Mitsubishi Electric MDS-EM/EMH Series Instruction Manual
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Introduction
Thank you for selecting the Mitsubishi numerical control unit. This instruction manual describes the handling and caution points for using this AC servo/spindle. Incorrect handling may lead to unforeseen accidents, so always read this instruction manual thoroughly to ensure correct usage.
Make sure that this instruction manual is delivered to the end user. Always store this manual in a safe place.
In order to confirm if all function specifications described in this manual are applicable, refer to the specifications for each CNC.
Notes on Reading This Manual
(1) Since the description of this specification manual deals with NC in general, for the specifications of individual machine tools, refer to the manuals issued by the respective machine tool builders. The "restrictions" and
"available functions" described in the manuals issued by the machine tool builders have precedence to those in this manual.
(2) This manual describes as many special operations as possible, but it should be kept in mind that items not mentioned in this manual cannot be performed.
(3) The characteristic values and numerical values without tolerances mentioned in this manual are representative values.
In this manual, the following abbreviations might be used.
MTB: Machine tool builder
Precautions for Safety
Please read this manual and auxiliary documents before starting installation, operation, maintenance or inspection to ensure correct usage. Thoroughly understand the device, safety information and precautions before starting operation.
The safety precautions in this instruction manual are ranked as "WARNING" and "CAUTION".
DANGER
When there is a potential risk of fatal or serious injuries if handling is mistaken.
WARNING
When a dangerous situation, or fatal or serious injuries may occur if handling is mistaken.
CAUTION
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 matters are explained below.
Indicates a prohibited matter. For example, "Fire Prohibited" is indicated as .
Indicates a mandatory matter. For example, grounding is indicated as .
The meaning of each pictorial sign is as follows.
CAUTION
CAUTION rotated object
CAUTION HOT
Danger Electric shock risk
Danger explosive
Prohibited
Disassembly is prohibited
KEEP FIRE AWAY General instruction Earth ground
After reading this specifications and instructions manual, store it where the user can access it easily for reference.
The numeric control unit is configured of the control unit, operation board, servo drive unit, spindle drive unit, power supply, servo motor and spindle motor, etc.
In this section "Precautions for safety", the following items are generically called the "motor".
• Servo motor
• Linear servo motor
• Spindle motor
• Direct-drive motor
In this section "Precautions for safety", the following items are generically called the "unit".
• Servo drive unit
• Spindle drive unit
• Power supply unit
• Scale interface unit
• Magnetic pole detection unit
POINT
Important matters that should be understood for operation of this machine are indicated as a POINT in this manual.
For Safe Use
Mitsubishi CNC is designed and manufactured solely for applications to machine tools to be used for industrial purposes.
Do not use this product in any applications other than those specified above, especially those which are substantially influential on the public interest or which are expected to have significant influence on human lives or properties.
WARNING
1. Electric shock prevention
Make sure the power is shut OFF before connecting a unit and a motor to the power.
Do not open the front cover while the power is ON or during operation. Failure to observe this could lead to electric shocks.
Do not operate the unit with the front cover removed. The high voltage terminals and charged sections will be exposed, and can cause electric shocks.
Do not remove the front cover and connector even when the power is OFF unless carrying out wiring work or periodic inspections. The inside of the units is charged, and can cause electric shocks.
Since the high voltage is supplied to the main circuit connector while the power is ON or during operation, do not touch the main circuit connector with an adjustment screwdriver or the pen tip. Failure to observe this could lead to electric shocks.
Wait at least 15 minutes after turning the power OFF, confirm that the CHARGE lamp has gone out, and check the voltage between P and N terminals with a tester, etc., before starting wiring, maintenance or inspections. Failure to observe this could lead to electric shocks.
Ground the unit and motor. For the motor, ground it via the drive unit.
Wiring, maintenance and inspection work must be done by a qualified technician.
Wire the servo drive unit and servo motor 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 on the cables or get them caught. Failure to observe this could lead to electric shocks.
Always insulate the power terminal connection section. Failure to observe this could lead to electric shocks.
After assembling the built-in IPM/SPM spindle motor, if the rotor is rotated by hand etc., voltage occurs between the terminals of lead. Take care not to get electric shocks.
WARNING
2. Injury prevention
When handling a motor, perform operations in safe clothing.
In the system where the optical communication with CNC is executed, do not see directly the light generated from CN1A/CN1B connector of drive unit or the end of cable. When the light gets into eye, you may feel something is wrong for eye.
(The light source of optical communication corresponds to class1 defined in JISC6802 or IEC60825-1.)
The linear servo motor, direct-drive motor and built-in IPM/SPM spindle motor uses permanent magnets in the rotor, so observe the following precautions.
(1)Handling
• The linear servo motor, direct-drive motor and built-in IPM/SPM spindle motor could adversely affect medical electronics such as pacemakers, etc., therefore, do not approach the rotor.
• Do not place magnetic materials as iron.
• When a magnetic material as iron is placed, take safety measure not to pinch fingers or hands due to the magnetic attraction force.
• Remove metal items such as watch, piercing jewelry, necklace, etc.
• Do not place portable items that could malfunction or fail due to the influence of the magnetic force.
• When the rotor is not securely fixed to the machine or device, do not leave it unattended but store it in the package properly.
• When installing the motor to the machine, take it out from the package one by one, and then install it.
• It is highly dangerous to lay out the motor or magnetic plates together on the table or pallet, therefore never do so.
(2)Transportation and storage
• Correctly store the rotor in the package to transport and store.
• During transportation and storage, draw people's attention by applying a notice saying "Strong magnet-Handle with care" to the package or storage shelf.
• Do not use a damaged package.
(3)Installation
• Take special care not to pinch fingers, etc., when installing (and unpacking) the linear servo motor.
Incorrect wiring could lead to smoke or fire in the unit and the reactor, resulting in faults. Be careful when wiring.
CAUTION
1. Fire prevention
Install the units, motors and regenerative resistor on non-combustible material. Direct installation on combustible material or near combustible materials could lead to fires.
Always install a circuit protector and contactor on the servo drive unit power input as explained in this manual. Refer to this manual and select the correct circuit protector and contactor. An incorrect selection could result in fire.
Shut off the power on the unit side if a fault occurs in the units. Fires could be caused if a large current continues to flow.
When using a regenerative resistor, provide a sequence that shuts off the power with the regenerative resistor's error signal. The regenerative resistor could abnormally overheat and cause a fire due to a fault in the regenerative transistor, etc.
The battery unit could heat up, ignite or rupture if submerged in water, or if the poles are incorrectly wired.
Cut off the main circuit power with the contactor when an alarm or emergency stop occurs.
2. Injury prevention
Do not apply a voltage other than that specified in this 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 radiation fin on unit back face, regenerative resistor or motor, etc., or place parts (cables, etc.) while the power is turned ON or immediately after turning the power OFF. These parts may reach high temperatures, and can cause burns or part damage.
Structure the cooling fan on the unit back face, etc., so that it cannot be touched after installation.
Touching the cooling fan during operation could lead to injuries.
Take care not to suck hair, clothes, etc. into the cooling fan.
CAUTION
3. Various precautions
Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and electric shocks, etc.
(1) Transportation and installation
Correctly transport the product according to its weight.
Use the motor's hanging bolts only when transporting the motor itself. Do not use the motor's hanging bolts to transport a motor with other parts installed, or to transport a machine with a motor installed.
Do not stack the products above the tolerable number.
Follow this manual and install the unit or motor securely in a place where it can be borne and noncombustible. Insufficient fixing could lead to the unit or the motor slipping off during operation.
Do not get on top of or place heavy objects on the unit.
Do not hold the cables, axis or encoder when transporting the motor.
Do not hold the connected wires or cables when transporting the units.
Do not hold the front cover when transporting the unit. The unit could drop.
Always observe the installation directions of the units or motors.
Secure the specified distance between the units and control panel, or between the servo drive unit and other devices.
Do not install or run a unit or motor that is damaged or missing parts.
Do not block the intake or exhaust ports of the motor provided with a cooling fan.
Do not let foreign objects enter the units or motors. In particular, if conductive objects such as screws or metal chips, etc., or combustible materials such as oil enter, rupture or breakage could occur.
Provide adequate protection using a material such as connector for conduit to prevent screws, metallic detritus, water and other conductive matter or oil and other combustible matter from entering the motor through the power line lead-out port.
The units, motors and encoders are precision devices, so do not drop them or apply strong impacts to them.
Always operate the motor, which has a shaft with keyway, with the key attached.
CAUTION
Store and use the units under the following environment conditions.
Environment
Ambient temperature
Ambient humidity
Atmosphere
Altitude
Vibration/impact
Unit
Operation: 0 to +55°C
(with no freezing),
Storage / Transportation: -15°C to +70°C
(with no freezing)
Servo motor
Operation: 0 to +40°C
(with no freezing),
Storage: -15°C to +70°C
(with no freezing)
Spindle motor
Operation: 0 to +40°C
(with no freezing),
Storage: -20°C to +65°C
(with no freezing)
Operation: 90%RH or less
(with no dew condensation)
Storage / Transportation: 90%RH or less
(with no dew condensation)
Operation: 80%RH or less
(with no dew condensation),
Storage: 90%RH or less
(with no dew condensation)
Operation: 90%RH or less
(with no dew condensation)
Storage: 90%RH or less
(with no dew condensation)
Indoors (no direct sunlight)
With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles
Operation/Storage:
1000 meters or less above sea level,
Transportation:
13000 meters or less above sea level
Operation/Storage:
1000 meters or less above sea level,
Transportation:
10000 meters or less above sea level
According to each unit or motor specification
(Note) For details, confirm each unit or motor specifications in addition.
When disinfectants or insecticides must be used to treat wood packaging materials, always use methods other than fumigation (for example, apply heat treatment at the minimum wood core temperature of 56 °C for a minimum duration of 30 minutes (ISPM No. 15 (2009))).
If products such as units are directly fumigated or packed with fumigated wooden materials, halogen substances (including fluorine, chlorine, bromine and iodine) contained in fumes may contribute to the erosion of the capacitors.
When exporting the products, make sure to comply with the laws and regulations of each country.
Do not use the products in conjunction with any components that contain halogenated flame retardants
(bromine, etc). Failure to observe this may cause the erosion of the capacitors.
Securely fix the servo motor to the machine. Insufficient fixing could lead to the servo motor slipping off during operation.
Always install the servo motor with reduction gear in the designated direction. Failure to do so could lead to oil leaks.
Structure the rotary sections of the motor so that it can never be touched during operation. Install a cover, etc., on the shaft.
When installing a coupling to a servo motor shaft end, do not apply an impact by hammering, etc. The encoder could be damaged.
Do not apply a load exceeding the tolerable load onto the servo motor shaft. The shaft could break.
Store the motor in the package box.
When inserting the shaft into the built-in IPM/SPM spindle motor, do not heat the rotor higher than 130°C.
The magnet could be demagnetized, and the specifications characteristics will not be ensured.
Always use a nonmagnetic tool (explosion-proof beryllium copper alloy safety tool: NGK Insulators, etc.) when installing the built-in IPM/SPM spindle motor, direct-drive motor and linear servo motor.
Always provide a mechanical stopper on the end of the linear servo motor's travel path.
If the unit has been stored for a long time, always check the operation before starting actual operation.
Please contact the Service Center, Sales Office or dealer.
Install the heavy peripheral devices to the lower part in the panel and securely fix it not to be moved due to vibration.
CAUTION
(2) Wiring
Correctly and securely perform the wiring. Failure to do so could lead to abnormal operation of the motor.
Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of the drive unit.
Correctly connect the output side of the drive unit (terminals U, V, W). Failure to do so could lead to abnormal operation of the motor.
When using a power regenerative power supply unit, always install an AC reactor for each power supply unit.
In the main circuit power supply side of the unit, always install an appropriate circuit protector or contactor for each unit. Circuit protector or contactor cannot be shared by several units.
Always connect the motor to the drive unit's output terminals (U, V, W).
Do not directly connect a commercial power supply to the servo motor. Failure to observe this could result in a fault.
When using an inductive load such as a relay, always connect a diode as a noise measure parallel to the load.
When using a capacitance load such as a lamp, always connect a protective resistor as a noise measure serial to the load.
Do not reverse the direction of a diode which connect to a DC relay for the control output signals such as contractor and motor brake
Servo drive unit
Control output signal output, etc. to suppress a surge. Connecting it backwards could cause the drive unit to malfunction so that signals are not output, and emergency stop and other safety circuits are inoperable.
24G RA
Servo drive unit
Control output signal
24G RA
Do not connect/disconnect the cables connected between the units while the power is ON.
Securely tighten the cable connector fixing screw or fixing mechanism. An insecure fixing could cause the cable to fall off while the power is ON.
When using a shielded cable instructed in the instruction manual, always ground the cable with a cable clamp, etc. (Refer to "EMC Installation Guidelines")
Always separate the signals wires from the power line.
Use wires and cables that have a wire diameter, heat resistance and flexibility that conforms to the system.
(3) Trial operation and adjustment
Check and adjust each program and parameter before starting operation. Failure to do so could lead to unforeseen operation of the machine.
Do not make remarkable adjustments and changes of parameter as the operation could become unstable.
The usable motor and unit combination is predetermined. Always check the combinations and parameters before starting trial operation.
The direct-drive motor and linear servo motor do not have a stopping device such as magnetic brakes.
Install a stopping device on the machine side.
When using the linear servo motor for an unbalance axis, adjust the unbalance weight to 0 by installing an air cylinder, etc. on the machine side. The unbalance weight disables the initial magnetic pole adjustment.
CAUTION
(4) Usage methods
In abnormal state, install an external emergency stop circuit so that the operation can be stopped and power shut off immediately.
Turn the power OFF immediately if smoke, abnormal noise or odors are generated from the unit or motor.
Do not disassemble or repair this product.
Never make modifications.
When an alarm occurs, the machine will start suddenly if an alarm reset (RST) is carried out while an operation start signal (ST) is being input. Always confirm that the operation signal is OFF before carrying out an alarm reset. Failure to do so could lead to accidents or injuries.
Reduce magnetic damage by installing a noise filter. The electronic devices used near the unit could be affected by magnetic noise. Install a line noise filter, etc., if there is a risk of magnetic noise.
Use the unit, motor and regenerative resistor with the designated combination. Failure to do so could lead to fires or trouble.
The brake (magnetic brake) of the servo motor are for holding, and must not be used for normal braking.
There may be cases when holding is not possible due to the magnetic brake's life, the machine construction (when ball screw and servo motor are coupled via a timing belt, etc.) or the magnetic brake's failure. Install a stop device to ensure safety on the machine side.
After changing the programs/parameters or after maintenance and inspection, always test the operation before starting actual operation.
Do not enter the movable range of the machine during automatic operation. Never place body parts near or touch the spindle during rotation.
Follow the power supply specification conditions given in each specification for the power (input voltage, input frequency, etc.).
Set all bits to "0" if they are indicated as not used or empty in the explanation on the bits.
Do not use the dynamic brakes except during the emergency stop. Continued use of the dynamic brakes could result in brake damage.
If a circuit protector for the main circuit power supply is shared by several units, the circuit protector may not activate when a short-circuit fault occurs in a small capacity unit. This is dangerous, so never share the circuit protector.
Mitsubishi spindle motor is dedicated to machine tools. Do not use for other purposes.
This unit is not intended for use in low voltage public networks that supply power to households. Using this unit in such networks may cause radio frequency interference.
Do not use this unit in residential areas.
(5) Troubleshooting
If a hazardous situation is predicted during power failure or product trouble, use a servo motor with magnetic brakes or install an external brake mechanism.
Always turn the main circuit power of the motor OFF when an alarm occurs.
If an alarm occurs, remove the cause, and secure the safety before resetting the alarm.
CAUTION
(6) Maintenance, inspection and part replacement
Always backup the programs and parameters before starting maintenance or inspections.
The capacity of the electrolytic capacitor will drop over time due to self-discharging, etc. To prevent secondary disasters due to failures, replacing this part every five years when used under a normal environment is recommended. Contact the Service Center, Service Station, Sales Office or dealer for repairs or part replacement.
Never perform a megger test (measure the insulation resistance) of the drive unit. Failure to observe this could lead to faults.
If the battery low warning is issued, immediately replace the battery. Replace the batteries while applying the drive unit's control power.
Do not short circuit, charge, overheat, incinerate or disassemble the battery.
For after-purchase servicing of the built-in motor, only the servicing parts for MITSUBISHI encoder can be supplied. For the motor body, prepare the spare parts at the machine tool builders.
For maintenance, part replacement, and services in case of failures in the built-in motor (including the encoder), take necessary actions at the machine tool builders. For drive unit, Mitsubishi can offer the afterpurchase servicing as with the general drive unit.
(7) Disposal
Take the batteries and backlights for LCD, etc., off from the controller, drive unit and motor, and dispose of them as industrial wastes.
Do not disassemble the unit or motor.
Dispose of the battery according to local laws.
Dispose of the primary side of the linear servo motor as industrial waste. For the secondary side, dispose of it as industrial waste after demagnetizing it by heating it to 300 °C or higher.
When incinerating optical communication cable, hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated. For disposal of optical communication cable, request for specialized industrial waste disposal services that has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas.
(8) Transportation
The unit and motor are precision parts and must be handled carefully.
According to a United Nations Advisory, the battery unit and battery must be transported according to the rules set forth by the International Civil Aviation Organization (ICAO), International Air Transportation
Association (IATA), International Maritime Organization (IMO), and United States Department of
Transportation (DOT), etc.
(9) General precautions
The drawings given in this 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.
Treatment of waste
The following two laws will apply when disposing of this product. Considerations must be made to each law. The following laws are in effect in Japan. Thus, when using this product overseas, the local laws will have a priority. If necessary, indicate or notify these laws to the final user of the product.
(1) Requirements for "Law for Promotion of Effective Utilization of Resources"
(a) Recycle as much of this product as possible when finished with use.
(b) When recycling, often parts are sorted into steel scraps and electric parts, etc., and sold to scrap contractors.
Mitsubishi recommends sorting the product and selling the members to appropriate contractors.
(2) Requirements for "Law for Treatment of Waste and Cleaning"
(a) Mitsubishi recommends recycling and selling the product when no longer needed according to item (1) above.
The user should make an effort to reduce waste in this manner.
(b) When disposing a product that cannot be resold, it shall be treated as a waste product.
(c) The treatment of industrial waste must be commissioned to a licensed industrial waste treatment contractor, and appropriate measures, including a manifest control, must be taken.
(d) Batteries correspond to "primary batteries", and must be disposed of according to local disposal laws.
Disposal
(Note) This symbol mark is for EU countries only.
This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and
Annex II.
Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and/or reused.
This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately from your household waste.
If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the battery or accumulator contains a heavy metal at a certain concentration. This will be indicated as follows:
Hg: mercury (0,0005%), Cd: cadmium (0,002%), Pb: lead (0,004%)
In the European Union there are separate collection systems for used batteries and accumulators.
Please, dispose of batteries and accumulators correctly at your local community waste collection/recycling centre.
Please, help us to conserve the environment we live in!
Trademarks
MELDAS, MELSEC, EZSocket, EZMotion, iQ Platform, MELSOFT, GOT, CC-Link, CC-Link/LT and CC-Link IE are either trademarks or registered trademarks of Mitsubishi Electric Corporation in Japan and/or other countries.
Other company and product names that appear in this manual are trademarks or registered trademarks of the respective companies.
本製品の取扱いについて
( 日本語 /Japanese)
本製品は工業用 ( クラス A) 電磁環境適合機器です。販売者あるいは使用者はこの点に注意し、住商業環境以外での使
用をお願いいたします。
Handling of our product
(English)
This is a class A product. In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures.
본 제품의 취급에 대해서
( 한국어 /Korean)
이 기기는 업무용 (A 급 ) 전자파적합기기로서 판매자 또는 사용자는 이 점을 주의하시기 바라며 가정외의 지역에 서 사
용하는 것을 목적으로 합니다 .
Contents
1 Installation .................................................................................................................................................... 1
1.1 Installation of Servo Motor..................................................................................................................................... 2
1.1.1 Environmental Conditions ............................................................................................................................ 2
1.1.2 Quakeproof Level ........................................................................................................................................... 2
1.1.3 Cautions for Mounting Load (Prevention of Impact on Shaft) ................................................................... 3
1.1.4 Installation Direction...................................................................................................................................... 3
1.1.5 Shaft Characteristics ..................................................................................................................................... 4
1.1.6 Machine Accuracy.......................................................................................................................................... 4
1.1.7 Coupling with the Load.................................................................................................................................. 5
1.1.8 Oil/Water Standards ....................................................................................................................................... 6
1.1.9 Installation of Servo Motor ............................................................................................................................ 8
1.1.10 Cable Stress.................................................................................................................................................. 9
1.2 Installation of Spindle Motor................................................................................................................................ 10
1.2.1 Environmental Conditions .......................................................................................................................... 10
1.2.2 Balancing the Spindle Motor (Unit)............................................................................................................. 11
1.2.3 Shaft Characteristics ................................................................................................................................... 13
1.2.4 Machine Accuracy........................................................................................................................................ 13
1.2.5 Coupling with the Fittings ........................................................................................................................... 14
1.2.6 Ambient Environment .................................................................................................................................. 14
1.2.7 Installation of Spindle Motor ....................................................................................................................... 14
1.2.8 Connection.................................................................................................................................................... 15
1.2.9 Cable.............................................................................................................................................................. 16
1.3 Installation of the Drive Unit ................................................................................................................................ 17
1.3.1 Environmental Conditions .......................................................................................................................... 17
1.3.2 Installation Direction and Clearance .......................................................................................................... 18
1.3.3 Prevention of Entering of Foreign Matter................................................................................................... 21
1.3.4 Panel Installation Hole Work Drawings (Panel Cut Drawings)................................................................. 22
1.3.5 Heating Value................................................................................................................................................ 24
1.3.6 Heat Radiation Countermeasures............................................................................................................... 25
1.4 Installation of the Machine End Encoder............................................................................................................ 27
1.4.1 Spindle Side ABZ Pulse Output Encoder (OSE-1024 Series)................................................................... 27
1.4.2 Spindle Side PLG Serial Output Encoder (TS5690, MU1606 Series) ....................................................... 28
1.5 Noise Measures..................................................................................................................................................... 34
2 Wiring and Connection.............................................................................................................................. 37
2.1 Part System Connection Diagram ....................................................................................................................... 39
2.2 Main Circuit Terminal Block/Control Circuit Connector.................................................................................... 41
2.2.1 Names and Applications of Main Circuit Terminal Block Signals and Control Circuit Connectors..... 41
2.2.2 Connector Pin Assignment ......................................................................................................................... 42
2.2.3 Servo Motor Power Supply Connector Wiring Method............................................................................. 46
2.3 NC and Drive Unit Connection............................................................................................................................. 48
2.3.1 Connection of Optical Communication Cables ......................................................................................... 48
2.4 Motor and Encoder Connection........................................................................................................................... 50
2.4.1 Connection of the Servo Motor ................................................................................................................... 50
2.4.2 Connection of the Full-closed Loop System ............................................................................................. 54
2.4.3 Connection of the Spindle Motor ................................................................................................................ 56
2.5 Connection of Power Supply ............................................................................................................................... 58
2.5.1 Power Supply Input Connection ................................................................................................................. 58
2.5.2 Connection of the Grounding Cable........................................................................................................... 60
2.6 Wiring of the Motor Brake .................................................................................................................................... 61
2.6.1 Wiring of the Motor Magnetic Brake ........................................................................................................... 61
2.7 Peripheral Control Wiring..................................................................................................................................... 64
2.7.1 Input/output Circuit Wiring.......................................................................................................................... 64
2.7.2 Specified Speed Output............................................................................................................................... 66
2.7.3 Spindle Coil Changeover............................................................................................................................. 68
2.7.4 Proximity Switch Orientation ...................................................................................................................... 72
3 Safety Function .......................................................................................................................................... 77
3.1 Safety Function ..................................................................................................................................................... 78
3.1.1 Harmonized Standard .................................................................................................................................. 78
3.1.2 Outline of Safety Function........................................................................................................................... 78
3.2 STO (Safe Torque Off) Function .......................................................................................................................... 79
3.3 SBC (Safe Brake Control) Function..................................................................................................................... 81
4 Setup ........................................................................................................................................................... 83
4.1 Initial Setup ........................................................................................................................................................... 84
4.1.1 Setting the Rotary Switch............................................................................................................................ 84
4.1.2 Transition of LED Display After Power Is Turned ON............................................................................... 85
4.2 Setting the Initial Parameters for the Servo Drive Unit ..................................................................................... 86
4.2.1 Setting of Servo Specification Parameters................................................................................................ 87
4.2.2 Setting of Machine Side Encoder ............................................................................................................... 88
4.2.3 Setting of Distance-coded Reference Scale .............................................................................................. 92
4.2.4 List of Standard Parameters for Each Servo Motor.................................................................................. 94
4.2.5 Servo Parameters ........................................................................................................................................ 97
4.3 Setting the Initial Parameters for the Spindle Drive Unit ................................................................................ 131
4.3.1 Setting of Parameters Related to the Spindle ......................................................................................... 131
4.3.2 List of Standard Parameters for Each Spindle Motor............................................................................. 137
4.3.3 Spindle Parameters.................................................................................................................................... 165
5 Servo Adjustment .................................................................................................................................... 199
5.1 Servo Adjustment Procedure ............................................................................................................................ 200
5.2 Gain Adjustment ................................................................................................................................................. 201
5.2.1 Current Loop Gain ..................................................................................................................................... 201
5.2.2 Speed Loop Gain........................................................................................................................................ 202
5.2.3 Position Loop Gain .................................................................................................................................... 206
5.2.4 OMR-FF Function ....................................................................................................................................... 209
5.3 Characteristics Improvement ............................................................................................................................ 215
5.3.1 Optimal Adjustment of Cycle Time........................................................................................................... 215
5.3.2 Vibration Suppression Measures ............................................................................................................. 218
5.3.3 Improving the Cutting Surface Precision ................................................................................................ 225
5.3.4 Improvement of Characteristics during Acceleration/Deceleration...................................................... 228
5.3.5 Improvement of Protrusion at Quadrant Changeover ............................................................................ 232
5.3.6 Improvement of Overshooting.................................................................................................................. 236
5.3.7 Improvement of the Interpolation Control Path ...................................................................................... 239
5.4 Adjustment during Full Closed Loop Control.................................................................................................. 241
5.4.1 Outline......................................................................................................................................................... 241
5.4.2 Speed Loop Delay Compensation ............................................................................................................ 242
5.4.3 Dual Feedback Control .............................................................................................................................. 243
5.4.4 Full-closed Torsion Compensation Function.......................................................................................... 245
5.5 Settings for Emergency Stop ............................................................................................................................ 248
5.5.1 Deceleration Control.................................................................................................................................. 248
5.5.2 Vertical Axis Drop Prevention Control..................................................................................................... 251
5.5.3 Vertical Axis Pull-up Control..................................................................................................................... 255
5.6 Protective Functions .......................................................................................................................................... 256
5.6.1 Overload Detection .................................................................................................................................... 256
5.6.2 Excessive Error Detection......................................................................................................................... 257
5.6.3 Collision Detection Function .................................................................................................................... 258
5.7 Servo Control Signal .......................................................................................................................................... 262
5.7.1 Servo Control Input (NC to Servo)............................................................................................................ 262
5.7.2 Servo Control Output (Servo to NC)......................................................................................................... 265
6 Spindle Adjustment ................................................................................................................................. 269
6.1 Adjustment Procedures for Each Control ........................................................................................................ 270
6.1.1 Basic Adjustments..................................................................................................................................... 270
6.1.2 Gain Adjustment ........................................................................................................................................ 271
6.1.3 Adjusting the Acceleration/Deceleration Operation ............................................................................... 275
6.1.4 Orientation Adjustment ............................................................................................................................. 282
6.1.5 Synchronous Tapping Adjustment .......................................................................................................... 286
6.1.6 High-speed Synchronous Tapping........................................................................................................... 289
6.1.7 Spindle C Axis Adjustment (For Lathe System)...................................................................................... 295
6.1.8 Spindle Synchronization Adjustment (For Lathe System)..................................................................... 300
6.1.9 Deceleration Coil Changeover Valid Function by Emergency Stop...................................................... 302
6.1.10 High-response Acceleration/Deceleration Function............................................................................. 303
6.1.11 Spindle Cutting Withstand Level Improvement .................................................................................... 304
6.1.12 Spindle Motor Temperature Compensation Function .......................................................................... 305
6.2 Settings for Emergency Stop ............................................................................................................................ 310
6.2.1 Deceleration Control.................................................................................................................................. 310
6.3 Spindle Control Signal ....................................................................................................................................... 311
6.3.1 Spindle Control Input (NC to Spindle)...................................................................................................... 311
6.3.2 Spindle Control Output (Spindle to NC)................................................................................................... 316
7 Troubleshooting....................................................................................................................................... 321
7.1 Points of Caution and Confirmation ................................................................................................................. 322
7.1.1 LED Display When Alarm or Warning Occurs ......................................................................................... 322
7.2 Protective Functions List of Units..................................................................................................................... 323
7.2.1 List of Alarms ............................................................................................................................................. 323
7.2.2 List of Warnings ......................................................................................................................................... 332
7.3 Troubleshooting.................................................................................................................................................. 334
7.3.1 Troubleshooting at Power ON................................................................................................................... 334
7.3.2 Troubleshooting for Each Alarm No......................................................................................................... 335
7.3.3 Troubleshooting for Each Warning No..................................................................................................... 361
7.3.4 Parameter Numbers during Initial Parameter Error ................................................................................ 364
7.3.5 Troubleshooting the Spindle System When There Is No Alarm or Warning ........................................ 367
7.3.6 Details of Alarm 4D .................................................................................................................................... 369
8 Maintenance ............................................................................................................................................. 371
8.1 Periodic Inspections ........................................................................................................................................... 372
8.1.1 Inspections ................................................................................................................................................. 372
8.1.2 Cleaning of Spindle Motor......................................................................................................................... 372
8.2 Service Parts ....................................................................................................................................................... 384
8.3 Adding and Replacing Units and Parts............................................................................................................. 385
8.3.1 Replacing the Drive Unit ............................................................................................................................ 385
8.3.2 Replacing the Fan Unit .............................................................................................................................. 386
8.3.3 Replacing the Battery ................................................................................................................................ 387
9 Appx. 1: Cable and Connector Assembly.............................................................................................. 391
9.1 CMV1-xPxxS-xx Plug Connector ....................................................................................................................... 392
9.2 1747464-1 Plug Connector ................................................................................................................................. 398
9.2.1 Applicable Products................................................................................................................................... 398
9.2.2 Applicable Cable ........................................................................................................................................ 398
9.2.3 Related Documents.................................................................................................................................... 398
9.2.4 Assembly Procedure.................................................................................................................................. 398
10 Appx. 2: D/A Output Specifications for Drive Unit.............................................................................. 401
10.1 D/A Output Specifications................................................................................................................................ 402
10.2 Output Data Settings ........................................................................................................................................ 403
10.2.1 Servo Drive Unit Settings ........................................................................................................................ 403
10.2.2 Spindle Drive Unit Settings ..................................................................................................................... 405
10.3 Setting the Output Magnification..................................................................................................................... 408
10.3.1 Servo Drive Unit Settings ........................................................................................................................ 408
10.3.2 Spindle Drive Unit Settings ..................................................................................................................... 409
11 Appx. 3: Protection Function ................................................................................................................ 411
11.1 Protection Function .......................................................................................................................................... 412
11.1.1 Outline of Protection Function................................................................................................................ 412
11.2 Emergency Stop Observation.......................................................................................................................... 413
11.3 SLS (Safely Limited Speed) function .............................................................................................................. 416
12 Appx. 4: Compliance to EC Directives ................................................................................................. 421
12.1 Compliance to EC Directives ........................................................................................................................... 422
12.1.1 European EC Directives........................................................................................................................... 422
12.1.2 Cautions for EC Directive Compliance................................................................................................... 422
13 Appx. 5: EMC Installation Guidelines................................................................................................... 425
13.1 Introduction ....................................................................................................................................................... 426
13.2 EMC Instructions............................................................................................................................................... 426
13.3 EMC Measures................................................................................................................................................... 427
13.4 Measures for Panel Structure .......................................................................................................................... 427
13.4.1 Measures for Control Panel Unit............................................................................................................. 427
13.4.2 Measures for Door ................................................................................................................................... 428
13.4.3 Measures for Operation Board Panel ..................................................................................................... 428
13.4.4 Shielding of the Power Supply Input Section........................................................................................ 428
13.5 Measures for Various Cables........................................................................................................................... 429
13.5.1 Measures for Wiring in Panel .................................................................................................................. 429
13.5.2 Measures for Shield Treatment............................................................................................................... 429
13.5.3 Servo/Spindle Motor Power Cable.......................................................................................................... 430
13.5.4 Servo/Spindle Motor Encoder Cable ...................................................................................................... 431
13.6 EMC Countermeasure Parts............................................................................................................................. 432
13.6.1 Shield Clamp Fitting................................................................................................................................. 432
13.6.2 Ferrite Core ............................................................................................................................................... 432
13.6.3 Power Line Filter ...................................................................................................................................... 434
13.6.4 Surge Absorber ........................................................................................................................................ 435
14 Appx. 6: Higher Harmonic Suppression Measure Guidelines ........................................................... 437
14.1 Higher Harmonic Suppression Measure Guidelines ..................................................................................... 438
14.1.1 Calculating the Equivalent Capacity of the Higher Harmonic Generator ........................................... 439
Outline for MDS-EM/EMH Series
Specifications Manual
(IB-1501238-K)
1 Introduction
1.1 Servo/Spindle Drive System Configuration
1.1.1 System Configuration
1.2 Explanation of Type
1.2.1 Servo Motor Type
1.2.2 Drive Unit Type
1.2.3 Spindle Motor Type
1.2.4 AC Reactor Type
2 Specifications
2.1 Servo Motor
2.1.1 Specifications List
2.1.2 Torque Characteristics
2.2 Spindle Motor
2.2.1 Specifications
2.2.2 Output Characteristics
2.3 Drive Unit
2.3.1 Installation Environment Conditions
2.3.2 Multi Axis Unit
2.3.3 Unit Outline Dimension Drawing
2.3.4 AC Reactor
2.3.5 Explanation of Each Part
3 Function Specifications
Function Specifications List
3.1 Base Control Functions
3.1.1 Full Closed Loop Control
3.1.2 Position Command Synchronous Control
3.1.3 Speed Command Synchronous Control
3.1.4 Distance-coded Reference Position Control
3.1.5 Spindle's Continuous Position Loop Control
3.1.6 Coil Changeover Control
3.1.7 Gear Changeover Control
3.1.8 Orientation Control
3.1.9 Indexing Control
3.1.10 Synchronous Tapping Control
3.1.11 Spindle Synchronous Control
3.1.12 Spindle/C Axis Control
3.1.13 Proximity Switch Orientation Control
3.1.14 Power Regeneration Control
3.1.15 Resistor Regeneration Control
3.2 Servo/Spindle Control Functions
3.2.1 Torque Limit Function
3.2.2 Variable Speed Loop Gain Control
3.2.3 Gain Changeover for Synchronous Tapping Control
3.2.4 Speed Loop PID Changeover Control
3.2.5 Disturbance Torque Observer
3.2.6 Smooth High Gain Control (SHG Control)
3.2.7 High-speed Synchronous Tapping Control (OMR-
DD Control)
3.2.8 Dual Feedback Control
3.2.9 HAS Control
3.2.10 OMR-FF Control
3.2.11 Control Loop Gain Changeover
3.2.12 Spindle Output Stabilizing Control
3.2.13 High-response Spindle Acceleration/Deceleration Function
3.3 Compensation Control Function
3.3.1 Jitter Compensation
3.3.2 Notch Filter
3.3.3 Adaptive Tracking-type Notch Filter
3.3.4 Overshooting Compensation
3.3.5 Machine End Compensation Control
3.3.6 Lost Motion Compensation Type 2
3.3.7 Lost Motion Compensation Type 3
3.3.8 Spindle Motor Temperature Compensation Function
3.3.9 Real-time Tuning I
3.3.10 Full-closed Torsion Compensation Function
3.4 Protection Function
3.4.1 Deceleration Control at Emergency Stop
3.4.2 Vertical Axis Drop Prevention/Pull-up Control
3.4.3 Earth Fault Detection
3.4.4 Collision Detection Function
3.4.5 Fan Stop Detection
3.4.6 Open-phase Detection
3.4.7 Contactor Weld Detection
3.4.8 STO (Safe Torque Off) Function
3.4.9 SBC (Safe Brake Control) Function
3.4.10 Deceleration and Stop Function at Power Failure
3.4.11 Retraction Function at Power Failure
3.5 Sequence Functions
3.5.1 Contactor Control Function
3.5.2 Motor Brake Control Function
3.5.3 External Emergency Stop Function
3.5.4 Specified Speed Output
3.5.5 Quick READY ON Sequence
3.6 Diagnosis Function
3.6.1 Monitor Output Function
3.6.2 Machine Resonance Frequency Display Function
3.6.3 Machine Inertia Display Function
3.6.4 Motor Temperature Display Function
3.6.5 Load Monitor Output Function
3.6.6 Power Supply Diagnosis Display Function
3.6.7 Drive Unit Diagnosis Display Function
4 Characteristics
4.1 Servo Motor
4.1.1 Environmental Conditions
4.1.2 Quakeproof Level
4.1.3 Shaft Characteristics
4.1.4 Machine Accuracy
4.1.5 Oil/Water Standards
4.1.6 Installation of Servo Motor
4.1.7 Overload Protection Characteristics
4.1.8 Magnetic Brake
4.1.9 Dynamic Brake Characteristics
4.2 Spindle Motor
4.2.1 Environmental Conditions
4.2.2 Shaft Characteristics
4.2.3 Machine Accuracy
4.2.4 Installation of Spindle Motor
4.3 Drive Unit
4.3.1 Environmental Conditions
4.3.2 Heating Value
5 Dedicated Options
5.1 Servo Options
5.1.1 Battery Option (MDS-BAT6V1SET, MR-
BAT6V1SET, MDSBTBOX-LR2060)
5.1.2 Ball Screw Side Encoder (OSA405ET2AS)
5.1.3 Machine Side Encoder
5.2 Spindle Options
5.2.1 Spindle Side ABZ Pulse Output Encoder (OSE-
1024 Series)
5.2.2 Spindle Side PLG Serial Output Encoder
(TS5690, MU1606 Series)
5.2.3 Spindle Side Accuracy Serial Output Encoder
(Other Manufacturer's Product)
5.3 Encoder Interface Unit
5.3.1 Serial Output Interface Unit for ABZ Analog Encoder MDS-EX-HR
5.3.2 Serial Output Interface Unit for ABZ Analog Encoder EIB192M
(Other Manufacturer's Product)
5.3.3 Serial Output Interface Unit for ABZ Analog Encoder EIB392M
(Other Manufacturer's Product)
5.3.4 Serial Output Interface Unit for ABZ Analog Encoder ADB-K70M
(Other Manufacturer's Product)
5.4 Drive Unit Option
5.4.1 Side Protection Cover
5.5 Cables and Connectors
5.5.1 Cable Connection Diagram
5.5.2 List of Cables and Connectors
5.5.3 Optical Communication Cable Specifications
6 Specifications of Peripheral Devices
6.1 Selection of Wire
6.1.1 Wire Selection Standards for Each Product
6.1.2 Example of Wires by Unit
6.2 Selection of Circuit Protector and Contactor
6.2.1 Selection of Circuit Protector
6.2.2 Selection of Contactor
6.3 Selection of Earth Leakage Breaker
6.4 Noise Filter
6.5 Surge Absorber
6.6 Relay
6.7 Selection of Link Connection
6.7.1 Connection for L11 and L21 Link
6.7.2 Connection for L+ and L- Link
7 Selection
7.1 Selection of the Servo Motor
7.1.1 Outline
7.1.2 Selection of Servo Motor Capacity
7.1.3 Motor Shaft Conversion Load Torque
7.1.4 Expressions for Load Inertia Calculation
7.2 Selection of the Spindle Motor
7.3 Selection of the Additional Axis Drive Unit
7.3.1 Calculation of Spindle Output
7.3.2 Calculation of Servo Motor Output
7.3.3 Selection of the Additional Axis Drive Unit
7.3.4 Required Capacity of Power Supply
7.3.5 Example for Additional Axis Drive Unit and Power
Supply Facility Capacity
8 Appx. 1: Cable and Connector Specifications
8.1 Selection of Cable
8.1.1 Cable Wire and Assembly
8.2 Cable Connection Diagram
8.2.1 Battery Cable
8.2.2 Servo Encoder Cable
8.2.3 Spindle Encoder Cable
8.3 Main Circuit Cable Connection Diagram
8.4 Connector Outline Dimension Drawings
8.4.1 Connector for Drive Unit
8.4.2 Connector for Servo
8.4.3 Connector for Spindle
9 Appx. 2: Restrictions for Lithium Batteries
9.1 Restriction for Packing
9.1.1 Target Products
9.1.2 Handling by User
9.1.3 Reference
9.2 Products Information Data Sheet (ER Battery)
9.3 Forbiddance of Transporting Lithium Battery by Passenger Aircraft Provided in the Code of Federal Regulation
9.4 California Code of Regulation "Best Management Practices for Perchlorate Materials"
9.5 Restriction Related to EU Battery Directive
9.5.1 Important Notes
9.5.2 Information for End-user
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501252(ENG)).
Function Specifications List
< Power supply specification >
Item
MDS-E-
CV
MDS-EH-
CV
1
Base control functions
1.14 Power regeneration control
1.15 Resistor regeneration control
1.16 PWM control
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-
-
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-
-
4
Protection function
5
Sequence function
6
Diagnosis function
4.5 Fan stop detection
4.6 Open-phase detection
4.7 Contactor weld detection
4.10 Deceleration and stop function at power failure (Note 1)
4.11 Retraction function at power failure (Note 2)
5.1 Contactor control function
5.3 External emergency stop function
5.5 High-speed READY ON sequence
6.6 Power supply diagnosis display function
6.7 Drive unit diagnosis display function
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(Note 1) The power backup unit and resistor unit option are required.
(Note 2) The power backup unit and capacitor unit option are required.
MDS-EM/
EMH-
SPV3 built-in converter
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MDS-EJ-
V1/V2 built-in
converter
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MDS-EJH-
V1 built-in
converter
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MDS-EJ-
SP/SP2 built-in converter
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MDS-EX-
CVP
Series
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< Servo specification >
1
Base control functions
2
Servo control function
3
Compensation control function
4
Protection function
5
Sequence function
6
Diagnosis function
Item
1.1 Full closed loop control
1.2 Position command synchronous control
1.3 Speed command synchronous control
1.4 Distance-coded reference position control
2.1 Torque limit function (stopper function)
2.2 Variable speed loop gain control
2.3 Gain changeover for synchronous tapping control
2.4 Speed loop PID changeover control
2.5 Disturbance torque observer
2.6 Smooth High Gain control (SHG control)
2.7 High-speed synchronous tapping control (OMR-DD control)
2.8 Dual feedback control
2.9 HAS control
2.10 OMR-FF control
3.1 Jitter compensation
3.2 Notch filter
3.3 Adaptive tracking-type notch filter
3.4 Overshooting compensation
3.5 Machine end compensation control
3.6 Lost motion compensation type 2
3.7 Lost motion compensation type 3
3.9 Real-time tuning I
3.10 Full-closed torsion compensation function
4.1 Deceleration control at emergency stop
4.2 Vertical axis drop prevention/pull-up control
4.3 Earth fault detection
4.4 Collision detection function
4.5 Fan stop detection
4.8 STO (Safe Torque Off) function
4.9 SBC (Safe Brake Control) function
4.10 Deceleration and stop function at power failure (Note 3)
4.11 Retraction function at power failure
(Note 4)
5.2 Motor brake control function
5.4 Specified speed output
5.5 Quick READY ON sequence
6.1 Monitor output function
6.2 Machine resonance frequency display function
6.3 Machine inertia display function
MDS-E-V1/V2/
V3
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Variable frequency: 4
Fixed frequency: 1
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MDS-EH-V1/
V2
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Variable frequency: 4
Fixed frequency: 1
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MDS-EM/EMH-
SPV3
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Variable frequency: 4
Fixed frequency: 1
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MDS-EJ/EJH-
V1
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Variable frequency: 4
Fixed frequency: 1
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MDS-EJ-V2
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Variable frequency: 4
Fixed frequency: 1
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(Note 1) Always set L-axis as primary axis and M-axis as secondary axis for the speed command synchronous control using
MDS-E-V3. Other settings cause the initial parameter error alarm.
(Note 2) The dedicated wiring STO is not supported by MDS-EM/EMH Series.
(Note 3) The power backup unit and resistor unit option are required.
(Note 4) The power backup unit and capacitor unit option are required.
< Spindle specifications >
1
Base control functions
2
Spindle control functions
3
Compensation control function
4
Protection function
Item
1.1 Full closed loop control
1.5 Spindle's continuous position loop control
1.6 Coil changeover control
1.7 Gear changeover control
1.8 Orientation control
1.9 Indexing control
1.10 Synchronous tapping control
1.11 Spindle synchronous control
1.12 Spindle/C axis control
1.13 Proximity switch orientation control
2.1 Torque limit function
2.2 Variable speed loop gain control
2.5 Disturbance torque observer
2.6 Smooth High Gain control (SHG control)
2.7 High-speed synchronous tapping control (OMR-DD control)
2.8 Dual feedback control
2.10 OMR-FF control
2.11 Control loop gain changeover
2.12 Spindle output stabilizing control
2.13 High-response spindle acceleration/ deceleration function
3.1 Jitter compensation
3.2 Notch filter
3.3 Adaptive tracking-type notch filter
3.4 Overshooting compensation
3.6 Lost motion compensation type 2
3.8 Spindle motor temperature compensation function
3.9 Real-time tuning I
4.1 Deceleration control at emergency stop
4.3 Earth fault detection
4.5 Fan stop detection
4.8 STO (Safe Torque Off) function
4.10 Deceleration and stop function at power failure (Note 3)
4.11 Retraction function at power failure
(Note 4)
5.4 Specified speed output
MDS-E/EH-SP
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Variable frequency: 4
Fixed frequency: 1
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MDS-E-SP2
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Variable frequency: 4
Fixed frequency: 1
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5
Sequence functions
5.5 Quick READY ON sequence
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6
Diagnosis functions
6.1 Monitor output function
6.2 Machine resonance frequency display function
6.3 Machine inertia display function
6.4 Motor temperature display function
6.5 Load monitor output function
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(Note 1) As for 2-axis spindle drive unit, setting is available only for one of the axes.
(Note 2) The dedicated wiring STO is not supported by MDS-EM/EMH Series.
(Note 3) The power backup unit and resistor unit option are required.
(Note 4) The power backup unit and capacitor unit option are required.
MDS-EM/EMH-
SPV3
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Variable frequency: 4
Fixed frequency: 1
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Variable frequency: 4
Fixed frequency: 1
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MDS-EJ-SP
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Variable frequency: 4
Fixed frequency: 1
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MDS-EJ-SP2
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1
Installation
1 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
1 Installation
1.1 Installation of Servo Motor
CAUTION
1. Do not hold the cables, axis or encoder when transporting the motor. Failure to observe this could lead to faults or injuries.
2. Securely fix the motor to the machine. Insufficient fixing could lead to the motor deviating during operation. Failure to observe this could lead to injuries.
3. When coupling to a servo motor shaft end, do not apply an impact by hammering, etc. The encoder could be damaged.
4. Never touch the rotary sections of the motor during operations. Install a cover, etc., on the shaft.
5. Do not apply a load exceeding the tolerable load onto the servo motor shaft. The shaft could break. Failure to observe this could lead to injuries.
6. Do not connect or disconnect any of the connectors while the power is ON.
1.1.1 Environmental Conditions
Environment
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Atmosphere
Altitude
1.1.2 Quakeproof Level
Series
200V series
400V series
Motor type
HG96
HG75, 105
HG54, 104, 154, 224, 123, 223, 142
HG204, 354, 303, 453, 702, 302
HG-H54, 104, 154
HG-H204, 354, 453
Conditions
0°C to +40°C (with no freezing)
80% RH or less (with no dew condensation)
-15°C to +70°C (with no freezing)
90% RH or less (with no dew condensation)
Indoors (no direct sunlight)
No corrosive gas, inflammable gas, oil mist or dust
Operation / storage: 1000m or less above sea level
Transportation: 10000m or less above sea level
Acceleration direction
Axis direction (X) Direction at right angle to axis (Y)
49m/s
2
(5G) or less 49m/s
2
(5G) or less
24.5m/s
2
(2.5G) or less 24.5m/s
2
(2.5G) or less
24.5m/s
2
(2.5G) or less
24.5m/s 2 (2.5G) or less
24.5m/s 2 (2.5G) or less
29.4m/s
2
(3G) or less
24.5m/s 2 (2.5G) or less
29.4m/s 2 (3G) or less
The vibration conditions are as shown below.
200
100
80
60
50
40
30
20
X
Servo motor
Y
Acceleration
0 1000 2000
Speed (r/min)
3000
IB-1501241-H 2
MDS-EM/EMH Series Instruction Manual
1 Installation
1.1.3 Cautions for Mounting Load (Prevention of Impact on Shaft)
[1] When using the servo motor 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 encoder installed on the servo motor cannot be changed.
Servo motor Double-end stud
CAUTION
Never hammer the end of the shaft during assembly.
Pulley
Nut
Washer
1.1.4 Installation Direction
[1] There are no restrictions on the installation direction. Installation in any direction is possible, but as a standard the motor is installed so that the motor power line and encoder cable cannon plugs (lead-in wires) face downward.
Installation in the standard direction is effective against dripping. Measure to prevent oil and water must be taken when not installing in the standard direction. When the motor is not installed in the standard direction, refer to section "Oil/Water Standards" and take the appropriate measures.
The brake plates may make a sliding sound when a servo motor with magnetic brake is installed with the shaft facing upward, but this is not a fault.
Up
Down
Standard installation direction
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1.1.5 Shaft Characteristics
There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction and thrust direction, when mounted on the machine, is below the tolerable values given below. These loads may affect the motor output torque, so consider them when designing the machine.
Series
200V series
400V series
Servo motor
HG96S (Straight shaft)
HG75T, 105T (Taper shaft)
HG75S, 105S (Straight shaft)
HG54T, 104T, 154T, 224T, 123T, 223T, 142T (Taper shaft)
HG54S, 104S, 154S, 224S, 123S, 223S, 142S (Straight shaft)
HG204S, 354S, 303S, 453S, 702S, 302S (Straight shaft)
HG-H54T, 104T, 154T (Taper shaft)
HG-H54S, 104S, 154S (Straight shaft)
HG-H204S, 354S, 453S (Straight shaft)
Tolerable radial load Tolerable thrust load
392N (L=40) 147N
245N (L=33 ） 147N
245N (L=33 ）
392N (L=58)
980N (L=55)
2058N (L=79)
392N (L=58)
980N (L=55)
2058N (L=79)
147N
490N
490N
980N
490N
490N
980N
(Note 1) The tolerable radial load and thrust load in the above table are values applied when each motor is used independently.
(Note 2) The symbol L in the table refers to the value of L below.
L
Radial load
Thrust load
L: Length from flange installation surface to center of load mass [mm]
CAUTION
1. Use a flexible coupling when connecting with a ball screw, etc., and keep the shaft core deviation to below the tolerable radial load of the shaft.
2. When directly installing the gear on the motor shaft, the radial load increases as the diameter of the gear decreases. This should be carefully considered when designing the machine.
3. When directly installing the pulley on the motor shaft, carefully consider so that the radial load (double the tension) generated from the timing belt tension is less than the values shown in the table above.
4. In machines where thrust loads such as a worm gear are applied, carefully consider providing separate bearings, etc., on the machine side so that loads exceeding the tolerable thrust loads are not applied to the motor.
5. Do not apply the loads exceeding the tolerable level. Failure to observe this may lead to the axis or bearing damage.
1.1.6 Machine Accuracy
Machine accuracy of the servo motor's output shaft and around the installation part is as below.
(Excluding special products)
Accuracy
Run-out of the flange surface to the output shaft
Run-out of the flange surface's fitting outer diameter
Run-out of the output shaft end
Measurement point
Flange size [mm]
Less than 100 SQ.
100 SQ., 130 SQ.
176 SQ. - 250 SQ.
280 SQ. or over a 0.05mm
0.06mm
0.08mm
0.08mm
b c
0.04mm
0.02mm
0.04mm
0.02mm
0.06mm
0.03mm
0.08mm
0.03mm
c b a
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1.1.7 Coupling with the Load
There are several ways to couple the motor shaft and machine, such as direct coupling with flexible coupling or rigid coupling, gear connection, timing belt connection, etc.
Summarized comparison is as follows.
Noise
No lubric ation
Backl ash
Rigidity
Reliability in coupling
Life
Torque increased at deceleration
Degree of freedom in motor installation
Cautions in motor installation
Direct coupling with
flexible coupling
Direct coupling with rigid coupling
Gear
Timing belt
◯
◯
×
△
◯
◯
×
◯
◯
◯
△
◯
◯
◯
△
×
◯
Looseness of bolt
◯
Looseness of bolt
△
Tooth chipping
×
Belt is broken
◯
◯
△
×
×
×
◯
◯
△
×
◯
◯
Shaft core deviation
(In the case of single)
Shaft core deviation
Angle deviation
Backlash too small
Pitch diameter too small
Belt stretched too much
Pitch diameter too small
CAUTION
If the cautions in motor installation in the above table are not observed, the motor will have a broken shaft, or the bearing will have a shorter life. Carry out design and installation adjustment so that the load on the motor shaft will be below the tolerable loads mentioned in "Shaft Characteristics".
(1) Direct coupling - Flexible coupling
When coupling the load directly, a flexible coupling is recommended. The benefits of a flexible coupling are as below.
(a) Shaft's angle deviation and core deviation can be absorbed to some extent, so adjustment in motor installation is easier.
However, in the case of single, shaft core deviation cannot be allowed, so it is required to design and adjust so that the shaft cores of the motor and ball screw align. Check the specification of the coupling to use. If the shaft core deviation exceeds the coupling's tolerable level, the motor will have a broken shaft, or the bearing will have a shorter life. Thus, in order to simplify the installation adjustment, use a double flexible coupling.
(b) Less looseness produces less vibration and less noise at the coupling part.
On the other hand, if assembling is loose, lower rigidity may be caused. When using a coupling with lower rigidity, the accuracy in centering the core doesn't have to be high, however, it is undesirable for servo. In order to fully utilize the servo's efficiency to ensure the maximum durability of the equipments, it is required to use a highly rigid coupling, and to fully align the shaft cores in the initial installation. It is also required to select the optimum flexible coupling according to the working conditions, and use it correctly according to the manufacturer's specification manual.
Example of direct coupling with load
Load shaft
(a) Taper shaft
Motor shaft
Spun ring Flexible coupling
Load shaft
Flexible coupling Spun ring
(b) Straight shaft
Motor shaft
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(2) Direct coupling - Rigid coupling
A rigid coupling has benefits such as high rigidity, and relatively lower price. However, shaft core deviation and angle deviation of the motor shaft and ball screw are not allowed, so full attention is required in installing the rigid coupling. Shaft core deviation is desired to be 0.01mm or less. If enough accuracy cannot be ensured, the motor will have a broken shaft, or the bearing will have a shorter life.
Load side
Coupling
Motor side
0.01mm or less
Also note that the motor side ball screw bearing must be locked so that to avoid the thrust load on the motor shaft due to expansion and contraction of the ball screw.
(3) Gear connection
Gear's accuracy and backlash amount greatly affect on the machine's positioning accuracy and noise during operation.
Thus, according to the machine's specification, appropriately select the accuracy and backlash amount.
In gear connection, it is required to take measures against oil to enter the motor.
Load side
Example of gear connection with load
Motor side
1.1.8 Oil/Water Standards
(1) The motor protective format uses the IP type, which complies with IEC Standard.
However, these Standards are short-term performance specifications. They do not guarantee continuous environmental protection characteristics. Measures such as covers, etc., must be taken if there is any possibility that oil or water will fall on the motor, and the motor will be constantly wet and permeated by water. Note that the motor's IP-type is not indicated as corrosion-resistant.
Oil or water
Servo motor
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(2) When a gear box is installed on the servo motor, 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.
Series
200V series
400V series
Servo motor
HG96
HG75, 105
HG54, 104, 154, 224, 123, 223, 142
HG204, 354, 303, 453, 702, 302
HG-H54, 104, 154
HG-H204, 354, 453
Oil level (mm)
15
15
22.5
30
22.5
30
Gear
Servo motor
Oil level
Lip
Oil seal
(3) When installing the servo motor horizontally, set the connector to face downward. When installing vertically or on an inclination, provide a cable trap because the liquid such as oil or water may enter the motor from the connector by running along the cable.
Cable trap
(4) Do not use the unit with the cable submerged in oil or water. (Refer to following drawing.)
Cover
Servo motor
Oil water
<Fault> Capillary tube phenomenon
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(5) Make sure that oil and water do not flow along the cable into the motor or encoder.
(Refer to following drawing.)
Cover
Servo motor
<Fault> Respiration
(6) When installing on the top of the shaft end, make sure that oil from the gear box, etc., does not enter the servo motor.
The servo motor does not have a waterproof structure.
Gear
Lubricating oil
Servo motor
CAUTION
1. The servo motors, including those having IP67 specifications, do not have a completely waterproof (oil-proof) structure.
Do not allow oil or water to constantly contact the motor, enter the motor, or accumulate on the motor. Oil can also enter the motor through cutting chip accumulation, so be careful of this also.
2. Oil may enter the motor from the clearance between the cable and connector. Protect with silicon not to make the clearance.
3. When the motor is installed facing upwards, take measures on the machine side so that gear oil, etc., does not flow onto the motor shaft.
1.1.9 Installation of Servo Motor
Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat dissipation effect:
Flange size (mm)
150×150×6
250×250×6
250×250×12
300×300×20
800×800×35
Servo motor capacity
100W
200 to 400W
0.5 to 1.5kW
2.0 to 7.0kW
9.0 to 11.0kW
(Note 1) These flange sizes are recommended dimensions when the flange material is an aluminum.
(Note 2) If enough flange size cannot be ensured, ensure the cooling performance by a cooling fan or operate the motor in the state that the motor overheat alarm does not occur.
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1.1.10 Cable Stress
[1] Sufficiently consider the cable clamping method so that bending stress and the stress from the cable's own weight is not applied on the cable connection part.
[2] In applications where the servo motor moves, make sure that excessive stress is not applied on the cable.
If the encoder cable and servo motor wiring are stored in a cable bear and the servo motor moves, make sure that the cable bending part is within the range of the optional encoder cable.
Fix the encoder cable and power cable enclosed with the servo motor.
[3] Make sure that the cable sheathes will not be cut by sharp cutting chips, worn or stepped on by workers or vehicles.
The bending life of the encoder cable is as shown below. Regard this with a slight allowance. If the servo motor/spindle motor is installed on a machine that moves, make the bending radius as large as possible.
1× 10 8
5× 10 7
2× 10 7
1× 10 7
5× 10 6
2× 10 6
1× 10 6
5× 10 5
2× 10 5
1× 10 5
7 10 70 100
Bending radius (mm)
Encoder cable bending life
(Material of Mitsubishi optional encoder cable: A14B2343)
(Note) The values in this graph are calculated values and are not guaranteed.
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1.2 Installation of Spindle Motor
CAUTION
1. Do not hold the cables, axis or encoder when transporting the motor. Failure to observe this could lead to faults or injuries.
2. Securely fix the motor to the machine. Insufficient fixing could lead to the motor deviating during operation. Failure to observe this could lead to injuries.
3. When coupling to a motor shaft end, do not apply an impact by hammering, etc. Failure to observe this could lead to motor failures such as the shaft distortion or bearing/encoder damage.
4. Never touch the motor during operations or right after the stop. Install a cover, etc., on the rotary sections.
5. Do not apply a load exceeding the tolerable load onto the servo motor shaft. The shaft could break. Failure to observe this could lead to injuries.
6. Do not connect or disconnect any of the connectors while the power is ON.
7. When coupling the motor directly with the spindle, perform the adequate centering and parallel correcting with the axis to be coupled. The vibration of the motor should be 4.9m/s
2
(0.5G) or less after balancing the spindle unit.
8. Perform a running-in before operating the machine.
1.2.1 Environmental Conditions
Environment
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Atmosphere
Altitude
Vibration
Conditions
0°C to +40°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 (Where unit is not subject to direct sunlight)
No corrosive gases, flammable gases, oil mist or dust
Operation/storage: 1000m or less above sea level
Transportation: 10000m or less above sea level
X:29.4m/s
2
(3G) Y:29.4m/s
2
(3G)
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1.2.2 Balancing the Spindle Motor (Unit)
When a spindle motor is driven at a high speed with unbalance generated on the rotor, the whirling load is generated and the load to the motor's internal bearings is increased. Thus abnormal vibration, and/or damages known as fretting or flaking occurs to the bearings, which may result in shorter bearing life. Therefore, it is important to balance the rotation so that great vibration does not occur during rotation at high speed.
When balancing the spindle motor, perform to the entire rotational objects including the gear, pulley, coupling, etc. that are attached directly on the motor shaft. Provide a balancing mechanism including screw holes on the fittings while measuring the vibration so that the vibration is suppressed to the specified level or lower during high speed rotation.
(1) Fittings for the motor shaft
When you select fittings for the motor shaft, such as a gear, pulley, and coupling, choose those that meet the motor specifications (shaft diameter, rotation speed and output torque).
CAUTION
1. We consider key-less shaft as standard in order to simplify balancing procedure of such as gear, pulley, and coupling.
We recommend you to choose a gear, pulley and coupling that have a fully symmetric shape, and arrange screw holes on their end faces at short and equal intervals in the circumferential direction.
2. Use a fastener such as a shaft lock element to fix those fittings to the motor shaft.
3. When you attach fittings to the motor shaft, be careful not to apply excessive impact by striking with a hammer, etc. This may cause the shaft distortion and bearing damage.
4. When using screws for balancing, apply thread locker on the screws after balancing.
(2) How to measure the unbalance
After attaching the fittings such as gear, pulley, and coupling, carry out no-load operation, and use an accelerometer or vibrometer compatible with frequency analysis to confirm the vibration on the points as illustrated below (on the brackets where the bearings are stored).
Make sure to place the motor on a cushioning mat to avoid vibration to the spindle from external sources during measurement. Reaction torque is generated when accelerating/decelerating the motor, so securely fix the motor with a belt, etc. to avoid rolling during measurement.
Load side bracket (horizontal, vertical)
Load side bracket (axial direction)
Counter load side bracket (horizontal)
Measuring device
Cushioning mat
Coupling
Locations where motor vibration is measured
CAUTION
1. Make sure to place the motor on a cushioning mat to avoid resonance with surrounding devices during measurement.
2. Always secure the spindle motor body with a belt, etc. because it may roll due to the reaction torque generated during acceleration/deceleration operation.
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(3) How to balance the rotation
Find out the rotation speed at which the vibration reaches the maximum, within the actual rotation speed range of the spindle motor. Run the motor at the speed found above and perform balancing to minimize the vibration. When balancing is decided, measure the vibration at different rotation speeds and make a further fine adjustment so that the vibration acceleration generated is always 0.5G (4.9m/s
2
) or less.
(The vibration acceleration of 0.5G is about 4.7
μ m when expressed in terms of the amplitude at the rotation speed of 10,000r/min. The higher the rotation speed is, the smaller the corresponding amplitude becomes.)
Confirm the vibration in the motor rotation speed range
Distinguish the resonance (rotation) speed
Balancing
NO
Vibration acceleration ӌ
0.5G(4.9m/s
2
)
YES
Confirm the vibration in the motor rotation speed range
NO
Vibration acceleration ӌ
0.5G(4.9m/s )
YES
Installing the spindle motor
Confirm the vibration after the installation
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1.2.3 Shaft Characteristics
There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction, when mounted on the machine, is below the tolerable values given below. These loads may affect the motor output torque, so consider them when designing the machine.
Series
200V series
400V series
Spindle motor
SJ-D5.5/120-02T-S, SJ-DL3.7/240-01T
SJ-VL11-05FZT-S01
SJ-DL5.5/150-01T, SJ-DL5.5/240-05T, SJ-VL11-02FZT
SJ-D5.5/120-02, SJ-DJ5.5/100-01, SJ-DJ5.5/120-01,
SJ-DL7.5/150-01T, SJ-DG3.7/120-03T
SJ-D5.5/100-01, SJ-D5.5/120-01, SJ-DJ7.5/100-01,
SJ-DJ7.5/120-01, SJ-DG5.5/120-04T
SJ-D7.5/100-01, SJ-D7.5/120-01, SJ-D11/100-01
SJ-DJ11/100-01, SJ-DJ15/80-01, SJ-V11-01T, SJ-DG7.5/120-05T,
SJ-DG11/100-03T, SJ-DG11/120-03T, SJ-DG15/120-02T-K,
SJ-DN7.5/80-01
SJ-V15-09ZT, SJ-V18.5-01ZT, SJ-V11-09T, SJ-V15-03T
SJ-D15/80-01, SJ-D18.5/80-01, SJ-DN11/80-01
SJ-D22/80-01, SJ-D26/80-01, SJ-DN15/80-01, SJ-DN18.5/80-01
SJ-4-V7.5-13ZT
SJ-4-V11-18T
SJ-4-V18.5-14T, SJ-4-V15-20T
Tolerable radial load
Not permitted
98N
245N
980N
1470N
1960N
2940N
3430N
3920N
980N
1960N
2940N
Radial load
(Note) The load point is at the one-half of the shaft length.
CAUTION
Consider on the machine side so that the thrust loads are not applied to the spindle motor.
1.2.4 Machine Accuracy
Machine accuracy of the spindle motor's output shaft and around the installation part is as below.
(Excluding special products)
Accuracy
Run-out of the flange surface to the output shaft
Run-out of the flange surface's fitting outer diameter
Run-out of the output shaft end
Measurement point a b c
Frame No.
B71, C71, B90, C90,
D90, A112, B112
A160, B160, C160,
D160
0.03mm
0.05mm
0.02mm
0.01mm
0.04mm
0.02mm
(Note) Refer to Specifications Manual for the frame number of each spindle motor.
c b a
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1.2.5 Coupling with the Fittings
[1] We recommend you to adjust the dynamic balance (field balance) before fastening a belt.
[2] The position deviation in the axial direction between the motor pulley and spindle side pulley should be as small as possible and perform parallel correcting carefully.
[3] If the selection or tension of belt is incorrect, an excessive force is applied to the shaft end and bearings, which may result in shorter life or damages.
[4] When the load by the belt exceeds the tolerable radial load of the motor, reselect the motor or belt/pulley.
[5] Use an appropriate tension gauge to measure a belt tension.
1.2.6 Ambient Environment
If you continue to use the spindle motor with dirt such as oil mist and dust adhered, its cooling performance degrades and the motor is unable to fully exercise its performance, which may cause the spindle motor overheat alarm. In some cases this may result in damage to the bearing or cooling fan. Use a filter, etc. to protect the motor from oil mist and dust.
1.2.7 Installation of Spindle Motor
Make sure that the spindle motor is installed so that the motor shaft points from downward to 90° as shown below. When installing upward more than 90°, contact your Mitsubishi Electric dealer.
CAUTION
1. Rubber packing for waterproof is attached on the inner surface of the top cover of terminal block, and on the fan lead.
After checking that the packing is installed, install the top cover so that no foreign objects are stuck in between.
2. When installing a motor on a flange, chamfer(C1) the part of flange that touches inside low part of the motor.
Cooling fan
To yield good cooling performance, provide a space of at least 30mm between the cooling fan and wall. If the motor is covered by a structure and the air is not exchanged, its cooling performance degrades and the motor is unable to fully exercise its performance, which may cause the spindle motor overheat alarm. Do not use the spindle motor in an enclosed space with little ventilation.
wall
30mm or more
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1.2.8 Connection
(1) Cable wiring
When connecting the power line to the terminal block, tighten the screws with proper torque as shown below.
Screw size Proper torque [N•m]
M4 2.0
M5
M6
M8
2.5
3.0
10.0
CAUTION
1. When connecting the power line to the terminal block, tighten the screws with proper torque described in this section.
2. Make sure to connect the terminal to the terminal block. If running the motor with the terminal loosened, fires could be caused by motor overheat, and earth fault, short circuit and electric shocks could be caused by disconnection of the terminal.
3.To keep the insulation distance, always cover crimp terminals with insulation tubes when connecting crimp terminals at the end of the power line.
(2) Connection of conduit connector
When installing a connector to a terminal box, select a water proof connector with rubber packing and prevent conductive foreign matter and other combustible foreign matter from entering through the wiring hole on the terminal box.
Use a smaller nut than the following size to fix the connector on the terminal box.
For the wiring hole diameter, refer to "DRIVE SYSTEM DATA BOOK (IB-1501252)".
Prepare a bushing, nut, and O-ring when using a connector smaller than the wiring hole on the terminal box.
SJ-V/SJ-VL/SJ-PMF/SJ-4-V Series
Wiring hole diameter [mm]
Φ 35
Φ 44
Φ 51
Φ 61
Φ 63
Outer diameter [mm]
Φ 58
Φ 58
Φ 93
Φ 93
Φ 93
SJ-D/DJ/DL/DG/DN Series
Wiring hole diameter [mm]
Φ 44
Φ 61
Outer diameter [mm]
Φ 56
Φ 80
Outer diameter
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Connection method to a screwless terminal block for fan motor
(1) Lead-out length
Strip the sheath of the cable in the range of 8 to 9mm with an appropriate tool.
Applicable cable size: 0.08mm
2
to 2.5mm
2
(28AWG to 12AWG)
(2) Tool
Use a flat-blade screwdriver whose blade edge size is 0.6×3.5mm for connecting.
(3) Work procedure
(a) Insert the edge of screwdriver into the insertion point (small square hole) in a diagonal direction. When the spring touches the blade edge, push the screwdriver down to the position that hits a conductive plate, tilting it in the inside direction of terminal block. In this state, the spring is completely opened and the screwdriver is held to the terminal block. Make sure that the screwdriver is completely held, not to create difficulties in inserting the cable for the next procedure.
(b) Check the stripped length of cable (8 to 9mm) and insert the cable end slowly along the outside of the insertion point (big square hole) as far as it will go, not to unravel wires. Make sure not to push thin cables too much.
(c) Release the screwdriver while holding one hand against the inserted cable. The spring will be closed and the cable will be connected.
(d) Gently pull the cable to make sure the connection. No need for a strong pull.
[4]
[3]
Screwdriver
[1]
[2]
Wire Conductive plate
Spring
CAUTION
1. Connection of a cable is restricted to one to one spring.
2. For connecting a cable, both twisted wire and solid wire can be used as it is without termination after the sheath has been stripped. The cable attached with bar terminal can also be connected.
1.2.9 Cable
[1] Do not apply the bending stress and the stress from the cable's own weight on the cable connection part.
[2] Make sure that the cable sheathes will not be cut by sharp cutting chips, worn or stepped on by workers or vehicles.
[3] Provide a cable trap because the liquid such as oil or water may enter the motor from the connector by running along the cable.
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1.3 Installation of the Drive Unit
CAUTION
1. Install the unit on noncombustible material. Direct installation on combustible material or near combustible materials may lead to fires.
2. Follow the instructions in this manual and install the unit while allowing for the unit mass.
3. Do not get on top of the units or motor, or place heavy objects on the unit.
Failure to observe this could lead to injuries.
4. Always use the unit within the designated environment conditions.
5. Do not let conductive objects such as screws or metal chips, etc., or combustible materials such as oil enter the units.
6. Do not block the units intake and outtake ports. Doing so could lead to failure.
7. The units and servo motor are precision devices, so do not drop them or apply strong impacts to them.
8. Do not install or run units or servo motor that is damaged or missing parts.
9. When storing for a long time, please contact your dealer.
10. Always observe the installation directions. Failure to observe this could lead to faults.
11. Secure the specified distance between the units and panel, or between the units and other devices. Failure to observe this could lead to faults.
1.3.1 Environmental Conditions
Environment
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Atmosphere
Altitude
Vibration
Conditions
0°C to +55°C (with no freezing)
90% RH or less (with no dew condensation)
-15°C to +70°C (with no freezing)
90% RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles
Operation/storage: 1000m or less above sea level
Transportation: 13000m or less above sea level
Operation/storage: 4.9m/s
2
(0.5G) or less Transportation: 49m/s
2
(5G) or less
(Note) When installing the machine at 1,000m or more above sea level, the heat dissipation characteristics will drop as the altitude increases in proportion to the air density. The ambient temperature drops 1% with every 100m increase in altitude.
When installing the machine at 1,800m altitude, the heating value of the drive unit must be reduced to 92% or less. The heating value is proportional to the square of the current, and required current decreasing rate follows the expression below.
Required current decreasing rate = 0.92 = 0.95
Therefore, use the unit with the reduced effective load rate to 95% or less.
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1.3.2 Installation Direction and Clearance
Wire each unit in consideration of the maintainability and the heat dissipation, as well as secure sufficient space for ventilation.
Installation clearance
100mm or more
100mm or more
80mm or more
10 mm or more
10 mm or more
1mm or more
100mm or more
100mm or more
CAUTION
1. The ambient temperature condition for the drive units is 55°C or less.
2. Because heat can easily accumulate in the upper portion of the units, give sufficient consideration to heat dissipation when designing the panel. If required, install a fan in the panel to agitate the heat in the upper portion of the units.
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Cooling fan position
< MDS-EM-SPV3-10040 to 200120 >
< MDS-EMH-SPV3-8040 to 10060 >
Cooling fan
[Unit : mm]
< MDS-EM-SPV3-16040S >
Top view
51
Cooling fan
[Unit : mm]
Top view
36.5
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< MDS-EM-SPV3-320120 >
Screw hole for eye bolt
Corresponding eye bolt: M10
Cooling fan
[Unit : mm]
Screw hole for eye bolt
Corresponding eye bolt: M10
Top view
47.8
CAUTION
1. Design the exhaust so that it is the position of the cooling fan.
2. Make the inlet and exhaust size more than the area that is a total of the cooling fan area.
3. There are screw holes (M10) for eye bolts on the top of MDS-EM-SPV3-320120.
Use eye bolts as required.
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1.3.3 Prevention of Entering of Foreign Matter
Treat the cabinet with the following items.
(1) Make sure that the cable inlet is dust and oil proof by using packing, etc.
(2) Make sure that the external air does not enter inside by using head radiating holes, etc.
(3) Close all clearances of the cabinet.
(4) Securely install door packing.
(5) If there is a rear cover, always apply packing.
(6) Oil will tend to accumulate on the top. Take special measures such as oil-proofing to the top so that oil does not enter the cabinet from the screw holds.
(7) After installing each unit, avoid machining in the periphery. If cutting chips, etc., stick onto the electronic parts, trouble may occur.
(8) When using the unit in an area with toxic gases or high levels of dust, protect the unit with air purging (system to blow clean air so that the panel's inner pressure is higher than the outer pressure).
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1.3.4 Panel Installation Hole Work Drawings (Panel Cut Drawings)
Prepare a square hole to match the unit width.
< MDS-EM-SPV3-10040 to 200120 >
< MDS-EMH-SPV3-8040 to 10060 >
140
Square hole
< MDS-EM-SPV3-16040S >
60
248
4-M5 screw hole
Square hole
166
4-M5 screw hole
[Unit: mm]
[Unit: mm]
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< MDS-EM-SPV3-320120 >
180
Square hole
288
POINT
Attach packing around the square hole to provide a seal.
4-M5 screw hole
[Unit: mm]
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1.3.5 Heating Value
The values for the servo drive unit apply for load rate 50%. The values for the spindle drive unit apply for the continuous rated output. The following values include the AC reactor's heating value.
< MDS-EM Series >
Type MDS-EM-
SPV3-16040S
SPV3-10040
SPV3-10080
SPV3-16040
SPV3-16080
SPV3-20080
SPV3-200120
SPV3-320120
Multi axis unit
Heating value [W]
Inside panel Outside panel
255 485
130
140
560
590
145
150
175
235
630
620
650
815
1025
1020
< MDS-EMH Series >
Type MDS-EMH-
Multi axis unit
Heating value [W]
Inside panel Outside panel
SPV3-8040 150 650
SPV3-10040
SPV3-10060
175
235
815
1025
POINT
1. Design the panel's heating value taking the actual axis operation (load rate) into consideration.
2. The heating values in the above tables are calculated with the following load rates.
Unit
Servo drive unit
Spindle drive unit
Power supply unit
Load rate
50%
100%
100%
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1.3.6 Heat Radiation Countermeasures
(1) Heat radiation countermeasures in the control panel
In order to secure reliability and life, design the temperature in the panel so that the ambient temperature of each unit is 55°C or less.
If the heat accumulates at the top of the unit, etc., install a fan or heat exchanger so that the temperature in the panel remains constant.
Please refer to following method for heat radiation countermeasures.
Calculate total heat radiation of each unit in panel (W)
Calculate panel’s cooling capacity
(W1)
Comparison of
W and W1
W ҇ W1
Manufacturing and evaluation
Evaluate temperature in panel
T 10 ͠
Completion
W>W1
Consider heat exchanger
Consider adding fan or heat exchanger
T > 10 ͠
<Hypothetical conditions >
[1] Average temperature in panel: T 55°C
[2] Panel peripheral temperature: Ta 0 to 45°C
[3] Internal temperature rise value: T=T-Ta max
=10°C
<Point>
[1] Refer to the section “ Heating Value” for the heat generated by each unit.
[2] Refer to the following calculation for calculation W1 of the panel’s cooling capacity (thin steel plate).
W1 = U x A x T
U: 6W/m
2
x °C (with internal agitating fan)
4W/m
2
x °C (without internal agitating fan)
A: Effective heat radiation area [m
2
]
㧔 Heat dissipation area in panel 㧕
Sections contacting other objects are excluded.
T: Internal temperature rise value (10°C)
[3] Points in manufacturing and evaluation
Understanding the temperature rise in the panel, and install a fan or heat exchanger.
T (average value) 10°C
T max
(maximum value) 15°C
Examples of mounting heat exchanger and temperature measurement positions (reference)
Relay, etc
Flow of air
Heat exchanger
Relay, etc
Unit
Unit
Flow of air
Temperature measurement positions
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The following shows a calculation example for considering heat radiation countermeasures.
< Control panel outline dimension (assumption) >
When installing four units which have the heating value in the panel of 15W
Top of panel inside Fan for agitating
300
600
Heat radiation area (A): When a bottom section contacts with a machine
(Top face) (Front/back face) (Side face)
(Note) Actually, sections contacting other objects are excluded.
Heating value in panel (W): when installing four units which are 15W
W = 15 × 4 = 60 (W)
< Considering necessity of agitating fan >
1 Temperature standard
(1) Standard of temperature in panel (around each unit) T ≦ 55°C
(2) External peripheral temperature Ta = 0 to 45°C
(3) Internal temperature rise value DT = T - Ta (MAX) = 10°C
2 Cooling capacity of control panel (W1)
W1 = U × A × DT DT = Internal temperature rise value (=10°C)
U = 6W/m
2
• °C (with internal agitating fan)
4W/m
2
• °C (without internal agitating fan)
A = Effective heat radiation area (m
2
)
(1) With internal agitating fan W1 = 6 × 1.26 × 10 = 75.6 (W) > 60 (W)
(2) Without internal agitating fan W1 = 4 × 1.26 × 10 = 50.4 (W) < 60 (W) -- Internal fan is required.
POINT
Measure an actual internal temperature, and install a fan or heat exchanger which agitates the heat at the top of the unit if the temperature rise exceeds 10°C.
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1.4 Installation of the Machine End Encoder
1.4.1 Spindle Side ABZ Pulse Output Encoder (OSE-1024 Series)
To maintain the encoder life and performance, a flexible coupling should be used to couple the spindle side encoder and
C-axis encoder with the spindle.
Encoder
Flexible coupling
0.02
0.02
Opposite encoder shaft side
Encoder and coupling installation accuracy
Recommended coupling
Manufacturer
Model
Resonance frequency
Position detection error
Tolerable speed
Mis-alignment
Outline dimensions
Core deviation
Angle displacement
Max. length
Max. diameter
Recommendation 1
Tokushu Seiko
Model M1
1374Hz
0.8×10 -3 °
20,000r/min
0.7mm
1.5°
74.5mm
Φ 57mm
CAUTION
Confirm that the gear ratio (pulley ratio) of the spindle end to the encoder is 1:1.
Recommendation 2
Eagle
FCS38A
3515Hz
1.2×10 -3 °
10,000r/min
0.16mm
1.5°
33mm
Φ 38mm
Refer to the coupling catalog, etc., for details on the coupling.
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1.4.2 Spindle Side PLG Serial Output Encoder (TS5690, MU1606 Series)
(1) Part configuration
The encoder is configured of a sensor and detection gear. The sensor and detection gear must be used in the designated combination.
These are precision parts, and require care when handling. Do not apply an excessive force on the sensor's detection surface, as this could result in faults. Do not pull and apply a load on the lead wires. Make sure that foreign matters (iron chips, etc.) do not get on the sensor's detection surface or detection gears. If any foreign matter should get on these parts, carefully remove while taking care not to damage the parts. When handling the detection gears, take care not to damage or deform the teeth.
* Thermal sensor terminals
Output connector
* Thermal sensor terminals are not used
when the encoder is installed on the spindle side.
Detection gears
Spindle side PLG serial output encoder TS5690 Series
(2) Installing the detection gears
[1] Install the detection gears so that the first gear's teeth side (Z phase) face the sensor's lead side.
[2] The detection gears and shaft or sleeve should be fixed with shrink fitting. Refer to the following table for the shrink fitting values. The detection gears should be heated evenly between 120 and 150°C using an electric furnace, etc.
Guideline for detection gear shrink fitting values
Inner diameter (mm) Shrink fitting (mm) Inner diameter (mm) Shrink fitting (mm)
Φ 40 0.020 to 0.040
Φ 140 0.050 to 0.085
Φ 70
Φ 80
Φ 125
0.030 to 0.055
0.030 to 0.055
0.050 to 0.085
Φ
Φ
160
215
0.060 to 0.090
0.080 to 0.110
[3] Keep the run-out of the outer diameter, when the detection gears are installed on the shaft, to 0.02mm or less.
[4] To remove a detection gear fixed with shrink fitting, use the screw holes opened in the axial direction for pulling
(two M5 screw holes or two M8 screw holes), or push the end with a jig. Carry out this work carefully. Applying excessive force when pulling out the gears could cause the inner diameter of the detection gears to deform.
[5] Before reusing detection gears which have been removed, always measure the inner diameter dimensions, and carefully check that the inner diameter is not deformed, and that the sufficient tightening amount can be secured. Do not reuse the detection gears if the inner diameter is deformed, or if any abnormality such as damage to the teeth is found.
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(3) Installing the sensor section
[1] Prepare the notched fitting section at the machine side's installation position to be of the specified dimensions in advance.
[2] With the sensor installation seat's R section butted against the notched fitting section, fix the sensor installation seat with a mounting screw (M4 × 0.8 screws). A locking agent should be applied on the mounting screw before it is tightened.
[3] Fix the sensor with its R section butted against the notched fitting section so that the position relation between the detection gear and sensor is kept constant. This ensures favorable accuracy of the sensor installation.
[4] Keep the deviation of the sensor center and outer diameter center of the detection gear to ±0.25mm or less. If the center deviation cannot be directly measured, set so that the dimension from the sensor installing surface to the outer diameter edge of the detection gears is
19.0±0.25mm. (Some detection gears have thickness at the inner diameter section.)
[5] Make sure that force is not constantly applied on the sensor's lead wires.
[6] Check the gap between the encoder sensor and the gear (0.3±0.05mm).
Sensor installation surface
Lead wire
Sensor installation seat
R section
13.0mm
19.0mm ± 0.25mm
To the end of the outer diameter
Z phase
side
Installing the detector
POINT
To install the sensor section, the notched fitting section on the machine side must have the specified dimensions.
The sensor's installation accuracy is assured by adjusting the outside dimensions of the notched fitting section.
3.0mm
Butt the back side of the sensor installation seat against here
2-M4×0.8 screw
Butt the R section of the sensor installation seat against here
39mm
Notched section's
outer diameter
Screw holes' height
Shape of notched fitting section
Sensor series type
TS5690N64xx
TS5690N90xx
TS5690N12xx
TS5690N19xx
TS5690N25xx
Installing dimension of the sensor section
Screw holes’ height from the rotation center (mm)
36.7
47.1
62.3
87.9
113.5
Notched fitting section's outer diameter (mm)
Φ
Φ
Φ
Φ
Φ
59.4
79.2
108.8
159.4
210.2
-0.030
-0.070
0
-0.040
+0.025
-0.015
+0.005
-0.035
+0.040
0
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(4) Installation accuracy diagnosis for spindle side PLG encoder
CAUTION
Do not operate the spindle before performing this installation accuracy diagnosis.
If operated with an improperly installed spindle side PLG encoder, the spindle motor may rotate at high speed.
Always perform this diagnosis before normal operation.
[1] Outline
In this section, check if the installation polarity of spindle side PLG encoder corresponds to the parameter setting, and the gap between the gear and the sensor is appropriate. In a full-closed loop control where the encoder is also installed on the spindle side, it is controlled based on the feedback of the spindle side encoder during the speed command operation (S command). Do not command a normal spindle operation before confirming the installation accuracy of the spindle side encoder.Spindle side PLG encoders (TS5690 Series) have the specified gap from the gear by installing the sensor section on the machine-notched fitting section. Whether a signal is detected correctly or not can be confirmed using the servo diagnosis screen on NC while rotating the spindle motor in an open loop control.
[2] Confirmation of encoder installation polarity
Open the drive monitor/spindle unit on the NC Diagnosis screen, and display "Machine position", "Motor end FB" and "FB error". Confirm that "Machine position" and "Motor end FB" are counted on the same polarity, and that "FB error" is not cumulated while rotating the spindle by hand. When the polarity of "Machine position" and "Motor end
FB" is different and "FB error" is cumulated, change the setting of #13017/bit4 (SP017/bit4). Set the spindle parameter so that the spindle system is in a full-closed loop control during this confirmation.
- #13019 (SP019) Set the encoder resolution of spindle side PLG encoder correctly
- #13031 (SP031) Set to full closed loop control (6200)
[3] Confirmation of encoder installation accuracy
Whether the gap between the sensor section and the gear is ensured correctly or not can be confirmed using the servo diagnosis screen, [PLG diagn] on NC while rotating the spindle motor in an open loop control. Confirm it according to the following procedures.
1) Set the spindle parameter #13018/bit1 (SP018/bit1) to 1 to enable an open loop control.
2) Turn the NC and drive unit power OFF and disconnect the motor side encoder cable only. After that, turn the power ON again.
3) Rotate the spindle by inputting 100r/min command. Although this is the same as normal S command operation, neither the spindle side encoder feed back or the motor side encoder feed back is used for the motor control on the spindle drive unit since the open loop control is set with the spindle parameter.
4) Switch to the [Servo diagn] menu on the NC maintenance screen and change from [Spindle unit] to [PLG diagn]. When all the diagnosis signal bits are constantly at "0", the installation of PLG encoder is normal.
When the diagnosis signal bit is "1", the result of diagnosis is abnormal. Perform troubleshooting following
"[4] Diagnosis and remedy" by reference to the error details and main cause.
5) Set the spindle parameter #13018/bit1 (SP018/bit1) to 0 again and finish the open loop control after stopping the spindle with stop command.
6) Turn the NC and spindle drive unit power OFF, and reconnect the motor side encoder cable as it was.
CAUTION
The spindle PLG diagnosis is only performed during the open loop control operation.Diagnosis screen is displayed even during the normal operation, however, the error detection ("1" display) will not be performed.
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<Display of spindle PLG diagnosis>
When an error is detected with spindle PLG diagnosis
→ "1" is displayed on the corresponding diagnosis signal bit
Information for spindle PLG diagnosis
(For details of each diagnosis signal bit, refer to the next page.)
Item
Encoder Diagn L
Encoder Diagn H
Sub Encoder Diagn L
Sub Encoder Diagn H
* Used when adjusting a built-in motor.
Details
Display the motor end PLG diagnosis signal bit 7 to 0. *
Display the motor end PLG diagnosis signal bit F to 8. *
Display the spindle side PLG diagnosis signal bit 7 to 0.
Display the spindle side PLG diagnosis signal bit F to 8.
4 ) Judgment with the diagnosis signal bit by the PLG diagnosis display
1) Power ON
Open loop control enabled
2) Power ON again
5) Open loop control disabled
6) Power OFF
2) Disconnect the encoder cable of the motor end encoder
6) Connect the encoder cable of the motor end encoder
1) Power ON
2) Power ON again
6) Power OFF
To CN3
TS5690 (Sensor)
MU1606 (Gear)
TS5690 (Sensor)
MU1606 (Gear)
Spindle motor
Open loop
Spindle gear
Spindle
Motor gear
3) Rotate the spindle by inputting
100 r/min command
5) Stop the spindle with stop command
Installation diagnosis for spindle side PLG encoder
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Details of each diagnosis signal bit which is displayed as information for spindle PLG diagnosis are shown in the following table.
Diagnosis signal bit
0
1
2
3
4
5
6
7
8
9
A
B
E
F
C
D
Error details
A-phase amplitude excessive
A-phase amplitude too small
A-phase offset excessive
B-phase offset excessive
＋
A-phase offset excessive -
B-phase amplitude excessive
B-phase amplitude too small
＋
B-phase offset excessive -
Z-phase width excessive
Z-phase width too small
Z-phase error incorrect output
Z-phase error sliver waveform
Z-phase error no signal
-
Z-phase error logic reversed
-
Description Main factor
The A-phase amplitude is larger than the specified value.
The A-phase amplitude is smaller than the specified value.
The A-phase offset is larger than the specified value to + side.
The A-phase offset is larger than the specified value to - side.
The B-phase amplitude is larger than the specified value.
The B-phase amplitude is smaller than the specified value.
Too small gap
Excessive gap
The deviation between the sensor and the center of the gear
The deviation between the sensor and the center of the gear
Too small gap
Excessive gap
The B-phase offset is larger than the specified value to + side.
The B-phase offset is larger than the specified value to - side.
The deviation between the sensor and the center of the gear
The deviation between the sensor and the center of the gear
The Z-phase width is larger than the specified value. [AL2C factor] Too small gap
The Z-phase width is smaller than the specified value.
Excessive gap
The relation of the phases between AB and Z is abnormal.
[AL2C factor]
The relation of the phases between AB and Z is abnormal.
[AL2C factor]
-
The Z-phase signal is not detected. [AL2C factor]
-
The Z-phase logic (normally positive) is reversed. [AL2C factor]
The deviation between the sensor and the center of the gear
The deviation between the sensor and the center of the gear
-
Excessive gap, detection gear error
-
Detection gear error
[4] Diagnosis and remedy
When the diagnosis signal bit on [PLG diagn] is "1", check the installation of the PLG encoder again.
<When the waveform of spindle side PLG installation gap diagnosis is abnormal>
The gap between the sensor section and the gear may deviate from the specified value. Confirm that the sensor section is installed on the notched fitting section properly. Also confirm that the notched fitting section is machined properly based on the specified dimensions for each PLG encoder.
<When the waveform of spindle side PLG installation all errors diagnosis is abnormal>
The sensor section may deviate from the center of the gear. Confirm the installation of the sensor section and the gear.
CAUTION
1. When finely adjusting the sensor installation position, adjust after turning the power of the drive unit OFF.
2. "00000000" is also displayed in the following cases.
(1) When the spindle parameter #13018/bit1(SP018/bit1) is 0 (open loop disabled)
(2) When an encoder other than TS5690 Series is connected
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【
#13017(PR)
】
bit 4 : fdir Position feedback
Set the machine side encoder's installation polarity.
0: Forward polarity 1: Reverse polarity
【
#13018(PR)
】
bit 1 : oplp Open loop control
This allows the operation in which no encoder feedback signals are used.
It is used when adjusting the encoder, etc.
0: Disable 1: Enable
【
#13113
】
Set the current command value for when the open loop control is enabled.
When "0" is set, the state will be the same as when "50" is set.
When not using, set to "0".
The open loop control is enabled when "SP018/bit1" is set to "1".
---Setting range---
0 to 999 (Short-time rated %)
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1.5 Noise Measures
Noise includes "propagation noise" generated from the relay, etc., and propagated along a cable causing the drive unit to malfunction, and "radiated noise" propagated through air from a peripheral device, etc., and causing the power supply unit or drive unit to malfunction.
Always implement these noise measures to prevent the peripheral devices and unit from malfunctioning. The measures differ according to the noise propagation path, so refer to the following explanation and take appropriate measures.
(1) General noise measures
(a) Avoid laying the drive unit's power line and signal wire in a parallel or bundled state. Always separate these wires. Use a twisted pair shielded wire for the encoder cable and signal wires such as the communication cable connected with the NC unit, and accurately ground the devices.
(b) Use one-point grounding for the drive unit and motor.
(c) Accurately ground the AC reactor.
(2) Propagation noise measures
Take the following measures when noise generating devices are installed and the drive unit could malfunction.
(a) Install a surge killer on devices (magnetic contacts, relays, etc.) which generate high levels of noise.
(b) Install a power line filter in the stage before the drive unit.
(c) Install a ferrite core on the signal wire.
(d) Ground the shield of the servo encoder's cable with a cable clamp.
(e) Wire the spindle PLG encoder cable away from other wires.
(3) Measures against radiated noise
The types of propagation paths of the noise and the noise measures for each propagation path are shown below.
Noise generated from drive unit
Airborne propagation noise
Noise directly radiated from drive unit
Path [1]
Magnetic induction noise
Static induction noise
Path [4] and [5]
Path [6]
Noise radiated from power line
Path [2]
Noise radiated from servo motor/spindle motor
Path [3]
Cable propagation noise
Noise propagated over power line
Path [7]
Noise lead in from grounding wire by leakage current
Path [8]
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[5]
[7]
Instru- ment
[7]
[2]
Receiver
[1]
[3]
Drive unit
[6]
[4]
Servo motor
Spindle motor M
[2]
Generated noise of drive system
Sensor power supply
Sensor
[8]
Noise propagation path
[1] [2] [3]
[4] [5] [6]
[7]
[8]
Measures
When devices such as instrument, receiver or sensor, 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 drive units and the wiring is close, the device could malfunction due to airborne propagation of the noise. In this case, take the following measures.
(a) Install devices easily affected as far away from the drive units as possible.
(b) Lay devices easily affected as far away from the signal wire of the drive unit as possible.
(c) Avoid laying the signal wire and power line in a parallel or bundled state.
(d) Insert a line noise filter on the input/output wire or a radio filter on the input to suppress the noise radiated from the wires.
(e) Use a shield wire for the signal wire and power line, or place in separate metal ducts.
If the signal wire is laid in parallel to the power line, or if it is bundled with the power line, 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.
(a) Install devices easily affected as far away from the drive unit as possible.
(b) Lay devices easily affected as far away from the signal wire of the drive unit as possible.
(c) Avoid laying the signal wire and power line in a parallel or bundled state.
(d) Use a shield wire for the signal wire and power line, or place in separate metal ducts.
If the power supply for the peripheral devices is connected to the drive unit in the same system as the drive units, the noise generated from the power supply unit could back flow over the power line and cause the devices to malfunction. In this case, take the following measures.
(a) Install a radio filter on the drive unit's power line.
(b) Install a power filter on the drive unit's power line.
If a closed loop is created by the peripheral device and drive unit's grounding wire, a leakage current could flow and cause the device to malfunction.
In this case, change the device grounding methods and the grounding place.
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2
Wiring and Connection
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WARNING
1. Wiring work must be done by a qualified technician.
2. Wait at least 15 minutes after turning the power OFF and check the voltage with a tester, etc., before starting wiring.
Failure to observe this could lead to electric shocks.
3. Securely ground the drive units and servo/spindle motor.
4. Wire the drive units and servo/spindle motor after installation. Failure to observe this could lead to electric shocks.
5. Do not damage, apply forcible stress, place heavy items on the cables or get them caught. Failure to observe this could lead to electric shocks.
6. Always insulate the power terminal connection section. Failure to observe this could lead to electric shocks.
CAUTION
1. Correctly and securely perform the wiring. Failure to do so could result in runaway of the servo/spindle motor or injury.
2. Do not mistake the terminal connections.
3. Do not mistake the polarity ( + , - ). Failure to observe this item could lead to ruptures or damage, etc.
4. Adjust the cable not to have an excess length. The excessive length could generate noise.
5. Do not mistake the direction of the diodes for the surge absorption installed on the DC relay for the motor brake and contactor (magnetic contactor) control. The signal might not be output when a failure occurs.
Servo drive unit
Control output signal
Servo drive unit
Control output signal
24G RA 24G RA
6. Electronic devices used near the drive units may receive magnetic obstruction. Reduce the effect of magnetic obstacles by installing a noise filter, etc.
7. Do not install a phase advancing capacitor, surge absorber or radio noise filter on the power line (U, V, W) of the servo/ spindle motor.
8. Do not modify this unit.
9. If the connectors are connected incorrectly, faults could occur. Make sure that the connecting position and the connection are correct.
10. When grounding the motor, connect to the protective grounding terminal on the drive units, and ground from the other protective grounding terminal. (Use one-point grounding)
Do not separately ground the connected motor and drive unit as noise could be generated.
11. When the main grounding plate or the part to install a grounding cable is painted, remove the paint before grounding the cable. The electrical connection becomes insufficient and noise could be generated.
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2.1 Part System Connection Diagram
< When using MDS-EM/EMH-SPV3 together with MDS-E/EH >
Mitsubishi CNC
OPTH1,2
MDS-E/EH
Servo drive unit
Optical communication cable
CN1A CN1B
CN4
CN9
CN3L
CN3M
CN2L
CN2M
CN8
CN20
CN5
MU
MV
TE1
MW
LU
LV
LW
L11 TE3
L21
L+ TE2
L-
Machine side encoder
Machine side encoder
Servo motor
Motor side encoder
Servo motor
Motor side encoder
MDS-E/EH
Spindle drive unit
CN1A
CN4
CN9
CN1B
CN3
External emergency stop input
24VDC
24VDC stabilized power supply
VDD
SG
CN2
CN8
CN5
TE1
U
V
W
L11 TE3
L21
L+
L-
TE2
Spindle motor
PLG
R
S
T
Circuit protector
AC reactor
Contactor
MC
Ground (PE)
: Main circuit
: Control circuit
: Ground
Ground (PE) Ground (PE)
CN1A
EMG
DICOM
CN9B
VDD
SG
CN22
MC
24G
CN9A
MDS-EM/EMH
Multi axis unit
L1
L2
L3
TE1
L+
L-
TE2
CN2S
CN2M
CN2L
CN1B
CN31L
U
V
W
CN31M
U
V
W
CN31S
U
V
W
CN2SP
TE3
U
V
W
Servo motor
Motor side encoder
Servo motor
Motor side encoder
Servo motor
Motor side encoder
Spindle motor
PLG
Ground (PE)
(Note 1) The total length of the optical communication cable from the NC must be within 30m and the specified bending radius (for wiring inside panel: 25mm, and for wiring outside panel: 50mm) or more.
(Note 2) The connection method will differ according to the used motor.
(Note 3) Battery for the encoder back up is built-in the drive unit. (An external battery is available as an option.)
(Note 4) The main circuit ( ◎ ), control circuit ( ○ ) and ground ( ● ) are safely separated.
(Note 5) Connect the ground of the motor to the ground of the connected drive unit.
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2 Wiring and Connection
< When connecting two MDS-EM/EMH-SPV3 units >
R
S
T
Circuit protector
: Main circuit
: Control circuit
: Ground
Mitsubishi CNC
OPTH1,2
Optical communication cable
CN1A
External emergency stop input
24VDC
24VDC stabilized power supply
VDD
SG
AC reactor
Contactor
MC
Ground (PE)
EMG
DICOM
VDD
SG
MC
24G
L1
L2
L3
CN22
CN9A
TE1
L+
L-
TE2
MDS-EM/EMH-SPV Series
CN9B
CN1B
CN2S
CN2M
CN2L
CN31L
U
V
W
CN31M
U
V
W
CN31S
U
V
W
CN2SP
TE3
U
V
W
Spindle motor
PLG
Servo motor
Motor side encoder
Servo motor
Motor side encoder
Servo motor
Motor side encoder
Ground (PE)
External emergency stop input
24VDC
24VDC stabilized power supply
VDD
SG
R
S
T
Circuit protector
AC reactor
Contactor
MC
Ground (PE)
: Main circuit
: Control circuit
: Ground
CN1A
EMG
DICOM
VDD
SG
MC
24G
L1
L2
L3
CN22
CN9A
TE1
L+
L-
TE2
MDS-EM/EMH-SPV Series
CN9B
CN1B
CN2S
CN2M
CN2L
CN31L
U
V
W
CN31M
U
V
W
CN31S
U
V
W
CN2SP
TE3
U
V
W
Spindle motor
PLG
Servo motor
Motor side encoder
Servo motor
Motor side encoder
Servo motor
Motor side encoder
Ground (PE)
(Note 1) The total length of the optical communication cable from the NC must be within 30m and the specified bending radius (for wiring inside panel: 25mm, and for wiring outside panel: 50mm) or more.
(Note 2) The connection method will differ according to the used motor.
(Note 3) Battery for the encoder back up is built-in the drive unit. (An external battery is available as an option.)
(Note 4) The main circuit ( ◎ ), control circuit ( ○ ) and ground ( ● ) are safely separated.
(Note 5) Connect the ground of the motor to the ground of the connected drive unit.
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MDS-EM/EMH Series Instruction Manual
2 Wiring and Connection
2.2 Main Circuit Terminal Block/Control Circuit Connector
2.2.1 Names and Applications of Main Circuit Terminal Block Signals and Control Circuit
Connectors
The following table shows the details for each terminal block signal.
Name
TE1
(L1, L2, L3)
TE2
(L+, L-)
TE3
(U, V, W)
CN22
CN31L
CN31M
CN31S
Connector name
Main circuit power supply input
Converter power supply output
Spindle motor power supply output
Control circuit power supply
Servo motor power supply output
Connect 24VDC power supply.
Description
Main circuit power supply input terminal
For MDS-EM : Connect a 3-phase 200 to 240VAC (50Hz/60Hz) power supply.
For MDS-EMH : Connect a 3-phase 380 to 480VAC (50Hz/60Hz) power supply.
Converter power supply output terminal
Connected when using an additional axis drive unit.
Spindle motor power supply output terminal
The spindle motor power supply terminal (U, V, W) is connected.
Control circuit power supply input terminal
Servo motor power supply output terminal (L-axis/M-axis/S-axis)
The servo motor power supply terminal (U, V, W) is connected.
Protective grounding
(PE)
Grounding terminal
The servo motor/spindle motor grounding terminal is connected and grounded.
CAUTION
1. When sharing a circuit protector for several drive units, of a short-circuit fault occurs in a small capacity unit, the circuit protector could trip. This can be hazardous, so do not share the circuit protector.
2. Be sure to use the circuit protector of proper capacity for each unit.
41 IB-1501241-H
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2 Wiring and Connection
2.2.2 Connector Pin Assignment
CAUTION
Do not apply a voltage other than that specified in Instruction Manual on each terminal. Failure to observe this item could lead to rupture or damage, etc.
(1) Main circuit terminal block and connector
Unit
Terminal
MDS-EM-SPV3-10040 to 200120
MDS-EMH-SPV3-8040 to 10060
[4] [5] [6]
Terminal position
[1] TE1
[3] TE3
Terminal specification
/Pin assignment
[2] TE2
[4] CN31L
[5] CN31M
[6] CN31S
[7]
[8]
[2]
[1]
[7]
[8]
[3]
Screw size
Tightening torque [1] L1 L2 L3
[3] U V W
L+
L-
Screw size
Tightening torque
M5 x 12
2.0Nm
M6 x 18
4.0Nm
U V W
Screw size: M5 × 8
Tightening torque: 2.0Nm
Screw size: M5 × 12
Tightening torque: 2.0Nm
IB-1501241-H 42
MDS-EM/EMH Series Instruction Manual
2 Wiring and Connection
Unit
Terminal
MDS-EM-SPV3-16040S
Terminal position
[1] TE1
[3] TE3
Terminal specification
/Pin assignment
[2] TE2
[4] CN31L
[5] CN31M
[6] CN31S
[7]
[8]
[2]
[1]
[7]
[8]
[3]
Screw size
Tightening torque [1] L1 L2 L3
[3] U V W
L+
L-
Screw size
Tightening torque
M5 x 12
2.0Nm
M6 x 18
4.0Nm
[4]
[5]
[6]
U V W
Screw size: M5 × 12
Tightening torque: 2.0Nm
Screw size: M4 × 12
Tightening torque: 1.2Nm
43 IB-1501241-H
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Unit
Terminal
MDS-EM-SPV3-320120
[4] [5] [6]
Terminal position
[1] TE1
[3] TE3
Terminal specification
/Pin assignment
[2] TE2
[4] CN31L
[5] CN31M
[6] CN31S
[7]
[8]
[2]
[1]
[7]
[3]
[8]
Screw size
Tightening torque [1] L1 L2 L3
[3] U V W
L+
L-
Screw size
Tightening torque
U V W
Screw size: M5 × 12
Tightening torque: 2.0Nm
Screw size: M8 × 16
Tightening torque: 6.0Nm
M8 × 16
6.0Nm
M6 x 18
4.0Nm
IB-1501241-H 44
MDS-EM/EMH Series Instruction Manual
2 Wiring and Connection
(2) Control circuit connector
Unit
Terminal
MDS-EM-SPV3-10040 to 320120,16040S
MDS-EMH-SPV3-8040 to 10060
Terminal position
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
[11]
[12]
[13]
[14]
[15]
[ 16]
[17]
[1] CN9A
[2] CN9B
No.20
No.11
Pin No.
No.10
No.1
[3] CN22
[4] CN1A
[5] CN1B
Connector specification [6] BTI
1
2
VDD
SG
Optical communication connector
1
2
[7] BTO
1
2
[8] CN2SP
[9] CN3SP
[10] CN2L
[11] CN2M
[12] CN2S
[13] CN3L
[14] CN3M
[15] CN3S
No.9 No.1
No.10 No.2
No.1
[16] CN5A
[17] CN5B
No.5
(Note) The illustrations of drive units are shown as an example. The connector and terminal block layout may differ according to the unit being used. Refer to each unit outline drawing for details.
45 IB-1501241-H
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2 Wiring and Connection
2.2.3 Servo Motor Power Supply Connector Wiring Method
(1) Connector configuration
Connector for L axis
CNU01SEL (AWG14)
< Applicable cable example >
Cable finish OD ： to 䪻 7.8mm
Connector for M axis
CNU01SEM (AWG14)
Connector for S axis
CNU01SES (AWG14)
Multi axis unit
(MDS-EM/EMH-SPV3)
(For L axis) (For M axis) (For S axis)
< Applicable cable example >
Cable finish OD ： to 䪻 7.8mm
Connector for L axis
CNU01SEL (AWG14)
Connector for M axis
CNU01SEM (AWG14)
Connector for S axis
CNU01SES (AWG14)
Multi axis unit
(MDS-EM-SPV3-16040S)
(For L axis)
(For M axis)
(For S axis)
Axis name
L axis
M axis
S axis
Common
Connector model name
Applicable cable
Insulator
Size outer dimension
CNU01SEL (AWG14)
CNU01SEM (AWG14)
CNU01SES (AWG14)
CNU01SEF (AWG14)
AWG16 to 8 7.8mm or less
Strip length
[mm]
12mm
Connection lever
J-FAT-OT-P
Manufacturer
J.S.T
POINT
The servo motor power supply connector is equipped with an anti-misinsertion mechanism, and can be connected only to the power supply output of each certain axis. The connector without the anti-misinsertion mechanism (CNU01SEF
(AWG14)) can be connected to the power supply output of all axes.
