mitsubishi HS Specification Manual

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BNP-B3981* (E

NG)

INTELLIGENT SERVOMOTOR

HS Series

Specifications and Instruction Manual

Introduction

Thank you for purchasing the Mitsubishi CNC. This instruction manual describes the handling and caution points for using this CNC. Incorrect handling may lead to unforeseen accidents, so always read this instruction manual thoroughly to ensure correct usage. Make sure that this instruction manual is delivered to the end user.

Precautions for safety

Please read this instruction manual and auxiliary documents before starting installation, operation, maintenance or inspection to ensure correct usage. Thoroughly understand the device, safety information and precautions before starting operation.

The safety precautions in this instruction manual are ranked as "DANGER" and "CAUTION".

DANGER

When a dangerous situation may occur if handling is mistaken leading to fatal or major injuries.

CAUTION

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

Note that some items described as CAUTION may lead to major results depending on the situation. In any case, important information that must be

observed is described. The signs indicating prohibited and mandatory items are described below.

This sign indicates that the item is prohibited (must not be carried out). For example, is used to indicate "Fire

Prohibited".

This sign indicates that the item is mandatory (must be carried out). For example, is used to indicate grounding.

After reading this instruction manual, keep it in a safe place for future reference.

In this manual, this mark indicates important matters the operator



POINT

should be aware of when using the CNC.

For Safe Use

1. Electric shock prevention

Wait at least 10 minutes after turning the power OFF, check the voltage between L1-L2-L3 and L11-L12 terminals with a tester, etc., before starting wiring or inspections. Failure to observe this could lead to electric shocks.

Ground the servo amplifier and servomotor with Class 3 grounding or higher.

Wiring and inspection work must be done by a qualified technician.

Wire the servo amplifier and servomotor after installation. Failure to observe this could lead to electric shocks.

Do not touch the switches with wet hands. Failure to observe this could lead to electric shocks.

Do not damage, apply forcible stress, place heavy items or engage the cable. Failure to observe this could lead to electric shocks.

DANGER

2. Fire prevention

Install the servo amplifier, servomotor and regenerative resistor on noncombustible material. Direct installation on combustible material or near combustible materials could lead to fires.

Following the instructions in this manual, always install no-fuse breakers and contactors on the servo amplifier power input. Select the correct no-fuse breakers and contactors using this manual as a reference. Incorrect selection could lead to fires.

Shut off the main circuit power at the contactors to emergency stop when an alarm occurs.

CAUTION

3. Injury prevention

CAUTION

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

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

Do not mistake the polarity(+ ,–) . Failure to observe this item could lead to ruptures or damage, etc.

Do not touch the servo amplifier fins, regenerative resistor or servomotor, etc., while the power is turned ON or immediately after turning the power OFF. Some parts are heated to high temperatures, and touching these could lead to burns.

4. Various precuations

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

(1) Transportation and installation

Correctly transport the product according to its weight. Do not stack the products above the tolerable number. Do not hold the cables, axis or detector when transporting the servomotor. Follow this Instruction Manual and install the unit in a place where the weight can be borne. Do not get on top of or place heavy objects on the unit. Always observe the installation directions. Do not install or run a servo amplifier or servomotor that is damaged or missing parts. Do not let conductive objects such as screws or metal chips, etc., or combustible materials

such as oil enter the servo amplifier or servomotor. The servo amplifier and servomotor are precision devices, so do not drop them or apply

strong impacts to them.

CAUTION

III

CAUTION

Store and use the units under the following environment conditions.

Environment

Ambient temperature

Ambient humidity

Storage temperature Storage humidity Atmosphere Altitude 1000m or less above sea level

Vibration

(with no dew condensation)

HS-RF HS-SF (1kW or less)

HS-SF (2.0kW or less)

HS-MF

Servomotor Interface unit

0°C to +40°C

(with no freezing)

80% RH or less

–15°C to +65°C

(with no freezing)

90% RH or less (with no dew condensation)

Indoors (Where unit is not subject to direct sunlight)

With no corrosive gas, combustible gas, oil mist or dust.

X: 9.8m/sec2 (1G) Y: Y: 24.5m/sec2

(2.5G) or less X: 19.6m/sec2 (2G) Y: 49m/sec2 (5G) or

less X: 19.6m/sec2 (2G) Y: 19.6m/sec2 (2G)

or less

Conditions

0°C to +55°C

(with no freezing)

90%RH or less

(with no dew condensation)

–20°C to +65°C

(with no freezing)

5.9m/sec2 (0.6G) or less

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

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

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

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

When storing for a long time, please contact your dealer.

(2) Wiring

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

(3) Trial operation and adjustment

Check and adjust each parameter before starting operation. Failure to do so could lead to unforeseen operation of the machine.

Do not make remarkable adjustments and changes as the operation could become unstable.

CAUTION

(4) Usage methods

Install an external emergency stop circuit so that the operation can be stopped and power shut off immediately.

Unqualified persons must not disassemble or repair the unit.

Never make modifications.

Reduce magnetic interference by installing a noise filter. The electronic devices used near the servo amplifier could be affected by magnetic noise. Install a line noise filter, etc., when there is an influence from magnetic interference.

Always use the servomotor and servo amplifier with the designated combination. The servomotor's magnetic brakes are for holding purposes. Do not use them for normal

braking. There may be cases when holding is not possible due to the magnetic brake's life or the

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

CAUTION

(5) Troubleshooting

CAUTION

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

Use a double circuit configuration that allows the operation circuit for the magnetic brakes to be operated even by the external emergency stop signal. If an alarm occurs, remove the cause and secure the safety before resetting the alarm.

Never go near the machine after restoring the power after a failure, as the machine could start suddenly. (Design the machine so that personal safety can be ensured even if the machine starts suddenly.)

Control in the intelligent servomotor.

Servomotor

(6) Maintenance, inspection and part replacement

Magnetic brake

Shut off with CNC brake control PLC output.

EMG

24VDC

The capacity of the electrolytic capacitor will drop due to deterioration. To prevent secondary damage due to failures, replacing this part every ten years when used under a normal environment is recommended. Contact the nearest dealer for repair and replacement of parts.

(7) Disposal

Treat this unit as general industrial waste.

(8) General precautions

CAUTION

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

Compliance to European EC Directives

1. European EC Directives

The European EC Directives were issued to unify Standards within the EU Community and to smooth the distribution of products of which the safety is guaranteed. In the EU Community, the attachment of a CE mark (CE marking) to the product being sold is mandatory to indicate that the basic safety conditions of the Machine Directives (issued Jan. 1995), EMC Directives (issued Jan. 1996) and the Low-voltage Directives (issued Jan. 1997) are satisfied. The machines and devices in which the servo is assembled are a target for CE marking. The servo is a component designed not to function as a single unit but to be used with a combination of machines and devices. Thus, it is not subject to the EMC Directives, and instead the machines and devices in which the servo is assembled are targeted. This servo complies with the Standards related to the Low-voltage Directives in order to make CE marking of the assembled machines and devices easier. The EMC INSTALLATION GUIDELINES (IB (NA) 67303) which explain the servo amplifier installation method and control panel manufacturing method, etc., has been prepared to make compliance to the EMC Directives easier. Contact Mitsubishi or your dealer for more information.

2. Cautions of compliance

Use the standard servo amplifier and EN Standards compliance part (some standard models are compliant) for the servomotor. In addition to the items described in this instruction manual, observe the items described below.

(1) Environment

The servo amplifier must be used within an environment having a Pollution Class of 2 or more as

stipulated in the IEC664. For this, install the servo amplifier in a control panel having a structure (IP54) into which water, oil, carbon and dust cannot enter.

(2) Power supply

1) The servo amplifier must be used with the overvoltage category II conditions stipulated in IEC664. For this, prepare a reinforced insulated transformer that is IEC or EN Standards complying at the power input section.

2) When supplying the control signal input/output power supply from an external source, use a 24 VDC power supply of which the input and output have been reinforced insulated.

(3) Installation

1) To prevent electric shocks, always connect the servo amplifier protective earth (PE) terminal (terminal with mark) to the protective earth (PE) on the control panel.

2) When connecting the earthing wire to the protective earth (PE) terminal, do not tighten the wire terminals together. Always connect one wire to one terminal.

PE terminal PE terminal

(4) Wiring

1) Always use crimp terminals with insulation tubes so that the wires connected to the servo amplifier terminal block do not contact the neighboring terminals.

Crimp terminal

Insulation tube Wire

VIII

(5) Peripheral devices

1) Use a no-fuse breaker and magnetic contactor that comply with the EN/IEC Standards described in Chapter 7 Peripheral Devices.

2) The wires sizes must follow the conditions below. When using other conditions, follow Table 5 of EN60204 and the Appendix C.

• Ambient temperature: 40°C

• Sheath: PVC (polyvinyl chloride)

• Install on wall or open table tray

(6) Servomotor

Contact Mitsubishi for the outline dimensions, connector signal array and detector cable.

(7) Others

Refer to the EMC INSTALLATION GUIDELINES (IB (NA) 67303) for other EMC Directive

measures related to the servo amplifier.

VIII

Chapter 1 Introduction

1-1 Intelligent servomotor outline.............................................................................. 1-2

1-2 Limits and special notes for intelligent servomotor........................................... 1-2

1-2-2 Precautions for selecting the intelligent servomotor ..................................... 1-2

1-2-2 Precautions for use....................................................................................... 1-2

1-2-3 Miscellaneous............................................................................................... 1-2

1-3 Inspection at purchase......................................................................................... 1-3

1-3-1 Explanation of type....................................................................................... 1-3

Chapter 2 Specifications

2-1 Standard specifications ....................................................................................... 2-2

2-2 Torque characteristics......................................................................................... 2-3

2-3 Outline dimension drawings................................................................................ 2-4

2-3-1 HS-MF23 ...................................................................................................... 2-4

2-3-2 HS-RF43/73.................................................................................................. 2-4

2-3-3 HS-SF52/53/102/103.................................................................................... 2-5

2-3-4 HS-SF202..................................................................................................... 2-5

Chapter 3 Characteristics

3-1 Overload protection characteristics.................................................................... 3-2

3-2 Magnetic brake characteristics ........................................................................... 3-3

3-2-1 Motor with magnetic brakes.......................................................................... 3-3

3-2-2 Magnetic brake characteristics ..................................................................... 3-4

3-2-3 Magnetic brake power supply....................................................................... 3-4

3-3 Dynamic brake characteristics............................................................................ 3-5

3-3-1 Deceleration torque...................................................................................... 3-5

3-3-2 Coasting amount .......................................................................................... 3-6

Chapter 4 Peripheral Devices

4-1 Dedicated options................................................................................................. 4-2

4-1-1 I/F unit........................................................................................................... 4-2

4-1-2 Battery option for absolute position system.................................................. 4-6

4-1-3 Cables and connectors................................................................................. 4-7

4-1-4 Cable clamp fitting........................................................................................ 4-11

4-2 Peripheral devices................................................................................................ 4-12

4-2-1 Selection of wire........................................................................................... 4-12

4-2-2 Selection of no-fuse breakers....................................................................... 4-12

4-2-3 Selection of contactor................................................................................... 4-13

4-2-4 Circuit protector............................................................................................ 4-14

Chapter 5 Installation

5-1 Installation of servomotor.................................................................................... 5-3

5-1-1 Environmental conditions............................................................................ 5-3

5-1-2 Cautions for mounting load (prevention of impact on shaft)......................... 5-3

5-1-3 Installation direction .................................................................................... 5-3

5-1-4 Tolerable load of axis ................................................................................... 5-4

5-1-5 Oil and waterproofing measures................................................................... 5-4

5-1-6 Cable stress.................................................................................................. 5-5

5-2 Installation of interface unit................................................................................. 5-6

5-2-1 Environmental conditions.............................................................................. 5-6

5-2-2 Installation direction...................................................................................... 5-6

5-2-3 Prevention of entering of foreign matter....................................................... 5-6

5-3 Noise measures.................................................................................................... 5-7

Chapter 6 Wiring

6-1 System connection diagram................................................................................ 6-3

6-2 Connector ............................................................................................................. 6-4

6-2-1 Connector signal layout................................................................................ 6-4

6-2-2 Signal name.................................................................................................. 6-5

6-3 Connection of power supply................................................................................ 6-6

6-3-1 Example of connection for controlling magnetic switch (MC)

with MDS-B-CV/CR....................................................................................... 6-6

6-3-2 Example of connection for controlling magnetic switch with

external sequence circuit.............................................................................. 6-8

6-3-3 Wiring of contactors (MC)............................................................................. 6-8

6-3-4 Surge absorber............................................................................................. 6-9

6-4 Wiring the motor with brakes............................................................................... 6-9

6-4-1 Connection example..................................................................................... 6-9

6-4-2 Manually releasing the magnetic brakes....................................................... 6-10

6-5 Connection with the NC ....................................................................................... 6-11

6-5-1 Connection system....................................................................................... 6-11

Chapter 7 Setup

7-1 Setting the initial parameters............................................................................... 7-2

7-1-1 Servo specification parameters .................................................................... 7-2

7-1-2 Limitations to electronic gear setting value................................................... 7-2

7-1-3 Parameters set according to feedrate........................................................... 7-3

7-1-4 Parameters set according to machine load inertia........................................ 7-3

7-1-5 Standard parameter list according to motor.................................................. 7-4

Chapter 8 Adjustment

8-1 Measurement of adjustment data........................................................................ 8-2

8-1-1 D/A output specifications.............................................................................. 8-2

8-1-2 Setting the output data................................................................................. 8-2

8-1-3 Setting the output scale................................................................................ 8-3

8-1-4 Setting the offset amount ............................................................................. 8-3

8-1-5 Clamp function.............................................................................................. 8-3

8-1-6 Filter function................................................................................................ 8-3

8-2 Gain adjustment ................................................................................................... 8-4

8-2-1 Current loop gain.......................................................................................... 8-4

8-2-2 Speed loop gain............................................................................................ 8-4

8-2-3 Position loop gain......................................................................................... 8-6

8-3 Characteristics improvement............................................................................... 8-8

8-3-1 Optimal adjustment of cycle time.................................................................. 8-8

8-3-2 Vibration suppression measures................................................................... 8-10

8-3-3 Improving the cutting surface precision ........................................................ 8-12

8-3-4 Improvement of protrusion at quadrant changeover..................................... 8-15

8-3-5 Improvement of overshooting....................................................................... 8-19

8-3-6 Improvement of characteristics during acceleration/deceleration ................. 8-21

8-4 Setting for emergency stop ................................................................................. 8-24

8-4-1 Deceleration control...................................................................................... 8-24

8-4-2 Vertical axis drop prevention control............................................................. 8-26

8-5 Collision detection .............................................................................................. 8-27

8-6 Parameter list........................................................................................................ 8-30

Chapter 9 Inspections

9-1 Inspections............................................................................................................ 9-2

9-2 Life parts............................................................................................................... 9-2

9-3 Replacing the unit................................................................................................. 9-3

9-3-1 HS-MF23** type............................................................................................ 9-3

9-3-2 HS-FR43/73, HS-SF52/53/102/103 type ...................................................... 9-3

9-3-3 HS-SF202 type............................................................................................. 9-4

Chapter 10 Troubleshooting

10-1 Points of caution and confirmation................................................................... 10-2

10-2 Troubleshooting at start up............................................................................... 10-2

10-3 Protective functions list ..................................................................................... 10-3

10-3-1 Alarm............................................................................................................ 10-3

10-3-2 Warnings list................................................................................................. 10-7

10-3-3 Alarm and warning deceleration method and reset method.......................... 10-8

Chapter 11 Selection

11-1 Outline ................................................................................................................. 11-2

11-1-1 Servomotor................................................................................................... 11-2

11-1-2 Regeneration methods................................................................................. 11-3

11-2 Selection of servomotor series.......................................................................... 11-4

11-2-1 Motor series characteristics.......................................................................... 11-4

11-2-2 Servomotor precision.................................................................................... 11-4

11-3 Selection of servomotor capacity...................................................................... 11-6

11-3-1 Load inertia ratio........................................................................................... 11-6

11-3-2 Short time characteristics.............................................................................. 11-6

11-3-3 Continuous characteristics............................................................................ 11-7

11-4 Selection of regenerative resistor..................................................................... 11-9

11-4-1 Limits for HS-MF23....................................................................................... 11-9

11-4-2 Approximate calculation of positioning frequency......................................... 11-9

11-4-3 Calculation of regenerative energy............................................................... 11-9

11-4-4 Calculation of positioning frequency............................................................. 11-11

11-5 Motor shaft conversion load torque.................................................................. 11-12

11-6 Expressions for load inertia calculation ........................................................... 11-13

iii

Chapter 1 Introduction

1-1 Intelligent servomotor outline.................................................................... 1-2

1-2 Limits and special notes for intelligent servomotor................................ 1-2

1-2-2 Precautions for selecting the intelligent servomotor........................... 1-2

1-2-2 Precautions for use............................................................................. 1-2

1-2-3 Miscellaneous ..................................................................................... 1-2

1-3 Inspection at purchase ............................................................................... 1-3

1-3-1 Explanation of type ............................................................................. 1-3

1–1

Chapter 1 Introduction

1-1 Intelligent servomotor outline

The Mitsubishi intelligent servomotor is an integrated motor, encoder and amplifier, and has the following features.

• Space saving The amplifier does not need to be stored in the power distribution panel, so the machine, power distribution panel and heat exchanger can be downsized.

• Wire saving Only one wire is used between the NC and motor. (The signal and 200VAC input are wired with the same cable.)

• Flexible As an option axis can be added without changing the power distribution panel, variations can be easily added to the machine.

• High-speed As the power distribution panel does not require space, the servo can easily be used for hydraulic and pneumatic devices.

1-2 Limits and special notes for intelligent servomotor

1-2-1 Precautions for selecting the intelligent servomotor

(1) The intelligent servomotor does not have the regenerative resistor option (the regenerative

resistor capacity cannot be increased.). Make sure that the regenerative energy is less than the tolerable regenerative capacity. Use the standalone HA/HC Series motor and MDS-B-V1/V2/SVJ2 Series servo amplifier for applications having a high regenerative energy due to a high positioning frequency or large load inertia, etc.

(2) The HS-MF23 type does not have a regenerative resistor. There may be limits to the working

rotation speed depending on the load inertia. Avoid using in applications generating continuous regeneration, such as with a vertical axis.

1-2-2 Precautions for use

(1) IP65 is recommended for the engagement of the HS-RF∗∗/SF∗∗ type connector. Make sure that

water or oil, etc., does not come in contact in the disengaged state.

(2) Connect the HS-MF type relay connector in a relay box having a structure (IP54) that prevents

the entry of water, oil and dust, etc. Fix the enclosed cable to the motor.

(3) A contact that released the brakes when the servo turns ON is built-in. The brakes will not be

released just by inputting the 24V power from an external source. If the brakes need to be released when assembling the machine, etc., refer to section 6-4. Wiring a motor with brakes.

1-2-3 Miscellaneous

(1) When the motor shaft is turned by hand, it may seem heavier than other servomotors, or may

seem tight. This is caused because of the dynamic brakes in the built-in amplifier, and is not a fault.

1–2

Chapter 1 Introduction

1-3 Inspection at purchase

Open the package, and read the rating nameplate to confirm that the servo amplifier and servomotor are as ordered.

1-3-1 Explanation of type

(1) Amplifier + motor integrated type

HS - oo ¡¡o o o o - So

Motor Series RF : Medium capacity, low inertia SF : Medium capacity, medium inertia MF : Small capacity, ultra-low inertia

Intelligent servomotor

¡¡: Short-time rated output (W/100) · o : Rotation speed (rpm/1000) 103: 1kW·3000r/min 202: 2kW·2000r/min 73: 0.75kW·3000r/min 102: 1kW·2000r/min 53: 0.5kW·3000r/min 52: 0.5kW·2000r/min 43: 0.4kW·3000r/min 23: 200W·3000r/min

Amplifier type EX: With amplifier/encoder for NC

Motor option B: Brakes provided Blank: No brakes

(2) Part types for separable amplifier and motor

1) Motor/encoder unit type

MDS - B - ISV ¡¡ o o

Intelligent servomotor amplifier/encoder

Amplifier type EX: With amplifier/encoder for NC

Short-time rated output (W/100) 20: 2kW 05: 0.5kW 10: 1kW 04: 0.4kW 07: 0.75kW

Amplifier/encoder special symbol (Cable length, etc.)

