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Introduction Thank you for selecting the Mitsubishi numerical control unit. This instruction manual describes the handling and caution points for using this AC servo/spindle. Incorrect handling may lead to unforeseen accidents, so always read this instruction manual thoroughly to ensure correct usage. Make sure that this instruction manual is delivered to the end user. Always store this manual in a safe place. All specifications for the MDS-C1 Series are described in this manual.
Precautions for safety Please read this manual and auxiliary documents before starting installation, operation, maintenance or inspection to ensure correct usage. Thoroughly understand the device, safety information and precautions before starting operation. The safety precautions in this instruction manual are ranked as "WARNING" and "CAUTION". DANGER WARNING CAUTION When there is a potential risk of fatal or serious injuries if handling is mistaken.
WARNING 1. Electric shock prevention Do not open the front cover while the power is ON or during operation. Failure to observe this could lead to electric shocks. Do not operate the unit with the front cover removed. The high voltage terminals and charged sections will be exposed, and can cause electric shocks. Do not remove the front cover even when the power is OFF unless carrying out wiring work or periodic inspections. The inside of the units is charged, and can cause electric shocks.
CAUTION 3. Various precautions Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and electric shocks, etc. (1) Transportation and installation Correctly transport the product according to its weight. Use the servomotor's hanging bolts only when transporting the servomotor. Do not transport the servomotor when it is installed on the machine. Do not stack the products above the tolerable number.
CAUTION Store and use the units under the following environment conditions.
CAUTION (2) Wiring Correctly and securely perform the wiring. Failure to do so could lead to runaway of the servomotor. Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of the servo drive unit. Correctly connect the output side (terminals U, V, W). Failure to do so could lead to abnormal operation of the servomotor. Do not directly connect a commercial power supply to the servomotor. Failure to observe this could result in a fault.
CAUTION (3) Trial operation and adjustment Check and adjust each program and parameter before starting operation. Failure to do so could lead to unforeseen operation of the machine. Do not make remarkable adjustments and changes as the operation could become unstable. (4) Usage methods Install an external emergency stop circuit so that the operation can be stopped and power shut off immediately.
CAUTION (5) Troubleshooting If a hazardous situation is predicted during power failure or product trouble, use a servomotor with magnetic brakes or install an external brake mechanism. Use a double circuit configuration that allows the operation circuit for the magnetic brakes to be operated even by the external emergency stop signal. Shut off with the servomotor brake control output. Servomotor MBR Shut off with NC brake control PLC output.
CONTENTS 1. Installation 1-1 Installation of servomotor..................................................................................................... 1-2 1-1-1 Environmental conditions .............................................................................................. 1-2 1-1-2 Quakeproof level............................................................................................................ 1-2 1-1-3 Cautions for mounting load (prevention of impact on shaft) .....................
3. Setup 3-1 Initial setup ........................................................................................................................... 3-2 3-1-1 Setting the rotary switch ................................................................................................ 3-2 3-1-2 Transition of LED display after power is turned ON...................................................... 3-3 3-1-3 Servo standard specifications and high-gain specifications .........................................
5. Spindle Adjustment 5-1 D/A output specifications for spindle drive unit ................................................................... 5-2 5-1-1 D/A output specifications ............................................................................................... 5-2 5-1-2 Setting the output data .................................................................................................. 5-3 5-1-3 Setting the output magnification .............................................................
Appendix 3. EMC Installation Guidelines Appendix 3-1 Introduction ........................................................................................................ A3-2 Appendix 3-2 EMC instructions ............................................................................................... A3-2 Appendix 3-3 EMC measures.................................................................................................. A3-3 Appendix 3-4 Measures for panel structure...................................
Contents for MDS-C1 Series SPECIFICATIONS MANUAL (BNP-C3040D) 1. Introduction 1-1 Servo/spindle drive system configuration............1-2 1-1-1 System configuration .................................................1-2 1-1-2 Unit outline type.........................................................1-3 1-2 1-2-1 Servomotor type ........................................................1-4 Servo drive unit type ..................................................1-8 1-2-3 Spindle motor type...............
Contents for MDS-C1 Series SPECIFICATIONS MANUAL (BNP-C3040D) Appendix 7. EMS Instruction Guidelines Appendix 3-3 Example of servo selection .................A3-7 Appendix 3-3-1 Motor selection calculation.........................A3-7 Appendix 3-3-2 Servo selection results...............................A3-10 Appendix 3-3-3 Motor shaft conversion load torque ............A3-11 Appendix 3-3-4 Expressions for load inertia calculation ......A3-12 Appendix 3-4 Selecting the power supply .................
1. Installation 1-1 Installation of servomotor ................................................................................................................... 1-2 1-1-1 Environmental conditions ............................................................................................................ 1-2 1-1-2 Quakeproof level .........................................................................................................................
1. Installation 1-1 Installation of servomotor CAUTION 1. Do not hold the cables, axis or detector when transporting the motor. Failure to observe this could lead to faults or injuries. 2. Securely fix the motor to the machine. Insufficient fixing could lead to the motor deviating during operation. Failure to observe this could lead to injuries. 3. When coupling to a servomotor shaft end, do not apply an impact by hammering, etc. The detector could be damaged. 4.
1. Installation 1-1-3 Cautions for mounting load (prevention of impact on shaft) [1] When using the servomotor with key way, use the screw hole at the end of the shaft to mount Servomotor Double-end stud the pulley onto the shaft. To install, first place the double-end stud into the shaft screw holes, contact the coupling end surface against the washer, and press in as if tightening with a nut. When the shaft does not Nut have a key way, use a frictional coupling, etc.
1. Installation 1-1-5 Shaft characteristics There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction and thrust direction, when mounted on the machine, is below the tolerable values given below. These loads may affect the motor output torque, so consider them when designing the machine. Servomotor Tolerable radial load HA053NS, HA13NS Tolerable thrust load 78.
1. Installation 1-1-6 Oil/water standards Oil or water [1] The motor protective format uses the IP type, which complies with IEC Standard. However, these Standards are short-term performance specifications. They do not guarantee continuous environmental protection characteristics. Measures such as covers, etc., must be taken if there is any possibility that oil or water will fall on the motor, and the motor will be constantly wet and permeated by water.
1. Installation [4] Do not use the unit with the cable submerged in oil or water. (Refer to right drawing.) Cover Servomotor Oil water Capillary tube phenomenon [5] Make sure that oil and water do not flow along the cable into the motor or detector. (Refer to right drawing.) Cover Servomotor Respiration [6] When installing on the top of the shaft end, make sure that oil from the gear box, etc., does not enter the servomotor. The servomotor does not have a waterproof structure.
1. Installation 1-1-7 Cable stress [1] Sufficiently consider the cable clamping method so that bending stress and the stress from the cable's own weight is not applied on the cable connection part. [2] In applications where the servomotor moves, make sure that excessive stress is not applied on the cable. If the detector cable and servomotor wiring are stored in a cable bear and the servomotor moves, make sure that the cable bending part is within the range of the optional detector cable.
1. Installation 1-2 Installation of spindle motor CAUTION 1. Do not hold the cables, axis or detector when transporting the motor. Failure to observe this could lead to faults or injuries. 2. Securely fix the motor to the machine. Insufficient fixing could lead to the motor deviating during operation. Failure to observe this could lead to injuries. 3. When coupling to a servomotor shaft end, do not apply an impact by hammering, etc. The detector could be damaged. 4.
1. Installation 1-2-2 Shaft characteristics There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction, when mounted on the machine, is below the tolerable values given below. These loads also affect the motor output torque, so consider them when designing the machine. Spindle motor Tolerable radial load 490 N SJ-V3.7-02ZM SJ-V2.2-01, SJ-V3.7-01 980 N SJ-V7.5-03ZM, SJ-V11-06ZM SJ-V5.5-01, SJ-V11-08ZM 1470 N SJ-PMF01830-00 SJ-V7.
1. Installation 1-3 Installation of the control unit CAUTION 1. Install the unit on noncombustible material. Direct installation on combustible material or near combustible materials may lead to fires. 2. Follow the instructions in this manual and install the unit while allowing for the unit weight. 3. Do not get on top of the units or motor, or place heavy objects on the unit. Failure to observe this could lead to injuries. 4. Always use the unit within the designated environment conditions. 5.
1. Installation 1-3-2 Installation direction and clearance Wire each unit in consideration of the maintainability and the heat dissipation, as well as secure sufficient space for ventilation. 75mm or more 100mm or more 100mm or more 10mm or more 10mm or more 100mm or more CAUTION 50mm or more 100mm or more 50mm or more 100mm or more 100mm or more The ambient temperature condition for the power supply unit or the drive units is 55°C or less.
1. Installation 1-3-4 Panel installation hole work drawings (Panel cut drawings) Prepare a square hole to match the unit width. (Note 1) 52 2-M5 screw 360 Square hole 342 360 Square hole (Note 1) 342 [Unit: mm] 2-M5 screw 82 Unit width: 90mm Unit width: 60mm (only with fin) 112 2-M5 screw (Note 1) 4-M5 screw Unit width: 120mm POINT 360 Square hole (Note 1) 342 360 Square hole 342 60 142 Unit width: 150mm 1. Attach packing around the square hole to provide a seal. 2.
1. Installation 1-3-5 Heating value Each heating value is calculated with the following values. The values for the servo drive unit are for a stall output, and the values for the spindle drive unit are for a continuous rated output. The value for the power supply unit includes the AC reactor's heating value.
1. Installation 1-3-6 Heat radiation countermeasures In order to secure reliability and life, design the temperature in the panel so that the ambient temperature of each unit is 55°C or less. If heat accumulates at the top of the unit, etc., install a fan so that the temperature in the panel remains constant. (Note) Due to the structure, heat easily accumulates at the top of the unit. Install a fan in the power distribution panel to circulate the heat at the top of the unit.
1. Installation Please refer to following method for heat radiation countermeasures. Calculate total heat radiation of each mounted unit (W) Calculate cabinet’s cooling capacity (W1) W ≤ W1 Comparison of W and W1 W>W1 Selection of heat exchanger Mounting design Collection of internal temperature rise distribution data Evaluation ∆T>10°C Improvements Completion 1) Refer to Specifications Manual, etc. for the heat generated by each unit.
1. Installation 1-4 Installing the spindle detector 1-4-1 Magnetic sensor (1) Installing the magnetic sensor • Tolerance to shaft dimension should be "h6" on the part for installing a magnet. • 2-øG hole can be used for positioning of spindle and magnet. • Magnet shall be installed as shown to the right. • Misalignment between sensor head and magnetic center line shall be within ±2mm. • There is an NS indication on the side of the cover.
1. Installation (3) Magnet and sensor installation directions • Install so that the magnet's reference hole and sensor's reference notch are aligned. (Standard/high-speed standards) • Install so that the magnet's N pole comes to the left side when the sensor's reference notch is faced downward. (High-speed compact/high-speed ring) N Sensor S S Magnet | Reference notch Sensor N Magnet | Reference notch (4) Cautions [1] Do not apply impacts on the magnet.
1. Installation 1-4-2 Spindle end detector To maintain the detector life and performance, a flexible coupling should be used to couple the spindle end detector and C-axis detector with the spindle. Detector Flexible coupling 0.02 0.02 Opposite detector shaft side Detector and coupling installation accuracy Recommended coupling Recommendation 1 Recommendation 2 Tokushu Seiko Eagle Model M1 FCS38A 1374Hz 3515Hz 0.8×10-3° 1.2×10-3° 20000r/min 10000r/min 0.7mm 0.16mm 1.5° 1.5° Max.
1. Installation 1-4-3 Spindle end PLG (1) Part configuration The detector is configured of an encoder (Sensor section and PCB section) and detection gears. The encoder section can be separated with an intermediate connector, but a type with the same serial No. must be used in combination. The serial No. is indicated on the intermediate connector of the sensor section and the output connector of the PCB section.
1. Installation [3] Keep the deviation of the sensor center and detection Sensor installation surface gear center to ±0.25mm or less. If the center deviation Sensor installation seat cannot be directly measured, set so that the dimension from the sensor installing surface to the edge of the Lead wire detection gears is 22.5±0.25mm. [4] Keep the deflection of the outer diameter, when the detection gears are installed on the shaft, to 0.02mm or less.
1. Installation [8] With the sensor installation seat's R section butted against the notched fitting section, fix the sensor installation seat with a mounting screw (M5 x 0.8 screws). A locking agent should be applied on the mounting screw before it is tightened. 3.5mm or less Butt the back side of the sensor installation seat against here 29mm 2-M5×0.
1. Installation 1-5 Noise measures Noise includes "propagation noise" generated from the power supply or relay, etc., and propagated along a cable causing the power supply unit or drive unit to malfunction, and "radiated noise" propagated through air from a peripheral device, etc., and causing the power supply unit or drive unit to malfunction. Always implement these noise measures to prevent the peripheral devices and unit from malfunctioning.
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2. Wiring and Connection 2-1 Part system connection diagram........................................................................................................ 2-3 2-2 Main circuit terminal block/control circuit connector .......................................................................... 2-4 2-2-1 Names and applications of main circuit terminal block signals and control circuit connectors... 2-4 2-2-2 Connector pin assignment .....................................................................
2. Wiring and Connection DANGER 1. Wiring work must be done by a qualified technician. 2. Wait at least 15 minutes after turning the power OFF and check the voltage with a tester, etc., before starting wiring. Failure to observe this could lead to electric shocks. 3. Securely ground the drive units and servo/spindle motor. 4. Wire the drive units and servo/spindle motor after installation. Failure to observe this could lead to electric shocks. 5.
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2. Wiring and Connection 2-2 Main circuit terminal block/control circuit connector 2-2-1 Names and applications of main circuit terminal block signals and control circuit connectors The following table shows the details for each terminal block signal. Name Signal name L1 . L2 . L3 Main circuit power supply Control circuit power supply Description MC1 Contactor control U.V.
2. Wiring and Connection 2-2-2 Connector pin assignment Do not apply a voltage other than that specified in Instruction Manual on each terminal. Failure to observe this item could lead to rupture or damage, etc.
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2. Wiring and Connection (2) Control circuit connector Unit MDS-C1-V1 Terminal Connector MDS-C1-V2 [1] [2] [1] [2] [3] [4] [3] [4] [5] [9] [5] [9] [6] [8] [6] [7] position [1] CN1A [2] CN1B Pin No. Connector specifications [3] CN9 [4] CN4 [5] CN2L [6] CN3L No.1 No.11 No.10 No.20 [7] CN2M [8] CN2M Pin No. No.1 No.2 No.3 [9] CN20 (Note) The [5] and [6] connector names differ for the MDS-C1-V1 unit.
2. Wiring and Connection 2-3 NC and drive unit connection The NC bus cables are connected from the NC to each drive unit so that they run in a straight line from the NC to the terminal connector (battery unit). And up to 7 axes can be connected per system. Note that the number of connected axes is limited by the NC. CAUTION Wire the SH21 cable between the NC and drive unit so that the distance between the NC and terminal connector (battery unit) is within 30m. Axis Nos.
2. Wiring and Connection (2) When using two or more power supply units within a single NC communication bus system Two or more power supply units may be required within a single NC communication bus system if the spindle drive unit capacity is large. The drive unit receiving power (L+, L-) from each power supply unit must always have NC communication bus connection at the NC side of each power supply unit.
2. Wiring and Connection (3) When using one power supply shared unit by two NC communication bus systems In systems employing a number of small-capacity drive units, a single power supply unit can be shared by two NC communication bus systems. In this case, a power supply control axis must be set for each axis of each NC communication bus. For basic connection information, refer to "(1) When using one power supply unit". Connected to the NC (System No.
2. Wiring and Connection 2-4 Motor and detector connection 2-4-1 Connecting the servomotor (1) Connecting the HC52(B)/HC102(B)/HC152(B)/HC53(B)/HC103(B)/HC153(B)/HC103R(B) /HC153R(B)/HC203R(B) MDS-C1-V1 Detector connector MS3102A22-14P L K Detector connector : CN2 Option cable : CNV12 (Refer to Appendix 1 for details on the cable treatment.) N Pin No. J Max. 30m H S No.11 No.10 No.20 R E Pin A B C D E F G H J K L M N P R S T U V No.
2. Wiring and Connection (2) Connecting the HC202(B)/HC352(B)/HC452(B)/HC203(B)/HC353(B) MDS-C1-V1 Detector connector MS3102A22-14P L K Detector connector : CN2 Option cable : CNV12 (Refer to Appendix 1 for details on the cable treatment.) N Pin No. Max. 30m H S Pin 1 2 3 4 5 6 7 8 9 10 Name Motor brake wiring (Refer to section "2-6 Wiring of the motor brake" for details.