IB-1501241-H 46
MDS-EM/EMH Series Instruction Manual
2 Wiring and Connection
(2) Cable connection procedure
(a) Processing of power insulator
Since the strip length of wire depends on the types of wire, etc., decide the optimum length according to the machining state.
Sheath
Core
Retwist and straighten the core as shown below.
Strip length
Unraveling or bending of core
Make sure to retwist and straighten the core
(3) Insertion of the cable
Insert the connection lever as shown in the following illustration, and push it down to open the spring.
Keep the connection lever pushed down and insert the stripped wire to the insert hole. Confirm the insert depth so that the wire insulator is not caught.
Release the connection lever to fix the wire. Pulling the wire for confirming the secure connection.
1) Push the connection lever down.
3) Release the connection lever to fix the wire.
2) Insert the wire.
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2.3 NC and Drive Unit Connection
2.3.1 Connection of Optical Communication Cables
Connect the optical communication cables from the NC to the each drive unit so that they run in a straight line from the
NC to the drive unit that is a final axis. And up to 16 axes can be connected per system.
Note that the number of connected axes is limited by the NC.
CAUTION
Connect the NC and the drive units by the optical communication cables. The distance between the NC and the final drive unit must be within 30m and the specified bending radius (for wiring inside panel: 25mm, and for wiring outside panel:
50mm) or more.
POINT
Axis Nos. are determined by the rotary switch for setting the axis No. (Refer to section "Setting the rotary switch".) The axis
No. has no relation to the order for connecting to the NC.
(1) When using only MDS-EM/EMH-SPV Series
MDS-EM/EMH-SPV3
Spindle:1st axis
Servo:2nd/3rd/4th axis
MDS-EM/EMH-SPV3
Spindle:5th axis
Servo:6th/7th/8th axis
Connected to the NC
Refer to the instruction manual of each
NC for details.
Optical communication cable
CAUTION
CAUTION
CAUTION
Confirm that the TE2 (L+, L-) wiring is not connected to other power supply before turning the power ON.
IB-1501241-H 48
MDS-EM/EMH Series Instruction Manual
2 Wiring and Connection
(2) When using the MDS-E/EH unit together
The power (L+, L-) can be supplied to the additional axis drive unit by using the power supply part which is built into
MDS-EM/EMH. For the additional axis unit receiving power (L+,L-) from the MDS-EM/EMH unit, the optical cable must be connected at the NC side of the MDS-EM/EMH unit.
MDS-EM-SPV3
Spindle:1st axis
Servo:2nd/3rd/4th axis
Connected to the NC
Optical communication cable
MDS-E-V1
5th axis
MDS-E-SP2
6th/7th axis
MDS-E-SP
8th axis
TE2
The optical communication cables from the NC to the final drive unit must be within 30m.
When using MDS-EM drive unit together with MDS-E
CAUTION
There is a limit to the combination of the drive unit.
Refer to "7.3 Selection of the Additional Axis Drive Unit" in MDS-EM/EMH Series Specifications Manual
(IB-1501238(ENG)).
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2.4 Motor and Encoder Connection
2.4.1 Connection of the Servo Motor
(1) Connecting the HG96(B)
Encoder connector
CMV1- R10P
3 2 1
7 6 5 4
10 9 8
5
6
7
8
9
10
Pin
1
2
3
4
Name
RQ
RQ*
CNT
BAT
LG(GND)
SD
SD*
P5(+5V)
SHD
Brake connector
JN4AT02PJ1-R
Pin
1
2
Name
B1
B2
These are 24VDC, and have no polarity.
MDS-EM-SPV3
Optional cable: CNV2E
(Refer to Appx. 1 for details on the cable treatment.)
CN2L
Max. 30m
Encoder connector : CN2L
Pin No.
No.2 No.10
Pin
1
3
5
7
9
Name
P5(+5V)
RQ
SD
BT
No.1 No.9
Pin
2
4
6
8
10
Name
LG
RQ*
SD*
Motor magnetic brake wiring
(Refer to section
"Wiring of the motor magnetic brake" for details.)
U V W
Power wire and grounding wire
(Refer to Specifications manual for details on selecting the wire.)
Optional cable:
MR-PWS1CBL
(The drive unit side connector is not included.)
Power connector
JN4AT04NJ1-R
Pin
1
2
3
4
Name
Ground
U
V
W
Power connector
CN31L/CN31M/CN31S
U V W U V W U V W
1 2 3 1 2 3 1 2 3
IB-1501241-H 50
MDS-EM/EMH Series Instruction Manual
2 Wiring and Connection
(2) Connecting the HG75(B) / HG105(B) / HG54(B) / HG104(B) / HG154(B) / HG224(B) / HG123(B) / HG223(B) /
HG142(B) / HG-H54(B) / HG-H104(B) / HG-H154(B)
MDS-EM/EMH-SPV3
Encoder connector
CMV1- R10P
3 2
7 6 5
1
4
10 9 8
Optional cable: CNV2E
(Refer to Appx. 1 for details on the cable treatment.)
CN2L
Max. 30m
Encoder connector : CN2L
Pin No.
No.2 No.10
Pin
1
3
5
7
9
Name
P5(+5V)
RQ
SD
BT
No.1 No.9
Pin
2
4
6
8
10
Name
LG
RQ*
SD*
Pin Name
1 RQ
2 RQ*
4 BAT
5 LG(GND)
6 SD
7 SD*
8 P5(+5V)
9
10 SHD
Brake connector
CMV1- R2P
1
2
Pin Name
1
2
B1
B2
These are 24VDC, and have no polarity.
Motor magnetic brake wiring
(Refer to section
"Wiring of the motor magnetic brake" for details.)
U V W
Power wire and grounding wire
(Refer to Specifications manual for details on selecting the wire.)
Power connector
MS3102A18-10P
D
C
A
B
Pin
A
B
C
D
Name
U
V
W
Ground
Power connector
CN31L/CN31M/CN31S
U V W U V W U V W
1 2 3 1 2 3 1 2 3
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MDS-EM/EMH Series Instruction Manual
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(3) Connecting the HG204(B) / HG354(B) / HG303(B) / HG453(B) / HG302(B) / HG-H204(B) / HG-H354(B) /
HG-H453(B)
MDS-EM/EMH-SPV3
Encoder connector
CMV1- R10P
3
7 6
2 1
5 4
10 9 8
Optional cable: CNV2E
(Refer to Appx. 1 for details on the cable treatment.)
Max. 30m
CN2L
Encoder connector : CN2L
Pin No.
No.2 No.10
Pin
1
3
5
7
9
Name
P5(+5V)
RQ
SD
BT
No.1 No.9
Pin
2
4
6
8
10
Name
LG
RQ*
SD*
Pin Name
1 RQ
2 RQ*
4 BAT
5 LG(GND)
6 SD
7 SD*
8 P5(+5V)
9
10 SHD
Brake connector
CMV1- R2P
1
2
Pin Name
1
2
B1
B2
These are 24VDC, and have no polarity.
Motor magnetic brake wiring
(Refer to section
"Wiring of the motor magnetic brake" for details.)
U V W
Power wire and grounding wire
(Refer to Specifications manual for details on selecting the wire.)
Power connector
MS3102A22-22P
A D
C B
Pin
A
B
C
D
Name
U
V
W
Ground
Power connector
CN31L/CN31M/CN31S
U V W U V W U V W
1 2 3 1 2 3 1 2 3
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MDS-EM/EMH Series Instruction Manual
2 Wiring and Connection
(4) Connecting the HG702(B)
MDS-EM/EMH-SPV3
Encoder connector
CMV1-R10P
3 2 1
7 6 5 4
10 9 8
6
7
4
5
Pin
1
2
3
8
9
10
Name
RQ
RQ*
CNT
BAT
LG(GND)
SD
SD*
P5(+5V)
SHD
Brake connector
CMV1-R2P
1
2
Pin
1
2
Name
B1
B2
These are 24VDC, and have no polarity.
Optional cable: CNV2E
(Refer to Appx. 1 for details
on the cable treatment.)
CN2L
Max. 30m
Motor brake magnetic wiring
(Refer to section
"Wiring of the motor magnetic brake" for details.)
U V W
Power wire and grounding wire
(Refer to Specifications manual for details on selecting the wire.)
Power connector
MS3102A32-17P
D
C
A
B
Pin
A
B
C
D
Name
U
V
W
Ground
Encoder connector : CN2L
Pin No.
No.2 No.10
Pin
1
3
5
7
9
Name
P5(+5V)
RQ
SD
BT
No.1 No.9
Pin
2
4
6
8
10
Name
LG
RQ*
SD*
Power connector
CN31L/CN31M/CN31S
U V W U V W U V W
1 2 3 1 2 3 1 2 3
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2.4.2 Connection of the Full-closed Loop System
Refer to the section "Connection of the servo motor" for details on connecting each motor type and wiring the power line or the motor magnetic brake.
(1) Connecting the ball screw side encoder
Connect the ball screw side encoder cable to CN3L(CN3M for M axis of dual-axis unit). Option battery is required for the absolute position system.
Ball screw side encoder
CNV2E cable
Max. 30m
CNV2E cable
Max. 30m
CN2L
CN3L
MDS-EM/EMH-SPV3
Encoder connector : CN3L
Pin No.
No.2 No.10
5
7
9
Pin
1
3
No.1 No.9
Name
P5(+5V)
RQ
SD
BT
Pin
2
4
6
8
10
Name
LG
RQ*
SD*
Servo motor
Encoder type setting
SV025 = 62xx
(2) Connecting the linear scale (For Mitsubishi serial signal output)
Mitsubishi serial signal output (including when SIN wave signal output is converted to Mitsubishi serial signal output with a scale manufacturer encoder interface unit) can directly connect to the drive unit.
CNV2E cable
Max. 30m
CN2L
CN3L
MDS-EM/EMH-SPV3
Encoder connector : CN3L
Pin No.
No.2 No.10
5
7
9
Pin
1
3
No.1 No.9
Name
P5(+5V)
RQ
SD
BT
Pin
2
4
6
8
10
Name
LG
RQ*
SD*
Linear scale
( Mitsubishi serial signal output )
Servo motor
Cable prepared by user
Max. 30m
(Note) The conversion unit of the scale manufacturer is included.
Encoder type setting
SV025=A2xx
IB-1501241-H 54
MDS-EM/EMH Series Instruction Manual
2 Wiring and Connection
(3) Connecting the linear scale (for rectangular wave signal output)
Rectangular wave signal output (including when SIN wave signal output is converted to the rectangular wave signal output with a scale manufacturer encoder interface unit) can directly input to the drive unit.
CNV2E cable
Max. 30m
CN2L
CN3L
MDS-EM/EMH-SPV3
Encoder connector : CN3L
Pin No.
No.2 No.10
Pin
1
3
5
7
9
No.1 No.9
Name
P5(+5V)
A
B
Z
Pin
2
4
6
8
10
Name
LG
A*
B*
Z*
ABZSEL*
Linear scale
( Rectangular wave signal output )
Servo motor
Cable prepared by user
Max. 30m
Encoder type setting
SV025=82xx
(4) Connecting the linear scale (for SIN wave signal output)
SIN wave signal output is converted to Mitsubishi serial signal output with the encoder interface unit (MDS-EX-HR).
The distance-coded reference scale interface is also available.
CNV2E cable
Max. 30m
CNV2E-HP cable
Max. 30m
CN2L
CN3L
MDS-EM/EMH-SPV3
Encoder connector : CN3L
Pin No.
No.2 No.10
Pin
1
3
5
7
9
No.1 No.9
Name
P5(+5V)
RQ
SD
BT
Pin
2
4
6
8
10
Name
LG
RQ*
SD*
Servo motor
Linear scale
( SIN wave signal output )
Cable prepared by user
MDS-EX-HR
Encoder conversion unit
Encoder type setting
SV025=A2xx
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2.4.3 Connection of the Spindle Motor
Refer to each motor specifications for details on the motor side connection destination, specifications and outline, and for the spindle PLG encoder specifications.
(1) Connecting the motor built-in PLG
MDS-EM/EMH-SPV3
Option cable: CNP2E-1
Max. 30m
CN2L
Encoder connector : CN2L
Pin No.
No.2 No.10
Pin
1
3
5
7
9
Name
P5(+5V)
RQ
MT1
SD
No.1 No.9
Pin
2
4
6
8
10
Name
LG
RQ*
MT2
SD*
Single-phase or
3-phase power supply
Power cable
U V W
Grounding terminal
U V W
Cooling fan terminal block (BU,BV,BW)
Ｗ Ｖ Ｕ
Spindle motor
Motor power terminal block (U,V,W)
Encoder connector
Example for 3-phase cooling fan power supply
(Note) Either a single-phase or 3-phase power supply is used for the cooling fan.
Refer to the Spindle Motor Specifications for details.
CAUTION
For a 3-phase cooling fan, when the phase sequence of the 3-phase power supply is connected reversely, its cooling capacity degrades due to the reversed rotation direction. Make sure the air blowoff direction.
When the fan rotates reversely, reconnect BU and BW reversely, and then check the blowoff direction.
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(2) Connecting the spindle side ABZ pulse output encoder (OSE-1024-3-15-68, OSE-1024-3-15-68-8)
Spindle motor
CNP2E-1 cable max. 30m
CN2L
CN3L
MDS-EM/EMH-SPV3
Pin No.
No.2 No.10
Pin
1
3
5
7
9
Name
P5(+5V)
A
B
Z
No.1 No.9
Pin
2
4
6
8
10
Name
LG
A*
B*
Z*
ABZSEL*
Spindle
CNP3EZ cable max. 30m
Spindle side encoder
(Note) Confirm that the gear ratio (pulley ratio) of the spindle end to the encoder is 1:1. Use a timing belt for connecting.
(3) Connecting the spindle side PLG serial output encoder (TS5690)
Spindle motor
CNP2E-1 cable max. 30m
CN2L
CN3L
MDS-EM/EMH-SPV3
Encoder connector ： CN3SP
Pin No.
No.2 No.10
Pin
1
3
5
7
9
Name
P5(+5V)
RQ
SD
No.1 No.9
Pin
2
4
6
8
10
Name
LG
RQ*
SD*
Spindle
Spindle side accuracy encoder
TS5690 Series
CNP2E-1 cable max. 30m
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2.5 Connection of Power Supply
CAUTION
1. Make sure that the power supply voltage is within the specified range of each unit. Failure to observe this could lead to damage or faults.
2. For safety purposes, always install a circuit protector, and make sure that the circuit is cut off when an error occurs or during inspections.
3. The wire size will differ according to each drive unit capacity.
4. For safety purposes, always install a magnetic contactor (contactor) on the main circuit power supply input. Large rush currents will flow when the power is turned ON.
2.5.1 Power Supply Input Connection
(1) When using one MDS-EM/EMH-SPV3
24VDC stabilized power supply
CN22
1 24P
2 24G
MDS-EM/EMH-SPV3
To NC CN1A
CN9A
10 24G
16 MC
R
Circuit protector
S
T
AC reactor
Contactor
Ground
MC
L1
L2
L3
TE1
Ground
: Main circuit
: Control circuit
: Ground
Contactor connection
CAUTION
Multi axis unit is equipped with a power supply regenerative type converter; an AC reactor is surely installed in the power supply line.
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(2) When using MDS-EM/EMH-SPV3 together with MDS-E/EH
Install the unit so that the total wiring length of DC power supply terminals TE2 (L+, L-) is 800mm or less.
MDS-EM/EMH-SPV3
To NC
MDS-E/EH
CN1A CN1B
MDS-E/EH
CN1A CN1B CN1A
CN1B
24VDC stabilized power supply
VDD
SG
VDD
SG
CN22
MC
24G
CN9A
L1
L2
L3
TE1
L11 TE3
L21
L+ TE2
L-
L11 TE3
L21
L+ TE2
L-
R
S
T
Circuit protector
AC reactor
Contactor
MC
Ground
: Main circuit
: Control circuit
: Ground
Ground (PE) Ground (PE)
(3) When using two MDS-EM/EMH-SPV3 units
MDS-EM/EMH-SPV3
To NC
CN1A CN1B
L+
L-
TE2
CN1A
MDS-EM/EMH-SPV3
CN1B
Ground (PE)
24VDC stabilized power supply
VDD
SG
R
S
T
Circuit protector
AC reactor
Contactor
MC
Ground
: Main circuit
: Control circuit
: Ground
VDD
SG
CN22
MC
24G
CN9A
L1
L2
L3
TE1
L+
L-
TE2
Ground (PE)
24VDC stabilized power supply
VDD
SG
R
S
T
Circuit protector
AC reactor
Contactor
MC
Ground
VDD
SG
CN22
MC
24G
CN9A
L1
L2
L3
TE1
L+
L-
TE2
Ground (PE)
CAUTION
1. When installing the additional axis unit, install the spindle drive unit with maximum capacity adjacent to the MDS-EM/
EMH-SPV3, and connections for other drive units should be such that the total TE2 wiring length is 800mm or less.
2. Make sure that the total capacity of the drive units connected to the same MDS-EM/EMH-SPV3 unit meets the unit's selected capacity.
3. Confirm that the TE2 (L+, L-) wiring is not connected to other power supply before turning the power ON.
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2.5.2 Connection of the Grounding Cable
(1) Connecting the protective grounding (PE) and frame ground (FG)
Each unit has a terminal or mounting hole to connect PE( ) or FG.
Please connect a grounding cable to the main ground of a cabinet or a machine frame at one point.
Ground each device according to the grounding conditions set forth by each country. (Typically, a Y-connection neutral point ground is used in Europe.)
PE: Grounding to provide protection from electric shock, etc.
FG: Grounding to stabilize the operation of the devices, etc. (Suppress noise)
MDS-EM/EMH-SPV3
D/DH-AL
Grounding plate
Servo motor
Spindle motor
POINT
Do not connect the grounding cable from each unit directly to the grounding plate. Noise from other units could result in malfunctions.
Unit
Grounding plate
(2) Grounding cable size
Earth wire size should follow the following table.
Type
MDS-EM/EMH-SPV3 Unit
D/DH-AL (AC Reactor)
Grounding cable size (Required grounding)
Larger than thickness of wire connected to TE1 (L1/L2/L3). (PE)
5.5 mm 2 (AWG10) or more (FG)
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2.6 Wiring of the Motor Brake
2.6.1 Wiring of the Motor Magnetic Brake
The magnetic brake of servo motors with a magnetic brake is controlled by the motor brake control connector (CN9B-8 pin) on the servo drive unit. The servo drive unit releases the brake when the motor is ON. (Servo ON means when torque is generated in the motor.) When using safe brake control (SBC), refer to "3.3. SBC (Safe Brake Control)". Not that for safe brake control the wiring and control sequence are different to the contents in this section.
(1) Motor brake control output circuit
As shown in the illustration below, a power supply for motor brake is controlled by the DO output of CN9B through the relay. Always install the diode as shown below.
(Tolerable current: 40mA or less, Rush current: 100mA or less)
Be careful not to mistake the polarity.
The drive unit is damaged when the polarity is reversed.
MDS-EM/EMH-SPV3
CN9B
8 : P_MBCL
10 : DOCOM
15 : N_MBCL
Always install a surge absorber.
Brake
External 24VDC power supply
CAUTION
1. Always install a surge absorber near the motor's brake terminal to eliminate noise and protect the contacts.
2. The brakes cannot be released just by connecting the CN9B and motor brake terminal. 24VDC must be supplied.
3. When using brakes in multiple servo axes in a drive unit, apply parallel circuit for the output circuit of CN9B.
4. For the 24V power supply used in the motor brake circuit, use the one separated from the 24V power supply for the control circuit.
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(2) Motor brake release sequence
The motor brake control connector (CN9B) releases the magnetic brake in the following sequences after the start of the power ON to the servo motor when canceling the emergency stop.
If the power supply part has been charged by the servo parameter setting, the time to the Ready completion can be reduced.
【
#2217(PR)
】
bit 2 : seqh Ready on sequence
0: Normal 1: High-speed
【
#13017(PR)
】
bit 2 : seqh READY ON sequence
0: Normal 1: High-speed
[1] When SV017 is set to bit2 = 0:
Emergency stop (EMG)
Dynamic brake
Motor brake control output (CN9B-pin8)
ON
Cancel
Cancel
ON
Cancel
ON
Servo ready signal (RDY)
Servo ready completion signal (SA)
ON
OFF
ON
OFF
Ready completion
Command input enable
0 500 1000
Motor brake control sequences when an emergency stop is canceled 1
1500 Time (ms)
[2] When SV017 is set to bit2 = 1:
Emergency stop (EMG)
Dynamic brake
Motor brake control output (CN9B-pin8)
ON
Cancel
Cancel
ON
Cancel
ON
Servo ready signal (RDY)
Servo ready completion signal (SA)
ON
OFF
ON
OFF
Note)
If the charge of the power supply unit condenser has not completed, the operation ready cpmpletion is delayed.
Ready completion
Command input enable
0 500 1000
Motor brake control sequences when an emergency stop is canceled 2
1500 Time (ms)
POINT
Using the Quick READY ON sequence, set the parameter for all the axes including the spindle. Especially when it is not set for the power supply control axis, power supply will not work at high-speed sequence.
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(3) Control during the servo OFF command
When a servo OFF command is input by an NC sequence input, the motor brake turns ON simultaneously when the motor ON is shut off. Note that the vertical axis drop prevention control is not validated, so a drop due to the brake operation lag occurs. When the servo OFF is canceled, a drop due to an uncontrolled state does not occur.
Servo OFF command
Dynamic brake
Motor ON (GATE)
SERVO ON
SERVO OFF
Motor brake control output (CN9B-8)
OFF
ON
ON
OFF
OFF
ON
Motor brake control sequences when a servo OFF command is output
200ms
CAUTION
The vertical axis drop prevention control only is performed during an emergency stop (including alarms and power failures).
It is not performed when a servo OFF command is input.
< Caution in use of MDS-EM/EMH Series >
It is required to input a servo OFF command to all axes in order to turn the brake ON with a motor brake control output of drive unit. Input the servo OFF command to an axis cannot turn the brake ON. Therefore, when performing a control to fix the position with the motor brake by the servo OFF command during the motor stop for
PLC axis, use 1-axis drive unit.
During emergency stop, the servo OFF is applied to all axes at same time, so a brake control is not affected.
MDS-EM/EMH Series
PLC axis
Motor brake control
The brake does not work.
Servo OFF command
Servo ON command
Danger !
NC axis
Axis drop
(4) Operation sequences when an emergency stop occurs
The motor brake control output operation when an emergency stop occurs differs according to the motor deceleration stop method. Refer to section "Settings for emergency stop" for details on the operation sequences for each stop method.
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2.7 Peripheral Control Wiring
2.7.1 Input/output Circuit Wiring
CN9A/CN9B connector is equipped with 24V input/output circuit for the control of external devices and the control by an external signal.
Set the relevant parameters and use them with care for the wiring since some signals are changeover type, which can be switched over by parameters. Refer to the description of each function in relevant sections for details on the function specifications and settings.
Connector
CN9A
CN9B
Switch ON
Switch OFF
Input condition
18VDC to 25.2VDC
4.3mA or more
4VDC or less
2mA or less
Connector
CN9A
CN9B
Output voltage
Output condition
24VDC ±5%
Tolerable output current
50mA or less
For a switch or relay to be wired, use a switch or relay that satisfies the input/output (voltage, current) conditions.
Interface name
For digital input signal
(CN9A/CN9B)
For digital output signal
(CN9A/CN9B)
Selection example
Use a minute signal switch which is stably contacted and operated even with low voltage or current
<Example> OMRON: G2A, G6B type, MY type, LY type
Use a compact relay operated with rating of 24VDC, 50mA or less.
<Example> OMRON: G6B type, MY type
Input circuit
24V
CN9A connector
13/2/3 4.1k
DICOM
20
(1)
24V
CN9B connector
13/2/3
4.1k
Drive unit
Output circuit
CN9A connector/CN9B connector
24V
8
CN9A/CN9B
Relay, etc.
18
16
(1)
DICOM 20
Drive unit
10 24G
(2)
Servo/spindle drive unit
The part indicated by the " " must be prepared by the user.
(Note) Do not connect "(1)" or "(2)".
If a ground of the external 24V power is same as the 24V power in the drive unit, a fault or abnormal operation could occur.
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Servo input signal
Servo output signal
Spindle input signal
Spindle output signal
Input signal
Output signal
Device name
MPI1
MPI2
MPI3
P_MBCL
N_MBCL
MPO4
MPO5
Servo input/output signal (CN9A,CN9B connector)
Connector pin No.
Signal name
CN9B-13 (Reservation)
CN9A-2
CN9A-3
(Reservation)
(Reservation)
CN9B-8 SBC1 Relay control signal
CN9B-15 SBC2 Relay control signal
CN9A-8 Servo specified speed signal
CN9A-18 (Reservation)
Signal changeover parameter
SV082/bit9,8=01
Device name
MPI1
MPI2
MPI3
MPO2
MPO3
MPO6
Spindle input/output signal (CN9A,CN9B connector)
Connector pin No.
Signal name
CN9B-2
Orientation function
Proximity switch signal
CN9A-13 (Reservation)
CN9B-3 External emergency stop signal
CN9B-18 Coil changeover signal
CN9B-16 Spindle specified speed signal
CN9A-16 Contactor control signal
Signal changeover parameter
SP227/bitF-C=4
SP032/bit7-0=59
SP229/bitC=1
Pin No.
2
3
13
20
8
10
15
16
18
Input/output signal (CN9A,CN9B connector)
CN9A
-
-
-
DICOM
SV specified speed
24G
-
MC
-
CN9B
Proximity switch
EXEMG
-
DICOM
SBC
24G
SBC
SP specified speed
Coil changeover
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2.7.2 Specified Speed Output
Specified speed output function turns the output signal ON when the machine-end speed is below the speed specified with the parameter. This function enables the safety door, etc., to be locked to secure the machine operator when the machine-end speed has exceeded the specified speed. This function can also be used for judging whether the current machine-end speed reaches the specified speed.
The specified speed output signal is output to the digital signal output 2 (MPO2). Refer to the next page for details, because the configuration of the parameters differs from the servo to spindle. For the 2-axis or 3-axis drive unit, it is required to set the parameter to all axes. The signal output turns ON when all axes satisfy the conditions (theoretical product output).
L-axis
Specified speed [mm/min]
0 [mm/min] 0 [mm/min]
M-axis
Specified speed [mm/min]
0 [mm/min]
㩷
0 [mm/min]
S-axis
Specified speed [mm/min]
0 [mm/min]
Output signal
ON OFF ON
0 [mm/min]
As for 3- axis drive unit, the output signal turns OFF when one of the axes exceed the specified speed, and it turns ON when all axes are within the specified speed.
For 3-axis drive unit
Specified speed signal output sequence
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< Servo drive unit >
【
#2233
】
bit D : rps Safely limited speed setting increment
Change the setting units of the specified speed signal output speed (SV073) and safely limited speed (SV238).
0: mm/min 1: 100mm/min
【
#2273(PR)
】
Set the specified speed.
Also set SV082/bit9,8 to output digital signal.
---Setting range---
0 to 32767 (mm/min)
However, when SV033/bitD=1, the setting range is from 0 to 32767(100mm/min).
【
#2282
】
bit 9-8 : dos2 Digital signal output 2 selection
00: Disable 01: Specified speed output
< Spindle drive unit >
【
#13018(PR)
】
bit 8 : spsu Command speed limit value
0: 33,750 r/min 1: 135,000 r/min
【
#13030
】
Set the specified speed of the specified speed output.
When carrying out digital output of the specified speed output, set SP229/bitC to "1".
---Setting range---
0 to 32767 (r/min)
【
#13229
】
bit C : sdt2 Specified speed output digital signal 2 output
0: Normal 1: Enable
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2.7.3 Spindle Coil Changeover
There are spindle motors capable of coil changeover control, which enables favorable characteristics to be attained from low speeds to high speeds by changing two types of coils.
(1) Coil changeover control
The speed at which to change the coils is detected by the spindle drive according to the value set with spindle parameter SP028. This is conveyed to the NC with a speed detection (SD) signal. The NC judges the other conditions (coil fixed, etc.), and issue a coil changeover command to the spindle drive with the L coil selection command (LCS).
To prevent the contactor from varying, the hysteresis set with SP029 is applied on the speed when changing from the low-speed coil to the high-speed coil and the high-speed coil to the low-speed coil.
6000
Spindle motor speed
(r/min)
4000
2000
Speed detection (SD1)
L coil selection command (LCS)
Changing coil (MKC)
[SP
[NC
[SP
→
→
→
NC]
Contactor changeover
SP]
NC]
0
Low-speed coil
(SP028+SP029)
High-speed coil
Spindle motor coil changeover control
SP028
Time
Lowspeed coil
【
#13028
】
Set the motor speed for detecting the speed.
If the motor speed drops below the set speed, the speed detection signal turns ON.
The standard setting is 10% of the maximum motor speed.
---Setting range---
10 to 32767 (r/min)
【
#13029
】
Set the hysteresis width in which the speed detection changes from ON to OFF.
If the setting value is small, the speed detection will chatter easily.
The standard setting is "30".
---Setting range---
10 to 1000 (r/min)
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(2) Protective functions
[1] Gate shutoff after a winding changeover
When the L-coil selection command (LCS) is used to perform low-speed winding -> high-speed winding switching, or vice-versa, the gate is shut off during contactor operation time in order to protect the spindle drive unit's main circuit. The gate shutoff time is determined by the "Coil changeover gate cutoff timer" (SP114) setting. The standard time setting should be used, as a shorter time can cause contactor burn damage.
(Refer to "Spindle control output 5" Coil changing (bit 6) for details.)
【
#13114
】
Set the time required to cut off the gate when turning OFF/ON the coil switch contactor.
The value should be longer than the coil switch contactor's OFF/ON time.
The standard setting is "150".
---Setting range---
0 to 3500 (ms)
[2] Current limit after coil changeover
Following a coil changeover, the current is limited (SP116) for the period specified by the current limit timer
(SP115) in order to stabilize control. Because position loop control (synchronous tap, C-axis control, etc.) that occurs immediately after a coil changeover will result in unstable control, be sure that position commands specified by the sequence is input after the current limit is cancelled.
【
#13115
】
Set the time required to limit the current immediately after the coil switch contactor ON/OFF is completed and the gate is turned ON.
The standard setting is "250".
---Setting range---
0 to 3500 (ms)
【
#13116
】
Set the time required to limit the current immediately after the coil switch contactor ON/OFF is completed and the gate is turned ON.
The standard setting is "120".
---Setting range---
0 to 999 (Short-time rated %)
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(3) Wiring
The illustration below shows the 2 types of changeover that occur after a coil changeover, (a) (star) - Δ (delta) changeover, and (b) (star)- (star) changeover. As shown in (c), one of the contactors (MC1 or MC2) is turned
ON and the other is turned OFF at all of the coil changeover control circuits.
(a) (star) - Δ (delta) changeover circuit
U
V
W
Motor terminal
U
V
W
MC2
Spindle
MC1
MC1: Contactor to connect low-speed coil ( -connection)
MC2: Contactor to connect high-speed coil (
Δ
-connection)
X
Y
Z
Coil changeover circuit
<Wiring of motor coil>
U
V
W
Spindle drive unit
U
X
Y Z
Spindle drive unit
U
V
W
V
:
The terminal which is assembled
at the contactor ON
connection (MC1:ON MC2:OFF)
W
Spindle motor
U Z
X
V
:The terminal which is assembled
at the contactor ON
Δ connection (MC1:OFF MC2:ON)
Y
W
POINT
Wire it according to each 6 terminal’s sign (U, V, W, X, Y, Z) of spindle motor for the coil changeover.
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(b) (star) - (star) changeover circuit
U
V
W
Spindle drive unit
MC1
Motor terminal
U1
V1
W1
MC2
U2
V2
W2
Spindle drive unit
U
V
W
MC1: Contactor to connect low-speed coil (1st -connection)
MC2: Contactor to connect high-speed coil (2nd -connection)
Coil changeover circuit
<Wiring of motor coil>
U1
Spindle drive unit
U
V
W
U2
U1
U2
V2 W2
V1
:The terminal which is assembled
at the contactor ON
-connection (MC1:ON MC2:OFF)
W1
V2 W2
V1
:The terminal which is assembled
at the contactor ON
-connection (MC1:OFF MC2:ON)
W1
POINT
Wire it according to each 6 terminal’s sign (U1, V1, W1, U2, V2, W2) of spindle motor for the coil changeover.
(c) Coil changeover control circuit (common)
MDS-EM/EMH-SPV3
CN9B-18
CN9B-10
RA
(make contact)
RA
(break contact)
MC2
(break contact)
RA
S
T
MC1
Coil changeover relay control circuit
SK MC2
MC1
(break contact)
SK
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2.7.4 Proximity Switch Orientation
(1) Electrical specifications
Use a proximity switch which satisfies the following specifications.
Item
Output method
Power supply voltage
Response frequency
Load current
Residual voltage
Leakage current
Specification
DC double wire system /three wire system
24V DC
400Hz or more
14mA or more
4V or less
1mA or less
(2) Connection with drive unit
(a) When DICOM is connected to 24V
< Connection details: For proximity switch of two wire system >
MDS-EM/EMH-SPV3
Shield
4.1k
CN9B
20 DICOM
2 MPI2
Case ground
24VDC
Current direction
< Connection details: For proximity switch of three wire system >
MDS-EM/EMH-SPV3
Proximity switch
Detection circuit
Shield
Proximity switch
4.1k
CN9B
20 DICOM
2 MPI2
Case ground
24VDC
Current direction
Select the polarity of DICOM
Detection circuit
(b) When DICOM is connected to 24G
< Connection details: For proximity switch of two wire system >
MDS-EM/EMH-SPV3
24VDC
Shield
4.1k
CN9B
20 DICOM
2 MPI2
Case ground 24G
Current direction
< Connection details: For proximity switch of three wire system >
Not usable.
Proximity switch
Detection circuit
CAUTION
1. Supply the 24VDC power externally.
2. Install a proximity switch at the spot that rotates in the ratio of 1:1 to the spindle.
3. Set the spindle parameter to the pulley ratio for belt drive or to the gear ratio for gear drive.
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(3) Detection signal polarity
The table below is the polarities of the detections signals. According to the polarity, select the enable edge of the signals with the spindle parameter (SP225/bit5).
Sensor operation
Enable detection
Drive unit input signal polarity
(CN9B MPI2)
Enable edge selection
(SP225/bit5)
Normal open
(NO)
Rising part
Detection of enable
Normal close
(NC)
Falling part
Falling edge
(0)
Normal open
(NO)
Normal close
(NC)
Rising part
Falling part
Detection of enable
Rising edge
(1)
(4) Parameter setting
When using the proximity switch, set the following parameters to the spindle to be used.
When the proximity switch detection is enabled, the rotation direction of the orientation follows Z-phase detection direction (#3106/bit0), and the rotation speed follows Z-phase detection speed (#3109).
【
#3106
】
Select the zero point return specification.
bit F : Spindle zero point detection with contactless switch
0: Normal
1: Enable spindle zero point detection using proximity switch
bit E : Control mode selection in orientation
Select non-interpolation mode when vibration occurs since the gain is high during the orientation.
0: Interpolation mode (Use the interpolation mode gain "SP002".)
1: Non-interpolation mode (Use the non-interpolation mode gain "SP001")
bit D : Interpolation mode selection 1 (zero point return initiated during rotation)
0: Non-interpolation mode
1: Interpolation mode
bit C : Z phase detection method
0: Follows Z phase detection direction (bit0).
1: Rotates in the commanded direction at Z phase detection speed to detect Z phase.
* To enable Z phase detection operation, set the parameter "#3106 zrn_typ bit3 (Z phase detection operation ON)" to "1".
bit B :
Not used. Set to "0".
bit A-9 : Spindle/C axis zero point return direction
bitA,9=
00: Short-cut
01: Forward run
10: Reverse run
bit 8 : Designate zero point return
0: Compatible operation with our conventional series (Automatically return to zero point simultaneously with C-axis changeover)
1: Standard setting
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bit 7 : Synchronous tapping command polarity
0: Forward direction
1: Reverse direction (The standard setting when spindle and motor are directly coupled)
bit 6-5 : Synchronous tapping zero point return direction
bit 6,5=
00: Short-cut
01: Forward run
10: Reverse run
bit 4 : Designate zero point return
0: Automatically return to zero point before synchronous tapping is started (tapping phase alignment)
1: Not return to zero point and immediately synchronous tapping is started
bit 3 : Z phase detection operation ON
0: When Z phase is not detected, detect Z phase during the rotation executed by a rotation command without performing the detection operation.
1: When Z phase is not detected, perform the detection operation according to the settings of bitC and bit0, and then rotate the motor according to a rotation command.
bit 2-1 : Orientation direction
bit 2,1=
00: Short-cut
01: Forward run
10: Reverse run
bit 0 : Z phase detection direction
0: Forward direction
1: Reverse direction
【
#3108
】
The orientation stop position can be moved with this parameter setting although normally the position is Z-phase position. During multi-point orientation control, the stop position is determined by the total value of this parameter and the position data for multi-point orientation of PLC input.
---Setting range---
-35999 to 35999 (0.01°)
【
#3109
】
For the first S command after power is turned ON, the spindle rotates at the speed of setting value for this parameter.
When "#3106/bitF = 1" (Spindle zero point proximity switch detection enabled), also proximity switch is detected.
(Note) When spindle zero point return proximity switch detection is enabled, the rotation direction of the orientation/zero point return (synchronous tapping, spindle/C axis, etc.) will follow Z phase detection direction. And the speed will follow Z phase detection speed (In order to prevent the influences of the delayed detection of the signal pulse edges).
【
#13225
】
bit 5 : ddir Proximity switch signal enable edge
0: Falling edge 1: Rising edge
【
#13227
】
bit F-C : dis Digital signal input selection
0: No signal
4: Proximity switch signal detection
Other settings: setting prohibited
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< Related control signals >
Control input 5 bitD. Zero point re-detection request (ORC)
When ORC is changed from 0 to 1, the Z phase passed will be 0(control output2/bit0).
Control output 5 bitD. Zero point re-detection complete (ORF)
If the zero point re-detection is completed after the zero point re-detection request (control input5/bitD) is set to1,
ORF=1 is set. If the zero point re-detection request is set to 0, ORF=0 is set.
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Safety Function
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3.1 Safety Function
This drive unit offers the safety function which satisfies the following harmonized standard can be offered with this drive unit.
Each function can be available in the system consisting of the safety function compliant NC control unit and drive unit, and various communication cables, sensors, and contactors. This section describes the safety function controlled directly by the drive unit.
3.1.1 Harmonized Standard
Machinery Directive
(2006/42/EC)
IEC60204-1: 2009
IEC62061: 2015 (SIL2)
IEC ISO13849-1: 2015 (Cat.3, PL d)
IEC61800-5-1: 2007
IEC61800-5-2: 2007
IEC61326-3-1: 2008
3.1.2 Outline of Safety Function
Function
STO
(Safe Torque Off)
SBC
(Safe Brake Control)
Details
The torque is shut off by shutting off the energy supply to the motor. The motor power is electronically shut off inside the drive unit.
Using this function enables to enhance the reliability of the brake start. In this function, the brake start signal is output redundantly and it enhances the reliability of signal path to the brake start and also diagnosis the brake signal output end. It detects the brake start circuit defect and wiring defect etc.
WARNING
Precautions for the safety function described in this manual are as follows.
Read carefully all the following fundamental precautions for safety to prevent human injury or property damage.
1. Only a qualified person is authorized to perform the installation, start, repair, or adjustment of the device in which these equipment are installed.
2. The qualified person must be familiar with the laws of the country where the device into which this product is built is installed, especially the standards described in this book, and the requirements which are listed in EN ISO 13849-1,IEC/
EN 61508,IEC 61,800-5-2 and IEC 60,204-1.
3. To perform the start, programming, setting and maintenance of the device in accordance with the safety standards, the staff who undertakes these work should obtain permission from the company it belongs to.
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3.2 STO (Safe Torque Off) Function
CAUTION
Device manufacturer accepts responsibility for all the risk assessments and related residual risks. The followings are the residual risks relevant to the STO function. Mitsubishi Electric will not accept liability for any accidents such as damage or injury caused by such residual risks.
1. STO function is a function to remove the energy of the motor electronically and not the function to shut off the input power to the drive unit or the connection between the drive unit and the motor physically. Therefore, the risk for electric shocks cannot be eliminated with the STO function. To prevent electric shocks, use the EMG function.
2. STO function is a function to disable the energy to the motor electronically. It does not guarantee the shutoff or the procedure for the deceleration control of the motor.
Read carefully the manual of each safety-related device for the correct installation, wiring, and adjustment.
For all the safety-related relay, sensor, etc., use the one which satisfies the safety standards. TUV SUD has confirmed that the safety-related parts by Mitsubishi Electric described in this manual satisfy EN ISO13849-1 Category 3, PL d.
3. Even though the STO function is enabled by the STO switch, voltage may still be residual at the servo motor for the delay specific to the device.
4. Safety is not guaranteed until the installation or adjustment for the safety-related parts in the system has been completed.
5. When replacing the drive unit, make sure that the new product is the same as the one before the replacement. After the installation, be sure to confirm the performance of the safety function before operating the system.
6. Perform all the risk assessments and safety level certifications for the whole device and system. The use of a third-party certifier such as TUV SUD is recommended as a final safety certification of the system.
7. To prevent the accumulation of failure, perform an appropriate safety confirmation check at regular intervals as required by the safety standards. The safety confirmation check must be performed at least once a day regardless of the safety level of the system.
8. When up-and-down short circuit is occurred to the power module of the drive unit, the servo motor shaft rotates for up to
0.5 revolution.
9. Be sure to supply the STO input signal (STO1, STO2) from one power supply. If the power is divided, STO shutoff state may not be realized due to a malfunction of the STO function caused by a sneak current.
DANGER
Improper installation of a safety-related device or a system could cause a operation state without safety guaranteed and may lead to a serious or fatal accident.
Preventive measure against the above danger
As described in IEC 61800-5-2, the STO (Safe Torque Off) function is a function not to supply a energy from a drive unit to a motor and does not guarantee that a motor is not moved by an external force and other influence.
Take safety measure such as brake or counter balance additionally when the external force is acted on by the motor itself.
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Safe Torque Off function is a shutoff function which does not provide the energy to the motor capable of generating torque and it shuts off an energy supply electronically inside the drive unit.
STO function can be used in the following ways.
(1) Network STO function
[1] System configuration and wiring
STO function shuts off the motor power of all axes or the designated axis in the system.
Warning A4 (sub-number 0001) is detected while STO function is shutting off the motor power.
< A system configuration example when using network STO function >
Safety I/O unit NC Drive unit
Emergency stop input
Optical communication
STO start via optical communication
Power shutoff
CAUTION
This function is set with the NC. Refer to the smart safety observation function for details of the setup and control method.
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3.3 SBC (Safe Brake Control) Function
(1) Base specifications
The communication path of NC unit and Drive unit, and the safe brake control circuit which is redundant inside the drive unit are diagnosed. When the communication error between NC unit and Drive unit occurs, the safety communication alarm is issued. Additionally, when status is inconsistent with the crosscheck in the safe brake control circuit inside the drive unit, the V07 DRV safe circuit error (SBC circuit diagnosis error) alarm is detected.
Refer to the NC function "smart safety observation function" for details.
Safety communication
Safety observation
Brake signal
Circuit information SBC circuit
Crosscheck
Safety observation
Circuit information
Brake signal
SBC circuit
24VDC
Motor brake
(2) Wiring of the motor magnetic brake
The magnetic brake of servo motors with a magnetic brake is controlled by the motor brake control connector
(CN9B-8, CN9B-15 pin) on the servo drive unit. The servo drive unit releases the brake when the motor is ON.
(Servo ON means when torque is generated in the motor.)
Motor brake control output circuit
As shown in the illustration below, a power supply for motor brake is controlled by the DO output of CN9B through the relay. Always install the diode as shown below.
(Tolerable current: 40mA or less, Rush current: 100mA or less)
Be careful not to mistake the polarity.
The drive unit is damaged when the polarity is reversed.
MDS-EM/EMH-SPV3
CN9B
8 : P_MBCL
10 : DOCOM
15 : N_MBCL
Brake
Always install a surge absorber.
External 24VDC power supply
CAUTION
1. Do not connect two or more servo motors with brake to the same drive unit.
2. Do not input the servo OFF command to the axis which a brake is not connected. The brake of the brake axis is activated.
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Setup
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4.1 Initial Setup
4.1.1 Setting the Rotary Switch
Before turning on the power, the axis No. must be set with the rotary switch. The rotary switch settings will be validated when the drive units are turned ON.
< Drive unit >
Multi axis unit
(MDS-EM/EMH-SPV3)
MDS-EM/EMH-SPV3 setting
Rotary switch setting
0
1
2
Axis configuration
Spindle +
Servo 3 axes
Spindle
1st axis
5th axis
L-axis
2nd axis
6th axis
Servo
M-axis
3rd axis
7th axis
S-axis
4th axis
8th axis
9th axis 10th axis 11th axis 12th axis
3
4
13th axis
1st axis
14th axis
2nd axis
15th axis
3rd axis
16th axis
-
7
8
5
6
Spindle +
Servo 2 axes
5th axis
9th axis
13th axis
-
6th axis
10th axis
14th axis
-
7th axis
11th axis
15th axis
-
-
-
-
-
9
A
B
C
Setting impossible
Setting impossible
Setting impossible
Setting impossible -
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
D
E
F
Setting impossible
Setting impossible
Setting impossible
Setting impossible
-
-
-
-
-
-
-
-
-
-
-
-
CAUTION
The axis configuration "Spindle + Servo 2 axes" is the state where the servo axis S is disabled.
Set the NC parameter (#1021) according to the axis numbers.
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4.1.2 Transition of LED Display After Power Is Turned ON
When the NC power is turned ON and the initial communication with the NC is started, each unit will automatically execute self-diagnosis and initial settings for operation, etc. The LEDs on the front of the units will change as shown below according to the progression of these processes.
If an alarm occurs, the alarm No. will appear on the LEDs. Refer to section "LED display when alarm or warning occurs" for details on the alarm displays.
Drive unit
(MDS-EM/EMH-SPV3)
LED dirplay
SPST
Red
SVST Red
Green
Lighting alternately
Drive unit initialization complete
Waiting for NC power start up
Green
Lighting alternately
NC power ON
Emergency stop state (E7)
SPST
SVST
Green Flicker
Green Flicker
Waiting for NC power start up
SPST
Red
SVST Red
Green
Lighting alternately
Green
Lighting alternately
Emergency stop cancel
Emergency stop cancel state
SPST
SVST
Green Lighting
Green Lighting
NC power OFF
LED display during a spindle alarm occurs
SPST
SVST
Red flicker
Green flicker
OFF
Green flicker
OFF
Green flicker
OFF
OFF
CAUTION
Always input emergency stop when starting the servo system.
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4.2 Setting the Initial Parameters for the Servo Drive Unit
The servo parameters must be set before the servo system can be started up. The servo parameters are input from the
NC. The input method differs according to the NC being used, so refer to each NC Instruction Manual.
When setting the initial setting parameters, perform the following settings in each system.
< For semi closed loop control (single-axis control) >
(1) Set the standard parameters in the section "4.2.4 List of Standard Parameters for Each Servo Motor".
(2) "4.2.1 Setting of Servo Specification Parameters"
< For full closed loop control (single-axis control) >
(1) Set the standard parameters in the section "4.2.4 List of Standard Parameters for Each Servo Motor".
(2) "4.2.1 Setting of Servo Specification Parameters"
(3) "4.2.2 Setting of Machine Side Encoder"
< For full closed loop control with a distance-coded reference scale (single-axis control) >
(1) Set the standard parameters in the section "4.2.4 List of Standard Parameters for Each Servo Motor".
(2) "4.2.1 Setting of Servo Specification Parameters"
(3) "4.2.2 Setting of Machine Side Encoder"
(4) "4.2.3 Setting of Distance-coded Reference Scale"
Setting the initial parameters above enables the test operation for the servo axis (Ex. manual pulse feed, low-speed JOG feed). When machine resonance occurs, check the machine resonance frequency at AFLT frequency on the drive monitor screen and set to the following servo parameters. (When resonance occurs at 1000 Hz or more, AFLT frequency may display "0".)
【
#2238
】
Set the vibration frequency to suppress when machine vibration occurs.
(Normally, do not set 80 or less.)
---Setting range---
0 to 5000 (Hz)
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4.2.1 Setting of Servo Specification Parameters
(1) Basic specification parameters
When performing absolute position control, set the axis specification parameter #2049. When the setting value of
#2049 is "1 to 4", "SV017/bit7" is automatically set to the absolute position control.
It is not possible to set SV017/bit7 directly.
【
#2049(PR)
】
Select the absolute position zero point alignment method.
0: Not absolute position detection (Incremental control)
1: Stopper method (push against mechanical stopper)
2: Marked point alignment method I (The grid point is the reference position.)
3: Dog-type (align with dog and near point detection switch)
4: Marked point alignment method II
(The position with which the mark was aligned is the reference position.)
9: Simple absolute position (Not absolute position detection, but the position when the power is turned off is registered.)
【
#2217(PR)
】
bit 7 : abs Position control
These parameters are set automatically by the NC system.
0: Incremental 1: Absolute position control
(2) Electronic gear related parameters
Servo control is performed by changing NC command unit to servo control unit with the following parameters
(electric gear). Even if each parameter is within the setting range, overflow of the electric gear coefficient may be occur. When the overflow of the electric gear occurs, initial parameter error (servo alarm 37) will occur.
【
#2201(PR)
】
【
#2202(PR)
】
Set the gear ratio in the machine side when there is the gear between the servo motor's shaft and machine (ball screw, etc.).
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 an initial parameter error (servo alarm 37) may occur.
【
#2218(PR)
】
Set the ball screw pitch. For the rotary axis, set to "360".
【
#2219(PR)
】
Normally, set to "0".
For the full-closed loop control, refer to "Setting of Machine Side Encoder".
【
#2220(PR)
】
Normally, set to "0".
(3) Parameter set for C80 system
For C80 system, set the parameter as to ignore unnecessary alarm histories that is recorded when the NC power is turned OFF.
【
#2314
】
bit 8 : nohis History of communication error alarm between NC and DRV (34, 36, 38, 39)
0: Enable 1: Disable
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4.2.2 Setting of Machine Side Encoder
(1) Setting of the machine side encoder specification
【
#2225(PR)
】
Set the position encoder type, according to the machine side encoder specifications.
bit F-C: pen Position encoder
Rectangular wave signal output rotary scale : pen=4
OSA405ET2AS : pen=6
Serial signal output rotary scale : pen=6
Rectangular wave signal output linear scale : pen=8
Serial signal output linear scale : pen=A
【
#2219(PR)
】
For a ball screw end encoder
OSA405ET2AS: RNG1=0
For a linear scale
Set the number of pulses per ball screw lead in one "kp" increments.
For a rotary scale
Set the number of pulses per revolution in one "kp" increments.
Note that the value must be input in increments of 10K pulses (the 1st digit of the setting value is
"0").
If any restriction is imposed due to the above condition, also set SV117 in one pulse increments.
【
#2317(PR)
】
To set the resolution of the machine side encoder in one pulse increments, set the number of pulses of the encoder by 4-byte data in total to SV117 (high-order 16bit) and SV019 (low-order 16bit).
SV117= Quotient of the number of pulses divided by 65536 (If the quotient is 0, set SV117 to -1).
SV019= Remainder of the number of pulses divided by 65536
(SV019 can be set in one pulse increments).
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(2) Setting table for each encoder
Rectangular wave signal output encoder
Manufacturer Encoder type Interface unit type
Control resolution
1.0
μ m
SV025
82 □□
MAGNESCALE
SR74
SR84
Not required
0.5
μ m 82 □□
0.1
μ m 82 □□
0.05
μ m 82 □□
IBV 101 (10 divisions) 0.5
μ m
HEIDENHAIN
LS187
LS487
IBV 102 (100 divisions) 0.05
μ m
IBV 660B (400 divisions)
0.0125
μ m
Other manufacturers
Rectangular wave output scale
Not required
Signal frequency
μ m/4
(Note) When the quotient is "0", "SV117 = -1" is applied.
82 □□
82 □□
82 □□
82 □□
SV019 SV117
(SV018×1000/1.0)/65536= remainder quotient
(SV018×1000/0.5)/65536= remainder quotient
(SV018×1000/0.1)/65536= remainder quotient
(SV018×1000/0.05)/65536= remainder quotient
(SV018×1000/0.5)/65536= remainder quotient
(SV018×1000/0.05)/65536= remainder quotient
(SV018×1000/0.0125)/65536= remainder quotient
(SV018×1000/(signal cycle μ m/4)) /65536 = remainder quotient
Mitsubishi serial signal output encoder (Incremental)
Manufacturer
MAGNESCALE
Encoder type
SR75
SR85
Interface unit type
Not required
Control resolution
0.1
μ m
0.05
μ m
0.01
μ m
SV025
A2 □□
A2 □□
A2 □□
HEIDENHAIN
LS187
LS487
ERM280 1200
ERM280 2048
EIB192M A4 20 μ m
EIB392M A4 20 μ m
EIB192M C4 1200
EIB392M C4 1200
EIB192M C6 2048
EIB392M C6 2048
(20/16384) μ m
19,660,800p/rev
33,554,432p/rev
A2 □□
62 □□
62 □□
Other manufacturers
LS187C
LS487C
SIN wave output linear scale
SIN wave output rotary scale
MDS-EX-HR
EIB192M A5 4 μ m
EIB392M A5 4 μ m
MDS-EX-HR
MDS-EX-HR
Signal cycle μ m/
16384
Signal cycle μ m/
16384
Signal cycle μ m/
16384
Signal frequency
×16384p/rev
A2 □□
A2 □□
A2 □□
62 □□
(Note 1) When the quotient is "0", "SV117 = -1" is applied.
(Note 2) The communication specification of EIB192M/392M is "Mitsu02-4".
SV019 SV117
SV018/0.1
SV018/0.05
0
0
SV018/0.01
0
(SV018×819200)/65536 = remainder quotient
0 300
0 512
(SV018×16384000/signal cycle μ m)/65536 = remainder quotient
(SV018×16384000/signal cycle μ m)/65536= remainder quotient
(SV018×16384000/signal cycle μ m) /655356 = remainder quotient
(Signal frequency×16384)/65536 = remainder quotient
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Mitsubishi serial signal output encoder (Absolute position)
Manufacturer
Mitsubishi Electric
MAGNESCALE
HEIDENHAIN
Mitutoyo
Encoder type
OSA405ET2AS
SR67A
SR77
SR87
RU77
RS87
LC195M
LC495M
LC291M
LIC2197M
LIC2199M
MC15M
RCN2590M
RCN5390M
RCN5590M
RCN8390M
ROC425M
ROC2390M
ECA4000 Series
AT343
AT543
AT545
Interface unit type
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Control resolution
4,194,304p/rev
0.1
μ m
0.05
μ m
0.01
μ m
8,000,000p/rev
32,000,000p/rev
8,000,000p/rev
0.01
μ m
0.001
μ m
0.01
μ m
0.05
μ m
0.1
μ m
0.05
μ m
0.1
μ m
0.05
μ m
268,435,456p/rev
67,108,864p/rev
268,435,456p/rev
536,870,912p/rev
32,000,000p/rev
67,108,864p/rev
134,217,728p/rev
0.05
μ m
0.05
μ m
(20/4096) μ m
SV025
A2 □□
A2 □□
A2 □□
A2 □□
A2 □□
A2 □□
A2 □□
62 □□
62 □□
A2 □□
A2 □□
A2 □□
62 □□
62 □□
62 □□
A2 □□
62 □□
62 □□
62 □□
62 □□
62 □□
62 □□
A2 □□
A2 □□
A2 □□
SV019
AT1143
ST748
Not required
Not required
0.05
μ m
0.1
μ m
A2 □□
A2 □□
Mitsubishi Heavy
Industries Machine
Tool
MPRZ Series ADB-K70M 8,000,000p/rev 62 □□ 8000
FAGOR
Renishaw
SAM Series
SVAM Series
GAM Series
LAM Series
HAM Series
H2AM Series
RL40N Series
RA Series
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
0.05
μ m
0.05
μ m
0.05
μ m
0.1
μ m
8,000,000p/rev
134,217,728p/rev
67,108,864p/rev
0.05
μ m
0.001
μ m
8,000,000p/rev
134,217,728p/rev
A2 □□
A2 □□
A2 □□
A2 □□
62 □□
62 □□
62 □□
A2 □□
A2 □□
62 □□
62 □□
(Note 1) When the quotient is "0", "SV117 = -1" is applied.
(Note 2) The communication specification of LC195M/LC495M/LC291M is "Mitsu03-4".
SV018/0.05
SV018/0.05
SV018/0.05
SV018/0.1
8000
0
0
SV018/0.05
SV018/0.001
8000
0
SV117
0
SV018/0.1
SV018/0.05
SV018/0.01
8000
32000
8000
SV018/0.01
SV018/0.001
SV018/0.01
SV018/0.05
SV018/0.1
SV018/0.05
SV018/0.1
SV018/0.05
0
0
0
0
32000
0
0
0
4096
1024
4096
8192
0
1024
2048
SV018/0.05
SV018/0.05
0
0
(SV018×204800)/65536 = remainder quotient
SV018/0.05
0
SV018/0.1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2048
1024
0
0
0
0
0
0
2048
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(3) Setting of the installation polarity of the machine side encoder
Since the installation polarity may not be judged from the encoder appearance, confirm the installation polarity of the machine side encoder with moving the axis by hand after the installation.
If "Motor end FB" or "Machine end FB" on the NC drive monitor screen changes to the opposite polarity when the axis is moved, set "SV017/bit4" to "Reverse polarity".
【
#2217(PR)
】
bit 4 : sdir Sub side encoder feedback
0: Forward polarity 1: Reverse polarity
(4) Setting of the machine side encoder alarm detection
When using a rectangular wave linear scale, set the following parameters.
The rectangular wave scale determined no signal by the difference from the motor end FB. Set no signal 2 special detection width considering a delay of machine end position generated by the torsion of the ball screw.
【
#2235
】
bit 7 : ckab No signal detection 2
Set this to use rectangular wave output linear scale.
This enables the detection of No signal 2 (alarm 21).
0: Disable 1: Enable
【
#2398
】
Set the special detection width for the no signal 2 (alarm 21).
When "0" is set, the detection will be performed with a 15 μ m width.
---Setting range---
0 to 32767 ( μ m)
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4.2.3 Setting of Distance-coded Reference Scale
(1) Setting of the base specifications
In order to set the distance-coded reference scale, the following setting follows "Setting of Machine Side Encoder".
【
#2281(PR)
】
bit 7 : szchk Distance-coded reference scale reference mark
Set the number of reference marks to be passed during the reference position calculation. If an error occurs in passing the reference mark, the neighboring mark is checked. When an error is detected three times in total, the alarm "42" will occur.
0: Check at 4 points (standard) 1: Check at 3 points
bit 3 : absc Distance-coded reference scale
0: Disable 1: Enable
【
#2330(PR)
】
Set the interval between the base reference marks arranged at regular intervals on the distancecoded reference scale. When the base reference mark interval (SV130) and the reference mark's auxiliary interval are in the specified relationship, the distance-coded reference scale is judged to be connected.
Following is the specified relationship.
(SV130×1000) / SV131 >= 4 (No remainder)
---Setting range---
0 to 32767 (mm)
【
#2331(PR)
】
Set the auxiliary interval of reference mark in the distance-coded reference scale.
---Setting range---
0 to 32767 ( μ m)
Base reference mark
Reference
mark
Base reference mark
Reference
mark
Base reference mark
IB-1501241-H
Base reference mark interval
(SV130)
Auxiliary reference mark interval
(SV131)
Incremental scale of distance-coded reference scale
< Examples of SV130/131 setting >
Manufacturer
HEIDENHAIN
CORPORATION
FAGOR
Renishaw
Series
LF
LS
LB
S, M, C and G
F
L
RSLM
Base reference mark interval [mm]
(SV130)
20
20
80
20
100
80
80
Auxiliary reference mark interval [ μ m]
(SV131)
4
20
40
20
100
40
20
92
MDS-EM/EMH Series Instruction Manual
4 Setup
(2) Setting of the distance-coded reference check function
If The reference marks are checked at four points by the basic point computer processing, the basic point can be recreated almost certainly. If you would like to strengthen the check further, set the distance-coded reference check function, which executes the relation check with a coordinate of the motor side encoder during the basic point calculation after the power-on.
When an error occurs, "Alarm 42" is detected. The battery option is required to use this function since the motor side encoder is under the absolute position control.
< Initial setup of the distance-coded reference check >
Performed this initial setup at the start of the system setup, linear scale exchange, or motor exchange.
(1) Complete the setup of the distance-coded reference scale.
( Complete the base specification setting, and enable the basic point establishment.)
(2) Turn the power ON again after setting "SV137 = -1".
( Under a state of the distance-coded reference check initial setup warning "A3".)
(3) Perform the reference point return.
(4) Conform that the warning "A3" turns OFF.
(5) Set the value of "Rn", "Pn" and "MPOS" to "SV134", "SV135" and "SV136" on the drive monitor.
(6) When SV137=32767, the distance-coded reference check function is disabled.
【
#2334
】
【
#2335
】
【
#2336
】
Set this parameter to operate distance-coded reference check when using distance-coded reference scale.
During the distance-coded reference check initial setup (SV137:RAER=-1), set the following items on the NC drive monitor screen after the distance-coded reference check initial setup warning A3 turns OFF.
SV134=Rn, SV135=Pn, SV136=MPOS
【
#2337
】
For the distance-coded reference check function when using distance-coded reference scale, set the allowable gap from the reference point position data calculated by the main side encoder. When the gap exceeds the allowable range, reference point created by distance-code is judged as wrong and detects alarm 42.
The standard setting value is "basic reference mark interval (SV130) / 4".
SV137=0 setting carries out the same operation as the standard setting value.
SV137=-1 setting enables the distance-coded reference initial set up mode and displays setting values of SV134 to SV136 on NC drive monitor.
To enable the distance-coded reference check function, SV081/bit3=1setting and a battery option are needed.
---Setting range---
-1 to 32767 (mm)
93 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
4 Setup
4.2.4 List of Standard Parameters for Each Servo Motor
(1) 200V Standard motor HG Series
Motor
Parameter
No.
Abbrev.
Details Unit capacity
SV001
SV002
PC1
PC2
Motor side gear ratio
Machine side gear ratio
SV003 PGN1 Position loop gain 1
SV004 PGN2 Position loop gain 2
SV005 VGN1 Speed loop gain 1
SV006 VGN2 Speed loop gain 2
SV007
SV008
VIL
VIA
Speed loop delay compensation
Speed loop lead compensation
SV009
SV010
SV011
SV012
IQA
IDA
IQG
IDG
Current loop q axis lead compensation
Current loop d axis lead compensation
Current loop q axis gain
Current loop d axis gain
SV013 ILMT Current limit value
SV014 ILMTsp Current limit value in special control
SV015 FFC Acceleration rate feed forward gain
SV016 LMC1 Lost motion compensation 1
SV017 SPEC1 Servo specification 1
SV018 PIT Ball screw pitch/Magnetic pole pitch
SV019 RNG1 Sub side encoder resolution
SV020 RNG2 Main side encoder resolution
SV021
SV022
SV023
OLT
OLL
OD1
Overload detection time constant
Overload detection level
Excessive error detection width during servo ON
SV024 INP In-position detection width
SV025 MTYP Motor/Encoder type
SV026
SV027
SV028
OD2
Excessive error detection width during servo OFF
SSF1 Servo function 1
:
SV032
SV033
SV034
SV035
TOF Torque offset
SSF2 Servo function 2
SSF3 Servo function 3
SV036
SSF4 Servo function 4
PTYP
Power supply type/ Regenerative resistor type
JL Load inertia scale SV037
:
SV046 FHz2 Notch filter frequency 2
SV047 EC Inductive voltage compensation gain
SV048 EMGrt Vertical axis drop prevention time
SV049 PGN1sp
SV050 PGN2sp
Position loop gain 1 in spindle synchronous control
Position loop gain 2 in spindle synchronous control
:
SV065 TLC Machine end compensation gain
(System parameter area)
SV073 FEEDout Specified speed output speed
(System parameter area)
SV081 SPEC2 Servo specification 2
SV082
SV083
SSF5
SSF6
Servo function 5
Servo function 6
SV084
SV085
SSF7 Servo function 7
LMCk
Lost motion compensation 3 spring constant
:
SV093
SV094 MPV
Magnetic pole position error detection speed
SV095 ZUPD Vertical axis pull up distance
:
SV113 SSF8 Servo function 8
SV114 SSF9 Servo function 9
SV115 SSF10 Servo function 10
:
SV236
SV237
SV238
:
SV256
TCF Torque command filter
0200
0000
0000
0000
8080
0
0
:
0
0
:
3000
0
0
:
0
0
:
10
0
0
:
0
0
0
:
0
6
4000
0
0
:
0000
0000
0000
0000
100
0
0
0
:
15
HG96
40
10
0
0
1364
33
0
-
-
1400
-
0
0
60
150
6144
6144
512
512
800
800
0
0
6
50
22BC
6
4000
0
0
:
0000
0000
0000
0000
100
0
0
0
:
15
HG75
40
100
0
0
1364
33
0
-
-
20480
20480
768
768
800
800
0
0
1400
-
0
0
60
150
6
50
2241
0
0200
0000
0000
0000
0080
0
0
:
0
0
:
0
:
0
0
0
0
:
10
0200
0000
0000
0000
0080
0
0
:
0
0
:
0
:
0
0
0
0
:
10
0200
0000
0000
0000
0080
0
0
:
0
0
:
0
:
0
0
0
0
:
10
0200
0000
0000
0000
0080
0
0
:
0
0
:
0
:
0
0
0
0
:
10
0200
0000
0000
0000
0080
0
0
:
0
0
:
0
:
0
0
0
0
:
10
6
4000
0
0
:
0000
0000
0000
0000
100
0
0
0
:
15
200V Standard motor HG Series
HG105
40
HG54 HG104 HG154 HG224 HG204
40 80 40 80 80 120 80 120 80 120
33
0
-
-
0
-
-
33
-
-
33
0
-
-
33
0
-
-
33
0
33
0
-
-
100
0
0
1364
10240
10240
512
512
100
0
0
1364
20480
20480
3072
3072
100
0
0
1364
10240
10240
1280
1280
100
0
0
1364
10240
10240
1536
1536
100
0
0
1364
8192
8192
1280
1280
100
0
0
1364
8192
8192
2048
2048
800
800
0
0
800
800
0
0
800
800
0
0
800
800
0
0
800
800
0
0
800
800
0
0
1400 1000 1400 1000 1400 1000 1400 1000 1400 1000 1400
-
0
0
0
0
0
0
0
0
0
0
0
0
60
150
60
150
60
150
60
150
60
150
60
150
6
50
2242
6
50
2243
6
50
2244
6
50
2245
6
50
2246
6
50
2247
6
4000
0
0
:
0000
0000
0000
0000
100
0
0
0
:
15
6
4000
0
0
:
0000
0000
0000
0000
100
0
0
0
:
15
6
4000
0
0
:
0000
0000
0000
0000
100
0
0
0
:
15
6
4000
0
0
:
0000
0000
0000
0000
100
0
0
0
:
15
6
4000
0
0
:
0000
0000
0000
0000
100
0
0
0
:
15
0
0
:
0
0
:
0
0
0
:
0
0
0
:
0
0
0
:
0
0
0
:
0
0200
0000
0000
0000
0080
0
0
:
0
0
:
0
:
0
0
0
0
:
10
0200
0000
0000
0000
0080
0
0
:
0
0
:
0
:
0
0
0
0
:
10
IB-1501241-H 94
MDS-EM/EMH Series Instruction Manual
4 Setup
Motor
Parameter
No.
Abbrev.
Details Unit capacity
SV001
SV002
PC1 Motor side gear ratio
PC2 Machine side gear ratio
SV003 PGN1 Position loop gain 1
SV004 PGN2 Position loop gain 2
SV005 VGN1 Speed loop gain 1
SV006 VGN2 Speed loop gain 2
SV007
SV008
VIL
VIA
Speed loop delay compensation
Speed loop lead compensation
SV009
SV010
SV011
SV012
IQA
IDA
IQG
Current loop q axis lead compensation
Current loop d axis lead compensation
Current loop q axis gain
IDG Current loop d axis gain
SV013 ILMT Current limit value
SV014 ILMTsp Current limit value in special control
SV015 FFC Acceleration rate feed forward gain
SV016 LMC1 Lost motion compensation 1
SV017 SPEC1 Servo specification 1
SV018 PIT Ball screw pitch/Magnetic pole pitch
SV019 RNG1 Sub side encoder resolution
SV020 RNG2 Main side encoder resolution
SV021
SV022
SV023
OLT
OLL
OD1
Overload detection time constant
Overload detection level
Excessive error detection width during servo ON
SV024 INP In-position detection width
SV025 MTYP Motor/Encoder type
SV026
SV027
SV028
OD2
Excessive error detection width during servo OFF
SSF1 Servo function 1
:
SV032
SV033
SV034
TOF Torque offset
SSF2 Servo function 2
SSF3 Servo function 3
SV035
SV036
SSF4 Servo function 4
PTYP
Power supply type/ Regenerative resistor type
SV037 JL Load inertia scale
:
SV046 FHz2 Notch filter frequency 2
SV047 EC Inductive voltage compensation gain
SV048 EMGrt Vertical axis drop prevention time
SV049 PGN1sp
SV050 PGN2sp
Position loop gain 1 in spindle synchronous control
Position loop gain 2 in spindle synchronous control
:
SV065 TLC Machine end compensation gain
(System parameter area)
SV073 FEEDout Specified speed output speed
(System parameter area)
SV081 SPEC2 Servo specification 2
SV082
SV083
SSF5
SSF6
Servo function 5
Servo function 6
SV084
SV085
SSF7 Servo function 7
LMCk
Lost motion compensation 3 spring constant
:
SV093
SV094 MPV
Magnetic pole position error detection speed
SV095 ZUPD Vertical axis pull up distance
:
SV113 SSF8 Servo function 8
SV114 SSF9 Servo function 9
SV115 SSF10 Servo function 10
:
SV256
6
4000
0
0
:
0000
0000
0000
0000
100
0
0
0
:
15
HG354
120
33
0
-
-
100
0
0
1364
15360
15360
4096
4096
800
800
0
0
0000
-
0
0
60
150
6
50
2248
0
0200
0000
0000
0000
0080
0
0
:
0
0
:
0
0
:
10
0
0
:
6
4000
0
0
:
0000
0000
0000
0000
100
0
0
0
:
15
HG123
40
33
0
-
-
100
0
0
1364
10240
10240
1536
1536
200V Standard motor HG Series
HG223 HG303
40 80 80 120
HG453
120
HG702
120
33
0
-
-
-
-
33
0
-
-
33
0
100
0
0
1364
8192
8192
1280
1280
60
0
0
1364
10240
10240
2048
2048
800
800
0
0
800
800
0
0
800
800
0
0
1400 1000 1400 1000 1400
-
0
0
0
0
0
0
60
150
60
150
60
150
100
0
0
1364
10240
10240
3072
3072
800
800
0
0
0000
-
0
0
60
150
80
0
0
1364
10240
10240
3072
3072
33
0
-
-
800
800
0
0
1000
-
0
0
60
150
6
50
2264
6
50
2266
6
50
2268
6
50
2249
6
50
226A
6
4000
0
0
:
0000
0000
0000
0000
100
0
0
0
:
15
6
4000
0
0
:
0000
0000
0000
0000
100
0
0
0
:
15
6
4000
0
0
:
0000
0000
0000
0000
100
0
0
0
:
15
6
4000
0
:
0
0000
0000
0000
0000
100
0
0
:
0
15
6
4000
0
0
:
0000
0000
0000
0000
100
0
0
0
:
15
HG142
40
33
0
-
-
100
0
0
1364
15360
15360
2048
2048
800
800
0
0
800
800
0
0
1400 1000 1400
-
0
0
0
0
60
150
60
150
HG302
40 80
33
0
-
-
100
0
0
1364
8192
8192
2048
2048
6
50
2265
6
50
2267
6
4000
0
0
:
0000
0000
0000
0000
100
0
0
0
:
15
0
0
0
0200
0000
0000
0000
0
0
10
0
0080
0
0
:
0
:
:
:
0
0
0
0200
0000
0000
0000
0
0
10
0
0080
0
0
:
0
:
:
:
0
0
0
0200
0000
0000
0000
0
0
10
0
0080
0
0
:
0
:
:
:
0
0
0
0200
0000
0000
0000
0
0
10
0
0080
0
0
:
0
:
:
:
0
:
0
0
0200
0000
0000
0000
0
:
0
10
0
0080
0
:
0
:
0
0
0
0
0200
0000
0000
0000
0
0
10
0
0080
0
0
:
0
:
:
:
0
0
:
0
0200
0000
0000
0000
0080
0
0
:
0
0
:
0
0
:
10
95 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
4 Setup
(2) 400V Standard motor HG-H Series
Motor
Parameter
No.
SV001
Abbrev.
PC1
Details
Motor side gear ratio
Unit capacity
SV002 PC2 Machine side gear ratio
SV003 PGN1 Position loop gain 1
SV004 PGN2 Position loop gain 2
SV005 VGN1 Speed loop gain 1
SV006 VGN2 Speed loop gain 2
SV007 VIL Speed loop delay compensation
SV008
SV009
VIA
IQA
Speed loop lead compensation
Current loop q axis lead compensation
SV010
SV011
SV012
SV013
IDA
IQG
IDG
ILMT
Current loop d axis lead compensation
Current loop q axis gain
Current loop d axis gain
Current limit value
SV014 ILMTsp Current limit value in special control
SV015 FFC Acceleration rate feed forward gain
SV016 LMC1 Lost motion compensation 1
SV017 SPEC1 Servo specification 1
SV018 PIT Ball screw pitch/Magnetic pole pitch
SV019 RNG1 Sub side encoder resolution
SV020 RNG2 Main side encoder resolution
SV021 OLT Overload detection time constant
SV022
SV023
SV024
OLL Overload detection level
OD1
Excessive error detection width during servo ON
INP In-position detection width
SV025 MTYP Motor/Encoder type
SV026 OD2
Excessive error detection width during servo OFF
SV027 SSF1 Servo function 1
:
SV031 OVS1 Overshooting compensation 1
SV032
SV033
TOF
SSF2
Torque offset
Servo function 2
SV034
SV035
SV036
SSF3
SSF4
PTYP
Servo function 3
Servo function 4
Power supply type/ Regenerative resistor type
:
SV045 TRUB Friction torque
SV046
SV047
FHz2
EC
Notch filter frequency 2
Inductive voltage compensation gain
SV048 EMGrt Vertical axis drop prevention time
SV049 PGN1sp
Position loop gain 1 in spindle synchronous control
:
SV064 DA2MPY D/A output ch2 output scale
SV065 TLC Machine end compensation gain
(System parameter area)
SV073 FEEDout Specified speed output speed
(System parameter area)
SV081 SPEC2 Servo specification 2
SV082
SV083
SSF5
SSF6
Servo function 5
Servo function 6
SV084
SV085
SSF7 Servo function 7
LMCk
Lost motion compensation 3 spring constant
:
SV093
SV094 MPV
Magnetic pole position error detection speed
SV095 ZUPD Vertical axis pull up distance
:
SV113 SSF8 Servo function 8
SV114 SSF9 Servo function 9
SV115 SSF10 Servo function 10
:
SV256
0
0200
0000
0000
0000
0080
0
0
:
0
0
:
0
0
:
10
HG-H54
40
-
-
33
0
100
0
0
1364
20480
20480
3072
3072
800
800
0
0
3000
-
0
0
60
150
6
50
2243
6
4000
0
:
0
0000
0000
0000
0000
0
100
0
:
0
15
0
0
:
0
0200
0000
0000
0000
0080
0
0
:
0
0
:
0
0
:
10
HG-H104
40
-
33
0
100
400V Standard motor HG-H Series
HG-H154 HG-H204
40 60 40 60
-
0
-
33
100
33
0
100
-
1364
10240
0
0
10240
1280
1280
800
0
0
1364
15360
15360
2048
2048
800
0
0
1364
8192
8192
2048
2048
800
800
0
800
0
800
0
0 0 0
3000 3000 3400 3000 3400
0
60
-
0
150
0
0
-
60
150
0
60
0
-
150
HG-H354
60
-
-
33
0
100
0
0
1364
8192
8192
2048
2048
800
800
0
0
3000
-
0
0
60
150
6
50
2244
6
4000
0
:
0
0000
0000
0000
6
50
2245
6
4000
0
0
0000
0000
0000
:
6
50
2247
6
4000
0
0
0000
0000
0000
:
6
50
2248
6
4000
0
:
0
0000
0000
0000
0000
0
100
0
:
0
15
0
0
:
0000
0
100
0
:
0
15
0
0
:
0000
0
100
0
:
0
15
0
0
:
0000
0
100
0
:
0
15
0
0
:
0
0200
0000
0000
0000
0080
0
0
:
0
0
:
0
0
:
10
0
0200
0000
0000
0000
0080
0
0
:
0
0
:
0
0
:
10
0
0200
0000
0000
0000
0080
0
0
:
0
0
:
0
0
:
10
0
0200
0000
0000
0000
0080
0
0
:
0
0
:
0
0
:
10
HG-H453
60
-
-
33
0
100
0
0
1364
6144
6144
2048
2048
800
800
0
0
3000
-
0
0
60
150
6
50
2249
6
4000
0
:
0
0000
0000
0000
0000
0
100
0
:
0
15
0
0
:
IB-1501241-H 96
MDS-EM/EMH Series Instruction Manual
4 Setup
4.2.5 Servo Parameters
The parameters with "(PR)" requires the CNC to be turned OFF after the settings. Turn the power OFF and ON to enable the parameter settings.
(PR)
(PR)
#2201 SV001 PC1 Motor side gear ratio
Set the gear ratio in the motor side when there is the gear between the servo motor's shaft and machine (ball screw, etc.).
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 an initial parameter error (servo alarm 37) may occur.
For linear servo system
Set to "1".
---Setting range---
1 to 32767
#2202 SV002 PC2 Machine side gear ratio
Set the gear ratio in the machine side when there is the gear between the servo motor's shaft and machine
(ball screw, etc.).
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 an initial parameter error (servo alarm 37) may occur.
For linear servo system
Set to "1".
---Setting range---
1 to 32767
#2203 SV003 PGN1
Set the position loop gain. The standard setting is "33".
The higher the setting value is, the more accurately the command can be followed, and the shorter the settling time in positioning gets, however, note that a bigger shock will be applied to the machine during acceleration/deceleration.
When using the SHG control, also set SV004 (PGN2) and SV057 (SHGC).
When using the OMR-FF control, set the servo rigidity against quadrant projection or cutting load, etc. For the tracking ability to the command, set by SV106(PGM).
---Setting range---
1 to 200 (rad/s)
Position loop gain 1
#2204 SV004 PGN2
When performing the SHG control, set the value of "SV003 x 8/3" to "SV004".
When not using the SHG control, set to "0".
When using the OMR-FF control, set to "0".
Related parameters: SV003, SV057
---Setting range---
0 to 999 (rad/s)
Position loop gain 2
#2205 SV005 VGN1 Speed loop gain 1
Set the speed loop gain.
The higher the setting value is, the more accurate the control will be, however, vibration tends to occur.
If vibration occurs, adjust by lowering by 20 to 30%.
The value should be determined to the 70 to 80% of the value at which the vibration stops.
The value differs depending on servo motors.
Aim at the standard value determined by the servo motor type and load inertia ratio to adjust.
---Setting range---
1 to 30000
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#2206 SV006 VGN2 Speed loop gain 2
Set the speed loop gain at the motor limitation speed VLMT (maximum rotation speed x 1.15) with
"VCS(SV029: Speed at the change of speed loop gain)".
Use this to suppress noise at high speed rotation during rapid traverse, etc. Then, the speed loop gain decreases at faster speed than the setting value of VCS. When not using, set to "0".
Gain
VGN1
VGN2
0
Speed
VCS VLMT
(Overspeed detection speed)
---Setting range---
-1000 to 30000
#2207 SV007 VIL
Set this when the limit cycle occurs in the full-closed loop, or overshooting occurs in positioning. The speed loop delay compensation method can be selected with SV027/bit1,0.
Normally, use "Changeover type 2". Changeover type 2 controls the occurrence of overshooting by lowering the speed loop lead compensation after the position droop gets 0.
When setting this parameter, make sure to set the torque offset (SV032).
---Setting range---
0 to 32767
Speed loop delay compensation
#2208 SV008 VIA Speed loop lead compensation
Set the gain of the speed loop integral control.
Standard setting: 1364
Standard setting in the SHG control: 1900
Adjust the value by increasing/decreasing this by about 100 at a time.
Raise this value to improve contour tracking accuracy in high-speed cutting.
Lower this value when the position droop does not stabilize (when the vibration of 10 to 20Hz occurs).
---Setting range---
1 to 9999
#2209 SV009 IQA Current loop q axis lead compensation
Set the fixed value of each motor.
Set the standard value for each motor described in the standard parameter list.
---Setting range---
1 to 20480
#2210 SV010 IDA
Set the fixed value of each motor.
Set the standard value for each motor described in the standard parameter list.
---Setting range---
1 to 20480
Current loop d axis lead compensation
#2211 SV011 IQG
Set the fixed value of each motor.
Set the standard value for each motor described in the standard parameter list.
---Setting range---
1 to 8192
Current loop q axis gain
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#2212 SV012 IDG
Set the fixed value of each motor.
Set the standard value for each motor described in the standard parameter list.
---Setting range---
1 to 8192
Current loop d axis gain
#2213 SV013 ILMT
Set the current (torque) limit value in a normal operation.
This is a limit value in forward run and reverse run (for linear motors: forward and reverse direction).
When the standard setting value is "800", the maximum torque is determined by the specification of the motor.
Set this parameter as a proportion (%) to the stall current.
---Setting range---
0 - 999 (Stall current %)
Current limit value
#2214 SV014 ILMTsp Current limit value in special control
Set the current (torque) limit value in a special operation (absolute position initial setting, stopper control and etc.).
This is a limit value in forward and reverse directions.
Set to "800" when not using.
Set this parameter as a proportion (%) to the stall current.
---Setting range---
0 - 999 (Stall current %)
However, when SV084/bitB=1, the setting range is from 0 to 32767 (Stall current 0.01%).
#2215 SV015 FFC Acceleration rate feed forward gain
When a relative error in synchronous control is too large, set this parameter to the axis that is delaying.
The standard setting is "0". The standard setting in the SHG control is "100".
To adjust a relative error in acceleration/deceleration, increase the value by 50 at a time.
---Setting range---
0 to 999 (%)
#2216 SV016 LMC1 Lost motion compensation 1
Set this parameter when the protrusion (that occurs due to the non-sensitive band by friction, torsion, backlash, etc.) at quadrant change is too large. This sets the compensation torque at quadrant change (when an axis feed direction is reversed) by the proportion (%) to the stall torque. Whether to enable the lost motion compensation and the method can be set with other parameters.
Type 2: When SV027/bit9, 8=10 (Compatible with obsolete type)
Set the type 2 method compensation torque. The standard setting is double the friction torque.
Related parameters: SV027/bit9,8, SV033/bitF, SV039, SV040, SV041, SV082/bit2
Type 3: When SV082/bit1=1
Set the compensation torque equivalent of dynamic friction amount of the type 3 method compensation amount. The standard setting is double the dynamic friction torque.
Related parameters: SV041, SV082/bit2,1, SV085, SV086
To vary compensation amount according to the direction.
When SV041 (LMC2) is "0", compensate with the value of SV016 (LMC1) in both +/-directions.
If you wish to change the compensation amount depending on the command direction, set this and
SV041 (LMC2).
(SV016: + direction, SV041: - direction. However, the directions may be opposite depending on other settings.)
When "-1" is set, the compensation will not be performed in the direction of the command.
---Setting range---
-1 to 200 (Stall current %)
Note that when SV082/bit2 is "1", the setting range is between -1 and 20000 (Stall current 0.01%).
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(PR) #2217 SV017 SPEC1
Select the servo specifications.
A function is allocated to each bit.
Set this in hexadecimal format.
Servo specification 1 mdir dfbx seqh vfb sdir abs mp drvup spm bit F-C : spm Motor series selection
0: Not used
1: 200V HG motor (Standard)
2: Not used
3: 400V HG-H, HQ-H motor (Standard)
6: 200V LM-F linear motor
7: 200V direct-drive motor
8: 400V LM-F linear motor
9: 400V direct-drive motor bit B :
Not used. Set to "0". bit A : drvup Combined drive unit:
0: Normal setting (Combined drive unit: normal)
1: Combined drive unit: one upgrade bit 9 :
Not used. Set to "0". bit 8 : mp MPI scale pole number setting
0: 360 poles 1: 720 poles bit 7 : abs Position control
These parameters are set automatically by the NC system.
0: Incremental 1: Absolute position control bit 6-5 :
Not used. Set to "0". bit 4 : sdir Sub side encoder feedback
Set the machine side encoder's installation polarity.
0: Forward polarity 1: Reverse polarity bit 3 : vfb Speed feedback filter
0: Stop 1: Start (4500Hz) bit 2 : seqh Ready on sequence
0: Normal 1: High-speed bit 1 : dfbx Dual feedback control
Control the position FB signal in full closed control by the combination of a motor side encoder and machine side encoder.
0: Stop 1: Start
Related parameters: SV051, SV052 bit 0 : mdir Machine side encoder feedback (for Linear/direct-drive motor)
Set the encoder installation polarity in the linear servo and direct-drive motor control.
0: Forward polarity 1: Reverse polarity
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(PR)
(PR)
(PR)
#2218 SV018 PIT Ball screw pitch/Magnetic pole pitch
For servo motor:
Set the ball screw pitch. For the rotary axis, set to "360".
For direct-drive motor
Set to "360".
For linear motor
Set the ball screw pitch. (For LM-F series, set to "48")
---Setting range---
For general motor: 1 to 32767 (mm/rev)
- For linear motor 1 to 32767 (mm)
#2219 SV019 RNG1 Sub side encoder resolution
For semi-closed loop control
Set the same value as SV020.
For full-closed loop control
Set the number of pulses per ball screw pitch.
For direct-drive motor
Set the same value as SV020.
For 1000 pulse unit resolution encoder, set the number of pulses in SV019 in increments of 1000 pulse (kp).
The value must be input in increments of 10K pulses (the 1st digit of the setting value is "0").
In this case, make sure to set "0" to SV117.
For high-accuracy binary resolution encoder, set the number of pulses to four bite data of SV117 (high-order) and SV019 (low-order) in pulse (p) unit.
SV117 = number of pulses / 65536 (when =0, set "-1" to SV117)
SV019 = the remainder of number of "pulses / 65536"
---Setting range---
When SV117 = 0, the setting range is from 0 to 32767 (kp)
When SV117 ≠ 0, the setting range is from 0 to 65535 (p)
#2220 SV020 RNG2 Main side encoder resolution
Normally, set to "0".
For linear motor
Set the number of pulses of the encoder per magnetic pole pitch with SV118.
For direct-drive motor
Set the number of pulses per revolution of the motor side encoder.
For 1000 pulse unit resolution encoder, set the number of pulses to SV020 in increments of 1000 pulse(kp).
The value must be input in increments of 10K pulses (the 1st digit of the setting value is "0").
In this case, make sure to set SV118 to "0". For high-accuracy binary resolution encoder, set the number of pulses to four bite data of SV118 (high-order) and SV020 (low-order) in pulse(p) unit.
SV118 = number of pulses / 65536 (when =0, set "-1" to SV118)
SV019 = the remainder of "number of pulses / 65536"
---Setting range---
When SV118 = 0, the setting range is from 0 to 32767 (kp)
When SV118 ≠ 0, the setting range is from 0 to 65535 (p)
#2221 SV021 OLT Overload detection time constant
Normally, set to "60". (For Mitsubishi Electric adjustment.)
Related parameters: SV022
---Setting range---
1 to 999 (s)
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#2222 SV022 OLL
Set the "Overload 1" (Alarm 50) current detection level as percentage to the stall current.
Normally set this parameter to "150". (For Mitsubishi Electric adjustment.)
Related parameters: SV021
---Setting range---
110 to 500 (Stall current %)
Overload detection level
#2223 SV023 OD1 Excessive error detection width during servo ON
Set the excessive error detection width in servo ON.
When set to "0", the excessive error alarm detection will be ignored, so do not set to "0".
<Standard setting value>
OD1=OD2= (Rapid traverse rate [mm/min]) / (60×PGN1) / 2 [mm]
Related parameters: SV026
---Setting range---
0 to 32767 (mm)
However, when SV084/bitC=1, the setting range is from 0 to 32767 ( μ m).
#2224 SV024 INP In-position detection width
Set the in-position detection width.
Set the positioning accuracy required for the machine.
The lower the setting is, the higher the positioning accuracy will be. However the cycle time (settling time) becomes longer.
The standard setting value is "50".
---Setting range---
1 to 32767 ( μ m)
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(PR) #2225 SV025 MTYP Motor/Encoder type
Set the position encoder type, speed encoder type and motor type.
The setting value is a four-digit hex (HEX).
HEX4 3 2 1 mtyp ent pen bit F-C: pen(HEX-4) Position encoder
Semi-closed loop control by general motor
pen=2
Full-closed loop control by general motor
- Ball screw end encoder (OSA405ET2AS, OSA676ET2AS)
pen=6
- For serial signal output rotary scale (including MDS-EX-HR)
pen=6
- For rectangular wave signal output linear scale
pen=8
- For serial signal output linear scale (including MDS-EX-HR and MPI scale)
pen=A
- For speed command synchronization control
Primary axis pen=A
Secondary axis pen=D
For linear motor
pen=A
For direct-drive motor
pen=2 bit B-8: ent(HEX-3) Speed encoder
For general motor: ent=2
For linear motor: ent=A
For direct-drive motor: ent=2
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4 Setup bit 7-0: mtyp(HEX-2,1) Motor type
Set the motor type. Set this with SV017/bitF-C.
For SV017/bitF-C = 1 (200V standard motor series)
HG75 : 41h HG123 : 64h
HG105 : 42h HG142 : 65h
HG54 : 43h HG46 : BAh
HG104 : 44h HG56 : BBh
HG154 : 45h 4Fh(Note 1) HG96 : BCh
HG224 : 46h
HG204 : 47h
HG354 : 48h
HG223 : 66h
HG303 : 68h
HG453 : 49h
HG603 : 69h
HG702 : 6Ah
HG703 : 4Ah
HG903 : 4Bh
HG1103 : 4Ch
HG302 : 67h
(Note 1) When MDS-E-V3 is connected
For SV017/bitF-C = 3 (400V standard motor series)
HG-H75 : 41h HQ-H903 : 58h
HG-H105 : 42h HQ-H1103 : 59h
HG-H54 : 43h
HG-H104 : 44h
HG-H154 : 45h
HG-H224 : 46h
HG-H204 : 47h
HG-H354 : 48h
HG-H453 : 49h
HG-H703 : 4Ah
HG-H903 : 4Bh
HG-H1502 : 4Dh
For linear motor and direct-drive motor, follow the settings stated in respective materials.
#2226 SV026 OD2 Excessive error detection width during servo OFF
Set the excessive error detection width during servo OFF.
When set to "0", the excessive error alarm detection will be ignored, so do not set to "0".
<Standard setting value>
OD1=OD2= (Rapid traverse rate [mm/min]) / (60×PGN1) / 2 [mm]
Related parameters: SV023
---Setting range---
0 to 32767 (mm)
However, when SV084/bitC=1, the setting range is from 0 to 32767 ( μ m).
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#2227 SV027 SSF1
Select the servo functions.
A function is assigned to each bit.
Set this in hexadecimal format.
Servo function 1 bit F :
Not used. Set to "0". bit E : zrn2
Set to "1". (Fixed) bit D :
Not used. Set to "0". bit C :
Not used. Set to "0". bit B-A : ovs Overshooting compensation
Set this if overshooting occurs during positioning.
bitB,A=
00: Compensation stop
01: Setting prohibited
10: Setting prohibited
11: Type 3
Set the compensation amount in SV031(OVS1) and SV042(OVS2).
Related parameters: SV031, SV042, SV034/bitF-C bit 9-8 : lmc Lost motion compensation type
Set this parameter when the protrusion at quadrant change is too large.
Type 2 has an obsolete type compatible control.
bit9,8=
00: Compensation stop
01: Setting prohibited
10: Type 2
11: Setting prohibited
Set the compensation amount in SV016(LMC1) and SV041(LMC2).
(Note) When "SV082/bit1=1", the lost motion compensation type 3 will be selected regardless of this setting. bit 7 :
Not used. Set to "0". bit 6 :
Not used. Set to "0". bit 5-4 : vfct Jitter compensation pulse number
Suppress vibration by machine backlash when axis stops.
bit5,4=
00: Disable
01: 1 pulse
10: 2 pulse
11: 3 pulses bit 3 :
Not used. Set to "0".
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(PR) bit 2 :
Not used. Set to "0". bit 1-0 : vcnt Speed loop delay compensation changeover type selection
Normally, use "Changeover type 2".
bit1,0=
00: Disable
01: Changeover type 1
10: Changeover type 2
11: Setting prohibited
Related parameters: SV007
#2228 SV028 MSFT Magnetic pole shift amount (for linear/direct-drive motor)
Set this parameter to adjust the motor magnetic pole position and encoder's installation phase when using linear motors or direct-drive motors.
During the DC excitation of the initial setup (SV034/bit4=1), set the same value displayed in "AFLT gain" on the NC monitor screen.
Related parameters: SV034/bit4, SV061, SV062, SV063
For general motor:
Not used. Set to "0".
---Setting range---
-18000 to 18000 (electrical angle 0.01°)
#2229 SV029 VCS Speed at the change of speed loop gain
Noise at high speed rotation including rapid traverse can be reduced by lowering the speed loop gain at high speeds.
Set the speed at which the speed loop gain changes. Use this with SV006 (VGN2).
When not using, set to "0".
---Setting range---
0 to 9999 (r/min)
#2230 SV030 IVC
When 100% is set, the voltage reduction amount equivalent to the logical non-energization in the PWM control will be compensated.
When "0" is set, 100% compensation will be performed.
Adjust in increments of 10% from the default value of 100%.
If increased too much, vibration or vibration noise may be generated.
---Setting range---
0 to 255 (%)
Voltage non-sensitive band compensation
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#2231 SV031 OVS1 Overshooting compensation 1
This compensates the motor torque when overshooting occurs during positioning. This is valid only when the overshooting compensation (SV027/bitB,A) is selected.
Type 3 SV027/bitB,A=11
Set the compensation amount based on the motor stall current. Observing positioning droop waveform, increase in increments of 1% and find the value where overshooting does not occur.
To vary compensation amount depending on the direction.
When SV042 (OVS2) is "0", change the SV031 (OVS1) value in both of the +/- directions to compensate.
To vary the compensation amount depending on the command direction, set this and SV042 (OVS2).
(SV031: + direction, SV042: - direction. However, the directions may be opposite depending on other settings.)
When "-1" is set, the compensation will not be performed in the direction of the command.
Related parameters: SV027/bitB,A, SV034/bitF-C, SV042, SV082/bit2
---Setting range---
-1 to 100 (Stall current %)
Note that the range will be "-1 - 10000" (Stall current 0.01%) when SV082/bit2 is "1".
#2232 SV032 TOF
Set the unbalance torque on vertical axis and inclined axis.
When the vertical axis pull up function is enabled, the pull up compensation direction is determined by this parameter's sign. When set to "0", and the pull up function is enabled (SV033/bitE=1), the alarm "S02 2233
Initial parameter error" occurs.
This can be used for speed loop delay compensation and collision detection function.
To use load inertia estimation function (drive monitor display), set this parameter, friction torque (SV045) and load inertia display enabling flag(SV035/bitF).
Related parameters: SV007, SV033/bitE, SV059
---Setting range---
-100 to 100 (Stall current %)
Torque offset
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#2233 SV033 SSF2
Select the servo functions.
A function is assigned to each bit.
Set this in hexadecimal format.
Servo function 2 nfd1 fhz3 nfd2 rps zup lmc2a bit F : lmc2a Lost motion compensation 2 timing
0: Normal 1: Change bit E : zup Vertical axis pull up function
0: Stop 1: Enable
Related parameters: SV032, SV095 bit D : rps Safely limited speed setting increment
Change the setting units of the specified speed signal output speed (SV073).
0: mm/min 1: 100mm/min
Related parameters: SV073 bit C-8 :
Not used. Set to "0". bit 7-5 : nfd2 Depth of Notch filter 2
Set the depth of Notch filter 2 (SV046).
bit7,6,5=
000: ∞
001: -18.1[dB]
010: -12.0[dB]
011: -8.5[dB]
100: -6.0[dB]
101: -4.1[dB]
110: -2.5[dB]
111: -1.2[dB] bit 4 : fhz3 Notch filter 3
0: Stop 1: Start (1125Hz) bit 3-1 : nfd1 Depth of Notch filter 1
Set the depth of Notch filter 1 (SV038).
bit3,2,1=
000: ∞
001: -18.1[dB]
010: -12.0[dB]
011: -8.5[dB]
100: -6.0[dB]
101: -4.1[dB]
110: -2.5[dB]
111: -1.2[dB] bit 0 :
Not used. Set to "0".
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#2234 SV034 SSF3
Select the servo functions.
A function is assigned to each bit.
Set this in hexadecimal format.
Servo function 3 has2 mohn dcd linN ovsn bit F-C: ovsn Overshooting compensation type 3 Non-sensitive band
Set the non-sensitive band of the model position droop overshooting amount in increments of 2 μ m.
In the feed forward control, set the non-sensitive band of the model position droop and ignore the overshooting of the model.
0 : 0 μ m, 1: 2 μ m, 2: 4 μ m,---, E : 28 μ m, F: 30 μ m bit B-8 : linN The number of parallel connections when using linear motors (for linear)
Set to"2" to perform 1 amplifier 2 motor control by linear servo. bit 7-5 :
Not used. Set to "0". bit 4 : dcd (linear/direct-drive motor)
0: Normal setting 1: DC excitation mode
Related parameters: SV061, SV062, SV063 bit 3 :
Not used. Set to "0". bit 2 : mohn Thermistor temperature detection (linear/direct-drive motor)
0: Normal setting 1: Disable bit 1 : has HAS control
This stabilizes the speed overshooting by torque saturation phenomenon.
0: Normal setting 1: Enable
Related parameters: SV084/bitF bit 0 :
Not used. Set to "0".
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#2235 SV035 SSF4
Select the servo functions.
A function is assigned to each bit.
Set this in hexadecimal format.
Servo function 4 clof stod ckab cltq clstp cl2n clG1 clt bit F: clt Inertia ratio display
0: Setting for normal use
1: Display the total inertia ratio estimated at acceleration/deceleration at the inertia ratio on the servo monitor screen
To display it on the screen, set an imbalance torque and friction torque to both SV032 and SV045 and repeat acceleration/deceleration operations for several times. bit E-C: clG1 G1 Collision detection level
Set the collision detection level in the collision detection method 1 during cutting feed (G1) in multiples of that of rapid traverse (G0). When set to "0", detection of collision detection method 1 during cutting feed will be ignored.
G1 Collision detection level = G0 collision detection level (SV060) × clG1 bit B: cl2n Collision detection method 2
0: Enable 1: Disable bit A: clstp Collision detection method 1 disabled during stop
0: Collision detection method 1 enabled during stop
1: Collision detection method 1 disabled during stop bit 9-8: cltq Retract torque in collision detection
Set the retract torque in collision detection using the ratio of motor's maximum torque.
bit9,8=
00: 100%
01: 90%
10: 80% (Standard)
11: 70% bit 7: ckab No signal detection 2
Set this to use rectangular wave output linear scale.
This enables the detection of No signal 2 (alarm 21).
0: Disable 1: Enable bit 6: stod Alarm 4D-2 detection disabled during deceleration and stop
0: Normal 1: Alarm 4D-2 detection disabled during deceleration and stop bit 5-4:
Not used. Set to "0". bit 3: clof Collision detection estimated disturbance torque offset
0: Disable 1: Enable bit 2-0:
Not used. Set to "0".
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(PR) #2236 SV036 PTYP
MDS-E/EH Series: Power supply type
Power supply type/ Regenerative resistor type
When connecting a power supply unit, set a code for each power supply unit. ptyp rtyp amp bit F-C : amp
Set the power backup function to be used.
No function used : 0
Deceleration and stop function at power failure : 8
Retraction function at power failure : C bit B-8 : rtyp
Not used. Set to "0".
bit 7-0 : ptyp External emergency stop setting
When the emergency stop input signal of the power supply unit is "disabled"
Power supply unit is not connected : 00
MDS-E-CV-37 / MDS-EH-CV-37 : 04
MDS-E-CV-75 / MDS-EH-CV-75 : 08
MDS-E-CV-110 / MDS-EH-CV-110 : 11
MDS-E-CV-185 / MDS-EH-CV-185 : 19
MDS-E-CV-300 / MDS-EH-CV-300 : 30
MDS-E-CV-370 / MDS-EH-CV-370 : 37
MDS-E-CV-450 / MDS-EH-CV-450 : 45
MDS-E-CV-550 / MDS-EH-CV-550 : 55
MDS-EH-CV-750 : 75
When the emergency stop input signal of the power supply unit is "enabled"
(Note) Set the power supply rotary switch to "4".
Power supply unit is not connected : 00
MDS-E-CV-37 / MDS-EH-CV-37 : 44
MDS-E-CV-75 / MDS-EH-CV-75 : 48
MDS-E-CV-110 / MDS-EH-CV-110 : 51
MDS-E-CV-185 / MDS-EH-CV-185 : 59
MDS-E-CV-300 / MDS-EH-CV-300 : 70
MDS-E-CV-370 / MDS-EH-CV-370 : 77
MDS-E-CV-450 / MDS-EH-CV-450 : 85
MDS-E-CV-550 / MDS-EH-CV-550 : 95
MDS-EH-CV-750 : B5
MDS-EM/EMH Series
Not used. Set to "0000".
External emergency stop power supply type is set by spindle parameter (SP032).
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MDS-EJ/EJH Series: Regenerative resistor type
Set the regenerative resistor type.
0 0 0 0 emgx rtyp amp bit F-8 : amp(bit F-C) / rtyp(bit B-8)
Resistor built-in drive unit : 10
Setting prohibited : 11
MR-RB032 : 12
MR-RB12 or GZG200W39OHMK : 13
MR-RB32 or GZG200W120OHMK 3 units connected in parallel : 14
MR-RB30 or GZG200W39OHMK 3 units connected in parallel : 15
MR-RB50 or GZG300W39OHMK 3 units connected in parallel : 16
MR-RB31 or GZG200W20OHMK 3 units connected in parallel : 17
MR-RB51 or GZG300W20OHMK 3 units connected in parallel : 18
Setting prohibited : 19-1F
Setting prohibited : 20-23
FCUA-RB22 : 24
FCUA-RB37 : 25
FCUA-RB55 : 26
FCUA-RB75/2 : 27
Setting prohibited : 28
R-UNIT2 : 29
Setting prohibited : 2A-2C
FCUA-RB75/2 2 units connected in parallel : 2D
FCUA-RB55 2 units connected in parallel : 2E
Setting prohibited : 2F
MR-RB1H-4 : 33
MR-RB3M-4 : 34
MR-RB3G-4 : 35
MR-RB5G-4 : 36 bit 7-4 : emgx External emergency stop function
Set the external emergency stop function.
0: Disable 4: Enable bit 3-0 :
Not used. Set to "0".
#2237 SV037 JL Load inertia scale
Set the motor axis conversion total load inertia including motor itself in proportion to the motor inertia.
SV037(JL)=(Jm+Jl)/Jm×100
Jm: Motor inertia
Jl: Motor axis conversion load inertia
For linear motor, set the gross mass of the moving sections in kg unit.
<<Drive monitor load inertia ratio display>>
Set SV035/bitF=1 and imbalance torque and friction torque to both SV032 and SV045, and then repeat acceleration/deceleration for several times.
---Setting range---
For general motor: 0 to 5000 (%)
For linear motor 0 to 5000 (kg)
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#2238 SV038 FHz1
Set the vibration frequency to suppress when machine vibration occurs.
(Normally, do not set 80 or less.)
Set to "0" when not using.
Related parameters: SV033/bit3-1, SV115
---Setting range---
0 to 5000 (Hz)
Notch filter frequency 1
#2239 SV039 LMCD
Set this when the timing of lost motion compensation type 2 does not match.
Adjust increments of 10 at a time.
---Setting range---
0 to 2000 (ms)
Lost motion compensation timing
#2240 SV040 LMCT Lost motion compensation non-sensitive band
Set the non-sensitive band of the lost motion compensation in the feed forward control.
When "0" is set, 2 μ m is the actual value to be set. Adjust increments of 1 μ m.
---Setting range---
0 to 255 ( μ m)
#2241 SV041 LMC2 Lost motion compensation 2
Set this with SV016 (LMC1) only when you wish to vary the lost motion compensation amount depending on the command directions.
Normally, set to "0".
---Setting range---
-1 to 200 (Stall current %)
Note that when SV082/bit2 is "1", the setting range is between -1 and 20000 (Stall current 0.01%).
#2242 SV042 OVS2 Overshooting compensation 2
Set this with SV031 (OVS1) only when you wish to vary the overshooting compensation amount depending on the command directions.
Normally, set to "0".
---Setting range---
-1 to 100 (Stall current %)
Note that when SV082/bit2 is "1", the setting range is between -1 and 10000 (Stall current 0.01%).
#2243 SV043 OBS1
Set the disturbance observer filter band.
Normally, set to "100". Setting values of 49 or less is equal to "0" setting.
To use the disturbance observer, also set SV037 (JL) and SV044 (OBS2).
When disturbance observer related parameters are changed, lost motion compensation needs to be readjusted.
Set to "0" when not using.
---Setting range---
0 to 1000 (rad/s)
Disturbance observer filter frequency
#2244 SV044 OBS2 Disturbance observer gain
Set the disturbance observer gain. The standard setting is "100 to 300".
To use the disturbance observer, also set SV037 (JL) and SV043 (OBS1).
When disturbance observer related parameters are changed, lost motion compensation needs to be readjusted.
Set to "0" when not using.
---Setting range---
0 to 500 (%)
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#2245 SV045 TRUB
Set the frictional torque when using the collision detection function.
To use load inertia estimation function (drive monitor display), set this parameter, imbalance torque (SV032) and load inertia display enabling flag (SV035/bitF).
---Setting range---
0 to 255 (Stall current %)
Friction torque
#2246 SV046 FHz2
Set the vibration frequency to suppress when machine vibration occurs.
(Normally, do not set 80 or less.)
Set to "0" when not using.
Related parameters: SV033/bit7-5, SV115
---Setting range---
0 to 5000 (Hz)
Notch filter frequency 2
#2247 SV047 EC Inductive voltage compensation gain
Set the inductive voltage compensation gain. Standard setting value is "100".
If the current FB peak exceeds the current command peak, lower the gain.
