Mitsubishi Electronics BNP-C3040D User Manual

MELDAS is a registered trademark of Mitsubishi Electric Corporation. Other company and product names that appear in this manual are trademarks or registered trademarks of their respective companies.

Introduction

Thank you for selecting the Mitsubishi numerical control unit. This instruction manual describes the handling and caution points for using this AC servo/spindle. Incorrect handling may lead to unforeseen accidents, so always read this instruction manual thoroughly to ensure correct usage. Make sure that this instruction manual is delivered to the end user. Always store this manual in a safe place. All specifications for the MDS-C1 Series are described in this manual. However, each CNC may not be provided with all specifications, so refer to the specifications for the CNC on hand before starting use.

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 manufacturers. The "restrictions" and "available functions" described in the manuals issued by the machine manufacturers 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.

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".

Note that some items described as the situation. In any case, important information that must be observed is described.

The numeric control unit is configured of the control unit, operation board, servo drive unit, spindle drive unit, power supply unit, servomotor and spindle motor, etc.

In this section "Precautions for safety", the following items are generically called the "servomotor".

• Servomotor

• Spindle motor

DANGER

WARNING

CAUTION

When there is a potential risk of fatal or serious injuries if handling is mistaken.

When operator could be fatally or seriously injured if handling is mistaken.

When a dangerous situation may occur if handling is mistaken leading to medium or minor injuries, or physical damage.

CAUTION

may lead to major results depending on

In this section "Precautions for safety", the following items are generically called the "servo drive unit".

• Servo drive unit

• Spindle drive unit

• Power supply unit

1. Electric shock prevention

Do not open the front cover while the power is ON or during operation. Failure to observe this could lead to electric shocks.

Do not operate the unit with the front cover removed. The high voltage terminals and charged sections will be exposed, and can cause electric shocks.

Do not remove the front cover even when the power is OFF unless carrying out wiring work or periodic inspections. The inside of the units is charged, and can cause electric shocks.

Wait at least 15 minutes after turning the power OFF before starting wiring, maintenance or inspections. Failure to observe this could lead to electric shocks.

Ground the servo drive unit and servomotor with Class C (former class 3) grounding or higher. Wiring, maintenance and inspection work must be done by a qualified technician. Wire the servo drive unit and servomotor after installation. Failure to observe this could lead to

electric shocks. Do not touch the switches with wet hands. Failure to observe this could lead to electric shocks. Do not damage, apply forcible stress, place heavy items on the cables or get them caught.

Failure to observe this could lead to electric shocks.

WARNING

1. Fire prevention

Install the servo drive units, servomotors and regenerative resistor on noncombustible material. Direct installation on combustible material or near combustible materials could le ad to fires.

Shut off the power on the servo drive unit side if the servo drive unit fails. 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 o v erheat 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.

2. Injury prevention

Do not apply a voltage other than that specified in Instruction Manual on each terminal. Failure to observe this item could lead to ruptures or damage, etc.

Do not mistake the terminal connections. Failure to observe this item could lead to ruptures or damage, etc.

Do not mistake the polarity ( damage, etc.

The servo drive unit's fins, regenerative resistor and servomotor, etc., may reach high temperatures while the power is ON, and may remain hot for some time after the power is turned OFF. Touching these parts could result in burns.

CAUTION

). Failure to observe this item could lead to ruptures or

CAUTION

3. Various precautions

Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and electric shocks, etc.

(1) Transportation and installation

Correctly transport the product according to its weight. Use the servomotor's hanging bolts only when transporting the servomotor. Do not transport

the servomotor when it is installed on the machine. Do not stack the products above the tolerable number. Do not hold the cables, axis or detector when transporting the servomotor. Do not hold the connected wires or cables when transporting the servo drive units. Do not hold the front cover when transporting the servo drive units. The unit could drop. Follow this Instruction Manual and install in a place where the weight can be borne. Do not get on top of or place heavy objects on the unit. Always observe the installation directions. Secure the specified distance between the servo drive unit and control panel's inne r wall, and

between other devices. Do not install or run a servo drive unit or servomotor that is damaged or missing parts. Do not block the intake or exhaust ports of the servomotor provided with a cooling fan. Do not let foreign objects enter the servo drive units or servomotors. In particular, if

conductive objects such as screws or metal chips, etc., or combustible materials such as oil enter, rupture or breakage could occur.

The servo drive units and servomotors are precision devices, so do not drop them or apply strong impacts to them.

CAUTION

Store and use the units under the following environment conditions.

Ambient temperature 0°C to +55°C (with no freezing) 0°C to +40°C (with no freezing) Ambient humidity Storage temperature -15°C to +70°C

Storage humidity 90%RH or less (with no dew condensation)

Atmosphere

Altitude 1,000m or less above sea level

Environment

Vibration 4.9m/s

Securely fix the servomotor to the machine. Insufficient fixing could lead to the servomotor slipping off during operation.

Always install the servomotor 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 servomotor shaft end, do not apply an impact by hammering, etc. The detector could be damaged.

Do not apply a load exceeding the tolerable load onto the servomotor shaft. The shaft could break.

Store the motor in the package box. When inserting the shaft into the built-in IPM motor, do not heat the rotor higher than

130°C. The magnet could be demagnetized, and the specifications characteristics will not be ensured.

If the unit has been stored for a long time, always check the operation before starting actual operation. Please contac t the Service Center or Service Station.

Servo drive unit Servomotor

90%RH or less

(with no dew condensation)

Indoors (where unit is not subject to direct sunlight),

with no corrosive gas, combustible gas, oil mist,

dust or conductive particles

(0.5G) or less

Conditions

80% RH or less

(with no dew condensation)

To follow each unit and motor

specifications

(2) Wiring

CAUTION

Correctly and securely perform the wiring. Failure to do so could lead to runaway of the servomotor.

Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of the servo drive unit.

Correctly connect the output side (terminals U, V, W). Failure to do so could lead to abnormal operation of the servomotor.

Do not directly connect a commercial power supply to the servomotor. Failure to observe this could result in a fault.

Servodrive unit

COM

(24VDC)

Servodrive unit

COM

(24VDC)

When using an inductive load such as a relay, always connect a diode as a noise measure parallel to the load.

Controloutput signal

Control output signal

When using a capacitance load such as a lamp, always connect a protective resistor a s 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 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.

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 connection manual, always ground the cable with

a cable clamp, etc. Always separate the signals wires from the drive wire and 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 as the operatio n could become unstable.

(4) Usage methods

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 servo drive unit or servomotor.

Unqualified persons must not disassemble or repair the unit. Never make modifications. Reduce magnetic damage by installing a noise filter. The electronic devices used near the

servo drive unit could be affected by magnetic noise. Use the servo drive unit, servomotor and regenerative resistor with the designated combination.

Failure to do so could lead to fires or trouble. The brake (magnetic brake) assembled into the servomotor is 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 or the

machine construction (when ball screw and servomotor are coupled via a timing belt, etc.). Install a stop device to ensure safety on the machine side.

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 the separate specifications manual for the power (input voltage, input frequency, tolerable sudden power failure time, 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 breaker is shared by several power supply units, the breaker may not activate when a

short-circuit fault occurs in a small capacity unit. This is dangerous, so never share the breakers.

CAUTION

(5) Troubleshooting

If a hazardous situation is predicted during power failure or product trouble, use a servomotor with magnetic brakes or install an external brake mechanism.

Use a double circuit configuration that allows the operation circuit for the magnetic brakes to be operated even by the external emergency stop signal.

CAUTION

Shut off with the servomotor brake control output.

Servomotor

Magnetic brake

Shut off with NC brake control PLC output.

MBR

EMG

24VDC

Always turn the input power OFF when an alarm occurs. Never go near the machine after restoring the power after a power failure, as the machine

could start suddenly. (Design the machine so that personal safety can be ensured even if the machine starts suddenly.)

(6) Maintenance, inspection and part replacement

Always carry out maintenance and inspection after backing up the servo drive unit's programs or parameters.

The capacity of the electrolytic capacitor will drop over time. 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 or Service Station for replacement.

Do not perform a megger test (insulation resistance measurement) during inspections. If the battery low warning is issued, save the machining programs, tool data and parameters

with an input/output unit, and then replace the battery. Do not short circuit, charge, overheat, incinerate or disassemble the battery.

(7) Disposal

Treat this unit as general industrial waste. Note that MDS Series unit with a heat dissipating fin protruding from the back of the unit contains substitute Freon. Do not dispose of this type of unit as general industrial waste. Always return to the Service Center or Service Station.

Do not disassemble the servo drive unit or servomotor parts. Dispose of the battery according to local laws.

(8) General precautions The drawings given in this Specifications and Maintenance Instruction Manual show the covers and

safety partitions, etc., removed to provide a clearer explanation. Always return the covers or partitions to their respective places before starting operation, and always follow the instructions given in this manual.

1. Installation

1-1 Installation of servomotor..................................................................................................... 1-2

1-1-1 Environmental conditions .............................................................................................. 1-2

1-1-2 Quakeproof level............................................................................................................ 1-2

1-1-3 Cautions for mounting load (prevention of impact on shaft)......................................... 1-3

1-1-4 Installation direction .......................................................................................................1-3

1-1-5 Shaft characteristics ...................................................................................................... 1-4

1-1-6 Oil/water standards........................................................................................................ 1-5

1-1-7 Cable stress................................................................................................................... 1-7

1-2 Installation of spindle motor.................................................................................................1-8

1-2-1 Environmental conditions .............................................................................................. 1-8

1-2-2 Shaft characteristics ...................................................................................................... 1-9

1-3 Installation of the control unit.............................................................................................1-10

1-3-1 Environmental conditions ............................................................................................ 1-10

1-3-2 Installation direction and clearance ............................................................................. 1-11

1-3-3 Prevention of entering of foreign matter...................................................................... 1-11

1-3-4 Panel installation hole work drawings (Panel cut drawings).......................................1-12

1-3-5 Heating value............................................................................................................... 1-13

1-3-6 Heat radiation countermeasures................................................................................. 1-14

1-4 Installing the spindle detector............................................................................................ 1-16

1-4-1 Magnetic sensor .......................................................................................................... 1-16

1-4-2 Spindle end detector....................................................................................................1-18

1-4-3 Spindle end PLG.......................................................................................................... 1-19

1-5 Noise measures ................................................................................................................. 1-22

2. Wiring and Connection

2-1 Part system connection diagram......................................................................................... 2-3

2-2 Main circuit terminal block/control circuit connector............................................................ 2-4

2-2-1 Names and applications of main circuit terminal block signals and control circuit

connectors..................................................................................................................... 2-4

2-2-2 Connector pin assignment............................................................................................. 2-5

2-3 NC and drive unit connection ......................................................................................................... 2-8

2-4 Motor and detector connection.....................................................................................................2-11

2-4-1 Connecting the servomotor ......................................................................................... 2-11

2-4-2 Connecting the full-closed loop system....................................................................... 2-18

2-4-3 Connecting the synchronous control system .............................................................. 2-22

2-4-4 Connection of the spindle motor.................................................................................. 2-28

2-5 Connection of power supply.............................................................................................. 2-33

2-5-1 Power supply input connection ...................................................................................... 2-34

2-5-2 Connecting the grounding cable.................................................................................. 2-37

2-5-3 Main circuit control ......................................................................................................... 2-38

2-6 Wiring of the motor brake .................................................................................................. 2-39

2-6-1 Wiring of the motor magnetic brake ............................................................................ 2-39

2-6-2 Dynamic brake unit wiring ........................................................................................... 2-41

2-7 Peripheral control wiring....................................................................................................... 2-42

2-7-1 Input/output circuit wiring ............................................................................................... 2-42

2-7-2 Spindle coil changeover .............................................................................................. 2-43

2-7-3 Wiring of an external emergency stop......................................................................... 2-46

3. Setup

3-1 Initial setup ........................................................................................................................... 3-2

3-1-1 Setting the rotary switch ................................................................................................3-2

3-1-2 Transition of LED display after power is turned ON...................................................... 3-3

3-1-3 Servo standard specifications and high-gain specifications ......................................... 3-4

3-2 Setting the initial parameters for the servo drive unit (High-gain specifications)................ 3-5

3-2-1 Setting the standard parameters................................................................................... 3-5

3-2-2 List of standard parameters for each servomotor....................................................... 3-11

3-2-3 Servo parameter list.....................................................................................................3-23

3-3 Setting the initial parameters for the servo drive unit (Standard specifications)............... 3-39

3-3-1 Setting the standard parameters................................................................................. 3-39

3-3-2 List of standard parameters for each servomotor....................................................... 3-44

3-3-3 Servo parameter list.....................................................................................................3-51

3-4 Restrictions on servo control ............................................................................................. 3-63

3-4-1 Restrictions of electronic gear setting value................................................................ 3-63

3-4-2 Restrictions on absolute position control..................................................................... 3-64

3-5 Setting the initial parameters for the spindle drive unit..................................................... 3-65

3-5-1 Spindle specification parameters ................................................................................ 3-65

3-5-2 List of spindle parameters ........................................................................................... 3-70

3-6 Initial adjustment of the spindle PLG............................................................................... 3-104

3-6-1 Adjusting the PLG installation.................................................................................... 3-104

3-6-2 Z phase automatic adjustment.................................................................................. 3-110

3-6-3 Motor end PLG automatic adjustment....................................................................... 3-111

3-6-4 Spindle end PLG automatic adjustment.................................................................... 3-112

4. Servo Adjustment

4-1 D/A output specifications for servo drive unit...................................................................... 4-2

4-1-1 D/A output specifications............................................................................................... 4-2

4-1-2 Output data settings....................................................................................................... 4-3

4-1-3 Setting the output magnification.................................................................................... 4-3

4-2 Gain adjustment................................................................................................................... 4-4

4-2-1 Current loop gain........................................................................................................... 4-4

4-2-2 Speed loop gain............................................................................................................. 4-4

4-2-3 Position loop gain .......................................................................................................... 4-6

4-3 Characteristics improvement............................................................................................... 4-9

4-3-1 Optimal adjustment of cycle time .................................................................................. 4-9

4-3-2 Vibration suppression measures................................................................................. 4-11

4-3-3 Improving the cutting surface precision....................................................................... 4-15

4-3-4 Improvement of characteristics during acceleration/deceleration .............................. 4-19

4-3-5 Improvement of protrusion at quadrant changeover................................................... 4-22

4-3-6 Improvement of overshooting...................................................................................... 4-29

4-3-7 Improvement of the interpolation control path............................................................. 4-31

4-4 Adjustment during full closed loop control......................................................................... 4-33

4-4-1 Outline.......................................................................................................................... 4-33

4-4-2 Speed loop delay compensation................................................................................. 4-34

4-4-3 Dual feedback control (Optional function)................................................................... 4-35

4-5 Settings for emergency stop.............................................................................................. 4-37

4-5-1 Deceleration control..................................................................................................... 4-37

4-5-2 Vertical axis drop prevention control........................................................................... 4-39

4-6 Protective functions............................................................................................................ 4-43

4-6-1 Overload detection....................................................................................................... 4-43

4-6-2 Excessive error detection............................................................................................ 4-43

4-6-3 Collision detection........................................................................................................ 4-44

5. Spindle Adjustment

5-1 D/A output specifications for spindle drive unit ................................................................... 5-2

5-1-1 D/A output specifications............................................................................................... 5-2

5-1-2 Setting the output data ..................................................................................................5-3

5-1-3 Setting the output magnification.................................................................................... 5-4

5-2 Spindle control signal........................................................................................................... 5-6

5-2-1 Spindle control input (NC to SP) ................................................................................... 5-6

5-2-2 Spindle control output (SP to NC)............................................................................... 5-15

5-3 Adjustment procedures for each control ........................................................................... 5-26

5-3-1 Basic adjustments........................................................................................................ 5-26

5-3-2 Adjusting the acceleration/deceleration operation...................................................... 5-27

5-3-3 Adjusting the orientation control.................................................................................. 5-36

5-3-4 Adjusting the synchronous tap control ........................................................................ 5-50

5-3-5 Adjusting the C-axis control......................................................................................... 5-54

5-3-6 Adjusting the spindle synchronous control.................................................................. 5-57

6. Troubleshooting

6-1 Points of caution and confirmation ...................................................................................... 6-2

6-1-1 LED display when alarm or warning occurs.................................................................. 6-3

6-2 Protective functions list of units ...........................................................................................6-4

6-2-1 List of alarms.................................................................................................................. 6-4

6-2-2 List of warnings .............................................................................................................. 6-9

6-3 Troubleshooting ................................................................................................................. 6-10

6-3-1 Troubleshooting at power ON ..................................................................................... 6-10

6-3-2 Troubleshooting for each alarm No............................................................................. 6-11

6-3-3 Troubleshooting for each warning No......................................................................... 6-40

6-3-4 Parameter numbers during initial parameter error...................................................... 6-44

6-3-5 Troubleshooting the spindle system when there is no alarm or warning ................... 6-45

7. Maintenance

7-1 Inspections........................................................................................................................... 7-2

7-2 Service parts ........................................................................................................................ 7-2

7-3 Adding and replacing units and parts.................................................................................. 7-3

7-3-1 Replacing the drive unit.................................................................................................7-3

7-3-2 Replacing the unit fan.................................................................................................... 7-4

Appendix 1. Cable and Connector Specifications

Appendix 1-1 Selection of cable ..............................................................................................A1-2

Appendix 1-1-1 Cable wire and assembly............................................................................A1-2

Appendix 1-1-2 Flexible conduits..........................................................................................A1-4

Appendix 1-2 Cable connection diagram.................................................................................A1-6

Appendix 1-3 Connector outline dimension drawings...........................................................A1-13

Appendix 2. Compliance to EC Directives

Appendix 2-1 Compliance to EC Directives ............................................................................A2-2

Appendix 2-1-1 European EC Directives..............................................................................A2-2

Appendix 2-1-2 Cautions for EC Directive compliance...........................................................A2-2

Appendix 3.

