Mitsubishi HS-7168EB Specifications

CNC
INTELLIGENT SERVOMOTOR
HS Series
SPECIFICATIONS AND INSTRUCTION MANUAL
BNP-B3981*(ENG)
Introduction
Thank you for purchasing the Mitsubishi CNC.
This instruction manual describes the handling and caution points for using this CNC.
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.
Precautions for safety
Please read this instruction 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 "DANGER" and
"CAUTION".
DANGER
CAUTION
When a dangerous situation may occur if handling is
mistaken leading to fatal or major injuries.
When a dangerous situation may occur if handling is
mistaken leading to medium or minor injuries, or physical
damage.
Note that some items described as
CAUTION may lead to major results
depending on the situation. In any case, important information that must be
observed is described.
The signs indicating prohibited and mandatory items are described below.
This sign indicates that the item is prohibited (must not be
carried out). For example,
is used to indicate "Fire
Prohibited".
This sign indicates that the item is mandatory (must be carried
out). For example,
is used to indicate grounding.
After reading this instruction manual, keep it in a safe place for future reference.
POINT
In this manual, this mark indicates important matters the operator
should be aware of when using the CNC.
I
For Safe Use
1. Electric shock prevention
DANGER
Wait at least 10 minutes after turning the power OFF, check the voltage between L1-L2-L3
and L11-L12 terminals with a tester, etc., before starting wiring or inspections.
Failure to observe this could lead to electric shocks.
Ground the servo amplifier and servomotor with Class 3 grounding or higher.
Wiring and inspection work must be done by a qualified technician.
Wire the servo amplifier and servomotor after installation. Failure to observe this could lead to
electric shocks.
Do not touch the switches with wet hands. Failure to observe this could lead to electric
shocks.
Do not damage, apply forcible stress, place heavy items or engage the cable. Failure to
observe this could lead to electric shocks.
2. Fire prevention
CAUTION
Install the servo amplifier, servomotor and regenerative resistor on noncombustible material.
Direct installation on combustible material or near combustible materials could lead to fires.
Following the instructions in this manual, always install no-fuse breakers and contactors on
the servo amplifier power input. Select the correct no-fuse breakers and contactors using this
manual as a reference. Incorrect selection could lead to fires.
Shut off the main circuit power at the contactors to emergency stop when an alarm occurs.
II
3. Injury prevention
CAUTION
Do not apply a voltage other than that specified in Instruction Manual on each terminal.
Failure to observe this item could lead to ruptures or damage, etc.
Do not mistake the terminal connections. Failure to observe this item could lead to ruptures
or damage, etc.
Do not mistake the polarity( + , – ) . Failure to observe this item could lead to ruptures or
damage, etc.
Do not touch the servo amplifier fins, regenerative resistor or servomotor, etc., while the
power is turned ON or immediately after turning the power OFF. Some parts are heated to
high temperatures, and touching these could lead to burns.
4. Various precuations
Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and
electric shocks, etc.
(1) Transportation and installation
CAUTION
Correctly transport the product according to its weight.
Do not stack the products above the tolerable number.
Do not hold the cables, axis or detector when transporting the servomotor.
Follow this Instruction Manual and install the unit in a place where the weight can be borne.
Do not get on top of or place heavy objects on the unit.
Always observe the installation directions.
Do not install or run a servo amplifier or servomotor that is damaged or missing parts.
Do not let conductive objects such as screws or metal chips, etc., or combustible materials
such as oil enter the servo amplifier or servomotor.
The servo amplifier and servomotor are precision devices, so do not drop them or apply
strong impacts to them.
III
CAUTION
Store and use the units under the following environment conditions.
Conditions
Environment
Servomotor
Interface unit
0°C to +40°C
(with no freezing)
0°C to +55°C
(with no freezing)
80% RH or less
(with no dew condensation)
90%RH or less
(with no dew condensation)
–15°C to +65°C
(with no freezing)
–20°C to +65°C
(with no freezing)
Ambient
temperature
Ambient humidity
Storage temperature
Storage humidity
90% RH or less (with no dew condensation)
Indoors (Where unit is not subject to direct sunlight)
With no corrosive gas, combustible gas, oil mist or dust.
Atmosphere
Altitude
1000m or less above sea level
X: 9.8m/sec2 (1G)
HS-RF
HS-SF
Y: Y: 24.5m/sec2
(1kW or less)
(2.5G) or less
Vibration
HS-SF
(2.0kW or
less)
X: 19.6m/sec2 (2G)
Y: 49m/sec2 (5G) or
less
5.9m/sec2 (0.6G) or less
X: 19.6m/sec2 (2G)
HS-MF
Y: 19.6m/sec2 (2G)
or less
Securely fix the servomotor to the machine. Insufficient fixing could lead to the servomotor
deviating during operation.
Never touch the rotary sections of the servomotor during operations. Install a cover, etc.,
on the shaft.
When coupling to a servomotor shaft end, do not apply an impact by hammering, etc. The
detector could be damaged.
Do not apply a load exceeding the tolerable load onto the servomotor shaft. The shaft
could break.
When storing for a long time, please contact your dealer.
IV
(2) Wiring
CAUTION
Correctly and securely perform the wiring. Failure to do so could lead to runaway of the
servomotor.
(3) Trial operation and adjustment
CAUTION
Check and adjust each 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
CAUTION
Install an external emergency stop circuit so that the operation can be stopped and power
shut off immediately.
Unqualified persons must not disassemble or repair the unit.
Never make modifications.
Reduce magnetic interference by installing a noise filter. The electronic devices used near
the servo amplifier could be affected by magnetic noise. Install a line noise filter, etc., when
there is an influence from magnetic interference.
Always use the servomotor and servo amplifier with the designated combination.
The servomotor's magnetic brakes are for holding purposes. Do not use them for normal
braking.
There may be cases when holding is not possible due to the magnetic brake's life or the
machine construction (when ball screw and servomotor are coupled via a timing belt, etc.).
Install a stop device to ensure safety on the machine side.
V
(5) Troubleshooting
CAUTION
If a hazardous situation is predicted during stop 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.
If an alarm occurs, remove the
cause and secure the safety before
resetting the alarm.
Control in the intelligent
servomotor.
Servomotor
Magnetic
brake
Shut off with CNC brake
control PLC output.
EMG
24VDC
Never go near the machine after restoring the power after a failure, as the machine could
start suddenly.
(Design the machine so that personal safety can be ensured even if the machine starts
suddenly.)
(6) Maintenance, inspection and part replacement
CAUTION
The capacity of the electrolytic capacitor will drop due to deterioration. To prevent secondary
damage due to failures, replacing this part every ten years when used under a normal
environment is recommended. Contact the nearest dealer for repair and replacement of
parts.
(7) Disposal
CAUTION
Treat this unit as general industrial waste.
(8) General precautions
CAUTION
The drawings given in this Specifications and Maintenance Instruction Manual show the
covers and safety partitions, etc., removed to provide a clearer explanation. Always return
the covers or partitions to their respective places before starting operation, and always follow
the instructions given in this manual.
VI
Compliance to European EC Directives
1. European EC Directives
The European EC Directives were issued to unify Standards within the EU Community and to smooth
the distribution of products of which the safety is guaranteed. In the EU Community, the attachment of
a CE mark (CE marking) to the product being sold 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
is assembled are a target for CE marking.
The servo is a component designed not to function as a single unit but to be used with a combination
of machines and devices. Thus, it is not subject to the EMC Directives, and instead the machines and
devices in which the servo is assembled are targeted.
This servo complies with the Standards related to the Low-voltage Directives in order to make CE
marking of the assembled machines and devices easier. The EMC INSTALLATION GUIDELINES (IB
(NA) 67303) which explain the servo amplifier installation method and control panel manufacturing
method, etc., has been prepared to make compliance to the EMC Directives easier. Contact
Mitsubishi or your dealer for more information.
2. Cautions of compliance
Use the standard servo amplifier and EN Standards compliance part (some standard models are
compliant) for the servomotor. In addition to the items described in this instruction manual, observe
the items described below.
(1) Environment
The servo amplifier must be used within an environment having a Pollution Class of 2 or more as
stipulated in the IEC664. For this, install the servo amplifier in a control panel having a structure
(IP54) into which water, oil, carbon and dust cannot enter.
(2) Power supply
1) The servo amplifier must be used with the overvoltage category II conditions stipulated in
IEC664. For this, prepare a reinforced insulated transformer that is IEC or EN Standards
complying at the power input section.
2) When supplying the control signal input/output power supply from an external source, use a 24
VDC power supply of which the input and output have been reinforced insulated.
(3) Installation
1) To prevent electric shocks, always connect the servo amplifier protective earth (PE) terminal
mark) to the protective earth (PE) on the control panel.
(terminal with
2) When connecting the earthing wire to the protective earth (PE) terminal, do not tighten the wire
terminals together. Always connect one wire to one terminal.
PE terminal
PE terminal
(4) Wiring
1) Always use crimp terminals with insulation tubes so that the wires connected to the servo
amplifier terminal block do not contact the neighboring terminals.
Crimp terminal
Insulation tube
Wire
VII
(5) Peripheral devices
1) Use a no-fuse breaker and magnetic contactor that comply with the EN/IEC Standards
described in Chapter 7 Peripheral Devices.
2) The wires sizes must follow the conditions below. When using other conditions, follow Table 5
of EN60204 and the Appendix C.
• Ambient temperature: 40°C
• Sheath: PVC (polyvinyl chloride)
• Install on wall or open table tray
(6) Servomotor
Contact Mitsubishi for the outline dimensions, connector signal array and detector cable.
(7) Others
Refer to the EMC INSTALLATION GUIDELINES (IB (NA) 67303) for other EMC Directive
measures related to the servo amplifier.
VIII
Contents
Chapter 1 Introduction
1-1 Intelligent servomotor outline ...............................................................................
1-2 Limits and special notes for intelligent servomotor ...........................................
1-2-2 Precautions for selecting the intelligent servomotor .......................................
1-2-2 Precautions for use.........................................................................................
1-2-3 Miscellaneous .................................................................................................
1-3 Inspection at purchase ..........................................................................................
1-3-1 Explanation of type .........................................................................................
1-2
1-2
1-2
1-2
1-2
1-3
1-3
Chapter 2 Specifications
2-1 Standard specifications .........................................................................................
2-2 Torque characteristics ...........................................................................................
2-3 Outline dimension drawings .................................................................................
2-3-1 HS-MF23 ........................................................................................................
2-3-2 HS-RF43/73....................................................................................................
2-3-3 HS-SF52/53/102/103 ......................................................................................
2-3-4 HS-SF202 .......................................................................................................
2-2
2-3
2-4
2-4
2-4
2-5
2-5
Chapter 3 Characteristics
3-1 Overload protection characteristics .....................................................................
3-2 Magnetic brake characteristics .............................................................................
3-2-1 Motor with magnetic brakes ............................................................................
3-2-2 Magnetic brake characteristics .......................................................................
3-2-3 Magnetic brake power supply .........................................................................
3-3 Dynamic brake characteristics..............................................................................
3-3-1 Deceleration torque ........................................................................................
3-3-2 Coasting amount.............................................................................................
3-2
3-3
3-3
3-4
3-4
3-5
3-5
3-6
Chapter 4 Peripheral Devices
4-1 Dedicated options ..................................................................................................
4-1-1 I/F unit.............................................................................................................
4-1-2 Battery option for absolute position system ....................................................
4-1-3 Cables and connectors ...................................................................................
4-1-4 Cable clamp fitting ..........................................................................................
4-2 Peripheral devices..................................................................................................
4-2-1 Selection of wire .............................................................................................
4-2-2 Selection of no-fuse breakers .........................................................................
4-2-3 Selection of contactor .....................................................................................
4-2-4 Circuit protector ..............................................................................................
4-2
4-2
4-6
4-7
4-11
4-12
4-12
4-12
4-13
4-14
Chapter 5 Installation
5-1 Installation of servomotor .....................................................................................
5-1-1
Environmental conditions..............................................................................
5-1-2 Cautions for mounting load (prevention of impact on shaft) ...........................
5-1-3 Installation direction ......................................................................................
5-1-4 Tolerable load of axis......................................................................................
5-1-5 Oil and waterproofing measures .....................................................................
5-1-6 Cable stress ....................................................................................................
5-3
5-3
5-3
5-3
5-4
5-4
5-5
i
5-2
Installation of interface unit...................................................................................
5-2-1 Environmental conditions................................................................................
5-2-2 Installation direction ........................................................................................
5-2-3 Prevention of entering of foreign matter .........................................................
5-3 Noise measures ......................................................................................................
Chapter 6 Wiring
6-1 System connection diagram..................................................................................
6-2 Connector................................................................................................................
6-2-1 Connector signal layout ..................................................................................
6-2-2 Signal name....................................................................................................
6-3 Connection of power supply .................................................................................
6-3-1 Example of connection for controlling magnetic switch (MC)
with MDS-B-CV/CR.........................................................................................
6-3-2 Example of connection for controlling magnetic switch with
external sequence circuit ................................................................................
6-3-3 Wiring of contactors (MC) ...............................................................................
6-3-4 Surge absorber ...............................................................................................
6-4 Wiring the motor with brakes ................................................................................
6-4-1 Connection example .......................................................................................
6-4-2 Manually releasing the magnetic brakes ........................................................
6-5 Connection with the NC .........................................................................................
6-5-1 Connection system .........................................................................................
5-6
5-6
5-6
5-6
5-7
6-3
6-4
6-4
6-5
6-6
6-6
6-8
6-8
6-9
6-9
6-9
6-10
6-11
6-11
Chapter 7 Setup
7-1 Setting the initial parameters ................................................................................
7-1-1 Servo specification parameters ......................................................................
7-1-2 Limitations to electronic gear setting value.....................................................
7-1-3 Parameters set according to feedrate.............................................................
7-1-4 Parameters set according to machine load inertia..........................................
7-1-5 Standard parameter list according to motor....................................................
7-2
7-2
7-2
7-3
7-3
7-4
Chapter 8 Adjustment
8-1 Measurement of adjustment data .........................................................................
8-1-1 D/A output specifications ................................................................................
8-1-2 Setting the output data....................................................................................
8-1-3 Setting the output scale ..................................................................................
8-1-4 Setting the offset amount................................................................................
8-1-5 Clamp function................................................................................................
8-1-6 Filter function ..................................................................................................
8-2 Gain adjustment .....................................................................................................
8-2-1 Current loop gain ............................................................................................
8-2-2 Speed loop gain..............................................................................................
8-2-3 Position loop gain ...........................................................................................
8-3 Characteristics improvement ................................................................................
8-3-1 Optimal adjustment of cycle time ....................................................................
8-3-2 Vibration suppression measures ....................................................................
8-3-3 Improving the cutting surface precision ..........................................................
8-3-4 Improvement of protrusion at quadrant changeover .......................................
8-3-5 Improvement of overshooting .........................................................................
8-2
8-2
8-2
8-3
8-3
8-3
8-3
8-4
8-4
8-4
8-6
8-8
8-8
8-10
8-12
8-15
8-19
ii
8-3-6 Improvement of characteristics during acceleration/deceleration...................
Setting for emergency stop ...................................................................................
8-4-1 Deceleration control........................................................................................
8-4-2 Vertical axis drop prevention control...............................................................
8-5 Collision detection ................................................................................................
8-6 Parameter list..........................................................................................................
8-21
8-24
8-24
8-26
8-27
8-30
Chapter 9 Inspections
9-1 Inspections..............................................................................................................
9-2 Life parts .................................................................................................................
9-3 Replacing the unit ..................................................................................................
9-3-1 HS-MF23** type ..............................................................................................
9-3-2 HS-FR43/73, HS-SF52/53/102/103 type ........................................................
9-3-3 HS-SF202 type ...............................................................................................
9-2
9-2
9-3
9-3
9-3
9-4
Chapter 10 Troubleshooting
10-1 Points of caution and confirmation ....................................................................
10-2 Troubleshooting at start up.................................................................................
10-3 Protective functions list.......................................................................................
10-3-1 Alarm ..............................................................................................................
10-3-2 Warnings list ...................................................................................................
10-3-3 Alarm and warning deceleration method and reset method ...........................
10-2
10-2
10-3
10-3
10-7
10-8
Chapter 11 Selection
11-1 Outline ...................................................................................................................
11-1-1 Servomotor .....................................................................................................
11-1-2 Regeneration methods ...................................................................................
11-2 Selection of servomotor series ...........................................................................
11-2-1 Motor series characteristics ............................................................................
11-2-2 Servomotor precision......................................................................................
11-3 Selection of servomotor capacity .......................................................................
11-3-1 Load inertia ratio .............................................................................................
11-3-2 Short time characteristics ...............................................................................
11-3-3 Continuous characteristics..............................................................................
11-4 Selection of regenerative resistor.......................................................................
11-4-1 Limits for HS-MF23 .........................................................................................
11-4-2 Approximate calculation of positioning frequency...........................................
11-4-3 Calculation of regenerative energy .................................................................
11-4-4 Calculation of positioning frequency ...............................................................
11-5 Motor shaft conversion load torque ...................................................................
11-6 Expressions for load inertia calculation ............................................................
11-2
11-2
11-3
11-4
11-4
11-4
11-6
11-6
11-6
11-7
11-9
11-9
11-9
11-9
11-11
11-12
11-13
8-4
iii
Chapter 1
Introduction
1-1
1-2
Intelligent servomotor outline ....................................................................
Limits and special notes for intelligent servomotor.................................
1-2-2 Precautions for selecting the intelligent servomotor.............................
1-2-2 Precautions for use ..............................................................................
1-2-3 Miscellaneous ......................................................................................
1-3
Inspection at purchase................................................................................ 1-3
1-3-1 Explanation of type .............................................................................. 1-3
1–1
1-2
1-2
1-2
1-2
1-2
Chapter 1
1-1
Introduction
Intelligent servomotor outline
The Mitsubishi intelligent servomotor is an integrated motor, encoder and amplifier, and has the
following features.
• Space saving
The amplifier does not need to be stored in the power distribution panel, so the machine, power
distribution panel and heat exchanger can be downsized.
• Wire saving
Only one wire is used between the NC and motor. (The signal and 200VAC input are wired with
the same cable.)
• Flexible
As an option axis can be added without changing the power distribution panel, variations can be
easily added to the machine.
• High-speed
As the power distribution panel does not require space, the servo can easily be used for
hydraulic and pneumatic devices.
1-2
1-2-1
Limits and special notes for intelligent servomotor
Precautions for selecting the intelligent servomotor
(1) The intelligent servomotor does not have the regenerative resistor option (the regenerative
resistor capacity cannot be increased.). Make sure that the regenerative energy is less than the
tolerable regenerative capacity. Use the standalone HA/HC Series motor and
MDS-B-V1/V2/SVJ2 Series servo amplifier for applications having a high regenerative energy due
to a high positioning frequency or large load inertia, etc.
(2) The HS-MF23 type does not have a regenerative resistor. There may be limits to the working
rotation speed depending on the load inertia. Avoid using in applications generating continuous
regeneration, such as with a vertical axis.
1-2-2
Precautions for use
(1) IP65 is recommended for the engagement of the HS-RF∗∗/SF∗∗ type connector. Make sure that
water or oil, etc., does not come in contact in the disengaged state.
(2) Connect the HS-MF type relay connector in a relay box having a structure (IP54) that prevents the
entry of water, oil and dust, etc. Fix the enclosed cable to the motor.
(3) A contact that released the brakes when the servo turns ON is built-in. The brakes will not be
released just by inputting the 24V power from an external source. If the brakes need to be
released when assembling the machine, etc., refer to section 6-4. Wiring a motor with brakes.
1-2-3
Miscellaneous
(1) When the motor shaft is turned by hand, it may seem heavier than other servomotors, or may
seem tight. This is caused because of the dynamic brakes in the built-in amplifier, and is not a
fault.
1–2
Chapter 1
1-3
Introduction
Inspection at purchase
Open the package, and read the rating nameplate to confirm that the servo amplifier and servomotor
are as ordered.
1-3-1
Explanation of type
(1) Amplifier + motor integrated type
HS -
-
S
Motor special symbol (Not provided with standard product)
Amplifier/encoder special symbol (Cable length, etc.)
Amplifier type
EX: With amplifier/encoder for NC
Motor option
B: Brakes provided
Blank: No brakes
: Short-time rated output (W/100) · : Rotation speed (rpm/1000)
103: 1kW·3000r/min
202: 2kW·2000r/min
73: 0.75kW·3000r/min
102: 1kW·2000r/min
53: 0.5kW·3000r/min
52: 0.5kW·2000r/min
43: 0.4kW·3000r/min
23: 200W·3000r/min
Motor Series
RF : Medium capacity, low inertia
SF : Medium capacity, medium inertia
MF : Small capacity, ultra-low inertia
Intelligent servomotor
(2) Part types for separable amplifier and motor
1) Motor/encoder unit type
MDS - B - ISV
Amplifier/encoder special symbol (Cable length, etc.)
Amplifier type
EX: With amplifier/encoder for NC
Short-time rated output (W/100)
20: 2kW
05: 0.5kW
10: 1kW
04: 0.4kW
07: 0.75kW
Intelligent servomotor amplifier/encoder
2) Motor only type
HS -
-
s
Motor special symbol (Not provided with standard product)
Motor option
B: Brakes provided
Blank: No brakes
: Short-time rated output (W/100) · : Rotation speed (rpm/1000)
103: 1kW·3000r/min
202: 2kW·2000r/min
73: 0.75kW·3000r/min
102: 1kW·2000r/min
53: 0.5kW·3000r/min
52: 0.5kW·2000r/min
43: 0.4kW·3000r/min
Motor Series
RF : Medium capacity, low inertia
SF : Medium capacity, medium inertia
Intelligent servomotor
Explanation of rating nameplate
Type
Motor section type
Amplifier/encoder section type
and rated input/output
Current version
Serial No.
MITSUBISHI
INTELLIGENT SERVO
HS-SF202EX
TYPE
MOTOR
HS-SF202
DRIVE UNIT MDS-B-ISV-20EX
RATED INPUT
* 3AC 200-230V 50/60Hz 10.0A
RATED OUTPUT 3AC
11.0A
S/W BND516W000A7 H/W VER. *
SERIAL# XXXXXXXXXXX
DATE 00/01
MITSUBISHI ELECTRIC CORPORATION JAPAN
*
1–3
X
X
X
X
X
X
X
X
X
X
X
*
Chapter 2
2-1
2-2
2-3
Specifications
Standard specifications ............................................................................
Torque characteristics ..............................................................................
Outline dimension drawings.....................................................................
2-3-1 HS-MF23 ...........................................................................................
2-3-2 HS-RF43/73 .......................................................................................
2-3-3 HS-SF52/53/102/103 .........................................................................
2-3-4
2-2
2-3
2-4
2-4
2-4
2-5
HS-SF202 .......................................................................................... 2-5
2–1
Chapter 2
2-1
Specifications
Standard specifications
(1) HS-MF, HS-RF Series (Low-inertia, small capacity/low-inertia, medium capacity)
Type
Rated output (kW)
Rated torque (N·m)
Rated output (kW)
Continuous
characteristics Rated torque (N·m)
Maximum torque (N·m)
Rated rotation speed (r/min)
Maximum rotation speed (r/min)
-4
2
Moment of inertia J (×10 kg·m )
Detector resolution/method
Voltage/frequency
Tolerable voltage fluctuation
Power
Tolerable frequency
supply
fluctuation
Power facility capacity (kVA)
Control method
Dynamic brakes
Recommended load moment of inertia
rate
Environment conditions
Short-time
characteristics
Structure
HS-MF23
0.2/15min
0.64
0.15
0.48
1.92
HS-RF43
HS-RF73
0.4/30min
0.75/30min
1.27
2.39
0.32
0.6
1.02
1.91
3.18
5.97
3000
3000
0.089
0.8
1.5
8,000/absolute value
100,000/absolute value
3-phase 200VAC to 230VAC 50/60Hz (HS-MF23 is single-phase)
170 to 253VAC
±5%
0.5
0.9
Sine wave PWM control, current control method
Built-in
1.3
4-fold or less when using cutting axis, 10-fold or less when using peripheral axis
Follows section 3-1-1 Environment conditions
Fully closed self-cooling: Protective structure IP65 (Excluding MF23 connector. Protection
applies for all connectors when engaged to machine.)
(2) HS-SF Series (medium-inertia, medium-capacity)
Type
Rated output (kW)
Rated torque (N·m)
Rated output (kW)
Continuous
characteristics Rated torque (N·m)
Maximum torque (N·m)
Rated rotation speed (r/min)
Maximum rotation speed (r/min)
-4
2
Moment of inertia J (×10 kg·m )
Detector resolution/method
Voltage/frequency
Tolerable voltage
fluctuation
Power
Tolerable frequency
supply
fluctuation
Power facility capacity
(kVA)
Control method
Dynamic brakes
Recommended load moment of inertia
rate
Environment conditions
Short-time
characteristics
Structure
HS-SF52
0.5/30min
2.39
0.4
1.91
11.8
2000
2000
6.6
HS-SF53
0.5/30min
1.59
0.4
1.27
8.82
3000
3000
6.6
HS-SF102
HS-SF103
1.0/30min
1.0/30min
4.78
3.18
0.75
0.75
3.58
2.39
21.6
16.7
2000
3000
2000
3000
13.6
13.6
100,000/absolute value
3-phase 200VAC to 230VAC 50/60Hz
HS-SF202
2.0/30min
9.55
1.5
7.16
41.7
2000
2000
42.5
170 to 253VAC 50/60Hz
±5%
1.0
1.0
1.7
1.7
3.5
Sine wave PWM control, current control method
Built-in
4-fold or less when using cutting axis, 10-fold or less when using peripheral axis
Follows section 3-1-1 Environment conditions
Fully closed self-cooling: Protective structure IP65
(Protection applies for connector section when engaged)
Note 1: The rated output and rated rotation speed are the guaranteed values in the 200 to 230VAC 50/60Hz range. The
torque-speed line diagram indicates the characteristics when 200VAC is input. Note that the high-speed characteristics will
drop when the power voltage drops.
Note 2: Make sure that the acceleration/deceleration torque is within 80% of the maximum output torque.
Note 3: Make sure that the continuous effective load torque is within 80% of the motor rated torque.
Note 4: With the HS-MF23, if the recommended load moment of inertia rate is exceeded, an overvoltage alarm may occur because
of the speed and deceleration torque. (Refer to Chapter 11.)
Note 5: Magnetic brakes are prepared for the 0.4KW and larger capacities. The HS-MF23 does not have brake specifications.
2–2
Chapter 2
2-2
Specifications
Torque characteristics
[HS-MF23]
3.0
[HS-RF43]
4.0
Intermittent
operation range
6.0
Intermittent
operation range
2.0
1.0
Short-time operation range
1.0
Short-time operation range
0
0
1000
2000
3000
Motor speed[r/min]
0
[HS-SF52]
4.0
Short-time operation range
2.0
Continuous
operation range
0
3000
1000
2000
Motor speed[r/min]
0
[HS-SF53]
10
Torque[N・m]
Intermittent
operation range
5
20
Intermittent
operation range
5
Intermittent
operation range
10
Short-time operation range
0
Short-time operation range
Continuous
operation range
0
0
1000
2000
Motor speed[r/min]
Short-time operation range
Continuous operation
range
0
[HS-SF103]
40
Torque[N・m]
Torque[N・m]
20
10
0
1000
2000
3000
Motor speed[r/min]
[HS-SF202]
Intermittent
operation range
0
1000
2000
Intermittent
operation range
20
Short-time operation range
Short-time operation range
Continuous operation
range
3000
Motor speed[r/min]
3000
1000
2000
Motor speed[r/min]
[HS-SF102]
Torque[N・m]
10
Torque[N・m]
Intermittent
operation range
Continuous
operation range
Continuous
operation range
0
Torque[N・m]
Torque[N・m]
Torque[N・m]
3.0
2.0
[HS-RF73]
8.0
0
Continuous
operation range
0
1000
Motor speed[r/min]
2–3
2000
0
Continuous
operation range
0
1000
2000
Motor speed[r/min]
Chapter 2
2-3
2-3-1
Specifications
Outline dimension drawings
HS-MF23
60±5
4
2.5
4
640±30
178
56.5
108
Φ11h6
Cross-section
A-A
18
Φ27
30
7
45°
3
101
16 4
AA
φ 70
With oil seal
HS-RF43/73
0
5 -0.03
100
23.3
4.3108.005
118
Cross-section
A-A
Connector
JL04V-2A28-11PE
3
L
93
AA
5
13
φ
Taper
1/10
LL
18
Changed dimensions
Model
HS-RF43
400W
HS-RF43B
400W with brakes
HS-RF73
750W
HS-RF73B
750W with brakes
L
LL
86
204
In planning stages
104
222
In planning stages
2–4
φ
11
5
A
φ22
75
φ16.000
With oil seal
25
φ95h7
10
173.5
2-3-2
Φ50h7
82
A
28
12
45゚
4-φ9
□100
Chapter 2
2-3-3
Specifications
HS-SF52/53/102/103
145
23.3
L
130
4.3
4.25
5
0
-0.03
5
Cross section
A-A
70
12
3
φ16.000
φ22
A
A
110h7
216
96
φ 165
25
A
Taper
1/10
φ 145
18
LL
12
□130
58
Changed dimensions
Model
HS-SF53/52
500W
HS-SF53/52B
500W with brakes
HS-SF103/102
1kW
HS-SF103/102B 1kW with brakes
L
87
119
112
144
45°
LL
232
270
257
295
HS-SF202
L
79
45°
3
75
0
φ114.3-0.025
φ35+0.010
0
18
70
119
264
2-3-4
28
φ 200
φ 230
LL
Changed dimensions
Model
HS-SF202
2kW
HS-SF202B
2kW with brakes
L
LL
116
270
In planning stages
2–5
□176
Chapter 3
Characteristics
3-1 Overload protection characteristics...........................................................