2) Motor only type

HS - oo ¡¡o o - so

Motor Series RF : Medium capacity, low inertia SF : Medium capacity, medium inertia

Intelligent servomotor

Motor option B: Brakes provided Blank: No brakes

Motor special symbol (Not provided with standard product)

Amplifier/encoder special symbol (Cable length, etc.)

Explanation of rating nameplate

1–3

Chapter 1 Introduction

Motor section type

Type

Amplifier/encoder section type and rated i nput/output

Current version

Serial No.

MITSUBISHI

TYPE

MOTORHS‑SF202 DRIVEUNITMDS‑B‑ISV‑20EX RATEDINPUT *3AC200‑230V50/60Hz 10.0A RATEDOUTPUT3AC11.0A

Ｓ/ＷＢＮＤ５１６Ｗ０００Ａ７Ｈ/ＷＶＥＲ.* SERIAL#XXXXXXXXXXX DATE00/01

MITSUBISHIELECTRICCORPORATIONJAPAN

*   Ｘ Ｘ  Ｘ  Ｘ  Ｘ Ｘ   Ｘ  Ｘ  Ｘ  Ｘ  Ｘ   *

INTELLIGENTSERVO

HS-SF202EX

1–4

Chapter 2 Specifications

2-1 Standard specifications............................................................................. 2-2

2-2 Torque characteristics............................................................................... 2-3

2-3 Outline dimension drawings ..................................................................... 2-4

2-3-1 HS-MF23............................................................................................ 2-4

2-3-2 HS-RF43/73....................................................................................... 2-4

2-3-3 HS-SF52/53/102/103 ......................................................................... 2-5

2-3-4 HS-SF202 .......................................................................................... 2-5

2–1

Chapter 2 Specifications

2-1 Standard specifications

(1) HS-MF, HS-RF Series (Low-inertia, small capacity/low-inertia, medium capacity)

Type HS-MF23 HS-RF43 HS-RF73

Short-time characteristics

Continuous characteristics

Maximum torque (N·m) 1.92 3.18 5.97 Rated rotation speed (r/min) 3000 Maximum rotation speed (r/min) 3000 Moment of inertia J (×10-4kg·m2) 0.089 0.8 1.5 Detector resolution/method 8,000/absolute value 100,000/absolute value

Power supply

Control method Sine wave PWM control, current control method Dynamic brakes Built-in Recommended load moment of inertia

rate Environment conditions Follows section 3-1-1 Environment conditions

Structure

Rated output (kW) 0.2/15min 0.4/30min 0.75/30min Rated torque (N·m) 0.64 1.27 2.39 Rated output (kW) 0.15 0.32 0.6 Rated torque (N·m) 0.48 1.02 1.91

Voltage/frequency 3-phase 200VAC to 230VAC 50/60Hz (HS-MF23 is single-phase) Tolerable voltage fluctuation 170 to 253VAC Tolerable frequency

fluctuation Power facility capacity (kVA) 0.5 0.9 1.3

4-fold or less when using cutting axis, 10-fold or less when using peripheral axis

Fully closed self-cooling: Protective structure IP65 (Excluding MF23 connector. Protection

applies for all connectors when engaged to machine.)

±5%

(2) HS-SF Series (medium-inertia, medium-capacity)

Type HS-SF52 HS-SF53 HS-SF102 HS-SF103 HS-SF202

Short-time characteristics

Continuous characteristics

Maximum torque (N·m) 11.8 8.82 21.6 16.7 41.7 Rated rotation speed (r/min) 2000 3000 2000 3000 2000 Maximum rotation speed (r/min) 2000 3000 2000 3000 2000 Moment of inertia J (×10-4kg·m2) 6.6 6.6 13.6 13.6 42.5 Detector resolution/method 100,000/absolute value

Power supply

Control method Sine wave PWM control, current control method Dynamic brakes Built-in Recommended load moment of inertia

rate Environment conditions Follows section 3-1-1 Environment conditions

Structure

Rated output (kW) 0.5/30min 0.5/30min 1.0/30min 1.0/30min 2.0/30min Rated torque (N·m) 2.39 1.59 4.78 3.18 9.55 Rated output (kW) 0.4 0.4 0.75 0.75 1.5 Rated torque (N·m) 1.91 1.27 3.58 2.39 7.16

Voltage/frequency 3-phase 200VAC to 230VAC 50/60Hz Tolerable voltage

fluctuation Tolerable frequency

fluctuation Power facility capacity

(kVA)

1.0 1.0 1.7 1.7 3.5

4-fold or less when using cutting axis, 10-fold or less when using peripheral axis

Fully closed self-cooling: Protective structure IP65

(Protection applies for connector section when engaged)

170 to 253VAC 50/60Hz

±5%

Note 1: The rated output and rated rotation speed are the guaranteed values in the 200 to 230VAC 50/60Hz range. The torque-speed

Note 2: Make sure that the acceleration/deceleration torque is within 80% of the maximum output torque. Note 3: Make sure that the continuous effective load torque is within 80% of the motor rated torque. Note 4: With the HS-MF23, if the recommended load moment of inertia rate is exceeded, an overvoltage alarm may occur because of

Note 5: Magnetic brakes are prepared for the 0.4KW and larger capacities. The HS-MF23 does not have brake specifications.

line diagram indicates the characteristics when 200VAC is input. Note that the high-speed characteristics will drop when the power voltage drops.

the speed and deceleration torque. (Refer to Chapter 11.)

2–2

2-2 Torque characteristics

3.0

[HS-MF23]

Chapter 2 Specifications

4.0

[HS-RF43]

8.0

[HS-RF73]

3.0

2.0

Intermittent operation range

Torque［N･m］

1.0

Short-time operation range

Continuous operation range

1000 2000 3000

Motor speed［r/min

］

2.0

Torque［N･m］

1.0

[HS-SF52]

Intermittent operation range

Torque［N･m］

Short-time operation range

Continuous operation range

1000 2000

Motor speed［r/min

］

Torque［N･m］

Intermittent operation range

Short-time operation range

Continuous operation range

1000 2000

Motor speed［r/min

[HS-SF53]

Intermittent operation range

Short-time operation range

Continuous operation range

1000 2000 3000

Motor speed［r/min

3000

］

6.0

Intermittent operation range

4.0

Torque［N･m］

Short-time operation range

2.0

Motor speed［r/min

Torque［N･m］

Short-time operation range

0 1000

Motor speed［r/min

Continuous operation range

1000 2000

[HS-SF102]

Intermittent operation range

Continuous operation range

3000

］

2000

］

[HS-SF103]

Torque［N･m］

Short-time operation range

Intermittent operation range

Continuous operation range

1000 2000 3000

Motor speed［r/min

］

Torque［N･m］

0 1000

[HS-SF202]

Intermittent operation range

Short-time operation range

Continuous operation range

Motor speed［r/min

］

2000

2–3

Chapter 2 Specifications

±5

2-3 Outline dimension drawings

2-3-1 HS-MF23

640±30

56.5 18

108

178

2.5

Cross-section

Φ11h6

A-A

2-3-2 HS-RF43/73

Φ27

101

118

With oil seal

-0.03

54.3

108.00

Cross-section

A-A

Connector

JL04V-2A28-11PE

With oil seal

45°

16304

Φ50h7

φ 70

23.3

100

173.5

Changed dimensions Model L LL

HS-RF43 400W 86 204 HS-RF43B 400W with brakes In planning stages HS-RF73 750W 104 222 HS-RF73B 750W with brakes In planning stages

2–4

φ16.000

Taper 1/10

φ22

115

135

ﾟ

4-φ9

□

100

φ95h7

2-3-3 HS-SF52/53/102/103

216

Changed dimensions Model L LL

HS-SF53/52 500W 87 232 HS-SF53/52B 500W with brakes 119 270 HS-SF103/102 1kW 112 257 HS-SF103/102B 1kW with brakes 144 295

2-3-4 HS-SF202

Chapter 2 Specifications

145 L

Cross section

A-A

-0.03

23.3

4.25

4.3

φ 165

φ16.000

Taper

1/10

28 12

110h7

φ 145

130

□130

45°

119

+0.010

φ35

264

-0.025

φ114.3

200

230

□

176

Changed dimensions Model L LL

HS-SF202 2kW 116 270 HS-SF202B 2kW with brakes In planning stages

2–5

Chapter 3 Characteristics

3-1 Overload protection characteristics.......................................................... 3-2

3-2 Magnetic brake characteristics.................................................................. 3-3

3-2-1 Motor with magnetic brakes................................................................ 3-3

3-2-2 Magnetic brake characteristics ........................................................... 3-4

3-2-3 Magnetic brake power supply............................................................. 3-4

3-3 Dynamic brake characteristics................................................................... 3-5

3-3-1 Deceleration torque............................................................................. 3-5

3-3-2 Coasting amount................................................................................. 3-6

3–1

Chapter 3 Characteristics

95% of amplifier or motor

3-1 Overload protection characteristics

The servo amplifier has an electronic thermal relay to protect the servomotor and servo amplifier from overloads. The operation characteristics of the electronic thermal relay when standard parameters (SV021=60, SV022=150) are set shown below. If overload operation over the electronic thermal relay protection curve shown below is carried out, overload 1 (alarm 50) will occur. If the maximum current is commanded at 95% or higher continuously for one second or more due to a machine collision, etc., overload 2 (alarm 51) will occur.

1000.0

100.0

10.0

Operation time [sec]

1.0

0.1

0 50 100 150 200 250 300 350 400

When stopped

Motor load rate [%]

When rotating

maximum capacity

Fig. 3-1 Overload protection characteristics

3–2

Chapter 3 Characteristics

3-2 Magnetic brake characteristics

1. The axis will not be mechanically held even when the dynamic brakes are used. If the machine could drop when the power fails, use a servomotor with magnetic brakes or provide an external brake mechanism as holding means to prevent dropping.

2. The magnetic brakes are used for holding, and must not be used for normal braking. There may be cases when holding is not possible due to the life or

CAUTION

machine structure (when ball screw and servomotor are coupled with a timing belt, etc.). Provide a stop device on the machine side to ensure safety. When releasing the brakes, always confirm that the servo is ON first. Sequence control considering this condition is possible if the amplifier motor brake control signal (MBR) is used.

3. When operating the brakes, always turn the servo OFF (or ready OFF).

4. When the vertical axis drop prevention function is used, the drop of the vertical axis during an emergency stop can be suppressed to the minimum.

3-2-1 Motor with magnetic brakes

(1) Types

The motor with magnetic brakes is set for each motor. The "B" following the standard motor type indicates the motor with brakes.

(2) Applications

When this type of motor is used for the vertical feed axis in a machining center, etc., slipping and dropping of the spindle head can be prevented even when the hydraulic balancer's hydraulic pressure reaches zero when the power turns OFF. When used with a robot, deviation of the posture when the power is turned OFF can be prevented. When used for the feed axis of a grinding machine, a double safety measures is formed with the deceleration stop (dynamic brake stop), and the risks of colliding with the grinding stone and scattering can be prevented. This motor cannot be used for purposes other than holding and braking during a power failure (emergency stop). (This cannot be used for normal deceleration, etc.)

(3) Features

1) The magnetic brakes use a DC excitation method, thus:

• The brake mechanism is simple and the reliability is high.

• There is no need to change the brake tap between 50 Hz and 60 Hz.

• There is no rush current when the excitation occurs, and shock does not occur.

• The brake section is not larger than the motor section.

2) The magnetic brakes are built into the motor, and the installation dimensions are the same as the motor without brakes.

3–3

Chapter 3 Characteristics

3-2-2 Magnetic brake characteristics

HS-RF Series HA-SF Series

Item

Type (Note 1) Spring braking type safety brakes Rated voltage 24VDC Rated current at 20°C (A) Excitation coil resistance at 20°C (Ω) Capacity (W) 9.9 19.2 19.2 Attraction current (A) 0.20 0.25 0.25 Dropping current (A) 0.12 0.085 0.08 Static friction torque (N·m) 2.4 6.8 8.5 Moment of inertia (Note 2) J (×10–4kg·m2) 0.26 0.35 2.0 Release delay time (sec) (Note 3) 0.03 0.03 0.03 Tolerable braking work amount

(J) Brake play at motor axis (deg.) 0.1 to 0.9 0.2 to 0.6 0.2 to 0.6

Brake life (Note 4)

Per braking 64 400 400 Per hour 640 4000 4000

20,000 times with 32 (J)

43B 73B

0.41 0.8 0.8 58 30 30

braking amount

per braking

53B 52B 103B 102B

20,000 times with 200 (J)

braking amount

per braking

20,000 times with 200 (J)

202B

braking amount

per braking

Notes:

1. There is no manual release mechanism. Refer to section "6-4-2 Manually releasing the magnetic brakes".

2. These are the values added to the servomotor without brakes.

3. This is the value for 20°C at the initial attraction gap.

4. The brake gap will widen through brake lining wear caused by braking. However, the gap cannot be adjusted. Thus, the brake life is reached when adjustments are required.

5. A leakage flux will be generated at the shaft end of the servomotor with magnetic brakes.

6. When operating in low speed regions, the sound of loose brake lining may be heard. However, this is not a problem in terms of function.

7. The brake characteristics for the HS-RF Series and HS-SF202 are the planned values.

3-2-3 Magnetic brake power supply

(1) Brake excitation power supply

1) Prepare a brake excitation power supply that can accurately ensure the attraction current in consideration of the voltage fluctuation and excitation coil temperature.

2) The brake terminal polarity is random. Make sure not to mistake the terminals with other circuits.

(2) Brake excitation circuit

• Provide sufficient DC cut off capacity at the contact.

• Always use a serge absorber.

3–4

Chapter 3 Characteristics

3-2 Dynamic brake characteristics

When an emergency stop occurs such as that due to a servo alarm detection, the motor will stop with the deceleration control at the standard setting. However, by setting the servo parameter (SV017: SPEC), the dynamic brake stop can be selected. If a servo alarm that cannot control the motor occurs, the dynamic brakes stop the servomotor regardless of the parameter setting.

3-3-1 Deceleration torque

The dynamic brakes use the motor as a generator, and obtains the deceleration torque by consuming that energy with the dynamic brake resistance. The characteristics of this deceleration torque have a maximum deceleration torque (Tdp) regarding the motor speed as shown in the following drawing. The torque for each motor is shown in the following table.

Deceleration torque

Motor speed

Fig. 3-2 Deceleration torque characteristics of a dynamic brake stop

Table 3-1 Max. deceleration torque of a dynamic brake stop

Motor type

HS-MF23 0.64 0.40 465 HS-SF52 2.39 2.40 496 HS-RF43 HS-SF53 1.59 2.54 472 HS-RF73 3.18 3.67 582 HS-SF102 4.78 11.19 884 HS-SF103 3.18 10.72 1045 HS-SF202 9.55 10.56 457

Rated torque

(N·m)

Tdp (N•m) Ndp (r/min) Motor type

Rated torque

(N·m)

Tdp (N•m) Ndp (r/min)

3–5

Chapter 3 Characteristics

OFF

3-3-2 Coasting amount

The motor coasting amount when stopped by a dynamic brake can be approximated using the following expression.

CMAX =

No 60

CMAX : Maximum motor coasting amount (turn) No : Initial motor speed (r/min) JM : Motor inertia (kg·cm2) JL : Motor shaft conversion load inertia (kg·cm2) te : Brake drive relay delay time (sec) (Normally, 0.03sec) A : Coefficient A (Refer to the table below) B : Coefficient B (Refer to the table below)

Emergency stop (EMG)

Motor brake control output

Motor brake actual operation

Table 3-2 Coasting amount calculation coefficients

Motor

type

HS-MF23 0.088 1.38 × 10 HS-RF43 0.8 2.04 × 10 HS-RF73 1.5 2.04 × 10

(kg·cm2)

· te + ( 1 +

Motor speed

Initial speed: No

Fig. 3-3 Dynamic brake braking diagram

A B Motor type

–11

0.90 × 10–5 HS-SF52 6.6 16.13 × 10

–11

2.07 × 10–5 HS-SF53 6.6 15.99 × 10

–11

2.07 × 10–5 HS-SF102 13.6 4.00 × 10

) · (A · No3 + B · No)

OFF

HS-SF103 13.6 3.53 × 10 HS-SF202 42.5 25.60 × 10

Coasting amount

(kg·cm2)

Time

A B

–11

11.93 × 10–5

–11

10.71 × 10–5

–11

9.38 × 10–5

–11

11.58 × 10–5

–11

16.07 × 10–5

3–6

Chapter 4 Peripheral Devices

4-1 Dedicated options....................................................................................... 4-2

4-1-1 I/F unit................................................................................................. 4-2

4-1-2 Battery option for absolute position system........................................ 4-6

4-1-3 Cables and connectors....................................................................... 4-7

4-1-4 Cable clamp fitting .............................................................................. 4-11

4-2 Peripheral devices....................................................................................... 4-12

4-2-1 Selection of wire.................................................................................. 4-12

4-2-2 Selection of no-fuse breakers............................................................. 4-12

4-2-3 Selection of contactor ......................................................................... 4-13

4-2-4 Circuit protector................................................................................... 4-14

4–1

Chapter 4 Option and Peripheral Devices

Always wait at least 10 minutes after turning the power OFF, and check the

DANGER

voltage with a tester, etc., before connecting the option or peripheral device. Failure to observe this could lead to electric shocks.

CAUTION

Use the designated peripheral device and options. Failure to observe this could lead to faults or fires.

4-1 Dedicated options

4-1-1 I/F unit

Name Intelligent servomotor I/F unit

Type HS-IF-6 Maximum number of connected

axes Input power voltage AC200 to 230V 50/60Hz

Functions Miscellaneous Surge absorber, radio noise filter, internal 5V power

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

Environ-me nt conditions

Outline dimensions H: 300 × W: 80 × D: 80 (refer to following drawings)

Storage temperature –20°C to +65°C (with no freezing) Storage humidity 90% RH or less (with no dew condensation) Atmosphere Indoors (not subject to direct sunlight). No corrosive gases, flammable gases, oil mist or dust Altitude 1000m or below sea level Vibration 5.9m/sec2 or less

(The total number of connected axes follows the NC unit specifications)

Serial bus interface between NC and intelligent servomotor

200VAC branching to main circuit and control power circuit

(1) Outline drawing

Maximum 6 intelligent servomotor axes

300

285

2-M3 screw

For grounding plate installation

4–2

Chapter 4 Option and Peripheral Devices

インテリジェントサーボ

左より第１軸、第２軸、・・・

(2) Explanation of each part

CN1B

Servo/spindle drive

サーボ・主軸ドライブ

CN1A

From NC

ＮＣより

CN11

CN11 Intelligent servomotor 1st axis

インテリジェントサーボモータ第１軸

CN12

CN12 Intelligent servomotor 2nd axis

インテリジェントサーボモータ第２軸

CN13

Intelligent servomotor 3rd axis

インテリジェントサーボモータ第３軸

Alarm display LED

アラーム表示ＬＥＤ

1st axis, 2nd axis, to 6th axis, CN1B connection axis from

第６軸、CN1B接続軸

left.

SW7

Servo monitor D/A output

サーボモニタD/A出力

changeover switch

切替スイッチ

Always set to ON (left) when starting up.

立ち上げ時は必ずON （左）として下さい。

SW1 to SW3

SW1〜SW3

Usage/non-usage setting

各々CN11〜CN13の

switch for CN11 to CN13.

使用/未使用設定スイッチ

Set switch to right for connected axis, and to left for

接続軸はスイッチを右へ未

disconnected axis.

接続軸は左として下さい。

CN14

Intelligent servomotor 4th axis

インテリジェントサーボモータ第４軸

CN15

CN15 Intelligent servomotor 5th axis

インテリジェントサーボモータ第５軸

CN16

CN16 Intelligent servomotor 6th axis

インテリジェントサーボモータ第６軸

L1 L2 L3

L11 L12

SW4 to SW6

SW4〜ＳＷ6

Usage/non-usage setting

各々CN11〜CN13の

switch for CN11 to CN13.

使用/未使用設定スイッチ

Set switch to right for connected axis, and to left for

接続軸はスイッチを右へ未

disconnected axis.

接続軸は左として下さい。

TE1 to TE6

TE1〜TE6

Intelligent servomotor terminal block.

モータ用端子台

* The drawing shows the state

with the terminal block cover

*図は端子台カバーを

removed.

