Mds-c1 Series Instruction Manual

CNC
AC SERVO/SPINDLE MDS-C1 Series
INSTRUCTION MANUAL
BNP-B2365A(ENG)
MELDAS is a registered trademark of Mitsubishi Electric Corporation. Other company and product names that appear in this manual are trademarks or registered trademarks of their respective companies.
Introduction
Thank you for selecting the Mitsubishi numerical control unit. This instruction manual describes the handling and caution points for using this AC servo/spindle. Incorrect handling may lead to unforeseen accidents, so always read this instruction manual thoroughly to ensure correct usage. Make sure that this instruction manual is delivered to the end user. Always store this manual in a safe place. All specifications for the MDS-C1 Series are described in this manual. However, each CNC may not be provided with all specifications, so refer to the specifications for the CNC on hand before starting use.
Notes on Reading This Manual

(1) Since the description of this specification manual deals with NC in general, for the specifications of individual machine tools, refer to the manuals issued by the respective machine manufacturers. The "restrictions" and "available functions" described in the manuals issued by the machine manufacturers have precedence to those in this manual. (2) This manual describes as many special operations as possible, but it should be kept in mind that items not mentioned in this manual cannot be performed.
Precautions for safety

Please read this manual and auxiliary documents before starting installation, operation, maintenance or inspection to ensure correct usage. Thoroughly understand the device, safety information and precautions before starting operation. The safety precautions in this instruction manual are ranked as "WARNING" and "CAUTION".
DANGER
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.
WARNING
CAUTION
Note that some items described as
CAUTION may lead to major results depending on
the situation. In any case, important information that must be observed is described.
The numeric control unit is configured of the control unit, operation board, servo drive unit, spindle drive unit, power supply unit, servomotor and spindle motor, etc. In this section "Precautions for safety", the following items are generically called the "servomotor". Servomotor Spindle motor In this section "Precautions for safety", the following items are generically called the "servo drive unit". Servo drive unit Spindle drive unit Power supply unit
WARNING
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.
CAUTION
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. The battery unit could heat up, ignite or rupture if submerged in water, or if the poles are incorrectly wired.
2. Injury prevention
Do not apply a voltage other than that specified in Instruction Manual on each terminal. Failure to observe this item could lead to ruptures or damage, etc. Do not mistake the terminal connections. Failure to observe this item could lead to ruptures or damage, etc. Do not mistake the polarity ( + , ). Failure to observe this item could lead to ruptures or 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
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 inner 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. Environment Ambient temperature Ambient humidity Storage temperature Storage humidity Atmosphere Altitude Vibration Conditions Servo drive unit Servomotor 0C to +55C (with no freezing) 0C to +40C (with no freezing) 90%RH or less 80% RH or less (with no dew condensation) (with no dew condensation) -15C to +70C 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 1,000m or less above sea level To follow each unit and motor 4.9m/s2 (0.5G) or less specifications
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 130C. 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.
CAUTION
(2) Wiring 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. When using an inductive load such as a relay, always connect a diode as a noise measure parallel to the load.
Servodrive unit COM (24VDC)
Servodrive unit COM (24VDC)
Control output signal
RA
Control output signal
RA
When using a capacitance load such as a lamp, always connect a protective resistor as a noise measure serial to the load. Do not reverse the direction of a diode which connect to a DC relay for the control output signals 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.
CAUTION
(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 operation 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.
Shut off with the servomotor brake control output. Servomotor MBR Shut off with NC brake control PLC output. EMG
Magnetic brake
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. Installation 1-1 Installation of servomotor..................................................................................................... 1-2 1-1-1 Environmental conditions .............................................................................................. 1-2 1-1-2 Quakeproof level............................................................................................................ 1-2 1-1-3 Cautions for mounting load (prevention of impact on shaft) ......................................... 1-3 1-1-4 Installation direction ....................................................................................................... 1-3 1-1-5 Shaft characteristics ...................................................................................................... 1-4 1-1-6 Oil/water standards........................................................................................................ 1-5 1-1-7 Cable stress ................................................................................................................... 1-7 1-2 Installation of spindle motor ................................................................................................. 1-8 1-2-1 Environmental conditions .............................................................................................. 1-8 1-2-2 Shaft characteristics ...................................................................................................... 1-9 1-3 Installation of the control unit ............................................................................................. 1-10 1-3-1 Environmental conditions ............................................................................................ 1-10 1-3-2 Installation direction and clearance ............................................................................. 1-11 1-3-3 Prevention of entering of foreign matter...................................................................... 1-11 1-3-4 Panel installation hole work drawings (Panel cut drawings)....................................... 1-12 1-3-5 Heating value............................................................................................................... 1-13 1-3-6 Heat radiation countermeasures ................................................................................. 1-14 1-4 Installing the spindle detector ............................................................................................ 1-16 1-4-1 Magnetic sensor .......................................................................................................... 1-16 1-4-2 Spindle end detector.................................................................................................... 1-18 1-4-3 Spindle end PLG.......................................................................................................... 1-19 1-5 Noise measures ................................................................................................................. 1-22 2. Wiring and Connection 2-1 Part system connection diagram ......................................................................................... 2-3 2-2 Main circuit terminal block/control circuit connector............................................................ 2-4 2-2-1 Names and applications of main circuit terminal block signals and control circuit connectors ..................................................................................................................... 2-4 2-2-2 Connector pin assignment............................................................................................. 2-5
2-3 NC and drive unit connection ......................................................................................................... 2-8 2-4 Motor and detector connection ..................................................................................................... 2-11
2-4-1 Connecting the servomotor ......................................................................................... 2-11 2-4-2 Connecting the full-closed loop system....................................................................... 2-18 2-4-3 Connecting the synchronous control system .............................................................. 2-22 2-4-4 Connection of the spindle motor.................................................................................. 2-28 2-5 Connection of power supply .............................................................................................. 2-33 2-5-1 Power supply input connection ...................................................................................... 2-34 2-5-2 Connecting the grounding cable.................................................................................. 2-37 2-5-3 Main circuit control ......................................................................................................... 2-38 2-6 Wiring of the motor brake .................................................................................................. 2-39 2-6-1 Wiring of the motor magnetic brake ............................................................................ 2-39 2-6-2 Dynamic brake unit wiring ........................................................................................... 2-41 2-7 Peripheral control wiring....................................................................................................... 2-42 2-7-1 Input/output circuit wiring ............................................................................................... 2-42 2-7-2 Spindle coil changeover .............................................................................................. 2-43 2-7-3 Wiring of an external emergency stop......................................................................... 2-46
3. Setup 3-1 Initial setup ........................................................................................................................... 3-2 3-1-1 Setting the rotary switch ................................................................................................ 3-2 3-1-2 Transition of LED display after power is turned ON...................................................... 3-3 3-1-3 Servo standard specifications and high-gain specifications ......................................... 3-4 3-2 Setting the initial parameters for the servo drive unit (High-gain specifications)................ 3-5 3-2-1 Setting the standard parameters ................................................................................... 3-5 3-2-2 List of standard parameters for each servomotor ....................................................... 3-11 3-2-3 Servo parameter list..................................................................................................... 3-23 3-3 Setting the initial parameters for the servo drive unit (Standard specifications)............... 3-39 3-3-1 Setting the standard parameters ................................................................................. 3-39 3-3-2 List of standard parameters for each servomotor ....................................................... 3-44 3-3-3 Servo parameter list..................................................................................................... 3-51 3-4 Restrictions on servo control ............................................................................................. 3-63 3-4-1 Restrictions of electronic gear setting value................................................................ 3-63 3-4-2 Restrictions on absolute position control..................................................................... 3-64 3-5 Setting the initial parameters for the spindle drive unit ..................................................... 3-65 3-5-1 Spindle specification parameters ................................................................................ 3-65 3-5-2 List of spindle parameters ........................................................................................... 3-70 3-6 Initial adjustment of the spindle PLG............................................................................... 3-104 3-6-1 Adjusting the PLG installation.................................................................................... 3-104 3-6-2 Z phase automatic adjustment .................................................................................. 3-110 3-6-3 Motor end PLG automatic adjustment....................................................................... 3-111 3-6-4 Spindle end PLG automatic adjustment.................................................................... 3-112 4. Servo Adjustment 4-1 D/A output specifications for servo drive unit ...................................................................... 4-2 4-1-1 D/A output specifications ............................................................................................... 4-2 4-1-2 Output data settings....................................................................................................... 4-3 4-1-3 Setting the output magnification .................................................................................... 4-3 4-2 Gain adjustment................................................................................................................... 4-4 4-2-1 Current loop gain ........................................................................................................... 4-4 4-2-2 Speed loop gain............................................................................................................. 4-4 4-2-3 Position loop gain .......................................................................................................... 4-6 4-3 Characteristics improvement ............................................................................................... 4-9 4-3-1 Optimal adjustment of cycle time .................................................................................. 4-9 4-3-2 Vibration suppression measures ................................................................................. 4-11 4-3-3 Improving the cutting surface precision....................................................................... 4-15 4-3-4 Improvement of characteristics during acceleration/deceleration .............................. 4-19 4-3-5 Improvement of protrusion at quadrant changeover................................................... 4-22 4-3-6 Improvement of overshooting...................................................................................... 4-29 4-3-7 Improvement of the interpolation control path............................................................. 4-31 4-4 Adjustment during full closed loop control......................................................................... 4-33 4-4-1 Outline.......................................................................................................................... 4-33 4-4-2 Speed loop delay compensation ................................................................................. 4-34 4-4-3 Dual feedback control (Optional function) ................................................................... 4-35 4-5 Settings for emergency stop.............................................................................................. 4-37 4-5-1 Deceleration control..................................................................................................... 4-37 4-5-2 Vertical axis drop prevention control ........................................................................... 4-39 4-6 Protective functions............................................................................................................ 4-43 4-6-1 Overload detection....................................................................................................... 4-43 4-6-2 Excessive error detection ............................................................................................ 4-43 4-6-3 Collision detection........................................................................................................ 4-44
5. Spindle Adjustment 5-1 D/A output specifications for spindle drive unit ................................................................... 5-2 5-1-1 D/A output specifications ............................................................................................... 5-2 5-1-2 Setting the output data .................................................................................................. 5-3 5-1-3 Setting the output magnification .................................................................................... 5-4 5-2 Spindle control signal........................................................................................................... 5-6 5-2-1 Spindle control input (NC to SP) ................................................................................... 5-6 5-2-2 Spindle control output (SP to NC) ............................................................................... 5-15 5-3 Adjustment procedures for each control ........................................................................... 5-26 5-3-1 Basic adjustments........................................................................................................ 5-26 5-3-2 Adjusting the acceleration/deceleration operation ...................................................... 5-27 5-3-3 Adjusting the orientation control .................................................................................. 5-35 5-3-4 Adjusting the synchronous tap control ........................................................................ 5-49 5-3-5 Adjusting the C-axis control......................................................................................... 5-53 5-3-6 Adjusting the spindle synchronous control.................................................................. 5-56 6. Troubleshooting 6-1 Points of caution and confirmation ...................................................................................... 6-2 6-1-1 LED display when alarm or warning occurs.................................................................. 6-3 6-2 Protective functions list of units ........................................................................................... 6-4 6-2-1 List of alarms.................................................................................................................. 6-4 6-2-2 List of warnings .............................................................................................................. 6-9 6-3 Troubleshooting ................................................................................................................. 6-10 6-3-1 Troubleshooting at power ON ..................................................................................... 6-10 6-3-2 Troubleshooting for each alarm No............................................................................. 6-11 6-3-3 Troubleshooting for each warning No. ........................................................................ 6-38 6-3-4 Parameter numbers during initial parameter error...................................................... 6-42 6-3-5 Troubleshooting the spindle system when there is no alarm or warning ................... 6-43 7. Maintenance 7-1 Inspections ........................................................................................................................... 7-2 7-2 Service parts ........................................................................................................................ 7-2 7-3 Adding and replacing units and parts .................................................................................. 7-3 7-3-1 Replacing the drive unit ................................................................................................. 7-3 7-3-2 Replacing the unit fan .................................................................................................... 7-4 Appendix 1. Cable and Connector Specifications Appendix 1-1 Selection of cable .............................................................................................. A1-2 Appendix 1-1-1 Cable wire and assembly ............................................................................ A1-2 Appendix 1-1-2 Flexible conduits.......................................................................................... A1-4 Appendix 1-2 Cable connection diagram................................................................................. A1-6 Appendix 1-3 Connector outline dimension drawings ........................................................... A1-13 Appendix 2. Compliance to EC Directives Appendix 2-1 Compliance to EC Directives ............................................................................ A2-2 Appendix 2-1-1 European EC Directives.............................................................................. A2-2 Appendix 2-1-2 Cautions for EC Directive compliance........................................................... A2-2
Appendix 3. EMC Installation Guidelines Appendix 3-1 Introduction ........................................................................................................ A3-2 Appendix 3-2 EMC instructions ............................................................................................... A3-2 Appendix 3-3 EMC measures.................................................................................................. A3-3 Appendix 3-4 Measures for panel structure............................................................................. A3-3 Appendix 3-4-1 Measures for control panel unit................................................................... A3-3 Appendix 3-4-2 Measures for door ....................................................................................... A3-4 Appendix 3-4-3 Measures for operation board panel ........................................................... A3-4 Appendix 3-4-4 Shielding of the power supply input section................................................ A3-4 Appendix 3-5 Measures for various cables ............................................................................. A3-5 Appendix 3-5-1 Measures for wiring in panel ....................................................................... A3-5 Appendix 3-5-2 Measures for shield treatment..................................................................... A3-5 Appendix 3-5-3 Servo/spindle motor power cable................................................................ A3-6 Appendix 3-5-4 Servo motor feedback cable ....................................................................... A3-7 Appendix 3-5-5 Spindle motor feedback cable..................................................................... A3-7 Appendix 3-6 EMC countermeasure parts .............................................................................. A3-8 Appendix 3-6-1 Shield clamp fitting ...................................................................................... A3-8 Appendix 3-6-2 Ferrite core .................................................................................................. A3-9 Appendix 3-6-3 Power line filter .......................................................................................... A3-10 Appendix 3-6-4 Surge protector.......................................................................................... A3-15 Appendix 4. Servo/spindle drive unit categories based on higher harmonic suppression countermeasure guidelines Appendix 4-1 Servo/spindle drive unit circuit categories based on higher harmonic suppression countermeasure guidelines............................................................................... A4-2
Contents for MDS-C1 Series SPECIFICATIONS MANUAL (BNP-C3040D)