EMC Installation Guidelines

Appendix 3-1 Introduction ........................................................................................................A3-2

Appendix 3-2 EMC instructions ...............................................................................................A3-2

Appendix 3-3 EMC measures..................................................................................................A3-3

Appendix 3-4 Measures for panel structure.............................................................................A3-3

Appendix 3-4-1 Measures for control panel unit...................................................................A3-3

Appendix 3-4-2 Measures for door .......................................................................................A3-4

Appendix 3-4-3 Measures for operation board panel...........................................................A3-4

Appendix 3-4-4 Shielding of the power supply input section................................................A3-4

Appendix 3-5 Measures for various cables .............................................................................A3-5

Appendix 3-5-1 Measures for wiring in panel .......................................................................A3-5

Appendix 3-5-2 Measures for shield treatment.....................................................................A3-5

Appendix 3-5-3 Servo/spindle motor power cable................................................................A3-6

Appendix 3-5-4 Servo motor feedback cable .......................................................................A3-7

Appendix 3-5-5 Spindle motor feedback cable.....................................................................A3-7

Appendix 3-6 EMC countermeasure parts ..............................................................................A3-8

Appendix 3-6-1 Shield clamp fitting ......................................................................................A3-8

Appendix 3-6-2 Ferrite core ..................................................................................................A3-9

Appendix 3-6-3 Power line filter..........................................................................................A3-10

Appendix 3-6-4 Surge protector..........................................................................................A3-15

Appendix 4. Servo/spindle drive unit categories based on higher harmonic suppression

countermeasure guidelines

Appendix 4-1 Servo/spindle drive unit circuit categories based on higher harmonic suppression

countermeasure guidelines...............................................................................A4-2

Contents for MDS-C1 Series SPECIFICATIONS MANUAL (BNP-C3040D)

1. Introduction

1-1 Servo/spindle drive system configuration............1-2

1-1-1 System configuration.................................................1-2

1-1-2 Unit outline type.........................................................1-3

1-2 Explanation of type..............................................1-4

1-2-1 Servomotor type........................................................1-4

1-2-2 Servo drive unit type..................................................1-8

1-2-3 Spindle motor type.....................................................1-10

1-2-4 Spindle drive unit type ...............................................1-12

1-2-5 Power supply unit type...............................................1-13

1-2-6 AC reactor type..........................................................1-14

2. Specifications

2-1 Servomotor..........................................................2-2

2-1-1 Specifications list....................................................... 2-2

2-1-2 Torque characteristics ...............................................2-7

2-2 Spindle motor ......................................................2-10

2-2-1 Specifications............................................................2-10

2-2-2 Output characteristics................................................2-15

2-3 Drive unit .............................................................2-20

2-3-1 Servo drive unit..........................................................2-20

2-3-2 Spindle drive unit.......................................................2-22

2-3-3 Power supply unit ......................................................2-23

2-3-4 AC reactor .................................................................2-24

2-3-5 D/A output specifications for servo drive unit.............2-25

2-3-6 D/A output specifications for spindle drive unit...........2-26

2-3-7 Explanation of each part............................................2-27

2-4 Restrictions on servo control...............................2-30

2-4-1 Restrictions of electronic gear setting value...............2-30

2-4-2 Restrictions on absolute position control....................2-32

3. Characteristics

3-1 Servomotor..........................................................3-2

3-1-1 Environmental conditions...........................................3-2

3-1-2 Quakeproof level.......................................................3-2

3-1-3 Shaft characteristics ..................................................3-3

3-1-4 Oil/water standards....................................................3-4

3-1-5 Magnetic brake..........................................................3-5

3-1-6 Dynamic brake characteristics...................................3-8

3-2 Spindle motor ......................................................3-10

3-2-1 Environmental conditions...........................................3-10

3-2-2 Shaft characteristics ..................................................3-10

3-3 Drive unit characteristics .....................................3-11

3-3-1 Environmental conditions...........................................3-11

3-3-2 Heating value.............................................................3-12

3-3-3 Overload protection characteristics............................3-13

4. Dedicated Options

4-1 Servo options ......................................................4-2

4-1-1 Battery and terminator option (mandatory selection)..4-3 4-1-2 Dynamic brake unit (MDS-B-DBU)

(mandatory selection for large capacity)....................4-5

4-1-3 Ball screw end detector .............................................4-7

4-1-4 Machine end detector ................................................ 4-8

4-1-5 Detector conversion unit (MDS-B-HR).......................4-10

4-1-6 Signal divider unit (MDS-B-SD) .................................4-12

(Note) This is the content for SPECIFICATION MANUAL version D. The structure of section and page number may be different

other than version D.

4-2 Spindle option .....................................................4-14

4-2-1 Magnetic sensor........................................................4-16

4-2-2 Spindle end detector

(OSE-1024-3-15-68, OSE-1024-3-15-68-8)..............4-18

4-2-3 C-axis detector (OSE90K).........................................4-20

4-2-4 C-axis detector (MBE90K).........................................4-22

4-2-5 C-axis detector (MHE90K).........................................4-23

4-2-6 Spindle end PLG (MXE128/180/256/512)..................4-24

4-2-7 Detector conversion unit (MDS-B-PJEX)...................4-28

4-3 Cables and connectors ....................................... 4-30

4-3-1 Cable connection diagram.........................................4-30

4-3-2 List of cables and connectors....................................4-31

5. Peripheral Devices

5-1 Selecting the wire size........................................5-2

5-2 Selection the AC reactor, contactor

and no-fuse breaker...........................................5-5

5-2-1 Standard selection.....................................................5-5

5-2-2 Selection when a contactor is shared........................5-6

5-3 Circuit protector .................................................. 5-7

5-4 Circuit protector .................................................. 5-8

5-5 Noise filter........................................................... 5-9

5-6 Surge absorber ................................................... 5-10

5-7 Speedometer and load meter............................. 5-11

5-8 Cable for peripheral control ................................5-12

5-8-1 Cable for external emergency stop............................5-12

5-8-2 Cable for servomotor magnetic brake........................5-13

Appendix 1. Outline Dimension Drawings

Appendix 1-1 Servomotor outline dimension drawings

............................................................A1-2

Appendix 1-1-1 HC Series..................................................A1-2

Appendix 1-1-2 HA Series ..................................................A1-8

Appendix 1-2 Outline dimension drawings

of spindle motor................................... A1-12

Appendix 1-2-1 SJ Series...................................................A1-12

Appendix 1-2-2 SJ-V Series................................................ A1-15

Appendix 1-2-3 SJ-VS Series .............................................A1-25

Appendix 1-2-4 SJ-PMF Series (IPM motor).......................A1-27

Appendix 1-3 Unit outline dimension drawings.........A1-28

Appendix 1-3-1 Servo/spindle drive unit .............................A1-28

Appendix 1-3-2 Power supply unit ......................................A1-37

Appendix 1-3-3 AC rector ...................................................A1-41

Appendix 2. Table and Connector Specifications

Appendix 2-1 Selection of cable ...............................A2-2

Appendix 2-1-1 Cable wire and assembly...........................A2-2

Appendix 2-1-2 Flexible conduits........................................A2-4

Appendix 2-2 Cable connection diagram..................A2-6

Appendix 2-3 Connector outline dimension drawings

............................................................A2-12

Appendix 3. Selection

Appendix 3-1 Selecting the servomotor series .........A3-2

Appendix 3-1-1 Motor series characteristics.......................A3-2

Appendix 3-1-2 Servomotor precision.................................A3-3

Appendix 3-2 Selection of servomotor capacity........ A3-4

Appendix 3-2-1 Load inertia ratio........................................A3-4

Appendix 3-2-2 Short time characteristics...........................A3-4

Appendix 3-2-3 Continuous characteristics.........................A3-5

Contents for MDS-C1 Series SPECIFICATIONS MANUAL (BNP-C3040D)

Appendix 3-3 Example of servo selection.................A3-7

Appendix 3-3-1 Motor selection calculation.........................A3-7

Appendix 3-3-2 Servo selection results...............................A3-10

Appendix 3-3-3 Motor shaft conversion load torque............A3-11

Appendix 3-3-4 Expressions for load inertia calculation......A3-12

Appendix 3-4 Selecting the power supply.................A3-13

Appendix 3-4-1 Selecting according to the continuous rated

capacity.....................................................A3-13

Appendix 3-4-2 Selection with maximum momentary capacity

..................................................................A3-14

Appendix 3-4-3 Selection example......................................A3-15

Appendix 4. Explanation of Large Capacity Spindle Unit

Specifications

Appendix 4-1 Explanation of large capacity spindle unit

specifications.......................................A4-2

Appendix 4-1-1 Outline.......................................................A4-2

Appendix 4-1-2 List of units.................................................A4-2

Appendix 4-1-3 Selection of AC reactor (B-AL),

contactor and NFB....................................A4-2

Appendix 4-1-4 Outline dimension drawings .......................A4-3

Appendix 4-1-5 Panel cut dimension drawing.....................A4-8

Appendix 4-1-6 Heating value.............................................A4-9

Appendix 4-1-7 Selecting the power capacity.....................A4-9

Appendix 4-1-8 Selecting the wire size...............................A4-9

Appendix 4-1-9 Drive unit connection screw size................A4-10

Appendix 4-1-10 Connecting each unit...............................A4-10

Appendix 4-1-11 Restrictions..............................................A4-12

Appendix 4-1-12 Parameters..............................................A4-14

Appendix 4-1-13 Precautions..............................................A4-14

Appendix 5. Transportation Restrictions for Lithium Batteries

Appendix 5-1 Transportation restrictions

for lithium batteries ..............................A5-2

Appendix 5-1-1 Target products..........................................A5-2

Appendix 5-1-2 Handling by user........................................A5-3

Appendix 5-1-3 Regulations enforcement timing.................A5-4

Appendix 6. Compliance to EU EC Directives

Appendix 6-1 Compliance to EC Directives ..............A6-2

Appendix 6-1-1 European EC Directives.............................A6-2

Appendix 6-2-2 Cautions for EC Directive compliance ..........A6-2

Appendix 7. EMS Instruction Guidelines

Appendix 7-1 Introduction ......................................... A7-2

Appendix 7-2 EMC instructions................................. A7-2

Appendix 7-3 EMC measures ...................................A7-3

Appendix 7-4 Measures for panel structure..............A7-3

Appendix 7-4-1 Measures for control panel unit..................A7-3

Appendix 7-4-2 Measures for door......................................A7-4

Appendix 7-4-3 Measures for operation board panel..........A7-4

Appendix 7-4-4 Shielding of the power supply input section

..................................................................A7-4

Appendix 7-5 Measures for various cables...............A7-5

Appendix 7-5-1 Measures for wiring in panel......................A7-5

Appendix 7-5-2 Measures for shield treatment ...................A7-5

Appendix 7-5-3 Servomotor power cable............................A7-6

Appendix 7-5-4 Servomotor feedback cable.......................A7-6

Appendix 7-5-5 Spindle motor power cable........................A7-7

Appendix 7-5-6 Spindle motor feedback cable....................A7-7

Appendix 7-6 EMC countermeasure parts................ A7-8

Appendix 7-6-1 Shield clamp fitting.....................................A7-8

Appendix 7-6-2 Ferrite core................................................A7-9

Appendix 7-6-3 Power line filter..........................................A7-10

Appendix 7-6-4 Surge protector ..........................................A7-15

Appendix 8. Instruction Manual for Compliance with UL/c-UL

Standard

Appendix 8. Instruction Manual for Compliance

with UL/c-UL Standard........................ A8-2

Appendix 9. Compliance with China Compulsory Product

Certification (CCC Certification) System

Appendix 9-1 Outline of China Compulsory Product

Certification System ............................A9-2

Appendix 9-2 First Catalogue of Products subject to

Compulsory Product Certification........ A9-2

Appendix 9-3 Precautions for Shipping Products .....A9-3

Appendix 9-4 Application for Exemption...................A9-4

Appendix 9-5 Mitsubishi NC Product Subject to

/Not Subject to CCC Certification........A9-5

(Note) This is the content for SPECIFICATION MANUAL version D. The structure of section and page number may be different

other than version D.

1. Installation

1-1 Installation of servomotor...................................................................................................................1-2

1-1-1 Environmental conditions............................................................................................................1-2

1-1-2 Quakeproof level .........................................................................................................................1-2

1-1-3 Cautions for mounting load (prevention of impact on shaft) ....................................................... 1-3

1-1-4 Installation direction..................................................................................................................... 1-3

1-1-5 Shaft characteristics.................................................................................................................... 1-4

1-1-6 Oil/water standards ..................................................................................................................... 1-5

1-1-7 Cable stress ................................................................................................................................1-7

1-2 Installation of spindle motor ............................................................................................................... 1-8

1-2-1 Environmental conditions............................................................................................................1-8

1-2-2 Shaft characteristics.................................................................................................................... 1-9

1-3 Installation of the control unit ........................................................................................................... 1-10

1-3-1 Environmental conditions..........................................................................................................1-10

1-3-2 Installation direction and clearance...........................................................................................1-11

1-3-3 Prevention of entering of foreign matter....................................................................................1-11

1-3-4 Panel installation hole work drawings (Panel cut drawings).....................................................1-12

1-3-5 Heating value.............................................................................................................................1-13

1-3-6 Heat radiation countermeasures............................................................................................... 1-14

1-4 Installing the spindle detector...........................................................................................................1-16

1-4-1 Magnetic sensor........................................................................................................................ 1-16

1-4-2 Spindle end detector ................................................................................................................. 1-18

1-4-3 Spindle end PLG .......................................................................................................................1-19

1-5 Noise measures ...............................................................................................................................1-22

1 - 1

1-1 Installation of servomotor

1. Do not hold the cables, axis or detector when transporting the motor. Failure to observe this could lead to faults or injuries.

2. Securely fix the motor to the machine. Insufficient fixing could lead to the motor deviating during operation. Failure to observe this could lead to injuries.

CAUTION

1-1-1 Environmental conditions

Environment Conditions

Ambient temperature 0°C to +40°C (with no freezing) Ambient humidity 80%RH or less (with no dew condensation) Storage temperature -15°C to +70°C (with no freezing) Storage humidity 90%RH or less (with no dew condensation)

Atmosphere

Altitude

1-1-2 Quakeproof level

HC52 to HC152, HC53 to HC153 HC103R to HC503R, HA053N to HA33N HC202, HC352, HC203, HC353 19.6m/s2 (2G) or less 49.0m/s2 (5G) or less HC452, HC702, HC453, HC703 HA-LF11K2-S8, HA-LF15K2-S8 HC902 9.8m/s2 (1G) or less 24.5m/s2 (2.5G) or less

The vibration conditions are as shown below.

200

100

80 60

50 40

3. When coupling to a servomotor shaft end, do not apply an impact by hammering, etc. The detector could be damaged.

4. Never touch the rotary sections of the motor during operations. Install a cover, etc., on the shaft.

5. Do not apply a load exceeding the tolerable load onto the servomotor shaft. The shaft could break. Failure to observe this could lead to injuries.

6. Do not connect or disconnect any of the connectors while the power is ON.

Motor type

1. Installation

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

Acceleration direction

Axis direction (X) Direction at right angle to axis (Y)

(1G) or less 24.5m/s2 (2.5G) or less

9.8m/s

11.7m/s

(1.2G) or less 29.4m/s2 (3G) or less

Servomotor

Vibration amplitude

(double-sway width) (µm)

1000 2000 30000

Speed (r/min)

1 - 2

Acceleration

directio

1. Installation

1-1-3 Cautions for mounting load (prevention of impact on shaft)

[1] When using the servomotor with key way, use

the screw hole at the end of the shaft to mount the pulley onto the shaft. To install, first place the double-end stud into the shaft screw holes, contact the coupling end surface against the washer, and press in as if tightening with a nut. When the shaft does not have a key way, use a frictional coupling, etc.

[2] When removing the pulley, use a pulley

remover, and make sure not to apply an impact on the shaft.

[3] Install a protective cover on the rotary sections such as the pulley installed on the shaft to ensure

safety.

[4] The direction of the detector installed on the servomotor cannot be changed.

Servomoto

Pulley

Double-end stud

Nut

Washe

CAUTION

during assembly.

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 detector 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 "1-1-6 Oil/water standards" and take the appropriate measures.

The brake plates may make a sliding sound when a servomotor

with magnetic brake is installed with the shaft facing upward, but this is not a fault.

Never hammer the end of the shaft

Down

Standard installation

1 - 3

1. Installation

1-1-5 Shaft characteristics

There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction and thrust direction, when mounted on the machine, is below the tolerable values given below. These loads may affect the motor output torque, so consider them when designing the machine.

Servomotor Tolerable radial load Tolerable thrust load

HA053NS, HA13NS 78.4N (L=26mm) 49N HA23NS, HA33NS HA23NT, HA33NT HC103RT, HC153RT, HC203RT 392N (L=45 mm) 196N HC52T, HC102T, HC152T HC53T, HC103T, HC153T HC103RS, HC153RS, HC203RS 686N (L=45 mm) 196N HC353RS, HC503RS 980N (L=63 mm) 392N HC52S, HC102S, HC152S HC53S, HC103S, HC153S HC202S, HC352S, HC452S, HC702S HC203S, HC353S, HC453S, HC703S HC902S HA-LF11K2-S8 HA-LF15K2-S8 2940N (L=100 mm) 980N

Note: The symbol L in the table refers to the value of L below.

245N (L=30 mm) 147N

392N (L=58 mm) 490N

980N (L=55 mm) 490N

2058N (L=79 mm) 980N

2450N (L=85 mm) 980N

CAUTION

Radial load

Thrust load

L : Length from flange installation surface to center of load weight [mm]

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 use a rigid coupling as an excessive bending load will be applied on the shaft and could cause the shaft to break.

1 - 4

1. Installation

1-1-6 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.

[2] When a gear box is installed on the servomotor, make sure that the oil

level height from the center of the shaft is higher than the values given below. Open a breathing hole on the gear box so that the inner pressure does not rise.

