CNC
AC SERVO/SPINDLE
MDS-C1 Series
INSTRUCTION MANUAL
BNP-B2365*(ENG)
Introduction
Thank you for selecting the Mitsubishi numerical control unit.
This instruction manual describes the handling and caution points for using this AC
servo/spindle.
Incorrect handling may lead to unforeseen accidents, so always read this instruction
manual thoroughly to ensure correct usage.
Make sure that this instruction manual is delivered to the end user.
Always store this manual in a safe place.
All specifications for the MDS-C1 Series are described in this manual. However, each
CNC may not be provided with all specifications, so refer to the specifications for the
CNC on hand before starting use.
Notes on Reading This Manual
(1) Since the description of this specification manual deals with NC in general, for the
specifications of individual machine tools, refer to the manuals issued by the
respective machine manufacturers. The "restrictions" and "available functions"
described in the manuals issued by the machine manufacturers have precedence
to those in this manual.
(2) This manual describes as many special operations as possible, but it should be
kept in mind that items not mentioned in this manual cannot be performed.
Please read this manual and auxiliary documents before starting installation, operation,
maintenance or inspection to ensure correct usage. Thoroughly understand the device, safety
information and precautions before starting operation.
The safety precautions in this instruction manual are ranked as "WARNING" and "CAUTION".
Note that some items described as
the situation. In any case, important information that must be observed is described.
The numeric control unit is configured of the control unit, operation board, servo drive unit,
spindle drive unit, power supply unit, servomotor and spindle motor, etc.
In this manual, the following items are generically called the "servomotor".
• Servomotor
• Spindle motor
DANGER
WARNING
CAUTION
Precautions for safety
When there is a potential risk of fatal or serious injuries if
handling is mistaken.
When operator could be fatally or seriously injured if handling
is mistaken.
When a dangerous situation may occur if handling is mistaken
leading to medium or minor injuries, or physical damage.
CAUTION
may lead to major results depending on
In this manual, the following items are generically called the "servo drive unit".
• Servo drive unit
• Spindle drive unit
• Power supply unit
1. Electric shock prevention
Do not open the front cover while the power is ON or during operation. Failure to observe this
could lead to electric shocks.
Do not operate the unit with the front cover removed. The high voltage terminals and charged
sections will be exposed, and can cause electric shocks.
Do not remove the front cover even when the power is OFF unless carrying out wiring work or
periodic inspections. The inside of the units is charged, and can cause electric shocks.
Wait at least 15 minutes after turning the power OFF before starting wiring, maintenance or
inspections. Failure to observe this could lead to electric shocks.
Ground the servo drive unit and servomotor with Class C (former class 3) grounding or higher.
Wiring, maintenance and inspection work must be done by a qualified technician.
Wire the servo drive unit and servomotor after installation. Failure to observe this could lead to
electric shocks.
Do not touch the switches with wet hands. Failure to observe this could lead to electric shocks.
Do not damage, apply forcible stress, place heavy items on the cables or get them caught.
Failure to observe this could lead to electric shocks.
WARNING
1. Fire prevention
Install the servo drive units, servomotors and regenerative resistor on noncombustible material.
Direct installation on combustible material or near combustible materials could lead to fires.
Shut off the power on the servo drive unit side if the servo drive unit fails. Fires could be
caused if a large current continues to flow.
When using a regenerative resistor, provide a sequence that shuts off the power with the
regenerative resistor's error signal. The regenerative resistor could abnormally overheat and
cause a fire due to a fault in the regenerative transistor, etc.
2. Injury prevention
Do not apply a voltage other than that specified in Instruction Manual on each terminal. Failure
to observe this item could lead to ruptures or damage, etc.
Do not mistake the terminal connections. Failure to observe this item could lead to ruptures or
damage, etc.
Do not mistake the polarity (
damage, etc.
The servo drive unit's fins, regenerative resistor and servomotor, etc., may reach high
temperatures while the power is ON, and may remain hot for some time after the power is
turned OFF. Touching these parts could result in burns.
CAUTION
+
,
). Failure to observe this item could lead to ruptures or
CAUTION
3. Various precautions
Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and
electric shocks, etc.
(1) Transportation and installation
Correctly transport the product according to its weight.
Use the servomotor's hanging bolts only when transporting the servomotor. Do not transport
the servomotor when it is installed on the machine.
Do not stack the products above the tolerable number.
Do not hold the cables, axis or detector when transporting the servomotor.
Do not hold the connected wires or cables when transporting the servo drive units.
Do not hold the front cover when transporting the servo drive units. The unit could drop.
Follow this Instruction Manual and install in a place where the weight can be borne.
Do not get on top of or place heavy objects on the unit.
Always observe the installation directions.
Secure the specified distance between the servo drive unit and control panel's inne r wall, and
between other devices.
Do not install or run a servo drive unit or servomotor that is damaged or missing parts.
Do not block the intake or exhaust ports of the servomotor provided with a cooling fan.
Do not let foreign objects enter the servo drive units or servomotors. In particular, if
conductive objects such as screws or metal chips, etc., or combustible materials such as oil
enter, rupture or breakage could occur.
The servo drive units and servomotors are precision devices, so do not drop them or apply
strong impacts to them.
CAUTION
Store and use the units under the following environment conditions.
Ambient temperature 0°C to +55°C (with no freezing) 0°C to +40°C (with no freezing)
Ambient humidity
Storage temperatu re –15°C to +70°C
Storage humidity 90%RH or less (with no dew condensation)
Atmosphere
Altitude 1,000m or less above sea level
Environment
Vibration 4.9m/s
Securely fix the servomotor to the machine. Insufficient fixing could lead to the servomotor
slipping off during operation.
Always install the servomotor with reduction gear in the designated direction. Failure to do
so could lead to oil leaks.
Structure the rotary sections of the motor so that it can never be touched during operation.
Install a cover, etc., on the shaft.
When installing a coupling to a servomotor shaft end, do not apply an impact by
hammering, etc. The detector could be damaged.
Do not apply a load exceeding the tolerable load onto the servomotor shaft. The shaft
could break.
Store the motor in the package box.
When inserting the shaft into the built-in IPM motor, do not heat the rotor higher than
130°C. The magnet could be demagnetized, and the specifications characteristics will not
be ensured.
If the unit has been stored for a long time, always check the operation before starting
actual operation. Please contact the Service Center or Service Station.
Servo drive unit Servomotor
90%RH or less
(with no dew condensation)
Indoors (where unit is not subject to direct sunlight),
with no corrosive gas, combustible gas, oil mist,
dust or conductive particles
2
(0.5G) or less
Conditions
80% RH or less
(with no dew condensation)
To follow each unit and motor
specifications
(2) Wiring
CAUTION
Correctly and securely perform the wiring. Failure to do so could lead to runaway of the
servomotor.
Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of
the servo drive unit.
Correctly connect the output side (terminals U, V, W). Failure to do so could lead to abnormal
operation of the servomotor.
Do not directly connect a commercial
power supply to the servomotor. Failure
to observe this could result in a fault.
Servodrive unit
COM
(24VDC)
Servodrive unit
COM
(24VDC)
When using an inductive load such as a
relay, always connect a diode as a noise
measure parallel to the load.
Controloutput
signal
RA
Control output
signal
When using a capacitance load such as a lamp, always connect a protective resistor a s a
noise measure serial to the load.
Do not reverse the direction of a diode which connect to a DC relay for the control output
signals to suppress a surge. Connecting it backwards could cause the drive unit to malfunction
so that signals are not output, and emergency stop and other safety circuits are inoperable.
Do not connect/disconnect the cables connected between the units while the power is ON.
Securely tighten the cable connector fixing screw or fixing mechanism. An insecure fixing could
cause the cable to fall off while the power is ON.
When using a shielded cable instructed in the connection manual, always ground the cable with
a cable clamp, etc.
Always separate the signals wires from the drive wire and power line.
Use wires and cables that have a wire diameter, heat resistance and flexibility that conforms to
the system.
RA
(3) Trial operation and adjustment
Check and adjust each program and parameter before starting operation. Failure to do so could
lead to unforeseen operation of the machine.
Do not make remarkable adjustments and changes as the operatio n could become unstable.
(4) Usage methods
Install an external emergency stop circuit so that the operation can be stopped and power
shut off immediately.
Turn the power OFF immediately if smoke, abnormal noise or odors are generated from the
servo drive unit or servomotor.
Unqualified persons must not disassemble or repair the unit.
Never make modifications.
Reduce magnetic damage by installing a noise filter. The electronic devices used near the
servo drive unit could be affected by magnetic noise.
Use the servo drive unit, servomotor and regenerative resistor with the designated combination.
Failure to do so could lead to fires or trouble.
The brake (magnetic brake) assembled into the servomotor is for holding, and must not be used
for normal braking.
There may be cases when holding is not possible due to the magnetic brake's life or the
machine construction (when ball screw and servomotor are coupled via a timing belt, etc.).
Install a stop device to ensure safety on the machine side.
After changing the programs/parameters or after maintenance and inspection, always test the
operation before starting actual operation.
Do not enter the movable range of the machine during automatic operation. Never place body
parts near or touch the spindle during rotation.
Follow the power supply specification conditions given in the separate specifications manual for
the power (input voltage, input frequency, tolerable sudden power failure time, etc.).
Set all bits to "0" if they are indicated as not used or empty in the explanation on the bits.
Do not use the dynamic brakes except during the emergency stop. Continued use of the
dynamic brakes could result in brake damage.
If a breaker is shared by several power supply units, the breaker may not activate when a
short-circuit fault occurs in a small capacity unit. This is dangerous, so never share the
breakers.
CAUTION
(5) Troubleshooting
If a hazardous situation is predicted during power failure or product trouble, use a servomotor
with magnetic brakes or install an external brake mechanism.
Use a double circuit configuration
that allows the operation circuit for
the magnetic brakes to be operated
even by the external emergency
stop signal.
CAUTION
Shutoff withthe servomotor
brakecontrol output.
Servomotor
Magnetic
brake
Shut off with NC brake
controlPLC output.
MBR
24VDC
Always turn the input power OFF when an alarm occurs.
Never go near the machine after restoring the power after a power failure, as the machine
could start suddenly. (Design the machine so that personal safety can be ensured even if the
machine starts suddenly.)
(6) Maintenance, inspection and part replacement
Always carry out maintenance and inspection after backing up the servo drive unit's programs
or parameters.
The capacity of the electrolytic capacitor will drop over time. To prevent secondary disasters
due to failures, replacing this part every five years when used under a normal environment is
recommended. Contact the Service Center or Service Station for replacement.
Do not perform a megger test (insulation resistance measurement) during inspections.
If the battery low warning is issued, save the machining programs, tool data and parameters
with an input/output unit, and then replace the battery.
Do not short circuit, charge, overheat, incinerate or disassemble the battery.
(7) Disposal
Treat this unit as general industrial waste. Note that MDS Series unit with a heat dissipating
fin protruding from the back of the unit contains substitute Freon. Do not dispose of this type
of unit as general industrial waste. Always return to the Service Center or Service Station.
Do not disassemble the servo drive unit or servomotor parts.
Dispose of the battery according to local laws.
(8) General precautions
The drawings given in this Specifications and Maintenance Instruction Manual show the covers and
safety partitions, etc., removed to provide a clearer explanation. Always return the covers or partitions to
their respective places before starting operation, and always follow the instructions given in this manual.
CONTENTS
1-1 Installation of servomotor............................................................................................. 1-2
1-1-1 Environmental conditions...................................................................................... 1-2
1-1-2 Cautions for mounting load (prevention of impact on shaft)................................. 1-3
1-1-3 Installation direction ............................................................................................. 1-3
1-1-4 Tolerable load of axis ............................................................................................ 1-4
1-1-5 Oil and waterproofing measures........................................................................... 1-5
1-1-6 Cable stress........................................................................................................... 1-7
1-2 Installation of spindle motor ......................................................................................... 1-8
1-2-1 Environmental conditions...................................................................................... 1-8
1-2-2 Tolerable load of axis ............................................................................................ 1-8
1-3 Installation of the control unit ....................................................................................... 1-9
1-3-1 Environmental conditions...................................................................................... 1-9
1-3-2 Installation direction and clearance....................................................................... 1-10
1-3-3 Prevention of entering of foreign matter ............................................................... 1-10
1-3-4 Panel installation hole work drawings (Panel cut drawings)................................. 1-11
1-3-5 Each unit's heating value...................................................................................... 1-12
1-3-6 Heat radiation countermeasures........................................................................... 1-13
1-4 Installing the spindle detector ..................................................................................... 1-14
1-4-1 Installing the magnetic sensor.............................................................................. 1-14
1-4-2 Installing the encoder........................................................................................... 1-16
1-4-3 Installing the spindle end PLG ............................................................................. 1-17
1-5 Noise measures........................................................................................................... 1-20
2-1 Part system connection diagram ................................................................................. 2-3
2-2 Main circuit terminal block/control circuit connector.................................................... 2-4
2-2-1 Names and applications of main circuit terminal block signals and control circuit
connectors............................................................................................................. 2-4
2-2-2 Connector pin assignment .................................................................................... 2-5
2-3 NC and drive unit connection....................................................................................... 2-8
2-4 Motor and detector connection .................................................................................... 2-9
2-4-1 Connecting the servomotor................................................................................... 2-9
2-4-2 Connecting the full-closed loop system ................................................................ 2-16
2-4-3 Connecting the synchronous control system........................................................ 2-19
2-4-4 Connection of the spindle motor........................................................................... 2-27
2-5 Connection of power supply ........................................................................................ 2-32
2-5-1 Standard connection ............................................................................................. 2-32
2-5-2 Two-part system control of power supply unit ...................................................... 2-33
2-5-3 Using multiple power supply units......................................................................... 2-34
2-6 Connecting the Grounding Cable ................................................................................ 2-35
2-6-1 Connecting the protective grounding (PE) and frame ground (FG)..................... 2-35
2-6-2 Grounding cable size............................................................................................. 2-35
2-7 Wiring of contactors ..................................................................................................... 2-36
2-7-1 Contactor power ON sequences........................................................................... 2-37
2-7-2 Contactor shutoff sequences ................................................................................ 2-37
2-7-3 Contactor control signal (MC1) output circuit........................................................ 2-38
2-8 Wiring of the motor brake ........................................................................................... 2-39
2-8-1 Motor brake release sequence ............................................................................. 2-39
2-8-2 Control during the servo OFF command.............................................................. 2-39
2-8-3 Operation sequences when an emergency stop occurs...................................... 2-39
2-8-4 Motor brake control connector (CN20) output circuit............................................ 2-40
2-9 Dynamic brake unit wiring............................................................................................ 2-41
2-10 Spindle coil changeover............................................................................................... 2-42
2-10-1 Coil changeover control ........................................................................................ 2-42
2-10-2 Wiring..................................................................................................................... 2-43
2-11 Wiring of an external emergency stop......................................................................... 2-44
2-11-1 External emergency stop setting........................................................................... 2-44
2-11-2 Operation sequences of CN23 external emergency stop function....................... 2-45
2-11-3 Example of emergency stop circuit....................................................................... 2-46
3-1 Initial setup................................................................................................................... 3-2
3-1-1 Setting the rotary switch........................................................................................ 3-2
3-1-2 Transition of LED display after power is turned ON ............................................. 3-3
3-1-3 Servo standard specifications and high-gain specifications................................. 3-4
3-2 Setting the initial parameters for the servo drive unit (High-gain specifications)........ 3-5
3-2-1 Setting the standard parameters........................................................................... 3-5
3-2-2 Limitations to electronic gear setting value........................................................... 3-8
3-2-3 List of standard parameters for each servomotor................................................. 3-9
3-2-4 Servo parameter list .............................................................................................. 3-15
3-3 Setting the initial parameters for the servo drive unit (Standard specifications)......... 3-28
3-3-1 Setting the standard parameters........................................................................... 3-28
3-3-2 Limitations to electronic gear setting value........................................................... 3-31
3-3-3 List of standard parameters for each servomotor................................................. 3-32
3-3-4 Servo parameter list .............................................................................................. 3-39
3-4 Setting the initial parameters for the spindle drive unit .............................................. 3-51
3-4-1 Spindle specification parameters.......................................................................... 3-51
3-4-2 List of spindle parameters..................................................................................... 3-56
3-5 Initial adjustment of the spindle PLG........................................................................... 3-85
3-5-1 Adjusting the PLG installation ............................................................................... 3-85
3-5-2 Z phase automatic adjustment.............................................................................. 3-90
3-5-3 Motor end PLG automatic adjustment .................................................................. 3-91
3-5-4 Spindle end PLG automatic adjustment ............................................................... 3-92
4-1 D/A output specifications for servo drive unit .............................................................. 4-2
4-1-1 D/A output specifications....................................................................................... 4-2
4-1-2 Output data settings.............................................................................................. 4-3
4-1-3 Setting the output magnification............................................................................ 4-3
4-2 Gain adjustment........................................................................................................... 4-4
4-2-1 Current loop gain................................................................................................... 4-4
4-2-2 Speed loop gain .................................................................................................... 4-4
4-2-3 Position loop gain ................................................................................................... 4-6
4-3 Characteristics improvement....................................................................................... 4-9
4-3-1 Optimal adjustment of cycle time .......................................................................... 4-9
4-3-2 Vibration suppression measures............................................................................ 4-11
4-3-3 Improving the cutting surface precision.................................................................. 4-14
4-3-4 Improvement of characteristics during acceleration/deceleration........................ 4-17
4-3-5 Improvement of protrusion at quadrant changeover ............................................ 4-20
4-3-6 Improvement of overshooting ............................................................................... 4-25
4-3-7 Improvement of compensation control path ......................................................... 4-27
4-4 Adjustment during full closed loop control................................................................... 4-29
4-4-1 Outline ................................................................................................................... 4-29
4-4-2 Speed loop delay compensation........................................................................... 4-30
4-4-3 Dual feedback control (Optional function)............................................................. 4-31
4-5 Settings for emergency stop........................................................................................ 4-33
4-5-1 Deceleration control .............................................................................................. 4-33
4-5-2 Vertical axis drop prevention control..................................................................... 4-35
4-6 Collision detection........................................................................................................ 4-37
5-1 D/A output specifications for spindle drive unit............................................................ 5-2
5-1-1 D/A output specifications....................................................................................... 5-2
5-1-2 Setting the output data.......................................................................................... 5-2
5-1-3 Setting the output magnification............................................................................ 5-3
5-2 Spindle control signal................................................................................................... 5-4
5-2-1 Spindle control input (NC to SP)........................................................................... 5-4
5-2-2 Spindle control output
(SP to NC).......................................................................... 5-9
5-3 Adjustment procedures for each control...................................................................... 5-15
5-3-1 Basic adjustments................................................................................................. 5-15
5-3-2 Adjusting the acceleration/deceleration operation................................................ 5-16
5-3-3 Adjusting the orientation control............................................................................ 5-19
5-3-4 Adjusting the synchronous tap control.................................................................. 5-26
5-3-5 Adjusting the C-axis control .................................................................................. 5-30
5-3-6 Adjusting the spindle synchronous control ........................................................... 5-32
6-1 Points of caution and confirmation............................................................................... 6-2
6-1-1 LED display when alarm or warning occurs ......................................................... 6-3
6-2 Troubleshooting at power ON...................................................................................... 6-4
6-3 Protective functions list of units.................................................................................... 6-5
6-3-1 List of alarms ......................................................................................................... 6-5
6-3-2 List of warnings...................................................................................................... 6-10
6-4 Troubleshooting ........................................................................................................... 6-11
6-4-1 Troubleshooting for each alarm No....................................................................... 6-11
6-4-2 Troubleshooting for each warning No................................................................... 6-39
6-4-3 Parameter numbers during initial parameter error................................................ 6-43
6-4-4 Troubleshooting the spindle system when there is no alarm or warning............. 6-44
7-1 Inspections................................................................................................................... 7-2
7-2 Service parts................................................................................................................ 7-2
7-3 Adding and replacing units and parts .......................................................................... 7-3
7-3-1 Replacing the drive unit......................................................................................... 7-3
7-3-2 Replacing the unit fan............................................................................................ 7-4
Appendix 1-1 Cable connection diagram .......................................................................... A1-2
Appendix 1-2 Connector outline dimension drawings....................................................... A1-10
Appendix 2-1 Compliance to EC Directives...................................................................... A2-2
Appendix 2-1-1 European EC Directives......................................................................... A2-2
Appendix 2-2-2 Cautions for EC Directive compliance ................................................... A2-2
Appendix 3-1 Introduction.................................................................................................. A3-2
Appendix 3-2 EMC instructions ......................................................................................... A3-2
Appendix 3-3 EMC measures............................................................................................ A3-3
Appendix 3-4 Measures for panel structure...................................................................... A3-3
Appendix 3-4-1 Measures for control panel unit.............................................................. A3-3
Appendix 3-4-2 Measures for door ................................................................................ A3-4
Appendix 3-4-3 Measures for operation board panel...................................................... A3-4
Appendix 3-4-4 Shielding of the power supply input section........................................... A3-4
Appendix 3-5 Measures for various cables....................................................................... A3-5
Appendix 3-5-1 Measures for wiring in panel.................................................................. A3-5
Appendix 3-5-2 Measures for shield treatment................................................................ A3-5
Appendix 3-5-3 Servomotor power cable........................................................................ A3-6
Appendix 3-5-4 Servo/Spindle motor feedback cable..................................................... A3-6
Appendix 3-5-5 Spindle motor power cable..................................................................... A3-7
Appendix 3-5-6 Cable between control panel and operation board panel...................... A3-7
Appendix 3-6 EMC countermeasure parts........................................................................ A3-8
Appendix 3-6-1 Shield clamp fitting ................................................................................. A3-8
Appendix 3-6-2 Ferrite core ............................................................................................. A3-9
Appendix 3-6-3 Power line filter....................................................................................... A3-10
Appendix 3-6-4 Surge protector....................................................................................... A3-16
Appendix 4-1 Servo/spindle drive unit categories based on higher harmonic suppression
countermeasure guidelines......................................................................... A4-2
1. Installation
1-1 Installation of servomotor............................................................................................. 1-2
1-1-1 Environmental conditions...................................................................................... 1-2
1-1-2 Cautions for mounting load (prevention of impact on shaft)................................. 1-3
1-1-3 Installation direction .............................................................................................. 1-3
1-1-4 Tolerable load of axis ............................................................................................ 1-4
1-1-5 Oil and waterproofing measures........................................................................... 1-5
1-1-6 Cable stress........................................................................................................... 1-7
1-2 Installation of spindle motor ......................................................................................... 1-8
1-2-1 Environmental conditions...................................................................................... 1-8
1-2-2 Tolerable load of axis ............................................................................................ 1-8
1-3 Installation of the control unit ....................................................................................... 1-9
1-3-1 Environmental conditions...................................................................................... 1-9
1-3-2 Installation direction and clearance....................................................................... 1-10
1-3-3 Prevention of entering of foreign matter................................................................ 1-10
1-3-4 Panel installation hole work drawings (Panel cut drawings)................................. 1-11
1-3-5 Each unit's heating value...................................................................................... 1-12
1-3-6 Heat radiation countermeasures........................................................................... 1-13
1-4 Installing the spindle detector ..................................................................................... 1-14
1-4-1 Installing the magnetic sensor ............................................................................. 1-14
1-4-2 Installing the encoder ........................................................................................... 1-16
1-4-3 Installing the spindle end PLG ............................................................................. 1-17
1-5 Noise measures........................................................................................................... 1-20
1 - 1
1-1 Installation of servomotor
1. Do not hold the cables, axis or detector when transporting the motor. Failure to
observe this could lead to faults or injuries.