---Setting range---
0 to 200 (%)
#2248 SV048 EMGrt Vertical axis drop prevention time
Input the time required to prevent the vertical axis from dropping by delaying READY OFF until the brake works at an emergency stop.
Increase in increments of 100ms at a time, find and set the value where the axis does not drop.
When using a motor with a break of HG(-H) Series and HQ-H Series, set to "200ms" as a standard.
When the pull up function is enabled (SV033/bitE=1), the pull up is established during the drop prevention time.
(Note) When not using the spindle drive unit, use the servo axis that controls vertical axis drop prevention control to control the power supply (connect with CN4).
Related parameters: SV033/bitE, SV055, SV056
---Setting range---
0 to 20000 (ms)
When set to "0", and the pull up function is enabled (SV033/bitE=1), the alarm "S02 2233 Initial parameter error" occurs.
#2249 SV049 PGN1sp
Set the position loop gain during spindle synchronization control (synchronous tapping and synchronization control with spindle C-axis).
Set the same value as that of the position loop gain for spindle synchronous tapping control.
When performing the SHG control, set this parameter with SV050 (PGN2sp) and SV058 (SHGCsp).
When changing the value, change the value of "#2017 tap_g Axis servo gain".
---Setting range---
1 to 200 (rad/s)
Position loop gain 1 in spindle synchronous control
#2250 SV050 PGN2sp
When using SHG control during spindle synchronous control (synchronous tapping and synchronization control with spindle C-axis), set this parameter with SV049 (PGN1sp) and SV058 (SHGCsp).
Make sure to set the value 8/3 times that of SV049.
When not using the SHG control, set to "0".
---Setting range---
0 to 999 (rad/s)
Position loop gain 2 in spindle synchronous control
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#2251 SV051 DFBT
Set the control time constant in dual feed back.
When "0" is set, it operates at 1ms.
The higher the time constant is, the closer it gets to the semi-closed control, so the limit of the position loop gain will be raised.
For linear servo/direct-drive motor system
Not used. Set to "0".
Related parameters: SV017/bit1, SV052
---Setting range---
0 to 9999 (ms)
Dual feedback control time constant
#2252 SV052 DFBN
Set the non-sensitive band in the dual feedback control.
Normally, set to "0".
For linear servo/direct-drive motor system
Not used. Set to "0".
Related parameters: SV017/bit1, SV052
---Setting range---
0 to 9999 ( μ m)
Dual feedback control non-sensitive band
#2253 SV053 OD3 Excessive error detection width in special control
Set the excessive error detection width when servo ON in a special control (initial absolute position setting, stopper control and etc.).
When "0" is set, excessive error detection will not be performed when servo ON during a special control.
---Setting range---
0 to 32767 (mm)
However, when SV084/bitC=1, the setting range is from 0 to 32767 ( μ m).
#2254 SV054 ORE Overrun detection width in closed loop control
Set the overrun detection width in the full-closed loop control.
When the gap between the motor side encoder and the linear scale (machine side encoder) exceeds the value set by this parameter, it will be judged as overrun and "Alarm 43" will be detected.
When "-1" is set, if the differential velocity between the motor side encoder and the machine side encoder exceeds the 30% of the maximum motor speed, it will be judged as overrun and "Alarm 43" will be detected.
When "0" is set, overrun will be detected with a 2mm width.
For linear servo/direct-drive motor system
Not used. Set to "0".
---Setting range---
-1 to 32767 (mm)
However, when SV084/bitD=1, the setting range is from -1 to 32767 ( μ m).
#2255 SV055 EMGx
Set the time required between an emergency stop and forced READY OFF.
Set the maximum value "+ 100ms" of the SV056 setting value of the servo drive unit electrified by the same power supply unit.
When executing the vertical axis drop prevention, the gate off will be delayed for the length of time set at
SV048 even when SV055's is smaller than that of SV048.
Related parameters: SV048, SV056
---Setting range---
0 to 20000 (ms)
Max. gate off delay time after emergency stop
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#2256 SV056 EMGt
Set the time constant used for the deceleration control at emergency stop.
Set the time required to stop from rapid traverse rate (rapid).
The standard setting value is EMGt ≤ G0tL×0.9.
However, note that the standard setting value differs from the above-mentioned value when the setting value of "#2003:smgst Acceleration and deceleration modes bit 3-0:Rapid traverse acceleration/deceleration type" is 8 or F. Refer to Instruction Manual of the drive unit (section "5.5.1 Deceleration Control") for details.
Related parameters: SV048, SV055
---Setting range---
0 to 20000 (ms)
Deceleration time constant at emergency stop
#2257 SV057 SHGC
When performing the SHG control, set to SV003(PGN1)×6.
When not using the SHG control, set to "0".
When using the OMR-FF control, set to "0".
Related parameters: SV003, SV004
---Setting range---
0 to 1200 (rad/s)
SHG control gain
#2258 SV058 SHGCsp SHG control gain in spindle synchronous control
When using SHG control during spindle synchronization control (synchronous tapping and synchronous control with spindle C-axis), set this parameter with SV049 (PGN1sp) and SV050 (PGN2sp).
Make sure to set the value 6 times that of SV049.
When not using the SHG control, set to "0".
---Setting range---
0 to 1200 (rad/s)
#2259 SV059 TCNV Collision detection torque estimated gain
Set the torque estimated gain when using the collision detection function.
The standard setting value is the same as the load inertia ratio (SV037 setting value) including motor inertia.
Set to "0" when not using the collision detection function.
Related parameters: SV032, SV035/bitF-8, SV037, SV045, SV060
<<Drive monitor load inertia ratio display>>
Set SV035/bitF=1 and imbalance torque and friction torque to both SV032 and SV045, and then repeat acceleration/deceleration for several times.
---Setting range---
For general motor: 0 to 5000 (%)
For linear motor: 0 to 5000 (kg)
#2260 SV060 TLMT
When using the collision detection function, set the collision detection level at the G0 feeding.
When "0" is set, none of the collision detection function will work.
Related parameters: SV032, SV035/bitF-8, SV037, SV045, SV059
---Setting range---
0 to 999 (Stall current %)
Collision detection level
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#2261 SV061 DA1NO D/A output ch1 data No. / Initial DC excitation level
Input the data number you wish to output to the D/A output channel 1.
When using the 2-axis drive unit, set "-1" to the axis that the data will not be output.
When the DC excitation is running (SV034/bit4=1):
Use this when the DC excitation is running (SV034/bit4=1) to adjust the initial magnetic pole position
(when measuring the magnetic pole shift amount) for linear motor and direct-drive motor.
Set the initial excitation level in DC excitation control.
Set 10% as standard.
Related parameters: SV062, SV063
---Setting range---
-32768 to 32767
When the DC excitation is running (SV034/bit4=1): 0 to 100 (Stall current %)
#2262 SV062 DA2NO D/A output ch2 data No. / Final DC excitation level
Input the data number you wish to output to the D/A output channel 2.
When using the 2-axis drive unit, set "-1" to the axis that the data will not be output.
When the DC excitation is running (SV034/bit4=1):
Use this when the DC excitation is running (SV034/bit4=1) to adjust the initial magnetic pole position
(when measuring the magnetic pole shift amount) for linear motor and direct-drive motor.
Set the final excitation level in DC excitation control.
Set 10% as standard.
When the magnetic pole shift amount measurement value is unsteady, adjust the value in increments of
5%.
Related parameters: SV061, SV063
---Setting range---
-32768 to 32767
When the DC excitation is running (SV034/bit4=1): 0 to 100 (Stall current %)
#2263 SV063 DA1MPY D/A output ch1 output scale / Initial DC excitation time
Set output scale of the D/A output channel 1 in increment of 1/100.
When "0" is set, the magnification is the same as when "100" is set.
When the DC excitation is running (SV034/bit4=1):
Use this when the DC excitation is running (SV034/bit4=1) to adjust the initial magnetic pole position
(when measuring the magnetic pole shift amount) for linear motor and direct-drive motor.
Set the initial excitation time in DC excitation control.
Set 1000ms as standard.
When the magnetic pole shift amount measurement value is unsteady, adjust the value in increments of
500ms.
Related parameters: SV061, SV062
---Setting range---
-32768 to 32767 (1/100-fold)
When the DC excitation is running (SV034/bit4=1): 0 to 10000 (ms)
#2264 SV064 DA2MPY D/A output ch2 output scale
Set output scale of the D/A output channel 2 in increment of 1/100.
When "0" is set, the magnification is the same as when "100" is set.
---Setting range---
-32768 to 32767 (1/100-fold)
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(PR)
#2265 SV065 TLC
The shape of the machine end is compensated by compensating the spring effect from the machine end to the motor end.
Set the machine end compensation gain. Measure the error amount by roundness measurement and estimate the setting value by the following formula.
Compensation amount ( μ m) = Command speed F(mm/min)2 * SV065 / (Radius R(mm) * SV003 *
16,200,000)
Set to "0" when not using.
---Setting range---
-30000 to 30000 (Acceleration ratio 0.1%)
Machine end compensation gain
#2266-2272 SV066 - SV072
This parameter is set automatically by the NC system.
#2273 SV073 FEEDout
Set the specified speed.
Also set SV082/bit9,8 to output digital signal.
---Setting range---
Specified speed output speed
0 to 32767 (mm/min)
However, when SV033/bitD=1, the setting range is from 0 to 32767 (100mm/min).
(Only for MDS-E/EH and MDS-EM/EMH)
#2274-2280 SV074 - SV080
This parameter is set automatically by the NC system.
Servo specification 2 #2281 SV081 SPEC2
Select the servo functions.
A function is assigned to each bit.
Set this in hexadecimal format. absc szchk npg bit F-A:
Not used. Set to "0". bit 9: npg Earth fault detection
0: Disable 1: Enable (standard)
Set "0" and it is constantly "Enable" for MDS-EJ/EJH Series.
bit 8:
Not used. Set to "0". bit 7: szchk Distance-coded reference scale reference mark
0: Check at 4 points (standard) 1: Check at 3 points bit 6-4:
Not used. Set to "0". bit 3: absc Distance-coded reference scale
0: Disable 1: Enable bit 2-0:
Not used. Set to "0".
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#2282 SV082 SSF5
Select the servo functions.
A function is assigned to each bit.
Set this in hexadecimal format.
Servo function 5 lmc3 ccu dos2 dos3 bit F-C:
Not used. Set to "0".
bit B-A: dos3 Digital signal output 3 selection
bitB,A=
00: Disable
01: Setting prohibited
10: Contactor control signal output (For MDS-EJ/EJH)
11: Setting prohibited bit 9-8: dos2 Digital signal output 2 selection
bit9,8=
00: Disable
01: Specified speed output
10: Setting prohibited
11: Setting prohibited bit 7-3:
Not used. Set to "0". bit 2: ccu Lost motion overshoot compensation compensation amount setting increment
0: Stall current % 1: Stall current 0.01% bit 1: lmc3 Lost motion compensation type 3
Set this when protrusion at a quadrant change is too big.
0: Stop 1: Start
Related parameters: SV016, SV041, SV085, SV086 bit 0:
Not used. Set to "0".
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#2283 SV083 SSF6
Select the servo functions.
A function is assigned to each bit.
Set this in hexadecimal format.
Servo function 6 nfd4 nfd5 bit F-8 :
Not used. Set to "0". bit 7-5 : nfd5 Depth of Notch filter 5
Set the depth of Notch filter 5 (SV088).
bit7,6,5=
000: ∞
001: -18.1[dB]
010: -12.0[dB]
011: -8.5[dB]
100: -6.0[dB]
101: -4.1[dB]
110: -2.5[dB]
111: -1.2[dB] bit 4 :
Not used. Set to "0". bit 3-1 : nfd4 Depth of Notch filter 4
Set the depth of Notch filter 4 (SV087).
bit3,2,1=
000: ∞
001: -18.1[dB]
010: -12.0[dB]
011: -8.5[dB]
100: -6.0[dB]
101: -4.1[dB]
110: -2.5[dB]
111: -1.2[dB] bit 0 :
Not used. Set to "0".
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#2284 SV084 SSF7
Select the servo functions.
A function is assigned to each bit.
Set this in hexadecimal format.
Servo function 7 irms ilm2u odu oru h2c bit F : h2c HAS control cancel amount
0: 1/4 (standard) 1: 1/2
Related parameters: SV034/bit1 bit E :
Not used. Set to "0". bit D : oru Overrun detection width unit
0: mm (normal setting) 1: μ m bit C : odu Excessive error detection width unit
0: mm (normal setting) 1: μ m bit B : ilm2u Current limit value (SV014) in special control setting unit
0: Stall current % (normal setting) 1: Stall current 0.01% bit A-1 :
Not used. Set to "0". bit 0 : irms Motor current display
#2285
0: Motor q axis current display (normal) 1: Motor effective current display
SV085 LMCk Lost motion compensation 3 spring constant
Set the machine system's spring constant when selecting lost motion compensation type 3.
When not using, set to "0".
Related parameters: SV016, SV041, SV082/bit2,1, SV086
---Setting range---
0 to 32767 (0.01%/ μ m)
#2286 SV086 LMCc
Set the machine system's viscous coefficient when selecting lost motion compensation type 3.
When not using, set to "0".
Related parameters: SV016, SV041, SV082/bit2,1, SV086
---Setting range---
0 to 32767 (0.01%•s/mm)
Lost motion compensation 3 viscous coefficient
#2287 SV087 FHz4
Set the vibration frequency to suppress when machine vibration occurs.
(Normally, do not set 80 or less.)
Set to "0" when not using.
Related parameters: SV083/bit3-1, SV115
---Setting range---
0 to 5000 (Hz)
Notch filter frequency 4
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#2288 SV088 FHz5
Set the vibration frequency to suppress when machine vibration occurs.
(Normally, do not set 80 or less.)
Set to "0" when not using.
Related parameters: SV083/bit7-5, SV115
---Setting range---
0 to 5000 (Hz)
Notch filter frequency 5
#2289 SV089
Not used. Set to "0".
#2290 SV090
Not used. Set to "0".
#2291 SV091 LMC4G Lost motion compensation 4 gain
Use this with LMC compensation type 3. As the delay in path tracking is monitored and compensated, the delay in path tracking will be minimized even if machine friction amount changes by aging. Use the lost motion compensation amount (SV016) * 5 (10% of the dynamic friction torque) as the target. The higher the setting value is, the more accurate the quadrant change be; however, the more likely vibrations occur.
---Setting range---
0 to 20000 (Stall current 0.01%)
#2292 SV092
Not used. Set to "0".
#2293 SV093
Not used. Set to "0".
#2294 SV094 MPV Magnetic pole position error detection speed
The magnetic pole position detection function monitors the command speed and motor speed at the position command stop and detects the magnetic pole position error alarm (3E) if any. Set the error detection level for the command speed and motor speed at the position command stop.
Be aware when setting the parameter as the setting units for general motors and linear motors are different.
<<For general motor>>
When the command speed error detection level is set to "0", the magnetic pole position error (3E) is detected at 10r/min.
Set "10" as standard.
This detects the magnetic pole position error (3E) when the motor rotation speed is 100r/min and more.
<<For linear motor>>
When the command motor speed level is set to "0", the magnetic pole position error (3E) is detected at
1mm/s.
Set "10" as standard.
This detects the magnetic pole position error (3E) when the motor speed is 10mm/s and more.
---Setting range---
0 to 31999
<<For general motor>>
Ten-thousands digit, Thousands digit ----------- Command speed error detection level (10r/min)
Hundreds digit, Tens digit, Ones digit ----------- Motor speed error detection level (10r/min)
<<For linear motor>>
Ten-thousands digit, Thousands digit ----------- Command speed error detection speed level (1mm/s)
Hundreds digit, Tens digit, Ones digit ----------- Motor speed error detection level (1mm/s)
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#2295 SV095 ZUPD
Set this parameter to adjust the pull up distance when the vertical axis pull up function is enabled. When the pull up function is enabled and this parameter is set to "0", for a rotary motor, 8/1000 of a rotation at the motor end is internally set as the pull up distance, and for a linear motor, 80[ μ m] is set.
Related parameters:
SV032 : The pull up direction is determined. When "0" is set, the alarm occurs.
SV033/bitE : Start-up of the pull up function
SV048 : Set the drop prevention time. When "0" is set, the alarm occurs.
---Setting range---
0 to 2000 ( μ m)
Vertical axis pull up distance
#2296-2305 SV096 - SV105
Not used. Set to "0".
#2306 SV106 PGM
Set the scale model gain (position response) in OMR-FF control.
Set the same value as SV003(PGN1).
Increase the setting value to perform a high-speed machining such as a fine arc or to improve the path error.Lower the value when vibration occurs during acceleration/deceleration.
Set to "0" when not using OMR-FF control.
---Setting range---
0 to 300 (rad/s)
OMR-FF scale model gain
#2307-2311 SV107 - SV111
Not used. Set to "0".
#2312 SV112 IFF
Set the current feed forward rate in OMR-FF control.
The standard setting is "10000".
Setting value of "0" is equal to "10000(100%)" setting.
Set to "0" when not using OMR-FF control.
---Setting range---
0 to 32767 (0.01%)
OMR-FF current feed forward gain
#2313 SV113 SSF8
Select the servo functions.
A function is assigned to each bit.
Set this in hexadecimal format.
Servo function 8 omrffon nmerc sto bit F-9 :
Not used. Set to "0". bit 8 : sto Dedicated wiring STO function
Set this parameter to use dedicated wiring STO function.
0: Dedicated wiring STO function unused 1: Dedicated wiring STO function used
(Only for MDS-E/EH and MDS-EJ/EJH) bit 7 : nmerc Machine error compensation amount
(Note) Do not turn ON the NC power supply with the setting as disable (set to "1"). The initial parameter error alarm is detected.
0: Enable (Normal setting) 1: Disable bit 0 : omrffon OMR-FF control enabled
0: Disable 1: Enable
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#2314 SV114 SSF9
Select the servo functions.
A function is assigned to each bit.
Set this in hexadecimal format.
Servo function 9 cse nohis bit F-9 :
Set to "8" when HG46, 56, 96 motors are driven by MDS-E-V3.
Set to "0" for other cases.
bit 8 : nohis History of communication error alarm between NC and DRV (34, 36, 38, 39)
0: Enable 1: Disable bit 7 : cse Command speed monitoring function
0: Disable 1: Enable (Normal setting) bit 6-0 :
Not used. Set to "0".
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#2315 SV115 SSF10
Select the servo functions.
A function is assigned to each bit.
Set this in hexadecimal format.
Servo function 10 esn dfhz dsn ade1 ade2 ade4 ade5 dsl are bit F : are Notch filter5 all frequencies adapted
When enabled, Notch filter5 all frequencies adaptive range is not limited regardless of SV115/bit4,5 setting.
0: Disable 1: Enable bit E-C: dsl Notch filter frequency display
Switch the "AFLT frequency" display on drive monitor screen to check every notch filter frequency.
When the selected notch filter is not used, "0" is displayed.
bitE,D,C=
000 : Estimated resonance frequency (Normal display)
001 : Notch filter 1 frequency
010 : Notch filter 2 frequency
011 : Notch filter 3 frequency (always displays 1125Hz)
100 : Notch filter 4 frequency
101 : Notch filter 5 frequency
Other settings: setting prohibited bit B : ade5 Notch filter 5 / Adaptive follow-up function
0: Disable 1: Enable bit A : ade4 Notch filter 4 / Adaptive follow-up function
0: Disable 1: Enable bit 9 : ade2 Notch filter 2 / Adaptive follow-up function
0: Disable 1: Enable bit 8 : ade1 Notch filter 1 / Adaptive follow-up function
0: Disable 1: Enable bit 7-6 : dsn Estimated resonance frequency display holding time
Set the estimated resonance frequency display holding time to the "AFLT frequency" display on drive monitor screen.
bit7,6=
00: 4 [s]
01: 8 [s]
10: 12 [s]
11: 16 [s]
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(PR)
(PR) bit 5-4 : dfhz Notch filter frequency range
Set the adaptive range of the notch filter frequency. When the adaptive follow-up function is enabled and if the estimated resonance frequency exists in the set range, the notch filter will be adapted. Normally set this parameter to "00".
bit5,4=
00: -10 to 10 [%]
01: -20 to 20 [%]
10: -30 to 30 [%]
11: -40 to 40 [%] bit 3-0 : esn Sensitivity of estimated resonance frequency
Set the sensitivity of the estimated resonance frequency. Smaller setting value enables to detect smaller vibration component, however, adaptive movement will be repeated frequently. Normally set this parameter to
"0".
0 : Normal setting (same sensitivity as A) 1 : Sensitivity high to F : Sensitivity low
#2316 SV116 SSF11 Servo function 11 bit1: fctcfw Full-closed torsion compensation function forward direction compensation enabled
Compensate the torsion amount in the forward direction with the full-closed torsion compensation function.
When compensating the torsion amount in the reverse direction only, set to "0".
0: Stop 1: Start
#2317 SV117 RNG1ex
For high-accuracy binary resolution encoder, set the number of pulses to four bite data of SV117 (high-order) and SV019 (low-order) by pulse (p).
When SV117=0, the setting unit of SV019 is (kp).
Refer to SV019 for details.
Related parameters: SV019, SV020, SV118
---Setting range---
-1 to 32767
Expansion sub side encoder resolution
#2318 SV118 RNG2ex Expansion main side encoder resolution
When using high-accuracy binary resolution encoder, set the number of pulses to four bite data of SV118
(high-order) and SV020 (low-order) by pulse (p).
When SV118=0, the setting unit of SV020 is (kp).
Refer to SV020 for details.
Related parameters: SV019, SV020, SV117
---Setting range---
-1 to 32767
#2319-2328 SV119 - SV128
Not used. Set to "0".
#2329 SV129 Kwf Synchronous control feed forward filter frequency
Set the acceleration rate feed forward filter frequency in high-speed synchronous tapping control. The standard setting is "600".
Related parameters: SV244
---Setting range---
0 to 32767 (rad/s)
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(PR)
#2330 SV130 RPITS
Set the base reference mark intervals of distance-coded reference scale. When the distance-coded reference scale is not used, set to "0".
The interval of basic reference mark (SV130) and auxiliary interval (SV131) must be in the specified relationship. Other settings cause the initial parameter error (alarm 37).
Following is the specified relationship.
The quotient of (SV130×1000) / SV131 must be 4 or more and leaves no remainder.
Related parameters: SV081/bit7,3, SV131, SV134 to SV137
---Setting range---
0 to 32767 (mm)
Base reference mark interval
#2331 SV131 DPITS
Set the auxiliary interval of reference mark in the distance-coded reference scale. When the distance-coded reference scale is not used, set to "0".
The interval of basic reference mark (SV130) and auxiliary interval (SV131) must be in the specified relationship. Other settings cause the initial parameter error (alarm 37).
Following is the specified relationship.
The quotient of (SV130×1000) / SV131 must be 4 or more and leaves no remainder.
Related parameters: SV081/bit7,3, SV130, SV134 to SV137
---Setting range---
0 to 32767 ( μ m)
Auxiliary reference mark interval
#2332 SV132
Not used. Set to "0".
#2333 SV133
Not used. Set to "0".
#2334 SV134 RRn0
Set this parameter to operate distance-coded reference check when using distance-coded reference scale.
During the distance-coded reference check initial setup (SV137:RAER=-1), set the following items on the NC drive monitor screen after the distance-coded reference check initial setup warning A3 turns OFF.
SV134=Rn, SV135=Pn, SV136=MPOS
When reference point is set, the warning A3 turns OFF.
To enable the distance-coded reference check function, SV081/bit3=1setting and a battery option are needed.
Related parameters: SV081/bit3,7, SV130, SV131, SV134 to SV137
---Setting range---
-32768 to 32767
Distance-coded reference check / revolution counter
#2335 SV135 RPn0H Distance-coded reference check /position within one rotation High
Set this parameter to operate distance-coded reference check when using distance-coded reference scale.
During the distance-coded reference check initial setup (SV137:RAER=-1), set the following items on the NC drive monitor screen after the distance-coded reference check initial setup warning A3 turns OFF.
SV134=Rn, SV135=Pn, SV136=MPOS
When reference point is set, the warning A3 turns OFF.
To enable the distance-coded reference check function, SV081/bit3=1setting and a battery option are needed.
Related parameters: SV081/bit3,7, SV130, SV131, SV134 to SV137
---Setting range---
-32768 to 32767
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4 Setup
#2336 SV136 RPn0L Distance-coded reference check / position within one rotation Low
Set this parameter to operate distance-coded reference check when using distance-coded reference scale.
During the distance-coded reference check initial setup (SV137:RAER=-1), set the following items on the NC drive monitor screen after the distance-coded reference check initial setup warning A3 turns OFF.
SV134=Rn, SV135=Pn, SV136=MPOS
When reference point is set, the warning A3 turns OFF.
To enable the distance-coded reference check function, SV081/bit3=1setting and a battery option are needed.
Related parameters: SV081/bit3,7, SV130, SV131, SV134 to SV137
---Setting range---
-32768 to 32767
#2337 SV137 RAER Distance-coded reference check allowable width
For the distance-coded reference check function when using distance-coded reference scale, set the allowable gap from the reference point position data calculated by the main side encoder. When the gap exceeds the allowable range, reference point created by distance-code is judged as wrong and detects alarm 42.
The standard setting value is "basic reference mark interval (SV130) / 4".
SV137=0 setting carries out the same operation as the standard setting value.
SV137=-1 setting enables the distance-coded reference initial set up mode and displays setting values of
SV134 to SV136 on NC drive monitor.
To enable the distance-coded reference check function, SV081/bit3=1setting and a battery option are needed.
When SV137=32767, the distance-coded reference check function is disabled.
Related parameters: SV081/bit3,7, SV130, SV131, SV134 to SV136
---Setting range---
-1 to 32767 (mm)
#2338-2397 SV138 - SV197
Not used. Set to "0".
#2398 SV198 NSE No signal 2 special detection width
Set the special detection width for the no signal 2 (alarm 21).
This detects no signal 2 (alarm 21) when machine side feedback is not invoked even if the motor side encoder feedback exceeds this setting in the rectangular wave signal output linear scale.
When "0" is set, the detection will be performed with a 15 μ m width.
---Setting range---
0 to 32767 ( μ m)
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4 Setup
#2399 SV199 RTGM Real-time tuning: maximum adaptive gain multiplier
In case that machine resonance is induced when mounting a workpiece, the speed loop gain is switched automatically in response to inertia by setting the speed loop gain and workpiece inertia multiplier in advance.
The speed loop gain SV199(RTGM) changes in response to the estimated inertia ratio SV200(RTJX) based on the speed loop gain SV005(VGN1) and the inertia multiplier SV037(JL) which were adjusted when no workpiece was mounted.
When SV199 is set to "0", the adaptation of the speed loop gain will be disabled.
Speed control gain multiplier [%]
RTGM
(SV199)
VGN1
(SV005)
Estimated inertia ratio [%]
JL
㻌
(SV037)
RTJX
(SV200)
Related parameters: SV005, SV037, SV200
---Setting range---
0 to 5000 (%)
#2400 SV200 RTJX Real-time tuning: maximum adaptive inertia ratio
In case that machine resonance is induced when mounting a workpiece, the speed loop gain is switched automatically in response to inertia by setting the speed loop gain and workpiece inertia multiplier in advance.
The speed loop gain SV199(RTGM) changes in response to the estimated inertia ratio SV200(RTJX) based on the speed loop gain SV005(VGN1) and the inertia multiplier SV037(JL) which were adjusted when no workpiece was mounted.
When SV199 is set to "0", the adaptation of the speed loop gain will be disabled.
Speed control gain multiplier [%]
RTGM
(SV199)
VGN1
(SV005)
JL
㻌
(SV037)
Related parameters: SV005, SV037, SV199
---Setting range---
0 to 32767 (%)
#2401-2405 SV201 - SV205
Not used. Set to "0".
RTJX
(SV200)
Estimated inertia ratio [%]
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#2406 SV206 FCTC Full-closed torsion compensation control torsion amount
Set the compensation amount of full-closed torsion compensation function.
Set the torsion amount between the motor-end position and the machine-end position right after the stop as a standard setting value.
When not using, set to "0".
---Setting range---
0 to 32767 (0.01
μ m)
(PR)
(PR)
Not used. Set to "0".
#2437 SV237 TCF Torque command filter
Set the filter for the torque command.
The standard value is "3000" when using HG46, HG56, or HG96.
---Setting range---
0 to 5000 (rad/s)
#2438-2443 SV238 - SV243
Not used. Set to "0".
#2444 SV244 DUNIT
Set the communication interpolation unit among drive units in high-speed synchronous tapping control.
When set to "0", it will be regarded as 20 (0.05
μ m) is set.
Related parameters: SV129
---Setting range---
0 to 2000 (1/ μ m)
Communication interpolation unit for communication among drive units
#2445-2456 SV245 - SV256
Not used. Set to "0".
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4 Setup
4.3 Setting the Initial Parameters for the Spindle Drive Unit
The spindle specification parameters and spindle parameters must be set before the spindle system can be started up.
The spindle related parameters are input from the NC. The input method differs according to the NC being used, so refer to each NC Instruction Manual.
4.3.1 Setting of Parameters Related to the Spindle
The spindle specification parameters "#3001-#3138" and spindle parameters "#13001-#13256" must be set before the spindle is started up. Set the parameters depending on the spindle motor equipped to the machine and the machine specifications. The following parameters must be set for startup, so check the setting values.
< Common parameters set for starting >
Set the command time constant etc. up to the maximum rotation speed of the spindle end and the maximum rotation speed of the motor.
Especially the maximum rotation speed should be set not to exceed the machine specifications. In addition, acceleration/ deceleration of the spindle is executed with the constant torque control, so the time depends on the inertia size.
(1) Setting of the maximum rotation speed
Set the maximum rotation speed of S commands (synchronous tapping, etc.).
【
#3001
】
Set the spindle rotation speed for maximum motor speed when gear 00 is selected.
Set the spindle rotation speed for the S analog output=10V during analog spindle control.
---Setting range---
0 to 999999 (r/min)
【
#3005
】
Set the maximum spindle rotation speed which is actually commanded when gear 00 is selected.
Set this as smax1(#3005)<= slimit1(#3001).
By comparing the S command value and the values of gear 1 - 4, a spindle gear shift command will be output automatically.
---Setting range---
0 to 999999 (r/min)
(2) Time constant settings during acceleration/deceleration
Set the time constant from the stopped state to reach S commands of smax.
【
#3101
】
Set the acceleration/deceleration time constant with S command (speed operation mode) when gear
00 is selected. Set the linear acceleration/deceleration time up to limit rotation speed (slimit1). Set the short time constant that the motor torque at acceleration is always saturated, however, when an abnormal noise or V-belt slip occurs, increase the time constant.
---Setting range---
0 to 30000 (ms)
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(3) Spindle speed settings for Z-phase detection when starting
At the first spindle rotation after the power ON (including turning the power ON again only for NC), the spindle rotates at the speed of setting parameters during Z-phase detection for the encoder. Set the rotation speed.
【
#3106
】
bit F : Spindle zero point detection with contactless switch
0: Normal
1: Enable spindle zero point detection using proximity switch
【
#3109
】
For the first S command after power is turned ON, the spindle rotates at the speed of setting value for this parameter until Z phase is detected twice.
When "#3106/bitF = 1" (Spindle zero point proximity switch detection enabled), also proximity switch is detected.
(Note) When spindle zero point proximity switch detection is enabled, the rotation direction of the orientation/zero point return (synchronous tapping, spindle/C axis) will follow Z phase detection direction. And the speed will follow Z phase detection speed.
---Setting range---
1 to 99999 (r/min)
(4) Parameter set for C80 system
For C80 system, set the parameter as to ignore unnecessary alarm histories that is recorded when the NC power is turned OFF.
【
#13230
】
bit 8 : nohis History of communication error alarm between NC and DRV(34,36,38,39)
0: Enable 1: Disable
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4 Setup
< Initial parameters set depending on the machine specifications >
Set the following parameters depending on the spindle drive method (direct, gear drive, etc.) or inertia size of rotary sections for machine specifications.
(1) Adjustment parameters in orientation mode
When the inertia ratio is large for the spindle motor such as large lathes, set the following parameters so that abnormal noise or machine sway does not occur during orientation control.
【
#3106
】
bit E : Control mode selection in orientation
Select non-interpolation mode when vibration occurs since the gain is high during the orientation.
0: Interpolation mode (Use the interpolation mode gain "SP002".)
1: Non-interpolation mode (Use the non-interpolation mode gain "SP001")
(2) Setting of the gear ratio
Set the following parameters depending on the spindle drive method (direct, gear drive, belt drive) for the machine.
【
#13057(PR)
】
Set the number of gear teeth on the spindle side when "the gear selection command (control input 4/ bit6, 5)" is set to "00".
---Setting range---
1 to 32767
【
#13061(PR)
】
Set the number of gear teeth on the spindle side when "the gear selection command (control input 4/ bit6, 5)" is set to "00".
---Setting range---
1 to 32767
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4 Setup
< Setting parameters for the encoder with semi/full-closed loop control >
Set parameters depending on the encoder configured in the machine. For semi-closed loop, set the same value to the main side and the sub side. For full-closed loop, set the encoder of the main side and the sub side.
【
#13019(PR)
】
[For semi-closed loop]
Set the same value as SP020 (RNG2). (Refer to the explanation of SP020.)
[For full-closed loop]
Set the number of pulses per revolution of the machine side encoder.
When using the encoder interface unit MDS-EX-HR, use this with SP097 (RNG1ex).
Encoder
OSE-1024 (ABZ pulse): SP019=4096, SP097=-1
TS5690( 64 teeth): SP019 = 2000, SP097=0
TS5690( 90 teeth): SP019 = 2880, SP097=0
TS5690(128 teeth): SP019 = 4000, SP097=0
TS5690(192 teeth): SP019 = 6000, SP097=0
TS5690(256 teeth): SP019 = 8000, SP097=0
TS5690(384 teeth): SP019 =12000, SP097=0
ERM280(1200 teeth): SP019 = 4800, SP097=0
ERM280(2048 teeth): SP019 = 8000, SP097=0
MPCI : SP019 = 7200, SP097=0
MBE205: SP019 = 2000, SP097=0
GEL2449M(524,288(p/rev)): SP019=0, SP097=8
---Setting range---
When SP097=0, the setting range is from 0 to 32767 (kp)
When SP097 ≠ 0, the setting range is from 0 to 65535 (p)
【
#13020(PR)
】
Set the number of pulses per revolution of the motor side encoder. Set the standard parameters for the motor with frame.
---Setting range---
When SP098=0, the setting range is from 0 to 32767 (kp)
When SP098 ≠ 0, the setting range is from 0 to 65535 (p)
【
#13097
】
When setting the machine side encoder resolution in pulse (p) unit, set the number of pulses to four bite data of SP097 (high-order) and SP019 (low-order) in pulse (p) unit.
When SP097=0, the setting unit of SP019 is (kp).
Refer to SP019 for details.
Related parameters: SP019, SP020, SP098
---Setting range---
-1 to 32767
IB-1501241-H 134
MDS-EM/EMH Series Instruction Manual
4 Setup
【
#13098
】
When setting the motor side encoder resolution in pulse (p) unit, set the number of pulses to four bite data of SP098 (high-order) and SP020 (low-order) in pulse (p) unit.
When SP098=0, the setting unit of SP020 is (kp).
Refer to SP020 for details.
Related parameters: SP019, SP020, SP097
---Setting range---
-1 to 32767
【
#13031(PR)
】
Set the control system of the spindle drive unit.
2200: Semi closed loop control
4200: Full closed loop control by using spindle side ABZ pulse output encoder
6200: Full closed loop control by using spindle side serial output encoder
【
#13054
】
Set the overrun detection width in the full-closed loop control.
When the gap between the motor side encoder and the machine side encoder exceeds the set value, it is judged as an overrun and "Alarm 43" is detected.
When "-1" is set, if the differential velocity between the motor side encoder and the machine side encoder exceeds the 30% of the maximum motor speed, it will be judged as overrun and "Alarm 43" will be detected.
When "0" is set, overrun will be detected with 2°.
In the full-closed loop control, normally set this parameter to "360". During V-belt drive, set to "-1".
---Setting range---
-1 to 32767 (° )
< Setting parameters of a proximity switch >
Set the following parameters when a proximity switch is equipped with the spindle end.
【
#13227
】
bit F-C : dis Digital signal input selection
0: No signal
4: Proximity switch signal detection
Other settings: setting prohibited
【
#13225
】
bit 5 : ddir Proximity switch signal enable edge
0: Falling edge 1: Rising edge
【
#3106
】
bit F : Spindle zero point detection with contactless switch
0: Normal
1: Enable spindle zero point detection using proximity switch
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4 Setup
-
-
-
-
< Cautions for starting the spindle >
The test operation (acceleration/deceleration, orientation) of the spindle can be executed by setting the initial parameters, however, check the spindle operation with caution.
Check the wiring and ensure the safety of the surroundings before starting the operation.
Do not operate at high-speed rotation at first. After checking that there are no problems as abnormal noise, vibration, etc. from the spindle at start up with no-load and small S commands, raise the S commands gradually.
When vibration or abnormal noise occurs during the test operation, adjust or set the speed gain or the notch filter.
For the first check of the orientation, the orientation should be executed gradually from small S commands.
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4 Setup
4.3.2 List of Standard Parameters for Each Spindle Motor
(1) 200V Standard motor SJ-D Series (Normal)
Motor
Parameter
No.
Abbrev.
SP001 PGV
Details Unit capacity
Position loop gain non-interpolation mode
SP002
SP003
PGN
PGS
Position loop gain interpolation mode
Position loop gain spindle synchronization
SP004 Not used
SP005 VGN1 Speed loop gain 1
SP006
SP007
VIA1
VIL1
Speed loop lead compensation 1
Speed loop delay compensation 1
SP008 VGN2 Speed loop gain 2
SP009 VIA2 Speed loop lead compensation 2
SP010
:
VIL2 Speed loop delay compensation 2
SP013
SP014
SP015
SP016
PY1
PY2
DDT
Not used
Minimum excitation rate 1
Minimum excitation rate 2
Phase alignment deceleration rate
SP017 SPEC1 Spindle specification 1
SP018 SPEC2 Spindle specification 2
SP019 RNG1 Sub side encoder resolution
SP020 RNG2 Main side encoder resolution
SP021
SP022
SP023
OLT
OLL
OD1
Overload detection time constant
Overload detection level
Excessive error detection width
(interpolation mode - spindle synchronization)
SP024
SP025
SP026
SP027
INP In-position width
INP2 2nd in-position width
TSP
ZSP
Maximum motor speed
Motor zero speed
SP028 SDTS Speed detection set value
SP029 SDTR Speed detection reset width
SP030 SDT2 2nd speed detection setting value
SP031 MTYP Motor type
SP032 PTYP Power supply type/ Regenerative resistor type
SP033 SFNC1 Spindle function 1
SP034 SFNC2 Spindle function 2
SP035 SFNC3 Spindle function 3
SP036 SFNC4 Spindle function 4
SP037 JL Load inertia scale
SP038 FHz1 Notch filter frequency 1
:
SP046 FHz2 Notch filter frequency 2
SP047 EC Inductive voltage compensation gain
SP048 LMC1 Lost motion compensation 1
:
SP052 DFBN Dual feedback control non-sensitive band
SP053 ODS
Excessive error detection width
(non-interpolation mode)
SP054 ORE Overrun detection width in closed loop control
SP055 EMGx Max. gate off delay time after emergency stop
SP056 EMGt Deceleration time constant at emergency stop
SP057 GRA1 Spindle side gear ratio 1
SP058 GRA2 Spindle side gear ratio 2
SP059 GRA3 Spindle side gear ratio 3
SP060 GRA4 Spindle side gear ratio 4
SP061 GRB1 Motor side gear ratio 1
SP062 GRB2 Motor side gear ratio 2
SP063 GRB3 Motor side gear ratio 3
SP064 GRB4 Motor side gear ratio 4
SP065 TLM1 Torque limit 1
SP066 TLM2 Torque limit 2
SP067 TLM3 Torque limit 3
SP068 TLM4 Torque limit 4
SP069 PCMP Phase alignment completion width
SP070 KDDT Phase alignment deceleration rate scale
SP071
SP072
DIQM
DIQN
Variable current limit during deceleration, lower limit value
Variable current limit during deceleration, break point speed
SP073 VGVN Variable speed gain target value
SP074 VGVS Variable speed gain change start speed
SP075 DWSH
Slip compensation scale during regeneration high-speed coil
120
0000
-
0000
1600
0000
100
0
:
875
875
10000
25
1000
30
0
2200
0
100
0
:
0
2000
10
10
10
10
875
0
1
1
1
1
0
5000
300
1
1
1
1
120
0000
-
0000
1600
0000
100
0
:
875
875
12000
25
1200
30
0
2200
0
100
0
:
0
2400
10
10
10
10
875
0
1
1
1
1
0
5000
300
1
1
1
1
120
-
0000
0000
1600
0000
100
0
:
875
875
10000
25
1000
30
0
2200
0
100
0
:
0
2000
10
10
10
10
875
0
1
1
1
1
0
5000
300
1
1
1
1
100
SJ-D5.5/
100-01
15
200V Standard motor SJ-D Series (Normal)
16040S
15
100
SJ-D5.5/
120-01
15
16040S
15
100
15
SJ-D5.5/
120-02
160
15
33
15
0
150
33
15
0
150
33
15
0
150
33
15
0
150
33
15
0
150
33
15
0
150
1900
0
150
1900
0
50
0
:
1900
0
150
1900
0
0
50
:
1900
0
150
1900
0
0
50
:
1900
0
150
1900
0
0
:
50
1900
0
150
1900
0
0
50
:
1900
0
150
1900
0
50
0
:
100
20
000C
0200
60
120
-
-
100
20
000C
0200
60
120
-
-
100
20
000C
0200
60
120
-
-
100
20
000C
0200
60
120
-
-
100
20
000C
0200
60
120
-
-
100
20
000C
0200
60
120
-
-
60 60 50 50 40 30
120
0000
-
0000
1600
0000
100
0
:
875
875
12000
25
1200
30
0
2200
0
100
0
:
0
2400
10
10
10
10
875
0
1
1
1
1
0
5000
300
1
1
1
1
120
0000
-
0000
1600
0000
100
0
:
875
875
12000
25
1200
30
0
2200
0
100
0
:
0
2400
10
10
10
10
875
0
1
1
1
1
0
5000
300
1
1
1
1
120
-
0000
0000
1600
0000
100
0
:
875
875
12000
25
1200
30
0
2200
0
100
0
:
0
2400
10
10
10
10
875
0
1
1
1
1
0
5000
300
1
1
1
1
6000
0
0
0
6000
0
0
0
6000
0
0
0
6000
0
0
0
5000
0
0
0
3700
0
0
0
120
0000
-
0000
1600
0000
100
0
:
875
875
12000
25
1200
30
0
2200
0
100
0
:
0
2400
10
10
10
10
875
0
1
1
1
1
0
5000
300
1
1
1
1
200
15
33
15
0
150
1900
0
150
1900
0
:
0
50
100
20
000C
0200
-
-
60
120
15
2200
0
0
0
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4 Setup
Motor
Parameter
No.
SP076
SP077
SP078
SP079
SP080
Abbrev.
DWSL
IQA
IDA
IQG
IDG
Details Unit capacity
Slip compensation scale during regeneration lowspeed coil
Q axis current lead compensation
D axis current lead compensation
Q axis current gain
D axis current gain
SP081 IQAL Q axis current lead compensation low-speed coil
:
SP088 FHz5 Notch filter frequency 5
SP089 TMKQ Spindle output stabilizing gain Q axis
SP090 TMKD Spindle output stabilizing gain D axis
:
SP112
SP113 OPLP Current command value for open loop
SP114 MKT Coil changeover gate cutoff timer
SP115 MKT2 Coil changeover current limit timer
SP116 MKIL Coil changeover current limit value
SP117 SETM Excessive speed deviation timer
SP118 MSFT Magnetic pole shift amount
:
SP128 DA2MPY D/A output ch2 output scale
SP129 Motor unique constants (H)
SP130
SP131
SP132
SP133
SP134
SP135
SP136
SP137
SP138
SP139
SP140
SP141
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H) SP142
SP143
SP144
SP145
SP146
SP147
SP148
SP149
SP150
SP151
SP152
SP153
SP154
SP155
SP156
SP157
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP158
SP159
SP160
:
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP224
SP225 SFNC5 Spindle function 5
SP226 SFNC6 Spindle function 6
SP227 SFNC7 Spindle function 7
:
SP232
SP233
SP234
IVC
Not used
Voltage non-sensitive band compensation
SP235
SP236
R2H Temperature compensation gain
WIH Temperature compensation time constant
SP237 TCF Torque command filter
SP238 SSCFEED Safely limited speed
SP239 SSCRPM Safely limited motor speed
SP240 Not used
:
SP256
100
SJ-D5.5/
200V Standard motor SJ-D Series (Normal)
SJ-D5.5/ SJ-D5.5/
100-01
16040S 100
120-01
16040S 100
120-02
160
0
0000
:
0
0
500
0
0
0
1500
1500
0
:
0
0000
1000
0000
0
:
0
0
1228
167
110
120
150
1083
0
0
0
335
0
0
428
66
1186
2837
1800
1800
1234
67
3330
2345
1961
98
13
100
0
10000
0
2
0
:
150
250
120
12
0
0
0
:
4096
4096
1024
1024
0
100
0
:
0
0000
:
0
0
500
0
0
0
1500
1500
0
:
0
0000
1000
0000
0
:
0
0
1228
167
110
120
150
1083
0
0
0
335
0
0
428
66
1186
2837
1800
1800
1234
67
3330
2345
1961
98
13
160
0
10000
0
2
0
:
150
250
120
12
0
0
0
:
4096
4096
1024
1024
0
100
0
:
0
0000
:
0
0
500
0
0
0
1500
1500
0
:
0
0000
1000
0000
0
:
0
0
1228
167
110
120
150
1083
0
0
0
467
0
0
433
66
1186
2837
1800
1800
1234
67
3330
2345
1961
98
13
100
0
12000
0
2
0
:
150
250
120
12
0
0
0
:
4096
4096
1024
1024
0
100
0
:
0
0000
:
0
0
500
0
0
0
1500
1500
0
:
0
0000
1000
0000
0
:
0
0
1228
167
110
120
150
1083
0
0
0
467
0
0
433
66
1186
2837
1800
1800
1234
67
3330
2345
1961
98
13
160
0
12000
0
2
0
:
150
250
120
12
0
0
0
:
4096
4096
1024
1024
0
100
0
:
0
0000
:
0
0
500
0
0
0
0
1467
0
:
0
0000
1000
0000
0
:
0
0
1368
128
90
120
150
1065
0
0
0
343
0
0
423
73
691
4959
2000
3200
722
49
3111
2550
1934
83
8
100
0
12000
0
2
0
:
150
250
120
12
0
0
0
:
4096
4096
1024
1024
0
100
0
:
0
0000
:
0
0
500
0
0
0
0
1196
0
:
0
0000
1000
0000
0
:
0
0
1368
128
90
120
150
969
0
0
0
436
0
0
423
73
691
6083
2000
3200
722
40
3111
2550
1934
83
8
160
0
12000
0
2
0
:
150
250
120
12
0
0
0
:
4096
4096
1024
1024
0
100
0
:
200
0
0000
:
0
0
500
0
0
0
0
899
0
:
0
0000
1000
0000
0
:
0
0
1557
128
90
120
150
870
0
0
0
478
0
0
422
78
682
7718
1700
3400
757
36
2975
2755
1907
77
8
200
0
12000
0
2
0
:
150
250
120
12
0
0
0
:
4096
4096
1024
1024
0
100
0
:
IB-1501241-H 138
MDS-EM/EMH Series Instruction Manual
4 Setup
Motor
Parameter
No.
Abbrev.
SP001
SP002
PGV
PGN
Details Unit capacity
Position loop gain non-interpolation mode
Position loop gain interpolation mode
SP003
SP004
PGS Position loop gain spindle synchronization
Not used
SP005 VGN1 Speed loop gain 1
SP006 VIA1 Speed loop lead compensation 1
SP007 VIL1 Speed loop delay compensation 1
SP008 VGN2 Speed loop gain 2
SP009
SP010
VIA2
VIL2
Speed loop lead compensation 2
Speed loop delay compensation 2
:
SP013
SP014
SP015
PY1
PY2
Not used
Minimum excitation rate 1
Minimum excitation rate 2
SP016 DDT Phase alignment deceleration rate
SP017 SPEC1 Spindle specification 1
SP018 SPEC2 Spindle specification 2
SP019 RNG1 Sub side encoder resolution
SP020 RNG2 Main side encoder resolution
SP021 OLT Overload detection time constant
SP022
SP023
SP024
OLL
OD1
INP
Overload detection level
Excessive error detection width
(interpolation mode - spindle synchronization)
In-position width
SP025
SP026
INP2 2nd in-position width
TSP Maximum motor speed
SP027 ZSP Motor zero speed
SP028 SDTS Speed detection set value
SP029 SDTR Speed detection reset width
SP030 SDT2 2nd speed detection setting value
SP031 MTYP Motor type
SP032 PTYP Power supply type/ Regenerative resistor type
SP033 SFNC1 Spindle function 1
SP034 SFNC2 Spindle function 2
SP035 SFNC3 Spindle function 3
SP036 SFNC4 Spindle function 4
SP037 JL Load inertia scale
SP038 FHz1 Notch filter frequency 1
:
SP046 FHz2 Notch filter frequency 2
SP047 EC Inductive voltage compensation gain
SP048 LMC1 Lost motion compensation 1
:
SP052 DFBN Dual feedback control non-sensitive band
SP053 ODS
Excessive error detection width
(non-interpolation mode)
SP054 ORE Overrun detection width in closed loop control
SP055 EMGx Max. gate off delay time after emergency stop
SP056 EMGt Deceleration time constant at emergency stop
SP057 GRA1 Spindle side gear ratio 1
SP058 GRA2 Spindle side gear ratio 2
SP059 GRA3 Spindle side gear ratio 3
SP060 GRA4 Spindle side gear ratio 4
SP061 GRB1 Motor side gear ratio 1
SP062 GRB2 Motor side gear ratio 2
SP063 GRB3 Motor side gear ratio 3
SP064 GRB4 Motor side gear ratio 4
SP065 TLM1 Torque limit 1
SP066 TLM2 Torque limit 2
SP067 TLM3 Torque limit 3
SP068 TLM4 Torque limit 4
SP069 PCMP Phase alignment completion width
SP070 KDDT Phase alignment deceleration rate scale
SP071 DIQM
Variable current limit during deceleration, lower limit value
SP072 DIQN
Variable current limit during deceleration, break point speed
SP073 VGVN Variable speed gain target value
SP074 VGVS Variable speed gain change start speed
SP075 DWSH
Slip compensation scale during regeneration high-speed coil
SP076 DWSL
Slip compensation scale during regeneration low-
SP077 IQA speed coil
Q axis current lead compensation
2000
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
60
2000
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
60
SJ-D7.5/
100-01
1900
0
0
:
50
100
20
000C
0200
-
-
60
120
100
150
1900
0
150
15
33
15
0
16040S
15
33
15
0
150
1900
0
150
1900
0
50
100
0
:
20
000C
0200
-
-
60
120
200V Standard motor SJ-D Series (Normal)
SJ-D7.5/
120-01
SJ-D11/
100-01
SJ-D15/
80-01
SJ-
D18.5/
100 16040S 160 200
80-01
320
15
33
15
0
15
33
15
0
15
33
15
0
15
33
15
0
15
33
15
0
150
1900
0
150
1900
0
0
:
150
1900
0
150
1900
0
0
:
150
1900
0
150
1900
0
0
:
150
1900
0
150
1900
0
0
:
150
1900
0
150
1900
0
0
:
50
100
20
000C
0200
-
-
60
120
50
100
20
000C
0200
-
-
60
120
50
100
20
000C
0200
-
-
60
120
50
100
20
000C
0200
-
-
60
120
50
100
20
000C
0200
-
-
60
120
SJ-D22/
80-01
320
15
33
15
0
150
1900
0
150
1900
0
50
100
0
:
20
000C
0200
-
60
-
120
SJ-D26/
80-01
1900
0
0
:
50
100
20
000C
0200
-
60
-
120
320
150
1900
0
150
15
33
15
0
120 120 120 120 120
875 875 875 875 875
875 875 875 875 875
10000 10000 12000 12000 10000
25
1000
30
0
25
1000
30
0
25
1200
30
0
25
1200
30
0
25
1000
30
0
2200
-
0000
0000
1600
0000
100
0
2200
-
0000
0000
1600
0000
100
0
2200
100
-
0000
0000
1600
0000
0
2200
-
0000
0000
1600
0000
100
0
2200
-
0000
0000
1600
0000
100
0
100
0
0
:
0
:
100
0
0
:
0
:
100
0
0
:
0
:
100
0
0
:
0
:
100
0
0
:
0
:
120
2200
-
0000
0000
1600
0000
100
0
875
875
8000
25
800
30
0
100
0
0
:
0
:
120
2200
-
0000
0000
1600
0000
100
0
875
875
8000
25
800
30
0
100
0
0
:
0
:
120
2200
-
0000
0000
1600
0000
100
0
875
875
8000
25
800
30
0
100
0
0
:
0
:
120
2200
-
0000
0000
1600
0000
100
0
875
875
8000
25
800
30
0
100
0
0
:
0
:
2400
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
50
2400
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
50
2000
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
45
1600
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
60
1600
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
55
1600
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
55
1600
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
55
6000
0
0
0
0
4096
6000
0
0
0
0
4096
6000
0
0
0
0
4096
6000
0
0
0
0
4096
4500
0
0
0
0
4096
4900
0
0
0
0
4096
4500
0
0
0
0
4096
4500
0
0
0
0
4096
4500
0
0
0
0
4096
139 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
4 Setup
Motor
Parameter
No.
Abbrev.
SP078 IDA
Details
D axis current lead compensation
Unit capacity
SP079
SP080
IQG
IDG
Q axis current gain
D axis current gain
SP081 IQAL Q axis current lead compensation low-speed coil
:
SP088 FHz5 Notch filter frequency 5
SP089 TMKQ Spindle output stabilizing gain Q axis
SP090 TMKD Spindle output stabilizing gain D axis
:
SP112
SP113 OPLP Current command value for open loop
SP114 MKT Coil changeover gate cutoff timer
SP115 MKT2 Coil changeover current limit timer
SP132
SP133
SP134
SP135
SP136
SP137
SP138
SP139
SP116 MKIL Coil changeover current limit value
SP117 SETM Excessive speed deviation timer
SP118 MSFT Magnetic pole shift amount
:
SP128 DA2MPY D/A output ch2 output scale
SP129 Motor unique constants (H)
SP130
SP131
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP140
SP141
SP142
SP143
SP144
SP145
SP146
SP147
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP148
SP149
SP150
SP151
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP152
SP153
SP154
SP155
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H) SP156
SP157
SP158
SP159
SP160
:
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP224
SP225 SFNC5 Spindle function 5
SP226 SFNC6 Spindle function 6
SP227 SFNC7 Spindle function 7
:
SP232
SP233
SP234
IVC
Not used
Voltage non-sensitive band compensation
SP235
SP236
R2H
WIH
Temperature compensation gain
Temperature compensation time constant
SP237 TCF Torque command filter
SP238 SSCFEED Safely limited speed
SP239 SSCRPM Safely limited motor speed
SP240 Not used
:
SP256
500
0
0
0
0
:
0
0
0
0
0
0000
0
:
1000
0000
0000
:
90
120
150
1067
1500
1500
0
0
0
369
434
74
969
3785
1742
105
1262
73
3252
2427
1947
145
0
0
SJ-D7.5/
100-01
100
4096
1024
1024
0
0
100
0
:
150
250
0
0
120
12
0
:
24
100
0
2
:
16040S
4096
1024
1024
0
0
100
0
:
0
0
150
250
120
12
0
:
0
2
24
160
:
200V Standard motor SJ-D Series (Normal)
SJ-D7.5/
120-01
SJ-D11/
100-01
SJ-D15/
80-01
SJ-
D18.5/
80-01
100
4096
1024
1024
0
:
0
100
0
150
250
0
0
120
12
0
24
100
0
2
:
:
16040S
4096
1024
1024
0
0
100
0
0
0
150
250
120
12
0
24
160
0
2
:
:
:
160
4096
1024
1024
0
0
100
0
0
0
150
250
120
12
0
29
160
0
2
0 0 0 0 0
10000 10000 12000 12000 10000
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
:
:
:
200
4096
1024
1024
0
0
100
0
0
0
150
250
120
12
0
0
2
85
200
0
8000
1650
1500
:
:
:
320
4096
1024
1024
0
:
0
100
0
:
0
2
103
320
0
8000
1500
1500
150
250
0
0
120
12
0
:
1262
73
3252
2427
1947
145
0
0
0
369
434
74
969
3785
1742
105
1262
73
3252
2427
1947
145
0
0
0
460
437
74
969
3785
1742
105
1262
73
3252
2427
1947
145
0
0
0
460
437
74
969
3785
1742
105
1338
68
3208
2468
1942
145
0
0
0
440
435
75
811
5233
2214
81
SJ-D22/
80-01
320
4096
1024
1024
0
0
100
0
0
0
150
250
120
12
0
0
2
138
320
:
:
:
SJ-D26/
80-01
320
4096
1024
1024
1432
59
3072
2560
1936
183
0
0
0
321
430
50
1438
60
2920
2755
1913
148
0
0
0
320
431
52
0
8000
1575
1500
1634
62
2993
2673
1921
197
0
0
0
315
433
49
492 365 341 332
8225 11064 11691 12648
2532
55
3570
38
4070
32
5502
24
120
12
0
:
160
320
0
2
0
100
0
:
150
250
0
0
0
8000
1500
1500
1762
63
2518
2376
2001
155
0
0
0
334
437
59
0
:
90
120
150
1067
0
0
1500
1500
90
120
150
1067
0
0
1500
1500
90
120
150
1067
0
0
1500
1500
120
120
150
1072
0
0
1500
1500
90
120
150
1038
0
0
1500
1500
90
120
150
1080
0
0
0
0
90
120
150
1060
0
0
1500
1500
90
120
150
1070
0
0
0
0
0
0
0000
1000
0000
0000
0
0
0
0
500
0
0
0
0
:
:
:
0
0
0000
1000
0000
0000
0
0
0
0
500
0
0
0
0
:
:
:
0
0
0000
1000
0000
0000
0
0
0
0
500
0
0
0
0
:
:
:
0
0
0000
1000
0000
0000
0
0
0
0
500
0
0
0
0
:
:
:
0
0
0000
1000
0000
0000
0
0
0
0
500
0
0
0
0
:
:
:
0
0
0000
1000
0000
0000
0
0
0
0
500
0
0
0
0
:
:
:
500
0
0
0
0
:
0
0
0
0
0
0000
0
:
1000
0000
0000
:
500
0
0
0
0
:
0
0
0
0
0
0000
0
:
1000
0000
0000
:
IB-1501241-H 140
MDS-EM/EMH Series Instruction Manual
4 Setup
(2) 200V Standard motor SJ-D Series (Hollow shaft)
Motor
Parameter
No.
Abbrev.
SP001 PGV
Details Unit capacity
Position loop gain non-interpolation mode
SP002
SP003
PGN Position loop gain interpolation mode
PGS Position loop gain spindle synchronization
SP004 Not used
SP005 VGN1 Speed loop gain 1
SP006
SP007
SP010
:
VIA1 Speed loop lead compensation 1
VIL1 Speed loop delay compensation 1
SP008 VGN2 Speed loop gain 2
SP009 VIA2 Speed loop lead compensation 2
VIL2 Speed loop delay compensation 2
SP013
SP014
SP015
SP016
PY1
PY2
DDT
Not used
Minimum excitation rate 1
Minimum excitation rate 2
Phase alignment deceleration rate
SP017 SPEC1 Spindle specification 1
SP018 SPEC2 Spindle specification 2
SP019 RNG1 Sub side encoder resolution
SP020 RNG2 Main side encoder resolution
SP021
SP022
SP023
OLT
OLL
OD1
Overload detection time constant
Overload detection level
Excessive error detection width
(interpolation mode - spindle synchronization)
SP024
SP025
SP026
SP027
INP In-position width
INP2 2nd in-position width
TSP
ZSP
Maximum motor speed
Motor zero speed
SP028 SDTS Speed detection set value
SP029 SDTR Speed detection reset width
SP030 SDT2 2nd speed detection setting value
SP031 MTYP Motor type
SP032 PTYP Power supply type/ Regenerative resistor type
SP033 SFNC1 Spindle function 1
SP034 SFNC2 Spindle function 2
SP035 SFNC3 Spindle function 3
SP036 SFNC4 Spindle function 4
SP037 JL Load inertia scale
SP038 FHz1 Notch filter frequency 1
:
SP046 FHz2 Notch filter frequency 2
SP047 EC Inductive voltage compensation gain
SP048 LMC1 Lost motion compensation 1
:
SP052 DFBN Dual feedback control non-sensitive band
SP053 ODS
Excessive error detection width
(non-interpolation mode)
SP054 ORE Overrun detection width in closed loop control
SP055 EMGx Max. gate off delay time after emergency stop
SP056 EMGt Deceleration time constant at emergency stop
SP057 GRA1 Spindle side gear ratio 1
SP058 GRA2 Spindle side gear ratio 2
SP059 GRA3 Spindle side gear ratio 3
SP060 GRA4 Spindle side gear ratio 4
SP061 GRB1 Motor side gear ratio 1
SP062 GRB2 Motor side gear ratio 2
SP063 GRB3 Motor side gear ratio 3
SP064 GRB4 Motor side gear ratio 4
SP065 TLM1 Torque limit 1
SP066 TLM2 Torque limit 2
SP067 TLM3 Torque limit 3
SP068 TLM4 Torque limit 4
SP069 PCMP Phase alignment completion width
SP070 KDDT Phase alignment deceleration rate scale
SP071
SP072
DIQM
DIQN
Variable current limit during deceleration, lower limit value
Variable current limit during deceleration, break point speed
SP073 VGVN Variable speed gain target value
SP074 VGVS Variable speed gain change start speed
SP075 DWSH
Slip compensation scale during regeneration high-speed coil
SP076
SP077
SP078
DWSL
IQA
IDA
Slip compensation scale during regeneration lowspeed coil
Q axis current lead compensation
D axis current lead compensation
141
120
0000
-
0000
1600
0000
100
0
:
875
875
12000
25
1200
30
0
2200
0
100
0
:
0
2400
10
10
10
10
875
0
1
1
1
1
0
5000
300
1
1
1
1
100
200V Standard motor SJ-D Series (Hollow shaft)
SJ-D5.5/120-02T-S
160
15 15
33
15
0
150
33
15
0
150
1900
0
150
1900
0
50
0
:
1900
0
150
1900
0
0
50
:
100
20
000C
0200
60
120
-
-
100
20
000C
0200
60
120
-
-
200
40 30
120
0000
-
0000
1600
0000
100
0
:
875
875
12000
25
1200
30
0
2200
0
100
0
:
0
2400
10
10
10
10
875
0
1
1
1
1
0
5000
300
1
1
1
1
5000
0
0
0
0
4096
4096
3700
0
0
0
0
4096
4096
IB-1501241-H
2200
0
0
0
0
4096
4096
120
0000
-
0000
1600
0000
100
0
:
875
875
12000
25
1200
30
0
2200
0
100
0
:
0
2400
10
10
10
10
875
0
1
1
1
1
0
5000
300
1
1
1
1
150
1900
0
:
0
50
100
20
15
33
15
0
150
1900
0
000C
0200
-
-
60
120
15
MDS-EM/EMH Series Instruction Manual
4 Setup
Motor
Parameter
No.
SP079
Abbrev.
IQG
Details
Q axis current gain
Unit capacity
SP080 IDG D axis current gain
SP081 IQAL Q axis current lead compensation low-speed coil
:
SP088 FHz5 Notch filter frequency 5
SP089 TMKQ Spindle output stabilizing gain Q axis
SP090 TMKD Spindle output stabilizing gain D axis
:
SP112
SP113 OPLP Current command value for open loop
SP114 MKT Coil changeover gate cutoff timer
SP115 MKT2 Coil changeover current limit timer
SP116 MKIL Coil changeover current limit value
SP117 SETM Excessive speed deviation timer
SP118 MSFT Magnetic pole shift amount
:
SP128 DA2MPY D/A output ch2 output scale
SP129
SP130
SP131
SP132
SP133
SP134
SP135
SP136
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP137
SP138
SP139
SP140
SP141
SP142
SP143
SP144
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP145
SP146
SP147
SP148
SP149
SP150
SP151
SP152
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP153
SP154
SP155
SP156
SP157
SP158
SP159
SP160
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
:
SP224
SP225 SFNC5 Spindle function 5
SP226 SFNC6 Spindle function 6
SP227 SFNC7 Spindle function 7
:
SP232
SP233 IVC
Not used
Voltage non-sensitive band compensation
SP234
SP235
SP236
SP237
R2H
WIH
TCF
Temperature compensation gain
Temperature compensation time constant
Torque command filter
SP238 SSCFEED Safely limited speed
SP239 SSCRPM Safely limited motor speed
SP240
:
Not used
SP256
100
0000
1000
0000
:
0000
0
0
0
1065
0
0
0
1467
0
0
:
0
500
0
0
0
:
0
73
691
4959
1368
128
90
120
150
2550
1934
83
0
343
423
0
0
100
0
12000
2000
3200
722
49
3111
250
120
12
0
2
8
0
:
200V Standard motor SJ-D Series (Hollow shaft)
SJ-D5.5/120-02T-S
160
1024
1024
0
1024
1024
0
100
0
0
:
0
150
0
:
0
100
0
0
0
150
:
:
250
120
12
0
0
2
8
160
0
12000
2000
3200
722
40
3111
:
0000
1000
0000
:
0000
0
0
0
969
0
0
0
1196
0
0
:
0
500
0
0
0
:
0
73
691
6083
1368
128
90
120
150
2550
1934
83
0
436
423
0
0
200
0000
0
0
0
0
500
0
0
899
0
0
:
0000
1000
0000
:
0
:
0
128
90
120
150
870
0
0
0
478
422
0
0
78
682
7718
1557
3400
757
36
2975
2755
1907
77
0
200
0
12000
1700
2
8
0
:
0
150
0
:
250
120
12
0
1024
1024
0
100
0
0
:
IB-1501241-H 142
MDS-EM/EMH Series Instruction Manual
4 Setup
(3) 200V Standard motor SJ-DG Series (High-output)
Motor
Parameter
No.
Abbrev.
SP001 PGV
Details Unit capacity
Position loop gain non-interpolation mode
SP002
SP003
PGN
PGS
Position loop gain interpolation mode
Position loop gain spindle synchronization
SP004 Not used
SP005 VGN1 Speed loop gain 1
SP006
SP007
VIA1
VIL1
Speed loop lead compensation 1
Speed loop delay compensation 1
SP008 VGN2 Speed loop gain 2
SP009 VIA2 Speed loop lead compensation 2
SP010
:
VIL2 Speed loop delay compensation 2
SP013
SP014
SP015
SP016
PY1
PY2
DDT
Not used
Minimum excitation rate 1
Minimum excitation rate 2
Phase alignment deceleration rate
SP017 SPEC1 Spindle specification 1
SP018 SPEC2 Spindle specification 2
SP019 RNG1 Sub side encoder resolution
SP020 RNG2 Main side encoder resolution
SP021
SP022
SP023
OLT
OLL
OD1
Overload detection time constant
Overload detection level
Excessive error detection width
(interpolation mode - spindle synchronization)
SP024
SP025
SP026
SP027
INP In-position width
INP2 2nd in-position width
TSP
ZSP
Maximum motor speed
Motor zero speed
SP028 SDTS Speed detection set value
SP029 SDTR Speed detection reset width
SP030 SDT2 2nd speed detection setting value
SP031 MTYP Motor type
SP032 PTYP Power supply type/ Regenerative resistor type
SP033 SFNC1 Spindle function 1
SP034 SFNC2 Spindle function 2
SP035 SFNC3 Spindle function 3
SP036 SFNC4 Spindle function 4
SP037 JL Load inertia scale
SP038 FHz1 Notch filter frequency 1
:
SP046 FHz2 Notch filter frequency 2
SP047 EC Inductive voltage compensation gain
SP048 LMC1 Lost motion compensation 1
:
SP052 DFBN Dual feedback control non-sensitive band
SP053 ODS
Excessive error detection width
(non-interpolation mode)
SP054 ORE Overrun detection width in closed loop control
SP055 EMGx Max. gate off delay time after emergency stop
SP056 EMGt Deceleration time constant at emergency stop
SP057 GRA1 Spindle side gear ratio 1
SP058 GRA2 Spindle side gear ratio 2
SP059 GRA3 Spindle side gear ratio 3
SP060 GRA4 Spindle side gear ratio 4
SP061 GRB1 Motor side gear ratio 1
SP062 GRB2 Motor side gear ratio 2
SP063 GRB3 Motor side gear ratio 3
SP064 GRB4 Motor side gear ratio 4
SP065 TLM1 Torque limit 1
SP066 TLM2 Torque limit 2
SP067 TLM3 Torque limit 3
SP068 TLM4 Torque limit 4
SP069 PCMP Phase alignment completion width
SP070 KDDT Phase alignment deceleration rate scale
SP071
SP072
SP076
DIQM
DIQN
DWSL
Variable current limit during deceleration, lower limit value
Variable current limit during deceleration, break point speed
SP073 VGVN Variable speed gain target value
SP074 VGVS Variable speed gain change start speed
SP075 DWSH
Slip compensation scale during regeneration high-speed coil
Slip compensation scale during regeneration lowspeed coil
200V Standard motor SJ-DG Series (High-output)
SJ-DG3.7/120-03T
SJ-
DG5.5/
120-04T
SJ-
DG7.5/
120-05T
SJ-
DG11/
100-03T
SJ-DG11/
120-03T
100
15
16040S
15
160
15
160
15
200
15
160
15
200
33
15
0
150
33
15
0
150
33
15
0
150
33
15
0
150
33
15
0
150
33
15
0
150
1900
0
150
1900
0
50
100
20
000C
0200
60
120
0
:
-
-
1900
0
150
1900
0
0
000C
0200
:
50
100
20
-
-
60
120
1900
0
150
1900
0
0
50
100
20
000C
0200
:
-
-
60
120
1900
0
150
1900
0
000C
0200
:
0
50
100
20
-
-
60
120
1900
0
150
1900
0
0
50
20
000C
0200
60
:
100
-
-
120
1900
0
150
1900
0
0
50
100
20
000C
0200
-
-
:
60
120
15
33
15
0
150
1900
0
150
1900
0
50
100
20
000C
0200
60
120
-
-
0
:
SJ-DG15/
120-02T-K
200
15
33
15
0
150
1900
0
150
1900
0
:
0
50
100
20
000C
0220
2000
2000
60
120
120
0000
-
0000
1600
0000
100
0
:
875
875
12000
25
1200
30
0
2200
0
100
0
:
0
2400
0
5000
300
1
1
1
1
1
1
1
1
10
10
10
10
875
0
50
6200
0
0
0
0
120
0000
-
0000
1600
0000
100
0
:
875
875
12000
25
1200
30
0
2200
0
100
0
:
0
2400
0
5000
300
1
1
1
1
1
1
1
1
10
10
10
10
875
0
50
6200
0
0
0
0
120
0000
-
0000
1600
0000
100
0
:
875
875
12000
25
1200
30
0
2200
0
100
0
:
0
2400
0
5000
300
1
1
1
1
1
1
1
1
10
10
10
10
875
0
35
4500
0
0
0
0
120
0000
-
0000
1600
0000
100
0
:
875
875
12000
25
1200
30
0
2200
0
100
0
:
0
2400
0
5000
300
1
1
1
1
1
1
1
1
10
10
10
10
875
0
35
4500
0
0
0
0
120
0000
-
0000
1600
0000
100
0
:
875
875
10000
25
1000
30
0
2200
0
100
0
:
0
2000
0
5000
300
1
1
1
1
1
1
1
1
10
10
10
10
875
0
45
4500
0
0
0
0
120
0000
-
0000
1600
0000
100
0
:
875
875
12000
25
1200
30
0
2200
0
100
0
:
0
2400
0
5000
300
1
1
1
1
1
1
1
1
10
10
10
10
875
0
45
5400
0
0
0
0
0
5000
300
1
1
1
1
1
1
1
1
10
10
10
10
875
0
35
4500
0
0
0
0
10
10
10
10
875
0
1
1
1
1
0
5000
300
1
1
1
1
75
9000
0
0
0
0
120
0000
-
0000
1600
0000
100
0
:
875
875
12000
25
1200
30
0
2200
0
100
0
:
0
2400
120
-
0000
0000
1600
0000
100
0
:
875
875
12000
25
4000
30
0
2200
0
100
0
:
0
2400
143 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
4 Setup
Motor
Parameter
SP169
SP170
SP171
SP172
SP173
SP174
SP175
SP176
SP159
SP160
:
SP164
SP165
SP166
SP167
SP168
SP151
SP152
SP153
SP154
SP155
SP156
SP157
SP158
SP143
SP144
SP145
SP146
SP147
SP148
SP149
SP150
SP177
SP178
SP179
SP180
SP181
SP182
No.
Abbrev.
SP077 IQA
Details
Q axis current lead compensation
Unit capacity
SP078
SP079
IDA
IQG
D axis current lead compensation
Q axis current gain
SP080 IDG D axis current gain
SP081 IQAL Q axis current lead compensation low-speed coil
SP082 IDAL D axis current lead compensation low-speed coil
SP083 IQGL Q axis current gain low-speed coil
SP084 IDGL D axis current gain low-speed coil
SP085
:
SP088 FHz5 Notch filter frequency 5
SP089 TMKQ Spindle output stabilizing gain Q axis
SP090 TMKD Spindle output stabilizing gain D axis
:
SP112
SP113 OPLP Current command value for open loop
SP114 MKT Coil changeover gate cutoff timer
SP115 MKT2 Coil changeover current limit timer
SP116 MKIL Coil changeover current limit value
SP117 SETM Excessive speed deviation timer
SP118 MSFT Magnetic pole shift amount
:
SP128 DA2MPY D/A output ch2 output scale
SP129
SP130
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H) SP131
SP132
SP133
SP134
SP135
SP136
SP137
SP138
SP139
SP140
SP141
SP142
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
1055
0
0
1500
1500
0
0
:
70
936
4320
1088
176
90
120
150
2427
1947
87
0
473
427
0
0
160
0
12000
1875
2100
810
40
3252
1055
0
0
1500
1500
0
0
:
70
936
4320
1088
176
90
120
150
2427
1947
87
0
473
427
0
0
100
0
12000
1875
2100
810
40
3252
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
250
120
12
0
2
6
0
:
100
0
0
:
0
150
0
:
200V Standard motor SJ-DG Series (High-output)
SJ-DG3.7/120-03T
SJ-
DG5.5/
120-04T
SJ-
DG7.5/
120-05T
SJ-
DG11/
100-03T
SJ-DG11/
120-03T
100
4096
16040S
4096
160
4096
160
4096
200
4096
160
4096
200
4096
4096
1024
1024
0
0
0
0
0
4096
1024
1024
0
0
0
0
0
4096
1024
1024
0
0
0
0
0
4096
1024
1024
0
0
0
0
0
4096
1024
1024
0
0
0
0
0
4096
1024
1024
0
0
0
0
0
4096
1024
1024
0
0
0
0
0
0
100
0
0
0
150
250
120
12
0
0
2
6
:
:
:
0
100
0
0
0
150
250
120
12
0
0
2
13
:
:
:
0
100
0
0
0
150
250
120
12
0
0
2
20
:
:
:
0
100
0
0
0
150
250
120
12
0
0
2
29
:
:
:
0
100
0
0
0
150
250
120
12
0
0
2
29
:
:
:
250
120
12
0
2
29
0
:
100
0
0
:
0
150
0
:
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
160
0
12000
1500
1800
1082
49
3344
2355
1956
98
0
0
0
467
433
66
907
4411
1410
128
90
120
150
1075
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
:
160
0
12000
1500
1800
1120
50
3326
2376
1953
148
0
0
0
463
437
73
796
6255
1845
84
90
120
150
1095
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
:
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1110
0
0
0
0
:
0
0
74
721
7678
2285
68
90
120
150
2427
1947
148
0
464
436
0
0
200
0
10000
1500
1500
1244
50
3252
1075
0
0
0
0
:
0
0
75
717
5895
2412
68
90
120
150
2499
1942
144
0
462
438
0
0
160
0
12000
1400
1540
1273
68
3148
1110
0
0
0
0
:
0
0
74
721
7678
2285
68
90
120
150
2427
1947
148
0
462
438
0
0
200
0
12000
1500
1500
1244
50
3252
SJ-DG15/
120-02T-K
12000
1500
1500
1522
0
:
0
0
20
90
120
150
1110
0
0
0
133
176
0
0
40
174
6720
2635
4000
657
59
4030
2099
1873
198
0
59
3023
2652
1922
157
0
0
0
464
436
49
504
7736
2586
200
0
12000
4000
2
86
0
:
0
150
0
:
250
120
12
0
200
4096
4096
1024
1024
4096
4096
1024
1024
0
100
0
0
:
IB-1501241-H 144
MDS-EM/EMH Series Instruction Manual
4 Setup
Motor
Parameter
No.
Abbrev.
SP183
Details
Motor unique constants (L)
SP184
SP185
SP186
SP187
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L) SP188
:
SP224
SP225 SFNC5 Spindle function 5
Unit capacity
SP226 SFNC6 Spindle function 6
SP227 SFNC7 Spindle function 7
:
SP232
SP233
SP234
IVC
Not used
Voltage non-sensitive band compensation
SP235
SP236
R2H Temperature compensation gain
WIH Temperature compensation time constant
SP237 TCF Torque command filter
SP238 SSCFEED Safely limited speed
SP239 SSCRPM Safely limited motor speed
SP240 Not used
:
SP256 0
:
0
0
500
0
0
0
0
:
0
:
0
0
:
0
0
0
0
:
0
0
0
:
0
0
:
0
0
0
SJ-DG15/
120-02T-K
200
59
90
120
150
1120
0
:
0
0000
1000
0000
0000
:
0
0
500
0
0
0
0
:
0
0
145 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
4 Setup
(4) 200V Standard motor SJ-DJ Series (Compact & Lightweight output)
Motor
Parameter
No.
Abbrev.
SP001
SP002
PGV
PGN
Details Unit capacity
Position loop gain non-interpolation mode
Position loop gain interpolation mode
SP003
SP004
PGS Position loop gain spindle synchronization
Not used
SP005 VGN1 Speed loop gain 1
SP006 VIA1 Speed loop lead compensation 1
SP007 VIL1 Speed loop delay compensation 1
SP008 VGN2 Speed loop gain 2
SP009
SP010
VIA2
VIL2
Speed loop lead compensation 2
Speed loop delay compensation 2
:
SP013
SP014
SP015
PY1
PY2
Not used
Minimum excitation rate 1
Minimum excitation rate 2
SP016 DDT Phase alignment deceleration rate
SP017 SPEC1 Spindle specification 1
SP018 SPEC2 Spindle specification 2
SP019 RNG1 Sub side encoder resolution
SP020 RNG2 Main side encoder resolution
SP021 OLT Overload detection time constant
SP022
SP023
OLL
OD1
Overload detection level
Excessive error detection width
SP024 INP
(interpolation mode - spindle synchronization)
In-position width
SP025
SP026
INP2 2nd in-position width
TSP Maximum motor speed
SP027 ZSP Motor zero speed
SP028 SDTS Speed detection set value
SP029 SDTR Speed detection reset width
SP030 SDT2 2nd speed detection setting value
SP031 MTYP Motor type
SP032 PTYP Power supply type/ Regenerative resistor type
SP033 SFNC1 Spindle function 1
SP034 SFNC2 Spindle function 2
SP035 SFNC3 Spindle function 3
SP036 SFNC4 Spindle function 4
SP037 JL Load inertia scale
SP038 FHz1 Notch filter frequency 1
:
SP046 FHz2 Notch filter frequency 2
SP047 EC Inductive voltage compensation gain
SP048 LMC1 Lost motion compensation 1
:
SP052 DFBN Dual feedback control non-sensitive band
SP053 ODS
Excessive error detection width
(non-interpolation mode)
SP054 ORE Overrun detection width in closed loop control
SP055 EMGx Max. gate off delay time after emergency stop
SP056 EMGt Deceleration time constant at emergency stop
SP057 GRA1 Spindle side gear ratio 1
SP058 GRA2 Spindle side gear ratio 2
SP059 GRA3 Spindle side gear ratio 3
SP060 GRA4 Spindle side gear ratio 4
SP061 GRB1 Motor side gear ratio 1
SP062 GRB2 Motor side gear ratio 2
SP063 GRB3 Motor side gear ratio 3
SP064 GRB4 Motor side gear ratio 4
SP065 TLM1 Torque limit 1
SP066 TLM2 Torque limit 2
SP067 TLM3 Torque limit 3
SP068 TLM4 Torque limit 4
SP069 PCMP Phase alignment completion width
SP070 KDDT Phase alignment deceleration rate scale
SP071 DIQM
Variable current limit during deceleration, lower limit value
SP072 DIQN
Variable current limit during deceleration, break point speed
SP073 VGVN Variable speed gain target value
SP074 VGVS Variable speed gain change start speed
SP075 DWSH
Slip compensation scale during regeneration high-speed coil
SP076 DWSL
Slip compensation scale during regeneration low-
SP077 IQA speed coil
Q axis current lead compensation
2000
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
35
875
875
10000
50
1000
30
0
2200
-
0000
0000
1600
0000
100
0
100
0
0
:
0
:
200V Standard motor SJ-DJ Series (Compact & Lightweight output)
SJ-DJ5.5/ SJ-DJ5.5/ SJ-DJ7.5/
100
100-01
16040S 100
120-01
16040S 100
100-01
16040S
15
33
15
0
15
33
15
0
15
33
15
0
15
33
15
0
15
33
15
0
150
1900
0
150
150
1900
0
150
150
1900
0
150
150
1900
0
150
150
1900
0
150
150
1900
0
150
15
33
15
0
1900
0
0
:
50
100
20
000C
0200
-
-
60
120
1900
0
0
50
100
20
000C
0200
60
120
-
-
:
1900
0
0
50
100
20
000C
0200
60
:
-
-
120
1900
0
0
50
100
20
000C
0200
120
-
-
60
:
1900
0
0
50
100
20
000C
0200
-
-
60
120
:
0200
60
120
-
-
1900
0
0
:
50
100
20
000C
120 120 120 120 120 120
875
875
10000
50
1000
30
0
2200
-
0000
0000
1600
0000
100
0
100
0
0
:
0
:
875
875
12000
25
1200
30
0
2200
-
0000
0000
1600
0000
100
0
100
0
0
:
0
:
875
875
12000
25
1200
30
0
2200
-
0000
0000
1600
0000
100
0
100
0
0
:
0
:
875
875
10000
50
1000
30
0
2200
-
0000
0000
1600
0000
100
0
100
0
0
:
0
:
875
875
10000
50
1000
30
0
2200
-
0000
0000
1600
0000
100
0
100
0
0
:
0
:
2000
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
35
2400
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
35
2400
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
35
2000
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
45
2000
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
45
3700
0
0
0
0
4096
3700
0
0
0
0
4096
4500
0
0
0
0
4096
4500
0
0
0
0
4096
4500
0
0
0
0
4096
4500
0
0
0
0
4096
IB-1501241-H 146
MDS-EM/EMH Series Instruction Manual
4 Setup
Motor
Parameter
No.
Abbrev.
SP078
SP079
IDA
IQG
Details
D axis current lead compensation
Q axis current gain
Unit capacity
SP080 IDG D axis current gain
SP081 IQAL Q axis current lead compensation low-speed coil
:
SP088 FHz5 Notch filter frequency 5
SP089 TMKQ Spindle output stabilizing gain Q axis
SP090 TMKD Spindle output stabilizing gain D axis
:
SP112
SP113 OPLP Current command value for open loop
SP114 MKT Coil changeover gate cutoff timer
SP115 MKT2 Coil changeover current limit timer
SP116 MKIL Coil changeover current limit value
SP149
SP150
SP151
SP152
SP153
SP154
SP155
SP156
SP141
SP142
SP143
SP144
SP145
SP146
SP147
SP148
SP133
SP134
SP135
SP136
SP137
SP138
SP139
SP140
SP117 SETM Excessive speed deviation timer
SP118 MSFT Magnetic pole shift amount
:
SP128 DA2MPY D/A output ch2 output scale
SP129
SP130
SP131
SP132
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP157
SP158
SP159
SP160
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
:
SP224
SP225 SFNC5 Spindle function 5
SP226 SFNC6 Spindle function 6
SP227 SFNC7 Spindle function 7
:
SP232
SP233 IVC
Not used
Voltage non-sensitive band compensation
SP234
SP235
SP236
SP237
R2H
WIH
TCF
Temperature compensation gain
Temperature compensation time constant
Torque command filter
SP238 SSCFEED Safely limited speed
SP239 SSCRPM Safely limited motor speed
SP240
:
Not used
SP256
0000
1000
0
:
0000
:
0000
0
120
150
1100
0
0
1500
1500
0
0
500
0
0
0
:
0
0
0
460
423
82
1405
3118
1189
259
90
67
2880
2939
1882
72
0
0
0
160
0
2
8
10000
1800
1800
1123
0
150
250
120
12
0
0
:
0000
1000
0
:
0000
:
0000
0
120
150
1100
0
0
1500
1500
0
0
500
0
0
0
:
0
0
0
460
423
82
1405
3118
1189
259
90
67
2880
2939
1882
72
0
0
0
100
0
2
8
10000
1800
1800
1123
0
150
250
120
12
0
0
:
0000
1000
0
:
0000
:
0000
0
120
150
1100
0
0
1500
1500
0
0
500
0
0
0
:
0
0
0
473
427
82
1405
3118
1189
259
90
67
2880
2939
1884
72
0
0
0
160
0
2
8
12000
1800
1800
1123
0
150
250
120
12
0
0
:
0000
1000
0
:
0000
:
0000
0
120
150
1100
0
0
1500
1500
0
0
500
0
0
0
:
0
0
0
473
427
82
1405
3118
1189
259
90
67
2880
2939
1884
72
0
0
0
100
0
2
8
12000
1800
1800
1123
0
150
250
120
12
0
0
:
0000
1000
0000
:
0000
0
0
0
1065
0
0
1500
1500
0
0
:
0
500
0
0
0
:
0
73
1165
3532
1525
167
90
120
150
2652
1922
88
0
424
429
0
0
160
0
10000
1800
1800
1352
73
3023
250
120
12
0
2
13
0
:
0000
1000
0000
:
0000
0
0
0
1065
0
0
1500
1500
0
0
:
0
500
0
0
0
:
0
73
1165
3532
1525
167
90
120
150
2652
1922
88
0
424
429
0
0
100
0
10000
1800
1800
1352
73
3023
250
120
12
0
2
13
0
:
147 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
4 Setup
Motor
Parameter
No.
Abbrev.
SP001 PGV
Details Unit capacity
Position loop gain non-interpolation mode
SP002
SP003
PGN
PGS
Position loop gain interpolation mode
Position loop gain spindle synchronization
SP004 Not used
SP005 VGN1 Speed loop gain 1
SP006
SP007
VIA1
VIL1
Speed loop lead compensation 1
Speed loop delay compensation 1
SP008 VGN2 Speed loop gain 2
SP009 VIA2 Speed loop lead compensation 2
SP010
:
VIL2 Speed loop delay compensation 2
SP013
SP014
SP015
SP016
PY1
PY2
DDT
Not used
Minimum excitation rate 1
Minimum excitation rate 2
Phase alignment deceleration rate
SP017 SPEC1 Spindle specification 1
SP018 SPEC2 Spindle specification 2
SP019 RNG1 Sub side encoder resolution
SP020 RNG2 Main side encoder resolution
SP021
SP022
SP023
OLT
OLL
OD1
Overload detection time constant
Overload detection level
Excessive error detection width
(interpolation mode - spindle synchronization)
SP024
SP025
SP026
SP027
INP In-position width
INP2 2nd in-position width
TSP
ZSP
Maximum motor speed
Motor zero speed
SP028 SDTS Speed detection set value
SP029 SDTR Speed detection reset width
SP030 SDT2 2nd speed detection setting value
SP031 MTYP Motor type
SP032 PTYP Power supply type/ Regenerative resistor type
SP033 SFNC1 Spindle function 1
SP034 SFNC2 Spindle function 2
SP035 SFNC3 Spindle function 3
SP036 SFNC4 Spindle function 4
SP037 JL Load inertia scale
SP038 FHz1 Notch filter frequency 1
:
SP046 FHz2 Notch filter frequency 2
SP047 EC Inductive voltage compensation gain
SP048 LMC1 Lost motion compensation 1
:
SP052 DFBN Dual feedback control non-sensitive band
SP053 ODS
Excessive error detection width
(non-interpolation mode)
SP054 ORE Overrun detection width in closed loop control
SP055 EMGx Max. gate off delay time after emergency stop
SP056 EMGt Deceleration time constant at emergency stop
SP057 GRA1 Spindle side gear ratio 1
SP058 GRA2 Spindle side gear ratio 2
SP059 GRA3 Spindle side gear ratio 3
SP060 GRA4 Spindle side gear ratio 4
SP061 GRB1 Motor side gear ratio 1
SP062 GRB2 Motor side gear ratio 2
SP063 GRB3 Motor side gear ratio 3
SP064 GRB4 Motor side gear ratio 4
SP065 TLM1 Torque limit 1
SP066 TLM2 Torque limit 2
SP067 TLM3 Torque limit 3
SP068 TLM4 Torque limit 4
SP069 PCMP Phase alignment completion width
SP070 KDDT Phase alignment deceleration rate scale
SP071
SP072
DIQM
DIQN
Variable current limit during deceleration, lower limit value
Variable current limit during deceleration, break point speed
SP073 VGVN Variable speed gain target value
SP074 VGVS Variable speed gain change start speed
SP075 DWSH
Slip compensation scale during regeneration high-speed coil
SP076
SP077
SP078
DWSL
IQA
IDA
Slip compensation scale during regeneration lowspeed coil
Q axis current lead compensation
D axis current lead compensation
IB-1501241-H 148
120
0000
-
0000
1600
0000
100
0
:
875
875
12000
25
1200
30
0
2200
0
100
0
:
0
2400
10
10
10
10
875
0
1
1
1
1
0
5000
300
1
1
1
1
120
0000
-
0000
1600
0000
100
0
:
875
875
12000
25
1200
30
0
2200
0
100
0
:
0
2400
10
10
10
10
875
0
1
1
1
1
0
5000
300
1
1
1
1
200V Standard motor SJ-DJ Series (Compact & Lightweight output)
SJ-DJ7.5/
120-01
SJ-DJ11/
100-01
SJ-DJ15/
80-01
100 16040S 160 200
15
33
15
15
33
15
15
33
15
0
150
1900
0
150
1900
0
:
0
150
1900
0
150
1900
0
:
0
150
1900
0
150
1900
0
:
0
50
100
20
000C
0200
-
-
60
120
0
50
100
20
000C
0200
-
-
60
120
0
50
100
20
000C
0200
-
-
60
120
150
1900
0
:
0
50
100
20
15
33
15
0
150
1900
0
000C
0200
-
-
60
120
35 35 45 40
120
0000
-
0000
1600
0000
100
0
:
875
875
10000
25
1000
30
0
2200
0
100
0
:
0
2000
10
10
10
10
875
0
1
1
1
1
0
5000
300
1
1
1
1
120
0000
-
0000
1600
0000
100
0
:
875
875
8000
25
800
30
0
2200
0
100
0
:
0
1600
10
10
10
10
875
0
1
1
1
1
0
5000
300
1
1
1
1
4500
0
0
0
0
4096
4096
4500
0
0
0
0
4096
4096
4500
0
0
0
0
4096
4096
3300
0
0
0
0
4096
4096
MDS-EM/EMH Series Instruction Manual
4 Setup
Motor
Parameter
No.
Abbrev.
SP079
SP080
IQG
IDG
Details
Q axis current gain
D axis current gain
Unit capacity
SP081 IQAL Q axis current lead compensation low-speed coil
:
SP088 FHz5 Notch filter frequency 5
SP089 TMKQ Spindle output stabilizing gain Q axis
SP090 TMKD Spindle output stabilizing gain D axis
:
SP112
SP113 OPLP Current command value for open loop
SP114 MKT Coil changeover gate cutoff timer
SP115 MKT2 Coil changeover current limit timer
SP116 MKIL Coil changeover current limit value
SP117 SETM Excessive speed deviation timer
SP118 MSFT Magnetic pole shift amount
:
SP128 DA2MPY D/A output ch2 output scale
SP129 Motor unique constants (H)
SP130
SP131
SP132
SP133
SP134
SP135
SP136
SP137
SP138
SP139
SP140
SP141
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H) SP142
SP143
SP144
SP145
SP146
SP147
SP148
SP149
SP150
SP151
SP152
SP153
SP154
SP155
SP156
SP157
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP158
SP159
SP160
:
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP224
SP225 SFNC5 Spindle function 5
SP226 SFNC6 Spindle function 6
SP227 SFNC7 Spindle function 7
:
SP232
SP233
SP234
IVC
Not used
Voltage non-sensitive band compensation
SP235
SP236
R2H Temperature compensation gain
WIH Temperature compensation time constant
SP237 TCF Torque command filter
SP238 SSCFEED Safely limited speed
SP239 SSCRPM Safely limited motor speed
SP240 Not used
:
SP256
0
0000
0
:
1000
0000
0000
:
90
120
150
1065
1500
1500
0
0
500
0
0
0
0
:
0
0
0
0
0
468
432
73
1165
3532
1525
167
1352
73
3023
2652
1922
88
0
0
0
0000
0
:
1000
0000
0000
:
90
120
150
1065
1500
1500
0
0
500
0
0
0
0
:
0
0
0
0
0
468
432
73
1165
3532
1525
167
1352
73
3023
2652
1922
88
0
0
200V Standard motor SJ-DJ Series (Compact & Lightweight output)
SJ-DJ7.5/ SJ-DJ11/ SJ-DJ15/
100
120-01
16040S
100-01
160
80-01
200
1024
1024
0
:
0
100
0
:
1024
1024
0
0
100
0
:
:
1024
1024
0
0
100
0
:
:
13
100
0
2
0
12000
1800
1800
150
250
0
0
120
12
0
:
0
0
150
250
120
12
0
0
2
13
160
0
12000
1800
1800
:
0
0
150
250
120
12
0
0
2
24
160
0
10000
1800
1800
:
0
0000
0
:
1000
0000
0000
:
110
120
150
1075
1500
1500
0
0
500
0
0
0
0
:
0
0
0
0
0
466
434
83
940
5085
2197
105
1377
68
2963
2796
1900
127
0
0
500
0
0
0
0
:
0
0
0
0
0
0000
0
:
1000
0000
0000
:
90
120
150
1041
0
0
0
0
0
404
432
82
701
7045
2867
68
1355
73
2952
2785
1904
130
0
0
31
200
0
2
0
8000
1500
1800
150
250
0
0
120
12
0
:
1024
1024
0
:
0
100
0
:
149 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
4 Setup
(5) 200V Standard motor SJ-DL Series (Low-inertia)
Motor
Parameter
No.
Abbrev.
SP001 PGV
Details Unit capacity
Position loop gain non-interpolation mode
SP002
SP003
PGN Position loop gain interpolation mode
PGS Position loop gain spindle synchronization
SP004
SP005 VGN1 Speed loop gain 1
SP006
SP007
SP010
:
VIA1 Speed loop lead compensation 1
VIL1 Speed loop delay compensation 1
SP008 VGN2 Speed loop gain 2
SP009 VIA2 Speed loop lead compensation 2
VIL2 Speed loop delay compensation 2
SP013
SP014
SP015
SP016
PY1
PY2
DDT
Not used
Minimum excitation rate 1
Minimum excitation rate 2
Phase alignment deceleration rate
SP017 SPEC1 Spindle specification 1
SP018 SPEC2 Spindle specification 2
SP019 RNG1 Sub side encoder resolution
SP020 RNG2 Main side encoder resolution
SP021
SP022
SP023
OLT
OLL
OD1
Overload detection time constant
Overload detection level
Excessive error detection width
(interpolation mode - spindle synchronization)
SP024
SP025
SP026
SP027
INP In-position width
INP2 2nd in-position width
TSP
ZSP
Maximum motor speed
Motor zero speed
SP028 SDTS Speed detection set value
SP029 SDTR Speed detection reset width
SP030 SDT2 2nd speed detection setting value
SP031 MTYP Motor type
SP032 PTYP Power supply type/ Regenerative resistor type
SP033 SFNC1 Spindle function 1
SP034 SFNC2 Spindle function 2
SP035 SFNC3 Spindle function 3
SP036 SFNC4 Spindle function 4
SP037 JL Load inertia scale
SP038 FHz1 Notch filter frequency 1
:
SP046 FHz2 Notch filter frequency 2
SP047 EC Inductive voltage compensation gain
SP048 LMC1 Lost motion compensation 1
:
SP052 DFBN Dual feedback control non-sensitive band
SP053 ODS
Excessive error detection width
(non-interpolation mode)
SP054 ORE Overrun detection width in closed loop control
SP055 EMGx Max. gate off delay time after emergency stop
SP056 EMGt Deceleration time constant at emergency stop
SP057 GRA1 Spindle side gear ratio 1
SP058 GRA2 Spindle side gear ratio 2
SP059 GRA3 Spindle side gear ratio 3
SP060 GRA4 Spindle side gear ratio 4
SP061 GRB1 Motor side gear ratio 1
SP062 GRB2 Motor side gear ratio 2
SP063 GRB3 Motor side gear ratio 3
SP064 GRB4 Motor side gear ratio 4
SP065 TLM1 Torque limit 1
SP066 TLM2 Torque limit 2
SP067 TLM3 Torque limit 3
SP068 TLM4 Torque limit 4
SP069 PCMP Phase alignment completion width
SP070 KDDT Phase alignment deceleration rate scale
SP071
SP072
DIQM
DIQN
Variable current limit during deceleration, lower limit value
Variable current limit during deceleration, break point speed
SP073 VGVN Variable speed gain target value
SP074 VGVS Variable speed gain change start speed
SP075 DWSH
Slip compensation scale during regeneration high-speed coil
SP076
SP077
SP078
DWSL
IQA
IDA
Slip compensation scale during regeneration lowspeed coil
Q axis current lead compensation
D axis current lead compensation
200V Standard motor SJ-DL Series (Low-inertia)
SJ-DL3.7/240-01T SJ-DL5.5/150-01T SJ-DL5.5/240-05T SJ-DL7.5/150-01T
200 160 200 160
15 15 15 15
33
15
0
150
33
15
0
150
33
15
0
150
33
15
0
150
1900
0
150
1900
0
50
0
:
1900
0
150
1900
0
0
50
:
1900
0
150
1900
0
0
30
:
1900
0
150
1900
0
50
0
:
100
20
000C
0200
60
120
-
-
100
20
000C
0200
60
120
-
-
100
20
000C
0220
2000
2000
60
120
100
20
000C
0200
60
120
-
-
120
0000
-
0100
1600
0000
100
0
:
875
875
24000
25
2400
30
0
2200
0
100
0
:
0
4800
0
5000
300
1
1
1
1
1
1
1
1
10
10
10
10
875
0
80
20000
0
0
0
0
4096
4096
120
0000
-
0000
1600
0000
100
0
:
875
875
15000
50
1500
30
0
2200
0
100
0
:
0
3000
0
5000
300
1
1
1
1
1
1
1
1
10
10
10
10
875
0
75
11400
0
0
0
0
4096
4096
120
0000
-
0000
1600
0000
100
0
:
875
875
24000
25
12000
30
0
2200
0
100
0
:
0
4800
0
5000
300
1
1
1
1
1
1
1
1
10
10
10
10
875
0
55
14000
0
0
0
0
4096
4096
10
10
10
10
875
0
1
1
1
1
0
5000
300
1
1
1
1
40
6600
0
0
0
0
4096
4096
120
0000
-
0000
1600
0000
100
0
:
875
875
15000
25
1500
30
0
2200
0
100
0
:
0
3000
IB-1501241-H 150
MDS-EM/EMH Series Instruction Manual
4 Setup
SP175
SP176
SP177
SP178
SP179
SP180
SP181
SP182
SP183
SP184
SP185
SP186
Motor
Parameter
No.
SP079
Abbrev.
IQG
Details
Q axis current gain
Unit capacity
SP080 IDG D axis current gain
SP081 IQAL Q axis current lead compensation low-speed coil
SP082 IDAL D axis current lead compensation low-speed coil
SP083 IQGL Q axis current gain low-speed coil
SP084 IDGL D axis current gain low-speed coil
SP085
:
SP088 FHz5 Notch filter frequency 5
SP167
SP168
SP169
SP170
SP171
SP172
SP173
SP174
SP158
SP159
SP160
SP161
:
SP164
SP165
SP166
SP089 TMKQ Spindle output stabilizing gain Q axis
SP090 TMKD Spindle output stabilizing gain D axis
:
SP113 OPLP Current command value for open loop
SP114 MKT Coil changeover gate cutoff timer
SP115 MKT2 Coil changeover current limit timer
SP116 MKIL Coil changeover current limit value
SP117 SETM Excessive speed deviation timer
SP118 MSFT Magnetic pole shift amount
:
SP128 DA2MPY D/A output ch2 output scale
SP129 Motor unique constants (H)
SP130
SP131
SP132
SP133
SP134
SP135
SP136
SP137
SP138
SP139
SP140
SP141
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H) SP142
SP143
SP144
SP145
SP146
SP147
SP148
SP149
SP150
SP151
SP152
SP153
SP154
SP155
SP156
SP157
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
0
0
0
0
0
:
0
0
90
120
150
1065
0
2467
0
0
0
197
261
106
127
6693
3320
31
214
73
3482
2232
1981
30
0
0
200V Standard motor SJ-DL Series (Low-inertia)
SJ-DL3.7/240-01T SJ-DL5.5/150-01T SJ-DL5.5/240-05T SJ-DL7.5/150-01T
200 160 200 160
1024
1024
0
1024
1024
0
1024
1024
4096
1024
1024
0
100
0
0
:
0
0
0
0
0
0
0
0
0
100
0
:
4096
1024
1024
0
0
100
0
:
100
0
0
:
0
0
0
0
2
200
0
2
0
24000
10000
10000
150
250
0
:
120
12
0
:
0
150
250
120
12
0
0
2
5
160
0
15000
3200
4200
:
:
0
0
0
120
12
0
0
2
4
200
0
24000
6550
6550
:
:
16
160
0
2
0
15000
1800
2160
150
250
0
:
120
12
0
:
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
429
50
2959
2642
1931
56
0
0
0
253
340
84
296
5831
2222
56
90
120
150
1050
0
0
0
2100
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
:
323
34
3005
2591
1937
58
0
0
0
427
439
83
174
9919
2809
32
90
120
150
1095
0
0
0
1650
0
0
0
24000
6550
6550
351
34
2741
2980
1894
50
0
0
0
379
438
94
171
9137
3535
32
90
120
150
:
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
:
0
0
90
120
150
1050
0
1227
0
0
0
460
440
80
559
6061
2508
58
963
50
3060
2550
1940
91
0
0
151 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
4 Setup
Motor
Parameter
No.
SP187
Abbrev.
Details
Motor unique constants (L)
Unit capacity
SP188
SP189
SP190
SP191
SP192
:
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
Motor unique constants (L)
SP224
SP225 SFNC5 Spindle function 5
SP226 SFNC6 Spindle function 6
SP227 SFNC7 Spindle function 7
:
SP232
SP233
SP234
IVC
Not used
Voltage non-sensitive band compensation
SP235
SP236
R2H Temperature compensation gain
WIH Temperature compensation time constant
SP237 TCF Torque command filter
SP238 SSCFEED Safely limited speed
SP239 SSCRPM Safely limited motor speed
SP240 Not used
:
SP256
200V Standard motor SJ-DL Series (Low-inertia)
SJ-DL3.7/240-01T SJ-DL5.5/150-01T SJ-DL5.5/240-05T SJ-DL7.5/150-01T
200 160 200 160
0
0
0
0
0
0
1040
0
0
0
0
0
0
0000
1000
0000
0
:
0
0
0
0
0
0
0000
1000
0000
:
0
1650
0
0
0000
1000
0000
:
0
0000
1000
0000
0
:
0
0
0000
:
0
0
500
0
0
0
0
:
0
0
0000
0
0
0
0
500
0
0
0
0
:
:
0000
0
0
0
0
500
0
0
0
0
:
:
0000
:
0
0
500
0
0
0
0
:
0
0
IB-1501241-H 152
MDS-EM/EMH Series Instruction Manual
4 Setup
(6) 200V Standard motor SJ-DN Series (High-torque)
SP057
SP058
SP059
SP060
SP061
SP062
SP063
SP064
SP065
SP066
SP067
SP068
SP069
SP070
Motor
Parameter
No.
SP001
Abbrev.
PGV
Details Unit capacity
Position loop gain non-interpolation mode
SP002
SP003
SP004
SP005
PGN
PGS
VGN1
Position loop gain interpolation mode
Position loop gain spindle synchronization
Speed loop gain 1
SP006
SP007
SP008
SP009
VIA1 Speed loop lead compensation 1
VIL1 Speed loop delay compensation 1
VGN2 Speed loop gain 2
VIA2 Speed loop lead compensation 2
VIL2 Speed loop delay compensation 2 SP010
:
SP013
SP014
SP015
SP016
PY1 Minimum excitation rate 1
PY2
DDT
Minimum excitation rate 2
Phase alignment deceleration rate
SP017 SPEC1 Spindle specification 1
SP018 SPEC2 Spindle specification 2
SP019
SP020
SP021
SP022
RNG1 Sub side encoder resolution
RNG2 Main side encoder resolution
OLT
OLL
Overload detection time constant
Overload detection level
SP023
SP024
SP025
SP026
SP027
SP028
SP029
SP030
OD1
INP
INP2 2nd in-position width
TSP Maximum motor speed
ZSP
SDTS
SDTR
SDT2
Excessive error detection width
(interpolation mode - spindle synchronization)
In-position width
Motor zero speed
Speed detection set value
Speed detection reset width
2nd speed detection setting value
SP031
SP032
MTYP Motor type
PTYP
Power supply type/ Regenerative resistor type
SP033 SFNC1 Spindle function 1
SP034 SFNC2 Spindle function 2
SP035 SFNC3 Spindle function 3
SP036 SFNC4 Spindle function 4
SP037 JL Load inertia scale
SP038
:
FHz1 Notch filter frequency 1
SP046
SP047
SP048
:
SP052
FHz2 Notch filter frequency 2
EC Inductive voltage compensation gain
LMC1 Lost motion compensation 1
SP053
SP054
SP055
DFBN Dual feedback control non-sensitive band
ODS
Excessive error detection width (noninterpolation mode)
ORE
Overrun detection width in closed loop control
EMGx Max. gate off delay time after emergency stop
SP056
SP071
SP072
SP073
SP074
SP075
EMGt
Deceleration time constant at emergency stop
GRA1 Spindle side gear ratio 1
GRA2 Spindle side gear ratio 2
GRA3 Spindle side gear ratio 3
GRA4 Spindle side gear ratio 4
GRB1 Motor side gear ratio 1
GRB2 Motor side gear ratio 2
GRB3 Motor side gear ratio 3
GRB4 Motor side gear ratio 4
TLM1 Torque limit 1
TLM2 Torque limit 2
TLM3 Torque limit 3
TLM4 Torque limit 4
PCMP Phase alignment completion width
KDDT Phase alignment deceleration rate scale
DIQM
DIQN
Variable current limit during deceleration, lower limit value
Variable current limit during deceleration, break point speed
VGVN Variable speed gain target value
VGVS Variable speed gain change start speed
DWSH
Slip compensation scale during regeneration high-speed coil
0
5000
300
10
10
10
10
875
0
1
1
1
1
1
1
1
1
25
0000
0000
1600
0000
100
0
:
0
100
0
:
0
1600
875
875
8000
25
800
30
0
2200
-
0000
0000
1600
0000
100
0
:
0
100
0
:
0
1600
875
875
8000
25
800
30
0
2200
-
SJ-DN7.5/80-01
200V Standard motor SJ-DN Series (High-torque)
SJ-DN11/80-01 SJ-DN15/80-01 SJ-DN18.5/80-01
100 160 200 200 200
15 15 15 15 15
33
15
0
150
33
15
0
150
33
15
0
150
33
15
0
150
33
15
0
150
1900
0
150
1900
0
50
0
:
1900
0
150
1900
0
0
50
:
1900
0
150
1900
0
0
:
50
1900
0
150
1900
0
0
50
:
1900
0
150
1900
0
50
0
:
100
20
000C
0200
2000
2000
60
120
100
20
000C
0200
2000
2000
60
120
100
20
000C
0200
2000
2000
60
120
100
20
000C
0200
2000
2000
60
120
100
20
000C
0200
2000
2000
60
120
120
2300
0
0
0
120
0
5000
300
10
10
10
10
875
0
1
1
1
1
1
1
1
1
25
2300
0
0
0
120
0
5000
300
10
10
10
10
875
0
1
1
1
1
1
1
1
1
75
0000
0000
1600
0000
100
0
:
0
100
0
:
0
1600
875
875
8000
25
800
30
0
2200
-
6000
0
0
0
120
0
5000
300
10
10
10
10
875
0
1
1
1
1
1
1
1
1
65
0000
0000
1600
0000
100
0
:
0
100
0
:
0
1600
875
875
8000
25
800
30
0
2200
-
5500
0
0
0
120
0000
0000
1600
0000
100
0
:
0
100
0
:
0
1600
875
875
8000
25
800
30
0
2200
-
2900
0
0
0
0
5000
300
10
10
10
10
875
0
1
1
1
1
1
1
1
1
35
153 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
4 Setup
Motor
Parameter
No.