はずしたときのものです

TE7

200VAC

AC200V

Input terminal block

入力端子台

4–3

Chapter 4 Option and Peripheral Devices

(3) Signal wire connection and switch settings

1) Connector connection

Connect the cable from the NC unit to CN1A. The servo/spindle drive other than the

intelligent servomotor is connected to CN1B. If there is no servo/spindle drive, connect the battery unit or terminator.

The intelligent servomotor axis No. is set according to the I/F unit connector connection site.

Connect to the correct connector.

2) Switch setting

Set the setting switches SW1 to SW6 according to whether CN11 to CN16 are used or not.

SW7 is the servo monitor D/A output changeover switch, so normally set it to the left position. Set it to the right when using the D/A output function. Note that when the power is turned ON, this switch must be set to the left or the "Amplifier Not Mounted" alarm will occur.

(4) Power supply connection

1) Explanation of terminal block

Connect the 200VAC power to TE7. The intelligent servomotor's power wires are connected to TE1 to TE6. The TE1 to TE6

connection order is random, but connect from TE6 in order from the motor with the larger capacity.

The connections are L1, L2, L3 (main power), L11, L12 (control circuit power), and PE from

the left on each terminal block.

2) Wire end treatment

Single wire : Peel the wire sheath and use the wire.

Peeling length

Stranded wire : Peel the wire sheath and twist the core wires before using. Take care to prevent short-circuiting with the

neighboring poles caused by fine wire strands. Do not solder onto the core wires as a contact fault could occur. (Wire size: 0.25 to 2.5mm2)

Wire size Single wire Stranded wire

Peeling length

A (mm)

TE7 0.2 to 6mm2 0.2 to 4mm2 8 TE1 to TE6 0.2 to 1.5mm2 0.2 to 1.5mm2 10

3) Connection method

TEL7 (200VAC power supply) TE1 to 6 (intelligent servomotor)

Insert the wire, and tighten the terminal with a flat-tip screwdriver. The tightening torque is 0.5 to 0.6Nm.

Insert the wire while pressing the terminal block lever. The wire will be fixed when the lever is released.

4–4

Chapter 4 Option and Peripheral Devices

4) Total capacity of connected motors

The total capacity of the motors that can be connected to the HS-IF-6 main power terminal block is 6kW or less. If the total motor capacity exceeds 6kW, wire with a standalone terminal block.

HS motor

Terminal block

(5) D/A output measurement methods

1) Remove the upper cover from the I/F uni t.

2) Connect a measuring instrument to the I/F unit check pin.

Refer to the drawing on the right

for the connection sections.

3) When observing the waveform,

turn the I/F unit's servo monitor

#1 1st axis display

#2 2nd axis display

#3 3rd axis display

#4 4th axis display

D/A output changeover switch to OFF (right).

4) Select the data to be measured

with the parameters. (Refer to section "8-1. Measuring the

#7 CN1B connection axis display

#6 6th axis display

#5 5th axis display

Servo monitor D/A output changeover switch

adjustment data".)

CAUTION

Always turn the DIP switch ON before turning the power ON. Do not connect a measuring instrument having a low input impedance when turning the power ON. The "Amplifier Not Mounted" alarm will occur.

D/A output grounding terminal

4th axis D/A output terminal

(6) Alarm display LED

6th axis D/A output terminal

The alarm display LED holds the state of each axis alarm when an alarm or emergency stop occurs. Use this to pinpoint the cause when an emergency stop state occurs due to a cable or amplifier fault. The display of each LED will change as shown below.

#1 #2 #3 #4 #5 #6 #7

When 200VAC is turned ON Not set Not set Not set Not set Not set Not set Not set After NC starts Not ON Not ON Not ON Not ON Not ON Not ON Not ON Emergency stop occurrence from NC side Not ON Not ON Not ON Not ON Not ON Not ON Not ON Emergency stop occurrence from intelligent servomotor 1st axis ON Not ON Not ON Not ON Not ON Not ON Not ON Emergency stop occurrence from intelligent servomotor 2nd axis Not ON ON Not ON Not ON Not ON Not ON Not ON Emergency stop occurrence from intelligent servomotor 3rd axis Not ON Not ON ON Not ON Not ON Not ON Not ON Emergency stop occurrence from intelligent servomotor 4th axis Not ON Not ON Not ON ON Not ON Not ON Not ON Emergency stop occurrence from intelligent servomotor 5th axis Not ON Not ON Not ON Not ON ON Not ON Not ON Emergency stop occurrence from intelligent servomotor 6th axis Not ON Not ON Not ON Not ON Not ON ON Not ON

4–5

HS-IF-6

Alarm display LED

1st axis D/A output terminal

2nd axis D/A output terminal

3rd axis D/A output terminal

5th axis D/A output terminal

Chapter 4 Option and Peripheral Devices

Emergency stop occurrence from servo/spindle connected to CN1B Not ON Not ON Not ON Not ON Not ON Not ON ON

4–6

Chapter 4 Option and Peripheral Devices

4-1-2 Battery option for absolute position system

A battery or battery unit must be provided for the absolute position system.

Battery option specifications

Item Battery unit

Type MDS-A-BT2 MDS-A-BT4 MDS-A-BT6 MDS-A-BT8 No. of backup axes 2 axes 4 axes 6 axes 7 axes Battery continuous back up time Approx. 12,000 hours Battery useful life 7 years from date of unit manufacture

Data save time during battery replacement

Back up time from battery warning to alarm occurrence

The battery life will be greatly affected by the ambient temperature. The above data shows the theoretic values for when the ambient temperature of the

CAUTION

battery is 25°C. If the ambient temperature rises, generally the back up time and useful life will be shorter.

MDS-A-BT2 MDS-A-BT4 MDS-A-BT6 MDS-A-BT8

HS-MF : 2 hours at time of delivery, 1 hour after 5 years HS-RF, -SF : 20 hours at time of delivery, 10 hour after 5 years

Approx. 100 hours

ø6 Use an M5 screw for the installation.

3 5

3 4

1 45

1 35

1 5

R30

1 5

3 0

1 00

Instead of the terminator, connect the battery unit to the final drive unit with the amplifier-amplifier bus cable.

1 60

Unit (mm)

4–7

Chapter 4 Option and Peripheral Devices

4-1-3 Cables and connectors

(1) Cable list

Part name Type Descriptions

Communication cable for CNC unit - Amplifier Amplifier - Amplifier

For I/F unit

Terminator connector A-TM

For HS-MF between intelligent servomotor and I/F unit

For intelligent servo-moto r

For HS-RF and HS-SF between intelligent servomotor and I/F unit

(2) Cable wiring diagram

For MS-MF For HS-RF/SF

I/F unit (power distribution panel)

Signal

side

name

TXD TXD* RXD RXD* ALM ALM* EMG EMG* MON LG BAT

L11

L12

8 5 9

Plate

brown

blue

green/yellow

gray

white

SH21 Length:

0.35, 0.5, 0.7, 1, 1.5, 2, 2.5, 3, 3.5, 4, 4.5, 5, 6, 7, 8, 9, 10, 15, 20, 30m

HSMF-CABL-o-oM

HSSFo-CABL-o-oM

Axis No. Blank: No display 1: 1st axis : 6: 6th axis

Motor side connector 2: Straight 3: Right angle

Length (m)

Length (m) Axis No. Blank: No display 1: 1st axis : 6: 6th axis

Motor side

A1 B1 A2 B2 A4 B4 A3 B3 A6 B5 A5

B6 A1

Servo amplifier side connector (Sumitomo 3M) 10120-6000EL (Connector) 10320-3210-000 (Shell kit)

I/F unit side connector (Sumitomo 3M) 10120-3000VE (Connector) 10320-52A0-008 (Shell kit)

I/F unit (power distribution panel)

Signal

side

name

TXD TXD* RXD RXD* ALM ALM* EMG EMG* MON LG BAT

BR RG

L11

8 5 9

Plate

yellow/green

Servo amplifier side connector (Sumitomo 3M) 10120-6000EL (Connector) 10320-3210-000 (Shell kit)

Servomotor side connector (Japan AMP)

178289-3 (Housing for power supply) 178289-6 (Housing for signal) 1-917511-5 (Contact for L1, L2, PE) 1-175217-5 (Contact for L11, L12, signal)

Servomotor side connector (Japan Aviation)

JI04V-6A28-11SE-EB (Straight) or JI04V-8A28-11SE-EB (Angle) JL04-2428CK (Clamp)

brown

blue

black

Motor side

A E B F D H C G X T I

W R

L12

4–8

Chapter 4 Option and Peripheral Devices

(3) Usage cables

The following cables are available as the compound cables for both signals and power supply.

(1) Part name: MIX20C(30/-SV,40/,7/36/0.08)-V Maker: Oki Electric Cable Co., Ltd. (2) Part name: MIX19C(19,30,150/0.08)-V Maker: Oki Electric Cable Co., Ltd.

Use the (1) cable for a capacity of 1kW or more.

(4) Connector outline drawing

For IF unit

Maker: Sumitomo 3M (Ltd.) <Type> Connector: 10120-3000VE Shell kit: 10320-52F0-008

[Unit: mm]

12.0

10.0

Maker: Sumitomo 3M (Ltd.) <Type> Connector: 10120-6000EL Shell kit: 10320-3210-000

This connector is not an option. It is integrated with the cable.

22.0

39.0

23.8

33.3

14.0

12.7

[Unit: mm]

11.5

20.9

42.0

33.0

29.7

4–9

Chapter 4 Option and Peripheral Devices

10 or

Conduit installation

10 or more

(spanner catching width)

Screw

(Effective screw

(Spanner catching width)

Screw (Clamp range)

Bushing

Screw

For intelligent servomotor HS-RF/HS-SF

Single block Maker: Japan Aviation Type: JL04V-6A28-11SE

[Unit: mm]

Positioning key

Screw

Straight plug Maker: Japan Aviation Type: JL04V-6A28-11SE-EB

Angle plug Maker: Japan Aviation Type: JL04V-8A28-11SE-EB

[Unit: mm]

Positioning key

dimensions

(Effective screw length)

less

1-7/46-18UNEF-2A

Cable clamp Maker: Japan Aviation Type: JL04V-2428CK (17)

Applicable cable diameter: ø15 to ø18

1-7/16-18UNEF-2A

length)

[Unit: mm]

1-7/16-18UNEF-2B

4–10

Chapter 4 Option and Peripheral Devices

Connector for intelligent servomotor HS-MF

Maker: Japan AMP <Type> For power supply 6-pole receptacle/housing: 178289-3 Contact: 1-917511-5 (L1, L2, PE) 1-175217-5 (L11, L12)

For signal 12-pole receptacle/housing: 178289-6 Contact: 1-175217-5

No. of poles

6 178289-3 24.36 16.70

12 178289-6 35.09 28.35

Type

Dimension

A B

[Unit: mm]

Row A

5.08

3.81

Circuit number 1

16.3

Row B

22.8

Row A

11.63

(5) Communication cable assembly

Assemble the cable as shown in the following drawing, with the cable shield wire securely

connected to the ground plate of the connector.

Cor e wire

Shield (external conductor)

Sheath

Core wi re

Shiel d (external conductor)

Sheath

Ground plate

When folding back the shield, fold back the shield over an area covered with vinyl tape or copper tape, and seat onto the fitting surface of the plate screw section so that the shield wire and grounding plate securely contact without play.

CAUTION

Take care not to mistake the connection when manufacturing the cable. Failure to observe this could lead to faults, runaway or fire.

4–12

Chapter 4 Option and Peripheral Devices

4-1-4 Cable clamp fitting

Use the following types of grounding plate and cable clamp fitting to strengthen the noise resistance of the communication cable. The grounding plate can be installed onto the terminal block cover of the I/F unit (HS-IF-6). Peel part of the cable sheath as shown in the drawing to expose the shield sheath, and press that section against the grounding plate with the cable clamp fitting.

Grounding plate

Grounding plate (E) outline

70 24

17.5

Cable clamp

fitting A, B

Grounding bar

Shield sheath

Cable clamp fitting outline

2-φ5 hole

Installation hole

10MAX L

6 22

M4 screw *

* Always wire the grounding wire from the grounding plate to the

cabinet grounding plate.

4–13

Fitting A 70 Fitting B 45

Chapter 4 Option and Peripheral Devices

4-2 Peripheral devices

4-2-1 Selection of wire

Select the interface unit L1, L2, L3 and grounding wires from the following wire sizes according to the total capacity of the connected motors.

Total motor capacity 1kW or less 2.5kW or less 6kW or less 9kW or less 12kW or less

Wire size (mm2) IV1.25SQ IV2SQ IV3.5SQ IV5.5SQ IV8SQ

(Note) The total capacity of the motors connected to the interface unit must be 6kW or less. If the

total motor capacity exceeds 6kW, wire with a standalone terminal block.

4-2-2 Selection of no-fuse breakers

Use the following table to obtain the NFB (no-fuse breaker) rated current from the total rated capacity (SVJ2 total output capacity) of the motor driving the SVJ2 servo amplifier to be connected to the NFB to be selected, and select the no-fuse breaker. When the MDS-B-SPJ2 spindle amplifier or converter unit will share no-fuse breakers, select from the total NFB rated current of each SVJ2 total output capacity and SPJ2 spindle amplifier or convertor unit. However, separate the SVJ2 servo amplifier no-fuse breaker from the others, and select the NF60 type (60A) or smaller capacity dedicated for SVJ2 servo amplifiers if the total NFB rated current exceeds 60A.

NFB rated current table

Intelligent servomotor SVJ2 total output capacity

NFB rated current 10A 20A 30A 40A 50A 60A

MDS-B-SPJ2-02

MDS-B-SPJ2

Converter unit

NFB rated current 10A 20A 30A 40A 50A

NFB rated current 10A 20A 30A 40A 50A 60A Recommended NFB

(Mitsubishi Electric Corp.: Option part)

Special order part: This part is not handled by the NC Dept. Marketing Section or dealer.

(Example 1)

MDS-B-SPJ2-04 MDS-B-SPJ2-075 MDS-B-SPJ2-15

MDS-A-CR-10 MDS-A-CR-15

The NFB is selected for the MDS-B-SVJ2-10 with three HS-SF102 axes and one MDS-B-SPJ2-75 axis connected.

1.5kW or less 3.5kW or less 7kW or less 10kW or less 13kW or less 16kW or less

MDS-B-SPJ2-22 MDS-B-SPJ2-37

MDS-A/B-CV-37 MDS-A-CR-22 MDS-A-CR-37

MDS-B-SPJ2-55 MDS-B-SPJ2-75 MDS-B-SPJ2-110

MDS-A/B-CV-55 MDS-A-CR-55

MDS-A/B-CV-75 MDS-A-CR-75

MDS-A-CR-90 MDS-A/B-CV-110

No-fuse breaker selection table

NF30-CS3P10A NF30-CS3P20A NF30-CS3P30A NF50-CP3P40A NF50-CP3P50A NF60-CP3P60

Because there are 1kW × 3 = 3kW on the intelligent servomotor side, 20A is selected from the table for the NFB rated current. 40A is selected from the table for the SPJ2-75 rated current. Therefore, the total rated current is 60A, and the NF60-CP3P60A is selected.

(Example 2)

The NFB is selected for the MDS-B-SVJ2-20 with two HS-SF202 axes and one MDS-B-CR-90 connected.

Because there are 2kW × 2 = 4kW on the intelligent servomotor side, 30A is selected from the table for the NFB rated current. 50A is selected from the table for the MDS-B-CV-90 rated current. Therefore, the total rated current is 80A. The NFB is separated from converter unit, and the NF30-CS3P30A is selected for the SVJ2. (Refer to the "MDS-A/B Series Specifications Manual" for details on selecting the converter NFB.)

4–14

Chapter 4 Option and Peripheral Devices

Install independent no-fuse breakers and contactors as the SVJ2 main circuit power supply if the total current capacity exceeds 60A when the power supply is shared between the converter and a large capacity SPJ2 spindle amplifier.

DANGER

No-fuse breakers may not operate for short-circuits in small capacity amplifiers if they are shared with a large capacity unit, and this could cause fires. Select a capacity of NF60 or less for the intelligent servomotor and SVJ2 servo amplifier.

4-2-3 Selection of contactor

Select the contactor based on section "(1) Selection from rush current" when the system connected to the contactor to be selected is intelligent servomotor, an MDS-B-SVJ2 servo amplifier and 3.7kW or less MDS-B-SPJ2 spindle amplifier. When a converter unit or 5.5kW or more MDS-B-SPJ2 spindle amplifier is included, calculate both the capacities in sections "(1) Selection from rush current" and "(2) Selection from input current", and select the larger of the two capacities.

(1) Selection from rush current

Use the following table to select the contactors so the total rush current for each unit does not

Special order part: This part is not handled by the NC Dept. Marketing Section or dealer.

< Selection only from rush current >

exceed the closed circuit current amount.

Rush current table

Intelligent servomotor

Rush current 45A 100A

MDS-B-SVJ2

Rush current 45A 50A 70A 100A

MDS-B-SPJ2

Rush current 45A 50A 100A 15A

Converter unit

Rush current 15A 40A

HS-RF43, HS-RF73 HS-SF52, HS-SF53

MDS-B-SVJ2-01 MDS-B-SVJ2-03 MDS-B-SVJ2-04

MDS-B-SPJ2-02 MDS-B-SPJ2-04

MDS-A-CR-10 to MDS-A-CR-90

MDS-A/B-CV-37 to MDS-A/B-CV-75

MDS-B-SVJ2-06 MDS-B-SVJ2-07

MDS-B-SPJ2-075

HS-MF23 HS-SF102, HS-SF103 HS-SF202

MDS-B-SPJ2-15 MDS-B-SPJ2-22 MDS-B-SPJ2-37

MDS-A/B-CV-110

Contactor selection table 1

Contactor closed current capacity (Total rush current)

Recommended contactor (Mitsubishi Electric Corp.: Option part)

110A 200A 220A 300A 400A 550A 650A 850A

S-N10

AC200V

S-N18

AC200V

S-N20

AC200V

S-N25

AC200V

S-N35

AC200V

S-K50

AC200V

(Example 1)

The contactor is selected for the MDS-B-SVJ2-10 with three HS-SF102 axes and one MDS-B-SPJ2-37 axis connected.

(HS-SF102 × 3 axes rush current) + (SPJ2-37 × 1 axis rush current) = 3 × 100A + 1 × 100A = 400A Therefore, S-N35 200VAC is selected.

MDS-B-SVJ2-10 MDS-B-SVJ2-20

MDS-B-SPJ2-55 MDS-B-SPJ2-75

MDS-B-SPJ2-110

S-K65

AC200V

S-K80

AC200V

4–15

Chapter 4 Option and Peripheral Devices

(2) Selection from input current

Use the following table to select the contactors so the total input current for each unit does not exceed the rated continuity current.

Input current table

Intelligent servomotor

MDS-B-SVJ2 total output

capacity

Input current 10A 20A 30A 40A 50A 60A

1.5kW or less 3.5kW or less 7kW or less 10kW or less 13kW or less 16kW or less

MDS-B-SPJ2-02

MDS-B-SPJ2

Input current 10A 20A 30A 40A 50A

MDS-B-SPJ2-04

MDS-B-SPJ2-075

MDS-B-SPJ2-15

MDS-B-SPJ2-22 MDS-B-SPJ2-37

MDS-B-SPJ2-55 MDS-B-SPJ2-75 MDS-B-SPJ2-110

Converter unit

Input current 10A 20A 30A 40A 50A

MDS-A-CR-10 MDS-A-CR-15

MDS-A/B-CV-37

MDS-A-CR-22 MDS-A-CR-37

MDS-A/B-CV-55

MDS-A-CR-55

Contactor selection table 2

Contactor rated continuity current (Total input current)

Recommended contactor (Mitsubishi Electric Corp.: Option part)

Special order part: This part is not handled by the NC Dept. Marketing Section or dealer.

(Example 2)

20A 32A 50A 60A

S-N10

AC200V

S-N20

AC200V

The contactor is selected for the MDS-B-SVJ2-10 with four HS-SF102 axes and one MDS-B-CV-55 connected.

< Selection from rush current >

(HS-SF102 × 4 axes rush current) + (MDS-B-CV-55 rush current) = 4 × 100A + 15A = 415A Therefore, S-K50 200VAC.

< Selection from input current >

(JS-SF102 × 4 axes input current) + (MDS-B-CV-55 input current) = 30A + 30A = 60A Therefore, S-N35 200VAC. From these, the S-K50 200VAC is selected as having the larger of the two capacities.

