded the limit over during the zero point check.
Zero point offset fluctuation error
Output difference between this time and last time exceeded the set
over.
Sampling angle overRotated more than 9999 degrees during the tightening angle sampling
operation.
Gear check NG
Motor current exceeded the equivalent value to the upper torque limit
while running.
Fitting angle over
Does not reach the fitting torque even if it exceeds the cut angle.
Rotation torque over
Torque at stopping exceeded the upper limit.
Rotation torque under
Torque at stopping does not reach the lower limit.
Premature pretightening NG
Reached the cut torque while operating in the first speed.

Related parameters

Fn02-E □–No03
Fn02-E □–No02
Fn01–PA.24
Fn02-A_□–No05
Fn02–A_□–No02
Fn02–A_□–No07
Fn02–A_□–No05
Fn02–A_□–No06
Fn02–b_□–No15
Fn02–b_□–No16

Twice tightening of pretightening NG Torque reached the total of the
3rd speed switching torque + incremented torque (Fn01 -23) between
the start and premature tightening determination angle.
Deceleration NG Speed is not the 3rd speed when it reached thesample start torque or cut torque.
Pretightening torque over
Torque value at stopping exceeded the upper limit.
Pretightening torque under
Torque value at stopping does not reach the lower limit.

Fn02–b_□–No15
Fn02–b_□–No16
Fn01–PA.23

Pretightening time over.
Reaching to the overtime, the tightening movement finished.
Reverse rotation passing torque NG
Did not reach torque more than the preset torque during operation.
Reverse rotation seizure torque NG
Reached torque more than the preset torque during operation.
Reverse rotation torque over
Torque value at the measurement angle exceeded the upper limit.
Reverse rotation torque under
Torque value at the measurement angle does not reach the lower limit.
Final tightening torque over
Torque value at stopping exceeded the upper limit.
Final tightening torque under
Torque value at stopping does not reach the lower limit.
Real tightening time over.
Reaching to the overtime, the tightening movement finished.
Final tightening over cut angle NG
Angle from the start of final tightening exceeded the over cut angle.

Fn02–b_□–No06- 84 -

Fn02–b_□–No00
Fn02–b_□–No01

Fn02–c_□–No11
Fn02–c_□–No12
Fn02–c_□–No00
Fn02–c_□–No01
Fn02–d_□ –No01
Fn02–d_□ –No02
Fn02–d_□ –No07
Fn02–d_□ –No26

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

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

Situation

Cause

Occurs simply whenpower supply is turnedon
Occurs when operated
Occurs during
acceleration anddeceleration
Occurs during operation

AL20
Overload
alarm

AL30
Speed alarm
AL40
Encoder
initial error

Average value ofmotor current
exceeded thedetecting level(Fn01-PA06).

Motor speed
exceeded detection
level(Fn01-PA05).
Failed to initialize
commutation

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

Measures

GSL defectReplace GSL

Wire short-circuit of motor

Check wiring to motor
Replace motor
Replace GSL
Replace GSL

GSL defect
GSL 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 overshootImprove 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

Motor rotates after drive
power supply is turnedonDisconnection in sensor signal leads
Motor defectSignal receiver defectCheck mechanism
Readjust gain
(Fn.01-PA00 to PA03)
Replace motor
Replace GSL
Check wiring to themotor
Replace motor
Improve mechanism
sectionCheck wiring
Replace motor
Replace GSL

Occurs during operation

Motor does not rotate
after drive power supply
is turned on

Encoder error
Sensor signal receiver error
Wrong wiring to motor
Motor defectMechanism is too heavy to operate

AL48
Angle datareading error

Sensor position
data cannot beread normally.

Occurs during operation

Signal receiver defectReplace GSL

AL60
Sensor signal
error

Sensor is
disconnected

Occurs when power
supply is turned on

Disconnection of sensor signal

Check wiring
Loose connection
Replace motor- 85 -

Code display
contents
AL71
Drive power
supply overvoltage

Detected cause
Drive voltage is
high.

AL72
Regeneration
circuit error

Regeneration
processing circuit
malfunctioned.

Situation

Cause

MeasuresOccurs during
deceleration
Occurs simply whenpower supply is turnedon

Short of regeneration ability due tohigh voltage

Check drive voltage

Drive voltage specification is wrong.

Check drive voltage

Occurs during
deceleration

Regenerative resistor broken

Replace GSL

Regenerative processing ability
insufficient.
Drive voltage specification is wrong

Change GSL

Occurs simply whenpower supply is turnedonVoltage detecting circuit malfunction
Voltage drop and power supply
momentary interruption of input
power supply
Drive power supply was cut off
during GSL operation.

Check drive voltage
Check power supply
wiringReplace GSL
Check input power
supplyAL80
Drive power
supplyinterrupted

Drive voltage is
too low.
Momentary powerinterruption (about
0.1 sec.) occurred.