1. Introduction 1-1 Servo/spindle drive system configuration............1-2
System configuration .................................................1-2 Unit outline type.........................................................1-3 Servomotor type ........................................................1-4 Servo drive unit type ..................................................1-8
4-2
Spindle option ..................................................... 4-14

Magnetic sensor ........................................................4-16 (OSE-1024-3-15-68, OSE-1024-3-15-68-8) ..............4-18
1-1-1 1-1-2
4-2-1
4-2-2 Spindle end detector 4-2-3 4-2-4 4-2-5 4-2-6 4-2-7 C-axis detector (OSE90K) .........................................4-20 C-axis detector (MBE90K).........................................4-22 C-axis detector (MHE90K).........................................4-23 Spindle end PLG (MXE128/180/256/512)..................4-24 Detector conversion unit (MDS-B-PJEX) ...................4-28 Cable connection diagram.........................................4-30 List of cables and connectors ....................................4-31
1-2
Explanation of type..............................................1-4
1-2-1 1-2-2
1-2-3 Spindle motor type.....................................................1-10 1-2-4 Spindle drive unit type ...............................................1-12 1-2-5 1-2-6 Power supply unit type...............................................1-13 AC reactor type..........................................................1-14
4-3
Cables and connectors ....................................... 4-30
4-3-1
2. Specifications 2-1 Servomotor..........................................................2-2