2. Wiring and Connection (3) Connecting the HC353R(B)/HC503R(B) MDS-C1-V1 Detector connector MS3102A22-14P L K Detector connector : CN2 Option cable : CNV12 (Refer to Appendix 1 for details on the cable treatment.) N Pin No. Max. 30m H S No.11 No.10 No.20 R E Pin A B C D E F G H J K L M N P R S T U V No.
2. Wiring and Connection (4) Connecting the HC702(B)/HC902(B)/HC453(B)/HC703(B) MDS-C1-V1 Detector connector MS3102A22-14P L K Detector connector : CN2 Option cable : CNV12 (Refer to Appendix 1 for details on the cable treatment.) N Pin No. Max. 30m H S Pin 1 2 3 4 5 6 7 8 9 10 Name Motor brake wiring (Refer to section "2-6 Wiring of the motor brake" for details.) BAT SD SD* RQ RQ* UVW FG LG(GND) P5(+5V) CE05-2A32-17P A Brake connector MS3102A10SL-4P B No.10 No.
2. Wiring and Connection (5) Connecting the HA053N/HA13N MDS-C1-V1 Detector connector MS3102A22-14P L K Detector connector : CN2 Option cable : CNV12 (Refer to Appendix 1 for details on the cable treatment.) N Pin No. Max. 30m H S No.11 No.10 No.20 R E Pin A B C D E F G H J K L M N P R S T U V No.
2. Wiring and Connection (6) Connecting the HA23N(B)/HA33N(B) MDS-C1-V1 Detector connector MS3102A22-14P L K Detector connector : CN2 Option cable : CNV12 (Refer to Appendix 1 for details on the cable treatment.) N Pin No. Max. 30m H S Pin 1 2 3 4 5 6 7 8 9 10 Name Motor brake wiring (Refer to section "2-6 Wiring of the motor brake" for details.) BAT SD SD* RQ RQ* LG(GND) P5(+5V) Power connector Pin MS3102A18-12 A F E Brake connector D MS3102A10SL-4P B No.10 No.
2. Wiring and Connection (7) Connecting the HA-LF11K2(B)-S8/HA-LF15K2(B)-S8 MDS-C1-V1 Detector connector MS3102A22-14P L K Detector connector : CN2 Option cable : CNV12 (Refer to Appendix 1 for details on the cable treatment.) N Pin No. Max. 30m H S Pin 1 2 3 4 5 6 7 8 9 10 Name BAT SD SD* RQ RQ* U FG No.20 V W Name LG SD RQ BAT P5(+5V) Pin A B Name B1 B2 These are 24VDC, and have no polarity.
2. Wiring and Connection 2-4-2 Connecting the full-closed loop system Refer to section "2-4-1 Connecting the servomotor" for details on connecting the each motor type. (1) Connecting the ball screw end detector Detector connector : CN3 Pin No. Pin 1 2 3 4 5 6 7 8 9 10 MDS-C1-V1 CN2 Max. 30m No.1 No.11 No.10 No.
2. Wiring and Connection (2) Connecting the linear scale (for oblong wave data output) Detector connector : CN3 Pin No. Pin 1 2 3 4 5 6 7 8 9 10 MDS-C1-V1 CN2 Max. 30m CN3 CNV12 UVW Table Servomotor Linear scale 2 - 19 No.1 No.11 No.10 No.
2. Wiring and Connection (3) Connecting the linear scale (for serial data output) Detector connector : CN3 Pin No. Pin 1 2 3 4 5 6 7 8 9 10 MDS-C1-V1 CN2 Max. 30m CN3 CNV12 UVW Table Servomotor Linear scale 2 - 20 No.1 No.11 No.10 No.
2. Wiring and Connection (4) Connecting the linear scale (for analog output) Detector connector : CN3 Pin No. Pin 1 2 3 4 5 6 7 8 9 10 MDS-C1-V1 CN2 Max. 30m No.1 No.11 No.10 No.
2. Wiring and Connection 2-4-3 Connecting the synchronous control system The connection method and motor/encoder type (SV025) setting combinations for each synchronous control system are shown in the table below. For power supply connections for each servomotor type, refer to "2-4-1 Connecting the servomotor".
2. Wiring and Connection (1) Connection for semi-closed synchronous control (when using MDS-C1-V1 drive unit) Slave axis Master axis Detector cable CNV12 MDS-C1-V1 (Slave axis) MDS-C1-V1 (Master axis) MDS-B-SD Signal distribution unit CN2 CN3 CN2 CN2 CN2A SH21 CN2B SH21 Parameter settings No. Abbrev. Parameter name Description SV025 MTYP Motor/detector type Set the detector type. The value determined for each motor type is input to “xx” in the following table.
2. Wiring and Connection (2) Connection for semi-closed synchronous control (when using MDS-C1-V2 drive unit) Slave axis Master axis Detector cable CNV12 MDS-C1-V2 CN2L CN2M Parameter settings No. Abbrev. Parameter name Description SV025 MTYP Motor/detector type Set the detector type. The value determined for each motor type is input to “xx” in the following table.
2. Wiring and Connection (3) Connection for full-closed synchronous control (when using MDS-C1-V1 drive unit and serial output linear scale) Slave axis Master axis Linear scale MDS-C1-V1 (Slave axis) Detector cable CNV12 MDS-C1-V1 (Master axis) MDS-B-SD Signal distribution unit CN2 CN3 CN2 CN3 CN3 SH21 CN3 A SH21 CN3 B Parameter settings No. Abbrev. Parameter name Description SV025 MTYP Motor/detector type Set the detector type.
2. Wiring and Connection (4-1) Connection for full-closed synchronous control (when using MDS-C1-V2 drive unit and serial output linear scale) Slave axis Master axis Linear scale Detector cable CNV12 MDS-C1-V2 CN2L CN3L CN2M Parameter settings No. Abbrev. Parameter name Description SV025 MTYP Motor/detector type Set the detector type. The value determined for each motor type is input to “xx” in the following table.
2. Wiring and Connection (4-2) Connection for full-closed synchronous control (when using MDS-C1-V2 drive unit and analog output linear scale) Slave axis Master axis Linear scale Detector cable CNV12 MDS-C1-V2 CN2L CN3L CON4 CON3 CN2M Detector Converter unit MDS-B-HR CON2 CON1 Parameter settings No. Abbrev. Parameter name Description SV025 MTYP Motor/detector type Set the detector type. The value determined for each motor type is input to “xx” in the following table.
2. Wiring and Connection 2-4-4 Connection of the spindle motor Refer to each motor specifications for details on the motor side connection destination, specifications and outline, and for the spindle PLG detector specifications. (1) Connecting the motor built-in PLG MDS-C1-SP Detector connector : CN5 Pin No. CN5 Max. 30m Option cable : CNP5 No.1 No.11 No.10 No.
2. Wiring and Connection (2) Connecting the magnetic sensor Refer to section (1) for connection with the spindle motor. MDS-C1-SP Detector connector : CN6 Pin No. Max. 30m Option cable : CNP5 CN5 CN6 No.1 No.11 No.10 No.20 Pin Name 1 2 3 4 5 P15(+15V) 6 MAG 7 LS 8 9 10 Power cable U V W U VW Spindle motor Magnetic sensor Spindle Option cable : CNP6M CAUTION The shield of spindle detector cable is not FG. Do not ground.
2. Wiring and Connection (3) Connecting the spindle end detector Refer to section (1) for connection with the spindle motor. MDS-C1-SP Detector connector : CN6 Pin No. CN5 Max. 30m CN6 No.1 No.11 No.10 No.20 Option cable : CNP5 Pin 1 2 3 4 5 6 7 8 9 10 Name LG MA MB MZ P5(+5V) Power cable U V W U VW Spindle motor Spindle Spindle end detector Option cable: CNP6A CAUTION The shield of spindle detector cable is not FG. Do not ground.
2. Wiring and Connection (4) Connecting the for C-axis detector Refer to section (1) for connection with the spindle motor. MDS-C1-SP Detector connector : CN6 Pin No. CN5 Max. 30m CN6 No.1 No.11 No.10 No.20 Option cable : CNP5 Pin 1 2 3 4 5 6 7 8 9 10 CN7 Option cable : CNP7A Pin 11 12 13 14 15 16 17 18 19 20 Name MA MB MZ Name MA* MB* MZ* Detector connector : CN7 Pin No. Power cable No.1 No.11 No.10 No.
2. Wiring and Connection (5) Connecting the simple C-axis control Refer to section (1) for connection with the spindle motor. MDS-C1-SPX MDS-C1-SPHX Detector connector : CN7 Pin No. CN5 Max. 30m No.1 No.11 No.10 No.
2. Wiring and Connection 2-5 Connection of power supply CAUTION 1. Make sure that the power supply voltage is within the specified range of each unit. Failure to observe this could lead to damage or faults. 2. For safety purposes, always install a No-fuse breaker (NFB), and make sure that the circuit is cut off when an error occurs or during inspections. 3. The wire size will differ according to each drive unit capacity. 4.
2. Wiring and Connection 2-5-1 Power supply input connection (1) When using one power supply unit Install the drive unit so that the DC power supply bus (L+, L-) is as near to the power supply unit as possible. Large-capacity spindle drive units, in particular, should be installed adjacent to the power supply unit which they control.
2. Wiring and Connection (2) When using two or more power supply units within a single NC communication bus system Install a no-fuse breaker and a contactor for each of the power supply units.
2. Wiring and Connection (3) When using one power supply shared by two NC communication bus systems The axis connected to the power supply unit's CN4 connector becomes the power supply unit control axis.
2. Wiring and Connection 2-5-2 Connecting the grounding cable (1) Connecting the protective grounding (PE) and frame ground (FG) Each unit has a terminal or mounting hole to connect PE ( ) or FG. Please connect an earth wire to the main ground of a cabinet or a machine frame at one point. Ground each device according to the grounding conditions set forth by each country. (Typically, a Y-connection neutral point ground is used in Europe.) PE: Grounding to provide protection from electric shock, etc.
2. Wiring and Connection 2-5-3 Main circuit control (1) Contactor ON sequence Main circuit power is turned ON in the sequence shown below when an emergency stop status is canceled.
2. Wiring and Connection 2-6 Wiring of the motor brake 2-6-1 Wiring of the motor magnetic brake The magnetic brake of servomotors with a magnetic brake is controlled by the motor brake control connector (CN20) on the servo drive unit. The servo drive unit releases the brake when the motor is ON. (Servo ON means when torque is generated in the motor.
2. Wiring and Connection (3) Operation sequences when an emergency stop occurs The motor brake control output operation when an emergency stop occurs differs according to the motor deceleration stop method. Refer to section "4-5 Setting for emergency stop" for details on the operation sequences for each stop method. (4) Motor brake control connector (CN20) output circuit As shown in the illustration below, an external power supply circuit is controlled by the CN20 connector output.
2. Wiring and Connection 2-6-2 Dynamic brake unit wiring The 11kW and larger servo drive unit does not have built-in dynamic brakes. Always install a dynamic brake unit. The 9kW and smaller servo drive unit has built-in dynamic brakes.
2. Wiring and Connection 2-7 Peripheral control wiring 2-7-1 Input/output circuit wiring The input/output circuit to control the external signal such as external emergency stop input and relay changeover signal output is wired. The input/output circuit for each unit is as follows. Input circuit Output circuit CN9 connector CN9 connector 24V 24V 10k Relay, etc. 33.
2. Wiring and Connection 2-7-2 Spindle coil changeover There are spindle motors capable of coil changeover control, which enables favorable characteristics to be attained from low speeds to high speeds by changing two types or three types (only for MDS-C1-SPM) of coils. (1) Coil changeover control The speed at which to change the coils is detected by the spindle drive according to the value set with spindle parameter SP020. This is conveyed to the NC with a speed detection (SD) signal.
2. Wiring and Connection (2) Protective functions [1] Base shutoff after a winding changeover When the L-coil selection command (LCS) is used to perform low-speed winding → high-speed winding switching, or vice-versa, the base is shut off during contactor operation time in order to protect the spindle drive unit's main circuit. The base shutoff time is determined by the "Winding changeover base shutoff timer" (SP059) setting.
2. Wiring and Connection (3) Wiring The illustration below shows the 2 types of changeover that occur after a coil changeover, (a) Y (star) – ∆ (delta) changeover, and (b) Y (star) – Y (star) changeover. As shown in (c), one of the contactors (MC1 or MC2) is turned ON and the other is turned OFF at all of the coil changeover control circuits.
2. Wiring and Connection 2-7-3 Wiring of an external emergency stop (1) External emergency stop setting Besides the emergency stop input from the NC communication cable (CN1A, CN1B), double-protection when an emergency stop occurs can be provided by directly inputting an external emergency stop to the CN23 connector on the power supply unit.
2. Wiring and Connection (2) Operation sequences of CN23 external emergency stop function If only external emergency stop is input when external emergency stop valid is set in the parameters (the emergency stop is not input in NC), an "In external emergency stop" (warning EA) will be detected. At this time, the system itself does not enter an emergency stop status. (There will be no deceleration control or dynamic brake stop.
2. Wiring and Connection (3) Example of emergency stop circuit [1] Outline of function The power supply unit's external emergency stop can be validated by wiring to the CN23 connector, and setting the parameters and rotary switch. If the emergency stop cannot be processed and the external contractor cannot be shut off (due to a fault) by the NC unit, the external contactor can be shut off by the power supply unit instead of the NC.
3. Setup 3-1 Initial setup........................................................................................................................................ 3-2 3-1-1 Setting the rotary switch ............................................................................................................ 3-2 3-1-2 Transition of LED display after power is turned ON .................................................................. 3-3 3-1-3 Servo standard specifications and high-gain specifications ......
3. Setup 3-1 3-1-1 Initial setup Setting the rotary switch Before turning on the power, the axis No. must be set with the rotary switch. The rotary switch settings will be validated when the units are turned ON.
3. Setup 3-1-2 Transition of LED display after power is turned ON When CNC, each drive unit and the power supply unit power have been turned ON, each unit will automatically execute self-diagnosis and initial settings for operation, etc. The LEDs on the front of the units will change as shown below according to the progression of these processes. If an alarm occurs, the alarm No. will appear on the LEDs. Refer to "6-1 LED display when alarm or warning occurs" for details on the alarm displays.
3. Setup 3-1-3 Servo standard specifications and high-gain specifications (1) Two-part system compliance With the MDS-C1-V1/V2 Series, control is possible with the standard servo (MDS-B-V1/V2) control mode and high-gain servo (MDS-B-V14/V24) control mode. When replacing an older model (MDS-B Series) with this series, the servo parameter settings are automatically recognized and the control mode is determined.
3. Setup 3-2 Setting the initial parameters for the servo drive unit (High-gain specifications) The servo parameters must be set before the servo system can be started up. The servo parameters are input from the NC. The input method differs according to the NC being used, so refer to each NC Instruction Manual. 3-2-1 Setting the standard parameters When starting up the system, first set the standard parameters listed in "3-2-2 List of standard parameters for each servomotor".
3. Setup (2) Electronic gear related parameters The setting range of the following parameters, which configure the electronic gears, may be limited according to the combination. Refer to section "3-4 Restrictions on servo control" for details. High-gain specifications No. Abbrev. Parameter name SV001 PC1* Motor side gear ratio SV002 PC2* Machine side gear ratio SV018 PIT* Ball screw pitch Setting range (Unit) Explanation Set the motor side and machine side gear ratio.
3. Setup (3) Detector related parameters (a) For semi-closed loop control For control using only the motor end detector, specify the settings shown in the table below. For speed and current synchronous control, refer to section "2-4-3 Connecting the synchronous control system". Setting for semi-closed loop control High-gain specifications No. Abbrev. Explanation Parameter name bit 8 9 A SV025 MTYP* Motor/Detector type B C D E F Details Set the detector type.
3. Setup Setting for full-closed loop control High-gain specifications No. Abbrev.
3. Setup Setting for full-closed loop control High-gain specifications No. Abbr ev. Explanation Parameter name F E D C aflt zrn2 afse SV027 SSF1 Servo function selection 1 A 9 ovs 8 lmc 7 6 5 4 omr zrn3 vfct 3 2 upc 1 0 vcnt bit 6 Meaning when "0" is set Meaning when "1" is set ABZ phase scale: Set to "1" to fix Z-phase detection edge. zrn3 Absolute position scale: Set to "1" in using AT342/343, LC191M/491M.
3. Setup (4) Setting the power supply type Set the drive unit connected to the power supply unit with the CN4 connector. This does not need to be set if the power supply for the axis is not connected with the CN4 connector. (Set "0000".) If the power supply unit is connected with the spindle drive unit, the parameters do not need to be set on the servo side. When connected to a 2-axis servo drive unit (MDS-C1-V2), set the power supply type for one of the two target axes. High-gain specifications No.