3-2 Magnetic brake characteristics ..................................................................
3-2-1 Motor with magnetic brakes .................................................................
3-2-2 Magnetic brake characteristics.............................................................
3-2-3 Magnetic brake power supply ..............................................................
3-2
3-3
3-3
3-4
3-4
3-3 Dynamic brake characteristics ................................................................... 3-5
3-3-1 Deceleration torque.............................................................................. 3-5
3-3-2 Coasting amount.................................................................................. 3-6
3–1
Chapter 3
3-1
Characteristics
Overload protection characteristics
The servo amplifier has an electronic thermal relay to protect the servomotor and servo amplifier from
overloads. The operation characteristics of the electronic thermal relay when standard parameters
(SV021=60, SV022=150) are set shown below.
If overload operation over the electronic thermal relay protection curve shown below is carried out,
overload 1 (alarm 50) will occur. If the maximum current is commanded at 95% or higher continuously
for one second or more due to a machine collision, etc., overload 2 (alarm 51) will occur.
Operation time [sec]
1000.0
100.0
When rotating
10.0
When stopped
1.0
0.1
95% of amplifier or motor
maximum capacity
0
50
Fig. 3-1
100
150
200
250
Motor load rate [%]
300
Overload protection characteristics
3–2
350
400
Chapter 3
3-2
Magnetic brake characteristics
CAUTION
3-2-1
Characteristics
1. The axis will not be mechanically held even when the dynamic brakes are
used. If the machine could drop when the power fails, use a servomotor with
magnetic brakes or provide an external brake mechanism as holding means
to prevent dropping.
2. The magnetic brakes are used for holding, and must not be used for normal
braking. There may be cases when holding is not possible due to the life or
machine structure (when ball screw and servomotor are coupled with a
timing belt, etc.). Provide a stop device on the machine side to ensure
safety. When releasing the brakes, always confirm that the servo is ON first.
Sequence control considering this condition is possible if the amplifier motor
brake control signal (MBR) is used.
3. When operating the brakes, always turn the servo OFF (or ready OFF).
4. When the vertical axis drop prevention function is used, the drop of the
vertical axis during an emergency stop can be suppressed to the minimum.
Motor with magnetic brakes
(1) Types
The motor with magnetic brakes is set for each motor. The "B" following the standard motor type
indicates the motor with brakes.
(2) Applications
When this type of motor is used for the vertical feed axis in a machining center, etc., slipping and
dropping of the spindle head can be prevented even when the hydraulic balancer's hydraulic
pressure reaches zero when the power turns OFF. When used with a robot, deviation of the
posture when the power is turned OFF can be prevented.
When used for the feed axis of a grinding machine, a double safety measures is formed with the
deceleration stop (dynamic brake stop), and the risks of colliding with the grinding stone and
scattering can be prevented.
This motor cannot be used for purposes other than holding and braking during a power failure
(emergency stop). (This cannot be used for normal deceleration, etc.)
(3) Features
1) The magnetic brakes use a DC excitation method, thus:
• The brake mechanism is simple and the reliability is high.
• There is no need to change the brake tap between 50 Hz and 60 Hz.
• There is no rush current when the excitation occurs, and shock does not occur.
• The brake section is not larger than the motor section.
2) The magnetic brakes are built into the motor, and the installation dimensions are the same as
the motor without brakes.
3–3
Chapter 3
3-2-2
Characteristics
Magnetic brake characteristics
HS-RF Series
Item
HA-SF Series
43B
73B
Type (Note 1)
53B
103B
52B
102B
202B
Spring braking type safety brakes
Rated voltage
24VDC
Rated current at 20°C
(A)
0.41
Excitation coil resistance at 20°C
Capacity
(Ω)
(W)
58
30
30
9.9
19.2
19.2
Attraction current
(A)
0.20
0.25
0.25
Dropping current
(A)
0.12
0.085
0.08
8.5
Static friction torque
(N·m)
Moment of inertia (Note 2)
J (×10 kg·m )
–4
2
Release delay time (sec) (Note 3)
Tolerable braking work
amount (J)
0.8
0.8
2.4
6.8
0.26
0.35
2.0
0.03
0.03
0.03
Per braking
64
400
400
Per hour
640
4000
4000
Brake play at motor axis (deg.)
Brake life (Note 4)
0.1 to 0.9
0.2 to 0.6
0.2 to 0.6
20,000 times with 32 (J)
braking amount
per braking
20,000 times with 200 (J)
braking amount
per braking
20,000 times with 200 (J)
braking amount
per braking
Notes:
1. There is no manual release mechanism. Refer to section "6-4-2 Manually releasing the magnetic brakes".
2. These are the values added to the servomotor without brakes.
3. This is the value for 20°C at the initial attraction gap.
4. The brake gap will widen through brake lining wear caused by braking. However, the gap cannot be adjusted.
Thus, the brake life is reached when adjustments are required.
5. A leakage flux will be generated at the shaft end of the servomotor with magnetic brakes.
6. When operating in low speed regions, the sound of loose brake lining may be heard. However, this is not a
problem in terms of function.
7. The brake characteristics for the HS-RF Series and HS-SF202 are the planned values.
3-2-3
Magnetic brake power supply
(1) Brake excitation power supply
1) Prepare a brake excitation power supply that can accurately ensure the attraction current in
consideration of the voltage fluctuation and excitation coil temperature.
2) The brake terminal polarity is random. Make sure not to mistake the terminals with other
circuits.
(2) Brake excitation circuit
<Cautions>
• Provide sufficient DC cut off capacity at the contact.
• Always use a serge absorber.
3–4
Chapter 3
Characteristics
3-3 Dynamic brake characteristics
When an emergency stop occurs such as that due to a servo alarm detection, the motor will stop with
the deceleration control at the standard setting. However, by setting the servo parameter (SV017:
SPEC), the dynamic brake stop can be selected. If a servo alarm that cannot control the motor occurs,
the dynamic brakes stop the servomotor regardless of the parameter setting.
3-3-1
Deceleration torque
The dynamic brakes use the motor as a generator, and obtains the deceleration torque by consuming
that energy with the dynamic brake resistance. The characteristics of this deceleration torque have a
maximum deceleration torque (Tdp) regarding the motor speed as shown in the following drawing.
The torque for each motor is shown in the following table.
Tdp
Deceleration
torque
Ndp
0
Motor speed
Fig. 3-2
Deceleration torque characteristics of a dynamic brake stop
Table 3-1
Motor type
HS-MF23
Max. deceleration torque of a dynamic brake stop
Rated torque
(N·m)
Tdp (N•m)
Ndp (r/min)
0.64
0.40
465
HS-RF43
HS-RF73
3.18
3.67
582
Rated torque
(N·m)
Tdp (N•m)
Ndp (r/min)
HS-SF52
2.39
2.40
496
HS-SF53
1.59
2.54
472
HS-SF102
4.78
11.19
884
HS-SF103
3.18
10.72
1045
HS-SF202
9.55
10.56
457
Motor type
3–5
Chapter 3
3-3-2
Characteristics
Coasting amount
The motor coasting amount when stopped by a dynamic brake can be approximated using the
following expression.
CMAX =
No
· te + ( 1 +
60
CMAX
No
JM
JL
te
A
B
:
:
:
:
:
:
:
JL
JM
) · (A · No3 + B · No)
Maximum motor coasting amount
Initial motor speed
Motor inertia
Motor shaft conversion load inertia
Brake drive relay delay time
Coefficient A (Refer to the table below)
Coefficient B (Refer to the table below)
Emergency stop (EMG)
(turn)
(r/min)
(kg·cm2)
(kg·cm2)
(sec) (Normally, 0.03sec)
OFF
Motor brake control output
OFF
Motor brake actual operation
OFF
Motor speed
Initial speed: No
Coasting amount
Time
te
Fig. 3-3
Table 3-2
Motor
type
HS-MF23
HS-RF43
HS-RF73
Dynamic brake braking diagram
Coasting amount calculation coefficients
JM
2
(kg·cm )
A
B
Motor type
JM
2
(kg·cm )
A
B
0.088
0.8
1.5
1.38 × 10–11
2.04 × 10–11
2.04 × 10–11
0.90 × 10–5
2.07 × 10–5
2.07 × 10–5
HS-SF52
HS-SF53
HS-SF102
HS-SF103
HS-SF202
6.6
6.6
13.6
13.6
42.5
16.13 × 10–11
15.99 × 10–11
4.00 × 10–11
3.53 × 10–11
25.60 × 10–11
11.93 × 10–5
10.71 × 10–5
9.38 × 10–5
11.58 × 10–5
16.07 × 10–5
3–6
Chapter 4
4-1
Peripheral Devices
Dedicated options........................................................................................
4-1-1 I/F unit..................................................................................................
4-1-2 Battery option for absolute position system .........................................
4-1-3 Cables and connectors ........................................................................
4-2
4-2
4-6
4-7
4-1-4 Cable clamp fitting ............................................................................... 4-11
4-2
Peripheral devices .......................................................................................
4-2-1 Selection of wire...................................................................................
4-2-2 Selection of no-fuse breakers ..............................................................
4-2-3 Selection of contactor ..........................................................................
4-2-4 Circuit protector....................................................................................
4–1
4-12
4-12
4-12
4-13
4-14
Chapter 4
4-1
4-1-1
Peripheral Devices
DANGER
Always wait at least 10 minutes after turning the power OFF, and check the
voltage with a tester, etc., before connecting the option or peripheral device.
Failure to observe this could lead to electric shocks.
CAUTION
Use the designated peripheral device and options. Failure to observe this could
lead to faults or fires.
Dedicated options
I/F unit
Name
Type
Maximum number of connected
axes
Input power voltage
Functions
Miscellaneous
Ambient temperature
Ambient humidity
Environ-m Storage temperature
ent
Storage humidity
conditions Atmosphere
Altitude
Vibration
Outline dimensions
Intelligent servomotor I/F unit
HS-IF-6
Maximum 6 intelligent servomotor axes
(The total number of connected axes follows the NC unit specifications)
AC200 to 230V 50/60Hz
Serial bus interface between NC and intelligent servomotor
200VAC branching to main circuit and control power circuit
Surge absorber, radio noise filter, internal 5V power
0°C to +55°C
(with no freezing)
90% RH or less
(with no dew condensation)
–20°C to +65°C
(with no freezing)
90% RH or less
(with no dew condensation)
Indoors (not subject to direct sunlight). No corrosive gases, flammable gases, oil mist or dust
1000m or below sea level
2
5.9m/sec or less
H: 300 × W: 80 × D: 80 (refer to following drawings)
285
300
(1) Outline drawing
2-M3 screw
For grounding
plate installation
80
80
4–2
Chapter 4
Peripheral Devices
(2) Explanation of each part
Alarm
display LED
アラーム表示LED
1st axis, 2nd axis, to 6th axis,
左より第1軸、第2軸、・・・
CN1B
connection axis from
left.
第6軸、CN1B接続軸
CN1B
CN1B
Servo/spindle drive
サーボ・主軸ドライブ
CN1A
CN1ANC
From
SW7
SW7
Servo monitor D/A output
サーボモニタD/A出力
changeover
switch
切替スイッチ
Always
set to ON (left) when
starting
up.
立ち上げ時は必ずON
NCより
CN11 CN11
Intelligent servomotor 1st axis
インテリジェントサーボモータ第1軸
(左)として下さい。
SW1
to SW3
SW1~SW3
Usage/non-usage setting
各々CN11~CN13の
switch for CN11 to CN13.
使用/未使用設定スイッチ
Set
switch to right for
connected
axis, and to left for
接続軸はスイッチを右へ未
disconnected axis.
CN12 CN12
Intelligent servomotor 2nd axis
インテリジェントサーボモータ第2軸
接続軸は左として下さい。
CN13CN13
Intelligent servomotor 3rd axis
インテリジェントサーボモータ第3軸
SW4
to SW6
SW4~SW6
Usage/non-usage setting
各々CN11~CN13の
switch for CN11 to CN13.
使用/未使用設定スイッチ
Set
switch to right for
connected
axis, and to left for
接続軸はスイッチを右へ未
disconnected axis.
CN14CN14
Intelligent servomotor 4th axis
インテリジェントサーボモータ第4軸
接続軸は左として下さい。
CN15
CN15
Intelligent servomotor 5th axis
インテリジェントサーボモータ第5軸
CN16
CN16
Intelligent servomotor 6th axis
インテリジェントサーボモータ第6軸
TE1
to TE6
TE1~TE6
Intelligent servomotor terminal
インテリジェントサーボ
block.
*モータ用端子台
The drawing shows the state
with the terminal block cover
*図は端子台カバーを
removed.
はずしたときのもので
す
L1 L2 L3
L1 L2 L3
4–3
L11 L12
L11
PE
L12
PE
TE7
TE7
200VAC
AC200V
Input
terminal block
入力端子台
Chapter 4
Peripheral Devices
(3) Signal wire connection and switch settings
1) Connector connection
Connect the cable from the NC unit to CN1A. The servo/spindle drive other than the intelligent
servomotor is connected to CN1B. If there is no servo/spindle drive, connect the battery unit
or terminator.
The intelligent servomotor axis No. is set according to the I/F unit connector connection site.
Connect to the correct connector.
2) Switch setting
Set the setting switches SW1 to SW6 according to whether CN11 to CN16 are used or not.
SW7 is the servo monitor D/A output changeover switch, so normally set it to the left position.
Set it to the right when using the D/A output function. Note that when the power is turned ON,
this switch must be set to the left or the "Amplifier Not Mounted" alarm will occur.
(4) Power supply connection
1) Explanation of terminal block
Connect the 200VAC power to TE7.
The intelligent servomotor's power wires are connected to TE1 to TE6. The TE1 to TE6
connection order is random, but connect from TE6 in order from the motor with the larger
capacity.
The connections are L1, L2, L3 (main power), L11, L12 (control circuit power), and PE from
the left on each terminal block.
2) Wire end treatment
Single wire : Peel the wire sheath and use the wire.
Stranded wire : Peel the wire sheath and twist the core wires before
using. Take care to prevent short-circuiting with the
neighboring poles caused by fine wire strands.
Do not solder onto the core wires as a contact fault could occur.
(Wire size: 0.25 to 2.5mm2)
TE7
TE1 to TE6
Wire size
Single wire
Stranded wire
2
0.2 to 6mm
0.2 to 4mm2
2
0.2 to 1.5mm
0.2 to 1.5mm2
Peeling length
A
Peeling length
A (mm)
8
10
3) Connection method
TEL7 (200VAC power supply)
TE1 to 6 (intelligent servomotor)
Insert the wire, and tighten the terminal with a flat-tip
screwdriver. The tightening torque is 0.5 to 0.6Nm.
4–4
Insert the wire while pressing the terminal block lever. The
wire will be fixed when the lever is released.
Chapter 4
Peripheral Devices
4) Total capacity of connected motors
The total capacity of the motors that can be
connected to the HS-IF-6 main power terminal
block is 6kW or less. If the total motor capacity
exceeds 6kW, wire with a standalone terminal
block.
HS-IF-6
HS motor
Terminal block
(5) D/A output measurement methods
1) Remove the upper cover from the I/F unit.
2) Connect a measuring instrument to the I/F unit check pin.
Refer to the drawing on the right
#1 1st axis display
for the connection sections.
#2 2nd axis display
3) When observing the waveform,
#3 3rd axis display
#4 4th axis display
turn the I/F unit's servo monitor
Alarm display LED
D/A output changeover switch to
#7 CN1B connection axis display
OFF (right).
#6 6th axis display
4) Select the data to be measured
#5 5th axis display
Servo monitor D/A output
with the parameters. (Refer to
changeover switch
section "8-1. Measuring the
adjustment data".)
CAUTION
D/A output grounding
terminal
Always turn the DIP switch
ON before turning the
power ON. Do not connect
a measuring instrument
having a low input
impedance when turning
the power ON.
The "Amplifier Not
Mounted" alarm will occur.
1st axis D/A output
terminal
2nd axis D/A output
terminal
3rd axis D/A output
terminal
4th axis D/A output
terminal
5th axis D/A output
terminal
(6) Alarm display LED
6th axis D/A output
terminal
The alarm display LED holds the state
of each axis alarm when an alarm or
emergency stop occurs.
Use this to pinpoint the cause when an
emergency stop state occurs due to a
cable or amplifier fault.
The display of each LED will change as shown below.
#1
When 200VAC is turned ON
#2
#3
#4
#5
#6
#7
Not set Not set Not set Not set Not set Not set Not set
After NC starts
Not ON Not ON Not ON Not ON Not ON Not ON Not ON
Emergency stop occurrence from NC side
Not ON Not ON Not ON Not ON Not ON Not ON Not ON
Emergency stop occurrence from intelligent servomotor 1st axis
ON
Emergency stop occurrence from intelligent servomotor 2nd axis
Not ON
Emergency stop occurrence from intelligent servomotor 3rd axis
Not ON Not ON
Emergency stop occurrence from intelligent servomotor 4th axis
Not ON Not ON Not ON
Emergency stop occurrence from intelligent servomotor 5th axis
Not ON Not ON Not ON Not ON
Emergency stop occurrence from intelligent servomotor 6th axis
Not ON Not ON Not ON Not ON Not ON
Emergency stop occurrence from servo/spindle connected to CN1B
Not ON Not ON Not ON Not ON Not ON Not ON
4–5
Not ON Not ON Not ON Not ON Not ON Not ON
ON
Not ON Not ON Not ON Not ON Not ON
ON
Not ON Not ON Not ON Not ON
ON
Not ON Not ON Not ON
ON
Not ON Not ON
ON
Not ON
ON
Chapter 4
4-1-2
Peripheral Devices
Battery option for absolute position system
A battery or battery unit must be provided for the absolute position system.
Battery option specifications
Item
Type
Battery unit
MDS-A-BT4
MDS-A-BT6
MDS-A-BT2
No. of backup axes
2 axes
4 axes
Battery continuous back up time
MDS-A-BT8
6 axes
7 axes
Approx. 12,000 hours
Battery useful life
7 years from date of unit manufacture
Data save time during battery
replacement
HS-MF
: 2 hours at time of delivery, 1 hour after 5 years
HS-RF, -SF : 20 hours at time of delivery, 10 hour after 5 years
Back up time from battery
warning to alarm occurrence
CAUTION
Approx. 100 hours
The battery life will be greatly affected by the ambient temperature. The above
data shows the theoretic values for when the ambient temperature of the
battery is 25°C. If the ambient temperature rises, generally the back up time
and useful life will be shorter.
<Outline dimension drawing>
MDS-A-BT2
MDS-A-BT4
MDS-A-BT6
MDS-A-BT8
160
135
145
34
35
ø6 Use an M5 screw for the installation.
9
15
R30
100
15
30
Unit (mm)
<Connection>
Instead of the terminator, connect the battery unit to the final drive unit with the amplifier-amplifier
bus cable.
4–6
Chapter 4
4-1-3
Peripheral Devices
Cables and connectors
(1) Cable list
Part name
Communication cable for
CNC unit - Amplifier
Amplifier - Amplifier
For I/F unit
Terminator connector
Type
SH21
Length:
0.35, 0.5, 0.7, 1, 1.5, 2, 2.5,
3, 3.5, 4, 4.5, 5, 6, 7, 8, 9,
10, 15, 20, 30m
Descriptions
Servo amplifier side
Servo amplifier side
connector (Sumitomo 3M)
connector (Sumitomo 3M)
10120-6000EL (Connector) 10120-6000EL (Connector)
10320-3210-000 (Shell kit)
10320-3210-000 (Shell kit)
A-TM
HSMF-CABL-†-†M
For HS-MF between
I/F unit side connector
intelligent servomotor and
(Sumitomo 3M)
Length (m)
I/F unit
10120-3000VE (Connector)
Axis No.
10320-52A0-008 (Shell kit)
Blank: No display
1: 1st axis
:
6: 6th axis
For
intelligent
servo-mot
or
For HS-RF and HS-SF
between intelligent
servomotor and I/F unit
HSSF†-CABL-†-†M
I/F unit side connector
(Sumitomo 3M)
Length (m)
10120-3000VE (Connector)
Axis No.
10320-52A0-008 (Shell kit)
Blank: No display
1: 1st axis
:
6: 6th axis
Motor side connector
2: Straight
3: Right angle
Servomotor side connector
(Japan AMP)
178289-3
(Housing for power supply)
178289-6 (Housing for signal)
1-917511-5
(Contact for L1, L2, PE)
1-175217-5
(Contact for L11, L12, signal)
Servomotor side connector
(Japan Aviation)
JI04V-6A28-11SE-EB (Straight)
or
JI04V-8A28-11SE-EB (Angle)
JL04-2428CK (Clamp)
(2) Cable wiring diagram
For MS-MF
I/F unit (power
distribution panel)
Signal side
name
TXD
TXD*
RXD
RXD*
ALM
ALM*
EMG
EMG*
MON
LG
BAT
For HS-RF/SF
Signal
name
Motor side
2
12
4
14
3
13
7
17
8
5
9
A1
B1
A2
B2
A4
B4
A3
B3
A6
B5
A5
Plate
B6
TXD
TXD*
RXD
RXD*
ALM
ALM*
EMG
EMG*
MON
LG
BAT
SD
SD
L1
L2
PE
L11
L12
I/F unit (power
distribution panel)
side
2
12
4
14
3
13
7
17
8
5
9
Motor side
A
E
B
F
D
H
C
G
X
T
I
Plate
brown
A1
BR
RG
blue
B1
L1
brown
J
B2
L2
blue
K
A3
L3
black
L
B3
PE
green/yellow
gray
white
L11
L12
4–7
W
R
yellow/green
M
N
U
Chapter 4
Peripheral Devices
(3) Usage cables
The following cables are available as the compound cables for both signals and power supply.
(1) Part name: MIX20C(30/-SV,40/,7/36/0.08)-V
Maker: Oki Electric Cable Co., Ltd.
(2) Part name: MIX19C(19,30,150/0.08)-V
Maker: Oki Electric Cable Co., Ltd.
Use the (1) cable for a capacity of 1kW or more.
(4) Connector outline drawing
For IF unit
Maker: Sumitomo 3M (Ltd.)
<Type>
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
[Unit: mm]
10.0
12.0
14.0
33.3
12.7
23.8
39.0
22.0
Maker: Sumitomo 3M (Ltd.)
<Type>
Connector: 10120-6000EL
Shell kit: 10320-3210-000
11.5
[Unit: mm]
This connector is not an
option. It is integrated with
the cable.
33.0
42.0
20.9
29.7
4–8
Chapter 4
Peripheral Devices
For intelligent servomotor HS-RF/HS-SF
Single block
Maker: Japan Aviation
Type: JL04V-6A28-11SE
[Unit: mm]
Screw
Positioning key
Conduit installation 10 or
dimensions
less
Straight plug
Maker: Japan Aviation
Type: JL04V-6A28-11SE-EB
[Unit: mm]
Positioning key
(spanner catching width)
10 or more
(Effective screw length)
Angle plug
Maker: Japan Aviation
Type: JL04V-8A28-11SE-EB
Screw
1-7/46-18UNEF-2A
[Unit: mm]
Positioning key
(Spanner catching width)
Screw
1-7/16-18UNEF-2A
(Effective screw
length)
Cable clamp
Maker: Japan Aviation
Type: JL04V-2428CK (17)
[Unit: mm]
Screw
1-7/16-18UNEF-2B
Applicable cable diameter:
ø15 to ø18
Bushing
(Clamp range)
4–9
Chapter 4
Peripheral Devices
Connector for intelligent servomotor HS-MF
[Unit: mm]
For signal
12-pole receptacle/housing: 178289-6
Contact: 1-175217-5
6
12
178289-3
178289-6
3.81
Circuit number 1
A
Dimension
A
24.36
35.09
Row A
Row B
B
16.70
28.35
22.8
Type
Row B
16.3
No. of
poles
Row A
5.08
Maker: Japan AMP
<Type>
For power supply
6-pole receptacle/housing: 178289-3
Contact: 1-917511-5 (L1, L2, PE)
1-175217-5 (L11, L12)
11.63
B
(5) Communication cable assembly
Assemble the cable as shown in the following drawing, with the cable shield wire securely
connected to the ground plate of the connector.
Core wire
Core wire
Shield (external conductor)
Shield
(external conductor) Sheath
Sheath
Ground plate
When folding back the shield, fold back the shield over an area covered with vinyl tape or copper
tape, and seat onto the fitting surface of the plate screw section so that the shield wire and
grounding plate securely contact without play.
CAUTION
Take care not to mistake the connection when manufacturing the cable. Failure
to observe this could lead to faults, runaway or fire.
4–10
Chapter 4
4-1-4
Peripheral Devices
Cable clamp fitting
Use the following types of grounding plate and cable clamp fitting to strengthen the noise resistance of
the communication cable. The grounding plate can be installed onto the terminal block cover of the I/F
unit (HS-IF-6). Peel part of the cable sheath as shown in the drawing to expose the shield sheath, and
press that section against the grounding plate with the cable clamp fitting.
Grounding plate
Cable clamp
fitting A, B
Grounding bar
Shield sheath
Cable clamp fitting outline
Grounding plate (E) outline
70
2-φ5 hole
6
22
30
Installation hole
17.5
24
10
6
24
35
MAX L
3
56
11
M4 screw *
* Always wire the grounding wire from the grounding plate to the
cabinet grounding plate.
4–11
Fitting A
Fitting B
L
70
45
Chapter 4
4-2
Peripheral Devices
Peripheral devices
4-2-1
Selection of wire
Select the interface unit L1, L2, L3 and grounding wires from the following wire sizes according to the
total capacity of the connected motors.
Total motor capacity
2
Wire size (mm )
1kW or less
2.5kW or less
6kW or less
9kW or less
12kW or less
IV1.25SQ
IV2SQ
IV3.5SQ
IV5.5SQ
IV8SQ
(Note) The total capacity of the motors connected to the interface unit must be 6kW or less. If the
total motor capacity exceeds 6kW, wire with a standalone terminal block.
4-2-2
Selection of no-fuse breakers
Use the following table to obtain the NFB (no-fuse breaker) rated current from the total rated capacity
(SVJ2 total output capacity) of the motor driving the SVJ2 servo amplifier to be connected to the NFB to
be selected, and select the no-fuse breaker.
When the MDS-B-SPJ2 spindle amplifier or converter unit will share no-fuse breakers, select from the
total NFB rated current of each SVJ2 total output capacity and SPJ2 spindle amplifier or convertor unit.
However, separate the SVJ2 servo amplifier no-fuse breaker from the others, and select the NF60 type
(60A) or smaller capacity dedicated for SVJ2 servo amplifiers if the total NFB rated current exceeds 60A.
NFB rated current table
Intelligent servomotor
1.5kW or less
SVJ2 total output capacity
10A
NFB rated current
3.5kW or less
7kW or less
10kW or less
13kW or less
16kW or less
20A
30A
40A
50A
60A
MDS-B-SPJ2
MDS-B-SPJ2-02
MDS-B-SPJ2-04
MDS-B-SPJ2-075
MDS-B-SPJ2-15
MDS-B-SPJ2-22
MDS-B-SPJ2-37
MDS-B-SPJ2-55
MDS-B-SPJ2-75
MDS-B-SPJ2-110
Converter unit
MDS-A-CR-10
MDS-A-CR-15
MDS-A/B-CV-37
MDS-A-CR-22
MDS-A-CR-37
MDS-A/B-CV-55
MDS-A-CR-55
MDS-A/B-CV-75
MDS-A-CR-75
MDS-A-CR-90
MDS-A/B-CV-110
NFB rated current
10A
20A
30A
40A
50A
No-fuse breaker selection table
NFB rated current
10A
Recommended NFB
NF30-CS3P1
(Mitsubishi Electric Corp.:
0A
Option part)
20A
30A
40A
50A
60A
NF30-CS3P2
0A
NF30-CS3P3
0A
NF50-CP3P4
0A
NF50-CP3P5
0A
NF60-CP3P6
0A
Special order part: This part is not handled by the NC Dept. Marketing Section or dealer.