Specifications list .......................................................2-2 Torque characteristics ...............................................2-7 Specifications ............................................................2-10 Output characteristics ................................................2-15 Servo drive unit..........................................................2-20 Spindle drive unit .......................................................2-22 Power supply unit ......................................................2-23 AC reactor .................................................................2-24 D/A output specifications for servo drive unit .............2-25 D/A output specifications for spindle drive unit...........2-26 Explanation of each part ............................................2-27 Restrictions of electronic gear setting value...............2-30 Restrictions on absolute position control....................2-32 2-1-1 2-1-2
4-3-2
5. Peripheral Devices 5-1 5-2 Selecting the wire size ........................................ 5-2 Selection the AC reactor, contactor and no-fuse breaker ........................................... 5-5
2-2
Spindle motor ......................................................2-10
2-2-1 2-2-2
5-2-1 Standard selection.....................................................5-5 5-2-2 Selection when a contactor is shared ........................5-6
2-3
Drive unit .............................................................2-20
2-3-1 2-3-2 2-3-3 2-3-4 2-3-5 2-3-6 2-3-7
5-3 5-4 5-5 5-6 5-7 5-8
Circuit protector .................................................. 5-7 Circuit protector .................................................. 5-8 Noise filter........................................................... 5-9 Surge absorber ................................................... 5-10 Speedometer and load meter ............................. 5-11 Cable for peripheral control ................................ 5-12
Cable for external emergency stop ............................5-12 Cable for servomotor magnetic brake........................5-13
5-8-1 5-8-2
2-4
Restrictions on servo control ...............................2-30
2-4-1 2-4-2
Appendix 1. Outline Dimension Drawings Appendix 1-1 Servomotor outline dimension drawings ............................................................ A1-2
3. Characteristics 3-1 Servomotor..........................................................3-2

3-1-1 3-1-2 3-1-3 3-1-4 3-1-5 3-1-6 Environmental conditions...........................................3-2 Quakeproof level .......................................................3-2 Shaft characteristics ..................................................3-3 Oil/water standards....................................................3-4 Magnetic brake ..........................................................3-5 Dynamic brake characteristics ...................................3-8 Environmental conditions...........................................3-10 Shaft characteristics ..................................................3-10 Environmental conditions...........................................3-11 Heating value.............................................................3-12 Overload protection characteristics............................3-13
Appendix 1-1-1 HC Series ..................................................A1-2 Appendix 1-1-2 HA Series ..................................................A1-8
Appendix 1-2
Outline dimension drawings of spindle motor................................... A1-12
Appendix 1-2-1 SJ Series ...................................................A1-12 Appendix 1-2-2 SJ-V Series................................................A1-15 Appendix 1-2-3 SJ-VS Series .............................................A1-25 Appendix 1-2-4 SJ-PMF Series (IPM motor).......................A1-27
3-2
Spindle motor ......................................................3-10
3-2-1 3-2-2
Appendix 1-3
Unit outline dimension drawings ......... A1-28
Appendix 1-3-1 Servo/spindle drive unit .............................A1-28 Appendix 1-3-2 Power supply unit ......................................A1-37 Appendix 1-3-3 AC rector ...................................................A1-41
3-3
Drive unit characteristics .....................................3-11
3-3-1 3-3-2 3-3-3
Appendix 2. Table and Connector Specifications Appendix 2-1 Selection of cable ............................... A2-2
Appendix 2-1-1 Cable wire and assembly...........................A2-2 Appendix 2-1-2 Flexible conduits........................................A2-4
4. Dedicated Options 4-1 Servo options ......................................................4-2

Battery and terminator option (mandatory selection)..4-3 (mandatory selection for large capacity) ....................4-5 4-1-3 4-1-4 4-1-5 4-1-6 Ball screw end detector .............................................4-7 Machine end detector ................................................4-8 Detector conversion unit (MDS-B-HR) .......................4-10 Signal divider unit (MDS-B-SD) .................................4-12 4-1-1
4-1-2 Dynamic brake unit (MDS-B-DBU)
Appendix 2-2 Appendix 2-3
Cable connection diagram .................. A2-6 Connector outline dimension drawings ............................................................ A2-12 Selecting the servomotor series ......... A3-2
Appendix 3. Selection Appendix 3-1

Appendix 3-1-1 Motor series characteristics .......................A3-2 Appendix 3-1-2 Servomotor precision.................................A3-3
Appendix 3-2
Selection of servomotor capacity........ A3-4
Appendix 3-2-1 Load inertia ratio........................................A3-4 Appendix 3-2-2 Short time characteristics...........................A3-4 Appendix 3-2-3 Continuous characteristics.........................A3-5
(Note) This is the content for SPECIFICATION MANUAL version D. The structure of section and page number may be different other than version D.
Contents for MDS-C1 Series SPECIFICATIONS MANUAL (BNP-C3040D)

Appendix 7. EMS Instruction Guidelines Appendix 3-3 Example of servo selection .................A3-7
Appendix 3-3-1 Motor selection calculation.........................A3-7 Appendix 3-3-2 Servo selection results...............................A3-10 Appendix 3-3-3 Motor shaft conversion load torque ............A3-11 Appendix 3-3-4 Expressions for load inertia calculation ......A3-12
Appendix 7-1 Appendix 7-2 Appendix 7-3 Appendix 7-4
Introduction ......................................... A7-2 EMC instructions................................. A7-2 EMC measures ................................... A7-3 Measures for panel structure .............. A7-3
Appendix 3-4
Selecting the power supply .................A3-13

capacity.....................................................A3-13
Appendix 7-4-1 Measures for control panel unit..................A7-3 Appendix 7-4-2 Measures for door......................................A7-4 Appendix 7-4-3 Measures for operation board panel ..........A7-4 Appendix 7-4-4 Shielding of the power supply input section ..................................................................A7-4
Appendix 3-4-1 Selecting according to the continuous rated Appendix 3-4-2 Selection with maximum momentary capacity ..................................................................A3-14 Appendix 3-4-3 Selection example......................................A3-15
Appendix 7-5
Measures for various cables............... A7-5
Appendix 7-5-1 Measures for wiring in panel ......................A7-5 Appendix 7-5-2 Measures for shield treatment ...................A7-5 Appendix 7-5-3 Servomotor power cable ............................A7-6 Appendix 7-5-4 Servomotor feedback cable .......................A7-6 Appendix 7-5-5 Spindle motor power cable ........................A7-7 Appendix 7-5-6 Spindle motor feedback cable....................A7-7
Appendix 4. Explanation of Large Capacity Spindle Unit Specifications Appendix 4-1 Explanation of large capacity spindle unit specifications .......................................A4-2
Appendix 4-1-1 Outline .......................................................A4-2 Appendix 4-1-2 List of units.................................................A4-2 Appendix 4-1-3 Selection of AC reactor (B-AL), contactor and NFB ....................................A4-2 Appendix 4-1-4 Outline dimension drawings .......................A4-3 Appendix 4-1-5 Panel cut dimension drawing .....................A4-8 Appendix 4-1-6 Heating value.............................................A4-9 Appendix 4-1-7 Selecting the power capacity .....................A4-9 Appendix 4-1-8 Selecting the wire size ...............................A4-9 Appendix 4-1-9 Drive unit connection screw size ................A4-10 Appendix 4-1-10 Connecting each unit ...............................A4-10 Appendix 4-1-11 Restrictions ..............................................A4-12 Appendix 4-1-12 Parameters ..............................................A4-14 Appendix 4-1-13 Precautions..............................................A4-14
Appendix 7-6
EMC countermeasure parts................ A7-8
Appendix 7-6-1 Shield clamp fitting.....................................A7-8 Appendix 7-6-2 Ferrite core ................................................A7-9 Appendix 7-6-3 Power line filter ..........................................A7-10 Appendix 7-6-4 Surge protector..........................................A7-15
Appendix 8. Instruction Manual for Compliance with UL/c-UL Standard Appendix 8. Instruction Manual for Compliance with UL/c-UL Standard ........................ A8-2 Appendix 9. Compliance with China Compulsory Product Certification (CCC Certification) System Appendix 9-1 Outline of China Compulsory Product Certification System ............................ A9-2 Appendix 9-2 First Catalogue of Products subject to Compulsory Product Certification........ A9-2 Appendix 9-3 Precautions for Shipping Products ..... A9-3 Appendix 9-4 Application for Exemption ................... A9-4 Appendix 9-5 Mitsubishi NC Product Subject to /Not Subject to CCC Certification ........ A9-5
Appendix 5. Transportation Restrictions for Lithium Batteries Appendix 5-1 Transportation restrictions for lithium batteries ..............................A5-2
Appendix 5-1-1 Target products..........................................A5-2 Appendix 5-1-2 Handling by user........................................A5-3 Appendix 5-1-3 Regulations enforcement timing.................A5-4
Appendix 6. Compliance to EU EC Directives Appendix 6-1 Compliance to EC Directives ..............A6-2