4-2-4 Circuit protector

MDS-A/B-CV-75

MDS-A-CR-75

S-N25

AC200V

MDS-A-CR-90

MDS-A/B-CV-110

S-N35

AC200V

When installing a circuit protector dedicated for the control power input, use a circuit protector with inertial delay to prevent malfunctioning in respect to the rush current generated when the power is turned ON. The size and conductivity time of the rush current fluctuate according to the power supply impedance and potential.

Recommended circuit

Servo amplifier Rush current

Intelligent servomotor 70 to 130A 0.5 to 1msec Rated current 0.2A per axis

Conductivity

time

protector

(Mitsubishi Electric

Corp.: Option part)

Special order part: This part is not handled by the NC Department Marketing Section or dealer.

CP30-BA type with

medium-speed inertial delay

4–17

Chapter 5 Installation

5-1 Installation of servomotor.......................................................................... 5-3

5-1-1 Environmental conditions.................................................................... 5-3

5-1-2 Cautions for mounting load (prevention of impact on shaft) ............... 5-3

5-1-3 Installation direction .......................................................................... 5-3

5-1-4 Tolerable load of axis.......................................................................... 5-4

5-1-5 Oil and waterproofing measures......................................................... 5-4

5-1-6 Cable stress........................................................................................ 5-5

5-2 Installation of interface unit ....................................................................... 5-6

5-2-1 Environmental conditions.................................................................... 5-6

5-2-2 Installation direction............................................................................ 5-6

5-2-3 Prevention of entering of foreign matter.............................................. 5-6

5-3 Noise measures........................................................................................... 5-7

5–1

Chapter 5 Installation

CAUTION

1. Install the unit on noncombustible material. Direct installation on combustible material or near combustible materials could lead to fires.

2. Follow this Instruction Manual and install the unit in a place where the weight can be borne.

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

Failure to observe this could lead to injuries.

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

5. Do not let conductive objects such as screws or metal chips, etc., or combustible materials such as oil enter the servo amplifier or servomotor.

6. Do not block the servo amplifier intake and outtake ports. Doing so could lead to failure.

7. The servo amplifier and servomotor are precision devices, so do not drop them or apply strong impacts to them.

8. Do not install or run a servo amplifier or servomotor that is damaged or missing parts.

9. When storing for a long time, please contact your dealer.

5–2

Chapter 5 Installation

5-1 Installation of servomotor

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

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

CAUTION

5-1-1 Environmental conditions

Environment Conditions

Ambient temperature Ambient humidity 80% RH or less (with no dew condensation) Storage temperature Storage humidity 90% RH or less (with no dew condensation)

Atmosphere

Altitude 1000m or less above sea level

Vibration

5-1-2 Cautions for mounting load (prevention of impact on shaft)

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

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

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

0°C to +40°C (with no freezing)

–20°C to +65°C (with no freezing)

• Indoors (Where unit is not subject to direct sunlight)

• With no corrosive gas or combustible gas.

• With no oil mist or dust

HS-MF X, Y: 19.6m/s2 (2G) or less HS-RF

HS-SF 1kW or less HS-SF 2kW

X: 9.8m/s2 (1G) or less Y: 24.5m/s2 (2.5G) or less

X: 19.6m/s2 (2G) or less Y: 49m/s2 (5G) or less

Servomotor

Acceleration

(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

Serv omotor

Double-end stud

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

Pulley

Nut

Washer

as the pulley installed on the shaft to ensure safety.

(4) The direction of the detector installation on the

servomotor cannot be changed.

Never hammer the end of the shaft

CAUTION

during assembly.

5-1-3 Installation direction

There are no restrictions on the installation direction. Installation in any direction is possible, but as a standard the servomotor is installed so that the motor power supply wire and detector cable cannon plugs (lead-in wires) face downward. When the servomotor is not installed in the standard direction, refer to section "5-1-5 Oil and waterproofing measures" and take the appropriate measures. The brake plates may make a sliding sound when a servomotor with magnetic brake is installed with the shaft facing upward, but this is not a fault.

5–3

Chapter 5 Installation

5-1-4 Tolerable load of axis

(1) Using the flexible coupling, set the axis core deviation to less than the tolerable radial load of the

axis.

(2) When using a pulley, sprocket and timing belt, select so that the loads are within the tolerable

radial load.

(3) A rigid coupling must not be used as it will apply an excessive bending load on the axis to break.

Servomotor Tolerable radial load Tolerable thrust load

HS-MF23 88N L=25 59N HS-RF43/73 392N L=58 196N HS-SF52/53/102/103 392N L=58 196N HS-SF202 2058N L=79 980N

Caution: The symbols in the table follow the drawing below.

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

1. When coupling with a ball screw, etc., use a flexible coupling, and keep the shaft core deviation to below the tolerable radial load.

2. When installing the pulleys or gears on the motor shaft, the radial load will increase as the diameter of these parts decreases. Consider this when designing the machine.

3. When using a timing belt, adjust so that the radial load (double the tension)

CAUTION

generated from the tension is less than the values given above.

4. In a machine having a thrust load, such as a worm gear, provide a separate bearing on the machine side so that the a load exceeding the tolerable thrust load is not applied on the motor.

5. Do not use a rigid coupling as an excessive bending load will be applied on the shaft and could cause the shaft to break.

5-1-5 Oil and waterproofing measures

Radial load

Thrust load

(1) The servomotor does not have a precise water or oil-proof structure. The type (IP class) following

the IEC standards is indicated as the intelligent servomotor's protection type. These standards are the short-time performance standards, so make sure that the motor surface is not subject to fluids and that fluids do not accumulate. If cutting oil, etc., could enter, always provide a protective cover. Always consider the cover seams, edges, shapes and dimensions. Note that the IP class does not indicate the corrosion resistance level.

(2) When a gear box is installed on the servomotor, make sure that

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

Servomotor Oil level (mm)

HS-MF23 12 HS-RF43, 73, -SF103 20 HS-SF202 25

Oil level

Gear

Lip

Servomotor

Oil seal

5–4

Chapter 5 Installation

(3) When installing the servomotor horizontally, set the power cable and detector cable to face

downward.

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

Cable trap

(4) Do not use the unit with the cable submerged in oil or water. (Refer to lower left drawing) (5) When installing on the top of the shaft end, make sure that oil from the gear box, etc., does not

enter the servomotor.

Cover

Gear

Lubricating oil

Servomotor

Oil or water pool

Servomotor

<Fault> Capillary tube phenomenon

(6) Connect the HS-MF23 relay connector in a relay box having a structure (IP54) that prevents water,

oil and dust, etc., from entering. Fix the enclosed cable to the motor, and also fix the enclosed cable to the motor.

5-1-6 Cable stress

(1) Sufficiently consider the cable clamping method so that bending stress and the stress from the

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

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

the cable. Select the cable bending radius from the required bending life and wire type. Fix the detector cable and power cable enclosed with the servomotor. (3) Make sure that the cable sheathes will not be cut by sharp cutting chips, worn by contacting the

machine corners, or stepped on by workers or vehicles.

5–5

Chapter 5 Installation

5-2 Installation of interface unit

5-2-1 Environmental conditions

Environment Conditions

Ambient temperature Ambient humidity 90% RH or less (with no dew condensation) Storage temperature Storage humidity 90% RH or less (with no dew condensation) Atmosphere Indoors (Where unit is not subject to direct sunlight)

Altitude 1000m or less above sea level Vibration 5.9m/sec2 (0.6G) or less

5-2-2 Installation direction

Install so that the front of the interface unit is visible and the terminal block comes to the bottom.

5-2-3 Prevention of entering of foreign matter

0°C to +55°C (with no freezing)

–20°C to +65°C (with no freezing)

With no corrosive gas, combustible gas, oil mist or dust

Treat the cabinet with the following items.

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

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

• Close all clearances.

• Securely install door packing.

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

• Oil will tend to accumulate on the top. Take special measures such as oil-proofing the top so that

oil does not enter the cabinet from the screw holds.

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

5–6

Chapter 5 Installation

from servo amplifier

power supply wire

servomotor

power supply wire

leakage current

5-3 Noise measures

Noise includes that which enters the servo amplifier from an external source and causes the servo amplifier to malfunction, and that which is radiated from the servo amplifier or motor and causes the peripheral devices or amplifier itself to malfunction. The servo amplifier output is a source of noise as the DC voltage is switched at a high frequency. If the peripheral devices or amplifier malfunction because of the noise, measures must be taken to suppressed this noise. These measures differ according to the propagation path of the noise.

(1) General measures for noise

Avoid wiring the servo amplifier's power supply wire and signal wires in parallel or in a bundled state. Always use separate wiring. Use a twisted pair shield wire for the detector cable, the control signal wires for the bus cable, etc., and for the control power supply wire. Securely ground the shield. Use one-point grounding for the servo amplifier and motor.

(2) Measures against noise entering from external source and causing servo amplifier to

malfunction

If a device generating noise is installed near the servo amplifier, and the servo amplifier could malfunction, take the following measures. Install a surge killer on devices (magnetic contactor, relay, etc.) that generate high levels of noise. Install a data line filter on the control signal wire. Ground the detector cable shield with a cable clamp.

(3) Measures against noise radiated from the servo amplifier and causing peripheral devices

to malfunction

The types of propagation paths of the noise generated from the servo amplifier and the noise measures for each propagation path are shown below.

Noise generated

Airborne propagation noise

Magnetic induction noise

Static induction noise

Cable propagation noise

and ⑤

Noise directly radiated

Noise radiated from

Noise propagated over

Noise lead in from grounding wire by

Path ①

Path ② Path ④

Path ③ Path ⑥

Path ⑦

Path ⑧

5–7

⑦

Chapter 5 Installation

⑤

⑦

②

Noise

propaga-tion

① ② ③

④ ⑤ ⑥

path

⑦

⑧

Instrument

Receiver

①

③

Servomotor

Servo amplif ier

④

⑥

Sensor

power

supply

Sensor

⑧

Measures

When devices such as instruments, receivers or sensors, which handle minute signals and are easily affected by noise, or the signal wire of these devices, are stored in the same panel as the servo amplifier and the wiring is close, the device could malfunction due to airborne propagation of the noise. In this case, take the following measures.

(1) Install devices easily affected as far away from the servo amplifier as

possible.

(2) Lay the signals wires easily affected as far away from the input wire with the

servo amplifier. (3) Avoid parallel wiring or bundled wiring of the signal wire and power wire. (4) Insert a line noise filter on the input/output wire or a radio noise filter on the

input to suppress noise radiated from the wires. (5) Use a shield wire for the signal wire and power wire, or place in separate

metal ducts.

If the signal wire is laid in parallel to the power wire, or if it is bundled with the power wire, the noise could be propagated to the signal wire and cause malfunction because of the magnetic induction noise or static induction noise. In this case, take the following measures.

(1) Install devices easily affected as far away from the servo amplifier as

possible. (2) Lay the signals wires easily affected as far away from the input wire with the

servo amplifier. (3) Avoid parallel wiring or bundled wiring of the signal wire and power wire. (4) Use a shield wire for the signal wire and power wire, or place in separate

metal ducts.

If the power supply for the peripheral devices is connected to the power supply in the same system as the servo amplifier, the noise generated from the servo amplifier could back flow over the power supply wire and cause the devices to malfunction. In this case, take the following measures.

(1) Install a radio noise filter on the servo amplifier's power wire. (2) Install a line noise filter on the servo amplifier's power wire.

If a closed loop is structured by the peripheral device and servo amplifier's grounding wires, the leakage current could penetrate and cause the devices to malfunction. In this case, change the device grounding methods and the grounding place.

5–8

Chapter 6 Wiring

6-1 System connection diagram........................................................................ 6-3

6-2 Connector ..................................................................................................... 6-4

6-2-1 Connector signal layout ........................................................................ 6-4

6-2-2 Signal name.......................................................................................... 6-5

6-3 Connection of power supply....................................................................... 6-6

6-3-1 Example of connection for controlling magnetic switch (MC)

with MDS-B-CV/CR............................................................................... 6-6

6-3-2 Example of connection for controlling magnetic switch with

external sequence circuit ...................................................................... 6-8

6-3-3 Wiring of contactors (MC)..................................................................... 6-8

6-3-4 Surge absorber..................................................................................... 6-9

6-4 Wiring the motor with brakes...................................................................... 6-9

6-4-1 Connection example ............................................................................. 6-9

6-4-2 Manually releasing the magnetic brakes .............................................. 6-10

6-5 Connection with the NC............................................................................... 6-11

6-5-1 Connection system ............................................................................... 6-11

6–1

Chapter 6 Wiring

DANGER

Wait at least 10 minutes after turning the power OFF and check the voltage

servomotor with Class 3 grounding

CAUTION

). Failure to observe this item could lead

1. Wiring work must be done by a qualified technician.

2. with a tester, etc., before starting wiring. Failure to observe this could lead to electric shocks.

3. Securely ground the servo amplifier and or higher.

4. Wire the servo amplifier and servomotor after installation. Failure to observe this could lead to electric shocks.

5. Do not damage, apply forcible stress, place heavy items or engage the cable. Failure to observe this could lead to electric shocks.

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

2. Do not mistake the terminal connections.

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

3. Do not mistake the polarity ( + , – to ruptures or damage, etc.

4. Electronic devices used near the servo amplifier may receive magnetic obstruction. Reduce the effect of magnetic obstacles by installing a noise filter, etc.

5. Do not modify this unit.

6–2

6-1 System connection diagram

reactor

3ø200VAC L1, L2,

I/F unit HS-IF-6

I/Fユニット HS-IF-6

MELDASCNC

DC24V

24VDC

ブレーキ回路

Brake circuit

Chapter 6 Wiring

サーボ

Servo MDS-

MDS-

B-

B- V1,V2

B-AL

ACリア

クトル

主軸

Spindle MDS-

MDS-

B-SP

ﾊﾟﾜｰｻ

Power

ﾌﾟﾗｲ

supply

MDS-

MDSB-CV

B-CV

ＭＣ

Battery unit

バッテリーユニット

A-BT

MC relay

ＭＣ用リレー

主回路電源用

L3 for main circuit power

3φAC200VL1,L2,L3,

200VAC L11, L12 for

制御回路電源用AC200V

control circuit power

L11,L12

インテリジェント

Intelligent servomotor

サーボモータ

Note)

1) Keep the cable length to within 30m.

2) This is a motor with magnetic brakes. The power connected to the magnetic brake does not have a polarity.

3) Securely connect the shield wire to the plate (grounding plate) in the connector.

4) When using as an absolute connector, connect MDS-A-BTo.

ＮＦ

6–3

6-2 Connector

Never connect the power wire to the signal terminal or the signal wire to the

CAUTION

DANGER

6-2-1 Connector signal layout

(1) HS-RFxxE, HS-SFxxE

Ｕ

Ｌ１２

Ｖ

Open

Ｗ

ＢＲ

Ｘ

ＭＯＮ

power terminal. There is a risk of electric shock. Failure to observe this can also cause damage or faults with the NC unit or devices connected to the NC.

Apply only the designated voltage to each terminal. Failure to observe this could lead to damage or faults.

Ｊ

Ｎ

Ｌ１１

Ｐ

Open

Ｒ

ＲＧ

Ｓ

Open

Ｔ

ＧＮＤ

Ｌ１

Ｋ

Ｌ２

Ｌ

Ｌ３

Ｍ

ＰＥ

Chapter 6 Wiring

Ｅ

ＴＸＤ

Ｆ

ＲＸＤ

Ｇ

ＥＭＧ

Ｈ

ＡＬＭ

Ｉ

ＢＡＴ

Ａ

ＴＸＤ

＊

Ｂ

ＲＸＤ

＊

Ｃ

ＥＭＧ

＊

Ｄ

ＡＬＭ

(Japan Aviation) Applicable connector: JL04V-28A28-11PE

(2) HS-MF23E

Ｂ１Ｌ２

Ａ１Ｌ１

Ｂ２ＰＥ

Ａ２ Open

Ｂ３

Ｌ１２

Ａ３

Ｌ１１

Ｂ１

ＴＸＤ

Ａ１

ＴＸＤＡ２ＲＸＤＡ３ＥＭＧ

Ｂ４

＊

ＲＸＤ

Ｂ４

＊

ＥＭＧ

Ｂ４

＊

ＡＬＭ

Ａ４

ＡＬＭＡ５ＢＡＴＡ６ＭＯＮ

Ｂ６

＊

ＧＮＤ

Ｂ６ＦＧ

Applicable connector: Power connector : 178964-3 (AMP) Signal connector : 178964-6 (AMP)

6–4

Power supply for

6-2-2 Signal name

Name Signal name Details

L1·L2·L3

L11·L12

Power supply

TXD, TXD*

RXD, RXD* MON

FG EMG, EMG*

Control signal

ALM, ALM* BAT GND

Brake

Main circuit power supply

Control circuit power supply

Protective ground

NC transmission data

NC reception data

Monitor output Ground Emergency stop Alarm Battery Ground

magnetic brakes

Chapter 6 Wiring

Main circuit power supply input terminal Connect 3-phase 200 to 230VAC, 50/60Hz.

Control circuit power supply input terminal Connect 1-phase 200 to 230VAC, 50/60Hz.

Grounding terminal Connect and ground with the servomotor grounding terminal.

For NC connection

Connect the 24VDC for the magnetic brakes. (Only when brakes are provided.) The power supply polarity is irrelevant.

6–5

Chapter 6 Wiring

6-3 Connection of power supply

1. Keep the power voltage and capacity within the controller's specification range. Failure to observe this could lead to damage or faults.

2. For safety purposes, always instal l a no-fuse breaker or earth leakage breaker, and shut off when an error occurs or before inspecting. A large

CAUTION

6-3-1 Example of connection for controlling magnetic switch (MC) with MDS-B-CV/CR

The following connection example applies when the power supply unit MDS-B-CV/CVE/CR is provided in the system. The magnetic switch can also be controlled by the MDS-B-SVJ2/SPJ2. Refer to the respective unit's specification manual for details.

(1) When sharing a power supply unit and power supply

rush current flows when the power is turned ON. Refer to Chapter 6 and select the no-fuse breaker or earth leakage breaker.

3. For safety purposes, install a magnetic switch that shuts off when an error occurs. If the converter unit MDS-B-CV is provided in the system, use the converter's magnetic switch control function. The magnetic switch can be directly driven by the MDS-B-CV.

3-phase 200VAC

24VDC

External emergency stop

NFB

Mitsubishi

CNC

ＰＥＬ１Ｌ２Ｌ３

Ｌ１１Ｌ１２

AC reactor B-AL

Intelligent

servomotor

I/F unit

Power supply unit MDS-B-CV/CR

ＰＥＬ１Ｌ２Ｌ３

Ｌ１１Ｌ１２ＭＣ１

Ｌ＋Ｌ−

Terminator

Servo/spindle drive unit MDS-B-Vx/SP

ＰＥ

Ｌ１１Ｌ１２

Ｌ＋Ｌ−

1. The MDS-B-CV is a power supply regenerative type converter; an AC reactor is required in the power supply line.

Connect the intelligent servomotor main circuit power supply on the power

CAUTION

supply side of the AC reactor.

2. A no-fuse breaker and contactor cannot be shared when the rated current of the no-fuse breaker exceeds 60A.

6–6

Chapter 6 Wiring

(2) When not sharing a converter and power supply

If the rated current exceeds 60A by the selection of the no-fuse breaker when the converter and power supply are shared, install the no-fuse breakers and contactors separate from the converter unit.

3-phase

200VAC

NFB1

NFB2

MC1

MC2

AC reactor B-AL

ＰＥＬ１Ｌ２Ｌ３

Ｌ１１Ｌ１２

Intelligent

servomotor

Power supply unit MDS-B-CV/CR

ＰＥＬ１Ｌ２Ｌ３

Ｌ１１Ｌ１２ＭＣ１

Ｌ＋Ｌ−

Terminator

Servo/spindle drive unit MDS-B-Vx/SP

ＰＥ

Ｌ１１Ｌ１２

Ｌ＋Ｌ−

24VDC

External emergency stop

DANGER

Mitsubishi

CNC

I/F unit

Install independent no-fuse breakers as the intelligent servomotor power supply if the total current capacity exceeds 60A when the converter and power supply are shared. No-fuse breakers may not operate for short-circuits in small capacity amplifiers if they are shared with a large capacity unit, and this could cause fires. For the intelligent servomotor, use an NF60 type or lower capacity breaker. (Refer to section 4.)