Servomotor Oil level (mm)

HA053N, HA13N 8 HA23N, HA33N 10 HC52, HC102, HC152 HC53, HC103, HC153 HC103R, HC153R, HC203R HC353R, HC503R HC202, HC352, HC452, HC702 HC203, HC353, HC453, HC703 HC902 30 HA-LF11K2-S8 34 HA-LF15K2-S8 48

Oil level

[3] When installing the servomotor horizontally, set the power cable and detector cable to face

downward. When installing vertically or on an inclination, provide a cable trap.

Gear

Lip

Oil or water

Servomotor

Servomoto

V-ring

Cable trap

1. The servomotors, including those having IP65 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

CAUTION

this also.

2. 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.

3. Do not remove the detector from the motor. (The detector installation screw is treated for sealing.)

1 - 5

1. Installation

[4] Do not use the unit with the cable submerged in oil or

water.

(Refer to right drawing.)

[5] Make sure that oil and water do not flow along the cable

into the motor or detector. (Refer to right drawing.)

[6] When installing on the top of the shaft end, make sure

that oil from the gear box, etc., does not enter the servomotor. The servomotor does not have a waterproof structure.

Cover

Servomotor

Oil water

<Fault> Capillary tube phenomenon

Cover

Servomotor

<Fault> Respiration

Gear

Lubricating oil

Servomotor

1 - 6

1. Installation

1-1-7 Cable stress

[1] Sufficiently consider the cable clamping method so that bending stress and the stress from the

cable's own weight is not applied on the cable connection part.

[2] In applications where the servomotor moves, make sure that excessive stress is not applied on the

cable.

If the detector cable and servomotor wiring are stored in a cable bear and the servomotor moves,

make sure that the cable bending part is within the range of the optional detector cable. Fix the detector cable and power cable enclosed with the servomotor. [3] Make sure that the cable sheathes will not be cut by sharp cutting chips, worn by contacting the

machine corners, or stepped on by workers or vehicles. The bending life of the detector cable is as shown below. Regard this with a slight allowance. If the

servomotor/spindle motor is installed on a machine that moves, make the bending radius as large as possible.

1 x 108

1×10

5 x 107

5×10

No. of bends (times)

2 x 107

2×10

1 x 107

1×10

5 x 106

5×10

2 x 106

2×10

1 x 106

1×10

5 x 105

5×10

2 x 105

2×10

1 x 105

1×10

5 x 104

5×10

3 x 104

3×10

4 7 10 20 40 70 100 200

Bending radius (mm)

(Material of Mitsubishi optional detector cable: A14B2343)

The values in this graph are calculated values and are not guaranteed.

(Note)

Detector cable bending life

1 - 7

1-2 Installation of spindle motor

1. Do not hold the cables, axis or detector when transporting the motor. Failure to observe this could lead to faults or injuries.

2. Securely fix the motor to the machine. Insufficient fixing could lead to the motor deviating during operation. Failure to observe this could lead to injuries.

CAUTION

1-2-1 Environmental conditions

Environment Conditions

Ambient temperature 0°C to +40°C (with no freezing) Ambient humidity 90%RH or less (with no dew condensation) Storage temperature -20°C to +65°C (with no freezing) Storage humidity 90%RH or less (with no dew condensation)

Atmosphere

Altitude

(Note) Refer to each spindle motor specifications for details on the spindle motor vibration

conditions.

3. When coupling to a servomotor shaft end, do not apply an impact by hammering, etc. The detector could be damaged.

4. Never touch the rotary sections of the motor during operations. Install a cover, etc., on the shaft.

5. Do not apply a load exceeding the tolerable load onto the servomotor shaft. The shaft could break. Failure to observe this could lead to injuries.

6. Do not connect or disconnect any of the connectors while the power is ON.

1. Installation

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

1 - 8

1. Installation

1-2-2 Shaft characteristics

There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction, when mounted on the machine, is below the tolerable values given below. These loads also affect the motor output torque, so consider them when designing the machine.

Spindle motor Tolerable radial load

SJ-V3.7-02ZM 490 N SJ-V2.2-01, SJ-V3.7-01 SJ-V7.5-03ZM, SJ-V11-06ZM SJ-V5.5-01, SJ-V11-08ZM SJ-PMF01830-00 SJ-V7.5-01, SJ-V11-01 SJ-V22-06ZM, SJ-V30-02ZM, SJ-PMF03530-00 SJ-V11-09, SJ-V15-01, SJ-V15-03, SJ-V18.5-01, SJ-V18.5-03 SJ-V22-01, SJ-V22-05, SJ-V26-01, SJ-30A SJ-22XW5 3920 N SJ-37BP 4900 N SJ-22XW8, SJ-45BP SJ-V55-01

Radial load

(Note) The load point is at the one-half of the shaft length.

980 N

1470 N

1960 N

2940 N

5880 N

1 - 9

1-3 Installation of the control unit

1. Install the unit on noncombustible material. Direct installation on

combustible material or near combustible materials may lead to fires.

2. Follow the instructions in this manual and install the unit while allowing for

the unit weight.

3. Do not get on top of the units or motor, or place heavy objects on the unit.

Failure to observe this could lead to injuries.

4. Always use the unit within the designated environment conditions.

5. Do not let conductive objects such as screws or metal chips, etc., or

combustible materials such as oil enter the units.

CAUTION

6. Do not block the units intake and outtake ports. Doing so could lead to

failure.

7. The units and servomotor are precision devices, so do not drop them or apply

strong impacts to them.

8. Do not install or run units or servomotor 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. Installation

1-3-1 Environmental conditions

Environment Conditions

Ambient temperature 0°C to +55°C (with no freezing) Ambient humidity 90%RH or less (with no dew condensation) Storage temperature -15°C to +70°C (with no freezing) Storage humidity 90%RH or less (with no dew condensation)

Atmosphere

Altitude

Vibration

(Note) When installing the machine at 1,000m or more above sea level, the heat dissipation

characteristics will drop as the altitude increases. The upper limit of the ambient temperature drops 1°C with every 100m increase in altitude. (The ambient temperature at an altitude of 2,000m is between 0 and 45°C.)

no corrosive gases, inflammable gases, oil mist, dust or conductive particles

Indoors (no direct sunlight);

Operation/storage: 1000m or less above sea level

Transportation: 10000m or less above sea level

Operation/storage: 4.9m/s2 (0.5G) or less

Transportation: 49m/s

(5G) or less

1 - 10

1. Installation

1-3-2 Installation direction and clearance

Wire each unit in consideration of the maintainability and the heat dissipation, as well as secure sufficient space for ventilation.

75mm or more

10mm or more

100mm or more

10mm or more

50mm or more

100mm or more

The ambient temperature condition for the power supply unit or the drive units is 55°C or less. Because heat can easily accumulate in the upper portion of the

CAUTION

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.

1-3-3 Prevention of entering of foreign matter

Treat the cabinet with the following items.

• Make sure that the cable inlet is dust and oil proof by using packing, etc.

• Make sure that the external air does not enter inside by using head radiating holes, etc.

• Close all clearances.

• Securely install door packing.

• If there is a rear cover, always apply packing.

• Oil will tend to accumulate on the top. Take special

measures such as oil-proofing to the top so that oil does not enter the cabinet from the screw holds.

• After installing each unit, avoid machining in the periphery. If cutting chips, etc., stick onto the electronic parts, trouble may occur.

• 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).

50mm or more

100mm or more

1 - 11

1. Installation

1-3-4 Panel installation hole work drawings (Panel cut drawings)

Prepare a square hole to match the unit width.

[Unit: mm]

Square

(Note 1)

2-M5 screw

Unit width: 60mm (only with fin)

hole

342

360

2-M5 screw

Square hole

(Note 1)

Unit width: 90mm

342

360

2-M5 screw

Square hole

(Note 1)

112

Unit width: 120mm Unit width: 150mm

342

360

1. Attach packing around the square hole to provide a seal.

POINT

2. A square hole does not need to be machined on the MDS-C1-V1-10 or smaller, MDS-C1-V2-1010 or smaller and MDS-C1-SP-15 or smaller units.

1 - 12

4-M5 screw

Square hole

(Note 1)

142

342

360

1. Installation

1-3-5 Heating value

Each heating value is calculated with the following values. The values for the servo drive unit are for a stall output, and the values for the spindle drive unit are for a continuous rated output. The value for the power supply unit includes the AC reactor's heating value.

Servo drive unit Spindle drive unit Power supply unit

Heating amount

Inside

panel

[W]

Outside

panel

Type MDS-C1-

V1- 01 21 0 V2-0101 38 0 SP- 04 30 0 CV- 37 21 34 V1- 03 27 0 V2-0301 41 0 SP- 075 40 0 CV- 55 23 42 V1- 05 37 0 V2-0303 43 0 SP- 15 49 0 CV- 75 25 55 V1- 10 53 0 V2-0501 46 0 SP- 22 26 42 CV-110 26 99 V1- 20 25 66 V2-0503 52 0 SP- 37 28 51 CV-150 29 126 V1- 35 30 102 V2-0505 62 0 SP- 55 31 76 CV-185 33 162 V1- 45S 34 124 V2-1005 78 0 SP- 75 35 102 CV-220 35 175 V1- 45 37 148 V2-1010 96 0 SP-110 41 140 CV-260 40 220 V1- 70S 38 151 V2-2010 37 117 SP-150S 48 140 CV-300 46 274 V1- 70 50 234 V2-2020 41 137 SP-150 48 187 CV-370 54 346 V1- 90 56 275 V2-3510S 44 146 SP-185 62 280 V1-110 74 392 V2-3510 42 148 SP-220 65 301 V1-150 96 545 V2-3520S 48 165 SP-260 80 403

V2-3520 45 168 SP-300 98 522 V2-3535 51 209 V2-4520 52 214 V2-4535 57 249 V2-4545S 55 225 V2-4545 64 295 V2-7035 70 336 V2-7045 77 382 V2-7070S 65 300 V2-7070 90 468 V2-9090S 65 300

Type MDS-C1-

Heating amount

[W]

Inside

panel

Outside

panel

Type MDS-C1-

Heating amount

[W]

Inside

Outside

panel

Type MDS-C1-

Heating amount

[W]

Inside

panel

Outside

panel

Design the panel's heating value taking the actual axis operation (load rate) into consideration. With a general machine tool, the servo drive unit's load rate is

POINT

approx. 50%, so the heating values inside the panel are half the values shown above. (Excluding the power supply and spindle drive unit.)

(Example 1)

When using MDS-C1-CV-260, MDS-C1-SP[]-185 and MDS-C1-V2-3535

Total heating value = (40 + 220) + (62 + 280) + (51 + 209) = 862 [W] Heating value in panel = (40) + (62) + (51 × 0.5) = 127.5 [W]

1 - 13

1. Installation

1-3-6 Heat radiation countermeasures

In order to secure reliability and life, design the temperature in the panel so that the ambient temperature of each unit is 55°C or less. If heat accumulates at the top of the unit, etc., install a fan so that the temperature in the panel remains constant.

(Note) Due to the structure, heat easily accumulates at the

top of the unit. Install a fan in the power distribution panel to circulate the heat at the top of the unit.

(Inside panel)

Wind sp eed 2m/s or more

Fan

1 - 14

1. Installation

Please refer to following method for heat radiation countermeasures.

W ≤ W1

∆T≤10°C

Calculate total heat radiation of each mounted unit (W)

Calculate cabinet’s cooling capacity

Comparison of W and W1

Selection of heat exchanger

Collection of internal temperature rise distribution data

(W1)

W>W1

Mounting design

Evaluation

∆T>10°C

Improvements

Completion

(1) Average temperature in cabinet : T ≤ 55°C (2) Cabinet peripheral temperature : Ta ≤ 0°C to 45°C (3) Internal temperature rise value : ∆T =T–Ta

1) Refer to Specifications Manual, etc. for the heat generated by each unit.

2) Enclosed cabinet (thin steel plate) cooling capacity calculation equation

W1 = U × A × ∆T U: 6W/m

4W/m A: Effective heat radiation area (m (Heat dissipation area in panel) Sections contacting other objects are excluded. ∆T: Internal temperature rise value (10°C)

3) Points of caution for heat radiation countermeasures when designing mounting state

• Layout of convection in panel

• Collect hot air at suction port in heat exchanger

cabinet.

4) Understanding the temperature rise distribution in the panel

∆T (average value) ≤ 10°C ∆T

max (maximum value) ≤ 15°C

R (inconsistency) = (∆T (Evaluate existence of heat spots)

2 × 2

Examples of mounting and temperature measurement positions (reference)

Measurement position (example)

°C (with internal agitating fan)

× °C (without internal agitating fan)

max – ∆Tmin) ≤ 6°C

)

max= 10°C

Flow of air

Heat

exchange

Relay, etc

Unit

1 - 15

1-4 Installing the spindle detector

1-4-1 Magnetic sensor

(1) Installing the magnetic sensor

• Tolerance to shaft dimension should be "h6" on the part for installing a magnet.

• 2-øG hole can be used for positioning of spindle and magnet.

• Magnet shall be installed as shown to the right.

• Misalignment between sensor head and magnetic center line shall be within ±2mm.

• There is an NS indication on the side of the cover. Install so that the reference notch on the sensor head comes to the case side.

(2) Gap between magnet and sensor

1. Installation

Reference notch

Spindle

G hole

Gap

Reference drawing for magnet installation

Case

Cover

Spindle damping scre

Spindle

Magnet

Circumference installation

Direction of rotation

Face A

Reference hole Reference notch

Min. gap

Face A

Max. gap

Mounting plate

Reference hole

Reference notch

Face B

Horizontal installation

Spindle

Face B

Gap

Magnet

Reference notch

Direction of rotation

Reference hole

Magnet

model

Installation

direction

R (Radius)

40 11.5±0.5 2.7±0.5 6.0±0.5 10.0±0.5 1.22±0.5 5.0±0.5 6.25±0.5 3.30±0.5 50 9.5±0.5 2.8±0.5 6.0±0.5 8.0±0.5 1.31±0.5 5.0±0.5 6.00±0.5 3.70±0.5 60 8.5±0.5 3.0±0.5 6.0±0.5 7.0±0.5 1.50±0.5 5.0±0.5 5.75±0.5 3.85±0.5 70 8.0±0.5 3.4±0.5 7.0±0.5 2.38±0.5 5.50±0.5 3.87±0.5

Max. value Min. value Max. value Min. value Max. value Min. value

BKO-C1810H03 BKO-C1730H06 BKO-C1730H09

Circumference

installation

Gap mm Gap mm Gap mm

Horizontal

installation

Circumference

installation

Horizontal

installation

Circumference

installation

1 - 16

(3) Magnet and sensor installation directions

• Install so that the magnet's reference hole and sensor's reference notch are aligned. (Standard/high-speed standards)

• Install so that the magnet's N pole comes to the left side when the sensor's reference notch is faced downward. (High-speed compact/high-speed ring)

N S

Sensor

Reference notch

Magnet

(4) Cautions

[1] Do not apply impacts on the magnet. Do not install strong magnets near the magnet. [2] Sufficiently clean the surrounding area so that iron chips and cutting chips do not adhere to the

magnet. Demagnetize the round disk before installing.

[3] Securely install the magnet onto the spindle with an M4 screw. Take measures to prevent

screw loosening as required. [4] Balance the entire spindle rotation with the magnet installed. [5] Install a magnet that matches the spindle's rotation speed. [6] When installing the magnet onto a rotating body's plane, set the speed to 6,000r/min or less. [7] Install so that the center line at the end of the head matches the center of the magnet. [8] The BKO-C1730 is not an oil-proof product. Make sure that oil does not come in contact with

BNO-C1730 or BKO-C1810. [9] When connecting to the spindle drive unit, wire so that the effect of noise is suppressed.

1. Installation

Sensor

S N |

Reference notch

Magnet

1 - 17

1. Installation

1-4-2 Spindle end detector

To maintain the detector life and performance, a flexible coupling should be used to couple the spindle end detector and C-axis detector with the spindle.

Detector

Flexible coupling

Opposite detector shaft side

Detector and coupling installation accuracy

Recommended coupling

Recommendation 1 Recommendation 2

Manufacturer Tokushu Seiko Eagle Model Model M1 FCS38A Resonance frequency 1374Hz 3515Hz Position detection error 0.8×10-3° 1.2×10-3° Tolerable speed 20000r/min 10000r/min

Mis-alignment

Outline dimensions

Core deviation 0.7mm 0.16mm Angle displacement Max. length 74.5mm 33mm Max. diameter

Refer to the coupling catalog, etc., for details on the coupling.

0.02

1.5° 1.5°

ø57mm ø38mm

1 - 18

1-4-3 Spindle end PLG

(1) Part configuration

The detector is configured of an encoder (Sensor section and PCB section) and detection gears. The encoder section can be separated with an intermediate connector, but a type with the same serial No. must be used in combination. The serial No. is indicated on the intermediate connector of the sensor section and the output connector of the PCB section.

1. Installation

Sensor section

Detection gears

Encoder

VR2

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.

(2) Installing the detection gears and sensor section

[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 shrinkage fitting. Refer to the

following table for the shrinkage fitting values. The detection gears should be heated evenly

between 120 and 150°C using an electric furnace, etc.

Detection gear shrinkage fitting values

PCB section

VR4

VR1

VR3

VR5

Intermediate connecto

Spindle end PLG

B A Z

Output connector

Serial No. indication

Detection gear specifications

Part type

MU1450N2137 128 ø52 ø40 0.02 to 0.04 MU1450N2730 180 ø72.8 ø55 0.03 to 0.055 MU1450N2236 256 ø103.2 ø80 0.03 to 0.055 MU1450N2534 512 ø205.6 ø140 0.05 to 0.085

No. of teeth

Outer diameter

(mm)

Inner diameter

(mm)

Shrinkage fitting

(mm)

1 - 19

1. Installation

[3] Keep the deviation of the sensor center and detection

gear center to ±0.25mm or less. If the center deviation

cannot be directly measured, set so that the dimension

Sensor installation surface

Sensor installation seat

from the sensor installing surface to the edge of the

detection gears is 22.5±0.25mm.