Appendix 6-1-1 European EC Directives.............................A6-2 Appendix 6-2-2 Cautions for EC Directive compliance ..........A6-2
(Note) This is the content for SPECIFICATION MANUAL version D. The structure of section and page number may be different other than version D.
1. Installation
1-1 Installation of servomotor ................................................................................................................... 1-2 1-1-1 Environmental conditions ............................................................................................................ 1-2 1-1-2 Quakeproof level ......................................................................................................................... 1-2 1-1-3 Cautions for mounting load (prevention of impact on shaft) ....................................................... 1-3 1-1-4 Installation direction..................................................................................................................... 1-3 1-1-5 Shaft characteristics .................................................................................................................... 1-4 1-1-6 Oil/water standards ..................................................................................................................... 1-5 1-1-7 Cable stress ................................................................................................................................ 1-7 1-2 Installation of spindle motor ............................................................................................................... 1-8 1-2-1 Environmental conditions ............................................................................................................ 1-8 1-2-2 Shaft characteristics .................................................................................................................... 1-9 1-3 Installation of the control unit ........................................................................................................... 1-10 1-3-1 Environmental conditions .......................................................................................................... 1-10 1-3-2 Installation direction and clearance........................................................................................... 1-11 1-3-3 Prevention of entering of foreign matter.................................................................................... 1-11 1-3-4 Panel installation hole work drawings (Panel cut drawings) ..................................................... 1-12 1-3-5 Heating value............................................................................................................................. 1-13 1-3-6 Heat radiation countermeasures ............................................................................................... 1-14 1-4 Installing the spindle detector........................................................................................................... 1-16 1-4-1 Magnetic sensor ........................................................................................................................ 1-16 1-4-2 Spindle end detector ................................................................................................................. 1-18 1-4-3 Spindle end PLG ....................................................................................................................... 1-19 1-5 Noise measures ............................................................................................................................... 1-22
1-1
1. Installation
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. 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.
CAUTION
1-1-1 Environmental conditions

Environment Ambient temperature Ambient humidity Storage temperature Storage humidity Atmosphere Altitude Conditions 0C to +40C (with no freezing) 80%RH or less (with no dew condensation) -15C to +70C (with no freezing) 90%RH or less (with no dew condensation) Indoors (Where unit is not subject to direct sunlight) No corrosive gases, flammable gases, oil mist or dust Operation/storage: 1000m or less above sea level Transportation: 10000m or less above sea level
1-1-2 Quakeproof level

Motor type HC52 to HC152, HC53 to HC153 HC103R to HC503R, HA053N to HA33N HC202, HC352, HC203, HC353 HC452, HC702, HC453, HC703 HA-LF11K2-S8, HA-LF15K2-S8 HC902 Acceleration direction Axis direction (X) 9.8m/s (1G) or less 19.6m/s (2G) or less 11.7m/s (1.2G) or less 9.8m/s (1G) or less
2 2 2 2
Direction at right angle to axis (Y) 24.5m/s (2.5G) or less 49.0m/s (5G) or less 29.4m/s (3G) or less 24.5m/s (2.5G) or less
2 2 2 2
The vibration conditions are as shown below.

200 Vibration amplitude (double-sway width) (m)
100 80 60 50 40 30 20
Servomotor
X X
Y Y
Acceleration
0 1000 2000 Speed (r/min) 3000
1-2
1. Installation
1-1-3 Cautions for mounting load (prevention of impact on shaft)

[1] When using the servomotor with key way, use the screw hole at the end of the shaft to mount Servomotor Double-end stud 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 Nut have a key way, use a frictional coupling, etc. Washer [2] When removing the pulley, use a pulley 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.
CAUTION
Never hammer the end of the shaft during assembly.
1-1-4 Installation direction

[1] There are no restrictions on the installation direction. Installation in any direction is possible, but as a standard the motor is installed so that the motor power line and detector cable cannon plugs (lead-in wires) face downward. Installation in the standard direction is effective against dripping. Measure to prevent oil and water must be taken when not installing in the standard direction. When the motor is not installed in the standard direction, refer to section "1-1-6 Oil/water standards" and take the appropriate measures. The brake plates may make a sliding sound when a servomotor with magnetic brake is installed with the shaft facing upward, but this is not a fault.
Up
Down
Standard installation direction
1-3
1. Installation
1-1-5 Shaft characteristics

There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction and thrust direction, when mounted on the machine, is below the tolerable values given below. These loads may affect the motor output torque, so consider them when designing the machine.
Servomotor HA053NS, HA13NS HA23NS, HA33NS HA23NT, HA33NT HC103RT, HC153RT, HC203RT HC52T, HC102T, HC152T HC53T, HC103T, HC153T HC103RS, HC153RS, HC203RS HC353RS, HC503RS HC52S, HC102S, HC152S HC53S, HC103S, HC153S HC202S, HC352S, HC452S, HC702S HC203S, HC353S, HC453S, HC703S HC902S HA-LF11K2-S8 HA-LF15K2-S8 Tolerable radial load 78.4N 245N 392N 392N 686N 980N 980N 2058N 2450N 2940N (L=26mm) (L=30 mm) (L=45 mm) (L=58 mm) (L=45 mm) (L=63 mm) (L=55 mm) (L=79 mm) (L=85 mm) (L=100 mm) Tolerable thrust load 49N 147N 196N 490N 196N 392N 490N 980N 980N 980N
Note: The symbol L in the table refers to the value of L below.
L Radial load
Thrust load
L : Length from flange installation surface to center of load weight [mm]
CAUTION
1. Use a flexible coupling when connecting with a ball screw, etc., and keep the shaft core deviation to below the tolerable radial load of the shaft. 2. When directly installing the gear on the motor shaft, the radial load increases as the diameter of the gear decreases. This should be carefully considered when designing the machine. 3. When directly installing the pulley on the motor shaft, carefully consider so that the radial load (double the tension) generated from the timing belt tension is less than the values shown in the table above. 4. In machines where thrust loads such as a worm gear are applied, carefully consider providing separate bearings, etc., on the machine side so that loads exceeding the tolerable thrust loads are not applied to the motor. 5. Do not use a rigid coupling as an excessive bending load will be applied on the shaft and could cause the shaft to break.
1-4
1. Installation
1-1-6 Oil/water standards