2. Securely fix the motor to the machine. Insufficient fixing could lead to the
motor deviating during operation. Failure to observe this could lead to
injuries.
CAUTION
1-1-1 Environmental conditions
Environment Conditions
Ambient temperature 0°C to +40°C (with no freezing)
Ambient humidity 80%RH or less (with no dew condensation)
Storage temperature –15°C to +70°C (with no freezing)
Storage humidity 90%RH or less (with no dew condensation)
Atmosphere
Altitude
Vibration
3. When coupling to a servomotor shaft end, do not apply an impact by
hammering, etc. The detector could be damaged.
4. Never touch the rotary sections of the motor during operations. Install a
cover, etc., on the shaft.
5. Do not apply a load exceeding the tolerable load onto the servomotor shaft.
The shaft could break. Failure to observe this could lead to injuries.
6. Do not connect or disconnect any of the connectors while the power is ON.
Indoors (Where unit is not subject to direct sunlight)
No corrosive gases, flammable gases, oil mist or dust
Operation/storage: 1000m or less above sea level
Transportation: 10000m or less above sea level
HC52 to 153, HC103R to 503R
HC202 to 353
HC452 to 703
HC902
HA053N to 33N
HA-LF11K2-S8, HA-LF15K2-S8
1. Installation
X: 9.8m/s
Y: 24.5m/s
X: 19.6m/s
Y: 49.0m/s
X: 11.7m/s
Y: 24.5m/s
X: 9.8m/s
Y: 24.5m/s
X: 19.6m/s
Y: 19.6m/s
X: 11.7m/s
Y: 29.4m/s
2
(1G)
2
(2.5G)
2
(2G)
2
(5G)
2
(1.2G)
2
(2.5G)
2
(1G)
2
(2.5G)
2
(2G)
2
(2G)
2
(1.2G)
2
(3G)
1 - 2
1. Installation
The vibration conditions are as shown below.
200
100
80
X
60
50
40
30
Vibration amplitude
(double-sway width) (µm)
20
1000 2000 30000
Speed (r/min)
1-1-2 Cautions for mounting load (prevention of impact on shaft)
<1> When using the servomotor with key way, use the
screw hole at the end of the shaft to mount the pulley
onto the shaft. To install, first place the double-end
stud into the shaft screw holes, contact the coupling
end surface against the washer, and press in as if
tightening with a nut. When the shaft does not have a
key way, use a frictional coupling, etc.
<2> When removing the pulley, use a pulley remover, and
make sure not to apply an impact on the shaft.
<3> Install a protective cover on the rotary sections such
as the pulley installed on the shaft to ensure safety.
<4> The direction of the detector installed on the servomotor cannot be changed.
Servomotor
Acceleration
Pulley
Servomotor
Y
Double-end stud
Nut
Washer
CAUTION
during assembly.
1-1-3 Installation direction
<1> There are no restrictions on the installation direction. Installation in any
direction is possible, but as a standard the motor is installed so that the
motor power line and detector cable cannon plugs (lead-in wires) face
downward. Installation in the standard direction is effective against
dripping. Measure to prevent oil and water must be taken when not
installing in the standard direction. When the motor is not installed in
the standard direction, refer to section "1-1-5 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.
Never hammer the end of the shaft
Up
Down
Standard installation
direction
1 - 3
1. Installation
1-1-4 Tolerable load of axis
There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the
radial direction and thrust direction, when mounted on the machine, is below the tolerable values given
below. These loads also affect the motor output torque, so consider them when designing the machine.
During operation
Servomotor
HA053NS, HA13NS (Straight shaft) 78.4N (L=26) 49N
HA23NS, HA33NS (Straight shaft) 245N (L=30) 147N
HC52T, 53T, 102T, 103T, 152T, 153T (Taper shaft)
HA50LT, HA53LT, HA100LT, HA103LT, HA150LT, HA153LT
(HA40NT, HA80NT, HA43NT, HA83NT)
HC52S, 53S, 102S, 103S, 152S, 153S (Straight shaft)
HA50LS, 53LS, 100LS, 103LS, 150LS, 153LS
(HA40NS, 80NS, 43NS, 83NS)
HC202S, 203S, 352S, 353S, 452S, 453S (Straight shaft)
HC702S, 703S
HA100NS, 103NS, 200NS, 203NS, 300NS, 303NS, HA700NS,
703NS
HC902S (Straight shaft)
HA500LS, 503LS, HALH11K2S
HA-LH15K2S (Straight shaft) 2940N (L=100) 980N
Caution: The symbols in the table follow the drawing below.
Tolerable radial
load
392N
980N
2058N
(L=58)
(L=55)
(L=79)
Tolerable
thrust load
490N
490N
490N
2450N (L=85) 980N
L
Radial load
Thrust load
L : Length from flange installation surface to center of load weight [mm]
1. Use a flexible coupling when connecting with a ball screw, etc., and keep the
shaft core deviation to below the tolerable radial load of the shaft.
2. When directly installing the gear on the motor shaft, the radial load increases
as the diameter of the gear decreases. This should be carefully considered
when designing the machine.
3. When directly installing the pulley on the motor shaft, carefully consider so
CAUTION
that the radial load (double the tension) generated from the timing belt
tension is less than the values shown in the table above.
4. In machines where thrust loads such as a worm gear are applied, carefully
consider providing separate bearings, etc., on the machine side so that loads
exceeding the tolerable thrust loads are not applied to the motor.
5. Do not use a rigid coupling as an excessive bending load will be applied on
the shaft and could cause the shaft to break.
1 - 4
1. Installation
1-1-5 Oil and waterproofing measures
<1> The motor protective format uses the IP type, which complies with IE
standard. However, these Standards are short-term performance
specifications. They do not guarantee continuous environmental
protection characteristics. Measures such as covers, etc., must be
taken if there is any possibility that oil or water will fall on the motor,
and the motor will be constantly wet and permeated by water. Note
that the motor’s IP-type is not indicated as corrosion-resistant.
<2> When a gear box is installed on the servomotor, make sure that the oil
level height from the center of the shaft is higher than the values given below. Open a breathing
hole on the gear box so that the inner pressure does not rise.
Servomotor Oil level (mm)
HC52, 53, 102, 103, 152, 153
HA50, 53, 80, 83, 100, 103, 150, 153
HC202, 203, 352, 353, 452, 453, 702, 703
HA200, 203, 300, 303, 700, 703
HC902, HA900
HA500LS, 503LS, HA-LH11K2S
20
25
30
HA-LH15K2S 40
<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.
Oil level
Gear
Lip
Oil or water
Servomotor
Servomotor
V-ring
Cable trap
1. The servomotors, including those having IP67 specifications, do not have a
completely waterproof (oil-proof) structure. Do not allow oil or water to
constantly contact the motor, enter the motor, or accumulate on the motor. Oil
can also enter the motor through cutting chip accumulation, so be careful of
CAUTION
this also.
2. When the motor is installed facing upwards, take measures on the machine
side so that gear oil, etc., does not flow onto the motor shaft.
3. Do not remove the detector from the motor. (The detector installation screw is
treated for sealing.)
1 - 5
r
r
1. Installation
<4> Do not use the unit with the cable submerged in oil or
water.
(Refer to right drawing.)
<5> Make sure that oil and water do not flow along the cable
into the motor or detector. (Refer to right drawing.)
<6> When installing on the top of the shaft end, make sure
that oil from the gear box, etc., does not enter the
servomotor. The servomotor does not have a
waterproof structure.
Cover
Servomotor
Oil or wa t e r pool
<Fault> Capillary tube Phenomenon
Cover
Servomotor
<Fault> Res pi r at i on
Gear
Lubricating oil
Se
vomoto
1 - 6
1. Installation
1-1-6 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 part.
<2> In applications where the servomotor moves, make sure that excessive stress is not applied on the
cable.
If the detector cable and servomotor wiring are stored in a cable bear and the servomotor moves,
make sure that the cable bending part is within the range of the optional detector cable.
Fix the detector cable and power cable enclosed with the servomotor.
<3> Make sure that the cable sheathes will not be cu t by sharp cutting chips, worn by contacting the
machine corners, or stepped on by workers or vehicles.
The bending life of the detector cable is as shown below. Regard this with a slight allowance. If the
servomotor/spindle motor is installed on a machine that moves, make the bending radius as large
as possible.
8
110
7
510
7
210
7
110
)
s
e
m
i
t
(
s
d
n
e
b
f
o
.
o
N
6
510
6
210
6
110
5
510
5
210
5
110
4
4 7 10 20 40 70 100 200
510
4
310
Bending radius(mm)
Detector cable bending life
(Mitsubishi optional detector cable and wire material: A14B2343)
Note: The values in this graph are calculated values and are not guaranteed.
1 - 7
1-2 Installation of spindle motor
1. Do not hold the cables, axis or detector when transporting the motor. Failure to
observe this could lead to faults or injuries.
2. Securely fix the motor to the machine. Insufficient fixing could lead to the
motor deviating during operation. Failure to observe this could lead to
injuries.
CAUTION
1-2-1 Environmental conditions
Environment Conditions
Ambient temperature 0°C to +40°C (with no freezing)
Ambient humidity 90%RH or less (with no dew condensation)
Storage temperature –20°C to +65°C (with no freezing)
Storage humidity 90%RH or less (with no dew condensation)
Atmosphere
Altitude
3. When coupling to a servomotor shaft end, do not apply an impact by
hammering, etc. The detector could be damaged.
4. Never touch the rotary sections of the motor during operations. Install a
cover, etc., on the shaft.
5. Do not apply a load exceeding the tolerable load onto the servomotor shaft.
The shaft could break. Failure to observe this could lead to injuries.
6. Do not connect or disconnect any of the connectors while the power is ON.
Indoors (Where unit is not subject to direct sunlight)
No corrosive gases, flammable gases, oil mist or dust
Operation/storage: 1000m or less above sea level
Transportation: 10000m or less above sea level
1. Installation
Refer to each spindle motor specifications for details on the spindle motor vibration conditions.
1-2-2 Tolerable load of axis
There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the
radial direction, when mounted on the machine, is below the tolerable values given below. These loads
also affect the motor output torque, so consider them when designing the machine.
Spindle motor Tolerable radial load
SJ-V3. 7-02ZM 490N
SJ-V2.2-01, SJ-V3.7-01
SJ-V7.5-03ZM, SJ-V11-06ZM
SJ-V5.5-01, SJ-V11-08ZM
SJ-PMF01830-00
SJ-V7.5-01, SJ-V11-01
SJ-V22-06ZM, SJ-V30-02ZM, SJ-PMF03530-00
SJ-V11-09, SJ-V15-01, SJ-V15-03, SJ-V18.5-01, SJ-V18.5-03
SJ-V22-01, SJ-V22-05, SJ-V26-01, SJ-30A, SJ-PMF07030-00
SJ-22XW5 3920N
SJ-37BP 4900N
SJ-22XW8, SJ-45BP
SJ-V55-01
980N
1470N
1960N
2940N
5880N
1 - 8
1-3 Installation of the control unit
1. Install the unit on noncombustible material. Direct installation on
combustible material or near combustible materials may lead to fires.
2. Follow the instructions in this manual and install the unit while allowing for
the unit weight.
3. Do not get on top of the units or motor, or place heavy objects on the unit.
Failure to observe this could lead to injuries.
4. Always use the unit within the designated environment conditions.
5. Do not let conductive objects such as screws or metal chips, etc., or
combustible materials such as oil enter the units.
CAUTION
6. Do not block the units intake and outtake ports. Doing so could lead to
failure.
7. The units and servomotor are precision devices, so do not drop them or apply
strong impacts to them.
8. Do not install or run units or servomotor that is damaged or missing parts.
9. When storing for a long time, please contact your dealer.
10. Always observe the installation directions. Failure to observe this could lead to
faults.
11. Secure the specified distance between the units and panel, or between the
units and other devices. Failure to observe this could lead to faults.
1. Installation
1-3-1 Environmental conditions
Environment Conditions
Ambient temperature 0°C to +55°C (with no freezing)
Ambient humidity 90% RH or less (with no dew condensation)
Storage temperature –15°C to +70°C (with no freezing)
Storage humidity 90% RH or less (with no dew condensation)
Atmosphere Indoors (Where unit is not subject to direct sunlight)
With no corrosive gas, inflammable gas, oil mist, dust or
conductive fine particles
Altitude Operation/storage: 1000m or less above sea level
Transportation: 10000m or less above sea level
Vibration Operation: 4.9m/s2 (0.5G) or less
Storage/transportation: 49m/s
2
(5G) or less
1 - 9
1. Installation
1-3-2 Installation direction and clearance
Wire each unit in consideration of the maintainability and the heat dissipation, as well as secure
sufficient space for ventilation.
160mm or more
100mm or
more
100mm or
more
10mm
or
more
100mm or
more
100mm or
more
10mm
or
more
70mm
or more
The ambient temperature condition for the power supply unit or the drive units is
55°C or less. Because heat can easily accumulate in the upper portion of the
CAUTION
units, give sufficient consideration to heat dissipation when designing the panel.
If required, install a fan in the panel to agitate the heat in the upper portion of the
units.
1-3-3 Prevention of entering of foreign matter
Treat the cabinet with the following items.
• Make sure that the cable inlet is dust and oil proof by using
packing, etc.
• Make sure that the external air does not enter inside by
using head radiating holes, etc.
• Close all clearances.
• Securely install door packing.
• If there is a rear cover, always apply packing.
• Oil will tend to accumulate on the top. Take special
measures such as oil-proofing to the top so that oil does not
enter the cabinet from the screw holds.
• After installing each unit, avoid machining in the periphery. If
cutting chips, etc., stick onto the electronic parts, trouble
may occur.
• When using the unit in an area with toxic gases or high
levels of dust, protect the unit with air purging (system to
blow clean air so that the panel's inner pressure is higher
than the outer pressure).
70mm
or more
100mm or
more
100mm or
more
1 - 10
1. Installation
1-3-4 Panel installation hole work drawings (Panel cut drawings)
Prepare a square hole to match the unit width.
Unit [mm]
2-M5 screw
Square
hole
(Note 1)
52
Unit width: 60mm
342
360
2-M5 screw
Square hole
(Note 1)
82
Unit width: 90mm
60
342
360
2-M5 screw
Square hole
(Note 1)
112
Unit width: 120mm Unit width: 150mm
342
360
1. Attach packing around the square hole to provide a seal.
POINT
2. A square hole does not need to be machined on the MDS-C1-V1-10 or
smaller, MDS-C1-V2-1010 or smaller and MDS-C1-SP-15 or smaller units.
1 - 11
4-M5 screw
Square hole
(Note 1)
142
342
360
1. Installation
1-3-5 Each unit's heating value
Each heating value is calculated with the following values.
The values for the servo drive unit are for a stall output, and the values for the spindle drive unit are for
a continuous rated output. The value for the power supply unit includes the AC reactor's heating value.
Servo drive unit Spindle drive unit Power supply unit
Heating
Type
MDS-C1
-
V1- 01 21 0 V2-0101 38 0 SP- 04 30 0 CV- 37 21 34
V1- 03 27 0 V2-0301 41 0 SP- 075 40 0 CV- 55 23 42
V1- 05 37 0 V2-0303 43 0 SP- 15 49 0 CV- 75 25 55
V1- 10 53 0 V2-0501 46 0 SP- 22 26 42 CV-110 26 99
V1- 20 25 66 V2-0503 52 0 SP- 37 28 51 CV-150 29 126
V1- 35 30 102 V2-0505 62 0 SP- 55 31 76 CV-185 33 162
V1- 45S 34 124 V2-1005 78 0 SP- 75 35 102 CV-220 35 175
V1- 45 37 148 V2-1010 96 0 SP-110 41 140 CV-260 40 220
V1- 70S 38 151 V2-2010 37 117 SP-150S 48 140 CV-300 46 274
V1- 70 50 234 V2-2020 41 137 SP-150 48 187 CV-370 54 346
V1- 90 56 275 V2-3510S 44 146 SP-185 62 280
V1-110 74 392 V2-3510 42 148 SP-220 65 301
V1-150 96 545 V2-3520S 48 165 SP-260 80 403
V2-3520 45 168 SP-300 98 522
V2-3535 51 209
V2-4520 52 214
V2-4535 57 249
V2-4545S 55 225
V2-4545 64 295
V2-7035 70 336
V2-7045 77 382
V2-7070S 65 300
V2-7070 90 468
V2-9090S 65 300
amount [W]
Insid
panel
e
Outsid
e panel
Type
MDS-C1
-
Heating
amount [W]
Insid
Outsid
e
e panel
panel
Type
MDS-C1
-
Heating
amount [W]
Insid
Outsid
e
e panel
panel
Type
MDS-C1
-
Heating
amount [W]
Insid
e
panel
Outsid
e panel
1. Design the panel's heating value taking the actual axis operation (load rate)
POINT
(Example 1)
When using MDS-C1-CV-260, MDS-C1-SP[]-185 and MDS-C1-V2-3535
Total heating value = (40 + 220) + (62 + 280) + (51 + 209) = 862 [W]
Heating value in panel = (40) + (62) + (51 × 0.5) = 127.5 [W]
into consideration. With a general machine tool, the servo drive unit's load
rate is approx. 50%, so the heating values inside the panel are half the values
shown above. (Excluding the power supply and spindle drive unit.)
1 - 12
)
(
1. Installation
1-3-6 Heat radiation countermeasures
In order to secure reliability and life, design the temperature in the panel so that the ambient
temperature of each unit is 55°C or less.
If heat accumulates at the top of the unit, etc., install a fan so that the temperature in the panel remains
constant.
(Note)
Due to the structure, heat easily accumulates at the top
of the unit. Install a fan in the power distribution panel to
circulate the heat at the top of the unit.
(Inside panel)
Wind speed 2m/s or more
Please refer to following method for heat radiation countermeasures.
Calculate total heat radiation of each
mounted unit (W)
Calculate cabinet’s cooling capacity
(W1)
W ≤ W1
Comparison of W and W1
Selection of heat exchanger
Mounting design
Collection of internal temperature rise
distribution data
W>W1
∆T≤10°C
Evaluation
Improvements
∆T>10°C
Completion
Examples of mounting and temperature measurement positions (reference
z Measurement position (example)
<Hypothetical conditions>
(1) Average temperature in cabinet : T ≤ 55°C
(2) Cabinet peripheral temperature : Ta ≤ 0°C to 45°C
(3) Internal temperature rise value : ∆T =T–Ta
<Supplement>
1) Refer to Specifications Manual, etc. for the heat
generated by each unit.
2) Enclosed cabinet (thin steel plate) cooling capacity
calculation equation
W1 = U × A × ∆T
U: 6W/m
4W/m
A: Effective heat radiation area (m
(Heat dissipation area in panel)
Sections contacting other objects are excluded.
∆T: Internal temperature rise value (10°C)
3) Points of caution for heat radiation countermeasures
when designing mounting state
• Layout of convection in panel
• Collect hot air at suction port in heat exchanger
cabinet.
4) Understanding the temperature rise distribution in the
panel
∆T (average value) ≤ 10°C
∆T
max (maximum value) ≤ 15°C
R (inconsistency) = (∆T
Evaluate existence of heat spots)
2 ×
°C (with internal agitating fan)
2
× °C (without internal agitating fan)
Relay, etc.
Flow of
air
Heat
exchanger
Unit
Servo drive
max – ∆Tmin) ≤ 6°C
Flow of air
Servo drive
Servo drive
2
)
Spindle drive
Power supply
max= 10°C
1 - 13
1-4 Installing the spindle detector
1-4-1 Installing the magnetic sensor
1. Installation
Referencenotch
Gap L
Reference drawing for magnet installation
1. Tolerance to shaft dimension should be "h6" on the part for installing a magnet.
2. 2-øG hole can be used for positioning of spindle and magnet.