6–7

Chapter 6 Wiring

emergency stop signal. If the input power is cut off during deceleration control,

(Order of priority of the contactor drive method)

6-3-2 Example of connection for controlling magnetic switch with external sequence circuit

Relay Prepare a sequence that cuts off with the alarm.

3-phase

200VAC

24VDC

External emergency stop

NFB

Mitsubishi

CNC

ＰＥＬ１Ｌ２Ｌ３

Ｌ１１Ｌ１２

Intelligent

servomotor

I/F unit

Terminator

ＰＥＬ１Ｌ２Ｌ３

Ｌ１１Ｌ１２

Class 3 grounding

or higher

Intelligent

servomotor

6-3-3 Wiring of contactors (MC)

A contactor (magnetic contactor) is inserted in the main circuit power supply input (L1, L2, L3) of servo amplifier, and the power supply input is shut off when an emergency stop or servo alarm occurs. When an emergency stop or servo alarm occurs, the servo amplifier stops the motor using deceleration control or a dynamic brake. The contactors cannot be shut off during deceleration control, because the regeneration energy (MDS-B-CV Series) is returned to the power supply, and the power supply for deceleration must be held. Therefore, the CNC controls the contactors. The CNC confirms that all axes are stopped, or confirms the dynamic brake operation. Then it outputs a shutoff command for amplifiers that drive contactors. When actually driving the contactor, it is driven by the amplifier of the axis having the longest deceleration time constant in consideration of the communication from the NC being cut off. Generally, when a converter (MDS-B-CV/CVE/CR) is provided, the contact is driven by the converter. When a spindle amplifier is provided, the contactor is driven by the spindle amplifier, and when the servo amplifier (MDS-B-SVJ2) is provided, the contact is driven by the servo amplifier. Give consideration to the above, and examine the contactor drive method in the following order of priority.

1. Using the contactor control output (MC1) of the converter unit.

2. Driven by spindle amplifier (MDS-B-SPJ2 in this case).

3. Driving from the servo amplifier (MDS-B-SVJ2) of the vertical axis (unbalanced axis).

4. Driving from the servo amplifier (MDS-B-SVJ2) having the longest deceleration time constant.

5. Driven by external sequence (only for intelligent servomotor.)

Directly cut off the contact with an external sequence only when using the

CAUTION

intelligent servomotor. In this case, cut off the power supply with a delay longer than the servo's acceleration/deceleration time constant in respect to the

6–8

Chapter 6 Wiring

the undervoltage alarm could occur or the deceleration control may be prevented.

6–9

Chapter 6 Wiring

6-3-4 Surge absorber

As protection against surge voltage caused by lightning, etc., the surge absorber and radio noise filter shown below are built into the intelligent servomotor's I/F unit MDS-B-HSIF (refer to Chapter 6) and the MDS-B-CV AC reactor B-ALxx. When not using these simultaneously, install a surge absorber and filter on the input power supply as shown below. Refer to the following table and select the surge absorber.

VAR1

VAR2 VAR3

C2 C3

VAR4

Symbol Type Maker Rating

VAR1 to VAR3

TNR23G471K

VAR4 DSAZR2-302M Mitsubishi Materials Corp.

C1 to C3 AL-U2E224K

C4 to C6 DE7120F332MVA-1KC

MARCON ELECTRONICS CO., LTD.

SHIZUKI ELECTRONIC CO., INC.

Murata Manufacturing Co., Ltd.

Varistor voltage 423 to 517V DC discharge start voltage

2400 to 3600V 250VAC 0.22µF

2500VAC 3300pF

6-4 Wiring the motor with brakes

1. No mechanical guarantee is provided even when the dynamic brakes are used. If the machine could drop during a power failure, use a motor with magnetic brakes or provide an external brake mechanism to prevent dropping.

2. The magnetic brakes are used for holding, and must not be used for normal braking. There may be cases when holding is not possible due to the life

CAUTION

6-4-1 Connection example

and machine structure (when ball screw and servomotor axis are connected via a timing belt, etc.). Provide a stopping device to ensure safety on the machine side.

3. The magnetic brakes of the motor with magnetic brakes are controlled in the intelligent servomotor. However, provide a double circuit configuration so that these brakes will operate even with the external emergency stop signal.

Amplifier

Servomotor

Magnetic brakes

Cut off with emergency stop signal.

EMG

24VDC

1) The brakes are safety brakes, and will operate when the power (24VDC) is turned OFF. 6–10

Chapter 6 Wiring

2) Prepare a brake excitation power supply that ensures a secure attraction current.

3) The brake terminal polarity is random, but must not be mistaken with other circuits.

6–11

Chapter 6 Wiring

6-4-2 Manually releasing the magnetic brakes

The intelligent servomotor has a relay for controlling the brakes in the amplifier, so the brakes cannot be released even if power is supplied to the 24V power terminal (BR, RG) for the cannon plug brakes. Release the brakes with the following method when the brakes need to be released for handling when assembling, adjusting or servicing the machine.

(1) Method 1

Remove the amplifier section and input the 24V power to the motor brakes. There is no polarity. Refer to section "9-3. Replacing the unit" for details on removing and installing the amplifier section. The amplifier terminal is a connector, so prepare the following connector beforehand.

Plug housing : SMP-02V-BC Socket contact : BHF-001T-0.8BS (J.S.T. Mfg Co., Ltd.)

(2) Method 2

Enter the brake release mode by changing the MON signal, normally used for the axis No. selection, several times.

1) Prepare the circuit operation box shown with the dotted line below, and connect with the intelligent servomotor as shown in the drawing.

2) Open SW1 and SW2.

3) Input 200VAC to the LL1 and LL2 terminals. → The LED will turn ON.

4) Turn SW1 ON. → The LED will flicker.

5) Turn SW2 ON. → The LED will turn OFF.

6) Turn SW2 OFF. → The LED will turn ON, and the relay in the

amplifier will turn ON.

7) Input 24VDC to the BR and RG terminals. → The brakes will be released.

8) Thereafter, when SW2 is turned ON the brakes will be applied, and when turned OFF, the brakes will be released.

Intelligent servomotor

Control

power

Control

circuit

Operation box

330Ω

L11 L12 BR RG

ALM

ALM MON

All other pins are open.

NFB

SW2 SW1

680Ω

LED

For OFF at emergency

For status indication

200VAC

24VDC

6–12

6-5 Connection with the NC

6-5-1 Connection system

I/F unit

CN1A CN1B

Mitsubishi

CNC

CON1 to CON4

Chapter 6 Wiring

Terminator or battery unit when there is no other drive unit

MDS-B Series servo/spindle drive unit

Terminator or battery unit

Intelligent servomotor

(1) Refer to "Chapter 6 Peripheral devices" for details on connecting and setting the I/F unit. (2) The I/F unit's CON1 to CON4 (intelligent servo connection connectors) can be connected to any

connector.

(3) If the MDS-B Series servo/spindle drive unit is connected as shown above, connect the I/F unit

between the CNC and servo spindle drive. Other drive units cannot be connected between the CNC and I/F unit.

I/F unit

Mitsubishi

CNC

MDS-B Series servo/spindle drive unit

An I/F unit cannot be connected behind the servo/spindle drive unit.

Intelligent servomotor

(4) There may be cases when the I/F unit (PCB) is manufactured by the machine maker. In this case,

contact the machine maker for details on connecting and setting the I/F unit.

6–13

Chapter 7 Setup

7-1 Setting the initial parameters..................................................................... 7-2

7-1-1 Servo specification parameters........................................................... 7-2

7-1-2 Limitations to electronic gear setting value......................................... 7-2

7-1-3 Parameters set according to feedrate................................................. 7-3

7-1-4 Parameters set according to machine load inertia.............................. 7-3

7-1-5 Standard parameter list according to motor........................................ 7-4

7–1

Chapter 7 Setup

7-1 Setting the initial parameters

The servo parameters must be set to start up the servo drive system. The servo parameters are input from the CNC. The input method will differ according to the CNC, so refer to the Instruction Manual provided with each CNC.

7-1-1 Servo specification parameters

The servo specification parameters are determined according to the machine specifications and servo system specifications.

No. Abbrev. Parameter name Explanation

SV017 SPEC Servo specifications This is a HEX setting parameter. Set this as follows according to the servo

SV025 MTYP Motor type Set the motor type.

SV036 PTYP Regenerative resistor type Set 1000 as a standard. SV027 SSF1 Special servo function

selection 1

SV033 SSF2 Special servo function

selection 2 SV001 PC1 Motor side gear ratio SV002 PC2 Machine side gear ratio SV018 PIT Ball screw pitch Set the ball screw pitch with an mm unit. Set 360 for a rotary axis. SV019 RNG1 Position detector resolution SV020 RNG2 Speed detector resolution SV003 PGN1 Position loop gain Set 33 as a standard.

specifications.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

abs dmk

bit Meaning when "0" is set. Meaning when "1" is set.

0 dmk 7 abs Incremental control Absolute position control

Set all bits other than those above to 0.

Refer to the standard parameter list for each motor for the settings.

Set 4000 as a standard.

Set 0000 as a standard.

Set the motor side gear ratio in PC1 and the machine side gear ratio in PC2. When using a rotary axis, set the total deceleration (acceleration) ratio.

Set the motor detector resolution with a kp/rev unit for both settings. Refer to the standard parameters for each motor for the settings.

Deceleration control stop (Standard)

Dynamic brake stop selection

7-1-2 Limitations to electronic gear setting value

The servo amplifier has internal electronic gears. The command value from the NC is converted into a detector resolution unit to carry out position control. The electronic gears are single gear ratios calculated from multiple parameters as shown below. However, each value (ELG1, ELG2) must be less than 32767. If the value overflows, the initial parameter error (alarm 37) or error parameter No. 101 (2301 with M50/M64 Series NC) will be output. If an alarm occurs, the mechanical specifications and electrical specifications must be revised so that the electronic gears are within the specifications range.

Reduced fraction of

ELG1 ELG2

PC2 × RANG

PC1 × PIT × IUNIT

(reduced fraction)

RANG = RNG1 = RNG2 IUNIT = 2/NC command unit (µm) 1µm : IUNIT = 2, 0.1µm: IUNIT = 20

When the above is calculated, the following conditions must be satisfied.

ELG1 ≤ 32767 ELG2 ≤ 32767

If the electronic gears in the amplifier overflow, the alarm 37 or error

POINT



parameter No. 101 (2301 with M50/M64 series NC) will be output.

7–2

Chapter 7 Setup

Load inertia scale (total load inertia/motor inertia)

40 0

80 60

Load inertia scale (total load inertia/motor inertia)

20 0 50 40 30

Load inertia scale (total load inertia/motor inertia)

7-1-3 Parameters set according to feedrate

The following parameters are determined according to each axis' feedrate.

No. Abbrev. Parameter name Explanation

SV023 OD1 Excessive error detection

width at servo ON SV026 OD2 Excessive error detection

width at servo OFF

A protective function will activate if the error between the position command and position feedback is excessive. If the machine load is heavy and problems occur with the standard settings, gradually increase the setting value.

<Calculation of standard setting value> OD1 = OD2 =

Rapid traverse rate (mm/min) 60 × PGN1

÷ 2 (mm)

7-1-4 Parameters set according to machine load inertia

The following parameters are set according to the machine's inertia.

No. Abbrev. Parameter name Explanation

SV005 VGN1 Speed loop gain. Refer to the comparison graph with the load inertia scale for the standard setting

SV008 VIA Speed loop leading

compensation

＜HS-MF＞

value. Set 1364 as a standard. Set 1900 as a standard for the SHG control.

If the load inertia is large and is in the standard VIA change region, set the value in the comparison graph regardless of whether normal control or SHG control is used.

Motor single unit

100

＜HS-RF＞

Standard VIA change region

Standard VGN1

600

500

400

300

200

100

＜HC-SF＞

3 7

5 9

Standard VIA change region

HC-SF52 HC-SF102

HC-SF202

HC-SF53, HC-SF103

VIA

Standard VGN1

VIA

1500

1000

500

VIA

1500

1000

500

HC-RF43 HC-RF73

VIA

3 7

5 9

7–3

Chapter 7 Setup

7-1-5 Standard parameter list according to motor

Set the parameters other than 7-2-1 to 7-2-4 to the standard parameters.

Motor type

No. Abbrev. Parameter name

SV001 PC1 Motor side gear ratio SV002 PC2 Machine side gear ratio SV003 PGN1 Position loop gain 1 33 SV004 PGN2 Position loop gain 2 0 SV005 VGN1 Speed loop gain Refer to "7-1-4 Parameters set according to machine load inertia" SV006 – – 0 SV007 – – 0 SV008 VIA Speed loop leading compensation 1364

SV009 IQA

SV010 IDA SV011 IQG Current loop Q axis gain 400 384 384 512 256 384 256 384

SV012 IDG Current loop D axis gain 400 384 384 512 256 384 256 384 SV013 ILMT Current limit value 400 300 300 700 700 600 700 500

SV014 ILMTsp SV015 FFC Acceleration feed forward gain 0

SV016 LMC1 Lost motion compensation 1 0 SV017 SPEC Servo specifications Refer to "7-1-1 Servo specification parameters"

SV018 PIT Ball screw pitch SV019 RNG1 Position detector resolution 8 100

SV020 RNG2 Speed detector resolution 8 100 SV021 OLT Overload time constant 60 SV022 OLL Overload detection level 150

SV023 OD1 SV024 INP In-position width 50

SV025 MTYP Motor type 229E 22E0 22E1 22B0 22C0 22B1 22C1 22B3 SV026 OD2 SV027 SSF1 Special servo function selection 1 4000

SV028

to 035

SV036 PTYP Regenerative resistor type 1000 SV037

to 046

SV047 EC Inductive voltage compensation gain 70 SV048 EMGrt Vertical axis drop prevention time 0

SV049 SV050

PGN1sp

to 064

Current loop Q axis leading compensation

Current loop D axis leading compensation

Current limit value during special operation

Excessive error detection width during servo ON

Excessive error detection width during servo OFF

Compensation function for special

–

functions

Compensation function for special

–

functions

Position loop gain during spindle synchronization 1

Compensation function for special

–

functions

MF23 RF43 RF73 SF52 SF53 SF102 SF103 SF202

Set the motor side gear ratio in PC1 and the machine side gear ratio in PC2. When using a rotary axis, set the total deceleration (acceleration) ratio.

4096 8192 8192 8192 4096 8192 4096 4096

400 250 250 700 700 600 700 500

Set the ball screw pitch with an mm unit.

Set 360 for a rotary axis.

Refer to "7-1-3 Parameters set according to feedrate"

7–4

Chapter 8 Adjustment

8-1 Measurement of adjustment data .............................................................. 8-2

8-1-1 D/A output specifications .................................................................... 8-2

8-1-2 Setting the output data........................................................................ 8-2

8-1-3 Setting the output scale ...................................................................... 8-3

8-1-4 Setting the offset amount.................................................................... 8-3

8-1-5 Clamp function.................................................................................... 8-3

8-1-6 Filter function...................................................................................... 8-3

8-2 Gain adjustment .......................................................................................... 8-4

8-2-1 Current loop gain................................................................................ 8-4

8-2-2 Speed loop gain.................................................................................. 8-4

8-2-3 Position loop gain ............................................................................... 8-6

8-3 Characteristics improvement..................................................................... 8-8

8-3-1 Optimal adjustment of cycle time ........................................................ 8-8

8-3-2 Vibration suppression measures......................................................... 8-10

8-3-3 Improving the cutting surface precision .............................................. 8-12

8-3-4 Improvement of protrusion at quadrant changeover........................... 8-15

8-3-5 Improvement of overshooting.............................................................. 8-19

8-3-6 Improvement of characteristics during acceleration/deceleration....... 8-21

8-4 Setting for emergency stop........................................................................ 8-24

8-4-1 Deceleration control............................................................................ 8-24

8-4-2 Vertical axis drop prevention control................................................... 8-26

8-5 Collision detection .................................................................................... 8-27

8-6 Parameter list............................................................................................... 8-30

5–1

Chapter 8 Adjustment

∼

8-1 Measurement of adjustment data

The intelligent servomotor has a function to D/A output the various control data. To adjust the servo and set the servo parameters that match the machine, it is necessary to use the D/A output and measure the internal status of the servo. Measure using a hi-coder, synchroscope, etc.

8-1-1 D/A output specifications

No. of channels : 1ch. Output cycle : 888µsec (min. value) Output precision : 8bit Output voltage range : 0V to 2.5V to 5V Output pins : On intelligent servo I/F unit Output scale setting : ±1/256 to ±128 times Output resistance : 1kΩ

• Offset amount adjustment function

• Output clamp function

• Low path filter function

Connect the measuring instrument to the I/F unit check pin. When observing the waveform, turn the I/F unit DIP switch OFF. Note that the DIP switch must be turned ON when the power is turned ON. Do not connect a measuring instrument having a low input impedance when turning the power ON.

8-1-2 Setting the output data

No. Abbrev. Parameter name Explanation

SV061 DA1NO D/A output channel 1 data No. Input the No. of the data to be output to each D/A output channel.

No.

10 – 11 Position droop 4 mm/V 3.55 msec 12 13 14 15 16 – 3.55 msec 17 – 3.55 msec 18 – 3.55 msec

Output data Standard output unit

0 0 V test output For offset amount adjustment 1 Speed feedback 2000rpm/1V 2 Current feedback Rated current/0.5V 3 Speed command 2000rpm/1V 4 Current command Rated current/0.5V 5 V-phase current value 40A/V 6 W-phase current value 40A/V

Estimated disturbance

torque 8 – 9 –

Position droop(×10) 400 µm/V

Position droop(×100) 40 µm/V

Feedrate (F∆T)

Feedrate (F∆T×10)

q axis current

cumulative value

d axis current

cumulative value

Rated current/0.5V

40000 (mm/min)/V

4000 (mm/min)/V

–

– 888 µsec

Output cycle

888 µsec 888 µsec 888 µsec 888 µsec 888 µsec 888 µsec

888 µsec

3.55 msec

3.55 msec 888 µsec 888 µsec

888 µsec

No. Output data Standard output unit

21 Motor load level 100%/1.25V 113.7 msec 22 Amplifier load level 100%/1.25V 113.7 msec

Regenerative load

level 24 PN bus wire voltage 200V/V (1/200) 25 Speed cumulative item 26 Cycle counter 0–125V 27 – 3.55 msec 28 – 29 – 3.55 msec 30 – 3.55 msec 31

100 5 V test output – –

Saw-tooth wave test

101

output

Rectangular wave test

102

output

103

Setting prohibited

–

100%/1.25V 910.2 msec

–

1.25 to 3.75V

Cycle 113.7 msec

2.5 to 3.75V

Cycle 227.5 msec

Output cycle

888 µsec 888 µsec 888 µsec

888 µsec

8–2

Chapter 8 Adjustment

When overflow is set

-10V

Time

When clamp is set

Time

8-1-3 Setting the output scale

This is set when an output is to made with a unit other than the standard output unit.

(Example 1) When SV061= 5, SV063 = 2560

The V-phase current value will be output with 4A/V unit to D/A output ch. 1.

(Example 2) When SV063 = 11, SV064 = 128

The position droop will be output with a 8mm/V unit to the D/A output ch. 2.

No. Abbrev. Parameter name Explanation Setting range

SV063 DA1MPY D/A output channel 1

output scale

SV064 DA2MPY D/A output channel 2

output scale

When "0" is set, the output will be made with the standard output unit. To change the output unit, set a value other than 0. The scale is set with a 1/256 unit. When 256 is set, the unit will be the

same as the standard output unit.

–32768 to 32767

8-1-4 Setting the offset amount

This is used when the zero level of the output voltage is to be finely adjusted. The output scale when the data No. is 0 will be the offset amount. After setting the offset, set the data No. to a value other than 0, and do not set it to 0 again. The offset value will be reset when the amplifier power is turned OFF. (The value is not reset when the NC power is turned OFF.)

No. Abbrev. Parameter name Explanation Setting range

SV061 DA1NO D/A output channel 1

data No.

SV063 DA1MPY D/A output channel 1

offset amount

Set "0". 0 to 102

The amount can be set with the output precision unit. Observe the output value and set so that the output value is 0 V.

–10 to 10

8-1-5 Clamp function

This is used when the output value such as the position droop exceeds the output range and over flows.