[1] The motor protective format uses the IP type, which complies with IEC Standard. However, these Standards are short-term performance specifications. They do not guarantee continuous environmental protection characteristics. Measures such as covers, etc., must be taken if there is any possibility that oil or water will fall on the motor, and the motor will be constantly wet and permeated by water. Note that the motors IP-type is not indicated as corrosion-resistant.
Oil or water
[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 HA053N, HA13N HA23N, HA33N HC52, HC102, HC152 HC53, HC103, HC153 HC103R, HC153R, HC203R HC353R, HC503R HC202, HC352, HC452, HC702 HC203, HC353, HC453, HC703 HC902 HA-LF11K2-S8 HA-LF15K2-S8 25 30 34 48 20 Oil level Lip V-ring Oil level (mm) 8 10 Gear Servomotor
Servomotor
[3] When installing the servomotor horizontally, set the power cable and detector cable to face downward. When installing vertically or on an inclination, provide a cable trap.
Cable trap
CAUTION
1. The servomotors, including those having IP65 specifications, do not have a completely waterproof (oil-proof) structure. Do not allow oil or water to constantly contact the motor, enter the motor, or accumulate on the motor. Oil can also enter the motor through cutting chip accumulation, so be careful of this also. 2. When the motor is installed facing upwards, take measures on the machine side so that gear oil, etc., does not flow onto the motor shaft. 3. Do not remove the detector from the motor. (The detector installation screw is treated for sealing.)
1-5
1. Installation
[4] Do not use the unit with the cable submerged in oil or water. (Refer to right drawing.)
Cover Servomotor
Oil water
<Fault> Capillary tube phenomenon
[5] Make sure that oil and water do not flow along the cable into the motor or detector. (Refer to right drawing.)
Cover
Servomotor
<Fault> Respiration
[6] When installing on the top of the shaft end, make sure that oil from the gear box, etc., does not enter the servomotor. The servomotor does not have a waterproof structure.
Gear Lubricating oil
Servomotor
1-6
1. Installation
1-1-7 Cable stress

[1] Sufficiently consider the cable clamping method so that bending stress and the stress from the cable's own weight is not applied on the cable connection part. [2] In applications where the servomotor moves, make sure that excessive stress is not applied on the cable. If the detector cable and servomotor wiring are stored in a cable bear and the servomotor moves, make sure that the cable bending part is within the range of the optional detector cable. Fix the detector cable and power cable enclosed with the servomotor. [3] Make sure that the cable sheathes will not be cut by sharp cutting chips, worn by contacting the machine corners, or stepped on by workers or vehicles. The bending life of the detector cable is as shown below. Regard this with a slight allowance. If the servomotor/spindle motor is installed on a machine that moves, make the bending radius as large as possible.
8 1 x 108 110 7 5 x 107 510
2 x 107 210
7 1 x 107 110
No. of bends (times)
5 x 106 510 2 x 106 210
6 1 x 106 110 5 5 x 105 510
2 x 105 210
5 1 x 105 110
5 x 104 510
4 3 x 104 310
10 10
20 20
40
70
100 100
200 200
Bending radius (mm) Detector cable bending life (Material of Mitsubishi optional detector cable: A14B2343) (Note) The values in this graph are calculated values and are not guaranteed.
1-7
1. Installation
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. 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.
CAUTION

Environment Ambient temperature Ambient humidity Storage temperature Storage humidity Atmosphere Altitude Conditions
0C to +40C (with no freezing) 90%RH or less (with no dew condensation) -20C to +65C (with no freezing) 90%RH or less (with no dew condensation) Indoors (Where unit is not subject to direct sunlight) No corrosive gases, flammable gases, oil mist or dust Operation/storage: 1000m or less above sea level Transportation: 10000m or less above sea level
(Note) Refer to each spindle motor specifications for details on the spindle motor vibration conditions.
1-8
1. Installation
1-2-2 Shaft characteristics

There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction, when mounted on the machine, is below the tolerable values given below. These loads also affect the motor output torque, so consider them when designing the machine.
Spindle motor SJ-V3.7-02ZM SJ-V2.2-01, SJ-V3.7-01 SJ-V7.5-03ZM, SJ-V11-06ZM SJ-V5.5-01, SJ-V11-08ZM SJ-PMF01830-00 SJ-V7.5-01, SJ-V11-01 SJ-V22-06ZM, SJ-V30-02ZM, SJ-PMF03530-00 SJ-V11-09, SJ-V15-01, SJ-V15-03, SJ-V18.5-01, SJ-V18.5-03 SJ-V22-01, SJ-V22-05, SJ-V26-01, SJ-30A SJ-22XW5 SJ-37BP SJ-22XW8, SJ-45BP SJ-V55-01 Tolerable radial load
490 N 980 N 1470 N 1960 N 2940 N 3920 N 4900 N 5880 N
Radial load
(Note) The load point is at the one-half of the shaft length.
1-9
1. Installation
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. 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.
CAUTION

Environment Ambient temperature Ambient humidity Storage temperature Storage humidity Atmosphere Altitude Vibration Conditions
0C to +55C (with no freezing) 90%RH or less (with no dew condensation) -15C to +70C (with no freezing) 90%RH or less (with no dew condensation) Indoors (no direct sunlight); no corrosive gases, inflammable gases, oil mist, dust or conductive particles Operation/storage: 1000m or less above sea level Transportation: 10000m or less above sea level Operation/storage: 4.9m/s (0.5G) or less 2 Transportation: 49m/s (5G) or less
2
(Note) When installing the machine at 1,000m or more above sea level, the heat dissipation characteristics will drop as the altitude increases. The upper limit of the ambient temperature drops 1C with every 100m increase in altitude. (The ambient temperature at an altitude of 2,000m is between 0 and 45C.)
1 - 10
1. Installation
1-3-2 Installation direction and clearance

Wire each unit in consideration of the maintainability and the heat dissipation, as well as secure sufficient space for ventilation.
75mm or more
100mm or more
100mm or more
100mm or more
10mm or more
10mm or more
50mm or more
50mm or more
100mm or more
100mm or more
100mm or more
CAUTION
The ambient temperature condition for the power supply unit or the drive units is 55C or less. Because heat can easily accumulate in the upper portion of the units, give sufficient consideration to heat dissipation when designing the panel. If required, install a fan in the panel to agitate the heat in the upper portion of the units.
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).
1 - 11
1. Installation
1-3-4 Panel installation hole work drawings (Panel cut drawings)

Prepare a square hole to match the unit width.
[Unit: mm]
342
360
342
Square hole (Note 1)
2-M5 screw
52
2-M5 screw
82 Unit width: 90mm 60
Unit width: 60mm (only with fin)
342
360
342
360 360
2-M5 screw
112 Unit width: 120mm
4-M5 screw
142 Unit width: 150mm
POINT
1. Attach packing around the square hole to provide a seal. 2. A square hole does not need to be machined on the MDS-C1-V1-10 or smaller, MDS-C1-V2-1010 or smaller and MDS-C1-SP-15 or smaller units.
1 - 12
1. Installation
1-3-5 Heating value

Each heating value is calculated with the following values. The values for the servo drive unit are for a stall output, and the values for the spindle drive unit are for a continuous rated output. The value for the power supply unit includes the AC reactor's heating value.
Servo drive unit Type MDS-C1Heating amount [W] Type Inside Outside MDS-C1panel V1- 01 V1- 03 V1- 05 V1- 10 V1- 20 V1- 35 V1- 45S V1- 45 V1- 70S V1- 70 V1- 90 V1-110 V1-150 panel Spindle drive unit Heating amount [W] Type Inside Outside MDS-C1panel V2-0101 V2-0301 V2-0303 V2-0501 V2-0503 V2-0505 V2-1005 V2-1010 V2-2010 V2-2020 V2-3510S V2-3510 V2-3520S V2-3520 V2-3535 V2-4520 V2-4535 V2-4545S V2-4545 V2-7035 V2-7045 V2-7070S V2-7070 V2-9090S panel Power supply unit Heating amount [W] Inside Outside panel panel
Heating amount [W] Type Inside Outside MDS-C1panel panel
21 27 37 53 25 30 34 37 38 50 56 74 96
0 0 0 0 66 102 124 148 151 234 275 392 545
38 41 43 46 52 62 78 96 37 41 44 42 48 45 51 52 57 55 64 70 77 65 90 65
0 0 0 0 0 0 0 0 117 137 146 148 165 168 209 214 249 225 295 336 382 300 468 300
SP- 04 SP- 075 SP- 15 SP- 22 SP- 37 SP- 55 SP- 75 SP-110 SP-150S SP-150 SP-185 SP-220 SP-260 SP-300
30 40 49 26 28 31 35 41 48 48 62 65 80 98
0 0 0 42 51 76 102 140 140 187 280 301 403 522
CV- 37 CV- 55 CV- 75 CV-110 CV-150 CV-185 CV-220 CV-260 CV-300 CV-370
21 23 25 26 29 33 35 40 46 54
34 42 55 99 126 162 175 220 274 346
POINT
(Example 1)
Design the panel's heating value taking the actual axis operation (load rate) into consideration. With a general machine tool, the servo drive unit's load rate is approx. 50%, so the heating values inside the panel are half the values shown above. (Excluding the power supply and spindle drive unit.)
When using MDS-C1-CV-260, MDS-C1-SP[]-185 and MDS-C1-V2-3535 Total heating value = (40 + 220) + (62 + 280) + (51 + 209) = 862 [W] Heating value in panel = (40) + (62) + (51 0.5) = 127.5 [W]
1 - 13
1. Installation
1-3-6 Heat radiation countermeasures

In order to secure reliability and life, design the temperature in the panel so that the ambient temperature of each unit is 55C 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
Fan
1 - 14
1. Installation
Please refer to following method for heat radiation countermeasures.