Lead wire

[4] Keep the deflection of the outer diameter, when the

detection gears are installed on the shaft, to 0.02mm or

less. [5] To remove a detection gear fixed with shrinkage fitting,

use the screw holes opened in the axial direction for

pulling (two M5 screw holes or two M8 screw holes), or

16.5mm

22.5mm

±.25mm

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. [6] Before reusing detection gears which have been

First tooth

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. [7] A notched fitting section and mounting screw hole are

provided on the machine as shown in the following

drawing. Contact the R section of the sensor installation

Installing the detection gears

seat against this and, install the sensor. The outline dimensions of the notched fitting section

are shown in the following table.

Installing the sensor section

Encoder part type

TS1860N2275 +0.200 TS1860N2276 TS1860N2777 +0.200 TS1860N2775 TS1860N2171 +0.200 TS1860N2174 TS1860N2571 +0.200 TS1860N2572

Sensor installation seat's

R dimensions (mm)

R35.5 ø71

R45 ø90

R61 ø122

R112.5 ø225

Notched fitting section's

outer diameter (mm)

+0.180

+0.175

+0.170

1 - 20

[

]

[8] With the sensor installation seat's R section butted against the notched fitting section, fix the

sensor installation seat with a mounting screw (M5 x 0.8 screws). A locking agent should be

applied on the mounting screw before it is tightened.

3.5mm or less Butt the back side of the sensor installation

seat against here Butt the R section of the sensor installation seat

ainst here

Notched section's outer diameter

[9] When using the specifications (TS1860N2770,

TS1860N2776, TS1860N2183, TS1860N2187) with installation plate (ring) for the sensor section, provide a notched fitting section on the machine side as shown on the right, and fit the sensor installation plate's ø108H5 here. The gap does not need to be adjusted when using the installation plate.

[10] Make sure that force is not constantly applied on the

sensor's lead wires.

(3) Installing the PCB section

[1] Install the PCB where it will not be subject to water or oil, etc. [2] Drill two ø11mm or smaller installation seats, and fix the PCB with pan head screws (M5 × 0.8

screws).

[3] Provide a space of 25mm from the installation surface to treat the lead wires for the intermediate

connector.

[4] Select the minimum required length for the lead wires from the sensor to the intermediate

connector, and wire them as far away from other power wires as possible. [5] Make sure that force is not constantly applied on the PCB lead wire connections. [6] The check pins on the PCB could break if excessive force is applied.

1. Installation

2-M5

Outline drawing designated dimensions

Shape of notched fitting section

0.8 screw

29mm

Notched section's outer diameter

Unit: mm

-0.005

-0.020

ø 108

Installing the sensor with

Installation plate (ring)

1 - 21

1. Installation

1-5 Noise measures

Noise includes "propagation noise" generated from the power supply or relay, etc., and propagated along a cable causing the power supply unit or drive unit to malfunction, and "radiated noise" propagated through air from a peripheral device, etc., and causing the power supply unit or drive unit to malfunction. Always implement these noise measures to prevent the peripheral devices and unit from malfunctioning. The measures differ according to the noise propagation path, so refer to the following explanation and take appropriate measures.

(1) General noise measures

• 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 detector cable and signal wires such as the communication cable connected with the NC, and accurately ground the devices.

• Use one-point grounding for the drive unit and motor.

• Accurately ground the AC reactor.

(2) Propagation noise measures

Take the following measures when noise generating devices are installed and the power supply unit or drive unit could malfunction.

• Install a surge killer on devices (magnetic contacts, relays, etc.) which generate high levels of

noise.

• Install a power line filter in the stage before the power supply unit.

• Install a ferrite core on the signal wire.

• Ground the shield of the servo detector's cable with a cable clamp.

• Wire the spindle PLG detector 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

Cable propagation noise

Path [4]

and [5]

Noise radiated from power line

Noise radiated from servomotor/spindle motor

Noise propagated over power line

Noise lead in from grounding wire by leakage current

Path [2]

Path [3]Path [6]

Path [7]

Path [8]

1 - 22

1. Installation

[5]

[7]

[2]

[1]

Drive

[3]

Servomotor Spindle motor

Generated noise of drive system

unit

[4]

Instrument

[7]

Receiver

Noise propagation path 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.

[1] [2] [3]

[4] [5] [6]

[7]

[8]

(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.

(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 power supply in the same sy stem 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 power supply unit's power line.

(b) Install a power filter on the power supply 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.

[6]

[2]

Sensor

power

supply

Sensor

[8]

1 - 23

2. Wiring and Connection

2-1 Part system connection diagram........................................................................................................ 2-3

2-2 Main circuit terminal block/control circuit connector ..........................................................................2-4

2-2-1 Names and applications of main circuit terminal block signals and control circuit connectors...2-4

2-2-2 Connector pin assignment ..........................................................................................................2-5

2-3 NC and drive unit connection............................................................................................................. 2-8

2-4 Motor and detector connection.........................................................................................................2-11

2-4-1 Connecting the servomotor.......................................................................................................2-11

2-4-2 Connecting the full-closed loop system.....................................................................................2-18

2-4-3 Connecting the synchronous control system............................................................................2-22

2-4-4 Connection of the spindle motor ...............................................................................................2-28

2-5 Connection of power supply.............................................................................................................2-33

2-5-1 Power supply input connection ..................................................................................................2-34

2-5-2 Connecting the grounding cable ............................................................................................... 2-37

2-5-3 Main circuit control .....................................................................................................................2-38

2-6 Wiring of the motor brake.................................................................................................................2-39

2-6-1 Wiring of the motor magnetic brake..........................................................................................2-39

2-6-2 Dynamic brake unit wiring.........................................................................................................2-41

2-7 Peripheral control wiring....................................................................................................................2-42

2-7-1 Input/output circuit wiring............................................................................................................2-42

2-7-2 Spindle coil changeover............................................................................................................2-43

2-7-3 Wiring of an external emergency stop.......................................................................................2-46

2 - 1

2. Wiring and Connection

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.

DANGER

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.

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.

Failure to observe this item could lead to ruptures or damage, etc.

3. Do not mistake the polarity ( + ,

- ). Failure to observe this item could lead to

ruptures or damage, etc.

4. 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

COM

(24VDC)

CAUTION

Control output signal

5. Electronic devices used near the drive units may receive magnetic obstruction. Reduce the effect of magnetic obstacles by installing a noise filter, etc.

6. 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.

7. Do not modify this unit.

8. The half-pitch connector (CN1A, etc.) on the front of the drive units have the same shape. If the connectors are connected incorrectly, faults could occur. Make sure that the connection is correct.

9. 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.

2 - 2

2. Wiring and Connection

2-1 Part system connection diagram

Mitsubishi CNC

(CSH21)

No-fuse

breaker R S T

: Main circuit

SV1,2

reactor

Ground

Breaker

SH21 cable

External emergency stop input

Contacto

CN4

CN9

CN23

TE1

L2 L3

MC1 L11 L21

TE3

TE2

L+ L-

Spindle drive unitPower supply unit

CN1A

SH21 cable

CN4

CN9

L+ L-

L11 L21

TE2

TE3

TE1

CN1B

CN8

CN7

CN6

CN5

U V W

Battery unit

CN1A

Spindle

motor

PLG

Servo drive unit

CN1A

CN4

CN9

CN20

TE1

L+

TE2

L-

L11

TE3

L21

CN1B

CN3M

CN3L

CN2L

CN2M

MU MV MW

LU LV LW

T ool end detecto

Servo motor

Motor end

detector

Servo

motor

Motor end

detector

: Control circuit

Ground

(Note 1) The total length of the SH21 cable must be within 30m. (Note 2) The connection method will differ according to the used motor. (Note 3) When not using a battery unit, connect the terminal connector (R-TM). (Note 4) The main circuit (

) and control circuit ({) are safely separated.

Ground

2 - 3

2. Wiring and Connection

2-2 Main circuit terminal block/control circuit connector

2-2-1 Names and applications of main circuit terminal block signals and control circuit

connectors

The following table shows the details for each terminal block signal.

Name Signal name Description

L1 . L2 . L3

L11 L21

MC1

U . V . W

LU . LV . LW

MU . MV . MW

Main circuit power supply Control circuit power supply

Contactor control

Motor output (Single-axis unit)

Motor output (Dual-axis unit)

Protective grounding (PE)

Main circuit power supply input terminal Connect a 3-phase 200VAC/200 to 230VAC, 50/60Hz power supply. Control circuit power supply input terminal Connect a single-phase 200VAC/200 to 230VAC, 50/60Hz power supply. Contactor control terminal The MC1 terminal has the same phase as L21. Connect to a different phase than the phase connected to L21. Servo/spindle motor power output terminal The servo/spindle motor power terminal (U, V, W) is connected.

Servo motor power output terminal (L-axis/M-axis) The servo/spindle motor power terminal (U, V, W) is connected.

Grounding terminal The servomotor/spindle motor grounding terminal is connected and grounded.

1. Always use one AC reactor per power supply unit. Failure to observe this could lead to unit damage.

CAUTION

2. When sharing a breaker for several power supply units, of a short-circuit fault occurs in a small capacity unit, the breaker could trip. This can be hazardous, so do not share the breaker.

3. Be sure to use the breaker of proper capacity for each power supply unit.

2 - 4

2-2-2 Connector pin assignment

2. Wiring and Connection

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

Power supply unit

Terminal

position

Unit

MDS-C1-CV-37 to 75 MDS-C1-CV-110 to 370

[2]

[3]

[1]

[2]

[3]

[1]

[4]

U V W

[1] TE1

Compatible unit CV-37 to 75

Screw size

Tightening torque

[2] TE2

[3] TE3

Terminal specification/Pin assignment

Compatible unit CV-37 to 75

[4]

Screw size M4

Tightening torque 2.0Nm

L+

L-

L11 L21 MC1

U V W

Compatible unit CV-110 to 185 CV-220 to 370

1.6Nm

Compatible unit CV-37 to 370

Screw size

Tightening torque

Compatible unit CV-37 to 75 CV-110 to 370

Screw size M4 M4

Tightening torque 2.0Nm 1.6m

Screw size

Tightening torque

5.0Nm

M5 M8

3.37Nm 13.2Nm

Compatible unit CV-110 to 185 CV-220 to 370

Screw size M5 M8

Tightening torque 3.37Nm 13.2Nm

[4]

2 - 5

[2] [3]

[1]

[4]

[2]

[3]

[2]

[3]

[1]

[4]

[2]

[3]

[1]

[4]

Servo/spindle drive unit

Terminal

Unit

Terminal

position

MDS-C1-V1-10 and

smaller

MDS-C1-SP-15 and

smaller

2. Wiring and Connection

MDS-C1-V1-20 and

larger

MDS-C1-SP-22 and

larger

[1] [4]

MDS-C1-V2-1010 and

smaller

MDS-C1-V2-2010 and

larger

MU MV MW

U V W

[1] TE1

[2] TE2

Terminal specification/Pin assignment

[3] TE3

[4]

U V W

LU LV LW

V1- 01 to 35 45S,45 to 90 110 to 150

Compatible unit

Screw size M4 M5 M8 Tightening torque 2.0Nm 3.2Nm 13.2Nm

V2- 0101 to 9090S SP- 04 to 37 55 to 185 220 to 300

L+

L-

L11 L21

The PE screw size is the same as TE1.

Compatible unit All V1/V2/SP Screw size M6

Tightening torque 5.0Nm

Compatible unit All V1/V2/SP Screw size M4

Tightening torque 2.0Nm

LU LV LW

2 - 6

[1] [3] [5] [2]

[4]

[9]

[6]

[1]

[3]

[5]

[2]

[4]

[9]

[6]

[8]

[7]

(2) Control circuit connector

position

[1] CN1A [2] CN1B [3] CN9 [4] CN4 [5] CN2L [6] CN3L [7] CN2M [8] CN2M

Unit

Terminal

Connector

ecifications

2. Wiring and Connection

MDS-C1-V1 MDS-C1-V2

Pin No.

No.1

No.10

No.11

No.20

Pin No.

Connector s

[9] CN20

No.1 No.2 No.3

(Note) The [5] and [6] connector names differ for the MDS-C1-V1 unit. (CN2L, CN3L → CN2, CN3)

2 - 7

(

)

(

2. Wiring and Connection

2-3 NC and drive unit connection

The NC bus cables are connected from the NC to each drive unit so that they run in a straight line from the NC to the terminal connector (battery unit). And up to 7 axes can be connected per system. Note that the number of connected axes is limited by the NC.

CAUTION

POINT

(1) When using one power supply unit

Connect the largest-capacity spindle drive unit to the final axis of the NC communication bus in order to control the power supply unit. The spindle drive unit must be installed adjacent to the power supply unit. In the system with servo only, a servo drive unit for controlling unbalance axis must be installed in the same manner in the same way.

< Connection >

CN1A : CN1B connector on NC or previous stage's drive unit CN1B : CN1A connector on next stage's drive unit or terminal connector (battery unit) CN4 : Connector for communication between power supply unit (master side) and drive unit

Refer to the instruction manual of each NC for details.

Connected

to the NC

Wire the SH21 cable between the NC and drive unit so that the distance between the NC and terminal connector (battery unit) is within 30m.

Axis Nos. are determined by the rotary switch for setting the axis No. (Refer to section "3-1-1 Setting the rotary switch".) The axis No. has no relation to the order for connecting to the NC.

MDS-C1-SP

4th axis (final axis)

Connect to the battery unit with a terminal connector or SH21 cable.

CN1A

CN1B

MDS-C1-CV MDS-C1-V2

SH21 cable

1st/2nd axis

CN1A

CN1B CN1A

MDS-C1-V1

3rd axis

CN1B

CN1A/CN1B

Pin No.

No.1

No.10

Name

GND

1 2 3 4

GND

GFO

EMG

7 8

BAT

Max. length of 30m from the NC to terminal connector or battery unit.

+5V)

No.11

No.20

11 12 13 14 15 16 17 18 19 20

Name

GND

RD*

SD* GND GFO

EMG*

+5V

Connection when using one power supply unit

2 - 8

CN4

2. Wiring and Connection

(2) When using two or more power supply units within a single NC communication bus system

Two or more power supply units may be required within a single NC communication bus system if the spindle drive unit capacity is large. The drive unit receiving power (L+, L-) from each power supply unit must always have NC communication bus connection at the NC side of each power supply unit. In the NC communication bus connection example below, power supply [1] cannot supply power (L+, L-) to the 5th axis servo drive unit. For basic connection information, refer to "(1) When using one power supply unit".

Connected

to the NC

CN1A

Power

cannot be

supplied

MDS-C1-V1

5th axis

CN1B

MDS-C1-V2 1st/2nd axis

CN1A

SH21 cable

Connections when using two power supply units within a single NC communication bus system

CN1B CN1A

MDS-C1-V2

3rd/4th axis

(CV control axis)

CN1B

CN4

MDS-C1-CV

[1]

CN4

The drive unit receiving power (L+, L-) from each power supply unit must always

CAUTION

have NC communication bus connection at the NC side of each power supply unit.

MDS-C1-SP

6th axis

(CV control axis)

CN1A

CN1B

CN4

MDS-C1-CV

[2]

CN4

2 - 9

2. Wiring and Connection

(3) When using one power supply shared unit by two NC communication bus systems

In systems employing a number of small-capacity drive units, a single power supply unit can be shared by two NC communication bus systems. In this case, a power supply control axis must be set for each axis of each NC communication bus. For basic connection information, refer to "(1) When using one power supply unit".

Connected to the NC

(System No.1)

Connected to the NC

(System No.2)

Connections when using one power supply shared by two NC communication bus systems

CAUTION

MDS-C1-V2 1st/2nd axis

CN1A

MDS-C1-V2

8th/9th axis

CN1A

MDS-C1-V2

3rd/4th axis

CN1B CN1A

MDS-C1-V1

CN1B CN1A

CN1B

10th axis

CN1B

MDS-C1-V2

5th/6th axis

CN1A

MDS-C1-SP

11th axis

CN1A

CN1B

MDS-C1-V1

7th axis

(CV control axis)

CN1A

(CV control axis)

CN1A

CN1B

CN4

MDS-C1-SP

12th axis

CN1B

CN4

MDS-C1-CV

(shared)

CN4

If the two NC communication bus systems include a spindle drive unit, connect the power supply unit's CN4 connector to the CN4 connector of the largestcapacity spindle drive unit. If there is no spindle drive unit, connect to the unbalance-axis servo drive unit.

CN9

2 - 10

(

)

(

2. Wiring and Connection

2-4 Motor and detector connection

2-4-1 Connecting the servomotor

(1) Connecting the HC52(B)/HC102(B)/HC152(B)/HC53(B)/HC103(B)/HC153(B)/HC103R(B)

/HC153R(B)/HC203R(B)

Detector connector

MS3102A22-14P

Pin Name

A B C D E BAT F

H SD J SD* K RQ L RQ*

N FG P R LG(GND) S P5(+5V) T U V

Option cable : CNV12 (Refer to Appendix 1 for details

on the cable treatment.)

Max. 30m

MDS-C1-V1

CN2

U VW

Power connecto

CE05-2A22-23P

B1 and B2 are brake terminals. (Only for motor with brakes) These are 24VDC, and have no polarity.

Detector connector : CN2

Pin No.

No.1

No.10

Name

LG 2 3 4 5 6

SD 7

RQ 8 9

BAT

Name

U V

Grounding

B1 B2

+5V)

Power wire and grounding wire (Refer to Specification manual for details on selecting the wire.)

A B C D

E F

G H

11 12 13 14 15 16 17 18 19 20

No.11

No.20

Name

P5(+5V) P5

SD*

RQ*

+5V

2 - 11

(

)

(

2. Wiring and Connection

(2) Connecting the HC202(B)/HC352(B)/HC452(B)/HC203(B)/HC353(B)

MDS-C1-V1

Detector connector

MS3102A22-14P

Pin Name

A B C D E BAT

F G H SD

J SD* K RQ

L RQ* M N FG P R LG(GND) S P5(+5V)

T U V

Brake connector

MS3102A10SL-4P

These are 24VDC, and have no polarity.