3. Setup 3-2-2 List of standard parameters for each servomotor (1) HC Series (Standard 2000r/min rating) High-gain specifications Motor Parameter No. Abbrev.
3. Setup Motor Parameter No. Abbrev.
3. Setup (2) HC Series (Standard 3000r/min rating) High-gain specifications Motor Parameter No. Abbrev.
3. Setup Motor Parameter No. Abbrev.
3. Setup (3) HC Series (Low-inertia) High-gain specifications Motor Parameter No. Abbrev.
3. Setup Motor Parameter No. Abbrev.
3. Setup (4) HA series High-gain specifications Motor Parameter No. Abbrev.
3. Setup Motor Parameter No. Abbrev.
3. Setup (5) HA series (MDS-B-Vx4) High-gain specifications Motor Parameter No. Abbrev.
3. Setup Motor Parameter No. Abbrev.
3. Setup (6) HA series (MDS-B-Vx4) High-gain specifications Motor Parameter No. Abbrev.
3. Setup Motor Parameter No. Abbrev.
3. Setup 3-2-3 Servo parameter list High-gain specifications No. Abbrev. Parameter name SV001 PC1* Motor side gear ratio SV002 PC2* Machine side gear ratio Setting range (Unit) Explanation Set the motor side and machine side gear ratio. For the rotary axis, set the total deceleration (acceleration) ratio. Even if the gear ratio is within the setting range, the electronic gears may overflow and cause an alarm. 1 to 32767 1 to 32767 SV003 PGN1 Position loop gain 1 Set the position loop gain.
3. Setup High-gain specifications No. Abbrev. SV013 ILMT SV014 ILMTsp SV015 FFC Parameter name Current limit value Explanation Set the normal current (torque) limit value. (Limit values for both + and direction.) When the value is "500" (a standard setting), the maximum torque is determined by the specification of the motor. Set the current (torque) limit value in a special control (initial absolute Current limit value in position setting, stopper control, etc).
3. Setup High-gain specifications No. Abbrev.
3. Setup High-gain specifications No. Abbrev. SV018 PIT* Parameter name Ball screw pitch Setting range (Unit) Explanation 1 to 32767 (mm/rev) Set the ball screw pitch. Set to "360" for the rotary axis. In the case of the semi-closed loop control Set the same value as SV020 (RNG2). (Refer to the explanation of SV020.) In the case of the full-closed loop control Set the number of pulses per ball screw pitch.
3. Setup High-gain specifications No. Abbrev. Parameter name Explanation F E D pen C B A 9 8 7 6 5 ent 4 3 mtyp 2 bit Explanation 0 Set the motor type. Set this along with SV017 (SPEC)/spm.
3. Setup High-gain specifications No. Abbrev. Parameter name 8 9 A B C D E F ent pen Set the detector type. Set the position detector type for "pen", and the speed detector type for "ent". In the case of the semi-closed loop control, set the same value for "pen" and "ent".
3. Setup High-gain specifications No. Abbrev. Parameter name Setting range (Unit) Explanation HEX setting F E D aflt zrn2 bit 0 1 2 C B afse A ovs 9 8 lmc 7 6 omr zrn3 Meaning when "0" is set 5 4 vfct 3 2 1 upc 0 vcnt Meaning when "1" is set Set the execution changeover type of the speed loop delay compensation.
3. Setup High-gain specifications No. Abbrev. Parameter name Setting range (Unit) Explanation Set this if overshooting occurs during positioning. This compensates the motor torque during positioning. This is valid only when the overshooting compensation SV027 (SSF1.ovs) is selected. SV031 OVS1 SV032 TOF Overshooting compensation 1 Torque offset Type 1: When SV027 (SSF1)/bitB, A (ovs)=01 Normally use type 3 to provide compatibility with the old method.
3. Setup High-gain specifications No. Abbrev. Parameter name Setting range (Unit) Explanation F E D ovsn C B A 9 8 7 6 5 4 3 2 1 0 has2 has1 bit Meaning when "0" is set Meaning when "1" is set Setting for normal use. HAS control 1 valid (Except for HC) (HC: High acceleration rate support) Setting for normal use.
3. Setup High-gain specifications No. Abbrev. Parameter name Setting range (Unit) Explanation HEX setting F E D amp bit 0 1 2 3 4 C B A 9 rtyp 8 Setting ptyp x0 0x 1x 2x Not 4 3 ptyp 2 1 0 x1 3x 4x 5x 6x 7x 8x CV-300 used CV-110 x2 CR-10 CV-220 CR-15 x3 CR-22 CV-37 x5 x6 CR-37 MDS-B- MDS-B- CV-150 CV-55 CVE-450 CVE-550 CV-260 x7 x8 Power supply type CR-55 CV-370 CV-75 x9 CR-75 CV-185 CR-90 Set the regenerative resistor type when MDS-A-CR is used.
3. Setup High-gain specifications No. Abbrev. SV039 LMCD Parameter name LMCT Lost motion (Low compensation order) non-sensitive band Icy (High Current bias 2 order) SV041 LMC2 Lost motion compensation 2 SV042 OVS2 Overshooting compensation 2 SV043 OBS1 SV044 Explanation Set the non-sensitive band of the lost motion compensation in the feed forward control. When "0" is set, the actual value that is set is 2µm. Adjust by increasing by 1µm at a time.
3. Setup High-gain specifications No. Abbrev. SV051 DFBT SV052 DFBN SV053 SV054 SV055 SV056 SV057 SV058 SV059 Parameter name Dual feed back control time constant Dual feedback control non-sensitive band Excessive error detection width in special control Explanation Set the control time constant in dual feed back. When "0" is set, the actual value that is set is 1ms. The higher the time constant is, the closer it gets to the semi-closed control, so the limit of the position loop gain is raised.
3. Setup High-gain specifications No. Abbrev. SV060 TLMT Collision detection level SV061 DA1NO D/A output channel 1 data No. SV062 SV063 SV064 SV065 SV066 : SV080 Parameter name D/A output channel 2 data No. D/A output channel DA1MPY 1 output scale D/A output channel DA2MPY 2 output scale Setting range (Unit) Explanation When using the collision detection function, set the collision detection level 0 to 999 during the G0 feeding.
3. Setup High-gain specifications No. Abbrev. Parameter name Explanation F E D bit C B A 9 8 7 6 Meaning when "0" is set 5 4 3 pabs 2 1 rabs 0 Meaning when "1" is set 0 1 rabs Normal setting Rotary axis machine end absolute position control 2 3 4 pabs Normal setting SV081 SPEC2* Servo specification selection 2 5 6 7 8 9 A B C D E F (Note) F Speed/current synchronous control absolute position control Set to "0" for bits with no particular description.
3. Setup High-gain specifications No. Abbrev. Parameter name Setting range (Unit) Explanation F E D C B A 9 8 7 6 5 4 3 nfd5 bit 2 1 0 nfd4 Meaning when set to 0 Meaning when set to 1 0 1 Set the filter depth for Notch filter 4 (SV038). 2 Setting value Deep ← 3 nfd4 Depth (dB) → Shallow 000 001 010 011 100 101 110 111 -∞ -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2 4 Servo function SV083 SSF6 selection 6 5 nfd5 Set the filter depth for Notch filter 5 (SV046).
3. Setup High-gain specifications No. Abbrev. Parameter name Lost motion SV085 LMCk compensation spring constant Lost motion SV086 LMCc compensation viscous coefficient SV087 FHz4 Notch filter frequency 4 SV088 FHz5 Notch filter frequency 5 SV089 : SV100 Explanation Setting range (Unit) Set the machine system's spring constant when using lost motion compensation type 3. 0 to 32767 Set the machine system's viscous coefficient when using lost motion compensation type 3.
3. Setup 3-3 Setting the initial parameters for the servo drive unit (Standard specifications) The servo parameters must be set before the servo system can be started up. The servo parameters are input from the NC. The input method differs according to the NC being used, so refer to each NC Instruction Manual. 3-3-1 Setting the standard parameters When starting up the system, first set the standard parameters listed in "3-3-2 List of standard parameters for each servomotor".
3. Setup (2) Electronic gear related parameters The setting range of the following parameters, which configure the electronic gears, may be limited according to the combination. Refer to section "3-4 Restrictions on servo control" for details. Standard specifications No. Abbrev. Parameter name SV001 PC1* Motor side gear ratio SV002 PC2* Machine side gear ratio SV018 PIT* Ball screw pitch Setting range (Unit) Explanation Set the motor side and machine side gear ratio.
3. Setup (3) Detector related parameters (a) For semi-closed loop control For control using only the motor end detector, specify the settings shown in the table below. For speed and current synchronous control, refer to section "2-4-3 Connecting the synchronous control system". Setting for semi-closed loop control Standard specifications No. Abbr ev. Explanation Parameter name bit 8 9 A SV025 MTYP* Motor/Detector type B C D E F Details Set the detector type.
3. Setup Setting for full-closed loop control Standard specifications No. Abbrev.
3. Setup (4) Setting the power supply type Set the drive unit connected to the power supply unit with the CN4 connector. This does not need to be set if the power supply for the axis is not connected with the CN4 connector. (Set "0000".) If the power supply unit is connected with the spindle drive unit, the parameters do not need to be set on the servo side. When connected to a 2-axis servo drive unit (MDS-C1-V2), set the power supply type for one of the two target axes.
3. Setup 3-3-2 (1) List of standard parameters for each servomotor HC series (Standard 2000 r/min rating) Standard specifications Motor Parameter No. Abbrev.
3. Setup (2) HC series (Standard 3000 r/min rating) Standard specifications Motor Parameter No. Abbrev.
3. Setup (3) HC series (Low-inertia) Standard specifications Motor Parameter No. Abbrev.
3. Setup (4) HA series (Standard 2000 r/min rating) Standard specifications Motor Parameter No. Abbrev.
3. Setup (5) HA series (Standard 3000 r/min rating) Standard specifications Motor Parameter No. Abbrev.
3. Setup (6) HA series (Low-inertia 2000 r/min rating) Standard specifications Motor Parameter No. Abbrev.
3. Setup (7) HA series (Small capacity, Low-inertia 3000 r/min rating) Standard specifications Motor Parameter No. Abbrev.
3. Setup 3-3-3 Servo parameter list Standard specifications No. Abbrev. Parameter name SV001 PC1* Motor side gear ratio SV002 PC2* Machine side gear ratio Setting range (Unit) Explanation Set the motor side and machine side gear ratio. For the rotary axis, set the total deceleration (acceleration) ratio. Even if the gear ratio is within the setting range, the electronic gears may overflow and cause an alarm. 1 to 32767 1 to 32767 SV003 PGN1 Position loop gain 1 Set the position loop gain.
3. Setup Standard specifications No. Abbrev. SV013 ILMT SV014 ILMTsp SV015 FFC Parameter name Current limit value Explanation Set the normal current (torque) limit value. (Limit values for both + and direction.) When the value is “500” (a standard setting), the maximum torque is determined by the specification of the motor. Set the current (torque) limit value in a special control (initial absolute Current limit value in position setting, stopper control, etc).
3. Setup Standard specifications No. Abbrev.
3. Setup Standard specifications No. Abbrev. Parameter name Setting range (Unit) Explanation In the case of the semi-closed loop control Set the same value as SV020 (RNG2). (Refer to the explanation of SV020.) In the case of the full-closed loop control Set the number of pulses per ball screw pitch.
3. Setup Standard specifications No. Abbrev. Parameter name Explanation F E D pen C B A 9 8 7 6 5 ent bit Explanation 0 Set the motor type.
3. Setup Standard specifications No. Abbrev. Parameter name Setting range (Unit) Explanation bit 8 9 A B C D E F ent pen Explanation Set the detector type. Set the position detector type for “pen”, and the speed detector type for “ent”. In the case of the semi-closed loop control, set the same value for “pen” and “ent”.
3. Setup Standard specifications No. Abbrev. Parameter name Setting range (Unit) Explanation F E D aflt zrn2 bit 0 1 2 C B afse A ovs 9 8 7 lmc Meaning when “0” is set 6 zrn3 5 4 vfct 3 2 1 upc 0 vcnt Meaning when “1” is set Set the execution changeover type of the speed loop delay compensation.
3. Setup Standard specifications No. Abbrev. Parameter name Setting range (Unit) Explanation Set this if overshooting occurs during positioning. This compensates the motor torque during positioning. This is valid only when the overshooting compensation SV027 (SSF1.ovs) is selected. SV031 OVS1 SV032 TOF Overshooting compensation 1 Torque offset Type 1: When SV027 (SSF1)/bitB, A (ovs)=01 Set the compensation amount based on the motor’s stall current.
3. Setup Standard specifications No. Abbrev. Parameter name Setting range (Unit) Explanation F E D ovsn C B A 9 8 7 6 5 4 3 2 1 0 has2 has1 bit Meaning when “0” is set Meaning when “1” is set Setting for normal use. HAS control 1 valid (Except for HC) (HC: High acceleration rate support) Setting for normal use.
3. Setup Standard specifications No. Abbrev. Parameter name F E D amp bit 0 1 2 3 4 C B A 9 rtyp 8 Setting ptyp x0 0x 1x 2x Not 5 4 3 ptyp 2 1 0 x1 3x 4x 5x 6x 7x 8x CV-300 used CV-110 x2 CR-10 CV-220 CR-15 x3 CR-22 CV-37 x5 x6 CR-37 MDS-B- MDS-B- CV-150 CV-55 CVE-450 CVE-550 CV-260 x7 x8 Power supply type CR-55 CV-370 CV-75 x9 CR-75 CV-185 CR-90 Set the regenerative resistor type when MDS-A-CR is used.
3. Setup Standard specifications No. Abbrev. Parameter name Setting range (Unit) Explanation For SV040, the hex. value’s higher order 8bits and lower order 8bits are used for different functions. “Setting value of SV040” = (Icy*256) + LMCT Abbrev. SV040 LMCT (Low order) Icy (High order) SV041 SV042 SV043 SV044 Explanation Set the dead band of the lost motion compensation in the Lost motion feed forward control. compensation dead When “0” is set, the actual value that is set is 2 m.
3. Setup Standard specifications No. Abbrev. Parameter name SV051 DFBT Dual feed back control time constant SV052 DFBN Dual feedback control dead zone SV053 OD3 Excessive error detection width in special control SV054 ORE SV055 EMGx SV056 EMGt SV057 SHGC SV058 SHGCsp SV059 TCNV SV060 TLMT SV061 DA1NO SV062 DA2NO SV063 DA1MPY SV064 DA2MPY SV065 Explanation Set the control time constant in dual feed back. When “0” is set, the actual value that is set is 1ms.
3. Setup 3-4 Restrictions on servo control There may be some restrictions on mechanical specifications and electrical specifications when executing servo controls. Always read this section when designing machines and confirm that no problems exist with the specifications. 3-4-1 Restrictions of electronic gear setting value The servo drive unit has internal electronic gears. The command value from the NC is converted into a detector resolution unit to carry out position control.
3. Setup 3-4-2 Restrictions on absolute position control When executing absolute position control, the following conditions must be satisfied. If not satisfied, mechanical specifications and electrical specifications (such as resolution of the detector) must be revised. When executing incremental control, there are no particular restrictions on servo control. (Confirm with the NC system side specifications.
3. Setup 3-5 Setting the initial parameters for the spindle drive unit The spindle specification parameters and spindle parameters must be set before the spindle system can be started up. The spindle related parameters are input from the NC. The input method differs according to the NC being used, so refer to each NC Instruction Manual. 3-5-1 Spindle specification parameters The configuration of these parameters depends on the NC, so refer to each NC Instruction Manual.
3. Setup Spindle motor rotation speed (r/min) The spindle rotation speed which can be attained at the spindle motor's maximum rotation speed is set for the limit rotation speed (slimt). This value is obtained by multiplying the gear ratio on the spindle motor maximum rotation speed (SP017).
3. Setup M60S Series Abbrev. No. Parameter name Orientation rotation speed Details Setting range (Unit) Set the spindle orientation rotation speed. Set the rotation speed for when the spindle rotates at the constant rotation speed. 0 to 32767 (r/min) 3021 sori 3022 sgear 3023 smini 3024 sout* 3025 enc-on cs_ori Selection of coil in 0: Perform orientation using the coil selected when the orientation orientation mode command is issued.