Occurs during operation

AL90
DriversectionE2PROMerror
ALC0
Program No
error

Data cannot beread/written
from/to E2PROM

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

E2PROM defect/operating life

Replace GSL

Program selection
error/contents
error

Occurs when program
starts/while executing

Specified program number is 0 or
more than 25.

Check program
selection signal

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

Reconfigure program

Occurs at a specifictimingCheck higher rank
timingReconfigure program

ALC1
Program step
error
ALC2
No operating
axis error

Undecipherable
step has been set.

Occurs when program
startsSpecified axis is
not actually
installed.

Occurs when power
supply is turned on

Unit setting mistake

Check unit setting axis

ALC3
I/F unit
E2PROM
failure
ALC4
SIO
communication error

Data cannot beread/written
from/to E2PROM.

Occurs when power
supply is turned on
Occurs when parameters
are saved
Occurs within 10
seconds after control
power supply is turnedon
Occurs during theoperation
Becomes normal when
the sensor cable/SIO
connection is
disconnected
Occurs when power
supply is turned on
Becomes normal whensensor cable/SIO
connection is
disconnected
Occurs when power
supply is turned on

E2PROM defect/operating life

Replace I/F unit

SIO connection wrong wiring

Check wiring

Sequencer failure

Check sequencer
setting
Check wiring=
CPU error

LED goes off

SIO
communication
stopped.

CPU cannot
operate normally.

CPU is notoperating

M-NET connecting leads shieldtreatment defectSensor/SIO signal wrong wiring

Replace I/F unit

Check wiring

GSL defectReplace GSL

Sensor/SIO signal wrong wiring

Check wiring
Check/replace sensor

GSL defectReplace GSL- 86 -

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 whentightening is NG.

Displays the data of tightening result.
Tightening result message appears in the MSG section.
(MSG: Message)
Example: Tightening condition

MSG display

1. When tightening is OK

OK

2. Final tightening torque overFinal tightening torqueover and others- 87 -

Possible to check the detail of parameters fortightening setting.
* It is impossible to change the setting value
from the display.

It is possible to change the language to be displayedon the display.
Switching languages are Japanese and English.

It is possible to check the parameter for rating settingof each axis.
Displayed axis can be switched by “+1” and “-1”buttons.

- 88 -

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.

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

- 89 -

It is possible to check the parameter for reverse rotation setting.

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

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

- 90 -

It is possible to check the input/output of I/O monitor.
Clicking on the arrow button switches the screen number.

- 91 -

12 Maintenance and check12-1 Precautions
12-1-1 Precautions for maintenance and checkTo remove the unit, make sure to cut off the power supply and discharge the voltage by operating
DISCHARGE and detect the voltage prior to begin working.

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 thedriver.

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 should be less than 80% andaverage operation be less than 20 hours a day.

12-1-2 Check items
Daily checkCheck for unusual vibration or sound.
Check for abnormal odor.
Check the wire for flaw and cracks. Special care should be taken to inspect the movable cables.
Check the driver 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.
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.
Product

ComponentStandard replacement interval

DriverCapacitor
Relay
Cooling fan

About 5 years
100,000 times operation
10,000 to 30,000 hours

Battery
E2PROM

10,000 to 50,000 hours
10,000 times of overwriting operation

Remarks
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 lifeof 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 ofoperation.

- 92 -

12-1-6 Battery

Battery life is basically about 5 years.
However it varies depending on the application to use.

12-1-7 E2PROM

E2PROM for parameters storing has the limit of overwriting times. Data holding period is about 10
years.

12-2 Guarantee
The overwriting times under the guaranteed condition are 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 (a unit) to operate together. One interface unit can control the maximum 7 units. At least one
controller belongs to one unit (maximum 30 axes control to one unit), and one input command is assigned to
one unit and then all belonging axes start operation simultaneously. In SIO, different station numbers are
assigned to each unit.

PROGRAM:

Screw tightening program can form the program from 1 to 24 on each axis. One program begins with thecontrol flag 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 shouldhave 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 theend declaration. In automatic operation, one-time program start executes one block. It is also possible to startfrom the block on the way by designating the block number. The determination (Block OK/NG) against theoperated block is output on the step in the block end declaration. If "NG" is determined on either step in theblock, it becomes the “block NG” 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.

- 93 -

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

QL 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. At this time, it is possible to change the determination“NG” to “OK” by inputting the tightening output of the manual torque wrench to the controller. This input iscalled 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 theway from the block start declaration till the previous step of retry, the operation following the retry will be
executed. If NG did not occur, the operation following the retry will not be executed.

Completion synchronization:
When pretightening, real tightening movement steps finish, torque confirmation is done again with only
OK axes.
Confirms torque until it reaches to cut torque, cut angle or overtime at speed 5rpm.
It is ineffective to set the completion synchronization with Rotation and Reverse rotation..

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. It is possible to determine the screw baking bymonitoring the residual torque during this tightening operation.

FINAL TIGHTENING:

Final tightening operation of screws- 94 -

APPLICABLE TO ID CONTROLLERS:
It is possible to transfer the engine number, set the calendar and transmit the result data by connecting theinterface 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 use with a QC personal computer and ID controller.)