A B

Name

Option cable : CNV12 (Refer to Appendix 1 for details on the cable treatment.)

Max. 30m

B1 B2

CN2

Motor brake wiring

(Refer to section "2-6 Wiring of the motor brake" for details.)

U V W

Power connector

CE05-2A24-10P

Detector connector : CN2

Pin No.

No.1

No.10

Name

LG 2 3 4 5 6

SD 7

RQ 8 9

BAT

Name

U V

Grounding

+5V)

Power wire and grounding wire (Refer to Specification manual for details on selecting the wire.)

A B C D E F G

11 12 13 14 15 16 17 18 19 20

No.11

No.20

P5(+5V) P5

Name

SD*

RQ*

+5V

2 - 12

(

)

(

2. Wiring and Connection

(3) Connecting the HC353R(B)/HC503R(B)

MDS-C1-V1

Detector connector

MS3102A22-14P

A B C D E BAT

G H SD

K RQ M

N FG P R LG(GND) S P5(+5V)

U V

Pin Name

J SD* L RQ*

Option cable : CNV12 (Refer to Appendix 1 for details on the cable treatment.)

Max. 30m

CN2

U V W

Power connector

CE05-2A24-10P

Detector connector : CN2

Pin No.

No.1

No.10

Name

LG 2 3 4 5 6

SD 7

RQ 8 9

BAT

Name

U V

Grounding

B1 B2

+5V)

Power wire and grounding wire (Refer to Specification manual for details on selecting the wire.)

A B C D

E F G

11 12 13 14 15 16 17 18 19 20

No.11

No.20

P5(+5V) P5

Name

SD*

RQ*

+5V

B1 and B2 are brake terminals. (Only for motor with brakes) These are 24VDC, and have no polarity.

2 - 13

(

)

(

2. Wiring and Connection

(4) Connecting the HC702(B)/HC902(B)/HC453(B)/HC703(B)

MDS-C1-V1

Detector connector

MS3102A22-14P

Pin Name

A B C D E BAT F G H SD

J SD* K RQ L RQ* M N FG P R LG(GND) S P5(+5V) T U V

Option cable : CNV12 (Refer to Appendix 1 for details on the cable treatment.)

Max. 30m

Motor brake wiring (Refer to section

"2-6 Wiring of the motor brake" for details.)

CN2

U V W

Power connector

CE05-2A32-17P

Brake connector

MS3102A10SL-4P

Name

These are 24VDC, and have no polarity.

Detector connector : CN2

Pin No.

No.1

No.10

Name

LG 2 3 4 5 6

SD 7

RQ 8 9

BAT

Name

U V

Grounding

+5V)

Power wire and grounding wire (Refer to Specification manual for details on selecting the wire.)

A B C D

11 12 13 14 15 16 17 18 19 20

No.11

No.20

P5(+5V) P5

Name

SD*

RQ*

+5V

2 - 14

(

)

(

(5) Connecting the HA053N/HA13N

Detector connector

MS3102A22-14P

Pin Name

A B C D E BAT F

H SD K RQ

L RQ*

N FG P R LG(GND) S P5(+5V) T U V

J SD*

Option cable : CNV12 (Refer to Appendix 1 for details on the cable treatment.)

Max. 30m

2. Wiring and Connection

MDS-C1-V1

CN2

U V W

Power connector

MS3102A18-12

Detector connector : CN2

Pin No.

No.1

No.10

Name

LG 2 3 4 5 6

SD 7

RQ 8 9

BAT

Name

U V

Grounding

+5V)

Power wire and grounding wire (Refer to Specification manual for details on selecting the wire.)

A B C D

E F

11 12 13 14 15 16 17 18 19 20

No.11

No.20

Name

SD*

RQ*

P5(+5V) P5

+5V

2 - 15

(

)

(

(6) Connecting the HA23N(B)/HA33N(B)

Detector connector

MS3102A22-14P

Pin Name

A B C D E BAT F

H SD J SD* K RQ L RQ*

N FG P R LG(GND) S P5(+5V) T U V

Option cable : CNV12 (Refer to Appendix 1 for details on the cable treatment.)

Max. 30m

Motor brake wiring (Refer to section

"2-6 Wiring of the motor brake" for details.)

Brake connector

MS3102A10SL-4P

Name

These are 24VDC, and have no polarity.

2. Wiring and Connection

MDS-C1-V1

CN2

U V W

Power connector

MS3102A18-12

Detector connector : CN2

Pin No.

No.1

No.10

Name

LG 2 3 4 5 6

SD 7

RQ 8 9

BAT

Name

U V

Grounding

+5V)

Power wire and grounding wire (Refer to Specification manual for details on selecting the wire.)

A B C D

E F

11 12 13 14 15 16 17 18 19 20

No.11

No.20

Name

SD*

RQ*

P5(+5V) P5

+5V

2 - 16

(

)

(

2. Wiring and Connection

(7) Connecting the HA-LF11K2(B)-S8/HA-LF15K2(B)-S8

MDS-C1-V1

Detector connector

MS3102A22-14P

A B C D E BAT

G H SD

K RQ M

N FG P R LG(GND) S P5(+5V)

U V

Pin Name

J SD* L RQ*

Option cable : CNV12 (Refer to Appendix 1 for details on the cable treatment.)

Max. 30m

CN2

U V W

Detector connector : CN2

Pin No.

No.1

No.10

Name

LG 2 3 4 5 6

SD 7

RQ 8 9

BAT

+5V)

Power wire and grounding wire (Refer to Specification manual for details on selecting the wire.)

Motor brake wiring

(Refer to section "2-6 Wiring of the motor brake" for details.)

11 12 13 14 15 16 17 18 19 20

No.11

No.20

Name

RQ*

P5(+5V) P5

SD*

+5V

Brake connector

MS3102A10SL-4P

These are 24VDC, and have no polarity.

A B

Name

B1 B2

2 - 17

(

2. Wiring and Connection

2-4-2 Connecting the full-closed loop system

Refer to section "2-4-1 Connecting the servomotor" for details on connecting the each motor type.

(1) Connecting the ball screw end detector

Detector connector : CN3

Pin No.

Max. 30m

CNV12

CN2

MDS-C1-V1

CN3

1 2 3 4 5 6 7 8 9

No.1

No.10

Name

BAT

+5V)

CNV13

11 12 13 14 15 16 17 18 19 20

No.11

No.20

Name

SD*

RQ*

P5(+5V) P5

+5V)

U V W

Table

Servomotor

2 - 18

(

2. Wiring and Connection

(2) Connecting the linear scale (for oblong wave data output)

Detector connector : CN3

Pin No.

No.1

No.11

Max. 30m

CNV12

MDS-C1-V1

CN2 CN3

No.10

Name

Z 5 6 7 8 9

BAT

+5V)

11 12 13 14 15 16 17 18 19 20

No.20

Name

P5(+5V) P5

LG A* B* Z*

+5V)

U V W

Table

Servomotor

Linear scale

2 - 19

(

2. Wiring and Connection

(3) Connecting the linear scale (for serial data output)

Detector connector : CN3

Pin No.

No.1

No.11

Max. 30m

CNV12

MDS-C1-V1

CN2 CN3

No.10

Name

LG 2 3 4 5 6

SD 7

RQ 8 9

BAT

+5V)

11 12 13 14 15 16 17 18 19 20

No.20

Name

P5(+5V) P5

SD*

RQ*

+5V)

U V W

Table

Servomotor

Linear scale

2 - 20

(

2. Wiring and Connection

(4) Connecting the linear scale (for analog output)

Detector connector : CN3

Pin No.

No.1

No.11

Max. 30m

CNV12

MDS-C1-V1

CN2 CN3

No.10

Name

LG 2 3 4 5 6

SD 7

RQ 8 9

BAT

+5V)

CNL3-H2

CON1 CON2

converter unit

11 12 13 14 15 16 17 18 19 20

Detector

MDS-B-HR

No.20

Name

P5(+5V) P5

SD*

RQ*

+5V)

CON4

CON3

U V W

CNLH3

Servomotor

Table

Linear scale

2 - 21

2. Wiring and Connection

2-4-3 Connecting the synchronous control system

The connection method and motor/encoder type (SV025) setting combinations for each synchronous control system are shown in the table below. For power supply connections for each servomotor type, refer to "2-4-1 Connecting the servomotor".

Position command synchronous control

Speed command synchronous control Current command synchronous control

Semi-closed system

(Only for motor side detector)

The operation is controlled with position commands from the NC, so there are no special connections. A normal value is set for the SV025 setting.

(1) When using MDS-C1-V1 drive

unit

(2) When using MDS-C1-V2 drive

unit

(For machine side detector + motor side detector)

(3) When using MDS-C1-V1 drive unit (Only compatible with serial output linear scale)

MDS-C1-V2 drive unit (4-1) When using serial output linear scale (4-2) When using analog output linear scale

Some control restrictions may apply when using speed and current command synchronous control, depending on the servo drive unit's control mode and control system configuration. Refer to the following table for details.

List of control systems and supported synchronous control (high-gain specifications)

Full-closed system

Control system type Controlled by MDS-C1-V2 Co n t r o l l e d b y M D S - C 1 - V 1 x 2 U n i t s

Incremental control

Semi-closed system

Absolute position control

Incremental control

Full-closed system (Note)

Absolute position control

(Note) Pulse output linear scale is not supported.

List of control systems and supported synchronous control (standard specifications)

Control system type Controlled by MDS-C1-V2 C o n t r o l l e d b y M D S - C 1 - V 1 x 2 U n i t s

Incremental control Not supported Not supported

Semi-closed system

Full-closed system

Absolute position control

Incremental control Not supported Not supported Absolute position control

1. Incremental control is only supported when using 2-axis servo drive unit. If

POINT

two 1-axis units are used, be sure to carry out absolute position control.

2. When synchronous control operation is carried out at 2-axis servo drive unit, the L-axis is the master axis, and the M-axis is the slave axis.

Speed command

synchronous control

Current command

synchronous control

Speed command

synchronous control

Current command

synchronous control

Speed command

synchronous control

Current command

synchronous control

Speed command

synchronous control

Current command

synchronous control

Not supported

Not supported Not supported

Not supported

Speed command

synchronous control

Current command

synchronous control

Not supported

Speed command

synchronous control

Speed command

synchronous control

Current command

synchronous control

2 - 22

2. Wiring and Connection

(1) Connection for semi-closed synchronous control (when using MDS-C1-V1 drive unit)

Slave axis

Master axis

Detector cable

MDS-C1-V1 (Slave axis)

CN3

MDS-C1-V1

(Master axis)

CN2

CNV12

MDS-B-SD

Signal distribution unit

CN2CN2

SH21

CN2A

CN2B

Parameter settings

No. Abbrev. Parameter name Description

SV025 MTYP Motor/detector type

(Note) A system in which two MDS-C1-V1 unit are used is not compatible with incremental system.

Set the detector type. The value determined for each motor type is input to “xx” in the following table.

Speed command synchronous control

Current command synchronous control

OSE104/OSE105 OSA104 OSA105

Not compatible

Motor end detector type

Master axis =11xx Slave axis =C1xx

Master axis =11xx Slave axis =CCxx

Master axis =22xx Slave axis =C2xx

Master axis =22xx Slave axis =CCxx

2 - 23

2. Wiring and Connection

(2) Connection for semi-closed synchronous control (when using MDS-C1-V2 drive unit)

Slave axis

Master axis

MDS-C1-V2

CN2L

CN2M

Parameter settings

No. Abbrev. Parameter name Description

SV025 MTYP Motor/detector type

Set the detector type. The value determined for each motor type is input to “xx” in the following table.

Speed command synchronous control

Current command synchronous control

OSE104 OSA104 OSE105/OSA105

Master axis =00xx Slave axis =C0xx

Master axis =00xx Slave axis =CCxx

Motor end detector type

Detector cable CNV12

Master axis =11xx Slave axis =C1xx

Master axis =11xx Slave axis =CCxx

Master axis =22xx Slave axis =C2xx

Master axis =22xx Slave axis =CCxx

2 - 24

2. Wiring and Connection

(3) Connection for full-closed synchronous control

(when using MDS-C1-V1 drive unit and serial output linear scale)

Linear scale

MDS-C1-V1

(Slave axis)

CN2

CN3 CN2 CN3

MDS-C1-V1

(Master axis)

Slave axis

Master axis

Detector cable CNV12

MDS-B-SD

Signal distribution

unit

CN3

SH21

CN3

SH21

CN3

Parameter settings

No. Abbrev. Parameter name Description

SV025 MTYP Motor/detector type

(Note1) A system in which two MDS-C1-V1 unit are used is not compatible with incremental system. (Note2) The full-closed system in which two MDS-C1-V1 units are used is not compatible with current command synchronous

control.

Set the detector type. The value determined for each motor type is input to “xx” in the following table.

Speed command synchronous control

Current command synchronous control

OSE104/OSE105 OSA104 OSA105

Not compatible

Motor end detector type

Master axis =A1xx Slave axis =D1xx

Not compatible

Master axis =A2xx Slave axis =D2xx

2 - 25

2. Wiring and Connection

(4-1) Connection for full-closed synchronous control

(when using MDS-C1-V2 drive unit and serial output linear scale)

Linear scale

MDS-C1-V2

Slave axis

Master axis

Detector cable CNV12

CN2L

CN2M

CN3L

Parameter settings

No. Abbrev. Parameter name Description

SV025 MTYP Motor/detector type

Set the detector type. The value determined for each motor type is input to “xx” in the following table.

Speed command synchronous control

Current command synchronous control

OSE104 OSA104 OSE105/OSA105

Master axis =A0xx Slave axis =D0xx

Master axis =A0xx

Slave axis =DExx

Motor end detector type

Master axis =A1xx Slave axis =D1xx

Master axis =A1xx Slave axis =DExx

Master axis =A2xx Slave axis =D2xx

Master axis =A2xx Slave axis =DExx

2 - 26

2. Wiring and Connection

(4-2) Connection for full-closed synchronous control

(when using MDS-C1-V2 drive unit and analog output linear scale)

Linear scale

MDS-C1-V2

Slave axis

Master axis

Detector cable CNV12

CN2L

CN2M

CN3L

CON3CON4

Detector

Converter

unit

MDS-B-HR

CON1CON2

Parameter settings

No. Abbrev. Parameter name Description

SV025 MTYP Motor/detector type

Set the detector type. The value determined for each motor type is input to “xx” in the following table.

Speed command synchronous control

Current command synchronous control

OSE104 OSA104/OSA105 OSE105

Master axis =A0xx Slave axis =D0xx

Master axis =A0xx Slave axis =DExx

Motor end detector type

In a system in which MDS-B-HR is used, this connection is compatible only with

POINT

incremental control.

Not compatible

Master axis =A2xx Slave axis =D2xx

Master axis =A2xx Slave axis =DExx

2 - 27

2. Wiring and Connection

2-4-4 Connection of the spindle motor

Refer to each motor specifications for details on the motor side connection destination, specifications and outline, and for the spindle PLG detector specifications.

(1) Connecting the motor built-in PLG

MDS-C1-SP

Detector connector : CN5

Pin No.

Max. 30m

U V W

Option cable : CNP5

Power cable

CN5

U VW

1 2 3 4 5 6 7 8 9

No.1

No.10

Name

MOH

P15(+15V)

PA PB PZ

No.11

No.20

11 12 13 14 15 16 17 18 19 20

Name

N15(-15V)

RA RB

Spindle motor

Cooling fan terminal block (BU,BV,BW)

Grounding terminal

Motor power terminal block (U,V,W )

(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

The shield of spindle detector cable is not FG. Do not ground.

2 - 28

Example for 3-phase cooling fan power supply

(2) Connecting the magnetic sensor

Refer to section (1) for connection with the spindle motor.

2. Wiring and Connection

MDS-C1-SP

Detector connector : CN6

Pin No.

Max. 30m

U V W

Option cable : CNP5

Power cable

CN5

U VW

CN6

1 2 3 4 5 6 7 8 9

No.1

No.10

Name

P15(+15V)

MAG

No.20

No.11

Name

MAGR

LSR

Spindle motor

Magnetic sensor

Spindle

Option cable : CNP6M

CAUTION

The shield of spindle detector cable is not FG. Do not ground.

2 - 29

2. Wiring and Connection

(3) Connecting the spindle end detector

Refer to section (1) for connection with the spindle motor.

MDS-C1-SP

Detector connector : CN6

Pin No.

Max. 30m

U V W

Option cable : CNP5

Power cable

CN5

U VW

CN6

1 2 3 4 5 6 7 8 9

No.1

No.10

Name

LG MA MB

P5(+5V)

No.20

11 12 13 14 15 16 17 18 19 20

No.11

Name

LG MA* MB*

MZ*

P5(+5V) P5(+5V)

Spindle motor

Spindle

Spindle end detector

Option cable: CNP6A

CAUTION

The shield of spindle detector cable is not FG. Do not ground.

2 - 30

(4) Connecting the for C-axis detector

Refer to section (1) for connection with the spindle motor.

2. Wiring and Connection

MDS-C1-SP

Detector connector : CN6

Pin No.

Max. 30m

U V W

Spindle motor

Option cable : CNP5

Option cable : CNP7A

Power cable

CN5

CN7

U VW

CN6

1 2 3 4 5 6 7 8 9

No.1

No.10

Name

MA MB MZ

No.11

No.20

11 12 13 14 15 16 17 18 19 20

Detector connector : CN7

Pin No.

1 2 3 4 5 6 7 8 9

No.1

No.10

Name

LG CA CB CZ

P5(+5V)

No.11

No.20

11 12 13 14 15 16 17 18 19 20

Name

MA* MB* MZ*

Name

LG CA* CB* CZ*

P5(+5V) P5(+5V)

Spindle

C-axis detector

Option cable : CNP67A

Supplement

1. The C-axis control function is connected to the CN7 connector.

2. When using both the C-axis control function and orientation function, two cables (two-wire cable) are connected from the detector.

3. The orientation signal connected to CN5 or CN6 can be connected to the NC with the differential output from the CN8 connector.

CAUTION

The shield of spindle detector cable is not FG. Do not ground.