3. Setup M60S Series Abbrev. No. Parameter name Details Setting range (Unit) 3037 3038 3039 3040 taps 21 22 23 24 Synchronous tap switching spindle speed 2 Set the spindle rotation speed at which the step-2 acceleration/deceleration time constant is to be switched at gear 00, 01, 10, or 11. 3041 3042 3043 3044 tapt 21 22 23 24 Synchronous tap switching time constant 2 Set the time constant to reach synchronous tap switching spindle rotation speed 2 (taps 21 to 24) at gear 00, 01, 10, or 11.
3. Setup M60S Series Abbrev. No. 3059 3060 Parameter name Details Setting range (Unit) 0 to 99999 (r/min) sptc6 Spindle synchroSet the spindle speed for changing the 6th step's nization multi-step acceleration/deceleration time constant. acceleration/ deceleration changeover speed 6 0 to 99999 (r/min) sptc7 Spindle synchroSet the spindle speed for changing the 7th step's nization multi-step acceleration/deceleration time constant.
3. Setup 3-5-2 List of spindle parameters These parameters are sent to the spindle drive unit when the NC power is turned ON. The standard parameters are designated with the "Spindle parameter setting list" enclosed when the spindle motor is delivered. There may be cases when the machine specifications are unclear, so the parameters determined by the machine specifications should be confirmed by the user. No. SP001 Abbr.
3. Setup No. Abbr. Parameter name SP017 TSP* Maximum motor speed SP018 ZSP* SP019 Details Setting range Standard (Unit) setting Set the maximum spindle motor speed. 1 to 32767 (r/min) 6000 Motor zero speed Set the motor speed for which zero-speed output is performed. 1 to 1000 (r/min) 50 CSN1* Speed cushion 1 Set the time constant for a speed command from "0" to the maximum speed. (This parameter is invalid during position loop control.
3. Setup No. Abbr. Parameter name Details F E D poff hzs C B A ront bit 9 8 7 6 5 4 3 pycal pychg pyst pyoff Meaning when set to 0 2 sftk 1 0 dflt 1a2m Meaning when set to 1 Standard 0 1a2m 1 drive unit 2 motor function: Invalid 1 drive unit 2 motor function: Valid 0 1 dflt Default motor: Main Default motor: Sub 0 2 sftk Without SF-TK card With SF-TK card 0 3 0 4 0 5 0 6 pyoff 0 7 pyst This is used by Mitsubishi.
3. Setup No. Abbr. Parameter name Details F E poff C B A 9 8 7 6 5 4 3 2 1 0 ront bit SP033 SFNC1* Spindle function 1 D Meaning when set to 0 Meaning when set to 1 Standard 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 0 A 0 B C 0 ront Normal ready ON High-speed ready ON D E F 0 0 0 Contactor hold at NC power OFF poff invalid Contactor hold at NC power OFF valid (Note) Set 0 if there is no particular explanation for the bit.
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3. Setup No. Abbr. Parameter name Details Setting range Standard (Unit) setting Set the spindle drive unit's capacity type.
3. Setup No. Abbr. Parameter name Setting range Standard (Unit) setting Details F E D C B A amp 9 8 2 4 3 2 1 0 Explanation ptyp Setting 0x x0 Not used 5 x1 6 x2 7 x3 x4 1x x6 2x 4x 5x 6x 7x 8x CR-10 CV-220 CR-15 CR-22 CV-37 CR-37 MDS-B- MDS-BCVE-450 CVE-550 CV-150 CV-55 CV-260 x7 x8 3x CV-300 CV-110 x5 CR-55 CV-370 CV-75 x9 SP041 5 When the CN4 connector of the drive unit and the power supply are connected, setting below is necessary.
3. Setup No. Abbr. Parameter name Details Setting range Standard (Unit) setting Set a frequency of data communication with NC. NC communication SP044 TRANS* frequency SP045 CSNT 0 to 32767 Standard: 0 Special: 1028 Dual cushion timer Set the cycle to add the increment values in the dual cushion process. When this setting value is increased, the dual cushion will 0 to 1000 (ms) increase, and the changes in the speed during acceleration/deceleration will become gradual.
3. Setup No. Abbr. Parameter name Setting range Standard (Unit) setting Details Set the speed when the speed loop proportional gain change starts. Change starting speed of SP066 VCSN1* variable speed loop proportional gain Proportional gain SP022 SP022× (SP065/100) 0 to 32767 (r/min) 0 Speed SP066 SP017 SP067 VIGWA* Change starting speed of Set the speed where the current loop gain change starts.
3. Setup No. Abbr. Parameter name Setting range Standard (Unit) setting Details F E D C B A 9 8 7 6 5 r2iro r2ini bit 0 3 2 1 0 Meaning when set to 1 Standard r2ch 0 1 no51 0 2 r2dm Set by Mitsubishi. Set "0" unless designated in particular. 0 3 SP075 R2KWS Fixed control constant Meaning when set to 0 4 r2am r2lm r2dm no51 r2ch r2lm 0 4 r2am 0 5 0 6 0 7 0 8 r2ini Set by Mitsubishi. Set "0" unless designated in particular. 0 9 r2iro Set by Mitsubishi.
3. Setup No. SP085 Abbr. Parameter name Setting range Standard (Unit) setting Details < For MDS-C1-SPH> Target value of variable Set the minimum value of variable torque limit at AIQM* torque limit magnification acceleration. at acceleration < For MDS-C1-SP/SPX/SPHX/SPM > Not used. Set "0". 0 to 150 (%) 0 0 0 0 to 32767 (r/min) 0 0 0 0 to 150 (%) 75 0 to 32767 (r/min) 3000 Set the speed where the torque limit value at acceleration starts to change.
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3. Setup No. Abbr. Parameter name Details Set the speed loop proportional gain in orientation control Speed loop gain mode. SP098 VGOP* proportional term in When the gain is increased, rigidity is improved in the orientation control mode orientation stop but vibration and sound become larger. Setting range Standard (Unit) setting 0 to 1000 63 0 to 1000 60 Orientation control mode Set a loop gain delay advance gain in orientation control SP100 VGOD* speed loop gain delay mode.
3. Setup No. SP114 SP115 Abbr. OPER OSP2 Parameter name Details Setting range Standard (Unit) setting Orientation control pulse miss check value An alarm "5C" will occur if the pulse miss value at the orientation stop exceeds this setting value. (Note that this is invalid when set to "0".) 0 to 32767 In this parameter, set the value to fulfill the following (360 deg/4096) conditions. SP114 setting value > 1.
3. Setup No. SP126 Abbr. Parameter name Details Set the compensation magnification of the orientation position loop gain for the M coil. M coil orientation position loop gain Orientation position loop MPGM = SP001 (or SP002) × SP119/256 gain M coil magnification When set to "0", will become the same as SP001 or SP002. Not used. Set "0". Set the compensation magnification of the orientation deceleration rate for the M coil.
3. Setup No. Abbr.
3. Setup No. Abbr. Parameter name SP130 PGC1 First position loop gain for cutting control on C-axis SP131 PGC2 SP132 SP133 Details Set the position loop gain when the first gain is selected for C axis cutting. Setting range Standard (Unit) setting 1 to 100 (rad/s) 15 Second position loop Set the position loop gain when the second gain is gain for cutting control on selected for C axis cutting.
3. Setup No. SP150 SP151 SP152 SP153 SP154 SP155 SP156 SP157 SP158 SP159 SP160 SP161 SP162 SP163 SP164 SP165 SP166 SP167 SP168 SP169 Abbr. Parameter name Details Setting range Standard (Unit) setting This parameter is valid when SP129 (SPECC)/bitE is set to "0". Set the deceleration rate where the machine starts to C-axis control zero point CPDT decelerate when it returns to the target stop point during 1 to 10000 return deceleration point C-axis zero point return.
3. Setup No. Abbr. SP170 VGUD* Parameter name Speed loop gain delay advance item for increased spindle holding force SP171 SP172 SP173 SP174 SP175 SP176 Details Set the speed loop gain delay advance item for when the disturbance observer is valid. Not used. Set "0". Not used. Set "0". Not used. Set "0". Not used. Set "0". Not used. Set "0". Gate OFF delay time ZGOF after zero speed detection Set the time until gate OFF after zero speed (ZS) is detected at speed control.
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3. Setup No. Abbr. Setting range (Unit) Standard setting Set the speed loop proportional gain in spindle synchronous control mode. 0 to 1000 63 Set the speed loop integral gain in spindle synchronous control mode.
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3. Setup No. SP213 Abbr. LPF Parameter name Low path filter Details Set to reduce the noise generated from the spindle motor Set the band of the low path filter Not used. Set to "0". Setting range Standard (Unit) setting 0 to 2250 (rad/s) 0 0 0 Synchronized tapping control zero point return speed This parameter is valid when SP193 (SPECT)/bit E is set to "0". Set the zero point return speed used when the speed loop changes to the position loop.
3. Setup No. Abbr. Parameter name Details Set the amount to shift the target position when Orientation virtual target orientation virtual target position is valid (SP097: shift amount SPEC0/bitD=1). Setting range Standard (Unit) setting 0 to 2048 (360 deg/4096) 0 0 to 100 (%) 0 0 0 0 to 60 (min) 0 Not used. Set "0". 0 0 SP232 Not used. Set "0". 0 0 SP233 JL* Set "the motor inertia + motor axis conversion load inertia" in respect to the motor inertia.
3. Setup No. SP245 SP246 Abbr. PGHS TEST Parameter name PLG automatic adjustment Fixed control constant Details This validates the automatic adjustment function for the PLG. Setting range Standard (Unit) setting 0 to 1 0→1 Not used. Set "0". 0 0 Set by Mitsubishi. Set "0" unless designated in particular. 0 0 SP247 Not used. Set "0". 0 0 SP248 Not used. Set "0".
3. Setup No. Abbr. SP257 to SP320 Parameter name Motor constant (H coil) Details This parameter is valid only in the following two conditional cases: (a) In case that SP034 (SFNC2)/bit0=1 and SP034 (SFNC2)/bit2=0 Set the motor constants when using a special motor, not described in the SP040 (MTYP) explanation and when not using the coil changeover motor.
3. Setup 3-6 3-6-1 Initial adjustment of the spindle PLG Adjusting the PLG installation The PLG (spindle motor speed detector) mounted on the Mitsubishi framed spindle motor is shipped from Mitsubishi in the adjusted state. If there are no particular problems, carry out automatic adjustment "3-6-2 Automatic adjustment of Z phase" and "3-6-3 Automatic adjustment of motor end PLG" according to the spindle system.
3. Setup (2) Adjusting the gap [1] Confirm that the detection gears are not rotating. The sensor could be damaged if the gap is adjusted while the gears are rotating. [2] Loosen the sensor fixing screw with the sensor fixed on the sensor installation seat. [3] Using a clearance gauge, adjust so that the gap between the sensor detection surface and the detection gears' circumference is 0.15±0.01mm. [4] The sensor can be moved up and down or turned when the sensor fixing screw is loosened.
3. Setup (4) Adjusting the A phase and B phase output signal [1] Set the drive unit in the open loop operation state. (Set the spindle parameter SP038/bitF to "1" and turn the NC power ON again.) There are cases when sudden speed changes cannot be followed during open loop operation, so gradually change the speed command. [2] Forward run the motor and rotate the PLG at the reference speed. [3] Using the PCB volume VR1 to VR4, adjust so that the A phase and B phase signals are within the specified range.
3. Setup (5) Confirming the Z phase pulse width Check the output signal waveform by measuring the signals of the check terminals on the PCB with the DC range of the synchroscope. A phase output signal........ Across A-G Z phase output signal........ Across Z-G The output signal waveform is confirmed during motor forward run and reverse run. Set the synchroscope as follows to measure the waveform during each run direction. During forward run ............
3. Setup (7) Checking the Z phase and A phase difference Check the output signal waveform by measuring the signals of the check terminals on the PCB with the DC range of the synchroscope. A phase output signal........ Across A-G Z phase output signal........ Across Z-G The output signal waveform is confirmed during motor forward run and reverse run. Set the synchroscope as follows to measure the waveform during each run direction. During forward run .......
3. Setup (8) Adjusting the Z phase and A phase difference [1] Stop the motor, and make sure that the detection gears are not rotating. The sensor could be damaged if adjustments are carried out while the gears are rotating. [2] Using a clearance gauge, adjust so that the gap between the sensor direction surface and the detection gears’ circumference is 0.15±0.01mm, and loosen the sensor fixing screw.
3. Setup 3-6-2 Z phase automatic adjustment Z-phase automatic adjustment is a function that automatically adjusts the relative position of the IPM spindle motor pole and the PLG Z-phase pulse signal input into the spindle drive unit. The adjustment data is saved in the drive unit, and is used to control the motor the next time the power is turned ON.
3. Setup 3-6-3 Motor end PLG automatic adjustment Motor end PLG automatic adjustment is a function that automatically adjusts the gain and offset of the spindle motor built-in PLG's A and B phase sine wave signals which are input into the spindle drive unit. The adjustment data is saved in the drive unit, and is used to control the motor the next time the power is turned ON.
3. Setup 3-6-4 Spindle end PLG automatic adjustment Spindle end PLG automatic adjustment is a function that automatically adjusts the gain and offset of the A and B phase sine wave signals of the spindle end PLG used for C axis control which are input into the detector converter (MDS-B-PJEX) used in the MDS-C1- SPX/SPHX unit. The adjustment data is saved in the detector converter, and is used to control the motor the next time the power is turned ON.
4. Servo Adjustment 4-1 D/A output specifications for servo drive unit ................................................................................... 4-2 4-1-1 D/A output specifications ........................................................................................................... 4-2 4-1-2 Output data settings................................................................................................................... 4-3 4-1-3 Setting the output magnification .......................
4. Servo Adjustment CAUTION 4-1 "Chapter 4 Servo adjustment" explains the methods when controlling with the high-gain specifications. D/A output specifications for servo drive unit The MDS-C1-V1/V2 servo drive unit has a function to D/A output the various control data. The servo adjustment data required for setting the servo parameters to match the machine can be D/A output. Measure using a hi-coder, oscilloscope, etc. 4-1-1 D/A output specifications Item Explanation No.
4. Servo Adjustment 4-1-2 Output data settings No. Abbrev. Parameter name SV061 DA1NO D/A output channel 1 data No. SV062 DA2NO D/A output channel 2 data No. No. -1 0 Output data Original data unit ch1: Speed feedback ch2: Current command Current command Current feedback Position droop - 8 Feedrate (F∆T) 9 10 11 12 13 Position command Position feedback - 14 64 65 Output unit for standard setting Output cycle Stall % 131 Stall 100%/V 3.
4. Servo Adjustment 4-2 4-2-1 No. Gain adjustment Current loop gain Abbrev. Parameter name SV009 IQA Current loop q axis lead compensation SV010 IDA SV011 SV012 IQG IDG Current loop d axis lead compensation Current loop q axis gain Current loop d axis gain 4-2-2 Explanation Setting range Set the gain of current loop. As this setting is determined by the motor’s electrical characteristics, the setting is fixed for each type of motor.
4. Servo Adjustment No. Abbrev. Parameter name SV005 VGN1 Speed loop gain 1 POINT Explanation Setting range Set the speed loop gain. Set this according to the load inertia size. The higher the setting value is, the more accurate the control will be, however, vibration tends to occur. If vibration occurs, adjust by lowering by 20 to 30%. 1 to 999 The final VGN1 setting value is 70 to 80% of the maximum value at which the machine does not resonate.
4. Servo Adjustment If there are no vibration or overshooting problems, the high-speed contour cutting precision can be further improved by setting the VIA higher than the standard value. In this case, adjust by raising the VIA in increments of 100 from the standard value. Setting a higher VIA improves the trackability regarding position commands in machines for which cycle time is important, and the time to when the position droop converges on the in-position width is shortened.
4. Servo Adjustment (2) Setting the position loop gain for spindle synchronous control During spindle synchronous control (synchronous tapping control, etc.), there are three sets of position loop gain parameters besides the normal control. No. Abbrev. Parameter name Explanation SV049 PGN1sp Position loop gain 1 Set 15 as a standard. in spindle synchronous control Setting range 1 to 200 (rad/s) Set the same parameter as the position loop gain for the spindle synchronous control.
4. Servo Adjustment During SHG control even if the PGN1 setting value is the same, the actual position loop gain will be higher, so the speed loop must have a sufficient response. If the speed loop response is low, vibration or overshooting could occur during acceleration/deceleration in the same manner as conventional control. If the speed loop gain has been lowered because machine resonance occurs, lower the position loop gain and adjust. No. SV003 (SV049) SV004 (SV050) Abbrev.