Position droop



-10V



D/A output range

8-1-6 Filter function

A low path filter with a cutoff frequency of 140 Hz can be set.

No. Abbrev. Parameter name Explanation

SV034 SSF3 Special servo function

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

bit Meaning when "0" is set. Meaning when "1" is set.

selection 3

Set the clamp function and filter function with the following parameter.

daf2 daf1 dac2 dac1

4 dac1 ch. 1 Overflow setting ch. 1 Clamp setting 5 dac2 ch. 2 Overflow setting ch. 2 Clamp setting 6 daf1 ch. 1 No filter ch. 1 Filter operation 7 daf2 ch. 2 No filter ch. 2 Filter operation

mon

8–3

Chapter 8 Adjustment

the VGN1 setting value is raised, the subsequent servo adjustment becomes

8-2 Gain adjustment

8-2-1 Current loop gain

No. Abbrev. Parameter name Explanation Setting range

SV009 IQA q axis leading compensation 1 to 20480 SV010 IDA d axis leading compensation 1 to 20480 SV011 IQG q axis gain 1 to 2560 SV012 IDG d axis gain

8-2-2 Speed loop gain

(1) Setting the speed loop gain

The speed loop gain (SV005: VGN1) is an important parameter for determining the responsiveness of the servo control. During servo adjustment, the highest extent that this value can be set to becomes important. The setting value has a large influence on the machine cutting precision and cycle time. To adjust the VGN1 value, first obtain the standard VGN1 to judge how much VGN1 is required for the machine load inertia. The standard VGN1 is the value that corresponds to the size of the machine load inertia shown in the graph in section 7-1-3. If the load inertia is not clear, estimate it using the following procedure.

1) Set the VGN1 of a level where acceleration/deceleration operation is possible. (Set a slightly lower value so resonance does not occur.)

2) Set SV037 = 100, SV043 = 600, and SV044 = 0 in the servo parameters. Carry out a return operation within the range where the axis can operate smoothly. At this time, set the acceleration/deceleration time constant so the acceleration/deceleration torque equals or exceeds (is 100% or higher than) the stall (rated) torque.

3) Observe the estimated disturbance using the D/A output, and increase the SV037 value until the disturbance torque during acceleration/deceleration becomes smaller (cannot be observed).

(The unbalance torque is observed as an estimated disturbance torque in the vertical and

slanted axes, so ignore this amount or set the torque offset (SV032) and adjust. The friction torque is also observed in the same way for axes having a large amount of friction, but this should be ignored. Refer to section "8-3-3 (4) Disturbance observer" for details.)

4) The SV037 setting where the disturbance torque becomes the smallest during the estimated acceleration/deceleration is the machine's total load inertia magnification including the motor inertia. Obtain the standard VGN1 from the graph in section 7-1-3 based on this value.

Set the standard VGN1. Use the standard value if no problem (such as machine resonance) occurs. If sufficient cutting precision cannot be obtained at the standard VGN1, do not raise the VGN1 further above the standard value. Instead, use the disturbance observer and adjust. Basically, there is no need to set a value higher than the standard value in VGN1.

Machine resonance is occurring if the shaft makes abnormal sounds when operating or stopping, and a fine vibration can be felt when the machine is touched while stopped. Machine resonance occurs because the servo control responsiveness includes the machine resonance points. (Speed control resonance points occur, for example, at parts close to the motor such as ball screws.) Machine resonance can be suppressed by lowering VGN1 and the servo control responsiveness, but the cutting precision and cycle time are sacrificed. Thus, set a vibration suppression filter and suppress the machine resonance (Refer to section "8-3-2 Vibration suppression measures"), and set a value as close as possible to the standard VGN1. If the machine resonance cannot be sufficiently eliminated even by using a vibration suppression filter, then lower the VGN1.

No. Abbrev. Parameter name Explanation Setting range

SV005 VGN1 Speed loop gain Set this according to the motor inertia size.

The final VGN1 setting value should be 70 to 80% of the largest value at which

POINT



machine resonance does not occur. If the vibration suppression functions are used to suppress the resonance and

This setting is determined by the motor's electrical characteristics. Set the standard parameters for all parameters. (These are used for maker adjustments.)

1 to 2560

1 to 999

If vibration occurs, adjust by lower the setting by 20% to 30% at a time.

8–4

Chapter 8 Adjustment

more favorable.

8–5

Chapter 8 Adjustment

(2) Setting the speed loop leading compensation

The speed loop leading compensation (SV008: VIA) determines the characteristics of the speed loop mainly at low frequency regions. 1364 is set as a standard, and 1900 is set as a standard during SHG control. The standard value may drop as shown in the graph in section 7-1-3 in respect to loads with a large inertia. When the VGN1 is set lower than the standard value because the load inertia is large or because machine resonance occurred, the speed loop control band is lowered. If the standard value is set in the leading compensation in this status, the leading compensation control itself will induce vibration. In concrete terms, a vibration of 10 to 20Hz could be caused during acceleration/deceleration and stopping, and the position droop waveform could be disturbed when accelerating to a constant speed and when stopped. (Refer to the following graphs.) This vibration cannot be suppressed by the vibration suppression functions. Lower the VIA in increments of 100 from the standard setting value. Set a value where vibration does not occur and the position droop waveform converges smoothly. Because lowering the VIA causes a drop in the position control's trackability, the vibration suppression is improved even when a disturbance observer is used without lowering the VIA. (Be careful of machine resonance occurrence at this time.)

Speed FB

D/A output range

Position droop

Vibration waveform with leading compensation control

Time

Adjusted position droop waveform

If VIA is lowered, the position droop waveform becomes smooth and overshooting does not occur. However, because the trackability regarding the position commands becomes worse, that amount of positioning time and precision are sacrificed. VIA must be kept high (set the standard value) to guarantee precision, especially in high-speed contour cutting (generally F = 1000 or higher). In other words, a large enough value must be set in VGN1 so that the VIA does not need to be lowered in machines aimed at high-speed precision. When adjusting, the cutting precision will be better if adjustment is carried out to a degree where overshooting does not occur and a high VIA is maintained, without pursuing position droop smoothness. If there are no vibration or overshooting problems, the high-speed contour cutting precision can be further improved by setting the VIA higher than the standard value. In this case, adjust by raising the VIA in increments of 100 from the standard value. Setting a higher VIA improves the trackability regarding position commands in machines for which cycle time is important, and the time to when the position droop converges on the in-position width is shortened. It is easier to adjust the VIA to improve precision and cycle time if a large value (a value near the standard value) can be set in VGN1, or if VGN1 can be raised equivalently using the disturbance observer.

No. Abbrev. Parameter name Explanation Setting range

SV008 VIA Speed loop leading

compensation

1364 is set as a standard. 1900 is set as a standard during SHG control. Adjust in increments of approx. 100. Raise the VIA and adjust to improve the contour tracking precision in high-speed cutting. If the position droop vibrates (10 to 20Hz), lower the VIA and adjust.

1 to 9999

Time

8–6

Chapter 8 Adjustment

POINT



Position droop vibration of 10Hz or less is not leading compensation control vibration. The position loop gain must be adjusted.

8–7

Chapter 8 Adjustment

8-2-3 Position loop gain

(1) Setting the position loop gain

The position loop gain (SV003:PGN1) is a parameter that determines the trackability to the command position. 33 is set as a standard. Set the same position loop gain value between interpolation axes. When PGN1 is raised, the settling time will be shortened, but a speed loop that has a responsiveness that can track the position loop gain with increased response will be required. If the speed loop responsiveness is insufficient, several Hz of vibration or overshooting will occur during acceleration/deceleration. Vibration or overshooting will also occur when VGN1 is smaller than the standard value during VIA adjustment, but the vibration that occurs in the position loop is generally 10Hz or less. (The VIA vibration that occurs is 10 to 20Hz.) When the position control includes machine resonance points (Position control machine resonance points occur at the machine end parts, etc.) because of insufficient machine rigidity, the machine will vibrate during positioning, etc. In either case, lower PGN1 and adjust so vibration does not occur. If the machine also vibrates due to machine backlash when the motor stops, the vibration can be suppressed by lowering the PGN1 and smoothly stopping. If SHG control is used, an equivalently high position loop gain can be maintained while suppressing these vibrations. To adjust the SHG control, gradually raise the gain from a setting where 1/2 of a normal control PGN1 where vibration did not occur was set in PGN1. If the PGN1 setting value is more than 1/2 of the normal control PGN1 when SHG control is used, there is an improvement effect in position control. (Note that for the settling time the improvement effect is

SV003 PGN1 Position loop gain 1 Set 33 as a standard. If PGN1 is increased, the settling time will be

SV004 PGN2 Position loop gain 2 Set 0. (For SHG control) 0 to 999 SV057 SHGC SHG control gain Set 0. (For SHG control) 0 to 999

at 1/ 2 or more.)

No. Abbrev. Parameter name Explanation Setting range

1 to 200

shortened, but a sufficient speed loop response will be required.

CAUTION

Always set the same value3 for position loop gain between interpolation axes.

(2) Setting the position loop gain for spindle synchronous control

During spindle synchronous control (synchronous tapping control, etc.), there are three sets of position loop gain parameters besides the normal control.

No. Abbrev. Parameter name Explanation Setting range

SV049 PGN1sp Position loop gain 1

during spindle synchronization

SV050 PGN2sp Position loop gain 2

during spindle synchronization

SV058 SHGCsp SHG control gain

during spindle synchronization

Set 15 as a standard. 1 to 200

Set 0 as a standard. (For SHG control)

Set the same parameter as the position loop gain for the spindle synchronous control.

0 to 999

Always set the same value for the position loop gain between the spindle and

CAUTION

servo synchronous axes.

8–8

Chapter 8 Adjustment

(3) SHG control (option function)

If the position loop gain is increased or feed forward control (CNC function ) is used to shorten the settling time or increase the precision, the machine system may vibrate easily. SHG control changes the position loop to a high-gain by stably compensating the servo system position loop through a delay. This allows the settling time to be reduced and a high precision to be achieved.

(Feature 1) When the SHG control is set, even if PGN1 is set to the same value as the

conventional gain, the position loop gain will be doubled.

(Feature 2) The SHG control response is smoother than conventional position control during

acceleration/deceleration, so the gain can be increased further with SHG control compared to the conventional position control.

(Feature 3) With SHG control, a high gain is achieved so a high precision can be obtained during

contour control.

The following drawing shows an example of the improvement in roundness

characteristics with SHG control.

50.0

0.0

-50.0

（F=3000mm/min，ERROR=5.0µm／div）

0.0

Shape error characteristics

During SHG control, PGN1, PGN2 and SHGC are set with the following ratio.

PGN1 : PGN2 : SHGC = 1 :

: 6

1) : Commanded path

2) : SHG control (PGN1=47)

3) : Conventional control (PGN1=33)

50.0

Control method

SHG control Conventional

control

Roundness error (µm)

2.5

22.5

During SHG control even if the PGN1 setting value is the same, the actual position loop gain will be higher, so the speed loop must have a sufficient response. If the speed loop response is low, vibration or overshooting could occur during acceleration/deceleration in the same manner as conventional control. If the speed loop gain has been lowered because machine resonance occurs, lower the position loop gain and adjust.

No. Abbrev. Parameter name

SV003 (SV049)

SV004 (SV050)

SV057 (SV058)

SV008 VIA Speed loop leading

SV015 FFC Acceleration feed

PGN1 (PGN1sp)

PGN2 (PGN2sp)

SHGC (SHGCsp)

Position loop gain 1

Position loop gain 2

SHG control gain

compensation

forward gain

The SHG control is an optional function. If the option is not set in the CNC, the

CAUTION

alarm 37 or warning E4, Error Parameter No. 104 (2304 for M50/M64 Series CNC) will be output.

Setting

ratio

1 23 26 33 38 47

8/3 62 70 86 102 125

6 140 160 187 225 281

Set 1900 as a standard for SHG control. 1 to 9999

Set 100 as a standard for SHG control. 0 to 999

Setting example Explanation Setting range

Always set a combination of the three parameters.

1 to 200

0 to 999

8–9

Chapter 8 Adjustment

8-3 Characteristics improvement

8-3-1 Optimal adjustment of cycle time

The following items must be adjusted to adjust the cycle time. Refer to the Instruction Manuals provided with each CNC for the acceleration/deceleration pattern.

1) Rapid traverse rate (rapid) : This will affect the maximum speed during positioning.

2) Clamp speed (clamp) : This will affect the maximum speed during cutting.

3) Acceleration/deceleration time : Set the time to reach the feedrate.  constant (G0t∗, G1t∗)

4) In-position width (SV024) : This will affect each block's movement command end time.

5) Position loop gain (SV003) : This will affect each block's movement command settling time.

(1) Adjusting the rapid traverse rate

To adjust the rapid traverse, the CNC axis specification parameter rapid traverse rate (rapid) and acceleration/deceleration time constant (G0t∗) are adjusted. The rapid traverse rate is set so that the motor speed matches the machine specifications in the range below the maximum speed in the motor specifications. For the acceleration/deceleration time constants, carry out rapid traverse reciprocation operation, and set so that the maximum current command value at acceleration/deceleration is within the range shown below. (Only when the rapid traverse rate is below the rated speed.) Set the same value as the adjusted acceleration/deceleration time constant in the servo parameter's deceleration control time constant (SV056: EMGt). (When deceleration control is set.) For motors in which the maximum speed is greater than the rated speed, the output torque is particularly restricted in the region at or above the rated speed. When adjusting, watch the current FB waveform during acceleration/deceleration, and adjust so that the torque is within the specified range. Be careful, as insufficient torque can easily occur when the amplifier input voltage is low (170 to 190V), and an excessive error can easily occur during acceleration/deceleration.

HS-MF Series HS-RF Series HS-SF Series

Motor type

HS-MF23 280 to 320% HS-RF43 200 to 240% HS-SF52 420 to 470% HS-RF73 200 to 240% HS-SF53 420 to 470% HS-SF102 440 to 500% HS-SF103 500 to 560% HS-SF202 420 to 470%

Max. current

command value

Motor type

Max. current

command value

Motor type

Max. current

command value

(2) Adjusting the cutting rate

To adjust the cutting rate, the CNC axis specification parameter clamp speed (clamp) and acceleration/deceleration time constant (G1t∗) are adjusted. The in-position width at this time must be set to the same value as actual cutting.

• Determining the clamp rate and adjusting the acceleration/deceleration time constant

(Features) The maximum cutting rate (clamp speed) can be determined freely. (Adjustment) Carry out cutting feed reciprocation operation with no dwell at the maximum

cutting rate and adjust the acceleration/deceleration time constant so that the maximum current command value during acceleration/deceleration is within the range shown below.

• Setting the step acceleration/deceleration and adjusting the clamp speed (Features) The acceleration/deceleration time constant is determined with the position

loop in the servo, so the acceleration/deceleration F⊿T can be reduced.

(Adjustment) Set 1 (step) for the acceleration/deceleration time constant and carry out

cutting feed reciprocation operation with no dwell. Adjust the cutting feed rate so that the maximum current command value during acceleration/deceleration is within the range shown below, and then set the value in the clamp speed.

8–10

Chapter 8 Adjustment

60 × G0tL × PGN1

G0tL

For the maximum current command value during acceleration/deceleration, the maximum current command value (MAXcmd) for one second is output to MAX current 1 and MAX current 2 on the CNC servo monitor screen and observed. The meaning of the display for MAX current 1 and MAX current 2 will differ according to the parameter settings.

No. Abbrev. Parameter name Explanation

SV034 SSF3 Special servo function

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

bit Monitor Meaning when 0 is set Meaning when 1 is set

0 mon

selection 3

(3) Adjusting the in-position width

Because there is a response delay in the servomotor drive due to position loop control, a "settling time" is also required for the motor to actually stop after the command speed from the CNC reaches 0. The movement command in the next block is generally started after it is confirmed that the machine has entered the "in-position width" range set for the machine. The in-position width is effective even when the standard servo parameters are set. However, it may follow the CNC parameters, so refer to the CNC Instruction Manual for the setting.

No. Abbrev. Parameter name Unit Explanation Setting range

SV024 INP In-position detection

width

The in-position width setting and confirmation availability depend on the CNC

POINT



parameters

(4) Adjusting the settling time

The settling time is the time required for the position droop to enter the in-position width after the feed command (F⊿T) from the CNC reaches 0. The settling time can be shortened by raising the position loop gain or using SHG control. However, a sufficient response (sufficiently large VNG1 setting) for the speed loop is required to carry out stable control. The settling time during normal control when the CNC is set to linear acceleration/ deceleration can be calculated using the following equation. During SHG control, estimate the settling time by multiplying PGN1 by 2.

The display data for the maximum current value on the servo monitor is determined with the following parameter.

MAX current 1

MAX current 2

Set 50 as a standard.

µm

Set the precision required for the machine.

Maximum current command value after power is turned ON

Maximum current com-mand value for one second

daf2 daf1 dac2 dac1

Maximum current command value for one second

Maximum current FB value for one second

F∆T

Position droop

Settling time

In-position width

0 to 32767

Time

In-position

mon

Settling time (msec) = −

PGN1

F × 10

INP

× 1 − exp −

PGN1 × G0tL

PGN1 : Position loop gain1 (SV003) (rad/sec) F : Rapid traverse rate (mm/min) G0tL : Rapid traverse linear acceleration/ deceleration time constant (msec)

8–11

Chapter 8 Adjustment

INP : In-position width (SV024) (µm)

Speed command (r/min)

Current command (Stall %)

Example of speed/current command waveform during acceleration/deceleration

(Reference) The rapid traverse acceleration/deceleration time setting value G0tL for when linear

acceleration/deceleration is set is calculated with the following expression.

G0tL =

(JL + JM) × No

95.5 × (0.8 × T

3000

-3000 200

-200

Time

MAX

– TL)

6000 ( PGN1 × K)

(msec) –

NO : Motor reach speed (r/min) JL : Motor shaft conversion load inertia (kg·cm2) JM : Motor inertia (kg·cm2) T

: Motor max. torque (N·m)

MAX

TL : Motor shaft conversion load (friction, unbalance) torque (N·m) PGN1 : Position loop gain 1 (rad/sec) K : "1" during normal control, "2" during SHG control

8-3-2 Vibration suppression measures

If vibration (machine resonance) occurs, it can be suppressed by lowering the speed loop gain (VGN1). However, cutting precision and cycle time will be sacrificed. (Refer to "8-2-2 Speed loop gain".) Thus, try to maintain the VGN1 as high as possible, and suppress the vibration using the vibration suppression functions. If the VGN1 is lowered and adjusted because vibration cannot be sufficiently suppressed with the vibration suppression functions, adjust the entire gain (including the position loop gain) again.

• A fine vibration is felt when the machine is touched, or a groaning sound is heard.

• Vibration or noise occurs during rapid traverse.

No. Abbrev. Parameter name Explanation Setting range

SV005 VGN1 Speed loop gain

POINT



Suppress the vibration using the vibration suppression functions, and maintain the speed loop gain (SV005: VGN1) as high as possible. (The standard value is the upper limit.)

Set according to the load inertia size. If machine resonance occurs, adjust by lowering in increments of 20 to 30%. The setting value is 70 to 80% of the value where resonance does not occur.

1 to 999

8–12

Chapter 8 Adjustment

(1) Machine resonance suppression filter (Notch filter)

The resonance elimination filter will function at the set frequency. Use the D/A output function to output the current feedback and measure the resonance frequency. Note that the resonance frequency that can be measured is 0 to 500 Hz.

1. Set the resonance frequency in the machine resonance suppression filter frequency (SV038: FHz).

2. If the machine starts to vibrate at another frequency, raise (make shallower) the notch filter depth compensation value (SV033: SSF2.nfd), and adjust to the optimum value at which the resonance can be eliminated.

3. When the vibration cannot be completely eliminated, use another vibration suppression control (jitter compensation).

No. Abbrev. Parameter name Explanation Setting range

SV038 FHz Notch filter frequency Set the resonance frequency to be suppressed. (Valid at 72 or

SV033 SSF2 Special servo function

selection 2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 nfd

bit Descriptions

0~3 nfd

more). Set 0 when the filter is not to be used.

The notch filter depth compensation is set with the following parameters.

Set the filter depth for the notch filter.