SP076
Abbrev.
Details Unit capacity
DWSL
Slip compensation scale during regeneration low-speed coil
IQA Q axis current lead compensation SP077
SP078
SP079
SP080
SP081
IDA D axis current lead compensation
IQG Q axis current gain
IDG D axis current gain
IQAL
Q axis current lead compensation low-speed coil
:
SP088
SP089
SP090
:
SP113
SP114
SP115
SP116
SP117
SP118
FHz5 Notch filter frequency 5
TMKQ Spindle output stabilizing gain Q axis
TMKD Spindle output stabilizing gain D axis
OPLP Current command value for open loop
MKT Coil changeover gate cutoff timer
MKT2
MKIL
Coil changeover current limit timer
Coil changeover current limit value
SETM Excessive speed deviation timer
MSFT Magnetic pole shift amount
:
SP128 DA2MPY D/A output ch2 output scale
SP129
SP130
SP131
SP132
SP133
SP134
SP135
SP136
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP137
SP138
SP139
SP140
SP141
SP142
SP143
SP144
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP145
SP146
SP147
SP148
SP149
SP150
SP151
SP152
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP153
SP154
SP155
SP156
SP157
SP158
SP159
SP160
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
:
SP224
SP225 SFNC5 Spindle function 5
SP226 SFNC6 Spindle function 6
SP227 SFNC7 Spindle function 7
:
SP232
SP233 IVC Voltage non-sensitive band compensation
SP234
SP235
SP236
R2H
WIH
Temperature compensation gain
Temperature compensation time constant
SP237
SP238
TCF Torque command filter
SSCFEE
D
Safely limited speed
SP239 SSCRPM Safely limited motor speed
SP240
:
SP256
SJ-DN7.5/80-01
200V Standard motor SJ-DN Series (High-torque)
SJ-DN11/80-01 SJ-DN15/80-01 SJ-DN18.5/80-01
100 160 200 200 200
0
4096
4096
1024
1024
0
1085
0
0
750
750
0
0
:
84
1975
4080
1822
200
90
120
150
0000
1000
0000
:
0000
0
0
0
2908
1886
124
0
469
431
0
0
100
0
8000
863
900
2341
73
2908
250
120
12
0
2
31
0
:
0
100
:
0
150
0
:
0
4096
4096
1024
1024
0
1085
0
0
750
750
0
0
:
84
1975
4080
1822
200
90
120
150
0000
1000
0000
:
0000
0
0
0
2908
1886
124
0
469
431
0
0
160
0
8000
863
900
2341
73
2908
250
120
12
0
2
31
0
:
0
100
:
0
150
0
:
0
4096
4096
1024
1024
0
1081
0
0
650
650
0
0
:
60
687
7238
3463
79
90
120
150
0000
1000
0000
:
0000
0
0
0
3441
1827
144
0
407
429
0
0
200
0
8000
910
910
2233
68
2684
250
120
12
0
2
103
0
:
0
100
:
0
150
0
:
0
4096
4096
1024
1024
0
1100
0
0
750
750
0
0
:
51
642
7971
3319
62
90
120
150
0000
1000
0000
:
0000
0
0
0
2908
1893
182
0
420
433
0
0
200
0
8000
825
750
2396
73
2850
250
120
12
0
2
138
0
:
0
100
:
0
150
0
:
1110
0
0
750
750
0
0
:
50
648
9036
3497
59
90
120
150
0000
1000
0000
:
0000
0
0
0
2867
1899
191
0
466
434
0
0
200
0
8000
975
900
2607
81
2867
250
120
12
0
2
163
0
:
0
100
:
0
150
0
:
0
4096
4096
1024
1024
0
0
500
0
0
0
:
0
0
500
0
0
0
:
0
0
500
0
0
0
:
0
0
500
0
0
0
:
0
0
500
0
0
0
:
0
IB-1501241-H 154
MDS-EM/EMH Series Instruction Manual
4 Setup
(7) 200V Standard motor SJ-V Series (Normal)
Motor
Parameter
No.
Abbrev.
SP001 PGV
Details Unit capacity
Position loop gain non-interpolation mode
SP002
SP003
PGN Position loop gain interpolation mode
PGS Position loop gain spindle synchronization
SP004 Not used
SP005 VGN1 Speed loop gain 1
SP006 VIA1 Speed loop lead compensation 1
SP007 VIL1 Speed loop delay compensation 1
SP008 VGN2 Speed loop gain 2
SP009 VIA2 Speed loop lead compensation 2
SP010
SP011
SP012
SP013
VIL2 Speed loop delay compensation 2
Not used
Not used
Not used
SP014
SP015
PY1
PY2
Minimum excitation rate 1
Minimum excitation rate 2
SP016 DDT Phase alignment deceleration rate
SP017 SPEC1 Spindle specification 1
SP018 SPEC2 Spindle specification 2
SP019 RNG1 Sub side encoder resolution
SP020 RNG2 Main side encoder resolution
SP021 OLT Overload detection time constant
SP022
SP023
OLL
OD1
Overload detection level
Excessive error detection width
SP024 INP
(interpolation mode - spindle synchronization)
In-position width
SP025 INP2 2nd in-position width
SP026 TSP Maximum motor speed
SP027 ZSP Motor zero speed
SP028 SDTS Speed detection set value
SP029 SDTR Speed detection reset width
SP030 SDT2 2nd speed detection setting value
SP031 MTYP Motor type
SP032 PTYP Power supply type/ Regenerative resistor type
SP033 SFNC1 Spindle function 1
SP034 SFNC2 Spindle function 2
SP035 SFNC3 Spindle function 3
SP036 SFNC4 Spindle function 4
SP037 JL Load inertia scale
SP038 FHz1 Notch filter frequency 1
:
SP046 FHz2 Notch filter frequency 2
SP047 EC Inductive voltage compensation gain
SP048 LMC1 Lost motion compensation 1
:
SP052 DFBN Dual feedback control non-sensitive band
SP053 ODS
Excessive error detection width
(non-interpolation mode)
SP054 ORE Overrun detection width in closed loop control
SP055 EMGx Max. gate off delay time after emergency stop
SP056 EMGt Deceleration time constant at emergency stop
SP057 GRA1 Spindle side gear ratio 1
SP058 GRA2 Spindle side gear ratio 2
SP059 GRA3 Spindle side gear ratio 3
SP060 GRA4 Spindle side gear ratio 4
SP061 GRB1 Motor side gear ratio 1
SP062 GRB2 Motor side gear ratio 2
SP063 GRB3 Motor side gear ratio 3
SP064 GRB4 Motor side gear ratio 4
SP065 TLM1 Torque limit 1
SP066 TLM2 Torque limit 2
SP067 TLM3 Torque limit 3
SP068 TLM4 Torque limit 4
SP069 PCMP Phase alignment completion width
SP070 KDDT Phase alignment deceleration rate scale
SP071 DIQM
Variable current limit during deceleration, lower limit value
SP072 DIQN
Variable current limit during deceleration, break point speed
SP073 VGVN Variable speed gain target value
SP074 VGVS Variable speed gain change start speed
SP075 DWSH
Slip compensation scale during regeneration high-speed coil
SP076 DWSL
Slip compensation scale during regeneration low-
SP077 IQA speed coil
Q axis current lead compensation
155
200V Standard motor SJ-V Series (Normal)
SJ-V15-09ZT SJ-V18.5-01ZT
200 200
15
33
15
0
150
1900
0
150
1900
0
0
0
0
50
100
20
000C
0200
-
-
60
120
120
2200
-
0000
0000
1600
0000
100
0
875
875
8000
25
800
30
0
100
0
0
:
0
:
1600
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
60
5000
0
0
0
0
4096
IB-1501241-H
3700
0
0
0
0
4096
150
1900
0
0
50
100
0
0
15
33
15
0
150
1900
0
20
000C
0200
-
-
60
120
120
2200
-
0000
0000
1600
0000
100
0
875
875
8000
30
800
30
0
100
0
:
0
:
0
1600
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
45
MDS-EM/EMH Series Instruction Manual
4 Setup
Motor
Parameter
No.
Abbrev.
SP078 IDA
Details
D axis current lead compensation
Unit capacity
SP079
SP080
IQG
IDG
Q axis current gain
D axis current gain
SP081 IQAL Q axis current lead compensation low-speed coil
:
SP088 FHz5 Notch filter frequency 5
SP089 TMKQ Spindle output stabilizing gain Q axis
SP090 TMKD Spindle output stabilizing gain D axis
:
SP113 OPLP Current command value for open loop
SP114 MKT Coil changeover gate cutoff timer
SP115 MKT2 Coil changeover current limit timer
SP116 MKIL Coil changeover current limit value
SP117 SETM Excessive speed deviation timer
SP118 MSFT Magnetic pole shift amount
:
SP128 DA2MPY D/A output ch2 output scale
SP129
SP130
SP131
SP132
SP133
SP134
SP135
SP136
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP137
SP138
SP139
SP140
SP141
SP142
SP143
SP144
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP145
SP146
SP147
SP148
SP149
SP150
SP151
SP152
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP153
SP154
SP155
SP156
SP157
SP158
SP159
SP160
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
:
SP224
SP225 SFNC5 Spindle function 5
SP226 SFNC6 Spindle function 6
SP227 SFNC7 Spindle function 7
:
SP232
SP233 IVC
Not used
Voltage non-sensitive band compensation
SP234
SP235
SP236
SP237
R2H
WIH
TCF
Temperature compensation gain
Temperature compensation time constant
Torque command filter
SP238 SSCFEED Safely limited speed
SP239 SSCRPM Safely limited motor speed
SP240
:
Not used
SP256
200V Standard motor SJ-V Series (Normal)
SJ-V15-09ZT SJ-V18.5-01ZT
200 200
4096
1024
1024
0
150
0
:
0
0
0
:
200
0
8000
1500
1800
1330
73
3017
250
120
12
0
2
58
0
:
0000
0000
0000
:
0000
0
0
0
1036
0
0
0
0
:
0
0
0
500
0
0
0
:
0
60
473
7177
3006
39
90
120
150
2601
1933
203
0
265
360
0
0
0000
0
0
0
0
500
0
0
0000
0000
0000
:
0
:
0
0
0
:
0
46
90
120
150
1039
0
0
0
333
434
0
0
65
538
7779
3267
1800
1514
81
2847
2847
1905
186
0
200
0
8000
1500
2
58
0
:
0
150
0
:
250
120
12
0
4096
1024
1024
0
0
0
:
IB-1501241-H 156
MDS-EM/EMH Series Instruction Manual
4 Setup
(8) 200V Standard motor SJ-V Series (Wide range constant output)
Motor
Parameter
No.
Abbrev.
SP001 PGV
Details Unit capacity
Position loop gain non-interpolation mode
SP002
SP003
PGN Position loop gain interpolation mode
PGS Position loop gain spindle synchronization
SP004
SP005 VGN1 Speed loop gain 1
SP006
SP007
VIA1 Speed loop lead compensation 1
VIL1 Speed loop delay compensation 1
SP008 VGN2 Speed loop gain 2
SP009 VIA2 Speed loop lead compensation 2
SP010
SP011
SP012
SP013
VIL2 Speed loop delay compensation 2
Not used
Not used
Not used
SP014
SP015
PY1
PY2
Minimum excitation rate 1
Minimum excitation rate 2
SP016 DDT Phase alignment deceleration rate
SP017 SPEC1 Spindle specification 1
SP018 SPEC2 Spindle specification 2
SP019 RNG1 Sub side encoder resolution
SP020 RNG2 Main side encoder resolution
SP021 OLT Overload detection time constant
SP022
SP023
OLL
OD1
Overload detection level
Excessive error detection width
SP024 INP
(interpolation mode - spindle synchronization)
In-position width
SP025
SP026
INP2 2nd in-position width
TSP Maximum motor speed
SP027 ZSP Motor zero speed
SP028 SDTS Speed detection set value
SP029 SDTR Speed detection reset width
SP030 SDT2 2nd speed detection setting value
SP031 MTYP Motor type
SP032 PTYP Power supply type/ Regenerative resistor type
SP033 SFNC1 Spindle function 1
SP034 SFNC2 Spindle function 2
SP035 SFNC3 Spindle function 3
SP036 SFNC4 Spindle function 4
SP037 JL Load inertia scale
SP038 FHz1 Notch filter frequency 1
:
SP046 FHz2 Notch filter frequency 2
SP047 EC Inductive voltage compensation gain
SP048 LMC1 Lost motion compensation 1
:
SP052 DFBN Dual feedback control non-sensitive band
SP053 ODS
Excessive error detection width
(non-interpolation mode)
SP054 ORE Overrun detection width in closed loop control
SP055 EMGx Max. gate off delay time after emergency stop
SP056 EMGt Deceleration time constant at emergency stop
SP057 GRA1 Spindle side gear ratio 1
SP058 GRA2 Spindle side gear ratio 2
SP059 GRA3 Spindle side gear ratio 3
SP060 GRA4 Spindle side gear ratio 4
SP061 GRB1 Motor side gear ratio 1
SP062 GRB2 Motor side gear ratio 2
SP063 GRB3 Motor side gear ratio 3
SP064 GRB4 Motor side gear ratio 4
SP065 TLM1 Torque limit 1
SP066 TLM2 Torque limit 2
SP067 TLM3 Torque limit 3
SP068 TLM4 Torque limit 4
SP069 PCMP Phase alignment completion width
SP070 KDDT Phase alignment deceleration rate scale
SP071 DIQM
Variable current limit during deceleration, lower limit value
SP072 DIQN
Variable current limit during deceleration, break point speed
SP073 VGVN Variable speed gain target value
SP074 VGVS Variable speed gain change start speed
SP075 DWSH
Slip compensation scale during regeneration high-speed coil
SP076 DWSL
Slip compensation scale during regeneration low-
SP077 IQA speed coil
Q axis current lead compensation
3700
0
0
0
0
4096
200V Standard motor SJ-V Series (Wide range constant output)
SJ-V11-01T SJ-V11-09T SJ-V15-03T
160 160 200
15 15
33
15
0
150
33
15
0
150
1900
0
150
1900
0
0
0
0
1900
0
150
1900
0
0
0
0
50
100
20
000C
0200
-
60
-
120
50
100
20
000C
0200
-
-
60
120
120 120
2200
-
0000
0000
1600
0000
100
0
875
875
6000
25
600
30
0
100
0
0
:
0
:
2200
-
0000
0000
1600
0000
100
0
875
875
6000
25
600
30
0
100
0
0
:
0
:
1200
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
60
1200
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
100
3000
0
0
0
0
4096
150
1900
0
0
50
100
0
0
15
33
15
0
150
1900
0
20
000C
0200
-
-
60
120
120
2200
-
0000
0000
1600
0000
100
0
875
875
6000
25
600
30
0
100
0
:
0
:
0
1200
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
50
3100
0
0
0
0
4096
157 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
4 Setup
Motor
Parameter
No.
Abbrev.
SP078 IDA
Details
D axis current lead compensation
Unit capacity
SP079
SP080
IQG
IDG
Q axis current gain
D axis current gain
SP081 IQAL Q axis current lead compensation low-speed coil
:
SP088 FHz5 Notch filter frequency 5
SP089 TMKQ Spindle output stabilizing gain Q axis
SP090 TMKD Spindle output stabilizing gain D axis
:
SP112
SP113 OPLP Current command value for open loop
SP114 MKT Coil changeover gate cutoff timer
SP115 MKT2 Coil changeover current limit timer
SP116 MKIL Coil changeover current limit value
SP117 SETM Excessive speed deviation timer
SP118 MSFT Magnetic pole shift amount
SP119 Not used
:
SP128 DA2MPY D/A output ch2 output scale
SP129
SP130
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H) SP131
SP132
SP133
SP134
SP135
SP136
SP137
SP138
SP139
SP140
SP141
SP142
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP143
SP144
SP145
SP146
SP147
SP148
SP149
SP150
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP151
SP152
SP153
SP154
SP155
SP156
SP157
SP158
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP159
SP160
SP161
:
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP224
SP225 SFNC5 Spindle function 5
SP226 SFNC6 Spindle function 6
SP227 SFNC7 Spindle function 7
:
SP232
SP233
SP234
IVC
Not used
Voltage non-sensitive band compensation
SP235
SP236
R2H
WIH
Temperature compensation gain
Temperature compensation time constant
SP237 TCF Torque command filter
SP238 SSCFEED Safely limited speed
SP239 SSCRPM Safely limited motor speed
SP240 Not used
:
SP256
200V Standard motor SJ-V Series (Wide range constant output)
SJ-V11-01T SJ-V11-09T SJ-V15-03T
160 160 200
4096
1024
1024
4096
1024
1024
0
0
0
:
0
:
0
0
0
:
0
0
0
:
0
150
250
120
12
0
0
150
25
120
12
0
:
0
0
160
0
6000
1500
2
30
0
:
2
58
160
0
8000
1100
1320
1893
1800
1326
68
2854
2744
1922
170
0
68
3045
2580
1935
204
0
0
0
266
362
0
0
64
861
5280
1498
396
435
60
966
5044
2083
82
90
64
90
120
150
1334
0
0
750
120
150
1048
0
0
750
750
0
750
0
0
:
0
0000
0000
0000
0
0
0000
0000
0000
0000
:
:
0000
:
0
0
500
0
0
0
0
0
0
:
500
0
0
:
0
0
0
0
0
0
0000
0000
0000
:
0
0
0
0
0
750
750
0
0
0000
0
:
500
0
0
0
0
:
6785
2762
58
90
120
150
1037
0
191
0
0
0
322
435
64
692
8000
1250
1500
1689
73
2886
2775
1913
2
58
200
0
0
:
0
0
150
250
120
12
0
0
0
:
4096
1024
1024
0
0
0
:
IB-1501241-H 158
MDS-EM/EMH Series Instruction Manual
4 Setup
(9) 200V Standard motor SJ-VL Series (Low-inertia)
Motor
Parameter
No.
Abbrev.
SP001 PGV
Details Unit capacity
Position loop gain non-interpolation mode
SP002
SP003
PGN Position loop gain interpolation mode
PGS Position loop gain spindle synchronization
SP004
SP005 VGN1 Speed loop gain 1
SP006 VIA1 Speed loop lead compensation 1
SP007 VIL1 Speed loop delay compensation 1
SP008 VGN2 Speed loop gain 2
SP009 VIA2 Speed loop lead compensation 2
SP010
SP011
SP012
SP013
VIL2 Speed loop delay compensation 2
Not used
Not used
Not used
SP014
SP015
PY1
PY2
Minimum excitation rate 1
Minimum excitation rate 2
SP016 DDT Phase alignment deceleration rate
SP017 SPEC1 Spindle specification 1
SP018 SPEC2 Spindle specification 2
SP019 RNG1 Sub side encoder resolution
SP020 RNG2 Main side encoder resolution
SP021 OLT Overload detection time constant
SP022
SP023
OLL
OD1
Overload detection level
Excessive error detection width
SP024 INP
(interpolation mode - spindle synchronization)
In-position width
SP025 INP2 2nd in-position width
SP026 TSP Maximum motor speed
SP027 ZSP Motor zero speed
SP028 SDTS Speed detection set value
SP029 SDTR Speed detection reset width
SP030 SDT2 2nd speed detection setting value
SP031 MTYP Motor type
SP032 PTYP Power supply type/ Regenerative resistor type
SP033 SFNC1 Spindle function 1
SP034 SFNC2 Spindle function 2
SP035 SFNC3 Spindle function 3
SP036 SFNC4 Spindle function 4
SP037 JL Load inertia scale
SP038 FHz1 Notch filter frequency 1
:
SP046 FHz2 Notch filter frequency 2
SP047 EC Inductive voltage compensation gain
SP048 LMC1 Lost motion compensation 1
:
SP052 DFBN Dual feedback control non-sensitive band
SP053 ODS
Excessive error detection width
(non-interpolation mode)
SP054 ORE Overrun detection width in closed loop control
SP055 EMGx Max. gate off delay time after emergency stop
SP056 EMGt Deceleration time constant at emergency stop
SP057 GRA1 Spindle side gear ratio 1
SP058 GRA2 Spindle side gear ratio 2
SP059 GRA3 Spindle side gear ratio 3
SP060 GRA4 Spindle side gear ratio 4
SP061 GRB1 Motor side gear ratio 1
SP062 GRB2 Motor side gear ratio 2
SP063 GRB3 Motor side gear ratio 3
SP064 GRB4 Motor side gear ratio 4
SP065 TLM1 Torque limit 1
SP066 TLM2 Torque limit 2
SP067 TLM3 Torque limit 3
SP068 TLM4 Torque limit 4
SP069 PCMP Phase alignment completion width
SP070 KDDT Phase alignment deceleration rate scale
SP071 DIQM
Variable current limit during deceleration, lower limit value
SP072 DIQN
Variable current limit during deceleration, break point speed
SP073 VGVN Variable speed gain target value
SP074 VGVS Variable speed gain change start speed
SP075 DWSH
Slip compensation scale during regeneration high-speed coil
SP076 DWSL
Slip compensation scale during regeneration low-
SP077 IQA speed coil
Q axis current lead compensation
159
200V Standard motor SJ-VL Series (Low-inertia)
SJ-VL11-02FZT SJ-VL11-05FZT-S01
160 160
15
33
15
0
150
1900
0
150
1900
0
0
0
0
50
100
20
000C
0200
-
-
60
120
120
875
875
15000
25
1500
30
0
2200
-
0000
0000
1600
0000
100
0
100
0
0
:
0
:
3000
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
55
8300
0
0
0
0
4096
IB-1501241-H
15000
0
0
0
0
4096
150
1900
0
0
50
100
0
0
15
33
15
0
150
1900
0
20
000C
0200
-
-
60
120
120
875
875
15000
25
1500
30
0
2200
-
0000
0000
1600
0000
100
0
100
0
:
0
:
0
3000
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
75
MDS-EM/EMH Series Instruction Manual
4 Setup
Motor
Parameter
No.
Abbrev.
SP078 IDA
Details
D axis current lead compensation
Unit capacity
SP079
SP080
IQG
IDG
Q axis current gain
D axis current gain
SP081 IQAL Q axis current lead compensation low-speed coil
:
SP088 FHz5 Notch filter frequency 5
SP089 TMKQ Spindle output stabilizing gain Q axis
SP090 TMKD Spindle output stabilizing gain D axis
:
SP112
SP113 OPLP Current command value for open loop
SP114 MKT Coil changeover gate cutoff timer
SP115 MKT2 Coil changeover current limit timer
SP116 MKIL Coil changeover current limit value
SP117 SETM Excessive speed deviation timer
SP118 MSFT Magnetic pole shift amount
SP119 Not used
:
SP128 DA2MPY D/A output ch2 output scale
SP129
SP130
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H) SP131
SP132
SP133
SP134
SP135
SP136
SP137
SP138
SP139
SP140
SP141
SP142
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP143
SP144
SP145
SP146
SP147
SP148
SP149
SP150
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP151
SP152
SP153
SP154
SP155
SP156
SP157
SP158
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP159
SP160
SP161
:
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP224
SP225 SFNC5 Spindle function 5
SP226 SFNC6 Spindle function 6
SP227 SFNC7 Spindle function 7
:
SP232
SP233
SP234
IVC
Not used
Voltage non-sensitive band compensation
SP235
SP236
R2H
WIH
Temperature compensation gain
Temperature compensation time constant
SP237 TCF Torque command filter
SP238 SSCFEED Safely limited speed
SP239 SSCRPM Safely limited motor speed
SP240 Not used
:
SP256
200V Standard motor SJ-VL Series (Low-inertia)
SJ-VL11-02FZT SJ-VL11-05FZT-S01
160 160
4096
1024
1024
0
0
0
:
0
0
0
:
160
0
1
3
15000
4000
4800
538
150
250
120
12
0
:
0
0
0
0000
0
:
0000
0000
0000
:
120
150
1039
0
1500
0
0
0
500
0
0
0
0
:
0
0
0
0
197
260
44
557
4881
1474
98
90
34
2589
3082
1894
90
0
0
0
0000
0000
0000
:
0
0
0
0
5000
0
0
0
0
0000
0
:
5131
1260
130
90
120
150
1068
0
172
224
42
400
87
0
0
0
500
0
0
0
0
:
20000
6000
7200
341
68
2897
3082
1855
160
0
1
2
0
:
0
0
150
250
120
12
0
0
0
:
4096
1024
1024
0
0
0
:
IB-1501241-H 160
MDS-EM/EMH Series Instruction Manual
4 Setup
(10) 400V Standard motor SJ-4-V Series (Standard)
Motor
Parameter
No.
Abbrev.
SP001 PGV
Details Unit capacity
Position loop gain non-interpolation mode
SP002
SP003
PGN Position loop gain interpolation mode
PGS Position loop gain spindle synchronization
SP004
SP005 VGN1 Speed loop gain 1
SP006
SP007
VIA1 Speed loop lead compensation 1
VIL1 Speed loop delay compensation 1
SP008 VGN2 Speed loop gain 2
SP009 VIA2 Speed loop lead compensation 2
SP010
SP011
SP012
SP013
VIL2 Speed loop delay compensation 2
SP014
SP015
PY1
PY2
Minimum excitation rate 1
Minimum excitation rate 2
SP016 DDT Phase alignment deceleration rate
SP017 SPEC1 Spindle specification 1
SP018 SPEC2 Spindle specification 2
SP019 RNG1 Sub side encoder resolution
SP020 RNG2 Main side encoder resolution
SP021 OLT Overload detection time constant
SP022
SP023
OLL
OD1
Overload detection level
Excessive error detection width
SP024 INP
(interpolation mode - spindle synchronization)
In-position width
SP025
SP026
INP2 2nd in-position width
TSP Maximum motor speed
SP027 ZSP Motor zero speed
SP028 SDTS Speed detection set value
SP029 SDTR Speed detection reset width
SP030 SDT2 2nd speed detection setting value
SP031 MTYP Motor type
SP032 PTYP Power supply type/ Regenerative resistor type
SP033 SFNC1 Spindle function 1
SP034 SFNC2 Spindle function 2
SP035 SFNC3 Spindle function 3
SP036 SFNC4 Spindle function 4
SP037 JL Load inertia scale
SP038 FHz1 Notch filter frequency 1
:
SP046 FHz2 Notch filter frequency 2
SP047 EC Inductive voltage compensation gain
SP048 LMC1 Lost motion compensation 1
:
SP052 DFBN Dual feedback control non-sensitive band
SP053 ODS
Excessive error detection width
(non-interpolation mode)
SP054 ORE Overrun detection width in closed loop control
SP055 EMGx Max. gate off delay time after emergency stop
SP056 EMGt Deceleration time constant at emergency stop
SP057 GRA1 Spindle side gear ratio 1
SP058 GRA2 Spindle side gear ratio 2
SP059 GRA3 Spindle side gear ratio 3
SP060 GRA4 Spindle side gear ratio 4
SP061 GRB1 Motor side gear ratio 1
SP062 GRB2 Motor side gear ratio 2
SP063 GRB3 Motor side gear ratio 3
SP064 GRB4 Motor side gear ratio 4
SP065 TLM1 Torque limit 1
SP066 TLM2 Torque limit 2
SP067 TLM3 Torque limit 3
SP068 TLM4 Torque limit 4
SP069 PCMP Phase alignment completion width
SP070 KDDT Phase alignment deceleration rate scale
SP071 DIQM
Variable current limit during deceleration, lower limit value
SP072 DIQN
Variable current limit during deceleration, break point speed
SP073 VGVN Variable speed gain target value
SP074 VGVS Variable speed gain change start speed
SP075 DWSH
Slip compensation scale during regeneration high-speed coil
SP076 DWSL
Slip compensation scale during regeneration low-
SP077 IQA speed coil
Q axis current lead compensation
400V Standard motor SJ-4-V Series (Standard)
SJ-4-V7.5-13ZT SJ-4-V11-18T SJ-4-V18.5-14T
80 80 100
15 15
33
15
0
150
33
15
0
150
1900
0
150
1900
0
0
0
0
1900
0
150
1900
0
0
0
0
50
100
20
200C
0200
-
60
-
120
50
100
20
200C
0200
-
-
60
120
150
1900
0
0
50
100
0
0
15
33
15
0
150
1900
0
20
200C
0200
-
-
60
120
120
875
875
12000
25
1200
30
0
2200
-
0000
0000
1600
0000
100
0
100
0
0
:
0
:
120
2200
-
0000
0000
1600
0000
100
0
875
875
8000
25
800
30
0
100
0
0
:
0
:
120
2200
-
0000
0000
1600
0000
100
0
875
875
6000
25
600
30
0
100
0
:
0
:
0
2400
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
60
1600
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
45
1200
10
10
10
875
0
1
10
1
1
0
5000
300
1
1
1
1
1
60
7600
0
0
0
0
4096
3700
0
0
0
0
4096
3700
0
0
0
0
4096
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4 Setup
Motor
Parameter
No.
Abbrev.
SP078 IDA
Details
D axis current lead compensation
Unit capacity
SP079
SP080
IQG
IDG
Q axis current gain
D axis current gain
SP081 IQAL Q axis current lead compensation low-speed coil
:
SP088 FHz5 Notch filter frequency 5
SP089 TMKQ Spindle output stabilizing gain Q axis
SP090 TMKD Spindle output stabilizing gain D axis
:
SP112
SP113 OPLP Current command value for open loop
SP114 MKT Coil changeover gate cutoff timer
SP115 MKT2 Coil changeover current limit timer
SP116 MKIL Coil changeover current limit value
SP117 SETM Excessive speed deviation timer
SP118 MSFT Magnetic pole shift amount
SP119
:
SP128 DA2MPY D/A output ch2 output scale
SP129
SP130
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H) SP131
SP132
SP133
SP134
SP135
SP136
SP137
SP138
SP139
SP140
SP141
SP142
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP143
SP144
SP145
SP146
SP147
SP148
SP149
SP150
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP151
SP152
SP153
SP154
SP155
SP156
SP157
SP158
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP159
SP160
SP161
:
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP224
SP225 SFNC5 Spindle function 5
SP226 SFNC6 Spindle function 6
SP227 SFNC7 Spindle function 7
:
SP232
SP233
SP234
IVC Voltage non-sensitive band compensation
SP235
SP236
R2H
WIH
Temperature compensation gain
Temperature compensation time constant
SP237 TCF Torque command filter
SP238 SSCFEED Safely limited speed
SP239 SSCRPM Safely limited motor speed
SP240
:
SP256
0
0000
0
:
0000
0000
0000
:
120
150
1048
0
0
0
0
0
500
0
0
0
0
:
0
0
0
0
363
440
63
2433
2479
886
204
90
73
3058
2683
1911
170
0
0
0
400V Standard motor SJ-4-V Series (Standard)
SJ-4-V7.5-13ZT SJ-4-V11-18T SJ-4-V18.5-14T
80 80 100
4096
1024
1024
4096
1024
1024
0
0
0
:
0
0
0
:
0
0
0
0
0
0
:
:
12000
1500
1950
1926
2
25
80
0
150
250
120
12
0
:
0
0
150
250
120
12
0
0
0
2
30
80
0
8000
1500
1800
2645
:
0
0000
0
:
1000
0000
0000
:
120
150
1045
0
0
0
0
0
500
0
0
0
0
:
0
0
0
0
367
436
63
3443
2648
863
267
90
68
3062
2734
1899
171
0
0
0
0000
0000
0000
:
0
0
0
0
0
0000
0
:
0
0
0
0
500
0
0
0
0
:
3901
1620
185
90
120
150
1039
0
186
0
0
0
285
390
65
2150
8000
1500
1800
3019
81
2826
2826
1911
2
58
100
0
0
:
0
0
150
250
120
12
0
0
0
:
4096
1024
1024
0
0
0
:
IB-1501241-H 162
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4 Setup
(11) 400V Standard motor SJ-4-V Series (Wide range constant output)
Motor
Parameter
No.
Abbrev.
SP001 PGV
Details Unit capacity
Position loop gain non-interpolation mode
SP002
SP003
PGN Position loop gain interpolation mode
PGS Position loop gain spindle synchronization
SP004
SP005 VGN1 Speed loop gain 1
SP006 VIA1 Speed loop lead compensation 1
SP007 VIL1 Speed loop delay compensation 1
SP008 VGN2 Speed loop gain 2
SP009 VIA2 Speed loop lead compensation 2
SP010
SP011
SP012
SP013
VIL2 Speed loop delay compensation 2
SP014
SP015
PY1
PY2
Minimum excitation rate 1
Minimum excitation rate 2
SP016 DDT Phase alignment deceleration rate
SP017 SPEC1 Spindle specification 1
SP018 SPEC2 Spindle specification 2
SP019 RNG1 Sub side encoder resolution
SP020 RNG2 Main side encoder resolution
SP021 OLT Overload detection time constant
SP022
SP023
OLL
OD1
Overload detection level
Excessive error detection width
SP024 INP
(interpolation mode - spindle synchronization)
In-position width
SP025 INP2 2nd in-position width
SP026 TSP Maximum motor speed
SP027 ZSP Motor zero speed
SP028 SDTS Speed detection set value
SP029 SDTR Speed detection reset width
SP030 SDT2 2nd speed detection setting value
SP031 MTYP Motor type
SP032 PTYP Power supply type/ Regenerative resistor type
SP033 SFNC1 Spindle function 1
SP034 SFNC2 Spindle function 2
SP035 SFNC3 Spindle function 3
SP036 SFNC4 Spindle function 4
SP037 JL Load inertia scale
SP038 FHz1 Notch filter frequency 1
:
SP046 FHz2 Notch filter frequency 2
SP047 EC Inductive voltage compensation gain
SP048 LMC1 Lost motion compensation 1
:
SP052 DFBN Dual feedback control non-sensitive band
SP053 ODS
Excessive error detection width
(non-interpolation mode)
SP054 ORE Overrun detection width in closed loop control
SP055 EMGx Max. gate off delay time after emergency stop
SP056 EMGt Deceleration time constant at emergency stop
SP057 GRA1 Spindle side gear ratio 1
SP058 GRA2 Spindle side gear ratio 2
SP059 GRA3 Spindle side gear ratio 3
SP060 GRA4 Spindle side gear ratio 4
SP061 GRB1 Motor side gear ratio 1
SP062 GRB2 Motor side gear ratio 2
SP063 GRB3 Motor side gear ratio 3
SP064 GRB4 Motor side gear ratio 4
SP065 TLM1 Torque limit 1
SP066 TLM2 Torque limit 2
SP067 TLM3 Torque limit 3
SP068 TLM4 Torque limit 4
SP069 PCMP Phase alignment completion width
SP070 KDDT Phase alignment deceleration rate scale
SP071 DIQM
Variable current limit during deceleration, lower limit value
SP072 DIQN
Variable current limit during deceleration, break point speed
SP073 VGVN Variable speed gain target value
SP074 VGVS Variable speed gain change start speed
SP075 DWSH
Slip compensation scale during regeneration high-speed coil
SP076 DWSL
Slip compensation scale during regeneration low-
SP077 IQA speed coil
Q axis current lead compensation
400V Standard motor SJ-4-V Series (Wide range constant output)
SJ-4-V15-20T
100
15
33
15
0
150
0
0
0
0
1900
0
150
1900
50
100
20
200C
0200
-
-
60
120
120
2200
-
0000
0000
1600
0000
100
0
875
875
6000
25
600
30
0
:
0
100
0
0
1200
10
10
10
875
0
1
1
1
10
1
1
1
1
0
5000
300
1
60
3700
0
0
0
0
4096
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MDS-EM/EMH Series Instruction Manual
4 Setup
Motor
Parameter
No.
Abbrev.
SP078 IDA
Details
D axis current lead compensation
Unit capacity
SP079
SP080
IQG
IDG
Q axis current gain
D axis current gain
SP081 IQAL Q axis current lead compensation low-speed coil
:
SP088 FHz5 Notch filter frequency 5
SP089 TMKQ Spindle output stabilizing gain Q axis
SP090 TMKD Spindle output stabilizing gain D axis
:
SP112
SP113 OPLP Current command value for open loop
SP114 MKT Coil changeover gate cutoff timer
SP115 MKT2 Coil changeover current limit timer
SP116 MKIL Coil changeover current limit value
SP117 SETM Excessive speed deviation timer
SP118 MSFT Magnetic pole shift amount
SP119
:
SP128 DA2MPY D/A output ch2 output scale
SP129
SP130
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H) SP131
SP132
SP133
SP134
SP135
SP136
SP137
SP138
SP139
SP140
SP141
SP142
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP143
SP144
SP145
SP146
SP147
SP148
SP149
SP150
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP151
SP152
SP153
SP154
SP155
SP156
SP157
SP158
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP159
SP160
SP161
:
Motor unique constants (H)
Motor unique constants (H)
Motor unique constants (H)
SP224
SP225 SFNC5 Spindle function 5
SP226 SFNC6 Spindle function 6
SP227 SFNC7 Spindle function 7
:
SP232
SP233
SP234
IVC Voltage non-sensitive band compensation
SP235
SP236
R2H
WIH
Temperature compensation gain
Temperature compensation time constant
SP237 TCF Torque command filter
SP238 SSCFEED Safely limited speed
SP239 SSCRPM Safely limited motor speed
SP240
:
SP256
400V Standard motor SJ-4-V Series (Wide range constant output)
SJ-4-V15-20T
100
4096
0
:
0
0
1024
1024
0
:
:
0
2
58
100
0
8000
1250
0
0
150
250
120
12
0
0
750
0
0
:
0
0000
0000
0000
234
90
120
150
1038
0
0
750
0
0
382
435
63
2771
3406
1367
1250
3365
73
2865
2755
1919
191
0
:
0000
0
0
0
0
500
0
:
0
0
0
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4 Setup
4.3.3 Spindle Parameters
These parameters are sent to the spindle drive unit when the NC power is turned ON. The standard parameters are designated with the "Spindle parameter setting list" enclosed when the spindle motor is delivered. There may be cases when the machine specifications are unclear, so the parameters determined by the machine specifications should be confirmed by the user.
The parameters with "(PR)" requires the CNC to be turned OFF after the settings. Turn the power OFF and ON to enable the parameter settings.
#13001 SP001 PGV Position loop gain non-interpolation mode
Set the position loop gain for "Non-interpolation" control mode.
When the setting value increases, the command tracking ability will enhance and the positioning settling time can be shorter. However, the impact on the machine during acceleration/deceleration will increase.
Use the selection command, the control mode "bit 2, 1, 0 = 000" in control input 4.
(Note) The control mode is commanded by NC.
---Setting range---
1 to 200 (rad/s)
#13002 SP002 PGN Position loop gain interpolation mode
Set the position loop gain for "interpolation" control mode.
When the setting value increases, the command tracking ability will enhance and the positioning settling time can be shorter. However, the impact on the machine during acceleration/deceleration will increase.
Use the selection command, the control mode "bit 2, 1, 0 = 010 or 100" in control input 4.
(Note) The control mode is commanded by NC.
When carrying out the SHG control, set SP035/bitC to "1".
---Setting range---
1 to 200 (rad/s)
#13003 SP003 PGS
Set the position loop gain for "spindle synchronization" control mode.
When the setting value increases, the command tracking ability will enhance and the positioning settling time can be shorter. However, the impact on the machine during acceleration/deceleration will increase.
Use the selection command, the control mode "bit 2, 1, 0 = 001" in control input 4.
(Note 1) The control mode is commanded by NC.
When carrying out the SHG control, set SP036/bit4 to "1".
(Note 2) Set the same value for the basic and synchronous spindles in spindle synchronization.
---Setting range---
1 to 200 (rad/s)
Position loop gain spindle synchronization
#13004 SP004
Not used. Set to "0".
#13005 SP005 VGN1
Set the speed loop gain.
Set this according to the load inertia size.
The higher setting value will increase the accuracy of control, however, vibration tends to occur.
If vibration occurs, adjust by lowering by 20 to 30%.
The final value should be 70 to 80% of the value at which the vibration stops.
---Setting range---
1 to 9999
Speed loop gain 1
#13006 SP006 VIA1
Set the speed loop integral control gain.
The standard setting is "1900". Adjust the value by increasing/decreasing the value by about 100.
Raise this value to improve the contour tracking accuracy in high-speed cutting.
Lower this value when the position droop does not stabilize (when the vibration of 10 to 20Hz occurs).
---Setting range---
1 to 9999
Speed loop lead compensation 1
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4 Setup
#13007 SP007 VIL1
Set this parameter when the limit cycle occurs in the full-closed loop or overshooting occurs in positioning.
When setting this parameter, make sure to set the torque offset "SP050(TOF)".
When not using, set to "0".
---Setting range---
0 to 32767
Speed loop delay compensation 1
#13008 SP008 VGN2
Normally SP005(VGN1) is used.
By setting "SP035/bit1, SP035/bit9 or SP036/bit1=1", gain 2 can be used according to the application.
Gain 2 can also be used by setting "Speed gain set 2 changeover request (control input 5/ bitC) = 1".
Refer to SP005(VGN1) for adjustment procedures.
---Setting range---
1 to 9999
Speed loop gain 2
#13009 SP009 VIA2 Speed loop lead compensation 2
Normally SP006(VIA1) is used.
By setting "SP035/bit1, SP035/bit9 or SP036/bit1=1", gain 2 can be used according to the application.
Gain 2 can also be used by setting "Speed gain set 2 changeover request (control input 5/ bitC) = 1".
Refer to SP006(VIA1) for adjustment procedures.
---Setting range---
1 to 9999
#13010 SP010 VIL2 Speed loop delay compensation 2
Normally SP007(VIL1) is used.
By setting "SP035/bit1, SP035/bit9 or SP036/bit1=1", gain 2 can be used according to the application.
Gain 2 can also be used by setting "Speed gain set 2 changeover request (control input 5/ bitC) = 1".
Refer to SP007(VIL1) for adjustment procedures.
---Setting range---
0 to 32767
#13011 SP011
Not used. Set to "0".
#13012 SP012
Not used. Set to "0".
#13013 SP013
Not used. Set to "0".
#13014 SP014 PY1
Set the minimum value for the variable excitation rate. The standard setting is "50".
Set to "0" when using an IPM spindle motor.
If noise including gear noise is loud, select a small value. However, a larger setting value is more effective for impact response.
(Note) When setting a value at "50 or more", check if there is no problem with gear noise, motor excitation noise, vibration during low-speed rotation or vibration when the servo is locked during orientation stop, etc.
When setting a value at "less than 50", check if there is no problem with the impact load response or rigidity during servo lock.
---Setting range---
0 to 100 (%)
Minimum excitation rate 1
IB-1501241-H 166
MDS-EM/EMH Series Instruction Manual
4 Setup
(PR)
#13015 SP015 PY2
Normally, SP014(PY1) is used.
By setting "SP035/bit2, SP035/bitA or SP036/bit2=1", the excitation rate 2 can be used according to the application.
The excitation rate 2 can also be used by setting "the minimum excitation rate 2 changeover request (control input 5/ bitB) = 1". Refer to SP014(PY1) for adjustment procedures.
Set to "0" when using an IPM spindle motor.
---Setting range---
0 to 100 (%)
Minimum excitation rate 2
#13016 SP016 DDT
Set the single-rotation position alignment deceleration rate for orientation stopping, phase alignment while rotating and switching from non-interpolation mode to spindle synchronization mode while rotating.
When the load inertia is larger, the setting value should be smaller.
When the setting value is larger, the orientation in-position and single-rotation position alignment complete faster, but the impact applied on the machine will increase.
To change the deceleration rate only during rotation command (command F Δ T ≠ 0), set this parameter together with SP070 (KDDT).
---Setting range---
1 to 32767 (0.1(r/min)/ms)
Phase alignment deceleration rate
#13017 SP017 SPEC1
Select the spindle specification.
A function is allocated to each bit.
Set this in hexadecimal format.
Spindle specification 1 fdir2 dfbx seqh vfb fdir msr bit F-C : msr Motor series selection
0: 200V specification IM spindle motor
1: 200V specification IPM spindle motor
2: 400V specification IM spindle motor
3: 400V specification IPM spindle motor
4: 200V specification Tool spindle motor bit B-5 :
Not used. Set to "0". bit 4 : fdir Position feedback
Set the machine side encoder's installation polarity.
0: Forward polarity 1: Reverse polarity bit 3 : vfb Speed feedback filter
0: Disable 1: Enable (4500Hz) bit 2 : seqh READY ON sequence
0: Normal 1: High-speed bit 1 : dfbx Dual feedback control
Control the position FB signal in full closed control by the combination of a motor side encoder and machine side encoder.
0: Stop 1: Start
Related parameters: SP051, SP052 bit 0 : fdir2 Speed feedback polarity
Set the motor side encoder's installation polarity by a built-in motor.
0: Forward polarity 1: Reverse polarity
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4 Setup
(PR) #13018 SP018 SPEC2
Select the spindle specification.
A function is allocated to each bit.
Set this in hexadecimal format.
Spindle specification 2 oplp mkch spsu mpg bit F-A :
Not used. Set to "0". bit 9 : mpg Earth fault detection
0: Disable 1: Enable (standard)
Set "0" and it is constantly "Enable" for MDS-EJ-SP Series.
bit 8 : spsu Command speed limit value
0: 33,750 r/min 1: 135,000 r/min bit 7-6 :
Not used. Set to "0". bit 5 : mkch Coil switch function
0: Disable 1: Enable bit 4-2 :
Not used. Set to "0". bit 1 : oplp Open loop control
This allows the operation in which no encoder feedback signals are used.
It is used when adjusting the encoder, etc.
0: Disable 1: Enable bit 0 :
Not used. Set to "0".
IB-1501241-H 168
MDS-EM/EMH Series Instruction Manual
4 Setup
(PR)
(PR)
(PR)
#13019 SP019 RNG1 Sub side encoder resolution
[For semi-closed loop]
Set the same value as SP020 (RNG2). (Refer to the explanation of SP020.)
[For full-closed loop]
Set the number of pulses per revolution of the machine side encoder.
When using the encoder interface unit MDS-EX-HR, use this with SP097(RNG1ex).
Encoder
OSE-1024 (ABZ pulse): SP019=4096, SP097=-1
TS5690( 64 teeth): SP019 = 2000, SP097=0
TS5690( 90 teeth): SP019 = 2880, SP097=0
TS5690(128 teeth): SP019 = 4000, SP097=0
TS5690(192 teeth): SP019 = 6000, SP097=0
TS5690(256 teeth): SP019 = 8000, SP097=0
TS5690(384 teeth): SP019 =12000, SP097=0
ERM280(1200 teeth): SP019 = 4800, SP097=0
ERM280(2048 teeth): SP019 = 8000, SP097=0
MPCI : SP019 = 7200, SP097=0
MBE205: SP019 = 2000, SP097=0
GEL2449M(524,288(p/rev)): SP019=0, SP097=8
---Setting range---
When SP097=0, the setting range is from 0 to 32767 (kp)
When SP097 ≠ 0, the setting range is from 0 to 65535 (p)
#13020 SP020 RNG2 Main side encoder resolution
Set the number of pulses per revolution of the motor side encoder. Set the standard parameters for the motor with frame.
---Setting range---
When SP098=0, the setting range is from 0 to 32767 (kp)
When SP098 ≠ 0, the setting range is from 0 to 65535 (p)
#13021 SP021 OLT Overload detection time constant
Set the detection time constant of Overload 1 (Alarm 50). (For Mitsubishi Electric adjustment)
Normally, set to "60".
Set to "300" when using an IPM spindle motor.
---Setting range---
1 to 15300 (s)
#13022 SP022 OLL Overload detection level
Set the current detection level of "Overload 1" (Alarm 50) as a percentage against the motor short-time rated output current. (For Mitsubishi Electric adjustment)
Normally, set to "120".
Set to "100" when using an IPM spindle motor.
---Setting range---
1 to 200 (Short-time rated %)
#13023 SP023 OD1 Excessive error detection width (interpolation mode - spindle synchronization)
Set the excessive error detection width for the interpolation mode and spindle synchronization.
The standard setting is "120".
When set to "0", the excessive error detection will be ignored, so do not set to "0".
---Setting range---
1 to 32767 (°)
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4 Setup
(PR)
(PR)
#13024 SP024 INP
Set the in-position detection width.
Set the positioning accuracy required to the machine.
Lower setting value increases the positioning accuracy, but makes the cycle time (settling time) longer.
The standard setting is "875".
---Setting range---
0 to 32767 (1°/1000)
In-position width
#13025 SP025 INP2
Use this when detecting an in-position different from normal in-position width such as advancing the in-position signal. The adjustment procedure is the same as SP024 (INP).
The standard setting is "875".
---Setting range---
0 to 32767 (1°/1000)
2nd in-position width
#13026 SP026 TSP Maximum motor speed
Set the maximum motor speed.
If the motor speed exceeds the set maximum speed, an overspeed alarm will occur.
---Setting range---
1 to 32767 (r/min)
#13027 SP027 ZSP Motor zero speed
Set the motor speed for detecting zero speed.
If the motor speed drops below the set speed, the zero speed signal turns ON.
The standard setting is "50".
---Setting range---
1 to 1000 (r/min)
#13028 SP028 SDTS
Set the motor speed for detecting the speed.
If the motor speed drops below the set speed, the speed detection signal turns ON.
The standard setting is 10% of the maximum motor speed.
---Setting range---
10 to 32767 (r/min)
Speed detection set value
#13029 SP029 SDTR
Set the hysteresis width in which the speed detection changes from ON to OFF.
If the setting value is small, the speed detection will chatter easily.
The standard setting is "30".
---Setting range---
10 to 1000 (r/min)
Speed detection reset width
#13030 SP030 SDT2 2nd speed detection setting value
Set the specified speed of the specified speed output.
When carrying out digital output of the specified speed output, set SP229/bitC to "1".
It is not available for MDS-EJ-SP Series.
---Setting range---
0 to 32767 (r/min)
#13031 SP031 MTYP Motor type
Set the control system of the spindle drive unit.
2200: Semi closed loop control
4200: Full closed loop control by using spindle side ABZ pulse output encoder
6200: Full closed loop control by using spindle side serial output encoder
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(PR) #13032 SP032 PTYP
MDS-E/EH Series: Power supply type
Power supply type/ Regenerative resistor type
When connecting a power supply unit, set a code for each power supply unit. ptyp rtyp amp bit F-C : amp
Set the power backup function to be used.
No function used : 0
Deceleration and stop function at power failure : 8
Retraction function at power failure: C bit B-8 : rtyp
Not used. Set to "0". bit 7-0 : ptyp External emergency stop setting
When the emergency stop input signal of the power supply unit is "disabled"
Power supply unit is not connected : 00
MDS-E-CV-37 / MDS-EH-CV-37 : 04
MDS-E-CV-75 / MDS-EH-CV-75 : 08
MDS-E-CV-110 / MDS-EH-CV-110 : 11
MDS-E-CV-185 / MDS-EH-CV-185 : 19
MDS-E-CV-300 / MDS-EH-CV-300 : 30
MDS-E-CV-370 / MDS-EH-CV-370 : 37
MDS-E-CV-450 / MDS-EH-CV-450 : 45
MDS-E-CV-550 / MDS-EH-CV-550 : 55
MDS-EH-CV-750 : 75
When the emergency stop input signal of the power supply unit is "enabled"
(Note) Set the power supply rotary switch to "4".
Power supply unit is not connected : 00
MDS-E-CV-37 / MDS-EH-CV-37 : 44
MDS-E-CV-75 / MDS-EH-CV-75 : 48
MDS-E-CV-110 / MDS-EH-CV-110 : 51
MDS-E-CV-185 / MDS-EH-CV-185 : 59
MDS-E-CV-300 / MDS-EH-CV-300 : 70
MDS-E-CV-370 / MDS-EH-CV-370 : 77
MDS-E-CV-450 / MDS-EH-CV-450 : 85
MDS-E-CV-550 / MDS-EH-CV-550 : 95
MDS-EH-CV-750 : B5
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MDS-EM/EMH Series: Power supply type
Set as follows for the spindle drive section of the MDS-EM/EMH-SPV3.
ptyp rtyp amp bit F-C : amp
Not used. Set to "0".
bit B-8 : rtyp
Not used. Set to "0".
bit 7-0 : ptyp External emergency stop setting
Normal
MDS-EM: 20, MDS-EMH: 22, MDS-EM-SPV3-16040S: 16, MDS-EM-SPV3-320120: 37
External emergency stop function
MDS-EM: 60, MDS-EMH: 62, MDS-EM-SPV3-16040S: 56, MDS-EM-SPV3-320120: 77
MDS-EJ-SP Series: Regenerative resistor type
Set the regenerative resistor type.
0 0 0 0 emgx rtyp amp bit F-8 : amp(bit F-C) / rtyp(bit B-8)
Setting prohibited : 10-12
MR-RB12 or GZG200W39OHMK : 13
MR-RB32 or GZG200W120OHMK 3 units connected in parallel : 14
MR-RB30 or GZG200W39OHMK 3 units connected in parallel : 15
MR-RB50 or GZG300W39OHMK 3 units connected in parallel : 16
Setting prohibited : 17-1F
Setting prohibited : 20-23
FCUA-RB22 : 24
FCUA-RB37 : 25
FCUA-RB55 : 26
FCUA-RB75/2 1 unit : 27
R-UNIT1 : 28
R-UNIT2 : 29
R-UNIT3 : 2A
R-UNIT4 : 2B
R-UNIT5 : 2C
FCUA-RB75/2 2 units connected in parallel : 2D
FCUA-RB55/2 2 units connected in parallel : 2E
Setting prohibited : 2F bit 7-4 : emgx External emergency stop function
Set the external emergency stop function.
0: Disable 4: Enable bit 3-0 :
Not used. Set to "0".
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#13033 SP033 SFNC1
Select the spindle specification.
A function is allocated to each bit.
Set this in hexadecimal format.
Spindle function 1 vfct bit F-C :
Not used. Set to "0". bit B-A : ovs Overshoot compensation
Set this parameter when overshooting occurs during positioning.
bitB,A=
00: Compensation stop
01: Setting prohibited
10: Setting prohibited
11: Compensation type 3
Set the compensation amount in SP043(OVS1) and SP042(OVS2). bit 9-8 : lmc Lost motion compensation type2
Set this parameter when the protrusion at quadrant change is too large.
bit9,8=
00: Compensation stop
01: Setting prohibited
10: Compensation type 2
11: Setting prohibited
Set the compensation amount in SP048(LMC1) and SP041(LMC2).
bit 7 : lmc2a Lost motion compensation 2 timing
0: Normal 1: Change bit 6 :
Not used. Set to "0". bit 5-4 : vfct Jitter compensation pulse number
Suppress vibration by machine backlash when axis stops.
bit5,4=
00: Disable
01: 1 pulse
10: 2 pulse
11: 3 pulses bit 3-0 :
Not used. Set to "0".
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#13034 SP034 SFNC2
Select the spindle function.
A function is allocated to each bit.
Set this in hexadecimal format.
Spindle function 2 fhz3 bit F-D : nfd5 Depth of Notch filter 5
Set the depth of Notch filter 5 (SP088).
bit F,E,D=
000: ∞
001: -18.1[dB]
010: -12.0[dB]
011: -8.5[dB]
100: -6.0[dB]
101: -4.1[dB]
110: -2.5[dB]
111: -1.2[dB] bit C :
Not used. Set to "0". bit B-9 : nfd4 Depth of Notch filter 4
Set the depth of Notch filter 4 (SP087).
bit B,A,9=
000: ∞
001: -18.1[dB]
010: -12.0[dB]
011: -8.5[dB]
100: -6.0[dB]
101: -4.1[dB]
110: -2.5[dB]
111: -1.2[dB] bit 8 : pwm Current control
0: Standard current control 1: High frequency current control bit 7-5 : nfd2 Depth of Notch filter 2
Set the depth of Notch filter 2 (SP046).
bit7,6,5=
000: ∞
001: -18.1[dB]
010: -12.0[dB]
011: -8.5[dB]
100: -6.0[dB]
101: -4.1[dB]
110: -2.5[dB]
111: -1.2[dB] bit 4 : fhz3 Notch filter 3
0: Stop 1: Start (1125Hz)
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4 Setup bit 3-1 : nfd1 Depth of Notch filter 1
Set the depth of Notch filter 1 (SP038).
bit3,2,1=
000: ∞
001: -18.1[dB]
010: -12.0[dB]
011: -8.5[dB]
100: -6.0[dB]
101: -4.1[dB]
110: -2.5[dB]
111: -1.2[dB] bit 0 :
Not used. Set to "0".
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(PR) #13035 SP035 SFNC3
Select the spindle function.
A function is allocated to each bit.
Set this in hexadecimal format.
Spindle function 3 vgin pyin rtt_vgn vgn pyn shgn bit F-D :
Not used. Set to "0". bit C : shgn SHG control in interpolation mode
0: Stop 1: Start
When using the OMR-FF control, set to "0".
bit B :
Not used. Set to "0". bit A : pyn Excitation rate selection in interpolation mode
0: Select Excitation rate 1 1: Select Excitation rate 2 bit 9 : vgn Speed loop gain set selection in interpolation mode
0: Select Set 1 1: Select Set 2 bit 8-7 :
Not used. Set to "0". bit 6 : rtt_vgn Real-time tuning I in non-interpolation mode / speed gain adaptation stop
0: Stop 1: Start bit 5-3 :
Not used. Set to "0".
bit 2 : pyin Excitation rate selection in non-interpolation mode
The excitation rate after the in-position can be selected.
0: Select Excitation rate 1 1: Select Excitation rate 2 bit 1 : vgin Speed loop gain set selection in non-interpolation mode
The speed loop gain set after the in-position can be selected.
0: Select Set 1 1: Select Set 2 bit 0 :
Not used. Set to "0".
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(PR) #13036 SP036 SFNC4
Select the spindle function.
A function is allocated to each bit.
Set this in hexadecimal format.
Spindle function 4 vgs pys shgs rtt_vgns mksl bit F-8 :
Not used. Set to "0". bit 7 : mksl Coil selection in spindle synchronization mode
0: Select the coil commanded during synchronization 1: Select high-speed coil bit 6 : rtt_vgns Real-time tuning I in spindle synchronization mode / speed gain adaptation stop
0: Stop 1: Start bit 5 :
Not used. Set to "0". bit 4 : shgs SHG control in spindle synchronization mode
0: Stop 1: Start
When using the OMR-FF control, set to "0".
bit 3 :
Not used. Set to "0". bit 2 : pys Excitation rate selection in spindle synchronization mode
0: Select Excitation rate 1 1: Select Excitation rate 2 bit 1 : vgs Speed loop gain set selection in spindle synchronization mode
0: Select Set 1 (SP005,SP006,SP007) 1: Select Set 2 (SP008,SP009,SP010) bit 0 :
Not used. Set to "0".
#13037 SP037 JL
Set the motor axis conversion total load inertia including motor itself in proportion to the motor inertia.
SV037(JL)=(Jm+Jl)/Jm×100
Jm: Motor inertia
Jl: Motor axis conversion load inertia
---Setting range---
0 to 5000 (%)
Load inertia scale
#13038 SP038 FHz1
Set the vibration frequency to suppress when machine vibration occurs.
(Enabled at 50 or more.)
When not using, set to "0".
Related parameters: SP034/bit3-1
---Setting range---
0 to 5000 (Hz)
Notch filter frequency 1
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#13039 SP039 LMCD
Set this parameter when the lost motion compensation type2 timing does not match.
Adjust by increasing the value by 10 at a time.
---Setting range---
0 to 2000 (ms)
Lost motion compensation timing
#13040 SP040 LMCT
Set the non-sensitive band of the lost motion compensation in the feed forward control.
When "0" is set, 2°/1000 is set. Adjust by increasing the value by 1°/1000 at a time.
---Setting range---
-32768 to 32767 (1°/1000)
Lost motion compensation non-sensitive band
#13041 SP041 LMC2 Lost motion compensation 2
Set this parameter with SP048(LMC1) only to vary the lost motion compensation amount depending on the command directions.
Normally, set to "0".
---Setting range---
-1 to 200 (Short-time rated %)
Note that when SP227/bit2 is "1", the range will be -1 to 20000 (Short-time rated 0.01%).
#13042 SP042 OVS2 Overshooting compensation 2
Set this parameter with SP043(OVS1) only to vary the lost motion compensation amount depending on the command directions.
Normally, set to "0".
---Setting range---
-1 to 100 (Short-time rated %)
Note that when SP227/bit2 is "1", the range will be -1 to 10000 (Short-time rated 0.01%).
#13043 SP043 OVS1 Overshooting compensation 1
Set this parameter when overshooting occurs during positioning. This compensates the motor torque during positioning.
This is valid only when the overshooting compensation SP033 (SFNC1/ovs) is selected.
[Type 3 "When SP033/ bitB,A=11"]
Use this when performing overshoot compensation in the feed forward control during arc cutting mode.
Set the compensation amount based on the motor short-time rated current.
Increase the value in increments of 1% to find the value where overshooting ceases.
[To vary compensation amount depending on the direction]
When SV042 (OVS2) is "0", change the SP043 (OVS1) value in both +/- directions to compensate.
To change the compensation amount depending on the command direction, set this with SP042 (OVS2).
(SP043: + direction, SP042: - direction, However, the directions may be opposite depending on other settings.)
When "-1" is set, the compensation will not be performed in the command direction.
---Setting range---
-1 to 100 (Short-time rated %)
Note that when SP227/bit2 is "1", the range will be -1 to 10000 (Short-time rated 0.01%).
#13044 SP044 OBS2
Set the disturbance observer gain. The standard setting is "100".
To use the disturbance observer, also set SP037(JL), SP045(OBS1) and SP226/ bitE.
When not using, set to "0".
---Setting range---
0 to 500 (%)
Disturbance observer gain
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#13045 SP045 OBS1
Set the disturbance observer filter band.
Normally, set to "100".
To use the disturbance observer, also set SP037(JL), SP044(OBS2) and SP226/ bitE.
When not using, set to "0".
---Setting range---
0 to 1000 (rad/s)
Disturbance observer filter frequency
#13046 SP046 FHz2
Set the vibration frequency to suppress when machine vibration occurs.
(Enabled at 50 or more.)
When not using, set to "0".
Related parameters: SP034/bit7-5
---Setting range---
0 to 5000 (Hz)
Notch filter frequency 2
#13047 SP047 EC Inductive voltage compensation gain
Set the inductive voltage compensation gain. Normally, set to "100".
Lower the gain when the current FB peak exceeds the current command peak.
---Setting range---
0 to 200 (%)
#13048 SP048 LMC1 Lost motion compensation 1
Set this parameter when the protrusion (that occurs due to the non-sensitive band by friction, torsion, backlash, etc.) at quadrant change is too large.
This sets the compensation torque at quadrant change (when an axis feed direction is reversed) by Shorttime rated %.
Whether to enable the lost motion compensation and the method can be set with other parameters.
[Type 2 "When SP033/bit9,8=10"]
Set the compensation amount based on the motor short-time rated current.
The standard setting is double of the friction torque. The compensation amount will be 0 when "0" is set.
Related parameters: SP033/bit9-8, SP039, SP040, SP041, SP227/bit2
[To vary compensation amount depending on the direction]
When SP041 (LMC2) is "0", change SP048 (LMC1) value in both of +/- directions to compensate.
To vary the compensation amount depending on the command direction, set this with SP041 (LMC2).
(SP048: + direction, SP041: - direction, However, the directions may be opposite depending on other settings.)
When "-1" is set, the compensation will not be performed in the command direction.
---Setting range---
-1 to 200 (Short-time rated %)
Note that when SP227/bit2 is "1", the range will be -1 to 20000 (Short-time rated 0.01%).
#13049 SP049 FFC
When a relative error in the synchronous control is too large, set this parameter to the axis that is delaying.
The standard setting is "0". The standard setting in the SHG control is "50".
Adjust relative errors in acceleration/deceleration by increasing the value by 50.
---Setting range---
0 to 999 (%)
Acceleration rate feed forward gain
#13050 SP050 TOF
Set the imbalance torque.
---Setting range---
-100 to 100 (Short-time rated %)
Torque offset
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#13051 SP051 DFBT
Set the control time constant in dual feed back.
When the function is valid, the standard setting is "100". When "0" is set, the value is 1 ms.
When the time constant is increased, the operation will get closer to the semi-closed control and the limit of the position loop gain will be raised.
However, this cannot be used when the spindle slip occurs in machine configuration such as V-belt drive.
Related parameters: SP017/bit1, SP052
---Setting range---
0 to 9999 (ms)
Dual feed back control time constant
#13052 SP052 DFBN
Set the non-sensitive band in the dual feedback control.
Normally set to "0".
Related parameters: SP017/bit1, SP051
---Setting range---
0 to 9999 (1/1000°)
Dual feedback control non-sensitive band
#13053 SP053 ODS
Set the excessive error detection width in non-interpolation mode.
Standard setting value: ODS = Maximum motor speed [r/min] × 6/PGV/2
When set to "0", the excessive error detection will not be performed.
---Setting range---
0 to 32767 (°)
Excessive error detection width (non-interpolation mode)
#13054 SP054 ORE
Set the overrun detection width in the full-closed loop control.
When the gap between the motor side encoder and the machine side encoder exceeds the set value, it is judged as an overrun and "Alarm 43" is detected.
When "-1" is set, if the differential velocity between the motor side encoder and the machine side encoder exceeds the 30% of the maximum motor speed, it will be judged as overrun and "Alarm 43" will be detected.
When "0" is set, overrun will be detected with 2°.
In the full-closed loop control, normally set this parameter to "360". During V-belt drive, set to "-1".
---Setting range---
-1 to 32767 (°)
Overrun detection width in closed loop control
#13055 SP055 EMGx Max. gate off delay time after emergency stop
Set the time required to forcibly execute READY OFF after the emergency stop is input.
Normally set to "5000".
When 5000ms or more is set for deceleration time constant at emergency stop(SP056), set the same value as SP056.
When using the power backup system (MDS-D/DH-PFU) and setting the value of this parameter to 5000ms or more, a communication error between NC and drive unit may occur when power restarts after a instantaneous power interrupt.
It is not a problem so turn the NC power ON again to start up.
When "0" is set, 7000ms is the actual value to be set.
Related parameters: SP056, SP230
---Setting range---
0 to 29900 (ms)
#13056 SP056 EMGt Deceleration time constant at emergency stop
Set the time constant used for the deceleration control at emergency stop. Set the time required to stop from the maximum motor speed (TSP).
When "0" is set, the deceleration control is executed with "7000ms".
Related parameters: SP055, SP230
---Setting range---
0 to 29900 (ms)
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(PR)
(PR)
(PR)
(PR)
(PR)
(PR)
(PR)
(PR)
#13057 SP057 GRA1
Set the number of gear teeth on the spindle side when "the gear selection command (control input 4/bit6, 5)" is set to "00".
---Setting range---
1 to 32767
Spindle side gear ratio 1
#13058 SP058 GRA2
Set the number of gear teeth on the spindle side when "the gear selection command (control input 4/bit6, 5)" is set to "01".
---Setting range---
1 to 32767
Spindle side gear ratio 2
#13059 SP059 GRA3 Spindle side gear ratio 3
Set the number of gear teeth on the spindle side when "the gear selection command (control input 4/bit6, 5)" is set to "10".
---Setting range---
1 to 32767
#13060 SP060 GRA4 Spindle side gear ratio 4
Set the number of gear teeth on the spindle side when "the gear selection command (control input 4/bit6, 5)" is set to "11".
---Setting range---
1 to 32767
#13061 SP061 GRB1
Set the number of gear teeth on the motor side when "the gear selection command (control input 4/bit6, 5)" is set to "00".
---Setting range---
1 to 32767
Motor side gear ratio 1
#13062 SP062 GRB2
Set the number of gear teeth on the motor side when "the gear selection command (control input 4/bit6, 5)" is set to "01".
---Setting range---
1 to 32767
Motor side gear ratio 2
#13063 SP063 GRB3 Motor side gear ratio 3
Set the number of gear teeth on the motor side when "the gear selection command (control input 4/bit6, 5)" is set to "10".
---Setting range---
1 to 32767
#13064 SP064 GRB4 Motor side gear ratio 4
Set the number of gear teeth on the motor side when "the gear selection command (control input 4/bit6, 5)" is set to "11".
---Setting range---
1 to 32767
#13065 SP065 TLM1
Set the torque limit value when the torque limit (spindle control input 1/bitA, 9, 8) is set to "001" (TL3, TL2,
TL1 = 001).
---Setting range---
0 to 999 (Short-time rated %)
Torque limit 1
#13066 SP066 TLM2
Set the torque limit value when the torque limit (spindle control input 1/bitA, 9, 8) is set to "010" (TL3, TL2,
TL1 = 010).
---Setting range---
0 to 999 (Short-time rated %)
Torque limit 2
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#13067 SP067 TLM3
Set the torque limit value when the torque limit (spindle control input 1/bitA, 9, 8) is set to "011" (TL3, TL2,
TL1 = 011).
---Setting range---
0 to 999 (Short-time rated %)
Torque limit 3
#13068 SP068 TLM4 Torque limit 4
Set the torque limit value when the torque limit (spindle control input 1/bitA, 9, 8) is set to "100" (TL3, TL2,
TL1 = 100).
---Setting range---
0 to 999 (Short-time rated %)
#13069 SP069 PCMP
Set the single-rotation position alignment completion width for phase alignment and changing from non-interpolation to spindle synchronization mode during rotation.
Set the rotation error that is required to the machine.
When the setting value decreases, the rotation error will decrease, but the cycle time (settling time) will get longer. The standard setting is "875".
---Setting range---
0 to 32767 (1°/1000)
Phase alignment completion width
#13070 SP070 KDDT
Set the scale for SP016 (DDT) to change the deceleration rate only during rotation command (command F
Δ T ≠ 0).
When the setting value increases, the single-rotation position alignment will be completed faster, but the impact to the machine will also increase. When not using, set to "0".
---Setting range---
0 to 255 (1/16-fold)
Phase alignment deceleration rate scale
#13071 SP071 DIQM Variable current limit during deceleration, lower limit value
Set this parameter to adjust the deceleration time by changing the current limit value during deceleration depending on the motor speed.
As shown below, set the lower limit rate of the current limit in SP071 (DIQM), and use with SP072 (DIQN).
When DIQM is set to 100%, the standard current limit value in deceleration (SP152) is applied.
100%
SP152
DIQM
0 DIQN Motor speed
---Setting range---
0 to 999 (%)
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#13072 SP072 DIQN Variable current limit during deceleration, break point speed
Set this parameter to adjust the deceleration time by changing the current limit value during deceleration depending on the motor speed.
As shown below, set the lower limit rate of the current limit in SP071 (DIQM), and use with SP072 (DIQN).
When DIQM is set to 100%, the standard current limit value in deceleration (SP152) is applied.
100%
SP152
DIQM
0 DIQN Motor speed
---Setting range---
1 to 32767 (r/min)
#13073 SP073 VGVN Variable speed gain target value
If noise is bothersome during high speed rotation, it may be reduced by lowering the speed loop gain at high speed.
Set this value to ensure the adequate response by suppressing noise and vibration at low speeds and increasing the speed loop gain at high speeds for a high-speed spindle of machining center, etc.
As shown below, set the speed loop gain rate for the overspeed detection speed in SP073 (VGVN), and use with SP074 (VGVS).
When not using, set to "0".
The overspeed detection speed (VLMT) is 115% of the maximum motor speed (TSP).
This function can be used when either Speed loop gain set 1 or Speed loop gain set 2 is selected.
Scale[%] Scale[%]
VGVN
(SP073)
>100
100 100
VGVN
(SP073)
<100
Motor speed
[r/min]
Motor speed
[r/min]
VGVS
(SP074)
VLMT
(SP026x1.15)
VGVS
(SP074)
VLMT
(SP026x1.15)
When lowering the speed loop gain at high speed When increasing the speed loop gain at high speed
---Setting range---
0 to 999 (%)
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#13074 SP074 VGVS Variable speed gain change start speed
If noise is bothersome during high speed rotation, it may be reduced by lowering the speed loop gain at high speed.
Set this value to ensure the adequate response by suppressing noise and vibration at low speeds and increasing the speed loop gain at high speeds for a high-speed spindle of machining center, etc.
As shown below, set the speed loop gain rate for the overspeed detection speed in SP073 (VGVN), and use with SP074 (VGVS).
When not using, set to "0".
The overspeed detection speed (VLMT) is 115% of the maximum motor speed (TSP).
This function can be used when either Speed loop gain set 1 or Speed loop gain set 2 is selected.
Scale[%] Scale[%]
VGVN
(SP073)
>100
100 100
VGVN
(SP073)
<100
Motor speed
[r/min]
Motor speed
[r/min]
VGVS
(SP074)
VLMT
(SP026x1.15)
VGVS
(SP074)
VLMT
(SP026x1.15)
When lowering the speed loop gain at high speed When increasing the speed loop gain at high speed
---Setting range---
0 to 32767 (r/min)
#13075 SP075 DWSH Slip compensation scale during regeneration highspeed coil
Set the slip frequency scale during deceleration.
Normally, set to "0". (For Mitsubishi Electric adjustment)
---Setting range---
0 to 255 (1/16-fold)
#13076 SP076 DWSL Slip compensation scale during regeneration lowspeed coil
Set the slip frequency scale at deceleration when using the low-speed coil.
Normally, set to "0". (For Mitsubishi Electric adjustment)
---Setting range---
0 to 255 (1/16-fold)
#13077 SP077 IQA Q axis current lead compensation
Set the current loop gain.
To use the coil switch function, set the current loop gain for when the high-speed coil is selected.
The setting value is determined by the motor's electrical characteristics so that the value is fixed to each motor used.
Set the value given in the spindle parameter list. (For Mitsubishi Electric adjustment)
---Setting range---
1 to 20480
#13078 SP078 IDA
Set the current loop gain.
To use the coil switch function, set the current loop gain for when the high-speed coil is selected.
The setting value is determined by the motor's electrical characteristics so that the value is fixed to each motor used.
Set the value given in the spindle parameter list. (For Mitsubishi Electric adjustment)
---Setting range---
1 to 20480
D axis current lead compensation
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4 Setup
#13079 SP079 IQG
Set the current loop gain.
To use the coil switch function, set the current loop gain for when the high-speed coil is selected.
The setting value is determined by the motor's electrical characteristics so that the value is fixed to each motor used.
Set the value given in the spindle parameter list. (For Mitsubishi Electric adjustment)
---Setting range---
1 to 8192
Q axis current gain
#13080 SP080 IDG
Set the current loop gain.
To use the coil switch function, set the current loop gain for when the high-speed coil is selected.
The setting value is determined by the motor's electrical characteristics so that the value is fixed to each motor used.
Set the value given in the spindle parameter list. (For Mitsubishi Electric adjustment)
---Setting range---
1 to 8192
D axis current gain
#13081 SP081 IQAL Q axis current lead compensation low-speed coil
When using coil switch function, set the current loop gain for when the low-speed coil is selected.
The setting value is determined by the motor's electrical characteristics so that the value is fixed to each motor used.
Set the value given in the spindle parameter list. (For Mitsubishi Electric adjustment)
---Setting range---
1 to 20480
#13082 SP082 IDAL D axis current lead compensation low-speed coil
When using coil switch function, set the current loop gain for when the low-speed coil is selected.
The setting value is determined by the motor's electrical characteristics so that the value is fixed to each motor used.
Set the value given in the spindle parameter list. (For Mitsubishi Electric adjustment)
---Setting range---
1 to 20480
#13083 SP083 IQGL
When using coil switch function, set the current loop gain for when the low-speed coil is selected.
The setting value is determined by the motor's electrical characteristics so that the value is fixed to each motor used.
Set the value given in the spindle parameter list. (For Mitsubishi Electric adjustment)
---Setting range---
1 to 8192
Q axis current gain low-speed coil
#13084 SP084 IDGL
When using coil switch function, set the current loop gain for when the low-speed coil is selected.
The setting value is determined by the motor's electrical characteristics so that the value is fixed to each motor used.
Set the value given in the spindle parameter list. (For Mitsubishi Electric adjustment)
---Setting range---
1 to 8192
D axis current gain low-speed coil
#13085 SP085
Not used. Set to "0".
#13086 SP086
Not used. Set to "0".
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4 Setup
#13087 SP087 FHz4
Set the vibration frequency to suppress when machine vibration occurs.
(Enabled at 50 or more.)
When not using, set to "0".
Related parameters: SP034/bitB-9
---Setting range---
0 to 5000 (Hz)
Notch filter frequency 4
#13088 SP088 FHz5
Set the vibration frequency to suppress when machine vibration occurs.
(Enabled at 50 or more.)
When not using, set to "0".
Related parameters: SP034/bitF-D
---Setting range---
0 to 5000 (Hz)
Notch filter frequency 5
#13089 SP089 TMKQ Spindle output stabilizing gain Q axis
Set the magnification of the torque current stabilizing gain. (For Mitsubishi Electric adjustment)
When set to "0", the torque current stabilization is disabled.
When not using, set to "0".
---Setting range---
0 to 32767
#13090 SP090 TMKD Spindle output stabilizing gain D axis
Set the magnification of the excitation current stabilizing gain. (For Mitsubishi Electric adjustment)
When set to "0", the excitation current stabilization is disabled.
When not using, set to "0".
---Setting range---
0 to 32767
#13091 SP091
Not used. Set to "0".
#13092 SP092
Not used. Set to "0".
#13093 SP093
Not used. Set to "0".
#13094 SP094 MPV
In the magnetic pole position detection function, the command motor speed and motor speed during the position command stop are monitored.
Set the command motor speed level and motor speed level during the position command stop in "r/min" unit.
When the command motor speed level is set to "0", the magnetic pole position error is detected at 10r/min.
Set to "10" as a standard setting when the magnetic pole position error detection function is enabled.
This detects the magnetic pole position error when the motor speed is "100r/min".
Ten-thousands digit, Thousands digit ------------ Command motor speed level (10r/min)
Hundreds digit, Tens digit, Ones digit ----------- Motor speed level (10r/min)
---Setting range---
0 to 31999
Magnetic pole error detection speed
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#13095 SP095 VIAX Lead compensation scale during high-response acceleration/deceleration
Set the magnification against delay/lead compensation (SP006) of the high-response acceleration/deceleration (valid when SP226/ bitD is set to "1").
Normally, set to "0". Set this parameter to suppress overshooting when the speed is reached.
---Setting range---
0 to 10000 (0.01%)
#13096 SP096 SDW Speed slowdown allowable width
When the spindle slows down due to multiple cutting, set the processable speed as percentage against the
NC command speed.
When "0" is set, the magnification is the same as when "85" is set. When set to "-1", the allowable width will be disabled.
---Setting range---
-1,0 to 100(%)
#13097 SP097 RNG1ex
When setting the machine side encoder resolution in pulse (p) unit, set the number of pulses to four bite data of SP097 (high-order) and SP019 (low-order) in pulse (p) unit.
When SP097=0, the setting unit of SP019 is (kp).
Refer to SP019 for details.
Related parameters: SP019, SP020, SP098
---Setting range---
-1 to 32767
Extension sub side encoder resolution
#13098 SP098 RNG2ex
When setting the motor side encoder resolution in pulse (p) unit, set the number of pulses to four bite data of SP098 (high-order) and SP020 (low-order) in pulse (p) unit.
When SP098=0, the setting unit of SP020 is (kp).
Refer to SP020 for details.
Related parameters: SP019, SP020, SP097
---Setting range---
-1 to 32767
Extension main side encoder resolution
#13099-
13105
SP099-SP105
Not used. Set to "0".
#13106 SP106 PGM OMR-FF scale model gain
Set the scale model gain (position response) in OMR-FF control.
Set the same value as SV002(PGN).
Increase the setting value to perform a high-speed machining such as a fine arc or to improve the path error.
Lower the value when vibration occurs during acceleration/deceleration.
Set to "0" when not using OMR-FF control.
---Setting range---
0 to 300 (rad/s)
#13107-
13111
SP107-SP111
Not used. Set to "0".
#13112 SP112 IFF
Set the current feed forward rate in OMR-FF control.
The standard setting is "10000".
Setting value of 0 is equal to "10000(100%)" setting.
Set to "0" when not using OMR-FF control.
---Setting range---
0 to 32767 (0.01%)
OMR-FF current feed forward gain
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(PR)
#13113 SP113 OPLP
Set the current command value for when the open loop control is enabled.
When "0" is set, the state will be the same as when "50" is set.
When not using, set to "0".
The open loop control is enabled when "SP018/bit1" is set to "1".
---Setting range---
0 to 999 (Short-time rated %)
Current command value for open loop
#13114 SP114 MKT
Set the time required to cut off the gate when turning OFF/ON the coil switch contactor.
The value should be longer than the coil switch contactor's OFF/ON time.
The standard setting is "150".
---Setting range---
0 to 3500 (ms)
Coil changeover gate cutoff timer
#13115 SP115 MKT2 Coil changeover current limit timer
Set the time required to limit the current immediately after the coil switch contactor ON/OFF is completed and the gate is turned ON.
The standard setting is "250".
---Setting range---
0 to 3500 (ms)
#13116 SP116 MKIL Coil changeover current limit value
Set the time required to limit the current immediately after the coil switch contactor ON/OFF is completed and the gate is turned ON.
The standard setting is "120".
---Setting range---
0 to 999 (Short-time rated %)
#13117 SP117 SETM
Set the time to detect the speed excessive error alarm.
Set the time required to the machine.
The standard setting is "12".
---Setting range---
0 to 60 (s)
Excessive speed deviation timer
#13118 SP118 MSFT
Set the magnetic pole shift amount of IPM spindle motor.
During DC excitation of the initial setup: Set the same value displayed in the "AFLT gain" on the NC monitor screen in SP225/bit4=1.
When not using, set to "0".
---Setting range---
-18000 to 18000 (electrical angle 0.01°)
Magnetic pole shift amount
#13119 SP119
Not used. Set to "0".
#13120 SP120
Not used. Set to "0".
#13121 SP121 MP Kpp
Set the position loop gain in the magnetic polar detection loop.
This is used in the initial magnetic polar detection when the IPM spindle motor is turned ON.
Set to "0" when using an IM spindle motor.
---Setting range---
0 to 32767
Magnetic pole detection position loop gain
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4 Setup
#13122 SP122 MP Kvp
Set the speed loop gain in the magnetic polar detection loop.
This is used in the initial magnetic polar detection when the IPM spindle motor is turned ON.
Set to "0" when using an IM spindle motor.
---Setting range---
0 to 32767
Magnetic pole detection speed loop gain
#13123 SP123 MP Kvi
Set the speed loop lead compensation in the magnetic polar detection loop.
This is used in the initial magnetic polar detection when the IPM spindle motor is turned ON.
Set to "0" when using an IM spindle motor.
---Setting range---
0 to 32767
Magnetic pole detection speed loop lead compensation
#13124 SP124 ILMTsp Magnetic pole detection current limit value
Set the current limit value for the magnetic polar detection loop.
This is used in the initial magnetic polar detection when the IPM spindle motor is turned ON.
Set to "0" when using an IM spindle motor.
---Setting range---
0 to 999 (Short-time rated %)
#13125 SP125 DA1NO D/A output ch1 data No. / Initial DC excitation level
Input the desired data number to D/A output channel.
When using the 2-axis drive unit, set "-1" to the axis that the data will not be output.
When the DC excitation is running:
Use in the DC excitation function.
DC excitation: Set the initial excitation level when SP225/bit4=1.
When "0" is set, the state will be the same as when "20" is set.
---Setting range---
-32768 to 32767
#13126 SP126 DA2NO
Input the desired data number to D/A output channel.
When using the 2-axis drive unit, set "-1" to the axis that the data will not be output.
When the DC excitation is running:
Use in the DC excitation function.
DC excitation: Set the final excitation level when SP225/bit4=1.
When "0" is set, the state will be the same as when "50" is set.
---Setting range---
-32768 to 32767
D/A output ch2 data No. / Final DC excitation level
#13127 SP127 DA1MPY
Set the output scale in increments of 1/100.
When "0" is set, the scale is the same as when "100" is set.
When the DC excitation is running:
Use in the DC excitation function.
DC excitation: Set the initial excitation time when SP225/bit4=1.
When "0" is set, the state will be the same as when "10000" is set.
---Setting range---
-32768 to 32767 (1/100-fold)
D/A output ch1 output scale / Initial DC excitation time
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(PR)
(PR)
(PR)
(PR)
#13128 SP128 DA2MPY
Set the output scale in increments of 1/100.
When "0" is set, the scale is the same as when "100" is set.
---Setting range---
-32768 to 32767 (1/100-fold)
D/A output ch2 output scale
#13129-
13141
SP129-SP141
Set the unique constants for the spindle motor. (High-speed coil)
The setting value is determined by the motor's mechanical and electrical characteristics and specifications, so normally set the value given in the spindle parameter list.
#13142 SP142
Set the unique constants for the spindle motor. (High-speed coil)
The setting value is determined by the motor's mechanical and electrical characteristics and specifications, so normally set the value given in the spindle parameter list.
For IPM spindle motor
This parameter is used in initial magnetic pole detection of IPM spindle motor.
(1) Pulse application time: Set it in [ μ s] unit.(0 < application time < 350)
(2) Pulse application coil: To select a low-speed coil, add 1000 to the pulse application time.
(3) Polarity of estimated magnetic pole: When it is set to the reverse polarity, add "-" to the total of (1) and (2).
E.g.: When performing 333 μ s pulse-applied magnetic pole estimation in a low-speed coil and selecting the reverse polarity for the estimated polarity
SP142 = -(333+1000) = -1333
#13143-
13160
SP143-SP160
Set the unique constants for the spindle motor. (High-speed coil)
The setting value is determined by the motor's mechanical and electrical characteristics and specifications, so normally set the value given in the spindle parameter list.
#13161-
13192
SP161-SP192
Set the unique constants for the spindle motor. (Low-speed coil)
The setting value is determined by the motor's mechanical and electrical characteristics and specifications, so normally set the value given in the spindle parameter list.
#13193 SP193 LMR
Set the standard output to be displayed as 100% in load meter using the short-time rated output ratio.
To display the continuous rated output as 100%, set as follows.
Continuous rated output/Short-time rated output × 100
When "0" is set, normal display will be applied.
---Setting range---
0 to 100 (%)
Change magnification for load meter standard output
(High-speed coil)
#13194 SP194 LMN
Set the base speed of the standard output to be displayed as 100% in load meter.
When "0" is set, the base speed of the short-time rated output will be applied.
---Setting range---
0 to 32767 (r/min)
Base speed for load meter standard output (High-speed coil)
#13195 SP195 LMRL Change magnification for load meter standard output
(Low-speed coil)
Set the standard output to be displayed as 100% in load meter using the short-time rated output ratio.
To display the continuous rated output as 100%, set as follows.
Continuous rated output/Short-time rated output × 100
When "0" is set, normal display will be applied.
---Setting range---
0 to 100 (%)
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4 Setup
#13196 SP196 LMNL Base speed for load meter standard output (Low-speed coil)
Set the base speed of the standard output to be displayed as 100% in load meter.
When "0" is set, the base speed of the short-time rated output will be applied.
---Setting range---
0 to 32767 (r/min)
#13197-
13198
SP197-SP198
Not used. Set to "0".
#13199 SP199 RTGM Real-time tuning: maximum adaptive gain multiplier
In case that machine resonance is induced when mounting a workpiece, the speed loop gain is switched automatically in response to inertia by setting the speed loop gain and workpiece inertia multiplier in advance.
The speed loop gain SP199(RTGM) changes in response to the estimated inertia ratio SP200(RTJX) based on the speed loop gain SP005(VGN1) and the inertia multiplier SP037(JL) which were adjusted when no workpiece was mounted.
When SP199 is set to "0", the adaptation of the speed loop gain will be disabled.
Speed control gain multiplier [%]
RTGM
(SP199)
VGN1
(SP005)
JL
㻌
(SP037)
Related parameters: SP005, SP037, SP200
---Setting range---
0 to 5000 (%)
RTJX
(SP200)
Estimated inertia ratio [%]
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#13200 SP200 RTJX Real-time tuning: maximum adaptive inertia ratio
In case that machine resonance is induced when mounting a workpiece, the speed loop gain is switched automatically in response to inertia by setting the speed loop gain and workpiece inertia multiplier in advance.
The speed loop gain SP199(RTGM) changes in response to the estimated inertia ratio SP200(RTJX) based on the speed loop gain SP005(VGN1) and the inertia multiplier SP037(JL) which were adjusted when no workpiece was mounted.
When SP199 is set to "0", the adaptation of the speed loop gain will be disabled.
Speed control gain multiplier [%]
RTGM
(SP199)
VGN1
(SP005)
JL
㻌
(SP037)
Related parameters: SP005, SP037, SP199
---Setting range---
0 to 32767 (%)
RTJX
(SP200)
Estimated inertia ratio [%]
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4 Setup
#13201-
13224
SP201-SP224
Not used. Set to "0".
#13225 SP225 SFNC5
Select the spindle functions.
Functions are allocated to each bit.
Set this in hexadecimal format.
Spindle function 5 mohn thtyp dcd ddir thno mken ovsn bit F-C: ovsn Overshooting compensation type 3 non-sensitive band
Set the non-sensitive band of the overshooting compensation type 3 in increments of 2°/1000.
In the feed forward control, set the non-sensitive band for the model position droop and ignore the model overshooting. Set to "2°/1000" as a standard. bit B-9:
Not used. Set to "0". bit 8: mken Coil switch allowance in deceleration control
This enables a coil changeover while decelerating after an emergency stop for a spindle motor with coil changeover specification. A coil changeover may enable an excessive load inertia to stop within the maximum delay time.
0: Normal (Disable)
1: Enable bit 7-6: thno
Select the thermistor characteristics.
When SP225/bit3=0 (N type) is selected
bit7,6=
00: For Mitsubishi spindle motor
01: Setting prohibited
10: Setting prohibited
11: Setting prohibited
When SP225/bit3=1 (P type) is selected
bit7,6=
00: KTY84-130 (Manufactured by Philips)
01: Setting prohibited
10: Pt1000 (Platinum resistance temperature detector)
11: Setting prohibited bit 5: ddir Proximity switch signal enable edge
0: Falling edge 1: Rising edge bit 4: dcd DC excitation mode
0: Normal 1: Start bit 3: thtyp
Select the thermistor type.
0: Type N thermistor (Mitsubishi Electric standard)
1: Type P thermistor or platinum resistance temperature detector bit 2: mohn Thermistor temperature detection
0: Normal 1: Disable (Except for TS5690/5691) bit 1-0:
Not used. Set to "0".
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#13226 SP226 SFNC6
Select the spindle functions.
Functions are allocated to each bit.
Set this in hexadecimal format.
Spindle function 6 clof pon stod r2c tqof vup obs bit F :
Not used. Set to "0". bit E : obs Disturbance observer
0: Normal 1: Enable bit D : vup High response acceleration / deceleration
This suppresses a temporal delay which occurs when the target speed is attained from acceleration and when the spindle stops from deceleration.
0: Normal acceleration/deceleration 1: High response acceleration/deceleration Enable bit C : tqof Spindle output stabilization during acceleration
0: Normal 1: Disable bit B-9 :
Not used. Set to "0". bit 8 : r2c Temperature compensation adjustment indicator
0: Normal 1: Display bit 7 :
Not used. Set to "0". bit 6 : stod 4D-2 detection disabled during deceleration and stop
0: Normal 1: Alarm 4D-2 detection disabled during deceleration and stop bit 5 : pon IPM spindle pulse application magnetic pole estimation
0: Normal 1: Enable bit 4 :
Not used. Set to "0". bit 3 : clof Collision detection estimated disturbance torque offset
0: Disable 1: Enable bit 2-0 :
Not used. Set to "0".
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4 Setup
#13227 SP227 SFNC7
Select the spindle functions.
Functions are allocated to each bit.
Set this in hexadecimal format.
Spindle function 7 ccu dos3 dis bit F-C : dis Digital signal input selection
0: No signal
4: Proximity switch signal detection
Other settings: setting prohibited bit B-A : dos3 Digital signal output 3 selection (MDS-EJ-SP/SP2)
bitB,A=
00: Disable
01: Setting prohibited
10: Contactor control signal output
11: Setting prohibited bit 9-3 :
Not used. Set to "0". bit 2 : ccu Lost motion/overshoot compensation compensation amount setting unit
0: Short-time rated % 1: Short-time rated 0.01% bit 1-0 :
#13228
Not used. Set to "0".
SP228 SFNC8
Not used. Set to "0000".
Spindle function 8
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#13229 SP229 SFNC9
Select the spindle functions.
Functions are allocated to each bit.
Set this in hexadecimal format.
Spindle function 9 omrffon sto sdt2 rps bit F-E :
Not used. Set to "0". bit D : rps Safely limited speed setting unit
0: Normal 1: 100°/min bit C : sdt2 Specified speed output digital signal 2 output
0: Normal 1: Enable bit B-9 :
Not used. Set to "0". bit 8 : sto Dedicated wiring STO function
Set this parameter to use dedicated wiring STO function.
0: Dedicated wiring STO function unused 1: Dedicated wiring STO function used
(Only for MDS-E/EH and MDS-EJ/EJH) bit 7-1 :
Not used. Set to "0".
bit 0 : omrffon OMR-FF control enabled
0: Disable 1: Enable
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#13230 SP230 SFNC10
Select the spindle functions.
Functions are allocated to each bit.
Set this in hexadecimal format.
Spindle function 10
(PR) cse nohis pfdsr bit F-C :
Not used. Set to "0". bit B : pfdsr
Set the spindle stop operation at a power failure when the deceleration and stop function at power failure is enabled.
Normal (Coast to a stop at power failure) : 0
Deceleration and stop at power failure : 1 bit A-9 :
Not used. Set to "0". bit 8 : nohis History of communication error alarm between NC and DRV(34,36,38,39)
0: Enable 1: Disable bit 7 : cse Spindle C axis command speed monitoring function
0: Normal setting (function disabled) 1: Function enabled bit 6-0 :
Not used. Set to "0".
Related parameters: SP055, SP056
#13231 SP231
Not used. Set to "0000".
#13232 SP232
Not used. Set to "0000".
#13233 SP233 IVC
When 100% is set, the voltage equivalent to the logical non-energized time will be compensated.
When "0" is set, 100% compensation will be performed.
Adjust in increments of 10% from the default value 100%.
If the value is too large, vibration or vibration noise may be generated.
---Setting range---
0 to 255 (%)
Voltage non-sensitive band compensation
#13234 SP234
Not used. Set to "0".
#13235 SP235 R2H
Set the magnification in converting the thermistor temperature to the control compensation amount.
When "0" is set, the temperature compensation function is disabled.
When not using, or when using an IPM spindle motor, set to "0".
---Setting range---
0 to 400 (%)
Temperature compensation gain
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4 Setup
(PR)
(PR)
(PR)
(PR)
#13236 SP236 WIH
Set the delay time constant from the thermistor temperature to the control compensation amount.
When "0" is set, the delay time constant is disabled.
When not using, or when using an IPM spindle motor, set to "0".
---Setting range---
0 to 150 (min)
Temperature compensation time constant
#13237 SP237 TCF
Set the filter for the torque command.
The standard value is "500".
---Setting range---
0 to 5000 (rad/s)
Torque command filter
#13238-
13240
SP238-SP240
Not used. Set to "0".
#13241-
13256
SP241-SP256
This is automatically set by the NC system.
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5
Servo Adjustment
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5 Servo Adjustment
5.1 Servo Adjustment Procedure
Adjusting servo Setup has completed.
Measures against the vibration
· Notch filter
·
· Jitter compensation
Variable speed loop gain
YES
Mainly measure the position droop waveform.
Measure the electrical end position
FB (encoder position FB) waveform.
Set speed loop gain
Look for the maximum value not causes machine resonance. The final setting value should be 70 to 80% of the maximum value at which the machine does not resonate.
Vibration occurs?
NO
Set position loop gain
Perform the adjustment so that vibration or overshooting does not occur.
Improve protrusion at quadrant
Set protective function
Adjusting servo completed
Perform lost motion compensation
Set the functions of overload detection, deceleration control at emergency stop, vertical axis drop prevention, etc.
Accuracy adjustment of the electrical end position FB has completed.
CAUTION
Perform adjusting the servo in the factory configuration of the machine. When the servo is adjusted without having an enough running-in or a cover, friction torque, machine resonance frequency or resonance gain may be different, resulting in an incorrect adjustment.
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5 Servo Adjustment
5.2 Gain Adjustment
5.2.1 Current Loop Gain
【
#2209
】
Set the fixed value of each motor.
Set the standard value for each motor described in the standard parameter list.
---Setting range---
1 to 20480
【
#2210
】
Set the fixed value of each motor.
Set the standard value for each motor described in the standard parameter list.
---Setting range---
1 to 20480
【
#2211
】
Set the fixed value of each motor.
Set the standard value for each motor described in the standard parameter list.
---Setting range---
1 to 8192
【
#2212
】
Set the fixed value of each motor.
Set the standard value for each motor described in the standard parameter list.
---Setting range---
1 to 8192
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5.2.2 Speed Loop Gain
(1) Setting the speed loop gain
The speed loop gain 1 (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.
[1] Refer to the following standard VGN1 graphs and set the standard VGN1 according to the size of the entire load inertia (motor and machine load inertia).
[2] If the standard VGN1 setting value is exceeded, the current command fluctuation will increase even if the speed feedback fluctuates by one pulse. This can cause the machine to vibrate easily, so set a lower value to increase the machine stability.
< 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, VGN1 can be raised above the standard value as long as a 70 percent margin in respect to the machine resonance occurrence limit is maintained. The cutting accuracy can also be improved by adjusting with the disturbance observer.
< 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 "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.
【
#2205
】
Set the speed loop gain.
The higher the setting value is, the more accurate the control will be, however, vibration tends to occur.
If vibration occurs, adjust by lowering by 20 to 30%.
The value should be determined to the 70 to 80% of the value at which the vibration stops.
The value differs depending on servo motors.
Aim at the standard value determined by the servo motor type and load inertia ratio to adjust.
---Setting range---
1 to 30000
POINT
Suppressing the resonance with the vibration suppression function and increasing the VGN1 setting is effective for adjusting the servo later.
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5 Servo Adjustment
Load inertia ratio display
Perform the measurement in the section "Measuring unbalance torque and frictional torque", and set a torque offset
(SV032) and frictional torque (SV045).
When an acceleration/deceleration operation is executed with the setting of SV035/bitF=1, an estimated load inertia ratio will be displayed in "load inertia ratio" on the drive monitor screen.
Standard VGN1 graph (servo motor HG, HG-H Series)
[ HG96 ]
60
Standard
VGN1
30
20
50
40
10
0
100 200 600
[ HG75, HG54 ]
[ HG-H54 ]
300
250
200
Standard
150
VGN1
100
50
0
100 200
[ HG154 ]
[ HG-H154 ]
300
250
200
150
100
50
600
0
100 200 600
[ HG105, HG104, HG224 ]
300
250
200
Standard
150
VGN1
100
50
0
100 200
[ HG-H104 ]
300
250
200
150
100
50
600
0
100 200 600
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[ HG204, HG354, HG123, HG142 ]
[ HG-H204 ]
600
500
400
Standard
300
VGN1
200
100
0
100 200
600
500
400
300
[ HG223, HG453, HG702 ]
[ HG-H354, HG-H453 ]
200
100
600
0
100 200 600
[ HG303 ]
600
500
400
Standard
300
VGN1
200
100
0
100 200
[ HG302
900
750
600
450
300
150
600
0
100 200 600
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(2) Setting the speed loop lead compensation
The speed loop lead 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 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 or stopping, and the position droop waveform could be disturbed when accelerating to a constant speed and when stopped. (Refer to lower left drawing)
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
D/A output rang
0
Time
Position droop
0
Time
0
Time
Vibration waveform with lead compensation control Adjusted position droop waveform
If VIA is lowered, the position droop waveform becomes smooth and overshooting does not occur.
However, because the trackability in respect to the position commands becomes worse, the positioning time and accuracy are sacrificed. VIA must be kept high (set the standard value) to guarantee precision, especially in highspeed contour cutting (generally F = 1000 or higher). In other words, in a machine aiming for high speed and high accuracy, a large enough value must be set in VGN1 so that VIA does not need to be lowered. 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.
【
#2208
】
Set the gain of the speed loop integral control.
Standard setting: 1364
Standard setting in the SHG control: 1900
Adjust the value by increasing/decreasing this by about 100 at a time.
Raise this value to improve contour tracking accuracy in high-speed cutting.
Lower this value when the position droop does not stabilize (when the vibration of 10 to 20Hz occurs).
---Setting range---
1 to 9999
POINT
Position droop vibration of 10Hz or less is not leading compensation control vibration. The position loop gain must be adjusted.
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5.2.3 Position Loop Gain
(1) Setting the position loop gain
The position loop gain 1 (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 trackability will be raised and 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 in the position loop occurs generally 10Hz or less. (The VIA vibration occurs from 10 to
20Hz.) When the position control includes machine resonance points (Position control machine resonance points occur at the tool end parts, etc.) because of insufficient machine rigidity, the machine will vibrate during positioning, etc. In either case, lower PGN1 and adjust so that 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. Adjust SHG control by raising the gain gradually after setting PGN1 as 1/2 a value of PGN1 at which a vibration does not occur under the normal control. 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.)
【
#2203
】
Set the position loop gain. The standard setting is "33".
The higher the setting value is, the more accurately the command can be followed, and the shorter the settling time in positioning gets, however, note that a bigger shock will be applied to the machine during acceleration/deceleration.
When using the SHG control, also set SV004 (PGN2) and SV057 (SHGC).
---Setting range---
1 to 200 (rad/s)
【
#2204
】
When performing the SHG control, set the value of "SV003 x 8/3" to "SV004".
When not using the SHG control, set to "0".
---Setting range---
0 to 999 (rad/s)
【
#2257
】
When performing the SHG control, set to SV003(PGN1)*6.
When not using the SHG control, set to "0".
---Setting range---
0 to 1200 (rad/s)
CAUTION
Always set the same value for the position loop gain between the interpolation axes.
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(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.
【
#2249
】
Set the position loop gain during spindle synchronization control (synchronous tapping and synchronization control with spindle C-axis).
Set the same value as that of the position loop gain for spindle synchronous tapping control.
When performing the SHG control, set this parameter with SV050 (PGN2sp) and SV058 (SHGCsp).
---Setting range---
1 to 200 (rad/s)
【
#2250
】
When using SHG control during spindle synchronous control (synchronous tapping and synchronization control with spindle C-axis), set this parameter with SV049 (PGN1sp) and SV058
(SHGCsp).
Make sure to set the value 8/3 times that of SV049.
When not using the SHG control, set to "0".
---Setting range---
0 to 999 (rad/s)
【
#2258
】
When using SHG control during spindle synchronization control (synchronous tapping and synchronous control with spindle C-axis), set this parameter with SV049 (PGN1sp) and SV050
(PGN2sp).
Make sure to set the value 6 times that of SV049.
When not using the SHG control, set to "0".
---Setting range---
0 to 1200 (rad/s)
CAUTION
Always set the same value for the position loop gain between the spindle and servo synchronous axes.
(3) SHG control
If the position loop gain is increased or feed forward control (NC 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. (SHG: Smooth
High-Gain)
(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.
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50.0
0.0
[1] : Commanded path
[2] : SHG control (PGN1=47)
[3] : Conventional control (PGN1=33)
<Effect>
Control method Roundness error ( ȣ m)
-50.0
-50.0
0.0
(F=3000mm/min , ERROR=5.0μm/div )
50.0
Conventional control
SHG control
Shape error characteristics
2.5
22.5
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.
SV003
(SV049)
SV004
(SV050)
SV057
(SV058)
Abbrev.
Parameter name
PGN1
(PGN1sp)
PGN2
(PGN2sp)
SHGC
(SHGCsp)
Position loop gain 1
Position loop gain 2
SHG control gain
Setting ratio
1
8/3
6
Setting example Explanation
21 27 33 39 48
56 72 88 104 128
Always set with a combination of these three parameters.
126 162 198 234 288
Setting range
1 to 200
(rad/s)
0 to 999
(rad/s)
0 to 1200
(rad/s)
【
#2208
】
Set the gain of the speed loop integral control.
Standard setting: 1364
Standard setting in the SHG control: 1900
Adjust the value by increasing/decreasing this by about 100 at a time.
Raise this value to improve contour tracking accuracy in high-speed cutting.
Lower this value when the position droop does not stabilize (when the vibration of 10 to 20Hz occurs).
---Setting range---
1 to 9999
【
#2215
】
When a relative error in synchronous control is too large, set this parameter to the axis that is delaying.
The standard setting is "0". The standard setting in the SHG control is "100".
To adjust a relative error in acceleration/deceleration, increase the value by 50 at a time.
---Setting range---
0 to 999 (%)
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5.2.4 OMR-FF Function
OMR-FF control improves the inner rounding amount of the arc, corner tracking error, or path vibration, etc. more comprehensively than conventional high-speed high-accuracy control by creating appropriate feed forward command for each of position, speed, and current depending on the vibration characteristics of the control target.
Feed forward is performed inside the drive unit according to the scale model and inertia setting in the OMR-FF generation part, and can independently set the command trackability with the scale model position loop gain (PGM) and the servo rigidity with the position control gain (PGN). This enables the higher and smoother trackability to the position command.
This function can be highly effective for linear servo, direct drive motors, or general motors in semi-closed loop control.
OMR-FF control option for NC side is required when using this function.
Position command
SV037
(load inertia)
+
-
Scale model
(PGM)
OMR-FF generation part
Position FF Speed FF
Position control
(PGN)
+
+
S
-
Speed control
Current FF
+
+
Control target
No.