4. Servo Adjustment 4-3 Characteristics improvement 4-3-1 Optimal adjustment of cycle time The following items must be adjusted to adjust the cycle time. Refer to the Instruction Manuals provided with each CNC for the acceleration/deceleration pattern. [1] Rapid traverse rate (rapid) : This will affect the maximum speed during positioning. [2] Clamp speed (clamp) : This will affect the maximum speed during cutting. [3] Acceleration/deceleration time : Set the time to reach the feedrate.
4. Servo Adjustment (3) Adjusting the in-position width Because there is a response delay in the servomotor drive due to position loop control, a "settling time" is also required for the motor to actually stop after the command speed from the CNC reaches 0. The movement command in the next block is generally started after it is confirmed that the machine has entered the "in-position width" range set for the machine. Set the precision required for the machine as the in-position width.
4. Servo Adjustment 4-3-2 Vibration suppression measures If vibration (machine resonance) occurs, it can be suppressed by lowering the speed loop gain 1 (VGN1). However, cutting precision and cycle time will be sacrificed. (Refer to "4-2-2 Speed loop gain".) Thus, try to maintain the VGN1 as high as possible, and suppress the vibration using the vibration suppression functions.
4. Servo Adjustment (1) Notch filter This servo drive unit mounts 5 notch filters. Measure the resonance frequency with the current feedback analog output function, and set that frequency in parameter. However, if the notch filter is set to a particularly low frequency, another resonance frequency that did not vibrate initially may occur. If the notch filter's depth compensation (SV033, nfd1, nfd2) is adjusted so that the filter does not operate unless necessary, the servo control will be stabilized.
4. Servo Adjustment (2) Jitter compensation (Vibration control when motor is stopped.) The load inertia becomes much smaller than usual if the motor position enters the machine backlash when the motor is stopped. Because this means that an extremely large VGN1 is set for the load inertia, vibration may occur. Jitter compensation can suppress the vibration that occurs at the motor stop by ignoring the backlash amount of speed feedback pulses when the speed feedback polarity changes.
4. Servo Adjustment (4) Variable speed loop gain control If vibration occurs when the motor is rotating at a high speed, such during rapid traverse, or if disturbing noise occurs, the state can be improved by lowering the speed loop gain during high-speed rotation. The low-speed region speed loop gain used for cutting feed (G1 feed), etc., is maintained at a high level, so the vibration can be improved without dropping the machining accuracy. No. SV005 Abbrev.
4. Servo Adjustment 4-3-3 Improving the cutting surface precision If the cutting surface precision or roundness is poor, these can be improved by increasing the speed loop gain (VGN1, VIA) or by using the disturbance observer function. Y • The surface precision in the 45° direction of a taper or arc is poor. • The load fluctuation during cutting is large, causing vibration or surface precision defects to occur.
4. Servo Adjustment (3) Voltage non-sensitive zone (Td) compensation With the PWM control of the inverter circuit, a dead time (non-energized time) is set to prevent short-circuits caused by simultaneous energizing of the P side and N side transistors having the same phase. The dead time has a non-sensitive zone for particularly low voltage commands. Thus, when feeding with a low speed and a low torque, the control may be unstable.
4. Servo Adjustment (4) Disturbance observer The disturbance observer can reduce the effect caused by disturbance, frictional resistance or torsion vibration during cutting by estimating the disturbance torque and compensating it. It also is effective in suppressing the vibration caused by speed leading compensation control. [1] Set SV082/bit7=1. [2] Adjust VGN1 to the value where vibration does not occur, and then lower it 10 to 20%.
4. Servo Adjustment If the load inertia is not clear, it can be estimated with the following method. [1] Set the torque offset (SV032: TOF) for the unbalance torque. (Refer to "4-3-5 (1) Unbalance torque and frictional torque".) [2] Set JL = 100, OBS1 = 600 and OBS2 =0, and reciprocate the axis within the range that it can be moved smoothly.
4. Servo Adjustment 4-3-4 Improvement of characteristics during acceleration/deceleration (1) SHG control (option function) Because SHG control has a smoother response during acceleration/deceleration than conventional position controls, the acceleration/deceleration torque (current FB) has more ideal output characteristics (A constant torque is output during acceleration/deceleration.
4. Servo Adjustment (2) Acceleration feed forward Vibration may occur at 10 to 20 Hz during acceleration/deceleration when a short time constant of 30 ms or less is applied, and a position loop gain (PGN1) higher than the general standard value or SHG control is used. This is because the torque is insufficient when starting or when starting deceleration, and can be resolved by setting the acceleration rate feed forward gain (SV015: FFC). This is also effective in reducing the peak current (torque).
4. Servo Adjustment (3) Inductive voltage compensation The current loop response is improved by compensating the back electromotive force element induced by the motor rotation. This improved the current command efficiency, and allows the acceleration/deceleration time constant to the shortened. 1. While accelerating/decelerating at rapid traverse, adjust the inductive voltage compensation gain (SV047: EC) so that the current FB peak is a few % smaller than the current command peak.
4. Servo Adjustment 4-3-5 Improvement of protrusion at quadrant changeover The response delay (caused by dead band from friction, torsion, expansion/contraction, backlash, etc.) caused when the machine advance direction reverses is compensated with the lost motion compensation (LMC compensation) function. With this, the protrusions that occur at the quadrant changeover in the DBB measurement method, or the streaks that occur when the quadrant changes during circular cutting can be improved.
4. Servo Adjustment (1) Unbalance torque and frictional torque Machine unbalance torque and frictional torque measurements are required before the LMC compensation can be set. However, the horizontal axis unbalance torque is necessarily "0". Carry out the reciprocating operation (approx. F1000) with the measured axis, and the load current % value during constant-speed feed is measured at the NC servo monitor screen.
4. Servo Adjustment Perform the final adjustment, carrying out the NC sampling measurement (DBB measurement) or actual cutting. If the compensation amount is insufficient, increase LMC1 or LMC2 by 5% at a time. Note that if the setting is too high, biting may occur. Compensation 0 No. Abbrev.
4. Servo Adjustment (3) Adjusting the lost motion compensation timing If the speed loop gain has been lowered from the standard setting value because the machine rigidity is low or because machine resonance occurs easily, or when cutting at high speeds, the quadrant protrusion may appear later than the quadrant changeover point on the servo control. In this case, suppress the quadrant protrusion by setting the lost motion compensation timing (SV039: LMCD) to delay the LMC compensation.
4. Servo Adjustment (4) Adjusting for feed forward control In LMC compensation, a model position considering the position loop gain is calculated based on the position command sent from the CNC, and compensation is carried out when the feed changes to that direction. When the CNC carries out feed forward (fwd) control, overshooting equivalent to the operation fraction unit occurs in the position commands, and the timing of the model position direction change may be mistaken.
4. Servo Adjustment (5) Setting and adjusting LMC compensation type 3 LCM compensation type 3 can be used to accommodate quadrant projection changes that accompany feed rate and circular radius changes which could not be accommodated by LCM compensation type 2. In this case, on a machine model where the travel direction is reversed, the viscosity component is also considered in addition to the friction, with compensation occurring in accordance with the changes in the cutting conditions.
4. Servo Adjustment No. Abbrev. SV027 SSF1 Parameter name Servo function selection 1 Explanation F E aflt zrn2 D C afse B A 9 ovs 8 lmc Setting range 7 6 omr zrn3 5 4 3 vfct 2 upc 1 0 vcnt bit Meaning when "0" is set Meaning when "1" is set 8 Set the compensation amount with SV016 (LMC1) and SV041 (LMC2).
4. Servo Adjustment 4-3-6 Improvement of overshooting The phenomenon when the machine position goes past or exceeds the command during feed stopping is called overshooting. Overshooting is compensated by overshooting compensation (OVS compensation). Overshooting occurs due to the following two causes.
4. Servo Adjustment (2) Adjusting for feed forward control When using feed forward control (high-speed high-accuracy control), the feed forward control must be stopped (fwd_g =0) before adjusting the overshooting compensation. After adjusting the overshooting compensation with normal control, set the overshooting compensation non-sensitive zone (SV034 (SSF3)/bitC to F (ovsn) to 1 (2µm) and start up feed forward control.
4. Servo Adjustment 4-3-7 Improvement of the interpolation control path (1) Tool end compensation The tool end compensation function compensates the shape of the tool end during high-speed and high-speed acceleration/deceleration. The spring effect from the tool (spindle) end to the motor (scale) end is compensated. If the machine has a large spring effect, the shape may be fine during low-speed operation.
4. Servo Adjustment [1] Confirm that the motor end circle accuracy measured with the NC sampling function is appropriate. [2] In this state, measure the tool end low-speed and high-speed circle path without tool end compensation. The difference of the high-speed circle path and low-speed circle path is the amount that path has swelled due to the spring effect of the machine system.
4. Servo Adjustment 4-4 Adjustment during full closed loop control 4-4-1 Outline (1) Full closed loop control The servo control is all closed loop control using the detector's feedback. "Full closed loop control" is the system that directly detects the machine position using a linear scale, whereas the general "semi-closed loop" is the one that detects the motor end position.
4. Servo Adjustment 4-4-2 Speed loop delay compensation Generally, the tool end position follows the operation later than the motor end position. With full closed loop position loop control, the tool end position is used for position feedback, so the motor end position could advance too far and cause the tool end position to overshoot easily. Speed loop delay compensation suppresses overshooting by weakening the speed loop PI control (weakening advance compensation = delaying).
4. Servo Adjustment 4-4-3 Dual feedback control (Optional function) If the motor and machine coupling or machine system's rigidity is low (ex. large machine, etc.) when using a closed loop system, the response during acceleration/deceleration will vibrate and cause overshooting. This can cause the position loop gain from increasing. The dual feedback function is effective in this case.
4. Servo Adjustment [1] Set the servo specifications (SV017: SPEC)/bit1 to 1, and turn the NC power ON again. [2] Measure the position droop overshooting while increasing the dual feedback control time constant (SV051: DFBT) in increments of 5ms. Adjust to the time constant where overshooting does not occur. [3] For the final setting value, set a value 1.5 to 2-fold the value adjusted in 3. No. SV017 Abbrev.
4. Servo Adjustment 4-5 Settings for emergency stop Emergency stop in this section refers to the following states. [1] Emergency stop was input (including other axis alarms) [2] NC power down was detected [3] A servo alarm was detected 4-5-1 Deceleration control With the MDS-C1-V1/V2 servo drive unit, if the deceleration stop function is validated, the motor will decelerate following the set time constant while maintaining the READY ON state.
4. Servo Adjustment No. Abbrev. Parameter name SV055 EMGx Max. gate off delay time after emergency stop SV056 EMGt Deceleration time constant at emergency stop Explanation Setting range Set a length of time from the point when the emergency stop is input to the point when READY OFF is compulsorily executed. Normally, set the same value as the absolute value of SV056.
4. Servo Adjustment 4-5-2 Vertical axis drop prevention control (1) Vertical axis drop prevention control The vertical axis drop prevention control is a function that prevents the vertical axis from dropping due to a delay in the brake operation when an emergency stop occurs. The no-control time until the brakes activate can be eliminated by delaying the servo READY OFF state by the time set in the parameters when an emergency stop occurs. Always use this function together with deceleration control.
4. Servo Adjustment No. Abbrev. Servo parameter Explanation Parameter name SV048 EMGrt Vertical axis drop prevention time SV055 EMGx Max. gate off delay time after emergency stop SV056 EMGt No. Abbrev. Deceleration time constant at emergency stop Setting range Input a length of time to prevent the vertical axis from dropping by delaying Ready OFF until the brake works when the emergency stop occurs. Increase the setting by 100ms at a time and set the value where the axis does not drop.
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4. Servo Adjustment 4-6 4-6-1 Protective functions Overload detection The servo drive unit is equipped with an electronic thermal that protects the servomotor and servo drive unit from overload conditions. The overload 1 alarm (alarm 50) is detected if an overload condition occurs, and the overload 2 alarm (alarm 51) is detected if 95% or more of the maximum current is commanded continuously for 1 second or longer due to a machine collision, etc.
4. Servo Adjustment 4-6-3 Collision detection Collision detection quickly detects a collision of the motor shaft, and decelerates and stops the motor. This suppresses the generation of an excessive torque in the machine tool, and helps to prevent an abnormal state from occurring.
4. Servo Adjustment (2) Collision detection method 2 When the current command reaches the motor's maximum current, the motor will decelerate and stop at a torque 80% (standard value) of the motor's maximum torque. After decelerating to a stop, alarm 5A will occur, and the system will stop.
4. Servo Adjustment No. Abbrev. SV032 TOF Torque offset Parameter name SV035 SSF4 Servo function selection 4 Explanation Setting range Set the unbalance torque of vertical axis and inclined axis.
5. Spindle Adjustment 5-1 D/A output specifications for spindle drive unit................................................................................. 5-2 5-1-1 D/A output specifications ........................................................................................................... 5-2 5-1-2 Setting the output data............................................................................................................... 5-3 5-1-3 Setting the output magnification .......................
5. Spindle Adjustment 5-1 D/A output specifications for spindle drive unit The MDS-C1-SP/SPH/SPX/SPHX/SPM spindle drive unit has a function to D/A output each control data. The spindle adjustment data required to set the spindle parameters matching the machine can be D/A output. The data can be measured with a hi-corder or oscilloscope, etc. 5-1-1 D/A output specifications Item No.
5. Spindle Adjustment 5-1-2 Setting the output data No. Abbr. Parameter name SP253 DA1NO D/A output channel 1 data No. SP254 DA2NO D/A output channel 2 data No. Original data unit Output magnification standard setting value (SP255, SP256) ch1: Speedometer output 10V=max. speed (Zero=0V) 0 ch2: Load meter output 10V=120% load (Zero=0V) 0 Depends on maximum speed 30-minute rating 12%/V Rated 100%=4096 Rated 100%=4096 8 8 30-minute rating 20%/V 30-minute rating 20%/V 3.55ms 3.
5. Spindle Adjustment 5-1-3 Setting the output magnification (1) Meter output (Data No. 0) With meter output, the output channel is fixed, and the output voltage range is 0 to 10V in the positive range. Set the magnification with the following parameters. Also, low path filter can be set on the load meter output. No. Abbr. SP017 TSP* SP094 Parameter name Maximum motor speed Details Setting range Set the maximum spindle motor speed.
5. Spindle Adjustment (3) Control signal output (Data No. 80 to 87) A hexadecimal display is converted into a decimal and output. The method of calculating the magnification is the same as (2). The status cannot be output for each bit, so output the status for all 16 bits.
5. Spindle Adjustment 5-2 Spindle control signal The sequence input/output signals exchanged between the NC and spindle drive unit are explained in this section. The status of each signal is displayed on the NC SPINDLE MONITOR screen.
5. Spindle Adjustment bit8. Torque limit 1 (TL1) bit9. Torque limit 2 (TL2) bitA. Torque limit 3 (TL3) This signal is used to temporarily reduce the spindle motor's output torque such as when clamping the spindle motor on the machine side. The torque limit is designated in percentage using the motor's short-time rating as 100%. Set the SP021, SP049 to SP054 torque limit value with a combination of TL1 to 3.
5. Spindle Adjustment (2) Spindle control input 2 Name Details Spindle control input 2 F E DAR D C B A bit 0 1 2 3 4 5 6 7 8 9 A B C D E F 9 8 7 6 PAR Details PAR PS alarm history clear DAR Alarm history clear bitC. PS alarm history clear（PAR） This signal turns ON when clearing alarm history for power supply. bitE. Alarm history delete（DAR） This signal turns ON when clearing alarm history for driver.
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5. Spindle Adjustment bit5. Gear selection command 1 (GR1) bit6. Gear selection command 2 (GR2) This selects the number of spindle gear stages required to carry out orientation operation or various position control operation. GR2 GR1 Gear ratio 0 0 SP025, SP029 0 1 SP026, SP030 1 0 SP027, SP031 1 1 SP028, SP032 Related spindle parameters No. Abbr.
5. Spindle Adjustment bitA. Indexing forward run command (WRN) bitB. Indexing reverse run command (WRI) This is valid when the orientation start command is ON. WRI WRN 1 (ON) 0 (OFF) 1 (ON) 0 (OFF) 1 (ON) 1 (ON) 0 (OFF) 0 (OFF) Explanation Setting prohibited. Indexing is carried out in the counterclockwise (CCW) direction looking from the motor end. Indexing is carried out in the clockwise (CW) direction looking from the motor end. Indexing is not carried out. bitC.
5. Spindle Adjustment <> bitE. Sub-motor selection command (MS) This command input signal is used to select sub-motor when changing over 1-drive unit 2-motor (spindle motor/general purpose motor). MS 1 (ON) 0 (OFF) Explanation Sub-motor is selected. Main-motor is selected. <> bitE. M coil selection command (MCS) This command is input to select medium-speed coil when using the medium-speed coil. MCS 1 (ON) 0 (OFF) Explanation Medium-speed command is selected.