3. Magnet shall be installed as shown to the left.
4. Misalignment between sensor head and magnetic center line shall be within ±2mm.
5. There is an NS indication on the side of the cover. Install so that the reference notch on the
sensor head comes to the case side.
(1) Gap between magnet and sensor
Ghole
Spindle
Case
Cover
h6
Spindle clamping screw
Spindle
Magnet
Circumference installation
Direction of
rotation
Face A
Reference
hole
Reference
notch
Min. gap
Face A
R
NS
Max. gap
Mounting plate
Reference
hole
Reference
notch
Face B
Horizontal installation
Spindle
Face B
Gap
Magnet
Reference
notch
Direction of
rotation
N
S
R
Reference
hole
Magnet
model
Installation
direction
R (Radius)
mm
Max. value Min. value Max. value Min. value Max. value Min. value
40 11.5±0.5 2.7±0.5 6.0±0.5 10.0±0.5 1.22±0.5 5.0±0.5 6.25±0.5 3.30±0.5
50 9.5±0.5 2.8±0.5 6.0±0.5 8.0±0.5 1.31±0.5 5.0±0.5 6.00±0.5 3.70±0.5
60 8.5±0.5 3.0±0.5 6.0±0.5 7.0±0.5 1.50±0.5 5.0±0.5 5.75±0.5 3.85±0.5
70 8.0±0.5 3.4±0.5 7.0±0.5 2.38±0.5 5.50±0.5 3.87±0.5
BKO-C1810H03 BKO-C1730H06 BKO-C1730H09
Circumference
installation
Horizontal
installation
Circumference
installation
Horizontal
installation
Circumference
installation
Gap mm Gap mm Gap mm
1 - 14
(2) Magnet and sensor installation directions
• Install so that the magnet's reference hole and sensor's reference notch are aligned.
(Standard/high-speed standards)
• Install so that the magnet's N pole comes to the left side when the sensor's reference notch is
faced downward. (High-speed compact/high-speed ring)
Sensor
N S
|
Reference notch
Magnet
(3) Cautions
(a) Do not apply impacts on the magnet. Do not install strong magnets near the magnet.
(b) Sufficiently clean the surrounding area so that iron chips and cutting chips do not adhere to the
magnet. Demagnetize the round disk before installing.
(c) Securely install the magnet onto the spindle with an M4 screw. Take measures to prevent
screw loosening as required.
(d) Balance the entire spindle rotation with the magnet installed.
(e) Install a magnet that matches the spindle's rotation speed.
(f) When installing the magnet onto a rotating body's plane, set the speed to 6,000r/min or less.
(g) Install so that the center line at the end of the head matches the center of the magnet.
(h) The BKO-C1730 is not an oil-proof product. Make sure that oil does not come in contact with
BNO-C1730 or BKO-C1810.
(i) When connecting to the spindle drive unit, wire so that the effect of noise is suppressed.
1. Installation
Sensor
S N
|
Reference notch
Magnet
1 - 15
1. Installation
1-4-2 Installing the encoder
To maintain the encoder life and performance, a flexible coupling should be used to couple the spindle
encoder and C-axis encoder with the spindle shaft.
Recommended coupling
Flexible coupling
Opposite encoder
shaft side
Encoder and coupling installation accuracy
Encoder
Recommendation 1 Recommendation 2
Manufacturer Tokushu Seiko Eagle
Model Model M1 FCS38A
Resonance frequency 1374Hz 3515Hz
Position detection error 0.8×10-3° 1.2×10-3°
Tolerable speed 20000r/min 10000r/min
Mis-alignment
Core deviation 0.7mm 0.16mm
Angle displacement 1.5° 1.5°
Outline dimensions
Max. length 74.5mm 33mm
Max. diameter ø57mm ø38mm
Refer to the coupling catalog, etc., for details on the coupling.
1 - 16
r
1-4-3 Installing the spindle end PLG
(1) Environmental conditions
Environment Conditions
Ambient temperature Sensor section : -10°C to +80°C (With no freezing)
PCB section : -10°C to +75°C (With no freezing)
Atmosphere Indoors (Where unit is not subject to direct sunlight)
With no corrosive gas, inflammable gas, oil mist, dust or
conductive fine particles
(2) Part configuration
The detector is configured of an encoder (Sensor section and PCB section) and detection gears.
The encoder section can be separated with an intermediate connector, but a type with the same
serial No. must be used in combination. The serial No. is indicated on the intermediate connector of
the sensor section and the output connector of the PCB section.
1. Installation
Sensor section
Detection
gears
Encoder
VR2
These are precision parts, and require care when handling. Do not apply an excessive force on the
sensor's detection surface, as this could result in faults. Do not pull and apply a load on the lead
wires. Make sure that foreign matters (iron chips, etc.) do not get on the sensor's detection surface
or detection gears. If any foreign matter should get on these parts, carefully remove while taking
care not to damage the parts. When handling the detection gears, take care not to damage or
deform the teeth.
(3) Installing the detection gears and sensor section
1) Install the detection gears so that the first gear's teeth side (Z phase) face the sensor's lead
side.
2) The detection gears and shaft or sleeve should be fixed with shrinkage fitting. Refer to the
following table for the shrinkage fitting values. The detection gears should be heated evenly
between 120 and 150°C using an electric furnace, etc.
Detection gear shrinkage fitting values
PCB section
VR4
VR1
VR3
VR5
Intermediate
connecto
Spindle end PLG
G
B
A
Z
Output connector
Serial No. indication
Detection gear specifications
Part type No. of teeth
Outer diameter
(mm)
Inner diameter
(mm)
Shrinkage
fitting (mm)
MU1450N2137 128 ø52 ø40 0.02 to 0.04
MU1450N2730 180 ø72.8 ø55 0.03 to 0.055
MU1450N2236 256 ø103.2 ø80 0.03 to 0.055
MU1450N2534 512 ø205.6 ø140 0.05 to 0.085
1 - 17
1. Installation
3) Keep the deviation of the sensor center and detection
gear center to ±0.25mm or less. If the center deviation
Sensor installation surface
Sensor installation seat
cannot be directly measured, set so that the dimension
from the sensor installing surface to the edge of the
Lead wire
detection gears is 22.5±0.25mm.
4) Keep the deflection of the outer diameter, when the
detection gears are installed on the shaft, to 0.02mm or
less.
5) To remove a detection gear fixed with shrinkage fitting,
16.5mm
use the screw holes opened in the axial direction for
pulling (two M5 screw holes or two M8 screw holes), or
22.5mm±0.25mm
push the end with a jig. Carry out this work carefully.
Applying excessive force when pulling out the gears
could cause the inner diameter of the detection gears to
deform.
6) Before reusing detection gears which have been remove-
First tooth
d, always measure the inner diameter dimensions, and
carefully check that the inner diameter is not deformed,
and that the sufficient tightening amount can be secured.
Do not reuse the detection gears if the inner diameter is
deformed, or if any abnormality such as damage to the
teeth is found.
7) A notched fitting section and mounting screw hole are
provided on the machine as shown in the following
Installing the detection gears
drawing. Contact the R section of the sensor installation
seat against this and, install the sensor. The outline dimensions of the notched fitting section
are shown in the following table.
Installing the sensor section
Encoder part type
TS1860N2275 +0.200
TS1860N2276
TS1860N2777 +0.200
TS1860N2775
TS1860N2171 +0.200
TS1860N2174
TS1860N2571 +0.200
TS1860N2572
Sensor installation seat's
R dimensions (mm)
R35.5 ø71
R45 ø90
R61 ø122
R112.5 ø225
Notched fitting section's
outer diameter (mm)
+0.180
+0.180
+0.175
+0.170
1 - 18
]
g
×
8) With the sensor installation seat's R section butted against the notched fitting section, fix the
sensor installation seat with a mounting screw (M5 x 0.8 screws). A locking agent should be
applied on the mounting screw before it is tightened.
3.5mm or less
Butt the back side of the sensor installation
seat against here
Butt the R section of the sensor installation seat
a
ainst here
Notched section's
outer diameter
Shape of notched fitting section
9) When using the specifications (TS1860N2770,
TS1860N2776, TS1860N2183, TS1860N2187) with
installation plate (ring) for the sensor section,
provide a notched fitting section on the machine side
as shown on the right, and fit the sensor installation
plate's ø108H5 here. The gap does not need to be
adjusted when using the installation plate.
10) Make sure that force is not constantly applied on the
sensor's lead wires.
(4) Installing the PCB section
1) Install the PCB where it will not be subject to water or oil, etc.
2) Drill two ø11mm or smaller installation seats, and fix the PCB with pan head screws (M5 × 0.8
screws).
3) Provide a space of 25mm from the installation surface to treat the lead wires for the intermediate
connector.
4) Select the minimum required length for the lead wires from the sensor to the intermediate
connector, and wire them as far away from other power wires as possible.
5) Make sure that force is not constantly applied on the PCB lead wire connections.
6) The check pins on the PCB could break if excessive force is applied.
1. Installation
2-M5
Outline
drawing
designated
dimensions
0.8 screw
29mm
Notched section's
outer diameter
Unit :[mm
-0.005
-0.020
ø 108
Installing the sensor with
installation plate (ring)
1 - 19
p
r
p
g
1. Installation
1-5 Noise measures
Noise includes "propagation noise" generated from the power supply or relay, etc., and propagated
along a cable causing the power supply unit or drive unit to malfunction, and "radiated noise"
propagated through air from a peripheral device, etc., and causing the power supply unit or drive unit to
malfunction.
Always implement these noise measures to prevent the peripheral devices and unit from malfunctioning.
The measures differ according to the noise propagation path, so refer to the following explanation and
take appropriate measures.
(1) General noise measures
• Avoid laying the drive unit's power line and signal wire in a parallel or bundled state. Always
separate these wires. Use a twisted pair shielded wire for the detector cable and signal wires
such as the communication cable connected with the NC, and accurately ground the devices.
• Use one-point grounding for the drive unit and motor.
• Accurately ground the AC reactor.
(2) Propagation noise measures
Take the following measures when noise generating devices are installed and the power supply
unit or drive unit could malfunction.
• Install a surge killer on devices (magnetic contacts, relays, etc.) which generate high levels of
noise.
• Install a power line filter in the stage before the power supply unit.
• Install a ferrite core on the signal wire.
• Ground the shield of the servo detector's cable with a cable clamp.
• Wire the spindle PLG detector cable away from other wires.
(3) Measures against radiated noise
The types of propagation paths of the noise and the noise measures for each propagation path are
shown below.
Noise generated
from drive unit
Airborne
propagation noise
Magnetic
induction noise
Static induction
noise
Cable propagation
noise
and <5>
Noise directly radiated
from drive unit
Noise radiated from
ower line
Noise radiated from
servomotor/spindle
moto
Noise propagated over
ower line
Noise lead in from
grounding wire by
leaka
e current
Path <1>
Path <2>Path <4>
Path <3>Path <6>
Path <7>
Path <8>
1 - 20
Example) Drive system
1. Installation
<5>
<7>
<2>
<7>
<2>
propagation
<1> <2> <3>
<4> <5> <6>
Noise
path
<7>
<8>
Instrument
Receiver
<1>
<3>
Servomotor
Spindle motor
Drive
unit
<6>
<4>
M
Sensor
power
supply
Sensor
<8>
Measures
When devices such as instrument, receiver or sensor, which handle minute signals
and are easily affected by noise, or the signal wire of these devices, are stored in
the same panel as the drive units and the wiring is close, the device could
malfunction due to airborne propagation of the noise. In this case, take the following
measures.
(1) Install devices easily affected as far away from the drive units as possible.
(2) Lay devices easily affected as far away from the signal wire of the drive unit as
possible.
(3) Avoid laying the signal wire and power line in a parallel or bundled state.
(4) Insert a line noise filter on the input/output wire or a radio filter on the input to
suppress the noise radiated from the wires.
(5) Use a shield wire for the signal wire and power line, or place in separate metal
ducts.
If the signal wire is laid in parallel to the power line, or if it is bundled with the power
line, the noise could be propagated to the signal wire and cause malfunction
because of the magnetic induction noise or static induction noise. In this case, take
the following measures.
(1) Install devices easily affected as far away from the drive unit as possible.
(2) Lay devices easily affected as far away from the signal wire of the drive unit as
possible.
(3) Avoid laying the signal wire and power line in a parallel or bundled state.
(4) Use a shield wire for the signal wire and power line, or place in separate metal
ducts.
If the power supply for the peripheral devices is connected to the power supply in
the same system as the drive units, the noise generated from the power supply unit
could back flow over the power line and cause the devices to malfunction. In this
case, take the following measures.
(1) Install a radio filter on the power supply unit's power line.
(2) Install a power filter on the power supply unit's power line.
If a closed loop is created by the peripheral device and drive unit's grounding wire, a
leakage current could flow and cause the device to malfunction.
In this case, change the device grounding methods and the grounding place.
1 - 21
2. Wiring and Connection
2-1 Part system connection diagram.................................................................................. 2-3
2-2 Main circuit terminal block/control circuit connector.................................................... 2-4
2-2-1 Names and applications of main circuit terminal block signals and control circuit
connectors............................................................................................................. 2-4
2-2-2 Connector pin assignment..................................................................................... 2-5
2-3 NC and drive unit connection....................................................................................... 2-8
2-4 Motor and detector connection .................................................................................... 2-9
2-4-1 Connecting the servomotor................................................................................... 2-9
2-4-2 Connecting the full-closed loop system ................................................................ 2-16
2-4-3 Connecting the synchronous control system........................................................ 2-19
2-4-4 Connection of the spindle motor ........................................................................... 2-27
2-5 Connection of power supply......................................................................................... 2-32
2-5-1 Standard connection ............................................................................................. 2-32
2-5-2 Two-part system control of power supply unit....................................................... 2-33
2-5-3 Using multiple power supply units......................................................................... 2-34
2-6 Connecting the grounding cable.................................................................................. 2-35
2-6-1 Connecting the protective grounding (PE) and frame ground (FG)...................... 2-35
2-6-2 Grounding cable size............................................................................................. 2-35
2-7 Wiring of contactors ..................................................................................................... 2-36
2-7-1 Contactor power ON sequences........................................................................... 2-37
2-7-2 Contactor shutoff sequences ................................................................................ 2-37
2-7-3 Contactor control signal (MC1) output circuit........................................................ 2-38
2-8 Wiring of the motor brake ............................................................................................ 2-39
2-8-1 Motor brake release sequence.............................................................................. 2-39
2-8-2 Control during the servo OFF command............................................................... 2-39
2-8-3 Operation sequences when an emergency stop occurs....................................... 2-39
2-8-4 Motor brake control connector (CN20) output circuit............................................ 2-40
2-9 Dynamic brake unit wiring............................................................................................ 2-41
2-10 Spindle coil changeover............................................................................................... 2-42
2-10-1 Coil changeover control......................................................................................... 2-42
2-10-2 Wiring..................................................................................................................... 2-43
2-11 Wiring of an external emergency stop......................................................................... 2-44
2-11-1 External emergency stop setting........................................................................... 2-44
2-11-2 Operation sequences of CN23 external emergency stop function....................... 2-45
2-11-3 Example of emergency stop circuit....................................................................... 2-46
2 - 1
2. Wiring and Connection
1. Wiring work must be done by a qualified technician.
2. Wait at least 15 minutes after turning the power OFF and check the voltage
DANGER
with a tester, etc., before starting wiring. Failure to observe this could lead to
electric shocks.
3. Securely ground the drive units and servo/spindle motor.
4. Wire the drive units and servo/spindle motor after installation. Failure to
observe this could lead to electric shocks.
5. Do not damage, apply forcible stress, place heavy items on the cables or get
them caught. Failure to observe this could lead to electric shocks.
6. Always insulate the power terminal connection section. Failure to observe
this could lead to electric shocks.
1. Correctly and securely perform the wiring. Failure to do so could result in
runaway of the servo/spindle motor or injury.
2. Do not mistake the terminal connections.
Failure to observe this item could lead to ruptures or damage, etc.
3. Do not mistake the polarity ( + ,
– ). Failure to observe this item could lead to
ruptures or damage, etc.
4. Do not mistake the direction of the diodes for the surge absorption installed
on the DC relay for the motor brake and contactor (magnetic contactor)
control. The signal might not be output when a failure occurs.
Servo drive unit
COM
(24VDC)
CAUTION
Control output signal
RA
5. Electronic devices used near the drive units may receive magnetic
obstruction. Reduce the effect of magnetic obstacles by installing a noise
filter, etc.
6. Do not install a phase advancing capacitor, surge absorber or radio noise
filter on the power line (U, V, W) of the servo/spindle motor.
7. Do not modify this unit.
8. The half-pitch connector (CN1A, etc.) on the front of the drive units have the
same shape. If the connectors are connected incorrectly, faults could occur.
Make sure that the connection is correct.
9. When grounding the motor, connect to
the protective grounding terminal on the
drive units, and ground from the other
protective grounding terminal.
(Use one-point grounding)
Do not separately ground the connected
motor and drive unit as noise could be
generated.
2 - 2
A
2. Wiring and Connection
2-1 Part system connection diagram
No-fuse breaker
R
S
T
:
:
MitsubishiNC
SV1,2
(CSH21)
C reactor
B-ALK
Ground
Breaker
Main circuit
Control circuit
SH21Cable
External emergency
stop input
Magnetic
contactor
MC
MDS-C1-CV-
CN4
CN23
CN9
TE1
L1
L2
L3
TE2
L+
L-
TE3
MC1
L11
L21
Ground
(Note 1) The total length of the SH21 cable must be within 30m.
(Note 2) The connection method will differ according to the used motor.
(Note 3) When not using an absolute position detector, connect the terminal connector (R-TM).
(Note 4) The main circuit (
) and control circuit ({) are safely separated.
MDS-C1-SP-
CN1B
CN1A
CN8
CN4
CN7
CN9
CN6
CN5
TE1
TE2
L+
L-
TE3
L11
L21
Ground
U
V
W
Battery unit
BT-
CN1A
SH21Cable
CNP5Cable
3~
M
MDS-C1-V2-
PLG
CN1A
CN4
CN9
CN20
TE2
L+
L-
TE3
L11
L21
CN1B
CN3M
CN3L
CN2L
CN2M
TE1
MW
Ground
MU
MV
LU
LV
LW
CNV13Cable
CNV13Cable
CNV12Cable
CNV12Cable
M
3~
Motor end
Tool end detector
Tool end detector
detector
M
3~
Motor end
detector
2 - 3
2. Wiring and Connection
2-2 Main circuit terminal block/control circuit connector
2-2-1 Names and applications of main circuit terminal block signals and control circuit
connectors
The following table shows the details for each terminal block signal.
Name Signal name Description
L1 . L2 . L3
L11 L21
MC1
U . V . W
LU . LV . LW
MU . MV . MW
Main circuit
power supply
Control circuit
power supply
Contactor
control
Motor output
Motor output
Protective
grounding (PE)
1. Always use one AC reactor per power supply unit.
Main circuit power supply input terminal
Connect a 3-phase 200VAC/200 to 230VAC, 50/60Hz power supply.
Control circuit power supply input terminal
Connect a single-phase 200VAC/200 to 230VAC, 50/60Hz power
supply.
Contactor control terminal
The MC1 terminal has the same phase as L21. Connect to a different
phase than the phase connected to L21.
Servo/spindle motor power output terminal
The servo/spindle motor power terminal (U, V, W) is connected.
Servo motor power output terminal (L-axis/M-axis)
The servo/spindle motor power terminal (U, V, W) is connected.
Grounding terminal
The servomotor/spindle motor grounding terminal is connected and
grounded.
Failure to observe this could lead to unit damage.
CAUTION
2. When sharing a breaker for several power supply units, of a short-circuit
fault occurs in a small capacity unit, the breaker could trip. This can be
hazardous, so do not share the breaker.
3. Be sure to use the breaker of proper capacity for each Power Supply Unit.
2 - 4
2-2-2 Connector pin assignment
2. Wiring and Connection
CAUTION
Do not apply a voltage other than that specified in Instruction Manual on each
terminal. Failure to observe this item could lead to rupture or damage, etc.
(1) Main circuit terminal block
Power supply unit
Terminal
Terminal
Unit
position
<4>
MDS-C1-CV-37 to 75 MDS-C1-CV-110 to 370
<2>
<3>
<1>
<1>
<2>
<3>
<4>
<1> TE1
<2> TE2
<3> TE3
Terminal specification/Pin assignment
<4>
L1 L2 L3
Compatible unit CV-37 to 75
Screw size M4
Tightening
torque
1.6Nm
L+
L-
L11
L21
MC1
Compatible unit CV-37 to 75
Screw size M4
Tightening torque 2.0Nm
L1 L2 L3
Compatible unit CV-110 to 185 CV-220 to 370
Screw size M5 M8
Tightening
torque
Compatible unit CV-37 to 370
Screw size M6
Tightening torque 5.0Nm
Compatible unit CV-37 to 75 CV-110 to 370
Screw size M4 M4
Tightening torque 2.0Nm 1.6m
Compatible unit CV-110 to 185 CV-220 to 370
Screw size M5 M8
Tightening
torque
3.37Nm 13.2Nm
3.37Nm 13.2Nm
2 - 5
Servo/spindle drive unit
Unit
Terminal
Terminal
position
MDS-C1-V1-10 and
smaller
MDS-C1-SP-15 and
smaller
2. Wiring and Connection
MDS-C1-V1-20 and larger
MDS-C1-SP-22 and
larger
MDS-C1-V2-1010 and
smaller
MDS-C1-V2-2010 and
larger
<1> TE1
<2> TE2
<4>
U V W
L+
L-
<2>
<3>
<1>
<4>
MU MV MW
Compatible unit All V1/V2/SP
Screw size M6
Tightening torque 5.0Nm
LU LV LW
<2>
<3>
<1>
<4>
U V W
Compatible unit
Screw size M4 M5 M8
Tightening torque 2.0Nm 3.2Nm 13.2Nm
V1- 01 to 35 45S,45 to 90 110 to 150
V2- 0101 to 9090S -
SP- 04 to 37 55 to 185 220 to 300
<2>
<3>
<1>
<1>
<2>
<3>
<4>
MU MV MW
LU LV LW
Terminal specification/Pin assignment
<3> TE3
<4>
L11
L21
The PE screw size is the same as TE1.