TIGHTENING ANGLE SAMPLING OPERATION:
Operation to rotate the screw in the tightening direction at a constant speed and then stop when it reaches thepreset torque, in order to measure the screw length. This operation allows you to easily set the tightening
program. (Executable only from a personal computer.)

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

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

Driver Unit

Arc NetConnection 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.

- 95 -

☆ 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 forthe communication with PLC. (If the PLC SIO address does not match the GSL controller SIO start address,
the communication between PLC and GSL 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- 96 -

CC-Link ver. IF outside drawing(6)external power supply 5V input(2)CC-Link connector(3)Communication baud rate setting(4)Sla*CN12 provid(5) two
CC-Link
communicationes
ways
to use. status LEDs

(by changing the para
meters)s interface)
D-SUB 25Pn(2)CC-Link connector
Connector Pin Number
1 （Up）
2
3
4
5 （Down）(RS-232C interface)
D-SUB 9P

Signal Name
DA
DB
DG
SLD
FG

etting(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.

- 97 -

(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 baudrate 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- 98 -

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

☆Differences between GSL-D2 and GS-D3
GSL-D2: Tightening result (OK.NG), tightening data(torque.time.angle), indication of the setting values.
GS-D3: In addition to the above mentioned contents of GSL-D2, it is possible to 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 GSL controller driver is replaced.
(If the axis number is not set, the communication from the setup personal computer cannot be established.)☆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

0002

→

(1 st axis) (2nd axis)(x) Numeral 1~9

Set axis no. using Up, Down and CTRL button.
Notice (Set the driver with I/F unit as 1st axis and go on 2ndaxis,
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.

- 99 -

☆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

010.0

Initial screen indication→

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

××××
Encoder counter(Raise up to In.02)(×) 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.)☆ Explanation of additional items for GSL tightening setting
1. Pretightening setting1) Speed 3 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 or 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,
the premature tightening NG (NG code 207) occurs.
3) No monitoring time for torque: Time setting to ignore the acceleration reactive force at thepretightening start
It ignores the torque determination during the preset time after the pretightening start.

2. Final tightening
1) 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.
- 100 -

☆ 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).
Select the program number by combining the program bit for the program bit selection.
For the program, it is possible to set the rating setting and axis number setting in each block or axis unit.
2.

Input ENABLE

Please always input “Input ENABLE’ after the program bit is selected.
If ENABLE is not input, the program cannot be changed or selected. After the program selection is changed,
check that the output of program selection completion and the program number is 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 isfinished (total determination output)).
4.

Inching startSelect the program number by selecting the program bit at the inching start.
Rotating speed and direction are decided during rotation by selecting the program.
(Rotation setting number is selected by the selected program number and the speed and rotating direction by
this setting controls the inching movement.) If the program is not selected, inching start is not accepted.
Please be careful of it.
Do not input the inching start during the program operation. It may cause malfunction.
5.

Alarm resetInput for the alarm reset input is enabled only when the alarm occurred.
6.

IN inputEffective only when IN is set in the program setting. If IN setting is performed in the program, make sure toenter 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 whilerunning.

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.

GSL reset(ALL reset)

When GSL reset is input, make sure to input from the program selection because all steps return to the initial
status.
☆ 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.)- 101 -

☆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.)- 102 -

(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- 103 -

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 ofpriority.
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- 104 -

7. 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.
undermention Set the digit no. of transmission with time.
ed data.
Set the digit no. of transmission with angle.
0／1

Set the digit no. of transmission with gradient.
0 to 4I/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.
Torque, angle, gradientTime

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

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

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

In case of setting value not provided, the operation is same as zero.
- 105 -

☆ Items of setting possible and setting not possible
I te mDriver 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.

○

×

○
○
○
○
○
×
×
○
○
○

○
○
○
○
○
○
○
○
○
○

☆ Heat release fan
1.

Standard specification

GSL-1*-N04-M(Standard specification). GSLW-1*-N04-M(Standard specification) should be equippedwitha fan or a cooler which cools throughout the controlle.
Make sure to provide the interval more than 10 mm between the controllers.

2-1 T specification

GSL-T*-N04-M(T specification). GSLW-T*-N04-M(T specification) is required to equip the fan toradiateheat with the fin of the back of the controller. Please check the following contents and then equipit.
* Depending on the nut runner type, the figure from 1 to 5 will be entered. (For details, see P11.)

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 thedriver and orient the air flow from the bottom up. If the installation place is 150 mm or further from thedriver(s), make sure to take measures so that the airflow is increased or the wind does not escape from theflow line.

- 106 -

☆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(communication line) 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].

- 107 -

- 108 -Revised Contents
Revised Date
Jan. 2014（second edition）

Mar. 2020（third edition）

Revised Contents
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)
Rectify the wrong description of the premature tightening determination angle(at PreTightening setting)
Add the description of CC-Link version IF.
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- 109 -

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 third edition in Mar. 2020