5. Spindle Adjustment (4) Spindle control input 4 Name Details Spindle control input 4 F TLUP E D C B OSPC PYVC A 9 8 7 6 5 4 3 2 1 0 bit Details 0 1 2 3 4 5 6 7 8 9 A B PYVC Minimum excitation rate changeover request C OSPC Orientation speed changeover request D E F TLUP Spindle holding force up bitB. Minimum excitation rate changeover request (PYVC) This command selects the minimum excitation rate of weak excitation control.
5. Spindle Adjustment bitC. Orientation speed changeover request (OSPC) This command selects clamp speed for the orientation changeover operation. When the orientation is started with control input 3/bitC(ORC)=1, the clamp speed changes over from SP005 to SP115 by turning ON this signal. Related spindle parameters Details Setting range No. Abbr.
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5. Spindle Adjustment bitB. Magnetic pole position checked (MAO) This signal turns ON when magnetic pole position is checked. bitD. Z-phase passed (ZFIN) This signal turns ON when the Z-phase is passed for the first time after servo ON during position control. bitE.
5. Spindle Adjustment (2) Spindle control output 2 Name Details Spindle control output 2 F E DARA D C B A 9 8 7 6 PARA bit 0 1 2 3 4 5 6 7 8 9 A B C PARA In PS alarm history clear D E DARA In alarm history in clear F Details bitC. In PS alarm history clear (PARA) This signal turns ON while clearing power supply alarm history. bitE. In alarm history clear (DARA) This signal turns ON while clearing drive alarm history.
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5. Spindle Adjustment bitA. In forward run indexing (WRNA) bitB. In reverse run indexing (WRIA) The corresponding output signal turns ON while forward run indexing (WRN) or reverse run indexing (WRI) is input to the spindle drive unit. bitC. In orientation start command signal (ORCA) This signal turns ON while the orientation start command (ORC) is input to the spindle drive unit. bit D. L coil selected (LCSA) This signal turns ON while the L coil selection signal (LCA) is input to the spindle drive unit.
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5. Spindle Adjustment bit2. Up-to-speed (US) This signal turns ON when the start command signal (forward run, reverse run) is ON, and the motor speed has reached a range of ±15% (standard value) of the speed command value. This signal turns OFF when the start command signal turns OFF. The up-to-speed output range can be set with the parameter SP048 (SUT). Even though the setting value is small, the output will be ±45r/min. Pay attention when speed command value is small.
5. Spindle Adjustment bit3. Zero speed (ZS) Regardless of the input signal state, this signal turns ON when the motor speed drops below the value set with parameter SP018 (ZSP). Once this signal turns ON, it will not turn OFF for at least 200ms. When switching ON to OFF, hysteresis width is 15r/min. Note that if the parameter SP018 (ZSP) setting value is too small (approx. 10r/min or less), this signal may not be output even if the motor is stopped.
5. Spindle Adjustment bit4. Orientation complete (ORCA) This signal turns ON when the orientation command is input, and the spindle position is reached the set range (within the in-position range) in respect to the target stop position. This signal turns OFF when orientation is completed and the spindle position deviates from the in-position range, but it will turn ON again when the spindle position enters the in-position range again.
5. Spindle Adjustment bit7. Index positioning completed (WRCF) This signal turns ON during indexing operation when the spindle position reaches the in-position range in respect to the target stop position. Once this signal turns ON it will remain ON regardless of the spindle position until the orientation signal turns OFF or the next indexing operation signal is input.
5. Spindle Adjustment bitC. Orientation speed changeover state (OSPA) This signal turns ON in response to orientation speed (control input 4/bitB). bitD. In automatic adjustment (ATA) This signal turns ON while the spindle is starting during Z-phase automatic adjustment of the PLG with MDS-C1-SPM. bitE. Spindle holding force increased (TLUA) This signal turns ON while the spindle holding force up (TLUP) signal is input. bitF.
5. Spindle Adjustment 5-3 5-3-1 Adjustment procedures for each control Basic adjustments (1) Items to check during trial operation [1] Directly couple the motor and machine, and check the control status during machine run-in. [2] Check that the command speed and actual speed match. If the speeds do not match, check spindle parameters again. (Especially check SP017, SP034, SP040 and SP257 to SP384.) [3] Check the NC parameters Slimit1 to 4, Smax 1 to 4, and Smini.
5. Spindle Adjustment 5-3-2 Adjusting the acceleration/deceleration operation (1) Calculating the theoretical acceleration/deceleration time Constant output range Constant Deceleration output range range Output [W] Each theoretical acceleration/deceleration time is calculated for each output range based on the spindle motor output characteristics as shown on the right. Note that the load torque (friction torque, etc.
5. Spindle Adjustment [Calculation example] Po = (Short-time rated output) x 1.2 = 5500 x 1.2 = 6600 [W] 8.0 Output [kW] Calculate the acceleration/deceleration time from 0 to 10000[r/min] for an spindle motor having the output characteristics shown on the right when the motor inertia is 0.059 [kg･m2], and when the motor shaft conversion load inertia is 0.2 [kg•m2]. 6.0 5.5 4.1 15-minute rating 4.0 3.7 2.8 2.0 Continuous rating Jall = (Motor inertia) + (load inertia) = 0.0148 + 0.05 =0.
5. Spindle Adjustment (2) Measuring the acceleration/deceleration waveforms Measure the acceleration/deceleration waveforms by using the spindle drive unit's D/A output function and check if theoretical acceleration/deceleration time is within ±15%. Refer to "5-1 D/A output specifications for spindle drive unit" for details on D/A output functions. Phase current FB output can be measured by the waveform for either U or V phase FB. Speedometer output [V] 0 4.0 U(V) phase current FB output [V] 2.5 1.
5. Spindle Adjustment (3) Adjustment when the load inertia is large When the load inertia is large and acceleration time is 10s or more, excessive speed deviation alarm (ALM23) may occur because the time in which deviation between speed command and speed FB, which is the actual spindle motor rotation speed, exists is prolonged. In this case, increase speed cushion 1 (SP019). When the acceleration time is 10s or less, use the standard value 30 (300ms).
5. Spindle Adjustment (5) Adjusting speed command dual-cushion When a deceleration start causes rippling in the phase current FB waveform, or when a spindle override change causes gear impact noise, the speed command dual-cushion (SP046) setting should be adjusted. The smaller the SP046 setting value, the longer the acceleration/deceleration time. Therefore, set SP046 value as high as possible, while observing the phase current FB waveform, or while listening to the impact noise.
5. Spindle Adjustment (6) Adjusting speed loop gain The speed loop gain adjustment is made to improve the high-speed range characteristics for speeds of 10,000r/min and higher. Use only the motor-specific standard settings for the basic parameters (SP022, SP023).
5. Spindle Adjustment (7) Adjusting current loop gain Although the default setting value is usually appropriate, an adjustment may be required if slight vibration occurs at high spindle motor rotating. In such cases, adjust the target value of variable current loop gain (SP069) parameter setting while observing the current waveform in the high-speed range. Adjust until the output waveform to the spindle motor stabilizes.
5. Spindle Adjustment (8) Adjusting excitation rate If the motor noise is excessive during constant-speed operation, adjust the variable excitation (SP056) value downward in decrements of 10 from the standard setting of 50 (setting lower limit = 25). The SP033/bit9 parameter setting is an effective way to reduce noise for high-speed operation only (it lowers the excitation rate for high-speed operation only). No. Abbr.
5. Spindle Adjustment (9) Adjusting deceleration time When the deceleration time "td" is significantly different from the acceleration time "ta" (td < 0.95 × ta, 1.1 × 1a < td) and no problem with the acceleration time, adjust the deceleration time by changing the target value of variable torque limit magnification at deceleration (SP087) setting.
5. Spindle Adjustment 5-3-3 Adjusting the orientation control (1) Confirming the default parameters Set the default parameters for each detector used in orientation control. (a) Motor PLG Motor PLG orientation is possible only when the spindle and motor are coupled, or when they are coupled 1:1 with gears (timing belt). The SP025 (GRA1) to SP032 (GRB4) parameters can be set only to 1. The PLG with Z-phase must be mounted on the motor to be used.
5. Spindle Adjustment (c) Magnetic sensor An accurate gear ratio (pulley ratio) is required from the motor shaft to the detector rotary axis. Make sure that the correct number of gear teeth is set in SP025 (GRA1) to SP032 (GRB1).
5. Spindle Adjustment The default orientation control parameters for each detector are as shown below. Confirm that these parameters are correctly set according to the machine specifications. No. Abbr.
5. Spindle Adjustment No. Abbr.
5. Spindle Adjustment (2) Adjusting the orientation deceleration control [1] Polarity setting of sensor Input the orientation command (ORC) when the machine is in the normal state. Confirm that the operation stops at one point and the orientation complete signal (ORCF) turns ON even when the operation is unstable.
5. Spindle Adjustment [3] Adjustment of position loop gain deceleration rate Adjust the orientation time and vibration. Refer to the following table and adjust the parameters according to the apparent state. When using the motor PLG and magnetic sensor, adjust the position loop gain with SP001 (PGM). When using the spindle end detector, adjust SP002 (PGE). Adjust SP006 (CSP) after adjusting SP001 and PS002. When performing coil change over, each coil can be adjusted individually. (Refer to the next page.
5. Spindle Adjustment [4] Position loop gain and deceleration rate adjustment at coil changeovers When using a coil changeover motor, the position loop gain and deceleration rate can be set for each coil. • Coil-specific orientation control position loop gain Compensation magnification values are set for each coil by the SP119, SP120 and SP126 settings, relative to each coil's SP001 or SP002 position loop gain reference value. If a "0" is set, the SP001 (SP002) setting is adopted.
5. Spindle Adjustment [5] Speed clamp value adjustment The orientation control mode's position loop control changing speed is determined automatically, based on the position loop gain, the deceleration rate, and the gear ratio, etc. A changing speed that is too high can be limited by the orientation mode changing speed limit value (SP005) setting. A change to the orientation motor speed clamp value 2 (SP115) occurs at control input 4/bitC. Setting range No. Abbr.
5. Spindle Adjustment (3) Adjustments during orientation stop [1] Position loop gain adjustment Stop position accuracy can be improved by increasing the post-orientation servo rigidity. To increase the post-orientation position loop gain, enable a gain change by the SP097/bitC parameter setting, then set the desired position loop gain magnification.
5. Spindle Adjustment [2] Speed loop gain adjustment In the same manner as for the position loop gain, a speed loop gain can be set separately from the one used during deceleration for a operation that begins from the orientation completed ON status, following orientation deceleration control. Although the servo lock rigidity can be improved by increasing the speed loop gain during stop, vibration tends to be generated.
5. Spindle Adjustment [3] Speed loop delay compensation adjustment This adjustment selects the delay compensation control used at normal orientation stops for tool changes, etc. Because the full-closed loop control used by the spindle end detector, etc., is prone to overshooting at stops, the speed loop gain delay advance term (SP100) value is adjusted upward. SP100 value that is too high, however, will result in stop position inconsistency, particularly on high-friction machines.
5. Spindle Adjustment (4) Setting orientation positioning accuracy check The positioning accuracy at orientation control is checked by the parameters shown below. An error is detected if the positioning pulse error amount from the reference position (Z-phase) exceeds the orientation control pulse miss check value (SP114). When an error is detected, the spindle continues rotating until the next reference position is detected, and a positioning retry then occurs.
5. Spindle Adjustment (5) Troubleshooting [1] Orientation does not take place (motor keeps rotating) Cause Investigation item Remedy 1 Parameter setting values are incorrect The orientation detector and parameter do not match. SP037 (SFNC5) Motor PLG.............................. 4 Spindle end detector .............. 1 Magnetic sensor..................... 2 Correctly set SP037 (SFNC5).
5. Spindle Adjustment [4] The stopping position does not change even when the position shift parameter is changed. Cause 1 Parameter setting values are incorrect Investigation item Remedy The position shift was changed to 2048 when the gear ratio between the spindle and encoder was 1:2 (one encoder rotation at two spindle rotations). If the gear ratio on the left is established between the spindle and encoder, the position shift amount for one spindle rotation is 2048 instead of 4096.
5. Spindle Adjustment 5-3-4 Adjusting the synchronous tap control (1) Confirming the default parameters Confirm that the parameters are correctly set according to the machine specifications. Pay special attention to the following points. (a) Position loop gain The position loop gain must be the same as the servo axis used for interpolation control during synchronous tap control.
5. Spindle Adjustment (2) Adjusting the acceleration/deceleration time constant Synchronous tap synchronizes the operation with the servo. Generally, the spindle takes longer to accelerate and decelerate, so the acceleration/deceleration time constant is determined on the spindle side. Measure the acceleration time for the S command, and set a value 1.5-fold that as the standard value.
5. Spindle Adjustment (4) Adjusting the parameters Adjust the following parameters while measuring the synchronous error between the servo and spindle. The servo axis speed loop gain is valid for all control, so adjust the speed loop gain only on the spindle side. Adjust mainly the lost motion compensation parameters on the servo side. When these have already been adjusted when measuring the roundness, etc., they do not need to be adjusted again.
5. Spindle Adjustment (5) Synchronous tap cutting operation After adjusting the parameters, mount the tap and workpiece, and carry out actual cutting. Various elements affect the tap cutting. Even if the synchronous accuracy (electrical accuracy) is good up to this point, it may not enable cutting with a sufficient accuracy. Check the items in the following table and improve the cutting accuracy. Investigation items for improving cutting accuracy Investigation item Remedy 1.
5. Spindle Adjustment 5-3-5 Adjusting the C-axis control (1) Confirming the default parameters Confirm that the parameters are correctly set according to the machine specifications. When carrying out interpolation control with the servo axis, set the following parameters according to the servo axis specifications.
5. Spindle Adjustment < Spindle parameters> No. Abbr. SP003 PGC0 Parameter name C-axis non-cutting position loop gain C-axis specifications SP129 SPECC* (The standard value is set according to the servo drive for interpolation control.
5. Spindle Adjustment (3) Disturbance observer The disturbance observer estimates the disturbance torque and compensates accordingly, thereby minimizing cutting time disturbance, frictional resistance, and torsion vibration. It is also effective in suppressing vibration that is caused by speed advance compensation control. The disturbance observer function is enabled in all control modes (not just the C-axis control) during a spindle control input 4/bitF=1 (increased spindle hold force).
5. Spindle Adjustment 5-3-6 Adjusting the spindle synchronous control (1) Confirming the default parameters Confirm that the parameters are correctly set according to the machine specifications. The parameters are set with the following conditions for spindles used for synchronous control. (a) Position loop gain The same value must be set for the spindle drive units used for synchronous control.
5. Spindle Adjustment (2) Setting the multi-step acceleration/deceleration time constant For acceleration/deceleration control during spindle synchronous control, the acceleration/ deceleration time constant can be set up to eight steps according to the spindle rotation speed. The acceleration/deceleration time constant (acceleration time from 0 to limit rotation speed slimit) for each step is set as shown below based on the time constant set for the first step.
5. Spindle Adjustment No. 3061 3062 3063 3064 3065 3066 Abbr.
5. Spindle Adjustment (3) Adjusting the multi-step acceleration/deceleration time constants [1] Measure the acceleration/deceleration waveform to the spindle's maximum rotation speed using S command operation. (No. 1 spindle, No. 2 spindle) 10000 Speed FB (r/min) 0 Time Example of spindle acceleration/deceleration waveform [2] Calculate the multi-step acceleration/deceleration pattern based on the acceleration/ deceleration waveform for the spindle with a long acceleration/deceleration time.
6. Troubleshooting 6-1 Points of caution and confirmation ................................................................................................... 6-2 6-1-1 LED display when alarm or warning occurs .............................................................................. 6-3 6-2 Protective functions list of units ........................................................................................................ 6-4 6-2-1 List of alarms...................................................
6. Troubleshooting 6-1 Points of caution and confirmation If an error occurs in the servo drive unit or spindle drive unit, the warning or alarm will occur. When a warning or alarm occurs, check the state while observing the following points, and inspect or remedy the unit according to the details given in this section.
6. Troubleshooting 6-1-1 LED display when alarm or warning occurs (1) Servo and spindle drive unit The axis No. and alarm/warning No. alternate on the display. The display flickers when an alarm occurs. F1 (flicker) F+axis No. 25 (flicker) Alarm No. F2 (flicker) F+axis No. 37 (flicker) Alarm No. Not lit LED display during servo alarm or spindle alarm F1 F+axis No. E7 Warning No. F2 F+axis No. 9F Warning No.