(Example 1)
The NFB is selected for the MDS-B-SVJ2-10 with three HS-SF102 axes and one
MDS-B-SPJ2-75 axis connected.
Because there are 1kW × 3 = 3kW on the intelligent servomotor side, 20A is selected
from the table for the NFB rated current.
40A is selected from the table for the SPJ2-75 rated current.
Therefore, the total rated current is 60A, and the NF60-CP3P60A is selected.
(Example 2)
The NFB is selected for the MDS-B-SVJ2-20 with two HS-SF202 axes and one
MDS-B-CR-90 connected.
Because there are 2kW × 2 = 4kW on the intelligent servomotor side, 30A is selected
from the table for the NFB rated current.
50A is selected from the table for the MDS-B-CV-90 rated current.
Therefore, the total rated current is 80A. The NFB is separated from converter unit, and
the NF30-CS3P30A is selected for the SVJ2. (Refer to the "MDS-A/B Series
Specifications Manual" for details on selecting the converter NFB.)
4–12
Chapter 4
DANGER
4-2-3
Peripheral Devices
Install independent no-fuse breakers and contactors as the SVJ2 main circuit
power supply if the total current capacity exceeds 60A when the power supply
is shared between the converter and a large capacity SPJ2 spindle amplifier.
No-fuse breakers may not operate for short-circuits in small capacity amplifiers
if they are shared with a large capacity unit, and this could cause fires. Select a
capacity of NF60 or less for the intelligent servomotor and SVJ2 servo
amplifier.
Selection of contactor
Select the contactor based on section "(1) Selection from rush current" when the system connected to
the contactor to be selected is intelligent servomotor, an MDS-B-SVJ2 servo amplifier and 3.7kW or
less MDS-B-SPJ2 spindle amplifier.
When a converter unit or 5.5kW or more MDS-B-SPJ2 spindle amplifier is included, calculate both the
capacities in sections "(1) Selection from rush current" and "(2) Selection from input current", and
select the larger of the two capacities.
(1) Selection from rush current
Use the following table to select the contactors so the total rush current for each unit does not
exceed the closed circuit current amount.
Rush current table
HS-MF23
HS-SF102, HS-SF103
HS-SF202
HS-RF43, HS-RF73
HS-SF52, HS-SF53
Intelligent servomotor
45A
Rush current
100A
MDS-B-SVJ2
MDS-B-SVJ2-01
MDS-B-SVJ2-03
MDS-B-SVJ2-04
MDS-B-SVJ2-06
MDS-B-SVJ2-07
MDS-B-SVJ2-10
MDS-B-SVJ2-20
Rush current
45A
50A
70A
100A
MDS-B-SPJ2
MDS-B-SPJ2-02
MDS-B-SPJ2-04
MDS-B-SPJ2-075
MDS-B-SPJ2-15
MDS-B-SPJ2-22
MDS-B-SPJ2-37
MDS-B-SPJ2-55
MDS-B-SPJ2-75
MDS-B-SPJ2-110
Rush current
45A
50A
100A
15A
Converter unit
MDS-A-CR-10 to MDS-A-CR-90
MDS-A/B-CV-37 to MDS-A/B-CV-75
MDS-A/B-CV-110
Rush current
15A
40A
Contactor selection table 1
Contactor closed current
capacity
(Total rush current)
110A
200A
220A
300A
400A
550A
650A
850A
Recommended contactor
(Mitsubishi Electric Corp.:
Option part)
S-N10
AC200V
S-N18
AC200V
S-N20
AC200V
S-N25
AC200V
S-N35
AC200V
S-K50
AC200V
S-K65
AC200V
S-K80
AC200V
Special order part: This part is not handled by the NC Dept. Marketing Section or dealer.
(Example 1)
The contactor is selected for the MDS-B-SVJ2-10 with three HS-SF102 axes and one
MDS-B-SPJ2-37 axis connected.
< Selection only from rush current >
(HS-SF102 × 3 axes rush current) + (SPJ2-37 × 1 axis rush current)
= 3 × 100A + 1 × 100A = 400A
Therefore, S-N35 200VAC is selected.
4–13
Chapter 4
Peripheral Devices
(2) Selection from input current
Use the following table to select the contactors so the total input current for each unit does not
exceed the rated continuity current.
Input current table
Intelligent servomotor
MDS-B-SVJ2 total output
capacity
1.5kW or less
3.5kW or less
7kW or less
10kW or less
13kW or less
16kW or less
Input current
10A
20A
30A
40A
50A
60A
MDS-B-SPJ2
MDS-B-SPJ2-02
MDS-B-SPJ2-04
MDS-B-SPJ2-075
MDS-B-SPJ2-15
MDS-B-SPJ2-22
MDS-B-SPJ2-37
Input current
10A
20A
30A
Converter unit
MDS-A-CR-10
MDS-A-CR-15
MDS-A/B-CV-37
MDS-A-CR-22
MDS-A-CR-37
MDS-A/B-CV-55
MDS-A-CR-55
Input current
10A
20A
30A
MDS-B-SPJ2-55 MDS-B-SPJ2-75 MDS-B-SPJ2-110
40A
50A
MDS-A-CR-90
MDS-A/B-CV-75
MDS-A-CR-75 MDS-A/B-CV-110
40A
50A
Contactor selection table 2
Contactor rated continuity
current
(Total input current)
20A
32A
50A
60A
Recommended contactor
(Mitsubishi Electric Corp.:
Option part)
S-N10
AC200V
S-N20
AC200V
S-N25
AC200V
S-N35
AC200V
Special order part: This part is not handled by the NC Dept. Marketing Section or dealer.
(Example 2)
The contactor is selected for the MDS-B-SVJ2-10 with four HS-SF102 axes and one
MDS-B-CV-55 connected.
< Selection from rush current >
(HS-SF102 × 4 axes rush current) + (MDS-B-CV-55 rush current) = 4 × 100A + 15A
= 415A
Therefore, S-K50 200VAC.
< Selection from input current >
(JS-SF102 × 4 axes input current) + (MDS-B-CV-55 input current) = 30A + 30A = 60A
Therefore, S-N35 200VAC.
From these, the S-K50 200VAC is selected as having the larger of the two capacities.
4-2-4
Circuit protector
When installing a circuit protector dedicated for the control power input, use a circuit protector with
inertial delay to prevent malfunctioning in respect to the rush current generated when the power is
turned ON. The size and conductivity time of the rush current fluctuate according to the power supply
impedance and potential.
Servo amplifier
Rush current
Conductivity
time
Intelligent servomotor
70 to 130A
0.5 to 1msec
Recommended circuit
protector
(Mitsubishi Electric
Corp.: Option part)
CP30-BA type with
medium-speed inertial delay
Rated current
0.2A per axis
Special order part: This part is not handled by the NC
Department Marketing Section or dealer.
4–14
Chapter 5
5-1
Installation
Installation of servomotor...........................................................................
5-1-1 Environmental conditions .....................................................................
5-1-2 Cautions for mounting load (prevention of impact on shaft).................
5-1-3 Installation direction ...........................................................................
5-1-4 Tolerable load of axis...........................................................................
5-1-5 Oil and waterproofing measures ..........................................................
5-3
5-3
5-3
5-3
5-4
5-4
5-1-6 Cable stress ......................................................................................... 5-5
5-2
5-3
Installation of interface unit ........................................................................
5-2-1 Environmental conditions .....................................................................
5-2-2 Installation direction .............................................................................
5-2-3 Prevention of entering of foreign matter...............................................
5-6
5-6
5-6
5-6
Noise measures ........................................................................................... 5-7
5–1
Chapter 5
CAUTION
Installation
1. Install the unit on noncombustible material. Direct installation on
combustible material or near combustible materials could lead to fires.
2. Follow this Instruction Manual and install the unit in a place where the weight
can be borne.
3. Do not get on top of 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. Do not let conductive objects such as screws or metal chips, etc., or
combustible materials such as oil enter the servo amplifier or servomotor.
6. Do not block the servo amplifier intake and outtake ports. Doing so could
lead to failure.
7. The servo amplifier and servomotor are precision devices, so do not drop
them or apply strong impacts to them.
8. Do not install or run a servo amplifier or servomotor that is damaged or
missing parts.
9. When storing for a long time, please contact your dealer.
5–2
Chapter 5
5-1
Installation of servomotor
CAUTION
5-1-1
1. Do not hold the cables, axis or detector when transporting the servomotor.
Failure to observe this could lead to faults or injuries.
2. Securely fix the servomotor to the machine. Insufficient fixing could lead to
the servomotor 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. Never touch the rotary sections of the servomotor during operations. Install
a cover, etc., on the shaft.
5. Do not apply a load exceeding the tolerable load onto the servomotor shaft.
The shaft could break.
Environmental conditions
Environment
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Atmosphere
Altitude
Vibration
Servomotor
Conditions
0°C to +40°C
(with no freezing)
80% RH or less (with no dew condensation)
–20°C to +65°C (with no freezing)
90% RH or less (with no dew condensation)
• Indoors (Where unit is not subject to direct sunlight)
• With no corrosive gas or combustible gas.
• With no oil mist or dust
HS-RF
HS-SF 1kW or less
Y
2
X: 9.8m/s (1G) or less
2
Y: 24.5m/s (2.5G) or less
2
X: 19.6m/s (2G) or less
2
Y: 49m/s (5G) or less
Acceleration
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 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 have a
key way, use a frictional coupling, etc.
(2) When removing the pulley, use a pulley remover, and
make sure not to apply an impact on the shaft.
(3) Install a protective cover on the rotary sections such
as the pulley installed on the shaft to ensure safety.
(4) The direction of the detector installation on the
servomotor cannot be changed.
CAUTION
5-1-3
X
1000m or less above sea level
2
HS-MF
X, Y: 19.6m/s (2G) or less
HS-SF 2kW
5-1-2
Installation
Servom otor
Double-end stud
Nut
Pu lley
W asher
Never hammer the end of the shaft
during assembly.
Installation direction
There are no restrictions on the installation direction. Installation in any direction is possible, but as a
standard the servomotor is installed so that the motor power supply wire and detector cable cannon
plugs (lead-in wires) face downward. When the servomotor is not installed in the standard direction,
refer to section "5-1-5 Oil and waterproofing measures" and take the appropriate measures.
The brake plates may make a sliding sound when a servomotor with magnetic brake is installed with
the shaft facing upward, but this is not a fault.
5–3
Chapter 5
5-1-4
Installation
Tolerable load of axis
(1) Using the flexible coupling, set the axis core deviation to less than the tolerable radial load of the
axis.
(2) When using a pulley, sprocket and timing belt, select so that the loads are within the tolerable
radial load.
(3) A rigid coupling must not be used as it will apply an excessive bending load on the axis to break.
Servomotor
HS-MF23
HS-RF43/73
HS-SF52/53/102/103
HS-SF202
Tolerable radial load
88N
L=25
392N
L=58
392N
L=58
2058N
L=79
Tolerable thrust load
59N
196N
196N
980N
Caution: The symbols in the table follow the drawing below.
L
Radial load
Thrust load
L : Length from flange isntallation surface to center of load weight [mm]
CAUTION
5-1-5
1. When coupling with a ball screw, etc., use a flexible coupling, and keep the
shaft core deviation to below the tolerable radial load.
2. When installing the pulleys or gears on the motor shaft, the radial load will
increase as the diameter of these parts decreases. Consider this when
designing the machine.
3. When using a timing belt, adjust so that the radial load (double the tension)
generated from the tension is less than the values given above.
4. In a machine having a thrust load, such as a worm gear, provide a separate
bearing on the machine side so that the a load exceeding the tolerable
thrust load is not applied on the motor.
5. Do not use a rigid coupling as an excessive bending load will be applied on
the shaft and could cause the shaft to break.
Oil and waterproofing measures
(1) The servomotor does not have a precise water or oil-proof structure. The type (IP class) following
the IEC standards is indicated as the intelligent servomotor's protection type. These standards are
the short-time performance standards, so make sure that the motor surface is not subject to fluids
and that fluids do not accumulate. If cutting oil, etc., could enter, always provide a protective cover.
Always consider the cover seams, edges, shapes and dimensions. Note that the IP class does not
indicate the corrosion resistance level.
(2) When a gear box is installed on the servomotor, make sure that
the oil level height from the center of the shaft is higher than the
values given below. Open a breathing hole on the gear box so that
the inner pressure does not rise.
Servomotor
HS-MF23
HS-RF43, 73, -SF103
HS-SF202
Oil level (mm)
12
20
25
Gear
Servomotor
Oil level
Lip
Oil seal
5–4
Chapter 5
Installation
(3) When installing the servomotor horizontally, set the power cable and detector cable to face
downward.
When installing vertically or on an inclination, provide a cable trap.
Cable trap
(4) Do not use the unit with the cable submerged in oil or water. (Refer to lower left drawing)
(5) When installing on the top of the shaft end, make sure that oil from the gear box, etc., does not
enter the servomotor.
Cover
Gear
Lubricating oil
Servomotor
Oil or water pool
Servomotor
<Fault> Capillary tube phenomenon
(6) Connect the HS-MF23 relay connector in a relay box having a structure (IP54) that prevents water,
oil and dust, etc., from entering. Fix the enclosed cable to the motor, and also fix the enclosed
cable to the motor.
5-1-6
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.
(2) In applications where the servomotor moves, make sure that excessive stress is not applied on
the cable.
Select the cable bending radius from the required bending life and wire type.
Fix the detector cable and power cable enclosed with the servomotor.
(3) Make sure that the cable sheathes will not be cut by sharp cutting chips, worn by contacting the
machine corners, or stepped on by workers or vehicles.
5–5
Chapter 5
5-2
5-2-1
Installation of interface unit
Environmental conditions
Environment
5-2-2
Installation
Conditions
Ambient temperature
0°C to +55°C
Ambient humidity
90% RH or less (with no dew condensation)
Storage temperature
–20°C to +65°C (with no freezing)
Storage humidity
90% RH or less (with no dew condensation)
Atmosphere
Indoors (Where unit is not subject to direct sunlight)
With no corrosive gas, combustible gas, oil mist or dust
Altitude
1000m or less above sea level
Vibration
5.9m/sec2 (0.6G) or less
(with no freezing)
Installation direction
Install so that the front of the interface unit is visible and the terminal block comes to the bottom.
5-2-3
Prevention of entering of foreign matter
Treat the cabinet with the following items.
• Make sure that the cable inlet is dust and oil proof by using packing, etc.
• Make sure that the external air does not enter inside by using head radiating holes, etc.
• Close all clearances.
• Securely install door packing.
• If there is a rear cover, always apply packing.
• Oil will tend to accumulate on the top. Take special measures such as oil-proofing the top so that
oil does not enter the cabinet from the screw holds.
• After installing each unit, avoid machining in the periphery. If cutting chips, etc., stick onto the
electronic parts, trouble may occur.
5–6
Chapter 5
5-3
Installation
Noise measures
Noise includes that which enters the servo amplifier from an external source and causes the servo
amplifier to malfunction, and that which is radiated from the servo amplifier or motor and causes the
peripheral devices or amplifier itself to malfunction. The servo amplifier output is a source of noise as
the DC voltage is switched at a high frequency. If the peripheral devices or amplifier malfunction
because of the noise, measures must be taken to suppressed this noise. These measures differ
according to the propagation path of the noise.
(1) General measures for noise
Avoid wiring the servo amplifier's power supply wire and signal wires in parallel or in a bundled
state. Always use separate wiring. Use a twisted pair shield wire for the detector cable, the control
signal wires for the bus cable, etc., and for the control power supply wire. Securely ground the
shield.
Use one-point grounding for the servo amplifier and motor.
(2) Measures against noise entering from external source and causing servo amplifier to
malfunction
If a device generating noise is installed near the servo amplifier, and the servo amplifier could
malfunction, take the following measures.
Install a surge killer on devices (magnetic contactor, relay, etc.) that generate high levels of noise.
Install a data line filter on the control signal wire.
Ground the detector cable shield with a cable clamp.
(3) Measures against noise radiated from the servo amplifier and causing peripheral devices
to malfunction
The types of propagation paths of the noise generated from the servo amplifier and the noise
measures for each propagation path are shown below.
Noise generated
from servo amplifier
Airborne
propagation noise
Magnetic
induction noise
Static induction
noise
Cable propagation
noise
Noise directly radiated
from servo amplifier
Path ①
Path ④
and ⑤
Noise radiated from
power supply wire
Path ②
Path ⑥
Noise radiated from
servomotor
Path ③
Noise propagated over
power supply wire
Path ⑦
Noise lead in from
grounding wire by
leakage current
5–7
Path ⑧
Chapter 5
Installation
⑤
⑦
②
⑦
②
Instrument
Sensor
power
supply
① Servo
amplifier
Receiver
⑥
③
④
⑧
Sensor
Servomotor
SM
Noise
propaga-tion
path
① ② ③
④ ⑤ ⑥
⑦
⑧
Measures
When devices such as instruments, receivers or sensors, which handle minute
signals and are easily affected by noise, or the signal wire of these devices, are
stored in the same panel as the servo amplifier and the wiring is close, the device
could malfunction due to airborne propagation of the noise. In this case, take the
following measures.
(1) Install devices easily affected as far away from the servo amplifier as
possible.
(2) Lay the signals wires easily affected as far away from the input wire with the
servo amplifier.
(3) Avoid parallel wiring or bundled wiring of the signal wire and power wire.
(4) Insert a line noise filter on the input/output wire or a radio noise filter on the
input to suppress noise radiated from the wires.
(5) Use a shield wire for the signal wire and power wire, or place in separate
metal ducts.
If the signal wire is laid in parallel to the power wire, or if it is bundled with the
power wire, the noise could be propagated to the signal wire and cause
malfunction because of the magnetic induction noise or static induction noise. In
this case, take the following measures.
(1) Install devices easily affected as far away from the servo amplifier as
possible.
(2) Lay the signals wires easily affected as far away from the input wire with the
servo amplifier.
(3) Avoid parallel wiring or bundled wiring of the signal wire and power wire.
(4) Use a shield wire for the signal wire and power wire, or place in separate
metal ducts.
If the power supply for the peripheral devices is connected to the power supply in
the same system as the servo amplifier, the noise generated from the servo
amplifier could back flow over the power supply wire and cause the devices to
malfunction. In this case, take the following measures.
(1) Install a radio noise filter on the servo amplifier's power wire.
(2) Install a line noise filter on the servo amplifier's power wire.
If a closed loop is structured by the peripheral device and servo amplifier's
grounding wires, the leakage current could penetrate and cause the devices to
malfunction. In this case, change the device grounding methods and the
grounding place.
5–8
Chapter 6
Wiring
6-1
6-2
System connection diagram ........................................................................
Connector......................................................................................................
6-2-1 Connector signal layout .........................................................................
6-2-2 Signal name...........................................................................................
6-3
Connection of power supply........................................................................ 6-6
6-3-1 Example of connection for controlling magnetic switch (MC)
with MDS-B-CV/CR................................................................................
6-3-2 Example of connection for controlling magnetic switch with
external sequence circuit .......................................................................
6-3-3 Wiring of contactors (MC) ......................................................................
6-3-4 Surge absorber ......................................................................................
6-3
6-4
6-4
6-5
6-6
6-8
6-8
6-9
6-4
Wiring the motor with brakes ...................................................................... 6-9
6-4-1 Connection example .............................................................................. 6-9
6-4-2 Manually releasing the magnetic brakes................................................ 6-10
6-5
Connection with the NC ............................................................................... 6-11
6-5-1 Connection system ................................................................................ 6-11
6–1
Chapter 6
DANGER
CAUTION
Wiring
1. Wiring work must be done by a qualified technician.
2. Wait at least 10 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 servo amplifier and servomotor with Class 3 grounding
or higher.
4. Wire the servo amplifier and servomotor after installation. Failure to observe
this could lead to electric shocks.
5. Do not damage, apply forcible stress, place heavy items or engage the cable.
Failure to observe this could lead to electric shocks.
1. Correctly and securely perform the wiring. Failure to do so could lead to
runaway of the servomotor.
2. Do not mistake the terminal connections.
Failure to observe this item could lead to ruptures or damage, etc.
3. Do not mistake the polarity ( + , – ). Failure to observe this item could lead to
ruptures or damage, etc.
4. Electronic devices used near the servo amplifier may receive magnetic
obstruction. Reduce the effect of magnetic obstacles by installing a noise
filter, etc.
5. Do not modify this unit.
6–2
Chapter 6
6-1
Wiring
System connection diagram
I/F unit HS-IF-6
I/Fユニット HS-IF-6
Battery unit
Servo
サーボ
MDSMDSBB-
V1,V2
Spindle
主軸
MDSMDSB-SP
B-SP
パワーサ
Power
プライ
supply
MDSMDSB-CV
B-CV
バッテリーユニット A-BT
A-BT
MELDAS CNC
DC24V
24VDC
MC
relay
MC用リレー
B-AL
ブレーキ回路
Brake
circuit
ACリア
AC
クトル
reactor
MC
NF
3ø200VAC L1, L2,
主回路電源用
L3 for main circuit
power L1,L2,L3,
3φAC200V
200VAC L11, L12 for
制御回路電源用AC200V
control L11,L12
circuit power
インテリジェント
Intelligent
servomotor
サーボモータ
Note)
1) Keep the cable length to within 30m.
2) This is a motor with magnetic brakes. The power connected to the magnetic brake does not
have a polarity.
3) Securely connect the shield wire to the plate (grounding plate) in the connector.
4) When using as an absolute connector, connect MDS-A-BT†.
6–3
Chapter 6
6-2
6-2-1
Wiring
Connector
CAUTION
Never connect the power wire to the signal terminal or the signal wire to the
power terminal. There is a risk of electric shock. Failure to observe this can
also cause damage or faults with the NC unit or devices connected to the NC.
DANGER
Apply only the designated voltage to each terminal. Failure to observe this
could lead to damage or faults.
Connector signal layout
(1) HS-RFxxE, HS-SFxxE
J
L1
N
L11
E
TXD*
U
L12
A
TXD
P
Open
K
L2
V
Open
R
RG
F
RXD*
B
RXD
G
EMG*
W
BR
L
L3
S
Open
C
EMG
H
ALM*
X
MON
D
ALM
T
GND
M
PE
I
BAT
(Japan Aviation)
Applicable connector: JL04V-28A28-11PE
(2) HS-MF23E
B1
B2
B3
B1
B4
B4
B4
B6
B6
RXD*
EMG*
ALM*
GND
FG
L2
PE
L12
TXD*
A1
A2
A3
A1
A2
A3
A4
A5
A6
L1
Open
L11
TXD
RXD
EMG
ALM
BAT
MON
Applicable connector:
Power connector : 178964-3 (AMP)
Signal connector : 178964-6 (AMP)
6–4
Chapter 6
6-2-2
Signal name
Power supply
Name
L1·L2·L3
L11·L12
PE
Control signal
TXD, TXD*
RXD, RXD*
MON
FG
EMG, EMG*
ALM, ALM*
BAT
GND
Brake
Wiring
RG
BR
Signal name
Main circuit
power supply
Control circuit
power supply
Protective
ground
NC transmission
data
NC reception
data
Monitor output
Ground
Emergency stop
Alarm
Battery
Ground
Details
Main circuit power supply input terminal
Connect 3-phase 200 to 230VAC, 50/60Hz.
Control circuit power supply input terminal
Connect 1-phase 200 to 230VAC, 50/60Hz.
Grounding terminal
Connect and ground with the servomotor grounding terminal.
For NC connection
Connect the 24VDC for the magnetic brakes. (Only when
Power supply for
brakes are provided.)
magnetic brakes
The power supply polarity is irrelevant.
6–5
Chapter 6
6-3
Connection of power supply
CAUTION
6-3-1
Wiring
1. Keep the power voltage and capacity within the controller's specification
range. Failure to observe this could lead to damage or faults.
2. For safety purposes, always install a no-fuse breaker or earth leakage
breaker, and shut off when an error occurs or before inspecting. A large
rush current flows when the power is turned ON. Refer to Chapter 6 and
select the no-fuse breaker or earth leakage breaker.
3. For safety purposes, install a magnetic switch that shuts off when an error
occurs. If the converter unit MDS-B-CV is provided in the system, use the
converter's magnetic switch control function. The magnetic switch can be
directly driven by the MDS-B-CV.
Example of connection for controlling magnetic switch (MC) with MDS-B-CV/CR
The following connection example applies when the power supply unit MDS-B-CV/CVE/CR is
provided in the system.
The magnetic switch can also be controlled by the MDS-B-SVJ2/SPJ2. Refer to the respective unit's
specification manual for details.
(1) When sharing a power supply unit and power supply
MC
3-phase
200VAC
NFB
Power supply
unit
MDS-B-CV/CR
Servo/spindle
drive unit
MDS-B-Vx/SP
PE
PE
PE
L1
L1
AC reactor B-AL
L2
Intelligent
servomotor
L2
L3
L3
L11
L11
L11
L12
L12
L12
MC1
L+
L+
L-
L-
24VDC
External
emergency
stop
Mitsubishi
CNC
I/F unit
Terminator
CAUTION
1. The MDS-B-CV is a power supply regenerative type converter; an AC
reactor is required in the power supply line.
Connect the intelligent servomotor main circuit power supply on the power
supply side of the AC reactor.
2. A no-fuse breaker and contactor cannot be shared when the rated current of
the no-fuse breaker exceeds 60A.
6–6
Chapter 6
Wiring
(2) When not sharing a converter and power supply
If the rated current exceeds 60A by the selection of the no-fuse breaker when the converter and
power supply are shared, install the no-fuse breakers and contactors separate from the converter
unit.
3-phase
200VAC
NFB1
AC reactor B-AL
Power supply
unit
MDS-B-CV/CR
Servo/spindle
drive unit
MDS-B-Vx/SP
PE
PE
L1
MC1
L2
L3
L11
L11
L12
L12
MC1
MC2
NFB2
L+
L+
L-
L-
PE
L1
Intelligent
servomotor
L2
L3
L11
L12
Terminator
24VDC
External
emergency
stop
DANGER
Mitsubishi
CNC
I/F unit
Install independent no-fuse breakers as the intelligent servomotor power
supply if the total current capacity exceeds 60A when the converter and power
supply are shared.
No-fuse breakers may not operate for short-circuits in small capacity amplifiers
if they are shared with a large capacity unit, and this could cause fires. For the
intelligent servomotor, use an NF60 type or lower capacity breaker.
(Refer to section 4.)
6–7
Chapter 6
Wiring
6-3-2 Example of connection for controlling magnetic switch with external sequence circuit
Relay
Prepare a sequence that
cuts off with the alarm.
External
emergency stop MC
NFB
3-phase
200VAC
PE
PE
L1
L2
24VDC
6-3-3
External
emergency
stop
Class 3 grounding
or higher
L1
Intelligent
servomotor
L2
L3
L3
L11
L11
L12
L12
I/F unit
Mitsubishi
CNC
Intelligent
servomotor
Terminator
Wiring of contactors (MC)
A contactor (magnetic contactor) is inserted in the main circuit power supply input (L1, L2, L3) of servo
amplifier, and the power supply input is shut off when an emergency stop or servo alarm occurs.
When an emergency stop or servo alarm occurs, the servo amplifier stops the motor using
deceleration control or a dynamic brake. The contactors cannot be shut off during deceleration control,
because the regeneration energy (MDS-B-CV Series) is returned to the power supply, and the power
supply for deceleration must be held. Therefore, the CNC controls the contactors. The CNC confirms
that all axes are stopped, or confirms the dynamic brake operation. Then it outputs a shutoff command
for amplifiers that drive contactors.
When actually driving the contactor, it is driven by the amplifier of the axis having the longest
deceleration time constant in consideration of the communication from the NC being cut off. Generally,
when a converter (MDS-B-CV/CVE/CR) is provided, the contact is driven by the converter. When a
spindle amplifier is provided, the contactor is driven by the spindle amplifier, and when the servo
amplifier (MDS-B-SVJ2) is provided, the contact is driven by the servo amplifier.
Give consideration to the above, and examine the contactor drive method in the following order of
priority.
1.
2.
3.
4.
5.
(Order of priority of the contactor drive method)
Using the contactor control output (MC1) of the converter unit.
Driven by spindle amplifier (MDS-B-SPJ2 in this case).
Driving from the servo amplifier (MDS-B-SVJ2) of the vertical axis (unbalanced axis).
Driving from the servo amplifier (MDS-B-SVJ2) having the longest deceleration time constant.
Driven by external sequence (only for intelligent servomotor.)
CAUTION
Directly cut off the contact with an external sequence only when using the
intelligent servomotor. In this case, cut off the power supply with a delay longer
than the servo's acceleration/deceleration time constant in respect to the
emergency stop signal. If the input power is cut off during deceleration control,
the undervoltage alarm could occur or the deceleration control may be prevented.