2 - 31

2. Wiring and Connection

(5) Connecting the simple C-axis control

Refer to section (1) for connection with the spindle motor.

MDS-C1-SPX

MDS-C1-SPHX

Detector connector : CN7

Pin No.

U V W

Max. 30m

Option cable : CNP5

Power cable

CN5

CN7

CN5

SH21

MDS-B-PJEX

1 2 3 4 5 6 7 8 9

No.1

No.10

Name

LG CA CB CZ

P5(+5V)

No.11

No.20

11 12 13 14 15 16 17 18 19 20

Name

LG CA* CB* CZ*

P5(+5V) P5(+5V)

Bottom

CN8

CR30

24VDC power

Spindle motor

Z A B

Spindle end PLG

Motor axis

Spindle

VR1

VR2

VR4

CNP5

CAUTION

The shield of spindle detector cable is not FG. Do not ground.

2 - 32

2. Wiring and Connection

2-5 Connection of power supply

1. Make sure that the power supply voltage is within the specified range of each unit. Failure to observe this could lead to damage or faults.

2. For safety purposes, always install a No-fuse breaker (NFB), and make sure that the circuit is cut off when an error occurs or during inspections.

3. The wire size will differ according to each drive unit capacity.

CAUTION

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.

5. A semiconductor element is used in the power supply unit's magnetic contact drive circuit, and a surge absorber is installed to protect the element. Therefore, a leakage current of approx. 15mA is passed. Confirm that the exciting coil in the magnetic contact will not function at 15mA or less.

2 - 33

2. Wiring and Connection

2-5-1 Power supply input connection

(1) When using one power supply unit

Install the drive unit so that the DC power supply bus (L+, L-) is as near to the power supply unit as possible. Large-capacity spindle drive units, in particular, should be installed adjacent to the power supply unit which they control.

MDS-C1-CV

MDS-C1-SP

MDS-C1-V1/V2

No-fuse

breaker R S T

: Main circuit

: Control circuit

reactor

Ground

Breaker

Contactor

CN4

L1 L2 L3

MC1 L11 L21

TE1

TE3

TE2

L+ L-

Ground

L+ L-

L11 L21

CN4

TE2

TE3

Ground

L+ L-

L11 L21

TE2

TE3

Ground

1. The power supply unit is a power supply regenerative type converter; an AC reactor is surely installed in the power supply line.

2. When connecting to the TE3 terminal, connect to the power supply side (primary side) of the AC reactor.

3. Connect the power supply unit's CN4 connector with the spindle drive unit of

CAUTION

the maximum capacity. If there is no spindle drive unit, connect to the servo drive unit which is the unbalance axis.

4. When installing the units dispersed install the spindle drive unit adjacent to

the power supply unit, and connections for other drive units should be such that the total TE2 wiring length is 50cm or less.

2 - 34

2. Wiring and Connection

(2) When using two or more power supply units within a single NC communication bus system

Install a no-fuse breaker and a contactor for each of the power supply units.

MDS-C1-SPMDS-C1-CV

MDS-C1-V1/V2

R S T

No-fuse breake

CN1A

CN1B

CN4

Contactor

reactor

Ground

Breaker

L1 L2 L3

MC1 L11 L21

TE1

TE3

TE2

L+ L-

Ground

L+ L-

L11 L21

CN4

MDS-C1-SPMDS-C1-CV

TE2

TE3

L+ L-

L11 L21

Ground

MDS-C1-V1/V2

CN1A

CN1B

TE2

TE3

Ground

CN1A

To NC

R S T

No-fuse breake

: Main circuit

: Control circuit

Ground

Breaker

CAUTION

reactor

CN1B

Contactor

CN4

L1 L2 L3

MC1 L11 L21

TE1

TE3

TE2

L+ L-

Ground

L+ L-

L11 L21

CN4

TE2

TE3

Ground

L+ L-

L11 L21

TE2

TE3

Ground

1. An AC reactor and breaker are required for each power supply unit.

2. When installing the units dispersed install the spindle drive unit adjacent to

the power supply unit, and connections for other drive units should be such that the total TE2 wiring length is 50cm or less.

2 - 35

2. Wiring and Connection

(3) When using one power supply shared by two NC communication bus systems

The axis connected to the power supply unit's CN4 connector becomes the power supply unit control axis.

MDS-C1-SPMDS-C1-CV

MDS-C1-V1/V2

R S T

No-fuse breake

CN4

CN9

Contactor

reactor

Ground

Breaker

L1 L2 L3

MC1 L11 L21

TE1

TE3

TE2

L+ L-

Ground

CN4

TE2

L+ L-

TE3

L11 L21

Ground

MDS-C1-V1/V2

CN4

L+

TE2

L-

L11

TE3

L21

Ground

MDS-C1-V1/V2

TE2

L+ L-

L11 L21

TE3

Ground

L+ L-

L11 L21

TE2

TE3

Ground

1. If the two NC communication bus systems include a spindle drive unit,

connect the power supply unit's CN4 connector to the CN4 connector of the largest-capacity spindle drive unit. If there is no spindle drive unit, connect to

CAUTION

the unbalance-axis servo drive unit.

2. Install the spindle drive unit adjacent to the power supply unit, and

connections for other drive units should be such that the total TE2 wiring length is 50cm or less.

2 - 36

2. Wiring and Connection

2-5-2 Connecting the grounding cable

(1) Connecting the protective grounding (PE) and frame ground (FG)

Each unit has a terminal or mounting hole to connect PE ( Please connect an earth wire to the main ground of a cabinet or a machine frame at one point. Ground each device according to the grounding conditions set forth by each country. (Typically, a Y-connection neutral point ground is used in Europe.)

PE: Grounding to provide protection from electric shock, etc. FG: Grounding to stabilize the operation of the devices, etc. (Suppress noise)

MDS-C1-V1/V2/SP

MDS-C1-CV

) or FG.

B-AL

Do not connect the grounding cable from

POINT

each unit directly to the grounding plate. Noise from other units could result in malfunctions.

(2) Grounding cable size

Earth wire size should follow the following table.

Type Grounding cable size (Required grounding)

MDS-C1-CV Unit Larger than thickness of wire connected to TE1 (L1/L2/L3). (PE) MDS-C1-V1/V2/SP[] Unit Larger than thickness of wire connected to TE1 (U/V/W). (PE) B-AL (AC Reactor) 5.5 mm2 (AWG10) or more (FG)

HC Series motor

SJ Series motor

Grounding plate

Unit

Grounding

Grounding plate

plate

2 - 37

(

)

2-5-3 Main circuit control

(1) Contactor ON sequence

Main circuit power is turned ON in the sequence shown below when an emergency stop status is canceled.

Emergency stop (EMG)

Contactor control output (MC1)

PN bus voltage

Dynamic brake

Motor ON (GATE)

Motor brake control output (CN20)

Ready ON signal (READY)

Servo ON signal (SERVO)

(2) Contactor shutoff sequence

When an emergency stop occurs, the NC checks the MC shutoff permission (motor stop or dynamic brake operation) status for all axes and then shuts off the contactors. If there is no MC shutoff permission output, the contactors are forced off 30 seconds later by their control units. Contactors are shut off immediately if an alarm occurs.

Emergency stop (EMG)

Servo 1st axis (Dynamic brake stop)

Servo 2nd axis (Deceleration control)

Servo 3rd axis (Drop prevention control)

Spindle (Deceleration stop)

Contactor control output (MC1)

OFF

ON ON

OFF OFF

ON ON

OFF

Speed

MC shutoff permission

Speed

MC shutoff permission

Speed

MC shutoff

ermission

Speed

MC shutoff permission

2. Wiring and Connection

Contactor ON sequence

Drop prevention

OFF

500 1000 1500

PN charging completed

Ready completion

Command input enable

Shutoff after all-axes permission check

Time

Contactor shutoff sequence

2 - 38

2. Wiring and Connection

2-6 Wiring of the motor brake

2-6-1 Wiring of the motor magnetic brake

The magnetic brake of servomotors with a magnetic brake is controlled by the motor brake control connector (CN20) on the servo drive unit. The servo drive unit releases the brake when the motor is ON. (Servo ON means when torque is generated in the motor.)

(1) Motor brake release sequence

The motor brake control output (CN20: MBR) releases the magnetic brake in the sequences in the following drawing when canceling the emergency stop. The brake is released after the start of the power ON to the servomotor.

Emergency stop (EMG)

Dynamic brake

Cancel Cancel

Motor brake control output (MBR)

Servo ready signal (RDY)

Servo ready completion signal (SA)

Motor brake control sequences when an emergency stop is canceled

Cancel

OFF

(2) 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

OFF

ON ON

OFF

Ready completion

Command input enable

500 1000 1500

Time (ms)

200ms

Motor brake control output

CN20 connector (MBR)

Motor brake control sequences when a servo OFF command is output

OFF

1. The vertical axis drop prevention control only is performed during an

emergency stop (including alarms and power failures). It is not performed

CAUTION

when a servo OFF command is input.

2. A servo OFF command is required at both axes in order to perform a motor

brake control output (MBR) at 2-axis drive unit.

2 - 39

2. Wiring and Connection

(3) Operation sequences when an emergency stop occurs

The motor brake control output operation when an emergency stop occurs differs according to the motor deceleration stop method. Refer to section "4-5 Setting for emergency stop" for details on the operation sequences for each stop method.

(4) Motor brake control connector (CN20) output circuit

As shown in the illustration below, an external power supply circuit is controlled by the CN20 connector output. Dynamic brake unit is controlled simultaneously for large-capacity drive unit (MDS-C1-V1-110/150). Refer to "2-6-2 Dynamic brake unit wiring" for details.

MDS-C1-V1/V2

CN20

3 MBR2

DBR

2 1 MBR1

Emergenc

stop switch

lways install a surge

absorber

24VDC

Surge absorber

（Unit internal relay specification: 5A 30Vdc/8A 250Vac）

Brake

1. Always install a surge absorber near the motor's brake terminal to eliminate

noise and protect the contacts.

CAUTION

2. The brakes cannot be released just by connecting the CN20 and motor brake

terminal. 24VDC must be supplied.

To ensure safety in an emergency, make sure that the magnetic brakes are

POINT

applied in sequence with the emergency stop switch.

2 - 40

2. Wiring and Connection

2-6-2 Dynamic brake unit wiring

The 11kW and larger servo drive unit does not have built-in dynamic brakes. Always install a dynamic brake unit. The 9kW and smaller servo drive unit has built-in dynamic brakes.

Brake connector

（CN20）

Name

24VDC

DBU

2 3

MBR

MDS-C1-V1-110/150

CNU20S(AWG14)

1 2

Twist wire

Motor with a brake

External power supply

24VDC GND

Control terminal

（M3）

block

Name

1 2 3

5 6 13

a b 4

U V W

a b

Dynamic brake unit (MDS-B-DBU-150)

Servomotor

Drive terminal

（M3）

block

Name

U V

2 3

Correct wire the dynamic brake unit to the servo drive unit.

CAUTION

Do not use for applications other than emergencies (normal braking, etc.). The internal resistor could heat up, and lead to fires or faults.

When you use a servomotor with a brake, please wire (between 1pin and 3pin)

POINT

of CN20 connector.

2 - 41

2. Wiring and Connection

2-7 Peripheral control wiring

2-7-1 Input/output circuit wiring

The input/output circuit to control the external signal such as external emergency stop input and relay changeover signal output is wired. The input/output circuit for each unit is as follows.

Input circuit Output circuit

Switch

24V

Input condition

Switch ON

Switch OFF

For a switch or relay to be wired, use a switch or relay that satisfies the input/output (voltage, current) conditions.

For digital input signal (CN23,CN9)

For digital output signal (CN9)

CN9 connector

24V

10k

33.3k

MPI1

24G

CN23 connector

Switch

Servo/spindle

drive unit

Power supply unit

18VDC to 25.2VDC

9mA or more

4VDC or less

2mA or less

Interface name 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> OMROM: G6B type, MY type

24V

Servo/spindle

The part indicated by the " " must be prepared by the user.

Output condition Output voltage 24VDC ±5%

Tolerable output current Io

CN9 connector

drive unit

MPO1

MPO2

24G

Relay, etc.

50mA or less

2 - 42

2. Wiring and Connection

2-7-2 Spindle coil changeover

There are spindle motors capable of coil changeover control, which enables favorable characteristics to be attained from low speeds to high speeds by changing two types or three types (only for MDS-C1-SPM) of coils.

(1) Coil changeover control

The speed at which to change the coils is detected by the spindle drive according to the value set with spindle parameter SP020. This is conveyed to the NC with a speed detection (SD) signal. 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 SP047 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)

Speed detection (SD1) [SP→NC] L coil selection command (LCS) [NC→SP] Changing coil (MKC) [SP→NC]

Contactor changeover

Spindle motor coil changeover control

4000

2000

Low-speed coil

(SP020+SP047

High-speed coil

No. Abbrev. Parameter name Description Setting range

SP020 SDTS* Speed detection

set value

SP047 SDTR* Speed detection

reset value

Set the motor speed of which speed detection 1 output is performed. Usually, the setting value is 10% of SP017 (TSP).

Set the reset hysteresis width for a speed detection set value defined in SP020 (SDTS).

0 to 32767

Low-speed coil

(r/min)

0 to 1000

(r/min)

SP020

Time

Standard

value

600

2 - 43

2. Wiring and Connection

(2) Protective functions

[1] Base shutoff after a winding changeover

When the L-coil selection command (LCS) is used to perform low-speed winding → high-speed winding switching, or vice-versa, the base is shut off during contactor operation time in order to protect the spindle drive unit's main circuit. The base shutoff time is determined by the "Winding changeover base shutoff timer" (SP059) setting. The standard time setting should be used, as a shorter time can cause contactor burn damage. (Refer to 5-2-2 (4) "Spindle control output 4" Coil changing (bit 6) for details.)

No. Abbrev. Parameter name Description Setting range

SP059 MKT* Winding

changeover base shut-off timer

Set the base shut-off time for contactor switching at coil changeover. Note that the contactor may be damaged with burning if the value of this parameter is too small.

50 to 10000

[2] Current limit after coil changeover

Following a coil changeover, the current is limited (SP061) for the period specified by the current limit timer (SV060) 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.

No. Abbrev. Parameter name Description Setting range

SP060 MKT2* Current limit timer

after coil changeover

SP061 MKIL* Current limit value

after coil changeover

Set the current limit time to be taken after completion of contactor switching at coil changeover.

Set the current limit value during a period defined in SP060 (MKT2) after completion of contactor switching at coil changeover.

0 to 10000

0 to 120 (%) 75

(ms)

Standard

value

150

Standard

value

500

2 - 44

(3) Wiring

The illustration below shows the 2 types of changeover that occur after a coil changeover, (a) Y (star) – ∆ (delta) changeover, and (b) Y (star) – Y (star) changeover. As shown in (c), one of the contactors (MC1 or MC2) is turned ON and the other is turned OFF at all of the coil changeover control circuits.

U V

Spindle drive unit

terminal block

2. Wiring and Connection

U V

MC2

MC1

MC1: Contactor to connect low-speed coil (Y-connection) MC2: Contactor to connect high-speed coil (∆-connection)

X Y Z

indle motor

(a) Y (star) - ∆ (delta) changeover circuit

U V

Spindle drive unit

terminal block

MC1: Contactor to connect low-speed coil (1st Y-connection) MC2: Contactor to connect high-speed coil (2nd Y-connection)

MC1

MC2

Spindle motor

(b) Y (star) - Y (star) changeover circuit

MDS-C1-SP

CN9-8

CN9-10

MC2

MC1 SK

MC1

MC2 SK

Coil changeover relay control circuit

2 - 45

2. Wiring and Connection

2-7-3 Wiring of an external emergency stop

(1) External emergency stop setting

Besides the emergency stop input from the NC communication cable (CN1A, CN1B), double-protection when an emergency stop occurs can be provided by directly inputting an external emergency stop to the CN23 connector on the power supply unit. 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 CN23 connector on the power supply unit.

[1] Connection

Mitsubishi NC

SV1,2

[2] Setting

When using the external emergency stop, the rotary switch on the front of the power supply unit and the parameter (PTYP) of drive unit that controls the power supply must be set.

• Rotary switch setting: 4

• Parameter setting: Add "0040" to the setting of PTYP (Servo=SV036, Spindle=SP041).

Parameter settings

Abbrevia-

No.

SV036 SP041

tion

PTYP Power supply type

Emergency

stop

Alarm

SH21

FCUA-R000

External emergency stop input

Parameter name Descriptions

MDS-C1-V1/V2/SP

CN1A

When external emergency stop is validated, 0040 [hex] is added to PTYP for the drive unit connected to the power supply unit.

CN1B

CN4

Emergency

stop

Alarm

SH21

FCUA-R000

MDS-C1-CV

CN4

CN23

1 EMG1 2

3 EMG2

MC1

11 21

Contactor shutoff command

CAUTION

for the external emergency stop function (CN23).

2 - 46

The emergency stop signal input to the CNC side cannot be used as a substitute

2. Wiring and Connection

(2) Operation sequences of CN23 external emergency stop function

If only external emergency stop is input when external emergency stop valid is set in the parameters (the emergency stop is not input in NC), an "In external emergency stop" (warning EA) will be detected. At this time, the system itself does not enter an emergency stop status. (There will be no deceleration control or dynamic brake stop.) If a contactor shutoff command is not issued from the NC within 30 seconds after the external emergency stop is input, the power supply unit outputs contactor shutoff signal (MC1), and then it shuts off the contactors, and a power supply error (alarm 6F) is detected simultaneously. If the emergency stop is input from NC within 30 seconds, the warning EA replaces the "In NC emergency stop" (warning E7). A normal emergency stop status will result if the contactor shutoff command from the NC are further input. Ready ON is possible even if CN23, an external emergency stop has been input when the emergency stop is canceled, but an power supply error (alarm 6F) will occur after 30 seconds.