SV106
SV112
Abbrev.
PGM
IFF
OMR-FF function adjustment parameters
Parameter name
OMR-FF scale model gain
OMR-FF current feed forward gain
Setting range (unit)
0 to 300 (rad/s)
0 to 32767 (0.01%)
CAUTION
1. Always set the load inertia scale when using this function because the parameter is crucial to this function.
If this function is enabled, the estimated inertia value is displayed as "0". If setting the load inertia scale, be sure to set it before the adjustment for OMR-FF function.
2. Disable SHG control when using this function.
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< Initial implementation >
When using OMR-FF function, perform the following adjustment items beforehand. The adjustment for OMR-
FF function does not operate correctly if the following items are not performed.
< Setting method >
(1) Confirm that OMR-FF function is invalid.
#2139 : omrff_off= "1"
#2313 : SV113(SSF8)/bit0 = "0"
(2) Set the standard parameters for the motor to be used.
(3) Enable SHG control.
Set #2203 : SV003(PGN1) to the standard setting, "33".
Set #2204 : SV004(PGN2) to "88".
Set #2257 : SV057(SHGC) to "198".
Set #2208 : SV008(VIA) to "1900".
(4) Adjust the speed loop gain. Adjust so that VGN1 is an appropriate value (the result of frequency response measurement on NC Analyzer is "Gain Margin > 8dB / Phase Margin > 30deg").
-> For the adjustment method, refer to the section "6.1.2 (3) Adjusting the speed loop parameter".
(5) Confirm that acceleration/deceleration operation can be executed with no alarm.
(6) Set SV035(SSF4)/bitF(clt) to "1" and repeat acceleration/deceleration several times. Check the estimated inertia value on the NC monitor screen and set the displayed value to SV037(JL).
(7) Set SV003(PGN1) .
Check "Cross Freq (Hz)" with frequency response measurement on NC Analyzer.
SV003(PGN1) = "Cross Freq (Hz)" × 2 π / 4
(Example 1) Measurement value Cross Freq : 100Hz
Since 100(Hz) × 2 π / 4 ≒ 157, set SV003(PGN1) to 157.
* The value of SV003(PGN1) must be set for each axis to be used.
【
#2139
】
Select whether to enable or temporarily disable the OMR-FF control when OMR-FF is valid.
0 : OMR-FF function is applied if OMR-FF function is enabled.
1 : OMR-FF function is temporarily disabled and conventional feed forward control is applied if
OMR-FF function is enabled.
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【
#2203
】
Set the position loop gain. The standard setting is "33".
The higher the setting value is, the more accurately the command can be followed, and the shorter the settling time in positioning gets, however, note that a bigger shock will be applied to the machine during acceleration/deceleration.
When using the SHG control, also set SV004 (PGN2) and SV057 (SHGC).
When using the OMR-FF control, set the servo rigidity against quadrant projection or cutting load, etc. For the tracking ability to the command, set by SV106(PGM).
---Setting range---
1 to 200 (rad/s)
【
#2204
】
When performing the SHG control, set the value of "SV003 x 8/3" to "SV004".
When not using the SHG control, set to "0".
When using the OMR-FF control, set to "0".
Related parameters: SV003, SV057
---Setting range---
0 to 999 (rad/s)
【
#2257
】
When performing the SHG control, set to SV003(PGN1)×6.
When not using the SHG control, set to "0".
When using the OMR-FF control, set to "0".
Related parameters: SV003, SV004
---Setting range---
0 to 1200 (rad/s)
【
#2237
】
Set the motor axis conversion total load inertia including motor itself in proportion to the motor inertia.
SV037(JL)=(Jm+Jl)/Jm×100
Jm: Motor inertia
Jl: Motor axis conversion load inertia
For linear motor, set the gross mass of the moving sections in kg unit.
<<Drive monitor load inertia ratio display>>
Set SV035/bitF=1 and imbalance torque and friction torque to both SV032 and SV045, and then repeat acceleration/deceleration for several times.
---Setting range---
For general motor: 0 to 5000 (%)
For linear motor 0 to 5000 (kg)
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< OMR-FF function adjustment items >
Enable OMR-FF function after performing the adjustment items in < Initial implementation > and adjust the following parameters.
< Setting method >
(1) Disable SHG control.
Set #2204 : SV004(PGN2) to "0"
Set #2257 : SV057(SHGC) to "0"
Set #2208 : SV008(VIA) to "1364"
(2) Enable OMR-FF function.
#2139 : omrff_off = "0"
#2313 : SV113(SSF8)/bit0 = "1"
(3) Set the OMR-FF function related parameters.
Set #2306 : SV106(PGM) to the same value as SV003.
Set #2312 : SV112(IFF) to "10000"
(4) Set the following parameter with overshooting, machine vibration and current value in cutting feed and rapid traverse.
< Adjustment parameter >
#2306 : SV106(PGM)
(5) Set the following parameters with the roundness measurement.
< Adjustment parameters >
#2306 : SV106(PGM)
(6) Set the following parameters with the corner accuracy test.
< Adjustment parameters >
#2304 : SV104(FFR0)
#2305 : SV105(FFR1)
#2306 : SV106(PGM)
CAUTION
1. After the above adjustment, set SV106 in the interpolation axes to the same value as the axis with the lowest SV106 value.
2. Perform the above confirmation of accuracy in G61.1(G8P1)(high-accuracy) mode; use the constant and filter for highaccuracy mode with OMR-FF function. Note that only #2010: fwd-g (Feed forward gain) will be disabled.
3. Feed forward gain (#2010 : fwd_g) on NC side will be disabled while this function is enabled
(#2139:omrff_off = "0").
4. The following functions will be disabled when using this function.
- Acceleration rate feed forward function
- Overshoot compensation function
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Adjustment method of OMR-FF function
Always perform < Initial implementation > before performing the following adjustment items.
OMR-FF function adjustment start
In the state where
OMR-FF function is enabled
Set the standard parameters for OMR-FF control
- SV106(PGM) =33
- SV112(IFF) = 10000
[1] Check the acceleration/deceleration for G01 feed (cutting feed) /
G00 feed (rapid traverse)
<Adjustment parameter> SV106 setting
NO
*Adjust according to (a), (b) or (c)
(a) Decrease SV106 by "10"
(b) Decrease SV112 by "1000"
(c) Increase the time constant
Normal ?
YES
Measure the following with Waveform measurement function (Time-series data measurement) on NC Analyzer
- Position droop → Overshooting does not occur
- Current feed back → Vibration does not occur
when axis stops
*Perform [1] after setting (a) or (b), and the setting is completed before a problem occurs
(a) Increase SV106 by "10"
(b) Decrease the time constant
Completed
CAUTION
1. Always set the same value in the scale model gain of the interpolation axes when OMR-FF function is enabled.
2. Perform the above confirmation of accuracy in G61.1(G8P1)(high-accuracy) mode; use the constant and filter for highaccuracy mode with OMR-FF function.
Note that only #2010: fwd-g (Feed forward gain) will be disabled.
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【
#2306
】
Set the scale model gain (position response) in OMR-FF control.
Set the same value as SV003(PGN1).
Increase the setting value to perform a high-speed machining such as a fine arc or to improve the path error.
Lower the value when vibration occurs during acceleration/deceleration.
Set to "0" when not using OMR-FF control.
---Setting range---
0 to 300 (rad/s)
【
#2312
】
Set the current feed forward rate in OMR-FF control.
The standard setting is "10000".
Setting value of "0" is equal to "10000(100%)" setting.
Set to "0" when not using OMR-FF control.
---Setting range---
0 to 32767 (0.01%)
【
#2313
】
bit 0 : omrffon OMR-FF control enabled
0: Disable 1: Enable
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5.3 Characteristics Improvement
5.3.1 Optimal Adjustment of Cycle Time
The following items must be adjusted to adjust the cycle time. Refer to the Instruction Manuals provided with each CNC for the acceleration/deceleration pattern.
[1] Rapid traverse rate (rapid) : This will affect the maximum speed during positioning.
[2] Clamp speed (clamp) : This will affect the maximum speed during cutting.
[3] Acceleration/deceleration time constant (G0t*, G1t*) : Set the time to reach the feedrate.
[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
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. The output torque is limited at areas near the maximum speed, so monitor the current FB waveform during acceleration/deceleration and adjust so that the torque is within the specified range.
If the drive unit's input voltage is less than the rated voltage, the torque will easily become insufficient, and excessive errors will occur easily during acceleration/deceleration.
Maximum tolerable current command value when adjusting the rapid traverse acceleration/deceleration time constant
MDS-EM Series (200V series)
Motormodel Max. current command value
HG96
HG75
HG105
HG54
HG104
HG154
HG224
HG204
HG354
HG123
HG223
HG303
HG453
HG702
HG142
HG302
Within 260%
Within 380%
Within 270%
Within 460%
Within 350%
Within 410%
Within 320%
Within 340%
Within 280%
Within 190%
Within 230%
Within 260%
Within 220%
Within 270%
Within 190%
Within 210%
MDS-EMH Series (400V series)
Motormodel Max. current command value
HG-H54
HG-H104
Within 460%
Within 370%
HG-H154
HG-H204
HG-H354
HG-H453
Within 410%
Within 310%
Within 330%
Within 320%
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(2) Adjusting the cutting feed
To adjust the cutting rate, the NC 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 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 Δ T can be reduced.
(Adjustment)Set 1 (step) for the acceleration/deceleration time constant and carry out cutting feed reciprocation operation with 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.
Maximum tolerable current command value when adjusting the cutting feed acceleration/deceleration time constant
MDS-EM Series (200V series)
Motormodel Max. current command value
HG96
HG75
HG105
HG54
HG104
HG154
HG224
HG204
HG354
HG123
HG223
HG303
HG453
HG702
HG142
HG302
Within 184%
Within 270%
Within 189%
Within 323%
Within 245%
Within 291%
Within 224%
Within 243%
Within 203%
Within 133%
Within 161%
Within 189%
Within 159%
Within 189%
Within 133%
Within 147%
MDS-EMH Series (400V series)
Motormodel Max. current command value
HG-H54
HG-H104
Within 323%
Within 263%
HG-H154
HG-H204
HG-H354
HG-H453
Within 291%
Within 222%
Within 232%
Within 229%
CAUTION
Always set the same value for the cutting feed time constant between the interpolation axes.
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(3) Adjusting the in-position width
Because there is a response delay in the servo motor drive due to position loop control, a "settling time" is also required for the motor to actually stop after the command speed from the CNC reaches 0.
The movement command in the next block is generally started after it is confirmed that the machine has entered the
"in-position width" range set for the machine.
Set the precision required for the machine as the in-position width. If a high precision is set needlessly, the cycle time will increase due to a delay in the settling time.
The in-position width is validated with the servo parameter settings, but there may be cases when it is validated with the NC parameters. Refer to each NC Instruction Manual.
【
#2224
】
Set the in-position detection width.
Set the positioning accuracy required for the machine.
The lower the setting is, the higher the positioning accuracy will be. However the cycle time (settling time) becomes longer.
The standard setting value is "50".
---Setting range---
1 to 32767 ( μ m)
POINT
The in-position width setting and confirmation availability depend on the CNC parameters.
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(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 Δ 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 VGN1 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
.
F ԥ
T
Position droop
F
0
0
G0tL
Setting time
Time
In -position
In -position width
Settling time ( ms)
=
10 3
PGN1
ln
F × 10 6
60 × G0tL × PGN1 2
1− exp 㧙
PGN1×G0tL
10 3
INP
PGN1 : Position loop gain1 (SV003) (rad/s)
F : Rapid traverse rate (mm/min)
G0tL : Rapid traverse linear acceleration/
deceleration time constant (ms)
INP : In-position width (SV024) ( Ǵ m)
5.3.2 Vibration Suppression Measures
If vibration (machine resonance) occurs, it can be suppressed by lowering the speed loop gain 1 (VGN1). However, cutting precision and cycle time will be sacrificed. (Refer to "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.
If machine resonance occurs, the resonance frequency can be confirmed at AFLT frequency on NC drive monitor screen. Based on this frequency, the notch filter frequency can be set. (When resonance occurs at 1000 Hz or more,
AFLT frequency may display "0".)
POINT
Suppress the vibration using the vibration suppression functions, and maintain the speed loop gain (SV005) as high as possible.
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< Notch filter >
This servo drive unit mounts 5 notch filters. Measure the resonance frequency with AFLT frequency display on NC drive monitor screen and the current feedback analog output function, and set that frequency in parameter.
However, if the notch filter is set to a particularly low frequency, another resonance frequency that did not vibrate initially may occur. If the notch filter's depth compensation (SV033, nfd1, nfd2) is adjusted so that the filter does not operate unless necessary, the servo control will be stabilized.
Notch filter 3 is a filter with frequency fixed to 1125Hz, and has no depth compensation.
< Setting method >
[1] Set the resonance frequency in the notch filter frequency (1, 2, 4, 5).
[2] If the machine starts to vibrate at another frequency, raise (make shallower) the notch filter depth compensation value, and adjust to the optimum value at which the resonance can be eliminated.
[3] When the vibration cannot be completely eliminated, use also another notch filter for this frequency.
【
#2233
】
bit 7-5 : nfd2 Depth of Notch filter 2
Set the depth of Notch filter 2 (SV046).
bit7,6,5=
000: ∞
001: -18.1[dB]
010: -12.0[dB]
011: -8.5[dB]
100: -6.0[dB]
101: -4.1[dB]
110: -2.5[dB]
111: -1.2[dB]
bit 4 : fhz3 Notch filter 3
0: Stop 1: Start (1125Hz)
bit 3-1 : nfd1 Depth of Notch filter 1
Set the depth of Notch filter 1 (SV038).
bit3,2,1=
000: ∞
001: -18.1[dB]
010: -12.0[dB]
011: -8.5[dB]
100: -6.0[dB]
101: -4.1[dB]
110: -2.5[dB]
111: -1.2[dB]
【
#2238
】
Set the vibration frequency to suppress when machine vibration occurs.
(Normally, do not set 80 or less.)
Set to "0" when not using.
---Setting range---
0 to 5000 (Hz)
【
#2246
】
Set the vibration frequency to suppress when machine vibration occurs.
(Normally, do not set 80 or less.)
Set to "0" when not using.
---Setting range---
0 to 5000 (Hz)
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【
#2283
】
bit 7-5 : nfd5 Depth of Notch filter 5
Set the depth of Notch filter 5 (SV088).
bit7,6,5=
000: ∞
001: -18.1[dB]
010: -12.0[dB]
011: -8.5[dB]
100: -6.0[dB]
101: -4.1[dB]
110: -2.5[dB]
111: -1.2[dB]
bit 3-1 : nfd4 Depth of Notch filter 4
Set the depth of Notch filter 4 (SV087).
bit3,2,1=
000: ∞
001: -18.1[dB]
010: -12.0[dB]
011: -8.5[dB]
100: -6.0[dB]
101: -4.1[dB]
110: -2.5[dB]
111: -1.2[dB]
【
#2287
】
Set the vibration frequency to suppress when machine vibration occurs.
(Normally, do not set 80 or less.)
Set to "0" when not using.
---Setting range---
0 to 5000 (Hz)
【
#2288
】
Set the vibration frequency to suppress when machine vibration occurs.
(Normally, do not set 80 or less.)
Set to "0" when not using.
---Setting range---
0 to 5000 (Hz)
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< Notch filter frequency adaptive tracking function >
Machine system resonance can vary depending on secular changes or installation conditions of machine, resonance frequency may deviate from the notch filter frequency set at the initial adjustment. The adaptive tracking function estimates minor changes in resonance frequency from current command oscillating component, automatically adjusting notch filter effective frequency. The resonance frequency is estimated while G0 is moving and effective frequency is modified while the axis is stopped.
The adaptive tracking function can be applied to notch filter 1, 2, 4, 5 (SV038, SV046, SV087, SV088). When resonance frequency is detected within the adaptive ranges which centers in the frequency set by parameter, resonance frequency from which notch filter effective frequency with the closest setting value is detected, suppressing machine resonance.
< Other specifications >
(a) Machine resonance is detected at frequency ranges of 150Hz to 90Hz.
(b) The depth of notch filter is not automatically adjusted. Only the effective frequency will change while the filter depth remains fixed.
(c) When the notch filter 5 is adaptive to all frequency and also, others are not available, the effective frequency of notch filter 5 is changed.
(d) When parameter setting value is changed; if the effective frequency remains within the adaptive ranges, it will keep operating with the original frequency; if it doesn't, changed parameter value will be applied.
Notch filter
Notch filter 1
Notch filter 2
Notch filter 3
Notch filter 4
Notch filter 5
Notch filter application ranges when the adaptive tracking function is available
Estimated adaptive frequency range
150 to 900 [Hz]
150 to 900 [Hz]
Not included
150 to 900 [Hz]
150 to 900 [Hz]
Avail. Adaptive operation
SV115/bit8
SV115/bit9
Not included
SV115/bitA
SV115/bitB
Adaptive range
Setting value(SV038)±Adaptive range (SV115/bit4,5) [Hz]
Setting value (SV046)±Adaptive range (SV115/bit4,5) [Hz]
Not included
Setting value (SV087)±Adaptive range (SV115/bit4,5) [Hz]
Setting value (SV088)±Adaptive range (SV115/bit4,5) [Hz]
(Note) When adaptive to all frequency (SV115/bitF) 150 to 900 [Hz]
CAUTION
If adaptive ranges are set too wide, frequency may fluctuate so greatly that the control can become unstable.
When the notch filter 5 is set adaptive to all frequency, the depth of the filter shall be set shallowly to enable stable operation with low frequency.
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【
#2315
】
bit F : are Notch filter5 all frequencies adopted
When enabled, Notch filter5 all frequencies adoptive range is not limited regardless of SV115/bit4,5 setting.
0: Disable 1: Enable
bit E-C: dsl Notch filter frequency display
Switch the "AFLT frequency" display on drive monitor screen to check every notch filter frequency.
When the selected notch filter is not used, "0" is displayed.
bitE,D,C=
000 : Estimated resonance frequency (Normal display)
001 : Notch filter 1 frequency
010 : Notch filter 2 frequency
011 : Notch filter 3 frequency (always displays 1125Hz)
100 : Notch filter 4 frequency
101 : Notch filter 5 frequency
Other settings: setting prohibited
bit B : ade5 Notch filter 5 / Adoptive follow-up function
0: Disable 1: Enable
bit A : ade4 Notch filter 4 / Adoptive follow-up function
0: Disable 1: Enable
bit 9 : ade2 Notch filter 2 / Adoptive follow-up function
0: Disable 1: Enable
bit 8 : ade1 Notch filter 1 / Adoptive follow-up function
0: Disable 1: Enable
bit 7-6 : dsn Estimated resonance frequency display holding time
Set the estimated resonance frequency display holding time to the "AFLT frequency" display on drive monitor screen.
bit7,6=
00: 4 [s]
01: 8 [s]
10: 12 [s]
11: 16 [s]
bit 5-4 : dfhz Notch filter frequency range
Set the adaptive range of the notch filter frequency. When the adaptive follow-up function is enabled and if the estimated resonance frequency exists in the set range, the notch filter will be adapted.
Normally set this parameter to "00".
bit5,4=
00: -10 to 10 [%]
01: -20 to 20 [%]
10: -30 to 30 [%]
11: -40 to 40 [%]
bit 3-0 : esn Sensitivity of estimated resonance frequency
Set the sensitivity of the estimated resonance frequency. Smaller setting value enables to detect smaller vibration component, however, adoptive movement will be repeated frequently. Normally set this parameter to "0".
0 : Normal setting (same sensitivity as A) 1 : Sensitivity high to F : Sensitivity low
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< Jitter compensation (Vibration control when motor is stopped.) >
The load inertia becomes much smaller than usual if the motor position enters the machine backlash when the motor is stopped. Because this means that an extremely large VGN1 is set for the load inertia, vibration may occur.
Jitter compensation can suppress the vibration that occurs at the motor stop by ignoring the backlash amount of speed feedback pulses when the speed feedback polarity changes.
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 jitter compensation is set to an axis that is not vibrating is set, vibration could be induced, so take care.
【
#2227
】
bit 5-4 : vfct Jitter compensation pulse number
Suppress vibration by machine backlash when axis stops.
bit5,4=
00: Disable
01: 1 pulse
10: 2 pulse
11: 3 pulses
POINT
Jitter compensation vibration suppression is only effective when the motor is stopped.
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< Variable speed loop gain control >
If vibration occurs when the motor is rotating at a high speed, such during rapid traverse, or if disturbing noise occurs, the state can be improved by lowering the speed loop gain during high-speed rotation. The low-speed region speed loop gain used for cutting feed (G1 feed), etc., is maintained at a high level, so the vibration can be improved without dropping the machining accuracy.
【
#2205
】
Set the speed loop gain.
The higher the setting value is, the more accurate the control will be, however, vibration tends to occur.
If vibration occurs, adjust by lowering by 20 to 30%.
The value should be determined to the 70 to 80% of the value at which the vibration stops.
The value differs depending on servo motors.
Aim at the standard value determined by the servo motor type and load inertia ratio to adjust.
---Setting range---
1 to 30000
【
#2206
】
Set the speed loop gain at the motor limitation speed VLMT (maximum rotation speed x 1.15) with
"VCS(SV029: Speed at the change of speed loop gain)".
Use this to suppress noise at high speed rotation during rapid traverse, etc. Then, the speed loop gain decreases at faster speed than the setting value of VCS.
When not using, set to "0".
Gain
VGN1
VGN2
Speed
VCS VLMT
(Overspeed detection speed)
---Setting range---
-1000 to 30000
【
#2229
】
Noise at high speed rotation including rapid traverse can be reduced by lowering the speed loop gain at high speeds.
Set the speed at which the speed loop gain changes. Use this with SV006 (VGN2).
When not using, set to "0".
---Setting range---
0 to 9999 (r/min)
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5.3.3 Improving the Cutting Surface Precision
If the cutting surface precision or roundness is poor, these can be improved by increasing the speed loop gain (VGN1,
VIA) or by using the disturbance observer function.
Y
X
< 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
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 "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 high-speed 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 "Setting the speed loop lead compensation")
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【
#2205
】
Set the speed loop gain.
The higher the setting value is, the more accurate the control will be, however, vibration tends to occur.
If vibration occurs, adjust by lowering by 20 to 30%.
The value should be determined to the 70 to 80% of the value at which the vibration stops.
The value differs depending on servo motors.
Aim at the standard value determined by the servo motor type and load inertia ratio to adjust.
---Setting range---
1 to 30000
【
#2208
】
Set the gain of the speed loop integral control.
Standard setting: 1364
Standard setting in the SHG control: 1900
Adjust the value by increasing/decreasing this by about 100 at a time.
Raise this value to improve contour tracking accuracy in high-speed cutting.
Lower this value when the position droop does not stabilize (when the vibration of 10 to 20Hz occurs).
---Setting range---
1 to 9999
(3) Voltage non-sensitive zone (Td) compensation
With the PWM control of the inverter circuit, a dead time (non-energized time) is set to prevent short-circuits caused by simultaneous energizing of the P side and N side transistors having the same phase. The dead time has a nonsensitive 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 be increased while the motor is running.
Cutting direction
Motor torque Ҹ 0
Frictional torque
Balanced
Deceleration torque = frictional torque
For circle cutting
Lowering
Unbalance torque
For unbalance torque
【
#2230
】
When 100% is set, the voltage reduction amount equivalent to the logical non-energization in the
PWM control will be compensated.
When "0" is set, 100% compensation will be performed.
Adjust in increments of 10% from the default value of 100%.
If increased too much, vibration or vibration noise may be generated.
---Setting range---
0 to 255 (%)
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(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 filter frequency (SV043: OBS1), and suppress the high frequency disturbance estimate to suppress the vibration. Set "100" as a standard.
[4] Set the observer gain in disturbance observer gain (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.
【
#2237
】
Set the motor axis conversion total load inertia including motor itself in proportion to the motor inertia.
SV037(JL)=(Jm+Jl)/Jm×100
Jm: Motor inertia
Jl: Motor axis conversion load inertia
For linear motor, set the gross mass of the moving sections in kg unit.
<< Drive monitor load inertia ratio display >>
Set SV035/bitF=1 and imbalance torque and friction torque to both SV032 and SV045, and then repeat acceleration/deceleration for several times.
---Setting range---
For general motor: 0 to 5000 (%)
For linear motor 0 to 5000 (kg)
【
#2243
】
Set the disturbance observer filter band.
Normally, set to "100". Setting values of 49 or less is equal to "0" setting.
To use the disturbance observer, also set SV037 (JL) and SV044 (OBS2).
When disturbance observer related parameters are changed, lost motion compensation needs to be readjusted.
Set to "0" when not using.
---Setting range---
0 to 1000 (rad/s)
【
#2244
】
Set the disturbance observer gain. The standard setting is "100 to 300".
To use the disturbance observer, also set SV037 (JL) and SV043 (OBS1).
When disturbance observer related parameters are changed, lost motion compensation needs to be readjusted.
Set to "0" when not using.
---Setting range---
0 to 500 (%)
POINT
The lost motion compensation must be readjusted when the disturbance observer is started.
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5.3.4 Improvement of Characteristics during Acceleration/Deceleration
< SHG control >
Because SHG control has a smoother response during acceleration/deceleration than conventional position controls, the acceleration/deceleration torque (current FB) has more ideal output characteristics (A constant torque is output during acceleration/deceleration.) 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 "Position Loop Gain" for details on setting SHG control.
3000
Speed command
(r/min)
0
-3000
200
Time
0
-200
Acceleration/deceleration characteristics during conventional control
Time
3000
Speed command
(r/min)
0
-3000
200
Time
Current FB
(stall current %)
0
-200
Time
Acceleration/deceler ation characteristics during SHG control
No.
SV003
(SV049)
SV004
(SV050)
SV057
(SV058)
Abbrev.
PGN1
(PGN1sp)
PGN2
(PGN2sp)
SHGC
(SHGCsp)
Parameter name
Position loop gain 1
Position loop gain 2
SHG control gain
Setting ratio
1
8/3
6
21
56
126
Setting example
27 33 39
72 88 104
162 198 234
48
128
288
Explanation
Always set with a combination of these three parameters.
Setting range
1 to 200
(rad/s)
0 to 999
(rad/s)
0 to 1200
(rad/s)
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< Acceleration feed forward >
Vibration may occur at 10 to 20 Hz during acceleration/deceleration when a short time constant of 30 ms or less is applied, and a position loop gain (PGN1) higher than the general standard value or SHG control is used. This is because the torque is insufficient when starting or when starting deceleration, and can be resolved by setting the acceleration rate feed forward gain (SV015: FFC). This is also effective in reducing the peak current (torque).
While measuring the current command waveform, increase FFC by 50 to 100 at a time and set the value where vibration does not occur.
200
Current command
(%)
100
0
200
100
0
0 20 40
Time (ms)
60
No FFC setting
80 100
0 20 40 60
Time (ms)
With FFC setting
80 100
Acceleration rate 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 highprecision synchronous control (such as synchronous tapping control and superimposition control).
【
#2215
】
When a relative error in synchronous control is too large, set this parameter to the axis that is delaying.
The standard setting is "0". The standard setting in the SHG control is "100".
To adjust a relative error in acceleration/deceleration, increase the value by 50 at a time.
---Setting range---
0 to 999 (%)
POINT
Overshooting occurs easily when a value above the standard value is set during SHG control.
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< 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 >
While accelerating/decelerating at rapid traverse, adjust the inductive voltage compensation gain (SV047: EC) so that the current FB peak (MAX current 3) is a few % smaller than the current command peak (MAX current
2).
3000
Speed command
(r/min)
0
-3000
Current command
(Rated current %)
200
0
No inductive voltage compensation
Time
Time
-200
With inductive voltage compensation
Inductive voltage compensation
【
#2247
】
Set the inductive voltage compensation gain. Standard setting value is "100".
If the current FB peak exceeds the current command peak, lower the gain.
---Setting range---
0 to 200 (%)
POINT
If the current FB peak (MAX current 3) becomes larger than the current command peak (MAX current 2)
(over compensation), an overcurrent (alarm 3A) will occur easily. Note that over compensation will occur easily if the load inertia is large.
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< HAS control >
If an output torque during acceleration/deceleration is close to the servo motor's maximum torque, the motor cannot accelerate with a commanded time constant when the torque is saturated due to input voltage fluctuation, etc.
Generally, if an acceleration command is switched to a constant speed command, speed FB overshoots to compensate a delay of position droop, making the machine operation unstable.
When the HAS control is enabled, a delay of position droop will be compensated by controlling the amount of speed
FB overshoot within 1% or less than maximum speed of the motor.
The controllable amount of position droop delay with HAS control HAS can be set at 1/4 or 1/2 of the excessive error detection width.
During current limit
During current limit 1% or less than maximum speed
Speed command
Overshoot will occur to catch up the delay of position.
Speed feedback
HAS control is disabled.
Speed command
HAS control will catch up the delay of position.
Speed feedback
HAS control is enabled.
【
#2234
】
bit 1 : has HAS control
This stabilizes the speed overshooting by torque saturation phenomenon.
0: Normal setting 1: Enable
【
#2284
】
bit F : h2c HAS control cancel amount
0: 1/4 (standard) 1: 1/2
POINT
1. During G1 drive, if HAS control is started, the compensation amount can not be compensated. Therefore, adjust the feed speed cramp value or acceleration/deceleration time constant so that the current limit does not occur.
2. HAS control can not be used for axes in synchronous control since machine torsion may be occur.
3. Even if HAS control is enabled, adjust the acceleration/deceleration time constant so that the current limit does not occur.
4. If setting half of error excessive encoder width to the droop compensation amount, error excessive alarm in acceleration may occur more easily than if 1/4.
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5.3.5 Improvement of Protrusion at Quadrant Changeover
The response delay (caused by dead band from friction, torsion, expansion/contraction, backlash, etc.) caused when the machine advance direction reverses is compensated with the lost motion compensation (LMC compensation) function.
With this, the protrusions that occur at the quadrant changeover in the DBB measurement method, or the streaks that occur when the quadrant changes during circular cutting can be improved.
Compensation
Cutting direction
Circle cutting path before compensation Circle cutting path after compensation
DBB: Double Ball Bar
[1] LMC compensation type 2
This is an obsolete compensation method. When performing new adjustment, use LMC compensation type 3.
[2] LMC compensation type 3
In addition to frictional torque influence, this type compensates torsion and expansion/contraction influences in the machine system in which compensation amount is changed by travel speed. A mechanical system viscosity coefficient setting further enhances the compensation accuracy even if the travel speed is changed. Adjustment requires a machine roundness measurement.
[3] LMC compensation type 4
This is used in combination with LMC compensation type 3. Compensation is performed by monitoring path tracking delay. Therefore, even if the machine friction amount has changed due to aged deterioration, the path tracking delay is controlled so that it will be minimum.
POINT
1. LMC compensation performs adjustment while measuring the electrical end roundness waveform (encoder position FB).
Disable the NC side machine error compensation (pitch error compensation, relative position compensation, backlash compensation). All machine error compensation can be disabled at once by setting bit7 of SV113 to 1.
2. After the compensation adjustment is completed, adjust the machine error compensation while measuring the machine error compensation with DBB measurement method, etc.
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(1) Measuring unbalance torque and frictional torque
Machine unbalance torque and frictional torque measurements are required before the LMC compensation can be set. However, the horizontal axis unbalance torque is necessarily "0".
Carry out the reciprocating operation (approx. F1000) with the measured axis, and the load current % value during constant-speed feed is measured at the NC servo monitor screen. The unbalance torque and frictional torque at that time are expressed by the following formulas.
Unbalance torque (%) =
(+ feed load current %) + (- feed load current %)
2
Frictional torque (%) =
| (+ feed load current %) - (- feed load current %) |
2
(Example)
Assume that the load current % was -55% in the + direction and -25% in the - direction when JOG feed was carried out at approx. F1000. The unbalance torque and frictional torque are as shown below.
Unbalance torque (%) =
(-55) + (-25)
2
= -40%
Friction torque (%) =
(-55) - (-25)
2
= 15%
The measurement values are not used for LMC compensation type 3. However, since they are used for other controls, set them to the following parameters.
【
#2232
】
Set the unbalance torque on vertical axis and inclined axis.
When the vertical axis pull up function is enabled, the pull up compensation direction is determined by this parameter's sign. When set to "0", and the pull up function is enabled (SV033/bitE=1), the alarm "S02 2233 Initial parameter error" occurs.
This can be used for speed loop delay compensation and collision detection function.
To use load inertia estimation function (drive monitor display), set this parameter, friction torque
(SV045) and load inertia display enabling flag(SV035/bitF).
Related parameters: SV007, SV033/bitE, SV059
---Setting range---
-100 to 100 (Stall current %)
【
#2245
】
Set the frictional torque when using the collision detection function.
To use load inertia estimation function (drive monitor display), set this parameter, imbalance torque
(SV032) and load inertia display enabling flag (SV035/bitF).
---Setting range---
0 to 255 (Stall current %)
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(2) Setting and adjusting LMC compensation type 3
LCM compensation type 3 can be used to accommodate quadrant projection changes that accompany feed rate and circular radius changes which could not be accommodated by LCM compensation type 2. In this case, on a machine model where the travel direction is reversed, the effect caused by torsion or expansion and contraction on the machine system are also considered in addition to the friction, with compensation occurring in accordance with the changes in the cutting conditions.
Adjust Compensation parameter (SV016, SV041), a basis of compensation, while measuring roundness at low speed. Then adjust viscous coefficient (SV086) while measuring roundness at high speed.
LMC compensation type 3 parameter adjustments should be made while measuring an electrical end position FB waveform by the NC sampling function.
< Adjustment method >
[1] Turn the NC side machine error compensation (pitch error compensation, relative position compensation or backlash compensation) OFF.
[2] Set servo function selection 5 SV082/ bit=1. (The LMC compensation type 3 will start).
[3] Set a value double the friction torque to the lost motion compensation 1 (SV016). The SV016 setting value will be used for compensation in the positive and negative directions when the lost motion compensation 2
(SV041) is 0.
[4] Set the initial value, SV016 x 200 to the lost motion compensation viscous coefficient (SV086).
[5] Perform a roundness measurement at such speed as radius R=100mm and feedrate F=1000mm/min and adjust SV016 value.
[6] Set SV041, when changing the compensation amount in the direction for compensation. The setting of the compensation direction is shown below with the setting of CW/CCW in the NC parameter. If compensating only one direction, set –1 to the side not to be compensated.
Compensation point
A
B
C
D
CW
X axis: SV041
Y axis: SV016
X axis: SV016
Y axis: SV041
CCW
X axis: SV016
Y axis: SV041
X axis: SV041
Y axis: SV016
+Y
D
The Y axis command direction changes from + to - .
A
The X axis command direction changes from + to -.
-X +X
C
The X axis command direction changes from - to +.
-Y
B
The Y axis command direction changes from - to +.
[7] Perform a roundness measurement at such speed as radius, R=100mm and feedrate, F=5000mm/min. (Select a condition to be used for the actual cutting according to the machine's specification.) Adjust viscous coefficient (SV086) by increasing and reducing it approx. ±500 gradually to have minimum quadrant protrusion.
[8] After adjusting SV086, verify its accuracy by performing roundness measurement at low speed again.
[9] At this time, if requiring to improve the accuracy further, adjust the spring constant (SV085) in increments of about 50 while performing the machine roundness measurement at low speed.
POINT
1. As the acceleration of circular feed increases, the quadrant protrusion tends to get larger. Therefore, the quadrant protrusion gets larger as the circular feedrate increases for the same radius and as radius gets smaller for the same feedrate.
2. Torque offset (SV032) does not work for LMC compensation type 3.
3. Always set 0 to the lost motion compensation timing (SV039:LMCD).
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【
#2216
】
Set this parameter when the protrusion (that occurs due to the non-sensitive band by friction, torsion, backlash, etc.) at quadrant change is too large. This sets the compensation torque at quadrant change (when an axis feed direction is reversed) by the proportion (%) to the stall torque. Whether to enable the lost motion compensation and the method can be set with other parameters.
Type 2: When SV027/bit9, 8 =10 (Compatible with obsolete type)
Set the type 2 method compensation torque. The standard setting is double the friction torque.
Type 3: When SV082/bit1= 1
Set the compensation torque equivalent of dynamic friction amount of the type 3 method compensation amount. The standard setting is double the dynamic friction torque.
To vary compensation amount according to the direction.
When SV041 (LMC2) is "0", compensate with the value of SV016 (LMC1) in both +/-directions.
If you wish to change the compensation amount depending on the command direction, set this and SV041 (LMC2).
(SV016: + direction, SV041: - direction. However, the directions may be opposite depending on other settings.)
When "-1" is set, the compensation will not be performed in the direction of the command.
---Setting range---
-1 to 200 (Stall current %)
Note that when SV082/bit2 is "1", the setting range is between -1 and 20000 (Stall current
0.01%).
【
#2241
】
Set this with SV016 (LMC1) only when you wish to vary the lost motion compensation amount depending on the command directions.
Normally, set to "0".
---Setting range---
-1 to 200 (Stall current %)
Note that when SV082/bit2 is "1", the setting range is between -1 and 20000 (Stall current
0.01%).
【
#2282
】
bit 2 : ccu Lost motion overshoot compensation compensation amount setting increment
0: Stall current % 1: Stall current 0.01%
bit 1 : lmc3 Lost motion compensation type 3
Set this when protrusion at a quadrant change is too big.
0: Stop 1: Start
【
#2285
】
Set the machine system's spring constant when selecting lost motion compensation type 3.
When not using, set to "0".
---Setting range---
0 to 32767 (0.01%/ μ m)
【
#2286
】
Set the machine system's viscous coefficient when selecting lost motion compensation type 3.
When not using, set to "0".
---Setting range---
0 to 32767 (0.01%•s/mm)
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(3) Setting and adjusting LMC compensation type 4
LMC compensation type 4 is enabled by being used with LMC compensation type 3. Make sure to adjust the LMC compensation type 3 before setting the LMC compensation type 4.
< Adjustment method >
[1] Set about 5-fold SV016 setting value in SV091. (Set about 10% of machine friction.)
[2] Increase SV0091 in increments of about 20%, and confirm the limit value where vibration does not occur. Note that the limit value is about 500.
[3] Set 50% of the limit value.
【
#2291
】
Use this with LMC compensation type 3. As the delay in path tracking is monitored and compensated, the delay in path tracking will be minimized even if machine friction amount changes by aging. Use the lost motion compensation amount (SV016) * 5 (10% of the dynamic friction torque) as the target. The higher the setting value is, the more accurate the quadrant change be; however, the more likely vibrations occur.
---Setting range---
0 to 20000 (Stall current 0.01%)
5.3.6 Improvement of Overshooting
The phenomenon when the machine position goes past or exceeds the command during feed stopping is called overshooting. Overshooting is compensated by overshooting compensation (OVS compensation). Overshooting occurs due to the following two causes.
[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 droop
0
Overshoot
Time
[1] Overshooting during rapid traverse settling
Position droop
0
Overshoot
[2] Overshooting during pulse feed
Time
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(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 type 3 has a compensation effect for the overshooting during either rapid traverse settling or pulse feed. To compensate overshooting during feed forward control, refer to the following section "(2) Adjusting for feed forward control".
< Setting and adjustment methods >
[1] Set the servo function selection 1 (SV027: SSF1)/bit A, B. (OVS compensation type 3 will start.)
[2] Observe the position droop waveform using the D/A output, and increase the overshooting 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 NC parameter CW/CCW setting.
POINT
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
(2) Adjusting for feed forward control
When using feed forward control (high-speed high-accuracy control), the feed forward control must be stopped
(fwd_g =0) before adjusting the overshooting compensation. After adjusting the overshooting compensation with normal control, set the overshooting compensation non-sensitive zone (SV034 (SSF3)/bitC to F (ovsn) to 1 (2µm) and start up feed forward control.
If overshooting compensation is used during feed forward control, the overshooting will increase, or protrusions could appear during arc cutting. This is because, when the NC is carrying out feed forward (fwd) control, overshooting equivalent to the operation fraction unit occurs in the position command, and the OVS compensation is recognized as a change in the command direction, resulting in compensation in the reverse direction. This can be improved by setting the overshooting compensation non-sensitive zone width.
If overshooting does not occur during normal control, and occurs only during feed forward control, adjust the feed forward gain (fwd_g).
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【
#2231
】
This compensates the motor torque when overshooting occurs during positioning. This is valid only when the overshooting compensation (SV027/bitB,A) is selected.
Type 3 SV027/bitB,A = 11
Set the compensation amount based on the motor stall current. Observing positioning droop waveform, increase in increments of 1% and find the value where overshooting does not occur.
To vary compensation amount depending on the direction.
When SV042 (OVS2) is "0", change the SV031 (OVS1) value in both of the +/-directions to compensate.
To vary the compensation amount depending on the command direction, set this and SV042
(OVS2).
(SV031: + direction, SV042: - direction. However, the directions may be opposite depending on other settings.)
When "-1" is set, the compensation will not be performed in the direction of the command.
---Setting range---
-1 to 100 (Stall current %)
Note that the range will be "-1 - 10000" (Stall current 0.01%) when SV082/bit2 is "1".
【
#2242
】
Set this with SV031 (OVS1) only when you wish to vary the overshooting compensation amount depending on the command directions.
Normally, set to "0".
---Setting range---
-1 to 100 (Stall current %)
Note that when SV082/bit2 is "1", the setting range is between -1 and 10000 (Stall current
0.01%).
【
#2227
】
bit B-A : ovs Overshooting compensation
Set this if overshooting occurs during positioning.
bitB,A=
00: Compensation stop
01: Setting prohibited
10: Setting prohibited
11: Type 3
Set the compensation amount in SV031(OVS1) and SV042(OVS2).
【
#2234
】
bit F-C: ovsn Overshooting compensation type 3 Non-sensitive band
Set the non-sensitive band of the model position droop overshooting amount in increments of 2 μ m.
In the feed forward control, set the non-sensitive band of the model position droop and ignore the overshooting of the model.
0 : 0 μ m, 1: 2 μ m, 2: 4 μ m,---, E : 28 μ m, F: 30 μ m
【
#2282
】
bit 2 : ccu Lost motion overshoot compensation compensation amount setting increment
0: Stall current % 1: Stall current 0.01%
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POINT
When using feed forward control (high-speed high-accuracy control), stop the feed forward control (fwd_g=0) before adjusting the overshooting compensation. If overshooting occurs during subsequent feed forward control, adjust the feed forward gain (fwd_g).
5.3.7 Improvement of the Interpolation Control Path
(1) Machine end compensation control
The machine end compensation control compensates the shape of the tool end during high-speed and high-speed acceleration/deceleration. The spring effect from the machine (spindle) end to the motor (scale) end is compensated. If the machine has a large spring effect, the shape may be fine during low-speed operation.
However, at high speeds (specially when using a small radius), the section from the machine (spindle) end to the outer sides of the motor (scale) end could swell, and cause the shape to become elliptical during measurement of the roundness. The machine end compensation control compensates the motor end position according to the acceleration size, so the tool end position is always controlled to the commanded position.
The inner side is driven by the amount that the end section swells due to the spring effect.
During high acceleration, the end section swells outward due to the spring effect.
Machine path
(machining surface)
Machine path
(machining surface)
Machine roundness
(machining surface)
Elliptical shape fault
Machine roundness
(machining surface)
Elliptical shape is improved
Command path
(ideal path)
Low speed:
Example:
R25mm
F1000mm/min
High speed
(high acceleration):
Example:
R25mm
F10000mm /min
Without machine end compensation control
Command path
(ideal path)
Both low speed and high speed are on the same path.
With machine end compensation control
POINT
1. Always evaluate the roundness accuracy at the machine side.
2. Adjust the parameter after adjusting the electrical end roundness accuracy.
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< Adjustment methods >
[1] Confirm that the motor side circle accuracy measured with the NC sampling function is appropriate.
[2] In this state, measure the machine side low-speed and high-speed circle path without machine end compensation control. The difference of the high-speed circle path and low-speed circle path is the amount that path has swelled due to the spring effect of the machine system. Calculate the SV065 setting value with the following expression using this amount as the compensation amount.
SV065 =
Compensation amount [μm]
x
radius R [mm]
x
(command speed F [mm/min])
2
[3] Input the value calculated in step [2] into SV065. Measure the high-speed circle path. If the shape is still elliptical, adjust by increasing/decreasing the SV065 value in 1/10 units.
[4] Confirm that there is no problem with the low-speed circle path.
Example of low-speed and high-speed roundness measurement for adjusting machine compensation
When using grid encoder When using DBB measurement Acceleration
Low speed
(reference circle)
High-speed
(when adjusting compensation amount)
R=25 [mm], F=500 [mm/min]
R=25 [mm], F=10000 [mm/min]
R=100 [mm], F=1000 [mm/min]
R=100 [mm], F=20000 [mm/min]
0.00028G
0.11G
【
#2265
】
The shape of the machine end is compensated by compensating the spring effect from the machine end to the motor end.
Set the machine end compensation gain. Measure the error amount by roundness measurement and estimate the setting value by the following formula.
Compensation amount ( μ m) = Command speed F (mm/min)2 * SV065 / (Radius R (mm) * SV003 *
16,200,000)
Set to "0" when not using.
---Setting range---
-30000 to 30000 (Acceleration ratio 0.1%)
POINT
1. To confirm the machine's spring element, adjust the electrical end roundness, and then machine roundness while changing the cutting speed. Confirm that the error increases with the speed.
2. The electrical roundness will have an error on the inner side when machine end compensation control is used.
CAUTION
If an excessive value is set in the machine end compensation gain (SV065), the machine could vibrate when stopping, resulting in a dangerous state.
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5.4 Adjustment during Full Closed Loop Control
5.4.1 Outline
(1) Full closed loop control
The servo control is all closed loop control using the encoder's feedback. "Full closed loop control" is the system that directly detects the machine position using a linear scale, whereas the general "semi-closed loop" is the one that detects the motor position.
In a machine that drives a table with a ball screw, the following factors exist between the motor and table end:
[1] Coupling or ball screw table bracket's backlash
[2] Ball screw pitch error
These can adversely affect the accuracy. If the table position is directly detected with a linear scale, high-accuracy position control which is not affected by backlash or pitch error is possible. However, with the full closed loop system, the machine system is also directly included in the position loop control. Thus, if the machine's rigidity is not high, the gain cannot be increased, and the required high accuracy cannot be attained.
The procedures for adjusting the servo with the full closed loop system are the same as the semi-closed loop system. Vibration or overshooting will occur easily, so the position loop gain is generally lower than the semi-closed loop.
(2) Overrun detection
With the full closed system, the position feedback (FB) detected with the linear scale is used for the position control.
However, the motor position FB is detected at the same time, and the error of both FB is observed. If this FB error exceeds the servo parameter SV054 setting value, alarm 43 will be detected and the system will stop to prevent overrunning due to a scale FB error from occurring.
Table
Position command
+
-
Position droop
PGN
Speed command
Position FB
FB error
+
-
Servo motor
ENC
Position FB
Overrun detection control
Linear scale
【
#2254
】
Set the overrun detection width in the full-closed loop control.
When the gap between the motor side encoder and the linear scale (machine side encoder) exceeds the value set by this parameter, it will be judged as overrun and "Alarm 43" will be detected.
When "-1" is set, if the differential velocity between the motor side encoder and the machine side encoder exceeds the 30% of the maximum motor speed, it will be judged as overrun and "Alarm 43" will be detected.
When "0" is set, overrun will be detected with a 2mm width.
For linear servo/direct-drive motor system
Not used. Set to "0".
---Setting range---
-1 to 32767 (mm)
However, when SV084/bitD=1, the setting range is from -1 to 32767 ( μ m).
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5.4.2 Speed Loop Delay Compensation
Generally, the machine position follows the operation later than the motor position. With full closed loop position loop control, the machine position is used for position feedback, so the motor position could advance too far and cause the machine position to overshoot easily. Speed loop delay compensation suppresses overshooting by weakening the speed loop PI control (weakening lead compensation = delaying). If the compensation is too large and PI control is weakened too far, the positioning time could increase, or the position droop will remain when the motor is stopped.
< Adjustment method >
[1] Set the servo function selection 1 (SV027: SSF1)/bit1, bit0 to 10. (Select delay compensation changeover type
2)
[2] Set the axis unbalance torque to the torque offset (SV032: TOF). (Refer to "Measuring unbalance torque and frictional torque" for details on measuring the unbalance torque.)
[3] Observe the position droop waveform, and confirm the overshooting. Increase SV007 (VIL) in increments of 5, and adjust so that the overshooting is improved. If set too high, the position droop will remain when the axis is stopped.
【
#2207
】
Set this when the limit cycle occurs in the full-closed loop, or overshooting occurs in positioning.
The speed loop delay compensation method can be selected with SV027/bit1,0.
Normally, use "Changeover type 2". Changeover type 2 controls the occurrence of overshooting by lowering the speed loop lead compensation after the position droop gets 0.
When setting this parameter, make sure to set the torque offset (SV032).
---Setting range---
0 to 32767
【
#2232
】
Set the unbalance torque on vertical axis and inclined axis.
When the vertical axis pull up function is enabled, the pull up compensation direction is determined by this parameter's sign. When set to "0", and the pull up function is enabled (SV033/bitE=1), the alarm "S02 2233 Initial parameter error" occurs.
This can be used for speed loop delay compensation and collision detection function.
To use load inertia estimation function (drive monitor display), set this parameter, friction torque
(SV045) and load inertia display enabling flag(SV035/bitF).
---Setting range---
-100 to 100 (Stall current %)
【
#2227
】
bit 1-0 : vcnt Speed loop delay compensation changeover type selection
Normally, use "Changeover type 2".
bit1,0=
00: Disable
01: Changeover type 1
10: Changeover type 2
11: Setting prohibited
CAUTION
The position droop will remain if SV007 is set too high.
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5.4.3 Dual Feedback Control
If the motor and machine coupling or machine system's rigidity is low (ex. large machine, etc.) when using a closed loop system, the response during acceleration/deceleration will vibrate and cause overshooting. This can cause the position loop gain from increasing. The dual feedback function is effective in this case.
To validate the dual feedback function, use position feedback with a motor side encoder in ranges with high acceleration to enable stable control. In ranges with low acceleration, use position feedback with the machine side encoder (scale).
This will make it possible to increase the position loop gain.
Table
Position command +
-
Position droop
Position control
High frequency
FB element
Low frequency FB element -
+
Primary delay filter
SV051
+
-
Speed command
Servo motor
Position FB
ENC
Position FB
Linear scale
Dual feedback control
The state will approach the semi-closed loop system as the primary delay filter's time constant increases, so the position loop gain limit will increase. Note that the limit of the position loop gain increased with the dual feedback function is the same as the position loop gain limit for a semi-closed system that does not use a machine side encoder (scale, etc.). In addition, the positioning time will increase as the primary delay filter time constant increases.
POINT
1. Dual feedback control is a function that compensates symptoms resulting from insufficient machine rigidity.
If there are items that can be improved on the machine (improvement of scale installation position, etc.) improve those first.
2. The position loop gain limit will not increase compared to the semi-closed loop system even when using dual feedback control.
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< Adjustment method >
[1] Set the servo specifications (SV017: SPEC)/bit1 to 1, and turn the NC power ON again.
[2] Measure the position droop overshooting while increasing the dual feedback control time constant (SV051:
DFBT) in increments of 5ms. Adjust to the time constant where overshooting does not occur.
[3] For the final setting value, set a value 1.5 to 2-fold the value adjusted in 3.
【
#2217(PR)
】
bit 1 : dfbx Dual feedback control
Control the position FB signal in full closed control by the combination of a motor side encoder and machine side encoder.
0: Stop 1: Start
【
#2251
】
Set the control time constant in dual feed back.
When "0" is set, it operates at 1ms.
The higher the time constant is, the closer it gets to the semi-closed control, so the limit of the position loop gain will be raised.
For linear servo/direct-drive motor system
Not used. Set to "0".
---Setting range---
0 to 9999 (ms)
【
#2252
】
Set the non-sensitive band in the dual feedback control.
Normally, set to "0".
For linear servo/direct-drive motor system
Not used. Set to "0".
---Setting range---
0 to 9999 ( μ m)
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5.4.4 Full-closed Torsion Compensation Function
This function performs compensation by setting the torsion compensation amount based on the distance between the motor-end position and the machine-end position when the direction is reversed. Setting the torsion compensation amount in addition to the conventional lost motion compensation enables to reduce the distance from the machine end and smooth the tracking to the position command. When "SV116/bit1" is set to "1", compensation is performed not only in the reverse direction but also in the forward direction. Compensation in the forward direction performs the starting torque compensation by restoring the torsion compensation amount based on the distance between the motor-end position and the machine-end position when stopped.
Table
Position command
+
-
Position droop
Position control
Speed command
+ +
Torsion compensation amount (SV206)
Filter
When the direction is reversed
Motor-end position FB
Servo motor
ENC
Machine-end position FB
Full-closed torsion compensation
< Movement of machine end/motor end in the reverse direction >
Motor end
Torsion amount
Machine end
Torsion of the reverse direction
Reverse
Required compensation amount =
Torsion compensation amount
(SV206)
Linear scale
< Movement of machine end/motor end in the forward direction >
Movement stop Movement restart
Motor end
Torsion amount
Machine end
The torsion is gradually cleared during the stop.
Torsion retract amount
Determine the compensation amount in the forward direction restart from the torsion retract amount of the motor-end position from when movement is stopped.
Motor end (without compensation)
If the torsion is large, the response of machine-end position may be delayed when no compensation is performed.
Machine end (without compensation)
CAUTION
Always readjust the lost motion compensation when setting the torsion compensation amount (SV206).
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< Setting method >
(1) Disable all the input compensation parameters before checking the torsion amount with the motor-end feedback in the roundness measurement.
Set lost motion compensation 1 (LMC1) to "0".
Set lost motion compensation 2 (LMC2) to "0".
Set lost motion compensation 3 spring constant (LMCk) to "0".
Set lost motion compensation 3 viscous coefficient (LMCc) to "0".
Set lost motion compensation 4 gain (LMC4G) to "0".
Set full-closed torsion compensation control torsion amount (FCTC) to "0".
(2) Perform "Roundness measurement" with NC Analyzer2 waveform measurement function.
Set radius R to about 100mm and feedrate F to about 3000mm/min.
Select "Setting" from the measurement screen and change Waveform type, which is in Channel setting on "Sampling condition setting", from "Position FB" to "Motor end position".
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Measure the roundness and read the torsion amounts generated when the direction is reversed (linear parts in the following figure). Set the smaller value of the read values to the parameter: SV206 (unit:
0.01
μ m) as the compensation amount.
Motor-end roundness measurement
Example: When the values are +X = 4.5
μ m, -X = 4.2
μ m, +Y = 3.9
μ m, and -Y = 4.2
μ m, set SV206 for X axis to 420 and for Y axis to 390.
(3) Perform lost motion adjustment.
After setting the torsion amount (SV206), perform the lost motion adjustment (automatic) with NC
Analyzer2 adjustment function.
If requiring to improve the accuracy further than the adjustment result, adjust the lost motion compensation amount.
Check the result in roundness measurement after adjusting the compensation amount.
【
#2406
】
Set the compensation amount of full-closed torsion compensation function.
Set the torsion amount between the motor-end position and the machine-end position right after the stop as a standard setting value.
When not using, set to "0".
---Setting range---
0 to 32767 (0.01
μ m)
【
#2316
】
bit 1 : fctcfw
Full-closed torsion compensation function forward direction compensation enabled
Compensate the torsion amount in the forward direction with the full-closed torsion compensation function. When compensating the torsion amount in the reverse direction only, set to "0".
0: Stop 1: Start
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5.5 Settings for Emergency Stop
Emergency stop in this section refers to the following states.
[1] Emergency stop was input (including other axis alarms)
[2] NC power down was detected
[3] A drive unit alarm was detected
5.5.1 Deceleration Control
With the servo drive unit, if the deceleration stop function is validated, the motor will decelerate following the set time constant while maintaining the READY ON state. READY will turn OFF and the dynamic brakes will function after stopping.
If an alarm, for which dynamic brakes are designated as the stopping method, occurs, the motor will stop with the dynamic brakes.
< Features >
When the load inertia is large, deceleration stop can be executed at a shorter time than the dynamic brakes.
(The stop time for the normal acceleration/deceleration time constants will be achieved.)
(1) Setting the deceleration control time constant
Set the time for stopping from the rapid traverse rate (rapid: axis specification parameter) in the deceleration time constant for emergency stop (SV056: EMGt). The operation stops with the position loop step when 0 is set.
For the standard setting value of SV056, refer to the following table.
When applying this setting to the synchronous control axes, set the same value with negative symbol to the both axes. Even if the dynamic break stop is applied to either axis, it is also applied to the other axis.
Standard setting value of SV056
#2003: smgst Acceleration and deceleration modes bit 3-0: Rapid traverse acceleration/deceleration type (hexadecimal)
1:Linear acceleration/deceleration
8:Exponential acceleration and linear deceleration
F:Soft acceleration/ deceleration
#1219:aux03/bit7=0
#1219:aux03/bit7=1
Accelerating/decelerating time is G0tL
Accelerating/decelerating time is obtained by G0tL+G0t1
A value other than the above
#2004: G0tL G0 time constant (linear)
SV056: EMGt Deceleration time constant at emergency stop
Standard setting value
EMGt ≤ G0tL× 0.9
EMGt ≤ (2×G0t1)× 0.9
EMGt ≤ (G0tL-G0t1)× 0.9
EMGt ≤ G0tL× 0.9
EMGt ≤ G0tL× 0.9
#2005: G0t1 G0 time constant (primary delay) / Second-step time constant for soft acceleration/deceleration
CAUTION
If the deceleration control time constant at emergency stop (EMGt) is set to a value longer than the above value, the soft limit point (stroke end point) may be exceeded. Take care as the axis could collide the machine.
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< Operation >
When an emergency stop occurs, the motor will decelerate at the same inclination from each speed.
RAPID
S V056
S V055 Forced READY OFF range
Motor speed
Constant inclination deceleration
Time
Emergency stop (EMG)
In -position (INP)
Servo READY (READY)
Motor brake control output (CN20)
ON
OFF
ON
OFF
ON
OFF
OFF
ON
READY OFF after in - position
Deceleration control sequence
【
#2255
】
Set the time required between an emergency stop and forced READY OFF.
Set the maximum value "+ 100ms" of the SV056 setting value of the servo drive unit electrified by the same power supply unit.
When executing the vertical axis drop prevention, the gate off will be delayed for the length of time set at SV048 even when SV055's is smaller than that of SV048.
---Setting range---
0 to 20000 (ms)
【
#2256
】
Set the time constant used for the deceleration control at emergency stop.
Set the time required to stop from rapid traverse rate (rapid).
The standard setting value is EMGt ≤ G0tL×0.9.
However, note that the standard setting value differs from the above-mentioned value when the setting value of "#2003:smgst Acceleration and deceleration modes bit 3-0:Rapid traverse acceleration/deceleration type" is 8 or F. Refer to Instruction Manual of the drive unit (section
"Deceleration Control") for details.
---Setting range---
0 to 20000 (ms)
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(2) Deceleration control stop distance
The stopping distance Lemg when the motor is stopped with deceleration control during an emergency stop can be approximated with the following expression. Note that the value will be higher than this if the current is limited during deceleration.
L emg
=
F
PGN1 x 60
+
1
2
×
F
60
×
F x EMGt rapid
x
1000
(mm)
F :Feedrate during emergency stop (mm/min) rapid :Rapid traverse rate (mm/min)
PGN1 :Position loop gain 1 (SV003) (rad/s)
EMGt :Deceleration time constant for emergency stop (SV056) (ms)
POINT
1. Deceleration control will not take place when a servo alarm, for which the stopping method is dynamic, occurs.
The motor will stop with dynamic braking regardless of the parameter setting.
2. If the power fails and the deceleration time constant is set to a relatively long time, the braking method may change from deceleration control to dynamic braking due to a drop in the bus voltage in the drive unit.
CAUTION
If the deceleration control time constant (EMGt) is set to a value longer than the acceleration/deceleration time constant, the soft limit point (stroke end point) may be exceeded.
Take care as the axis could collide the machine.
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5.5.2 Vertical Axis Drop Prevention Control
The vertical axis drop prevention control is a function that prevents the vertical axis from dropping due to a delay in the brake operation when an emergency stop occurs. The no-control time until the brakes activate can be eliminated by delaying the servo READY OFF state by the time set in the parameters when an emergency stop occurs.
Always use this function together with deceleration control.
< Setting procedures >
[1] Apply emergency stop while viewing the current position on the NC screen. Adjust the vertical axis drop prevention time (SV048), and set the 1.5-fold minimum delay time at which the axis does not drop.
When using a motor with a break, confirm that the axis will not drop at the 150ms setting, and set 200ms.
[2] Set the value of the normal acceleration/deceleration time constant plus 100ms for the max. gate off delay time at emergency stop (SV055), and set the standard setting value of the axis for the deceleration control time constant at emergency stop (SV056). Refer to "Deceleration Control" for details.
[3] For the axis for which the vertical drop is to be controlled, set the same value as the acceleration/deceleration time constant for the deceleration control time constant at emergency stop (SV056).
[4] If the vertical axis is MDS-EM/EMH Series (Multi axis unit), set the servo parameters for the other axis in the same unit.
SV048 = Same value as adjusted vertical axis SV048
SV055 = Same value as adjusted vertical axis SV055
SV056 = Standard setting value of SV055 for the axis (Refer to "Deceleration control" for details.)
Emergency stop (EMG)
ON
OFF
Motor brake control output
Motor brake actual operation (BRK)
OFF
ON
OFF
ON
Servo READY (READY)
ON
OFF
SV048
Vertical axis drop prevention control sequence
CAUTION
1. Always set deceleration control when using the vertical axis drop prevention control setting.
2. In the system with MDS-EM/EMH-SPV3 unit only, configure so that the contactor is controlled directly by the axis which controls the vertical axis drop prevention control.
3. If an alarm, for which dynamic brake stopping is designated, occurs with the axis for which vertical axis drop prevention control is active, the function will not activate. To prevent axis dropping under all conditions, provide measures on the machine side by installing a balance unit, etc.
4. In consideration of the relay delay time for the break control, set the vertical axis drop prevention time.
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【
#2248
】
Input the time required to prevent the vertical axis from dropping by delaying READY OFF until the brake works at an emergency stop.
Increase in increments of 100ms at a time, find and set the value where the axis does not drop.
When using a motor with a break, set to "200ms" as a standard.
When the pull up function is enabled (SV033/bitE=1), the pull up is established during the drop prevention time.
(Note) When not using the spindle drive unit, use the servo axis that controls vertical axis drop prevention control to control the power supply (connect with CN4).
---Setting range---
0 to 20000 (ms)
【
#2255
】
Set the time required between an emergency stop and forced READY OFF.
Set the maximum value "+ 100ms" of the SV056 setting value of the servo drive unit electrified by the same power supply unit.
When executing the vertical axis drop prevention, the gate off will be delayed for the length of time set at SV048 even when SV055's is smaller than that of SV048.
---Setting range---
0 to 20000 (ms)
【
#2256
】
Set the time constant used for the deceleration control at emergency stop.
Set the time required to stop from rapid traverse rate (rapid).
The standard setting value is EMGt ≤ G0tL×0.9.
However, note that the standard setting value differs from the above-mentioned value when the setting value of "#2003:smgst Acceleration and deceleration modes bit 3-0:Rapid traverse acceleration/deceleration type" is 8 or F. Refer to Instruction Manual of the drive unit (section
"Deceleration control") for details.
---Setting range---
0 to 20000 (ms)
POINT
1. SV048 and SV055 are set for each axis, but when using MDS-EM/EMH-SPV3 Series (Multi axis unit), the axes are controlled with the larger setting value.
2. If an alarm, for which dynamic brake stopping is designated, occurs with the axis for which vertical axis drop prevention control is active, the function will not activate.
3. A drop amount of several µm to several 10µm may be generated due to brake play.
CAUTION
1. Do not set the vertical axis drop prevention time longer than required. The servo control and brakes could collide, resulting in an overload alarm or drive unit damage. There is no problem if the overlapping time is within 100ms.
2. Vertical axis drop prevention control (including deceleration control) longer than 100ms will not be guaranteed during a power failure. The operation will change to dynamic brakes.
3. If only SV048 and SV055 are set, and SV056 is set to 0, the deceleration stop will be a stepped stop and could result in collision with the machine.
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< Outline of system configurations and corresponding parameter settings >
[1] Only one MDS-EM/EMH-SPV3 unit (vertical axis: Z axis)
MDS-EM/EMH-SPV3
X axis, Y axis, *Z axis, Spindle, Power supply
NC
Axis
Parameter
SV048
SV055
SV056
X axis
Same value as Z axis ->
Y axis Z axis (Vertical axis)
MDS-EM/EMH-SPV3
Same value as Z axis ->
200ms as a standard
(Set by adjustment)
X, Y, Z axis Maximum value of SV056 setting value +100ms
Standard setting value for each axis (Note)
(Note) For the standard setting value of SV056, refer to "Deceleration control".
Spindle
Set as follows.
SP055=5000
SP056=300
[2] MDS-EM/EMH-SPV3 unit (vertical axis: Z axis) + Spindle drive unit + Power supply unit
MDS-E/EH-SP MDS-EM/EMH-SPV3
Spindle X axis, Y axis, *Z axis, Spindle, Power supply
NC
X axis Y axis
MDS-EM/EMH-SPV3
Z axis (Vertical axis)
Axis
Parameter
SV048
SV055
SV056
Same value as Z axis ->
Same value as Z axis ->
200ms as a standard
(Set by adjustment)
X, Y, Z axis Maximum value of SV056 setting value +100ms
Standard setting value for each axis (Note)
(Note) For the standard setting value of SV056, refer to "Deceleration control".
Spindle
MDS-E/EH-SP,
MDS-EM/EMH-SPV3
Set as follows.
SP055=5000
SP056=300
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[3] MDS-EM/EMH-SPV3 unit + Servo drive unit (vertical axis: Z axis) + Power supply unit
MDS-E/EH-V1
*Z axis
MDS-EM/EMH-SPV3
Servo:3-axis, Spindle, Power supply
NC
Axis
Parameter
SV048
SV055
SV056
0
Axis other than the right (3-axis)
MDS-EM/EMH-SPV3
0 0
Z axis (Vertical axis)
MDS-E/EH-V1
200ms as a standard
(Set by adjustment)
Each axis Maximum value of SV056 setting value +100ms
Standard setting value for each axis (Note)
(Note) For the standard setting value of SV056, refer to "Deceleration control".
Spindle
MDS-EM/EMH-SPV3
Set as follows.
SP055=5000
SP056=300
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5.5.3 Vertical Axis Pull-up Control
Even when the vertical axis drop prevention control is applied, the axis will drop several μ m due to the mechanical play of the motor brakes. Work could be damaged especially when the power fails during machining. For the vertical machining center, etc., vertical axis pull-up control protect works from collision by slightly pulling the vertical axis when an emergency stop (including the power failure) occurs.
If the pull-up control itself has possibility to cause interference during synchronous tapping machining or soft limit's stop, vertical axis pull-up control suppression command (servo control input 4/bit2) is input from NC and stops the pull-up control.
< Adjustment procedure >
[1] Set "Vertical Axis Drop Prevention Control".
[2] Set servo function selection 2 SV033/bitE = 1 (Vertical axis drop prevention control will start).
[3] Set the torque offset SV032. The pull-up directions is distinguished by this setting value's sign.
Refer to "Measuring unbalance torque and frictional torque measurement" for details on the setting.
[4] Input emergency stop when axes stop and confirm the subject axis to be retracted upward.
[5] If the pull-up range is insufficient, adjust vertical axis pull-up distance SV095.
AC source input
Power fialer occurs.
Detection period of phase interruption or instantaneous power interrupt
Power down detection output from converter
Emergency stop
OFF
ON
80μm （ For PIT=10, PC1=1, PC2=1 or SV095=0 ）
Axis rise
Drop according to the brake play after the READY OFF
Axis position which
Vertical axis pull-up function is set in.
Motor brake control output
OFF
ON
Vertical axis pull-up control operation sequences when the power fails
CAUTION
This function is valid for Z axis in the vertical machining center. Basically it cannot be used with the horizontal machining center's Y axis or the lathe's X axis as collisions could occur. Check the machine's working conditions carefully before using this function.
【
#2232
】
Set the unbalance torque on vertical axis and inclined axis.
When the vertical axis pull up function is enabled, the pull up compensation direction is determined by this parameter's sign. When set to "0", and the pull up function is enabled (SV033/bitE=1), the alarm "S02 2233 Initial parameter error" occurs.
This can be used for speed loop delay compensation and collision detection function.
To use load inertia estimation function (drive monitor display), set this parameter, friction torque
(SV045) and load inertia display enabling flag(SV035/bitF).
---Setting range---
-100 to 100 (Stall current %)
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【
#2233
】
bit E : zup Vertical axis pull up function
0: Stop 1: Enable
【
#2248
】
Input the time required to prevent the vertical axis from dropping by delaying READY OFF until the brake works at an emergency stop.
Increase in increments of 100ms at a time, find and set the value where the axis does not drop.
When using a motor with a break, set to "200ms" as a standard.
When the pull up function is enabled (SV033/bitE=1), the pull up is established during the drop prevention time.
(Note) When not using the spindle drive unit, use the servo axis that controls vertical axis drop prevention control to control the power supply (connect with CN4).
---Setting range---
0 to 20000 (ms)
【
#2295
】
Set this parameter to adjust the pull up distance when the vertical axis pull up function is enabled.
When the pull up function is enabled and this parameter is set to "0", for a rotary motor, 8/1000 of a rotation at the motor end is internally set as the pull up distance, and for a linear motor, 80[ μ m] is set.
---Setting range---
0 to 2000 ( μ m)
5.6 Protective Functions
5.6.1 Overload Detection
The servo drive unit is equipped with an electronic thermal that protects the servo motor and servo drive unit from overload conditions. The overload 1 alarm (alarm 50) is detected if an overload condition occurs, and the overload 2 alarm (alarm 51) is detected if 95% or more of the maximum current is commanded continuously for 1 second or longer due to a machine collision, etc. The parameters shown below are for Mitsubishi adjustment purposes only, and should be kept at their standard settings (SV021=60, SV022=150).
For details concerning the overload protection characteristics, refer to the MDS-EM Series Specifications
Manual (IB-1501238).
【
#2221
】
Normally, set to "60". (For Mitsubishi adjustment.)
---Setting range---
1 to 999 (s)
【
#2222
】
Set the "Overload 1" (Alarm 50) current detection level as percentage to the stall current.
Normally set this parameter to "150". (For Mitsubishi adjustment.)
---Setting range---
110 to 500 (Stall current %)
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5.6.2 Excessive Error Detection
An excessive error (alarms 52, 53, 54) is detected when the difference between the servo's commanded position and the
FB position exceeds the value set by parameter. Separate excessive error detection width can be set for servo ON
(SV023) and servo OFF (SV026) statuses. When a wider excessive error detection width than that used for standard control is required in stopper control, etc., the detection width setting can be changed to the SV053 setting value by NC command.
Follow-up control (NC commanded position tracks servo FB position) is used during emergency stop and during a servo
OFF command, and so there is no excessive error detection at those times, although the follow-up control during a servo
OFF status can be disabled by an NC system parameter setting.
【
#2223
】
Set the excessive error detection width in servo ON.
<Standard setting value>
OD1=OD2= (Rapid traverse rate [mm/min]) / (60×PGN1) / 2 [mm]
When set to "0", the excessive error alarm detection will be ignored, so do not set to "0".
---Setting range---
0 to 32767 (mm)
However, when SV084/bitC=1, the setting range is from 0 to 32767 ( μ m).
【
#2226
】
Set the excessive error detection width during servo OFF.
<Standard setting value>
OD1=OD2= (Rapid traverse rate [mm/min]) / (60×PGN1) / 2 [mm]
When set to "0", the excessive error alarm detention will be ignored, so do not set to "0".
---Setting range---
0 to 32767 (mm)
However, when SV084/bitC=1, the setting range is from 0 to 32767 ( μ m).
【
#2253
】
Set the excessive error detection width when servo ON in a special control (initial absolute position setting, stopper control and etc.).
When "0" is set, excessive error detection will not be performed when servo ON during a special control.
---Setting range---
0 to 32767 (mm)
However, when SV084/bitC=1, the setting range is from 0 to 32767 ( μ m).
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5.6.3 Collision Detection Function
Collision detection function quickly detects a collision of the motor shaft, and decelerates and stops the motor. This suppresses the generation of an excessive torque in the machine tool, and helps to prevent an abnormal state from occurring. Impact at a collision will not be prevented by using this collision detection function, so this function does not necessarily guarantee that the machine tool will not be damaged or that the machine accuracy will be maintained after a collision. The same caution as during regular operation is required to prevent the machine from colliding.
Collision detection function outline
(a) A collision of machine is detected. (b) A retracting torque is generated.
The collision of machine is reduced.
(1) Collision detection method 1
The required torque for the command is estimated from the position command issued from the NC, and the disturbance torque is obtained from the difference with the actual torque. When this disturbance torque exceeds the collision detection level set with the parameters, the motor will decelerate to a stop with a torque 80% (standard) value of the motor's maximum torque. After decelerating to a stop, alarm 58 or 59 will occur, and the system will stop.
The collision detection level for rapid traverse (G0) is set with SV060: TLMT. The collision detection level for cutting feed (G1) is set to 0 to 7-fold (SV35.clG1) based on the collision detection level for rapid traverse. When clG1 is set to 0, collision detection method 1 will not function during cutting feed. If SV060 is set to 0, all collision detection
(including methods 1 and 2) will not function.
During rapid traverse (During G0 feed)
During cutting feed (During G1 feed)
Collision detection level setting parameter
SV060
SV060 × c1G1 (SV035)
Detected alarm
Alarm 58
Alarm 59
3000
Speed command
(r/min)
0
-3000
200
Collision detection method
1, detection range
(alarm 58/59)
Frictional torque
(SV045)
100
Estimated torque (stall%)
0
-100
G0 collision detection level ( SV060) Unbalance torque
(SV032)
-200
G1 collision detection level ( SV060 × clG1)
G0 feed (rapid traverse) G1 feed (cutting feed)
Alarm detection range for collision detection method 1
CAUTION
The collision detection function does not guarantee safety or machine accuracy when a collision occurs.
Thus, the same caution as during regular operation is required to prevent the machine from colliding.
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(2) Collision detection method 2
When the current command reaches the motor's maximum current, the motor will decelerate and stop at a torque
80% (standard value) of the motor's maximum torque. After decelerating to a stop, alarm 5A will occur, and the system will stop. If the acceleration/deceleration time constant is short and incorrect detections easily occur during normal operation, lengthen the acceleration/ deceleration time constant and adjust so that the current is not saturated (does not reach the maximum current) during acceleration.
If the acceleration/deceleration time constant cannot be lengthened, set parameter SV035/bitB (SSF4.c12n) to 1 to ignore collision detection method 2.
(3) Retracting torque
In each collision detection method, impact after a collision is reduced by generating the retracting torque after the collision is detected.
The retracting torque is a torque 70% to 100% which is set with SV035: SSF4/cltq (bit8, bit9) based on the current of the motor maximum ability.
POINT
1. Validate SHG control or OMR-FF function when using the collision detection function, or when carrying out SV059 setting value operation.
2. Provide an allowance in the detection level setting to prevent incorrect detections.
3. All collision detection functions will be disabled when SV60 is set to 0.
4. Collision detection method 2 will function if a value other than 0 is set in SV060. Note that the detection can be ignored by setting the parameter (SV035/bitB).
5. The torque estimated gain (SV059) must be readjusted when there are changes in the encoder replacement following maintenance, etc., in the encoder resolution, or in the position control system such as encoder loop gain (PGN), etc.
(closed loop control and semi-closed loop has been changed).
6. The retracting torque generated when a collision is detected outputs the motor maximum torque. If the torque limitation is required in order to protect the machine, set "SV035 : SSF4/cltq (bit8, bit9)".
7. Due to the steady load during machining, and changes in frictional torque and unbalance torque, collision detection method 1 is sometimes unable to accurately detect collisions. Setting "SV035 : SSF4.clof (bit3)" to 1 can improve detection accuracy for such cases.
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< Setting and adjustment methods >
[1] Confirm that SHG control or OMR-FF function is enabled.
[2] Set the axis unbalanced torque to the torque offset (SV032: TOF). (Refer to "Measuring unbalance torque and frictional torque" for details on measuring the unbalance torque.)
[3] Measure the frictional torque and set in the frictional torque (SV045: TRUB). Carry out reciprocation operation
(approx. F1000) with the axis to be adjusted, and measure the load current % when the axis is fed at the constant speed on the NC SERVO MONITOR screen. This frictional torque is expressed with the following expression.
Frictional torque (%) =
(+ feed load current %) - (- feed load current %)
2
[4] Set SV035: SSF4.clt (bitF) to 1 for the axis being adjusted, and move in both directions with JOG, etc., at the rapid traverse rate. When the load inertia ratio display on the NC SERVO MONITOR screen has stabilized, set that value for the torque estimated gain (SV059: TCNV). Return SV035: SSF4.clt (bitF) to 0.
[5] To improve the detection accuracy of collision detection, set "SV035: SSF4.clof (bit3)" to 1, and enable the estimated disturbance torque offset.
[6] If the acceleration/deceleration time is short, and the current is limited, set SV035: SSF4.c12n (bitB) to 1 to invalidate collision detection method 2.
[7] Adjust the collision detection level (SV060: TLMT). First set 100. If operation at the rapid traverse rate results in an alarm, increase the setting value by approx. 20. If an alarm does not occur, lower the setting value by approx. 10. The estimated disturbance torque value on the servo monitor screen will indicate the estimated disturbance torque peak value for the latest two seconds. This value can be used as reference. Set the final setting value to a value approx. 1.5-fold the limit value at which an alarm does not occur.
[8] Divide the maximum cutting load with the value set for the collision detection level (SV060: TLMT). (Round up the decimal) Set this value in SV035: SSF4.clG1 (bitC-E).
(Example) For maximum cutting load: 200%, SV060: TLMT setting value: 80%
200/80=2.5 -> The detection level is 3 (-fold), so set SV035:SSF4 to "3xxx".
[9] Set the retracting torque when the a collision is detected to SV035: SSF4.cltq (bit8,9).
(Example) To set the retracting torque to 70% of the motor maximum torque:
Set SV035:SSF4 to "x3xx".
【
#2232
】
Set the unbalance torque on vertical axis and inclined axis.
When the vertical axis pull up function is enabled, the pull up compensation direction is determined by this parameter's sign. When set to "0", and the pull up function is enabled (SV033/bitE=1),the alarm "S02 2233 Initial parameter error" occurs.
This can be used for speed loop delay compensation and collision detection function.
To use load inertia estimation function (drive monitor display), set this parameter, friction torque
(SV045) and load inertia display enabling flag(SV035/bitF).
---Setting range---
-100 to 100 (Stall current %)
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【
#2235
】
bit F : clt Inertia ratio display
0: Setting for normal use
1: Display the total inertia ratio estimated at acceleration/deceleration at the inertia ratio on the servo monitor screen
To display it on the screen, set an imbalance torque and friction torque to both SV032 and SV045 and repeat acceleration/deceleration operations for several times.
bit E-C: clG1 G1 Collision detection level
Set the collision detection level in the collision detection method 1 during cutting feed (G1) in multiples of that of rapid traverse (G0). When set to "0", detection of collision detection method 1 during cutting feed will be ignored.
G1 Collision detection level = G0 collision detection level (SV060) × clG1
bit B : cl2n Collision detection method 2
0: Enable 1: Disable
bit 9-8 : cltq Retract torque in collision detection
Set the retract torque in collision detection using the ratio of motor's maximum torque.
bit9,8=
00: 100%
01: 90%
10: 80% (Standard)
11: 70%
bit 3 : clof Collision detection estimated disturbance torque offset
0: Disable 1: Enable
【
#2245
】
Set the frictional torque when using the collision detection function.
To use load inertia estimation function (drive monitor display), set this parameter, imbalance torque
(SV032) and load inertia display enabling flag (SV035/bitF).
---Setting range---
0 to 255 (Stall current %)
【
#2259
】
Set the torque estimated gain when using the collision detection function.
The standard setting value is the same as the load inertia ratio (SV037 setting value) including motor inertia.
Set to "0" when not using the collision detection function.
<<Drive monitor load inertia ratio display>>
Set SV035/bitF=1 and imbalance torque and friction torque to both SV032 and SV045, and then repeat acceleration/deceleration for several times.
---Setting range---
For general motor: 0 to 5000 (%)
For linear motor: 0 to 5000 (kg)
【
#2260
】
When using the collision detection function, set the collision detection level at the G0 feeding.
When "0" is set, none of the collision detection function will work.
---Setting range---
0 to 999 (Stall current %)
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5.7 Servo Control Signal
The sequence input/output signals exchanged between the NC and servo drive unit are explained in this section. The status of each signal is displayed on the NC SERVO MONITOR screen.
5.7.1 Servo Control Input (NC to Servo)
(1) Servo control input 1
Name
Servo control input 1
Details
F E D C B A 9 8
IL1
7 6
ALMR EOM
5 4
KPM
3 2 1 0
SRV RDY
D
E
F
A
B
C
4
5
6
7
8
9
1
2
0 bit
RDY
SRV
3
-
-
READY ON command
Servo ON command
Details
(For maintenance)
(For maintenance)
Position loop gain changeover command KPM
-
EOM
ALMR
(For maintenance)
Excessive error detection width changeover command
Alarm reset command
IL1
-
Current limit selection command
(For maintenance)
-
-
-
-
-
-
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance) bit0.
bit1.
bit4.
bit6.
bit7.
READY ON command (RDY)
Status turns to ready ON at RDY=1.
Servo ON command (SRV)
[1] Drive unit turns ON at SRV=1 (servo ON status).
[2] Drive unit turns OFF at SRV=0 (servo OFF status).
Position loop gain changeover command (KPM)
[1] The position loop gain (SV049/SV050/SV058) for spindle synchronous (synchronoustapping, synchronous control with spindle C-axis, etc.) is selected at KPM=1.
[2] The normal position loop gain (SV003/SV004/SV057) is selected at KPM=0.
Excessive error detection width changeover command (EOM)
[1] The excessive error width (SV053) for the special control (initial absolute position setting,stopper control, etc.) is selected at EOM =1.
[2] The normal excessive error width (SV023) is selected at EOM =0.
Alarm reset command (ALMR)
NR alarm is reset at ALMR=1.
bit8.
Current limit selection command (IL1)
[1] The current (torque) limit (SV014) for the special control (initial absolute position setting,stopper control, etc.) is selected at IL1 =1.
[2] The normal current (torque) limit (SV013) is selected at IL1 =0.
(Note) The bits other than those above are used for maintenance.
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(2) Servo control input 2
Name
Servo control input 2
Details
F E D C B A 9 8 7 6 5 4 3 2 1 0 bit
SRVDC NCDC SSW
0 - (For maintenance)
1 - (For maintenance)
Details
2 - (For maintenance)
3 - (For maintenance)
4 - (For maintenance)
5 - (For maintenance)
6 - (For maintenance)
7 - (For maintenance)
8 - (For maintenance)
9 SSW Speed monitor command valid
A NCDC In door closed (controller)
B SRVDC In door closed (all drive units)
C - (For maintenance)
D - (For maintenance)
E - (For maintenance)
F - (For maintenance) bit9.
bitA.
Speed monitor command valid (SSW)
When speed monitor command is valid, SSW=1 (valid) is set.
In door closed (controller) (NCDC)
When "In door closed" signal for controller is valid, NCDC =1 (valid) is set.
bitB.
In door closed (all drive units) (SRVDC)
When the theoretical sum of "In door closed" signals for all drive units is valid, SRVDC =1 (valid) is set.
(Note) The bits other than those above are used for maintenance.
(3) Servo control input 3
Name
Servo control input 3
Details
F E D C B A 9 8 7 6 5 4 3 2 1 0
AXF bit Details
0 AXF Control axis detachment command
1 - (For maintenance)
2 - (For maintenance)
3 - (For maintenance)
4 - (For maintenance)
5 - (For maintenance)
6 - (For maintenance)
7 - (For maintenance)
8 - (For maintenance)
9 - (For maintenance)
A - (For maintenance)
B (For maintenance)
C - (For maintenance)
D - (For maintenance)
E - (For maintenance)
F - (For maintenance) bit0.
Control axis detachment command (AXF)
The control axis is detached at AXF=1.
(Note) The bits other than those above are used for maintenance.
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(4) Servo control input 4
This is used for maintenance.
(5) Servo control input 5
This is used for maintenance.
(6) Servo control input 6
Name
Servo control input 6
Details
F E D C B A 9 8
DD1
7 6 5 4 3 2 1 0
OMRFF
D
E
F
A
B
C
7
8
9
5
6
2
3
4
0 bit
OMRFF
1 -
-
-
-
-
-
Details
-
-
-
-
-
-
OMR-FF control request
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
Drivers communication control request
-
DD1
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance) bit0.
bit8.
OMR-FF control request (OMRFF)
[1] The OMR-FF control which determines the tracking ability to the position command by using scale model gain is selected with OMRFF=1.
[2] The tracking ability to the position command is determined by using conventional position loop gain with OMRFF=0.
Drivers communication control request (DD1)
[1] The high-speed synchronous tapping control which allows data communication between drive units is selected with DD1=1.
[2] The normal synchronous tapping is selected with DD1=0.
(Note) The bits other than those above are used for maintenance.
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5.7.2 Servo Control Output (Servo to NC)
(1) Servo control output 1
Name
Servo control output 1
Details
F E D C B A 9
WRN AER LMT INP
8 7 6
IL1 ALMR EOM
5 4 3
KPM
2 1 0
SRV RDY
D
E
F
A
B
C
7
8
9
4
5
6
1
2
3
0 bit
RDY
SRV
-
-
KPM
In READY ON
In servo ON
(For maintenance)
(For maintenance)
Details
In position loop gain changeover
-
EOM
ALMR
IL1
-
(For maintenance)
In excessive error detection width changeover
In alarm
In current limit selection
(For maintenance)
-
-
INP
LMT
(For maintenance)
(For maintenance)
In in-position
In current limit
AER In absolute position data loss
WRN In warning bit0.
bit1.
bit4.
bit6.
bit7.
bit8.
bitC.
bitD.
In ready ON (RDY)
It indicates that the status is in ready ON at RDN=1.
In servo ON (SRV)
It indicates that the drive unit turns ON (servo ON) at SRV=1.
In position loop gain changeover (KPM)
[1] The position loop gain (SV049/SV050/SV058) for spindle synchronous (synchronoustapping, synchronous control with spindle C-axis, etc.) is being selected at KPM=1.
[2] The normal position loop gain (SV003/SV004/SV057) is being selected at KPM=0.
In excessive error detection width changeover (EOM)
[1] The excessive error width (SV053) for the special control (initial absolute position setting, stopper control, etc.) is being selected at EOM =1.
[2] The normal excessive error width (SV023) is being selected at EOM =0.
In alarm (ALMR)
It indicates that drive unit is in some alarm state at ALM=1.
In current limit selection (IL1)
[1] The current (torque) limit (SV014) for the special control (initial absolute position setting,stopper control, etc.) is being selected at IL1 =1.
[2] The normal current (torque) limit (SV013) is being selected at IL1 =0.
In in-position (INP)
The status changes to INP=1 when position droop exists within the in-position area set by parameter
SP024 (INP) regardless of serve ON or OFF.
In current limit (LMT)
It indicates that the drive unit is in current limit at LMT=1.
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bitF.
In absolute position data loss (AER)
It indicates that the drive unit is in absolute position data loss at AER=1.
In warning (WRN)
It indicates that drive unit is in some warning state at WRN=1.
(Note) The bits other than those above are used for maintenance.
(2) Servo control output 2
Name Details
Servo control output 2
F E D C B A 9 8 7 6 5 4 3 2 1 0 bit
SRVDC NCDC SSW EXEMG
Details
ZS ZCN
0
1
2
3
4
5
6
ZCN
-
-
ZS
-
-
-
Z phase passed
(For maintenance)
(For maintenance)
In zero speed
(For maintenance)
(For maintenance)
(For maintenance)
7
8
9
A
D
EXEMG
-
SSW
NCDC
-
In external emergency stop
(For maintenance)
In speed monitor
In door closed (controller)
B SRVDC In door closed (self drive unit)
C - (For maintenance)
(For maintenance)
E - (For maintenance)
F - (For maintenance) bit0.
bit3.
bit7.
bit9.
Z phase passed (ZCN)
ZCN is set to "1" after passing the Z phase at ZCN=0.
In zero speed (ZS)
It indicates that the servo motor is stopping at ZS=1.
In external emergency stop
It indicates that an external stop input to the power supply is being input.
In speed monitor
It indicates that a signal in speed monitor command is being received.
bitA.
In door closed (controller)
It indicates that "In door closed" signal for controller is being received.
bitB.
In door closed (self drive unit)
It indicates the status of "In door closed" signal for self drive unit.
(Note) The bits other than those above are used for maintenance.
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(3) Servo control output 3
Name Details
Servo control output 3
F E D C B A 9 8 7 6 5 4 3 2 1 0 bit Details
AXF
0 AXF In control axis detachment
1 - (For maintenance)
2 - (For maintenance)
3 - (For maintenance)
4 - (For maintenance)
5 - (For maintenance)
6 - (For maintenance)
7 - (For maintenance)
8 - (For maintenance)
9 - (For maintenance)
A - (For maintenance)
B - (For maintenance)
C - (For maintenance)
D - (For maintenance)
E - (For maintenance)
F - (For maintenance) bit0.
In control axis detachment (AXF)
The control axis is being detached at AXF=1.
(Note) The bits other than those above are used for maintenance.
(4) Servo control output 4
This is used for maintenance.
(5) Servo control output 5
This is used for maintenance.
(6) Servo control output 6
Name
Servo control output 6
Details
F E D C B A 9 8
DD1
7 6 5 4 3 2 1 0
OMRFF
D
E
F
B
C
9
A
4
5
6
7
8
1
2
3
0 bit
OMRFF
-
-
-
-
-
-
-
DD1
-
-
-
-
-
-
-
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
Details
In OMR-FF control
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
In drivers communication control bit0.
In OMR-FF control (OMRFF)
OMRFF=1 (enabled) if OMR-FF control is enabled.
bit8.
In drivers communication control (DD1)
DD1=1 (enabled) if high-speed synchronous tapping control is enabled.
(Note) The bits other than those above are used for maintenance.
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Spindle Adjustment
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6.1 Adjustment Procedures for Each Control
CAUTION
1. Do not adjust when possible risks associated with adjustment procedures are not thoroughly taken into consideration.
2. Be careful when touching rotating section, or your hand may be caught in or cut.
3. Changing of parameters has to be done carefully.
6.1.1 Basic Adjustments
(1) Items to check during trial operation
[1] When the power is ON for the first time, check the wiring. When the machine is operated for the first time, check the set parameters again.
[2] Confirm that the values of the NC side parameters "slimt1 to 4", "smax1 to 4", and "smini" comply with the machine specification.
[3] When the machine running-in has not been completed, gradually raise the rotation speed (in increments of
1000r/min) for the spindle. Raise the speed at the timing when the load meter value is stabilized during rotation.
If the load meter value is higher than the normal value, stop the operation and check the spindle section of the machine.
[4] Confirm that the command (S command) speed and actual speed match during running-in. When gear ratio is set, the spindle end speed and motor speed differ.
[5] Confirm that there is no abnormal noise, odor or motor overheat during running-in.
(2) Adjusting the spindle rotation speed
When the spindle motor and the spindle end are coupled using a gear or pulley, the rotation speeds of the spindle motor and the spindle end may not match. Adjust the command and the rotation speed of spindle end with the following method.
Apply the following adjustment methods [1] to [3] individually to each of the gears 00 to 11. Confirm that the machine's gear changes correctly before the adjustment.
[1] Set the spindle specification parameters, "slimt1 to 4".
Calculation expression: slimt1 to 4 = SP026 × (deceleration rate of the gears 00 to 11 between the motor and spindle end)
[2] Set the S command to half of the maximum spindle rotation speed and confirm the rotation speed of the spindle end. Adjust slimt1 to 4 until the rotation speed matches.
[3] Set the S command to the maximum spindle end rotation speed and confirm that the S command speed and the spindle end speed match.
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6.1.2 Gain Adjustment
(1) Checking the current loop gain
Check to see if the settings of following parameters, SP077 to SP084, are the standard setting.
Basically, parameters for current loop gain do not need to be changed.
【
#13077
】
Set the current loop gain.
To use the coil switch function, set the current loop gain for when the high-speed coil is selected.
The setting value is determined by the motor's electrical characteristics so that the value is fixed to each motor used.
Set the value given in the spindle parameter list. (For Mitsubishi adjustment)
---Setting range---
1 to 20480
【
#13078
】
Set the current loop gain.
To use the coil switch function, set the current loop gain for when the high-speed coil is selected.
The setting value is determined by the motor's electrical characteristics so that the value is fixed to each motor used.
Set the value given in the spindle parameter list. (For Mitsubishi adjustment)
---Setting range---
1 to 20480
【
#13079
】
Set the current loop gain.
To use the coil switch function, set the current loop gain for when the high-speed coil is selected.
The setting value is determined by the motor's electrical characteristics so that the value is fixed to each motor used.
Set the value given in the spindle parameter list. (For Mitsubishi adjustment)
---Setting range---
1 to 8192
【
#13080
】
Set the current loop gain.
To use the coil switch function, set the current loop gain for when the high-speed coil is selected.
The setting value is determined by the motor's electrical characteristics so that the value is fixed to each motor used.
Set the value given in the spindle parameter list. (For Mitsubishi adjustment)
---Setting range---
1 to 8192
【
#13081
】
When using coil switch function, set the current loop gain for when the low-speed coil is selected.
The setting value is determined by the motor's electrical characteristics so that the value is fixed to each motor used.
Set the value given in the spindle parameter list. (For Mitsubishi adjustment)
---Setting range---
1 to 20480
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【
#13082
】
When using coil switch function, set the current loop gain for when the low-speed coil is selected.
The setting value is determined by the motor's electrical characteristics so that the value is fixed to each motor used.
Set the value given in the spindle parameter list. (For Mitsubishi adjustment)
---Setting range---
1 to 20480
【
#13083
】
When using coil switch function, set the current loop gain for when the low-speed coil is selected.
The setting value is determined by the motor's electrical characteristics so that the value is fixed to each motor used.
Set the value given in the spindle parameter list. (For Mitsubishi adjustment)
---Setting range---
1 to 8192
【
#13084
】
When using coil switch function, set the current loop gain for when the low-speed coil is selected.
The setting value is determined by the motor's electrical characteristics so that the value is fixed to each motor used.
Set the value given in the spindle parameter list. (For Mitsubishi adjustment)
---Setting range---
1 to 8192
(Note) Low-speed coil setting SP081, SP082, SP083 and SP084 are set to "0" when coil changeover specification is not available.
(2) Adjusting the gain parameter
Adjust the gain parameters as usual or by application in accordance with the chart below.
Control item
Changeover setting
Position loop gain
SHG control start parameter
Application
S command
-
SP001
No setting
#3106/bitE=0
SP002
No setting
Orientation
#3106/bitE=1
SP001
Standard
No setting
Vibration suppression
Synchronous tapping/
Spindle C axis
-
SP002
SP035/bitC=1
Spindle synchronization
-
SP003
SP036/bit4=1
Control item
Changeover setting
Speed loop proportional gain
Speed loop lead compensation
Speed loop delay compensation
Application
S command
-
SP005
SP006
SP007
-
SP008
Orientation
SP035/ bit1=0
SP005
SP009 SP006
SP035/ bit1=1
SP008
Synchronous tapping/
Spindle C axis
SP035/ bit9=0
SP035/ bit9=1
SP005 SP008
SP009 SP006 SP009
Spindle synchronization
SP036/ bit1=0
SP036/ bit1=1
SP005 SP008
SP006 SP009
SP010
Standard
SP007 SP010 SP007 SP010
Standard
SP007
Double grasping control
SP010
Polygonal machining
Control item
Changeover setting
Minimum excitation rate
Application
S command
-
SP014
-
SP015
Standard
Orientation
SP035/ bit2=0
SP014
SP035/ bit2=1
SP015
Synchronous tapping/
Spindle C axis
SP035/ bitA=0
SP014
SP035/ bitA=1
SP015
Standard
Spindle synchronization
SP036/ bit2=0
SP014
SP036/ bit2=1
SP015
Double grasping control
Polygonal machining
(Note) Position and speed loop gain is switched depend on the control item, so set the parameter correctly.
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(3) Adjusting the speed loop parameter
Adjust speed loop gain
Waveform for Ref.
0
0
Increase SP005 by +20
Set SP001=15
Command M19 (orientation stop)
Stops at servo ON status
Set SP005 (standard setting 150)
Increase the value up to where resonance occurs.
NO
Resonance occurs?
Yes
Increase SP005 by -20
Subtract 20 from SP005
Command M19 (orientation stop)
Acceleration/deceleration operation
YES
Resonance
(abnormal noise) or abnormal operation occurs?
NO
Command M19 (orientation stop)
Executes acceleration/deceleration operation in phase up to maximum rotation speed from 0.
(Note)
When the maximum speed is 10000r/min, executes in approx. 1000r/min increments, divided by 10.
(Note)
NC analyzer cannot create a program when acquiring a spindle waveform. The program is created on the NC side.
Set the "Time-series data measurement" with NC Analyzer as shown on the right.
< NC Analyzer setting (Time-series data measurement) >
Get
CH1
CH2
Waveform type
Position droop
Current feedback
Subtract 3 from SP005
NO
Is droop oscillation
0.045°p-p or less?
YES
Multiply SP005 by 0.9
Position droop
0.045
° or less
Current feedback
Adjustment completed
Note that the maximum setting value is as follows:
SP005(max) ≤ 150 × inertia ratio
(Inertia ratio ： total inertia/motor inertia ）
(Example)
When inertia rate is double and the determined gain is
350, the setting value for SP005 is 315, which is 90% of the determined gain, however,the setting value for
SP005 should be 300, because the maximum setting value is 150×2(inertia rate)=300.
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【
#13005
】
Set the speed loop gain.
Set this according to the load inertia size.
The higher setting value will increase the accuracy of control, however, vibration tends to occur.
If vibration occurs, adjust by lowering by 20 to 30%.
The final value should be 70 to 80% of the value at which the vibration stops.
---Setting range---
1 to 9999
(4) Adjusting the position loop gain (SP001: PGV non-interpolation mode position loop gain)
After setting the speed gain, in order to perform acceleration/deceleration operation, set the position loop gain
(SP001) by increasing its setting value from 15. When overshooting occurs at the time of acceleration/deceleration completion, or when oscillation of the q axis current command gets bigger during a set rotation, the position loop gain is in limit state. Note that standard position loop gain below is set for the setting gain.
CAUTION
Change "Excessive error detection width" (SP053) when "Position loop gain" (SP001) is changed.
Method for checking the limitation of position loop gain
Speed waveform (Ch1: Speed feedback)
The gain when overshooting occurs is the limit.
Current feedback waveform (Ch2: Current feedback)
When oscillation gets bigger is the limit.
(Example)As the closest value should be selected from the standard setting range shown below, set 47 to SP001 when the limit gain is 55.
Standard position loop gain 15 18 21 23 26 33 38 47 60 70
【
#13001
】
Set the position loop gain for "Non-interpolation" control mode.
When the setting value increases, the command tracking ability will enhance and the positioning settling time can be shorter. However, the impact on the machine during acceleration/deceleration will increase.
Use the selection command, the control mode "bit 2, 1, 0 = 000" in control input 4.
(Note) The control mode is commanded by NC.
---Setting range---
1 to 200 (rad/s)
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6.1.3 Adjusting the Acceleration/Deceleration Operation
(1) Calculating the theoretical acceleration/deceleration time
The spindle motor output characteristics (shown on the right) have three ranges, which are constant torque, constant output, and deceleration ranges. Each range has different calculation method. The acceleration/ deceleration time is calculated using the calculation expression which corresponds to each range of the rotation speed for calculation. Note that the load torque (friction torque) is not considered in the calculation expression, so the result may slightly differ from the actual acceleration/ deceleration time.
Po
Constant torque range
Constant output range
Deceleration range
0
0 N1
Actual acceleration/deceleration output
N2 N3
Rotation speed [r/min ]
(a) Maximum motor output during acceleration/deceleration: Po
The output during acceleration/deceleration (actual acceleration/
Output characteristics for acceleration/deceleration deceleration output) Po is 1.2-fold of "Standard output during acceleration/deceleration" or "Short time rated output".
The output Po during acceleration/deceleration follows the expression below.
Po = ( "Short time rated output" or "Standard output during acceleration/deceleration" ) x 1.2
Substitute this value into Po of the expression.
(b) Total load inertia: J all
Total load inertia means the total inertia of the spindle motor and of the components which are rotated the motor (shaft, etc.).
J all
= (Motor inertia) + (Spindle conversion inertia) [kg•m
2
]
The values obtained in (a) and (b) are substituted into the following calculation expressions.
To calculate the acceleration/deceleration time of the rotation speed N (r/min), use the expression (c), (d) or
(e) which is selected depending on the range that corresponds to the speed N.
(c) Acceleration/deceleration time for constant torque range: t1 ꞏꞏꞏ 0 to N [r/min] (0 ≦ N ≦ N1)
(For N>N1, apply N=N1 and also calculate t2 or t3.) t1 =
1.097 x 10
-2
x J all
x N1 x N
Po
[s] (Caution 1)
(d) Acceleration/deceleration time for constant output range: t2 ꞏꞏꞏ N1 to N [r/min] (N1<N ≦ N2)
(For N>N2, apply N=N2 and also calculate t3.) t2 =
1.097 x 10
-2
x J all
x (N
2
- N1
2
)
2 x Po
[s] (Caution 1)
(e) Acceleration/deceleration time in deceleration output range: t3 ꞏꞏꞏ N2 to N [r/min] (N2<N ≦ N3) t3 =
1.097 x 10
-2
x J all
x (N
3
- N2
3
)
3 x Po x N2
[s] (Caution 1)
Based on the above expressions, the acceleration/deceleration time: t from 0 to N3 [r/min] is: t = t1 + t2 + t3 [s] (Caution 2)
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CAUTION
1. Note that the inertia (J) is a quarter of "GD
2
".
Ex.) When "GD
2
" is 0.2 [kg•m
2
], the inertia is "0.2 / 4 = 0.05 [kg•m
2
]".
2. If the AC input power voltage to the power supply is low, or if the input power impedance is high, the acceleration/ deceleration time may be long. (Especially, the acceleration/deceleration time of the deceleration output range may be long.)
3. For the actual measurement in comparison with the theoretical value, perform under the same condition as the calculated load inertia of J all
.
The acceleration/deceleration time differs according to the inertia. When performing the measurement with a workpiece or tool installed to the spindle, confirm that the acceleration/deceleration time has been calculated when the total inertia is included in the installed workpiece and tool.
[Calculation example]
Calculate the acceleration/deceleration time from 0 to 10000[r/min] for an spindle motor having the output characteristics shown on the right when the motor inertia is 0.0148 [kg•m
2
], and when the motor shaft conversion load inertia is 0.05 [kg•m
2
].
Po = (Short-time rated output) × 1.2 = 5500 × 1.2 = 6600 [W]
J all
= (Motor inertia) + (load inertia)
= 0.0148 + 0.05 =0.0648 [kg•m
2
]
8.0
6.0
5.5
4.0
3.7
15-minute rating
4.1
2.8
2.0
Continuous rating
0
0 1500 6000 10000
Rotation speed [ r/min ]
Spindle motor characteristics t1 =
1.097 x 10
-2
x J all
x N1
2
Po
=
x 0.0648 x 1500
2
6600
= 0.242 [s] t2 =
1.097 x 10
-2
x J all
x (N2
2
2 Po
- N1 2
=
-2
x 0.0648 x (6000
2 6600
2
- 1500
2
) t3 =
1.097 x 10
-2
x J all
x (N3
3
- N2
3
3 x Po x N2
= 1.818 [s]
=
-2
x 0.0648 x (10000
3 x 6600 x 6000
3 - 6000 3
)
= 4.691 [s]
Thus, t = t1 + t2 + t3 = 0.242 + 1.818 + 4.691 = 6.751 [s]
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(2) Measuring the acceleration/deceleration waveforms
Measure the speed feedback and current feedback output by setting the monitor output data on "Time-series data measurement" with NC Analyzer, and check if theoretical acceleration/deceleration time is within ±15%. Refer to
"NC Analyzer Instruction Manual (IB-1501086)" for details on setting the monitor output data.
Speed feedback
Current feedback
Acceleration time:ta
Deceleration time:td
Measure the time from current rise to current fall.
Acceleration/deceleration characteristics of spindle motor
When acceleration/deceleration time does not match the theoretical value (an error rate 15% or more), check the following items.
[1] There may be an error in calculating load inertia for the motor axis conversion used when calculating the theoretical acceleration/deceleration time. Check the load inertia again.
[2] When acceleration time is long and deceleration time is short, friction torque is thought to be large. Check load meter value at the maximum speed (spindle monitor screen). If the load is 10% or more, friction torque is thought to be relatively large. Mechanical friction, such as bearing friction or timing belt friction, is assumed to be large. Measure the acceleration/deceleration time again following trial run.
[3] Even if the problems above are not found, when acceleration/deceleration time does not match, there may be a possibility of using spindle motor and spindle drive unit that are not specified, or using wrong parameters.
Check the spindle motor type and spindle drive unit type again, as well as the spindle parameter settings.
POINT
There are cases where acceleration/deceleration waveforms change depending on the spindle temperature.
Check the waveforms when the spindle temperature is high (after continuous operation) and when it is low.
CAUTION
Vibration or sudden acceleration/deceleration may occur during adjustment. When performing measurement with a workpiece or tool installed, pay careful attention for the safety during adjustment.
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(3) Adjustment when the load inertia is large
When the load inertia is large and acceleration time is 10s or more, excessive speed deviation alarm (ALM23) may occur because the time in which deviation between speed command and speed FB, which is the actual spindle motor rotation speed, exists is prolonged. In this case, increase the time constant (3101 to 3104) during spindle rotation by S command. When the acceleration time is 10s or less, use the standard value 300 (300ms).
Alarm can be avoided by adjusting excessive speed deviation timer (SP117). However, in this case, alarm detection will be delayed during constant speed operation.
【
#13117
】
Set the time to detect the speed excessive error alarm.
Set the time required to the machine.
The standard setting is "12".
---Setting range---
0 to 60 (s)
【
#3101
】
Set the acceleration/deceleration time constant with S command (speed operation mode) when gear
00 is selected. Set the linear acceleration/deceleration time up to limit rotation speed (slimit1). Set the short time constant that the motor torque at acceleration is always saturated, however, when an abnormal noise or V-belt slip occurs, increase the time constant.
---Setting range---
0 to 30000 (ms)
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(4) Acceleration/deceleration adjustment
Checks acceleration waveform and adjusts deceleration time.
(a) Checking acceleration waveform
Check acceleration waveform
< NC Analyzer setting (Time-series data measurement) >
Get
CH1
CH2
Waveform type
Speed feedback (r/min)
Current feedback
Set the "Time-series data measurement" with NC Analyzer as shown on the right
Acceleration/deceleration operation
Perform acceleration/deceleration operation from the maximum rotation speed in 1000 rotations increments.