Calculate total heat radiation of each mounted unit (W) Calculate cabinets cooling capacity (W1) W W1
<Hypothetical conditions> (1) Average temperature in cabinet : T 55C (2) Cabinet peripheral temperature : Ta 0C to 45C (3) Internal temperature rise value : T =TTamax= 10C <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/m2 C (with internal agitating fan) 4W/m2 C (without internal agitating fan) A: Effective heat radiation area (m2) (Heat dissipation area in panel) Sections contacting other objects are excluded. T: Internal temperature rise value (10C) 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) 10C Tmax (maximum value) 15C R (inconsistency) = (Tmax Tmin) 6C (Evaluate existence of heat spots)
Comparison of W and W1 W>W1 Selection of heat exchanger Mounting design
Collection of internal temperature rise distribution data
T10C
Evaluation
T>10C Improvements
Completion
Examples of mounting and temperature measurement positions (reference)
Measurement position (example)
Relay, etc Heat exchanger
Flow of air
Unit
Flow of air
1 - 15
1. Installation
1-4 Installing the spindle detector

1-4-1 Magnetic sensor
(1) Installing the magnetic sensor Tolerance to shaft dimension should be "h6" on the part for installing a magnet. 2-G hole can be used for positioning of spindle and magnet. Magnet shall be installed as shown to the right. Misalignment between sensor head and magnetic center line shall be within 2mm. There is an NS indication on the side of the cover. Install so that the reference notch on the sensor head comes to the case side.
Reference notch
G hole
Spindle Case Cover Spindle damping screw
h6 Gap
Reference drawing for magnet installation
(2) Gap between magnet and sensor

Circumference installation Horizontal installation
Spindle
Direction of rotation
Reference hole Reference notch Face B
Spindle
Direction of rotation
R Face A Face A Reference hole Reference notch Min. gap S N
Face B S Gap Magnet Reference notch
R N Reference hole
Magnet
Max. gap Mounting plate
Magnet model Installation direction R (Radius) mm 40 50 60 70
BKO-C1810H03 Circumference installation Gap mm Max. value Min. value Horizontal installation
BKO-C1730H06 Circumference installation Gap mm Max. value Min. value Horizontal installation
BKO-C1730H09 Circumference installation Gap mm Max. value Min. value
11.50.5 9.50.5 8.50.5 8.00.5
2.70.5 2.80.5 3.00.5 3.40.5
6.00.5 6.00.5 6.00.5
10.00.5 8.00.5 7.00.5 7.00.5
1.220.5 1.310.5 1.500.5 2.380.5
5.00.5 5.00.5 5.00.5
6.250.5 6.000.5 5.750.5 5.500.5
3.300.5 3.700.5 3.850.5 3.870.5
1 - 16
1. Installation
(3) Magnet and sensor installation directions Install so that the magnet's reference hole and sensor's reference notch are aligned. (Standard/high-speed standards) Install so that the magnet's N pole comes to the left side when the sensor's reference notch is faced downward. (High-speed compact/high-speed ring)
Sensor
S
Magnet
Sensor
N
Magnet
| Reference notch
| Reference notch
(4) Cautions [1] Do not apply impacts on the magnet. Do not install strong magnets near the magnet. [2] Sufficiently clean the surrounding area so that iron chips and cutting chips do not adhere to the magnet. Demagnetize the round disk before installing. [3] Securely install the magnet onto the spindle with an M4 screw. Take measures to prevent screw loosening as required. [4] Balance the entire spindle rotation with the magnet installed. [5] Install a magnet that matches the spindle's rotation speed. [6] When installing the magnet onto a rotating body's plane, set the speed to 6,000r/min or less. [7] Install so that the center line at the end of the head matches the center of the magnet. [8] The BKO-C1730 is not an oil-proof product. Make sure that oil does not come in contact with BNO-C1730 or BKO-C1810. [9] When connecting to the spindle drive unit, wire so that the effect of noise is suppressed.
1 - 17
1. Installation
1-4-2 Spindle end detector

To maintain the detector life and performance, a flexible coupling should be used to couple the spindle end detector and C-axis detector with the spindle.
Detector Flexible coupling 0.02
0.02
Opposite detector shaft side
Detector and coupling installation accuracy Recommended coupling

Recommendation 1 Manufacturer Model Resonance frequency Position detection error Tolerable speed Mis-alignment Core deviation Angle displacement Outline dimensions Max. length Max. diameter Recommendation 2
Tokushu Seiko Model M1 1374Hz 0.810-3 20000r/min 0.7mm 1.5 74.5mm 57mm
Eagle FCS38A 3515Hz 1.210-3 10000r/min 0.16mm 1.5 33mm 38mm
Refer to the coupling catalog, etc., for details on the coupling.
1 - 18
1. Installation
1-4-3 Spindle end PLG

(1) Part configuration The detector is configured of an encoder (Sensor section and PCB section) and detection gears. The encoder section can be separated with an intermediate connector, but a type with the same serial No. must be used in combination. The serial No. is indicated on the intermediate connector of the sensor section and the output connector of the PCB section.
Sensor section Encoder PCB section Output connector
G
Detection gears
VR2
VR4
VR1
VR3 VR5
B A Z
Serial No. indication Intermediate connector Spindle end PLG
These are precision parts, and require care when handling. Do not apply an excessive force on the sensor's detection surface, as this could result in faults. Do not pull and apply a load on the lead wires. Make sure that foreign matters (iron chips, etc.) do not get on the sensor's detection surface or detection gears. If any foreign matter should get on these parts, carefully remove while taking care not to damage the parts. When handling the detection gears, take care not to damage or deform the teeth. (2) Installing the detection gears and sensor section [1] Install the detection gears so that the first gear's teeth side (Z phase) face the sensor's lead side. [2] The detection gears and shaft or sleeve should be fixed with shrinkage fitting. Refer to the following table for the shrinkage fitting values. The detection gears should be heated evenly between 120 and 150C using an electric furnace, etc.
Detection gear shrinkage fitting values Detection gear specifications Part type No. of teeth Outer diameter (mm) Inner diameter (mm) Shrinkage fitting (mm)
MU1450N2137 MU1450N2730 MU1450N2236 MU1450N2534
128 180 256 512
52 72.8 103.2 205.6
40 55 80 140
0.02 to 0.04 0.03 to 0.055 0.03 to 0.055 0.05 to 0.085
1 - 19
1. Installation
[3] Keep the deviation of the sensor center and detection Sensor installation surface gear center to 0.25mm or less. If the center deviation 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 22.50.25mm. [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.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. First tooth [6] Before reusing detection gears which have been removed, always measure the inner diameter dimensions, and carefully check that the inner diameter is not deformed, and that the sufficient tightening amount can be secured. Do not reuse the detection gears if the inner diameter is deformed, or if any abnormality such as damage to the teeth is found. [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 TS1860N2276 TS1860N2777 TS1860N2775 TS1860N2171 TS1860N2174 TS1860N2571 TS1860N2572 Sensor installation seat's R dimensions (mm) Notched fitting section's outer diameter (mm)
R35.5 R45 R61 R112.5
71 90 122 225
+0.200 +0.180 +0.200 +0.180 +0.200 +0.175 +0.200 +0.170
1 - 20
1. Installation
[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 against here 29mm 2-M50.8 screw
Notched section's outer diameter
Outline drawing designated dimensions
Shape of notched fitting section
Notched section's outer diameter
[9] When using the specifications (TS1860N2770, TS1860N2776, TS1860N2183, TS1860N2187) with installation plate (ring) for the sensor section, provide a notched fitting section on the machine side as shown on the right, and fit the sensor installation plate's 108H5 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.
[Unit: mm]
-0.005 -0.020
Installing the sensor with Installation plate (ring)
(3) Installing the PCB section [1] Install the PCB where it will not be subject to water or oil, etc. [2] Drill two 11mm 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 - 21
108
1. Installation
1-5 Noise measures