External emergency stop input (EMGX)

Main emergency stop input (EMG)

Motor speed

Contactor control command

Contactor control terminal (MC)

OFF

Deceleration control

OFF

Servo drive unit status display

External emergency stop input (EMGX)

Main emergency stop input (EMG)

Motor speed

Contactor control command

Contactor control terminal (MC)

Servo drive unit status display

When neither a main emergency stop nor contactor shutoff command is input

dx E7 EA

External emergency stop input sequences

OFF

dx 6F, E7 EA

0 30

Cx → dx

The communication line enters an emergency stop state by the output from the servo.

Dynamic brake

Tim e (s)

2 - 47

(3) Example of emergency stop circuit

[1] Outline of function

The power supply unit's external emergency stop can be validated by wiring to the CN23 connector, and setting the parameters and rotary switch. If the emergency stop cannot be processed and the external contractor cannot be shut off (due to a fault) by the NC unit, the external contactor can be shut off by the power supply unit instead of the NC. At this time, the spindle motor will coast and the servomotor will stop with the dynamic brakes. EN60204-1 Category 1 can be basically complied with by inputting the external emergency stop and installing contactor.

1. The power supply unit external emergency stop function is a function that

assists the NC emergency stop.

CAUTION

2. It will take 30 seconds for the external contactor to function after the

emergency stop is input to CN23. (This time is fixed.)

[2] Outline of function

The emergency stop is a signal used to stop the machine in an emergency. This is connected to the NC unit. Wire to the power supply unit when necessary. The servo/spindle unit will be decelerated and controlled by the software according to the emergency stop command issued from the NC unit. (The deceleration control depends on a parameter setting.) The diagram on the right shows an example of the emergency stop circuit (EN60204-1 Category 0 stop) in which an off delay timer (TM1) is installed as a power shutoff method independent from the NC emergency stop input. The required safety category may be high depending on the machine and the Safety Standards may not be met. Thus, always pay special attention when selecting the parts and designing the circuit.

[3] Setting the off delay timer (TM1) time

Set the TM1 operation time so that it functions after it has been confirmed that all axes have stopped. If the set time is too short, the spindle motor will coast to a stop.

Provide a mechanism that shuts off the power even if the NC system fails.

2. Wiring and Connection

TM1

External

Emergency

Switch

tm ≥ All axes stop time

External

Contactor

RA1

MBR*

AC Reactor

GND

CN23

EMG

Power Supply

Unit

CUP

ASIC

L11 L21

MC-OFF*

MC1

L2 L3

NC Unit

CN4

CUP

ASIC

Servo/Spindle

Drive Unit

CN4

L11 L21

SV1/2

CUP

ASIC

Hardware Emergency

CN1A/B

Software Emergency

CN20

MBR*

Motor Brake

Stop Categories in EN60204-1

Category 0: The power is instantly shut off using machine parts. Category 1: The drive section is stopped with the control (hardware/software

or communication network), and then the power is instantly shut

POINT

off using machine parts.

(Caution) Refer to the Standards for details. Refer to Section 9.2.5.4.2 in EN60204-1: Safety of Machinery

Electrical Equipment of Machines – Part 1.

2 - 48

3. Setup

3-1 Initial setup........................................................................................................................................ 3-2

3-1-1 Setting the rotary switch ............................................................................................................ 3-2

3-1-2 Transition of LED display after power is turned ON .................................................................. 3-3

3-1-3 Servo standard specifications and high-gain specifications ...................................................... 3-4

3-2 Setting the initial parameters for the servo drive unit (High-gain specifications).......................... 3-5

3-2-1 Setting the standard parameters ............................................................................................... 3-5

3-2-2 List of standard parameters for each servomotor.................................................................... 3-11

3-2-3 Servo parameter list................................................................................................................. 3-23

3-3 Setting the initial parameters for the servo drive unit (Standard specifications) ............................ 3-39

3-3-1 Setting the standard parameters ............................................................................................. 3-39

3-3-2 List of standard parameters for each servomotor.................................................................... 3-44

3-3-3 Servo parameter list................................................................................................................. 3-51

3-4 Restrictions on servo control .......................................................................................................... 3-63

3-4-1 Restrictions of electronic gear setting value ............................................................................3-63

3-4-2 Restrictions on absolute position control ................................................................................. 3-64

3-5 Setting the initial parameters for the spindle drive unit................................................................... 3-65

3-5-1 Spindle specification parameters............................................................................................. 3-65

3-5-2 List of spindle parameters........................................................................................................ 3-70

3-6 Initial adjustment of the spindle PLG............................................................................................ 3-104

3-6-1 Adjusting the PLG installation................................................................................................ 3-104

3-6-2 Z phase automatic adjustment............................................................................................... 3-110

3-6-3 Motor end PLG automatic adjustment ................................................................................... 3-111

3-6-4 Spindle end PLG automatic adjustment ................................................................................ 3-112

3 - 1

3. Setup

3-1 Initial setup

3-1-1 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 units are turned ON.

1st axis

Servo drive unit

(MDS-C1-V1)

Setting the

rotary switch

2nd axis

Servo drive unit

Spindle drive unit

(MDS-C1-SP)

Power supply unit

(MDS-C1-CV)

(MDS-C1-V2)

5 B

4 C

3 D

7 9

6 A

2 E

1 F

L axis

7 9

6 A

5 B

4 C

3 D

2 E

1 F

M axis

7 9

6 A

5 B

4 C

3 D

2 E

1 F

4 C

7 9

6 A

5 B

3 D

2 E

1 F

Details

Setting the MDS-C1-V1/V2/SP Setting the MDS-C1-CV

0 1st axis External emergency stop invalid 1 2nd axis 2 3rd axis

Setting prohibited

3 4th axis 4 5th axis

External emergency stop valid

(Used CN23)

5 6th axis 6 7th axis 7 8

9 A B

Setting prohibited

C D E

F Axis not used

7 9

6 A

5 B

4 C

3 D

2 E

1 F

When an axis that is not used is selected, that axis will not be controlled when the power is turned ON, and "Ab" will remain displayed on the LED. If the power

POINT

of the axis not in use is disconnected, the NC system's emergency stop cannot be released.

3 - 2

3. Setup

3-1-2 Transition of LED display after power is turned ON

When CNC, each drive unit and the power supply unit power have been turned ON, each unit will automatically execute self-diagnosis and initial settings for operation, etc. The LEDs on the front of the units will change as shown below according to the progression of these processes. If an alarm occurs, the alarm No. will appear on the LEDs. Refer to "6-1 LED display when alarm or warning occurs" for details on the alarm displays.

Waiting for NC power start up

NC power ON

Servo ON state Servo OFF sate

NC power OFF

Drive units

LED display

NC power ON

Drive unit initialization complete Waiting for NC power start up

Executing initial communication with NC

Emergency stop state The LED will alternate between F# → E7 → not lit. (# is the set axis No.)

Repeats lighting and going out. (1st axis in the display example)

Power supply unit

LED display

NC power

Executing initial communication with NC

A : Initializing b : Ready OFF, in emergency stop c : Ready ON/servo OFF

Servo ON state

Emergency stop state

CAUTION

Always input emergency stop when starting the servo system.

3 - 3

3. Setup

3-1-3 Servo standard specifications and high-gain specifications

(1) Two-part system compliance

With the MDS-C1-V1/V2 Series, control is possible with the standard servo (MDS-B-V1/V2) control mode and high-gain servo (MDS-B-V14/V24) control mode. When replacing an older model (MDS-B Series) with this series, the servo parameter settings are automatically recognized and the control mode is determined. Thus, the model can be changed from either a standard servo or high-gain servo without changing the servo parameters. When using the MDS-C1-V1/V2 unit and newly adjusting the machine, select the high-gain specifications. The high-gain specifications are set as the default.

(2) Judging the control mode

Whether the servo drive unit starts up with the standard servo specifications or high-gain servo specifications depends on the servo parameter SV009 to SV012 and SV033/bit8, 9 settings.

Parameter High-gain Standard Standard High-gain High-gain

SV009 SV010 SV011 SV012

SV033/bit8 0 0 1 0 1 SV033/bit9 0 0 0 1 1

(Note) * indicates that there are no limits.

SV009 = 4096 or more, and SV010 = 4096 or more, and SV011 = 768 or more, and SV012 = 768 or more

(3) Servo monitor unit type display

Whether the system is running with the high-gain servo or standard servo control mode can be confirmed with the unit type displayed on the NC SERVO MONITOR screen.

Unit type For standard servo specifications For high-gain servo specifications

MDS-C1-V1- C1V1s C1V1- MDS-C1-V2-{{ C1V2s{{ C1V2-{{ MDS-C1-V1-45S C1V1s4S C1V1-4S MDS-C1-V1-70S C1V1s7S C1V1-7S MDS-C1-V2-3510S C1V2s3510 C1V2-3510 MDS-C1-V2-3520S C1V2s3520 C1V2-3520 MDS-C1-V2-4545S C1V2s4S4S C1V2-4S4S MDS-C1-V2-7070S C1V2s7S7S C1V2-7S7S MDS-C1-V2-9090S C1V2s9S9S C1V2-9S9S

Setting that does not satisfy even one of the following conditions: SV009 = 4096 or more SV010 = 4096 or more SV011 = 768 or more SV012 = 768 or more

SV009=* SV010=* SV011=* SV012=*

1. To change the control mode to the high-gain servo specifications after replacing the unit from a standard servo (MDS-B-V1/V2), the parameters

CAUTION

must be changed and adjusted for high-gain servo use.

2. If alarm 7F occurs after setting the servo parameters, turn the servo drive unit power ON again.

3 - 4

3. Setup

3-2 Setting the initial parameters for the servo drive unit (High-gain specifications)

The servo parameters must be set before the servo system can be started up. The servo parameters are input from the NC. The input method differs according to the NC being used, so refer to each NC Instruction Manual.

3-2-1 Setting the standard parameters

When starting up the system, first set the standard parameters listed in "3-2-2 List of standard parameters for each servomotor". For the parameters shown below, check the machine and servo system specifications and determine the setting value.

(1) Basic specification parameters

[1] When performing absolute position control, set SV017/bit7=1. This may be automatically set by

NC system parameter setting, depending on NC model. (Setting on the servo parameter screen is not valid.)

[2] When performing absolute position control with speed and current synchronous control, set

SV081/bit4=1 for master and slave axes. Also set SV017/bit7=1.

[3] For HA053N, HA13N, HA23N, HA33N motors, if the connector direction of the motor end

detector with motor power connector is 90°, set SV017/bit5=1. If the angle is 180°, use a

High-gain specifications

No. Abbrev.

SV017 SPEC*

SV081 SPEC2*

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.

standard setting (SV017/bit5=0).

Parameter

name

Servo specification selection 1

Servo specification selction 2

Setting of absolute position control (SV017/bit7) may be set automatically by NC

POINT

system parameter setting, depending on NC model. In this case, setting on the servo parameter screen is not valid.

Setting basic specification parameters

Explanation

F E D C B A 9 8 7 6 5 4 3 2 1 0

spm mpt mp abs vdir fdir vfb seqh dfbx fdir2

bit Meaning when "0" is set Meaning when "1" is set

Standard setting HA motor (4 pole motor)

5 vdir

7 abs Incremental control Absolute position control

F E D C B A 9 8 7 6 5 4 3 2 1 0

pabs rabs

bit Meaning when "0" is set Meaning when "1" is set

4 pabs Normal setting

Detector installation position 90 degrees (B, D)

Speed/current synchronous control absolute position control

3 - 5

3. Setup

(2) Electronic gear related parameters

The setting range of the following parameters, which configure the electronic gears, may be limited according to the combination. Refer to section "3-4 Restrictions on servo control" for details.

High-gain specifications

No. Abbrev. Parameter name Explanation

SV001 PC1*

SV002 PC2*

SV018 PIT*

Motor side gear ratio

Machine side gear ratio

Ball screw pitch Set the ball screw pitch. Set to "360" for the rotary axis.

Set the motor side and machine side gear ratio. For the rotary axis, set the total deceleration (acceleration) ratio. Even if the gear ratio is within the setting range, the electronic gears may overflow and cause an alarm.

In the case of the semi-closed loop control

Set the same value as SV020 (RNG2). (Refer to the explanation of SV020.)

In the case of the full-closed loop control

Set the number of pulses per ball screw pitch.

Detector model name Resolution SV019 setting

OHE25K-ET, OHA25K-ET 100,000 (p/rev) 100

OSE104-ET,OSA104-ET 100,000 (p/rev) 100

OSE105-ET,OSA105-ET 1,000,000 (p/rev) 1000

SV019 RNG1*

Position detector resolution

Relative position detection scale

AT41 (Mitsutoyo) 1 (µm/p)

FME type, FLE type (Futaba) MP type (Mitsubishi Heavy Industries)

AT342 (Mitsutoyo) 0.5 (µm/p)

AT343 (Mitsutoyo) 0.05 (µm/p)

AT543 (Mitsutoyo)

LC191M (Heidenhain) 0.1, 0.05 (µm/p)

LC491M (Heidenhain) 0.05 (µm/p)

RCN223(Heidenhain) 8,000,000(p/rev) 8000 RCN723(Heidenhain) 8,000,000(p/rev) 8000 MDS-B-HR - PIT/scale(μm)

Refer to detector

specification manual

Refer to detector

specification manual

Refer to detector

specification manual

0.05 (µm/p)

PIT/Resolution

The same as

SV018 (PIT)

PIT/Resolution

Twice as big as

SV018 (PIT)

20 times as big as

SV018 (PIT)

20 times as big as

SV018 (PIT)

PIT/Resolution

µm)

(

µm)

(

µm)

(

µm)

(

µm)

(

Set the number of pulses per one revolution of the motor end detector.

SV020 RNG2*

Speed detector resolution

Detector model name SV020 setting

OSE104, OSA104 100

OSE105, OSA105 1000

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.

range (Unit)

1 to 32767

(mm/rev)

1 to 9999

1 to 3000

1 to 9999

Setting

(kp/rev)

(kp/pit)

(kp/rev)

3 - 6

(3) Detector related parameters

(a) For semi-closed loop control

For control using only the motor end detector, specify the settings shown in the table below. For speed and current synchronous control, refer to section "2-4-3 Connecting the synchronous control system".

High-gain specifications

No. Abbrev. Parameter name

SV025 MTYP*

Motor/Detector type

(b) For full-closed loop control

Some parameter settings must be specified in order to use the machine end detector. These settings are determined by type or the installation conditions of the linear scale and the ball screw end detector.

3. Setup

Setting for semi-closed loop control

Explanation

bit Details 8 9

B C OSE104 0 0 D OSA104 1 1 E F

Set the detector type. Set the position detector type for "pen", and the speed detector type

ent

for "ent". In the case of the semi-closed loop control, set the same value for "pen" and "ent".

Detector model name pen setting ent setting

pen

OSE105, OSA105 2 2

[1] The SV025/bit8 to B (ent) setting must be specified according to the motor end detector

specifications, in the same manner as for semi-closed loop control. For current synchronous control, however, refer to section "2-4-3 Connecting the synchronous control system".

[2] If the polarities of the motor end detector and the machine end detector do not match, specify

SV017/bit4=1 setting. [3] To use AT342, AT343, AT543, LC191M, LC491M, specify SV027/bit6=1 setting. [4] To use the MP scale, specify SV017/bit8 setting in accordance with the scale specifications.

For absolute position control, specify SV017/bit9=1 setting. [5] For ABZ phase pulse output type relative position detection scale with constant Z-phase

detection position without regard to the travel direction, specify SV027/bit6=1 setting. Z-phase

detection occurs as follows: Plus-direction travel: Rising edge detection, Minus-direction

travel: Falling edge detection [6] For machine end absolute position control at the rotation axis, specify SV081/bit1=1 setting. [7] For speed and current synchronous control, refer to "2-4-3 Connecting the synchronous

control system".

3 - 7

3. Setup

Setting for full-closed loop control

High-gain specifications

No. Abbrev. Parameter name

Explanation

F E D C B A 9 8 7 6 5 4 3 2 1 0

spm mpt mp abs vdir fdir vfb seqh dfbx fdir2

SV017 SPEC*

Servo specification selection

bit Meaning when "0" is set Meaning when "1" is set

4 fdir Position feedback forward polarity Position feedback reverse polarity

8 mp MP scale 360P (2mm pitch) MP scale 720P (1mm pitch)

9 mpt

MP scale ABS detection NC control

MP scale ABS detection automatic (Standard setting)

bit Explanation

Set the detector type. Set the position detector type for “pen”, and the speed detector type for “ent”. In the case of the semi-closed loop control, set the same

ent

value for “pen” and “ent”.

pen

setting

0 (Note)

1 (Note) 1

2 (Note) 2

3 (Note) 3

ent setting

impossible

synchronization)

impossible

pen

Detector model name

OSE104

OSA104

OSE105, OSA105

OHE25K-ET,OSE104-ET

OHA25K-ET,OSA104-ET

OSE105-ET, OSA105-ET, RCN223, RCN723 (Heidenhain)

Relative position detection scale, MP type (Mitsubishi Heavy Industries) AT41 (Mitsutoyo), FME type, FLE type (Futaba)

AT342, AT343, AT543 (Mitsutoyo),

LC191M/491M (Heidenhain), MDS-B-HR

The setting of the slave axis in the speed/current synchronization control. When the master axis is the semi-closed

control. The setting of the slave axis in the speed/ current synchronization control. When the master axis is the full-closed control.

(Current synchronization control is only

for MDS-C1-V2.)

(Current

SV025 MTYP*

Motor/Detector type

8 9

C D E F

(Note) Setting for semi-closed loop control

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.

Setting

3 - 8

3. Setup

Setting for full-closed loop control

High-gain specifications

Abbr

No.

SV027 SSF1

SV081 SPEC2*

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.

ev.

Parameter name

Servo function selection 1

Servo function selection 2

F E D C B A 9 8 7 6 5 4 3 2 1 0

aflt zrn2 afse ovs lmc omr zrn3 vfct upc vcnt

bit

6 zrn3

F E D C B A 9 8 7 6 5 4 3 2 1 0

pabs rabs

bit Meaning when "0" is set Meaning when "1" is set

1 rabs

Meaning when "0" is set Meaning when "1" is set

ABZ phase scale: Set to "1" to fix Z-phase detection edge. Absolute position scale: Set to "1" in using AT342/343, LC191M/491M.