2 - 6
Compatible unit All V1/V2/SP
Screw size M4
Tightening torque 2.0Nm
(2) Control circuit connector
Unit
Terminal
2. Wiring and Connection
MDS-C1-V1 MDS-C1-V2
Connector
position
Connector
specifica-
tions
<1>
<3>
<5> <9>
<1> CN1A
<2> CN1B
<3> CN9
<4> CN4
<5> CN2L
<6> CN3L
<7> CN2M
<8> CN2M
<9> CN20
<2>
<4>
<6>
No.1
No.10
Pin No.
<1>
<3>
<5> <9>
<7>
No.11
No.20
No.1
No.2
No.3
<2>
<4>
<6>
<8>
(Note) The 5 and 6 connector names differ for the MDS-C1-V1 unit. (CN2L, CN3L → CN2, CN3)
2 - 7
2. Wiring and Connection
2-3 NC and drive unit connection
The NC bus cables are connected from the NC to each drive unit so that they run in a straight line from
the NC to the terminal connector (battery unit). And up to 7 axes can be connected per system. (Note
that the number of connected axes is limited by the CNC. The following drawing shows an example with
4 axes connected.)
< Connection >
CN1A : CN1B connector on NC or previous stage's drive unit
CN1B : CN1A connector on next stage's drive unit or terminal connector (battery unit)
CN4 : Connector for communication between power supply unit (master side) and drive unit
Connected
to the NC
Refer to the
instruction manual
of each NC for
details.
MDS-C1-V2-
1st/2nd axis
CN1A
MDS-C1-V1-
3rd axis
CN1B CN1ACN1B CN1A
MDS-C1-SP-
4th axis (final axis)
Connect to the
battery unit with a
terminal connector or
SH21 cable.
CN1B
MDS-C1-CV-
SH21 cable
1
2
3
4
5
6
7
8
9
10
CN1A/CN1B
Pin No.
No.1
No.10
Name
GND
RD
AL
SD
GND
GFO
EMG
BAT
P5(+5V)
No.11
No.20
11
12
13
14
15
16
17
18
19
20
Name
GND
RD*
AL
SD*
GND
GFO
EMG*
P5(+5V)
CN4
CN4
Max. length of 30m from the NC to terminal connector or battery unit.
Wire the SH21 cable between the NC and drive unit so that the distance
CAUTION
between the NC and terminal connector (battery unit) is within 30m.
Axis Nos. are determined by the rotary switch for setting the axis No. (Refer to
POINT
section "4-1-1 Setting the rotary switch".) The axis No. has no relation to the
order for connecting to the NC.
2 - 8
(
)
(
r
2. Wiring and Connection
2-4 Motor and detector connection
2-4-1 Connecting the servomotor
(1) Connecting the HC52(B)/HC102(B)/HC152(B)/HC53(B)/HC103(B)/HC153(B)/HC103R(B)
/HC153R(B)/HC203R(B)
Detector connector
MS3102A22-14P
K
J
H
Pin Name
A
B
C
D
E BAT
F
G
H SD
J SD*
K RQ
L RQ*
M
N FG
P
R LG(GND)
S P5(+5V)
T
U
V
Option cable : CNV12
(Refer to Appendix 1 for details
L
N
S
R
E
on the cable treatment.)
Max. 30m
MDS-C1-V1
CN2
U VW
Power connecto
CE05-2A22-23P
A
G
H
F
E
D
B1 and B2 are brake terminals.
(Only for motor with brakes )
These are 24VDC, and have no
polarity.
Detector connector : CN2
Pin No.
No.1
No.10
Name
Pin
LG
1
2
3
4
5
SD
6
RQ
7
8
BAT
9
P5
10
Power wire and groundin g wi re
(Refer to Specification manual for details
on selecting the wire.)
Pin
A
B
C
D
B
E
F
C
G
H
+5V)
Name
U
V
W
Grounding
B1
B2
Pin
11
12
13
14
15
16
17
18
19
20
No.11
No.20
Name
P5(+5V)
P5
LG
SD*
RQ*
+5V
2 - 9
(
)
(
A
2. Wiring and Connection
(2) Connecting the HC202(B)/HC352(B)/HC452(B)/HC203(B)/HC353(B)
MDS-C1-V1
Detector connector
MS3102A22-14P
L
K
J
H
Pin Name
A
B
C
D
E BAT
F
G
H SD
J SD*
K RQ
L RQ*
M
N FG
P
R LG(GND)
S P5(+5V)
T
U
V
Brake connector
MS3102A10SL-4P
B
These are 24VDC, and have
no polarity.
N
R
Pin
A
B
S
E
Name
Option cable : CNV12
(Refer to Appendix 1 for details
on the cable treatment.)
Max. 30m
B1
B2
CN2
Motor brake wiring
(Refer to section
"2-8 Wiring the motor
brakes" for details.)
U V W
Power connector
CE05-2A24-10P
A
F
G
E
D
B
C
Detector connector : CN2
Pin No.
No.1
No.10
Pin
Name
1
LG
2
3
4
5
6
SD
7
RQ
8
9
BAT
Name
U
V
W
Grounding
P5
+5V)
10
Power wire and grounding wire
(Refer to Specification manual for details
on selecting the wire.)
Pin
A
B
C
D
E
F
G
Pin
11
12
13
14
15
16
17
18
19
20
No.11
No.20
P5(+5V)
P5
Name
LG
SD*
RQ*
+5V
2 - 10
(
)
(
r
2. Wiring and Connection
(3) Connecting the HC353R(B)/HC503R(B)
MDS-C1-V1
Detector connector
MS3102A22-14P
L
K
J
A
B
C
D
E BAT
G
H SD
K RQ
M
N FG
P
R LG(GND)
S P5(+5V)
U
V
N
R
H
S
E
Pin Name
F
J SD*
L RQ*
T
Option cable : CNV12
(Refer to Appendix 1 for details
on the cable treatment.)
Max. 30m
CN2
U V W
Power wire and groundin g wi re
(Refer to Specification manual for details
on selecting the wire.)
Power connecto
CE05-2A24-10P
F
E
D
A
G
B
C
Detector connector : CN2
Pin No.
No.1
No.10
Name
Pin
LG
1
2
3
4
5
SD
6
RQ
7
8
BAT
9
P5
10
Pin
A
B
C
D
E
F
G
+5V)
Name
U
V
W
Grounding
B1
B2
Pin
11
12
13
14
15
16
17
18
19
20
No.11
No.20
P5(+5V)
P5
Name
LG
SD*
RQ*
+5V
B1 and B2 are brake terminals.
(Only for motor with brakes)
These are 24VDC, and have no polarity.
2 - 11
(
)
(
2. Wiring and Connection
(4) Connecting the HC702(B)/HC902(B)/HC453(B)/HC703(B)
MDS-C1-V1
Detector connector
MS3102A22-14P
L
K
J
Pin Name
A
B
C
D
E BAT
F
G
H SD
J SD*
K RQ
L RQ*
M
N FG
P
R LG(GND)
S P5(+5V)
T
U
V
N
R
H
S
E
Option cable : CNV12
(Refer to Appendix 1 for details
on the cable treatment.)
Max. 30m
Motor brake wiring
(Refer to section
"2-8 Wiring the motor
brakes" for details.)
CN2
U V W
Power connector
CE05-2A32-17P
D
Brake connector
MS3102A10SL-4P
Name
A B
These are 24VDC, and have
no polarity.
Pin
A
B
B1
B2
Detector connector : CN2
Pin No.
No.1
No.10
Name
Pin
LG
1
2
3
4
5
SD
6
RQ
7
8
BAT
9
P5
10
Power wire and groundin g wi re
(Refer to Specification manual for details
on selecting the wire.)
Pin
A
B
C
A
D
BC
+5V)
Name
U
V
W
Grounding
No.11
No.20
Pin
11
12
13
14
15
16
17
18
19
20
Name
LG
SD*
RQ*
P5(+5V)
P5
+5V
2 - 12
(
)
(
r
(5) Connecting the HA053N/HA13N
Detector connector
MS3102A22-14P
L
K
N
J
R
H
S
E
Pin Name
A
B
C
D
E BAT
F
G
H SD
J SD*
K RQ
L RQ*
M
N FG
P
R LG(GND)
S P5(+5V)
T
U
V
Option cable : CNV12
(Refer to Appendix 1 for details
on the cable treatment.)
Max. 30m
2. Wiring and Connection
MDS-C1-V1
CN2
U V W
Power connecto
MS3102A18-12
A
F
E
C
D
Detector connector : CN2
Pin No.
No.1
No.10
Name
Pin
LG
1
2
3
4
5
SD
6
RQ
7
8
BAT
9
P5
10
Power wire and groundin g wi re
(Refer to Specification manual for details
on selecting the wire.)
Pin
A
B
C
D
B
E
F
+5V)
Name
U
V
W
Grounding
Pin
11
12
13
14
15
16
17
18
19
20
No.11
No.20
Name
SD*
RQ*
P5(+5V)
P5
LG
+5V
2 - 13
(
)
(
r
(6) Connecting the HA23N(B)/HA33N(B)
Detector connector
MS3102A22-14P
L
K
J
Pin Name
N
R
H
S
E
A
B
C
D
E BAT
F
G
H SD
J SD*
K RQ
L RQ*
M
N FG
P
R LG(GND)
S P5(+5V)
T
U
V
Option cable : CNV12
(Refer to Appendix 1 for details
on the cable treatment.)
Max. 30m
Motor brake wiring
(Refer to section
"2-8 Wiring the motor
brakes" for details.)
Brake connector
MS3102A10SL-4P
Name
A B
These are 24VDC, and have
no polarity.
Pin
A
B
B1
B2
2. Wiring and Connection
MDS-C1-V1
CN2
U V W
Power connecto
MS3102A18-12
A
F
E
C
D
Detector connector : CN2
Pin No.
No.1
No.10
Name
Pin
LG
1
2
3
4
5
SD
6
RQ
7
8
BAT
9
P5
10
Power wire and groundin g wi re
(Refer to Specification manual for details
on selecting the wire.)
Pin
A
B
C
D
B
E
F
+5V)
Name
U
V
W
Grounding
Pin
11
12
13
14
15
16
17
18
19
20
No.11
No.20
Name
SD*
RQ*
P5(+5V)
P5
LG
+5V
2 - 14
(
)
(
2. Wiring and Connection
(7) Connecting the HA-LF11K2(B)-S8/HA-LF15K2(B)-S8
MDS-C1-V1
Detector connector
MS3102A22-14P
L
K
J
A
B
C
D
E BAT
G
H SD
K RQ
M
N FG
P
R LG(GND)
S P5(+5V)
U
V
N
R
H
S
E
Pin Name
F
J SD*
L RQ*
T
Option cable : CNV12
(Refer to Appendix 1 for details
on the cable treatment.)
Max. 30m
CN2
U V W
Detector connector : CN2
Pin No.
No.1
No.10
Name
Pin
LG
1
2
3
4
5
SD
6
RQ
7
8
BAT
9
P5
10
Power wire and groundin g wi re
(Refer to Specification manual for details
on selecting the wire.)
Motor brake wiring
+5V)
(Refer to section
"2-8 Wiring the motor
brakes" for details.)
Pin
11
12
13
14
15
16
17
18
19
20
No.11
No.20
Name
P5(+5V)
P5
LG
SD*
RQ*
+5V
Brake connector
MS3102A10SL-4P
A B
These are 24VDC, and have
no polarity.
Pin
A
B
Name
B1
B2
2 - 15
(
(
2. Wiring and Connection
2-4-2 Connecting the full-closed loop system
Refer to section 2-4-1 Connecting the servomotor for details on connecting the each motor.
(1) Connecting the ball screw end detector
Detector connector : CN3
Pin No.
Max. 30m
CNV12
CN2
MDS-C1-V1
CN3
Pin
10
1
2
3
4
5
6
7
8
9
No.1
No.10
Name
LG
SD
RQ
BAT
P5
+5V)
CNV13
Pin
11
12
13
14
15
16
17
18
19
20
No.11
No.20
Name
SD*
RQ*
P5(+5V)
P5
LG
+5V)
DRSV1
Servomotor
Table
2 - 16
U V W
(
(
2. Wiring and Connection
(2) Connecting the linear scale (for serial data output)
Detector connector : CN3
Pin No.
No.1
No.11
Max. 30m
CNV12
MDS-C1-V1
CN2 CN3
Pin
10
No.10
Name
LG
1
2
3
4
5
SD
6
RQ
7
8
BAT
9
P5
+5V)
CNL3
Pin
11
12
13
14
15
16
17
18
19
20
No.20
Name
P5(+5V)
P5
LG
SD*
RQ*
+5V)
DRSV1
U V W
Servomotor
Table
Linear scale
2 - 17
(
(
2. Wiring and Connection
(3) Connecting the linear scale (for analog output)
Detector connector : CN3
Pin No.
No.1
No.11
Max. 30m
CNV12
MDS-C1-V1
CN2 CN3
Pin
10
No.10
Name
1
LG
2
3
4
5
6
SD
7
RQ
8
9
BAT
+5V)
P5
CNL3
CON1 CON2
converter unit
No.20
Pin
11
12
13
14
15
16
17
18
19
20
Detector
MDS-B-HR
Name
LG
SD*
RQ*
P5(+5V)
+5V)
P5
CON4
CON3
CNLH3
Servomotor
DRSV1
Table
U V W
Linear scale
2 - 18
2. Wiring and Connection
2-4-3 Connecting the synchronous control system
The methods of connecting the synchronous control system are explained in this section. Explanations
on connecting the motor detector and power are omitted. Refer to section 2-4-1 Connecting the
servomotor for details.
Semi-closed system Full-closed system
Position command
synchronous control
Speed command
synchronous control
Current command
synchronous control
The operation is controlled with position commands from the NC, so there are
no special connections.
(1) When using MDS-C1-V1
drive unit
(2) When using MDS-C1-V2
drive unit
MDS-C1-V1 drive unit
(3-1) When using serial output linear scale
(3-2) When using analog output linear
scale
(3-3) When using MP scale
MDS-C1-V2 drive unit
(4-1) When using serial output linear scale
(4-2) When using analog output linear
scale
2 - 19
2. Wiring and Connection
(1) Connection for semi-closed synchronous control (when using MDS-C1-V1 drive unit)
Slave axis
MDS-C1-V1
(Slave axis)
CN2
CN3
MDS-C1-V1
(Master axis)
CN2
CN2A
CN2B
Parameter settings
No. Abbrev. Parameter name Description
Set the detector type. (Refer to Chapter 3 Setup for details)
SV025 MTYP Motor/detector type
Master axis Speed command synchronous control : 00xx or 11xx or 22xx
Current command synchronous control : 00xx or 11xx or 22xx
Slave axis Speed command synchronous control : C0xx or C1xx or C2xx
Current command synchronous control : CCxx
Master axis
Detector cable
CNV12
MDS-B-SD
Signal distribution unit
CN2
2 - 20
2. Wiring and Connection
(2) Connection for semi-closed synchronous control (when using MDS-C1-V2 drive unit)
Slave axis
MDS-C1-V2
CN2L
CN2M
Parameter settings
No. Abbrev. Parameter name Description
Set the detector type. (Refer to Chapter 3 Setup for details)
SV025 MTYP Motor/detector type
Master axis Speed command synchronous control : 00xx or 11xx or 22xx
Current command synchronous control : 00xx or 11xx or 22xx
Slave axis Speed command synchronous control : C0xx or C1xx or C2xx
Current command synchronous control : CCxx
Master axis
Detector cable
CNV12
2 - 21
2. Wiring and Connection
(3-1) Connection for full-closed synchronous control
(when using MDS-C1-V1 drive unit and serial output linear scale)
Slave axis
CN3
CN3A
CN3B
Linear scale
CN2
MDS-C1-V1
(Slave axis)
CN3
Master axis
MDS-C1-V1
(Master axis)
CN2 CN3
Detector cable
CNV12
MDS-B-SD
Signal distribution unit
Parameter settings
No. Abbrev. Parameter name Description
Set the detector type. (Refer to Chapter 3 Setup for details)
SV025 MTYP Motor/detector type
(Note) The full-closed system using two MDS-C1-V1 units is not compatible with current command synchronous control.
Speed command synchronous control : D0xx or D1xx or D2xx
Master axis Speed command synchronous control : A0xx or A1xx or A2xx
Slave axis Speed command synchronous control : D0xx or D1xx or D2xx
2 - 22
2. Wiring and Connection
(3-2) Connection for full-closed synchronous control
(when using MDS-C1-V1 drive unit and analog output linear scale)
Slave axis
Linear scale
MDS-C1-V1
(Slave axis)
CN2
CN3
Master axis
Detector cable
CNV12
CON3CON4
Detector
converter
unit
MDS-B-HR
CON1CON2
MDS-C1-V1
(Master axis)
CN2
CN3
CNL3H2
CNL3H1
Parameter settings
No. Abbrev. Parameter name Description
Set the detector type. (Refer to Chapter 3 Setup for details)
SV025 MTYP Motor/detector type
(Note) The full-closed system using two MDS-C1-V1 units is not compatible with current command synchronous control.
Master axis Speed command synchronous control : A0xx or A1xx or A2xx
Slave axis Speed command synchronous control : D0xx or D1xx or D2xx
2 - 23
A
2. Wiring and Connection
(3-3) Connection for full-closed synchronous control
(when using MDS-C1-V1 drive unit and MP scale)
Slave axis
MP scale
CN2
MDS-C1-V1
(Slave axis)
Master axis
Detector cable
/D converter
MDS-C1-V1
(Master axis)
CN3CN2CN3
CNV12
MDS-B-SD
Signal distribution unit
CN2
CN2A
CN2B
CN3
CN3A
CN3B
Parameter settings
No. Abbrev. Parameter name Description
Set the detector type. (Refer to Chapter 3 Setup for details)
SV025 MTYP Motor/detector type
(Note 1) The MP scale (high-speed serial interface) is compatible only for the high-gain mode.
(Note 2) The full-closed system using two MDS-C1-V1 units is not compatible with current command synchronous control.
Master axis Speed command synchronous control : A1xx or A2xx
Slave axis Speed command synchronous control : E1xx or E2xx
2 - 24
2. Wiring and Connection
(4-1) Connection for full-closed synchronous control
(when using MDS-C1-V2 drive unit and serial output linear scale)
Slave axis
Linear scale
MDS-C1-V2
CN2L
CN2M
CN3L
Parameter settings
No. Abbrev. Parameter name Description
Set the detector type. (Refer to Chapter 3 Setup for details)
SV025 MTYP Motor/detector type
Master axis Speed command synchronous control : A0xx or A1xx or A2xx
Current command synchronous control : A0xx or A1xx or A2xx
Slave axis Speed command synchronous control : D0xx or D1xx or D2xx
Current command synchronous control : DExx
Master axis
Detector cable
CNV12
2 - 25
2. Wiring and Connection
(4-2) Connection for full-closed synchronous control
(when using MDS-C1-V2 drive unit and analog output linear scale)
Slave axis
CN2
Linear scale
MDS-C1-V2
CON3CON4
CN2L
CN2M
CN3L
Detector
Converter
unit
MDS-B-HR
CON1CON2
Parameter settings
No. Abbrev. Parameter name Description
Set the detector type. (Refer to Chapter 3 Setup for details)
SV025 MTYP Motor/detector type
Master axis Speed command synchronous control : A0xx or A1xx or A2xx
Current command synchronous control : A0xx or A1xx or A2xx
Slave axis Speed command synchronous control : D0xx or D1xx or D2xx
Current command synchronous control : DExx
Master axis
Detector cable
CNV12
2 - 26
p
y
2. Wiring and Connection
2-4-4 Connection of the spindle motor
Refer to each motor specifications for details on the motor side connection destination, specifications
and outline, and for the spindle PLG detector specifications.
(1) Connecting the motor built-in PLG
MDS-C1-SP
BU BV BW
Max. 30m
U V W
Option cable : CNP5S
CN5
Power cable
U V W
Spindle motor
Cooling fan terminal
block (BU,BV,BW)
Grounding terminal
Motor power terminal
block (U,V,W)
(Note) Either a single-phase or 3-phase power supply is used for the cooling fan.
Refer to the Spindle Motor Specifications for details.
Example for 3-phase cooling fan
ower suppl
2 - 27
(2) Connecting the magnetic sensor
Refer to section (1) for connection with the spindle motor.
2. Wiring and Connection
MDS-C1-SP
Max. 30m
U V W
Spindle motor
Option cable : CNP5S
CN5
CN6
Power cable
U V W
Magnetic sensor
Spindle
2 - 28
Option cable : CNP6M
(3) Connecting the spindle encoder
Refer to section (1) for connection with the spindle motor.
2. Wiring and Connection
MDS-C1-SP
Max. 30m
U V W
Spindle motor
Option cable : CNP5S
CN5
CN6
Power cable
U V W
Spindle encoder
2 - 29
Spindle
Option cable : CNP6M
2. Wiring and Connection
(4) Connecting the encoder for C axis control
Refer to section (1) for connection with the spindle motor.