Deeper ← → Shallower Setting value 0 2 4 6 8 A C E Depth (dB) ∞ −18.1 −12.0 −8.5 −6.0 −4.1 −2.5 −1.2

(2) Jitter compensation

The load inertia becomes extremely small if the motor position enters the machine backlash when the motor is stopped. Because this means that an extremely large VGN1 is set for the load inertia, vibration may occur. Jitter compensation is the suppression of vibration occurring when the motor stops by ignoring the backlash amount of speed feedback pulses when the speed feedback polarity changes. Increase the number of ignored pulses by one pulse at a time, and set a value at which the vibration can be suppressed. (Because the position feedback is controlled normally, there is no worry of positional deviation.) When an axis that does not vibrate is set, vibration could be induced, so take care.

No. Abbrev. Parameter name Explanation

SV027 SSF1 Special servo function

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

aflt zrn2 ovs2 ovs1 lmc2 lmc1 vfct2 vfct1

4 vfct1 5 vfct2

selection 1

Set the jitter compensation with the following parameter.

bit

No jitter

compensation

0 1 0 1 0 0 1 1

One pulse

compensation

Two pulse

compensation

Jitter compensation vibration suppression is only effective when the motor is

POINT



stopped.

0 to 3000

Three pulse

compensation

8–13

Chapter 8 Adjustment

Frictional

Unbalance

Cutting

8-3-3 Improving the cutting surface precision

If the cutting surface precision or roundness is poor, improvements can be made by increasing the speed loop gain (VGN1, VIA) or by using the disturbance observer function.

• The surface precision in the 45° direction of a taper or arc is poor.

• The load fluctuation during cutting is large, causing vibration or surface precision defects to occur.

Adjust by raising the speed loop gain equivalently to improve cutting surface

POINT



(1) Adjusting the speed loop gain (VGN1)

If the speed loop gain is increased, the cutting surface precision will be improved but the machine will resonate easily. The final VGN1 setting should be approx. 70 to 80% of the maximum value where resonance does not occur. (Refer to "8-2-2 (1) Setting the speed loop gain")

(2) Adjusting the speed loop leading compensation (VIA)

The VIA has a large influence on the position trackability, particularly during high-speed cutting (generally F1000 or more). Raising the setting value improves the position trackability, and the contour precision during cutting can be improved. For high-speed high-precision cutting machines, adjust so that a value equal to or higher than the standard value can be set. When VIA is set lower than the standard value and set to a value differing between interpolation axes, the roundness may worsen (the circle may distort). This is due to differences occurring in the position trackability between interpolation axes. The distortion can be improved by matching the VIA with the smaller of the values. Note that because the position trackability is not improved, the surface precision will not be improved. (Refer to "8-2-2 (2) Setting the speed loop leading compensation")

precision, even if the measures differ. In this case, it is important how much the machine resonance can be controlled, so adjust making sufficient use of vibration suppression functions.

No. Abbrev. Parameter name Explanation Setting range

SV005 VGN1 Speed loop gain Increase the value by 20 to 30% at a time.

SV008 VIA Speed loop leading

compensation

If the machine starts resonating, lower the value by 20 to 30% at a time. The setting value should be 70 to 80% of the value where resonance does not occur.

1 to 999

1 to 9999

(3) Voltage non-sensitive zone (Td) compensation

With the PWM control of the inverter, a dead time

direction

Motor torque

(non-energized time) is set to prevent short-circuits caused by simultaneous energizing of the P side and N side transistors having the same phase. The

torque

dead time has a non-sensitive zone for particularly low voltage commands. Thus, when feeding with a low speed and a low torque, the control may be unstable. When an unbalanced axis is lowering, the frictional torque and unbalance torque, and the frictional torque and deceleration torque before the quadrant changes during circle cutting, are balanced. The motor output torque will be approximately zero, and the control accuracy may drop. In this case, the

Deceleration torque =

frictional torque

Lowering

For unbalance torque For circle cutting

torque

control accuracy can be improved by using the voltage non-sensitive band compensation. Note

8–14

≒ 0

Balanced

Chapter 8 Adjustment

order

fine

Current command after

Current command

that this may cause vibration to increased while the motor is running.

No. Abbrev. Parameter name Explanation Setting range

SV030 IVC Voltage non-sensitive

band compensation

(4) Fine torque compensation

There may be cases when not much torque is generated during low speed feed, or when the wear torque and unbalance torque during lowering an unbalance axis or the wear torque and deceleration torque before a quadrant torque changeover during circular cutting are unbalanced. These can cause the motor output torque to be approximately zero and the control accuracy to drop. In this case, the control accuracy can be improved by using fine torque compensation. Note that this may cause vibration during motor operation to increase.

SV030 TDCG Voltage non-sensitive

SV040 LMCT Lost motion

SV045 TRUB Collision detection

compensation

band compensation/ fine torque compensation Cx

compensation non-sensitive band/ torque compensation Cy

function frictional torque/fine torque compensation B1

Cy (sv040)

B1 (sv045)

Set the standard value 20. Note that the vibration could increase during motor operation.

Set the fine torque compensation amount Cx in the high-

Stall %

(rated

current %)

8 bits. Normally, 0 is set. Set 255 to use this function.

µm / Set the fine torque compensation Cy in the high-order 8 bits.

Normally, 0 is set. Set 255 to use this function.

To use fine torque compensation, set approx. 10 to 30 in the high-order 8 bits.

Current (rated %) for Cx, Cy, B1 setting value 256

MF23 22.5% SF53 24.9%

(sv030)

before compensation

RF43 13.8% SF102 26.6% RF73 20.1% SF103 30.1% SF52 24.9% SF202 24.8%

0 to 200

–32768

32767

–32768

32767

–32768

32767

8–15

(4) Disturbance observer

JL : Too low

JL : Too high

JL : Optimum

The disturbance observer can reduce the effect caused by disturbance, frictional resistance or torsion vibration during cutting by estimating the disturbance torque and compensating it. It also is effective in suppressing the vibration caused by speed leading compensation control.

1) Adjust VGN1 to the value where vibration does not occur, and then lower it 10 to 20%.

2) Set the load inertia scale (SV037:JL) with a percentage in respect to the motor inertia of the total load inertia.

3) Set the observer filter band (observer pole) in the disturbance observer 1 (SV043:OBS1), and estimate the high frequency disturbance to suppress the vibration. Set 600 as a standard.

4) Set the observer gain in disturbance observer 2 (SV044:OBS2). The disturbance observer will function here for the first time. Set 100 first, and if vibration does not occur, increase the setting by 50 at a time to increase the observer effect.

5) If vibration occurs, lower OBS1 by 50 at a time. The vibration can be eliminated by lowering OBS2, but the effect of the disturbance observer can be maintained by keeping OBS2 set to a high value.

If the load inertia is not clearly known, estimate it with the following method.

1) With the unbalance axis, set the torque offset (SV032:TOF). (Refer to "8-3-4 (2) Unbalance torque compensation")

2) Set JL = 100, OBS1 = 600, and OBS2 = 0, and carry out a return operation within the range where the axis can operate smoothly. At this time, set the acceleration/deceleration time constant so the acceleration/deceleration torque equals or exceeds (is 100% or higher than) the stall (rated) torque.

3) Observe the estimated disturbance torque using the D/A output, and increase JL until the disturbance torque during acceleration/deceleration becomes small (cannot be observed).

Even when the torque offset is set and JL is an appropriate value, the friction torque amount

remains in the estimated disturbance torque of axes having a large amount of friction. As shown in the graphs below, judge the setting value for JL having only the friction torque remaining as the machine load inertia magnification.

Speed command

Estimated disturbance torque

Chapter 8 Adjustment

Time

Friction torque

0 0

Time

SV037 JL Load inertia scale %

SV043 OBS1 Disturbance observer 1 rad/sec

SV044 OBS2 Disturbance observer 2 %

No. Abbrev. Parameter name Unit Explanation Setting range

Set the load inertia that includes the motor in respect to the motor inertia. (When the motor is a single unit, set 100%)

JL = Set the observer filter band (observer pole).

Set 600 as a standard, and lower the setting by 50 at a time if vibration occurs.

Set the observer gain. Set 100 to 300 as a standard, and lower the setting if vibration occurs.

Jl + Jm

Jm : Motor inertia Jl : Machine inertia

0 to 5000

0 to 1000

1. When the observer gain is set to zero (OBS2 = 0), the estimated disturbance torque can be output to the D/A output even if the disturbance observer is not functioning.

POINT



2. Parts of the machine that do not move smoothly can be presumed to be the disturbance.

3. When the disturbance observer has been started, the lost motion compensation must be readjusted.

8–16

Chapter 8 Adjustment

Cutting

8-3-4 Improvement of protrusion at quadrant changeover

The response delay (caused by non-sensitive band from friction, torsion, expansion/contraction, backlash, etc.) caused when the machine advance direction reverses is compensated with the lost motion compensation function. With this, the protrusions that occur with the quadrant changeover in the DDB measurement method, or the streaks that occur when the quadrant changes during circular cutting can be improved.

direction

Circle cutting path before compensation Circle cutting path after compensation

(1) Lost motion compensation (LMC)

The lost motion compensation compensates the response delay during the reversal by adding the torque command set with the parameters when the speed direction changes. There are two methods for lost motion compensation. With the intelligent servomotor, type 2 is used as a standard. (The explanation for type 1 method is omitted because it is interchangeable with the old method.)

1) Set the special servo function selection 1 (SSF1) bit 9. (The LMC type 2 will start).

2) Set the compensation amount with a stall % (rated current % for the general -purpose motor) unit in the lost motion compensation 1 (LMC1). The LMC1 setting value will be used for compensation in the positive and negative directions when LMC2 is 0.

3) If the compensation amount is to be changed in the direction to be compensated, set LMC2. The compensation direction setting will be as shown below with the CW/CCW setting. If only one direction is to be compensated, set the side not to be compensated as –1.

Compensation

point

A X axis: LMC2 X axis: LMC1 B Y axis: LMC1 Y axis: LMC2 C X axis: LMC1 X axis: LMC2 D Y axis: LMC2 Y axis: LMC1

CW CCW

No. Abbrev. Parameter name Explanation

SV027 SSF1 The lost motion compensation starts with the following parameter.

aflt zrn2 ovs2 ovs1 lmc2 lmc1 vfct2 vfct1

bit No LMC LMC type 1 LMC type 2

No. Abbrev.

SV016 LMC1 Lost motion

SV041 LMC2 Lost motion

Special servo function selection 1

Parameter

name

compensation 1

compensation 2

Stall % (rated current %)

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Unit Explanation Setting range

While measuring the quadrant protrusion amount, adjust with a 5% unit. The ± direction setting value will be applied when LMC2 is set to

0. Set 0 as a standard.

Set this when the compensation amount is to be changed

Compensation

The X axis command direc-

tion changes from – to +.

8 lmc1 9 lmc2

8–18

The Y axis command direc-

-X

-Y

0 1 0 1 0 0 1 1

tion changes from + to –.

The X axis command direc-

tion changes from + to –.

The Y axis command direc-

tion changes from – to +.

Setting

prohibited.

–1 to 200

Chapter 8 Adjustment

and the adaptive filter cannot be simultaneously started. A parameter error

according to the direction.

First confirm whether the axis to be compensated is an unbalance axis (vertical axis, slant axis). If it is an unbalance axis, carry out the adjustment after performing step "(2) Unbalance torque compensation". Next, measure the frictional torque. Carry out reciprocation operation (approx. F1000) with the axis to be compensated and measure the load current % when fed at a constant speed on the CNC servo monitor screen. The frictional torque of the machine at this time is expressed with the following expression.

Frictional torque =

The standard setting value for the lost motion compensation 1 (LMC1) is double the frictional torque above.

(Example)

Assume that the load current % was 25% in the + direction and –15% in the – direction when JOG feed was carried out at approx. F1000. The frictional torque is as shown below, so 20% × 2 = 40% is set for LMC1. (Compensated in both directions with LMC2 set to 0.) With this setting, 40% compensation will be carried out when the command reverses from the + direction to the – direction, and when the command reverses from the – direction to the + direction.

LMC1 = 20% × 2 = 40% (Compensated in both directions with LMC2 set to 0.)

For the final adjustment, measure the CNC sampling measurement (DBB measurement) or while carrying out actual cutting. If the compensation amount is insufficient, increase LMC1 or LMC2 by 5% at a time. Note that if the setting is too high, biting may occur.

Compensation 0 Optimum Too high

1. When either parameter SV016: LMC1 or SV041: LMC2 is set to 0, the same

2. To compensate in only one direction, set -1 in the parameter (LMC1 or

3. The value set based on the friction torque is the standard value for LMC

POINT



4. When the disturbance observer has been started, the observer

5. Once LMC compensation type 1 is started, the overshooting compensation

(+ feed load current %) – (– feed load current %)

25 – (–15) 2

= 20%

amount of compensation is carried out in both the positive and negative direction with the setting value of the other parameter (the parameter not set to

0). LMC2) for the direction in which compensation is prohibited. compensation. The optimum compensation value changes with the cutting

conditions (cutting speed, cutting radius, blade type, workpiece material, etc.). Be sure to ultimately make test cuts matching the target cutting and determine the compensation amount.

compensation will also be effective on quadrant protrusions, so the optimum compensation amount of the lost motion compensation will drop. Note that the quadrant protrusions cannot be completely compensated with only the disturbance observer.

8–19

will occur.

Chapter 8 Adjustment

8–20

(2) Unbalance torque compensation

After

If the load torque differs in the positive and negative directions such as with a vertical axis or slant axis, the torque offset (TOF) is set to carry out accurate lost motion compensation.

Measure the unbalance torque. Carry out reciprocation operation (approx. F1000) with the axis to be compensated and measure the load current % when fed at a constant speed on the CNC servo monitor screen. The unbalance torque at this time is expressed with the following expression.

Unbalance torque =

(+ feed load current %) – (– feed load current %) 2

The unbalance torque value above is set for the torque offset (TOF). If there is a difference in the protrusion amount according to the direction, make an adjustment with LMC2. Do not adjust with TOF.

(Example)

Assume that the load current % was −40% in the + direction and −20% in the – direction when JOG feed was carried out at approx. F1000. The unbalance torque is as shown below, so −30% is set for TOF.

Chapter 8 Adjustment

−40 + (−20) 2

= −30%

No. Abbrev. Parameter name Unit Explanation Setting range

SV032 TOF Torque offset Stall % (rated

current %)

Set this when carrying out lost motion compensation. Set the unbalance torque amount.

–100 to 100

Even when TOF is set, the torque output characteristics of the motor and load

POINT



current display of the CNC servo monitor will not change. Both the LMC compensation and collision detection function are affected.

(3) Adjusting the lost motion compensation timing

If the speed loop gain has been lowered from the standard setting value because the machine rigidity is low or because machine resonance occurs easily, or when cutting at high speeds, the quadrant protrusion may appear later than the quadrant changeover point on the servo control. In this case, suppress the quadrant protrusion by setting the lost motion compensation timing (SV039: LMCD) to delay the LMC compensation.

If a delay occurs in the quadrant protrusion in the circle or arc cutting as shown below in respect to the cutting direction when CNC sampling measurement (DDB measurement) or actual cutting is carried out, and the compensation appears before the protrusion position, set the lost motion compensation timing (SV039:LMCD). While measuring the arc path, increase LMCD by 10 msec at a time, to find the timing that the protrusion and compensation position match.

compensation

Cutting direction

Before timing delay compensation After timing delay compensation

8–21

Chapter 8 Adjustment

No. Abbrev. Parameter name Unit Explanation Setting range

SV039 LMCD Lost motion

compensation timing

When the LMCD is gradually raised, a two-peaked contour may occur at the motor FB position DBB measurement. However, due to the influence of the cutter diameter in cutting such as end milling, the actual cutting surface becomes smooth. Because satisfactory cutting can be achieved even if this two-peaked contour occurs, consider the point where the protrusion becomes the smallest and finest possible without over compensating (bite-in) as the optimum setting.

Cutter center path

Cutter diameter

Actual cutting surface

Cutting direction

(4) Adjusting for feed forward control

In LMC compensation, a model position considering the position loop gain is calculated based on the position command sent from the CNC, and compensation is carried out when the feed changes to that direction. When the CNC carries out feed forward (fwd) control, overshooting equivalent to the operation fraction unit occurs in the position commands, and the timing of the model position direction change may be mistaken. As a result, the LMC compensation timing may deviate, or compensation may be carried out twice. If feed forward control is carried out and the compensation does not operate correctly, adjust with the non-sensitive band (SV040: LMCT) during feed forward control. In this non-sensitive band control, overshooting of a set width or less is ignored. The model position direction change point is correctly recognized, and the LMC compensation is correctly executed. This parameter is meaningless when feed forward control is not being carried out.

If the compensation timing deviates during feed forward control, increase the LMCT setting by 1µm at a time. Note that 2µm are set even when the LMCT is set to 0.

No. Abbrev. Parameter name Unit Explanation Setting range

SV040 LMCT Non-sensitive band

during feed forward control

Setting of the non-sensitive band (SV040: LMCT) during feed forward control

POINT



is effective for improving overshooting compensation mis-operation during feed forward control.

Set this when the lost motion compensation timing does not

msec

match. Adjust while increasing the value by 10 at a time.

Quadrant changeover point

This setting is valid only during feed forward control.

µm

2 µm is set when this is set to 0. Adjust by increasing the value by 1 µm at a time.

Point of LMC compensation execution

0 to 2000

0 to 100

8–22

Chapter 8 Adjustment

Overshoot

8-3-5 Improvement of overshooting

The phenomenon when the machine position goes past or exceeds the command during feed stopping is called overshooting. Overshooting is compensated by overshooting compensation (OVS compensation). The phenomenon when the machine position exceeds the command during feed stopping is called overshooting. Overshooting occurs due to the following two causes.

1. Machine system torsion: Overshooting will occur mainly during rapid traverse settling

2. Machine system friction: Overshooting will occur mainly during one pulse feed Either phenomenon can be confirmed by measuring the position droop.

Speed FB

Position droop

Time

1. Overshooting during rapid traverse settling 2. Overshooting during pulse feed

(1) Overshooting compensation (OVS compensation)

In OVS compensation, the overshooting is suppressed by subtracting the torque command set in the parameters when the motor stops. OVS compensation has a compensation effect for the overshooting during either rapid traverse settling or pulse feed. Note that there is no compensation if the next feed command has been issued before the motor positioning (stop). (Therefore, there is no compensation during circle cutting.) There is also no compensation when the CNC is carrying out feed forward control.

1) Set the special servo function selection 1 (SV027:SSF1) bit 10. (OVS compensation will start.)

2) Observe the position droop waveform using the D/A output, and increase the overshoot

compensation 1 (SV031: OVS1) value 1% at a time. Set the smallest value where the overshooting does not occur. If SV042:OVS2 is 0, the overshooting will be compensated in both the forward/reverse directions with the OVS1 setting value.

3) If the compensat ion amount is to be changed in the direction to be compensated, set the +

direction compensation value in OVS1 and the – direction compensation value in OVS2. If only one direction is to be compensated, set the side not to be compensated as –1. The compensation direction setting will be as reversed with the CNC parameter CW/CCW setting.

In OVS compensation, there is no compensation in the following cases.

1. There is no compensation if the next feed command has been issu ed

POINT



before the motor positioning (stop). (There is no compensation in circle cutting.)

2. There is no compensation when the CNC is carrying out feed forward (fwd) control.

Position command

Position droop

Time

8–23

Overshooting compensation type 1

No. Abbrev. Parameter name Explanation

SV027 SSF1 The overshooting compensation starts with the following parameter.

aft zrn2 ovs1 lmc2 lmc1 vfct2 vfct1

bit Meaning when "0" is set. Meaning when "1" is set. 10 ovs1

No. Abbrev. Parameter name Unit Explanation Setting range

SV031 OVS1 Overshooting

SV042 OVS2 Overshooting

POINT



Special servo function selection 1

compensation 1

compensation 2

Stall % (rated current %)

1. When either parameter SV031: OVS1 or SV042: OVS2 is set to 0, the same amount of compensation is carried out in both the positive and negative direction, using the setting value of the other parameter (the parameter not set to 0).

2. To compensate in only one direction, set -1 in the parameter (OVS1 or OVS2) for the direction in which compensation is prohibited.

3. For contour cutting, the projection at the arc end point is compensated with OVS compensation. LMC compensation is carried out at the arc starting point.

Chapter 8 Adjustment

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Overshooting compensation type 1 stop

Increase the value by 1% at a time, and find the value where overshooting does not occur. When OVS2 is set to 0, the setting value will be applied in both the ± directions.