6–8
Chapter 6
6-3-4
Wiring
Surge absorber
As protection against surge voltage caused by lightning, etc., the surge absorber and radio noise filter
shown below are built into the intelligent servomotor's I/F unit MDS-B-HSIF (refer to Chapter 6) and
the MDS-B-CV AC reactor B-ALxx. When not using these simultaneously, install a surge absorber and
filter on the input power supply as shown below. Refer to the following table and select the surge
absorber.
C4
L1
VAR1
C1
C5
L2
VAR2
VAR3
C2
C3
C6
L3
PE
VAR4
Symbol
VAR1 to
VAR3
6-4
Type
TNR23G471K
VAR4
DSAZR2-302M
C1 to C3
AL-U2E224K
C4 to C6
DE7120F332MVA-1KC
Wiring the motor with brakes
CAUTION
6-4-1
Maker
Rating
MARCON ELECTRONICS
Varistor voltage 423 to 517V
CO., LTD.
DC discharge start voltage
Mitsubishi Materials Corp.
2400 to 3600V
SHIZUKI ELECTRONIC
250VAC 0.22µF
CO., INC.
Murata Manufacturing Co.,
2500VAC 3300pF
Ltd.
1. No mechanical guarantee is provided even when the dynamic brakes are
used. If the machine could drop during a power failure, use a motor with
magnetic brakes or provide an external brake mechanism to prevent
dropping.
2. The magnetic brakes are used for holding, and must not be used for normal
braking. There may be cases when holding is not possible due to the life
and machine structure (when ball screw and servomotor axis are connected
via a timing belt, etc.). Provide a stopping device to ensure safety on the
machine side.
3. The magnetic brakes of the motor with magnetic brakes are controlled in the
intelligent servomotor. However, provide a double circuit configuration so
that these brakes will operate even with the external emergency stop signal.
Connection example
Amplifier
Cut off with emergency stop signal.
EMG
Servomotor
BR
RA
24VDC RG
Magnetic brakes
1) The brakes are safety brakes, and will operate when the power (24VDC) is turned OFF.
2) Prepare a brake excitation power supply that ensures a secure attraction current.
3) The brake terminal polarity is random, but must not be mistaken with other circuits.
6–9
Chapter 6
6-4-2
Wiring
Manually releasing the magnetic brakes
The intelligent servomotor has a relay for controlling the brakes in the amplifier, so the brakes cannot
be released even if power is supplied to the 24V power terminal (BR, RG) for the cannon plug brakes.
Release the brakes with the following method when the brakes need to be released for handling when
assembling, adjusting or servicing the machine.
(1) Method 1
Remove the amplifier section and input the 24V power to the motor brakes. There is no polarity.
Refer to section "9-3. Replacing the unit" for details on removing and installing the amplifier
section.
The amplifier terminal is a connector, so prepare the following connector beforehand.
Plug housing
Socket contact
: SMP-02V-BC
: BHF-001T-0.8BS (J.S.T. Mfg Co., Ltd.)
(2) Method 2
Enter the brake release mode by changing the MON signal, normally used for the axis No.
selection, several times.
1) Prepare the circuit operation box shown with the dotted line below, and connect with the
intelligent servomotor as shown in the drawing.
2) Open SW1 and SW2.
3) Input 200VAC to the LL1 and LL2 terminals. → The LED will turn ON.
4) Turn SW1 ON.
→ The LED will flicker.
5) Turn SW2 ON.
→ The LED will turn OFF.
6) Turn SW2 OFF.
→ The LED will turn ON, and the relay in the
amplifier will turn ON.
7) Input 24VDC to the BR and RG terminals.
→ The brakes will be released.
8) Thereafter, when SW2 is turned ON the brakes will be applied, and when turned OFF, the
brakes will be released.
Intelligent
servomotor
Operation box
L11
Control
power
NFB
L12
RA
200VAC
BR
24VDC
RG
ALM
LED
ALM*
330Ω
For OFF at
emergency
MON
Control
circuit
SW2
SW1
680Ω
LG
All other pins are open.
6–10
For status
indication
Chapter 6
6-5
6-5-1
Wiring
Connection with the NC
Connection system
Terminator or battery unit when
there is no other drive unit
Terminator or battery
unit
I/F unit
CN1A
CN1B
Mitsubishi
CNC
CON1 to CON4
MDS-B Series servo/spindle drive unit
Intelligent servomotor
(1) Refer to "Chapter 6 Peripheral devices" for details on connecting and setting the I/F unit.
(2) The I/F unit's CON1 to CON4 (intelligent servo connection connectors) can be connected to any
connector.
(3) If the MDS-B Series servo/spindle drive unit is connected as shown above, connect the I/F unit
between the CNC and servo spindle drive. Other drive units cannot be connected between the
CNC and I/F unit.
I/F unit
An I/F unit cannot be connected
behind the servo/spindle drive unit.
Mitsubishi
CNC
MDS-B Series servo/spindle drive unit
Intelligent servomotor
(4) There may be cases when the I/F unit (PCB) is manufactured by the machine maker. In this case,
contact the machine maker for details on connecting and setting the I/F unit.
6–11
Chapter 7
7-1
Setup
Setting the initial parameters......................................................................
7-1-1 Servo specification parameters............................................................
7-1-2 Limitations to electronic gear setting value ..........................................
7-1-3 Parameters set according to feedrate ..................................................
7-1-4 Parameters set according to machine load inertia ...............................
7-1-5 Standard parameter list according to motor .........................................
7–1
7-2
7-2
7-2
7-3
7-3
7-4
Chapter 7
7-1
Setup
Setting the initial parameters
The servo parameters must be set to start up the servo drive system.
The servo parameters are input from the CNC. The input method will differ according to the CNC, so
refer to the Instruction Manual provided with each CNC.
7-1-1
Servo specification parameters
The servo specification parameters are determined according to the machine specifications and servo
system specifications.
No.
Abbrev.
SV017
SPEC
Parameter name
Explanation
Servo specifications
This is a HEX setting parameter. Set this as follows according to the servo
specifications.
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
abs
bit
0
7
Meaning when "0" is set.
Deceleration control stop
dmk
(Standard)
abs Incremental control
0
dmk
Meaning when "1" is set.
Dynamic brake stop selection
Absolute position control
Set all bits other than those above to 0.
SV025
MTYP
Motor type
Set the motor type.
Refer to the standard parameter list for each motor for the settings.
SV036
PTYP
Regenerative resistor type
Set 1000 as a standard.
SV027
SSF1
Special servo function
selection 1
Set 4000 as a standard.
SV033
SSF2
Special servo function
selection 2
Set 0000 as a standard.
SV001
PC1
Motor side gear ratio
SV002
PC2
Machine side gear ratio
Set the motor side gear ratio in PC1 and the machine side gear ratio in PC2.
When using a rotary axis, set the total deceleration (acceleration) ratio.
SV018
PIT
Ball screw pitch
Set the ball screw pitch with an mm unit. Set 360 for a rotary axis.
SV019
RNG1
Position detector resolution
SV020
RNG2
Speed detector resolution
Set the motor detector resolution with a kp/rev unit for both settings.
Refer to the standard parameters for each motor for the settings.
SV003
PGN1
Position loop gain
Set 33 as a standard.
7-1-2
Limitations to electronic gear setting value
The servo amplifier has internal electronic gears. The command value from the NC is converted into a
detector resolution unit to carry out position control. The electronic gears are single gear ratios
calculated from multiple parameters as shown below. However, each value (ELG1, ELG2) must be
less than 32767.
If the value overflows, the initial parameter error (alarm 37) or error parameter No. 101 (2301 with
M50/M64 Series NC) will be output.
If an alarm occurs, the mechanical specifications and electrical specifications must be revised so that
the electronic gears are within the specifications range.
Reduced fraction of
ELG1
PC2 × RANG
=
(reduced fraction)
ELG2
PC1 × PIT × IUNIT
RANG = RNG1 = RNG2
IUNIT = 2/NC command unit (µm)
1µm : IUNIT = 2, 0.1µm: IUNIT = 20
When the above is calculated, the following conditions must be satisfied.
ELG1 ≤ 32767
ELG2 ≤ 32767
POINT
If the electronic gears in the amplifier overflow, the alarm 37 or error parameter
No. 101 (2301 with M50/M64 series NC) will be output.
7–2
Chapter 7
7-1-3
Setup
Parameters set according to feedrate
The following parameters are determined according to each axis' feedrate.
No.
Abbrev.
SV023
OD1
SV026
OD2
7-1-4
Parameter name
Explanation
Excessive error detection
width at servo ON
Excessive error detection
width at servo OFF
A protective function will activate if the error between the position command and
position feedback is excessive. If the machine load is heavy and problems occur
with the standard settings, gradually increase the setting value.
<Calculation of standard setting value>
Rapid traverse rate (mm/min)
÷ 2 (mm)
OD1 = OD2 =
60 × PGN1
Parameters set according to machine load inertia
The following parameters are set according to the machine's inertia.
No.
Abbrev.
SV005
VGN1
SV008
VIA
Parameter name
Explanation
Speed loop gain.
Refer to the comparison graph with the load inertia scale for the standard setting
value.
Speed loop leading
compensation
Set 1364 as a standard. Set 1900 as a standard for the SHG control.
If the load inertia is large and is in the standard VIA change region, set the value
in the comparison graph regardless of whether normal control or SHG control is
used.
Motor single unit
Standard VIA change region
100
50
<HS-RF>
<HS-MF>
40
80
30
Standard
VGN1
20
60
Standard
VGN1
40
10
20
HC-RF43
HC-RF73
VIA
1500
1000
VIA
0
1
3
5
7
9
0
11
Standard VIA change region
600
Standard
VGN1
<HC-SF>
400
HC-SF202
300
VIA
HC-SF53, HC-SF103
1500
200
100
HC-SF52
HC-SF102
1000
VIA
500
0
Load inertia scale (total load inertia/motor inertia)
7–3
3
5
7
9
11
500
Load inertia scale (total load inertia/motor inertia)
Load inertia scale (total load inertia/motor inertia)
500
1
Chapter 7
7-1-5
Setup
Standard parameter list according to motor
Set the parameters other than 7-2-1 to 7-2-4 to the standard parameters.
Motor type
Parameter name
MF23
RF43
RF73
SF52
SF53
SF102
SF103
SF202
No.
Abbrev.
SV001
PC1
Motor side gear ratio
SV002
PC2
Machine side gear ratio
SV003
PGN1
Position loop gain 1
SV004
PGN2
Position loop gain 2
SV005
VGN1
Speed loop gain
SV006
–
–
SV007
–
–
SV008
VIA
Speed loop leading compensation
SV009
IQA
Current loop Q axis leading
compensation
SV010
IDA
SV011
IQG
Current loop D axis leading
compensation
Current loop Q axis gain
400
384
384
512
256
384
256
384
SV012
IDG
Current loop D axis gain
400
384
384
512
256
384
256
384
SV013
ILMT
Current limit value
400
300
300
700
700
600
700
500
400
250
250
700
700
600
700
500
Set the motor side gear ratio in PC1 and the machine side gear ratio in
PC2.
When using a rotary axis, set the total deceleration (acceleration) ratio.
33
0
Refer to "7-1-4 Parameters set according to machine load inertia"
Current limit value during special
SV014 ILMTsp
operation
SV015
FFC Acceleration feed forward gain
SV016
LMC1
Lost motion compensation 1
SV017
SPEC
Servo specifications
SV018
PIT
0
0
1364
4096
8192
8192
8192
4096
8192
4096
4096
4096
8192
8192
8192
4096
8192
4096
4096
0
0
Refer to "7-1-1 Servo specification parameters"
Set the ball screw pitch with an mm unit.
Set 360 for a rotary axis.
Ball screw pitch
SV019
RNG1
Position detector resolution
8
SV020
RNG2
Speed detector resolution
8
SV021
OLT
SV022
OLL
SV023
OD1
SV024
INP
SV025
MTYP
100
100
Overload time constant
60
Overload detection level
150
Excessive error detection width
during servo ON
In-position width
Motor type
Excessive error detection width
during servo OFF
Refer to "7-1-3 Parameters set according to feedrate"
50
229E
22E0
22E1
22B0
22C0
SV026
OD2
SV027
SSF1
Special servo function selection 1
4000
–
Compensation function for special
functions
0
SV028
to 035
SV036
SV037
to 046
SV047
SV048
PTYP
–
EC
22B1
22C1
Refer to "7-1-3 Parameters set according to feedrate"
Regenerative resistor type
1000
Compensation function for special
functions
0
Inductive voltage compensation gain
70
EMGrt Vertical axis drop prevention time
0
Position loop gain during spindle
SV049 PGN1sp
synchronization 1
SV050
Compensation function for special
–
functions
to 064
15
0
7–4
22B3
Chapter 8
8-1
Adjustment
Measurement of adjustment data...............................................................
8-1-1 D/A output specifications .....................................................................
8-1-2 Setting the output data.........................................................................
8-1-3 Setting the output scale .......................................................................
8-1-4 Setting the offset amount .....................................................................
8-1-5 Clamp function .....................................................................................
8-1-6
8-2
8-2
8-2
8-3
8-3
8-3
Filter function ....................................................................................... 8-3
8-2
Gain adjustment...........................................................................................
8-2-1 Current loop gain .................................................................................
8-2-2 Speed loop gain ...................................................................................
8-2-3 Position loop gain.................................................................................
8-4
8-4
8-4
8-6
8-3
Characteristics improvement .....................................................................
8-3-1 Optimal adjustment of cycle time .........................................................
8-3-2 Vibration suppression measures..........................................................
8-3-3 Improving the cutting surface precision................................................
8-3-4 Improvement of protrusion at quadrant changeover ............................
8-3-5 Improvement of overshooting ..............................................................
8-3-6 Improvement of characteristics during acceleration/deceleration.........
8-8
8-8
8-10
8-12
8-15
8-19
8-21
8-4
Setting for emergency stop ........................................................................ 8-24
8-4-1 Deceleration control ............................................................................. 8-24
8-4-2 Vertical axis drop prevention control .................................................... 8-26
8-5
8-6
Collision detection ..................................................................................... 8-27
Parameter list ............................................................................................... 8-30
8–1
Chapter 8
8-1
Adjustment
Measurement of adjustment data
The intelligent servomotor has a function to D/A output the various control data. To adjust the servo
and set the servo parameters that match the machine, it is necessary to use the D/A output and
measure the internal status of the servo. Measure using a hi-coder, synchroscope, etc.
8-1-1
D/A output specifications
<Output specifications>
No. of channels
Output cycle
Output precision
Output voltage range
Output pins
Output scale setting
Output resistance
: 1ch.
: 888µsec (min. value)
: 8bit
: 0V to 2.5V to 5V
: On intelligent servo I/F unit
: ±1/256 to ±128 times
: 1kΩ
<Output function>
• Offset amount adjustment function
• Output clamp function
• Low path filter function
<Measurement method>
Connect the measuring instrument to the I/F unit check pin. When observing the waveform, turn the
I/F unit DIP switch OFF.
Note that the DIP switch must be turned ON when the power is turned ON. Do not connect a
measuring instrument having a low input impedance when turning the power ON.
8-1-2
No.
Setting the output data
Abbrev.
SV061 DA1NO
Parameter name
Explanation
D/A output channel 1 data No. Input the No. of the data to be output to each D/A output channel.
No.
Output data
0 0 V test output
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
∼
Standard output unit Output cycle No.
Output data
For offset amount adjustment
21 Motor load level
Speed feedback
2000rpm/1V
888 µsec
22 Amplifier load level
Current feedback
Rated current/0.5V
888 µsec
Regenerative load
Speed command
2000rpm/1V
888 µsec
23
level
Current command
Rated current/0.5V
888 µsec
24 PN bus wire voltage
V-phase current value
40A/V
888 µsec
Speed cumulative
25
W-phase current
item
40A/V
888 µsec
value
26 Cycle counter
Estimated disturbance
Rated current/0.5V
888 µsec
27
–
torque
28
–
–
29
–
–
30
–
–
31
Position droop
4 mm/V
3.55 msec
–
3.55 msec to
Position droop(×10)
400 µm/V
99
3.55 msec
Position droop(×100)
40 µm/V
100 5 V test output
40000 (mm/min)/V
Feedrate (F∆T)
888 µsec
Saw-tooth wave test
4000 (mm/min)/V
Feedrate (F∆T×10)
888 µsec 101 output
–
3.55 msec
Rectangular wave
–
3.55 msec 102 test output
–
3.55 msec
103
q axis current
Setting prohibited
–
888 µsec
cumulative value
20
d axis current
cumulative value
–
888 µsec
8–2
Standard output unit Output cycle
100%/1.25V
100%/1.25V
113.7 msec
113.7 msec
100%/1.25V
910.2 msec
200V/V (1/200)
888 µsec
–
888 µsec
0–125V
888 µsec
3.55 msec
3.55 msec
3.55 msec
–
1.25 to 3.75V
Cycle 113.7 msec
2.5 to 3.75V
Cycle 227.5 msec
–
888 µsec
888 µsec
Chapter 8
8-1-3
Adjustment
Setting the output scale
This is set when an output is to made with a unit other than the standard output unit.
(Example 1) When SV061= 5, SV063 = 2560
The V-phase current value will be output with 4A/V unit to D/A output ch. 1.
(Example 2) When SV063 = 11, SV064 = 128
The position droop will be output with a 8mm/V unit to the D/A output ch. 2.
No.
Abbrev.
Parameter name
Explanation
Setting range
SV063 DA1MPY D/A output channel 1 When "0" is set, the output will be made with the standard output unit.
output scale
To change the output unit, set a value other than 0.
SV064 DA2MPY D/A output channel 2 The scale is set with a 1/256 unit. When 256 is set, the unit will be the
output scale
same as the standard output unit.
8-1-4
–32768 to 32767
Setting the offset amount
This is used when the zero level of the output voltage is to be finely adjusted. The output scale when
the data No. is 0 will be the offset amount. After setting the offset, set the data No. to a value other
than 0, and do not set it to 0 again. The offset value will be reset when the amplifier power is turned
OFF. (The value is not reset when the NC power is turned OFF.)
No.
Abbrev.
Parameter name
Explanation
Setting range
SV061 DA1NO D/A output channel 1 Set "0".
data No.
0 to 102
SV063 DA1MPY D/A output channel 1 The amount can be set with the output precision unit. Observe the
offset amount
output value and set so that the output value is 0 V.
–10 to 10
8-1-5
Clamp function
This is used when the output value such as the position droop exceeds the output range and over
flows.
5V
5V
0
0
-10V
-10V
Position
droop
8-1-6
D/A output
range
Time
Time
When overflow is set
When clamp is set
Filter function
A low path filter with a cutoff frequency of 140 Hz can be set.
No. Abbrev.
Parameter name
SV034 SSF3 Special servo function
selection 3
Explanation
Set the clamp function and filter function with the following parameter.
15
14
13
12
11
10
9
8
7
6
5
4
3
2
daf2 daf1 dac2 dac1
bit
Meaning when "0" is set.
0
mon
Meaning when "1" is set.
4 dac1
ch. 1 Overflow setting
ch. 1 Clamp setting
5 dac2
ch. 2 Overflow setting
ch. 2 Clamp setting
6 daf1
ch. 1 No filter
ch. 1 Filter operation
7 daf2
ch. 2 No filter
ch. 2 Filter operation
8–3
1
Chapter 8
8-2
Adjustment
Gain adjustment
8-2-1
Current loop gain
No.
Abbrev.
SV009
IQA
q axis leading compensation
SV010
IDA
d axis leading compensation
SV011
IQG
q axis gain
SV012
IDG
d axis gain
8-2-2
Parameter name
Explanation
This setting is determined by the motor's electrical
characteristics.
Set the standard parameters for all parameters.
(These are used for maker adjustments.)
Setting range
1 to 20480
1 to 20480
1 to 2560
1 to 2560
Speed loop gain
(1) Setting the speed loop gain
The speed loop gain (SV005: VGN1) is an important parameter for determining the
responsiveness of the servo control. During servo adjustment, the highest extent that this value
can be set to becomes important. The setting value has a large influence on the machine cutting
precision and cycle time.
To adjust the VGN1 value, first obtain the standard VGN1 to judge how much VGN1 is required
for the machine load inertia.
The standard VGN1 is the value that corresponds to the size of the machine load inertia shown in
the graph in section 7-1-3. If the load inertia is not clear, estimate it using the following procedure.
1) Set the VGN1 of a level where acceleration/deceleration operation is possible. (Set a
slightly lower value so resonance does not occur.)
2) Set SV037 = 100, SV043 = 600, and SV044 = 0 in the servo parameters. Carry out a return
operation within the range where the axis can operate smoothly. At this time, set the
acceleration/deceleration time constant so the acceleration/deceleration torque equals or
exceeds (is 100% or higher than) the stall (rated) torque.
3) Observe the estimated disturbance using the D/A output, and increase the SV037 value until
the disturbance torque during acceleration/deceleration becomes smaller (cannot be observed).
(The unbalance torque is observed as an estimated disturbance torque in the vertical and
slanted axes, so ignore this amount or set the torque offset (SV032) and adjust. The friction
torque is also observed in the same way for axes having a large amount of friction, but this
should be ignored. Refer to section "8-3-3 (4) Disturbance observer" for details.)
4) The SV037 setting where the disturbance torque becomes the smallest during the
estimated acceleration/deceleration is the machine's total load inertia magnification
including the motor inertia. Obtain the standard VGN1 from the graph in section 7-1-3 based
on this value.
<When machine resonance does not occur at the standard VGN1>
Set the standard VGN1. Use the standard value if no problem (such as machine resonance)
occurs. If sufficient cutting precision cannot be obtained at the standard VGN1, do not raise the
VGN1 further above the standard value. Instead, use the disturbance observer and adjust.
Basically, there is no need to set a value higher than the standard value in VGN1.
<When machine resonance occurs at the standard VGN1>
Machine resonance is occurring if the shaft makes abnormal sounds when operating or stopping,
and a fine vibration can be felt when the machine is touched while stopped. Machine resonance
occurs because the servo control responsiveness includes the machine resonance points.
(Speed control resonance points occur, for example, at parts close to the motor such as ball
screws.) Machine resonance can be suppressed by lowering VGN1 and the servo control
responsiveness, but the cutting precision and cycle time are sacrificed. Thus, set a vibration
suppression filter and suppress the machine resonance (Refer to section "8-3-2 Vibration
suppression measures"), and set a value as close as possible to the standard VGN1. If the
machine resonance cannot be sufficiently eliminated even by using a vibration suppression filter,
then lower the VGN1.
No.
Abbrev.
Parameter name
Explanation
Setting range
SV005
VGN1
Speed loop gain
Set this according to the motor inertia size.
If vibration occurs, adjust by lower the setting by 20% to 30% at a time.
1 to 999
POINT
The final VGN1 setting value should be 70 to 80% of the largest value at which
machine resonance does not occur.
If the vibration suppression functions are used to suppress the resonance and
the VGN1 setting value is raised, the subsequent servo adjustment becomes
more favorable.
8–4
Chapter 8
Adjustment
(2) Setting the speed loop leading compensation
The speed loop leading compensation (SV008: VIA) determines the characteristics of the speed
loop mainly at low frequency regions. 1364 is set as a standard, and 1900 is set as a standard
during SHG control. The standard value may drop as shown in the graph in section 7-1-3 in
respect to loads with a large inertia.
When the VGN1 is set lower than the standard value because the load inertia is large or because
machine resonance occurred, the speed loop control band is lowered. If the standard value is set
in the leading compensation in this status, the leading compensation control itself will induce
vibration. In concrete terms, a vibration of 10 to 20Hz could be caused during
acceleration/deceleration and stopping, and the position droop waveform could be disturbed
when accelerating to a constant speed and when stopped. (Refer to the following graphs.)
This vibration cannot be suppressed by the vibration suppression functions. Lower the VIA in
increments of 100 from the standard setting value. Set a value where vibration does not occur and
the position droop waveform converges smoothly. Because lowering the VIA causes a drop in the
position control's trackability, the vibration suppression is improved even when a disturbance
observer is used without lowering the VIA. (Be careful of machine resonance occurrence at this
time.)
Speed FB
0
Time
0
Time
D/A output range
Position
droop
0
Time
0
Vibration waveform with leading
compensation control
Time
Adjusted position droop waveform
If VIA is lowered, the position droop waveform becomes smooth and overshooting does not occur.
However, because the trackability regarding the position commands becomes worse, that amount
of positioning time and precision are sacrificed. VIA must be kept high (set the standard value) to
guarantee precision, especially in high-speed contour cutting (generally F = 1000 or higher). In
other words, a large enough value must be set in VGN1 so that the VIA does not need to be
lowered in machines aimed at high-speed precision. When adjusting, the cutting precision will be
better if adjustment is carried out to a degree where overshooting does not occur and a high VIA
is maintained, without pursuing position droop smoothness.
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.
It is easier to adjust the VIA to improve precision and cycle time if a large value (a value near the
standard value) can be set in VGN1, or if VGN1 can be raised equivalently using the disturbance
observer.
No.
Abbrev.
SV008
VIA
Parameter name
Speed loop leading
compensation
POINT
Explanation
Setting range
1364 is set as a standard. 1900 is set as a standard during SHG
control. Adjust in increments of approx. 100.
Raise the VIA and adjust to improve the contour tracking precision in
high-speed cutting. If the position droop vibrates (10 to 20Hz), lower the
VIA and adjust.
1 to 9999
Position droop vibration of 10Hz or less is not leading compensation control
vibration. The position loop gain must be adjusted.
8–5
Chapter 8
8-2-3
Adjustment
Position loop gain
(1) Setting the position loop gain
The position loop gain (SV003:PGN1) is a parameter that determines the trackability to the
command position. 33 is set as a standard. Set the same position loop gain value between
interpolation axes.
When PGN1 is raised, the settling time will be shortened, but a speed loop that has a
responsiveness that can track the position loop gain with increased response will be required. If
the speed loop responsiveness is insufficient, several Hz of vibration or overshooting will occur
during acceleration/deceleration. Vibration or overshooting will also occur when VGN1 is smaller
than the standard value during VIA adjustment, but the vibration that occurs in the position loop
is generally 10Hz or less. (The VIA vibration that occurs is 10 to 20Hz.) When the position control
includes machine resonance points (Position control machine resonance points occur at the
machine end parts, etc.) because of insufficient machine rigidity, the machine will vibrate during
positioning, etc. In either case, lower PGN1 and adjust so vibration does not occur.
If the machine also vibrates due to machine backlash when the motor stops, the vibration can be
suppressed by lowering the PGN1 and smoothly stopping.
If SHG control is used, an equivalently high position loop gain can be maintained while
suppressing these vibrations. To adjust the SHG control, gradually raise the gain from a setting
where 1/2 of a normal control PGN1 where vibration did not occur was set in PGN1. If the PGN1
setting value is more than 1/2 of the normal control PGN1 when SHG control is used, there is an
improvement effect in position control. (Note that for the settling time the improvement effect is at
1/ 2 or more.)
No.
Abbrev.
SV003
PGN1
Parameter name
Explanation
Setting range
Position loop gain 1
Set 33 as a standard. If PGN1 is increased, the settling time will be
shortened, but a sufficient speed loop response will be required.
1 to 200
SV004
PGN2
Position loop gain 2
Set 0. (For SHG control)
0 to 999
SV057
SHGC
SHG control gain
Set 0. (For SHG control)
0 to 999
CAUTION
Always set the same value3 for position loop gain between interpolation axes.
(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
Setting range
SV049 PGN1sp Position loop gain 1
during spindle
synchronization
Set 15 as a standard.
SV050 PGN2sp Position loop gain 2
during spindle
synchronization
SV058 SHGCsp SHG control gain
during spindle
synchronization
Set 0 as a standard.
(For SHG control)
0 to 999
Set 0 as a standard.
(For SHG control)
0 to 999
CAUTION
Set the same parameter as the
position loop gain for the spindle
synchronous control.
1 to 200
Always set the same value for the position loop gain between the spindle and
servo synchronous axes.
8–6
Chapter 8
Adjustment
(3) SHG control (option function)
If the position loop gain is increased or feed forward control (CNC function ) is used to shorten the
settling time or increase the precision, the machine system may vibrate easily.
SHG control changes the position loop to a high-gain by stably compensating the servo system
position loop through a delay. This allows the settling time to be reduced and a high precision to
be achieved.
(Feature 1) When the SHG control is set, even if PGN1 is set to the same value as the
conventional gain, the position loop gain will be doubled.
(Feature 2) The SHG control response is smoother than conventional position control during
acceleration/deceleration, so the gain can be increased further with SHG control
compared to the conventional position control.
(Feature 3) With SHG control, a high gain is achieved so a high precision can be obtained during
contour control.
The following drawing shows an example of the improvement in roundness
characteristics with SHG control.
50.0
1) : Commanded path
2) : SHG control (PGN1=47)
3) : Conventional control (PGN1=33)
<Effect>
0.0
Control
method
Roundness error (µm)
2.5
SHG control
Conventional
control
-50.0
-50.0
0.0
22.5
50.0
(F=3000mm/min,ERROR=5.0µm/div)
Shape error characteristics
During SHG control, PGN1, PGN2 and SHGC are set with the following ratio.