MDS-C1-SP
Max. 30m
U V W
Option cable : CNP5S
Option cable : CNP7A
Power cable
CN5
CN7
CN6
UV W
Spindle motor
Spindle
C axis control
Encoder
Option cable : CNP67A
Connect to ENC
connector on NC side
Option cable : CNP71A
Supplement
1. The C axis control function is connected to the CN7 connector.
2. When using both the C axis control function and orientation function, two cables (two-wire cable) are
connected from the detector.
3. The orientation signal connected to CN5 or CN6 can be connected to the NC with the differential
output from the CN8 connector.
2 - 30
2. Wiring and Connection
(5) Connecting the simple C-axis control
Refer to section (1) for connection with the spindle motor.
MDS-C1-SPX
MDS-C1-SPHX
Max. 30m
U V W
Option cable : CNP5S
CN5
CN7
Power cable
U V W
MDS-B-PJEX
CN5
Spindle motor
Spindle
Z
A
B
G
VR1
VR2
VR4
Spindle end PLG
2 - 31
Motor axis
Bottom
CN8
CR30
24VDC
power
r
A
a
2. Wiring and Connection
2-5 Connection of power supply
1. Make sure that the power supply voltage is within the specified range of the
servo drive unit. Failure to observe this could lead to damage or faults.
2. For safety purposes, always install a circuit breaker (CB), and make sure that
the circuit is cut off when an error occurs or during inspections. Refer to
Chapter 7 and select a circuit breaker.
3. The wire size will differ according to each drive unit capacity. Refer to
CAUTION
2-5-1 Standard connection
Directly drive the contactor using the power supply unit's TE3 terminal (MC1)
Chapter 7 and select the size.
4. For safety purposes, always install a magnetic contactor (contactor) on the
main circuit power supply input. Large rush currents will flow when the power
is turned ON. Refer to Chapter 7 and select the correct contactor.
5. A semiconductor element is used in the power supply unit's magnetic contact
drive circuit. A surge absorber is installed to protect the element, and a
leakage current of approx. 15mA is passed. Confirm that the exciting coil in
the magnetic contact will not function at 15mA or less.
(1) For MDS-C1-CV-370 or smaller
Magnetic
contacto
R
S
T
No-fuse
Breaker
AC reactor
Ground
Breaker
Main circuit connection
:
1. The power supply unit is a power supply regenerative type converter; an AC
reactor is installed in the power supply line. When connecting to the TE3
terminal, connect to the power supply side (primary side) of the AC reactor.
2. Connect the power supply unit's CN4 connector with the spindle drive unit in
CAUTION
the same system. If there is no spindle drive unit, connect to the servo drive
unit which is the last axis.
3. When distributing and installing the units, always arrange the power supply
unit and spindle drive as a set. Keep the total length of the TE2 wire as short
as possible (50cm or less).
MC
MDS-C1-CV
(37.0kW or less)
TE1
L1
L2
L3
TE3
MC1
L11
L21
CN4 CN4
TE2
L+
L-
Ground
fter 0rpm confirm
TE2
L+
L-
TE3
L11
L21
Ground
MDS-C1-V1/V2
TE2
L+
L-
TE3
L11
L21
Ground
2 - 32
r
r
A
r
2. Wiring and Connection
2-5-2 Two-part system control of power supply unit
Confirm that the total capacity of the drive units does not exceed the power supply unit's capacity.
The axis controlled to the power supply unit's CN4 connector is the axis controlled by the power supply
unit.
R
No-fuse
breake
MDS-C1-CV
CN4 CN4
C reacto
Magnetic
contacto
CN9
TE1
L1
MDS-C1-SP
MDS-C1-V1/V2
S
T
Ground
Breaker
MC
L2
L3
MC1
L11
L21
TE3
TE2
L+
L-
Ground
TE2
L+
L-
TE3
L11
L21
MDS-C1-SP
CN4
TE2
L+
Ground
TE2
L+
L-
TE3
L11
L21
Ground
MDS-C1-V1/V2
TE2
L+
L-
TE3
L11
L21
Main circuit connection
Ground
L-
L11
L21
TE3
Ground
1. When using a two-part system that contains a spindle drive unit, the spindle
drive unit is connected to the CN4 connector of the power supply unit as the
last axis. If there is no spindle drive unit, connect to the servo drive unit
CAUTION
which is the last axis.
2. When distributing and installing the units, always arrange the power supply
unit and spindle drive as a set. Keep the total length of the TE2 wire as short
as possible (50cm or less).
2 - 33
r
r
A
r
r
r
A
r
2. Wiring and Connection
2-5-3 Using multiple power supply units
In a system configured of multiple spindle drive units, etc., there may be cases when the drive capacity
is large and the units cannot be driven with one power supply unit. Split the drive configuration so that
the units can be driven with one power supply unit.
Refer to section "11-7 Selecting the power supply unit" for details on making a selection.
R
No-fuse
breake
MDS-C1-CV
CN4 CN4
Magnetic
contacto
TE1
L1
C reacto
MDS-C1-SP
CN1ACN1B CN1ACN1B
MDS-C1-V1/V2
To NC
S
T
Ground
MC
Magnetic
contacto
MC
R
S
T
No-fuse
breake
Breaker
C reacto
Ground
Breaker
L2
L3
TE2
L+
L-
TE3
MC1
L11
L21
Ground
MDS-C1-CV
CN4
TE1
L1
L2
L3
TE2
L+
L-
TE3
MC1
L11
L21
TE2
L+
L-
TE3
L11
L21
MDS-C1-SP
CN4
CN1BCN1A CN1BCN1A
TE2
L+
L-
TE3
L11
L21
Ground
TE2
L+
L-
TE3
L11
L21
Ground
MDS-C1-V1/V2
TE2
L+
L-
TE3
L11
L21
Main circuit connection
Ground
Ground
Ground
1. An AC reactor and breaker must be installed for each power supply unit.
The connection of the communication cable to the NC does not change.
CAUTION
(Refer to section "2-3 NC and drive unit connection")
2. When distributing and installing the units, always arrange the power supply
unit and spindle drive as a set. Keep the total length of the TE2 wire as short
as possible (50cm or less).
2 - 34
p
2. Wiring and Connection
2-6 Connecting the grounding cable
2-6-1 Connecting the protective grounding (PE) and frame ground (FG)
Each unit has a terminal or mounting hole to connect PE ( ) or FG.
Please connect an earth wire to the main ground of a cabinet or a machine frame.
(PE: Grounding to provide protection from electric shock, etc. FG: Grounding to stabilize the operation
of the devices, etc. (Suppress noise, etc.))
Ground each device according to the grounding conditions set forth by each country. (Typically, a
Y-connection neutral point ground is used in Europe.)
Connect the grounding cable from each unit
POINT
directly to the grounding plate. Noise from
other units could result in malfunctions.
MDS-C1-V1/V2/SP
HC Series
Servomotor
MDS-C1-CV
SJ Series
Servomotor
B-AL
Grounding
late
Unit
Unit
Grounding
Grounding
plate
plate
2-6-2 Grounding cable size
Earth wire size should follow the following table.
Type Grounding cable size
(Required grounding)
MDS-C1-CV Unit Larger than thickness of w ire connected to TE1 (L1/L2/L3). (PE)
MDS-C1-V1/V2/SP[] Unit Larger than thickness of wire connected to TE1 (U/V/W). (PE)
B-AL (AC Reactor) 5.5 mm2 (AWG10) or more (FG)
2 - 35
2. Wiring and Connection
2-7 Wiring of contactors
A contactor (magnetic contactor) is inserted in the main circuit power supply input (L1, L2, L3) of a
power supply unit, 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 drive unit stops the motor using deceleration
control or a dynamic brake. The spindle drive unit performs the deceleration stop control. The power
supply unit must maintain the power supply (power regeneration) while returning the energy from each
axis being decelerated to the power line. Thus, the contactor cannot be shut off. Therefore, the NC
controls the contactors. The NC confirms that all axes are stopped, or confirms the dynamic brake
operation, and then it outputs a contactor shutoff command of the power supply unit via the drive unit.
Give consideration to the above, and examine the contactor drive method in the following order of
priority.
1. The contactors cannot be driven other than from a power supply unit.
Undervoltage (alarm) may occur if the contactors are shut off at the same
time as an emergency stop occurrence.
2. Do not directly shut off the contactors with an external sequence. They may
CAUTION
shut off faster than the emergency stop input, and the input power supply
may be shut off during the deceleration control or vertical axis drop
prevention control. If this happens, an undervoltage alarm will occur, and
deceleration control or drop hold may not be possible. When
double-protecting, use a drive unit external emergency stop input.
(Refer to section "2-9 Wiring of an external emergency stop.)
2 - 36
A
2. Wiring and Connection
2-7-1 Contactor power ON sequences
The main circuit power supply is turned ON in the sequences in the following drawing when the
contactor control output (TE3: MC1) of the power supply unit is used. Each interface voltage of the main
circuit power supply (L1/L2/L3) is checked. If voltage is applied on any voltage (if the contactor is
melted), contactor melting (alarm 6A) is detected.
Control power supply (L11/L21)
Main circuit power supply (L1/L2/L3)
Contactor control terminal (MC1)
Emergency stop from NC (EMG)
ON
OFF
ON
Cancel
Contactor power ON sequences
Contactor fusion check
POINT
The parameters must be set when controlling the contactor (MC1)
2-7-2 Contactor shutoff sequences
When an emergency stop or servo alarm occurs, the NC confirms the zero speed (motor stop or
dynamic brake operation) for all axes, and then shuts off the contactors.
If MC shut off enabled is not output, a contactor shutoff signal will be output in 30 seconds from the
power supply unit's CN23 connector to forcibly shut off the MC1 terminal. The spindle will coast after
that.
Emergency stop (EMG)
1st axis
(dynamic brake stop)
2nd axis
(deceleration control)
3rd axis
(deceleration control + drop
prevention control)
MC1 (When normal)
Cancel
ON
Speed
Speed
Speed
OFF
Output
0
0
0
Drop prevention
fter 0rpm confirmation
MC1 (during NC emergency
stop error)
(CN23 operates)
OFF
Output
30s
Contactor shutoff sequences
2 - 37
2. Wiring and Connection
2-7-3 Contactor control signal (MC1) output circuit
A relay or photo coupler can be driven. Install a surge absorber (noise killer) when driving a conductive
load. (Tolerable current: 40mA or less, rush current: 100mA or less)
37kW or less
MDS-C1-CV-370 or less
Triac
TE3
MC1
L21
L11
Contactor
L3
Surge absorber
L2
L1
2 - 38
)
2. Wiring and Connection
2-8 Wiring of the motor brake
The magnetic brake of servomotors with a magnetic brake is driven by the motor brake control
connector (CN20) on the servo drive unit. The servo drive unit releases the brake when the motor is ON.
(Servo ON means when torque is generated in the motor.)
2-8-1 Motor brake release sequence
The motor brake control connector (CN20: MBR) releases the magnetic brake in the sequences in the
following drawing when canceling the emergency stop. The brake is released after the start of the power
ON to the servomotor.
Emergency stop (EMG)
Dynamic brake
ON
Cancel
Cancel
ON
Magnetic brake
Servo ready signal (RDY
Servo ready completion
signal (SA)
Motor brake control sequences when an emergency stop is canceled
Cancel
ON
ON
OFF
ON
OFF
Ready completion
Command input enable
0
500 1000 1500
Time (ms)
2-8-2 Control during the servo OFF command
When a servo OFF command is input by an NC sequence input, the motor brake turns ON
simultaneously when the motor ON is shut off. Note that the vertical axis drop prevention control is not
validated, so a drop due to the brake operation lag occurs. When the servo OFF is canceled, a drop due
to an uncontrolled state does not occur.
200ms
Servo OFF command
Dynamic brake
Motor ON (GATE)
SERVO ON
SERVO OFF
OFF
ON
ON
OFF
Motor brake control output
CN20 connector (MBR)
Motor brake control sequences when a servo OFF command is output
OFF
ON
The vertical axis drop prevention control only is performed during an emergency
CAUTION
stop (including alarms and power failures). It is not performed when a servo OFF
command is input.
2-8-3 Operation sequences when an emergency stop occurs
The motor brake control output operation when an emergency stop occurs differs according to the motor
deceleration stop method. Refer to section "4-5 Setting for emergency stop" for details on the operation
sequences for each stop method.
2 - 39
A
y
2. Wiring and Connection
2-8-4 Motor brake control connector (CN20) output circuit
The motor brakes can be controlled with the CN20 connector.
The brakes controlled with the CN20 connector include the magnetic brakes and dynamic brakes
(dedicated for MDS-C1-V1-110/150). (Unit internal relay specifications: 5A 30VDC/8A 250VAC)
MDS-C1-V1/V2
When using CN20
CN20
3 MBR2
2 DBR
1 MBR1
Emergenc
stop switch
24VDC
Surge
absorber
lways install a surge
absorber
Brake
To ensure safety in an emergency, make sure that the magnetic brakes are
POINT
applied in sequence with the emergency stop switch.
1. Always install a surge absorber near the motor's brake terminal to eliminate
noise and protect the contacts.
CAUTION
2. The brakes cannot be released just by connecting the CN20 and motor brake
terminal. 24VDC must be supplied.
2 - 40
r
r
r
2. Wiring and Connection
2-9 Dynamic brake unit wiring
The 11kW and larger servo drive unit does not have built-in dynamic brakes. Always install a dynamic
brake unit.
The 9kW and smaller servo drive unit has built-in dynamic brakes.
External
power supply
Brake connecto
1-178128-3
Tyco Electronics
Pin
1
2
3
Name
24VDC
DBU
Moto
CN20
1
2
3
Twist wire
Motor with a brake
24VDC GND
Control terminal
block
Terminal: M3
Pin
1
2
3
5 6 13
Name
NC
a
b4
14
Servomoto
Correct wire the dynamic brake unit to the servo drive unit.
CAUTION
Do not use for applications other than emergencies (normal braking, etc.). The
internal resistor could heat up, and lead to fires or faults.
When you use a servomotor with a brake, please wire (between 1pin and 3pin)
POINT
of CN20 connector.
2 - 41
U V W
a b
Dynamic brake unit
(MDS-B-DBU-150)
Drive terminal
block
Terminal: M3
Pin
1
2
3
Name
U
V
W
2. Wiring and Connection
2-10 Spindle coil changeover
There are spindle motors capable of coil changeover control, which enables favorable characteristics to
be attained from low speeds to high speeds by changing two types of coils.
2-10-1 Coil changeover control
The speed at which to change the coils is detected by the spindle drive according to the value set with
spindle parameter SP020. This is conveyed to the NC with a speed detection (SD) signal. The NC
judges the other conditions (coil fixed, etc.), and issue a coil changeover command to the spindle drive
with the L coil selection command (LCS).
To prevent the contactor from varying, the hysteresis set with SP047 is applied on the speed when
changing from the low-speed coil to the high-speed coil and the high-speed coil to the low-speed coil.
6000
Spindle motor speed
(r/min)
Speed detection (SD) [SP→NC]
L coil selection command (LCS) [NC→SP]
Changing coil (MKC) [SP→NC]
Contactor changeover
4000
2000
0
Low-speed coil
(SP020+SP047
High-speed coil
Spindle motor coil changeover control
Parameter settings
No. Abbrev. Parameter name Description Setting range
SP020 SDTS* Speed detection
set value
SP047 SDTR* Speed detection
reset value
Set the motor speed of which speed detection 1 output is
performed. Usually, the setting value is 10% of SP017 (TSP).
Set the reset hysteresis width for a speed detection set value
defined in SP020 (SDTS).
Low-speed coil
0 to 32767
(r/min)
0 to 1000
(r/min)
SP020
Time
Standard
value
600
30
2 - 42
X
2. Wiring and Connection
2-10-2 Wiring
A typical Y-∆ changeover control circuit is shown below. The contactors MC1 and MC2 are controlled
with the signal from the spindle drive. When one turns ON, the other turns OFF.
U
V
W
MC2
Spindle drive
terminal block
U
V
W
MC1
MC1: Contactor for Y (star) connection at low-speed regions
MC2: Contactor for
(delta) connection at high-speed regions
∆
Y
Z
Spindle motor
Y (star) - ∆ (delta) changeover circuit
MDS-C1-SP
CN9-8
CN9-8
RA
S
RA RA
MC1
MC1
MC2
SK
MC2
SK
T
Coil changeover relay control circuit
2 - 43
C
L
L
2. Wiring and Connection
2-11 Wiring of an external emergency stop
2-11-1 External emergency stop setting
Besides the emergency stop input from the NC communication cable (CN1A, CN1B), double-protection
when an emergency stop occurs can be provided by directly inputting an external emergency stop to the
CN23 connector on the power supply unit. Even if the emergency stop is not input from CNC for some
reason, the contactors will be shut off by the external emergency stop input from CN23 connector on the
power supply unit.
(1) Connection
Mitsubishi NC
SV1,2
External emergency stop input
(2) Setting
When using the external emergency stop, the protection setting must be validated with the rotary
switch on the front of the MDS-C1-CV and the connected drive unit's parameter (PTYP).
Rotary switch setting
With external contactor ... Set
Parameter settings
Abbrevia-
No.
SV036
SP041
tion
PTYP Power supply type
Emergency
stop
Alarm
SH21
FCUA-R000
Parameter name Descriptions
MDS-C1-V1/V2/SP
Alarm
CN1B
CN4
4.
SH21
FCUA-R000
CN1A
When external emergency stop is validated, 0040 [hex] is added to PTYP for the drive
unit connected to the power supply unit.
MDS-C1-CV
CN4
CN23
1 EMG1
2
N
3 EMG2
MC1
MC1
11
21
Contactor shutoff
command
CAUTION
for the external emergency stop function (CN23).
1. The parameter must be set for the CN23 external emergency stop function.
The emergency stop signal input to the CNC side cannot be used as a substitute
POINT
2. The emergency stop signal input to the CNC side cannot be used as a
substitute for the external emergency stop function.
2 - 44
y
(
2. Wiring and Connection
2-11-2 Operation sequences of CN23 external emergency stop function
If only CN23, an external emergency stop, is input when external emergency stop valid is set in the
parameters (the emergency stop is not input in CNC), an "In external emergency stop" (warning EA) will
be detected. At this time, the system itself does not enter an emergency stop status. (There will be no
deceleration control or dynamic brake stop).
If a contactor shutoff command is not issued from the CNC within 30 seconds after the external
emergency stop is input, the power supply unit itself outputs contactor shutoff signal (MC1), and then it
shuts off the contactors, and an external emergency stop error (alarm 55) is detected. If the emergency
stop is input from CNC within 30 seconds, the warning EA replaces the "In CNC emergency stop"
(warning E7). A normal emergency stop status (warning E7) will result if the contactor shutoff command
from the CNC are further input.
Ready ON is possible even if CN23, an external emergency stop has been input when the emergency
stop is canceled, but an external emergency stop error (alarm 55) will occur after 30 seconds.
External emergency stop input
(EMGX)
Main emergency stop input
(EMG)
Motor speed
Contactor control command
Contactor control terminal (MC)
OFF
ON
OFF
ON
Deceleration control
0
ON
OFF
ON
OFF
Servo drive unit status display
External emergency stop input
(EMGX)
Main emergency stop input
(EMG)
Motor speed
Contactor control command
Contactor control terminal
Servo drive unit status display
When neither a main emergency stop nor contactor shutoff command is input
dx E7 EA
External emergency stop input sequences
OFF
ON
OFF
ON
0
ON
OFF
MC)
ON
OFF
dx 55, E7 EA
0 30
Cx → dx
The communication line enters an
emergency stop state by the output
from the servo.
D
namic brake
Time (s)
2 - 45
2. Wiring and Connection
2-11-3 Example of emergency stop circuit
(1) Outline of function
The power supply unit's external emergency stop can be validated by wiring to the CN23 connector,
and setting the parameters and rotary switch. If the emergency stop cannot be processed and the
external contractor cannot be shut off (due to a fault) by the CNC unit, the external contactor can be
shut off by the power supply unit instead of the CNC. At this time, the spindle motor will coast and
the servomotor will stop with the dynamic brakes.
EN60204-1 Category 1 can be basically complied with by installing the external emergency stop
switch and contactor.
1. The power supply unit external emergency stop function is a function that
assists the NC emergency stop.
CAUTION
(2) Example of emergency stop circuit
The emergency stop is a signal used to
stop the machine in an emergency. This
is connected to the CNC unit. Wire to the
power supply unit when necessary.
The servo/spindle unit will be decelerated
and controlled by the software according
to the deceleration stop command issued
from the CNC unit.
The diagram on the right shows an
example of the emergency stop circuit
(EN60204-1 Category 0 stop) in which an
off delay timer (TM1) is installed as a
power shutoff method independent from
the NC emergency stop input. The
required safety category may be high
depending on the machine and the Safety Standards may not be met. Thus, always pay special
attention when selecting the parts and designing the circuit.
Setting the off delay timer (TM1) time
Set the TM1 operation time so that it functions after it has been confirmed that all axes have
stopped.
If the set time is too short, the spindle motor will coast to a stop.
2. The emergency stop signal input to the CNC side cannot be used as a
substitute for the external emergency stop function (CN23).