6. Troubleshooting 6-2 6-2-1 Protective functions list of units List of alarms When an alarm occurs, the servo drive unit will make the motor stop by the deceleration control or dynamic brake. The spindle drive unit will coast to a stop or will decelerate to a stop. At the same time, the alarm No. will appear on the NC monitor screen and with the LEDs on the front of the drive unit. Check the alarm No., and remove the cause of the alarm by following this list. Drive unit alarm No.
6. Troubleshooting Drive unit alarm No. Alarm name SV SP Alarm details { A PLG Z-phase no signal was detected. § { The pulse-type linear scale or ball screw end detector's ABZ-phase no signal was detected with the servo, or the encoder no-signal was detected with the spindle. § A difference of 50r/min or more between the speed command and 23 Excessive speed deflection 1 speed feedback continued for longer than the set time.
6. Troubleshooting Drive unit alarm No.
6. Troubleshooting Power supply alarm LED No. display Alarm name CV CR Alarm details Reset 60 Instantaneous power failure § § A drop in the 24VDC power was detected. 61 Power module overcurrent § § The power module's overcurrent protection function activated. PR 62 Frequency error § § The input power frequency exceeded the specified range. PR 63 Auxiliary regeneration error § § The auxiliary regenerative transistor is still ON.
6. Troubleshooting Drive unit alarm No. Alarm name SV SP 7F Power reboot request 88 Watch dog 89 Detector converter unit 2 connection error § § § § 8A Encoder converter unit 2 communication error § § § 8B Encoder converter unit 2 automatic adjustment error § 8C Encoder converter unit 2 judgment error 8D Encoder converter unit 2 CPU error § § 8E Encoder converter unit 2 data error § Alarm details Reset A mismatch in the program mode selection was detected. Turn the drive unit power ON again.
6. Troubleshooting 6-2-2 List of warnings When a warning occurs, a warning No. will appear on the NC monitor screen and with the LEDs on the front of the drive unit. Check the warning No., and remove the cause of the warning by following this list. Drive unit warnings No.
6. Troubleshooting 6-3 Troubleshooting Follow this section to troubleshoot the alarms that occur during start up or while the machine is operating. If the state is not improved with the following investigations, the drive unit may be faulty. Exchange the unit with another unit of the same capacity, and check whether the state is improved.
6. Troubleshooting 6-3-2 Troubleshooting for each alarm No. Alarm No. 11 1 Investigation details Investigation results Remedies Check the setting of the axis The same axis No. is set for the L and Correctly set the axis No. selection switch on the top of the unit. M axes. 0 = No. 1 axis, 1 = No. 2 axis, ... Alarm No. 12 1 2 3 1 Check the repeatability. Check if there is any abnormality in the unit's ambient environment. (Ex.
6. Troubleshooting Alarm No. 17 1 2 Investigation details Check the repeatability. Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding) Alarm No. 18 1 2 3 4 5 A/D converter error An error was detected in the A/D converter for current FB detection. Investigation results The error is always repeated. The state returns to normal once, but occurs sometimes thereafter. No abnormality is found in particular.
6. Troubleshooting Alarm No. 1A 1 2 3 4 5 Investigation details Check the servo parameter (SV025.pen) setting value. Are the serial communication parameters set for the pulse-type detector? Check whether the drive unit connectors (CN3) or detector connectors are disconnected. Turn the power OFF, and check the detector cable connection with a tester. Connect to another normal axis drive unit, and check whether the fault is on the drive unit side or detector side.
6. Troubleshooting Machine side detector, communication error An error was detected in the communication data with the linear scale or ball screw end detector. Or, the communication was cut off. Investigation details Investigation results Remedies SV SP Check whether the drive unit The connector is disconnected (or Correctly install. connectors (CN3) or detector loose). { connectors are disconnected. The connector is not disconnected. Investigate item 2.
6. Troubleshooting Machine side detector, No signal 2 The pulse-type linear scale or ball screw end detector's ABZ-phase no signal was detected with the servo, or the encoder no-signal was detected with the spindle. Investigation details Investigation results Remedies SV Check the servo parameter (SV025. The value is not set correctly. Correctly set SV025. pen) setting value. The value is set correctly. Investigate item 3.
6. Troubleshooting Alarm No. 25 1 2 3 4 5 Absolute position lost The backup voltage in the absolute position detector dropped causing the absolute position to be lost. Investigation details Is warning 9F occurring at the same time? Measure the battery voltage with a tester. Did alarm 18 occur when the power was turned ON the last time? Investigation results The warning is occurring. The warning is not occurring. 3V or less. 3V or more. Alarm 18 occurred. Alarm 18 did not occur.
6. Troubleshooting Alarm No. 2B 1 Investigation details Check if there is any abnormality in the detector's ambient environment. (Ex. Ambient temperature, noise, grounding) Alarm No. 2C 1 1 2 3 4 5 6 An abnormality was found in the ambient environment. Remedies Replace the detector. (With the absolute position system, the zero point must be established.) Take remedies according to the causes of the abnormality. Ex. High temperature: Check the cooling fan.
6. Troubleshooting Alarm No. 31 1 2 3 Overspeed A rotation speed exceeding the motor's tolerable rotation speed was detected. Investigation details Check the rapid traverse rate (rapid) and motor maximum rotation speed. Check the settings for the servo parameters SV001 (PC1), SV002 (PC2), SV018 (PIT) and SV025 (MTYP). Confirm the spindle parameter SP017 (TSP) setting. 4 Confirm the PLG output waveform. 5 Check whether the speed waveform is overshooting.
6. Troubleshooting Alarm No. 34 1 2 3 4 Investigation details Investigation results Try replacing the terminator or battery The state is improved. unit. The state is not improved. Check the NC bus communication The connection is incorrect. cable connection. There is no problem. • Is the cable disconnected? • Is the communication pair cable connected in reverse? Change the order of the connected The alarm is on the cable drive units. connections.
6. Troubleshooting Initial parameter error An illegal parameter was detected in the parameters received from the NC at NC power ON. "S02 initial parameter error ####" is displayed on the NC screen. #### indicates the incorrect parameter No. Investigation details Investigation results Remedies SV SP Check the error parameter No. SV001 to SV065 (M60S Series: 2201 Set the value within the designated to 2265) setting range.
6. Troubleshooting Alarm No. 3B 1 2 3 4 5 Power module overheat The power module's temperature protection function activated. Investigation details Turn the unit power ON again, and confirm the rotation of the fan. Note) Assure more than 10 seconds for the time from when the power is turned OFF till when it is turned ON. For the fan used for the drive unit, assuring more than 10 seconds for the time from when the power is turned OFF till when it is turned ON is required.
6. Troubleshooting Spindle speed lock Even when the maximum torque was commanded, the motor speed does not increase to 45r/min or more. Investigation details Investigation results Remedies SV SP Does the alarm occur immediately Occurs immediately after power is Investigate item 2. after the power is turned ON? turned ON. { Occurs after normal operation. Investigate item 5. Is there any abnormal noise when There is abnormal noise. Investigate item 4. starting? (The initial pole estimate may be { incorrect.
6. Troubleshooting Speed excessive deflection 2 During constant speed operation, the difference between the speed command and speed feedback exceeded the set amount and set time. Investigation details Investigation results Remedies SV Check the load value with the spindle The cutting load is large. Lower the cutting load. monitor, and investigate the The cutting load is not large. Investigate item 2. machine's load state. Check whether the spindle rotary Locked with a mechanical lock.
6. Troubleshooting Feedback error 2 With the servo, an excessive error was detected in the position data for the motor side detector and machine side detector. With the spindle, an error was detected in the encoder feedback signal. Investigation details Investigation results Remedies SV SP Check whether the drive unit The connector is disconnected (or Correctly install. connectors or detector connectors loose). { are disconnected. The connector is not disconnected. Investigate item 2.
6. Troubleshooting Alarm No. 46 1 2 3 Motor overheat The temperature protection function in the motor or detector activated. Investigation details Check the repeatability. Check whether the drive unit connectors (servo: CN3, spindle: CN6) or detector connectors are disconnected. Using a tester, check whether the detector cable is broken. Investigation results The alarm occurs before operation. The alarm occurs occasionally after operation is started. The connector is disconnected (or loose).
6. Troubleshooting Alarm No. 50 1 2 3 4 5 6 7 8 9 Overload 1 The overload detection level reached 100% or more. The motor or drive unit is in the overload state. Investigation details Check the overload parameters. Servo : SV021, SV022 Spindle : SP063, SP064 Investigation results The standard values (below) are not set. Servo : SV021 = 60, SV022 = 150 Spindle : SV063 = 60, SP064 = 110 The standard values are set. Check the overload % (servo) or load The load is large. meter (spindle).
6. Troubleshooting Overload 2 With the servo, a current command exceeding 95% of the unit's maximum current continued for one second or more. With the spindle, a load exceeding the continuous rating continued for 30 minutes or more. Investigation details Investigation results Remedies SV SP Did the alarm occur immediately after The alarm occurred after ready ON Investigate item 2. READY ON? before operation starts. { The alarm occurred after normal Investigate item 5. operation.
6. Troubleshooting Excessive error 2 The difference between the motor's actual position at servo OFF and the theoretical position exceeded the setting value. Investigation details Investigation results Remedies SV SP Check the follow-up function while NC parameter (M60S Series) #1064 Investigate item 2. the NC is in the servo OFF state. svof = 0 { NC parameter (M60S Series) #1064 Investigate item 3. svof = 1 Check whether the axis has moved The axis moved. Adjust the brakes, etc.
6. Troubleshooting Collision detection 1 G0 When the collision detection function is valid, the disturbance torque exceeded the collision detection value during rapid traverse (G0). Investigation details Investigation results Remedies SV SP Check whether the machine has The machine has collided. Check the machining program and collided. soft limit settings. The machine has not collided. Increase the detection level (SV060). { (The detection level should have an allowance and be set as approx. 1.
6. Troubleshooting Alarm No. 60 1 Instantaneous power failure A drop in the 24VDC power was detected. Investigation details Is 24VDC applied on the CN22 connector? Is the voltage low, or does it drop sometimes? 2 Are the LEDs on the CR unit ON? 3 Check the wiring and power voltage. 4 Check whether the voltage is dropping because of another load. Alarm No. 61 1 2 3 4 5 6 Investigation results The voltage is not applied. The voltage is 20.4VDC or less. The voltage drops below 20.
6. Troubleshooting Alarm No. 62 1 2 3 4 Investigation details Check the state of the operation when the alarm occurs, and check the repeatability. Investigation results The alarm occurs each time immediately after the power is turned ON. Or, the alarm occurs occasionally regardless of the operation state. The alarm occurs only while the motor is accelerating/decelerating. Measure the power voltage waveform The frequency is deviated from during normal operation. 50Hz±3% or 60Hz±3%.
6. Troubleshooting Alarm No. 68 1 2 Investigation details Check the repeatability. Check if there is any abnormality in the unit's ambient environment. (Ex. Noise, grounding) Alarm No. 69 1 2 3 4 2 3 Investigation results The alarm occurs each time READY is turned ON. The alarm occurs occasionally. No abnormality is found in particular. The grounding is incomplete. An alarm will occur easily if another device operates. Remedies Replace the unit. Investigate item 2. Replace the unit.
6. Troubleshooting Alarm No. 6B 1 2 3 Investigation details Check whether any alarm has occurred on the drive unit side. 2 Investigation results An alarm has occurred. Check the repeatability. Check if there is any abnormality in the unit's ambient environment. (Ex. Noise, grounding) Alarm No. 6C 1 Rush relay melted The rush resistance short-circuit relay does not turn OFF. An alarm has not occurred. The alarm occurs each time READY is turned ON. The alarm occurs occasionally.
6. Troubleshooting Alarm No. 6E 1 2 Memory error An error was detected in the internal memory. Investigation details Check the repeatability. Check if there is any abnormality in the unit's ambient environment. (Ex. Noise, grounding) Investigation results The alarm occurs each time READY is turned ON. The alarm occurs occasionally. No abnormality is found in particular. The grounding is incomplete. An alarm will occur easily if another device operates. Remedies Replace the unit. Investigate item 2.
6. Troubleshooting Over-regeneration The over-regeneration detection level exceeded 100%. The regenerative resistor is in the overload state. CV Investigation details Investigation results Remedies Check the alarm occurrence state The regenerative load display Check whether the state is affected and regenerative load displayed on increases when the power is turned by power fluctuation, grounding or the NC Monitor screen while ON and the motor is not rotated. noise.
6. Troubleshooting Alarm No. 75 1 2 3 4 5 6 Investigation details Check the repeatability. Check the power supply's alarm history. Check the power capacity. Measure the voltage across wires. • Is the voltage 170V or more even when the motor is accelerating? Measure the power voltage with a synchroscope, and check whether there is any distortion. • Are there any other devices causing the power distortion? Check if there is any abnormality in the unit's ambient environment. (Ex.
6. Troubleshooting Alarm No. 77 1 2 3 4 5 Investigation details Turn the unit power ON again, and confirm the rotation of the fan. Investigation results The fan is rotating, and an alarm did not occur again. Note) Assure more than 10 seconds for the time from when the power is turned OFF till when it is turned ON. For the fan used for the drive unit, assuring more than 10 seconds for the time from when the power is turned OFF till when it is turned ON is required.
6. Troubleshooting Encoder converter unit 2, connection error With the servo, an error was detected in the connection with the analog output linear scale for the MDS-B-HR unit. With the spindle, initial communication with the MDS-B-PJEX was not possible. Investigation details Investigation results Remedies SV Wiggle the MDS-B-HR/MDS-B-PJEX The connector is disconnected (or Correctly install. unit connector (CON3) by hand to loose). { check whether it is disconnected. The connector is not disconnected.
6. Troubleshooting Alarm No. 8C 1 2 Encoder converter unit 2, judgment error A detector type outside the specifications was detected with the MDS-B-PJEX. Investigation details Investigation results Check the spindle parameter SP042. The setting was incorrect. SP042: C-axis control detector range. "4" : 128 pulses (Spindle end PLG No. of pulse "5" : 256 pulses setting) "6" : 512 pulses "8" : 180 pulses The setting is correct. Check if there is any abnormality in No abnormality is found in particular.
6. Troubleshooting 6-3-3 Troubleshooting for each warning No. Warning No. 90 1 2 3 4 Detector, initial communication error Initial communication with the absolute position linear scale was not possible. Investigation details Check the servo parameter (SV025.pen) setting. Check whether the drive unit connector (CN3) and detector connector are disconnected. Turn the power OFF, and check the detector cable connection with a tester.
6. Troubleshooting Warning No. 93 1 Initial absolute position fluctuation The position data fluctuated when creating the initial absolute position. Investigation details Check the state of the axis when the NC power is turned ON. Investigation results The vertical axis or slant axis drops when the NC power is turned ON. The axis moves with an external force when the NC power is turned ON. Remedies Check the brake operation. SV SP Make sure that the axis does not move when the power is turned ON.
6. Troubleshooting Warning No. A8 1 2 Investigation details Check the parameters. SP097/bitB = 0 command angle 1° unit SP097/bitB = 1 command angle 0.1° unit Pinpoint where the alarm occurs in the PLC program. Warning No. A9 1 1 2 Remedies Correctly set SP097. Investigate item 2. The position can be pinpointed. The position cannot be pinpointed. Check the PLC program process. Investigate the details of the NC and PLC program process.
6. Troubleshooting Warning No. E7 1 2 3 Investigation details Check whether NC emergency stop was input. Check whether an alarm is occurring in another drive unit. Check the NC communication bus line. Warning No. E8 1 1 2 1 SV SP { { { { { { Investigation results Remedies CV CR { Investigation results Remedies CV CR { External emergency stop The external emergency stop signal was input. Investigation details Check whether the specifications allow use of the external emergency stop.
6. Troubleshooting 6-3-4 Parameter numbers during initial parameter error If an initial parameter error (alarm 37) occurs, the alarm and the number of the parameter that may have been set exceeding the setting range will appear on the CNC Diagnosis screen. (For M60S, E60 Series NC.
6. Troubleshooting 6-3-5 Troubleshooting the spindle system when there is no alarm or warning If an abnormality is observed in the spindle system but no alarm or warning has occurred, refer to the following table and check the state. [1] No abnormality is displayed, but the motor does not rotate. Investigation item Investigation results 1 Check the wiring around the spindle drive The wiring is incorrect, the screws are loose, or the cables are disconnected. unit.
6. Troubleshooting [3] The rotation speed command and actual rotation speed do not match. Investigation item 1 Check the speed command. Investigation results The speed command is not input correctly. The speed command is correct. 2 3 Check whether there is slipping between the motor and spindle. (When connected with a belt or clutch.) Check the spindle parameters (SP017, SP034, SP040, SP257 and following). There is slipping. No particular problems found. The correct values are not set.