Normal setting Rotary axis machine end absolute

Explanation

position control

3 - 9

3. Setup

(4) Setting the power supply type

Set the drive unit connected to the power supply unit with the CN4 connector. This does not need to be set if the power supply for the axis is not connected with the CN4 connector. (Set "0000".) If the power supply unit is connected with the spindle drive unit, the parameters do not need to be set on the servo side. When connected to a 2-axis servo drive unit (MDS-C1-V2), set the power supply type for one of the two target axes.

High-gain specifications

No. Abbrev. Parameter name Explanation

F E D C B A 9 8 7 6 5 4 3 2 1 0

amp rtyp ptyp

bit Explanation

When the CN4 connector of the drive unit and the power supply unit are connected, setting below is necessary.

ptyp

Set the regenerative resistor type when using MDS-A-CR. Set 0 when using the MDS-C1-CV (power regeneration.)

rtyp

amp

Not

used

x4 CV-37 CR-37

x5 CV-150

x6 CV-55 CV-260 CR-55

x7 CV-370

x8 CV-75 CR-75

x9 CV-185 CR-90

CV-300

SV036 PTYP*

2 To validate the external emergency stop function, add 40h.

3 Setting 0x 1x 2x 3x 4x 5x 6x 7x 8x

5 x1 CV-110 CR-10

6 x2 CV-220 CR-15

7 x3 CR-22

Power supply type

C Set "0".

MDS-B-

CVE-450

MDS-B-

CVE-550

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.

If alarm 7F occurs after setting the initial parameters, turn the drive unit power ON again. If the unit's LEDs indicate the following emergency stop state, the unit has started up normally.

F+axis No.

Emergency

sto

F+axis No.

Emergency

sto

Not lit

Normal LED display when NC power is turned ON (1st axis)

3 - 10

3. Setup

3-2-2 List of standard parameters for each servomotor

(1) HC Series (Standard 2000r/min rating)

High-gain specifications

Parameter

No. Abbrev. Details Unit capacity 05 10 20 20 35 45S 45 70S 70 90S 90

SV001 PC1 Motor side gear ratio --- --- --- --- --- --- --- --- --- --- --SV002 PC2 Machine side gear ratio --- --- --- --- --- --- --- --- --- --- --SV003 PGN1 Position loop gain 1 47 47 47 47 47 47 47 47 47 47 47 SV004 PGN2 Position loop gain 2 0 0 0 0 0 0 0 0 0 0 0 SV005 VGN1 Speed loop gain 1 200 200 200 200 200 200 200 200 200 200 200 SV006 VGN2 Speed loop gain 2 0 0 0 0 0 0 0 0 0 0 0 SV007 VIL Speed loop delay compensation 0 0 0 0 0 0 0 0 0 0 0 SV008 VIA Speed loop lead compensation 1364 1364 1364 1364 1364 1364 1364 1364 1364 1364 1364 SV009 IQA Current loop q axis lead compensation 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 SV010 IDA Current loop d axis lead compensation 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 SV011 IQG Current loop q axis gain 768 768 768 768 768 768 768 768 768 768 768 SV012 IDG Current loop d axis gain 768 768 768 768 768 768 768 768 768 768 768 SV013 ILMT Current limit value 500 500 500 500 500 500 500 500 500 500 500 SV014 ILMTsp Current limit value in special control 500 500 500 500 500 500 500 500 500 500 500 SV015 FFC Acceleration rate feed forward gain 0 0 0 0 0 0 0 0 0 0 0 SV016 LMC1 Lost motion compensation 1 0 0 0 0 0 0 0 0 0 0 0 SV017 SPEC Servo specification selection 0000 0000 0000 0000 0000 1000 0000 1000 0000 1000 0000 SV018 PIT Ball screw pitch --- --- --- --- --- --- --- --- --- --- --SV019 RNG1 Position detector resolution --- --- --- --- --- --- --- --- --- --- --SV020 RNG2 Speed detector resolution --- --- --- --- --- --- --- --- --- --- --SV021 OLT Overload detection time constant 60 60 60 60 60 60 60 60 60 60 60 SV022 OLL Overload detection level 150 150 150 150 150 150 150 150 150 150 150 SV023 OD1 Excessive error detection width during servo ON 6 6 6 6 6 6 6 6 6 6 6 SV024 INP In-position detection width 50 50 50 50 50 50 50 50 50 50 50 SV025 MTYP Motor/detector type xxB0 xxB1 xxB2 xxB3 xxB4 xx95 xxB5 xx96 xxB6 xx97 xxB7

SV026 OD2

SV027 SSF1 Servo function selection 1 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 SV028 0 0 0 0 0 0 0 0 0 0 0 SV029 VCS Speed at the change of speed loop gain 0 0 0 0 0 0 0 0 0 0 0

SV030 IVC

SV031 OVS1 Overshooting compensation 1 0 0 0 0 0 0 0 0 0 0 0 SV032 TOF Torque offset 0 0 0 0 0 0 0 0 0 0 0 SV033 SSF2 Servo function selection 2 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 SV034 SSF3 Servo function selection 3 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 SV035 SSF4 Servo function selection 4 0000 0000 0040 0040 0040 0040 0040 0040 0040 0000 0000 SV036 PTYP Power supply type 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 SV037 JL Load inertia scale 0 0 0 0 0 0 0 0 0 0 0 SV038 FHz1 Notch filter frequency 1 0 0 0 0 0 0 0 0 0 0 0 SV039 LMCD Lost motion compensation timing 0 0 0 0 0 0 0 0 0 0 0

SV040 LMCT

SV041 LMC2 Lost motion compensation 2 0 0 0 0 0 0 0 0 0 0 0 SV042 OVS2 Overshooting compensation 2 0 0 0 0 0 0 0 0 0 0 0 SV043 OBS1 Disturbance observer filter frequency 0 0 0 0 0 0 0 0 0 0 0 SV044 OBS2 Disturbance observer gain 0 0 0 0 0 0 0 0 0 0 0 SV045 TRUB Frictional torque/current bias 3 0 0 0 0 0 0 0 0 0 0 0 SV046 FHz2 Notch filter frequency 2 0 0 0 0 0 0 0 0 0 0 0 SV047 EC Inductive voltage compensation gain 100 100 100 100 100 100 100 100 100 100 100 SV048 EMGrt Vertical axis drop prevention time 0 0 0 0 0 0 0 0 0 0 0

SV049 PGN1sp

SV050 PGN2sp

SV051 DFBT Dual feedback control time constant 0 0 0 0 0 0 0 0 0 0 0 SV052 DFBN Dual feedback control non-sensitive band 0 0 0 0 0 0 0 0 0 0 0

SV053 OD3

SV054 ORE Overrun detection width in closed loop control 0 0 0 0 0 0 0 0 0 0 0 SV055 EMGx Max. gate off delay time after emergency stop 0 0 0 0 0 0 0 0 0 0 0 SV056 EMGt Deceleration time constant at emergency stop 0 0 0 0 0 0 0 0 0 0 0 SV057 SHGC SHG control gain 0 0 0 0 0 0 0 0 0 0 0 SV058 SHGCsp SHG control gain in spindle synchronous control 0 0 0 0 0 0 0 0 0 0 0 SV059 TCNV Collision detection torque estimating gain 0 0 0 0 0 0 0 0 0 0 0 SV060 TLMT Collision detection level 0 0 0 0 0 0 0 0 0 0 0 SV061 DA1NO D/A output channel 1 data No. 0 0 0 0 0 0 0 0 0 0 0 SV062 DA2NO D/A output channel 2 data No. 0 0 0 0 0 0 0 0 0 0 0 SV063 DA1MPY D/A output channel 1 output scale 0 0 0 0 0 0 0 0 0 0 0 SV064 DA2MPY D/A output channel 2 output scale 0 0 0 0 0 0 0 0 0 0 0

Excessive error detection width during servo OFF

Voltage dead time compensation / current bias 1

Lost motion compensation non-sensitive band /current bias 2

Position loop gain 1 in spindle synchronous control Position loop gain 2 in spindle synchronous control

Excessive error detection width in special control

HC52

102HC152

6 6 6 6 6 6 6 6 6 6 6

0 0 0 0 0 0 0 0 0 0 0

0 0 0 10240 10240 10240 10240 10240 10240 10240 10240

15 15 15 15 15 15 15 15 15 15 15

0 0 0 0 0 0 0 0 0 0 0

3 - 11

Standard HC motor 2000 r/min rating Motor

HC202

352

HC452 HC702 HC902

3. Setup

Parameter

No. Abbrev. Details Unit capacity 05 10 20 20 35 45S 45 70S 70 90S 90

SV065 TLC Tool end compensation spring constant 0 0 0 0 0 0 0 0 0 0 0

(System parameter area) SV081 SPEC2 Servo specification selection 2 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 SV082 SSF5 Servo function selection 5 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 SV083 SSF6 Servo function selection 6 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 SV084 SSF7 Servo function selection 7 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 SV085 LMCk SV086 LMCc SV087 FHz4 Notch filter frequency 4 0 0 0 0 0 0 0 0 0 0 0 SV088 FHz5 Notch filter frequency 5 0 0 0 0 0 0 0 0 0 0 0 SV089

SV100

Lost motion compensation spring constant Lost motion compensation viscous coefficient

HC102 HC1

HC52

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

Standard HC motor 2000 r/min rating Motor

HC35

HC202

HC452 HC702 HC902

3 - 12

3. Setup

(2) HC Series (Standard 3000r/min rating)

High-gain specifications

Parameter No. Abbrev. Details Unit capacity 05 10 20 35 45S 45 70S 70 90S 90

SV001 PC1 Motor side gear ratio --- --- --- --- --- --- --- --- --- --SV002 PC2 Machine side gear ratio --- --- --- --- --- --- --- --- --- --SV003 PGN1 Position loop gain 1 47 47 47 47 47 47 47 47 47 47 SV004 PGN2 Position loop gain 2 0 0 0 0 0 0 0 0 0 0 SV005 VGN1 Speed loop gain 1 200 200 200 200 200 200 200 200 200 200 SV006 VGN2 Speed loop gain 2 0 0 0 0 0 0 0 0 0 0 SV007 VIL Speed loop delay compensation 0 0 0 0 0 0 0 0 0 0 SV008 VIA Speed loop lead compensation 1364 1364 1364 1364 1364 1364 1364 1364 1364 1364 SV009 IQA Current loop q axis lead compensation 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 SV010 IDA Current loop d axis lead compensation 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 SV011 IQG Current loop q axis gain 768 768 768 768 768 768 768 768 768 768 SV012 IDG Current loop d axis gain 768 768 768 768 768 768 768 768 768 768 SV013 ILMT Current limit value 500 500 500 500 500 500 500 500 500 500 SV014 ILMTsp Current limit value in special control 500 500 500 500 500 500 500 500 500 500 SV015 FFC Acceleration rate feed forward gain 0 0 0 0 0 0 0 0 0 0 SV016 LMC1 Lost motion compensation 1 0 0 0 0 0 0 0 0 0 0 SV017 SPEC Servo specification selection 0000 0000 0000 0000 1000 0000 1000 0000 1000 0000 SV018 PIT Ball screw pitch --- --- --- --- --- --- --- --- --- --SV019 RNG1 Position detector resolution --- --- --- --- --- --- --- --- --- --SV020 RNG2 Speed detector resolution --- --- --- --- --- --- --- --- --- --SV021 OLT Overload detection time constant 60 60 60 60 60 60 60 60 60 60 SV022 OLL Overload detection level 150 150 150 150 150 150 150 150 150 150 SV023 OD1 Excessive error detection width during servo ON 6 6 6 6 6 6 6 6 6 6 SV024 INP In-position detection width 50 50 50 50 50 50 50 50 50 50 SV025 MTYP Motor/detector type xxC0 xxC1 xxC2 xxC3 xxA4 xxC4 xxA5 xxC5 xxA6 xxC6

SV026 OD2

SV027 SSF1 Servo function selection 1 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 SV028 0 0 0 0 0 0 0 0 0 0 SV029 VCS Speed at the change of speed loop gain 0 0 0 0 0 0 0 0 0 0

SV030 IVC

SV031 OVS1 Overshooting compensation 1 0 0 0 0 0 0 0 0 0 0 SV032 TOF Torque offset 0 0 0 0 0 0 0 0 0 0 SV033 SSF2 Servo function selection 2 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 SV034 SSF3 Servo function selection 3 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 SV035 SSF4 Servo function selection 4 0000 0000 0040 0040 0040 0040 0040 0040 0000 0000 SV036 PTYP Power supply type 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 SV037 JL Load inertia scale 0 0 0 0 0 0 0 0 0 0 SV038 FHz1 Notch filter frequency 1 0 0 0 0 0 0 0 0 0 0 SV039 LMCD Lost motion compensation timing 0 0 0 0 0 0 0 0 0 0

SV040 LMCT

SV041 LMC2 Lost motion compensation 2 0 0 0 0 0 0 0 0 0 0 SV042 OVS2 Overshooting compensation 2 0 0 0 0 0 0 0 0 0 0 SV043 OBS1 Disturbance observer filter frequency 0 0 0 0 0 0 0 0 0 0 SV044 OBS2 Disturbance observer gain 0 0 0 0 0 0 0 0 0 0 SV045 TRUB Frictional torque/current bias 3 0 0 0 0 0 0 0 0 0 0 SV046 FHz2 Notch filter frequency 2 0 0 0 0 0 0 0 0 0 0 SV047 EC Inductive voltage compensation gain 100 100 100 100 100 100 100 100 100 100 SV048 EMGrt Vertical axis drop prevention time 0 0 0 0 0 0 0 0 0 0

SV049 PGN1sp

SV050 PGN2sp

SV051 DFBT Dual feedback control time constant 0 0 0 0 0 0 0 0 0 0 SV052 DFBN Dual feedback control non-sensitive band 0 0 0 0 0 0 0 0 0 0

SV053 OD3

SV054 ORE Overrun detection width in closed loop control 0 0 0 0 0 0 0 0 0 0 SV055 EMGx Max. gate off delay time after emergency stop 0 0 0 0 0 0 0 0 0 0 SV056 EMGt Deceleration time constant at emergency stop 0 0 0 0 0 0 0 0 0 0 SV057 SHGC SHG control gain 0 0 0 0 0 0 0 0 0 0 SV058 SHGCsp SHG control gain in spindle synchronous control 0 0 0 0 0 0 0 0 0 0 SV059 TCNV Collision detection torque estimating gain 0 0 0 0 0 0 0 0 0 0 SV060 TLMT Collision detection level 0 0 0 0 0 0 0 0 0 0 SV061 DA1NO D/A output channel 1 data No. 0 0 0 0 0 0 0 0 0 0 SV062 DA2NO D/A output channel 2 data No. 0 0 0 0 0 0 0 0 0 0 SV063 DA1MPY D/A output channel 1 output scale 0 0 0 0 0 0 0 0 0 0 SV064 DA2MPY D/A output channel 2 output scale 0 0 0 0 0 0 0 0 0 0 SV065 TLC Tool end compensation spring constant 0 0 0 0 0 0 0 0 0 0

Excessive error detection width during servo OFF

Voltage dead time compensation / current bias 1

Lost motion compensation non-sensitive band /current bias 2

Position loop gain 1 in spindle synchronous control Position loop gain 2 in spindle synchronous control

Excessive error detection width in special control

HC53 HC103 HC153 HC203 HC353 HC453 HC703

6 6 6 6 6 6 6 6 6 6

0 0 0 0 0 0 0 0 0 0

0 0 0 10240 10240 10240 10240 10240 10240 10240

15 15 15 15 15 15 15 15 15 15

0 0 0 0 0 0 0 0 0 0

Standard HC motor 3000 r/min rating Motor

3 - 13

Mitsubishi Electronics BNP-C3040D User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Precautions for safety

CONTENTS

1. Installation

1-1 Installation of servomotor

1-1-1 Environmental conditions

1-1-2 Quakeproof level

1-1-3 Cautions for mounting load (prevention of impact on shaft)

1-1-4 Installation direction

1-1-5 Shaft characteristics

1-1-6 Oil/water standards

1-1-7 Cable stress

1-2 Installation of spindle motor

1-2-1 Environmental conditions

1-2-2 Shaft characteristics

1-3 Installation of the control unit

1-3-1 Environmental conditions

1-3-2 Installation direction and clearance

1-3-3 Prevention of entering of foreign matter

1-3-4 Panel installation hole work drawings (Panel cut drawings)

1-3-5 Heating value

1-3-6 Heat radiation countermeasures

1-4 Installing the spindle detector

1-4-1 Magnetic sensor

1-4-2 Spindle end detector

1-4-3 Spindle end PLG

1-5 Noise measures

2. Wiring and Connection

2-1 Part system connection diagram

2-2 Main circuit terminal block/control circuit connector

2-2-2 Connector pin assignment

2-3 NC and drive unit connection

2-4 Motor and detector connection

2-4-1 Connecting the servomotor

2-4-2 Connecting the full-closed loop system

2-4-3 Connecting the synchronous control system

2-4-4 Connection of the spindle motor

2-5 Connection of power supply

2-5-1 Power supply input connection

2-5-2 Connecting the grounding cable

2-5-3 Main circuit control

2-6 Wiring of the motor brake

2-6-1 Wiring of the motor magnetic brake

2-6-2 Dynamic brake unit wiring

2-7 Peripheral control wiring

2-7-1 Input/output circuit wiring

2-7-2 Spindle coil changeover

2-7-3 Wiring of an external emergency stop

3. Setup

3-1 Initial setup

3-1-1 Setting the rotary switch

3-1-2 Transition of LED display after power is turned ON

3-1-3 Servo standard specifications and high-gain specifications

3-2 Setting the initial parameters for the servo drive unit (High-gain specifications)

3-2-1 Setting the standard parameters

3-2-2 List of standard parameters for each servomotor