3. It will take 30 seconds for the external contactor to function after the
emergency stop is input to CN23. (This time is fixed.)
tm
≥ All axes stop time
External
Emergency
Switch
TM1
R
MC
External
Contactor
RA1
MBR*
AC Reactor
R
GND
GND
CN23
EMG
Power Supply
Unit
CN4
CUP
&
ASIC
L11
L21
MC-OFF*
MC1
L1
L2
L3
NC Unit
CUP
&
ASIC
Servo/Spindle
CN4
L11
L21
P
N
SV1/2
Drive Unit
CUP
&
ASIC
Hardware Emergency
CN1A/B
Software Emergency
CN20
MBR*
Motor
Brake
Provide a mechanism that shuts off the power even if the CNC system fails.
Stop Categories in EN60204-1
• Category 0: The power is instantly shut off using machine parts.
• Category 1: The drive section is stopped with the control (hardware/software
or communication network), and then the power is instantly shut
POINT
off using machine parts.
(Caution) Refer to the Standards for details.
Refer to Section 9.2.5.4.2 in EN60204-1: Safety of Machinery
Electrical Equipment of Machines – Part 1.
2 - 46
3. Setup
3-1 Initial setup ................................................................................................................... 3-2
3-1-1 Setting the rotary switch........................................................................................ 3-2
3-1-2 Transition of LED display after power is turned ON............................................. 3-3
3-1-3 Servo standard specifications and high-gain specifications................................. 3-4
3-2 Setting the initial parameters for the servo drive unit (High-gain specifications)........ 3-5
3-2-1 Setting the standard parameters........................................................................... 3-5
3-2-2 Limitations to electronic gear setting value........................................................... 3-8
3-2-3 List of standard parameters for each servomotor................................................. 3-9
3-2-4 Servo parameter list .............................................................................................. 3-15
3 - 1
3. Setup
3-1 Initial setup
3-1-1 Setting the rotary switch
Before turning on the power, the axis No. must be set with the rotary switch. The rotary switch settings
will be validated when the units are turned ON.
1st axis
Servo drive unit
(MDS-C1-V1)
Setting the
rotary switch
2nd axis
Servo drive unit
Spindle drive unit
(MDS-C1-SP)
Power supply unit
(MDS-C1-CV)
(MDS-C1-V2)
L axis
6 A
5 B
4 C
3 D
2 E
7 9
1 F
8
0
8
7 9
6 A
5 B
4 C
3 D
2 E
1 F
0
M axis
8
7 9
6 A
5 B
4 C
3 D
2 E
1 F
0
5 B
4 C
3 D
8
7 9
6 A
2 E
1 F
0
Details
Setting the MDS-C1-V1/V2/SP Setting the MDS-C1-CV
0 1st axis External emergency stop invalid
1 2nd axis
2 3rd axis
Setting prohibited
3 4th axis
4 5th axis
External emergency stop valid
(Used CN23)
5 6th axis
6 7th axis
7
8
9
A
B
Setting prohibited
Setting prohibited
C
D
E
F Axis not used
6 A
5 B
4 C
3 D
2 E
7 9
1 F
8
0
When an axis that is not used is selected, that axis will not be controlled when
the power is turned ON, and "Ab" will remain displayed on the LED. If the power
POINT
of the axis not in use is disconnected, the NC system's emergency stop cannot
be released.
3 - 2
3. Setup
3-1-2 Transition of LED display after power is turned ON
When CNC, each drive unit and the power supply unit power have been turned ON, each unit will
automatically execute self-diagnosis and initial settings for operation, etc. The LEDs on the front of the
units will change as shown below according to the progression of these processes.
If an alarm occurs, the alarm No. will appear on the LEDs. Refer to "Chapter 8 Troubleshooting" for
details on the alarm displays.
Waiting for NC
power start up
NC power ON
Servo ON state Servo OFF sate
NC power OFF
Drive units
LED display
Drive unit initialization complete
Waiting for NC power start up
NC power ON
Emergency stop state
The LED will alternate between
F# → E7 → not lit.
(# is the set axis No.)
Executing initial
communication with NC
Repeats lighting and going out.
(1st axis in the display example)
Power supply unit
LED display
NC power
ON
Executing initial communication
with NC
A : Initializing
b : Ready OFF, in emergency stop
c : Ready ON/servo OFF
Servo ON state
Emergency stop state
CAUTION
Always input emergency stop when starting the servo system.
3 - 3
3. Setup
3-1-3 Servo standard specifications and high-gain specifications
(1) Two-part system compliance
With the MDS-C1-V1/V2 Series, control is possible with the standard servo (MDS-B-V1/V2) control
mode and high-gain servo (MDS-B-V14/V24) control mode. When replacing an older model
(MDS-B Series) with this series, the servo parameter settings are automatically recogni zed and the
control mode is determined. Thus, the model can be changed from either a standard servo or
high-gain servo without changing the servo parameters.
When using the MDS-C1-V1/V2 unit and newly adjusting the machine, select the high-gain
specifications. The high-gain specifications are set as the default.
(2) Judging the control mode
Whether the servo drive unit starts up with the standard servo specifications or high-gain servo
specifications depends on the servo parameter SV009 to SV012 and SV033, bit 8 and 9 settings.
Parameter High-gain Standard Standard High-gain High-gain
SV009
SV010
SV011
SV012
SV033.bit8 0 0 1 0 1
SV033.bit9 0 0 0 1 1
SV009 = 4096 or more, and
SV010 = 4096 or more, and
SV011 = 768 or more, and
SV012 = 768 or more
Setting that does not satisfy even
one of the following conditions:
SV009 = 4096 or more
SV010 = 4096 or more
SV011 = 768 or more
SV012 = 768 or more
SV009=*
SV010=*
SV011=*
SV012=*
SV009=*
SV010=*
SV011=*
SV012=*
SV009=*
SV010=*
SV011=*
SV012=*
(Note) * indicates that there are no limits.
(3) Servo monitor unit type display
Whether the system is running with the high-gain servo or standard servo control mode can be
confirmed with the unit type displayed on the NC SERVO MONITOR screen.
Unit type For standard servo specifications For high-gain servo specifications
MDS-C1-V1- C1V1s C1V1-
MDS-C1-V2-{{ C1V2s{{ C1V2-{{
MDS-C1-V1-45S C1V1s4S C1V1-4S
MDS-C1-V1-70S C1V1s7S C1V1-7S
MDS-C1-V2-3510S C1V2s3510 C1V2-3510
MDS-C1-V2-3520S C1V2s3520 C1V2-3520
MDS-C1-V2-4545S C1V2s4S4S C1V2-4S4S
MDS-C1-V2-7070S C1V2s7S7S C1V2-7S7S
MDS-C1-V2-9090S C1V2s9S9S C1V2-9S9S
1. To change the control mode to the high-gain servo specifications after
replacing the unit from a standard servo (MDS-B-V1/V2), the parameters
CAUTION
must be changed and adjusted for high-gain servo use.
2. If alarm 7F occurs after setting the servo parameters, turn the servo drive
unit power ON again.
3 - 4
3. Setup
3-2 Setting the initial parameters for the servo drive unit (High-gain specifications)
The servo parameters must be set before the servo system can be started up. The servo parameters
are input from the NC. The input method differs according to the NC being used, so refer to each NC
Instruction Manual.
3-2-1 Setting the standard parameters
When starting up the system, first set the standard parameters listed in "3-2-3 List of standard
parameters for each servomotor". For the parameters shown below, check the machine and servo
system specifications and determine the setting value.
(1) Electronic gear related parameters
The setting range of the following parameters, which configure the electronic gea rs, may be limi ted
according to the combination. Refer to section "3-2-2 Limitations to electronic gear setting values"
for details.
High-gain specifications
No. Abbrev. Parameter name Explanation
SV001 PC1*
SV002 PC2*
SV018 PIT* Ball screw pitch Set the ball screw pitch. Set to "360" for the rotary axis.
SV019 RNG1*
SV020 RNG2*
Motor side gear
ratio
Machine side gear
ratio
Position detector
resolution
Speed detector
resolution
Set the motor side and machine side gear ratio.
For the rotary axis, set the total deceleration (acceleration) ratio.
Even if the gear ratio is within the setting range, the electronic gears may
overflow and cause an alarm.
In the case of the semi-closed loop control
Set the same value as SV020 (RNG2). (Refer to the explanation of
SV020.)
In the case of the full-closed loop control
Set the number of pulses per ball screw pitch.
Detector model name Resolution SV019 setting
OHE25K-E T, OHA 2 5 K - E T 100,000 (p/rev) 100
OSE104-ET,OSA104-ET 100,000 (p/rev) 100
OSE105-ET,OSA105-ET 1,000,000 (p/rev) 1000
RCN723 (Heidenhain) 8,000,000 (p/rev) 8000
Relative position detection
scale
AT41 (Mitsutoyo) 1 (µm/p)
FME type, FLE type
(Futaba)
MP type (Mitsubishi Heavy
Industries)
AT342 (Mitsutoyo) 0.5 (µm/p)
AT343 (Mitsutoyo) 0.05 (µm/p)
LC191M (Heidenhain)
LC491M (Heidenhain)
Set the number of pulses per one revolution of the motor end detector.
Detector model name SV020 setting
OSE104, OSA104 100
OSE105, OSA105 1000
Refer to specification
manual for each detector
Refer to specification
manual for each detector
Refer to specification
manual for each detector
Refer to specification
manual for each detector.
Refer to specification
manual for each detector.
PIT/Resolution
µm)
(
The same as
SV018 (PIT)
PIT/Resolution
µm)
(
PIT/Resolution
µm)
(
Twice as big as
SV018 (PIT)
20 times as big as
SV018 (PIT)
PIT/Resolution
µm)
(
PIT/Resolution
µm)
(
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
range (Unit)
1 to 32767
1 to 32767
1 to 32767
(mm/rev)
1 to 9999
1 to 9999
1 to 9999
Setting
(kp/rev)
(kp/pit)
(kp/rev)
3 - 5
3. Setup
(2) Detector type related parameters
High-gain specifications
No. Abbrev. Parameter name Explanation
bit
8
9
A
B
C
D 0 0 OSE104
E
Set the detector type.
Set the position detector type for "pen", and the speed detector type
ent
for "ent". In the case of the semi-closed loop control, set the same
value for "pen" and "ent".
pen
setting
pen
1 1 OSA104
ent setting Detector model name
Explanation
F 2 2 OSE105, OSA105
3 3
4 Setting impossible OHE25K-ET, OSE104-ET
5 Setting impossible OHA25K-ET, OSA104-ET
6 Setting impossible
7 Setting impossible
8 Setting impossible
SV025 MTYP* Motor/Detector type 9 Setting impossible
A Setting impossible
OSE105-ET, OSA105-ET, RCN723
(Heidenhain)
Relative position detection scale, MP type
(Mitsubishi Heavy Industries)
AT41 (Mitsutoyo), FME type, FLE type
(Futaba)
AT342, AT343, (Mitsutoyo),
LC191M/491M (Heidenhain), MDS-B-HR
B Setting impossible
C
D
C
(Current
synchronization)
E
(Current
synchronization)
The setting of the slave axis in the speed/current
synchronization control.
When the master axis is the semi-closed control.
The setting of the slave axis in the speed/ current
synchronization control.
When the master axis is the full-closed control.
(Current synchronization control is only for
MDS-C1-V2.)
E Setting impossible
F Setting impossible
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
3 - 6
e
7
5
5
p
p
3. Setup
(3) Setting the power supply type
Set the drive unit connected to the power supply unit with the CN4 connector. This does not need
to be set if the power supply for the axis is not connected with the CN4 connector. (Set "0000".)
If the power supply unit is connected with the spindle drive unit, the parameters do not need to be
set on the servo side. When connected to a 2-axis servo drive unit (MDS-C1-V2), set the power
supply type for one of the two target axes.
High-gain specifications
No. Abbrev. Parameter name Explanation
F E D C B A 9 8 7 6 5 4 3 2 1 0
amp rtyp ptyp
bit Explanation
0
1
2 To validate the external emergency stop function, add 40h.
3 Setting 0x 1x 2x 3x 4x 5x 6x 7x 8x
4
5 x1 CV-110 CR-10
6 x2 CV-220 CR-15
7 x3 CR-22
SV036 PTYP* Power supply type x4 CV-3
x5 CV-150 CV-450 CV-550
x6 CV-5
x7 CV-370
x8 CV-7
x9 CV-185 CR-90
9
A
B
C Set "0".
D
E
F
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
8
When the CN4 connector of the drive unit and the power supply unit ar
connected, setting below is necessary.
ptyp
x0
Set the regenerative resistor type when using MDS-A-CR.
Set 0 when using the MDS-C1-CV (power regeneration.)
rtyp
amp
Not
used
CV-300
CR-37
CV-260 CR-55
CR-75
If alarm 7F occurs after setting the initial parameters, turn the drive unit power ON again. If the unit's
LEDs indicate the following emergency stop state, the unit has started up normally.
F1
F+axis No.
E7
Emergency
sto
F1
F+axis No.
E7
Emergency
sto
Not lit
Normal LED display when NC power is turned ON (1st axis)
3 - 7
3. Setup
3-2-2 Limitations to electronic gear setting value
The servo drive unit has internal electronic gears. The command value from the NC is converted into a
detector resolution unit to carry out position control. 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
M60S/E60 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.
(1) For semi-closed loop control
ELG1
Reduced fraction of
ELG2
=
IUNIT = 2/NC (µm) command unit
When the above is calculated, the following conditions must be satisfied.
ELG1 ≤ 32767
ELG2 ≤ 32767
(2) For full-closed loop control
PGNX
Reduced fraction of
PGNY
=
When the above is calculated, the following conditions must be satisfied.
PGNX ≤ 32767
PGNY ≤ 32767
And,
PGNXsp
Reduced fraction of
PGNYsp
When the above is calculated, the following conditions must be satisfied.
PGNXsp ≤ 32767
PGNYsp ≤ 32767
PC2 × RNG1
PC1 × PIT × IUNIT
(reduced fraction)
1µm : IUNIT = 2, 0.1µm : IUNIT = 20
PC2 × RNG2 × PGN1
PC1 × RNG1 × 30
PC2 × RNG2 × PGN1sp
=
PC1 × RNG1 × 30
(reduced fraction)
(reduced fraction)
POINT
with M60S/E60 series NC) will be output.
If the electronic gears overflow, the alarm 37 or error parameter No. 101 (2301
3 - 8
3. Setup
3-2-3 List of standard parameters for each servomotor
(1) HC Series (Standard 2000r/min rating)
High-gain specifications
Parameter
No. Abbrev. Details Unit capacity 05 10 20 20 35 45S 45 70S 70 90S 90
SV001 PC1 Motor side gear ratio --- --- --- --- --- --- --- --- --- --- --SV002 PC2 Machine side gear ratio --- --- --- --- --- --- --- --- --- --- --SV003 PGN1 Position loop gain 1 47 47 47 47 47 47 47 47 47 47 47
SV004 PGN2 Position loop gain 2 0 0 0 0 0 0 0 0 0 0 0
SV005 VGN1 Speed loop gain 1 200 200 200 200 200 200 200 200 200 200 200
SV006 VGN2 Speed loop gain 2 0 0 0 0 0 0 0 0 0 0 0
SV007 VIL Speed loop delay compensation 0 0 0 0 0 0 0 0 0 0 0
SV008 VIA Speed loop lead compensation 1364 1364 1364 1364 1364 1364 1364 1364 1364 1364 1364
SV009 IQA Current loop q axis lead compensation 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096
SV010 IDA Current loop d axis lead compensation 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096
SV011 IQG Current loop q axis gain 768 768 768 768 768 768 768 768 768 768 768
SV012 IDG Current loop d axis gain 768 768 768 768 768 768 768 768 768 768 768
SV013 ILMT Current limit value 500 500 500 500 500 500 500 500 500 500 500
SV014 ILMTsp Current limit value in special control 500 500 500 500 500 500 500 500 500 500 500
SV015 FFC Acceleration rate feed forward gain 0 0 0 0 0 0 0 0 0 0 0
SV016 LMC1 Lost motion compensation 1 0 0 0 0 0 0 0 0 0 0 0
SV017 SPEC Servo specification selection 0000 0000 0000 0000 0000 1000 0000 1000 0000 1000 0000
SV018 PIT Ball screw pitch --- --- --- --- --- --- --- --- --- --- --SV019 RNG1 Position detector resolution --- --- --- --- --- --- --- --- --- --- --SV020 RNG2 Speed detector resolution --- --- --- --- --- --- --- --- --- --- --SV021 OLT Overload detection time constant 60 60 60 60 60 60 60 60 60 60 60
SV022 OLL Overload detection level 150 150 150 150 150 150 150 150 150 150 150
SV023 OD1 Excessive error detection width during servo ON 6 6 6 6 6 6 6 6 6 6 6
SV024 INP In-position detection width 50 50 50 50 50 50 50 50 50 50 50
SV025 MTYP Motor/detector type xxB0 xxB1 xxB2 xxB3 xxB4 xx95 xxB5 xx96 xxB6 xx97 xxB7
SV026 OD2
SV027 SSF1 Servo function selection 1 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000
SV028 0 0 0 0 0 0 0 0 0 0 0
SV029 VCS Speed at the change of speed loop gain 0 0 0 0 0 0 0 0 0 0 0
SV030 IVC
SV031 OVS1 Overshooting compensation 1 0 0 0 0 0 0 0 0 0 0 0
SV032 TOF Torque offset 0 0 0 0 0 0 0 0 0 0 0
SV033 SSF2 Servo function selection 2 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV034 SSF3 Servo function selection 3 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003
SV035 SSF4 Servo function selection 4 0000 0000 0040 0040 0040 0040 0040 0040 0040 0000 0000
SV036 PTYP Power supply type 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV037 JL Load inertia scale 0 0 0 0 0 0 0 0 0 0 0
SV038 FHz1 Notch filter frequency 1 0 0 0 0 0 0 0 0 0 0 0
SV039 LMCD Lost motion compensation timing 0 0 0 0 0 0 0 0 0 0 0
SV040 LMCT
SV041 LMC2 Lost motion compensation 2 0 0 0 0 0 0 0 0 0 0 0
SV042 OVS2 Overshooting compensation 2 0 0 0 0 0 0 0 0 0 0 0
SV043 OBS1 Disturbance observer filter frequency 0 0 0 0 0 0 0 0 0 0 0
SV044 OBS2 Disturbance observer gain 0 0 0 0 0 0 0 0 0 0 0
SV045 TRUB Frictional torque/current bias 3 0 0 0 0 0 0 0 0 0 0 0
SV046 FHz2 Notch filter frequency 2 0 0 0 0 0 0 0 0 0 0 0
SV047 EC Inductive voltage compensation gain 100 100 100 100 100 100 100 100 100 100 100
SV048 EMGrt Vertical axis drop prevention time 0 0 0 0 0 0 0 0 0 0 0
SV049 PGN1sp
SV050 PGN2sp
SV051 DFBT Dual feedback control time constant 0 0 0 0 0 0 0 0 0 0 0
SV052 DFBN Dual feedback control non-sensitive band 0 0 0 0 0 0 0 0 0 0 0
SV053 OD3
SV054 ORE Overrun detection width in closed loop control 0 0 0 0 0 0 0 0 0 0 0
SV055 EMGx Max. gate off delay time after emergency stop 0 0 0 0 0 0 0 0 0 0 0
SV056 EMGt Deceleration time constant at emergency stop 0 0 0 0 0 0 0 0 0 0 0
SV057 SHGC SHG control gain 0 0 0 0 0 0 0 0 0 0 0
SV058 SHGCsp SHG control gain in spindle synchronous control 0 0 0 0 0 0 0 0 0 0 0
SV059 TCNV Collision detection torque estimating gain 0 0 0 0 0 0 0 0 0 0 0
SV060 TLMT Collision detection level 0 0 0 0 0 0 0 0 0 0 0
SV061 DA1NO D/A output channel 1 data No. 0 0 0 0 0 0 0 0 0 0 0
SV062 DA2NO D/A output channel 2 data No. 0 0 0 0 0 0 0 0 0 0 0
SV063 DA1MPY D/A output channel 1 output scale 0 0 0 0 0 0 0 0 0 0 0
SV064 DA2MPY D/A output channel 2 output scale 0 0 0 0 0 0 0 0 0 0 0
SV065 TLC Tool end compensation spring constant 0 0 0 0 0 0 0 0 0 0 0
Excessive error detection width during servo
OFF
Voltage dead time compensation /
current bias 1
Lost motion compensation non-sensitive band
/current bias 2
Position loop gain 1 in spindle synchronous
control
Position loop gain 2 in spindle synchronous
control
Excessive error detection width in special