PGN1 : PGN2 : SHGC = 1 :
8
3
:6
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.
Abbrev.
Parameter name
SV003 PGN1
Position loop gain 1
(SV049) (PGN1sp)
Setting
ratio
1
Setting example
23
26
33
38
47
SV004
(SV050)
SV057
(SV058)
SV008
PGN2
Position loop gain 2
8/3
62 70 86 102 125
(PGN2sp)
SHGC
SHG control gain
6
140 160 187 225 281
(SHGCsp)
VIA
Speed loop leading Set 1900 as a standard for SHG control.
compensation
SV015
FFC
Acceleration feed
forward gain
CAUTION
Set 100 as a standard for SHG control.
Explanation
Setting range
Always set a combination of the
three parameters.
1 to 200
0 to 999
0 to 999
1 to 9999
0 to 999
The SHG control is an optional function. If the option is not set in the CNC, the
alarm 37 or warning E4, Error Parameter No. 104 (2304 for M50/M64 Series
CNC) will be output.
8–7
Chapter 8
8-3
8-3-1
Adjustment
Characteristics improvement
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.
constant (G0t∗, G1t∗)
4) In-position width (SV024)
: This will affect each block's movement command end time.
5) Position loop gain (SV003)
: This will affect each block's movement command settling time.
(1) Adjusting the rapid traverse rate
To adjust the rapid traverse, the CNC axis specification parameter rapid traverse rate (rapid) and
acceleration/deceleration time constant (G0t∗) are adjusted. The rapid traverse rate is set so that
the motor speed matches the machine specifications in the range below the maximum speed in
the motor specifications. For the acceleration/deceleration time constants, carry out rapid traverse
reciprocation operation, and set so that the maximum current command value at
acceleration/deceleration is within the range shown below. (Only when the rapid traverse rate is
below the rated speed.) Set the same value as the adjusted acceleration/deceleration time
constant in the servo parameter's deceleration control time constant (SV056: EMGt). (When
deceleration control is set.)
For motors in which the maximum speed is greater than the rated speed, the output torque is
particularly restricted in the region at or above the rated speed. When adjusting, watch the current
FB waveform during acceleration/deceleration, and adjust so that the torque is within the
specified range. Be careful, as insufficient torque can easily occur when the amplifier input
voltage is low (170 to 190V), and an excessive error can easily occur during
acceleration/deceleration.
HS-MF Series
Motor type
Max. current
command value
HS-MF23
280 to 320%
HS-RF Series
HS-SF Series
Motor type
Max. current
command value
Motor type
Max. current
command value
HS-RF43
200 to 240%
HS-SF52
420 to 470%
HS-RF73
200 to 240%
HS-SF53
420 to 470%
HS-SF102
440 to 500%
HS-SF103
500 to 560%
HS-SF202
420 to 470%
(2) Adjusting the cutting rate
To adjust the cutting rate, the CNC axis specification parameter clamp speed (clamp) and
acceleration/deceleration time constant (G1t∗) are adjusted. The in-position width at this time
must be set to the same value as actual cutting.
• Determining the clamp rate and adjusting the acceleration/deceleration time constant
(Features)
The maximum cutting rate (clamp speed) can be determined freely.
(Adjustment) Carry out cutting feed reciprocation operation with no dwell at the maximum
cutting rate and adjust the acceleration/deceleration time constant so that the
maximum current command value during acceleration/deceleration is within the
range shown below.
• Setting the step acceleration/deceleration and adjusting the clamp speed
(Features)
The acceleration/deceleration time constant is determined with the position loop
in the servo, so the acceleration/deceleration F⊿T can be reduced.
(Adjustment) Set 1 (step) for the acceleration/deceleration time constant and carry out cutting
feed reciprocation operation with no dwell. Adjust the cutting feed rate so that
the maximum current command value during acceleration/deceleration is within
the range shown below, and then set the value in the clamp speed.
8–8
Chapter 8
Adjustment
<Maximum current command value>
For the maximum current command value during acceleration/deceleration, the maximum current
command value (MAXcmd) for one second is output to MAX current 1 and MAX current 2 on the
CNC servo monitor screen and observed.
The meaning of the display for MAX current 1 and MAX current 2 will differ according to the
parameter settings.
No. Abbrev.
Parameter name
SV034 SSF3 Special servo function
selection 3
Explanation
The display data for the maximum current value on the servo monitor is
determined with the following parameter.
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
daf2 daf1 dac2 dac1
bit
0
mon
Monitor
Meaning when 0 is set
mon
Meaning when 1 is set
Maximum current
MAX
command value after
current 1
power is turned ON
Maximum current
command value for one
second
Maximum current
MAX
com-mand value for one
current 2
second
Maximum current FB value
for one second
(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.
The in-position width is effective even when the standard servo parameters are set. However, it
may follow the CNC parameters, so refer to the CNC Instruction Manual for the setting.
No.
Abbrev.
Parameter name
Unit
SV024
INP
In-position detection
width
µm
POINT
Explanation
Setting range
Set 50 as a standard.
Set the precision required for the machine.
0 to 32767
The in-position width setting and confirmation availability depend on the CNC
parameters
(4) Adjusting the settling time
The settling time is the time required for the
position droop to enter the in-position width
after the feed command (F
⊿T) from the CNC
reaches 0.
The settling time can be shortened by raising
the position loop gain or using SHG control.
However, a sufficient response (sufficiently
large VNG1 setting) for the speed loop is
required to carry out stable control.
The settling time during normal control when
the CNC is set to linear acceleration/
deceleration can be calculated using the
following equation. During SHG control,
estimate the settling time by multiplying
PGN1 by 2 .
Settling time (msec) = −
3
10
×
PGN1
ln
F
F∆T
Settling time
0
Time
G0tL
Position
droop
In-position
0
In-position width
INP
6
F × 10
×
2
60 × G0tL × PGN1
1 − exp − PGN1 ×3 G0tL
10
PGN1 : Position loop gain1 (SV003)
(rad/sec)
F
: Rapid traverse rate
(mm/min)
G0tL : Rapid traverse linear acceleration/
deceleration time constant
(msec)
INP : In-position width (SV024)
(µm)
8–9
Chapter 8
Adjustment
3000
Speed command
(r/min)
0
Time
-3000
200
Current command
(Stall %)
0
Time
-200
Example of speed/current command waveform during acceleration/deceleration
(Reference) The rapid traverse acceleration/deceleration time setting value G0tL for when linear
acceleration/deceleration is set is calculated with the following expression.
G0tL =
(JL + JM) × No
95.5 × (0.8 × TMAX – TL)
–
6000
( PGN1 × K)
2
(msec)
NO
: Motor reach speed
JL
: Motor shaft conversion load inertia
JM
: Motor inertia
TMAX : Motor max. torque
TL
: Motor shaft conversion load (friction, unbalance) torque
PGN1 : Position loop gain 1
K
: "1" during normal control, "2" during SHG control
8-3-2
(r/min)
(kg·cm2)
(kg·cm2)
(N·m)
(N·m)
(rad/sec)
Vibration suppression measures
If vibration (machine resonance) occurs, it can be suppressed by lowering the speed loop gain
(VGN1). However, cutting precision and cycle time will be sacrificed. (Refer to "8-2-2 Speed loop
gain".) Thus, try to maintain the VGN1 as high as possible, and suppress the vibration using the
vibration suppression functions.
If the VGN1 is lowered and adjusted because vibration cannot be sufficiently suppressed with the
vibration suppression functions, adjust the entire gain (including the position loop gain) again.
<Examples of vibration occurrence>
• A fine vibration is felt when the machine is touched, or a groaning sound is heard.
• Vibration or noise occurs during rapid traverse.
No.
Abbrev.
SV005
VGN1
Parameter name
Speed loop gain
POINT
Explanation
Set according to the load inertia size.
If machine resonance occurs, adjust by lowering in increments of 20 to
30%.
The setting value is 70 to 80% of the value where resonance does not
occur.
Setting range
1 to 999
Suppress the vibration using the vibration suppression functions, and maintain
the speed loop gain (SV005: VGN1) as high as possible. (The standard value
is the upper limit.)
8–10
Chapter 8
Adjustment
(1) Machine resonance suppression filter (Notch filter)
The resonance elimination filter will function at the set frequency. Use the D/A output function to
output the current feedback and measure the resonance frequency. Note that the resonance
frequency that can be measured is 0 to 500 Hz.
<Setting method>
1. Set the resonance frequency in the machine resonance suppression filter frequency (SV038:
FHz).
2. If the machine starts to vibrate at another frequency, raise (make shallower) the notch filter
depth compensation value (SV033: SSF2.nfd), and adjust to the optimum value at which the
resonance can be eliminated.
3. When the vibration cannot be completely eliminated, use another vibration suppression
control (jitter compensation).
No.
Abbrev.
SV038
FHz
Notch filter frequency
Parameter name
Set the resonance frequency to be suppressed. (Valid at 72 or
more).
Set 0 when the filter is not to be used.
Explanation
SV033
SSF2
Special servo function
selection 2
The notch filter depth compensation is set with the following parameters.
15
14
13
12
11
10
9
8
Setting range
7
6
5
4
3
0 to 3000
2
1
0
nfd
bit
0~3 nfd
Descriptions
Set the filter depth for the notch filter.
Deeper ←
→ Shallower
Setting value 0
2
4
6
8
A
C
E
Depth (dB)
∞
−18.1 −12.0 −8.5 −6.0 −4.1 −2.5 −1.2
(2) Jitter compensation
The load inertia becomes extremely small 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 is the suppression of vibration occurring when the motor stops by ignoring the
backlash amount of speed feedback pulses when the speed feedback polarity changes.
Increase the number of ignored pulses by one pulse at a time, and set a value at which the
vibration can be suppressed. (Because the position feedback is controlled normally, there is no
worry of positional deviation.)
When an axis that does not vibrate is set, vibration could be induced, so take care.
No.
Abbrev.
SV027
SSF1
Parameter name
Special servo function
selection 1
Explanation
Set the jitter compensation with the following parameter.
15
14
13 12 11
aflt zrn2
bit
POINT
10
9
8
ovs2 ovs1 lmc2 lmc1
7
6
5
4
3
2
1
0
vfct2 vfct1
No jitter
One pulse
Two pulse
Three pulse
compensation compensation compensation compensation
4 vfct1
0
1
0
1
5 vfct2
0
0
1
1
Jitter compensation vibration suppression is only effective when the motor is
stopped.
8–11
Chapter 8
8-3-3
Adjustment
Improving the cutting surface precision
If the cutting surface precision or roundness is
poor, improvements can be made by increasing
the speed loop gain (VGN1, VIA) or by using the
disturbance observer function.
Y
<Examples of faults>
• 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.
POINT
X
Adjust by raising the speed loop gain equivalently to improve cutting surface
precision, even if the measures differ. In this case, it is important how much the
machine resonance can be controlled, so adjust making sufficient use of
vibration suppression functions.
(1) Adjusting the speed loop gain (VGN1)
If the speed loop gain is increased, the cutting surface precision will be improved but the machine
will resonate easily.
The final VGN1 setting should be approx. 70 to 80% of the maximum value where resonance
does not occur. (Refer to "8-2-2 (1) Setting the speed loop gain")
(2) Adjusting the speed loop leading compensation (VIA)
The VIA has a large influence on the position trackability, particularly during high-speed cutting
(generally F1000 or more). Raising the setting value improves the position trackability, and the
contour precision during cutting can be improved. For high-speed high-precision cutting machines,
adjust so that a value equal to or higher than the standard value can be set.
When VIA is set lower than the standard value and set to a value differing between interpolation
axes, the roundness may worsen (the circle may distort). This is due to differences occurring in
the position trackability between interpolation axes. The distortion can be improved by matching
the VIA with the smaller of the values. Note that because the position trackability is not improved,
the surface precision will not be improved. (Refer to "8-2-2 (2) Setting the speed loop leading
compensation")
No.
Abbrev.
SV005
VGN1
SV008
VIA
Explanation
Setting range
Speed loop gain
Parameter name
Increase the value by 20 to 30% at a time.
If the machine starts resonating, lower the value by 20 to 30% at a time.
The setting value should be 70 to 80% of the value where resonance
does not occur.
1 to 999
Speed loop leading
compensation
1364 is set as a standard. 1900 is set as a standard during SHG
control. Adjust in increments of approx. 100.
Raise the VIA and adjust to improve the contour tracking precision in
high-speed cutting. If the position droop vibrates (10 to 20Hz), lower the
VIA and adjust.
1 to 9999
(3) Voltage non-sensitive zone (Td) compensation
With the PWM control of the inverter, 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.
When an unbalanced axis is lowering, the frictional
torque and unbalance torque, and the frictional
torque and deceleration torque before the quadrant
changes during circle cutting, are balanced. The
motor output torque will be approximately zero, and
the control accuracy may drop. In this case, the
control accuracy can be improved by using the
voltage non-sensitive band compensation. Note that
this may cause vibration to increased while the motor
is running.
8–12
Cutting
direction
Motor torque
≒ 0
Frictional
torque
Balanced
Deceleration torque =
frictional torque
For circle cutting
Lowering
Unbalance
torque
For unbalance torque
Chapter 8
No.
Abbrev.
SV030
IVC
Adjustment
Parameter name
Voltage
non-sensitive band
compensation
Explanation
Setting range
Set the standard value 20. Note that the vibration could increase during
motor operation.
0 to 200
(4) Fine torque compensation
There may be cases when not much torque is generated during low speed feed, or when the
wear torque and unbalance torque during lowering an unbalance axis or the wear torque and
deceleration torque before a quadrant torque changeover during circular cutting are unbalanced.
These can cause the motor output torque to be approximately zero and the control accuracy to
drop. In this case, the control accuracy can be improved by using fine torque compensation. Note
that this may cause vibration during motor operation to increase.
SV030 TDCG Voltage non-sensitive
band compensation/
fine torque
compensation Cx
SV040 LMCT Lost motion
compensation
non-sensitive
band/fine torque
compensation Cy
SV045 TRUB Collision detection
function frictional
torque/fine torque
compensation B1
µm
/
Set the fine torque compensation amount Cx in the
high-order 8 bits.
Normally, 0 is set. Set 255 to use this function.
–32768
to
32767
Set the fine torque compensation Cy in the high-order 8
bits. Normally, 0 is set. Set 255 to use this function.
–32768
to
32767
Stall % To use fine torque compensation, set approx. 10 to 30 in
(rated
the high-order 8 bits.
current %)
/
–32768
to
32767
Current command
after compensation
Cy (sv040)
Current (rated %) for Cx, Cy, B1 setting
value 256
B1 (sv045)
Cx
(sv030)
Current command
before compensation
8–13
MF23
RF43
RF73
SF52
22.5%
13.8%
20.1%
24.9%
SF53
SF102
SF103
SF202
24.9%
26.6%
30.1%
24.8%
Chapter 8
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.
<Setting method>
1) Adjust VGN1 to the value where vibration does not occur, and then lower it 10 to 20%.
2) Set the load inertia scale (SV037:JL) with a percentage in respect to the motor inertia of the
total load inertia.
3) Set the observer filter band (observer pole) in the disturbance observer 1 (SV043:OBS1), and
estimate the high frequency disturbance to suppress the vibration. Set 600 as a standard.
4) Set the observer gain in disturbance observer 2 (SV044:OBS2). The disturbance observer will
function here for the first time. Set 100 first, and if vibration does not occur, increase the
setting by 50 at a time to increase the observer effect.
5) If vibration occurs, lower OBS1 by 50 at a time. The vibration can be eliminated by lowering
OBS2, but the effect of the disturbance observer can be maintained by keeping OBS2 set to a
high value.
<Adjustment method>
If the load inertia is not clearly known, estimate it with the following method.
1) With the unbalance axis, set the torque offset (SV032:TOF). (Refer to "8-3-4 (2) Unbalance
torque compensation")
2) Set JL = 100, OBS1 = 600, and OBS2 = 0, and carry out a return operation within the range
where the axis can operate smoothly. At this time, set the acceleration/deceleration time
constant so the acceleration/deceleration torque equals or exceeds (is 100% or higher than)
the stall (rated) torque.
3) Observe the estimated disturbance torque using the D/A output, and increase JL until the
disturbance torque during acceleration/deceleration becomes small (cannot be observed).
Even when the torque offset is set and JL is an appropriate value, the friction torque amount
remains in the estimated disturbance torque of axes having a large amount of friction. As
shown in the graphs below, judge the setting value for JL having only the friction torque
remaining as the machine load inertia magnification.
Speed
command
0
0
Estimated
disturbance 0
torque
0
Friction torque
Time
JL : Too low
No.
Abbrev.
SV037
JL
SV043
OBS1
Disturbance
observer 1
SV044
OBS2
Disturbance
observer 2
Parameter name
Load inertia scale
POINT
0
Unit
%
Time
JL : Optimum
0
Time
JL : Too high
Explanation
Set the load inertia that includes the motor in respect to the
motor inertia. (When the motor is a single unit, set 100%)
Jl + Jm
Jm : Motor inertia
JL =
Jm
Jl : Machine inertia
rad/sec Set the observer filter band (observer pole).
Set 600 as a standard, and lower the setting by 50 at a time if
vibration occurs.
Set the observer gain.
%
Set 100 to 300 as a standard, and lower the setting if
vibration occurs.
Setting range
0 to 5000
0 to 1000
0 to 1000
1. When the observer gain is set to zero (OBS2 = 0), the estimated
disturbance torque can be output to the D/A output even if the disturbance
observer is not functioning.
2. Parts of the machine that do not move smoothly can be presumed to be the
disturbance.
3. When the disturbance observer has been started, the lost motion
compensation must be readjusted.
8–14
Chapter 8
8-3-4
Adjustment
Improvement of protrusion at quadrant changeover
The response delay (caused by non-sensitive band from friction, torsion, expansion/contraction,
backlash, etc.) caused when the machine advance direction reverses is compensated with the lost
motion compensation function.
With this, the protrusions that occur with the quadrant changeover in the DDB measurement method,
or the streaks that occur when the quadrant changes during circular cutting can be improved.
Compensation
Cutting
direction
Circle cutting path before compensation
Circle cutting path after compensation
(1) Lost motion compensation (LMC)
The lost motion compensation compensates the response delay during the reversal by adding the
torque command set with the parameters when the speed direction changes. There are two
methods for lost motion compensation. With the intelligent servomotor, type 2 is used as a standard.
(The explanation for type 1 method is omitted because it is interchangeable with the old method.)
<Setting method>
1) Set the special servo function selection 1 (SSF1) bit 9. (The LMC type 2 will start).
2) Set the compensation amount with a stall % (rated current % for the general-purpose motor) unit
in the lost motion compensation 1 (LMC1). The LMC1 setting value will be used for compensation
in the positive and negative directions when LMC2 is 0.
3) If the compensation amount is to be changed in the direction to be compensated, set LMC2. The
compensation direction setting will be as shown below with the CW/CCW setting. If only one
direction is to be compensated, set the side not to be compensated as –1.
+Y
Compensation
point
CW
CCW
A
X axis: LMC2
X axis: LMC1
B
Y axis: LMC1
Y axis: LMC2
C
X axis: LMC1
X axis: LMC2
D
Y axis: LMC2
Y axis: LMC1
C
No. Abbrev.
Parameter name
SV027 SSF1 Special servo function
selection 1
A
-X
Abbrev.
SV016
LMC1
SV041
LMC2
Parameter
name
Lost motion
compensation
1
Lost motion
compensation
2
The X axis command direction changes from + to –.
+X
The X axis command direction changes from – to +.
-Y
B
The Y axis command direction changes from – to +.
Explanation
The lost motion compensation starts with the following parameter.
15 14 13 12 11 10 9
8
7 6
5
4
3 2
aflt zrn2
No.
The Y axis command direction changes from + to –.
D
ovs2 ovs1 lmc2 lmc1
1
0
vfct2 vfct1
bit
No LMC
LMC type 1
LMC type 2
8 lmc1
0
1
0
Setting
prohibited.
1
9 lmc2
0
0
1
1
Unit
Explanation
Stall % (rated While measuring the quadrant protrusion amount, adjust with
current %)
a 5% unit.
The ± direction setting value will be applied when LMC2 is set
to 0.
Stall % (rated Set 0 as a standard.
current %)
Set this when the compensation amount is to be changed
according to the direction.
8–15
Setting range
–1 to 200
–1 to 200
Chapter 8
Adjustment
<Adjustment method>
First confirm whether the axis to be compensated is an unbalance axis (vertical axis, slant axis). If
it is an unbalance axis, carry out the adjustment after performing step "(2) Unbalance torque
compensation".
Next, measure the frictional torque. Carry out reciprocation operation (approx. F1000) with the
axis to be compensated and measure the load current % when fed at a constant speed on the
CNC servo monitor screen. The frictional torque of the machine at this time is expressed with the
following expression.
(+ feed load current %) – (– feed load current %)
Frictional torque =
2
The standard setting value for the lost motion compensation 1 (LMC1) is double the frictional
torque above.
(Example)
Assume that the load current % was 25% in the + direction and –15% in the –
direction when JOG feed was carried out at approx. F1000. The frictional torque is as
shown below, so 20% × 2 = 40% is set for LMC1. (Compensated in both directions
with LMC2 set to 0.) With this setting, 40% compensation will be carried out when the
command reverses from the + direction to the – direction, and when the command
reverses from the – direction to the + direction.
25 – (–15)
2
= 20%
LMC1 = 20% × 2 = 40%
(Compensated in both directions with LMC2 set to 0.)
For the final adjustment, measure the CNC sampling measurement (DBB measurement) or while
carrying out 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
POINT
Optimum
Too high
1. When either parameter SV016: LMC1 or SV041: LMC2 is set to 0, the same
amount of compensation is carried out in both the positive and negative
direction with the setting value of the other parameter (the parameter not set to
0).
2. To compensate in only one direction, set -1 in the parameter (LMC1 or
LMC2) for the direction in which compensation is prohibited.
3. The value set based on the friction torque is the standard value for LMC
compensation. The optimum compensation value changes with the cutting
conditions (cutting speed, cutting radius, blade type, workpiece material,
etc.). Be sure to ultimately make test cuts matching the target cutting and
determine the compensation amount.
4. When the disturbance observer has been started, the observer
compensation will also be effective on quadrant protrusions, so the optimum
compensation amount of the lost motion compensation will drop. Note that
the quadrant protrusions cannot be completely compensated with only the
disturbance observer.
5. Once LMC compensation type 1 is started, the overshooting compensation
and the adaptive filter cannot be simultaneously started. A parameter error
will occur.
8–16
Chapter 8
Adjustment
(2) Unbalance torque compensation
If the load torque differs in the positive and negative directions such as with a vertical axis or slant
axis, the torque offset (TOF) is set to carry out accurate lost motion compensation.
<Setting method>
Measure the unbalance torque. Carry out reciprocation operation (approx. F1000) with the axis to
be compensated and measure the load current % when fed at a constant speed on the CNC
servo monitor screen. The unbalance torque at this time is expressed with the following
expression.
Unbalance torque =
(+ feed load current %)
–
2
(– feed load current %)
The unbalance torque value above is set for the torque offset (TOF).
If there is a difference in the protrusion amount according to the direction, make an adjustment
with LMC2. Do not adjust with TOF.
(Example)
Assume that the load current % was −40% in the + direction and −20% in the –
direction when JOG feed was carried out at approx. F1000. The unbalance torque is
as shown below, so −30% is set for TOF.
−40 + (−20)
2
No.
Abbrev.
SV032
TOF
Parameter
name
Torque offset
POINT
= −30%
Unit
Explanation
Stall % (rated Set this when carrying out lost motion compensation.
current %)
Set the unbalance torque amount.
Setting range
–100 to 100
Even when TOF is set, the torque output characteristics of the motor and load
current display of the CNC servo monitor will not change. Both the LMC
compensation and collision detection function are affected.
(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.
<Adjustment method>
If a delay occurs in the quadrant protrusion in the circle or arc cutting as shown below in respect
to the cutting direction when CNC sampling measurement (DDB measurement) or actual cutting
is carried out, and the compensation appears before the protrusion position, set the lost motion
compensation timing (SV039:LMCD).
While measuring the arc path, increase LMCD by 10 msec at a time, to find the timing that the
protrusion and compensation position match.
After
compensation
Cutting
direction
Before timing delay compensation
8–17
After timing delay compensation
Chapter 8
No.
Abbrev.
Parameter name
Unit
SV039
LMCD
Lost motion
compensation timing
msec
Adjustment
Explanation
Set this when the lost motion compensation timing does not
match. Adjust while increasing the value by 10 at a time.
Setting range
0 to 2000
When the LMCD is gradually raised, a two-peaked contour may occur at the motor FB position
DBB measurement. However, due to the influence of the cutter diameter in cutting such as end
milling, the actual cutting surface becomes smooth.
Because satisfactory cutting can be achieved even if this two-peaked contour occurs, consider
the point where the protrusion becomes the smallest and finest possible without over
compensating (bite-in) as the optimum setting.
Quadrant changeover point
Cutter diameter
Cutter center path
Actual cutting surface
Cutting direction
Point of LMC compensation execution
(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. As a result, the LMC compensation timing may
deviate, or compensation may be carried out twice.
If feed forward control is carried out and the compensation does not operate correctly, adjust with
the non-sensitive band (SV040: LMCT) during feed forward control. In this non-sensitive band
control, overshooting of a set width or less is ignored. The model position direction change point
is correctly recognized, and the LMC compensation is correctly executed.
This parameter is meaningless when feed forward control is not being carried out.
<Adjustment method>
If the compensation timing deviates during feed forward control, increase the LMCT setting by
1µm at a time.
Note that 2µm are set even when the LMCT is set to 0.
No.
Abbrev.
SV040
LMCT
Parameter name
Unit
Non-sensitive band
during feed forward
control
µm
POINT
Explanation
This setting is valid only during feed forward control.
2 µm is set when this is set to 0. Adjust by increasing the
value by 1 µm at a time.
Setting range
0 to 100
Setting of the non-sensitive band (SV040: LMCT) during feed forward control is
effective for improving overshooting compensation mis-operation during feed
forward control.
8–18
Chapter 8
8-3-5
Adjustment
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).
The phenomenon when the machine position exceeds the command during feed stopping is called
overshooting. Overshooting occurs due to the following two causes.
1. Machine system torsion: Overshooting will occur mainly during rapid traverse settling
2. Machine system friction: Overshooting will occur mainly during one pulse feed
Either phenomenon can be confirmed by measuring the position droop.
Speed
FB
0
Position
command
0
Position
0
droop
Position
0
droop
Overshoot
Overshoot
Time
1. Overshooting during rapid traverse settling
Time
2. Overshooting during pulse feed
(1) Overshooting compensation (OVS compensation)
In OVS compensation, the overshooting is suppressed by subtracting the torque command set in
the parameters when the motor stops.
OVS compensation has a compensation effect for the overshooting during either rapid traverse
settling or pulse feed. Note that there is no compensation if the next feed command has been
issued before the motor positioning (stop). (Therefore, there is no compensation during circle
cutting.) There is also no compensation when the CNC is carrying out feed forward control.
<Setting and adjustment methods>
1) Set the special servo function selection 1 (SV027:SSF1) bit 10. (OVS compensation will start.)
2) Observe the position droop waveform using the D/A output, and increase the overshoot
compensation 1 (SV031: OVS1) value 1% at a time. Set the smallest value where the
overshooting does not occur. If SV042:OVS2 is 0, the overshooting will be compensated in
both the forward/reverse directions with the OVS1 setting value.
3) If the compensation amount is to be changed in the direction to be compensated, set the +
direction compensation value in OVS1 and the – direction compensation value in OVS2. If only
one direction is to be compensated, set the side not to be compensated as –1. The
compensation direction setting will be as reversed with the CNC parameter CW/CCW setting.
POINT
In OVS compensation, there is no compensation in the following cases.
1. There is no compensation if the next feed command has been issued before
the motor positioning (stop). (There is no compensation in circle cutting.)
2. There is no compensation when the CNC is carrying out feed forward (fwd)
control.
8–19
Chapter 8
No. Abbrev.
Parameter name
SV027 SSF1 Special servo function
selection 1
Adjustment
Explanation
The overshooting compensation starts with the following parameter.
15 14 13 12 11 10
9
8
7 6
5
4
3
2
aft zrn2
bit
ovs1 lmc2 lmc1
Meaning when "0" is set.
Overshooting compensation
10 ovs1
type 1 stop
No.
Abbrev.
SV031
OVS1
SV042
OVS2
0
Meaning when "1" is set.
Overshooting compensation type
1 start
Parameter
Unit
Explanation
name
Overshooting
Stall % (rated Increase the value by 1% at a time, and find the value where
compensation 1 current %)
overshooting does not occur. When OVS2 is set to 0, the
setting value will be applied in both the ± directions.