6. Troubleshooting [7] The spindle coasts during deceleration. Investigation item 1 Investigation results Check whether there is slipping between There is slipping. the motor and spindle. (When connected No particular problems found. with a belt or clutch.) Remedies Repair the machine side. Replace the drive unit. [8] The rotation does not stabilize. Investigation item 1 Check the spindle parameter settings.
7. Maintenance 7-1 Inspections........................................................................................................................................ 7-2 7-2 Service parts ..................................................................................................................................... 7-2 7-3 Adding and replacing units and parts ............................................................................................... 7-3 7-3-1 Replacing the drive unit ............
7. Maintenance WARNING CAUTION 7-1 1. Before starting maintenance or inspections, turn the main circuit power and control power both OFF. Wait at least ten minutes for the CHARGE lamp to turn OFF, and then using a tester, confirm that the input and output voltage are zero. Failure to observe this could lead to electric shocks. 2. Inspections must be carried out by a qualified technician. Failure to observe this could lead to electric shocks.
7. Maintenance 7-3 Adding and replacing units and parts CAUTION 7-3-1 1. Correctly transport the product according to its weight. Failure to do so could result in injury. 2. Do not stack the product above the indicated limit. 3. Installation directly on or near combustible materials could result in fires. 4. Install the unit as indicated at a place which can withstand the weight. 5. Do not get on or place heavy objects on the unit. Failure to observe this could result in injury. 6.
7. Maintenance 7-3-2 Replacing the unit fan Replace the unit fan with the following procedures. Replacement procedure [1] Turn the NF for the 200/230VAC input power OFF, and wait for the CHARGE lamp on the power supply unit to turn OFF before removing the unit. [2] Remove the fan guard from the back of the power supply unit, and remove the two fan mounting screws. [3] Remove the rubber bushing for the fan power cable, and pull out the connection connector.
Appendix 1. Cable and Connector Specifications Appendix 1-1 Selection of cable .........................................................................................................A1-2 Appendix 1-1-1 Cable wire and assembly ......................................................................................A1-2 Appendix 1-1-2 Flexible conduits ....................................................................................................A1-4 Appendix 1-2 Cable connection diagram.................
Appendix 1. Cable and Connector Specifications Appendix 1-1 Selection of cable Appendix 1-1-1 Cable wire and assembly (1) Cable wire The following shows the specifications and processing of the wire used in each cable. Manufacture the cable using the following recommended wire or equivalent parts. Recommended wire model Finished (Cannot be directly Sheath No. of outside ordered from material pairs diameter Mitsubishi Electric Corp.) UL20276 AWG28 10pair 6.1mm PVC A14B2343 (Note 1) 7.
Appendix 1. Cable and Connector Specifications (3) Cable protection tube (noise countermeasure) If influence from noise is unavoidable, or further noise resistance is required, selecting a flexible tube and running the signal cable through this tube is effective. This is also an effective countermeasure for preventing the cable sheath from being cut or becoming worn.
Appendix 1. Cable and Connector Specifications Appendix 1-1-2 Flexible conduits Basically, splash proofing can be ensured if cab-tire cable and connectors with IP65 or higher specifications are used. However, to further improve the oil resistance (chemical resistance to oil), weather resistance (resistance to the environment when used outdoors, etc.), durability, tensile strength, flattening strength, etc., run the cable through a flexible conduit when wiring.
Appendix 1. Cable and Connector Specifications Back shell Connector for conduit Flexible conduit Cable Connector Model Application DDK Applicable motors Connector/back shell (straight) Nippon Flex Connector/back shell (angle) Connector for conduit Flexible conduit For brake HA053NB to HA33NB HC202B to HC902B Select according to section "(2) Method for connecting to the connector main body".
Appendix 1. Cable and Connector Specifications Appendix 1-2 Cable connection diagram CAUTION 1. Do not mistake the connection when manufacturing the detector cable. Failure to observe this could lead to faults, runaway or fires. 2. Do not connect anything to pins unless otherwise particularly specified when manufacturing a cable. (Leave OPEN) 3. Contact Mitsubishi when manufacturing a cable longer than 30m.
Appendix 1. Cable and Connector Specifications (2) Servo detector cable The connection differs according to the cable length.
Appendix 1.
Appendix 1. Cable and Connector Specifications (3) Spindle detector cable Spindle motor side connector (CN5) Spindle drive unit side connector Housing: 350720-1 Pin: 350689-1 Connector: 10120-3000VE Shell kit: 10320-52F0-008 PA RA PB RB PZ P15(+15V) N15(-15V) LG 6 16 7 17 8 5 15 1 MOH RG 3 13 1 2 3 4 5 8 6 9 V1.25-4 100mm (CN6) Spindle drive unit side connector Magnetic sensor side connector Connector: TRC116-12A10-7F10.
Appendix 1.
Appendix 1.
Appendix 1. Cable and Connector Specifications Appendix 1-3 Connector outline dimension drawings Connector for CN2 Servo drive unit [Unit: mm] 12.0 12.0 14.0 14.0 33.3 33.3 12.7 12.7 [Unit: mm] 12.0 12.0 10.0 10.0 Manufacturer: 3M (Ltd.) Connector: 10120-3000VE Shell kit: 10320-52A0-008 22.0 22.0 23.8 23.8 39.0 39.0 10.0 10.0 Manufacturer: 3M (Ltd.) Connector: 10120-3000VE Shell kit: 10320-52F0-008 14.0 14.0 33.3 33.3 12.7 12.7 23.8 23.8 39.0 39.0 22.0 22.0 [Unit: mm] 11.
Appendix 1. Cable and Connector Specifications Connectors for detector and motor power (IP67 and EN standard compatible) Straight plug Manufacturer: DDK (Ltd.) D or less W A Type øB +0 -0.38 øC± 0.8 7.85 or more +0 A B -0.38 C±0.8 D or less [Unit: mm] W 1 34.13 32.1 57 1-20UNEF-2A 3 40.48 38.3 61 1 /16-18UNEF-2A 1 CE05-6A18-12SD-B-BSS 1 /8-18UNEF-2B CE05-6A22-23SD-B-BSS 1 /8-18UNEF-2B 3 7 CE05-6A24-10SD-B-BSS 1 /2-18UNEF-2B 43.63 42.
Appendix 1. Cable and Connector Specifications Connectors for detector, motor power and brake (IP67 and EN standard compatible) Straight plug Manufacturer: DDK (Ltd.) Gasket øB +0 -0.38 øG +0.05 -0.25 D E±0.3 H or less Type A B 5 /8-24UNEF-2B MS3106A10SL-4S (D190) 3 1 /8-18UNEF-2B MS3106A22-14S (D190) A J ± 0.12 C±0.5 C±0.5 22.22 23.3 40.48 34.11 D E±0.3 9 /16-24UNEF-2A 1 1 /4-18UNEF-2A Straight back shell Manufacturer: DDK (Ltd.) [Unit: mm] J±0.12 G 7.5 12.5 13.49 12.
Appendix 1. Cable and Connector Specifications Connectors for detector, motor power and brake (for general environment) Straight plug Manufacturer: DDK (Ltd.) L or less W or J ±0.12 more øQ +0 -0.38 Y or less A V [Unit: mm] A J±0.12 L or less Connection nut outside diameter +0 øQ –0.38 MS3106B18-12S MS3106B22-14S MS3106B22-23S MS3106B24-10S 1 /8-18UNEF 18.26 52.37 34.13 1 /2-18UNEF 18.26 58.72 43.63 1 /16-18UNEF MS3106B32-17S 2-18UNS 18.26 61.92 56.
Appendix 1. Cable and Connector Specifications Connectors for detector, motor power and brake (for general environment) Angle plug Manufacturer: Japan Aviation Electronics (Ltd.) Type: MS3108B10SL-4S [Unit: mm] /8-24UNEF-2B 5 9.5 or more ø22.2±0.8 5 ø25.0±0.8 13.5±0.3 36.9±0.8 /8-24UNEF-2A 46.0 or less Cable clamp Manufacturer: DDK (Ltd.) A±0.7 C øE (Bushing inside diameter) 1.6 øD (Cable clamp inside diameter) G±0.7 øB±0.
Appendix 2. Compliance to EC Directives Appendix 2-1 Compliance to EC Directives ...........................................................................................A2-2 Appendix 2-1-1 European EC Directives............................................................................................A2-2 Appendix 2-1-2 Cautions for EC Directive compliance ......................................................................
Appendix 2. Compliance to EC Directives Appendix 2-1 Compliance to EC Directives Appendix 2-1-1 European EC Directives In the EU Community, the attachment of a CE mark (CE marking) is mandatory to indicate that the basic safety conditions of the Machine Directives (issued Jan. 1995), EMC Directives (issued Jan. 1996) and the Low-voltage Directives (issued Jan. 1997) are satisfied. The machines and devices in which the servo and spindle drive are assembled are the targets for CE marking.
Appendix 2. Compliance to EC Directives (3) Power supply [1] If a control power supply of the drive unit is 200V, use the power supply under an Overvoltage Protection Category II as stipulated in IEC60664. In that case, insert a star-connection isolation transformer that is compliant with EN or IEC Standard into the primary input power supply of the drive unit. [2] Do not omit the circuit breaker and electromagnetic contactor.
Appendix 2. Compliance to EC Directives (6) Selecting the wire size for EC Directive compliance To comply with the EC Directives, select the wire size from the following table using each drive unit's capacity as a reference. The wire types are as follow.
Appendix 2. Compliance to EC Directives (7) Peripheral devices [1] Use EN/IEC Standards compliant parts for the no-fuse breaker and contactor. (8) Miscellaneous [1] [2] [3] [4] Refer to "MDS-C1 INSTRUCTION MANUAL" for methods on complying with the EMC Directives. Ground the facility according to each country's requirements. The control circuit connector ({) is safely separated from the main circuit ( ). Inspect the appearance before installing the unit.
Appendix 3. EMC Installation Guidelines Appendix 3-1 Introduction ......................................................................................................................A3-2 Appendix 3-2 EMC instructions ..............................................................................................................A3-2 Appendix 3-3 EMC measures ................................................................................................................
Appendix 3. EMC Installation Guidelines Appendix 3-1 Introduction EMC Instructions became mandatory as of January 1, 1996. The subject products must have a CE mark attached indicating that the product complies with the Instructions. As the NC unit is a component designed to control machine tools, it is believed to be out of the direct EMC Instruction subject.
Appendix 3. EMC Installation Guidelines Appendix 3-3 EMC measures The main items relating to EMC measures include the following. [1] Store the device in an electrically sealed metal panel. [2] Earth all conductors that are floating electrically. (Lower the impedance.) [3] Wire the power line away from the signal wire. [4] Use shielded wires for the cables wired outside of the panel. [5] Install a noise filter. Ensure the following items to suppress noise radiated outside of the panel.
Appendix 3. EMC Installation Guidelines Appendix 3-4-2 Measures for door [1] Use metal for all materials configuring the door. [2] Use an EMI gasket or conductive packing for the contact between the door and control panel unit. [3] The EMI gasket or conductive packing must contact at a uniform and correct position of the metal surface of the control panel unit. [4] The surface of the control panel unit contacted with the EMI gasket or conductive packing must have conductance treatment.
Appendix 3. EMC Installation Guidelines Appendix 3-5 Measures for various cables The various cables act as antennas for the noise and discharge the noise externally. Thus appropriate treatment is required to avoid the noise. The wiring between the drive unit and motor act as an extremely powerful noise source, so apply the following measures. Appendix 3-5-1 Measures for wiring in panel [1] If the cables are led unnecessarily in the panel, they will easily pick up the radiated noise.
Appendix 3.
Appendix 3. EMC Installation Guidelines Appendix 3-5-4 Servo motor feedback cable Use a conventional batch shield pair cable for feed back cable of the servo motor to earth on NC side (inside the control panel.) Control panel Cannon connector To drive unit Batch shield pair cable Feed back cable for servomotor Appendix 3-5-5 Spindle motor feedback cable Use a conventional batch shield cable for feedback cable of the spindle motor.
Appendix 3. EMC Installation Guidelines Appendix 3-6 EMC countermeasure parts Appendix 3-6-1 Shield clamp fitting The effect can be enhanced by connecting the cable directly to the earthing plate. Install an earthing plate near each panel's outlet (within 10cm), and press the cable against the earthing plate with the clamp fitting. If the cables are thin, several can be bundled and clamped together. Securely earth the earthing plate with the frame ground.
Appendix 3. EMC Installation Guidelines Appendix 3-6-2 Ferrite core A ferrite core is integrated and mounted on the plastic case. Quick installation is possible without cutting the interface cable or power cable. This ferrite core is effective against common mode noise, allowing measures against noise to be taken without affecting the signal quality. Recommended ferrite core TDK ZCAT Series Shape and dimensions A φD B φC ZCAT-A type A E B φC D ZCAT type Fig.1 Fig.
Appendix 3. EMC Installation Guidelines Appendix 3-6-3 Power line filter (1) Power line filter for 200V HF3000A-TM Series for 200V Features • • • • 3-phase 3-wire type (250V series, 500V series) Compliant with noise standards German Official Notice Vfg243, EU Standards EN55011 (Class B) Effective for use with IGBT inverter and MOS-FET inverter. Easy mounting with terminal block structure, and outstanding reliability.
Appendix 3.
Appendix 3. EMC Installation Guidelines MX13 Series 3-phase high attenuation noise filter for 200V Features • Perfect for mounting inside control panel: New shape with uniform height and depth dimensions • Easy mounting and maintenance work: Terminals are centrally located on the front • Complaint with NC servo and AC servo noise: High attenuation of 40dB at 150KHz • Safety Standards: UL1283, CSA22.2 No.
Appendix 3. EMC Installation Guidelines Example of using MX13 Series This is a noise filter with the same dimensions as the MDS-D/DH series drive unit depth (200mm) and height (380mm). This unit can be laid out easily in the device by arraigning it in a row with the servo unit. As with the servo unit, the terminals are arranged on the front enabling ideal wire lead-out. Refer to the following figure for details.
Appendix 3. EMC Installation Guidelines Outline dimension drawings MX13030, MX13050 [Unit: mm] (Installation hole) Model MX13030 MX13050 A 66 81 B 45 55 C 10.5 13 D 50 67 E 13 16 F 10 13 G 177 179 H M4 screw M6 screw I 70 85 J M4 screw M6 screw K 195 200 Model MX13100 MX13150 A 130 165 B 90 110 MX13100, MX13150 [Unit: mm] (Installation hole) (Installation hole) A3 - 14 C 20 27.5 D 115 150.5 E 37.5 57.
Appendix 3. EMC Installation Guidelines Appendix 3-6-4 Surge protector Insert a surge protector in the power input section to prevent damage to the control panel or power supply unit, etc. caused by the surge (lightning or sparks, etc.) applied on the AC power line. Use a surge protector that satisfies the following electrical specifications.
Appendix 3. EMC Installation Guidelines (2) Example of surge protector installation An example of installing the surge protector in the machine control panel is shown below. A short-circuit fault will occur in the surge protector if a surge exceeding the tolerance is applied. Thus, install a circuit protection breaker in the stage before the surge protector.
Appendix 4. Servo/spindle drive unit categories based on higher harmonic suppression countermeasure guidelines Appendix 4-1 Servo/spindle drive unit circuit categories based on higher harmonic suppression countermeasure guidelines..........................................................................................
Appendix 4. Servo/spindle drive unit categories based on higher harmonic suppression countermeasure guidelines Appendix 4-1 Servo/spindle drive unit circuit categories based on higher harmonic suppression countermeasure guidelines Refer to the following table and calculate the circuit category (conversion coefficient) and the power capacity based on higher harmonic suppression countermeasure guidelines.
Revision History Date of revision Manual No. Revision details June. 2004 BNP-B2365∗ First edition created. Mar. 2004 BNP-B2365A • Connection of power supply was fully revised. • Wiring of the motor brake was fully revised. • Peripheral control wiring was fully revised. • "Setup" was fully revised. • D/A output specifications for spindle drive unit were revised. • Spindle control signal was revised. • Adjusting the acceleration/deceleration operation was revised.
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Notice Every effort has been made to keep up with software and hardware revisions in the contents described in this manual. However, please understand that in some unavoidable cases simultaneous revision is not possible. Please contact your Mitsubishi Electric dealer with any questions or comments regarding the use of this product. Duplication Prohibited This manual may not be reproduced in any form, in part or in whole, without written permission from Mitsubishi Electric Corporation.