control
HC102 HC1
HC52
6 6 6 6 6 6 6 6 6 6 6
0 0 0 0 0 0 0 0 0 0 0
0 0 0 10240 10240 10240 10240 10240 10240 10240 10240
15 15 15 15 15 15 15 15 15 15 15
0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0
3 - 9
Standard HC motor 2000 r/min rating Motor
HC35
HC202
52
HC452 HC702 HC902
2
3. Setup
(2) HC Series (Standard 3000r/min rating)
High-gain specifications
Parameter
No. Abbrev. Details Unit capacity 05 10 20 35 45S 45 70S 70 90S 90
SV001 PC1 Motor side gear ratio --- --- --- --- --- --- --- --- --- --SV002 PC2 Machine side gear ratio --- --- --- --- --- --- --- --- --- --SV003 PGN1 Position loop gain 1 47 47 47 47 47 47 47 47 47 47
SV004 PGN2 Position loop gain 2 0 0 0 0 0 0 0 0 0 0
SV005 VGN1 Speed loop gain 1 200 200 200 200 200 200 200 200 200 200
SV006 VGN2 Speed loop gain 2 0 0 0 0 0 0 0 0 0 0
SV007 VIL Speed loop delay compensation 0 0 0 0 0 0 0 0 0 0
SV008 VIA Speed loop lead compensation 1364 1364 1364 1364 1364 1364 1364 1364 1364 1364
SV009 IQA Current loop q axis lead compensation 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096
SV010 IDA Current loop d axis lead compensation 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096
SV011 IQG Current loop q axis gain 768 768 768 768 768 768 768 768 768 768
SV012 IDG Current loop d axis gain 768 768 768 768 768 768 768 768 768 768
SV013 ILMT Current limit value 500 500 500 500 500 500 500 500 500 500
SV014 ILMTsp Current limit value in special control 500 500 500 500 500 500 500 500 500 500
SV015 FFC Acceleration rate feed forward gain 0 0 0 0 0 0 0 0 0 0
SV016 LMC1 Lost motion compensation 1 0 0 0 0 0 0 0 0 0 0
SV017 SPEC Servo specification selection 0000 0000 0000 0000 1000 0000 1000 0000 1000 0000
SV018 PIT Ball screw pitch --- --- --- --- --- --- --- --- --- --SV019 RNG1 Position detector resolution --- --- --- --- --- --- --- --- --- --SV020 RNG2 Speed detector resolution --- --- --- --- --- --- --- --- --- --SV021 OLT Overload detection time constant 60 60 60 60 60 60 60 60 60 60
SV022 OLL Overload detection level 150 150 150 150 150 150 150 150 150 150
SV023 OD1 Excessive error detection width during servo ON 6 6 6 6 6 6 6 6 6 6
SV024 INP In-position detection width 50 50 50 50 50 50 50 50 50 50
SV025 MTYP Motor/detector type xxC0 xxC1 xxC2 xxC3 xxA4 xxC4 xxA5 xxC5 xxA6 xxC6
SV026 OD2
SV027 SSF1 Servo function selection 1 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000
SV028 0 0 0 0 0 0 0 0 0 0
SV029 VCS Speed at the change of speed loop gain 0 0 0 0 0 0 0 0 0 0
SV030 IVC
SV031 OVS1 Overshooting compensation 1 0 0 0 0 0 0 0 0 0 0
SV032 TOF Torque offset 0 0 0 0 0 0 0 0 0 0
SV033 SSF2 Servo function selection 2 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV034 SSF3 Servo function selection 3 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003
SV035 SSF4 Servo function selection 4 0000 0000 0040 0040 0040 0040 0040 0040 0000 0000
SV036 PTYP Power supply type 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV037 JL Load inertia scale 0 0 0 0 0 0 0 0 0 0
SV038 FHz1 Notch filter frequency 1 0 0 0 0 0 0 0 0 0 0
SV039 LMCD Lost motion compensation timing 0 0 0 0 0 0 0 0 0 0
SV040 LMCT
SV041 LMC2 Lost motion compensation 2 0 0 0 0 0 0 0 0 0 0
SV042 OVS2 Overshooting compensation 2 0 0 0 0 0 0 0 0 0 0
SV043 OBS1 Disturbance observer filter frequency 0 0 0 0 0 0 0 0 0 0
SV044 OBS2 Disturbance observer gain 0 0 0 0 0 0 0 0 0 0
SV045 TRUB Frictional torque/current bias 3 0 0 0 0 0 0 0 0 0 0
SV046 FHz2 Notch filter frequency 2 0 0 0 0 0 0 0 0 0 0
SV047 EC Inductive voltage compensation gain 100 100 100 100 100 100 100 100 100 100
SV048 EMGrt Vertical axis drop prevention time 0 0 0 0 0 0 0 0 0 0
SV049 PGN1sp
SV050 PGN2sp
SV051 DFBT Dual feedback control time constant 0 0 0 0 0 0 0 0 0 0
SV052 DFBN Dual feedback control non-sensitive band 0 0 0 0 0 0 0 0 0 0
SV053 OD3
SV054 ORE Overrun detection width in closed loop control 0 0 0 0 0 0 0 0 0 0
SV055 EMGx Max. gate off delay time after emergency stop 0 0 0 0 0 0 0 0 0 0
SV056 EMGt Deceleration time constant at emergency stop 0 0 0 0 0 0 0 0 0 0
SV057 SHGC SHG control gain 0 0 0 0 0 0 0 0 0 0
SV058 SHGCsp SHG control gain in spindle synchronous control 0 0 0 0 0 0 0 0 0 0
SV059 TCNV Collision detection torque estimating gain 0 0 0 0 0 0 0 0 0 0
SV060 TLMT Collision detection level 0 0 0 0 0 0 0 0 0 0
SV061 DA1NO D/A output channel 1 data No. 0 0 0 0 0 0 0 0 0 0
SV062 DA2NO D/A output channel 2 data No. 0 0 0 0 0 0 0 0 0 0
SV063 DA1MPY D/A output channel 1 output scale 0 0 0 0 0 0 0 0 0 0
SV064 DA2MPY D/A output channel 2 output scale 0 0 0 0 0 0 0 0 0 0
SV065 TLC Tool end compensation spring constant 0 0 0 0 0 0 0 0 0 0
Excessive error detection width during servo
OFF
Voltage dead time compensation /
current bias 1
Lost motion compensation non-sensitive band
/current bias 2
Position loop gain 1 in spindle synchronous
control
Position loop gain 2 in spindle synchronous
control
Excessive error detection width in special
control
HC53 HC103 HC153 HC203 HC353 HC453 HC703
6 6 6 6 6 6 6 6 6 6
0 0 0 0 0 0 0 0 0 0
0 0 0 10240 10240 10240 10240 10240 10240 10240
15 15 15 15 15 15 15 15 15 15
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
Standard HC motor 3000 r/min rating Motor
3 - 10
3. Setup
(3) HC Series (Low-inertia)
High-gain specifications
Parameter
No. Abbrev. Details Unit capacity 10 10 20 35 45
SV001 PC1 Motor side gear ratio --- --- --- --- --SV002 PC2 Machine side gear ratio --- --- --- --- --SV003 PGN1 Position loop gain 1 33 33 33 33 33
SV004 PGN2 Position loop gain 2 0 0 0 0 0
SV005 VGN1 Speed loop gain 1 15 15 20 40 40
SV006 VGN2 Speed loop gain 2 0 0 0 0 0
SV007 VIL Speed loop delay compensation 0 0 0 0 0
SV008 VIA Speed loop lead compensation 1364 1364 1364 1364 1364
SV009 IQA Current loop q axis lead compensation 4096 4096 4096 4096 4096
SV010 IDA Current loop d axis lead compensation 4096 4096 4096 4096 4096
SV011 IQG Current loop q axis gain 256 256 256 256 512
SV012 IDG Current loop d axis gain 512 512 512 512 512
SV013 ILMT Current limit value 500 500 500 500 500
SV014 ILMTsp Current limit value in special control 500 500 500 500 500
SV015 FFC Acceleration rate feed forward gain 0 0 0 0 0
SV016 LMC1 Lost motion compensation 1 0 0 0 0 0
SV017 SPEC Servo specification selection 0000 0000 0000 0000 0000
SV018 PIT Ball screw pitch --- --- --- --- --SV019 RNG1 Position detector resolution --- --- --- --- --SV020 RNG2 Speed detector resolution --- --- --- --- --SV021 OLT Overload detection time constant 60 60 60 60 60
SV022 OLL Overload detection level 150 150 150 150 150
SV023 OD1 Excessive error detection width during servo ON 6 6 6 6 6
SV024 INP In-position detection width 50 50 50 50 50
SV025 MTYP Motor/detector type xxE1 xxE2 xxE3 xxE4 xxE5
SV026 OD2
SV027 SSF1 Servo function selection 1 4000 4000 4000 4000 4000
SV028 0 0 0 0 0
SV029 VCS Speed at the change of speed loop gain 0 0 0 0 0
SV030 IVC
SV031 OVS1 Overshooting compensation 1 0 0 0 0 0
SV032 TOF Torque offset 0 0 0 0 0
SV033 SSF2 Servo function selection 2 0200 0200 0200 0200 0200
SV034 SSF3 Servo function selection 3 0000 0000 0000 0000 0000
SV035 SSF4 Servo function selection 4 0000 0000 0000 0000 0000
SV036 PTYP Power supply type 0000 0000 0000 0000 0000
SV037 JL Load inertia scale 0 0 0 0 0
SV038 FHz1 Notch filter frequency 1 0 0 0 0 0
SV039 LMCD Lost motion compensation timing 0 0 0 0 0
SV040 LMCT
SV041 LMC2 Lost motion compensation 2 0 0 0 0 0
SV042 OVS2 Overshooting compensation 2 0 0 0 0 0
SV043 OBS1 Disturbance observer filter frequency 0 0 0 0 0
SV044 OBS2 Disturbance observer gain 0 0 0 0 0
SV045 TRUB Frictional torque/current bias 3 0 0 0 0 0
SV046 FHz2 Notch filter frequency 2 0 0 0 0 0
SV047 EC Inductive voltage compensation gain 100 100 100 100 100
SV048 EMGrt Vertical axis drop prevention time 0 0 0 0 0
SV049 PGN1sp
SV050 PGN2sp
SV051 DFBT Dual feedback control time constant 0 0 0 0 0
SV052 DFBN Dual feedback control non-sensitive band 0 0 0 0 0
SV053 OD3
SV054 ORE Overrun detection width in closed loop control 0 0 0 0 0
SV055 EMGx Max. gate off delay time after emergency stop 0 0 0 0 0
SV056 EMGt Deceleration time constant at emergency stop 0 0 0 0 0
SV057 SHGC SHG control gain 0 0 0 0 0
SV058 SHGCsp SHG control gain in spindle synchronous control 0 0 0 0 0
SV059 TCNV Collision detection torque estimating gain 0 0 0 0 0
SV060 TLMT Collision detection level 0 0 0 0 0
SV061 DA1NO D/A output channel 1 data No. 0 0 0 0 0
SV062 DA2NO D/A output channel 2 data No. 0 0 0 0 0
SV063 DA1MPY D/A output channel 1 output scale 0 0 0 0 0
SV064 DA2MPY D/A output channel 2 output scale 0 0 0 0 0
SV065 TLC Tool end compensation spring constant 0 0 0 0 0
Excessive error detection width during servo
OFF
Voltage dead time compensation /
current bias 1
Lost motion compensation non-sensitive band
/current bias 2
Position loop gain 1 in spindle synchronous
control
Position loop gain 2 in spindle synchronous
control
Excessive error detection width in special
control
HC103R HC153R HC203R HC353R HC503R
6 6 6 6 6
0 0 0 0 0
0 0 0 0 0
15 15 15 15 15
0 0 0 0 0
0 0 0 0 0
Low-inertia HC motor Motor
3 - 11
3. Setup
(4) HA series
High-gain specifications
Parameter
No. Abbrev. Details Unit capacity 01 01 03 03 110 150
SV001 PC1 Motor side gear ratio --- --- --- --- --- --SV002 PC2 Machine side gear ratio --- --- --- --- --- --SV003 PGN1 Position loop gain 1 33 33 33 33 33 33
SV004 PGN2 Position loop gain 2 0 0 0 0 0 0
SV005 VGN1 Speed loop gain 1 70 70 100 100 150 150
SV006 VGN2 Speed loop gain 2 0 0 0 0 0 0
SV007 VIL Speed loop delay compensation 0 0 0 0 0 0
SV008 VIA Speed loop lead compensation 1364 1364 1364 1364 1364 1364
SV009 IQA Current loop q axis lead compensation 4096 4096 4096 4096 4096 4096
SV010 IDA Current loop d axis lead compensation 4096 4096 4096 4096 4096 4096
SV011 IQG Current loop q axis gain 768 768 768 768 512 512
SV012 IDG Current loop d axis gain 768 768 768 768 512 512
SV013 ILMT Current limit value 500 500 500 500 500 500
SV014 ILMTsp Current limit value in special control 500 500 500 500 500 500
SV015 FFC Acceleration rate feed forward gain 0 0 0 0 0 0
SV016 LMC1 Lost motion compensation 1 0 0 0 0 0 0
SV017 SPEC Servo specification selection 0000 0000 0000 0000 0000 0000
SV018 PIT Ball screw pitch --- --- --- --- --- --SV019 RNG1 Position detector resolution --- --- --- --- --- --SV020 RNG2 Speed detector resolution --- --- --- --- --- --SV021 OLT Overload detection time constant 60 60 60 60 60 60
SV022 OLL Overload detection level 150 150 150 150 150 150
SV023 OD1 Excessive error detection width during servo ON 6 6 6 6 6 6
SV024 INP In-position detection width 50 50 50 50 50 50
SV025 MTYP Motor/detector type xx8C xx8D xx8E xx8F xx2E xx2F
SV026 OD2
SV027 SSF1 Servo function selection 1 4000 4000 4000 4000 4000 4000
SV028 0 0 0 0 0 0
SV029 VCS Speed at the change of speed loop gain 0 0 0 0 0 0
SV030 IVC
SV031 OVS1 Overshooting compensation 1 0 0 0 0 0 0
SV032 TOF Torque offset 0 0 0 0 0 0
SV033 SSF2 Servo function selection 2 0000 0000 0000 0000 0000 0000
SV034 SSF3 Servo function selection 3 0000 0000 0000 0000 0000 0000
SV035 SSF4 Servo function selection 4 0000 0000 0000 0000 0000 0000
SV036 PTYP Power supply type 0000 0000 0000 0000 0000 0000
SV037 JL Load inertia scale 0 0 0 0 0 0
SV038 FHz1 Notch filter frequency 1 0 0 0 0 0 0
SV039 LMCD Lost motion compensation timing 0 0 0 0 0 0
SV040 LMCT
SV041 LMC2 Lost motion compensation 2 0 0 0 0 0 0
SV042 OVS2 Overshooting compensation 2 0 0 0 0 0 0
SV043 OBS1 Disturbance observer filter frequency 0 0 0 0 0 0
SV044 OBS2 Disturbance observer gain 0 0 0 0 0 0
SV045 TRUB Frictional torque/current bias 3 0 0 0 0 0 0
SV046 FHz2 Notch filter frequency 2 0 0 0 0 0 0
SV047 EC Inductive voltage compensation gain 100 100 100 100 100 100
SV048 EMGrt Vertical axis drop prevention time 0 0 0 0 0 0
SV049 PGN1sp
SV050 PGN2sp
SV051 DFBT Dual feedback control time constant 0 0 0 0 0 0
SV052 DFBN Dual feedback control non-sensitive band 0 0 0 0 0 0
SV053 OD3 Excessive error detection width in special contr ol 0 0 0 0 0 0
SV054 ORE Overrun detection width in closed loop control 0 0 0 0 0 0
SV055 EMGx Max. gate off delay time after emergency stop 0 0 0 0 0 0
SV056 EMGt Deceleration time constant at emergency stop 0 0 0 0 0 0
SV057 SHGC SHG control gain 0 0 0 0 0 0
SV058 SHGCsp SHG control gain in spindle synchronous control 0 0 0 0 0 0
SV059 TCNV Collision detection torque estimating gain 0 0 0 0 0 0
SV060 TLMT Collision detection level 0 0 0 0 0 0
SV061 DA1NO D/A output channel 1 data No. 0 0 0 0 0 0
SV062 DA2NO D/A output channel 2 data No. 0 0 0 0 0 0
SV063 DA1MPY D/A output channel 1 output scale 0 0 0 0 0 0
SV064 DA2MPY D/A output channel 2 output scale 0 0 0 0 0 0
SV065 TLC Tool end compensation spring constant 0 0 0 0 0 0
Excessive error detection width during servo
OFF
Voltage dead time compensation /
current bias 1
Lost motion compensation non-sensitive band
/current bias 2
Position loop gain 1 in spindle synchronous
control
Position loop gain 2 in spindle synchronous
control
HA053N HA13N HA23N HA33N HA-LF11K2 HA-LF15K2
Small capacity HA motor Large capacity HA motorMotor
6 6 6 6 6 6
0 0 0 0 0 0
0 0 0 0 0 0
15 15 15 15 15 15
0 0 0 0 0 0
3 - 12
3. Setup
(5) HA series (MDS-B-Vx4)
High-gain specifications
Parameter
No. Abbrev. Details Unit capacity 05 10 20 35 45 70 90
SV001 PC1 Motor side gear ratio --- --- --- --- --- --- --SV002 PC2 Machine side gear ratio --- --- --- --- --- --- --SV003 PGN1 Position loop gain 1 33 33 33 33 33 25 25
SV004 PGN2 Position loop gain 2 0 0 0 0 0 0 0
SV005 VGN1 Speed loop gain 1 150 150 150 150 150 250 250
SV006 VGN2 Speed loop gain 2 0 0 0 0 0 0 0
SV007 VIL Speed loop delay compensation 0 0 0 0 0 0 0
SV008 VIA Speed loop lead compensation 1364 1364 1364 1364 1364 1364 1364
SV009 IQA Current loop q axis lead compensation 4096 4096 4096 4096 4096 4096 4096
SV010 IDA Current loop d axis lead compensation 4096 4096 4096 4096 4096 4096 4096
SV011 IQG Current loop q axis gain 768 768 768 768 768 768 768
SV012 IDG Current loop d axis gain 768 768 768 768 768 768 768
SV013 ILMT Current limit value 500 500 500 500 500 500 500
SV014 ILMTsp Current limit value in special control 500 500 500 500 500 500 500
SV015 FFC Acceleration rate feed forward gain 0 0 0 0 0 0 0
SV016 LMC1 Lost motion compensation 1 0 0 0 0 0 0 0
SV017 SPEC Servo specification selection 0000 0000 0000 0000 0000 0000 0000
SV018 PIT Ball screw pitch --- --- --- --- --- --- --SV019 RNG1 Position detector resolution --- --- --- --- --- --- --SV020 RNG2 Speed detector resolution --- --- --- --- --- --- --SV021 OLT Overload detection time constant 60 60 60 60 60 60 60
SV022 OLL Overload detection level 150 150 150 150 150 150 150
SV023 OD1 Excessive error detection width during servo ON 6 6 6 6 6 6 6
SV024 INP In-position detection width 50 50 50 50 50 50 50
SV025 MTYP Motor/detector type xx00 xx01 xx02 xx03 xx04 xx05 xx85
SV026 OD2
SV027 SSF1 Servo function selection 1 4000 4000 4000 4000 4000 4000 4000
SV028 0 0 0 0 0 0 0
SV029 VCS Speed at the change of speed loop gain 0 0 0 0 0 0 0
SV030 IVC
SV031 OVS1 Overshooting compensation 1 0 0 0 0 0 0 0
SV032 TOF Torque offset 0 0 0 0 0 0 0
SV033 SSF2 Servo function selection 2 0000 0000 0000 0000 0000 0000 0000
SV034 SSF3 Servo function selection 3 0000 0000 0000 0000 0000 0000 0000
SV035 SSF4 Servo function selection 4 0000 0000 0000 0000 0000 0000 0000
SV036 PTYP Power supply type 0000 0000 0000 0000 0000 0000 0000
SV037 JL Load inertia scale 0 0 0 0 0 0 0
SV038 FHz1 Notch filter frequency 1 0 0 0 0 0 0 0
SV039 LMCD Lost motion compensation timing 0 0 0 0 0 0 0
SV040 LMCT
SV041 LMC2 Lost motion compensation 2 0 0 0 0 0 0 0
SV042 OVS2 Overshooting compensation 2 0 0 0 0 0 0 0
SV043 OBS1 Disturbance observer filter frequency 0 0 0 0 0 0 0
SV044 OBS2 Disturbance observer gain 0 0 0 0 0 0 0
SV045 TRUB Frictional torque/current bias 3 0 0 0 0 0 0 0
SV046 FHz2 Notch filter frequency 2 0 0 0 0 0 0 0
SV047 EC Inductive voltage compensation gain 100 100 100 100 100 100 100
SV048 EMGrt Vertical axis drop prevention time 0 0 0 0 0 0 0
SV049 PGN1sp
SV050 PGN2sp
SV051 DFBT Dual feedback control time constant 0 0 0 0 0 0 0
SV052 DFBN Dual feedback control non-sensitive band 0 0 0 0 0 0 0
SV053 OD3 Excessive error detection width in special contr ol 0 0 0 0 0 0 0
SV054 ORE Overrun detection width in closed loop control 0 0 0 0 0 0 0
SV055 EMGx Max. gate off delay time after emergency stop 0 0 0 0 0 0 0
SV056 EMGt Deceleration time constant at emergency stop 0 0 0 0 0 0 0
SV057 SHGC SHG control gain 0 0 0 0 0 0 0
SV058 SHGCsp SHG control gain in spindle synchronous control 0 0 0 0 0 0 0
SV059 TCNV Collision detection torque estimating gain 0 0 0 0 0 0 0
SV060 TLMT Collision detection level 0 0 0 0 0 0 0
SV061 DA1NO D/A output channel 1 data No. 0 0 0 0 0 0 0
SV062 DA2NO D/A output channel 2 data No. 0 0 0 0 0 0 0
SV063 DA1MPY D/A output channel 1 output scale 0 0 0 0 0 0 0
SV064 DA2MPY D/A output channel 2 output scale 0 0 0 0 0 0 0
SV065 TLC Tool end compensation spring constant 0 0 0 0 0 0 0
Excessive error detection width during servo
OFF
Voltage dead time compensation /
current bias 1
Lost motion compensation non-sensitive band
/current bias 2
Position loop gain 1 in spindle synchronous
control
Position loop gain 2 in spindle synchronous
control
HA40N HA80N HA100N HA200N HA300N HA700N HA900N
6 6 6 6 6 6 6
0 0 0 0 0 0 0
0 0 0 0 0 0 0
15 15 15 15 15 15 15
0 0 0 0 0 0 0
HA motor 2000 r/min rating Motor
3 - 13
3. Setup
(6) HA series (MDS-B-Vx4)
High-gain specifications
Parameter
No. Abbrev. Details Unit capacity 05 10 20 35 45 70 90
SV001 PC1 Motor side gear ratio --- --- --- --- --- --- --SV002 PC2 Machine side gear ratio --- --- --- --- --- --- --SV003 PGN1 Position loop gain 1 33 33 33 33 33 33 25
SV004 PGN2 Position loop gain 2 0 0 0 0 0 0 0
SV005 VGN1 Speed loop gain 1 150 150 150 150 150 150 250
SV006 VGN2 Speed loop gain 2 0 0 0 0 0 0 0
SV007 VIL Speed loop delay compensation 0 0 0 0 0 0 0
SV008 VIA Speed loop lead compensation 1364 1364 1364 1364 1364 1364 1364
SV009 IQA Current loop q axis lead compensation 4096 4096 4096 4096 4096 4096 4096
SV010 IDA Current loop d axis lead compensation 4096 4096 4096 4096 4096 4096 4096
SV011 IQG Current loop q axis gain 768 768 768 768 768 768 768