Overshooting
Stall % (rated Set 0 as a standard.
compensation 2 current %)
Set this when the compensation amount is to be changed
according to the direction.
POINT
1
vfct2 vfct1
Setting range
–1 to 100
–1 to 100
1. When either parameter SV031: OVS1 or SV042: OVS2 is set to 0, the same
amount of compensation is carried out in both the positive and negative
direction, using the setting value of the other parameter (the parameter not
set to 0).
2. To compensate in only one direction, set -1 in the parameter (OVS1 or
OVS2) for the direction in which compensation is prohibited.
3. For contour cutting, the projection at the arc end point is compensated with
OVS compensation. LMC compensation is carried out at the arc starting
point.
OVS compensation
LMC compensation
Cutting direction
8–20
Chapter 8
8-3-6
Adjustment
Improvement of characteristics during acceleration/deceleration
(1) SHG control (option function)
Because SHG control has a smoother response than conventional position controls, the
acceleration/deceleration torque (current FB) has more ideal output characteristics (A constant
torque is output during acceleration/deceleration.) The peak torque is kept low by the same
acceleration/deceleration time constant, enabling the time constant to be shortened.
Refer to item "(3) SHG control" in section "8-2-3 Position loop gain" for details on setting SHG
control.
3000
Speed command
(r/min.)
0
Time
-3000
200
Current FB
(stall %)
0
Time
-200
Acceleration/deceleration characteristics during conventional control
3000
Speed command
(r/min.)
0
Time
-3000
200
Current FB
(stall %)
0
Time
-200
Acceleration/deceleration characteristics during SHG control
No.
Abbrev.
Parameter name
Setting
ratio
SV003
(SV049)
PGN1
(PGN1sp)
Position loop gain 1
1
SV004
(SV050)
SV057
(SV058)
PGN2
Position loop gain 2
(PGN2sp)
SHGC
SHG control gain
(SHGCsp)
Speed loop leading
VIA
compensation
SV008
SV015
FFC
Acceleration feed
forward gain
Setting example
23
26
33
38
Explanation
47
8/3
62
70
86
102
125
6
140
160
187
225
281
Setting range
1 to 200
Always set a
combination of 3
parameters.
0 to 999
0 to 999
Set 1900 as a standard value during SHG control.
1 to 9999
Set 100 as a standard value during SHG control.
0 to 999
8–21
Chapter 8
Adjustment
(2) Acceleration feed forward
Vibration may occur at 10 to 20 Hz during acceleration/deceleration when a short time constant of
30 msec 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 feed forward gain
(SV015:FFC). This is also effective in reducing the peak current (torque).
While measuring the current command waveform, increase FFC by 50 to 100 at a time and set
the value where vibration does not occur.
Current
command
(Stall %)
200
200
100
100
0
0
0
20
40
60
80
0
100
20
40
60
80
Time(msec)
Time(msec)
No FFC setting
With FFC setting
100
Acceleration feed forward gain means that the speed loop gain during acceleration/deceleration is
raised equivalently. Thus, the torque (current command) required during acceleration/deceleration
starts sooner. The synchronization precision will improve if the FFC of the delayed side axis is
raised between axes for which high-precision synchronous control (such as synchronous tap
control and superimposition control).
No.
Abbrev.
SV015
FFC
Parameter name
Acceleration feed
forward gain
Unit
%
Explanation
Motor
MF23
RF43/73
SF52/53/
102/103
SF202
A
10
10
50
50
10
10
100
100
Standard value
for SHG control
POINT
Setting range
The standard setting value is 0. To improve the
acceleration/deceleration characteristics, increase the value
by approx. A given below. During SHG control, use the
standard setting values given below.
1 to 999
Overshooting occurs easily when a value above the standard value is set
during SHG control.
8–22
Chapter 8
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.
<Adjustment method>
1) Set 1 in "mon" of the special servo function selection 3 (SV034: SSF3) bit 0, and output the
current command and current FB to the servo monitor.
2) 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.
3000
Speed
command
(r/min)
0
Time
No inductive voltage
compensation
-3000
200
Current
command
(stall %)
0
-200
Time
With inductive
voltage
compensation
Inductive voltage compensation
To adjust the inductive voltage compensation, output 1 second of the maximum current command
value and 1 second of the maximum current FB value to MAX current 1 and MAX current 2 on the
CNC servo monitor screen and observe.
Change over and display "mon" of the special servo function selection 3 (SV034: SSF3).
No. Abbrev.
Parameter name
SV034 SSF3 Special servo function
selection 3
Explanation
The display data for the maximum current value on the servo monitor is
determined with the following parameter.
15
14
13
12
11
10
9
8
7
6
daf1
bit
0
No.
Abbrev.
SV047
EC
Parameter name
Inductive voltage
compensation gain
POINT
Unit
%
mon
Monitor
Meaning when 0 is set
5
4
3
2
1
dac1
0
mon
Meaning when 1 is set
Maximum current
MAX
command value after
current 1
power is turned ON
Maximum current
command value for one
second
Maximum current
MAX
com-mand value for one
current 2
second
Maximum current FB value
for one second
Explanation
Set 100% as a standard. Lower the gain if the current FB peak
exceeds the current command peak.
Setting range
0 to 200
If the current FB peak is larger than the current command peak,
overcompensation or overcurrent (alarm 3A) could occur easily. Note that
when using with a large load inertia, or when using over the rated rotation
speed with a motor set to rated rotation speed < maximum rotation speed,
overcompensation could occur easily.
8–23
Chapter 8
8-4
Adjustment
Setting for emergency stop
The emergency stop referred to here indicates the following states.
1) When the external emergency stop was input (including other axis alarms)
2) When the CNC power down was detected
3) When a servo alarm was detected
8-4-1
Deceleration control
This intelligent servomotor servo amplifier decelerates the motor according to the set time constant in
the ready ON state even when an emergency stop occurs, and activates the dynamic brakes after
stopping and turning ready OFF. This series of controls is called deceleration control. In the intelligent
servomotor, deceleration control is the standard method of stopping during an emergency stop.
<Features>
1) When the load inertia is large, deceleration and stop are possible with a short time constant
using the dynamic brakes. (Stopping is possible with a basically normal acceleration/
deceleration time constant.)
2) When used in a transfer line, etc., stopping with little shock is possible by setting a long time
constant.
(1) Setting the deceleration control time constant
The time to stopping from the rapid traverse rate (rapid: axis specification parameter) is set in the
deceleration control time constant (SV056: EMGt). A position loop step stop is carried out when 0
is set.
When linear (straight line) acceleration/deceleration is selected for the rapid traverse, the same
value as the acceleration/deceleration time constant (G0tL) becomes the standard value. When
another acceleration/deceleration pattern is selected, set the rapid traverse to linear
acceleration/deceleration. Adjust to the optimum acceleration/deceleration time constant, and set
that value as the standard value.
<Operation>
When an emergency stop occurs, the motor will decelerate at the same inclination from each
speed, and will change to the dynamic brakes at 60 r/min or less. If the power fails, etc., the
dynamic brakes will be applied during the deceleration control. When the motor brakes are
controlled with amplifier output while using an unbalanced axis, the motor brake control output
operates simultaneously with the changeover to the dynamic brakes.
Emergency stop occurrence
RAPID
Constant inclination deceleration
Motor speed
Dynamic brakes activate at 60 r/min or less
Time
Dynamic brakes
EMGt
OFF
ON
Motor brake control output (MBR) OFF
ON
No.
Abbrev.
Parameter name
Unit
SV056
EMGt
Deceleration control
time constant
msec
POINT
Explanation
Set the time to stop from rapid traverse rate (rapid).
Set the same value as the rapid traverse
acceleration/deceleration time constant (G0tL) as a standard.
Setting range
0 to 5000
1. The deceleration will not be controlled when a servo alarm that uses the
dynamic brake stopping method occurs. Stopping is by the dynamic brake
method regardless of the parameter setting.
2. When a power failure occurs, the stopping method may change over to a
dynamic brake stop during deceleration control if the deceleration time
constant is set comparatively long. This is because of low bus voltage in the
amplifier.
8–24
Chapter 8
CAUTION
Adjustment
If the deceleration control time constant (EMGt) is set longer than the
acceleration/deceleration time constant, the overtravel point (stroke end point)
may be exceeded.
A collision may be caused on the machine end, so be careful.
(2) Dynamic brake stop
When an emergency stop occurs, it is possible to have the machine stop from the beginning
using a dynamic brake without controlling the deceleration. Set bit 0 in the servo specifications
(SV017: SPEC) to select a dynamic brake stop.
In a dynamic brake stop, the dynamic brakes operate at the same time the emergency stop
occurs, and the motor brake output also operates at the same time.
Emergency stop occurrence
Motor speed
Time
Dynamic brakes
OFF
ON
Motor brake control output (MBR)
OFF
ON
No. Abbrev.
Parameter name
SV017 SPEC Servo specifications
Explanation
Set the dynamic brake stop with the following parameter.
15
14
13
12
11
10
9
8
7
abs
POINT
CAUTION
6
5
vdir
4
3
2
1
mc
0
dmk
bit
Meaning when "0" is set.
Meaning when "1" is set.
0 dmk
Deceleration control stop
Dynamic brake stop
If a dynamic brake stop is selected, the software does not participate at all in
the motor stop control after an emergency stop occurs.
When a dynamic brake stop is selected, in general the coasting distance during
an emergency stop will be comparatively longer, so be careful.
(3) Deceleration control stop distance
If stopping with deceleration control during an emergency stop, the stop distance LDEC can be
approximately calculated with the following expression. However, the value will be higher than the
following expression if the current is limited during deceleration. Refer to section "3-3-2 Coasting
amount" for the stop distance using dynamic brakes.
LDEC =
F
+
PGN1 × 60
F
rapid
PGN1
EMGt
:
:
:
:
1
2
×
F
60
×
F × EMGt
rapid × 1000
Feedrate during emergency stopped
Rapid traverse rate
Position loop gain 1
Deceleration control time constant
8–25
(mm)
(SV003)
(SV056)
(mm/min)
(mm/min)
(rad/sec)
(msec)
Chapter 8
8-4-2
Adjustment
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 servo ready OFF will be
delayed by the time set in the parameter from when the emergency stop occurs. Thus, the no-control
time until the brakes activate can be eliminated.
<Setting and adjustment methods>
Set the time to delay the ready OFF in the vertical axis drop prevention time (SV048:EMGrt).
Read the current position on the CNC screen, and apply the emergency stop. Set the minimum
delay time where the axis does not drop.
Emergency stop occurrence
Deceleration control
Motor speed
Time
Dynamic brakes
OFF
ON
Motor brake control output (MBR)
OFF
ON
Motor brake actual operation
OFF
ON
Servo ready (READY)
ON
OFF
Brake activation delay
EMGrt
No.
Abbrev.
SV048
EMGrt
Parameter name
Vertical axis drop
prevention time
POINT
CAUTION
Unit
msec
Explanation
Input the time to delay the ready OFF when an emergency
stop occurs.
Increase the setting by 100 msec at a time and set the
minimum value where the axis does not drop.
Setting range
0 to 2000
1. This control will not function if the dynamic brake stop is selected with the
servo specifications (SV017: SPEC).
2. This control will not function if an alarm for which the dynamic brakes are
set as the stopping method occurs in an axis where vertical axis drop
prevention control is being carried out.
3. A drop amount of several µm to 10µm will remain due to the brake play.
1. Do not set a vertical axis drop prevention time longer than required. The
servo control and brakes could collide causing an overload alarm or
amplifier damage. There is no problem if the duplicate time is within
100msec.
2. During a power failure, vertical axis drop prevention control (including
deceleration control) exceeding 100msec cannot be guaranteed. The
control will change to the dynamic brakes.
8–26
Chapter 8
8-5
Adjustment
Collision detection
The purpose of the collision detection function is to quickly detect a collision and decelerate to a stop.
This suppresses the excessive torque generated to the machine tool, and suppresses the occurrence
of an abnormality. Impact during a collision cannot be prevented even when the collision detection
function is used, so this function does not guarantee that the machine will not break and does not
guarantee the machine accuracy after a collision. Thus, the conventional caution is required to prevent
machine collisions from occurring.
(1) Collision detection method 1
The required torque is calculated from the position
Collision
command issued from the NC. The disturbance
detec-tion level Detection
setting
alarm
torque is calculated from the difference with the
parameter
actual torque. When this disturbance torque exceeds
the collision detection level set with the parameters, For rapid traverse
SV060
Alarm 58
the axis will decelerate to a stop with at 80% of the (for G0 feed)
cutting feed
SV060×clG1
Alarm 59
motor's maximum torque. After decelerating to a stop, For
(for G1 feed)
(SV035)
the alarm 58 or 59 will occur, and the system will
stop.
The collision detection level for rapid traverse (G0) is set with TLMT: SVC060. The collision
detection level for cutting feed (G1) is set to 0 to 7-fold (SV053.clG1) based on the collision
detection level for rapid traverse. If 0 is set for clG1, the collision detection method 1 will not
function during cutting feed. If 0 is set for TLMT: SV060, all collision detections (method 1 and
method 2) will not function.
3000
Speed
command
(r/min)
0
-3000
Collision detection method
1 detection range
(Alarm 58/59)
200
Frictional torque
(SV045)
100
Estimated torque
(stall %)
0
-100
G0 collision
detection level
(SV060)
-200
G0 collision
detection level
(SV060×clG1)
G0 feed (rapid traverse)
Unbalance torque
(SV032)
G1 feed (cutting feed)
Alarm detection range for collision detection method 1
(2) Collision detection method 2
When the current command reaches the motor's maximum current, the axis will decelerate to a
stop with at 80% of the motor's maximum torque. After decelerating to a stop, the alarm 5A will
occur, and the system will stop. If the acceleration/deceleration time constant is short and
incorrect detections are made easily during normal operation, increase the
acceleration/deceleration time constant and adjust so that the current during acceleration is not
saturated (so that the maximum current is not reached).
If the acceleration/deceleration time constant cannot be increased, set parameter SV035.bit11:
SSF4.cl2n to 1 to ignore the collision detection method 2.
CAUTION
The collision detection function does not guarantee safety or machine accuracy
during a collision. Thus, the conventional caution is required to prevent
machine collisions from occurring.
8–27
Chapter 8
Adjustment
<Setting and adjustment methods>
1. Validate the extended function. (Set sv035: SSF4, bit7 (eram) to 1.)
2. Confirm that SHG control is being used. The collision detection function is valid only during
SHG control.
3. Measure the unbalance torque, and set in the torque offset (SV03: TOF). Refer to the section
"8-3-4 (2) Unbalance torque compensation" for details on measuring the unbalance torque.
4. Measure the frictional torque, and set in the frictional torque (SV045: TRUB). Refer to the
section "8-3-4-(1) Lost motion compensation" for details on measuring the frictional torque.
5. Set the estimated torque gain (SV059: TCNV) with the following method.
Set sv035: SSF5, bit 15 (clt) for the axis to be adjusted to 1.
Repeatedly move the axis to be adjusted in both directions at the maximum rapid traverse rate.
Observe the MPOF display value on the NC unit's [I/F Diagnosis/Servo Monitor] screen, and
continue operation until the display value stabilizes.
Once the display value stabilizes, set that value as the estimated torque gain (SV059: TCNV).
6. If the acceleration/deceleration time is short and the current is easily saturated, set
SV035.bit15(cl2n) to 1, and ignore the collision detection method 2.
7. Set the collision detection level.
Feed
Detection level setting
G0
SV060
G1
SV060×clG1 (SV035)
POINT
Explanation
First set SV060: TLEV = 100, and carry out no-load operation at the
maximum rapid traverse feed rate. If an alarm does not occur, lower the
setting by 10, and if an alarm occurs, raise the setting by 20. Set a value
that is 1.5 times the limit value where the alarm does not occur.
If SV034.mon is set to 7, the maximum disturbance torque will appear on
the NC servo monitor, so adjust using this value as a reference.
The detection level for G1 is set as an integer-fold of the G0 detection
level. Calculate the maximum cutting load, and adjust the SV035.clG1
setting value so that the detection level is larger than the maximum cutting
load.
1. The SHG control must be validated to use the collision detection function or
to carry out load inertia measurement operation.
2. When measuring the estimated torque gain, if the unbalance torque
(SV032) and frictional torque (SV045) setting values are changed, the
measurement results will change. The unbalance torque and frictional
torque must be set as accurately as possible to carry out accurate
measurement.
3. Set the detection level with an allowance to avoid incorrect detections.
4. When SV060 is set to 0, all collision detection functions will be invalidated.
8–28
Chapter 8
No. Abbrev.
Parameter name
SV035 SSF4 Special servo function
selection 4
Adjustment
Explanation
The following parameters are used for the collision detection.
15 14 13 12 11 10 9
8
7
6
5
4
3
clt
clG1
bit
cl2n clet
2
1
0
eram
Meaning when "0" is set.
Meaning when "1" is set.
7 eram Extended function invalid
Extended function invalid
10 clet During normal use
The latest two-second estimated
disturbance torque peak value
(3.5ms average value) is
displayed at MPOF on the Servo
Monitor screen.
11 cl2n
Collision detection method 2
valid
Collision detection method 2
invalid
Set the collision detection level for collision detection method 1,
12
cutting (G1) feed.
to clG1 The G1 collision detection level is SV060 × clG1.
14
When clG1 is set to 0, the collision detection method 1 will not
function during cutting feed.
15
SV032
TOF
SV045
clt During normal use
The value to be set in TCNV is
calculated and displayed at
MPOF on the Servo Monitor
screen.
Torque offset
Stall % (rated
current %)
Set the unbalance torque amount.
TRUB
Frictional torque
Stall % (rated
current %)
Set the frictional torque for using the collision
detection function.
0 to 100
SV059
TCNV
Torque estimated gain (load
inertia rate)
Set the torque estimated gain for using the
collision detection function.
If acceleration/deceleration operation is carried
out with SV035.clt set to 1 and SV060 set to 0,
the estimated torque gain will be displayed on the
NC Monitor screen.
0 to 5000
SV060
TLMT
G0 collision detection level
Set the collision detection level of method 1 G0
feed when using the collision detection function.
When 0 is set, all collision detection functions will
not function.
0 to 200
Stall % (rated
current %)
8–29
–100 to 100
Chapter 8
8-6
Adjustment
Parameter list
No.
Abbrev.
Parameter name
SV001
PC1
Motor side gear ratio
PC2
Machine side gear
ratio
SV002
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.
SV003
PGN1
Position loop gain 1
rad/sec
SV004
PGN2
Position loop gain 2
rad/sec
SV005
VGN1
Speed loop gain
SV006
SV007
Speed loop leading
compensation
SV008
VIA
SV009
IQA
SV010
IDA
SV011
SV012
IQG
IDG
q axis leading
compensation
d axis leading
compensation
q axis gain
d axis gain
SV013
ILMT
Current limit value
Current limit value
SV014 ILMTsp during special
operation
SV015
FFC
SV016
LMC1
Acceleration feed
forward gain
Lost motion
compensation 1
Set the position loop gain. Set 33 as a standard.
When using SHG control, also set PGN2 and SHGC.
Set 0 as a standard.
When using SHG control, also set PGN1 and SHGC.
Set this according to the motor inertia size.
If motor resonance occurs, lower the value by 20 to 30% at a
time.
The setting value should be 70 to 80% of the value where
resonance does not occur.
Set "0".
Set "0".
Set 1364 as a standard. During SHG control, set 1900 as a
standard.
Raise this value to improve contour tracking precision in
high-speed cutting. Lower this value when the position droop
vibrates.
Adjust by 100 at a time.
This setting is determined by the motor's electrical
characteristics.
Set the standard parameters for all parameters. (These are used
for maker adjustments.)
Stall %
(rated
current %)
Stall %
(rated
current %)
Setting
range
1 to 32767
1 to 32767
1 to 200
0 to 999
1 to 999
0
0
1 to 9999
1 to 20480
1 to 20480
1 to 2560
1 to 2560
Set the standard parameter value. The maximum torque is
determined by the motor specifications.
0 to 500
Set the standard parameter value.
Set the limit torque mainly for the stopper.
0 to 500
The standard setting value is 0. For SGH control, set 100.
To improve the acceleration/deceleration characteristics,
increase the value by 50 to 100 at a time.
The protrusion amount during quadrant changeover is
Stall %
suppressed. Adjust in 5% units.
(rated
When LMC2 is set to 0, the setting value will apply in both the ±
current %)
directions.
%
1 to 999
–1 to 200
bit
0
SV017
SPEC
SV018
PIT
SV019
RNG1
SV020
RNG2
SV001
Servo specifications
Ball screw pitch
Position detector
resolution
Speed detector
resolution
Meaning when "0" is set
Meaning when "1" is set
Deceleration controlo stop selection
dmk
Dynamic brake stop selection
(SVJ2 standard)
1
2
3
4
5
6
7
abs Incremental control
Absolute position control
8
9
10
11
12 mtc
13
Motor table selection according to model
Set 0100 for the intelligent servomotor HS Series.
14
15
Set "0" in bits with no particular description.
Set the ball screw pitch. Set 360 for the rotary axis.
mm
1 to 32767
Refer to the CNC Instruction Manual for the inch ball screw.
kp/rev
kp/rev
Set the motor detector resolution for both settings.
Refer to the Standard parameter list per motor for the settings.
is a parameter validated when the NC power is turned ON again.
8–30
8 to 100
8 to 100
Chapter 8
No.
Abbrev.
SV021
OLT
Overload time
constant
SV022
OLL
Overload detection
level
SV023
OD1
SV024
INP
SV025
SV026
Parameter name
Unit
Setting
range
Explanation
sec
Set 60 as a standard. (For maker adjustment)
Stall %
(rated
Set 150 as a standard. (For maker adjustment)
current %)
When 0 is set, the excessive error alarm during servo ON will
not be detected.
Excessive error
<Standard setting value>
detection width during
mm
servo ON
Rapid traverse rate (mm/min)
OD1 = OD2 =
÷ 2 (mm)
60 × PGN1
In-position detection
width
Set 50 as a standard.
Set the precision required by the machine.
Set the motor type.
Refer to the Standard parameter list per motor for the settings.
When 0 is set, the excessive error alarm during servo OFF will
not be detected.
Refer to the SV023 (OD1) column for the standard setting
values.
µm
MTYP Motor type
OD2
Adjustment
Excessive error
detection width during
servo OFF
mm
bit
Meaning when "0" is set
1 to 300
50 to 500
0 to 32767
0 to 32767
HEX setting
0 to 32767
Meaning when "1" is set
0
1
2
3
4
5
6
vfct1
Set the jitter compensation No. of compensation pulses with a binary.
vfct2
Collision detection invalid during
deceleration to stop
cln
Collision detection valid at all times
7
SV027
Special servo function
SSF1
selection 1
8
9
Lost motion compensation type 1
stop
Lost motion compensation type 2
lmc2
stop
lmc1
10 ovs1
Lost motion compensation type 1
start
Lost motion compensation type 2
start
Overshooting compensation type 1 Overshooting compensation type 1
stop
start
11
12
13
14
Set "1".
15
Set "0" in bits with no particular description.
SV028
Set "0".
0
SV029
Set "0".
Set the voltage non-sensitive band compensation amount in
the low-order 8 bits.
Normally set to 0. Set 20 to use this function.
0
Voltage non-sensitive
band compensation/
SV030 TDCG
fine torque
compensation Cx
Set the fine torque compensation amount Cx in the high-order
8 bits.
Normally set to 0. Set 255 to use this function.
The following will result if 20 is set as the voltage non-sensitive
compensation amount, and 255 is set as the fine torque
amount.
255 × 256 +20 =65300 65300 – 65536 = –236
SV031
OVS1
SV032
TOP
SV001
Overshooting
compensation 1
Torque offset
0
The overshooting is suppressed. Set with a 1% unit.
Stall %
(rated
When OVS2 is set to 0, the setting value will be applied in both –1 to 100
current %) the ± directions.
Set the unbalance torque for using the lost motion
Stall %
compensation and collision detection functions.
(rated
–100 to 100
Refer to section "8-3-4(2) Unbalance torque compensation" for
current %)
details on measuring the unbalance torque.
is a parameter validated when the CNC power is turned ON again.
8–31
Chapter 8
No.
Abbrev.
Adjustment
Parameter name
Setting
range
Explanation
bit
0
1
2
3
nfd
Meaning when "0" is set
Meaning when "1" is set
Set the filter depth for the notch filter (SV038: FHz).
The control is stabilized by making the filter shallower.
Setting value 0
2
4
6
8
A
C
Depth (dB)
∞
−18.1 −12.0 −8.5 −6.0 −4.1 −2.5
E
−1.2
4
5
6
SV033
SSF2
Special servo
function selection 2
7
8
9
10
11
12
13
14
15
Set "0" in bits with no particular description.
CNC servo monitor MAX current display data changeover
bit
0
Meaning when "0" is set
Meaning when "1" is set
mon Current command monitor value
Current FB monitor value
dac1 D/A output ch.1 overflow setting
D/A output ch.1 clamp setting
daf1 D/A output ch.1 no filter
D/A output ch.1 filter setting
1
2
3
4
5
6
SV034
SSF3
Special servo
function selection 3
7
8
9
10
11
12
13
14
15
Set "0" in bits with no particular description.
8–32
Chapter 8
No.
Abbrev.
Adjustment
Parameter name
Setting
range
Explanation
bit
Meaning when "0" is set
Meaning when "1" is set
0
1
2
3
4
5
6
7
eram Extended function invalid
Extended function invalid
8
9
SV035
SSF4
Special servo
function selection 4
10
clet During normal use
The latest two-second estimated
disturbance torque peak value
(3.5ms average value) is displayed
at MPOF on the Servo Monitor
screen.
11
cl2n Collision detection method 2 valid
Collision detection method 2 invalid
12
13
Set the collision detection level for collision detection method 1, cutting
(G1) feed.
clG1 The G1 collision detection level is SV060 × clG1.
When clG1 is set to 0, the collision detection method 1 will not function
during cutting feed.
14
15
clt
The value to be set in TCNV is
calculated and displayed at MPOF
on the Servo Monitor screen.
During normal use
Set "0" in bits with no particular description.
SV036
PTYP
SV037
JL
SV038
FHz
SV039
LMCD
Regenerative
resistor type
Load inertia scale
Machine resonance
suppression filter
frequency
Lost motion
compensation timing
Set the regenerative resistor type.
Always set 1000.
%
Hz
msec
SV040
LMCT
Lost motion
compensation
non-sensitive
band/fine torque
compensation Cy
SV041
LMC2
Lost motion
compensation 2
SV042
OVS2
Overshooting
compensation 2
SV043
OBS1
Disturbance
observer 1
rad/sec
SV044
OBS2
Disturbance
observer 2
%
SV001
µm
Stall %
(rated
current %)
Stall %
(rated
current %)
1000
Set the load inertia that includes the motor in respect to the
motor inertia. (When the motor is a single unit, set 100%)
JL =
Jl + Jm
Jm
Jm: Motor inertia
Jl : Machine inertia
Set the resonance frequency to be suppressed. (Valid at 100 or
more).
Set 0 when the filter is not to be used.
Set this when the lost motion compensation timing does not
match. Adjust while increasing the value by 10 at a time.
The lost motion compensation non-sensitive band can be set
only during feed forward control. Set in the low-order 8 bits.
The setting range is 0 to 100. When 0 is set, 2µm will be set.
Adjust the value in increments of 1µm.
Set the fine torque compensation Cy in the high-order 8 bits.
Normally, set 0. Set 255 to use this function.
The following will result when 5 is set as the lost motion
compensation non-sensitive band, and 255 is set as the fine
torque compensation Cy.
255 × 265 + 5 = 65285 65285 – 65536 = –251
Set 0 as a standard. Set this when the lost motion
compensation amount is to be changed according to the
direction.
Set 0 as a standard. Set this when the overshooting
compensation amount is to be changed according to the
direction.
Set the observer filter band (observer pole).
Set 600 as a standard, and lower the setting by 50 at a time if
vibration occurs.
Set the observer gain
Set 100 to 300 as a standard, and lower the setting if vibration
occurs.
is a parameter validated when the CNC power is turned ON again.
8–33
0 to 5000
0 to 3000
0 to 2000
–32768 to
32767
–1 to 100
–1 to 100
0 to 1000
0 to 1000
Chapter 8
No.
Abbrev.
Parameter name
TRUB
Collision detection
function frictional
torque/fine torque
compensation
SV047
EC
Inductive voltage
compensation gain
SV048
EMGrt
SV045
Unit
Position loop gain 1
SV049 PGN1sp during spindle
synchronization
Position loop gain 2
SV050 PGN2sp during spindle
synchronization
SV051
SV052
Excessive error
detection width
SV053
OD3
during special
operation
SV054
SV055
Deceleration control
time constant
SV056
EMGt
SV057
SHGC SHG control gain
Stall %
(Rated
To use fine torque compensation, set approx. 10 to 30 in the
current %) high-order 8 bits.
The following will result when 30 is set as the frictional torque,
and 20 is set as the fine torque compensation.