Noise includes "propagation noise" generated from the power supply or relay, etc., and propagated along a cable causing the power supply unit or drive unit to malfunction, and "radiated noise" propagated through air from a peripheral device, etc., and causing the power supply unit or drive unit to malfunction. Always implement these noise measures to prevent the peripheral devices and unit from malfunctioning. The measures differ according to the noise propagation path, so refer to the following explanation and take appropriate measures. (1) General noise measures Avoid laying the drive unit's power line and signal wire in a parallel or bundled state. Always separate these wires. Use a twisted pair shielded wire for the detector cable and signal wires such as the communication cable connected with the NC, and accurately ground the devices. Use one-point grounding for the drive unit and motor. Accurately ground the AC reactor. (2) Propagation noise measures Take the following measures when noise generating devices are installed and the power supply unit or drive unit could malfunction. Install a surge killer on devices (magnetic contacts, relays, etc.) which generate high levels of noise. Install a power line filter in the stage before the power supply unit. Install a ferrite core on the signal wire. Ground the shield of the servo detector's cable with a cable clamp. Wire the spindle PLG detector cable away from other wires. (3) Measures against radiated noise The types of propagation paths of the noise and the noise measures for each propagation path are shown below.
Noise generated from drive unit Airborne propagation noise Noise directly radiated from drive unit Noise radiated from power line Noise radiated from servomotor/spindle motor Path [1]
Magnetic induction noise Static induction noise
Path [4] and [5] Path [6]
Path [2]
Path [3]
Cable propagation noise
Noise propagated over power line Noise lead in from grounding wire by leakage current
Path [7]
Path [8]
1 - 22
1. Installation
[5] [7] [7] [2] [2] [1] Instrument Receiver [3] [4] Sensor Servomotor Spindle motor M Drive unit [6]
Sensor power supply
[8]
Generated noise of drive system
Noise propagation path
Measures
[1] [2] [3]
[4] [5] [6]
[7]
[8]
When devices such as instrument, receiver or sensor, which handle minute signals and are easily affected by noise, or the signal wire of these devices, are stored in the same panel as the drive units and the wiring is close, the device could malfunction due to airborne propagation of the noise. In this case, take the following measures. (a) Install devices easily affected as far away from the drive units as possible. (b) Lay devices easily affected as far away from the signal wire of the drive unit as possible. (c) Avoid laying the signal wire and power line in a parallel or bundled state. (d) Insert a line noise filter on the input/output wire or a radio filter on the input to suppress the noise radiated from the wires. (e) Use a shield wire for the signal wire and power line, or place in separate metal ducts. If the signal wire is laid in parallel to the power line, or if it is bundled with the power line, the noise could be propagated to the signal wire and cause malfunction because of the magnetic induction noise or static induction noise. In this case, take the following measures. (a) Install devices easily affected as far away from the drive unit as possible. (b) Lay devices easily affected as far away from the signal wire of the drive unit as possible. (c) Avoid laying the signal wire and power line in a parallel or bundled state. (d) Use a shield wire for the signal wire and power line, or place in separate metal ducts. If the power supply for the peripheral devices is connected to the 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. (a) Install a radio filter on the power supply unit's power line. (b) Install a power filter on the power supply unit's power line. If a closed loop is created by the peripheral device and drive unit's grounding wire, a leakage current could flow and cause the device to malfunction. In this case, change the device grounding methods and the grounding place.
1 - 23
2. Wiring and Connection
2-1 Part system connection diagram........................................................................................................ 2-3 2-2 Main circuit terminal block/control circuit connector .......................................................................... 2-4 2-2-1 Names and applications of main circuit terminal block signals and control circuit connectors... 2-4 2-2-2 Connector pin assignment .......................................................................................................... 2-5 2-3 NC and drive unit connection ............................................................................................................. 2-8 2-4 Motor and detector connection......................................................................................................... 2-11 2-4-1 Connecting the servomotor ....................................................................................................... 2-11 2-4-2 Connecting the full-closed loop system..................................................................................... 2-18 2-4-3 Connecting the synchronous control system ............................................................................ 2-22 2-4-4 Connection of the spindle motor ............................................................................................... 2-28 2-5 Connection of power supply............................................................................................................. 2-33 2-5-1 Power supply input connection .................................................................................................. 2-34 2-5-2 Connecting the grounding cable ............................................................................................... 2-37 2-5-3 Main circuit control ..................................................................................................................... 2-38 2-6 Wiring of the motor brake................................................................................................................. 2-39 2-6-1 Wiring of the motor magnetic brake .......................................................................................... 2-39 2-6-2 Dynamic brake unit wiring ......................................................................................................... 2-41 2-7 Peripheral control wiring.................................................................................................................... 2-42 2-7-1 Input/output circuit wiring............................................................................................................ 2-42 2-7-2 Spindle coil changeover ............................................................................................................ 2-43 2-7-3 Wiring of an external emergency stop....................................................................................... 2-46
2-1
DANGER
1. Wiring work must be done by a qualified technician. 2. Wait at least 15 minutes after turning the power OFF and check the voltage with a tester, etc., before starting wiring. Failure to observe this could lead to electric shocks. 3. Securely ground the drive units and servo/spindle motor. 4. Wire the drive units and servo/spindle motor after installation. Failure to observe this could lead to electric shocks. 5. Do not damage, apply forcible stress, place heavy items on the cables or get them caught. Failure to observe this could lead to electric shocks. 6. Always insulate the power terminal connection section. Failure to observe this could lead to electric shocks.
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 Servo drive unit COM COM (24VDC) (24VDC)
CAUTION
Control output signal Control output signal
RA 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
2-1 Part system connection diagram

Mitsubishi CNC SH21 cable SV1,2 (CSH21) CN1B CN1A SH21 cable CN4 CN4 CN8 CN7 Power supply unit Spindle drive unit Battery unit CN1A Servo drive unit
CN1A CN4
CN1B
CN3M CN3L
Tool end detector Tool end detector
CN9 External emergency stop input
CN9
CN9 CN20
CN23
CN6 CN5
CN2L CN2M MU
No-fuse breaker R S T
AC reactor
Contactor L1 L2 L3 TE1 L+ TE2

MC
U TE1 V W TE2
Spindle motor
MV PLG TE1 L+ LMW
Servo motor Motor end detector
L+ L-
TE2 LU LV TE3 LW
Servo motor Motor end detector
Ground Breaker MC1 L11 L21 : Main circuit : Control circuit
L-
TE3
L11 L21
TE3
L11 L21
Ground
Ground
Ground
(Note 1) (Note 2) (Note 3) (Note 4)
The total length of the SH21 cable must be within 30m. The connection method will differ according to the used motor. When not using a battery unit, connect the terminal connector (R-TM). The main circuit ( ) and control circuit ( ) are safely separated.
2-3
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 L1 . L2 . L3 L11 L21 Signal name Main circuit power supply Control circuit power supply Contactor control Motor output (Single-axis unit) Motor output (Dual-axis unit) Description 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.
MC1 U.V.W LU . LV . LW MU . MV . MW
Protective grounding Grounding terminal (PE) The servomotor/spindle motor grounding terminal is connected and grounded.
CAUTION
1. Always use one AC reactor per power supply unit. Failure to observe this could lead to unit damage. 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
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