SV012 IDG Current loop d axis gain 768 768 768 768 768 768 768
SV013 ILMT Current limit value 500 500 500 500 500 500 500
SV014 ILMTsp Current limit value in special control 500 500 500 500 500 500 500
SV015 FFC Acceleration rate feed forward gain 0 0 0 0 0 0 0
SV016 LMC1 Lost motion compensation 1 0 0 0 0 0 0 0
SV017 SPEC Servo specification selection 0000 0000 0000 0000 0000 0000 0000
SV018 PIT Ball screw pitch --- --- --- --- --- --- --SV019 RNG1 Position detector resolution --- --- --- --- --- --- --SV020 RNG2 Speed detector resolution --- --- --- --- --- --- --SV021 OLT Overload detection time constant 60 60 60 60 60 60 60
SV022 OLL Overload detection level 150 150 150 150 150 150 150
SV023 OD1 Excessive error detection width during servo ON 6 6 6 6 6 6 6
SV024 INP In-position detection width 50 50 50 50 50 50 50
SV025 MTYP Motor/detector type xx80 xx81 xx8A xx82 xx83 xx84 xx85
SV026 OD2
SV027 SSF1 Servo function selection 1 4000 4000 4000 4000 4000 4000 4000
SV028 0 0 0 0 0 0 0
SV029 VCS Speed at the change of speed loop gain 0 0 0 0 0 0 0
SV030 IVC
SV031 OVS1 Overshooting compensation 1 0 0 0 0 0 0 0
SV032 TOF Torque offset 0 0 0 0 0 0 0
SV033 SSF2 Servo function selection 2 0000 0000 0000 0000 0000 0000 0000
SV034 SSF3 Servo function selection 3 0000 0000 0000 0000 0000 0000 0000
SV035 SSF4 Servo function selection 4 0000 0000 0000 0000 0000 0000 0000
SV036 PTYP Power supply type 0000 0000 0000 0000 0000 0000 0000
SV037 JL Load inertia scale 0 0 0 0 0 0 0
SV038 FHz1 Notch filter frequency 1 0 0 0 0 0 0 0
SV039 LMCD Lost motion compensation timing 0 0 0 0 0 0 0
SV040 LMCT
SV041 LMC2 Lost motion compensation 2 0 0 0 0 0 0 0
SV042 OVS2 Overshooting compensation 2 0 0 0 0 0 0 0
SV043 OBS1 Disturbance observer filter frequency 0 0 0 0 0 0 0
SV044 OBS2 Disturbance observer gain 0 0 0 0 0 0 0
SV045 TRUB Frictional torque/current bias 3 0 0 0 0 0 0 0
SV046 FHz2 Notch filter frequency 2 0 0 0 0 0 0 0
SV047 EC Inductive voltage compensation gain 100 100 100 100 100 100 100
SV048 EMGrt Vertical axis drop prevention time 0 0 0 0 0 0 0
SV049 PGN1sp
SV050 PGN2sp
SV051 DFBT Dual feedback control time constant 0 0 0 0 0 0 0
SV052 DFBN Dual feedback control non-sensitive band 0 0 0 0 0 0 0
SV053 OD3 Excessive error detection width in special control 0 0 0 0 0 0 0
SV054 ORE Overrun detection width in closed loop control 0 0 0 0 0 0 0
SV055 EMGx Max. gate off delay time after emergency stop 0 0 0 0 0 0 0
SV056 EMGt Deceleration time constant at emergency stop 0 0 0 0 0 0 0
SV057 SHGC SHG control gain 0 0 0 0 0 0 0
SV058 SHGCsp SHG control gain in spindle synchronous control 0 0 0 0 0 0 0
SV059 TCNV Collision detection torque estimating gain 0 0 0 0 0 0 0
SV060 TLMT Collision detection level 0 0 0 0 0 0 0
SV061 DA1NO D/A output channel 1 data No. 0 0 0 0 0 0 0
SV062 DA2NO D/A output channel 2 data No. 0 0 0 0 0 0 0
SV063 DA1MPY D/A output channel 1 output scale 0 0 0 0 0 0 0
SV064 DA2MPY D/A output channel 2 output scale 0 0 0 0 0 0 0
SV065 TLC Tool end compensation spring constant 0 0 0 0 0 0 0
Excessive error detection width during servo
OFF
Voltage dead time compensation /
current bias 1
Lost motion compensation non-sensitive band
/current bias 2
Position loop gain 1 in spindle synchronous
control
Position loop gain 2 in spindle synchronous
control
HA43N HA83N HA93N HA103N HA203N HA303N HA703N
6 6 6 6 6 6 6
0 0 0 0 0 0 0
0 0 0 0 0 0 0
15 15 15 15 15 15 15
0 0 0 0 0 0 0
HA motor 3000 r/min rating Motor
3 - 14
3. Setup
3-2-4 Servo parameter list
High-gain specifications
No. Abbrev. Parameter name Explanation
SV001 PC1*
SV002 PC2*
SV003 PGN1 Position loop gain 1
SV004 PGN2 Position loop gain 2
SV005 VGN1 Speed loop gain 1
SV006 VGN2 Speed loop gain 2
SV007 VIL
SV008 VIA
SV009 IQA
SV010 IDA
SV011 IQG
SV012 IDG
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
Motor side gear
ratio
Machine side gear
ratio
Speed loop delay
compensation
Speed loop lead
compensation
Current loop q axis
lead compensation
Current loop d axis
lead compensation
Current loop q axis
gain
Current loop d axis
gain
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. The standard setting is "33".
The higher the setting value is, the more precisely the command can be
followed and the shorter the positioning time gets, however, note that a
bigger shock is applied to the machine during acceleration/deceleration.
When using the SHG control, also set SV004 (PGN2) and SV057 (SHGC).
When using the SHG control, also set SV003 (PGN1) and SV057 (SHGC).
When not using the SHG control, set to "0".
Set the speed loop gain.
Set this according to the load inertia size.
The higher the setting value is, the more accurate the control will be,
however, vibration tends to occur.
If vibration occurs, adjust by lowering by 20 to 30%.
The value should be determined to be 70 to 80% of the value at the time
when the vibration stops.
If the noise is bothersome at high speed
during rapid traverse, etc, lower the speed
loop gain.
As in the right figure, set the speed loop
gain of the speed 1.2 times as fast as the
motor’s rated speed, and use this with
SV029 (VCS).
When not using, set to "0".
Set this when the limit cycle occurs in the full-closed loop, or overshooting
occurs in positioning.
Select the control method with SV027 (SSF1)/bit1, 0 (vcnt).
Normally, use "Changeover type 2".
When you set this parameter, make sure to set the torque offset (SV032
(TOF)). When not using, set to "0".
No changeover
When SV027 (SSF1)/ bit1, 0 (vcnt)=00
The delay compensation control is always valid.
Changeover type 1
When SV027 (SSF1)/ bit1, 0 (vcnt)=01
The delay compensation control works when the command from the NC
is "0".
Overshooting that occurs during pulse feeding can be suppressed.
Changeover type 2
When SV027 (SSF1)/ bit1, 0 (vcnt)=10
The delay compensation control works when the command from the NC
is "0" and the position droop is "0". Overshooting or the limit cycle that
occurs during pulse feeding or positioning can be suppressed.
Set the gain of the speed loop integration control.
The standard setting is "1364". During the SHG control, the standard
setting is "1900". Adjust the value by increasing/decreasing it by about
100 at a time.
Raise this value to improve contour tracking precision in high-speed
cutting. Lower this value when the position droop vibrates (10 to 20Hz).
Set the gain of current loop.
As this setting is determined by the motor’s electrical characteristics, the
setting is fixed for each type of motor.
Set the standard values for all the parameters depending on each motor
type.
VGN1
VGN2
VCS VLMT
0
(Rated speed*1.2)
Setting
range (Unit)
1 to 32767
1 to 32767
1 to 200
(rad/s)
0 to 999
(rad/s)
1 to 999
-1000 to
1000
0 to 32767
1 to 9999
1 to 20480
1 to 4096
3 - 15
3. Setup
High-gain specifications
No. Abbrev. Parameter name Explanation
Set the normal current (torque) limit value. (Limit values for both + and -
SV013 ILMT Current limit value
SV014 ILMTsp
SV015 FFC
SV016 LMC1
Current limit value in
special control
Acceleration rate
feed forward gain
Lost motion
compensation 1
direction.)
When the value is "500" (a standard setting), the maximum torque is
determined by the specification of the motor.
Set the current (torque) limit value in a special control (initial absolute
position setting, stopper control, etc). (Limit values for both of the + and directions.)
Set to "500" when not using.
When a relative error in the synchronous control is large, apply this
parameter to the axis that is delaying. The standard setting value is "0".
For the SHG control, set to "100".
To adjust a relative error in acceleration/deceleration, increase the value by
50 to 100 at a time.
Set this when the protrusion (that occurs due to the non-sensitive band by
friction, torsion, backlash, etc.) at quadrant change is too large.
This compensates the torque at quadrant change.
This is valid only when the lost motion compensation (SV027 (SSF1/lmc))
is selected.
Type 1: When SV027 (SSF1)/bit9, 8 (lmc)=01
Set the compensation amount based on the motor torque before the
quadrant change.
The standard setting is "100". Setting to "0" means the compensation
amount is zero.
Normally, use Type 2.
Type 2: When SV027 (SSF1)/bit9, 8 (lmc)=10
Set the compensation amount based on the stall (rated) current of the
motor.
The standard setting is double of the friction torque. Setting to "0"
means the compensation amount is zero.
When you wish different compensation amount depending on the direction
When SV041 (LMC2) is "0", compensate with the value of SV016
(LMC1) in both of the + and -directions.
If you wish to change the compensation amount depending on the
command direction, set this and SV041 (LMC2). (SV016: + direction,
SV041: - direction. However, the directions may be opposite
depending on other settings.)
When "-1" is set, the compensation won’t be performed in the direction of
the command.
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
Setting
range (Unit)
0 to 999
(Stall
[rated]
current %)
0 to 999
(Stall
[rated]
current %)
0 to 999
(%)
-1 to 200
(%)
-1 to 200
(Stall
[rated]
current %)
3 - 16
3. Setup
High-gain specifications
No. Abbrev. Parameter name Explanation
HEX setting
FEDCB A 98765 4 3 2 10
spm drvall drvup mpt mp abs vdir fdir vfb seqh dfbx fdir2
bit Meaning when "0" is set Meaning when "1" is set
0 fdir2 Speed feedback forward polarity Speed feedback reverse polarity
1 dfbx Dual feedback control stop Dual feedback control start
2 seqh
4 fdir Position feedback forward polarity Position feedback reverse polarity
5vdir
SV017 SPEC*
8 mp MP scale 360P (2mm pitch) MP scale 720P (1mm pitch)
C
D
E
F
SV018 PIT* Ball screw pitch Set the ball screw pitch. Set to "3 60" for the rotary axis.
3vfb
Servo specification
selection
9
A
B
6
7 abs Incremental control Absolute position control
(Note) Set to "0" for bits with no particular description.
Speed feedback filter stop Speed feedback filter stop
Standard setting HA motor (4 pole motor)
MP scale ABS detection NC
mpt
control
Standard setting Possible to connect a drive unit
drv
up
drv
Setting for normal use Possible to connect a drive unit
all
0 : Setting for normal use
1 : When using the S type drive unit (Only in the case of MDS-C1-Vx)
spm
2 to F : Setting probhited
(2250Hz)
Detector installation position 90
degrees (B, D)
MP scale ABS detection
automatic (Standard setting)
whose capacity is 1 rank higher/
lower than the standard one.
with any capacity.
Setting
range (Unit)
1 to 32767
(mm/rev)
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
3 - 17
3. Setup
High-gain specifications
No. Abbrev. Parameter name Explanation
In the case of the semi-closed loop control
Set the same value as SV020 (RNG2). (Refer to the explanation of
SV020.)
In the case of the full-closed loop control
Set the number of pulses per ball screw pitch.
Detector model name Resolution SV019 setting
OHE25K-E T, OHA 2 5 K - E T 100,000 (p/rev) 100
OSE104-ET,OSA104-ET 100,000 (p/rev) 100
OSE105-ET,OSA105-ET 1,000,000 (p/rev) 1000
RCN723 (Heidenhain) 8,000,000 (p/rev) 8000
Relative position
SV019 RNG1*
Position detector
resolution
detection scale
AT41 (Mitsutoyo) 1 (µm/p)
FME type, FLE type
(Futaba)
MP type (Mitsubishi
Heavy Industries)
AT342 (Mitsutoyo) 0.5 (µm/p)
AT343 (Mitsutoyo) 0.05 (µm/p)
LC191M (Heidenhain)
LC491M (Heidenhain)
Set the number of pulses per one revolution of the motor end detector.
SV020 RNG2*
SV021 OLT
SV022 OLL
Speed detector
resolution
Overload detection
time constant
Overload detection
level
Detector model name SV020 setting
OSE104, OSA104 100
OSE105, OSA105 1000
Set the detection time constant of Overload 1 (Alarm 50).
Set to "60" as a standard. (For machine tool builder adjustment.)
Set the current detection level of Overload 1 (Alarm 50) in respect to the
stall (rated) current.
Set to "150" as a standard. (For machine tool builder adjustment.)
Set the excessive error detection width when servo ON.
SV023 OD1
Excessive error
detection width
<Standard
setting value>
OD1=OD2=
during servo ON
When "0" is set, the excessive error detection will not be performed.
Set the in-position detection width.
SV024 INP
In-position
detection width
Set the accuracy required for the machine.
The lower the setting is, the higher the positioning accuracy gets, however,
the cycle time (setting time) becomes longer. The standard setting is "50".
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
Refer to specification
manual for each detector
Refer to specification
manual for each detector
Refer to specification
manual for each detector
Refer to specification
manual for each detector.
Refer to specification
manual for each detector.
Rapid traverse rate
(mm/min)
× PGN1
60
PIT/Resolution
µm)
(
The same as
SV018 (PIT)
PIT/Resolution
µm)
(
PIT/Resolution
µm)
(
Twice as big as
SV018 (PIT)
20 times as big
as SV018 (PIT)
PIT/Resolution
µm)
(
PIT/Resolution
µm)
(
÷ 2 (mm)
Setting range
(Unit)
1 to 9999
(kp/rev)
1 to 9999
(kp/pit)
1 to 9999
(kp/rev)
1 to 999
(s)
110 to 500
(Stall [rated]
current %)
0 to 32767
(mm)
0 to 32767
(µm)
3 - 18
3. Setup
High-gain specifications
No. Abbrev. Parameter name Explanation
F E D C B A 9 8 7 6 5 4 3 2 1 0
pen ent mtyp
bit Explanation
0 Set the motor type. Set this along with SV017 (SPEC)/spm.
1 1) When SV017/spm=0 (Normal drive unit)
2 Setting 0x 1x 2x 3x 4x 5x 6x 7x
3 x0 HA40N HA50L HA53L
4
5 x2 HA100N HA200L HA203L
6 x3 HA200N HA300L HA303L
7 x4 HA300N HA500L HA503L
x5 HA700N
x6 HA900N
x7 HALH11K2
x8 HALH15K2
x9
xA HA150L HA153L
xB
xC
xD
xE HALF11K2
xF HA-LF15K2
Setting 8x 9x Ax Bx Cx Dx Ex Fx
x0 HA43N HC52 HC53
x1 HA83N HC102 HC103 HC103R
x2 HA103N HC152 HC153 HC153R
SV025 MTYP* Motor/Detector type
x5 HA703N HC452 HC453 HC503R
x6 HC702 HC703
x9
xA HA93N
xB
xC HA053N
xD HA13N
xE HA23N
xF HA33N
2) When SV017/spm=1 (S type drive unit)
Setting 8x 9x Ax Bx Cx Dx Ex Fx
x0
x1
x2
x3
x4 HC353
x5 HC452 HC453
x6 HC702 HC703
x7 HC902
x8
x9
xA
xB
xC
xD
xE
xF
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
x3 HA203N HC202 HC203 HC203R
x7 HC902
mtyp
x1 HA80N HA100L HA103L
x4 HA303N HC352 HC353 HC353R
x8
3 - 19
3. Setup
High-gain specifications
No. Abbrev. Parameter name Explanation
8
9
A
B
C
D 0 0 OSE104
E
F 2 2 OSE105, OSA105
3 3
4 Setting impossible OHE25K-ET, OSE104-ET
5 Setting impossible OHA25K-ET, OSA104-ET
SV025 MTYP* Motor/Detector type
6 Setting impossible
8 Setting impossible
9 Setting impossible
A Setting impossible
B Setting impossible
C
D
E Setting impossible
F Setting impossible
SV026 OD2
Excessive error
detection width
during servo OFF
Set the excessive error detection width when servo ON.
For the standard setting, refer to the explanation of SV023 (OD1).
When "0" is set, the excessive error detection will not be performed.
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
Set the detector type.
Set the position detector type for "pen", and the speed detector type
ent
for "ent". In the case of the semi-closed loop control, set the same
value for "pen" and "ent".
pen
setting
pen
1 1 OSA104
ent setting Detector model name
OSE105-ET, OSA105-ET, RCN723
7 Setting impossible
C
(Current
synchronization)
E
(Current
synchronization)
(Heidenhain)
Relative position detection scale, MP type
(Mitsubishi Heavy Industries)
AT41 (Mitsutoyo), FME type, FLE type
(Futaba)
AT342, AT343 (Mitsutoyo),
LC191M/491M (Heidenhain), MDS-B-HR
The setting of the slave axis in the speed/current
synchronization control.
When the master axis is the semi-closed control.
The setting of the slave axis in the speed/ current
synchronization control.
When the master axis is the full-closed control.
(Current synchronization control is only for
MDS-C1-V2.)
Setting range
(Unit)
0 to 32767
(mm)
3 - 20
s
3. Setup
High-gain specifications
No. Abbrev. Parameter name Explanation
HEX setting
F E D C B A 9 8 7 6 5 4 3 2 1 0
aflt zrn2 afse ovs lmc omr zrn3 vfct upc vcnt
bit Meaning when "0" is set Meaning when "1" is set
0
1
2 upc Starting torque compensation invalid Starting torque compensation valid
3
4
Set the execution changeover type of the speed loop delay compensation.
vcnt
00: Delay compensation changeover invalid
01: Delay compensation changeover type 1
Set the number of compensation pulses of the jitter compensation.
vfct
00: Jitter compensation invalid
5
01: Jitter compensation 1 pulse
10: Jitter compensation 2 pulses
11: Jitter compensation 3 pulses
10: Delay compensation type 2
11: Setting prohibited
SV027 SSF1 Servo function 6 zrn3 ABS scale: Set to "1" in using AT342, AT343, LC191M/491M.
selection 1 7 omr Machine end compensation invalid Machine end compensation valid
8
A
C 00: Adaptive filter sensitivity standard
D
Ezrn2Set to "1".
F aflt Adaptive filter stop Adaptive filter start
B
(Note) Set to "0" for bits with no particular description.
Set the compensation amount with SV016 (LMC1) and SV041 (LMC2).
lmc
00: Lost motion compensation stop
9
01: Lost motion compensation type 1
Set the compensation amount with SV031 (OVS1) and SV042 (OVS2).
ovs
00: Overshooting compensation stop
01: Overshooting compensation type 1
afse
11: Adaptive filter sensitivity increase (Set 2bits at a time)
10: Lost motion compensation type 2
11: Setting prohibited
10: Overshooting compensation type 2
11: Overshooting compensation type 3
SV028 Not used. Set to "0". 0
If the noise is bothersome at high speed during rapid traverse, etc, lower
the speed loop gain.
Set the speed at which the speed loop gain changes, and use this with
SV006 (VGN2). (Refer to SV006)
SV029 VCS
Speed at the change
of speed loop gain
When not using, set to "0".
The higher order 8bits and lower order 8bits are used for different functions.
"The setting value of SV030" = (Ic x 256) + IVC
Abbrev. Parameter name Explanation
Setting range
(Unit)
When 100% is set, the voltage equivalent to the logical
non-energized time will be compensated.
When "0" is set, a 100% compensation will be performed.
Adjust in increments of 10% from the default value 100%.
If increased too much, vibration or vibration noise may be
0 to 255
(%)
SV030
IVC
Voltage dead time
(Low
compensation
order)
generated.
Icx
(High
order)
Current bias 1
Normally set to "0".
Use this in combination with SV040 and the high order 8bit
of SV045.
0 to 127
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
Setting range
0 to 9999
0 to 32767
(Unit)
(r/min)
3 - 21
Loading...