Speed feedback
Current feedback
Acceleration waveform check completed
Acceleration time
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(b) Adjusting deceleration time
Adjusts deceleration time in the same manner as acceleration time by using SP071 (variable current limit during deceleration, lower limit value) and SP072 (variable current limit during deceleration, break point speed).
Adjust deceleration time
< NC Analyzer setting (Time-series data measurement) >
Get Waveform type
Speed feedback (r/min) CH1
CH2 Current feedback
Set the "Time-series data measurement" with NC Analyzer as shown on the right
Set SP071 and SP072
Acceleration/deceleration operation
When SP071=100 is set, current limit during deceleration is constant regardless of the speed. When setting SP071 to
100 or less and SP072 to maximum rotation speed or less, deceleration time will be longer as current limit during basically, 100 or less should be set.
Execute M5 stop operation from the maximum rotation speed.
Speed feedback
Current feedback
Deceleration time adjustment completed
Deceleration time
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Relation between SP071 (variable current limit during deceleration, lower limit value) and
SP072 (variable current limit during deceleration, break point speed)
Current limit
Decreasing current value
”100” is the setting value for the current limit during regeneration (SP152 (high-speed coil),
SP184 (low speed coil)).
Motor rotation speed
Deceleration time
SP072
0
100 q axis command/FB
SP071
0
<1>
<2>
0
SP072 Motor rotation speed
SP026
Max. rotation speed
(1) Rotation speed – Decreasing current value curve
<1> SP152(SP184)×SP071/100
<2> SP152(SP184)
Time(s)
(2) Rotation speed/current command FB waveform
【
#13071
】
Set this parameter to adjust the deceleration time by changing the current limit value during deceleration depending on the motor speed.
As shown below, set the lower limit rate of the current limit in SP071 (DIQM), and use with SP072
(DIQN).
When DIQM is set to 100%, the standard current limit value in deceleration (SP152) is applied.
100%
SP152
DIQM
0 DIQN Motor speed
---Setting range---
0 to 999 (%)
【
#13072
】
Set this parameter to adjust the deceleration time by changing the current limit value during deceleration depending on the motor speed.
As shown below, set the lower limit rate of the current limit in SP071 (DIQM), and use with SP072
(DIQN).
When DIQM is set to 100%, the standard current limit value in deceleration (SP152) is applied.
100%
SP152
DIQM
0 DIQN Motor speed
---Setting range---
1 to 32767 (r/min)
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6.1.4 Orientation Adjustment
Adjusts orientation time by adjusting SP016.
(1) Orientation characteristics
When decelerating to stop is executed with orientation, the remaining distance to the orientation stop position is compensated within one rotation. Thus, as shown in Case 1 below, when the remaining distance in deceleration is about "0", orientation time would be the shortest (time required to decelerate and stop + 0s), and as shown in Case
2 below, when the remaining distance in deceleration is about as much as one rotation amount, orientation time would be the longest.
Motor rotation speed Motor rotation speed
0
0 q axis current command
0
0 q axis current command
Current limit range at deceleration
(SP152 or SP184)
Current edge [1]
Time(s)
Time(s)
Current edge [2] q axis current command (SP126: 1 SP128: 100)
Case1: Remaining distance at deceleration 0 rotation Case2: Remaining distance at deceleration 1 rotation
【
#13016
】
Set the single-rotation position alignment deceleration rate for orientation stopping, phase alignment while rotating and switching from non-interpolation mode to spindle synchronization mode while rotating.
When the load inertia is larger, the setting value should be smaller.
When the setting value is larger, the orientation in-position and single-rotation position alignment complete faster, but the impact applied on the machine will increase.
To change the deceleration rate only during rotation command (command F Δ T ≠ 0), set this parameter together with SP070 (KDDT).
---Setting range---
1 to 32767 (0.1(r/min)/ms)
【
#13035(PR)
】
bit 2 : pyin Excitation rate selection in non-interpolation mode
The excitation rate after the in-position can be selected.
0: Select Excitation rate 1 1: Select Excitation rate 2
bit 1 : vgin Speed loop gain set selection in non-interpolation mode
The speed loop gain set after the in-position can be selected.
0: Select Set 1 1: Select Set 2
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(2) Confirmation in orientation stop at deceleration ≒ 0 rotation according to spindle specification
If orientation stop is performed with the load inertia increased due to an excessive workpiece or tool installed to the spindle, the spindle may start vibrating by trying to reverse after overshooting the stop position and stop after converging the vibrations (refer to the waveform below).
In this case, the orientation completion time is extended by the time to converge the spindle vibrations. Thus, the adjustment to suppress the reversing and vibrations at stop is required.
Motor rotation speed
Vibration
In-position signal
< Adjustment method >
1) Set SP016: Lower the setting value by 5. By lowering, the inclination of the speed becomes gradual. Set the optimum value while observing the speed waveform so that the speed will not vibrate.
2) Lower the position loop gain.
By lowering the position loop gain, a sway that exceeds the stop position is suppressed.
3) Adjust the speed gain (SP005, SP006).
The converging time becomes shorter if the rigidity during orientation stop is higher. However this affects the speed stability during constant feed, thus it is required to confirm the speed waveform at the constant speed and the machining surface during cutting.
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(3) Orientation time adjustment method
(a) Orientation adjustment from maximum rotation speed
Adjust orientation time
Set the "Time-series data measurement" with NC Analyzer as shown on the right
< NC Analyzer setting (Time-series data measurement) >
Get Waveform type
CH1
CH2
CH3
Speed feedback (r/min)
Current feedback
Control output 1(bitC) *In-position signal
Rotate spindle at the maximum rotation speed
Increase SP016 by +5
Command M19 (orientation stop)
NO
Compen. amount
One rotation?
(Current edge?)
YES
Orientation stop waveform example( ≒ 1 rotation)
Ch1:Speed feedback
0
Ch2:Current feedback
0
Current limit range at deceleration
(SP152 or SP184)
Current edge [1]
SP152
Time(s)
Current edge [2]
-(SP152)
NO
Current edge <
Current control value ?
YES
Multiply SP016 setting value by 1/2
Set to SP016 as recovery time constant.
Rotate spindle at the maximum rotation speed
Command M19 (orientation stop) Orientation stop waveform example( ≒ 1 rotation)
Ch1:Speed feedback
Increase SP016 by +5
NO
(Orientation stop time) -
(deceleration time) < 0.4s
YES
Orientation time adjustment completed
0
4.00s
deceleration time = 3.70s
）
Ch3:In-position signal
Orientation time
= 4.00s- 3.70s = 0.30s
＜ 0.4s OK
Stop within
In-position
POINT
Check the orientation operation with the maximum inertia by installing a workpiece or tool to the spindle head. However, if it is dangerous to check the operation at the maximum speed, slow down to the safe speed to check.
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(b) Orientation adjustment from stop mode
Adjust orientation time
Set the "Time-series data measurement" with NC Analyzer as shown on the right
< NC Analyzer setting (Time-series data measurement) >
Get Waveform type
CH1 Speed feedback (r/min)
CH2
CH3
Current feedback
Control output 1(bitC) *In-position signal
Stop with 180° deviated
(Refer to the right )
Command M19 (orientation stop)
Screen operation
[1] Press the NC function key DIAGN .
[2] Press the NC menu key I/F diagn .
[3] Press the NC menu key 1-shot output .
[4] Input “R7009/4650” with the NC key.
[5] Command M19 (orientation stop).
<-Stop at the side opposite to the orientation stop position (with 180° deviated).
[6] Press the NC menu key 1-shot output .
[7] Input “R7009/0” with the NC key.
Orientation position Orientation position
180° rotation
Spindle Spindle
NO
Current edge <
Current control value?
YES
Ch1:
Speed feedback
0
Ch2:
Current feedback
0
Current limit at acceleration
(SP153 or SP185)
Current limit at regeneration
(SP152 or SP184)
Increase SP016 by +5
Emergency stop
Stop with approx.180° deviated
Cancel emergency stop
Command M19 (orientation stop)
Check the orientation stop time
Orientation time adjustment completed
Ch1:
Speed feedback
0
Ch3:
In-position signal
0
standard
0.4s or less
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6.1.5 Synchronous Tapping Adjustment
(1) Gain setting and time constant determination
[1] For speed loop gain during synchronous tapping, speed loop gain set 2, which consists of SP008 (speed loop gain 2), SP009 (speed loop lead compensation 2), and SP010 (speed loop delay compensation 2), is used.
Thus, SP035 has to be set as follows. For position loop gain, set standard 33 to SP002 (position loop gain interpolation mode).
< List of parameters used for adjustment >
Parameter
SP002
SP008
SP009
SP010
SP035
Setting value
33
Value in SP005 set at "Gain Adjustment"
(Initial setting value: 150)
1900
0
0200: Speed loop gain set 2 selection (Validate bit9)
< Related servo parameters >
Set the spindle and interpolation axis by tapping.
Parameter
SV049
SV050
SV058
Setting value
Set the same value as spindle parameter "SP002"
Set it when using SHG control (when not using, set to "0")
Set it when using SHG control (when not using, set to "0")
[2] Create a NC program so that the synchronous tapping operation program has 3000r/min of spindle rotation speed, 1mm (equivalent of M6 screw) of screw pitch size, and depths at which the following two different operation patterns are generated.
(Note that the operation conditions, such as spindle rotation speed and screw pitch, may be specified by the machine tool builder.)
Spindle rotation speed (r/min)
Operation pattern 1
Constant speed area
Time (sec)
Adjust depth so that motor rotation speed waveform shapes trapezoids
Spindle rotation speed (r/min)
Operation pattern 2
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Time (sec)
Adjust depth so that motor rotation speed waveform shapes mountain-valley
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[3] Select "Synchronous tapping error measurement" on NC Analyzer, and perform synchronous tapping operations with the operation pattern 2 above.
*The following measurement data of servo and spindle are automatically set when "Synchronous tapping error measurement" is selected.
< NC Analyzer setting (Time-series data measurement) >
Get
CH1
CH2
CH3
CH4
CH5
Waveform type
Synchronous tapping error *Position error of spindle and servo axis
Speed feed back of servo
Speed feed back of spindle
Current feed back of servo
Current feed back of spindle
[4] Check the waveform and adjust the synchronous tapping time constant so that the margin for current limit at acceleration/deceleration is 50% or more.
Speed feed back
(CH3: Speed feed back of spindle)
3000r/min
0
Margin for current limit at deceleration has to be 50% or more.
Margin for current limit at acceleration has to be
50% or more.
Current feed back
(CH5: Current feed back of spindle)
0
Current limit level Current limit level
Output waveform example during synchronized tapping
(2) Accuracy test using NC Analyzer
[1] Perform synchronous tapping operations using the time constant determined in (1) above.
[2] Check the synchronous tapping accuracy (for both operation pattern 1 and 2) by using the synchronous tapping accuracy check tool.
Error pulse display
[3] If the number of error pulse is 100 (p-p) or less, satisfactory accuracy is secured, and the check is completed.
[4] If the number of error pulse exceeds 100, increase SP008 (VGN2) by 10 increments, and adjust so that the error pulse is 100 or less. Note that the maximum setting value is 150 × [inertia ratio].
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【
#13002
】
Set the position loop gain for "interpolation" control mode.
When the setting value increases, the command tracking ability will enhance and the positioning settling time can be shorter. However, the impact on the machine during acceleration/deceleration will increase.
Use the selection command, the control mode "bit 2, 1, 0 = 010 or 100" in control input 4.
(Note) The control mode is commanded by NC.
When carrying out the SHG control, set SP035/bitC to "1".
---Setting range---
1 to 200 (rad/s)
【
#13008
】
Normally SP005(VGN1) is used.
By setting "SP035/bit9=1", gain 2 can be used according to the application.
Gain 2 can also be used by setting "Speed gain set 2 changeover request (control input 5/ bitC) = 1".
Refer to SP005(VGN1) for adjustment procedures.
---Setting range---
1 to 9999
【
#13009
】
Normally SP006(VIA1) is used.
By setting "SP035/bit9=1", gain 2 can be used according to the application.
Gain 2 can also be used by setting "Speed gain set 2 changeover request (control input 5/ bitC) = 1".
Refer to SP006(VIA1) for adjustment procedures.
---Setting range---
1 to 9999
【
#13010
】
Normally SP007(VIL1) is used.
By setting "SP035/bit9=1", gain 2 can be used according to the application.
Gain 2 can also be used by setting "Speed gain set 2 changeover request (control input 5/ bitC) = 1".
Refer to SP007(VIL1) for adjustment procedures.
---Setting range---
0 to 32767
【
#13035(PR)
】
bit C : shgn SHG control in interpolation mode
0: Stop 1: Start
bit A : pyn Excitation rate selection in interpolation mode
0: Select Excitation rate 1 1: Select Excitation rate 2
bit 9 : vgn Speed loop gain set selection in interpolation mode
0: Select Set 1 1: Select Set 2
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6.1.6 High-speed Synchronous Tapping
This function uses high-speed communication between drive units to send compensation data from a spindle to a servo system. The servo system uses the received data for compensation to follow the spindle position, and reduce synchronous errors. This function can also suppress speed overshoot in cases of acceleration/deceleration at time constants that may reach the spindle torque limit. As such, shorter time constants can be set compared to the conventional normal synchronous tapping, and cycle times can be reduced. However, high-speed synchronous tapping function does not guarantee higher machining accuracy than normal synchronous tapping.
M800/M80/C80
Series
High-speed Synchronous Tapping Function OMR-DD ）
MDS-E
Servo
(1) High-speed communication between drive units suppresses synchronous errors between a servo drive unit and a spindle drive unit.
MDS-E
Spindle
(2) Speed overshoot is suppressed when stopping or at a hole bottom while accelerating
/decelerating at spindle maximum torque
(1) System Configuration
As shown in the figure on the right, the high-speed synchronous tapping function uses the communication line between the drive units and NC for compensating between drive units. Also, the output and receiving of compensation data of each drive unit is commanded from the NC.
Therefore, there are limitations in how drive units are connected and the order of connection. The following are cautions when using this function.
Configuration Specification
Compensation data sending/receiving command
Connection examples
Optical communication channel 1 Spindle
Servo Spindle
Compensation data
Optical communication line
Connection of multiple channels
Drive units that perform high-speed synchronous tapping are restricted to axes connected with the same optical communication line in the same channel.
Servo
Optical communication channel 2
Compensation over different optical communication channels cannot be performed
Servo Spindle 1 Spindle 2 Spindle 3 Spindle 4 Spindle 5
The connection order of drive units in the same channel
The maximum number of spindles that can be used in high-speed synchronous tapping is 4.
Up to a maximum of 4 spindles
High-speed synchronous tapping function cannot be used.
Synchronous tapping in G68
（ 3-dimensional coordinate conversion ）
When any one of three base axes cannot satisfy the above specifications, this function cannot be used in
G68.
(Note) When synchronous tapping is performed under conditions that high-speed synchronous tapping function cannot be used, operation continues without compensation. During synchronous tapping, the status can be confirmed with bit8 in spindle control command output 6. (0: Disabled, 1: Enabled)
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(2) Related parameters
The following are the parameters related to high-speed synchronous tapping function.
[1] NC parameter
High-speed synchronous tapping function is an option. Check the machine specifications when adjusting the parameters.
【
#1281(PR)
】
bit 5 : High-speed synchronous tapping valid
Select whether to enable the high-speed synchronous tapping.
0: Disable
1: Enable
【
#3013-3016
】
Set the speed which switches from 1st step to 2nd step in synchronous tapping multi-step acceleration/deceleration control when gears from 00 to 11 are selected.
---Setting range---
0 to 99999 (r/min)
【
#3017-3020
】
constant
Set the time constant for synchronous tapping 1st step linear acceleration/deceleration control when gears from 00 to 11 are selected. (Linear acceleration/deceleration pattern)
---Setting range---
1 to 5000 (ms)
【
#3037-3040
】
Set the speed which switches from 2nd step to 3rd step in synchronous tapping multi-step acceleration/deceleration control when gears from 00 to 11 are selected.
---Setting range---
0 to 99999 (r/min)
【
#3041-3044
】
constant
Set the time constant for synchronous tapping 2nd step linear acceleration/deceleration control when gears from 00 to 11 are selected.
---Setting range---
1 to 5000 (ms)
【
#3001-3004
】
Set the spindle rotation speeds for maximum motor speed when gears from 00 to 11 are selected.
Set the spindle rotation speed for the S analog output=10V during analog spindle control.
---Setting range---
0 to 99999 (r/min)
【
#3045-3048
】
constant
Set the time constant for synchronous tapping 3rd step linear acceleration/deceleration control when gears from 00 to 11 are selected.
---Setting range---
1 to 5000 (ms)
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【
#3120
】
When performing high-speed synchronous tapping control(#1281/bit5), set the reduction rate of the time constant compared to the time constant in normal synchronous tapping.
(Setting "0" or "100" will be regarded as reduction rate zero, so the time constant won't be reduced.)
E.g.) When set to "10", time constant in high-speed synchronous tapping will be 90% of that in normal synchronous.
---Setting range---
0 to 100(%)
(Note) The inclination of linear acceleration/deceleration control for multi-step synchronous tapping is determined by the ratio of "rotation speed" to "acceleration/deceleration time constant". When using multi-step synchronous tapping, the inclination should be set so that the 1st step is higher than the second step, and the second step is higher than the third step. When the inclination of the latter step is higher, the multi-step setting is disabled and the inclination of the former step is applied.
[2] Drive unit parameter
[Servo]
【
#2232
】
Set the unbalance torque on vertical axis and inclined axis.
When the vertical axis pull up function is enabled, the pull up compensation direction is determined by this parameter's sign.
When set to "0", and the pull up function is enabled (SV033/bitE=1), the alarm "S02 2233 Initial parameter error" occurs.
This can be used for speed loop delay compensation and collision detection function.
To use load inertia estimation function (drive monitor display), set this parameter, friction torque
(SV045) and load inertia display enabling flag (SV035/bitF).
---Setting range---
-100 to 100 (Stall current %)
【
#2237
】
Set the motor axis conversion total load inertia including motor itself in proportion to the motor inertia.
SV037(JL)=(Jm+Jl)÷Jm×100
Jm: Motor inertia
Jl: Motor axis conversion load inertia
For linear motor, set the gross mass of the moving sections in kg unit.
<<Drive monitor load inertia ratio display>>
Set SV035/bitF=1 and imbalance torque and friction torque to both SV032 and SV045, and then repeat acceleration/deceleration for several times.
---Setting range---
For general motor: 0 to 5000 (%)
For linear motor: 0 to 5000 (kg)
【
#2313
】
Select the servo functions.
bit 7 : nmerc Machine error compensation amount
(Note) Do not turn ON the NC power supply with the setting as disable (set to "1"). The initial parameter error alarm is detected.
0:Enable (Normal setting)
1:Disable
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【
#2329
】
Set the acceleration rate feed forward filter frequency in high-speed synchronous tapping control.
The standard setting is "600".
---Setting range---
0 to 32767 (rad/s)
【
#2444(PR)
】
drive units
Set the communication interpolation unit among drive units in high-speed synchronous tapping control. When set to "0", it will be regarded as 20 (0.05
μ m) is set.
(Note) This is enabled after turning ON the NC power supply again.
---Setting range---
0 to 2000 (1/ μ m)
[Spindle]
【
#13226
】
Select the spindle function.
bit 3 : dd2
0: Normal setting
1: High-speed synchronous tapping function valid
(Note) The bits that are not explained here must be set to "0".
【
#13228
】
Select the spindle function.
bit 0-2 : lmd
Select the load display
000: Normal
001: Load display effective motor current
010: Load display motor output effective value
011: Load display high cycle
100: Load display high-cycle motor output effective value
101: Setting prohibited
110: Torque current command
111: Torque current FB
(Note 1) The bits that are not explained here must be set to "0".
(Note 2) Do not turn ON the NC power supply with the setting of SP228 bit0-2=110,111.
The initial parameter error alarm 37 is detected.
【
#13244(PR)
】
drive units
Set the communication interpolation unit among drive units in high-speed synchronous tapping control. When set to "0", it will be regarded as 20 (0.05
μ m) is set.
(Note) This is enabled after turning ON the NC power supply again.
---Setting range---
0 to 2000 (1/ μ m)
(Note 1) When adjusting high-speed synchronous tapping, SV032: Torque offset and SV037: Load inertia scale need to be set.
(Note 2) The following are the parameters for adjusting. When turning ON the NC power supply again with these parameters set, an initial parameter error alarm 37 occurs.
- Machine error compensation amount disable setting SV113 bit7 = 1
- Load display selection SP228 bit0-2 = 110, 111
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[3] The checking of error waveforms
Check the error waveforms of the time constant to be set to confirm that the synchronous errors are less than or equal to the base value.
Disable machine end compensation such as backlash compensation before checking.
Base value
The base value of synchronous errors is 8.8° or less during M6 and PIT1 machining.
(The conventional base value of 100 pulses or less is based on 4096 pulses per rotation, therefore
-
100 [pulse]/4096 [pulse] × 360 [°] ≒ 8.8 [°])
As shown in the figure below, a synchronous error may become larger due to lost motion of a servo axis etc. when starting tapping or during velocity reversal at the hole bottom. At the start, the work is not within cutting range so it will not be affected. When this error is large, adjust the servo axes with lost motion compensation etc.
The work is not within cutting range so it will not be affected.
Motor rotation speed
-
0
Synchronous error
Adjust with lost motion compensation etc.
When torque saturation is released, synchronous errors may become larger. There is no problem if the synchronous error is the same or smaller than the base value. If the error is large, it can be improved by increasing the time constant or lowering the synchronous tapping position gain of the spindle.
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(4) Adjustment procedures
The adjustment procedures of high-speed synchronous tapping function are shown below.
Start
(Note 1)
Check that the parameters related to high-speed synchronous tapping function are set.
Enable high-speed synchronous tapping
SP226/bit3=1
High-speed synchronous tapping-related parameter settings
[ NC ]
# 1281/bit5: High-speed synchronous tapping enabled
[ Servo ]
SV032: Torque offset
SV037: Load inertia scale
SV129: Synchronous control feed forward filter frequency
SV244: Communication interpolation unit for
communication among drive units
[ Spindle ]
SP244: Communication interpolation unit for
communication among drive units
Disable machine error compensation amount
Set "1" to SV113/bit7
Setting for checking synchronous error during adjustment
Disabled during adjustment because backlash and pitch error change the synchronous error waveforms.
#3013 (stap1) to #3016 (stap4)
Measure acceleration/deceleration time of maximum tapping rotation speed.
#3120 (staptr) Time constant reduction rate in high-speed synchronous tapping Set to "0"
#3017 (tapt1) to #3020 (tapt4)
Tapping time constant
Measured acceleration/deceleration time × 1.2
SP228 bit0 to 2: Load display
Set to "110" (Torque current command display)
The displayed value of the load meter becomes the torque current command value by setting the parameter.
(Note 2)
Synchronous tapping waveform check
Synchronous error waveform within judgement value?
No speed overshooting at stop?
No vibration of torque current command at stop?
NO
Parameter/Time constant adjustment
Set a value of about 1.1 times of the time constant where a speed overshoot or a current vibration does not occur at stop.
YES
SP228 bit0 to 2: Load display
Set to "000" (normal setting)
(Note 3)
Enable Machine error compensation amount
Set "0" to SV113 bit7
Finish
CAUTION
1. Perform the high-speed synchronous tapping function adjustment after servo adjustment.
2. Use NC Analyzer2 to check the synchronous tapping waveforms. The displayed value of the load meter is the torque current command.
3. Make sure to change the load display (SP228 bit0 to 2) back to the initial setting value and disable the machine error compensation amount (SV113 bit7=0) after high-speed synchronous tapping adjustment. Failure to observe this causes initial parameter error alarm 37 to occur after turning the NC power supply ON again.
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6.1.7 Spindle C Axis Adjustment (For Lathe System)
(1) Setting the gain
For spindle C axis speed loop gain, SP008 (speed loop gain 2), speed loop gain set 2, which consists of SP009
(speed loop lead compensation 2), and SP010 (speed loop delay compensation 2), is used. Thus, SP035 has to be set as follows. For position loop gain, set standard 33 to SP002 (position loop gain, interpolation mode).
Parameter
SP002
SP008
SP009
SP010
SP035
Setting value
33
SP005 setting value set in "Basic Adjustments" (Initial setting value: 150)
1900
0
0200: Speed loop gain set 2 selection (validate bit9)
< Related servo parameters >
Set the spindle and interpolation axis.
Parameter
SV003
SV004
SV057
Setting value
Set the same value as spindle parameter "SP002"
Set it when using SHG control (when not using, set to "0")
Set it when using SHG control (when not using, set to "0")
(2) Gain adjustment and accuracy test during C axis operation
[1] Set the "Time-series data measurement" with NC Analyzer as follows during stopped in C axis mode (servo
ON status) or when executing cutting feed with G01 F20. Then check the droop fluctuation is within 10°/1000.
< NC Analyzer setting (Time-series data measurement) >
Get
CH1
CH2
Offset is 2.5V.
Waveform type
Position droop
Current command
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* Waveform during stopped in C axis (Reference)
0
0
0.010° or less
Ch1: Position droop
Ch2: Current command
* Waveform when executing cutting feed with G01 F20 (Reference)
0
0
0.010° or less
Ch1: Position droop
Ch2: Current command
[2] When satisfactory accuracy is not secured, increase SP008 (VGN2) by 10 increments and adjust so that the accuracy level meets the standard. Note that the maximum setting value is 150 x [inertia ratio].
(3) Setting the notch filter
During spindle C axis operation, there are times where motor is rotated while brake is applied, resulting in resonance occurred. In this case, measure resonance frequency from q axis current command waveform and set the value to SP038 (notch filter 1). Also, depending on the set frequency, filter depth must be set to SP034. When notch filter is set, perform acceleration/deceleration operation at the maximum speed and confirm that no abnormal oscillation or noise is found.
Notch filter's set frequency and standard depth setting
SP034
Notch filter 1 Depth setting
SP038
Notch filter 1 Setting frequency bit3=0 bit2=0 bit1=0
Setting value: XXX0
2000(Hz) to 400(Hz) bit3=0 bit2=1 bit1=0
Setting value: XXX4
399(Hz) to 200(Hz) bit3=1 bit2=0 bit1=0
Setting value: XXX8
190(Hz) or lower
Setting example: When there are 16 wavelengths within 0.02 sec.
0
0
Ch1: Position droop
Ch2: Current command
16 wavelengths within 0.02sec = 800Hz
Set 800 to SP038 and XXX0 to SP034. Measure position droop and current command at this time, and adjust notch filter's frequency and depth so that the position droop is within standard range.
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POINT
1. When incorrect frequency is set, suddenly resonance can occur and big abnormal noise can be generated. Input the appropriate value.
2. Do not set the value to low-frequency (50Hz).
【
#13002
】
Set the position loop gain for "interpolation" control mode.
When the setting value increases, the command tracking ability will enhance and the positioning settling time can be shorter. However, the impact on the machine during acceleration/deceleration will increase.
Use the selection command, the control mode "bit 2, 1, 0 = 010 or 100" in control input 4.
(Note) The control mode is commanded by NC.
When carrying out the SHG control, set SP035/bitC to "1".
---Setting range---
1 to 200 (rad/s)
【
#13008
】
Normally SP005(VGN1) is used.
By setting "SP035/bit9=1", gain 2 can be used according to the application.
Gain 2 can also be used by setting "Speed gain set 2 changeover request (control input 5/ bitC) = 1".
Refer to SP005(VGN1) for adjustment procedures.
---Setting range---
1 to 9999
【
#13009
】
Normally SP006(VIA1) is used.
By setting "SP035/bit9=1", gain 2 can be used according to the application.
Gain 2 can also be used by setting "Speed gain set 2 changeover request (control input 5/ bitC) = 1".
Refer to SP006(VIA1) for adjustment procedures.
---Setting range---
1 to 9999
【
#13010
】
Normally SP007(VIL1) is used.
By setting "SP035/bit9=1", gain 2 can be used according to the application.
Gain 2 can also be used by setting "Speed gain set 2 changeover request (control input 5/ bitC) = 1".
Refer to SP007(VIL1) for adjustment procedures.
---Setting range---
0 to 32767
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【
#13034
】
bit F-D : nfd5 Depth of Notch filter 5
Set the depth of Notch filter 5 (SP088).
bit F,E,D=
000: ∞
001: -18.1[dB]
010: -12.0[dB]
011: -8.5[dB]
100: -6.0[dB]
101: -4.1[dB]
110: -2.5[dB]
111: -1.2[dB]
bit B-9 : nfd4 Depth of Notch filter 4
Set the depth of Notch filter 4 (SP087).
bit B,A,9=
000: ∞
001: -18.1[dB]
010: -12.0[dB]
011: -8.5[dB]
100: -6.0[dB]
101: -4.1[dB]
110: -2.5[dB]
111: -1.2[dB]
bit 7-5 : nfd2 Depth of Notch filter 2
Set the depth of Notch filter 2 (SP046).
bit7,6,5=
000: ∞
001: -18.1[dB]
010: -12.0[dB]
011: -8.5[dB]
100: -6.0[dB]
101: -4.1[dB]
110: -2.5[dB]
111: -1.2[dB]
bit 4 : fhz3 Notch filter 3
0: Stop 1: Start (1125Hz)
bit 3-1 : nfd1 Depth of Notch filter 1
Set the depth of Notch filter 1 (SP038).
bit3,2,1=
000: ∞
001: -18.1[dB]
010: -12.0[dB]
011: -8.5[dB]
100: -6.0[dB]
101: -4.1[dB]
110: -2.5[dB]
111: -1.2[dB]
【
#13035(PR)
】
bit C : shgn SHG control in interpolation mode
0: Stop 1: Start
bit A : pyn Excitation rate selection in interpolation mode
0: Select Excitation rate 1 1: Select Excitation rate 2
bit 9 : vgn Speed loop gain set selection in interpolation mode
0: Select Set 1 1: Select Set 2
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【
#13038
】
Set the vibration frequency to suppress when machine vibration occurs.
(Enabled at 50 or more.)
When not using, set to "0".
---Setting range---
0 to 5000 (Hz)
【
#13046
】
Set the vibration frequency to suppress when machine vibration occurs.
(Enabled at 50 or more.)
When not using, set to "0".
---Setting range---
0 to 5000 (Hz)
【
#13087
】
Set the vibration frequency to suppress when machine vibration occurs.
(Enabled at 50 or more.)
When not using, set to "0".
---Setting range---
0 to 5000 (Hz)
【
#13088
】
Set the vibration frequency to suppress when machine vibration occurs.
(Enabled at 50 or more.)
When not using, set to "0".
---Setting range---
0 to 5000 (Hz)
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6.1.8 Spindle Synchronization Adjustment (For Lathe System)
(1) Setting the gain, changeover rotation speed and time constant
[1] For speed loop gain during spindle synchronization, SP005 (speed loop gain 1), SP006 (speed loop lead compensation 1), and SP007 (speed loop delay compensation 2) are used. For position loop gain, set standard 15 to SP003 (position loop gain spindle synchronization).
Parameter
SP003
SP036
Setting value
15
0000
(Note1) To change the setting value of SP003, set the synchronous and basic spindles to the same value.
(Note2) For the adjustment of SP005, SP006 and SP007, conduct "Adjusting the speed loop parameter" as a single unit beforehand.
[2] Set rotation speed and time constant during acceleration/deceleration figured by theoretical calculations.
[3] Set "Time-series data measurement" with NC Analyzer as follows and output speed feedback and current command.
< NC Analyzer setting (Time-series data measurement) >
Get
CH1
CH2
Waveform type
Speed feedback (r/min)
Current command
(2) Confirming the current margin
Perform acceleration/deceleration up to the maximum current speed in spindle synchronization mode. At this time, confirm that the current value for both acceleration side and deceleration side secure 30% or more of margin in respect to the current limit value. Also, confirm that no oscillation, etc. are found in the current waveforms.
(Note) If a margin is 30% or less, extend the acceleration/deceleration time constant so that the margin is adjusted to 30% or more.
Speed feedback
0
Current margin has to be 30% or more.
Current limit at accelaration
SP153 or SP185
Current command
0
Current margin has to be
30% or more. Current limit at regeneration
SP152 or SP186
Output waveform example in spindle synchronous mode
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【
#13003
】
Set the position loop gain for "spindle synchronization" control mode.
When the setting value increases, the command tracking ability will enhance and the positioning settling time can be shorter. However, the impact on the machine during acceleration/deceleration will increase.
Use the selection command, the control mode "bit 2, 1, 0 = 001" in control input 4.
(Note 1) The control mode is commanded by NC.
When carrying out the SHG control, set SP036/bit4 to "1".
(Note 2) Set the same value for the basic and synchronous spindles in spindle synchronization.
---Setting range---
1 to 200 (rad/s)
【
#13036(PR)
】
bit 4 : shgs SHG control in spindle synchronization mode
0: Stop 1: Start
bit 2 : pys Excitation rate selection in spindle synchronization mode
0: Select Excitation rate 1 1: Select Excitation rate 2
bit 1 : vgs Speed loop gain set selection in spindle synchronization mode
0: Select Set 1 (SP005,SP006,SP007) 1: Select Set 2 (SP008,SP009,SP010)
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6.1.9 Deceleration Coil Changeover Valid Function by Emergency Stop
If a large workpiece is mounted on a large workpiece chuck in lathe, the acceleration/deceleration time increases because of the increase of the total inertia. When the deceleration stop time at emergency stop exceeds the upper limit value (29900ms) of the gate shutoff delay time (SP055), the spindle motor will coast.
This function enables the coil changeover motor to change to low-speed coil during emergency stop and if the deceleration time is reduced to complete within the gate shutoff time, the spindle enters an emergency stop state.
Max. delay time only
Emergency stop
High-speed coil
Low-speed coil command
Low-speed coil bit8=0
Disable
Deceleration
Coast
Max. delay time （ 29900ms ）
After the elapse of maximum delay time, the motor cannot stop but caost
Max. delay time+Coil changeover enabled
Emergency stop
High-speed coil
Low-speed coil command
Low-speed coil bit8=1
Enable
Deceleration
Stop
Deceleratie using low-speed coil
Max. delay time （ 29900ms ）
Because of the changeover to high-speed coil, deceleration finishes in time and the motor stops
【
#13225
】
bit 8 : mken Coil switch allowance in deceleration control
This enables a coil changeover while decelerating after an emergency stop for a spindle motor with coil changeover specification. A coil changeover may enable an excessive load inertia to stop within the maximum delay time.
0: Normal (Disable) 1: Enable
【
#13055
】
Set the time required to forcibly execute READY OFF after the emergency stop is input.
Normally set to "5000".
When 5000ms or more is set for deceleration time constant at emergency stop (SP056), set the same value as SP056.
When using the power backup system (MDS-D/DH-PFU) and setting the value of this parameter to
5000ms or more, a communication error between NC and drive unit may occur when power restarts after a instantaneous power interrupt.
It is not a problem so turn the NC power ON again to start up.
When "0" is set, 7000ms is the actual value to be set.
---Setting range---
0 to 29900 (ms)
【
#13056
】
Set the time constant used for the deceleration control at emergency stop. Set the time required to stop from the maximum motor speed (TSP).
When "0" is set, the deceleration control is executed with "7000ms".
---Setting range---
0 to 29900 (ms)
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6.1.10 High-response Acceleration/Deceleration Function
Under continuous position control method makes position droop is set with primary delay depending on the position control gain during the acceleration/deceleration by S command. If the position gain is set lower, the zero speed detection which indicates the spindle stop is more conspicuously delayed.
This function enables the position droop's primary delay to be shorter and the zero speed detection to be faster.
S command
Motor speed
Conventional
High-response
Time
0
Delay time
2/posotion control gain ［ s ］
Time
0
Comparison of spindle acceleration/deceleration by S command
【
#13095
】
deceleration
Set the magnification against delay/lead compensation (SP006) of the high-response acceleration/ deceleration (valid when SP226/ bitD is set to "1").
Normally, set to "0". Set this parameter to suppress overshooting when the speed is reached.
---Setting range---
0 to 10000 (0.01%)
【
#13226
】
bit D : vup High response acceleration / deceleration
This suppresses a temporal delay which occurs when the target speed is attained from acceleration and when the spindle stops from deceleration.
0: Normal acceleration/deceleration 1: High response acceleration/deceleration Enable
POINT
This function is invalid during orientation and interpolation control (spindle synchronous/C axis/synchronous tapping control) even when it is set.
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6.1.11 Spindle Cutting Withstand Level Improvement
Conventionally, the spindle rotation speed was slowed down due to heavy cutting that exceeds the spindle output characteristics, and this caused the alarm (Excessive error 52, Overload command 51) to stop the machining.
This function enables setting of the dropping speed allowable value by parameter. As long as the speed is the set value or higher, machining can be executed within the output characteristics without being stopped by the alarm.
Even when the parameter setting value is the normal value of 0, the standard value of 85 is applied. This can improve the efficiency of heavy cutting (feed per revolution).
If excessive speed dropping occurs and the speed exceeds the allowable range, the excessive speed deviation alarm 23 is output to reduce the damage to the machine.
Spindle
Cutter
Workpiece
When the spindle speed is lowered by machining which exceeds the maximum torque, the feed axis speed is also lowered.
Controls so that the cutting torque is maintained and the finished surface has even cut marks.
Set the feed amount according to the spindle rotation
Torque characteristics
Torque for the command speed ＞ Maximum torque
Torque
Max. torque
Cutting torque
(2)
0
Spindle speed Actual speed
(1)
(3)
Speed
Command speed
(1) Heavy cutting start
(2) Machining at a lowered speed
(3) Normal cutting
Command speed
Actual speed
(1) (2)
Cutting which exceeds the maximum spindle output
(3)
Command×SP096( ％ )
Alarm23 area
Time 0
Feed axis speed
0
Feed axis speed
Time
Allows the speed lowering and continues the machining
【
#13096
】
When the spindle slows down due to multiple cutting, set the processable speed as percentage against the NC command speed.
If the speed reduces below the tolerable range, the alarm 23 (Excessive speed error) will occur.
E.g.] When set to 90 [%]
If S1000 is commanded, the speed reduced by 900r/min (=1000r/min × 90%) is the allowable
lower limit. Thus if the spindle speed reduces to 100r/min or below, the alarm will occur.
When "0" is set, the magnification is the same as when "85" is set. When set to "-1", the allowable width will be disabled.
---Setting range---
-1,0 to 100(%)
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6.1.12 Spindle Motor Temperature Compensation Function
When an IM spindle motor is in a cooled state, its maximum output characteristics tend to degrade compared to when warmed up. Eventually the spindle acceleration deceleration time may extend or the cutting load on the display may increase immediately after the start of operation.
This function is designed to reduce the motor output degradation caused by the temperature fluctuation, by applying control compensation according to the temperature detected by the motor's built-in thermistor.
For an IPM spindle motor, changes in output characteristics induced by the temperature fluctuation can be ignored in principle, so no thermal compensation function is provided for this type of motor.
NC
MDS-EM/EMH-SPV3
Connect to CN2
Temperature detection
Output compensation
Built-in thermistor
(Analog signal)
Motor-end encoder
(Serial communication)
Spindle motor
(1) Setting of the temperature compensation gain (SP235)
[1] Set the parameters as SP235(R2H)=150 and SP236(WIH)=0.
* Change SP153 and SP185 to [original setting x 0.8] respectively and
then turn the NC power OFF and ON.
[2] Rotate the spindle at the command speed of 60r/min.
[3] Make sure that [Cycle counter] on the spindle monitor screen is counting up or down.
[4] Stop the spindle (M5 stop: servo OFF).
[5] Create a program that repeats acceleration/deceleration up to the maximum rotation speed in constant output.
* If the machine’s specified speed is lower than the motor’s maximum speed in constant output,
set the machine specification as the maximum rotation speed.
<Program example for a machining center with the maximum rotation speed in constant output of 7000r/min>
M3 S7000; (Accelerate to the maximum rotation speed)
G4 X2.0; (Dwell for 2.0 seconds)
M5; (Stop)
G4 X2.0; (Dwell for 2.0 seconds)
M99; (Repeat)
[6] Set SP226 bit8 to 1. (Change SP226(SFNC6) from 0000 to 0100.)
[7] Run the program (acceleration/deceleration) which you created in [5].
[8] Make sure that [AFLT gain (dB)] on the spindle monitor is in the range of 90 to 110 during the acceleration/ deceleration operation.
<If [AFLT gain (dB)] is out of the range of 90 to 110>
Adjust SP235(R2H) as follows and run the program created in [5] (acceleration/deceleration).
• When [AFLT gain (dB)] is smaller than 90:
Increment SP235(R2H) by 5 at a time until the gain reaches 90 or higher during the program execution.
• When [AFLT gain (dB)] is 111 or greater:
Decrement SP235(R2H) by 5 at a time until the gain reaches 110 or lower during the program execution.
[9] Stop the spindle when [Temperature (°C)] on the spindle monitor reaches 100 (or the upper limit of temperature in practical use).
[10] The value of SP235(R2H) you obtain at this time is the result of the final adjustment.
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(2) Setting of the temperature compensation time constant (SP236)
[1] Set SP236(WIH)=10. (Leave the setting of SP235 unchanged.)
[2] Run the program (acceleration/deceleration) that you created in [5] of (1), and continue until [Temperature
(°C)] on the spindle monitor screen reaches 100 (or the upper limit of temperature in practical use).
[3] Stop the spindle when [Temperature (°C)] on the spindle monitor reaches 100 (or the upper limit of temperature in practical use). Then wait until [Temperature (°C)] drops to 80 (or the upper limit of temperature in practical use - 20°C).
[4] When [Temperature (°C)] on the spindle monitor reaches 80 (or the upper limit of temperature in practical use
- 20°C), run the program (acceleration/deceleration) you created in [5] of (1) by one cycle. Adjust SP236(WIH) as follows according to the value of [AFLT gain (dB)] on the spindle monitor screen during the operation.
• When [AFLT gain (dB)] is smaller than 90:
Increment SP236(WIH) by 2 at a time and perform [2]
• When [AFLT gain (dB)] is 111 or greater:
Decrement SP236(WIH) by 2 at a time and perform [2].
[5] The SP236(WIH) value to be obtained while [AFLT gain (dB)] is in the range of 90 to 110 is the result of the final adjustment.
[6] Set SP226 bit8 to 0. (Change SP226(SFNC6) from 0100 to 0000.)
*Change SP153 and SP185 back to the original settings and turn OFF and ON the NC
power.
CAUTION
Check the monitor screen to make sure that the motor has reached the maximum rotation speed in constant output during execution of the created program.
* "Maximum rotation speed in constant output" is the maximum speed at which the short-time rated output will not drop
lower than the motor’s specified output. (Refer to the motor output specifications.)
If the machine’s specified speed is lower than the motor’s maximum speed in constant output, the machine’s specified
speed serves as the maximum rotation speed.
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< How to adjust the spindle motor temperature compensation function >
Start the adjustment
Set the temperature compensation parameters to the initial settings:
SP235(R2H)=150, SP236(WIH)=0
Change the current limit (acceleration)
Change SP153 and SP185 to [original setting x 0.8] respectively.
(Note) Turn OFF/ON the NC power after this change.
[Cycle counter] on the spindle monitor is ≠0?
YES
Stop the spindle (servo OFF)
Forward-run the spindle
(command speed at approx. 60r/min)
NO
For the initial operation after setting SP226/bit8 = 1, make sure to perform acceleration/deceleration that reaches the maximum rotation speed in constant output.
Change SP226(SFNC6) from 0000 to
0100 (display the temperature compensation adjustment indicator)
If the acceleration/deceleration has not reached the maximum speed, set SP226/bit8=0 once, and then SP226/bit8=1. This resets the display.
Execute cycle operation with the acceleration/deceleration up to the maximum speed in constant output
[AFLT gain(dB)] on the spindle monitor is ≦ 110?
YES
NO
Decrement SP235(R2H) by 5
* The lower limit of setting is 100.
* If you reduce SP235(R2H) too much, excessive compensation will result and [AFLT gain (dB)] will be too high. In this case increment the setting by 5.
Increment SP235(R2H) by 5
[AFLT gain(dB)] on the spindle monitor is ≧ 90?
YES
NO
[Temperature] on the spindle monitor is ≧ 100?
YES
Stop the spindle (servo OFF)
NO
* If it is difficult to increase the actual temperature up to
100 °C , check the temperature until it reaches the upper limit of temperature in practical use.
Adjusting SP235(R2H) is complete.
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Set SP236(WIH)=10
Execute cycle operation with the acceleration/deceleration up to the maximum speed in constant output
Continue until [Temperature ( °C )] on the spindle monitor becomes ≧ 100.
* If it is difficult to increase the actual temperature up to
100 °C , check the temperature until it reaches the upper limit of temperature in practical use.
Stop the spindle (servo OFF)
[Temperature] on the spindle monitor is ≦ 80?
YES
Execute cycle operation with the acceleration/deceleration up to the maximum speed in constant output
NO
* If it is difficult to increase the actual temperature up to
100 °C , check the temperature until it reaches [Upper limit of temperature in practical use - 20 °C ].
[AFLT gain(dB)] on the spindle monitor is ≦ 110?
YES
NO
Decrement SP236(WIH) by 2
*The lower limit of setting is 1.
[AFLT gain(dB)] on the spindle monitor is ≧ 90?
YES
Change SP226(SFNC6) from 0100 to 0000 (display the temperature compensation adjustment indicator)
Change the current limit
(acceleration) back
NO
Increment SP236(R2H) by 2
(Note) Turn OFF/ON the NC power after this change.
Finish
CAUTION
1. Carry out the adjustment within the motor’s specified ambient temperature range (0 to +40°C).
2. This function is unavailable if the time taken to accelerate to the maximum speed in constant output is shorter than 0.1[s].
Make sure to perform such acceleration/deceleration that reaches the maximum rotation speed in constant output.
3. If you program a command for accelerating up to the maximum speed in constant output, insert a dwell time so that the spindle motor can reach the maximum speed.
4. Do not use this function for a spindle motor if it has a direct cooling system on the secondary side (rotor).
5. Before starting the adjustment, make sure that [Temperature (°C)] on the spindle monitor is close to the room temperature.
If [Temperature (°C)] is unchanged or any error is found during the adjustment, do not use this function.
6. Do not change the spindle motor cooling condition after the parameter adjustment for this function is complete.
Also make sure to change SP226(SFNC6)/bit8 back to 0.
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【
#13226
】
bit 8 : r2c Temperature compensation adjustment indicator
0: Normal 1: Display
【
#13235(PR)
】
Set the magnification in converting the thermistor temperature to the control compensation amount.
When "0" is set, the temperature compensation function is disabled.
When not using, or when using an IPM spindle motor, set to "0".
---Setting range---
0 to 400 (%)
【
#13236(PR)
】
Set the delay time constant from the thermistor temperature to the control compensation amount.
When "0" is set, the delay time constant is disabled.
When not using, or when using an IPM spindle motor, set to "0".
---Setting range---
0 to 150 (min)
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6.2 Settings for Emergency Stop
Emergency stop in this section refers to the following states.
[1] Emergency stop was input (including other axis alarms)
[2] NC power down was detected
[3] A drive unit alarm was detected
6.2.1 Deceleration Control
(1) Setting the deceleration control time constant
Set the time for stopping from the maximum motor speed (TSP) in the deceleration time constant for emergency stop (SV056: EMGt). When "0" is set, the deceleration stop is executed with "7000ms".
<Operation>
When an emergency stop occurs, the motor will decelerate at the same inclination from each speed.
TSP
SP056
SP055 Forced READY OFF range
Motor speed
Constant inclination deceleration
Time
Emergency stop (EMG)
Zero speed
Servo READY
(ZSP)
(READY)
ON
OFF
ON
OFF
ON
OFF
Deceleration control sequence
(Note) If the setting value of SP056 is longer than the value of SP055, the motor will coast.
【
#13055
】
Set the time required to forcibly execute READY OFF after the emergency stop is input.
Normally set to "5000".
When 5000ms or more is set for deceleration time constant at emergency stop (SP056), set the same value as SP056.
When using the power backup system (MDS-D/DH-PFU) and setting the value of this parameter to
5000ms or more, a communication error between NC and drive unit may occur when power restarts after a instantaneous power interrupt.
It is not a problem so turn the NC power ON again to start up.
When "0" is set, 7000ms is the actual value to be set.
---Setting range---
0 to 29900 (ms)
【
#13056
】
Set the time constant used for the deceleration control at emergency stop. Set the time required to stop from the maximum motor speed (TSP).
When "0" is set, the deceleration control is executed with "7000ms".
---Setting range---
0 to 29900 (ms)
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6.3 Spindle Control Signal
The sequence input/output signals exchanged between the NC and spindle drive unit are explained in this section. The status of each signal is displayed on the NC SPINDLE MONITOR screen.
6.3.1 Spindle Control Input (NC to Spindle)
(1) Spindle control input 1
Name Details
Spindle control input 1
F E D C B A 9 8 7 6 5 4 3 2 1 0
TL1 SRV RDY bit Details
2 bit0. READY ON command (RDY)
Status turns to ready ON at RDY=1.
bit1. Servo ON command (SRV)
[1] Drive unit turns ON at SRV=1 (gate ON status), and rotation control starts.
Plus or minus of the rotation direction is determined depending on +/- of the NC command F Δ T.
[2] Servo immediately turns OFF (SON=0) at SRV=0 during rotation control. Drive unit also turns OFF (gate
OFF status) at this time.
bit7. Alarm reset command (ALMR)
NR alarm is reset at ALMR=1.
bit8. Torque limit 1 selection command (TL1) bit9. Torque limit 2 selection command (TL2) bitA. Torque limit 3 selection command (TL3)
The following 4 types of torque limit are available depending on TL1, TL2 and TL3 bit combinations.
TL3
0
0
0
1
TL2
0
1
1
0
TL1
1
0
1
0
Torque limit value
Torque limit value (%) set with parameter SP065
Torque limit value (%) set with parameter SP066
Torque limit value (%) set with parameter SP067
Torque limit value (%) set with parameter SP068
(Note) The ratio to motor short time rated torque (load meter 100%) is indicated in %.
(Note) The bits other than those above are used for maintenance.
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(2) Spindle control input 2
Name Details
Spindle control input 2
F E D C B A 9 bit
8
SRVDC NCDC SSW
7 6
Details
5 4
0
1
2
3
4
5
6
7
-
-
-
-
-
-
-
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
- (For maintenance)
8 - (For maintenance)
9 SSW Speed monitor command valid
A
B
NCDC
SRVDC
In door closed (controller)
In door closed (all drive units)
C
D
E
F
-
-
-
-
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
3 2 1 0 bit9. Speed monitor command valid (SSW)
When speed monitor command is valid, SSW=1 (valid) is set.
bitA. In door closed (controller) (NCDC)
When "In door closed" signal for controller is valid, NCDC =1 (valid) is set.
bitB. In door closed (all drive units) (SRVDC)
When the theoretical sum of "In door closed" signals for all drive units is valid, SRVDC =1 (valid) is set.
(Note) The bits other than those above are used for maintenance.
(3) Spindle control input 3
This is used for maintenance.
(4) Spindle control input 4
Name
Spindle control input 4
Details
F E D C B
LCS
A 9 8 7 6 5 4 3
GR2 GR1 GKC
2 1 0
SC3 SC2 SC1
D
E
B
C
F
8
9
A
6
7
4
5
2
3
0 bit
1
SC1
SC2
SC3
-
GKC
GR1
GR2
-
-
-
-
-
-
LCS
-
-
Details
Spindle control mode selection command 1
Spindle control mode selection command 2
Spindle control mode selection command 3
(For maintenance)
Gear changeover command
Gear selection command 1
Gear selection command 2
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
L coil selection command
(For maintenance)
(For maintenance) bit0. Spindle control mode selection command 1 (SC1) bit1. Spindle control mode selection command 2 (SC2) bit2. Spindle control mode selection command 3 (SC3)
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[1] Drive unit operation mode can be selected with the bit correspondences below.
[2] Mode changeover is valid during in-position (INP=1) or other than during droop cancel / phase compensation (DCSL=PCMP=0).
SC3
0
0
0
1
SC2
0
0
1
0
SC1
0
1
0
0
Operation mode
Conventional method
Speed/orientation control
New method
Non interpolation control
Spindle synchronization Spindle synchronization
C-axis control
Synchronous tapping control
Interpolation control
(Note) When selecting bits other than above, control mode error (4E) occurs.
[3] Continuity cannot be guaranteed for the value of position FB in non-interpolation mode. (Position may be skipped for multiple rotations due to droop cancel or phase compensation.) bit4. In gear changeover command (GKC)
By inputting GKC=1, the gear ratio is changed to the gear ratio specified with the gear selection command
(GR1, GR2). This command is invalid during the interpolation mode.
bit5. Gear selection command 1 (GR1) bit6. Gear selection command 2 (GR2)
[1] The following 4 types of gear ratio are available depending on GR1 and GR2 2-bit input combinations.
[2] Gear specifications in semi-closed position control do not secure a position within one rotation of the spindle.
GR2
0
0
1
1
GR1
0
1
0
1
Parameters requiring gear ratio setting
SP057 (GRA1), SP061 (GRB1)
SP058 (GRA2), SP062 (GRB2)
SP059 (GRA3), SP063 (GRB3)
SP060 (GRA4), SP064 (GRB4) bitD. L coil selection command (LCS)
[1] L coil is selected at LCS=1 when coil changeover is valid.
[2] Signal change is invalid during interpolation mode, but coil changeover is valid if control mode changeover is applied together.
(Note) The bits other than those above are used for maintenance.
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(5) Spindle control input 5
Name
Spindle control input 5
Details
F E D C B A 9
TLUP ORC VG2 PY2
8 7 6 5 4 3 2 1 0
7
8
9
4
5
6
D
E
F
A
B
C
1
2
3
0 bit
-
-
-
-
-
-
-
-
-
-
-
Details
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
PY2
VG2
ORC
TLUP
-
(For maintenance)
Minimum excitation rate 2 changeover request
Speed gain set 2 changeover request
Zero point re-detection request
Increase holding power of spindle
(For maintenance) bitB. Minimum excitation rate 2 changeover request (PY2)
[1] When PY2=1 is set, the minimum excitation rate 2 (SP015) is selected.
[2] When PY2=0 is set, the minimum excitation rate 1 (SP014) is selected.
bitC. Speed gain set 2 changeover request (VG2)
[1] When VG2=1 is set, the gain parameter (SP008/SP009/SP010) used in the speed loop isselected.
[2] When VG2=0 is set, the gain parameter (SP005/SP006/SP007) used in the speed loop isselected.
[3] The speed gain set changeover is valid during the in-position.
bitD. Zero point re-detection request (ORC)
When ORC is changed from 0 to 1, the Z phase passed will be 0 (control output2/bit0).
bitE. Increase holding power of spindle (TLUP)
Increase holding power of spindle (disturbance observer) starts at TLUP=1 and that state is retained during
TLUP=1.
(Note) The bits other than those above are used for maintenance.
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(6) Spindle control input 6
Name
Spindle control input 6
Details
F E D C B A 9 8 7
DD1
6 5 4 3 2 1 0
OMRFF
D
E
F
A
B
C
7
8
9
4
5
6
1
2
0 bit
OMRFF
-
3
-
-
-
-
-
OMR-FF control request
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
-
DD1
Details
(For maintenance)
(For maintenance)
Drivers communication control request
-
-
-
-
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
-
-
-
(For maintenance)
(For maintenance)
(For maintenance) bit0. OMR-FF control request (OMRFF)
[1] The OMR-FF control which determines the tracking ability to the position command by using scale model gain is selected with OMRFF=1.
[2] The tracking ability to the position command is determined by using conventional position loop gain with
OMRFF=0.
bit8. Drivers communication control request (DD1)
[1] The high-speed synchronous tapping control which allows data communication between drive units is selected with DD1=1.
[2] The normal synchronous tapping is selected with DD1=0.
(Note) The bits other than those above are used for maintenance.
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6.3.2 Spindle Control Output (Spindle to NC)
(1) Spindle control output 1
Name Details
Spindle control output 1
F E D C B A 9 8 7 6 5 4 3 2 1 0
WRN LMT bit
TL1 SRV RDY
Details
2
3
4
5
6
B
E bit0. In ready ON (RDY)
It indicates that the status is in ready ON at RDY=1.
bit1. In servo ON (SRV)
[1] It indicates that the status is in servo ON at SRV=1.
[2] NC position command executes a followed up during SRV=0.
bit7. In alarm (ALMR)
It indicates that drive unit is in some alarm state at ALMR=1.
bit8. In torque limit 1 selection (TL1) bit9. In torque limit 2 selection (TL2) bitA. In torque limit 3 selection (TL3)
These are the answer outputs for torque limit 1, 2 and 3 (TL1, TL2 and TL3).
bitC. In in-position (INP)
The status changes to INP=1 when position droop exists within the in-position area set by parameter SP024
(INP) regardless of serve ON or OFF.
bitD. In torque limit (LMT)
It indicates that current command value is limited with motor maximum output current value or torque limit 1, 2 or 3 at LMT=1.
bitF. In warning (WRN)
It indicates that drive unit is in some warning state at WRN=1.
(Note) The bits other than those above are used for maintenance.
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(2) Spindle control output 2
Name Details
Spindle control output 2
F E D C B A 9 bit
8 7 6
SRVDC NCDC SSW EXEMG
Details
5 4
0 ZCN Z phase passed
1
2
3
4
-
-
ZS
-
(For maintenance)
(For maintenance)
In zero speed
(For maintenance)
5
6
7 EXEMG In external emergency stop
8 - (For maintenance)
9 SSW In speed monitor
A NCDC In door closed (controller)
B SRVDC In door closed (self drive unit)
C
D
E
F
-
-
-
-
-
-
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
3 2 1 0
ZS ZCN bit0. Z phase passed (ZCN)
[1] When Z phase is passed, ZCN=0 is turned to ZCN=1.
[2] Grid amount (within one rotation) is transmitted when ZCN =0 is changed to ZCN =1.
bit3. In zero speed (ZS)
[1] Approximately 200ms after the motor speed reaches parameter SP027 (ZSP) + 15r/min, ZS=0 is set.
[2] When the motor speed becomes slower than the speed set by parameter SP027 (ZSP), ZS=1 is set. ZS signal is detected by the motor speed absolute value regardless of the rotation direction.
Motor speed
Output signal
+ 15r/min
Motor zero speed: SP027(Standard 50r/min Sub-standard 25r/min)
Zero speed detection ON Zero speed detection OFF
200ms bit7. In external emergency stop
It indicates that an external stop input to the power supply is being input.
bit9. In speed monitor
It indicates that a signal in speed monitor command is being received.
bitA. In door closed (controller)
It indicates that "In door closed" signal for controller is being received.
bitB. In door closed (self drive unit)
It indicates the status of "In door closed" signal for self drive unit.
(Note) The bits other than those above are used for maintenance.
(3) Spindle control output 3
This is used for maintenance.
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(4) Spindle control output 4
Name
Spindle control output 4
Details
F E D C B A 9 8
LCS
7 6 5 4
MPN GR2 GR1 GKC
3 2 1 0
SC3 SC2 SC1
C
D
E
9
A
B
F
4
5
6
7
8
1
2
0 bit
SC1
SC2
SC3
3 -
GKC
GR1
GR2
MPN
-
-
-
-
-
LCS
-
-
(For maintenance)
(For maintenance)
In L coil selection
(For maintenance)
(For maintenance)
Details
In spindle control mode selection 1
In spindle control mode selection 2
In spindle control mode selection 3
(For maintenance)
In gear changeover command
In gear selection 1
In gear selection 2
Magnetic pole position not set
(For maintenance)
(For maintenance)
(For maintenance) bit0. In spindle control mode selection 1 (SC1) bit1. In spindle control mode selection 2 (SC2) bit2. In spindle control mode selection 3 (SC3)
These are the answer outputs for control mode selection command 1, 2, 3 (SC1, SC2, SC3).
bit4. In gear changeover command (GKC)
[1] This is an answerer output for the gear changeover command.
[2] The position feedback is generated from the speed encoder at GKC=1.
bit5. In gear selection 1 (GR1) bit6. In gear selection 2 (GR2)
These are the answer outputs for gear selection command 1 and 2 (GR1 and GR2).
bit7. Magnetic pole position not set (MPN)
It indicates that the magnetic pole position of the motor is not established at MPN=1.
bitD. In L coil selection (LCS)
It indicates that L coil is being selected at LCSA=1.
(Note) The bits other than those above are used for maintenance.
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(5) Spindle control output 5
Name
Spindle control output 5
Details
F
INP2
E D C B A 9
ORF VG2 PY2 SD2
8 7 6
MKC
5 4 3 2 1
MD
0
D
E
F
A
B
C
7
8
9
4
5
6
1
2
3
0 bit
-
MD
-
-
-
-
MKC
-
-
SD2
-
PY2
VG2
ORF
-
(For maintenance)
Speed detection
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
In coil changeover
(For maintenance)
(For maintenance)
2nd speed detection
(For maintenance)
In minimum excitation rate 2 selection
In speed gain set 2 selection
Zero point re-detection request
(For maintenance)
INP2 In 2nd in-position
Details bit1. Speed detection (MD)
[1] When motor speed exceeds the speed set by parameter SP028 (SDTS) + SP029 (SDTR), SD=0 is set.
[2] When motor speed becomes slower than the speed set by parameter SP028 (SDTS), SD=1 is set. SD signal is detected by the motor speed absolute value regardless of rotation direction.
Motor speed
SD signal
Speed detection reset width
: SP029
Speed detection set value: SP028
Speed detection
OFF
Speed detection
ON bit6. In coil changeover (MKC)
MKC=1 is set for the amount of time set by parameter SP114 (MKT) during coil changeover operation.
bit9. 2nd speed detection (SD2) (IPM spindle motor)
[1] The status changes to SD2=0 when motor speed exceeds the speed set by parameter SP030 (SDT2) +
SP029 (SDTR).
[2] The status changes to SD2=1 when motor speed becomes slower than the speed set by parameter
SP030 (SDT2).
[3] It is used as M coil changeover speed. (IPM spindle motor only)
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6 Spindle Adjustment bitB. In minimum excitation rate 2 selection (PY2)
[1] When PY2=1 is set, the minimum excitation rate 2 (SP015) is being selected.
[2] When PY2=0 is set, the minimum excitation rate 1(SP014) is being selected.
bitC. In speed gain set 2 selection (VG2)
[1] When VG2=1 is set, the gain parameter (SP008/SP009/SP010) used in the speed loop isbeing selected.
[2] When VG2=0 is set, the gain parameter (SP005/SP006/SP007) used in the speed loop isbeing selected.
bitD. Zero point re-detection complete
If the zero point re-detection is completed after the zero point re-detection request (control input5/bitD) is set to1, ORF=1 is set. If the zero point re-detection request is set to 0, ORF=0 is set.
bitF. In 2nd in-position (INP2)
The status changes to INP2=1 when position droop exists within the in-position area set by parameter SP025
(INP2) regardless of serve ON or OFF.
(Note) The bits other than those above are used for maintenance.
(6) Spindle control output 6
Name
Spindle control output 6
Details
F E D C B A 9 8
DD1
7 6 5 4 3 2 1 0
OMRFF
D
E
F
A
B
C
4
5
6
7
8
9
1
2
0 bit
OMRFF
-
3
-
-
In OMR-FF control
(For maintenance)
(For maintenance)
(For maintenance)
-
-
-
-
DD1
-
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
Details
In drivers communication control
-
-
-
-
-
-
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance)
(For maintenance) bit0. In OMR-FF control (OMRFF)
OMRFF=1 (enabled) if OMR-FF control is enabled.
bit8. In drivers communication control (DD1)
DD1=1 (enabled) if high-speed synchronous tapping control is enabled.
(Note) The bits other than those above are used for maintenance.
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Troubleshooting
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7.1 Points of Caution and Confirmation
If an error occurs in the drive unit, the warning or alarm will occur. When a warning or alarm occurs, check the state while observing the following points, and inspect or remedy the unit according to the details given in this section.
< 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 drive unit temperature and ambient temperature normal?
[4] Are the servo drive unit, 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 drive unit been replaced, parts replaced or emergency measures taken?
[12] How many years has the unit been operating?
[13] Is the power supply voltage normal? Does the state change greatly according to the time band?
CAUTION
1. This drive unit uses a large capacity electrolytic capacitor. When the CHARGE lamp on the front of the power supply unit is lit, voltage is still present. Do not touch the terminal block in this state.
2. Before replacing the unit, etc., always confirm that there is no voltage with a tester or wait at least 15 minutes after turning the main power OFF.
3. The conductivity in the unit cannot be checked.
4. Never carry out a megger test on the drive unit as the unit could be damaged.
7.1.1 LED Display When Alarm or Warning Occurs
(1) Servo and spindle drive unit
The axis No. and alarm/warning No. alternate on the display. The display flickers when an alarm occurs.
(Example) Spindle: an alarm occurs, Servo: Emergency stop
SPST
SVST
Red flicker
Green flicker
OFF
Green flicker
OFF
Green flicker
OFF
OFF
LED display during an alarm occurs (Servo 3 axes and Spindle)
(Note) MDS-EM/EMH-SPV3 Series has no segment, so confirm the alarm No. on the NC screen monitor.
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7.2 Protective Functions List of Units
7.2.1 List of Alarms
When an alarm occurs, the servo drive unit will make the motor stop by the deceleration control or dynamic brake. The spindle drive unit will coast to a stop or will decelerate to a stop. At the same time, the alarm No. will appear on the NC monitor screen and with the LEDs on the front of the drive unit. Check the alarm No., and remove the cause of the alarm by following this list.
(1) Drive unit alarm
No.
Name Details
10 Insufficient voltage
11 Axis selection error
A drop of bus voltage was detected in main circuit.
The axis selection rotary switch has been incorrectly set.
12 Memory error 1 A hardware error was detected during the power ON self-check.
13 Software processing error 1 An error was detected for the software execution state.
14 Software processing error2 The current processor is not operating correctly.
16 Initial magnetic pole position detection error
In the built-in motor which uses the absolute position encoder, the servo ON has been set before the magnetic pole shift amount is set.
The magnetic pole position, detected in the initial magnetic pole position detection control, is not correctly set.
17 A/D converter error
18 Main side encoder:
Initial communication error
19 Encoder communication error in synchronous control
A current feedback error was detected.
An error was detected in the initial communication with the motor side encoder.
An error of the shared encoder on the machine side was detected on the secondary axis of the speed command synchronization control.
PR
PR
PR
1A Sub side encoder:
Initial communication error
An error was detected in the initial communication with the machine side encoder.
PR
1B Sub side encoder: Error 1 An error was detected by the encoder connected to the machine side.
1C Sub side encoder: Error 2
The error details are different according to the encoder type.
Refer to "Encoder alarm" for details.
1D Sub side encoder: Error 3
1E Sub side encoder: Error 4
PR 1F Sub side encoder:
Communication error
21 Sub side encoder no signal
2
In the machine side encoder, ABZ-phase feedback cannot be returned even when the motor moves.
22 Encoder data error
An error was detected in the communication with the machine side encoder.
An error was detected in the feedback data from the position encoder.
PR
AR
23 Excessive speed error The state that there is a difference between the actual speed and command speed continued for longer than the excessive speed deviation timer setting.
The motor power cable is in contact with FG (Frame Ground).
24 Grounding
25 Absolute position data lost The absolute position data was lost in the encoder.
26 Unused axis error In the multiaxis drive unit, there is an axis set to free, and the other axis detected a power module error.
NR
PR
AR
PR
Reset method
PR
AR
AR
PR
AR
PR
Servo stop method
Spindle stop method
Dynamic stop Coast to a stop
Initial error Initial error
Initial error Initial error
Dynamic stop Coast to a stop
Dynamic stop Coast to a stop
Dynamic stop Coast to a stop
Dynamic stop Coast to a stop
Initial error Initial error
Dynamic stop
Initial error
Dynamic stop Coast to a stop
Dynamic stop Coast to a stop
Dynamic stop Coast to a stop
Dynamic stop Coast to a stop
-
-
Initial error
Coast to a stop
Dynamic stop Coast to a stop
Initial error -
Dynamic stop Coast to a stop
(Note 1) Definitions of terms in the table are as follows.
Main side encoder: Encoder connected to CN2
Sub side encoder: Encoder connected to CN3
(Note 2) Resetting methods
NR: Reset with the NC RESET button. This alarm can also be reset with the PR and AR resetting conditions.
PR: Reset by turning the NC power ON again. This alarm can also be reset with the AR resetting conditions. When the control axis is removed, this alarm can be reset with the NC RESET button. (Excluding alarms 32 and 37.)
AR: Reset by turning the NC and servo drive unit power ON again.
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No.
Name Details
Reset method
27 Sub side encoder: Error 5 An error was detected by the encoder connected to the machine side.
28 Sub side encoder: Error 6
The error details are different according to the encoder type.
Refer to "Encoder alarm" for details.
29 Sub side encoder: Error 7
2A Sub side encoder: Error 8
2B Main side encoder: Error 1 An error was detected by the encoder connected to the motor side.
2C Main side encoder: Error 2
The error details are different according to the encoder type.
Refer to "Encoder alarm" for details.
2D Main side encoder: Error 3
2E Main side encoder: Error 4
2F Main side encoder:
Communication error
30 Over regeneration
31 Overspeed
An error was detected in the communication with the motor side encoder.
Over-regeneration level exceeded 100%. The regenerative resistor is overloaded.
The motor speed exceeded the allowable speed.
PR
PR
PR
Servo stop method
Spindle stop method
Dynamic stop Coast to a stop
Dynamic stop Coast to a stop
Dynamic stop Coast to a stop
Dynamic stop Coast to a stop
Deceleration stop
Deceleration stop
Dynamic stop Coast to a stop 32 Power module error
(overcurrent)
33 Overvoltage
34 NC communication:
CRC error
35 NC command error
The power module detected the overcurrent.
The bus voltage in main circuit exceeded the allowable value.
The data received from the NC was outside the setting range.
The travel command data received from the NC was excessive.
36 NC communication:
Communication error
37 Initial parameter error
The communication with the NC was interrupted.
38 NC communication:
Protocol error 1
39 NC communication:
Protocol error 2
An incorrect set value was detected among the parameters send from the NC at the power ON.
In the SLS(Safely Limited Speed) function, an error was detected in the relation between the safety speed and safety rotation number in the speed observation mode.
An error was detected in the communication frames received from the NC.
Or, removing an axis or changing an axis was performed in the synchronous control.
An error was detected in the axis data received from the NC.
Or, in changing an axis, the parameter setting of the synchronous control was applied when the axis was installed.
3A Overcurrent
3B Power module error
(overheat)
Excessive motor drive current was detected.
The power module detected an overheat.
3C Regeneration circuit error An error was detected in the regenerative transistor or in the regenerative resistor.
3D Power supply voltage error at acceleration/deceleration
A motor control error during acceleration/deceleration, due to a power voltage failure, was detected.
3E Magnetic pole position detection error
The magnetic pole position, detected in the magnetic pole position detection control, is not correctly detected.
PR
PR
PR
PR
PR
PR
PR
PR
PR
PR
PR
PR
AR
Dynamic stop Coast to a stop
Deceleration stop
Deceleration stop
Deceleration stop
Deceleration stop
Initial error
Deceleration stop
Deceleration stop
Deceleration stop
Deceleration stop
Initial error
Dynamic stop Coast to a stop
Dynamic stop Coast to a stop
Dynamic stop
Dynamic stop
Deceleration stop
Deceleration stop
-
-
Dynamic stop Coast to a stop
(Note 1) Definitions of terms in the table are as follows.
Main side encoder: Encoder connected to CN2
Sub side encoder: Encoder connected to CN3
(Note 2) Resetting methods
NR: Reset with the NC RESET button. This alarm can also be reset with the PR and AR resetting conditions.
PR: Reset by turning the NC power ON again. This alarm can also be reset with the AR resetting conditions. When the control axis is removed, this alarm can be reset with the NC RESET button. (Excluding alarms 32 and 37.)
AR: Reset by turning the NC and servo drive unit power ON again.
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No.
Name Details
Reset method
PR 41 Feedback error 3
42 Feedback error 1
43 Feedback error 2
45 Fan stop
46 Motor overheat /
Thermal error
Either a missed feedback pulse in the motor side encoder or an error in the Z-phase was detected in the full closed loop system.
Either a missed feedback pulse in the position detection or an error in the Z-phase was detected. Or the distance-coded reference check error exceeded the allowable value when the distance-coded reference scale was used.
An excessive difference in feedback was detected between the machine side encoder and the motor side encoder.
An overheat of the power module was detected during the cooling fan stopping.
Either the motor or the motor side encoder detected an overheat.
Or, the thermistor signal receiving circuit of the linear motor or direct-drive motor was disconnected.
Or, the thermistor signal receiving circuit was short-circuited.
PR
PR
PR
NR
48 Main side encoder: Error 5 An error was detected by the encoder connected to the main side.
49 Main side encoder: Error 6
The error details are different according to the connected encoder.
Refer to "Encoder alarm".
4A Main side encoder: Error 7
4B Main side encoder: Error 8
NR 4C Current error at initial magnetic pole estimate
4D Dual signal error
Current detection failed at the initial magnetic pole estimation.
An error was detected in the signal related to the dual signal.
Refer to "Dual signal error (4D)" for details.
4E NC command mode error An error was detected in the control mode send from the NC.
NR
Servo stop method
Spindle stop method
Dynamic stop Coast to a stop
Dynamic stop Coast to a stop
Dynamic stop Coast to a stop
Dynamic stop Coast to a stop
Deceleration stop
Deceleration stop
Dynamic stop Coast to a stop
Dynamic stop Coast to a stop
4F Instantaneous power interrupt
50 Overload 1
51 Overload 2
The control power supply has remained shut down.
Overload detection level became 100% or more. The motor or the drive unit is overloaded.
In a servo system, current command of 95% or more of the unit’s max. current was given continuously for 1 second or longer. In a spindle system, current command of 95% or more of the motor’s max. current was given continuously for 1 second or longer.
A position tracking error during servo ON was excessive.
NR
NR
NR
Deceleration stop
Deceleration stop
Deceleration stop
Deceleration stop
Deceleration stop
Deceleration stop
Deceleration stop
Deceleration stop
52 Excessive error 1
53 Excessive error 2
54 Excessive error 3
56 Commanded speed error The encoder has detected that the commanded speed exceeded 1.15 times of the rapid traverse rate (rapid), or the motor rotation speed exceeded the maximum speed.
58 Collision detection 1: G0
59 Collision detection 1: G1
5A Collision detection 2
A position tracking error during servo OFF was excessive.
There was no motor current feedback when the alarm "Excessive error 1" was detected.
A disturbance torque exceeded the allowable value in rapid traverse modal (G0).
A disturbance torque exceeded the allowable value in the cutting feed modal (G1).
A current command with the maximum drive unit current value was detected.
NR
NR
NR
NR
NR
NR
NR
Deceleration stop
Dynamic stop
Deceleration stop
-
Dynamic stop Coast to a stop
Deceleration stop
Max cap dec stop
Max cap dec stop
Max cap dec stop
Deceleration stop
-
-
-
(Note 1) Definitions of terms in the table are as follows.
Main side encoder: Encoder connected to CN2
Sub side encoder: Encoder connected to CN3
(Note 2) Resetting methods
NR: Reset with the NC RESET button. This alarm can also be reset with the PR and AR resetting conditions.
PR: Reset by turning the NC power ON again. This alarm can also be reset with the AR resetting conditions. When the control axis is removed, this alarm can be reset with the NC RESET button. (Excluding alarms 32 and 37.)
AR: Reset by turning the NC and servo drive unit power ON again.
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No.
Name Details
5B Safely limited: Commanded speed monitoring error
A commanded speed exceeding the safely limited speed was detected in the safely limited mode.
5D Safely limited:
Door state error
The door state signal input in the NC does not coincide with the door state signal input in the drive unit in the safely limited mode.
Otherwise, door open state was detected in normal mode.
5E Safely limited: Speed feedback monitoring error
5F External contactor error
A motor speed exceeding the safely limited speed was detected in the safely limited mode.
A contact of the external contactor is welding.
Reset method
PR
PR
PR
NR
Servo stop method
Deceleration stop
Deceleration stop
Spindle stop method
Deceleration stop
Deceleration stop
Deceleration stop
Deceleration stop
Deceleration stop
Deceleration stop
Dynamic stop Coast to a stop 60,
61,
63
to
77
Power supply alarm
62 Power supply:
Frequency error
The power supply unit detected an error.
The error details are different according to the connected power supply unit. Refer to "Power supply alarm" for details.
80 Main side encoder cable error
The cable type of the motor side encoder cable is for rectangular wave signal.
81 Sub side encoder cable error
The cable type of the machine side encoder cable does not coincide with the encoder type which is set by the parameter.
87 Drivers communication error The communication frame between drive units was aborted.
88 Watchdog The drive unit does not operate correctly. LED display is fixed as
"88".
8A Drivers communication data error 1
The communication data 1 between drivers exceeded the tolerable value in the communication between drive units.
8B Drivers communication data error 2
The communication data 2 between drivers exceeded the tolerable value in the communication between drive units.
AR
AR
PR
AR
PR
PR
Deceleration stop
Initial error
Initial error
Deceleration stop
-
-
Dynamic stop Coast to a stop
Dynamic stop Coast to a stop
Dynamic stop Coast to a stop
Dynamic stop Coast to a stop
(Note 1) Definitions of terms in the table are as follows.
Main side encoder: Encoder connected to CN2
Sub side encoder: Encoder connected to CN3
(Note 2) Resetting methods
NR: Reset with the NC RESET button. This alarm can also be reset with the PR and AR resetting conditions.
PR: Reset by turning the NC power ON again. This alarm can also be reset with the AR resetting conditions. When the control axis is removed, this alarm can be reset with the NC RESET button. (Excluding alarms 32 and 37.)
AR: Reset by turning the NC and servo drive unit power ON again.
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Encoder alarm (Servo drive unit)
Alarm number when the encoder is connected to CN2 side
Alarm number when the encoder is connected to CN3 side
OSA405
OSA676
Mitsubishi
Electric
OSA405ET2AS
OSA676ET2AS
OSA24RS
MDS-EX-HR
2B
1B
2C
1C
2D
1D
Memory alarm
LED alarm Data alarm
Memory alarm
LED alarm
CPU alarm Waveform error
Data alarm
Data alarm
Memory error Data error
2E
1E
Encoder thermal error
Encoder thermal error
Encoder thermal error
-
48
27
-
-
-
Scale not connected
49
-
-
28
-
-
4A
-
-
29
-
-
AT343
AT543
AT545
AT1143
ST748
LC195M,
LC495M,
LC291M,
LIC2197M,
LIC2199M
MC15
RCN2590M,
RCN5390M,
RCN5590M,
RCN8390M
ROC425M,
ROC2390M
ECA4000Series
EIB Series
MPRZ scale
SR67A,
SR75, SR85
SR74, SR77
SR87, SR84
RU77
RS87
SAM/SVAM/
GAM/LAM/HAM/
H2AM
Series
RL40N/RA
Series
WMFA/WMBA/
WMRA/LMFA/
LMBA Series
(Note)
AMS-ABS-3B
Series
Mitsutoyo Initialization error
(bit0)
HEIDENHAIN
FAGOR
Renishaw
AMO
Schneeberger
Initialization error
(bit0)
-
Initialization error
(bit0)
Initialization error
(bit0)
-
(bit0)
EEPROM error
(bit5)
Photoelectric type, static capacity type data mismatch
(bit1)
EEPROM error
(bit5)
-
-
-
-
Relative/absolute position data mismatch
(bit1)
Absolute value detection error
(bit3)
Absolute position data error
(bit3)
Relative/absolute position data mismatch
(bit2)
-
ROM/RAM error
(bit6)
ROM/RAM error
(bit6)
H/W error
(bit1)
-
-
Absolute position data error
(bit3)
CPU error
(bit4)
CPU error
(bit4)
Mitsubishi
Heavy Industries Machine
Tool
Installation accuracy fault
(bit4)
Detection position deviance
(bit1)
Magnescale Laser diode error
(bit0)
System memory error
(bit5)
Encoder mismatch error
(bit1)
Scale breaking
(bit0)
-
Absolute position detection fault
(bit5)
-
CPU error
(bit0)
-
-
-
Photoelectric type overspeed
(bit7)
Overspeed
(bit7)
-
-
Over speed
(bit7)
Over speed
(bit5)
-
Static capacity type error
(bit3)
Absolute position data error
(bit3)
Gain fault
(bit3)
Absolute position data error
(bit6)
Photoelectric type error
(bit2)
Relative position data error
(bit2)
Phase fault
(bit2)
Over speed
(bit7)
Absolute position data error
(bit3)
Relative position data error
(bit2)
-
-
-
-
-
-
-
(Note 1) A drive unit processes all reset types of alarms as "PR". However, "AR" will be applied according to the encoder.
(Note 2) Bit No. in the table refers to a bit assignation for encoder side alarm management data.
4B
-
-
2A
-
-
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Encoder alarm (Spindle drive unit)
Alarm number when the encoder is connected toCN2 side
Alarm number when the encoder is connected to CN3 side
TS5690
TS5691
Mitsubishi
Electric
2B
1B
2C
1C
Memory error Waveform error
MDS-EX-HR
OSA24RS
2D
1D
-
2E
1E
-
48
27
-
Initialization error
-
CPU error Waveform error
Data error -
Data alarm Encoder thermal error
Connection error
-
49
28
Overspeed
-
-
4A
29
-
-
-
4B
2A
Relative position data error
-
-
EIB Series
ADB-K70M
GEL2449M
HEIDENHAIN Initialization error
(bit0)
Mitsubishi
Heavy Industries Machine
Tool
LE-
NORD+BAU-
ER
Installation accuracy fault
(bit4)
Waveform error
(bit0)
EEPROM error
(bit5)
-
-
Analog signal warning
(bit1)
Detection position deviance
(bit1)
Scale breaking
(bit0)
EEPROM error
(bit2)
Power voltage warning
(bit3)
CPU error
(bit4)
-
H/W error
(bit4)
Overspeed
(bit7)
-
Overspeed warning
(bit5)
-
Gain fault
(bit3)
Count error
(bit6)
Relative position data error
(bit2)
Phase fault
(Note 1) A drive unit processes all reset types of alarms as "PR". However, "AR" will be applied according to the encoder.
(Note 2) Bit No. in the table refers to a bit assignation for encoder side alarm management data.
(bit2)
Overheat warning
(bit7)
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Dual signal error (4D)
No.
004D.xxx
Name
Dual signal error
Sub info
-
Details
An error was detected in the signal related to the dual signal. The name of the axis with an error is displayed. The number "xxx" in the decimal place indicates the sub-number.
(Note) Resetting method may be "PR" depending on the sub-number in the decimal place.
004D.xxx : Alarm number.Sub-number
Sub-No.
1
2
3
15
16
17
19
21
23
24
25
26
33
34
35
36
37
39
40
53
54
55
56
57
65
Name Details
Power shutoff error Either of the STO signals entered an input state while the STO function is disabled.
Illegal power shutoff error Either of the STO signals entered an input state during servo ON command or during deceleration and stop with the STO function enabled.
STO signal mismatch error Input states of two STO signals were mismatched while the STO function is enabled.
Safety communication:
Communication error 1
A receiving error was detected in the safety communication.
Safety communication:
Initial communication error 1
A receiving error was detected in the initial communication for the safety communication.
Voltage diagnosis error
DRAM diagnosis error
A power error was detected in the safety function.
A DRAM error was detected in the safety function.
Control process error
Safety encoder:
Initial communication error 1
An error was detected in the initial communication with a safety encoder.
PCB error
An error was detected in the status of software execution for the safety function.
Synchronization error
A PCB error was detected in the safety function.
A synchronization error was detected in the safety function.
Flash ROM diagnosis error A Flash ROM error was detected in the safety function.
Safety encoder:
Communication error 1
An error was detected in the communication with a safety encoder.
Safety encoder:
Diagnosis error 1
Safety encoder:
Diagnosis error 2
A power supply voltage error was detected in the safety encoder.
A H/W error was detected in the safety encoder.
Safety encoder:
Diagnosis error 3
Safety encoder:
Diagnosis error 4
A process error was detected in the safety encoder.
An A/D conversion error was detected in the safety encoder.
Non-safety encoder:
Position feedback fixation diagnosis error
Safety encoder:
Thermal error
Safety communication:
Transmission interval mismatch error
The position feedback from the non-safety encoder remains unchanged.
The safety encoder detected a thermal error.
An error was detected in the transmission interval setting.
Safety communication:
Initial communication error 2
A receiving error was detected in the initial communication for the safety communication.
Safety communication:
Communication error 2
Safety parameter setting range error
Safety parameter combination error
Register diagnosis error
A receiving error was detected in the safety communication.
A setting error was detected in the safety parameter.
A combination error was detected in the safety parameter.
A resister diagnosis error was detected in the safety function.
Reset method
NR
Axis type
Servo stop method
Spindle stop method
Each axis Dynamic stop Coast to a stop
NR
NR
NR
PR
NR
PR
PR
PR
PR
PR
PR
PR
PR
PR
PR
PR
PR
PR
NR
NR
NR
PR
PR
PR
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis
Each axis
Each axis
Each axis
Each axis
Each axis Dynamic stop Coast to a stop
Each axis
Each axis
Each axis
Initial error
Initial error
Initial error
Initial error
Initial error
Each axis Dynamic stop Coast to a stop
Initial error Initial error
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Initial error
Initial error
Initial error
Initial error
Initial error
Initial error
Initial error
Initial error
Initial error
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004D.xxx : Alarm number.Sub-number
Sub-No.
66
67
68
69
71
72
74
75
78
88
91
126
Name Details
Calculation device diagnosis error
An error was detected in the calculation device diagnosis for the safety function.
Sequence diagnosis error An error was detected in the sequence diagnosis for the safety function.
Stack diagnosis error An error was detected in the stack diagnosis for the safety function.
Overheat was detected in the safety function.
Temperature diagnosis error
Watchdog error The safety function is not operating correctly.
Clock diagnosis error An error was detected in the clock diagnosis for the safety function.
DO output compare error An error was detected in the status of DO output for the safety function.
ISC communication error An error was detected in the inter-system communication for the safety function.
Safety communication:
Initial communication error 3
A receiving error was detected in the initial communication for the safety communication.
Safety circuit: STO error
Safety circuit: SBC error
An error was detected in the read-back diagnosis for STO.
An error was detected in the read-back diagnosis for SBC.
Safety communication:
Communication error 3
A receiving error was detected in the safety communication.
Reset method
PR
Axis type
Servo stop method
Each axis Initial error
PR
PR
NR
PR
PR
PR
PR
PR
PR
PR
PR
Spindle stop method
Initial error
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
Each axis Dynamic stop Coast to a stop
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(2) Power supply alarm
No.
Name Details
61 Power supply: Power module overcurrent Overcurrent protection function in the power module has started its operation.
62 Power supply: Frequency error
66 Power supply: Process error
The input power supply frequency increased above the specification range.
An error occurred in the process cycle.
67 Power supply: Phase interruption
68 Power supply: Watchdog
An open-phase condition was detected in input power supply circuit.
The system does not operate correctly. LED display is fixed as "8".
69 Power supply: Grounding The motor power cable is in contact with FG (Frame Ground).
6A Power supply: External contactor welding A contact of the external contactor is welding.
6B Power supply: Rush circuit error
6C Power supply: Main circuit error
6D Parameter setting error
6E Power supply: H/W error
A/D error
Unit ID error
6F Power supply error
70 Power supply: External emergency stop error
71 Power supply: Instantaneous power interruption
72 Power supply: Fan stop
An error was detected in the rush circuit.
An error was detected in charging operation of the main circuit capacitor.
An error was detected in the parameter sent from the drive unit.
An error was detected in the internal memory.
An error was detected in the A/D converter.
An error was detected in the unit identification.
No power supply is connected to the drive unit, or a communication error was detected.
A mismatch of the external emergency stop input and NC emergency stop input continued for 30 seconds.
The power was momentarily interrupted.
73 Power supply: Over regeneration
74 Power supply: Option unit error
A cooling fan built in the power supply unit stopped, and overheat occurred in the power module.
Over-regeneration detection level became over 100%. The regenerative resistor is overloaded. This alarm cannot be reset for 15 min from the occurrence to protect the regeneration resistor. Leave the drive system energized for more than
15 min, then turn the power ON to reset the alarm.
An alarm was detected in the power backup unit (power supply option unit).
75 Power supply: Overvoltage
76 Power supply: Function setting error
Power supply: Function selection error
77 Power supply: Power module overheat
AR
(Note 4)
PR
NR
PR
NR
L+ and L- bus voltage in main circuit exceeded the allowable value. As the voltage between L+ and L- is high immediately after this alarm, another alarm may occur if this alarm is reset in a short time. Wait more than 5 min before resetting so that the voltage drops.
The rotary switch setting of external emergency stop is not correct, or a wrong external emergency stop signal is input.
Undefined area for the rotary switch is selected
Thermal protection function in the power module has started its operation.
NR
(Note 3)
NR
AR
PR
PR
PR
PR
PR
PR
AR
Reset method
PR
PR
PR
PR
AR
(Note 1) If a power supply alarm (60 to 77) occurs, all servos will stop with the dynamic brakes, and all spindles will coast to a stop.
(Note 2) "b", "C" and "d" displayed on the power supply unit's LED as a solid light (not flickering) do not indicate an alarm.
(Note 3) Check the LED display of the power backup unit to identify what alarm is occurring to the power backup unit.
**Refer to MDS-E/EH Series Instruction Manual (IB-1501229) "List of Power Backup Function Alarms".
(Note 4) When the power supply alarm (6F) is detected in the 2nd part system, the reset method differs depending on the detected power supply alarm.
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7.2.2 List of Warnings
When a warning occurs, a warning No. will appear on the NC monitor screen and with the LEDs on the front of the drive unit. Check the warning No., and remove the cause of the warning by following this list.
(1) Drive unit warning
No.
Name Details
96 Scale feedback error
97 Scale offset error
9B Incremental encoder/ magnetic pole shift warning
9E Absolute position encoder:
Revolution counter error
9F Battery voltage drop
An excessive difference in feedback amount was detected between the main side encoder and the MPI scale in MPI scale absolute position detection system.
An error was detected in the offset data that is read at the NC power-ON in
MPI scale absolute position detection system.
The difference between the magnetic pole position after the phase Z has been passed (magnetic pole shift amount:SV028) and the initially detected position is excessive in the built-in motor's incremental control system.The magnetic pole is controlled by the initial detection value.
An error was detected in the revolution counter data of the absolute position encoder. The accuracy of absolute position is not guaranteed.
The battery voltage to be supplied to the absolute position encoder is dropping.
A3 In initial setup of ABS position This warning is detected until the axis reaches the reference position during the initial setup of the distance-coded reference check function. This warning turns OFF after the axis has reached the position, thus set the value displayed on the drive monitor to the parameter.
A4 Dual signal warning An input was detected in the signal related to the dual signal.
Refer to "Dual signal warning (A4)" for details.
A6 Fan stop warning
E0 Overregeneration warning
A cooling fan in the drive unit stopped.
Over-regeneration detection level exceeded 80%.
E1 Overload warning
E4 Parameter warning
A level of 80% of the Overload 1 alarm state was detected.
An incorrect set value was detected among the parameters send from the
NC in the normal operation.
E6 Control axis detachment warning A control axis is being detached. (State display)
E7 NC emergency stop In NC emergency stop. (State display)
Reset method
*
PR
PR
*
NR
PR
*
*
*
*
*
*
*
Stop method
-
-
-
-
-
-
-
-
-
-
-
E8
to
EF
Power supply warning The power supply unit detected a warning.
The error details are different according to the connected power supply unit.
Refer to "Power supply warning".
*
-
Dec stop enabled
-
*EA:
Dec stop enabled
(Note1) Definitions of terms in the table are as follows.
Main side encoder: Encoder connected to CN2
Sub side encoder: Encoder connected to CN3
(Note 2) Resetting methods
* : Automatically reset once the cause of the warning is removed.
NR: Reset with the NC RESET button. This warning can also be reset with the PR and AR resetting conditions.
PR: Reset by turning the NC power ON again. This warning can also be reset with the AR resetting conditions. When the control axis is removed, this warning can be reset with the NC RESET button. (Excluding warning 93.)
AR: Reset by turning the NC and servo drive unit power ON again.
(Note 3) Servo and spindle motor do not stop when the warning occurs.
(Note 4) When an emergency stop is input, servo and spindle motor decelerate to a stop. (When SV048, SV055 or SV056 is set for servo and when SP055 or SP056 is set for spindle.)
Dual signal warning (A4)
No.
00A4.00
Name
Dual signal warning
Sub info
Axis name
Details
The system has been set in the STO state. The STO state is also entered at the time of emergency stop, but in this case, this warning will not appear because the emergency stop has priority.
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(2) Power supply warning
No.
Name Details
Reset method
NR E9 Instantaneous power interruption warning The power was momentarily interrupted.
EA In external emergency stop state
EB Power supply: Over regeneration warning
EE Power supply: Fan stop warning
EF Power supply: Option unit warning
External emergency stop signal was input.
Over-regeneration detection level exceeded 80%.
*
*
A cooling fan built in the power supply unit stopped.
*
A warning was detected in the power backup unit (power supply option unit).
* (Note 3)
(Note 1) Resetting methods
* : Automatically reset once the cause of the warning is removed.
NR: Reset with the NC RESET button. This warning can also be reset with the PR and AR resetting conditions.
PR: Reset by turning the NC power ON again. This warning can also be reset with the AR resetting conditions. When the control axis is removed, this warning can be reset with the NC RESET button. (Excluding warning 93.)
AR: Reset by turning the NC and servo drive unit power ON again.
(Note 2) Servo and spindle motor do not stop when the warning occurs.
(Note 3) Check the LED display of the power backup unit to identify what warning is occurring to the power backup unit.
**Refer to MDS-E/EH Series Instruction Manual (IB-1501229) "List of Power Backup Function Warnings".
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7.3 Troubleshooting
Follow this section to troubleshoot the alarms that occur during start up or while the machine is operating. If the state is not improved with the following investigations, the drive unit may be faulty. Exchange the unit with another unit of the same capacity, and check whether the state is improved.
7.3.1 Troubleshooting at Power ON
If the NC system does not start up correctly and a system error occurs when the NC power is turned ON, the drive unit may not have been started up properly. Check the LED display on the drive unit, and take measures according to this section.
LED display
AA
Ab
12
Initial communication with the
CNC was not completed correctly.
Symptom
Initial communication with the
CNC was not carried out.
Cause of occurrence
The drive unit axis No. setting is incorrect.
The CNC setting is incorrect.
Communication with CNC is incorrect.
The axis is not used, the setting is for use inhibiting.
Communication with CNC is incorrect.
An error was detected in the unit's memory and IC during the self-diagnosis at power ON.
The CPU peripheral circuit is abnormal.
Investigation method
Is there any other drive unit that has the same axis No. set?
Is the No. of CNC controlled axes correct?
Is the connector (CN1A, CN1B) connected?
Is the cable broken?
Is the DIP switch set correctly?
Is the connector (CN1A, CN1B) connected?
Is the cable broken?
Check the repeatability.
Check whether there is any abnormality with the unit's surrounding environment, etc.
Remedy
Set correctly.
Set correctly.
Connect correctly.
Replace the cable.
Set correctly.
Connect correctly.
Replace the cable.
Replace the unit.
Improve the surrounding environment.
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7.3.2 Troubleshooting for Each Alarm No.
1
Insufficient voltage
Insufficient bus voltage was detected in main circuit.
Investigation details
Check the timing when the alarm occurs.
Investigation results
The moment of READY ON
2
Alarm No.
10
Did the external contactor turn ON at the READY
ON?
During operation
The external contactor did not turn ON.
The external contactor turned ON, but the alarm occurred immediately.
3 Check the wiring of contactor excitation circuit.
4
Check the input voltage of the drive unit by a tester.
(Voltage between L1 and L2, L2 and L3, L1 and L3)
The wiring is correct.
The wiring is not correct.
The input voltage is normal.
The input voltage is abnormal.
The measured voltage fluctuates.
Remedies
Check the investigation item No. 2.
Increase the power supply capacity (KVA).
Check the investigation item No. 3.
Check the investigation item No. 4.
Replace the contactor.
Rewire.
Replace the drive unit.
Increase the power supply capacity (KVA).
Replace the power supply.
SV SP
◯ ◯
◯
◯
◯
◯
◯
◯
1
Alarm No.
11
Axis selection error
The axis selection rotary switch is incorrectly set.
Investigation details Investigation results
The same axis No. is set for the L and M axes.
Check the setting of the axis selection switch (rotary switch) on the top of the unit.
The value is duplicated with other axis.
The axis No. is correctly set.
Remedies
Correctly set the axis No.
0 = No. 1 axis, 1 = No. 2 axis, ...
Correctly set the axis No.
0 = No. 1 axis, 1 = No. 2 axis, ...
Replace the drive unit.
SV SP
◯ ◯
Alarm No.
12
Memory error 1
Hardware error (a CPU or an internal memory error was detected during the power ON self-check.
Investigation details Investigation results
The error is always repeated.
Remedies
Replace the drive unit.
1 Check the repeatability.
The state returns to normal once, but occurs sometimes thereafter.
Check the investigation item No. 2.
2
Check if there is any abnormality in the unit's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
SV SP
◯ ◯
◯ ◯
Alarm No.
13
Software processing error 1
An error was detected in the software execution state.
Software processing has not finished within the specified time.
Investigation details Investigation results
The error is always repeated.
1 Check the repeatability.
The state returns to normal once, but occurs sometimes thereafter.
2
Check if there is any abnormality in the unit's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Remedies
Replace the drive unit.
Check the investigation item No. 2.
Take remedies according to the causes of the abnormality in the ambient environment.
[1] Machine grounding check
SV SP
◯ ◯
◯ ◯
Alarm No.
14
Software processing error 2
The current processor is not operating correctly.
Investigation details Investigation results
The error is always repeated.
1 Check the repeatability.
The state returns to normal once, but occurs sometimes thereafter.
2
Check if there is any abnormality in the unit's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Remedies
Replace the drive unit.
Check the investigation item No. 2.
Take remedies according to the causes of the abnormality in the ambient environment.
SV SP
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335 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
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Alarm No.
16
Initial magnetic pole position detection error
In linear motor or IPM spindle motor using absolute position encoder, the servo ON has been set before the magnetic pole shift amount(servo:SV028,spindle:SP118) is set. In the initial magnetic pole position detection control, the pole position was not correctly set.
Investigation details Investigation results
The parameters have not been set.
Remedies
Set the magnetic shift pole amount(SP118).
SV SP
Check the parameters, SV028 (for the servo) and
SP118(for the spindle).
2 Check the repeatability.
Check if there is any abnormality in the unit's ambient environment.
(Ex. Ambient temperature, noise, grounding)
The parameters have been set, but the alarm occurs.
The setting parameter value is the same even when initial magnetic pole function was executed again.
Carry out the magnetic pole estimation again, as the setting value is wrong.
Check the investigation item No. 2.
The error is always repeated.
The state returns to normal once, but occurs sometimes thereafter.
Replace the drive unit.
Check the investigation item No. 3.
Take remedies according to the causes of the abnormality in the ambient environment.
[1] Machine grounding check
[2] Shield connection of the cable
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Alarm No.
17
A/D converter error
An error was detected in the current FB.
Investigation details Investigation results
The error is always repeated.
1 Check the repeatability.
The state returns to normal, but occurs thereafter.
2
Check if there is any abnormality in the unit's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Remedies
Replace the drive unit.
Check the investigation item No. 2.
Take remedies according to the causes of the abnormality in the ambient environment.
SV SP
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Alarm No.
18 specifications.
Main side encoder: Initial communication error
An error was detected in the initial communication with the motor side encoder.
Investigation details
Check the encoder.
Check if a pulse encoder is used for serial encoder
Jiggle the encoder connectors (drive unit side and encoder side) and check if they are disconnected.
Investigation results
The pulse encoder is used.
The serial encoder is used.
The connector is disconnected (or loose).
The connector is not disconnected.
Replace the encoder to the serial.
Check the investigation item No. 2.
Correctly install.
Remedies
Check the investigation item No. 3.
Turn the power OFF, and check the encoder cable connection with a tester.
Replace with another unit, and check whether the fault is on the unit side or encoder side.
Check if there is any abnormality in the encoder's ambient environment.
(Ex. Ambient temperature, noise, grounding)
The connection is faulty.
The connection is normal.
The alarm is on the drive unit side.
The alarm is on the encoder side.
Replace the encoder cable.
Check the investigation item No. 4.
Replace the drive unit.
Check the investigation item No. 5.
Take remedies according to the causes of the abnormality in the ambient environment.
[1] Machine grounding check
[2] Shield connection of the cable
SV SP
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Alarm No.
19
Encoder communication error in synchronous control:
An error was detected in the machine side encoder of the secondary axis at the speed command synchronization control.
Investigation details
Check the servo parameter value of secondary axis
(SV025.pen:position encoder).
Check if there are no problems in the connection between the encoder (linear scale) and MDS-EX-
HR.
Investigation results
The value is not set correctly.
The value is set correctly.
The screw connected to MDS-EX-HR is winded down.
No problems found in the connector connection.
Correctly set.
Remedies
Check the investigation item No. 2.
Tighten up the screw.
Check the investigation item No. 3.
SV SP
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Jiggle the encoder connectors (drive unit side and encoder side) and check if they are disconnected.
Turn the power OFF, and check the encoder cable connection with a tester.
Replace with another unit, and check whether the fault is on the unit side or encoder side.
Check if there is any abnormality in the encoder's ambient environment.
(Ex. Ambient temperature, noise, grounding)
The connector is disconnected (or loose).
The connector is not disconnected.
The connection is faulty.
The connection is normal.
Correctly install.
Check the investigation item No. 3.
Replace the encoder cable.
Check the investigation item No. 4.
The alarm is on the drive unit side.
The alarm is on the encoder side.
Replace the drive unit.
Check the investigation item No. 5.
Take remedies according to the causes of the abnormality in the ambient environment.
[1] Machine grounding check
[2] Shield connection of the cable
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MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
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Alarm No.
1A
Sub side encoder: Initial communication error
Initial communication with the machine side encoder failed.
Investigation details
Check the servo parameter (SV025.pen:position encoder) setting value.
Check the spindle parameter(SP019) setting value.
Are the serial communication type encoder parameters set for the pulse type encoder?
Check the encoder.
Check if the pulse encoder is used for the encoder specified to be serial.
Investigation results
The value is not set correctly.
The value is set correctly.
The pulse encoder is used.
The serial encoder is used.
Jiggle the encoder connectors (drive unit side and encoder side) and check if they are disconnected.
Turn the power OFF, and check the encoder cable connection with a tester.
Replace with another unit, and check whether the fault is on the unit side or encoder side.
The connector is disconnected (or loose).
The connector is not disconnected.
The connection is faulty.
The connection is normal.
The alarm is on the drive unit side.
The alarm is on the encoder side.
Check if there is any abnormality in the encoder's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Remedies
Correctly set SV025.
Check the investigation item No. 2.
Replace the encoder.
Check the investigation item No. 3.
Correctly install.
Check the investigation item No. 4.
Replace the encoder cable.
Check the investigation item No. 5.
Replace the drive unit.
Check the investigation item No. 6.
Take remedies according to the causes of the abnormality in the ambient environment.
SV SP
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2
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Alarm No.
1B
Sub side encoder: Error 1
The machine side encoder (CN3 side) detected an error. As details differ for each encoder, refer to section "Encoder alarm".
Investigation details
Check whether the servo axis has moved and the spindle has rotated when an alarm occurred.
Investigation results
The axis has operated.
The axis has not operated.
The operation is normal.
Remedies
Check the investigation item No. 3.
Check the investigation item No. 2.
Check the investigation item No. 3.
SV SP
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Check whether the operation at low speed is normal.
The operation is not normal.
Check the cautions at power ON.
[1] Wiring check
[2] Parameter check
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Jiggle the encoder connectors (drive unit side and encoder side) and check if they are disconnected.
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Turn the power OFF, and check the encoder cable connection with a tester.
Replace with another unit, and check whether the fault is on the unit side or encoder side.
The connector is disconnected (or loose).
The connector is not disconnected.
The connection is faulty.
The connection is normal.
The alarm is on the drive unit side.
The alarm is on the encoder side.
Correctly install.
Check the investigation item No. 4.
Replace the encoder cable.
Check the investigation item No. 5.
Replace the drive unit.
Check the investigation item No. 6.
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Check if there is any abnormality in the encoder's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
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Alarm No.
1C
Sub side encoder: Error 2
The machine side encoder (CN3 side) detected an error. As details differ for each encoder, refer to section "Encoder alarm".
Investigation details
1 Check the alarm No. "1B" items.
Investigation results Remedies SV SP
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Alarm No.
1D
Sub side encoder: Error 3
The machine side encoder (CN3 side) detected an error. As details differ for each encoder, refer to section "Encoder alarm".
Investigation details
1 Check the alarm No. "1B" items.
Investigation results Remedies SV SP
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Alarm No.
1E
Sub side encoder: Error 4
The machine side encoder (CN3 side) detected an error. As details differ for each encoder, refer to section "Encoder alarm".
Investigation details
1 Check the alarm No. "1B" items.
Investigation results Remedies SV SP
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337 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
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Alarm No.
1F
Sub side encoder: Communication error
An error was detected in communication data with the linear scale or the ball screw side encoder. Or the communication was interrupted.
Investigation details
Jiggle the encoder connectors (drive unit side and encoder side) and check if they are disconnected.
Investigation results
The connector is disconnected (or loose).
The connector is not disconnected.
Correctly install.
Remedies
Check the investigation item No. 2.
SV SP
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Is the encoder cable wired in the same conduit as the motor's power cable, or are the two cables laid in parallel near each other?
Is the motor FG wire connected only to the drive unit which drives it?
(Is the motor grounded to one point?)
Turn the power OFF, and check the encoder cable connection with a tester. (Is the cable shielded?)
Replace with another unit, and check whether the fault is on the unit side or encoder side.
The cables are wired near each other. (Noise is entering from the power cable.)
The wires are sufficiently separated.
The motor FG wire is grounded on the motor side.
The motor is grounded to one point.
The connection is faulty.
The connection is normal.
The alarm is on the drive unit side.
The alarm is on the encoder side.
Wire the encoder cable away from the power cable.
Shield the power cable.
Check the investigation item No. 3.
Ground the motor to one point, connecting the wires together on the drive unit side.
Check the investigation item No. 4.
Replace the encoder cable.
Check the investigation item No. 5.
Replace the drive unit.
Check the investigation item No. 6.
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Check if there is any abnormality in the encoder's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
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Alarm No.
21
Sub side encoder: No signal2
When an excessive error alarm occurred, no signal from the machine side encoder was detected.
An error was detected in the ABZ-phase in the full closed loop control system.
Investigation details Investigation results Remedies
Check the servo parameter (SV025. pen: machine side encoder), and spindle parameter (SP019) setting value.
Are the pulse type encoder parameters set for a serial communication type encoder?
The value is not set correctly.
The value is set correctly.
Correctly set SV025.pen for the servo and
SP019 for the spindle (including SP097 for pulse type).
Check the investigation item No. 3.
Jiggle the encoder connectors (drive unit side and encoder side) and check if they are disconnected.
Turn the power OFF, and check the encoder cable connection with a tester.
Replace with another unit, and check whether the fault is on the unit side or encoder side.
The connector is disconnected (or loose).
The connector is not disconnected.
The connection is faulty.
The connection is normal.
The alarm is on the drive unit side.
The alarm is on the encoder side.
Correctly install.
Check the investigation item No. 4.
Replace the encoder cable.