30 + 20 × 256 = 5150
%
msec
SV064
SV001
D/A output channel 1
output scale
Set "0".
Set 70% as a standard. Lower the gain if the current FB peak
exceeds the current command peak.
Input the time to delay the ready OFF when an emergency stop
occurs.
Increase the setting by 100 msec at a time and set the value
where the axis does not drop.
Setting
range
–32768 to
32767
0
0 to 200
0 to 2000
rad/sec
Set 15 as a standard. Set the same value as the position loop
gain for the spindle synchronous control.
1 to 200
rad/sec
Set 0 as a standard. Set the same value as the position loop
gain for the spindle synchronous control.
0 to 999
mm
msec
rad/sec
SHG control gain
SV058 SHGCsp during spindle
rad/sec
synchronization
Collision detection
function
SV059 TCNV
%
Estimated torque
gain
Collision detection
Stall %
function
SV060 TLMT
(Rated
G0 collision
current %)
detection level
D/A output channel 1
SV061 DA1NO
data No.
SV062
SV063 DA1MPY
Explanation
Set 0 as the standard.
To use the collision detection function, set the frictional torque
as a percentage of the stall rated current in the low-order 8 bits.
(0 to 100)
SV046
Vertical axis drop
prevention type
Adjustment
1/256
Set "0".
Set "0".
0
0
Set 0 as a standard.
0
Set "0".
Set "0".
Set the time to stop from rapid traverse rate (rapid).
Set the same value as the rapid traverse
acceleration/deceleration time constant.
Set 0 as a standard.
When using SHG control, also set PGN1 and SHG2. (For SHG
control)
0
0
0 to 5000
Set 0 as a standard. Set the same value as the position loop
gain for spindle synchronous control. (For SHG control)
0 to 999
Set this to use the collision detection function. After setting
Sv035:SSF4/clt to 1 and carrying out acceleration/deceleration,
set the value that appears at MPOF on the Servo Monitor
screen.
0 to 5000
When using the collision detection function, set the collision
detection level for method 1 Go feed.
When 0 is set, all collision detection function will not activate.
0 to 200
The data No. to be output to each D/A output channel is output.
0 to 102
Set 0.
When “0” is set, the output will be made with the standard
output unit.
To change the output unit, set a value other than 0.
The scale is set with a 1/256 unit. When 256 is set, the unit will
be the same as the standard output unit.
0
Set 0.
0 to 999
–32768
to 32767
0
is a parameter validated when the CNC power is turned ON again.
8–34
Chapter 9
9-1
9-2
9-3
Inspections
Inspections...................................................................................................
Life parts.......................................................................................................
Replacing the unit........................................................................................
9-3-1 HS-MF23** type ...................................................................................
9-2
9-2
9-3
9-3
9-3-2 HS-FR43/73, HS-SF52/53/102/103 type.............................................. 9-3
9-3-3 HS-SF202 type .................................................................................... 9-4
9–1
Chapter 9
9-1
Inspections
DANGER
1. Wait at least 10 minutes after turning the power OFF and check that the
input/output and voltage are zero with a tester, etc., before starting wiring or
inspections. Failure to observe this could lead to electric shocks.
2. Only qualified persons must carry out the inspections. Failure to observe
this could lead to electric shocks. Contact your dealer for repairs or part
replacements.
CAUTION
3. Do not perform a megger test (insulation resistance measurement) on the
servo amplifier. Failure to observe this could lead to faults.
4. Never disassemble or modify the unit.
Inspections
Periodically inspecting the following points is recommended.
(1) Are any screws on the terminal block loose? Tighten if loose.
(2) Is the connector loose?
(3) Is there any abnormal noise from the servomotor bearings or the brakes?
(4) Are any of the cables damaged or cracked? If the cable moves with the machine, carry out a
periodic inspection according to the usage conditions.
(5) Is the axis at the load coupling section misaligned?
9-2
Life parts
The guidelines for the part replacement interval are as shown below. These will differ according to the
usage methods and environmental conditions, of if an abnormality is found, the part must be replaced.
Part name
Battery unit
MDS-A-BT-2
MDS-A-BT-4
MDS-A-BT-6
MDS-A-BT-8
Servomotor
Bearings
Oil seal
Standard replacement time
Remarks
The standard replacement time is
Seven years
a reference time. If an abnormality
is found before the standard
replacement time is reached, the
part must be replaced.
20,000 to 30,000 hours
5,000 hours
(1) Servomotor bearings
: When used at the rated speed and rated load, replace the bearings
after about 20,000 to 30,000 hours. This will differ according to the
operation state, but if abnormal noise or vibration is found during the
inspection, the bearings must be replaced.
(2) Servomotor oil seal, V-ring : These parts must be replaced after about 5,000 hours of operation at
the rated speed. This will differ according to the operation state, but
these parts must be replaced if oil leaks, etc., are found during the
inspection.
9–2
Chapter 9
9-3
9-3-1
Inspections
Replacing the unit
HS-MF23** type
With the HS-MF2** type, the amplifier/encoder section and motor section cannot be separated. The
motor and amplifier must be replaced together.
9-3-2
HS-FR43/73, HS-SF52/53/102/103 type
With the HS-FR43/73, HS-SF52/53/102/103 types, the amplifier and encoder section can be
separated from the motor section. The procedures for replacing the amplifier and encoder section are
shown below.
(1) Removing the amplifier and encoder
unit.
1) Wait at least 10 minutes after turning
the power OFF, and then remove the
connector.
2) Remove the four hexagon socket
bolts installing the amplifier and
encoder unit.
3) Pull the amplifier and encoder unit
out from the back.
4) Disconnect the connector connecting
the motor and amplifier. If brakes are
provided, also disconnect the brake
connector.
(2) Installing the amplifier and encoder
unit
5) Replace the O-ring. (If the motor has
been used, the O-ring may be
expanded because of oil, etc. Thus,
always replace the O-ring when
replacing the amplifier.)
6) The motor leads are curled when
delivered. If they are uncurled, curl
them again.
7) Connect the connector connecting
the motor and amplifier. If brakes are
provided, also connect the brake
connector.
8) Align the Oldham's coupling on the
encoder side with the hub on the
motor side.
9) Assemble the motor with the
amplifier and encoder unit while
taking care to not catch the leads.
10) Fix with four hexagon socket bolts.
9–3
Chapter 9
9-3-3
Inspections
HS-SF202 type
With the HS-SF202 type, the amplifier section, encoder section and motor can be separated. The
procedures for replacing the amplifier section and encoder section are shown below.
(1) Removing the amplifier unit
1) Wait at least 10 minutes after turning
the power OFF, and then remove the
connector.
2) Remove the four hexagon socket bolts
installing the amplifier and encoder unit.
3) Pull the amplifier unit out from the back.
4) Disconnect the connector connecting
the encoder and amplifier.
5) Disconnect the connector connecting
the motor and amplifier.
Encoder lead
(2) Removing the encoder
Motor lead
6) Remove the four pan-head screws, and
remove the encoder.
Encoder connector
(3) Installing the encoder.
7) Align the Oldham's coupling on the
encoder side with the hub on the motor
side.
8) Install the encoder onto the motor, and
tighten the four screws. Set the encoder
installation angle as shown in the upper
right photograph.
Motor connector
(4) Installing the amplifier unit.
9) Replace the O-ring. (If the motor has
been used, the O-ring may be
expanded because of oil, etc. Thus,
always replace the O-ring when
replacing the amplifier.)
10) The motor leads are curled when
delivered. If they are uncurled, curl
them again.
11) Connect the connector between the
encoder and amplifier.
12) Connect the connector between the
motor and amplifier.
13) Assemble the motor and amplifier unit
so that the motor lead wraps half way
around the encoder periphery and the
encoder lead fits in at a position
opposite the motor lead. (Refer to lower
right photograph.) Take special care to
prevent the wires from catching.
14) Fix with the four hexagon socket bolts.
9–4
Motor lead
Encoder lead
Chapter 10
Troubleshooting
10-1 Points of caution and confirmation..........................................................
10-2 Troubleshooting at start up ......................................................................
10-3 Protective functions list ............................................................................
10-3-1 Alarm .................................................................................................
10-3-2 Warnings list ......................................................................................
10-3-3 Alarm and warning deceleration method and reset method ...............
10–1
10-2
10-2
10-3
10-3
10-7
10-8
Chapter 10
10-1
Troubleshooting
Points of caution and confirmation
A servo warning or servo alarm occurs if there is an abnormal state in the servo system or if an error
occurs. When a servo 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.
<Points of confirmation>
1. What is the alarm code display?
2. Can the error or trouble be repeated? (Check alarm history)
3. Is the motor and servo amplifier temperature and ambient temperature normal?
4. Are the servo driver, control unit and motor grounded?
5. Was the unit accelerating, decelerating or running at a set speed? What was the speed?
6. Is there any difference during forward and backward run?
7. Was there a momentary power failure?
8. Did the trouble occur during a specific operation or command?
9. At what frequency does the trouble occur?
10. Is a load applied or removed?
11. Has the amplifier unit been replaced, parts replaced or emergency measures taken?
12. How many years has the unit been operating?
13. Is the power voltage normal? Does the state change greatly according to the time band?
CAUTION
10-2
1. This servo amplifier uses a large capacity electrolytic capacitor. When the
CHARGE lamp on the front of the driver is lit, there is still a voltage in the
unit. Take care to prevent electric shocks and short circuits. (The voltage
will remain for several minutes after the power is turned OFF.)
2. The conductivity in the amplifier cannot be checked due to the structure.
3. Do not carry out a megger test as the amplifier could be damaged.
Troubleshooting at start up
If the CNC system does not start up correctly and a system error occurs when the CNC power is
turned ON, the servo amplifier may not have been started up correctly.
Cause of occurrence
The amplifier axis No. setting is incorrect.
Investigation method
Remedy
Is there another amplifier (servo/spindle)
Set correctly.
set to the same axis No.? Check the rotary
switch setting.
Is the connection to the I/F unit correct?
Connect correctly.
Is the I/F unit DIP switch OFF (D/A output
state for adjustment)?
Turn ON.
The CNC setting is incorrect.
Is the No. of CNC controlled axes correct? Set correctly.
Communication with CNC is incorrect.
Is the I/F unit connector disconnected?
Connect correctly.
Is the cable broken?
Check the conductivity with a tester.
Replace the cable.
The I/F unit does not operate
Is the I/F unit power being supplied?
Connect correctly.
I/F unit trouble
Check the repeatability.
Replace the I/F unit
NC trouble
Check the repeatability.
Replace the NC
The amplifier does not operate
Is the 200VAC power being supplied
correctly?
Connect correctly.
Amplifier fault
Check the repeatability.
Replace the amplifier.
10–2
Chapter 10
10-3
10-3-1
Troubleshooting
Protective functions list
Alarm
When an alarm occurs, the motor will stop by the deceleration control or dynamic brakes. At the same
time, the alarm No. will appear on the CNC monitor screen. Check the alarm No., and remove the
cause of the alarm by following this list.
No.
Name
10 Undervoltage
Details
Cause of occurrence
The PN bus wire Contactor operation,
voltage is 200 V or conductivity defect
less.
Investigation method
Check the contactor operation, check the
conductivity.
Check the output from the amplifier.
• Is connector (CN3) disconnected?
• Is the cable broken?
Check the contactor drive relay operation,
and for conductivity defects.
Check the input voltage.
• Is a single-phase 200 V or 100 V input?
• Is there an open phase?
Check the power capacity.
Power supply wire
breakage of
undervoltage
13 Software
Software operation
processing error sequence error or
operation timing
error
17 A/D converter
The A/D converter
error
conversion value
is incorrect.
CPU peripheral circuit
error
Check the repeatability.
Check the grounding state and ambient
temperature.
CPU peripheral circuit
error
18 Detector, initial
communication
error
Detector peripheral
circuit fault
Check the repeatability.
Check the grounding state and ambient
temperature.
Check the repeatability.
22 LSI error
24 Ground fault
Initial
communication
with the detector
was not possible.
2B Detector, CPU
error
Detector internal
circuit error
Battery voltage drop
Check the battery voltage with a test.
(Occurs at 3 V or less)
Check the conductivity with a tester.
Battery line in
communication cable is
broken.
The cable was
After alarm 18 occurred, correctly connect
disconnected when the the cable and turn the power ON again.
power was turned OFF.
Detector fault
Check the repeatability.
Check the ambient environment.
2C Detector, LED
error
2D Detector, data
error
The LED in the
detector has
deteriorated.
Detector fault (life)
Detector position
data error
Detector fault
Connect correctly.
Replace the cable.
Replace the relay.
Input 3-phase 200 V.
Review the power
supply.
Replace the amplifier.
Improve the ambient
environment.
Replace the amplifier.
Improve the ambient
environment.
Replace the detector
(amplifier).
Check the grounding state and ambient
Improve the ambient
temperature.
environment.
Remove the amplifier section, and check Reconnect. (Refer to
the connector (CN2) connection.
section 9-3-3 for the
method.)
The connection
between the detector
and amplifier is
disconnected. (SF202)
LSI operation error LSI operation error
Check the repeatability.
Check the grounding state and ambient
temperature.
A motor cable
Motor drive cable
Check whether the motor cable is caught.
ground fault was
ground fault
Check the motor insulation.
detected.
Motor fault
(Detected only at Amplifier fault
instant of ready
Motor fault
ON.)
25 Absolute
The absolute
position data lost position in the
detector was lost.
Remedy
Replace the
contactor.
Check the repeatability.
Check the ambient environment.
Check the repeatability.
Check the ambient environment.
10–3
Replace the amplifier.
Improve the ambient
environment.
Replace the motor.
Replace the amplifier.
Replace the motor.
Replace the battery
Replace the cable.
Turn the power ON
again.
Replace the detector
(amplifier).
Review the ambient
environment.
Replace the detector
(amplifier).
Review the ambient
environment.
Replace the detector
(amplifier).
Review the ambient
environment.
Chapter 10
No.
Name
Details
Troubleshooting
Cause of occurrence
2F Detector,
communication
error
Communication
Detector peripheral
with the detector
circuit fault
was cut off or there
was an error in the
received data.
The connection
between the detector
and amplifier is
disconnected. (SF202)
30 Over-regenerati Overheating of the The regeneration
on
regenerative
frequency is too high.
resistor was
detected.
The power voltage is
high. (253V or more)
31 Overspeed
The motor speed
exceeded the
tolerable value.
The axis specification
parameter (rapid)
setting is incorrect.
The servo parameter
setting is incorrect.
The speed is
overshooting.
33 Overvoltage
The power module
overcurrent
protection function
activated.
The PN bus wire
voltage exceeded
400 V.
34 CNC
There was an error
communication, in the
CRC error
communication
data from the
CNC.
Check the grounding state and ambient
temperature.
Remove the amplifier section, and check
the connector (CN2) connection.
Improve the ambient
environment.
Reconnect. (Refer to
section 9-3-3 for the
method.)
Check the regeneration capacity.
Lower the
regeneration
frequency.
Review the power
supply.
Occurs at ready OFF.
Check the power voltage with a tester.
Check the machine specifications.
Set correctly.
Amplifier fault
Motor fault
Replace the amplifier.
Replace the motor.
The power voltage is
high. (280V or more)
Occurs at ready ON.
Check the power voltage with a tester.
Review the power
supply.
Broken wire in the
regenerative resistor.
The regeneration
Check the load inertia.
capacity is large for the Refer to section 11-4-1.
HS-MF23.
The communication
cable is broken.
Check the conductivity with a tester.
The communication
cable connection is
incorrect.
Are the communication pair cables
connected in reverse?
The communication
cable shield is
disconnected or
dislocated.
Check the continuity.
Open the cable connector section, and
visually check.
The terminator is faulty. Is the terminator dislocated?
Replace the terminator.
Battery unit fault
Is the battery unit dislocated?
Try replacing the battery unit.
The grounding is
incomplete.
Noise
35 CNC
The movement
communication, command data
data error
sent from the CNC
was excessive.
Remedy
Replace the detector
(amplifier).
Check SV001 (PC1), SV002 (PC2),
SV018 (PIT), SV025 (MTYP).
Is the speed loop gain too low?
Is the current limit value too low?
Does the alarm occur when the power is
turned ON?
Change with another axis and check the
repeatability.
Replace the amplifier with one for another
axis, and check the repeatability.
Detector fault
32 Power module
overcurrent
Investigation method
Check the repeatability.
Amplifier fault
I/F unit fault
CNC unit fault
Not within amplifier
specifications.
Check the grounding state.
Check the ambient environment.
Change the connection with that for
another amplifier and find the cause.
Is this a sub-micron system?
Is the axis a rotary axis?
10–4
Set correctly.
Adjust the gain.
Adjust the limit value.
Replace the detector
(amplifier).
Replace the amplifier.
Lower the speed.
Change to another
amplifier or motor
series.
Replace the cable.
Remedy correctly.
Check the
connection.
Replace the
connector.
Check the
connection.
Replace the battery
unit.
Correctly ground.
Improve the noise
source.
Clamp the shield.
Replace the amplifier.
Replace the I/F unit.
Replace the CNC unit.
Consult with
Mitsubishi.
Chapter 10
No.
Name
36 CNC
communication,
transmission
error
Troubleshooting
Cause of occurrence
The communication
cable is disconnected.
The communication
cable is broken.
37 Initial parameter The servo
The parameter is not
error
parameter setting within the setting
is incorrect.
range.
Check the error
The HEX setting
parameter No. If
parameter setting is
there are several incorrect.
error parameters,
The electronic gears'
the most recent
constant is
No. is output.
overflowing.
The SHG control
option setting is not
provided.
There was an error The communication
38 CNC
communication, in the
cable is broken.
protocol error 1 communication
The communication
data from the
cable connection is
CNC.
incorrect.
The grounding is
incomplete.
Amplifier fault
CNC unit fault
There was an error The communication
39 CNC
communication, in the
cable is broken.
protocol error 2 communication
The communication
data from the
cable connection is
CNC.
incorrect.
The grounding is
incomplete.
Amplifier fault.
CNC unit fault.
3A Overcurrent
The motor drive
The speed loop gain
current is
(VGN1) is excessive.
excessive.
3C Regenerative
circuit error
46 Motor overheat
4F Instantaneous
stop
50 Overload 1
Details
The
communication
from the CNC was
cut off.
The current loop gain
setting is incorrect.
Amplifier and detector
fault
An error was
Regenerative resistor
detected in the
error
regenerative
The regenerative
transistor or
transistor is damaged
resistor.
by a short circuit.
Overheating of the The ambient
motor was
temperature is high.
detected.
The motor load is
large.
Investigation method
Check the connector (CN1A, CN1B).
(Including the other axes)
Check the conductivity with a tester.
Remedy
Set correctly.
Replace the cable.
Check the setting range of the parameter Set correctly.
having the error NO.
SV025: A non-entered motor type was
selected.
SV027: lmc 1 and 2 were set.
The error No. is 101 (2301).
Check parameters SV001, SV002 and
SV018.
The error No. is 104 (2304).
Check parameters SV057 and SV058.
Set correctly.
Check the conductivity with a tester.
Replace the cable.
If the settings are OK,
consult with
Mitsubishi.
Set correctly.
Are the communication pair cables
connected in reverse?
Check the grounding state.
Correctly ground.
Change the connection with that for
another amplifier and find the cause.
Replace the amplifier.
Replace the CNC unit.
Replace the cable
Check the conductivity with a tester.
Are the communication pair cables
connected in reverse?
Check the grounding state.
Correctly ground.
Change the connection with that for
another amplifier and find the cause.
Replace the amplifier.
Replace the CNC unit.
Is VGN1 higher than the standard value in Lower VGN1.
respect to the load inertia?
Is vibration occurring?
Check the current loop gain.
Set the standard
value.
Check the repeatability.
Replace the amplifier
and the detector.
Check the repeatability
Replace the amplifier.
Check the ambient temperature.
Has the overload alarm (50) cut off the
amplifier power and caused a forced
reset?
Is the load too large?
The power was cut The power supply
Is the connector or connection
off for 50 msec or connection is poor.
disconnected?
more.
The power supply state Is the weather OK? (Has lightning
is poor.
occurred?)
When using overseas, there are cases
when the power supply is poor.
An excessive load The motor capacity is Review the motor capacity selection.
was applied for
insufficient.
longer than the set The brakes cannot be Check the brake operation.
time.
released.
• Check the brake relay.
An excessive force is Check the load current on the CNC servo
being applied from the monitor and find the machine load.
machine.
Is the ball screw bent?
Is there interference with the positioning
pin?
The parameter setting Are SV021 and SV022 set to the standard
is incorrect.
values?
10–5
Improve the ambient
environment.
Review the operation
pattern.
Connect correctly.
Review the power
supply.
Change the motor or
amplifier capacity.
Repair the faulty
section.
Replace the faulty
section in the
machine.
Do not use
positioning pins.
Set the standard
values.
Chapter 10
No.
Name
51 Overload 2
Details
Troubleshooting
Cause of occurrence
Visually check whether there was a
collision with the machine.
Is there interference with the positioning
pin?
Amplifier detector fault. Check the repeatability.
52 Excessive error The actual motor
1
position and model
position difference
was excessive at
servo ON.
The speed loop gain
(VGN1) is small.
The motor load is too
large.
The excessive error
detection width is too
small.
The input voltage is
low.
Detector and amplifier
fault
53 Excessive error The actual motor The excessive error
2
position and model detection width is too
position difference small.
was excessive at The CNC has stopped
servo OFF.
the follow up function.
54 Excessive error At servo ON, the Refer to AL52.
3
difference of the
actual motor
position and the
model position
was excessive.
58 Collision
detection 1: G0
59 Collision
detection 1: G2
5A Collision
detection 2
88 Watch dog
Investigation method
An excessive load The machine was
was applied for
collided with.
longer than the set
time.
The collision
detection function
activated during
rapid traverse.
The collision
detection function
activated during
cutting feed.
Is the motor speed fluctuating?
Is the acceleration/deceleration time
constant too short?
The current limit value is too low and a
sufficient torque is not output.
The motor brakes cannot be released?
Check the SV023 (SV053) setting value.
Is the input voltage 170V or less, or near
170V?
Is the input voltage unstable?
Change with another axis and check the
repeatability.
Check the VS026 setting value.
Adjust the
parameters.
Repair the brake
circuit.
Adjust the
parameters.
Check the power
supply.
Increase the
acceleration/decelera
tion time constant.
Replace the detector
and the amplifier.
Adjust the parameter.
Check the CNC parameters.
The machine collided. Is there any collision or interference at the Remove the cause of
machine end?
the collision.
The machine load is
heavy.
Check the relation of the parameters and
machine load.
sv032: Torque offset
sv045: Frictional torque
sv059: Estimated torque gain
The collision detection Is the value set in consideration of the
level is small.
machine and motor variation? sv060
Refer to section AL58.
The cutting load is
heavy.
Reset the
parameters, or
correct the abnormal
machine state.
Adjust the parameter.
Check whether cutting is being carried out Repair the abnormal
correctly, and whether the byte is chipped. section.
The cutting load is
Raise the collision detection level for
heavy.
cutting feed. sv035.
The current
The machine collided. Is there any collision or interference at the
command reached
machine end?
the maximum
The machine load is
Is there any abnormal section in the
capacity of the
heavy.
machine?
driver.
The acceleration/
Check the acceleration/deceleration
deceleration time
torque. If there is no allowance to the
constant is short.
acceleration/deceleration torque in
respect to the motor torque:
1. Lengthen the acceleration/deceleration
time constant.
2. Set sv035:cl2n to 1.
The amplifier
system did not
operate correctly.
Remedy
Check the cause of
the collision.
Do not use
positioning pins.
Replace the amplifier
detector.
Adjust the gain.
Adjust the parameter.
Remove the cause of
the collision.
Repair the abnormal
section.
Adjust the parameter.
Amplifier fault
Check the repeatability.
Replace the amplifier.
The grounding is
incomplete.
Check the grounding state.
Ground correctly.
10–6
Chapter 10
10-3-2
Troubleshooting
Warnings list
When a warning occurs, a warning No. will appear on the CNC monitor screen and with the LEDs on
the front of the amplifier. Check the warning No., and remove the cause of the warning by following
this list.
No.
Name
Details
93 Initial absolute
The position data
value fluctuation fluctuated when
creating the initial
absolute position.
Cause of occurrence
Investigation method
The vertical axis or slant axis Check the state of the axis
dropped when the CNC power when the CNC power was
was turned ON.
turned ON.
Remedy
Repair the fault
section.
The axis moved due to an
external force when the CNC
power was turned ON.
9E Detector,
multi-rotation
counter error
There was an error in Detector fault
the data of the
multi-rotation counter
in the detector.
Check the repeatability.
Replace the
detector (amplifier).
9F Battery voltage
drop
The battery voltage
dropped.
Battery life
The battery life is approx. 5
years. (This will change
according to the usage state.)
Replace the battery.
The battery connector (in the
amplifier) is disconnected.
Open the panel at the top of the Connect correctly.
amplifier and check.
The battery line in the detector Check the conductivity with a
cable is broken.
tester.
Replace the cable.
E0 Over-regeneratio The regeneration level Refer to the over-regeneration (30) column.
n warning
reached 80% or more.
E1 Overload
warning
The load level
Refer to the overload (50) column.
reached 80% or more.
E3 Absolute
A deviation was
There is an error in the
position counter detected in the
detector's multi-rotation data
warning
absolute position data
and relative position
data
Check the movement of the
Replace the
multi-rotation data (Rn) from the detector (amplifier).
CNC monitor screen.
E4 Parameter error A parameter
The parameter setting range is Check the parameter setting
warning
exceeding the setting not within the range.
conditions.
range was set.
E7 CNC emergency Emergency stop was
stop
input from the NC
(Status display)
E9 Instantaneous
stop warning
Set correctly.
The CNC emergency stop has The CNC emergency stop has been input correctly.
been input.
An alarm is occurring with
another axis.
Has an alarm occurred with
another axis?
The terminator or battery unit
connector is disconnected.
Check the connection of the
Set correctly.
CNC communication line cable
(CN1A, CN1B).
The power was cut off Refer to the instantaneous stop (4F) column.
for 25 msec or more
but 50 msec or less.
10–7
Reset the alarm in
the other axis to
cancel this warning.
Chapter 10
10-3-3
No.
Troubleshooting
Alarm and warning deceleration method and reset method
Name
10 Undervoltage
Deceleration method
Deceleration control
Reset method
PR
13 Software processing error Dynamic
PR
17 A/D converter error
Dynamic
PR
18
Initial error
PR
Dynamic
AR
24 Ground fault
Dynamic
PR
Detector, initial
communication error
22 LSI error
Absolute position data
lost
2B Detector, CPU error
Initial error
AR
Initial error
AR
2C Detector, LED error
Deceleration control
PR
2D Detector, data error
Dynamic
PR
Detector, communication
Dynamic
error
PR
25
2F
30 Over-regeneration
Deceleration control
PR
31 Overspeed
Deceleration control
PR
Dynamic
PR
Dynamic
PR
Deceleration control
PR
Deceleration control
PR
Deceleration control
PR
Initial error
PR
Deceleration control
PR
Deceleration control
PR
Power module
32
overcurrent
33 Overvoltage
34
35
36
37
CNC communication,
CRC error
CNC communication,
data error
CNC communication,
transmission error
Initial parameter error
CNC communication,
38
protocol error 1
CNC communication,
39
protocol error 2
3A Overcurrent
Dynamic
PR
3C Regeneration circuit error Dynamic
AR
46 Motor overheat
Deceleration control
NR
4F Instantaneous stop
Deceleration control
NR
50 Overload 1
Deceleration control
NR
51 Overload 2
Dynamic
NR
52 Excessive error 1
Deceleration control
NR
53 Excessive error 2
Dynamic
NR
54 Excessive error 3
Dynamic
NR
Deceleration control
NR
Deceleration control
NR
Deceleration control
NR
Dynamic
AR
58
59
5A
88
Collision detection
method 1, G0
Collision detection
method 1, G1
Collision detection
method 2
Watch dog
10–8
Explanation
When the power is cut off, the dynamic brakes may be
switched to.
PR reset is not possible when the regeneration level is
50% or more.
Do not reset (AR) forcibly by turning off the amplifier.
If AR is carried out at 50% or more, 80% will be set the
next time the power is turned ON.
NR and PR reset cannot be carried out when the motor
is overheated.
NR and PR reset is not possible when the load level is
50% or more. Do not reset (AR) forcibly by turning off the
amplifier. If AR is carried out at 50% or more, 80% will be
set the next time the power is turned ON.
A step stop is carried out in deceleration control. The
deceleration control time constant is meaningless. (C1
and subsequent versions. The dynamic method is fixed
in the C0 version.)
After the collision is detected, the machine will
decelerate to a stop at 80% of the motor's maximum
torque.
Chapter 10
No.
Name
Deceleration method
Initial absolute position
93
fluctuation
Detector, multi-rotation
9E
counter error
Reset method
Explanation
PR
∗
∗
9F Battery voltage drop
The motor will not stop.