Set 0 as a standard. Set this when the compensation amount is to be changed according to the direction.

OVS compensation

Cutting direction

start

–1 to 100

LMC compensation

8–24

Chapter 8 Adjustment

-200

Time Time

8-3-6 Improvement of characteristics during acceleration/deceleration

(1) SHG control (option function)

Because SHG control has a smoother response than conventional position controls, the acceleration/deceleration torque (current FB) has more ideal output characteristics (A constant torque is output during acceleration/deceleration.) The peak torque is kept low by the same acceleration/deceleration time constant, enabling the time constant to be shortened. Refer to item "(3) SHG control" in section "8-2-3 Position loop gain" for details on setting SHG control.

3000

Speed command (r/min.)

-3000 200

Current FB (stall %)

3000

Speed command (r/min.)

-3000 200

Current FB (stall %)

No. Abbrev. Parameter name

SV003

(SV049)

SV004

(SV050)

SV057

(SV058)

SV008 VIA

SV015 FFC

PGN1

(PGN1sp)

PGN2

(PGN2sp)

SHGC

(SHGCsp)

Position loop gain 1 1 23 26 33 38 47 1 to 200

Position loop gain 2 8/3 62 70 86 102 125 0 to 999

SHG control gain 6 140 160 187 225 281 Speed loop leading

compensation Acceleration feed

forward gain

Acceleration/deceleration characteristics during conventional control

Acceleration/deceleration characteristics during SHG control

Setting

ratio

Set 1900 as a standard value during SHG control. 1 to 9999

Set 100 as a standard value during SHG control. 0 to 999

Setting example Explanation Setting range

Always set a combination of 3 parameters.

0 to 999

8–25

(2) Acceleration feed forward

60 40 20

Vibration may occur at 10 to 20 Hz during acceleration/deceleration when a short time constant of 30 msec or less is applied, and a position loop gain (PGN1) higher than the general standard value or SHG control is used. This is because the torque is insufficient when starting or when starting deceleration, and can be resolved by setting the acceleration feed forward gain (SV015:FFC). This is also effective in reducing the peak current (torque). While measuring the current command waveform, increase FFC by 50 to 100 at a time and set the value where vibration does not occur.

Chapter 8 Adjustment

Current command (Stall %)

200

100

200

100

Time（msec）

100

Time（msec）

No FFC setting With FFC setting

Acceleration feed forward gain means that the speed loop gain during acceleration/deceleration is raised equivalently. Thus, the torque (current command) required during acceleration/deceleration starts sooner. The synchronization precision will improve if the FFC of the delayed side axis is raised between axes for which high-precision synchronous control (such as synchronous tap control and superimposition control).

No. Abbrev. Parameter name Unit Explanation Setting range

SV015 FFC Acceleration feed

forward gain

A 10 10 50 50 Standard value

% The standard setting value is 0. To improve the

acceleration/deceleration characteristics, increase the value by approx. A given below. During SHG control, use the standard setting values given below.

Motor MF23 RF43/73

for SHG control

10 10 100 100

SF52/53/

102/103

SF202

1 to 999

100

POINT



during SHG control.

8–26

Overshooting occurs easily when a value above the standard value is set

Chapter 8 Adjustment

-200

compensation

With inductive

(3) Inductive voltage compensation

The current loop response is improved by compensating the back electromotive force element induced by the motor rotation. This improved the current command efficiency, and allows the acceleration/deceleration time constant to the shortened.

1) Set 1 in "mon" of the special servo function selection 3 (SV034: SSF3) bit 0, and output the current command and current FB to the servo monitor.

2) While accelerating/decelerating at rapid traverse, adjust the inductive voltage compensation gain (SV047:EC) so that the current FB peak is a few % smaller than the current command peak.

3000

Speed command (r/min)

-3000 200

No inductive voltage

Time

Current command (stall %)

voltage compensation

Time

Inductive voltage compensation

To adjust the inductive voltage compensation, output 1 second of the maximum current command value and 1 second of the maximum current FB value to MAX current 1 and MAX current 2 on the CNC servo monitor screen and observe. Change over and display "mon" of the special servo function selection 3 (SV034: SSF3).

No. Abbrev. Parameter name Explanation

SV034 SSF3 Special servo function

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

bit Monitor Meaning when 0 is set Meaning when 1 is set

0 mon

No. Abbrev. Parameter name Unit Explanation Setting range

SV047 EC

selection 3

Inductive voltage compensation gain

The display data for the maximum current value on the servo monitor is determined with the following parameter.

daf1 dac1

MAX current 1

MAX current 2

Set 100% as a standard. Lower the gain if the current FB peak

exceeds the current command peak.

Maximum current command value after power is turned ON

Maximum current com-mand value for one second

Maximum current command value for one second

Maximum current FB value for one second

mon

0 to 200

If the current FB peak is larger than the current command peak, overcompensation or overcurrent (alarm 3A) could occur easily. Note that

POINT



when using with a large load inertia, or when using over the rated rotation speed with a motor set to rated rotation speed < maximum rotation speed, overcompensation could occur easily.

8–27

Chapter 8 Adjustment

EMGt



Constant inclination deceleration

Time

Dynamic brakes activate at 60 r/min or less

8-4 Setting for emergency stop

The emergency stop referred to here indicates the following states.

1) When the external emergency stop was input (including other axis alarms)

2) When the CNC power down was detected

3) When a servo alarm was detected

8-4-1 Deceleration control

This intelligent servomotor servo amplifier decelerates the motor according to the set time constant in the ready ON state even when an emergency stop occurs, and activates the dynamic brakes after stopping and turning ready OFF. This series of controls is called deceleration control. In the intelligent servomotor, deceleration control is the standard method of stopping during an emergency stop.

1) When the load inertia is large, deceleration and stop are possible with a short time constant using the dynamic brakes. (Stopping is possible with a basically normal acceleration/ deceleration time constant.)

2) When used in a transfer line, etc., stopping with little shock is possible by setting a long time constant.

(1) Setting the deceleration control time constant

The time to stopping from the rapid traverse rate (rapid: axis specification parameter) is set in the deceleration control time constant (SV056: EMGt). A position loop step stop is carried out when 0 is set. When linear (straight line) acceleration/deceleration is selected for the rapid traverse, the same value as the acceleration/deceleration time constant (G0tL) becomes the standard value. When another acceleration/deceleration pattern is selected, set the rapid traverse to linear acceleration/deceleration. Adjust to the optimum acceleration/deceleration time constant, and set that value as the standard value.

When an emergency stop occurs, the motor will decelerate at the same inclination from each speed, and will change to the dynamic brakes at 60 r/min or less. If the power fails, etc., the dynamic brakes will be applied during the deceleration control. When the motor brakes are controlled with amplifier output while using an unbalanced axis, the motor brake control output operates simultaneously with the changeover to the dynamic brakes.

RAPID

Motor speed

Dynamic brakes

Motor brake control output (MBR)

OFF ON

Emergency stop occurrence

No. Abbrev. Parameter name Unit Explanation Setting range

SV056 EMGt Deceleration control

time constant

Set the time to stop from rapid traverse rate (rapid).

msec

Set the same value as the rapid traverse acceleration/deceleration time constant (G0tL) as a standard.

0 to 5000

1. The deceleration will not be controlled when a servo alarm that uses the dynamic brake stopping method occurs. Stopping is by the dynamic brake method regardless of the parameter setting.

POINT



2. When a power failure occurs, the stopping method may change over to a dynamic brake stop during deceleration control if the deceleration time constant is set comparatively long. This is because of low bus voltage in the amplifier.

8–24

CAUTION

PGN1 × 60

rapid × 1000



Time

(2) Dynamic brake stop

When an emergency stop occurs, it is possible to have the machine stop from the beginning using a dynamic brake without controlling the deceleration. Set bit 0 in the servo specifications (SV017: SPEC) to select a dynamic brake stop. In a dynamic brake stop, the dynamic brakes operate at the same time the emergency stop occurs, and the motor brake output also operates at the same time.

Chapter 8 Adjustment

If the deceleration control time constant (EMGt) is set longer than the acceleration/deceleration time constant, the overtravel point (stroke end point) may be exceeded. A collision may be caused on the machine end, so be careful.

Emergency stop occurrence

Motor speed

Dynamic brakes

Motor brake control output (MBR)

OFF

No. Abbrev. Parameter name Explanation

SV017 SPEC Servo specifications Set the dynamic brake stop with the following parameter.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 abs vdir mc dmk

bit Meaning when "0" is set. Meaning when "1" is set. 0 dmk Deceleration control stop Dynamic brake stop

If a dynamic brake stop is selected, the software does not participate at all in

POINT



CAUTION

the motor stop control after an emergency stop occurs.

When a dynamic brake stop is selected, in general the coasting distance during an emergency stop will be comparatively longer, so be careful.

(3) Deceleration control stop distance

If stopping with deceleration control during an emergency stop, the stop distance L

DEC

approximately calculated with the following expression. However, the value will be higher than the following expression if the current is limited during deceleration. Refer to section "3-3-2 Coasting amount" for the stop distance using dynamic brakes.

DEC

F × EMGt

(mm)

can be

F : Feedrate during emergency stopped (mm/min) rapid : Rapid traverse rate (mm/min) PGN1 : Position loop gain 1 (SV003) (rad/sec) EMGt : Deceleration control time constant (SV056) (msec)

8–25

Chapter 8 Adjustment

mum

Brake activation delay

Time

8-4-2 Vertical axis drop prevention control

The vertical axis drop prevention control is a function that prevents the vertical axis from dropping due to a delay in the brake operation when an emergency stop occurs. The servo ready OFF will be delayed by the time set in the parameter from when the emergency stop occurs. Thus, the no-control time until the brakes activate can be eliminated.

Set the time to delay the ready OFF in the vertical axis drop prevention time (SV048:EMGrt). Read the current position on the CNC screen, and apply the emergency stop. Set the minimum delay time where the axis does not drop.

Motor speed

Emergency stop occurrence

Deceleration control

Dynamic brakes

Motor brake control output (MBR)

Motor brake actual operation

Servo ready (READY)

OFF ON

ON OFF

EMGrt

No. Abbrev. Parameter name Unit Explanation Setting range

SV048 EMGrt Vertical axis drop

prevention time

Input the time to delay the ready OFF when an emergency stop

msec

occurs. Increase the setting by 100 msec at a time and set the mini value where the axis does not drop.

0 to 2000

1. This control will not function if the dynamic brake stop is selected with the servo specifications (SV017: SPEC).

2. This control will not function if an alarm for which the dynamic brakes are

POINT



set as the stopping method occurs in an axis where vertical axis drop prevention control is being carried out.

3. A drop amount of several µm to 10µm will remain due to the brake play.

CAUTION

1. Do not set a vertical axis drop prevention time longer than required. The servo control and brakes could collide causing an overload alarm or amplifier damage. There is no problem if the duplicate time is within 100msec.

2. During a power failure, vertical axis drop prevention cont rol (including deceleration control) exceeding 100msec cannot be guaranteed. The control will change to the dynamic brakes.

8–26

Chapter 8 Adjustment

SV032）

SV060）

G1 feed (cutting feed)

G0 feed (rapid traverse)

（SV060×clG1

8-5 Collision detection

The purpose of the collision detection function is to quickly detect a collision and decelerate to a stop. This suppresses the excessive torque generated to the machine tool, and suppresses the occurrence of an abnormality. Impact during a collision cannot be prevented even when the collision detection function is used, so this function does not guarantee that the machine will not break and does not guarantee the machine accuracy after a collision. Thus, the conventional caution is required to prevent machine collisions from occurring.

(1) Collision detection method 1

The required torque is calculated from the position command issued from the NC. The disturbance torque is calculated from the difference with the actual torque. When this disturbance torque exceeds the collision detection level set with the parameters, the axis will decelerate to a stop with at 80% of the motor's maximum torque. After decelerating to a stop, the alarm 58 or 59 will occur, and the system will stop. The collision detection level for rapid traverse (G0) is set with TLMT: SVC060. The collision detection level for cutting feed (G1) is set to 0 to 7-fold (SV053.clG1) based on the collision detection level for rapid traverse. If 0 is set for clG1, the collision detection method 1 will not function during cutting feed. If 0 is set for TLMT: SV060, all collision detections (method 1 and method 2) will not function.

Estimated torque (stall %)

Speed command (r/min)

3000

-3000

200

100

-100

-200

G0 collision detection level

（

Alarm detection range for collision detection method 1

(2) Collision detection method 2

When the current command reaches the motor's maximum current, the axis will decelerate to a stop with at 80% of the motor's maximum torque. After decelerating to a stop, the alarm 5A will occur, and the system will stop. If the acceleration/deceleration time constant is short and incorrect detections are made easily during normal operation, increase the acceleration/deceleration time constant and adjust so that the current during acceleration is not saturated (so that the maximum current is not reached). If the acceleration/deceleration time constant cannot be increased, set parameter SV035.bit11: SSF4.cl2n to 1 to ignore the collision detection method 2.

The collision detection function does not guarantee safety or machine

CAUTION

accuracy during a collision. Thus, the conventional caution is required to prevent machine collisions from occurring.

Collision detection method 1 detection range (Alarm 58/59)

G0 collision detection level

Collision

For rapid traverse (for G0 feed)

For cutting feed (for G1 feed)

detec-tion level

setting parameter

SV060 Alarm 58

SV060×clG1

(SV035)

Frictional torque

(SV045)

Unbalance torque

（

Detection

Alarm 59

alarm

8–27

1. Validate the extended function. (Set sv035: SSF4, bit7 (eram) to 1.)

2. Confirm that SHG control is being used. The collision detection function is valid only during SHG control.

3. Measure the unbalance torque, and set in the torque offset (SV03: TOF). Refer to the section "8-3-4 (2) Unbalance torque compensation" for details on measuring the unbalance torque.

4. Measure the frictional torque, and set in the frictional torque (SV045: TRUB). Refer to the section "8-3-4-(1) Lost motion compensation" for details on measuring the frictional torque.

5. Set the estimated torque gain (SV059: TCNV) with the following method. Set sv035: SSF5, bit 15 (clt) for the axis to be adjusted to 1. Repeatedly move the axis to be adjusted in both directions at the maximum rapid traverse rate. Observe the MPOF display value on the NC unit's [I/F Diagnosis/Servo Monitor] screen, and continue operation until the display value stabilizes. Once the display value stabilizes, set that value as the estimated torque gain (SV059: TCNV).

6. If the acceleration/deceleration time is short and the current is easily saturated, set SV035.bit15(cl2n) to 1, and ignore the collision detection method 2.

7. Set the collision detection level.

Feed Detection level setting Explanation

G0 SV060

G1 SV060×clG1 (SV035)

1. The SHG control must be validated to use the collision detection function or to carry out load inertia measurement operation.

2. When measuring the estimated torque gain, if the unbalance torque (SV032) and frictional torque (SV045) setting values are changed, the

POINT



measurement results will change. The unbalance torque and frictional torque must be set as accurately as possible to carry out accurate measurement.

3. Set the detection level with an allowance to avoid incorrect detections.

4. When SV060 is set to 0, all collision detection functions will be invalidated.

Chapter 8 Adjustment

First set SV060: TLEV = 100, and carry out no-load operation at the maximum rapid traverse feed rate. If an alarm does not occur, lower the setting by 10, and if an alarm occurs, raise the setting by 20. Set a value that is 1.5 times the limit value where the alarm does not occur. If SV034.mon is set to 7, the maximum disturbance torque will appear on the NC servo monitor, so adjust using this value as a reference.

The detection level for G1 is set as an integer-fold of the G0 detection level. Calculate the maximum cutting load, and adjust the SV035.clG1 setting value so that the detection level is larger than the maximum cutting load.

8–28

Chapter 8 Adjustment

ue) is displayed

No. Abbrev. Parameter name Explanation

SV035 SSF4 The following parameters are used for the collision detection.

clt clG1 cl2n clet eram

bit Meaning when "0" is set. Meaning when "1" is set. 7 eram Extended function invalid Extended function invalid

10 clet During normal use

11 cl2n Collision detection method 2 valid

15 clt During normal use

SV032 TOF Torque offset Stall % (rated

SV045 TRUB Frictional torque Stall % (rated

SV059 TCNV Torque estimated gain (load

SV060 TLMT G0 collision detection level Stall % (rated

Special servo function selection 4

inertia rate)

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

The latest two-second estimated disturbance torque peak value (3.5ms average val at MPOF on the Servo Monitor screen.

Collision detection method 2 invalid

current %)

Set the collision detection level for collision detection method 1, cutting (G1) feed.

clG1

The G1 collision detection level is SV060 × clG1. When clG1 is set to 0, the collision detection method 1 will not function during cutting feed.

The value to be set in TCNV is calculated and displayed at MPOF on the Servo Monitor screen.

Set the unbalance torque amount. –100 to 100

Set the frictional torque for using the collision detection function.

Set the torque estimated gain for using the collision

detection function. If acceleration/deceleration operation is carried out with SV035.clt set to 1 and SV060 set to 0, the estimated torque gain will be displayed on the NC Monitor screen.

Set the collision detection level of method 1 G0 feed when using the collision detection function. When 0 is set, all collision detection functions will not function.

0 to 100

0 to 5000

0 to 200

8–29

Chapter 8 Adjustment

speed

8-6 Parameter list

No. Abbrev. Parameter name Unit Explanation

SV001 PC1 Motor side gear ratio 1 to 32767 SV002 PC2 SV003 PGN1 Position loop gain 1 rad/sec SV004 PGN2 Position loop gain 2 rad/sec

SV005 VGN1 Speed loop gain

SV006 Set "0". 0 SV007 Set "0". 0

SV008 VIA

SV009 IQA SV010 IDA

SV011 IQG q axis gain 1 to 2560 SV012 IDG d axis gain

SV013 ILMT Current limit value

SV014 ILMTsp

SV015 FFC

SV016 LMC1

SV017 SPEC Servo specifications

SV018 PIT Ball screw pitch mm SV019 RNG1 SV020 RNG2

Machine side gear ratio

Speed loop leading compensation

q axis leading compensation

d axis leading compensation

Current limit value during special operation

Acceleration feed forward gain

Lost motion compensation 1

Position detector resolution

Speed detector resolution

1 to 20480 1 to 20480

Stall % (rated current %)

Set "0" in bits with no particular description.

kp/rev 8 to 100 kp/rev

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.

Set the position loop gain. Set 33 as a standard. When using SHG control, also set PGN2 and SHGC.

Set 0 as a standard. When using SHG control, also set PGN1 and SHGC.

Set this according to the motor inertia size. If motor resonance occurs, lower the value by 20 to 30% at a time. The setting value should be 70 to 80% of the value where resonance does not occur.

Set 1364 as a standard. During SHG control, set 1900 as a standard. Raise this value to improve contour tracking precision in highcutting. Lower this value when the position droop vibrates. Adjust by 100 at a time.

This setting is determined by the motor's electrical characteristics. Set the standard parameters for all parameters. (These are used for maker adjustments.)

Set the standard parameter value. The maximum torque is determined by the motor specifications.

Set the standard parameter value. Set the limit torque mainly for the stopper.

The standard setting value is 0. For SGH control, set 100.

To improve the acceleration/deceleration characteristics, increase the value by 50 to 100 at a time.

The protrusion amount during quadrant changeover is suppressed. Adjust in 5% units. When LMC2 is set to 0, the setting value will apply in both the ± directions.

bit Meaning when "0" is set Meaning when "1" is set

0 dmk 1

2 3 4 5 6 7 abs Incremental control Absolute position control 8

9 10 11 12 mtc 13 14 15

Deceleration controlo stop selection (SVJ2 standard)

Motor table selection according to model Set 0100 for the intelligent servomotor HS Series.

Set the ball screw pitch. Set 360 for the rotary axis. Refer to the CNC Instruction Manual for the inch ball screw.

Set the motor detector resolution for both settings. Refer to the Standard parameter list per motor for the settings.

Dynamic brake stop selection

Setting

range

1 to 32767

1 to 200 0 to 999

1 to 999

1 to 9999

1 to 2560

0 to 500

1 to 999

–1 to 200

1 to 32767

8 to 100

SV001 is a parameter validated when the NC power is turned ON again.

8–30

mitsubishi HS Specification Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

Chapter 1 Introduction

Chapter 2 Specifications

Chapter 3 Characteristics

Chapter 4 Peripheral Devices

Chapter 5 Installation

Chapter 6 Wiring

Chapter 7 Setup

Chapter 8 Adjustment