Check the investigation item No. 5.
Replace the drive unit.
Replace the encoder.
Check if there is any abnormality in the encoder's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
SV SP
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Alarm No.
22
Encoder data error:
Drive unit received a wrong feedback data (scattered data) from the encoder and position deviation occurred.
Investigation details Investigation results
It is loosened.
1
2
3
Check if the installation of the encoder is loosened.
Check if an excessive vibration is occurring during machining.
Check if there is any liquid ingress inside the encoder connector.
It is not loosened.
An excessive vibration is occurring.
An excessive vibration is not occurring.
Liquid was entered into the connector.
No liquid ingress.
4 Check the investigation item No.2 or subsequent items in Alarm No.21.
Remedies
Tightly install the encoder.
Check the investigation item No. 2.
Check the installation of the machine.
Check the investigation item No. 3.
Replace the motor encoder.
Check the investigation item No. 4.
SV SP
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MDS-EM/EMH Series Instruction Manual
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Alarm No.
23
Investigation details
Check the U, V and W wiring connected to the spindle drive unit.
Excessive speed error
A difference between the speed command and speed feedback was continuously exceeding 50 r/min for longer than the setting time.
Check the spindle parameter SP020, SP026,
SP027, from SP057 to SP064 and spindle specification parameters from slimit1 to slimit4 setting value.
Investigation results
The wires are not correctly connected.
The wires are correctly connected.
The correct values are not set.
The correct values are set.
Correctly set.
Remedies
Correctly connect.
Check the investigation item No. 2.
Check the investigation item No. 3.
SV SP
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Measure the acceleration/ deceleration time from 0 to the point where the spindle speed reaches its maximum.
If the alarm occurs when forward run is changed to reverse run, measure the acceleration/ deceleration time from the forward to reverse. Also measure it from the reverse to forward.
12sec or more.
(SP117 setting value or more.)
Less than 12sec.
Increase the spindle acceleration/ deceleration time constant setting value(sp_t1 to sp_t4).
Reduce the load inertia.
Check the investigation item No. 4.
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Check the load amount when the alarm occurred during cutting.
Check the fluctuation of the input voltage into the power supply unit with a tester.
6 Check the capacity of the drive unit.
The speed deterioration due to load amount has exceeded the tolerable range which is determined by the parameter SP096.
-If SP096 is set to 0, it is regarded as 85%.
Thus a speed of 85% of the machining speed or faster will be the tolerable speed.
The load amount is within the SP096 setting value.
Voltage drop during acceleration is 200V or less
Voltage drop during acceleration is 200V or more
The capacity does not satisfy the motor output.
The capacity satisfies the motor output.
Reduce the cutting load to mitigate the speed deterioration.
Replace the tool.
Check the investigation item No. 5.
Review the power supply capacity.
Check the investigation item No.6.
Change the capacity to the selected one.
Replace the unit.
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1
Alarm No.
24
Grounding
The motor power cable is in contact with FG (Frame Ground).
Investigation results Investigation details
Measure the insulation across the power cables
(U,V,W) for connected motors and the ground.
(Carry out a megger test.)
(Note)
When the insulation is measured, disconnect wires from the drive unit.
Less than 1M
1M Ω
Ω . (Grounding)
or more. (Normal)
2 Has oil adhered on the motor or power cable?
Oil has come adhered.
3
4
Measure the insulation again.
Oil has not adhered.
Less than 1M Ω .
1M Ω or more.
Less than 100k Ω .
Measure the resistance across the U, V, W phase terminals of the servo/spindle drive unit and the ground with a tester.
(Note) Do not measure the insulation as the unit is damaged.
100k Ω or more.
Remedies
The motor or power cable may be ground faulted.
SV SP
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Check the investigation item No. 2.
Take measures so that oil does not come in contact. Check the motor's cannon connector and the inside of the terminal box, and clean as necessary.
Check the investigation item No. 3.
Replace the motor or cable.
Check the investigation item No. 4.
Replace the drive unit.
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Replace the power supply unit.
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2
Alarm No.
25
Absolute position data lost
The absolute position was lost, as the backup battery voltage dropped in the absolute position encoder.
Investigation details
Is warning 9F occurring at the same time?
Measure the battery voltage with a tester at the DC range.
Investigation results
The warning is occurring.
The warning is not occurring.
Less than 3V.
3V or more.
Remedies
Check the investigation item No. 2.
Check the investigation item No. 3.
Replace the battery, and establish the zero point.
Check the NC bus cable connection.
3
Did alarm No.18 occur when the power was turned
ON the last time?
Alarm No.18 occurred.
Turn the drive unit control power ON again, and establish the zero point.
Check the investigation item No. 4.
4
5
Was the encoder cable or battery cable left disconnected from the unit for a long time?
Check the encoder cable or battery cable connection with a tester.
Alarm No.18 did not occur.
The unit was left disconnected for a long time.
Guide at delivery: 20 hours or more
After 5 years: 10 hours or more
The cables were not left disconnected.
The connection is faulty.
The connection is normal.
Turn the drive unit control power ON again, and establish the zero point.
Check the investigation item No. 5.
Replace the cable.
Replace the drive unit.
SV SP
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339 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
Alarm No.
26
Unused axis error
A power module error occurred in the axis whose axis No. selection switch was set to "F" (free axis).
Investigation details Investigation results
The error is always repeated.
Remedies
Replace the drive unit.
1 Check the repeatability.
The state returns to normal once, but occurs sometimes thereafter.
Check the investigation item No. 2.
2
Check if there is any abnormality in the unit's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
SV SP
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Alarm No.
27
Sub side encoder: Error 5
The machine side encoder (CN3 side) detected an error. As details differ for each encoder, refer to section "Encoder alarm".
Investigation details
1 Check the alarm No. "1B" items.
Investigation results Remedies SV SP
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Alarm No.
28
Sub side encoder: Error 6
The machine side encoder (CN3 side) detected an error. As details differ for each encoder, refer to section "Encoder alarm".
Investigation details
1 Check the alarm No. "1B" items.
Investigation results Remedies SV SP
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Alarm No.
29
Sub side encoder: Error 7
The machine side encoder (CN3 side) detected an error. As details differ for each encoder, refer to section "Encoder alarm".
Investigation details
1 Check the alarm No. "1B" items.
Investigation results Remedies SV SP
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Alarm No.
2A
Sub side encoder: Error 8
The machine side encoder (CN3 side) detected an error. As details differ for each encoder, refer to section "Encoder alarm".
Investigation details
1 Check the alarm No. "1B" items.
Investigation results Remedies SV SP
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Alarm No.
2B
Main side encoder: Error 1
The motor side encoder (CN2 side) detected an error.
(Note) It includes the linear scale in the case of linear motor.
As details differ for each encoder, refer to section "Encoder alarm".
Investigation details
1 Check the alarm No. "1B" items.
Investigation results Remedies SV SP
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Alarm No.
2C
Main side encoder: Error 2
The motor side encoder (CN2 side) detected an error.
(Note) It includes the linear scale in the case of linear motor.
As details differ for each encoder, refer to section "Encoder alarm".
Investigation details
1 Check the alarm No. "1B" items.
Investigation results
Alarm No.
2D
Main side encoder: Error 3
The motor side encoder (CN2 side) detected an error.
(Note) It includes the linear scale in the case of linear motor.
As details differ for each encoder, refer to section "Encoder alarm".
Investigation details
1 Check the alarm No. "1B" items.
Investigation results
Remedies
Remedies
SV SP
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SV SP
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IB-1501241-H 340
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
Alarm No.
2E
Main side encoder: Error 4
The motor side encoder (CN2 side) detected an error.
(Note) It includes the linear scale in the case of linear motor.
As details differ for each encoder, refer to section "Encoder alarm".
Investigation details
1 Check the alarm No. "1B" items.
Investigation results Remedies SV SP
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Alarm No.
2F
Main side encoder: Communication error
An error was detected in communication data with the motor side encoder or with the linear scale of a linear servo system. Or the communication was interrupted.
Investigation details
Jiggle the encoder connectors (drive unit side and encoder side) and check if they are disconnected.
Investigation results
The connector is disconnected (or loose).
The connector is not disconnected.
Correctly install.
Remedies
Check the investigation item No. 2.
SV SP
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Is the encoder cable wired in the same conduit as the motor's power cable, or are the two cables laid in parallel near each other?
Is the motor FG wire connected only to the drive unit which drives it?
(Is the motor grounded to one point?)
Turn the power OFF, and check the encoder cable connection with a tester. (Is the cable shielded?)
Replace with another unit, and check whether the fault is on the unit side or encoder side.
The cables are wired near each other. (Noise is entering from the power cable.)
The wires are sufficiently separated.
The motor FG wire is grounded on the motor side.
The motor is grounded to one point.
The connection is faulty.
The connection is normal.
The alarm is on the drive unit side.
The alarm is on the encoder side.
Improve the cable wiring.
Check the investigation item No. 3.
Ground the motor to one point, connecting the wires together on the drive unit side.
Check the investigation item No. 4.
Replace the encoder cable.
Check the investigation item No. 5.
Replace the drive unit.
Check the investigation item No. 6.
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Check if there is any abnormality in the encoder's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
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1
2
3 Is an external regenerative resistor used?
4
5
6
Alarm No.
30
Over regeneration:
Over-regeneration detection level became over 100%. The regenerative resistor is overloaded.
Investigation details
Check if the regenerative capacity exceeds the regenerative resistor tolerable capacity.
Investigation results
The regenerative capacity exceeds the regenerative resistor tolerable capacity.
The regenerative resistor selection is appropriate.
Remedies
Add the option regenerative resistor or replace it.
Check the investigation item No. 2.
Check if the parameter is set incorrectly, and check the values of sv036 and sp032.
Is the short wire connected between P and D terminal? Are there any problems with the connection condition?
Is the connection of the regenerative resistor or regeneration resistor cable correct?
Is the regeneration resistor or the regeneration resistor cable broken? Disconnect the regenerative resistor terminal and check the resistance value with a tester.
7 Check if the power supply voltage is too high.
The parameters are set incorrectly.
The parameters are correct.
An external regenerative resistor is used.
A built-in regenerative resistor is used.
The wire is not connected.
The connector is disconnected.
The connector has a contact fault.
The connection is incorrect.
The connection is correct.
The regeneration resistor is broken. Or the resistance value is large.
Change the parameters.
Check the investigation item No. 3.
Check the investigation item No. 5.
Check the investigation item No. 4.
Connect the wire.
Reconnect the connector.
Replace the connector.
Rewire.
Check the investigation item No. 6.
Replace the regenerative resistor.
The regeneration resistor cable is broken.
The resistance value is normal.
Replace the cable.
Check the investigation item No. 7.
The power supply voltage exceeded 253V.
Review the power supply.
The power supply voltage is normal.
Replace the drive unit.
SV SP
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341 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
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3
Alarm No.
31
Overspeed
The motor was detected to rotate at a speed exceeding the allowable speed (In the case of linear motor, it was detected to move at a speed exceeding the allowable speed).
Investigation details
Check if the unit in which the alarm was detected is servo or spindle.
Check the servo parameters SV001 (PC1), SV002
(PC2), SV018 (PIT) and SV025 (MTYP) settings.
Check the spindle parameter SP026 (TSP) setting.
Investigation results
The alarm was detected in servo.
The alarm was detected in spindle.
The settings are incorrect.
Correctly set.
The setting is incorrect.
The alarm is detected at 115% of SP026.
Remedies
Check the investigation item No. 2.
Check the investigation item No. 3.
Correctly set.
Check the investigation item No. 5.
Correctly set.
SV SP
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4 Check the PLG output waveform.
Correctly set.
There is a problem.
Normal.
Check the investigation item No. 4.
Adjust the PLG output waveform.
Check the investigation item No. 5.
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5
Check whether the speed waveform is overshooting.
The waveform is overshooting.
The waveform is not overshooting.
Increase the acceleration/ deceleration time constant.
Lower the load inertia.
Check if there is any abnormality in the unit's ambient environment.
(Ex.: Ambient temperature, noise, grounding)
Check the investigation item No. 6.
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6 Check the repeatability.
[1] The alarm occurs when the motor is stopped.
[2] The rotation speed displayed on the drive monitor varies when the motor is stopped.
The alarm occurs at all time.
Replace the encoder or encoder cable.
Replace the drive unit.
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2
4
5
6 Check the repeatability.
7
Alarm No.
32
Disconnect the power cable (U, V, W) from the unit’s terminal block and motor, and check whether a short-circuit between the power cable or whether conduction at both end of wiring occurs with a tester.
Power module overcurrent
Overcurrent protection function in the power module has started its operation.
Investigation details Investigation results
[1] Before disconnecting the power cable, the cable connector or screw has been loosened.
[2] The short-circuit condition persists even after disconnecting the cable from the unit and motor.
[1] Tighten it.
Remedies
[2] Check the motor wiring.
[3] Replace the power cable.
Check the motor insulation with a (megger) tester.
-Between motor power and ground earth
Check the unit capacity.
[1] The same size but smaller than the selected capacity.
[2] The combination of the motor and axis is alternated in a 2-axis unit.
There is no problem.
Less than 1M Ω . (Grounding)
1M Ω or more. (Normal)
The capacity is small.
The smaller capacity side was used in 2-axis unit.
The motor meets the selected capacity.
Check the investigation item No. 2.
Replace the motor.
Check the investigation item No. 3.
Replace to the unit of the selected capacity or change the axis.
Check the investigation item No. 3.
3 Check the current loop gain parameters.
Jiggle the encoder connectors (drive unit side and encoder side) and check if they are disconnected.
Turn the power OFF, and check the encoder cable connection with a tester.
Replace with another unit, and check whether the fault is on the drive unit side or encoder side.
Different from the standard parameter settings.
Equivalent to the standard parameter settings.
The connector is disconnected (or loose).
The connector is not disconnected.
Connection is faulty.
Connection is normal.
The state returns to normal once, but occurs sometimes thereafter.
The error is always repeated.
The alarm is on the drive unit side.
The alarm is on the encoder side.
Adjust the value to the standard setting.
Check the investigation item No. 4.
Correctly install.
Check the investigation item No. 5.
Replace the encoder cable.
Check the investigation item No. 6.
Check the investigation item No. 8.
Check the investigation item No. 7.
Replace the drive unit.
Replace the encoder.
8
Check for any abnormalities in the unit's ambient environment.
(Ex.: Ambient temperature, noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
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IB-1501241-H 342
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
Alarm No.
33
Overvoltage:
The main circuit bus voltage exceeded the tolerable value.
Investigation details
1 Check the alarm No. "75" items.
Investigation results Remedies SV SP
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Alarm No.
34
NC-DRV communication: CRC error
An error was detected in the data received from the CNC.
Investigation details
Gently shake the connectors of the optical cables by hand that link between NC and drive unit or between drive units to check for loosening and disconnection.
Also check if an excessive force is not applied on them.
Check for damages at the ends of the optical communication cable.
Replace the cable.
Investigation results
The connector is loose or nearly disconnected. The tab of the connector is damaged.
The connector is not disconnected.
Correctly install.
Replace the cable.
The damage is found at the end of the cable. Replace the communication cable.
The connection is normal.
Remedies
Check the investigation item No. 2.
Check the investigation item No. 3.
Check whether the NC or drive unit software version was changed recently.
Replace with another drive unit, and check whether the fault is on the NC side or drive unit side.
The version was changed.
The version was not changed.
The alarm is on the drive unit side.
The alarm is on the unit connections.
Change software version back to the original.
Check the investigation item No. 4.
Replace the drive unit.
Check the investigation item No. 5.
Check if there is any abnormality in the unit's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
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Alarm No.
35
NC command error
The travel command data that was received from the CNC was excessive.
Investigation details Investigation results
1 Please contact the Service Center, Service Station, Sales Office or dealer.
Alarm No.
36
NC-DRV communication: Communication error
The communication with the CNC was interrupted.
Investigation details
1 Check the alarm No. "34" items.
Investigation results
Remedies
Remedies
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343 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
1
2
3
Alarm No.
37
Investigation details
Check if the unit in which the alarm was detected is servo axis or spindle.
Initial parameter error
An incorrect parameter was detected among the parameters received from the CNC at the power ON.
Investigation results
The alarm was detected in servo axis.
The alarm was detected in spindle.
Wrong parameters were set.
The electronic gears are overflowing.
Remedies
Check the investigation item No. 2.
Check the investigation item No. 3.
Correct the parameter setting.
Set the value within the designated setting range.
Set SV001, SV002 and SV018 so that they meet the machine specifications.
Check the error parameters displayed on the NC diagnosis screen.
Servo parameters: SV001 to SV065, SV082
The absolute position detection parameter is valid when OSE104 and OSE105 are connected. (Absolute position control cannot be used.)
SV082/bitC to F are the same setting in one unit.
SV082/bitC to F are not the same setting in one unit.
Correct parameters were set.
In order to use the absolute position control function, an absolute position option is required.
Correct the setting of SV082/bit0 to B.
Correct to the same setting.
Check the error parameters displayed on the NC diagnosis screen.
Spindle parameters: SP001 to SP240
The setting is wrong.
The set parameters are correct.
The set parameter value is different from that of the machine specified encoder.
Check the investigation item No. 4.
Correct the parameter setting.
Set the value within the designated setting range.
Check the investigation item No. 4.
Change the setting to meet the machine specifications.
4 Check the alarm No. "34" items.
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Alarm No.
38
NC-DRV communication: Protocol error 1
An error was detected in the communication frames received from the CNC.
Investigation details
1 Check the alarm No. "34" items.
Investigation results Remedies SV SP
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Alarm No.
39
NC-DRV communication: Protocol error 2
An error was detected in the axis information data received from the CNC.
Investigation details
1 Check the alarm No. "34" items.
Investigation results Remedies SV SP
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Alarm No.
3A
Overcurrent
Excessive current was detected in the motor drive current.
Investigation details Investigation results
[1] Check whether vibration is occurring at the table or spindle.
[2] Check if the vibration caused by the load fluctuation is occurring.
Check the repeatability of the alarm at the rapid traverse feed for the servo and at acceleration/ deceleration for the spindle.
(Note) Check the phenomenon caused by the load fluctuation.
For the servo, perform the rapid traverse feed repeatedly and check if the max. current value is within the tolerable value.
For the spindle, check the load meter value at the unloaded max. rotation speed.
Vibration is occurring.
There is no vibration.
The alarm occurs.
The alarm does not occur.
The displayed value is high.
The displayed value is appropriate.
Disconnect the power cable (U,V,W) from the terminal block and the cannon plug from the motor.
Check the insulation of the cable and motor with a tester.
Check the insulation between the motor power cable and FG.
Check if there is any abnormality in the motor's ambient environment.
(Ex. Ambient temperature, cutting water)
Remedies
[1] Set a filter.
[2] Lower the speed loop gain (SV005/
SP005).
Check the investigation item No. 2.
Lower the speed loop gain (SV005/SP005) to the level at which the alarm does not occur.
Check the investigation item No. 3.
Increase the current loop gain.
Servo: SV009 to 012
Spindle: SP077 to 080 and SP081 to 084
Check the investigation item No. 4.
The resistance value of the power cable for each phase is not " ∞ ".
Replace the motor power cable.
The resistance value of the motor terminal and unit (shaft) is 1M Ω or less.
Replace the motor.(Note) For the motors equipped with the absolute position encoder, the zero point must be established.
The values below are met when measured with a tester.
Cable: ∞
Motor terminal - unit:1M Ω or more
Check the investigation item No. 5.
There is a ground fault at the power cable.
Replace the motor power cable.
There is no problem.
Check the investigation item No. 6.
Take remedies according to the causes of the abnormality in the ambient environment.
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IB-1501241-H 344
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
1
Alarm No.
3B
Check that the fan of the drive unit is rotating correctly.
Power module overheat
Thermal protection function in the power module has started its operation.
Investigation details Investigation results
Large amounts of cutting oil or cutting chips, etc., are adhered to the fan, or the rotation is slow.
Remedies
Clean or replace the fan.
2 Check whether the heat dissipating fins are dirty.
The fan is rotating properly.
Cutting oil or cutting chips, etc., are adhered, and the fins are clogged.
Check the investigation item No. 2.
Clean the fins.
3 Measure the drive unit's ambient temperature.
Cutting chips etc. are not adhered to the fins. Check the investigation item No. 3.
55°C or more.
Less than 55°C.
Improve the efficiency cooling for the power distribution panel.
Check the investigation item No. 4.
4
Check if there is any abnormality in the unit's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
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1
Regeneration circuit error:
An error was detected in the regenerative transistor or in the regenerative resistor.
Investigation details
Check if an external regenerative resistor is used.
Investigation results
An external regenerative resistor is used.
Remedies
Check the investigation item No. 3.
A built-in regenerative resistor is used.
The wire is not connected.
Check the investigation item No. 2.
Connect the wire.
2
3
4
Alarm No.
3C
Is the short wire connected between P and D terminal?
Are there any problems with the connection condition? (looseness of the screw)
Is the connection of the regenerative resistor or regeneration resistor cable correct?
Is the regeneration resistor or the regeneration resistor cable broken?
Disconnect the regenerative resistor terminal and check the resistance value with a tester.
The connector is disconnected.
The connector has a contact fault.
The connection is correct.
The wire is not connected.
The connection is correct.
The regeneration resistor is broken.
Or the resistance value is different from the specified value.
The regeneration resistor cable is broken.
The resistance value is normal.
Reconnect the connector.
Replace the connector.
Replace the drive unit.
Connect the wire.
Check the investigation item No. 4.
Replace the regenerative resistor.
Replace the cable.
Replace the drive unit.
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2
Alarm No.
tester.
3D
Power supply voltage error at acceleration/deceleration:
A motor control error was detected at acceleration/deceleration due to an input voltage drop.
Investigation details
Measure the input voltage during operations with a
Check the load inertia.
Investigation results
During operations, the voltage fluctuates widely.
During operations, the voltage is stable.
The load inertia (workpiece etc.) is excessive.
Remedies
Increase the power capacity (KVA).
Check the investigation item No. 2.
[1] Lower the load inertia.
[2] Extend the rapid traverse time constant for G0/G1.
The load inertia is normal.
3 Check the cooling fan of the drive unit.
4
Check the ambient temperature of the drive unit during operation.
The fan is stopped.
The fan is rotating correctly.
The ambient temperature exceeds the specified value.
There is no problem in temperature.
Check the investigation item No. 3.
Replace the fan. If the state is not improved, replace the drive unit.
Check the investigation item No. 4.
Correct the ambient temperature within the specified value.
Replace the drive unit.
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Alarm No.
3E
Magnetic pole position detection error:
The magnetic pole position is not reliable in the magnetic pole position detection control.
This alarm occurs at the detection level which is set in SV094.
Investigation details Investigation results
Adjust the setting value of the servo parameter
SV094 and detect the magnetic pole position.
Set SV094.
SV094 is set.
Remedies
Set SV094.
The standard value for a rotary motor is 10.
The standard value for a linear motor is 10.
Set the optimal value allowing for the coasting distance (Increase the value).
SV SP
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345 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
1
Alarm No.
41
Feedback error 3
Either a missed feedback pulse in the main side incremental encoder or an error in the Z-phase was detected in the full closed loop system. In the servo, Z-phase was not detected by a rotary encoder within 2 rotations.
Investigation details Investigation results
The cable is disconnected.
Remedies
Replace the cable.
SV SP
Check the connection condition of the cable and encoder.
- Check if the cable is disconnected.
The cable is normal.
The alarm occurs even after it is reconnected.
Check for dirt on the connector terminal and reconnect it.
Replace the encoder.
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1
Alarm No.
42
Check SP019 and SP020.
Feedback error 1
An error was detected in the sub side encoder (feedback signals of the position encoder in a servo system, or PLG's feedback signals in a spindle system).
Investigation details Investigation results
Parameter is set incorrectly.
Parameter is set correctly.
Correctly set.
Remedies
Check the investigation item No. 2.
SV SP
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2 Check the alarm No. "2C" items.
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8
Alarm No.
43
Feedback error 2
Excessive difference was detected in position data between the motor side encoder and the machine side encoder.
Investigation details Remedies Investigation results
The pulley ratio of the spindle end to encoder is 1:1.
Check the parameter setting.
Check if the connecting pulley ratio of the spindle end to ABZ pulse encoder meets the machine specifications.
The spindle end and encoder are not equal in the pulley ratio.
Check the parameter setting.
When the encoder is smaller than the spindle end in the pulley ratio, replace the pulley.
Check the setting value of the spindle parameter from SP057 to SP064.
3 Check the spindle parameter SP054 setting value.
Jiggle the encoder connectors (drive unit side and encoder side) and check if they are disconnected.
Is the encoder cable wired in the same conduit as the motor's power cable, or are the two cables laid in parallel near each other?
Is the motor FG wire connected only to the drive unit which drives it?
(Is the motor grounded to one point?)
Turn the power OFF, and check the encoder cable connection with a tester. (Is the cable shielded?)
Replace with another unit, and check whether the fault is on the unit side or encoder side.
No problem.
The correct values are not set.
The correct values are set.
V-belt is used for the spindle end driving.
Other than V-belt (gears or timing belt) is used for the spindle end driving.
SP054 is set corresponding to the machine specifications.
The connector is disconnected (or loose).
The connector is not disconnected.
The cables are wired near each other. Noise is entering from the power cable.
The wires are sufficiently separated.
The motor FG wire is grounded on the motor side.
The motor is grounded to one point.
The connection is faulty.
The connection is normal.
The alarm is on the drive unit side.
The alarm is on the encoder side.
Check the investigation item No. 2.
Correctly set.
Check the investigation item No. 3.
Set "-1" to the spindle parameter "SP054".
Set "360" to the spindle parameter "SP054".
Check the investigation item No. 4.
Correctly install.
Check the investigation item No. 5.
Improve the cable wiring.
Divide it by a FG shield.
Check the investigation item No. 6.
Ground the motor to one point, connecting the wires together on the drive unit side.
Check the investigation item No. 7.
Replace the encoder cable.
Check the investigation item No. 8.
Replace the drive unit.
Check the investigation item No. 9.
9
Check if there is any abnormality in the encoder's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
10 Check SP019, SP020, SV019, and SV020.
Parameter is set incorrectly.
Parameter is set correctly.
Correctly set.
Check the investigation item No. 11.
11 Check the alarm No. "1B" items.
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IB-1501241-H 346
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
1
2
Alarm No.
45
Fan stop
A cooling fan built in the drive unit stopped, and overheat occurred in the power module.
Investigation details Investigation results
Turn the unit power ON again, and confirm the rotation of the fan.
Note) Assure more than 10 seconds for the time from when the power is turned OFF till when it is turned ON. For the fan used for the drive unit, assuring more than 10 seconds for the time from when the power is turned OFF till when it is turned
ON is required.
Check if the connector connected to a fan is loosened or disconnected in the unit.
The fan is rotating, and an alarm did not occur again.
The fan did not rotate. Or, an alarm occurred again.
[1]The connector is loosened.
[2]The connector is disconnected.
[1]The connector is not loosened.
[2]The connector is not disconnected.
Remedies
Continue to use.
The power may be turned ON without assuring more than 10 seconds for the time from when the power is turned OFF till when it is turned ON.
Leave for more than 10 seconds, and turn the power ON again.
Check the investigation item No. 2.
Correctly connect the connector.
Replace the fan.
Check the investigation item No. 3.
3 Check if oil or cutting chips are adhered to the fan.
Oil or cutting chips are adhered.
Oil or cutting chips are not adhered.
The cable may be broken.
Improve the use environment and replace the drive unit.
Replace the fan.
Replace the drive unit.
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Alarm No.
46
Motor overheat / Thermal error
Thermal protection function of the motor or in the encoder, has started its operation.
Investigation details
Check the repeatability.
(Note) For the spindle, check the "temperature" of the "spindle unit" displayed on the drive monitor screen.
Investigation results
[1] The alarm occurs before operation.
[2] The "temperature" displayed on the drive monitor screen is different from ambient temperature.
[1] The alarm occurs after the operation continues for a while.
[2] The "temperature" displayed on the drive monitor screen rises drastically during the spindle operation.
Remedies
Check the investigation item No. 2.
Check the investigation item No. 5.
Jiggle the encoder connectors (drive unit side and encoder side) and check if they are disconnected.
Turn the power OFF, and check the encoder cable connection with a tester.
When using MDS-EX-HR, check if the motor is validated even if a motor thermal is not provided?
Check the overload % (servo) or load meter
(spindle).
6 Is the unbalance torque high?
Was the overload alarm (50) forcibly reset by turning the drive unit power OFF?
8 Check the parameter settings.
The connector is disconnected (or loose).
The connector is not disconnected.
The connection is faulty.
The connection is normal.
SV034/bit2 = 0
SV034/bit2 = 1
The load is large.
Correctly install.
Check the investigation item No. 3.
Replace the cable.
Check the investigation item No. 4.
Set SP034/bit2 to 1.
Check the investigation item No. 5.
Servo:
Check the investigation item No. 6.
Spindle:
Check the investigation item No. 8.
The load is not large.
The constant load torque (friction + unbalance) is 60% or more.
Check the investigation item No. 9.
Select the motor so that the constant load torque is 60% or less.
The constant load torque is less than 60%.
Check the investigation item No. 7.
The alarm was forcibly reset.
The alarm was not forcibly reset.
The parameter is not set correctly.
The parameter is set correctly.
The motor unit is hot.
Do not turn the drive unit's power OFF when an overload alarm occurs. (The NC power can be turned OFF.)
Check the investigation item No. 9.
Correctly set.
Check the investigation item No. 9.
Check the investigation item No. 10.
9
Measure the motor temperature when the alarm occurs.
(Note) For the spindle motor, check the
"temperature" of the "spindle unit" shown on the drive monitor screen.
The motor is not hot.
Check the investigation item No. 12.
10
When using a motor with fan, check whether the fan is stopped, or it is clogged with dust, etc.
11 Check the fan wiring.
The motor fan was stopped.
The motor fan wind flow is poor.
Check the investigation item No. 11.
Clean the fan and ventilation holes inside of the motor.
The direction of the ventilation is opposite.
Change the connected phase sequence.
There is no problem.
Check the investigation item No. 12.
The cable is broken.
The cable is not broken.
The alarm is on the drive unit side.
Replace the cable.
Replace the fan.
Replace the drive unit.
12
13
Replace the drive unit or motor with another drive unit or motor, and check whether the fault is on the drive unit side or motor side
Check if there is any abnormality in the unit's ambient environment.
(Ex. Ambient temperature, noise, grounding)
The alarm is on the motor side.
Replace the motor.
Take remedies according to the causes of the abnormality in the ambient environment.
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347 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
Alarm No.
48
Motor side encoder: Error 5
The motor side encoder (linear scale in the case of linear motor) detected an error.
As details differ for each encoder, refer to section "Encoder alarm".
Investigation details
1 Check the alarm No. "1B" items.
Investigation results Remedies
Alarm No.
49
Motor side encoder: Error 6
The motor side encoder (linear scale in the case of linear motor) detected an error.
As details differ for each encoder, refer to section "Encoder alarm".
Investigation details
1 Check the alarm No. "1B" items.
Investigation results Remedies
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Alarm No.
4A
Motor side encoder: Error 7
The motor side encoder (linear scale in the case of linear motor) detected an error.
As details differ for each encoder, refer to section "Encoder alarm".
Investigation details
1 Check the alarm No. "1B" items.
Investigation results Remedies SV SP
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Alarm No.
4B
Motor side encoder: Error 8
The motor side encoder (linear scale in the case of linear motor) detected an error.
As details differ for each encoder, refer to section "Encoder alarm".
Investigation details
1 Check the alarm No. "1B" items.
Investigation results Remedies SV SP
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1
Alarm No.
4C
Current error at magnetic pole estimate
Current detection failed at the pulse-applied magnetic pole estimation by IPM spindle motor.
Investigation details Investigation results
Check the pulse-applied time.
The pulse-applied time can be short.
Remedies
Set the pulse-applied time longer.
Setting parameter:SP142
1) The pulse-applied time (0 to 350)
2) For low-speed coil:1)+1000
3) The polarity of magnetic pole estimate:
Reverse polarity is "-"
After the adjustment, perform the magnetic pole detection control again.
The alarm also occurs after the pulse-applied time is set.
Replace the unit.
SV SP
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1
Alarm No.
4D
Dual signal error
An error was detected in the signal related to the dual signal.
Investigation details
When not using dedicated wiring STO function
2 When using dedicated wiring STO function
Investigation results
Is the connector to disable STO installed correctly?
Is the parameter setting (SV113,SP229/bit8) correct?
Remedies
Install the connector to disable STO correctly.
Set SV113,SP229/bit8.
When using dedicated wiring STO function, set to "1 ".
The error is detected during the servo ON.
Input the STO signal after turning the servo
OFF.
The error is detected during the servo OFF. Remedy the wiring and signal for STO cable.
3 Check "7.3.6 Details of Alarm 4D" items.
SV SP
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1
Alarm No.
4E
NC command mode error
The mode outside the specification was input in spindle control mode selection.
Investigation details
Check the wiring and setting environment.
1) Correctly grounded?
2) Any noise generating devices around the unit?
3) Are the speed/position encoder cables correctly shielded?
Investigation results
1) The grounding is incomplete.
2) The alarm occurs easily when a specific device operates.
3) The cable is not correctly shielded.
No abnormality is found in particular.
Correctly ground.
Remedies
Use noise measures on the device described on the left.
Correctly shield the cable.
Replace the drive unit.
SV SP
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IB-1501241-H 348
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
Alarm No.
4F
Instantaneous power interrupt
The control power supply has remained shut down.
Investigation details Investigation results
1 Check the repeatability.
The alarm occurs occasionally.
Remedies
Check the power facilities.
Check the wiring of the control power.
SV SP
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Alarm No.
50
Overload 1
Overload detection level became over 100%. The motor or the drive unit is overloaded.
Investigation details
Check the overload parameters.
Servo:SV021, SV022
Spindle:SP021,SP022
Check the items below displayed on the drive monitor screen during operation.
<Servo>
Max.current 3 (%)
Overload(%)
<Spindle>
Load meter(%)
Investigation results
The standard values (below) are not set.
Servo:SV021 = 60, SV022 = 150
Spindle:SP021=60,SP022=120
IPM:SP021=300,SP022=100
The standard values are set.
Perform the machining such as rapid traverse, where an alarm occurs. The examples are below.
<Servo>
[1] Max.current 3 constantly displays the maximum value.
[2] Overload increases at a rapid speed.
<Spindle>
[1] The time to display 120% lasts long.
[2] The value is higher than normal.
Remedies
Set the standard values.
Investigate item 2.
Servo
[1] Mount a smaller workpiece.
[2] Increase the time constant.
[3] Check the investigation item No.6.
Spindle
[1] Lower the cutting amount.
[2] Extend the cycle time.
Check whether machine resonance is occurring.
Check for vibration and abnormal noise at the spindle and table.
Check whether the shaft sways when the motor is stopped.
"Hunting" of the spindle
"Vibration" of the table
Check the brake operation.
[1] Check the brake relay.
[2] Check the connector (CN20) connection.
The value is within the supposed level and there is no problem.
Resonance is occurring when a tool or workpiece is mounted or during machining.
(The load inertia changes)
Resonance is not occurring.
The motor is hunting.
The motor is not hunting.
The motor brakes are not released.
The motor brake operation is normal.
Investigate item 3.
Adjust the parameters.
[1] Set the optimal notch filter.
[2] Lower VGN1 (SV005,SP005).
Investigate item 4.
Adjust the parameters.
[1] Increase VGN1 (SV005, SP005).
[2] Lower VIA (SV008, SP008).
Servo: Investigate item 5
Spindle: Investigate item 7
Correct the faulty section.
Investigate item 6.
Check the load current with the NC Servo Monitor, and investigate the machine load.
Check the PLG output waveform.
TS5690 cannot be checked.
8 Confirm the motor capacity selection again.
9 Try replacing the drive unit.
The cutting load is large.
There is interference with the positioning pin.
An excessive force is applied from the machine.
The machine load is not large.
There is a problem.
Normal
The motor performance is insufficient.
The motor performance is sufficient.
Improved.
Not improved.
Lower the cutting load.
When using the positioning pin, turn the servo OFF when stopped.
Check whether the ball screw is bent, or whether there is a fault in the guide.
Investigate item 8.
Adjust the PLG output waveform.
For TS5690, reinstall.
Investigate item 8.
Lower the acceleration/deceleration rate or cutting load.
Check the tool mounted on the spindle.
- The service life is reached.
Increase the number of teeth (chips) of the milling cutter, etc.
Investigate item 9.
Use as it is.
Replace the motor.
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(Note) NR and PR resetting are not possible when the overload level is 50% or more. Do not forcibly reset (AR) by turning the unit power OFF. If AR resetting is used at 50% or higher, the level is set to 80% when the power is turned ON next. (Servo)
349 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
1
Alarm No.
51
Overload 2
Current command of more than 95% of the unit's max. current was being continuously given for longer than 1 second in a servo system. In a spindle system, current command of more than 95% of the motor's max. current was being continuously given for longer than 1 second.
Investigation details Remedies SV SP
Did the alarm occur immediately after READY ON?
Investigation results
The alarm occurred after ready ON before operation starts.
Investigate item 2.
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The alarm occurred after normal operation.
Investigate item 5.
The CHARGE lamp becomes dark.
L+ or L- screw was loosened.
Increase the capacity of power supply.
Tighten the L+ and L- screws.
2
3
4
Check that the PN voltage is supplied to the drive unit.
MDS-EJ/EJH Series is not connected to the power supply unit, so investigate item 3 for MDS-EJ/EJH.
[1] Is the CHARGE lamp ON?
Check the motor power cable (U, V, W phases).
[1] The power cable is not connected.
[2] Is the cable connected to the motor for another axis?
Check the encoder cable connection.
[1] Is the cable connected to the motor for another axis?
Approx. 300V is correctly supplied.
The connections are incorrect.
Connected to the incorrect axis.
The connections are correct.
The connections are incorrect.
The connections are correct.
Investigate item 3.
Connect correctly.
Investigate item 4.
Connect correctly.
Investigate item 5.
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5 Check whether the machine has collided.
6
Check whether the current value on the NC Servo
Monitor screen is saturated during acceleration/ deceleration.
The machine has collided.
The machine has not collided.
The current is saturated during acceleration/ deceleration.
The current value during acceleration/ deceleration is appropriate.
Check the machining program and soft limit settings.
Investigate item 6.
Increase the acceleration/ deceleration time constant.
Investigate item 7.
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7 Check the encoder Feedback.
8 Check the load meter value.
9
Check the PLG output waveform.
For TS5690, waveform cannot be checked.
The Feedback signal is abnormal.
- The droop does not stabilize.
The Feedback signal is normal.
The value is large.
The value is normal.
There is a problem.
Normal
Replace the encoder.
(With the absolute position system, the zero point must be established.)
Replace the drive unit.
Lower the load.
Investigate item 9.
Adjust the PLG output waveform.
Replace the drive unit.
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2
Alarm No.
52
Excessive error 1
A difference between the actual and theoretical motor positions during servo ON exceeded the setting value.
Investigation results Investigation details
The load inertia is large.
The unbalance torque in the Z (gravity) direction is high.
An excessive workpiece or tool is mounted on the spindle.
The load inertia is excessive.
The load inertia is normal.
Remedies
[1] Lower the machine weight applied to the servo motors (by the unbalance torque).
[2] Lower the weight of the workpiece.
Investigate item 2.
Check the excessive error detection width.
Servo
SV053
Spindle
SP023 (Interpolation, spindle synchronization)SP053 (Non-interpolation)
The excessive error detection width is too small.
Servo standard value:
SV053 ={RAPID/(60*PGN1)}/2
Spindle standard value:
No alarm is set at SP023 =120:0
SP053 =motor max. speed×6/PGV/2
Appropriate values are set.
The polarity is reversed.
Set appropriate values.
Investigate item 3.
Correctly set the parameters.
3
Check the position encoder polarity.
SV017/bit4 (Servo)
SP017/bit4 (Spindle: position FB)
SP017/bit0 (Spindle: speed FB)
#3106/bit7 (Synchronous tap control)
4 Check the alarm No. "51" items.
Normal.
Investigate item 4.
SV SP
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MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
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Alarm No.
53
Excessive error 2
A difference between the actual and theoretical motor positions during servo OFF exceeded the setting value.
Investigation details
Check the follow-up function while the NC is in the servo OFF state.
Investigation results
The axis detachment function (NC parameter) is invalid.
(Note) For the axis detachment function, refer to the NC manual.
The axis detachment function (NC parameter) is valid.
(Note) For the axis detachment function, refer to the NC manual.
Remedies
Check the investigation item No. 2.
Check the investigation item No. 3.
Check whether the axis has moved during servo
OFF (either by visual inspection or monitor the position droop waveform).
[1] Check if the motor brake is released in the middle.
[2] Check if the axis moves because the servo OFF is applied during the C axis mode.
[1] The axis has moved.
[2] The servo OFF is applied during the mode.
The axis has not moved.
[1] Adjust the brakes, etc. so that the axis does not move.
[2] Avoid the servo OFF from being applied during position control.
Check the investigation item No. 3.
Check the excessive error detection width.
SV026 (Servo)
(Note) Set the same value to SV023.
The excessive error detection width is too small.
SV026 ={RAPID/(60*PGN1)}/2
An appropriate value is set.
Set an appropriate value.
Check for problems on the NC side, such as the position FB follow-up control.
SV SP
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2
Alarm No.
54
Excessive error 3
When an excessive error 1 occurred, detection of the motor current failed.
Investigation details
Check that the PN voltage is supplied to the drive unit.
[1] Is the CHARGE lamp ON?
Investigation results
The voltage is not supplied.
It is correctly supplied (DC300V).
Remedies
Correctly supply the PN voltage.
Investigate item 2.
Check the motor power cable (U, V, W phases).
[1] The power cable is not connected.
[2] Is the cable connected to the motor for another axis?
The connections are incorrect.
The connections are correct.
Connect correctly.
Replace the drive unit.
SV SP
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Supplement (servo)
Depending on the ideal machine position in respect to the command position, the actual machine position could enter the actual shaded section shown below, which is separated more than the distance set in OD1.
Position
Command position
OD1
OD2
OD2
Servo OFF
OD1
Servo ON
Ideal machine position
Time
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MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
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Alarm No.
56
Commanded speed error
The encoder has detected that the commanded speed exceeded 1.15 times of the rapid traverse rate (rapid), or the motor rotation speed exceeded the maximum speed.
Investigation details
Check if the NC power is turned ON again when the rapid traverse rate (rapid) is changed.
A value above the rapid traverse rate (rapid) is set to cutting feed clamp speed (clamp).
clamp ≦
Investigation results
NC power is turned OFF and ON.
NC power is not turned OFF and ON clamp > rapid
rapid
Remedies
Check the investigation item No. 2.
Turn the NC power OFF and ON.
Review the clamp or rapid setting value.
Check the commanded speed.
SV SP
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(Note)
(Note) For a spindle, the error is detected only during the spindle/C axis control.
1
Alarm No.
58
Collision detection 1: G0
When collision detection function (set to SV060) was valid, the disturbance torque in rapid traverse (G0) exceeded the collision detection level.
Investigation details Investigation results Remedies SV SP
Check whether the machine has collided during G0 operation.
A collision has occurred at the table, turret or spindle head in the machine during movement.
There is no collision at the table, turret and spindle head in the machine during movement
Check the machining program and soft limit settings.
Adjust the tolerable disturbance torque
SV060.
(Note) Set the detection level to be 1.5 times or more of the maximum torque.
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(Note) When the disturbance torque exceeds the collision detection level, the motor will decelerate to a stop with a torque
80% (standard) value of the motor's maximum torque. After decelerating to a stop, the alarm will occur.
1
Alarm No.
59
Collision detection 1: G1
When collision detection function was valid (SV035.c1G1 was set), the disturbance torque in cutting feed (G1) exceeded the collision detection level.
Investigation details Investigation results Remedies SV SP
Check whether the machine has collided during G0 operation.
The machine has collided during movement.
The machine has not collided.
Check the machining program and soft limit settings.
Increase the detection level (SV035. clG1).
G1 collision detection level
=SV060×c1G1(001 to 111)
(Note) Set the detection level larger than the maximum cutting load.
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(Note) When the disturbance torque exceeds the collision detection level, the motor will decelerate to a stop with a torque
80% (standard) value of the motor's maximum torque. After decelerating to a stop, the alarm will occur.
1
2
Alarm No.
5A
Collision detection 2
When collision detection function was valid, the command torque reached the max. motor torque.
Investigation details
Check whether the machine has collided.
Check whether the current value on the NC Servo
Monitor screen is saturated during acceleration/ deceleration.
Investigation results
The machine has collided.
The machine has not collided.
The current is saturated during acceleration/ deceleration.
The current value during acceleration/ deceleration is appropriate.
Remedies
Check the machining program and soft limit settings.
Check the investigation item No. 2.
Check the investigation item No. 3.
Investigate the cause of the load fluctuation.
3
Can the acceleration/deceleration time constant be changed?
The constant can be changed.
The constant cannot be changed.
Increase the acceleration/ deceleration time constant.
Set to ignore collision detection method 2.
SV SP
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(Note) When the command torque reaches the motor's maximum torque, the motor will decelerate to a stop with a torque
80% (standard) value of the motor's maximum torque. After decelerating to a stop, the alarm will occur.
1
Alarm No.
5B
Safely limited: Commanded speed error
In safely limited mode, the commanded speed was detected to exceed the safely limited speed.
Investigation details Investigation results
Check the commanded speed on the NC side.
The commanded speed and safely limited speed limit value are the same.
Remedies
Reduce the commanded speed on the NC side or increase the safely limited speed limit value.
The commanded speed is slower than the safely limited speed.
Replace the drive unit.
SV SP
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IB-1501241-H 352
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
Alarm No.
5D
Safely limited: Door state error
In safely limited mode, the door state signal from the NC and the same signal from the drive unit don't match. Otherwise, door open state was detected in normal mode.
Investigation details Investigation results Remedies SV SP
1 Check the DI input timing.
Both NC side and drive unit side input timings match one another within 500ms.
NC side and drive unit side inputs do not match one another within 500ms.
Review the DI input sequence.
Check if the cable for the DI input signal is broken.
Investigate the wiring and connection environment.
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Alarm No.
5E
Safely limited: Feedback speed error
In safely limited mode, the motor speed was detected to exceed the safely limited speed.
Investigation details Investigation results
Check the DI input timing.
The feedback speed and safely limited speed limit value are the same.
Remedies
Reduce the commanded speed on the NC side or increase the safely limited speed limit value.
2
Check the wiring and setting environment.
1) Correctly grounded?
2) Any noise generating devices around the unit?
3) Are the speed/position encoder cables correctly shielded?
The feedback speed is slower than the safely limited speed.
1) The grounding is incomplete.
2) The alarm occurs easily when a specific device operates.
3) The cable is not correctly shielded.
No abnormality is found in particular.
Replace the drive unit.
Correctly ground.
Use noise measures on the device described on the left.
Correctly shield the cable.
Replace the drive unit.
SV SP
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2
Alarm No.
5F
External contactor error
A contact of the external contactor is welding.
Investigation details
Check whether the contactor's contact has melted.
Check whether the axis where an alarm occurred was a contactor control axis.
3 Check the connection with a regenerative resistor.
Investigation results
The contactor is melted.
The contactor is not melted.
The alarm occurred at the axis where the contactor control is not executed.
Remedies
Replace the contactor.
Check the investigation item No. 2.
Check the parameter. (EJ/EJH Series)
With contactor control
Servo:SV082, Spindle:SP227
0800h is added to the setting value.
Without contactor control
Change "Bit A,B" to "00" in the parameter above.
The alarm occurred at the axis where the contactor control is executed.
The connection with an external option regenerative resistor unit is faulty.
Replace the drive unit.
The short wire between the P and D terminals of the control circuit terminal block
(CNP2) is disconnected.
Replace the control circuit terminal block
(CNP2).
Connect the short wire between the P and D terminals.
Replace the cable.
SV SP
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353 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
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3
Alarm No.
61
Power supply: Power module overcurrent
Overcurrent protection function in the power module of power supply has started its operation.
Investigation details
Check the state of the operation when the alarm occurs, and check the repeatability.
Check the load state of all motors (during stopped).
Check the power capacity of the facility.
Check the capacity of the step-down transformer
(KVA).
Investigation results
The alarm occurs immediately after 200VAC is supplied or after READY is turned ON.
The alarm occurs occasionally during
READY ON.
The alarm occurs after continuous operation for a long time.
The unit is hot.
The total load of all motors exceeds the rated capacity of the power supply unit.
The total does not exceed the capacity.
The power capacity of the facility is insufficient.
The specified power capacity is secured.
Replace the unit.
Remedies
Check the investigation item No. 3.
Check the investigation item No. 2.
Lower the motor load and operation frequency.
Check the investigation item No. 3.
Increase the power capacity of the facility.
Check the investigation item No. 4.
4
Measure the voltage across wires.
Is the voltage 170V or more even when the motor is accelerating?
The voltage drops to 170V or less occasionally.
The difference of the voltage across wires is
10V or more.
The difference of the voltage across wires is less than 10V.
Increase the power capacity of the facility.
Improve the power phase balance.
Check the investigation item No. 5.
5
Check whether there is any device (machine) causing the power distortion.
Abnormal noise is heard from an AC reactor when stopping at the servo ON.
Abnormal noise is not heard.
Improve the source of the distortion.
For example, when abnormal noise is heard from another machine that is in operation, move the wiring to the power which is far from the machine's power supply.
Check the investigation item No. 6.
6
Check if there is any abnormality in the unit's ambient environment.
(Ex. Noise, grounding, etc.)
Take remedies according to the causes of the abnormality in the ambient environment.
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2
3
4
Alarm No.
62
Power supply: Frequency error
The input power supply frequency increased above the specification range.
Investigation details
Check the state of the operation when the alarm occurs, and check the repeatability.
Investigation results
The alarm occurs each time immediately after the power is turned ON. Or, the alarm occurs occasionally regardless of the operation state.
Remedies
Check the investigation item No. 2.
The alarm occurs only while the motor is accelerating/decelerating.
The frequency is deviated from 50Hz±3% or
60Hz±3%.
Check the investigation item No. 3.
Review the power facilities.
Measure the power voltage waveform during normal operation.
The voltage waveform dips at some sections.
Improve the source of the distortion.
Install an AC reactor.
Check the investigation item No. 4.
Measure the power voltage when the motor is accelerating/decelerating.
There is no problem.
The frequency greatly fluctuates during acceleration/deceleration.
The voltage waveform during deceleration dips in some sections.
There is no problem.
Review the power facilities.
Improve the source of the distortion.
Install an AC reactor.
Check the investigation item No. 4.
Check if there is any abnormality in the unit's ambient environment.
(Ex. Noise, grounding, etc.)
Take remedies according to the causes of the abnormality in the ambient environment.
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Alarm No.
66
Power supply: Process error
An error occurred in the process cycle.
Investigation details
Check the repeatability.
Investigation results
The alarm occurs each time after the power is turned ON.
The alarm occurs occasionally.
2
Check if there is any abnormality in the unit's ambient environment.
(Ex. Noise, grounding, etc.)
Replace the unit.
Remedies
Check the investigation item No. 2.
Take remedies according to the causes of the abnormality in the ambient environment.
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Alarm No.
67
Power supply: Phase interruption
An open-phase condition was detected in input power supply circuit.
Investigation details
Check the voltage for each input phase.
Investigation results
There are phases with no voltage.
There is no problem.
2 Check the alarm No. "71" items.
Remedies
Correct the power supply.
Check the investigation item No. 2.
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MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
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Alarm No.
68
Power supply: Watchdog
The system does not operate correctly. LED display is fixed as "8".
Investigation details
Check the repeatability.
Investigation results
The alarm occurs each time READY is turned
ON.
The alarm occurs occasionally.
2
Check if there is any abnormality in the unit's ambient environment.
(Ex. Noise, grounding, etc.)
Replace the unit.
Remedies
Check the investigation item No. 2.
Take remedies according to the causes of the abnormality in the ambient environment.
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2
3
4
5
Alarm No.
69
Power supply: Grounding
The motor power cable is in contact with FG (Frame Ground).
Investigation details Investigation results
Measure the insulation across the power cables
(U,V,W) for all motors and the ground. (Carry out a megger test.)
Has oil adhered on the motor or power cable?
Measure the insulation again.
Less than 1M Ω . (Grounding)
1M Ω or more. (Normal)
Oil has adhered.
Oil has not adhered.
Less than 1M Ω . (Grounding)
1M Ω or more. (Normal)
Less than 100k .
Remedies
The motor or power cable may be ground faulted.
Check the investigation item No. 2.
Take measures so that oil does not come in contact. Check the motor's cannon connector and the inside of the terminal box, and clean as necessary.
Check the investigation item No. 3.
Replace the motor or cable.
Check the investigation item No. 2.
Replace the drive unit.
Measure the resistance across the U, V, W phase terminals of the servo/spindle drive unit and the ground.
(Note) Do not measure the insulation as the unit is damaged.
Check whether there is any axis in which alarm 24 has occurred.
100k or more.
Replace the power supply unit.
There is an axis in which alarm has occurred. Check the alarm No. "24" items.
There is no axis in which alarm has occurred. Check the investigation item No. 2.
SV SP
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Alarm No.
6A
Power supply: External contactor welding
A contact of the external contactor is welding.
Investigation details Investigation results
1
2
3
Check whether any alarm has occurred on the drive unit side.
Check whether the contactor's contact has melted.
Check that the contactor excitation wiring is correctly connected from the power supply unit's
MC1 terminal.
An alarm has occurred.
An alarm has not occurred.
The contactor has melted.
The contactor has not melted.
The connection is correct.
The connection is incorrect.
Remedies
Remove the cause of the alarm on the drive side, and check the investigation item No. 2.
Check the investigation item No. 2.
Replace the contactor.
Check the investigation item No. 3.
Correctly connect.
Replace the power supply unit.
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Alarm No.
6B
Power supply: Rush circuit error
A thyristor for rush short circuit is ON when rushing.
Investigation details Investigation results
Check whether any alarm has occurred on the drive unit side.
2 Check the repeatability.
3 Check if there is any ground fault in the motor.
An alarm has occurred.
Remedies
Remove the cause of the alarm on the drive side, and then carry out the investigation details 2.
Check the investigation item No. 2.
An alarm has not occurred.
The alarm occurs each time READY is turned
ON.
Replace the unit.
The alarm occurs occasionally.
Check the investigation item No. 3.
Check the investigation item of Alarm No. 69. Take remedies of Alarm No. 69.
No ground fault.
Check the investigation item No. 4.
4
Check if there is any abnormality in the unit's ambient environment.
(Ex. Noise, grounding, etc.)
Take remedies according to the causes of the abnormality in the ambient environment.
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355 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
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Alarm No.
6C
Power supply: Main circuit error
An error was detected in charging operation of the main circuit capacitor.
Investigation details Investigation results
[1] The light of the lamp becomes faint.
[2] An alarm occurs when ready is turned ON again.
Remedies
Replace the power supply unit.
Check the CHARGE lamp state when the alarm occurs.
The lamp turns ON instantly, but when the alarm occurs and the contactor turns OFF, the lamp turns OFF immediately.
Check the investigation item No. 2.
Disconnect the power supply unit's PN terminal block wiring, and measure the resistance value at 1) and 2) shown below.
The lamp never turns ON.
1)The power supply unit side is abnormal.
2)The drive unit side is abnormal.
Check the investigation item No. 2.
Then replace the unit.
Replace the power supply unit.
Disconnect the PN wiring, and then check the drive unit side.
Drive unit
Power supply unit
2
2) 1) and 2) are both normal.
P
N
1)
(Note)
When disconnecting the PN wiring, turn OFF the power, make sure the CHARGE lamp has turned
OFF at contactor OFF and then wait at least fifteen minutes before disconnecting. Do not disconnect immediately after the power OFF.
Tester measurement point
1)
2)
Polarity
+ -
P N
N P
P N
N P
Normal
Several 100Ω
∞Ω
Several 100Ω
∞Ω
Abnormal
Short-circuit/∞Ω
Several 100Ω
Short-circuit/∞Ω
Several 100Ω
Replace the power supply unit.
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1
Alarm No.
6D
Investigation details
Check the repeatability.
Parameter setting error
An error was detected in the parameter sent from the drive unit.
Investigation results
The alarm occurs each time after the power is turned ON.
The alarm occurs occasionally.
2
Check if there is any abnormality in the unit's ambient environment.
(Ex. Noise, grounding, etc.)
Replace the unit.
Remedies
Check the investigation item No. 2.
Take remedies according to the causes of the abnormality in the ambient environment.
1
Alarm No.
6E
Investigation details
Check the repeatability.
Power supply: H/W error/AD error
An error was detected in the internal memory or A/D converter.
Investigation results
The alarm occurs each time READY is turned
ON.
The alarm occurs occasionally.
2
Check if there is any abnormality in the unit's ambient environment.
(Ex. Noise, grounding, etc.)
Replace the unit.
Remedies
Check the investigation item No. 2.
Take remedies according to the causes of the abnormality in the ambient environment.
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1
2 Check the LED display on the power supply unit.
3 Check the rotary switch setting.
4
Alarm No.
6F
Power supply error
No power supply is connected to the drive unit, or a communication error was detected.
Investigation details Investigation results
Check the time from when the unit power is turned
OFF till when it is turned ON.
Within 3 seconds
Remedies
Assure more than 3 seconds for the time from when the power is turned OFF till when it is turned ON.
Check the communication cable (CN4) connected with the drive unit.
More than 3 seconds
"F" is flickering.
Another alarm code is flickering.
"0" is displayed.
"F" is displayed.
"8" is displayed.
"b", "C", "d" is displayed.
Something else is displayed.
0 or 4 is set.
A value other than the above is set.
Check the investigation item No. 2.
An A/D converter error has occurred.
Check the alarm No. "6E" items.
Check items of each alarm No.
Check the investigation item No. 3.
Check the investigation item No. 3.
Check the alarm No. "68" items.
Check the investigation item No. 4.
Check the alarm No. "68" items.
Check the investigation item No. 4.
Correctly set the rotary switch.
There is a problem with the wiring or shield. Replace the cable.
There is no problem.
Replace the unit.
(Note) Alarm 6F is detected at the same time other power supply alarms occur.
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MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
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2
Alarm No.
70
Power supply: External emergency stop error
A mismatch of the external emergency stop input and CNC emergency stop input continued for 30 seconds.
Investigation results Investigation details
Check the connection between external emergency stop and NC emergency stop.
Not wired.
No abnormality is found in particular.
Remedies
Correctly wire the external emergency stop and NC emergency stop.
Replace the drive unit.
Check if there is any abnormality in the unit's ambient environment.
The grounding is incomplete.
Take remedies according to the causes of the abnormality. Additionally ground and review.
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Alarm No.
71
Power supply: Instantaneous power interruption
The power was momentarily interrupted.
Investigation details Investigation results
Investigate the sequence to check whether the contactor has been turned OFF with an emergency stop button, etc.
The contactor has been turned OFF externally.
Remedies
Review the machine sequence.
When turning the contactor OFF with external means, such as an emergency stop button, this alarm can be avoided by inputting
NC emergency stop at the same time.
Check the investigation item No. 2.
The contactor has not been turned OFF.
The alarm occurs each time READY is turned
ON.
Check the investigation item No. 3.
2 Check the repeatability.
The alarm occurs at a certain operation.
Check the investigation item No. 1.
If there is no problem, check the investigation item No. 3.
3
4
Check whether the power input wire and contactor are correctly wired.
Check the power voltage waveform with a synchroscope.
The alarm occurs occasionally during operation.
The wiring is incorrect.
There is no problem.
An instantaneous power failure or voltage drop occurs frequently.
There is no problem.
Check the investigation item No. 4.
Correctly connect.
Check the investigation item No. 4.
Correct the power facility.
Replace the unit.
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2
Alarm No.
72
Power supply: Fan stop
A cooling fan built in the power supply unit stopped, and overheat occurred in the power module.
Investigation details Investigation results
Turn the unit power ON again, and confirm the rotation of the fan.
Note) Assure more than 10 seconds for the time from when the power is turned OFF till when it is turned ON. For the fan used for the drive unit, assuring more than 10 seconds for the time from when the power is turned OFF till when it is turned
ON is required.
The fan is rotating, and an alarm did not occur again.
The fan did not rotate. Or, an alarm occurred again.
Remedies
Continue to use.
The power may be turned ON without assuring more than 10 seconds for the time from when the power is turned OFF till when it is turned ON.
Leave for more than 10 seconds, and turn the power ON again.
Check the investigation item No. 2.
Check if the connector connected to a fan is disconnected.
3 Check if oil or cutting chips are adhered to the fan.
The connector is disconnected.
The connector is not disconnected.
Oil or cutting chips are adhered.
Correctly connect the connector.
Check the investigation item No. 3.
Improve the use environment and replace the drive unit.
Oil or cutting chips are not adhered.
The cable may be broken.
Replace the drive unit.
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357 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
1
2
Alarm No.
73
Power supply: Over regeneration
Over-regeneration detection level became over 100%. The regenerative resistor is overloaded. This alarm cannot be reset for 15 min from the occurrence. Leave the drive system energized for more than 15 min, then turn the power ON to reset the alarm.
Investigation details Investigation results Remedies CV
Check the alarm occurrence state and regenerative load displayed on the NC Monitor screen while changing the operation mode.
Check whether the parameter (regenerative resistor type) of the drive unit controlling the power supply unit is correct.
The regenerative load value increases when the power is turned ON and the motor is not rotated.
The regenerative load value increases each time the motor decelerates, and the alarm occurs.
The regenerative load value increases each time the motor decelerates, but the alarm does not occur when the operation mode is eased.
The setting is incorrect.
The setting is correct.
The regenerative resistor is abnormal.
Check whether the state is affected by power fluctuation, grounding or noise. If there is no problem, replace the unit.
A-CR:
Check the investigation item No. 2.
C1-CV:
Check the investigation item No. 4.
A-CR:
Check the investigation item No. 2.
C1-CV:
Ease the operation mode.
Correctly set. (Check the alarm No. "6D" items.)
Check the investigation item No. 3.
Replace the regenerative resistor.
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3
Check the regenerative resistor's state.
[1] Is oil adhered?
[2] Measure the resistance value.
4 Check the alarm No. "75" items.
There is no problem.
Check the investigation item No. 4.
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1
Alarm No.
74
Power supply option unit error:
An alarm was detected in the power backup unit (an option unit for the power supply).
Investigation details Investigation results
Check the LED display on the power backup unit.
Check the LED display on the power backup unit to identify what alarm is occurring to the unit.
Remedies
Fix the error occurring to the power backup unit and remove the alarm.
Refer to MDS-E/EH Series Instruction
Manual (IB-1501229(ENG)) "List of power backup function alarms".
SV SP
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1
Alarm No.
75
Power supply: Overvoltage
L+ and L- bus voltage in main circuit exceeded the allowable value. As the voltage between L+ and L- is high immediately after this alarm, another alarm may occur if this alarm is reset in a short time. Wait more than 5 min before resetting so that the voltage drops.
Investigation details Remedies CV
Check the repeatability.
Investigation results
The alarm occurs each time the motor decelerates.
The alarm occurs occasionally.
Check the investigation item No. 3.
Check the investigation item No. 2.
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2 Check the power supply's alarm history.
3 Check the power capacity.
4
Measure the voltage across wires.
[1] Is the voltage 170V or more even when the motor is accelerating?
Auxiliary regeneration frequency over (E8) occurs just before the over-voltage occurs.
Others.
The power capacity is insufficient.
The specified power capacity is secured.
The voltage drops to 170V or less occasionally.
The difference of the voltage across wires is
10V or more.
The difference of the voltage across wires is less than 10V.
Limit the occurrence of the excessive instantaneous regeneration by not decelerating multiple axes at the same time.
Check the investigation item No. 3.
Increase the power capacity.
Check the investigation item No. 4.
Increase the power capacity.
Improve the power phase balance.
Check the investigation item No. 5.
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5
Measure the power voltage with a synchroscope, and check whether there is any distortion.
[1] Are there any other devices causing the power distortion?
The power voltage is distorted.
The power voltage waveform is not abnormal.
Improve the source of the distortion.
Install an AC reactor.
Check the investigation item No. 6.
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6
Check if there is any abnormality in the unit's ambient environment.
(Ex. Noise, grounding, etc.)
Take remedies according to the causes of the abnormality in the ambient environment.
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1
2
Alarm No.
76
Power supply: Function setting error
The rotary switch setting of external emergency stop is not correct, or a wrong external emergency stop signal is input.
Investigation details
Check the rotary switch setting.
Check if there is any abnormality in the unit's ambient environment.
Investigation results
When using external emergency stop, rotary switch is not set to "4".
No abnormality is found in particular.
The grounding is incomplete.
Remedies
Set the rotary switch to "4".
Replace the drive unit.
Take remedies according to the causes of the abnormality.
Additionally ground and review.
CV
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IB-1501241-H 358
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
1
Alarm No.
77
Power supply: Power module overheat
Thermal protection function in the power module has started its operation.
Investigation details
Confirm that the fan is properly rotating.
Investigation results
Large amounts of cutting oil or cutting chips, etc., are adhered, or the rotation is slow.
Remedies
Clean or replace the fan.
2 Check whether the heat dissipating fins are dirty.
The fan is properly rotating.
Cutting oil or cutting chips, etc., are adhered, and the fins are clogged.
The fins are normal.
Check the investigation item No. 2.
Clean the fins.
3
Measure the power supply unit's ambient temperature.
55°C or more
Less than 55°C.
Check the investigation item No. 3.
Improve the ventilation and cooling for the power distribution panel.
Check the investigation item No. 4.
4
Check if there is any abnormality in the unit's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
CV
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1
Alarm No.
80
Main side encoder cable error
A pulse type cable is used for the motor side encoder.
Investigation details
Check the parameters.
Servo:SV025 = "x200"
Spindle:SP031 = "x200"
And then, check the connected cable and the encoder.
Investigation results
The cable type is pulse.
There is no problem with the selection of the encoder and cable.
Remedies
Replace the cable to the serial type.
Replace the encoder or cable.
SV SP
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359 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
1
Alarm No.
81
Sub side encoder cable error
The cable type of machine side encoder does not match the encoder specifications set by the parameter.
Investigation details Remedies Investigation results
The encoder does not match the specifications.
Replace the encoder.
Check if the below parameters match the connected encoder and cable.
Servo: SV025
Spindle: SP031
The parameter is not correct.
Set the parameters so that they meet the machine side encoder.
<Servo:SV025>
- Rotary
Pulse 2xxx
Serial 6xxx
- Scale
Pulse 8xxx
Serial Axxx
<Spindle:SP031>
Pulse 4200
Serial 6200
There is no problem with the selection of the encoder and cable.
Replace the encoder or cable.
SV SP
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1
Alarm No.
87
Drive unit communication error
The communication frame between drive units was aborted.
Investigation details
Check the connection of the optical communication cable between drive units.
2 Check the repeatability.
Investigation results
The cable and connector were loose.
The cable and connector were not loose.
The error is always repeated (in high-speed synchronous tapping).
Remedies
Connect again so as not to be loosened.
Replace the cable.
Check the investigation item No. 2.
Replace the servo drive or spindle drive unit that is used for high-speed synchronous tapping.
SV SP
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1
Alarm No.
88
Watchdog
The system does not operate correctly. LED display is fixed as "88".
Investigation details
Check whether the servo or spindle software version was changed recently.
Investigation results
The version was changed.
The version was not changed.
The error is always repeated.
2 Check the repeatability.
The state returns to normal once, but occurs sometimes thereafter.
3
Check if there is any abnormality in the unit's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Remedies
Change software version back to the original.
Check the investigation item No. 2.
Replace the drive unit.
Check the investigation item No. 3.
Take remedies according to the causes of the abnormality in the ambient environment.
(Note) For MDS-EJ/EJH Series, "888" is displayed.
SV SP
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1
Alarm No.
8A
Drive unit communication data error 1
The communication data 1 between drive units exceeded the tolerable value in the communication between drive units.
Investigation details SV SP
Check if the error has occurred during high-speed synchronous tapping.
Investigation results
The error occurs during the synchronous tapping.
The error does not occur during the synchronous tapping.
Remedies
[1]Check the tool.
[2]Adjust the tapping.
Check the investigation item No. 2.
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2 Check the repeatability.
The error is always repeated.
The state returns to normal once, but occurs sometimes thereafter.
Replace the drive unit.
Check the investigation item No. 3.
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3
Check if there is any abnormality in the unit's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
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1
Alarm No.
8B
Drive unit communication data error 2
The communication data 2 between drive units exceeded the tolerable value in the communication between drive units.
Investigation details SV SP
Check if the error was occurred during the synchronous tapping.
Investigation results
The error occurs during the synchronous tapping.
Check if the error has occurred during highspeed synchronous tapping.
Remedies
[1]Check the tool.
[2]Adjust the tapping.
Check the investigation item No. 2.
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2 Check the repeatability.
The error is always repeated.
The state returns to normal once, but occurs sometimes thereafter.
Replace the drive unit.
Check the investigation item No. 3.
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3
Check if there is any abnormality in the unit's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
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IB-1501241-H 360
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
7.3.3 Troubleshooting for Each Warning No.
1
Warning No.
96
Scale feedback error
An excessive difference in feedback amount was detected between the main side encoder and the MPI scale in MPI scale absolute position detection system.
Investigation details Investigation results Remedies SV SP
Check if there is any abnormality in the encoder's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
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2 Check the repeatability.
Occurs frequently.
Is not repeated.
Replace the encoder.
Check the investigation item No. 1.
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1
Warning No.
97
Scale offset error
An error was detected in the offset data that is read at the NC power-ON in MPI scale absolute position detection system.
Investigation results Remedies SV SP Investigation details
Check if there is any abnormality in the encoder's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
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2 Check the repeatability.
Occurs frequently.
Is not repeated.
Replace the encoder.
Check the investigation item No. 1.
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1
Warning No.
9B
Incremental encoder/magnetic pole shift warning
For the incremental encoder, an error was detected in the magnetic pole shift amount set in the magnetic pole shift amount parameter "SV028".
Investigation details Investigation results Remedies SV SP
Check if there is any abnormality in the encoder's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
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2 Check the repeatability.
Occurs occasionally.
Is not repeated.
Execute magnetic pole detection control again and reset SV028.
Check the investigation item No. 1.
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1
2
Warning No.
9E
Absolute position encoder: Revolution counter error
An error was detected in the revolution counter of the absolute position encoder. The absolute position data cannot be compensated.
Investigation details Investigation results Remedies SV SP
Check if there is any abnormality in the encoder's ambient environment.
(Ex. Ambient temperature, noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
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Check if there is any liquid ingress inside the encoder connector.
3 Check the repeatability.
Liquid was entered into the connector.
No liquid ingress.
Occurs frequently.
Is not repeated.
Replace the motor encoder.
Check the investigation item No. 1.
Replace the encoder.
Check the investigation item No. 1.
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361 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
1
2
Warning No.
9F
Battery voltage drop
The battery voltage that is supplied to the absolute position encoder dropped. The absolute position data is retained.
Investigation details
Change the used battery and check whether the warning does not occur. (Turning the power OFF and ON is required.)
Investigation results
The warning does not occur.
The warning occurs.
Remedies
The battery has been drained.
Check the investigation item No. 2.
Check whether the battery cable is disconnected, broken, or wired incorrectly.
3 Measure the new battery voltage.
4
Check whether the cable connecting between the battery box and CN9 is short-circuited, broken, or wired incorrectly.
The connection is faulty.
The connection is normal.
Less than 3.4V.
3.4V or more.
The connection is faulty.
The connection is normal.
Low voltage.
Correct the connection.
Replace the cable.
Check the investigation item No. 3.
Replace the battery.
Check the investigation item No. 6.
When a battery box is used, check the investigation item No. 4.
Correct the connection.
Replace the cable.
Check the investigation item No. 5.
Replace the battery box.
5
6
Disconnect the BT-LG cable of the battery box, and then measure the voltage between DO(ALM) and
DOCOM terminals at power ON.
Perform a conductivity check with the encoder cable between BT and LG of the drive unit in which the warning was detected.
(Note) Make sure that the encoder side connector is disconnected.
Equivalent of 24V.
Resistance value is low.
Resistance value is 100M Ω or more.
Check the investigation item No. 6.
Replace the cable.
Replace the encoder.
(With the absolute position system, the zero point must be established.)
SV SP
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(Note 1) When warning 9F occurs, do not turn the drive unit power OFF to ensure that the absolute position data is held.
Replace the battery with the drive unit power ON.
Warning No.
A3
In initial setup of ABS position
When the encoder with distance-coded reference marks is used, this warning is issued until the axis reaches the reference position during the initial setup of the distance-coded reference check function. This warning disappears after the axis has reached the position.
Investigation details Investigation results Remedies SV SP
1 Warning does not disappear.
Encoder with distance-coded reference marks
Stopped on the way to the reference position.
Setup again. ◯ -
Warning No.
A4
Dual signal warning
An input was detected in the signal related to the dual signal.
Investigation details
1 Warning does not disappear.
Investigation results
In emergency stop state?
Remedies
Cancel the emergency stop.
SV SP
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Warning No.
A6
Fan stop warning
A cooling fan built in the drive unit stopped.
Investigation details
1 Check the alarm No. "45" items.
Investigation results
Warning No.
E0
Over regeneration warning
Over-regeneration detection level exceeded 80%.
Investigation details
1 Check the alarm No. "30" items.
Investigation results
Remedies
Remedies
SV SP
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SV SP
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IB-1501241-H 362
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
Warning No.
E1
Overload warning
Overload detection level exceeded 80%.
Investigation details
1 Check the alarm No. "50" items.
Investigation results
1
2
Warning No.
EA
In external emergency stop state
External emergency stop signal was input.
Investigation details
Check whether the specifications allow use of the external emergency stop.
Investigation results
Use is not allowed.
Use is allowed.
24V is input.
Measure the input voltage of the external emergency stop connector of each unit.
24V is not input.
Remedies SV SP
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1
Warning No.
E4
Set parameter warning
An incorrect parameter was detected among the parameters received from the CNC.
Investigation details
Check the error parameter No.
Investigation results
SV001 to SV256
SP001 to SP256
Remedies
Set the value within the designated setting range.
2 Check the spindle control input 4/bit 0 to 2.
Selected other than 000, 001, 010 and 100 when the alarm occurred.
Correctly select.
SV SP
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Warning No.
E6
Control axis detachment warning
Control axis detachment was commanded.
Investigation details Investigation results
1 The status in which removal of the control axis was commanded from the NC is indicated.
Remedies
Warning No.
E7
In NC emergency stop state
Emergency stop was input from the CNC.
1 side.
Investigation details
Check if the emergency stop is applied on the NC
Investigation results
The emergency stop is applied.
The emergency stop is cancelled.
Normally starts up.
Remedies
Check the investigation item No. 2.
Check the investigation item No. 3.
Normal.
2
3
Cancel the emergency stop.
Check whether an alarm is occurring in another drive unit.
4 Turn the power of NC and 200VAC (400V) ON again
"E7" remains displayed.
An alarm is occurring in another drive unit.
An alarm is not occurring.
Check the investigation item No. 3.
Reset the alarm in the other drive unit.
Check the investigation item No. 4.
Warning No.
E9
Instantaneous power interruption warning
The power was momentarily interrupted.
Investigation details
1 Check the alarm No. "4F" or "71" items.
Investigation results Remedies
SV SP
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SV SP
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CV
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Remedies
Invalidate the external emergency stop.
Check the investigation item No. 2.
Replace the power supply unit.
Check whether the external emergency stop cable is broken, or check the external contact operation.
CV
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Warning No.
EB
Power supply: Over regeneration warning
Over-regeneration detection level exceeded 80%.
Investigation details
1 Check the alarm No. "73" items.
Investigation results Remedies CV
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363 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
Warning No.
EE
Power supply: Fan stop warning
A cooling fan built in the power supply unit stopped.
Investigation details
1 Check the alarm No. "72" items.
Investigation results Remedies CV
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1
Warning No.
EF
Power supply option unit warning:
A warning was detected in the power backup unit (an option unit for the power supply).
Investigation details Investigation results
Check the LED display on the power backup unit.
Check the LED display on the power backup unit to identify what warning is occurring to the unit.
Remedies
Fix the error occurring to the power backup unit and remove the warning.
Refer to "9.5.3 List of power backup function warnings".
SV SP
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7.3.4 Parameter Numbers during Initial Parameter Error
If an initial parameter error (alarm 37) or set parameter warning (warning E4) occurs, the axis name and the No. of the error parameter that exceeds the setting range will appear on the NC Diagnosis screen as shown below:
S02 Initial parameter error ○○○○□
○○○○ : Error parameter No.
□ : Axis name
S52 Parameter error warning ○○○○□
○○○○ : Error parameter No.
□ : Axis name
If an error No. in the following table is displayed as the error parameter No. even when the parameter is set to a value within the setting range, an error is occurring due to the hardware compatibility or specifications or in relation to several other parameters. Check the specifications of the servo and spindle system and the descriptions in the following table to correctly set the parameters.
(1) Servo parameter error No.
Error parameter
No.
2217
2219
2220
2225
2228
2233
2234
Details
The motor selected is of a motor series different from the drive unit’s input voltage (200V/400V).
Or a motor of an incompatible motor series is selected.
-In a semi-closed loop control system, the setting value of SV019 is different from that of SV020. Set them to the same value.
-SV019 is set to a value outside the setting range.
-The resolution of the motor side encoder actually connected is not consistent with the setting value for
SV020.
-SV020 is set to a value outside the setting range.
Incompatible motor type is selected. The machine side encoder type or the motor side encoder type is incorrectly set.
For the speed command synchronous control system with MDS-E/EH-V2/V3,
-The L axis for the drive unit is set as the secondary axis. Set the M axis as the secondary axis.
-The motor side encoders for the L axis and the M axis are different. Use encoders of the same specifications.
For the distance-coded reference scale system,
-When a HEIDENHAIN serial conversion interface unit is connected, the encoder type setting is different from the connected unit type.
-When a HEIDENHAIN serial conversion interface unit with the rotary type is connected, the ball screw pitch
(SV018) is set to a value other than "360".
-The speed command synchronous control and the distance-coded reference scale connection are set concurrently.
The magnetic pole shift amount (SV028) is set for a general servo motor (not a built-in motor).
The vertical axis pull up function (SV033/bitE) is set in the following conditions:
-when the vertical axis pull up direction is not set (SV032=0)
-when the drop prevention function is not set (SV048=0)
The vertical axis pull up function (SV033/bitE) is not set in the following condition:
-when the vertical axis pull up distance is set (SV095 ≠ 0)
Parallel connection is set when the motor is not a linear servo motor.
Or the DC excitation mode (SV034/bit4) is set in the following conditions:
-when the NC is powered ON
-when a general servo motor (not a built-in motor) is used.
Related parameters
SV017
SV019
SV020
SV017, SV025
SV025
SV018, SV025, SV130
SV131
SV028
SV032, SV033, SV048
SV095
SV034
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MDS-EM/EMH Series Instruction Manual
7 Troubleshooting
Error parameter
No.
2236
2261
2262
2263
2281
2282
2317
2318
2330
2331
2334
2335
2336
2337
2438
2439
2450
2454
2455
Details
For the MDS-E/EH Series:
The power supply type (SV036) is set but a power supply unit is not connected.
Always set the power supply type for the drive unit connected last on the NC optical communication cable.
For the MDS-EM/EMH Series:
Do not set the power supply type. It is set from the spindle side.
For the MDS-EJ/EJH Series:
The selected regenerative resistor is not supported in the drive unit of this capacity.
When the DC excitation mode (SV034/bit4) is set, the initial DC excitation level (SV061) is set to a value outside the setting range.
When the DC excitation mode (SV034/bit4) is set, the final DC excitation level (SV062) is set to a value outside the setting range.
When the DC excitation mode (SV034/bit4) is set, the initial DC excitation time (SV063) is set to a value outside the setting range.
-When the distance-coded reference scale (SV081/bit3) is set, the base reference mark interval (SV130) or the auxiliary reference mark interval (SV131) is not set.
-When a HEIDENHAIN serial conversion interface unit is connected, the reference mark is set to be checked at 3 points (SV081/bit7=1).
With a multiple-axis drive unit, the digital signal input selection (SV082/bitF-C) is set to a different value for each axis in the same unit.
-The expansion sub side encoder resolution (SV117) is set to "0" for an encoder that requires the resolution expansion setting.
If the upper 16 bits for the encoder resolution are 0, this should be set to "-1".
-The expansion sub side encoder resolution (SV117) is set to a value other than "0" for an encoder that does not support the resolution expansion setting.
-The expansion main side encoder resolution (SV118) is set to "0" for an encoder that requires the resolution expansion setting.
If the upper 16 bits for the encoder resolution are 0, this should be set to "-1".
-The expansion main side encoder resolution (SV118) is set to a value other than "0" for an encoder that does not support the resolution expansion setting.
-The relation between the base reference mark interval (SV130) and the auxiliary reference mark interval
(SV131) is invalid.
-The base reference mark interval (SV130) is set to "0" when a distance-coded reference scale is connected.
-The base reference mark interval (SV130) is set to a value other than "0" when a distance-coded reference scale is not connected.
-The base reference mark interval (SV130) is set to a value other than "0" when the semi-closed loop is set .
-The auxiliary reference mark interval (SV131) is not set when a distance-coded reference scale is connected.
-The auxiliary reference mark interval (SV131) is set to a value other than "0" when a distance-coded reference scale is not connected.
The distance-coded reference check / revolution counter (SV134) is set to a value other than "0" when the distance-coded reference scale is not set (SV081/bit3=0).
- In the distance-coded reference scale system, the distance-coded reference check /position within one rotation High (SV135) is set to a value outside the motor side encoder's data range.
- The distance-coded reference check /position within one rotation High (SV135) is set to a value other than
"0" when the distance-coded reference scale is not set (SV081/bit3=0).
The distance-coded reference check /position within one rotation Low (SV136) is set to a value other than
"0" when the distance-coded reference scale is not set (SV081/bit3=0).
The distance-coded reference check allowable width (SV137) is set to a value other than "0" when the distance-coded reference scale is not set (SV081/bit3=0).
The safety observation safety speed (SV238) and the safety observation safety motor speed (SV239) dot not satisfy the following equation.
(Round down the first decimal place. When the calculation results in "0", set SV239 to 1.
）
Related parameters
SV036
SV034, SV061
SV034, SV062
SV034, SV063
SV025, SV081, SV130
SV131
SV082
SV019,SV025,SV117
SV020,SV025,SV118
SV018, SV025, SV130
SV131
SV130, SV131
SV081, SV134
SV081, SV135, SV136
SV081, SV136
SV081, SV137
SV238,SV239
SV238 : SSCFEED SV002 : PC2
×
SV018 : PIT SV001 : PC1
= SV239 : SSCRPM
The safety observation safety motor speed (SV239) is set to a value greater the overspeed detection motor speed.
The base reference mark interval in the distance-coded reference scale is invalid.
The absolute position detection is enabled when an incremental encoder is connected as an position encoder.
The following settings are overflowing:
-Electronic gear
-Position loop gain
-Conversion from the speed detection unit to position detection unit
SV239
SV019,SV117,SV130
SV025, #2049
SV001,SV002,SV003,SV0
18SV019,SV020,SV049,S
V117SV118
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7 Troubleshooting
(2) Spindle parameter error No.
Error parameter
No.
13017
13032
13097
13098
13125
13126
13127
13142
13225
13238
13239
13255
Details
The motor selected is of a motor series different from the drive unit's input voltage (200V/400V).
Or a motor of an incompatible motor series is selected.
For the MDS-E/EH Series:
The power supply type (SP032) is set, but a power supply unit is not connected.
Always set the power supply type for the drive unit connected last on the NC optical communication cable.
For the MDS-EM/EMH Series:
Set SP032 to 0019 （ normal setting), or 0059 (external emergency stop function).
For the MDS-EJ/EJH Series:
The selected regenerative resistor is not supported in the drive unit of this capacity.
-The expansion sub side encoder resolution (SP097) is set to "0" for an encoder that requires the resolution expansion setting.
If the upper 16 bits for the encoder resolution are "0", this should be set to "-1".
-The expansion sub side encoder resolution (SP097) is set to a value other than "0" for an encoder that does not support the resolution expansion setting.
-The expansion main side encoder resolution (SP098) is set to "0" for an encoder that requires the resolution expansion setting.
If the upper 16 bits for the encoder resolution are 0, this should be set to "-1".
-The expansion main side encoder resolution (SP098) is set to a value other than "0" for an encoder that does not support the resolution expansion setting.
When the DC excitation mode (SP225/bit4) is set, the initial DC excitation level (SP125) is set to a value outside the setting range.
When the DC excitation mode (SP225/bit4) is set, the final DC excitation level (SP126) is set to a value outside the setting range.
When the DC excitation mode (SP225/bit4) is set, the initial DC time (SP127) is set to a value outside the setting range.
-The pulse application time for an IPM spindle motor is excessive. Set the pulse application time (SP142) to a value lower than 350 μ s.
-The coil switch function is disabled and the pulse application coil for an IPM spindle motor is set to the lowspeed coil. Set the pulse application coil to the high-speed coil, or enable the coil switch function.
The DC excitation mode (SP225/bit4) has been set before the axis passes the Z phase. Set the DC excitation mode after the axis passes the Z phase.
The safety observation safety speed (SP238) and the safety observation safety motor speed (SP239) do not satisfy the following equation:
(Round down the first decimal place. When the calculation results in "0", set SP239 to 1.
）
Related parameters
SP017
SP032
SP019,SP031,SP097
SP020,SP031,SP098
SP225, SP125
SP225, SP126
SP225, SP127
SP017,SP018,SP142,
SP226
SP225
SP238,SP239
SP238 : SSCFEED
360
×
SP057 : GRA1
SP061 : GRB1
= SP239 : SSCRPM
The safety observation safety motor speed calculated from the actual gear ratio exceeds the overspeed detection motor speed.
(Note) The safety observation safety motor speed calculated from the actual gear ratio
= SP238:SSCFEED / 360 × PC2 / PC1
PC2: Spindle side gear ratio (SP057 to SP060)
PC1: Motor side gear ratio (SP061 to SP064)
The following settings are overflowing:
-Electronic gear and motor side gear
-Position loop gain
-Conversion from the speed detection unit to position detection unit
SP239
SP057 to SP060
SP061 to SP064
SP001 to SP003
SP019, SP020
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7.3.5 Troubleshooting the Spindle System When There Is No Alarm or Warning
If an abnormality is observed in the spindle system but no alarm or warning has occurred, refer to the following table and check the state.
[1] The rotation speed command and actual rotation speed do not match.
1
2
3
Investigation item
Check the commanded speed and the spindle rotation speed displayed on the drive monitor screen.
Check whether there is slipping between the motor and spindle. (When connected with a belt or clutch.)
Check the spindle parameters (SP026, SP129 and following).
Investigation results
The speed command is not input correctly.
The speed command is correct.
There is slipping.
No particular problems found.
The correct values are not set.
The correct values are set.
Remedies
Input the correct speed command.
Check the investigation item No. 2.
Repair the machine side.
Check the investigation item No. 3.
Set the correct values.
Replace the spindle drive unit.
[2] The acceleration/deceleration time is long or has increased in length.
1
2
3
Investigation item
Check whether the friction torque or load inertia has increased.
Check if there is any abnormality in the motor's rotation during coasting.
Check whether the torque limit signal has been input.
Investigation results
The friction torque has increased.
No particular problems found.
The bearings do not rotate smoothly.
The bearings rotate smoothly.
The signal has been input.
The signal is not input.
Remedies
Repair the machine side.
Check the investigation item No. 2.
Replace the spindle motor.
Check the investigation item No. 3.
Release the input signal.
Replace the drive unit.
[3] The motor stops during cutting.
Investigation item Investigation results
1
Check the load rate (load meter value) during cutting.
The load meter sways over 120% during cutting.
No particular problems found.
2 Carry out the same investigations and remedies as section (4).
Remedies
Reduce the cutting amount.
Check the investigation item No. 2.
[4] The vibration and noise (gear noise), etc., are large.
1
2
Investigation item
Check the machine's dynamic balance. (Coast from the maximum speed.)
Check whether there is a resonance point in the machine. (Coast from the maximum speed.)
3 Check the machine's backlash.
4
5
6
Change the setting of the speed loop parameter (SP005:VGN1).
Jiggle the encoder connectors (drive unit side and encoder side) and check if they are disconnected.
Turn the power OFF, and check the connection of the speed encoder cable with a tester.
Investigation results
The same noise is heard during coasting.
No particular problems found.
Vibration and noise increase at a set rotation speed during coasting.
No particular problems found.
The backlash is great.
No particular problems found.
The vibration and noise are lost when the setting value is lowered by approx.100.
The symptoms do not change even if the above value is set.
The connection is loosened.
The connector fixing is normal.
The connection is faulty or disconnected.
The connection is normal.
Remedies
Repair the machine side.
Check the investigation item No. 2.
Repair the machine side.
Check the investigation item No. 3.
Repair the machine side.
Check the investigation item No. 4.
Change to the setting value.
(Note) The impact response will drop.
Return the setting values to the original values.
Check the investigation item No. 5.
Correctly connect the connector.
Check the investigation item No. 6.
Replace the encoder cable.
Correct the connection.
Replace the drive unit.
[5] The spindle coasts during deceleration.
1
Investigation item
When connected with a belt or clutch, check whether there is slipping between the motor and spindle.
Investigation results
There is slipping.
No particular problems found.
Remedies
Check the machine side and repair it.
Replace the drive unit.
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[6] The rotation does not stabilize.
1
2
3
4
Check the spindle parameter SP005 (SP008) settings.
Investigation item
Manually shake the speed encoder connectors
(spindle drive unit side and speed encoder side) to check if they are disconnected.
Turn the power OFF, and check the connection of the speed encoder cable with a tester.
(Especially check the shield wiring.)
Investigate the wiring and installation environment.
1) Is the ground correctly connected?
2) Are there any noise-generating devices near the drive unit?
Investigation results
The rotation stabilizes when the settings values are both set to approx. double.
The symptoms do not change even when the above value is set.
The connector is disconnected (or loose).
The connector is not disconnected (or loose).
The connection is faulty.
The connection is normal.
1) The grounding is incomplete.
2) The alarm occurs easily when a specific device operates.
No particular problems found.
Remedies
Change the setting value.
Note that the gear noise may increase.
Return the setting values to the original values.
Check the investigation item No. 2.
Correctly connect the connector.
Check the investigation item No. 3.
Replace the encoder cable.
Correct the connection.
Check the investigation item No. 4.
Correctly ground.
Use noise measures on the device described on the left.
Replace the spindle drive unit.
[7] The speed does not rise above the command speed sometimes.
1
2
3
4
5
Investigation item
Check the speed command.
Check whether the override input is input from the machine operation panel.
Check whether the load has suddenly become heavier.
Manually rotate the motor bearings and check the movement.
Manually shake the speed encoder connectors
(spindle drive unit side and speed encoder side) to check if they are disconnected.
Turn the power OFF, and check the connection of the speed encoder cable with a tester.
(Especially check the shield wiring.)
Investigation results
The speed command is not input correctly.
The speed command is input correctly.
The load has become heavier.
No particular problems found.
The bearings do not rotate smoothly.
The bearings rotate smoothly.
The connector is disconnected (or loose).
The connector is not disconnected (or loose).
The connection is faulty.
The waveform is normal.
Remedies
Input the correct speed command.
Check the investigation item No. 2.
Repair the machine side.
Check the investigation item No. 3.
Replace the spindle motor.
Check the investigation item No. 4.
Correctly connect the connector.
Check the investigation item No. 5.
Replace the encoder cable.
Correct the connection.
Replace the spindle drive unit.
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7.3.6 Details of Alarm 4D
If dual signal error (4D) occurs, the sub-number and the axis name will appear on the NC Diagnosis screen as shown below. Take measures for each sub-number referring to the following table.
S03 Servo error 004D.
□□□ ○○
□□□ : Sub-number
○○ : Axis name
Sub-
No.
1
2
3
15
16
17
19
21
23
24
25
26
33
34
35
36
37
39
40
53
PCB error
Name
Power shutoff error
Illegal power shutoff error
STO signal mismatch error
Safety communication:
Communication error 1
Safety communication: Initial communication error 1
Voltage diagnosis error
DRAM diagnosis error
Control process error
Safety encoder: Initial communication error 1
Synchronization error
Flash ROM diagnosis error
Safety encoder:
Communication error 1
Alarm details Investigation details Remedies
Either of the STO signals entered an input state while the STO function is disabled.
Either of the STO signals entered an input state during servo ON command or during deceleration and stop with the STO function enabled.
Input states of two STO signals were mismatched while the STO function is enabled.
A receiving error was detected in the safety communication.
Check if the connector to disable
STO on the front of the drive unit is loosened.
Connect the connector to disable
STO correctly.
No abnormality is found in particular.
Replace the drive unit.
Check if the STO sequence on the
NC side (safety ladder side) issues the STO command before the servo
OFF command.
Set correctly.
No abnormality is found in particular.
Replace the drive unit.
Check if the two STO output timings of the remote I/O unit are matched.
Set correctly.
No abnormality is found in particular.
Replace the drive unit.
Check if there is any abnormality in the unit's ambient environment.
Take remedies according to the causes of the abnormality in the
(Ex. Noise, grounding) ambient environment.
No abnormality is found in particular.
Replace the drive unit.
Check if there is any abnormality in the unit's ambient environment.
(Ex. Noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
No abnormality is found in particular.
Replace the drive unit.
The alarm is on the drive unit side.
Replace the drive unit.
A receiving error was detected in the initial communication for the safety communication.
A power error was detected in the safety function.
A DRAM error was detected in the safety function.
An error was detected in the status of software execution for the safety function.
An error was detected in the initial communication with a safety encoder.
The alarm is on the drive unit side.
The alarm is on the drive unit side.
Replace the drive unit.
Replace the drive unit.
Turn the power OFF, and check the encoder cable connection with a tester.
Replace the encoder cable.
No abnormality is found in particular.
Replace the encoder.
The alarm is on the drive unit side.
Replace the drive unit.
A PCB error was detected in the safety function.
A synchronization error was detected in the safety function.
A Flash ROM error was detected in the safety function.
An error was detected in the communication with a safety encoder.
Check if there is any abnormality in the unit's ambient environment.
(Ex. Noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
No abnormality is found in particular.
Replace the drive unit.
The alarm is on the drive unit side.
Replace the drive unit.
Turn the power OFF, and check the encoder cable connection with a tester.
Replace the encoder cable.
No abnormality is found in particular.
Replace the encoder.
An error was detected in the encoder.
The alarm is on the encoder side.
Replace the encoder.
Safety encoder: Diagnosis error
1
Safety encoder: Diagnosis error
2
Safety encoder: Diagnosis error
3
Safety encoder: Diagnosis error
4
Non-safety encoder: Position feedback fixation diagnosis error
Safety encoder: Thermal error
Safety communication:
Transmission interval mismatch error
An error was detected in the encoder.
The alarm is on the encoder side.
An error was detected in the encoder.
The alarm is on the encoder side.
An error was detected in the encoder.
The alarm is on the encoder side.
Check the safety parameters.
The position feedback from the nonsafety encoder remains unchanged.
The safety encoder detected a thermal error.
An error was detected in the transmission interval setting sent from the NC.
The alarm is on the encoder side.
The alarm is on the encoder side.
Replace the encoder.
Replace the encoder.
Replace the encoder.
Set correctly.
Replace the encoder.
Replace the encoder.
Check the safety parameters.
Check if there is any abnormality in the unit's ambient environment.
(Ex. Noise, grounding)
Set correctly.
Take remedies according to the causes of the abnormality in the ambient environment.
No abnormality is found in particular.
Replace the drive unit.
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Sub-
No.
54
55
56
57
65
66
67
68
69
71
72
74
75
78
88
91
126
Name
Safety communication: Initial communication error 2
Safety communication:
Communication error 2
Safety parameter setting range error
Safety parameter combination error
Register diagnosis error
Calculation device diagnosis error
Sequence diagnosis error
Stack diagnosis error
Temperature diagnosis error
Watchdog error
Clock diagnosis error
DO output compare error
ISC communication error
Safety communication: Initial communication error 3
Safety circuit: STO error
Safety circuit: SBC error
Safety communication:
Communication error 3
Alarm details
A receiving error was detected in the initial communication for the safety communication.
A receiving error was detected in the safety communication.
A setting error was detected in the safety parameter.
A combination error was detected in the safety parameter.
A resister diagnosis error was detected in the safety function.
An error was detected in the calculation device diagnosis for the safety function.
An error was detected in the sequence diagnosis for the safety function.
An error was detected in the stack diagnosis for the safety function.
An error was detected in the temperature.
The safety function is not operating correctly.
An error was detected in the clock diagnosis for the safety function.
An error was detected in the status of
DO output for the safety function.
An error was detected in the intersystem communication for the safety function.
A receiving error was detected in the initial communication for the safety communication.
An error was detected in the readback diagnosis for STO.
An error was detected in the readback diagnosis for SBC.
A receiving error was detected in the safety communication.
Investigation details
The alarm is on the drive unit side.
The alarm is on the drive unit side.
The alarm is on the drive unit side.
Remedies
Check the safety parameters.
Check if there is any abnormality in the unit's ambient environment.
(Ex. Noise, grounding)
Set correctly.
Take remedies according to the causes of the abnormality in the ambient environment.
No abnormality is found in particular.
Replace the drive unit.
Check the safety parameters.
Set correctly.
Check if there is any abnormality in the unit's ambient environment.
(Ex. Noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
No abnormality is found in particular.
Replace the drive unit.
Check the safety parameters.
Set correctly.
No abnormality is found in particular.
Replace the drive unit.
Check the safety parameters.
Set correctly.
No abnormality is found in particular.
Replace the drive unit.
Replace the drive unit.
Replace the drive unit.
Replace the drive unit.
The alarm is on the drive unit side.
Replace the drive unit.
Check if there is any abnormality in the temperature environment.
Take remedies according to the causes of the abnormality in the ambient environment.
No abnormality is found in particular.
Replace the drive unit.
The alarm is on the drive unit side.
Replace the drive unit.
The alarm is on the drive unit side.
The alarm is on the drive unit side.
Replace the drive unit.
Replace the drive unit.
Check if there is any abnormality in the unit's ambient environment.
(Ex. Noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
No abnormality is found in particular.
Replace the drive unit.
Check if there is any abnormality in the unit's ambient environment.
(Ex. Noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
No abnormality is found in particular.
Replace the drive unit.
Check if there is any abnormality in the unit's ambient environment.
(Ex. Noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
No abnormality is found in particular.
Replace the drive unit.
Check the wiring for motor brakes.
Correctly connect according to the starting method of the motor brakes.
No abnormality is found in particular.
Replace the drive unit.
Check if there is any abnormality in the unit's ambient environment.
(Ex. Noise, grounding)
Take remedies according to the causes of the abnormality in the ambient environment.
No abnormality is found in particular.
Replace the drive unit.
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8
Maintenance
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WARNING
1. Before starting maintenance or inspections, turn the main circuit power and control power both OFF.
Wait at least fifteen minutes for the CHARGE lamp to turn OFF, and then using a tester, confirm that the input and output voltage are zero. Failure to observe this could lead to electric shocks.
2. Inspections must be carried out by a qualified technician. Failure to observe this could lead to electric shocks. Contact your nearest Mitsubishi branch or dealer for repairs and part replacement.
CAUTION
1. Never perform a megger test (measure the insulation resistance) of the drive unit.
Failure to observe this could lead to faults.
2. The user must never disassemble or modify this product.
8.1 Periodic Inspections
8.1.1 Inspections
Periodic inspection of the following items is recommended.
[1] Are any of the screws on the terminal block loose? If loose, tighten them.
[2] Is any abnormal noise heard from the servo motor bearings or brake section?
[3] Are any of the cables damaged or cracked? If the cables move with the machine, periodically inspect the cables according to the working conditions.
[4] Is the core of the load coupling shaft deviated?
8.1.2 Cleaning of Spindle Motor
If you continue to use the spindle motor with dirt such as oil mist and dust adhered, its cooling performance degrades and the motor is unable to fully exercise its performance, which may cause the spindle motor overheat alarm. In some cases this may result in damage to the bearing or cooling fan. To ensure the cooling capability of the spindle motor's fan, carry out periodical cleaning of the spindle motor and its cooling fan according to the following cleaning procedure.
Note that the spindle motor SJ-D Series and the spindle motor SJ-VL Series is used as an example in this procedure.
When cleaning the other spindle motors, carry it out based on this procedure.
CAUTION
Do not touch the motor for some time after turning OFF the power, as the motor remains at a high temperature.
This may lead to burns.
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< For the spindle motor SJ-D Series>
(1) Detaching the cooling fan unit
Remove the cooling fan unit from the spindle motor.
[1] Remove fixing screws (hexagon socket screws at four locations) for the terminal box cover.
Terminal box cover Hexagon socket screws at four locations
Spindle motor
[2] Remove the terminal box cover.
[3] Remove the three lead wires (BU, BV, and BW) for the cooling fan from the one-touch terminal block.
[3-1] Applicable flat-blade screwdriver
Always use a flat-blade screwdriver whose blade edge size is 0.6×3.5mm for working.
(SZF1-0.6×3.5 manufactured by Phoenix Contact)
One-touch terminal block
Inside the terminal box
[3-2] Insert the screwdriver into the insertion point (small square hole) of the one-touch terminal block in a diagonal direction. When the spring touches the blade edge, push the screwdriver down to the position that hits a conductive plate to the direction of arrow (a), tilting it in the inside direction of the terminal block.
The screwdriver is held if it inserts appropriately.
[3-3] After confirming that the spring is open, slowly unplug the lead wires for the cooling fan to the direction of arrow
(b).
(a) Screwdriver
(b)
Cooling fan lead wires
(three pieces) One-touch terminal block
(Note 1) Do not let foreign objects enter the motor. In particular, if conductive objects such as screws or metal wires, etc., or combustible materials such as oil enter, the motor could be damaged.
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[4] Remove the fixing screws (hexagon socket screws at four locations) for the cooling fan unit.
A
Hexagon socket screws at four locations
Spindle motor
Hexagon socket screws
A Cooling fan unit
View A-A
(Note 1) Some spindle motors have the fixing screws (hexagon socket screws) for the cooling fan unit at two locations.
[5] Slowly unplug the lead wire of the cooling fan from the section where the lead wire for the cooling fan is led out. At this time, slowly unplug the protection tube which protects the lead wire for the cooling fan together. Slowly unplug the protection tube by pushing it out from inside the terminal box or pulling it from outside the terminal box not to overload the cooling fan side.
B
Protection tube
Spindle motor
Cooling fan unit
B
View B-B
Section where the cooling fan lead wires are led out
Inside the terminal box
(Note 1) Take special care not to damage the lead wire for the cooling fan.
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[6] Slowly remove the cooling fan unit in the direction of arrow (c).
Protection tube and cooling fan lead wires
Spindle motor
Cooling fan unit
(c)
(Note 1) Do not strike the side face of the cooling fan unit. Failure to observe this may result in damages of the fan unit.
Side face of the cooling fan unit
Spindle motor
(Note 2) Perform it so as not to touch the edge part of the cooling fan unit. Failure to observe this may result in injury.
Edge part of the cooling fan unit
(Note 3) Do not grip the cooling fan lead wire (including the protection tube) when carrying the cooling fan unit.
Carrying with gripping them may result in damages of the fan unit.
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(2) Removal of the bellmouth inside the cooling fan unit
[1] Remove the bellmouth fixing screws (hexagon socket screws at four locations).
Bellmouth
Hexagon socket screws at four locations
Cooling fan unit (before the bellmouth is removed)
(Note 1) Some spindle motors have the bellmouth fixing screws (hexagon socket screws) at two locations.
[2] Remove the bellmouth.
Edge part of the cooling fan unit
Cooling fan unit
Cooling fan unit (after the bellmouth is removed)
(Note 1) Perform it so as not to touch the edge part of the cooling fan unit or the end part of the bellmouth. Failure to observe this may result in injury.
(Note 2) Do not let bellmouth fixing screws enter the cooling fan unit. Failure to observe this could lead to breakage or faults of the cooling fan.
(3) Cleaning
[1] Check the situation of the cooling fan blade part and inside the case of the cooling fan unit by visual inspection.
Cooling fan blade part
Inside the case of the cooling fan unit
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[2] Clean up the inside of the cooling fan unit and the cooling air vent.
Wipe dirt off the inside of the cooling fan unit and the cooling air vent using wastes, etc.
Protection tube and cooling fan lead wires
Spindle motor
Cooling fan unit
Inside of the cooling fan unit
(cleaning point)
Cooling air vent
(cleaning point)
Inside of the cooling fan unit
(cleaning point)
Cooling fan unit
(Note 1) Never disassemble or modify the cooling fan. Failure to observe this could lead to breakage or faults of the cooling fan.
(Note 2) Do not drop the cooling fan or immerse it in water. Failure to observe this could lead to breakage or faults of the cooling fan.
(Note 3) Do not use air blow as this may cause foreign matters to enter the inner part of the cooling fan motor.
(Note 4) Do not wash with liquid detergent as the cooling fan motor is an electrical appliance.
(Note 5) Take extra care not to damage the cooling fan during cleaning.
[3] Clean up the air duct of the spindle motor frame
[3-1] Prepare the cleaning jigs (two types) as illustrated below.
The main body of the jigs A and B is a wire stick (approx. Φ 2mm) with the length of approx. 500mm. A brush is attached at the top of the cleaning jig B. For the brush on the jig B, do not choose a hard brush such as the one made of wires.
L= approx. 500 mm
Cleaning jig A
(Body:a wire stick of approx. 䕮 2mm)
Brush part approx. 䕮 10mm
Cleaning jig B (a brush is attached at the top of the cleaning jig A)
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[3-2] Use the cleaning jigs to clean the air ducts of the spindle motor frame.
Insert the cleaning jigs A and B into the motor frame's air ducts from the counter-load side of the spindle motor, scrape out the dirt, and wipe it off with wastes, etc.
C
Counter-load side of the spindle motor
Spindle motor
C
Counter-load side of the spindle motor
View C-C
Motor frame's air ducts (cleaning points)
(4) Assembling
[1] After all the cleaning processes have been completed, attach the cooling fan unit to the motor in the order opposite to that of the detachment process.
[2] Precautions in installing cooling fan unit
(a) The section where the cooling fan lead wires are led out must be in the state without a space by inserting a protection tube for the cooling fan. A space could lead to faults of the motor by allowing foreign matters enter there.
Section where the cooling fan lead wires are led out
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(b) Draw the lead wires including the protection tube of the cooling fan unit into the terminal box not to project at the back side of the motor. Failure to observe this could lead to breakage of the lead wires.
Lead wires including the protection tube must not project at the back side of the motor
Back side of the motor
Spindle motor
Cooling fan unit
(c) When installing the three lead wires (BU, BV, and BW) of the cooling fan to the one-touch terminal block, do not mistake the terminal connections. Improper connection could lead to breakage or malfunction.
(d) Make sure not to pinch the cooling fan lead wire when installing the terminal box cover. Failure to observe this could lead to electric shocks.
[3] After attaching the unit, perform a test run to check the air blow direction of the fan, etc.
Spindle motor
Exhaust
Cooling fan unit
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< For the spindle motor SJ-VL Series>
(1) Detaching the cooling fan unit
Remove the cooling fan unit from the spindle motor.
[1] Disconnect the cooling fan's terminals from the terminal block (See the diagram below).