Over-regeneration
E0
warning
Troubleshooting
∗
E1 Overload warning
∗
Absolute position counter
E3
warning
∗
∗
E4 Parameter error warning
E7 CNC emergency stop
Deceleration control
Instantaneous stop
E9
warning
The motor will not stop.
∗
NR
When the instantaneous warning occur, use NR reset.
The state will also be reset automatically after 5 minutes.
• Deceleration method
Deceleration control : The motor will be decelerated and controlled with the time constant set in the parameter
(EMGt).
If dynamic brake stop is selected with the parameter (SPEC), the motor will stop with the
dynamic brakes.
: The motor will stop with the dynamic brakes.
Dynamic
• Reset method
∗
NR
PR
AR
: The unit will be automatically reset when the state in which the warning occurred is canceled.
: Reset with the CNC reset button. Resetting is also possible with the PR, AR resetting conditions.
: Reset by turning the CNC power ON again. Resetting is also possible with the AR resetting
conditions.
: Reset by turning the servo amplifier power ON again.
10–9
Chapter 11
Selection
11-1 Outline ...................................................................................................... 11-2
11-1-1 Servomotor ...................................................................................... 11-2
11-1-2 Regeneration methods..................................................................... 11-3
11-2 Selection of servomotor series .............................................................. 11-4
11-2-1 Motor series characteristics ............................................................. 11-4
11-2-2 Servomotor precision ....................................................................... 11-4
11-3 Selection of servomotor capacity...........................................................
11-3-1 Load inertia ratio ..............................................................................
11-3-2 Short time characteristics.................................................................
11-3-3 Continuous characteristics ...............................................................
11-6
11-6
11-6
11-7
11-4 Selection of regenerative resistor ..........................................................
11-4-1 Limits for HS-MF23 ..........................................................................
11-4-2 Approximate calculation of positioning frequency ............................
11-4-3 Calculation of regenerative energy ..................................................
11-4-4 Calculation of positioning frequency ................................................
11-9
11-9
11-9
11-9
11-11
11-5 Motor shaft conversion load torque....................................................... 11-12
11-6 Expressions for load inertia calculation ................................................ 11-13
11–1
Chapter 11
11-1
11-1-1
Selection
Outline
Servomotor
There are limits to the lineup of the intelligent servomotor. As the regenerative resistor is fixed to the
built-in type, the repeated positioning frequency is limited.
If the servomotor does not comply with the following items, use the MDS-B-V1/V2/SVJ2 servo drive
unit and HA/HC Series servomotor.
(1) Motor inertia
The servomotor series is mainly categorized according to the motor inertia size. The features in
Table 11-1 are provided according to the motor inertia size.
Table 11-1
Motor model
Motor type
Inertia
Acceleration/deceleration
Installation
Disturbance
characteristics
Speed fluctuation
Suitability
Motor inertia
Medium inertia motor
HS-SF
The flange size is large.
The inertia is comparatively large.
The acceleration/deceleration time
constant does not change much
even for a low inertia load.
The effect of the motor inertia is
large.
The motor size in respect to the
output capacity is large, and the
installation space is large.
The effect of disturbance is small.
Low inertia motor
HS-RF, HS-MF
The flange size is small.
The inertia is small.
Acceleration/deceleration is
possible with a short time constant
in respect to low inertia loads.
The effect of the motor inertia is
small.
The motor size in respect to the
output capacity is small, and the
installation space is smaller.
The effect of disturbance is large.
The effect of the torque ripple is
small, and speed fluctuation does
not occur easily.
Suitable for high precision
interpolation control
The effect of the torque ripple is
large, and speed fluctuation occurs
easily.
Suitable for high speed positioning
Select a medium inertia motor when interpolation precision is required, or for machines having a
large load inertia. Select a low inertia motor when a shorter positioning time is required by
machines having a small amount of inertia. Normally use the HS-SF motor for the machine tool
feed axis. Consult with Mitsubishi when using a low-inertia motor for the feed axis.
The servomotor has an optimum load inertia scale. If the load inertia exceeds the optimum range,
the control becomes unstable and the servo parameters become difficult to adjust. When the load
inertia is too large, decelerate with the gears (The motor axis conversion load inertia is
proportional to the square of the deceleration ratio.), or change to a motor with a large inertia.
(2) Rated speed
Even with motors having the same capacity, the rated speed will differ according to the motor.
The motor's rated output is designed to be generated at the rated speed, and the output P (W) is
expressed with expression (11-1). Thus, even when the motors have the same capacity, the rated
torque will differ according to the rated speed.
P = 2π
N τ (W)
60
..................................................
(11-1)
N : Motor speed (r/min)
T : Output torque (N⋅m)
In other words, even with motors having the same capacities, the one with the lower rated speed will
generate a larger torque. When actually mounted on the machine, if the positioning distance is short
and the motor cannot reach the maximum speed, the motor with the lower rated speed will have a
shorter positioning time. When selecting the motor, consider the axis stroke and usage methods, and
select the motor with the optimum rated speed.
11–2
Chapter 11
11-1-2
Selection
Regeneration methods
When the servomotor decelerates, rotating load inertia or the operation energy of the moving object is
returned to the servo amplifier through the servomotor as electrical power. This is called
"regeneration". The three general methods of processing regeneration energy are shown below.
Table 11-2
Servo amplifier regeneration methods
Regeneration method
Explanation
1. Condenser regeneration
method
This is a regeneration method for small-capacity amplifiers. The
regeneration energy is charged to the condenser in the amplifier,
and this energy is used during the next acceleration.
The regeneration capacity decreases as the power supply voltage
becomes higher.
2. Resistance regeneration
method
If the condenser voltage rises too high when regenerating with the
condenser only, the regenerative electrical power is consumed
using the resistance. If the regeneration energy is small, it will only
be charged to the condenser. Because regeneration energy
becomes heat due to resistance, heat radiation must be considered.
In large capacity servo amplifiers the regenerative resistance
becomes large and this is not practical.
3. Power supply
regeneration method
This is a method to return the regeneration energy to the power
supply. The regeneration energy does not become heat as in
regenerative resistance. (Heat is generated due to regeneration
efficiency problems.)
The circuit becomes complicated, but in large capacity servo
amplifiers having large regeneration capacity this method is more
advantageous than resistance regeneration.
The intelligent servomotor uses the capacity regeneration method and resistor regeneration method.
The motors other than the HS-F23 are provided with the regenerative resistor. With the normal
amplifier, if the regenerative capacity increases, the optional regenerative resistor is connected
outside of the amplifier. However, with the intelligent servomotor, the optional regenerative resistor
cannot be connected.
If the regeneration frequency exceeds the specifications, consider using the MDS-B-SVJ2, or the
power regeneration type MDS-B-V1/V2 + MDS-B-CV Series.
POINT
The HS-MF23EX uses capacitor regeneration. The regenerative resistor is not
provided.
11–3
Chapter 11
11-2
Selection
Selection of servomotor series
11-2-1
Motor series characteristics
The servomotor series is categorized according to purpose, motor inertia size, and detector resolution.
Select the motor series that matches the purpose of the machine to be installed.
Table 11-3
Motor
series
Motor series characteristics
Capacity
(rated speed)
Detector
resolution
Characteristics
HS-SF
0.5 to 2.0kW
(2000r/min)
0.5 to 1.0kW
(3000r/min)
100000p/rev
This is a motor for NC unit machine tool feed axes. It has smooth
torque characteristics and is compatible to high resolution
detectors.
HS-RF
0.4kW and
0.75kW
(3000r/min)
100000p/rev
This is a low-inertia motor. It is compactly designed with a high
output, and is suitable for light load high-speed drive such as for
a loader.
8000p/rev
This is a motor for ultra-low inertia machine tool peripheral axes.
It is suitable for ultra-high speed positioning of light loads such as
high speed arms and machine end sections. A molded structure
using high heat conducting resin is utilized to realize a high
output motor with a compact design. The motor characteristics
can be realized even further and the positioning time shortened
by making the load inertia ratio smaller.
This motor can also be used with the servo amplifier MR-J2-CT
for miscellaneous axes.
HS-MF
11-2-2
0.2kW
(3000r/min)
Servomotor precision
The control precision of the servomotor is determined by the detector resolution, motor characteristics
and parameter adjustment. This section examines the following four types of servomotor control
precision when the servo parameters are adjusted. When selecting a servo, confirm that these types
of precision satisfy the machine specifications before determining the servomotor series.
(1) Theoretic precision: ∆ε
This value is determined by the motor detector precision, and is the value obtained by dividing the
movement amount (∆S) per motor rotation by the detector resolution (RNG).
(2) Positioning precision : ∆εp
This is the precision outline that affects the machine targeted for positioning, and expresses the
machine's positioning precision.
When the motor is a single unit, this is determined by the detector resolution and matches with
the theoretic precision ∆εp. When the motor is actually installed on a machine, the positioning
precision ∆εp becomes 1 to 2 times the theoretic precision ∆ε. This is due to the effect on the
motor control by the machine rigidity, etc. Furthermore, the value to which the error from the
motor shaft to the machine end is added becomes the actual machine end positioning precision.
For machines requiring accurate positioning precision at the machine end, use the MDS-B-V1/V2
Series servo amplifier capable of scale feedback input.
(3) Surface precision during machining : ∆εv
This is the precision outline that affects the machine tools, etc., which are important factors in the
machine operation path and interpolation functions. It also affects the surface roughness of the
machining surface. The machining surface roughness is affected by elements caused by the
motor's electrical characteristics (torque ripple, etc.) and mechanical characteristics (cogging
torque, etc.). In the NC unit feed axis motor, those torque characteristics are excellent, and higher
precision machining is possible than that of other motors. Because the effects of torque ripple and
cogging torque are relatively smaller in motors with large amounts of inertia, the motor with the
larger inertia of two identical capacity motors will be more advantageous for surface precision.
Due to the effects of differences in characteristics of the motor itself, the surface precision during
machining will differ greatly according to the motor series.
11–4
Chapter 11
Selection
(4) Absolute position repeatability : ∆εa
This is the precision outline that affects the absolute position system machine, and expresses the
repeatability of the position before the power was shut off and the position when the power is
turned on again.
With the single motor unit, the precision is 1 to 2 times the theoretic precision ∆ε. Note that the
absolute position repeatability ∆εa is the difference from when the power was turned off last and
returned on. This error is not cumulated.
Table 11-4 shows the approximate precision at the motor end of each motor series. Obtain the
precision at the motor end during actual machining by adding the machine precision to the value in the
table.
Table 11-4
Motor series
Control
resolution RNG
(pulse/rev)
HS-SF
100000
HS-RF
100000
HS-MF
8000
(Note)
Precision by motor series
Theoretic
precision
Positioning
precision
∆ε
∆εp
∆S
RNG
Surface precision
∆εv
Absolute position
repeatability
∆εa
10∆ε to 20∆ε
∆ε to 2∆ε
10∆ε to 20∆ε
∆ε to 2∆ε
30∆ε to 40∆ε
The expressions in the table indicate the approximate accuracy at the motor end. The accuracy at the machine end
during actual machining is obtained by adding this to the machine accuracy.
11–5
Chapter 11
11-3
Selection
Selection of servomotor capacity
The following three elements are used to determine the servomotor capacity.
1. Load inertia ratio
2. Short time characteristics (acceleration/deceleration torque)
3. Continuous characteristics (continuous effective load torque)
Carry out appropriate measures, such as increasing the motor capacity, if any of the above conditions
is not fulfilled.
11-3-1
Load inertia ratio
Each servomotor has an appropriate load inertia ratio (load inertia/motor inertia). The control becomes
unstable when the load inertia ratio is too large, and parameter adjustment becomes difficult. It
becomes difficult to improve the surface precision in the feed axis, and the positioning time cannot be
shortened in the position axis because the settling time is longer.
If the load inertia ratio exceeds the recommended value in the servomotor list of specifications,
increase the motor capacity or change to a motor series with a large inertia. Note that the
recommended value for the load inertia ratio is strictly one guideline. This does not mean that
controlling a load with inertia exceeding the recommended value is impossible.
POINT
11-3-2
When selecting feed axis servomotors for NC unit machine tools, place
importance on the surface precision during machining. To do this, always
select a servomotor with a load inertia ratio within the recommended value.
Select the lowest value possible within that range.
Short time characteristics
In addition to the rated output, the servomotor has an output range that can only be used for short
times such as acceleration/deceleration. This range is expressed at the maximum torque. The
maximum torque differs for each motor even at the same capacity, so confirm the torque in section
"2-2 Servomotor".
The maximum torque affects the acceleration/deceleration time constant that can be driven. The linear
acceleration/deceleration time constant ta can be approximated from the machine specifications using
expression (11-2). Determine the maximum motor torque required from this expression, and select the
motor capacity.
ta =
(JL + JM) × N
95.5 × (0.8 × TMAX − TL)
N
JL
JM
TMAX
TL
(msec)
..................................................
: Motor reach speed
: Motor shaft conversion load inertia
: Motor inertia
: Maximum motor torque
: Motor shaft conversion load (friction, unbalance) torque
11–6
(11-2)
(r/min)
(× 10–4kg·cm2)
(× 10–4kg·cm2)
(N·m)
(N·m)
Chapter 11
11-3-3
Selection
Continuous characteristics
A typical operation pattern is assumed, and the motor's continuous effective load torque (Trms) is
calculated from the motor shaft conversion and load torque. If numbers ① to ⑧ in the following
drawing were considered a one cycle operation pattern, the continuous effective load torque is
obtained from the root mean square of the torque during each operation, as shown in the expression
(11-3).
①
Motor
speed
②
③
④
⑤
⑥
⑦
⑧
0
T1
T7
Motor
torque
T4
T2
0
T3
T6
T8
Time
T5
t1
t2
t3
t4
t5
t6
t7
t8
t0
Fig. 11-1
Trms =
2
2
2
Continuous operation pattern
2
2
2
2
2
T1 ·t1 + T2 ·t2 + T3 ·t3 + T4 ·t4 + T5 ·t5 + T6 ·t6 + T7 ·t7 + T8 ·t8
t0
..................
(11-3)
Select a motor so that the continuous effective load torque (Trms) is 80% or less of the motor rated
torque (Tra) (stall torque (Tst) in the HC, HAN Series).
Trms ≤ 0.8 • Tra (or 0.8 • Tst)
..................................................
(11-4)
The amount of acceleration torque (Ta) shown in tables 11-6 and 11-7 is the torque to accelerate the
load inertia in a frictionless state. It can be calculated by the expression (11-5). (For linear
acceleration/deceleration)
Ta =
(JL + JM) × N
95.5 × ta
N
JL
JM
ta
(N•m)
:
:
:
:
..................................................
Motor reach speed
Motor shaft conversion load inertia
Motor inertia
Linear acceleration/deceleration time constant
11–7
(r/min)
(× 10–4kg·cm2)
(× 10–4kg·cm2)
(msec)
(11-5)
Chapter 11
Selection
(1) Horizontal axis load torque
When operations ① to ⑧ are for a horizontal axis, calculate so that the following torques are
required in each period.
Table 11-6
Period
Load torques of horizontal axes
Load torque calculation method
Explanation
Normally the acceleration/deceleration time constant is
calculated so this torque is 80% of the maximum torque of the
motor.
①
(Amount of acceleration torque) +
(Kinetic friction torque)
②
(Kinetic friction torque)
③
(Amount of deceleration torque) +
(Kinetic friction torque)
The signs for the amount of acceleration torque and amount of
deceleration torque are reversed when the absolute value is
the same value.
④
(Static friction torque)
Calculate so that the static friction torque is always required
during a stop.
⑤
− (Amount of acceleration torque) −
(Kinetic friction torque)
The signs are reversed with period ① when the kinetic friction
does not change according to movement direction.
⑥
− (Kinetic friction torque)
The signs are reversed with period ② when the kinetic friction
does not change according to movement direction.
⑦
− (Amount of deceleration torque) −
(Kinetic friction torque)
The signs are reversed with period ③ when the kinetic friction
does not change according to movement direction.
⑧
− (Static friction torque)
Calculate so that the static friction torque is always required
during a stop.
(2) Unbalance axis load torque
When operations ① to ⑧ are for an unbalance axis, calculate so that the following torques are
required in each period. Note that the forward speed shall be an upward movement.
Table 11-7
Load torques of unbalance axes
Period
Load torque calculation method
Explanation
①
(Amount of acceleration torque) +
(Kinetic friction torque) + (Unbalance
torque)
Normally the acceleration/deceleration time constant is
calculated so this torque is 80% of the maximum torque of the
motor.
②
(Kinetic friction torque) + (Unbalance
torque)
③
(Amount of deceleration torque) +
(Kinetic friction torque) + (Unbalance
torque)
The signs for the amount of acceleration torque and amount of
deceleration torque are reversed when the absolute value is
the same value.
④
(Static friction torque) + (Unbalance
torque)
The holding torque during a stop becomes fairly large.
(Upward stop)
⑤
− (Amount of acceleration torque) −
(Kinetic friction torque) + (Unbalance
torque)
⑥
− (Kinetic friction torque) +
(Unbalance torque)
⑦
− (Amount of deceleration torque) −
(Kinetic friction torque) + (Unbalance
torque)
⑧
− (Static friction torque) + (Unbalance
torque)
POINT
The generated torque may be in the reverse of the movement
direction, depending on the size of the unbalance torque.
The holding torque becomes smaller than the upward stop.
(Downward stop)
During a stop, the static friction torque may constantly be applied. The static
friction torque and unbalance torque may particularly become larger during an
unbalance upward stop, and the torque during a stop may become extremely
large. Therefore, caution is advised.
11–8
Chapter 11
11-4
Selection
Selection of regenerative resistor
The intelligent servomotor series does not have the optional regenerative resistor. (Only the standard
built-in resistor is provided.) Thus, when selecting the motor, make sure that the regenerative energy
does not exceed the capacity of the built-in regenerative resistor.
11-4-1
Limits for HS-MF23
The HS-MF23 does not have a built-in
regenerative resistor. Thus, there are limits
to the instantaneous regeneration capacity.
Avoid use in which the regeneration occurs
continuously, such as with a vertical axis.
When using the motor in the left range of the
graph on the right, there are no limits to the
regeneration frequency. When used in the
right range, an overvoltage alarm could
occur, so avoid using in this range.
Deceleration torque
300
200
[%]
100
Input power voltage
-- 200VAC
-- 230VAC
10
20
30
40
Load moment of inertia rate GDL2/GDm2
11-4-2
Approximate calculation of positioning frequency
The tolerable positioning frequency for the HS-FR/HS-SF type can be approximately calculated with
expression (11-5).
To obtain the detailed value, refer to section "11-4-3 Calculating the regenerative energy" and section
"11-4-4 Calculating the positioning frequency", and calculate.
Tolerable frequency =
Tolerable frequency for independent motor
×
(m + 1)
m = JL/JM
Type
Tolerable frequency for
independent motor
11-4-3
Rated rotation speed
Continuous rotation speed
2
..............................................................................
(11-5)
RF43
RF73
SF52
SF53
SF102
SF103
SF202
360
195
220
100
110
50
50
Calculation of regenerative energy
(1) For horizontal axis
For the horizontal axis, the regenerative energy ER consumed by the regenerative resistor can be
calculated with the expression (11-6). If the ER value is negative, all of the regenerative energy is
absorbed by the capacitor on the amplifier, and the energy consumption is zero (ER = 0).
ER = 5.48 × 10–7 · η · (JL + JM) · N2 – Ec (J)
η : Motor reverse effect
JL : Motor inertia
JM : Load inertia
N : Motor speed
Ec : Amplifier charging energy
..................................................
(× 10–4kg·cm2)
(× 10–4kg·cm2)
(r/min)
(J)
11–9
(11-6)
Chapter 11
Selection
Example
The regeneration energy is obtained for when the axis stops from the rated speed while a
load with the same inertia as the motor is connected to the HC52 motor.
Regeneration energy ER is calculated using expression (11-6) below.
ER = 5.48 × 10−7 × 0.85 × (6.6 + 6.6) × 20002 − 11 = 13.6 (J)
Servomotor reverse effect and amplifier charging energy
Servomotor
HS-MF23
HS-RF43
HS-RF73
Motor reverse
effect η
0.70
0.85
0.85
POINT
Charging energy
Ec (J)
9
16
16
Servomotor
HS-SF52
HS-SF53
HS-SF102
HS-SF103
HS-SF202
Motor reverse
effect η
0.85
0.85
0.85
0.85
0.85
Charging energy
Ec (J)
12
12
22
22
40
The regenerative energy is the value for when the amplifier input power voltage
is 220 V.
If the input voltage is higher than this, the charging energy will decrease and
the regeneration energy will increase.
(2) For an unbalance axis
The regenerative energy differs in the upward stop and downward stop for an unbalance axis. A
constant regeneration state results during downward movement if the unbalance torque is the
same as or larger than the friction torque.
Regeneration energy
Downward stop
Upward stop
A regeneration state only occurs when deceleration torque (downward torque) is generated.
ERU = 5.24 × 10−5 · η · Tdu · N · td − Ec (J)................................................................. (11-7)
η
: Motor reverse efficiency
Tdu : Upward stop deceleration torque
(N m)
N
: Motor speed
(r/min)
td : Deceleration time (time constant) (msec)
Ec : Amplifier charging energy
(J)
A regeneration state occurs even during constant rate feed when the upward torque Ts
during dropping is generated.
Calculated so that Ts = 0 when Ts is downward.
ERD =
2π · η · Ts · L
∆S
+ 5.24 × 10−5 · η · Tdd · N · td − Ec (J) ................................ (11-8)
η
Ts
L
∆S
Tdd
N
td
Ec
: Motor reverse efficiency
: Upward torque during dropping
: Constant rate travel
: Travel per motor rotation
: Downward stop deceleration torque
: Motor speed
: Deceleration time (time constant)
: Amplifier charging energy
(N·m)
(mm)
(mm)
(N·m)
(r/min)
(msec)
(J)
One return is assumed to be one cycle, and the regeneration energy per cycle (ER) is obtained
using expression (11-9).
ER = ERU + ERD (J)
............................................ (11-9)
11–10
Chapter 11
Selection
(Example)
A return operation is executed for a time constant of 50msec for 200mm. The operation is
executed at F20000 in a machine tool vertical axis driven by an HS-SF52 motor. The
regenerative energy per return operation is obtained at this time.
Note the following :
Travel per upward motor rotation
: 10mm
Upward stop deceleration torque
: 5N·m
Downward stop deceleration torque
: 8N·m
Upward torque during downward movement : 0.5N·m
Using expression (11-7), the upward stop regeneration energy ERU is as follows :
ERU = 5.24 × 10−5 × 0.85 × 5 × 2000 × 50 − 11 = 11.3 (J)
The acceleration/deceleration distance required to accelerate at the 50msec acceleration/
deceleration time constant to 20000mm/min. is as follows:
20000 × 50
= 8.3 (mm)
2 × 60 × 1000
Therefore, the constant speed travel is 183.4mm.
The downward stop regeneration energy ERD is obtained using the following expression (11-8).
2π × 0.85 × 0.5 × 183.4
ERD =
+ 5.24 × 10−5 × 0.85 × 8 × 2000 × 50 − 11 = 73.6 (J)
10
Thus, the regeneration energy per return operation ER is as follows :
ER = 11.3 + 73.6 = 84.9 (J)
11-4-4
Calculation of positioning frequency
Select the regenerative resistor so that the positioning frequency DP (times/minute) calculated by the
regenerative resistor capacity PR (W) and the regenerative energy ER (J) consumed by the
regenerative resistor is within the range shown in expression (11-10). With the unbalance axis, the
number of times for one cycle to raise and lower the axis is judged as DP.
DP < 48 ·
PR
ER
(times/minute)
..................................................
Regenerative resistor specifications for each motor
Motor type
HS-RF43/73
HS-SF52/53/102/103
HS-SF202
Capacity PR (W)
33
60
80
11–11
(11-10)
Chapter 11
11-5
Selection
Motor shaft conversion load torque
The main load torque calculation expressions are shown below.
Type
Mechanism
Calculation expression
TL =
η
FC
F0
Z2
Linear
movement
Servomotor
W
F
·(
3
2×10 πη
V
N
F·△S
)=
2×103πη
TL : Load torque
F : Force in axial direction of linear motion
machine
η : Drive system efficiency
V : Speed of linear operation object
N : Motor speed
∆S: Object movement amount per motor rotation
Z1, Z2: Deceleration ratio
(N·m)
(N)
(%)
(mm/min)
(r/min)
(mm)
F in the above expression is obtained from the lower expression
when the table is moved as shown on the left.
Z1
F = Fc + µ (W · g · F0)
Fc : Force applied on axial direction of moving section (N)
F0 : Tightening force on inner surface of table guide (N)
W : Total weight of moving section
(kg)
g : Gravitational acceleration
(m/sec2)
µ : Friction coefficient
Z1
TLO
Rotary
movement
Z1
Z2
Servomotor
TL = Z2
TL
TLO
TF
η
Z1 , Z2
n
1
1
1
· η · TLO + TF = n · η · TLO + TF
: Load torque
: Load torque on load shaft
: Motor shaft conversion load friction torque
: Drive system efficiency
: Deceleration ratio
: Deceleration rate
(N·m)
(N)
(N·m)
When rising
TL = TU + TF
When lowering
TL = –TU · η2 + TF
TL : Load torque
TU : Unbalanced torque
TF : Friction torque on moving section
Servomotor
(W1 − W2) · g
3
TU = 2 × 10 πη
1/n
Vertical
movement
Counterweight
W2
Guide
Load
W1
·(
V
N
)=
(N·m)
(N·m)
(N·m)
(W1 – W2) · g · △S
3
2 × 10 πη
µ · (W1 + W2) · g · △S
2 × 103πη
TF =
W1 : Load weight
W2 : Counterweight weight
η : Drive system efficiency
g : Gravitational acceleration = 9.8
V : Speed of linear operation object
N : Motor speed
△S: Object movement speed per motor rotation
µ : Friction coefficient
11–12
(kg)
(kg)
(m/sec2)
(mm/min)
(r/min)
(mm)
Chapter 11
11-6
Selection
Expressions for load inertia calculation
The calculation method for a representative load inertia is shown.
Type
Mechanism
Calculation expression
φ D 1.
Rotary
shaft is
cylinder
center
W
π · ρ ·L
(D14 – D24) = 8 (D12 – D22)
32
Reference data
JL : Load inertia
[kg·m2]
Material densities Iron
3
3
3
ρ : Density of cylinder material[kg·m ]
..... 7.80×10 [kg/m ]
L : Length of cylinder
[m]
Aluminum
3
3
D1 : Outer diameter of cylinder [m]
..... 2.70×10 [kg/m ]
D2 : Inner diameter of cylinder [m]
Copper
3
3
..... 8.96×10 [kg/m ]
W : Weight of cylinder
[kg]
JL =
φ D 2.
Rotary shaft
Cylinder
W
JL = 8 (D2 + 8R2)
When rotary shaft and cylinder
shaft are deviated
R
JL
W
D
R
:
:
:
:
Load inertia
Weight of cylinder
Outer diameter of cylinder
Distance between rotary axis and
cylinder axis
[kg·m2]
[kg]
[m]
[m]
D
Rotary shaft
a2 + b2
JL = W (
8
R
b
a
Column
+ R2 )
JL
: Load inertia
W
: Weight of cylinder
a.b.R : Left diagram
b
a
[kg·m2]
[kg]
[m]
Rotary shaft
V
Object that
moves
linearly
1
V 2
·
) = W ( △S )2
10
2πN
20π
Load inertia
[kg·m2]
Weight of object that moves linearly
[kg]
Motor speed
[r/min]
Speed of object that moves linearly
[mm/min]
Stroke of object that moves linearly per motor rotation [mm]
JL = W (
JL
W
N
V
△S
Servomotor
W
N
:
:
:
:
:
JL = W (
D
JL
W
D
JP
Suspended
object
:
:
:
:
D
2
)2 + JP
Load inertia
Weighty of object
Diameter of pulley
Inertia of pulley
[kg·m2]
[kg]
[m]
[kg·m2]
W
N3
Load B
JB
J31
J21
Converted
load
Servomotor
J22
N1
Load A
JA
N2
N3
N2
JL = J11 + (J21 + J22 + JA) · ( N )2 + (J31 + JB) · ( N )2
1
1
JL
: Load inertia
[kg·m2]
JA,JB
: Inertia of load A, B
[kg·m2]
J11~J31 : Inertia
[kg·m2]
N1~N3 : Each shaft’s speed
[r/min]
N1
J11
11–13
MITSUBISHI ELECTRIC CORPORATION
HEAD OFFICE : MITSUBISHI DENKI BLDG., 2-2-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
MODEL
HS Series
MODEL
CODE
008-152
Manual No.
BNP-B3981*(ENG)
Specifications subject to change without notice.
(0109)MEE
Printed in Japan on recycled paper.