Terminal box inside
Spindle motor
Cooling fan terminals
(BU, BV and BW) for three-phase
(BU and BV) for single-phase
Fan drive cable Rubber packing
[2] Detach the cooling fan unit from the spindle motor.
Remove the four hexagon socket screws used to secure the cooling fan unit to the spindle motor.
Hexagon socket screws at four locations.
A
Finger guard
Spindle motor
Cooling fan unit
A
View A-A
When slowly removing the cooling fan unit from the spindle motor, also unplug the fan drive cable slowly with the rubber packing left in the terminal box.
(Note 1) Pull out the solderless terminals one by one as the hole on the terminal box is small.
(Note 2) Take extra care not to damage the cable.
Terminal box
Fan drive cable
Terminal box
Fan drive cable
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(2) Cleaning
(a) Clean up the backside of the cooling fan unit and the air duct in the counter-load side bracket of the spindle motor.
Wipe dirt off the backside of the cooling fan unit and the air duct of the counter-load side bracket using wastes, etc.
(Note 1) Do not use air blow as this may cause foreign matters to enter the inner part of the cooling fan motor.
(Note 2) Do not wash with liquid detergent as the cooling fan motor is an electrical appliance.
Fan drive cable
C
B
Finger guard Finger guard
Spindle motor B
C Cooling fan unit Cooling fan unit
Counter-load side bracket Backside of cooling fan unit
Air duct
View B-B View C-C
(b) Clean up the inner part of the fan case and the air duct of the spindle motor body
[1] Prepare the cleaning jigs (two types) as illustrated below.
The main body of the jigs A and B is a wire stick (approx. Φ 2mm) with the length of approx. 500mm. A brush is attached at the top of the cleaning jig B. For the brush on the jig B, do not choose a hard brush such as the one made of wires.
L= approx. 500
Cleaning jig A (Body ： approx. Ǿ 2mm)
Cleaning jig B (Body ： approx. Ǿ 2mm)
(Brush: approx. Ǿ 10mm)
Brush part
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[2] Detach the finger guard from the cooling fan unit.
Remove the four screws used for securing the finger guard.
D
Finger guard
Spindle motor
Cooling fan unit
D
Screws for securing the finger guard
(four locations)
View D-D
[3] Wipe dirt off the finger guard using wastes, etc.
[4] Use the cleaning jigs to clean the inner part of the cooling fan case.
Use the cleaning jigs A and B to scrape out dirt between the fan case and blades in the cooling fan unit, and wipe it off with wastes, etc.
(Note 1) Do not use air blow as this may cause foreign matters to enter the inner part of the cooling fan motor.
(Note 2) Do not wash with liquid detergent as the cooling fan motor is an electrical appliance.
(Note 3) Take extra care not to damage the cooling fan during cleaning.
A space between the fan case and blades
(After the finger guard is detached)
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[5] Use the cleaning jigs to clean the air ducts of the spindle motor body.
Insert the cleaning jigs A and B into the motor's air ducts from the counter-load side bracket, scrape out the dirt, and wipe it off with wastes, etc.
E
Spindle motor air ducts
Spindle motor
E
Cooling fan unit
Spindle motor air ducts
View E-E
(3) Assembling
After all the cleaning processes have been completed, attach the cooling fan unit to the motor in the order opposite to that of the detachment process. After attaching the unit, perform a test run to check the air blow direction of the fan, etc.
Be careful not to pinch the cable between the cooling fan unit and the terminal box.
Fan drive cable
Exhaust
Cooling fan unit
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8.2 Service Parts
A guide to the part replacement cycle is shown below. Note that these will differ according to the working conditions or environmental conditions, so replace the parts if any abnormality is found. Contact Mitsubishi branch or your dealer for repairs or part replacements.
Servo drive unit
Part name
Smoothing capacitor
Cooling fan
Battery
Servo motor
Bearings
Encoder
Oil seal, V-ring
Standard replacement time
10 years
10,000 to 30,000 hours (2 to 3 years)
10,000 hours
(MR-BAT6V1SET,
MDSBTBOX-LR2060)
20,000 to 30,000 hours
20,000 to 30,000 hours
5,000 hours
Remarks
The standard replacement time is a reference. Even if the standard replacement time is not reached, the part must be replaced if any abnormality is found.
[1] Power smoothing capacitor:
The characteristics of the power smoothing capacitor will deteriorate due to the effect of ripple currents, etc. The capacitor life is greatly affected by the ambient temperature and working conditions. However, when used continuously in a normal air-conditioned environment (ambient temperature is an average of 40°C or less), the service life will be ten years.
[2] Relays:
Contact faults will occur due to contact wear caused by the switching current. The service life will be reached after
100,000 cumulative switches (switching life) although this will differ according to the power capacity.
[3] Servo motor bearings:
The motor bearings should be replaced after 20,000 to 30,000 hours of rated load operation at the rated speed.
This will be affected by the operation state, but the bearings must be replaced when any abnormal noise or vibration is found in the inspections.
[4] Servo motor oil seal, V-ring:
These parts should be replaced after 5,000 hours of operation at the rated speed. This will be affected by the operation state, but these parts must be replaced if oil leaks, etc., are found in the inspections.
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8.3 Adding and Replacing Units and Parts
CAUTION
1. Correctly transport the product according to its weight. Failure to do so could result in injury.
2. Do not stack the product above the indicated limit.
3. Installation directly on or near combustible materials could result in fires.
4. Install the unit as indicated at a place which can withstand the weight.
5. Do not get on or place heavy objects on the unit. Failure to observe this could result in injury.
6. Always use the unit within the designated environment condition range.
7. Do not allow conductive foreign matter such as screws or metal chips, or combustible foreign matter such as oil enter the servo drive or servo motor.
8. Do not block the intake or exhaust ports of the servo drive of servo motor. Failure to observe this could result in faults.
9. The servo drive and servo motor are precision devices. Do not drop them or apply strong impacts.
10.Do not install or operate a servo drive or servo motor which is damaged or missing parts.
11.When the unit has been stored for a long time, contact the Service Center.
12.Connect the encoder(CN2/CN3) immediately after the installation of the servo drive unit. In addition, when a battery box is used, immediately connect to the BTA/BTB connector. (prevention of absolute position data lost)
8.3.1 Replacing the Drive Unit
(1) Arrangement of replacing parts
Contact Mitsubishi branch or your dealer for an order or a replacement of the drive unit.
Place an order for the same type of a drive unit as the one to be replaced.
(2) Replacement procedure
Replace the drive unit with the following procedures.
Procedures
[1] Turn the breaker for the input power OFF. Make sure the CHARGE lamp of the power supply unit is turned
OFF.
[2] Disconnect all the connectors and the wires connected to the drive unit.
[3] Remove the two (four) screws fixing the drive unit onto the control panel. Remove the drive unit from the control panel.
[4] Make a same setting for the rotary switch and the dip switch of the new drive unit as those of the uninstalled drive unit.
[5] Install a new drive unit by following the removal procedure in reverse.
(3) Restoration
Data backup and restoration is not required before replacing drive units because drive units’ data such as parameters are stored in the controller. However, carry out a backup of the whole system before replacement as a precautionary measure.
The power for keeping the encoder’s position data of an absolute position system is supplied from the battery connected to the drive unit. Keep the power ON once for 30 minutes or more if possible, and make sure to complete the replacement within 60 minutes after charging the encoder’s capacitor.
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8.3.2 Replacing the Fan Unit
(1) Replacing parts
Drive unit type
MDS-EM-SPV3-16040S
MDS-EM-SPV3-10040 to 200120
MDS-EMH-SPV3-8040 to 10060
MDS-EM-SPV3-320120
(2) Replacement procedure
Replace the fan unit with the following procedures.
[1]
Remove the mounting screws from the fan unit cover on the top of the drive unit.
Mounting screw
Fan unit cover
Fan type
EM-FS-18
EM-FS-26
EM-FS-30
[2]
Remove the fan unit cover.
[3]
Remove the fixing screws from the fan unit. Disconnect the connector on the top and pull out the fan unit.
Fixing screw
Fan unit
Connector
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[4]
When installing the fan unit, insert the sheet metal of the fan unit into the fin rails.
Fin rail*
Sheet metal
* Although MDS-EM-SPV3-16040S and 320120 do not have fin rails, the installation of fan units is not affected.
8.3.3 Replacing the Battery
(1) Replacing parts
<Replacing a battery equipped with the multi axis drive unit or the battery unit, MDSBTBOX-LR2060>
When the battery voltage is low (warning 9F), place an order for the same type of a battery as the one currently equipped with the unit.
Battery type LR20 is commercially available as a size-D alkaline battery. The battery may be purchased and replaced by the user.
Battery type
Type
MDS-BAT6V1SET
MR-BAT6V1SET
LR20 (size-D alkaline battery)
Battery equipped unit
Multi axis drive unit
Multi axis drive unit
Battery unit, MDSBTBOX-LR2060
(Note) Four LR20 size-D alkaline batteries are needed for per battery unit, MDSBTBOX-LR2060.
CAUTION
1. When the battery voltage is low (warning 9F), do not shut OFF the power of the drive unit until replacement of the battery to protect the data.
2. Replace the MDSBTBOX-LR2060 battery with new batteries (LR20) that is within the recommended service period.
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(2) Replacement procedure
Replace the battery with the following procedures.
CAUTION
1. Replace the batteries with new ones immediately after the battery voltage drop alarm (9F) has been output.
2. Replace the batteries while applying the drive unit's control power.
< Replacement procedure for the cell battery MDS-BAT6V1SET >
[1] Open the battery holder cover located at the front of the drive unit.
[2] Pull out the battery connector connected with the drive unit. Remove the battery.
[3] Install a new battery and connect a connector to the connector position where the old battery connector was pulled out from in step [2].
[4] Cancel the warning 9F by executing an alarm reset (pushing the NC reset button).
Battery attaching part
Battery unit
Battery connector connection part magnified figure
BTI
2
1
2
1
Connect the battery box with BTI.
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<Replacement procedure for the cell battery MR-BAT6V1SET>
[1] Pull out the battery connector connected with the drive unit while pushing the unlocking lever.
[2] Remove the battery unit by sliding upward while pushing the unlocking lever.
[3] Install a new battery and connect a cable connector to the connector position where the old battery connector was pulled out from in step [2].
[4] Cancel the warning 9F by executing an alarm reset (pushing the NC reset button).
MR-BAT6V1SET
Battery connector connection part magnified figure
BTI
2
1
2
1
Connect the battery box with BTI.
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< Replacement procedure for the battery unit MDSBTBOX-LR2060 >
Possible backup period
Possible backup period is at most one year. Thus, make sure to exchange the batteries in the one-year cycle.
How to replace the battery
[1] Remove the battery box cover (four screws).
[2] Replace the batteries with new ones. Be careful not to mistake the polarity.
[3] Attach the cover, and fix it with the four screws.
(Note 1) Replace the batteries while applying control power to the servo drive unit.
(Note 2) When replacing the battery, do not let foreign objects enter. If the terminal area gets dirty, clean there.
(Note 3) If the cover is ill-set, mist or foreign objects enter through the interstices and enter into the panel.
Tighten the screws. (Tightening torque: 1N•m)
Alkaline dry batteries
LR20 × 4 pieces
CAUTION
1. Use new batteries that are within the recommended service period. (Check the recommended service period written on the batteries before using them.)
2. Replace the batteries with new ones immediately after the battery voltage drop alarm (9F) has been output.
3. Replace the batteries while applying the servo drive unit’s control power.
4. Wrong connection may cause liquid leakage, heat generation and/or explosion.
5. Do not mix new batteries with used ones or mix different type batteries.
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Appx. 1: Cable and Connector Assembly
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9.1 CMV1-xPxxS-xx Plug Connector
This section explains how to assemble the wire to CMV1 plug connector.
(1) Cutting a cable
Cut the cable to the following dimensions:
(Note) Not to change cable length.
Cable length after cutting connector name
CMV1-SPxxS-xx
CMV1-APxxS-xx
Cable length after cutting [mm]
40±0.5 + Cable length
47±0.5 + Cable length
(2) Inserting parts
Insert the clamp nut, the cable clamp, the bushing and the back shell, in that order, to the cable.
(Note) Pay attention to the direction each part is inserted.
Make sure that every part is inserted.
Cable length
Cable length
Cable clamp
Cable
Clamp nut
Cable clamp
Bushing
Cable
Clamp nut
Bushing
Back shell
Angle back shell
(3) Stripping a cable
Strip the cable’s sheath to the A length, cut the wire set at its root and strip the core wire to the B length.
(Note) Make sure to strip the cable to the correct length.
Do not leave cutting or scratch to the cable core.
* When making CMV1-xP10S-xx, strip the cable for No. 10 terminal in a way that the A length becomes
1mm longer than that of other cores.
(This is to prevent excessive tension of the core when inserting the contact to the housing in the next process.)
A
(A+1mm for No. 10 terminal
B only)
Cable core
Sheath
Cable length after stripping
Connector name
CMV1-SPxxS-xx
CMV1-APxxS-xx
A [mm]
21.5 to22.5
28.5to 29.5
B [mm]
4.5 to 5.0
Core wire
(4) Soldering a contact
Apply preliminary soldering to each contact and to the cable’s core wire, then solder the core wire to the contacts.
Connector name
CMV1-xP2S-xx
CMV1-xP10S-xx
Applicable contact
CMV1-#22BSC-S2
CMV1-#22ASC-S1
Applicable wire
AWG16 or below
AWG20 or below
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(Note) Make sure that the core wire does not come out of the contact.
When soldering, make sure that the solder does not stick to the circumference of the solder cup.
When using a drain wire, attach a heat shrink tube to the drain cable after soldering.
*
*
When making CMV1-xP10S-xx, the cable for No. 10 terminal is 1mm longer than other cables. (To avoid the core tension when inserting a contact to the housing in a later process.)
The difference in the total A length of the cables for other than No. 10 terminal must be 1mm or less.
Solder
Difference in total length: 1 mm or less
(for other than No. 10 terminal)
C
Contact
Drain wire
Core wire
Cable
Detail C
Heat shrink tube
If a drain wire is soldered
(5) Inserting the contact
Insert the contact into the specified terminal number point in the housing.
(Insert grounding wire or drain wire into terminal No. 10).
* When the contact catches the housing, you will hear
* a snap.
Pulling the wire for confirming the correct position.
Contact
Housing
Cable
Insert
Terminal No.10 only
(Grounding wire or drain wire)
(Note) Before inserting the contact, check that the clamp nut, cable clamp, bushing and back shell is inserted.
Take care not to insert the contact upside down as shown below.
Terminal number
Lance
*
*
*
Insert the contact so that the terminal number face the same direction.
Using a pull out tool for pulling up inserted contact.
Tool No.: 357J-53184T
Refer to the instruction manual in case of using pull up tool.
As Lance falls down easily after pulling up, set up to original position before re-insert.
Contact
Terminal number
Lance
CMV1-xP10S-xx
Contact CMV1-xP2S-xx
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(6) Assembling a back shell
[1] To prevent the back shell from loosening, it is recommended to coat 2 threads of the circumference of the back shell with adhesive.
Recommended adhesive: 1401B (Three Bond Co., Ltd.)
[2] Rotate the back shell coupling of the connector and temporarily tighten the back shell.
Back shell
Adhesive (to be coated to 2 threads of the circumference) Angle back shell
Adhesive (to be coated to 2 threads of the circumference)
Insert
Back shell
Back shell coupling
Insert
Back shell coupling
Temporarily tighten Back shell coupling
Temporarily tighten
Back shell coupling
* When tightening temporarily, match the concavity and convexity of the plug shell with those of the back shell.
(You can confirm the correct connection of concavity and convexity waving lightly back shell just before inserting to BS coupling.)
Plug shell concavity and convexity
(7) Tightening a back shell
Straight back shell
[1] Fix the 2 surface width of the straight back shell on the tightening guide.
[2] Set the tightening wrench adjusting to the back shell coupling.
[3] With the wrench, tighten the back shell coupling to the straight back shell.
Recommended tightening torque: 4 to 5N•m
(Note 1) When setting the work to the wrench, adjust it to the 2 surface width.
To remove, take the reverse steps.
(Note 2) Manufactured by DDK
Contact: Fujikura Ltd. http://www.fujikura.co.jp/eng/
Back shell concavity and convexity
Back shell
Back shell coupling
IB-1501241-H
Tightening guide
Set
Back shell wrench
19
Tightening guide
* Referential dimensions for
back shell tightening guide
15 (Back shell width)
Thickness:
10
Back shell wrench Tighten
* Recommendation:
Tightening guide
(357J-53234T) ● Recommended jigs and tools :
Back shell wrench (357J-51333T) (Note 2)
Bit (357J-51344T)
Torque wrench (CL6N x 8D,Tonichi Mfg.)
* Recommended tightening guide: (357J-53234T) (Note 2)
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Angle back shell
[1] Fix the 2 surface width of the angle back shell on the tightening guide.
[2] Set the back shell wrench adjusting to the 2 surface width of the back shell coupling.
[3] With the wrench, tighten the back shell coupling to the angle back shell.
Recommended tightening torque: 4 to 5N.m
(Note 1) When setting the work to the wrench, adjust it to the 2 surface width.
To remove, take the reverse steps.
(Note 2) To change the back shell angle, adjust the toothing position of the plug shell and back shell.
(Note 3) Manufactured by DDK
Contact: Fujikura Ltd. http://www.fujikura.co.jp/eng/
Tightening guide
Tighten
19
Set
Angle back shell wrench
Set
Back shell coupling
Torque wrench
* Referential dimensions for back
shell tightening guide
15
(Back shell width)
Angle back shell
* Recommendation:
Tightening guide
(357J-52658T)
● Recommended jigs and tools : Back shell wrench (357J-51333T) (Note 3)
Bit (357J-51344T)
Torque wrench (CL6N x 8D,Tonichi Mfg.)
* Recommended tightening guide: (357J-53402T) (Note 3)
(8) Insert a busing and a cable clamp
Insert the bushing and the cable clamp in the back shell.
Bushing
Cable clamp
Cable clamp
Bushing
Cable
Back shell
Cable
Insert
Back shell
Insert
(Note) After the Bushing insert, confirm that cable position should be inside of Bushing.
(9) Tightening a clamp nut
Straight back shell
[1] Temporarily tighten the clamp nut on the straight back shell.
*To prevent the loosening, it is recommended to coat the straight back shell with adhesive.
Recommended adhesive: 1401B (Three Bond Co., Ltd.)
[2] Fix the 2 surface width of the straight back shell on the tightening guide.
[3] With the wrench, tighten the clamp nut on the straight back shell.
Recommended tightening torque: 4 to 5N•m
(Note 1) When setting the work to the wrench, adjust the 2 surface width.
To remove, take the reverse steps.
(Note 2) Manufactured by DDK
Contact: Fujikura Ltd. http://www.fujikura.co.jp/eng/
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Temporary tightening
Tightening guide
Clamp nut
* Recommendation
Adhesive (2 threads around
the circumference)
Tightening guide
Clamp nut
wrench
19
Tighten
Set
Back shell
* Referential dimensions for back
shell tightening guide
15
(Back shell width)
Thickness:
10
Torque wrench
* Recommendation :
Tightening guide
(357J-53234T)
● Recommended jigs and tools :
Clamp nut wrench(357J-51334T)(Note 2)
Bit (357J-51345T)
Torque wrench (CL6N x 8D, Tonichi Mfg.)
* Recommended tightening jig : (357J-53234T)
(Note 2)
Angle back shell
[1] Temporarily tighten the clamp nut on the angle back shell.
* To prevent loosening, the adhesive should be applied to the angle back shell.
Recommended adhesive: 1401B (Three Bond Co., Ltd.)
* Recommendation
Adhesive
(2 treads around the
circumference)
Temporary tightening
[2] Fix the 2 surface width of the angle back shell on the tightening guide.
[3] Set the tightening wrench adjusting the 2 surface width of the clamp nut.
[4] With the wrench, tighten the clamp nut on the angle back shell.
Recommended tightening torque: 5N•m
(Note 1) To set the work to the wrench, adjust the 2 surface width.
In case of squeezing the clamp nut with excessed torque provided as above, the clamp nut may be broken. Please use the torque wrench.
To remove, take the reverse steps.
(Note 2) Manufactured by DDK
Contact: Fujikura Ltd. http://www.fujikura.co.jp/eng/
Tightening guide
Torque wrench
Angle back shell
Clamp nut
Set
Clamp nut wrench
Tighten
19
Set Tightening guide
* Referential dimensions for back
shell tightening guide
15 (Back shell width)
● Recommended jigs and tools : Clamp nut wrench (357J-51334T)(Note 2)
Bit (357J-51345T)
Torque wrench (CL6N x 8D,Tonichi Mfg.)
* Recommended tightening guide: (357J-52658T)(Note 2)
* Recommendation:
Tightening guide
(357J-53402T)
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<When connecting>
[1] Set the ڹ mark of each other’s connectors.
Ⴎ mark
Ⴎ mark
Ⴎ mark Ⴎ mark
[2] Each other’s key (concavity and convexity) are fit in. Push it straight, take care not to tilt.
Receptacle connector key
(Convexity)
Plug connector key
(Concavity)
Push it straight
Push it straight
* To remove, rotate the coupling and pull out to straight.
(1)
Rotate the coupling
(1)
Rotate the coupling
Coupling
(2)
Pull out to straight Coupling
(2)
Pull out to straight
<When using a conduit>
[1] Tighten the nipple of conduit connector on the plug connector (CMV1).
[2] Set the conduit on the nipple of conduit connector.
[3] Fix the conduit to the plug connector (CMV1). If the conduit is used in a moving part, fix the conduit with a saddle, etc. so that no load is applied to the plug connector (CMV1) and to the conduit connector.
If the conduit is fixed with a saddle, etc., make sure that no load is applied to the fixing area.
Set the protective cover (rubber etc.,) on the conduit to avoid cable damage.
[1]
Plug connector
[2]
Conduit connector
(nipple)
[3] [1]
Plug connector
Conduit connector
(nipple)
[2] [3]
Saddle
Cable
Conduit
Protective cover
(rubber etc.)
Cable
Conduit
Protective cover
(rubber etc.)
Saddle
Recommended conduit
Type: VF Type: SR Type: FBN Type: EM Type: VFS Type: SRK etc. (Note)
Recommended connector
Type:RCM (Note)
(Note) Manufactured by NIPPON FLEX CO.,LTD.
Contact: NIPPON FLEX CO.,LTD. http://www.nipolex.co.jp/
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9.2 1747464-1 Plug Connector
9.2.1 Applicable Products
Part No.
1674320-1
1674320-2
1674335-4
9.2.2 Applicable Cable
Wire conductor size
#26-22AWG
Descriptions
Encoder cable I/O kit
Receptacle contact
Cable jacket outside diameter
6.8 to 7.4 mm
Refer to Product Specification and Application Specification for details.
9.2.3 Related Documents
No.
108-5864
114-5335
114-5338
Details
Product Specification
Rec, Contact Application Specification
Ground Clip Application Specification
9.2.4 Assembly Procedure
Assemble the cable in the following procedure:
(1) Insert accessories to the cable.
Receptacle case assembly
Wire clamp
Wire fixed set screw
Wire rubber packing
Ground clip
Cable
(2) Remove the sheath of the cable jacket and core wires referring to the typical dimensions in the right figure.
Do not damage the core wires. Retry it if the core wires are partly cut off or damaged.
The length of mesh shield should be decided referring to the right figure and be turned up on the outside of a jacket.
1.6
to 2.0mm
1.6
to 2.0mm
Far side
16 ±1 mm Mesh shield
14 ±1 mm
Near side
4 to 5mm
(Note) Even when the dimensions above is applied, product performance problem can occur depending on the wires which is used.
Be sure to contact with the sales department of the manufacturer below if you consider to adopt this connector.
Tyco Electronics Japan G.K. http://www.te.com/en/home.html
(3) Twist a copper foil tape with conductive adhesive of width 5mm around the mesh shield.
Cable finish outside diameter: Φ 7.3 to 7.7
(4) Refer to Application Specification (114-5335) and crimp the contacts. After crimping, check the state in accordance with the Specification.
Copper foil tape
Φ7.3
to 7.7
6mm MAX
Receptacle contact
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(5) Verifying the direction, insert the crimped contact into the receptacle housing.
After the insertion, pull each wire lightly to make sure that the contacts are fully inserted. (Lock feeling and sound can be confirmed when the contact is fully/ correctly inserted.)
(6) Crimp the ground clip.
As receptacle housing is settled inside a ground clip, it opts for direction according to the purpose, and positions as shown in the right figure.
(Note) Direction of receptacle housing is unchangeable after ground slip crimping.
Positioning the cable jacket end as shown in the right figure. Refer to the Application
Specification (114-5338) and crimp the ground clip.
(7) Store the receptacle housing and ground clip in the receptacle case.
Pull the cable side and draw the receptacle housing side as shown in the right figure, without pushing in it.
or
1mm
Pull
Work will become easy when the crimping part of the ground clip is pushed and the cable is bent as shown in the right figure.
Push
When the ground clip interferes with receptacle case at the position in the right figure and cause difficulty in continuing to draw in, push the ground clip to distort and drawing become easy.
Distortion
(Note) To prevent a fracture, do not use the ground clip which is bend and unbend 3 times or more.
Push
Turn the form of the ground clip back to normal and position it for the receptacle case as shown in the right figure.
Adjust the projection of receptacle housing to the slit of the receptacle case and push in until it is fixed to the case.
Contact
Push
Projection
Slit
A ground clip is stuck in a receptacle case.
(Note) See that the contact of receptacle housing goes inside a ground clip.
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(8) Shift the wire rubber packing and wire clamp to the position in the right figure, and tighten the wire fixed set screw to fix the cable to receptacle case.
No space
Tighten it not to create the space between the receptacle case and wire fixed set screw.
(Note) Confirm that the cable is fixed.
No space
POST BASE for inspection
(9) To ensure that there is no leaning on the receptacle housing in the receptacle case assembly, drop the POST BASE for inspection naturally as shown in the right figure.
Receptacle case assembly
Confirm that the space between the receptacle case assembly and the POST
BASE is within 1mm. Regarding POST BASE for inspection, contact with the sales department of the manufacturer below.
Tyco Electronics Japan G.K. http://www.te.com/en/home.html
1mm MAX POST BASE for inspection
Receptacle case assembly
(10) Insert the assembled connector until it stick fast to the POST BASE and then, tighten the four bind screws to fix. The tightening torque of the bind screw is
5.0 to 10.0 N•cm.
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Appx. 2: D/A Output Specifications for Drive Unit
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10 Appx. 2: D/A Output Specifications for Drive Unit
10.1 D/A Output Specifications
Drive unit has a function to D/A output the various control data. The servo and spindle adjustment data required for setting the servo and spindle parameters to match the machine can be D/A output. Measure using a high-speed waveform recorder, oscilloscope, etc.
Note that the output pins differ between MDS-EJ/EJH-V1, MDS-EJ-SP and MDS-EJ-V2/SP2.
D/A output specifications
5
6
7
8
1
2
3
4
9
10
Pin
CN9A connector
(spindle side D/A output)
Name
LG
MO1
Pin Name
11
12
13
14
15
16
17
18
19
20
LG
MO2
8
9
10
5
6
7
Pin
1
2
3
4
CN9B connector
(servo side D/A output)
Name
LG
MO1
Pin
11
12
13
14
15
16
17
18
19
20
Name
LG
MO2
MDS-EM/EMH
Item
No. of channels
Output cycle
Output precision
Output voltage range
Output magnification setting
Output pin (servo side: CN9B connector)
Output pin (spindle side: CN9A connector)
Others
Explanation
2ch
0.8ms (min. value)
12bit
0V to 2.5V (zero) to +5V
-32768 to 32767 (1/100-fold)
MO1 = Pin 9, MO2 = Pin 19, LG = Pin 1,11
MO1 = Pin 9, MO2 = Pin 19, LG = Pin 1,11
The D/A output for the 2nd axis or the 3rd axis is also 2ch. When using the 2nd axis or the 3rd axis, set "-1" for the output data (SV061, SV062) of the servo axis that is not to be measured.
When the output data is 0, the offset voltage is 2.5V. If there is an offset voltage, adjust the zero level position in the measuring instrument side.
+5 [V]
Speed FB
+2.5 [V]
0 [V]
+5 [V]
Current FB
+2.5 [V]
0 [V]
Example of D/A output waveform
IB-1501241-H 402
MDS-EM/EMH Series Instruction Manual
10 Appx. 2: D/A Output Specifications for Drive Unit
10.2 Output Data Settings
10.2.1 Servo Drive Unit Settings
<Standard output>
【
#2261
】
Input the data number you wish to output to the D/A output channel 1.
When using the 2-axis drive unit, set "-1" to the axis that the data will not be output.
---Setting range---
-32768 to 32767
【
#2262
】
Input the data number you wish to output to the D/A output channel 2.
When using the 2-axis drive unit, set "-1" to the axis that the data will not be output.
---Setting range---
-32768 to 32767
60
61
62
63
64
70
71
72
73
74
30
31
32
8
9
6
7
35
50
51
52
53
54
No.
-1
2
3
0
1
126
127
Output data
D/A output not selected
Commanded rotation speed
Motor rotation speed
Torque command
Torque feedback
Effective current command
Effective current feedback
Machine vibration frequency
HAS control droop cancel amount
Collision detection estimated torque
Collision detection disturbance estimated torque
Estimated load inertia ratio
Disturbance observer estimated disturbance torque
Position droop
Position command
Position feedback
Position F Δ T
Deviation from ideal position
(considering servo tracking delay)
Position droop
Position command
Position feedback
Position F Δ T
Deviation from ideal position
(considering servo tracking delay)
Position droop
Position command
Position feedback
Position F Δ T
Deviation from ideal position
(considering servo tracking delay)
Saw tooth wave
2.5V test data
Standard output unit
Linear axis Rotary axis
Output cycle
For 2nd axis or 3rd axis drive unit.Set the parameters to the other axes in the drive unit that is not D/A output.
1000(r/min)/V
1000(r/min)/V
Motor stall rated ratio 100%/V
Motor stall rated ratio 100%/V
0.8ms
0.8ms
0.8ms
0.8ms
1mm/V
100%/V
100%/V
500Hz/V
1°/V
100%/V
100%/V
100%/V
100%/V
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
1 μ m/V
1 μ m/V
1 μ m/V
1 μ m/s/V
1 μ m/V
1/1000°/V
1/1000°/V
1/1000°/V
1/1000°/s/V
1/1000°/V
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
1mm/V
1mm/V
1mm/V
1mm/s/V
1mm/V
1°/V
1°/V
1°/V
1°/s/V
1°/V
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
1m/V
1m/V
1m/V
1m/s/V
1m/V
1.5V to 3.5V
2.5V
1000°/V
1000°/V
1000°/V
1000°/s/V
1000°/V
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
403 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
10 Appx. 2: D/A Output Specifications for Drive Unit
No.
16384
16385
(Servo control signal)
Servo control input (NC to Servo)
Servo control input 1-0
Servo control input 1-1
Details
READY ON command
Servo ON command
16388 Servo control input 1-4
16390 Servo control input 1-6
16391
16392
Servo control input 1-7
Servo control input 1-8
Position loop gain changeover command
Excessive error detection width changeover command
Alarm reset command
Current limit selection command
No.
16480
16481
16484
16486
16487
16488
Servo control output (Servo to NC)
Servo control output 1-0
Servo control output 1-1
Details
In READY ON
In servo ON
Servo control output 1-4
Servo control output 1-6
Servo control output 1-7
Servo control output 1-8
16492
16493
16494
16495
16496
16499
16503
Servo control output 1-C
Servo control output 1-D
Servo control output 1-E
Servo control output 1-F
Servo control output 2-0
Servo control output 2-3
Servo control output 2-7
16409
16410
16411
Servo control input 2-9
Servo control input 2-A
Servo control input 2-B
16416 Servo control input 3-0
Speed monitor command valid
In door closed (controller)
In door closed (all drive units)
Control axis detachment command
16505
16506
16507
16512
Servo control output 2-9
Servo control output 2-A
Servo control output 2-B
Servo control output 3-0
16472 Servo control input 6-8
Drivers communication control request
16568 Servo control output 6-8
(Note) For details on the servo signals, refer to the section "Servo control signal".
In position loop gain changeover
In excessive error detection width changeover
In alarm
In current limit selection
In in-position
In current limit
In absolute position data loss
In warning
Z phase passed
In zero speed
In external emergency stop
In speed monitor
In door closed (controller)
In door closed (self drive unit)
In control axis detachment
In drivers communication control
IB-1501241-H 404
MDS-EM/EMH Series Instruction Manual
10 Appx. 2: D/A Output Specifications for Drive Unit
10.2.2 Spindle Drive Unit Settings
< Standard output >
【
#13125
】
Input the desired data number to D/A output channel.
When using the 2-axis drive unit, set "-1" to the axis that the data will not be output.
---Setting range---
-32768 to 32767
【
#13126
】
Input the desired data number to D/A output channel.
When using the 2-axis drive unit, set "-1" to the axis that the data will not be output.
---Setting range---
-32768 to 32767
No.
-1
0
1
2
3
35
70
71
72
73
74
60
61
62
63
64
50
51
52
53
54
Output data
D/A output stop
Commanded motor rotation speed
Motor rotation speed
Torque current command
Torque current feedback
Disturbance observer estimated disturbance torque
Position droop
Position command
Position feedback
Position F Δ T
Deviation from ideal position
(considering spindle tracking delay)
Position droop
Position command
Position feedback
Position F Δ T
Deviation from ideal position
(considering spindle tracking delay)
Position droop
Position command
Position feedback
Position F Δ T
Deviation from ideal position
(considering spindle tracking delay)
3.0V output load meter (Note)
Output unit for standard setting
-
1000(r/min)/V
1000(r/min)/V
Short time rated ratio 100%/V
Short time rated ratio 100%/V
Short time rated torque current value ratio 100%/V
1/1000°/V
1/1000°/V
1/1000°/V
1/1000°/s/V
1/1000°/V
1°/V
1°/V
1°/V
1°/s/V
1°/V
1000°/V
1000°/V
1000°/V
1000°/s/V
1000°/V
Output cycle
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
0.8ms
110 40%/V, 120%/3V 0.8ms
126
127
Saw tooth wave
2.5V test data output
1.5V to 3.5V
2.5V
0.8ms
0.8ms
(Note) Load meter displays "100%(=2.5V)" when the control power turns ON and the NC is starting. After the NC has been run, it displays "0%(=0V%)".
405 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
10 Appx. 2: D/A Output Specifications for Drive Unit
< Special output >
The result of PLG(TS5690) installation accuracy diagnosis is output to D/A output. D/A output magnification:SP127(DA1MPY) and SP128(DA2MPY) is 0.
PLG installation diagnosis function can be enabled during the rotation, when open loop control is enabled:SP018(SPEC2)/bit1=1.
D/A output
No.
120
121
122
123
Details
Motor end PLG installation
Gap diagnosis
Motor end PLG installation
All errors diagnosis
Spindle end PLG installation
Gap diagnosis
Spindle end PLG installation
All errors diagnosis
Description
Motor end PLG installation gap is diagnosed.
When the gap is good, 2.5V is output.
When the gap is excessive, 2.5V+1V is output.
When the gap is too small, 2.5V-1V is output.
Motor end PLG installation error (including the gap) is diagnosed.
When the installation is good, 2.5V is output.
When the installation is incorrect, 2.5V+1V is output.
Spindle end PLG installation gap is diagnosed.
Diagnostic procedure is the same as that of motor end PLG.
Spindle end PLG installation error (including the gap) is diagnosed.
Diagnostic procedure is the same as that of motor end PLG.
IB-1501241-H 406
MDS-EM/EMH Series Instruction Manual
10 Appx. 2: D/A Output Specifications for Drive Unit
< Spindle control signal >
Spindle control input (NC to Spindle)
No.
16384 Spindle control input 1-0
16385 Spindle control input 1-1
Details
READY ON command
Servo ON command
16391 Spindle control input 1-7
16392 Spindle control input 1-8
16393 Spindle control input 1-9
16394 Spindle control input 1-A
16409 Spindle control input 2-9
16410 Spindle control input 2-A
16411 Spindle control input 2-B
16432 Spindle control input 4-0
16433 Spindle control input 4-1
16434 Spindle control input 4-2
16436 Spindle control input 4-4
16437 Spindle control input 4-5
16438 Spindle control input 4-6
16445 Spindle control input 4-D
16458 Spindle control input 5-A
16459 Spindle control input 5-B
16460 Spindle control input 5-C
16461 Spindle control input 5-D
16462 Spindle control input 5-E
No.
16480
16481
Spindle control output (Spindle to NC)
Spindle control output 1-0
Details
In ready ON
Spindle control output 1-1 In servo ON
Alarm reset command
Torque limit 1 selection command
Torque limit 2 selection command
Torque limit 3 selection command
16487
16488
16489
16490
Spindle control output 1-7
Spindle control output 1-8
Spindle control output 1-9
Spindle control output 1-A
16492 Spindle control output 1-C
16495
16496
Spindle control output 1-F
Spindle control output 2-0
16499 Spindle control output 2-3
16503 Spindle control output 2-7
Speed monitor command valid
In door closed (controller)
In door closed (all drive units)
16505
16506
16507
Spindle control output 2-9
Spindle control output 2-A
Spindle control output 2-B
Spindle control mode selection command 1
Spindle control mode selection command 2
Spindle control mode selection command 3
Gear changeover command
Gear selection command 1
Gear selection command 2
L coil selection command
16528
16529
16530
16532
16533
16534
16535
16541
Spindle control output 4-0
Spindle control output 4-1
Spindle control output 4-2
Spindle control output 4-4
Spindle control output 4-5
Spindle control output 4-6
Spindle control output 4-7
Spindle control output 4-D
16545 Spindle control output 5-1
16550 Spindle control output 5-6
Phase synchronization suppression command
Minimum excitation rate 2 changeover request
Speed gain set 2 changeover request
Zero point re-detection request
Increase holding power of spindle
16554
16555
16556
16557
16558
16559
Spindle control output 5-A
Spindle control output 5-B
Spindle control output 5-C
Spindle control output 5-D
Spindle control output 5-E
Spindle control output 5-F
In alarm
In torque limit 1 selection
In torque limit 2 selection
In torque limit 3 selection
In in-position
In warning
Z phase passed
In zero speed
In external emergency stop
In speed monitor
In door closed (controller)
In door closed (self drive unit)
In spindle control mode selection 1
In spindle control mode selection 2
In spindle control mode selection 3
In gear changeover command
In gear selection 1
In gear selection 2
Magnetic pole position not set
In L coil selection
Speed detection
In coil changeover
In phase synchronization suppression
In minimum excitation rate 2 selection
In speed gain set 2 selection
Zero point re-detection complete
Increase holding power of spindle completed
In 2nd in-position
16472 Spindle control input 6-8
Drivers communication control request
16568 Spindle control output 6-8
In drivers communication control
(Note 1) Control signal is bit output. Setting the No. of the table above to the data output (SP125, SP126), and when the scale (SP127, SP128) is set to "0", the output is "0V" for bit 0, and "2.5V" for bit 1.
(Note 2) Refer to "Spindle control signal" for details on the spindle control signal.
407 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
10 Appx. 2: D/A Output Specifications for Drive Unit
10.3 Setting the Output Magnification
10.3.1 Servo Drive Unit Settings
Set when outputting other than the standard output unit. When "0" is set, the magnification will be the same as "100".
(Example 1) When SV061=1 and SV063=50
The motor rotation speed is output at 2000(r/min)/V.
(Example 2) When SV062=3 and SV064=50
The torque feedback is output to D/A output channel 2 with 200%/V unit.
【
#2263
】
Set output scale of the D/A output channel 1 in increment of 1/100.
When "0" is set, the magnification is the same as when "100" is set.
---Setting range---
-32768 to 32767 (1/100-fold)
【
#2264
】
Set output scale of the D/A output channel 2 in accruement of 1/100.
When "0" is set, the magnification is the same as when "100" is set.
---Setting range---
-32768 to 32767 (1/100-fold)
IB-1501241-H 408
MDS-EM/EMH Series Instruction Manual
10 Appx. 2: D/A Output Specifications for Drive Unit
10.3.2 Spindle Drive Unit Settings
Internal data output (Data No. -1 to 3, 50, 60, 127)
Set when outputting data other than in standard magnification (the magnification is 1). When "0" is set, the magnification will be 1, which is the same as when "100" is set.
(Example 1) When SP125=1, SP127=50
Commanded motor rotation speed is output to D/A output channel 1 in increments of 2000r/min/V.
(Example 2) When SP126=2, SP128=200
The torque axis current command is output to D/A output channel 2 in increments of 50%/V.
【
#13127
】
Set the output scale in increments of 1/100.
When "0" is set, the scale is the same as when "100" is set.
---Setting range---
-32768 to 32767 (1/100-fold)
【
#13128
】
Set the output scale in increments of 1/100.
When "0" is set, the scale is the same as when "100" is set.
---Setting range---
-32768 to 32767 (1/100-fold)
《 Speed FB 》
+5 [V]
+4.0
3000r/min (forward run)
SP125=0
SP127=50
2000r/min/V
+1. 5
+2.5 [V]
- 1. 5
+1.0
0 [V]
《 Current FB 》
+3. 6
+1.1
55%
(acceleration)
+2.5
- 0. 8
+1. 7
+1. 3
50%/V
40%
(deceleration)
0 [V]
3000r/min (reverse run)
SP126=2
SP128=200
- 1. 2
60%
(acceleration)
+5 [V]
Magnification change
+2.5 [V]
+2. 5
0 [V]
3000r/min (forward run)
- 2. 5
+0. 5
- 0.5
3000r/min (reverse run)
SP125=0
SP127=100
1000r/min/V
< When 3000r/min is displayed at the setting range of “1000r/min/V” >
When the speed waveform at 3000r/min is measured using a high-speed waveform recorder with SP127 set to “100”, the data exceeds the D/A output range (+5.0V for forward run and 0V for reverse run) at 2500r/min, but it will be cleared immediately and then the remaining data will be output. Even if the data exceeds the D/A output range more than one time, it will be cleared and the remains will be output.
Example of D/A output waveform: 3000r/min during acceleration and deceleration
409 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
10 Appx. 2: D/A Output Specifications for Drive Unit
IB-1501241-H 410
11
Appx. 3: Protection Function
411 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
11 Appx. 3: Protection Function
11.1 Protection Function
The drive unit offers the protection function.
Configure the system with the safety function compliant control units when using the safety function which satisfies the international standards.
Refer to NC specifications manual "Smart safety observation (BNP-C3072-022)" for details.
11.1.1 Outline of Protection Function
Function
Emergency stop observation
SLS
(Safely Limited Speed)
Details
NC control unit (CNC CPU unit) and the drive unit separately observe the input of emergency stop.
At the emergency stop, the motor power is shut off by controlling the contactor with each of the PLC
CPU unit (only for C80), NC control unit (CNC CPU unit) and the drive unit (power supply unit).
NC control unit (CNC CPU unit) and the drive unit (servo/spindle drive unit) separately observe the followings. The motor power is shut off when an error is detected during the observation.
-The command speed does not exceed the speed set with the parameter.
-The rotation speed of the motor does not exceed the rotation speed set with the parameter.
Protection function assumes the following configuration.
A)The machine is equipped with at least one safety door.
B)Safety is ensured when the safety door is closed.
When an operator requests to open the safety door, enable the safety function and release the lock on the safety door.
Safety is ensured by enabling the safety function while the safety door is open. When canceling the safety door open request, the safety door enters the locked state and safety function will be released.
WARNING
The sequence of enabling or disabling the safety function by opening or closing the door is required to take necessary actions at the machine tool builders.
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MDS-EM/EMH Series Instruction Manual
11 Appx. 3: Protection Function
11.2 Emergency Stop Observation
The double-protection for the emergency stop signal is provided and observes whether any abnormality is found in the emergency stop signal. The whole system will be in the emergency stop state when one emergency stop signal is in open state.
(1) Input circuit of an external emergency stop
Besides the emergency stop input from the NC controller, double-protection when an emergency stop occurs can be provided by directly inputting an external emergency stop to the CN9B connector on the drive unit. Even if the emergency stop is not input from CNC for some reason, the contactors will be shut off by the external emergency stop input from CN9B connector on the drive unit.
(a) Connection
Mitsubishi NC
OPTH1
EMG
Emergency stop
Alarm
Optical communication
G380 cable
External emergency stop input
(24VDC)
External emergency stop switch
MDS-EM/EMH-SPV3
24V
CN1A
CN9B
3 EMG
20 DICOM
24G
CN9A
16 MC
10 DOCOM
Contactor shutoff command
(b) Rotary switch setting
Setting the rotary switch is not required.
CAUTION
1. The emergency stop signal input to the CNC side cannot be used as a substitute for the external emergency stop function (CN9B).
2. To provide double-protection when an emergency stop occurs, the emergency stop input of NC and the external emergency stop input of drive unit are always wired from same emergency stop switch.
3. The external emergency stop function is a function which helps the NC emergency stop.
413 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
11 Appx. 3: Protection Function
(2) Operation sequences of emergency stop
[1] Operation sequences of normal emergency stop
If the normal NC emergency stop and the external emergency stop are simultaneously input, the operation sequence will be the same as in the case of using only the NC emergency stop.
Immediately after the emergency stop is input, deceleration control is carried out in spindle control, and dynamic brake stop in servo control in a standard case, or deceleration control when the parameter is set. The ready signal is turned OFF after the NC confirms all axes stop, and the contactor control axis turns the contactor OFF.
Even when the NC emergency stop signal and the external emergency stop signal are not simultaneously input, the operation sequence will be the same as that of the normal emergency stop provided that both signals are input before all axes stop.
NC
Emergency stop input (EMG)
External emergency stop input (EMGX)
Ready signal (RDY)
( Contactor control command )
Motor break control output
(MBR)(Servo only)
ON
Cancel
ON
Cancel
ON
OFF
Cancel
ON
NC confirms all axes stop
Deceleration control, or dynamic brake stop
Motor speed
Contactor control output (MC)
Drive unit status display
0
ON
OFF dx E7 Cx→dx
Operation sequences of normal emergency stop
IB-1501241-H 414
MDS-EM/EMH Series Instruction Manual
11 Appx. 3: Protection Function
[2] When only the external emergency stop is input
If only the external emergency stop is input, all the drive units that share one NC communication enter an emergency stop state and deceleration control (servo/spindle) or dynamic brake stop (servo) is executed. At this time, the axis to which the external emergency stop is input enters "in external emergency stop" (EA display). The contactor is turned OFF in accordance with the gate off delay time (SV055/SP055), as the NC emergency stop is not input and the ready signal is not turned OFF.
NC
Emergency stop input (EMG)
External emergency stop input (EMGX)
Ready signal (RDY)
( Contactor control command )
Motor break control output
(MBR) (Servo only)
ON
Cancel
ON
Cancel
ON
OFF
Cancel
ON
Motor speed
Contactor control output (MC)
Servo drive unit status display
ON
OFF
0 dx
Deceleration control, or dynamic brake stop
Gate off delay time
SV055/SP055
EA E7 Cx→dx
When only the external emergency stop is input
[3] When only the NC emergency stop is input
Motors of all axes enter deceleration stop in the same sequence as normal operation (when both NC and external emergency stop signals are input) and the contactor is shut off. In case that all axes stop is not confirmed and the ready signal is not turned OFF, the contactor is shut off in accordance with the max. gate off delay time (SV055/SP055) which is set to the contactor control axis.
NC
Emergency stop input (EMG)
External emergency stop input (EMGX)
Ready signal (RDY)
( Contactor control command )
Motor break control output
(MBR)(Servo only)
ON
Cancel
ON
Cancel
ON
OFF
Cancel
ON
NC confirms all axes stop
Deceleration control, or dynamic brake stop
Motor speed 0
The contactor is shut off after RDY signal turns OFF, or after set time of SV055 or SP055.
Contactor control output (MC) ON
OFF
Drive unit status display dx E7 Cx→dx
When only the emergency stop of NC is input
415 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
11 Appx. 3: Protection Function
11.3 SLS (Safely Limited Speed) function
Safely Limited Speed function observes that the motors for servo and spindle do not exceed the specified speed when the safety door of the machine is open. The setup can be performed without shutting the machine power off and this contributes to reducing preparation time and improving operation. The speed is redundantly observed by the CPU of the drive unit and the NC control unit, and an alarm is issued when either one of the CPUs detect the speed command or speed feedback exceeds the specified speed, which lead to the deceleration control in the motor. The power is shut off by the STO (Safe Torque Off) function after the motor stops.
(1) Connection
The following three wirings are required for the SLS function.
[1] The state signal for the safety door of the machine is wired to both the NC unit side (DI) and drive unit side
(CN9B connector MPI1). The double-protection for the wiring must be provided by wiring the signal to each of the NC side and drive unit side as the following figure.
[2] Add the wiring to control the contactor in the NC unit side in order to shut the power when an error occurs.
[3] In addition to the emergency stop wiring for the NC unit, add the external emergency stop wiring for the CN9B connector of the drive unit.
Machine safety door
[1]
Open/close switch (sensor)
Door status signal
Emergency stop switch
[3] External emergency stop signal
CN9B connector
Pin
3
Name
EMG
NC unit
From NC
Optical communication cable
[2]
MDS-EM/EMH-SPV3
CN9B connector
Pin
13
20
Name
MPI1
DICOM
RA circuit for contactor drive
(Note) Prepared by user.
R
R
MC
3-phase
AC power supply
Circuit protector
(Note)
Optional
parts
AC reactor Contactor
(Note)
Optional
parts
CAUTION
The door state signal is on both servo side (CN9B-13) and spindle side (CN9B-2). Since it is sufficient to input on either side, so select it according to other input signals.
The door state signal, battery box voltage drop signal and the proximity switch signal cannot be connected simultaneously.
When using these signals at the same time, consider to wire the door state signal to other drive units connecting to the same NC communication line.
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CAUTION
1. Make sure to input one of the door status signal for each control system to CN9B connector of servo or spindle drive unit.
In the control system, it is conveyed to the axis which is not directly connected via the NC.
2. Using the SLS (Safely Limited Speed) function, it is required to set parameter in addition to the wiring mentioned above.
To prevent a certain axis from being involved in the SLS (Safely Limited Speed) function, set SV113/bitF or SP229/bitF to 0.
(2) Parameter setting for servo drive unit
Starts the SLS (Safely Limited Speed) function.
【
#2313
】
bit F : ssc SLS (Safely Limited Speed) function
0: Stop 1: Start
The digital signal input selection is set to "1" for the drive unit connected with the door state signal. The digital signal input selection is set to "0" for the other drive unit not connected with the signal.
【
#2282
】
bit F-C: dis Digital signal input selection
0: No signal
1: SLS (Safely Limited Speed) function door state signal
2 to F: Setting prohibited
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Sets the safely limited speed of the machine and motor for which the SLS (Safely Limited Speed) function is executed.
【
#2233
】
bit D : rps Safely limited speed setting increment
Change the setting units of the specified speed signal output speed (SV073) and safely limited speed (SV238).
0: mm/min 1: 100mm/min
【
#2438
】
Set the machine's safely limited speed for the SLS (Safely Limited Speed) function.
Set this parameter within the following setting ranges.
For linear axis: 2000mm/min or less
For rotary axis: 18000°/min (50r/min) or less
When not using, set to "0".
---Setting range---
0 to 18000 (mm/min) or (°/min)
However, when SV033/bitD=1, the setting range is from -32768 to 32767 (100 mm/min) or
(100°/min).
【
#2439
】
Set the motor's safely limited speed for the SLS (Safely Limited Speed) function.
Set a value to hold the following relationship.
Be aware when setting the parameter as the setting units for general motors and linear motors are different.
<<For general motor>>
SV239=(SV238/SV018) × (SV002/SV001)
Only when the product is 0, set to "1".
<<For linear motor>>
SV239=SV238/60
Only when the product is 0, set to "1".
When not using, set to "0".
---Setting range---
For general motor:0 to 32767 (r/min)
For linear motor: 0 to 32767 (mm/s)
(Note) The value of the safely limited speed and safely limited motor speed must satisfy the above relation.
If this relation is not satisfied, the parameter error (37or E4) will occur.(Error parameter No. is 239.)
Checking this relation is executed when the drive unit is turned ON and parameter is changed and speed observation mode (states when a speed observation command is turned ON) is entered.
SV238 :SSCFEED
X
SV018 :PIT
SV002 :PC2
SV001 :PC1
=
SV239 :SSCRPM
Note that "1 (r/min)" is applied when the calculation result is "0 (r/min)"
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11 Appx. 3: Protection Function
(3) Parameter setting for spindle drive unit
Starts the SLS (Safely Limited Speed) function.
【
#13229
】
bit F : ssc SLS (Safely Limited Speed) function
0: Disable 1: Enable
The digital signal input selection is set to "1" for the drive unit connected with the door state signal.
The digital signal input selection is set to "0" for the other drive unit not connected with the signal.
bit D : rps Safely limited speed setting unit
0: Normal 1: 100°/min
Change the setting units of the specified speed signal output speed (SP030) and safely limited speed (SP238).
【
#13227
】
bit F-C : dis Digital signal input selection
0: No signal
1: SLS (Safely Limited Speed) function door state signal
4: Proximity switch signal detection
Other settings: setting prohibited
Sets the safely limited speed of the machine and motor for which the SLS (Safely Limited Speed) function is executed.
【
#13238
】
Set the safely limited speed at the spindle end for the SLS (Safely Limited Speed) function.
When not using, set to "0".
---Setting range---
0 to 18000 ( ゜ /min)
However, when SP229/bitD is set to "1", the setting range is from -32768 to 32767 (100 ゜ /min).
【
#13239
】
Set the motor's safely limited speed for the SLS (Safely Limited Speed) function.
When not using, set to "0".
---Setting range---
0 to 32767 (r/min)
(Note) The value of the safely limited speed and safely limited motor speed must satisfy the following relation.
If this relation is not satisfied, the parameter error (37or E4) will occur. (Error parameter No. is 239.)
Checking this relation is executed when the drive unit is turned ON and parameter is changed and speed observation mode (states when a speed observation command is turned ON) is entered.
SP238 :SSCFEED
360
X
SP057 :GRA1
SP061 :GRB1
Note that "1 (r/min)" is applied when the calculation result is "0 (r/min)"
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IB-1501241-H 420
12
Appx. 4: Compliance to EC Directives
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12.1 Compliance to EC Directives
12.1.1 European EC Directives
In the EU Community, the attachment of a CE mark (CE marking) is mandatory to indicate that the basic safety conditions of the Machine Directives (issued Jan. 1995), EMC Directives (issued Jan. 1996) and the Low-voltage Directives (issued Jan.
1997) are satisfied. The machines and devices in which the servo and spindle drive are assembled are the targets for CE marking.
(1) Compliance to EMC Directives
The servo and spindle drive are components designed to be used in combination with a machine or device. These are not directly targeted by the Directives, but a CE mark must be attached to machines and devices in which these components are assembled. The next section "EMC Installation Guidelines", which explains the unit installation and control panel manufacturing method, etc., has been prepared to make compliance to the EMC Directives easier.
(2) Compliance to Low-voltage Directives
Each unit is targeted for the Low-voltage Directives. An excerpt of the precautions given in this specification is given below. Please read this section thoroughly before starting use.
For the EMC Directives and Low-voltage Directives, Self-Declaration Documents has been prepared.
Contact Mitsubishi or your dealer when required.
12.1.2 Cautions for EC Directive Compliance
Use the Low-voltage Directive compatible parts for the servo/spindle drive and servo/spindle motor. In addition to the items described in this instruction manual, observe the items described below.
(1) Configuration
Isolating transformer
Circuit breaker
Electromagnetic contactor
AC reactor
CB MC
Unit
M
Insert a type B circuit breaker (RCD) in the power supply side of the unit.
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12 Appx. 4: Compliance to EC Directives
(2) Environment
Use the units under an Overvoltage Category II (MDS-EM/EMH) and Pollution Class of 2 or less environment as stipulated in IEC60664.
(a) To adjust the units to the Overvoltage Category II, insert an isolating transformer of the star connection complying with EN or IEC standard in the input of the power supply unit.
(b) To adjust the units to the Pollution Class of 2, install the units in a control panel having a structure (IP54 or higher) in which water, oil, carbon or dust cannot enter.
Environment
Ambient temperature
Ambient humidity
Atmosphere
Altitude
Vibration/impact
Unit
Operation: 0 to +55°C
(with no freezing),
Storage / Transportation: -15°C to +70°C
(with no freezing)
Servo motor
Operation: 0 to +40°C
(with no freezing),
Storage: -15°C to +70°C
(with no freezing)
Spindle motor
Operation: 0 to +40°C
(with no freezing),
Storage: -20°C to +65°C
(with no freezing)
Operation: 90%RH or less
(with no dew condensation)
Storage / Transportation: 90%RH or less
(with no dew condensation)
Operation: 80%RH or less
(with no dew condensation),
Storage: 90%RH or less
(with no dew condensation)
Operation: 90%RH or less
(with no dew condensation)
Storage: 90%RH or less
(with no dew condensation)
Indoors (no direct sunlight)
With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles
Operation/Storage:
1000 meters or less above sea level,
Transportation:
13000 meters or less above sea level
Operation/Storage:
1000 meters or less above sea level,
Transportation:
10000 meters or less above sea level
According to each unit or motor specification
(Note) For details, confirm each unit or motor specifications in addition.
(3) Power supply
[1] Use the power supply and servo/spindle drive unit under an Overvoltage Category II (MDS-EM/EMH) as stipulated in IEC60664.
[2] Earth the PE terminal of the units to the neutral point of the star connection.
[3] Do not omit the circuit breaker and electromagnetic contactor.
(4) Earthing
[1] To prevent electric shocks, always connect the servo/spindle drive unit protective earth (PE) terminal (terminal with mark) to the protective earth (PE) on the control panel.
[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
(5) Wiring
[1] Always use crimp terminals with insulation tubes so that the connected wire does not contact the neighboring terminals.
Crimp terminal
Insulation tube
Wire
[2] Do not connect the wires directly.
[3] Always install the power supply unit and servo/spindle drive unit on the metal panel.
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(6) Peripheral devices
[1] Use EN/IEC Standards compliant parts for the circuit protector and contactor.
[2] Select type B circuit protector manufactured by RCD.
Apply Annex C of EN60204-1 for sizing of the circuit protector.
(7) Miscellaneous
[1] Refer to the next section "EMC Installation Guidelines" for methods on complying with the EMC Directives.
[2] Ground the facility according to each country's requirements.
[3] The control circuit connector ( ○ ) is safely separated from the main circuit ( ◎ ) and ground ( ● ).
[4] Inspect the appearance before installing the unit. Carry out a performance inspection of the final unit, and save the inspection records.
< When using MDS-EM/EMH together with MDS-E/EH >
Mitsubishi CNC
OPTH1,2
MDS-E/EH
Servo drive unit
Optical communication cable
CN1A CN1B
CN4
CN9
CN3L
CN3M
CN2L
CN2M
CN8
CN20
CN5
TE1
MU
MV
MW
LU
LV
LW
L11 TE3
L21
L+ TE2
L-
Machine side encoder
Machine side encoder
Servo motor
Motor side encoder
Servo motor
Motor side encoder
MDS-E/EH
Spindle drive unit
CN1A
CN4
CN9
CN1B
CN3
External emergency stop input
24VDC
24VDC stabilized power supply
VDD
SG
CN2
CN8
CN5
U
TE1 V
W
L11 TE3
L21
L+
L-
TE2
Spindle motor
PLG
R
S
T
Circuit protector
AC reactor
Contactor
MC
Ground (PE)
: Main circuit
: Control circuit
: Ground
Ground (PE) Ground (PE)
CN1A
EMG
DICOM
CN9B
VDD
SG
CN22
MC
24G
CN9A
MDS-EM/EMH
Multi axis unit
L1
L2
L3
TE1
L+
L-
TE2
CN2S
CN2M
CN2L
CN1B
CN31L
U
V
W
CN31M
U
V
W
CN31S
U
V
W
CN2SP
TE3
U
V
W
Servo motor
Motor side encoder
Servo motor
Motor side encoder
Servo motor
Motor side encoder
Spindle motor
PLG
Ground (PE)
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Appx. 5: EMC Installation Guidelines
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13 Appx. 5: EMC Installation Guidelines
13.1 Introduction
As the NC unit is a component designed to control machine tools, it is believed to be out of the direct EMC Instruction subject.
However, we would like to introduce the following measure plans to backup EMC Instruction compliance of the machine tool as the NC unit is a major component of the machine tools.
[1] Methods for installation in control/operation panel
[2] Methods of wiring cable outside of panel
[3] Introduction of countermeasure parts
Mitsubishi is carrying out tests to confirm the compliance to the EMC Standards under the environment described in this manual. However, the level of the noise will differ according to the equipment type and layout, control panel structure and wiring lead-in, etc. Thus, we ask that the final noise level be confirmed by the machine tool builder.
For measures for CNC, refer to "EMC INSTALLATION GUIDELINES" of each NC Connection Manual.
13.2 EMC Instructions
The EMC Instructions regulate mainly the following two withstand levels.
Emission ..... Capacity to prevent output of obstructive noise that adversely affects external sources.
Immunity ..... Capacity not to malfunction due to obstructive noise from external sources.
The details of each level are classified in the table below. It is assumed that the Standards and test details required for a machine tool are about the same as these.
Class
Emission
Immunity
Radiated noise
Name
Conductive noise
Static electricity electrical discharge immunity test
Radiated radio-frequency magnetic field immunity test
Electrical fast transient/burst immunity test
Immunity to conducted disturbance induced by radio-frequency magnetic field
Power supply frequency field immunity test
Immunity test for voltage dip, shorttime power failure and voltage fluctuation
Surge immunity test
Details
(Example) Withstand level of discharge of electricity charged in a human body.
(Example) Simulation of immunity from digital wireless transmitters
(Example) Withstand level of noise from relays or connecting/disconnecting live wires
(Example) Withstand level of noise entering through power line, etc.
(Example) 50/60Hz power frequency noise
(Example) Power voltage drop withstand level
(Example) Withstand level of noise caused by lightning
Generic
Standard
Electromagnetic noise radiated through the air EN61000-6-4
(General
Electromagnetic noise discharged from power line industrial machine)
EN61800-3
(Motor control unit)
EN61000-6-2
(General industrial machine)
EN61800-3
(Motor control unit)
Standards for determining test and measurement
-----
EN61000-4-2
EN61000-4-3
EN61000-4-4
EN61000-4-6
EN61000-4-8
EN61000-4-11
EN61000-4-5
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13.3 EMC Measures
The main items relating to EMC measures include the following.
[1] Store the device in an electrically sealed metal panel.
[2] Earth all conductors that are floating electrically. (Lower the impedance.)
[3] Wire the power line separated from the signal wire as far as possible.
[4] Use shielded wires for the cables wired outside of the panel.
[5] Install a noise filter.
Ensure the following items to suppress noise radiated outside of the panel.
[1] Accurately ground the devices.
[2] Clamp shielded wires in the control panel.
[3] Increase the panel's electrical seal. Reduce the gap and hole size.
Note that the electromagnetic noise radiated in the air is greatly affected by the clearance of the panel and the quality of the cable shield.
13.4 Measures for Panel Structure
The design of the panel is a very important factor for the EMC measures, so take the following measures into consideration.
13.4.1 Measures for Control Panel Unit
[1] Use metal for all materials configuring the panel.
[2] For the joining of the top plate and side plates, etc., mask the contact surface with paint, and fix with welding or screws so that the impedance is reduced. In either case, keep the joining clearance to a max. of 20cm for a better effect.
Note that if the plate warps due to the screw fixing, etc., creating a clearance, noise could leak from that place.
Painting mask
Max. joining clearance 20cm or less
[3] Plate the earth plate (with nickel, tin), and connect the connections with a low impedance.
[4] If there is an opening on the panel surface, such as the ventilation holes, cover it with a metal plate or expanded metal.
Make sure not to connect using metal or a conductor without peeling off the surface, which results in an insufficient electrical connection. (ex. connection by putting painted surfaces together)
Example )
Metal plate or expanded metal
Opening
3cm〜5cm
* Provide electrical conductance
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13 Appx. 5: EMC Installation Guidelines
13.4.2 Measures for Door
[1] Use metal for all materials configuring the door.
[2] Use an EMI gasket or conductive packing for the contact between the door and control panel unit.
[3] The EMI gasket or conductive packing must contact at a uniform and correct position of the metal surface of the control panel unit.
[4] The surface of the control panel unit contacted with the EMI gasket or conductive packing must have conductance treatment.
(Example) Weld (or screw) a plate that is plated (with nickel, tin).
EMI gasket
Packing
Carry out conductance treatment on sections that the EMI gasket contacts.
[5] As a method other than the above, the control panel unit and door can be connected with a plain braided wire. In this case, the panel and door should be contacted at as many points as possible.
13.4.3 Measures for Operation Board Panel
[1] Always connect the operation board and indicator with an earthing wire.
[2] If the operation board panel has a door, use an EMI gasket or conductive packing between the door and panel to provide electrical conductance in the same manner as the control panel.
[3] Connect the operation board panel and control panel with a sufficiently thick and short earthing wire.
13.4.4 Shielding of the Power Supply Input Section
[1] Separate the input power supply section from other parts in the control panel so that the input power supply cable will not be contaminated by radiated noise.
[2] Do not lead the power line through the panel without passing it through a filter.
Control panel
Drive unit
Control panel
Drive unit
Radiated noise
Power line filter
Breaker AC input
The power supply line noise is eliminated by the filter, but cable contains noise again because of the noise radiated in the control panel.
Radiated noise
Shielding plate
Power line filter
Breaker
Use a metal plate, etc., for the shielding partition. Make sure not to create a clearance.
AC input
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13 Appx. 5: EMC Installation Guidelines
13.5 Measures for Various Cables
The various cables act as antennas for the noise and discharge the noise externally. Thus appropriate treatment is required to avoid the noise.
The wiring between the drive unit and motor act as an extremely powerful noise source, so apply the following measures.
13.5.1 Measures for Wiring in Panel
[1] If the cables are led unnecessarily in the panel, they will easily pick up the radiated noise. Thus, keep the wiring length as short as possible.
Noise Noise
Device Device Device
Device Device Device
[2] The noise from other devices will enter the cable and be discharged externally, so avoid internal wiring near the openings.
Control panel Control panel
Device Device
Noise
Device Device
[3] Connect the control device earthing terminal and earthing plate with a thick wire. Take care to the leading of the wire.
13.5.2 Measures for Shield Treatment
Common items
Use of shield clamp fittings is recommended for treating the shields. The fittings are available as options, so order as required. (Refer to the section "Shield Clamp Fitting" in this chapter.)
Clamp the shield at a position within 10cm from the panel lead out port.
POINT
1. When leading the cables, including the grounding wire (FG), outside of the panel, clamp the cables near the panel outlet
(recommendation: within 10cm).
2. When using a metal duct or conduit, the cables do not need to be clamped near the panel outlet.
3. When leading cables not having shields outside the panel, follow the instructions given for each cable. (Installation of a ferrite core, etc., may be required.)
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13.5.3 Servo/Spindle Motor Power Cable
Control panel Control panel
To drive unit
10cm or less
Earth with P or U clip
As close as possible
Cannon connector
To drive unit
Earth with paint mask
Conduit connector
Cannon connector
Shield cable
Servo motor
Using shield cable
Power cable for servo motor
Conduit
Cabtyre cable
Using conduit
Servo motor
Control panel Control panel
To drive unit
10cm or less
Earth with P or U clip
As close as possible
Terminal box
To drive unit
Earth with paint mask
Conduit connector
Terminal box
Spindle motor
Shield cable
Using shield cable
Power cable for spindle motor
Conduit
Cabtyre cable
Using conduit
Spindle motor
[1] Use four wires (3-phase + earthing) for the power cable that are completely shielded and free from breaks.
[2] Earth the shield on both the control panel side and motor chassis side. The shield earth position on the drive unit side must be 10cm or less from the control panel.
[3] Earth the shield with a metal P clip or U clip.
(A cable clamp fitting can be used depending on the wire size.)
[4] Directly earth the shield. Do not solder the braided shield onto a wire and earth the end of the wire.
Solder
Earth example with P clip Earth example with U clip Earth example with wire soldering
[5] When not using a shield cable for the power cable, use a conventional cabtyre cable. Use a metal conduit outside the cable.
[6] Earth the power cable on the control panel side at the contact surface of the conduit connector and control panel.
(Mask the side wall of the control panel with paint.)
[7] Follow the treatment shown in the example for the conduit connector to earth the power cable on the motor side.
(Example: Use a clamp fitting, etc.)
Clamp fitting
Earth (Wire it as short and thick as possible.)
Conduit
Conduit connector
IB-1501241-H
Connector
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13 Appx. 5: EMC Installation Guidelines
13.5.4 Servo/Spindle Motor Encoder Cable
Use a shield pair cable for encoder cable of the servo motor to earth on NC side (inside the control panel.) Mounting a ferrite core directly behind the unit connector is also effective in suppressing noise.
Control panel
To drive unit
10cm or less
As close as possible Connector
< Installation example >
Batch shield pair cable
Encoder cable for servo motor
Control panel
Drive unit Power supply unit
Operation panel
Control unit
To motor encoder
To motor power
Optical cable
Ferrite core
Shield earth
Ferrite core
Magnetic contactor
ACL
EMC filter
Power supply
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13.6 EMC Countermeasure Parts
13.6.1 Shield Clamp Fitting
The effect can be enhanced by connecting the cable directly to the earthing plate. Install an earthing plate near each panel's outlet (within 10cm), and press the cable against the earthing plate with the clamp fitting. If the cables are thin, several can be bundled and clamped together. Securely earth the earthing plate with the frame ground. Install directly on the cabinet or connect with an earthing wire.
Peel the cable sheath at the clamp section.
Cable
࣭ Outline drawing
Earthing plate
2ȭ 5 hole
Installation hole
17.5
Clamp fitting
Earthing plate
Cable
L1 Clamp fitting
(Fitting A, B)
L2
Shield sheath
.3 0
View of clamp section
1RWH
M4 screw
6 22
35
Ground Plate #D
Ground Plate #E
Clamp fitting A
Clamp fitting B
A
100
70
B
86
56
C
30
-
L1
(maximum dimension when it is open)
25
12
[Unit: mm]
(Note 1) Screw hole for wiring to earthing plate in cabinet.
(Note 2) The earthing plate thickness is 1.6mm.
Enclosed fittings
Clamp fitting A x 2
Clamp fitting B x 1
L2
(reference dimension)
(77)
(54)
13.6.2 Ferrite Core
Noise can be suppressed by installing a ferrite core to the cable if the power cable and encoder cable, which are led from outside of the control panel, are the noise sources.
Specify the frequency of radiated noise and select the ferrite with high impedance corresponding to the frequency.
By wrapping the cable around the ferrite core according to the cable diameter as shown in the example, the impedance rises, obtaining a better effect.
< Example of use >
Lead through one time
(one turn)
Lead through two times
(two turns)
Lead through three times
(three turns)
The clearance between the ferrite core and cable must be as narrow as possible when winding a cable.
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< Recommended ferrite core >
A ferrite core is integrated and mounted on the plastic case. Quick installation is possible without cutting the interface cable or power cable. This ferrite core is effective against common mode noise, allowing measures against noise to be taken without affecting the signal quality.
TDK ZCAT Series
ZCAT type
A
B ȭ D ȭ C
ZCAT-A type
A
B
E ȭ C
Fig.1
Part name Fig A B
ZCAT3035-1330(-BK) *1
ZCAT2035-0930-M(-BK)
1
2
39±1
35±1
*1 A fixing band is enclosed when shipped.
34±1
28±1
Contact:
TDK Corporation http://www.global.tdk.com/
Kitagawa Industries GRFC Series
Fig.2
C
13
9±1
D E
30 -
19.5±1 17.4±1
Applicable cable outline
13max.
6 to 9
Mass
63
22
[Unit: mm]
Part number
RFC-H13
RFC-20
A B C
31.7
29.4
41.0
40.0
40.0
47.0
D
-
-
Applicable bundle diameter Impedance * Ω /100MHz (1 turn)
Φ 12.5 to 13.5
≥ 170
Max.
Φ 20 ≥ 180
[Unit: mm]
Contact:
KITAGAWA INDUSTRIES CO.,LTD.
http://www.kitagawa-ind.com/eng/
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13.6.3 Power Line Filter
HF3000C-SZA Series for 200V/400V
■ Features
(a) 3-phase 3-wire type (500V series)
(b) Compatible with 200V/400V
(c) Compliant with EU Standards EN55011 (Group 1 Class A)
(d) Downsized for the space-saving book type
■ Application
(a) Applications such as large machine tool, inverter, servo, etc.
■ Specifications
Part name
Rated voltage
Rated current
Leakage current
Ambient temp
Safety standards
Vibration
Resistance
HF3010
C-SZA
HF3020
C-SZA
HF3030
C-SZA
10A 20A 30A
HF3000C-SZA Series
HF3040
C-SZA
HF3050
C-SZA
HF3060
C-SZA
HF3080
C-SZA
HF3100
C-SZA
HF3150
C-SZA
3-phase 3-wire type 500VAC (530VAC max 50/60Hz)
40A 50A 60A 80A 100A 150A
HF3200
C-SZA
200A
HF3250
C-SZA
HF3300
C-SZA
250A 300A
7mA max 400VAC 50Hz(by UL1283)
-20 to 50°C
CSA, UL1283/EN60939-2
Frequency: 10Hz to 55Hz Acceleration rate: 9.8m/s
2
< Circuit diagram > < Attenuation > Typical example: HF3150C-SZA
■ Outline dimensions
Model
HF3010C-SZA
HF3020C-SZA
HF3030C-SZA
HF3040C-SZA
HF3050C-SZA
HF3060C-SZA
HF3080C-SZA
HF3100C-SZA
HF3150C-SZA
HF3200C-SZA
HF3250C-SZA
HF3300C-SZA
Rated current
10A
20A
30A
40A
50A
60A
80A
100A
150A
200A
250A
300A
5.4kg
5.8kg
9.0kg
11kg
12kg
13kg
Mass
(typ.)
0.9kg
1.3kg
1.3kg
2.0kg
2.0kg
2.1kg
Dimension [Unit:mm]
W D H
220
270
310
395
400
66
80
100
110
120
78
84
210
230
260
IB-1501241-H 434
㻴㻌
MDS-EM/EMH Series Instruction Manual
13 Appx. 5: EMC Installation Guidelines
13.6.4 Surge Absorber
Insert a surge absorber in outside the AC reactor when viewed from the power supply unit and drive unit to prevent damage to the control panel or power supply unit, etc. caused by the surge (lightning or sparks, etc.) applied on the AC power line. Do not insert the surge absorber between the AC reactor, and the power supply unit and drive unit. Harmonic components occur due to the power regeneration control.
Use a surge absorber that satisfies the following electrical specifications.
< Surge absorber for 200V >
RSPD Series for 200V (for both between phases and between phase and earth)
Part name
RSPD-250-U4
Rated voltage
50/60Hz
3AC 250V
Voltage protection level
1300V
Surge withstand level
8/20 µs
2500A
Service temperature
-40 to 70°C
< Surge absorber for 400V >
RSPD Series for 400V (for both between phases and between phase and earth)
Part name
RSPD-500-U4
Rated voltage
50/60Hz
3AC 500V
Voltage protection level
2000V
Surge withstand level
8/20µs
2500A
Service temperature
-40 to 70°C
Outline dimension drawings Circuit diagram
[Unit: mm]
Resin
Connection cable
Case
Contact: Okaya Electric Industries Co., Ltd. http://www.okayaelec.co.jp/english/index.html
435 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
13 Appx. 5: EMC Installation Guidelines
< Example of surge absorber installation >
An example of installing the surge absorber in the machine control panel is shown below.
A short-circuit fault will occur in the surge absorber if a surge exceeding the tolerance is applied. Thus, install a circuit protector in the stage before the surge absorber. Note that almost no current flows to the surge absorber during normal use, so a circuit protector installed as the circuit protection for another device can be used for the surge absorber.
Transformer
Circuit protector
NC unit
Factory power
Panel earth leakage breaker
Input power
A
Circuit protector
Other device
(panel power supply, etc.)
AC reactor
Contactor
MC
Circuit protector
Power supply unit and drive unit
Other device
(panel power supply, etc.)
Surge absorber
(Protection across phases/
Protection across each phase’s grounding)
Control panel
(relay panel,
etc.)
Grounding
Grounding plate
Installing the surge absorber
CAUTION
1. The wires from the surge absorber should be connected without extensions.
2. If the surge absorber cannot be installed just with the enclosed wires, keep the wiring length of A to 2m or less. If the wires are long, the surge absorber's performance may drop and inhibit protection of the devices in the panel.
3. Surge absorber to be selected varies depending on input power voltage.
4. Do not insert the surge absorber in the place with a lot of harmonic components.
IB-1501241-H 436
14
Appx. 6: Higher Harmonic Suppression Measure
Guidelines
437 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
14 Appx. 6: Higher Harmonic Suppression Measure Guidelines
14.1 Higher Harmonic Suppression Measure Guidelines
These guidelines apply to users for which the 6-pulse equivalent capacity total of the installed higher harmonic generator exceeds the reference in the following table. (Note that household appliances and general-purpose products having a rated current of 20A/phase or less connected to a 300V or less commercial power supply are excluded from the generators.)
Use the following flow chart to confirm whether the total exceeds the reference.
New installation, expansion or upgrading of facility
Calculation of total equivalent capacity
Reference capacity or less
Total equivalent capacity
Step 1
Reference capacity exceeded
Calculation of higher harmonic current flow
Upper limit value exceeded
Higher harmonic current
Step 2
Upper limit
Higher harmonic suppression measures required
Higher harmonic suppression measures not required
•
•
Higher Harmonic Suppression Guidelines were set in September 1994 by the Ministry of International Trade and
Industry's Agency of Natural Resources and Energy.
Higher Harmonic Suppression Measure Guidelines for Household Appliances and General-purpose Products
Higher Harmonic Suppression Measure Guidelines for Consumers Receiving High Voltage or Special High Voltage
Power
IB-1501241-H 438
MDS-EM/EMH Series Instruction Manual
14 Appx. 6: Higher Harmonic Suppression Measure Guidelines
14.1.1 Calculating the Equivalent Capacity of the Higher Harmonic Generator
As a principle, the higher harmonic suppression measure guidelines must be followed by the customer.
(1) Calculating the total equivalent capacity (Step 1)
Calculate the total equivalent capacity with the following expression.
Total equivalent circuit: Po = Σ • Ki • Pi
Ki :Conversion coefficient (Refer to following table)
Pi :Rated input capacity of each device
(Table 1) Rated capacity of each unit
MDS-EM-
SPV3-10040
SPV3-10080
SPV3-16040/16040S
SPV3-16080
SPV3-20080
SPV3-200120
SPV3-320120
Unit type
MDS-EMH-
-
-
-
SPV3-8040
SPV3-10040
SPV3-10060
-
Rated input capacity pi [kVA]
24.12
26.47
26.8
27.2
35.9
44.7
57.6
(Note) The rated capacity Pi above, is the value used to calculate whether the product corresponds to the higher harmonic guidelines. Thus, the value will differ from the actual power facility's capacity.
(The power supply unit is not included.)
(Table 2) Circuit class and conversion coefficient for each unit
Name Model
Circuit class
Circuit type
Servo drive unit
Spindle drive unit
MDS-E/EH-V1/V2 Series
MDS-E/EH-SP/SP2 Series
3
3
3-phase bridge (with smoothing capacitor)
With AC reactor (Note 1)
3-phase bridge (with smoothing capacitor)
With AC reactor (Note 1)
(Note) This applies when an AC reactor is installed on the power supply unit.
(Table 3) Limit values for total equivalent capacity
Incoming voltage
6.6kV
22/33kV
66kV or more
Total of 6-pulse equivalent capacity
50kVA
300kVA
2,000kVA
Conversion coefficient
Ki
K32=1.8
K32=1.8
If the total equivalent capacity Po exceeds the limit value given in (Table 3), proceed to "(2) Calculating the higher harmonic current flow".
Measures are not required if the value is not exceeded.
439 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
14 Appx. 6: Higher Harmonic Suppression Measure Guidelines
(2) Calculating the higher harmonic current flow (Step 2)
To calculate the higher harmonic current flow, calculate the rated current for the incoming power voltage conversion.
Rated current for incoming power voltage conversion (mA) = a • Pi
(Table 4) Incoming power voltage conversion coefficient a
Incoming power voltage
6.6kV
22 kV
33 kV
66 kV
77 kV
Coefficient a
87.5
26.2
17.5
8.75
7.5
Conversion coefficient
6.6kV
22kV
33kV
66kV
77kV
(Table 5) Upper limit of higher harmonic current flow (mA/kW)
5th- order 7th- order 11th- order 13th- order 17th- order 19th- order 23rd- order 25th- order
3.5
1.8
1.2
0.59
0.50
2.5
1.3
0.86
0.42
0.36
1.6
0.82
0.55
0.27
0.23
1.3
0.69
0.46
0.23
0.19
1.0
0.53
0.35
0.17
0.15
0.9
0.47
0.32
0.16
0.13
0.76
0.39
0.26
0.13
0.11
0.70
0.36
0.24
0.12
0.10
Obtain the upper limit of the higher harmonic current flow (judgment value) for each order.
(The contracted electricity must be known for this.)
Upper limit of higher harmonic current flow (mA) = Contracted electricity, flow upper limit value
Flow upper limit value :
Insert a value from Table 5 according to the higher harmonic order to be calculated.
Obtain the higher harmonic current flow for each order using the following expression.
Higher harmonic current flow (mA) = (a • Pi), Device's maximum operation rate, target order
Device's maximum operation rate : The user must set the operation rate.
Target order : Insert a value from Table 6 according to the higher harmonic order to be calculated.
(Table 6) Higher harmonic current generation rate %
Conversion coefficient
K32 = 1.8
K31 = 3.4
5th- order
38.0
65.0
7th- order 11th- order 13th- order 17th- order 19th- order 23rd- order 25th- order
14.5
41.0
Values when basic wave current is 100%.
7.4
8.5
3.4
7.7
3.2
4.3
1.9
3.1
1.7
2.6
1.3
1.8
Check whether the calculated results exceed the limit value.
If the limit value for the higher harmonic current flow is exceeded, consider the higher harmonic measures shown below.
Examples of higher harmonic measures
Item
Power-factor improving capacitor
Installation of AC line filter
Details
Higher harmonics are suppressed by adding a leading capacitor for improving the power factor.
A reactor and capacitor are combined to reduce the impedance for specific frequencies.
IB-1501241-H 440
MDS-EM/EMH Series Instruction Manual
14 Appx. 6: Higher Harmonic Suppression Measure Guidelines
(3) Higher harmonic current flow calculation form
A higher harmonic current flow calculation form is shown below for reference.
441 IB-1501241-H
MDS-EM/EMH Series Instruction Manual
14 Appx. 6: Higher Harmonic Suppression Measure Guidelines
IB-1501241-H 442
Revision History
Date of revision
Jun. 2015
Dec. 2015
Manual No.
IB(NA)1501241-A First edition created.
Revision details
IB(NA)1501241-B - Descriptions for MDS-EMH Series were added.
- Servo motor HG75,105, HG-H54, 104, 154, 204, 354, 453 were added.
- Function Specifications List was revised.
- "Quakeproof Level", "Shaft Characteristics" and "Coupling with the Load" in
"Installation of Servo Motor" were revised.
- "Installation of Spindle Motor" was revised.
- "Balancing the Spindle Motor (Unit)" was revised.
- "Shaft Characteristics", "Coupling with the Fittings" and "Connection" in
"Installation of Spindle Motor" were revised.
- "Installation of the Terminal Box Cover" was added.
- "Cable Stress" was revised.
- "Installation Direction and Clearance" was revised.
- "Heating Value" was revised.
- "Spindle Side PLG Serial Output Encoder (TS5690, MU1606 Series)" was revised.
- "Part System Connection Diagram" was revised.
- "Main Circuit Terminal Block/Control Circuit Connector" was revised.
- "NC and Drive Unit Connection" was revised.
- "Motor and Encoder Connection" was revised.
- "Connection of Power Supply" was revised.
- "Wiring of the Motor Brake" was revised.
- "Spindle Coil Changeover" and "Proximity Switch Orientation" were revised.
- "STO (Safe Torque Off) Function" was revised.
- "Initial Setup" was revised.
- "Setting of Servo Specification Parameters" and "Setting of Machine Side
Encoder" were revised.
- "List of Standard Parameters for Each Servo Motor" was revised.
- "Servo Parameters" was revised.
- "List of Standard Parameters for Each Spindle Motor" was revised.
- "Spindle Specification Parameters" was revised.
- "Spindle Parameters" was revised.
- "Spindle-type Servo Parameters" was added.
- "Speed Loop Gain" and "OMR-FF Function" were revised.
- "Optimal Adjustment of Cycle Time" was revised.
- "Vertical Axis Drop Prevention Control" was revised.
- "Spindle C Axis Adjustment (For Lathe System)" was revised.
- "Spindle Motor Temperature Compensation Function" was revised.
- "Points of Caution and Confirmation" was revised.
- "Troubleshooting for Each Alarm No." was revised.
- "Replacing the Fan unit" was added.
- "Replacing the Battery" was revised.
- "D/A Output Specifications for Drive Unit" was revised.
- "Protection Function" was added.
- "Compliance to EC Directives" was revised.
- "Higher Harmonic Suppression Measure Guidelines" was revised.
- Miswrite is corrected.
Date of revision
Mar. 2016
Sep. 2016
Manual No.
Revision details
IB(NA)1501241-C - Descriptions for 400V specifications were deleted.
- Servo motor HG96 was added.
- MDS-EM-SPV3-16040 was added.
- "Precautions for Safety" was revised.
- Function Specifications List was revised.
- "Quakeproof Level", "Shaft Characteristics", "Oil / Water Standards" and
"Installation of Servo Motor" in "Installation of Servo Motor" were revised.
- "Shaft Characteristics" in "Installation of Spindle Motor" was revised.
- "Installation Direction and Clearance" was revised.
- "Heating Value" was revised.
- "Wiring and Connection" was revised.
- "Initial Setup" was revised.
- "OSA105ET2A" was replaced by "OSA405ET2AS".
- "OSA166ET2NA" was replaced by "OSA676ET2AS".
- "List of Standard Parameters for Each Servo Motor" and "Servo Parameters" were revised.
- "List of Standard Parameters for Each Spindle Motor" and "Spindle
Parameters" were revised.
- "Speed Loop Gain" was revised.
- "Optimal Adjustment of Cycle Time" was revised.
- "Vertical Axis Drop Prevention Control" and "Vertical Axis Pull-up Control" were revised.
- "Spindle Motor Temperature Compensation Function" was revised.
- "LED Display When Alarm or Warning Occurs" was revised.
- "Troubleshooting for Each Alarm No." was revised.
- "Parameter Numbers during Initial Parameter Error" was revised.
- "Replacing the Fan Unit" was revised.
- "D/A Output Specifications" was revised.
- "Emergency Stop Observation" and "SLS (Safely Limited Speed) function" were revised.
- "Compliance to EC Directives" was revised.
- "EMC Installation Guidelines" was revised.
- "Higher Harmonic Suppression Measure Guidelines" was revised.
- Miswrite is corrected.
IB(NA)1501241-D - Descriptions for MDS-EMH Series were added.
- "Multi axis integrated drive unit" was replaced by "Multi-hybrid drive unit".
- Function Specifications List was revised.
- "Quakeproof Level", "Shaft Characteristics", "Oil / Water Standards" and
"Installation of Servo Motor" in "Installation of Servo Motor" were revised.
- "Shaft Characteristics" in "Installation of Spindle Motor" was revised.
- "Installation Direction and Clearance" and "Heating Value" were revised.
- "Wiring and Connection" was revised.
- "Initial Setup" was revised.
- "Setting of Machine Side Encoder", "List of Standard Parameters for Each
Servo Motor" and "Servo Parameters" were revised.
- "Setting of Parameters Related to the Spindle", "List of Standard Parameters for Each Spindle Motor", "Spindle Specification Parameters" and "Spindle
Parameters" were revised.
- "Speed Loop Gain" was revised.
- "OMR-FF Function" was revised.
Date of revision
Sep. 2016
Nov. 2017
Manual No.
Revision details
IB(NA)1501241-D - "Optimal Adjustment of Cycle Time" and "Vibration Suppression Measures" were revised.
- "Vertical Axis Drop Prevention Control" and "Vertical Axis Pull-up Control" were revised.
- "Spindle C Axis Adjustment (For Lathe System)" was revised.
- "Spindle Motor Temperature Compensation Function" was revised.
- "LED Display When Alarm or Warning Occurs" was revised.
- "List of Alarms" was revised.
- "Troubleshooting for Each Alarm No." was revised.
- "Replacing the Fan Unit" was revised.
- "D/A Output Specifications" and "Servo Drive Unit Settings" were revised.
- "Emergency Stop Observation" and "SLS (Safely Limited Speed) function" were revised.
- "Compliance to EC Directives" was revised.
- "EMC Installation Guidelines" was revised.
- "Higher Harmonic Suppression Measure Guidelines" was revised.
- Miswrite is corrected.
IB(NA)1501241-E - "Multi-hybrid drive unit" was replaced by "Multi axis unit".
- The words "machine manufacturers" were replaced by "machine tool builders".
- The following spindle motors were added.
SJ-D15/80-01, SJ-DG11/120-03T
- The following spindle motors were deleted.
SJ-V7.5-03ZT, SJ-V11-08ZT, SJ-V11-13ZT
- "Precautions for Safety" was revised.
- Function Specifications List was revised.
- "Coupling with the Load" and "Oil / Water Standards" were revised.
- "Environmental Conditions", "Shaft Characteristics", "Installation of Spindle
Motor" and "Connection" in "Installation of Spindle Motor" were revised.
- "Installation Direction and Clearance" and "Heating Value" were revised.
- "Heat radiation countermeasures outside the control panel" was deleted from
"Heat Radiation Countermeasures".
- "Spindle Side PLG Serial Output Encoder (TS5690, MU1606 Series)" was revised.
- "Twin-head Magnetic Encoder (MBA405W, MBE405W Series)" was deleted.
- "Part System Connection Diagram", "Main Circuit Terminal Block/Control
Circuit Connector", "NC and Drive Unit Connection" and "Motor and Encoder
Connection" were revised.
- "Power Supply Input Connection" was revised.
- "Wiring of the Motor Brake" was revised.
- "Proximity Switch Orientation" was revised.
- "Harmonized Standard" was revised.
- "STO (Safe Torque Off) Function" was revised.
- "SBC (Safe Brake Control) Function" was revised.
- "Initial Setup" was revised.
- "Setting the Initial Parameters for the Servo Drive Unit" was revised.
- "Setting of Servo Specification Parameters", "Setting of Machine Side
Encoder", "List of Standard Parameters for Each Servo Motor", "Servo
Parameters" were revised.
- "Setting the Initial Parameters for the Spindle Drive Unit" was revised.
Date of revision
Nov. 2017
Apr. 2018
Jun. 2020
Nov. 2020
Manual No.
Revision details
IB(NA)1501241-E - "Setting of Parameters Related to the Spindle", "List of Standard Parameters for Each Spindle Motor" and "Spindle Parameters" were revised.
- "Spindle Specification Parameters" and "Spindle-type Servo Parameters" were deleted.
- "Speed Loop Gain"and "OMR-FF Function" were revised.
- "Optimal Adjustment of Cycle Time" and "Vibration Suppression Measures" were revised.
- "Full-closed Torsion Compensation Function" was added.
- "Vertical Axis Drop Prevention Control" was revised.
- "Collision Detection Function" was revised.
- "Adjusting the Acceleration/Deceleration Operation" was revised.
- "High-speed Synchronous Tapping", "Spindle C Axis Adjustment (For Lathe
System)" and "Spindle Synchronization Adjustment (For Lathe System)" were revised.
- "Points of Caution and Confirmation" was revised.
- "Protective Functions List of Units" was revised.
- "Troubleshooting for Each Alarm No.", "Troubleshooting for Each Warning
No." and "Parameter Numbers during Initial Parameter Error" were revised.
- "Details of Alarm 4D" was added.
- "Maintenance" was revised.
- "Replacing the Battery" was revised.
- "Compliance to EC Directives" was revised.
- Miswrite is corrected.
IB(NA)1501241-F - MDS-EM-SPV3-16040S and MDS-EM-SPV3-320120 were added.
- The following spindle motors were added.
SJ-D18.5/80-01, SJ-D22/80-01, SJ-D26/80-01
- Function Specifications List was revised.
- "Shaft Characteristics" and "Connection" in "Installation of Spindle Motor" were revised.
- "Installation Direction and Clearance", "Panel Installation Hole Work Drawings
(Panel Cut Drawings)" and "Heating Value" were revised.
- "Connector Pin Assignment" and "Servo Motor Power Supply Connector
Wiring Method" were revised.
- "NC and Drive Unit Connection" was revised.
- "Setting of Distance-coded Reference Scale", "List of Standard Parameters for Each Servo Motor" and "Servo Parameters" were revised.
- "Setting the Initial Parameters for the Spindle Drive Unit" was revised.
- "OMR-FF Function" was revised.
- "Full-closed Torsion Compensation Function" was revised.
- "Gain Adjustment", "Synchronous Tapping Adjustment", "Spindle C Axis
Adjustment (For Lathe System)" and "Spindle Synchronization Adjustment
(For Lathe System)" were revised.
- "Service Parts" was revised.
- "Replacing the Fan Unit" was revised.
- "Calculating the Equivalent Capacity of the Higher Harmonic Generator" was revised.
- Miswrite is corrected.
IB(NA)1501241-G - "Introduction" was revised.
- "Connector Pin Assignment" was revised.
IB(NA)1501241-H - Servo motor HG702 was added.
Date of revision
Nov. 2020
Manual No.
Revision details
IB(NA)1501241-H - The following spindle motors were added.
SJ-DG15/120-02T-K, SJ-DL5.5/240-05T, SJ-DN7.5/80-01, SJ-DN11/80-01,
SJ-DN15/80-01, SJ-DN18.5/80-01
- Spindle motor SJ-V15-01ZT was deleted.
- "Introduction" was revised.
- "Precautions for Safety" was revised.
- Function Specifications List was revised.
- "Quakeproof Level", "Shaft Characteristics", and "Oil/Water Standards" in
"Installation of Servo Motor" were revised.
- "Installation of Spindle Motor" was revised.
- "Installation of the Terminal Box Cover" was deleted.
- "Heating Value" was revised.
- "CAUTION", "Part System Connection Diagram", "NC and Drive Unit
Connection", "Connection of the Servo Motor", and "Wiring of the Motor
Brake" in "Wiring and Connection" were revised.
- "Safety Function" was revised.
- "STO (Safe Torque Off) Function" was revised.
- "Transition of LED Display After Power Is Turned ON" was revised.
- "Setting the Initial Parameters for the Servo Drive Unit" was revised.
- "Setting the Initial Parameters for the Spindle Drive Unit" was revised.
- "Speed Loop Gain" and "OMR-FF Function" were revised.
- "Optimal Adjustment of Cycle Time", "Vibration Suppression Measures",
"Improvement of Protrusion at Quadrant Changeover", and "Speed Loop
Delay Compensation" were revised.
- "Vertical Axis Drop Prevention Control", "Vertical Axis Pull-up Control", and
"Collision Detection Function" were revised.
- "Adjusting the Acceleration/Deceleration Operation", "High-speed
Synchronous Tapping", "Deceleration Coil Changeover Valid Function by
Emergency Stop", "Spindle Motor Temperature Compensation Function",
"Settings for Emergency Stop", and "Spindle Control Signal" were revised.
- "List of Alarms" was revised.
- "Troubleshooting for Each Alarm No." and "Troubleshooting for Each Warning
No." were revised.
- "Adding and Replacing Units and Parts" was revised.
- "Replacing the Battery" was revised.
- "SLS (Safely Limited Speed) function" was revised.
- "Cautions for EC Directive Compliance" was revised.
- "EMC Installation Guidelines" was revised.
- "Higher Harmonic Suppression Measure Guidelines" was revised.
- Miswrite is corrected.
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SCHELMENWASENSTRASSE 16-20, 70567 STUTTGART, GERMANY
TEL: + 49-711-770598-123 / FAX: +49-711-770598-141
France Service Center (Paris)
25, BOULEVARD DES BOUVETS, 92741 NANTERRE CEDEX FRANCE
TEL: +33-1-41-02-83-13 / FAX: +33-1-49-01-07-25
France Service Satellite (Lyon)
1 2 0 , A L L E E J A C Q U E S M O N O D 6 9 8 0 0 S A I N T P R
TEL: +33-1-41-02-83-13 / FAX: +33-1-49-01-07-25
I E S T F R A N C E
Italy Service Center (Milan)
CENTRO DIR. COLLEONI, PALAZZO SIRIO, VIALE COLLEONI 7, 20864 AGRATE BRIANZA (MB) ITALY
TEL: +39-039-6053-342 / FAX: +39-039-6053-206
Italy Service Satellite (Padova)
VIA G. SAVELLI, 24 - 35129 PADOVA, ITALY
TEL: +39-039-6053-342 / FAX: +39-039-6053-206
U.K. Service Center
TRAVELLERS LANE, HATFIELD, HERTFORDSHIRE, AL10 8XB, U.K.
TEL: +49-2102-486-5000 / FAX: +49-2102-486-5910
Spain Service Center
CTRA. RUBI, 76-80 8174 SAINT CUGAT DEL VALLES, BARCELONA SPAIN
T E L : + 3 4 9 3 5 6 5 2 2 3 6 / F A X : + 3 4 9 3 5 8 9 1 5 7 9
Poland Service Center
UL.KRAKOWSKA 50, 32-083 BALICE, POLAND
TEL: +48-12-347-6500 / FAX: +48-12-630-4701
Hungary Service Center
M A D A R A S Z I R O D A P A R K , M A D A R A S Z V I K T O R U T 4 7 4 9 , 1 1 3 8 B U D A P E S T , H U N G A R Y
T E L : + 4 8 1 2 3 4 7 6 5 0 0 / F A X : + 4 8 1 2 6 3 0 4 7 0 1
Turkey Service Center
MITSUBISHI ELECTRIC TURKEY A.Ş
SERIFALI MAHALLESI NUTUK SOKAK. NO.41 34775
UMRANIYE, ISTANBUL, TURKEY
T E L : + 9 0 2 1 6 9 6 9 2 5 0 0 / F A X : + 9 0 2 1 6 5 2 6 3 9 9 5
Czech Republic Service Center
AutoCont Control Systems s.r.o (Service Partner)
KAFKOVA 1853/3, 702 00 OSTRAVA 2, CZECH REPUBLIC
TEL: +420-59-5691-185 / FAX: +420-59-5691-199
Russia Service Center
MITSUBISHI ELECTRIC RUSSIA LLC
LETNIKOVSKAYA STREET 2, BLD.1, 5TH 115114 MOSCOW, RUSSIA
TEL: +7-495-721-2070 / FAX: +7-495-721-2071
Sweden Service Center
HAMMARBACKEN 14, P.O.BOX 750 SE-19127, SOLLENTUNA, SWEDEN
TEL: +46-8-6251000 / FAX: +46-8-966877
Bulgaria Service Center
AKHNATON Ltd. (Service Partner)
4 ANDREJ LJAPCHEV BLVD. POB 21, BG-1756 SOFIA, BULGARIA
TEL: +359-2-8176009 / FAX: +359-2-9744061
Ukraine Service Center (Kiev)
CSC Automation Ltd. (Service Partner)
4 B, YEVHENA SVERSTYUKA STR., 02002 KIEV, UKRAINE
TEL: +380-44-494-3344 / FAX: +380-44-494-3366
Belarus Service Center
TECHNIKON Ltd. (Service Partner)
NEZAVISIMOSTI PR.177, 220125 MINSK, BELARUS
TEL: +375-17-393-1177 / FAX: +375-17-393-0081
South Africa Service Center
MOTIONTRONIX (Service Partner)
P.O. BOX 9234, EDLEEN, KEMPTON PARK GAUTENG, 1625, SOUTH AFRICA
TEL: +27-11-394-8512 / FAX: +27-11-394-8513
ASEAN
M I T S U B I S H I E L E C T R I C A
Singapore Service Center
S I A P T E .
L T D .
PHILIPPINE
( A S E A
MELCO FACTORY AUTOMATION PHILIPPINES INC.
Head Office
128 LOPEZ RIZAL STREET, BRGY., HIGHWAY HILLS, MANDALUYONG CITY , MM PHILIPPINES 1550
TEL: +63-2-8256-8042 / FAX: +632-8637-2294
Philippines Service Center
KM.23 WEST SERVICE ROAD SSH, CUPANG ,MUNTINLUPA CITY PHILIPPINES
TEL: +63-2-8807-0420 / FAX: +63-2-8842-5202
N F A C E N T E R )
307 ALEXANDRA ROAD #05-01/02 MITSUBISHI ELECTRIC BUILDING SINGAPORE 159943
TEL: +65-6473-2308 / FAX: +65-6476-7439
VIETNAM
MITSUBISHI ELECTRIC VIETNAM CO.,LTD.
Vietnam Ho Chi Minh Service Center
11TH & 12TH FLOOR, VIETTEL TOWER B, 285 CACH MANG THANG 8 STREET, WARD 12, DISTRICT 10,
HO CHI MINH CITY, VIETNAM
TEL: +84-28-3910 5945 / FAX: +84-28-3910 5947
Vietnam Hanoi Service Center
24TH FLOOR, HANDICO TOWER, PHAM HUNG ROAD, ME TRI HA, ME TRI WARD,
NAM TU LIEM DISTRICT, HA NOI CITY, VIETNAM
TEL: +84-24-3937-8075 / FAX: +84-24-3937-8076
INDONESIA
PT. MITSUBISHI ELECTRIC INDONESIA
Indonesia Service Center (Cikarang)
JL. KENARI RAYA BLOK G2-07A, DELTA SILICON 5, LIPPO CIKARANG - BEKASI 17550, INDONESIA
TEL: +62-21-2961-7797 / FAX: +62-21-2961-7794
CHINA
M I T S U B I S H I E L E C
CNC Call Center
T R I C A U T O M A T I O N
TEL: +86-400-921-5130
( C H I N A ) L T D .
( C H I N A F A C E N T E R )
Shanghai Service Center
1-3,5-10,18-23/F, NO.1386 HONG QIAO ROAD, CHANG NING QU,
SHANGHAI 200336, CHINA
TEL: +86-21-2322-3030 / FAX: +86-21-2322-3000*8422
Qingdao Service Center
Suzhou Service Center
Wuhan Service Center
Ningbo Service Center
Hefei Service Center
Beijing Service Center
Tianjin Service Center
Xian Service Center
Dalian Service Center
Chengdu Service Center
Shenzhen Service Center
LEVEL8, GALAXY WORLD TOWER B, 1 YABAO ROAD, LONGGANG DISTRICT,
SHENZHEN 518129, CHINA
TEL: +86-755-2399-8272 / FAX: +86-755-8229-3686
Dongguan Service Center
Xiamen Service Center
KOREA
MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD. (KOREA FA CENTER)
Korea Service Center
8F GANGSEO HANGANG XI-TOWER A, 401 YANGCHEON-RO, GANGSEO-GU,
SEOUL 07528 KOREA
TEL: +82-2-3660-9609 / FAX: +82-2-3664-8668
Korea Daegu Service Satellite
MALAYSIA
MITSUBISHI ELECTRIC SALES MALAYSIA SDN. BHD.
Malaysia Service Center (Kuala Lumpur Service Center)
LOT 11, JALAN 219, P.O BOX 1036, 46860 PETALING JAYA, SELANGOR DARUL EHSAN. MALAYSIA
TEL: +60-3-7960-2628 / FAX: +60-3-7960-2629
Johor Bahru Service Satellite
THAILAND
MITSUBISHI ELECTRIC FACTORY AUTOMATION (THAILAND) CO.,LTD.
Thailand Service Center (Bangkok)
101, TRUE DIGITAL PARK OFFICE, 5TH FLOOR, SUKHUMVIT ROAD, BANGCHAK, PHRAKHANONG,
BANGKOK, 10260 THAILAND
TEL: +66-2-092-8600 / FAX: +66-2-043-1231-33
Bowin Service Center (Chonburi)
Korat Service Center
TAIWAN
MITSUBISHI ELECTRIC TAIWAN CO., LTD. (TAIWAN FA CENTER)
Taiwan Taichung Service Center
NO.8-1, INDUSTRIAL 16TH RD., TAICHUNG INDUSTRIAL PARK, SITUN DIST.,
TAICHUNG CITY 40768, TAIWAN
TEL: +886-4-2359-0688 / FAX: +886-4-2359-0689
Taiwan Taipei Service Center
10F, NO.88, SEC.6, CHUNG-SHAN N. RD., SHI LIN DIST., TAIPEI CITY 11155, TAIWAN
TEL: +886-2-2833-5430 / FAX: +886-2-2833-5433
Taiwan Tainan Service Center
11F-1., NO.30, ZHONGZHENG S. ROAD, YONGKANG DISTRICT, TAINAN CITY 71067, TAIWAN
TEL: +886-6-252-5030 / FAX: +886-6-252-5031
OCEANIA
MITSUBISHI ELECTRIC AUSTRALIA PTY. LTD.
Oceania Service Center
348 VICTORIA ROAD, RYDALMERE, N.S.W. 2116 AUSTRALIA
TEL: +61-2-9684-7269/ FAX: +61-2-9684-7245
INDIA
MITSUBISHI ELECTRIC INDIA PVT., LTD.
CNC Technical Center (Bangalore)
PLOT NO. 56, 4TH MAIN ROAD, PEENYA PHASE 3,
PEENYA INDUSTRIAL AREA, BANGALORE 560058, KARNATAKA, INDIA
TEL : +91-80-4655-2121 / FAX : +91-80-4655-2147
Chennai Service Satellite
Coimbatore Service Satellite
Hyderabad Service Satellite
North India Service Center (Gurgaon)
2ND FLOOR, TOWER A&B, DLF CYBER GREENS, DLF CYBER CITY,
DLF PHASE-III, GURGAON- 122 002, HARYANA, INDIA
TEL : +91-124-4630 300 / FAX : +91-124-4630 399
Ludhiana Service Satellite
Panth Nagar Service Satellite
Delhi Service Satellite
Jamshedpur Service Satellite
Manesar Service Satellite
West India Service Center (Pune)
ICC-Devi GAURAV TECHNOLOGY PARK, UNIT NO.402, FOURTH FLOOR, NORTH WING,
SURVEY NUMBER 191-192 (P), NEXT to INDIAN CARD CLOTHING COMPANY Ltd,
OPP. VALLABH NAGAR, PIMPRI, PUNE- 411 018, MAHARASHTRA, INDIA
TEL : +91-20-6819 2274 / FAX : +91-20-4624 2100
Kolhapur Service Satellite
Aurangabad Service Satellite
Mumbai Service Satellite
West India Service Center (Ahmedabad)
204-209, 2ND FLOOR, 31FIVE, CORPORATE ROAD PRAHLADNAGAR,
AHMEDABAD -380015, GUJARAT, INDIA
TEL : + 91-79-6777 7888
Rajkot Service Satellite
Notice
Every effort has been made to keep up with software and hardware revisions in the contents described in this manual. However, please understand that in some unavoidable cases simultaneous revision is not possible.
Please contact your Mitsubishi Electric dealer with any questions or comments regarding the use of this product.
Duplication Prohibited
This manual may not be reproduced in any form, in part or in whole, without written permission from Mitsubishi Electric Corporation.
© 2015-2020 Mitsubishi Electric Corporation
ALL RIGHTS RESERVED
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