Unit MDS-C1-CV-37 to 75 Terminal MDS-C1-CV-110 to 370
Terminal position [2] [3] [1] [4] [2] [3] [1] [4]
U V W [1] Terminal specification/Pin assignment TE1 Compatible unit Screw size Tightening torque CV-37 to 75 M4 1.6Nm Compatible unit Screw size Tightening torque
U V W CV-110 to 185 CV-220 to 370 M5 3.37Nm M8 13.2Nm
L+ [2] TE2 L-
Compatible unit Screw size Tightening torque
CV-37 to 370 M6 5.0Nm
[3]
TE3
L11 L21 MC1
CV-37 to 75 M4 2.0Nm
CV-110 to 370 M4 1.6m
Compatible unit [4] Screw size Tightening torque
CV-37 to 75 M4 2.0Nm
CV-110 to 185 CV-220 to 370 M5 3.37Nm M8 13.2Nm
2-5
Servo/spindle drive unit

Unit Terminal MDS-C1-V1-10 and smaller MDS-C1-SP-15 and smaller MDS-C1-V1-20 and larger MDS-C1-SP-22 and larger MDS-C1-V2-1010 and smaller MDS-C1-V2-2010 and larger
Terminal position [2] [3] [1] [4] [2] [3] [2] [3] [1] [1] [4] MU MV MW [4] [2] [3]
[1] [4]
MU MV MW
U V W U V W LU LV LW Terminal specification/Pin assignment [1] TE1 Compatible unit Screw size Tightening torque V1V2SP01 to 35 0101 to 9090S 04 to 37 M4 2.0Nm 45S,45 to 90 55 to 185 M5 3.2Nm 220 to 300 M8 13.2Nm 110 to 150 LU LV LW
L+ [2] TE2 L-
All V1/V2/SP M6 5.0Nm
Compatible unit [3] TE3 L11 L21 Screw size Tightening torque
All V1/V2/SP M4 2.0Nm
[4]
The PE screw size is the same as TE1.
2-6
(2) Control circuit connector

Unit Terminal MDS-C1-V1 MDS-C1-V2
[1] [3] [5] Connector position
[2] [4] [9] [6]
[1] [3] [5] [7]
[2] [4] [9] [6] [8]
[1] CN1A [2] CN1B [3] CN9 Connector specifications [4] CN4 [5] CN2L [6] CN3L [7] CN2M [8] CN2M Pin No. [9] CN20 No.1 No.2 No.3 No.1 No.10 No.11 No.20 Pin No.
(Note) The [5] and [6] connector names differ for the MDS-C1-V1 unit. (CN2L, CN3L CN2, CN3)
2-7
2-3 NC and drive unit connection

The NC bus cables are connected from the NC to each drive unit so that they run in a straight line from the NC to the terminal connector (battery unit). And up to 7 axes can be connected per system. Note that the number of connected axes is limited by the NC.
CAUTION
Wire the SH21 cable between the NC and drive unit so that the distance between the NC and terminal connector (battery unit) is within 30m. Axis Nos. are determined by the rotary switch for setting the axis No. (Refer to section "3-1-1 Setting the rotary switch".) The axis No. has no relation to the order for connecting to the NC.
POINT
(1) When using one power supply unit Connect the largest-capacity spindle drive unit to the final axis of the NC communication bus in order to control the power supply unit. The spindle drive unit must be installed adjacent to the power supply unit. In the system with servo only, a servo drive unit for controlling unbalance axis must be installed in the same manner in the same way. < Connection > CN1A : CN1B connector on NC or previous stage's drive unit CN1B : CN1A connector on next stage's drive unit or terminal connector (battery unit) CN4 : Connector for communication between power supply unit (master side) and drive unit
Connected to the NC MDS-C1-V2 1st/2nd axis MDS-C1-V1 3rd axis MDS-C1-SP 4th axis (final axis) MDS-C1-CV
Connect to the battery unit with a terminal connector or SH21 cable. Refer to the instruction manual of each NC for details.
SH21 cable
CN1A CN1B CN1A CN1B CN1A CN1B
CN1A/CN1B
Pin No. No.1 No.10 Name GND 1 RD 2 AL 3 SD 4 GND 5 GFO 6 EMG 7 8 BAT 9 10 P5(+5V) No.11 No.20 Name 11 GND 12 RD* 13 AL 14 SD* 15 GND 16 GFO 17 EMG* 18 19 20 P5(+5V)
CN4
CN4
Max. length of 30m from the NC to terminal connector or battery unit. Connection when using one power supply unit
2-8
(2) When using two or more power supply units within a single NC communication bus system Two or more power supply units may be required within a single NC communication bus system if the spindle drive unit capacity is large. The drive unit receiving power (L+, L-) from each power supply unit must always have NC communication bus connection at the NC side of each power supply unit. In the NC communication bus connection example below, power supply [1] cannot supply power (L+, L-) to the 5th axis servo drive unit. For basic connection information, refer to "(1) When using one power supply unit".
Connected to the NC MDS-C1-V2 1st/2nd axis MDS-C1-V2 3rd/4th axis (CV control axis) MDS-C1-CV [1] MDS-C1-V1 5th axis MDS-C1-SP 6th axis (CV control axis) MDS-C1-CV [2]
CN1A
CN1B
CN1A
CN1B
CN1A
CN1B
CN1A
CN1B
SH21 cable
CN4 CN4 CN4 CN4
Power cannot be supplied
Connections when using two power supply units within a single NC communication bus system
CAUTION
The drive unit receiving power (L+, L-) from each power supply unit must always have NC communication bus connection at the NC side of each power supply unit.
2-9
(3) When using one power supply shared unit by two NC communication bus systems In systems employing a number of small-capacity drive units, a single power supply unit can be shared by two NC communication bus systems. In this case, a power supply control axis must be set for each axis of each NC communication bus. For basic connection information, refer to "(1) When using one power supply unit".
Connected to the NC (System No.1)
MDS-C1-V2 1st/2nd axis
MDS-C1-V2 3rd/4th axis
MDS-C1-V2 5th/6th axis
MDS-C1-V1 7th axis (CV control axis)
CN1A
CN1B
CN1A
CN1B
CN1A
CN1B
CN1A
CN1B CN4
Connected to the NC (System No.2)
MDS-C1-V2 8th/9th axis
MDS-C1-V1 10th axis
MDS-C1-SP 11th axis
MDS-C1-SP 12th axis (CV control axis)
MDS-C1-CV (shared)
CN1A
CN1B
CN1A
CN1B
CN1A
CN1B
CN1A
CN1B
CN4 CN4 CN9
Connections when using one power supply shared by two NC communication bus systems
CAUTION
If the two NC communication bus systems include a spindle drive unit, connect the power supply unit's CN4 connector to the CN4 connector of the largestcapacity spindle drive unit. If there is no spindle drive unit, connect to the unbalance-axis servo drive unit.
2 - 10
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)
MDS-C1-V1 Detector connector

MS3102A22-14P L K J H S R E Pin 1 2 3 4 5 6 7 8 9 10 Name LG Pin 11 12 13 14 15 16 17 18 19 20 Name LG N Max. 30m Option cable : CNV12 (Refer to Appendix 1 for details on the cable treatment.) CN2 No.10 No.20
Detector connector : CN2

Pin No. No.1 No.11
Pin A B C D E F G H J K L M N P R S T U V
Name
BAT
SD RQ BAT P5(+5V)
SD* RQ* P5(+5V) P5(+5V)
SD SD* RQ RQ* FG LG(GND) P5(+5V) U VW
Power wire and grounding wire (Refer to Specification manual for details on selecting the wire.)
Power connector Pin

CE05-2A22-23P
Name A U B V C W A G D Grounding H B F E F C E B1 G D B2 H B1 and B2 are brake terminals. (Only for motor with brakes) These are 24VDC, and have no polarity.
2 - 11
(2) Connecting the HC202(B)/HC352(B)/HC452(B)/HC203(B)/HC353(B)


Pin No. No.1 No.11
Name
BAT
Motor brake wiring (Refer to section "2-6 Wiring of the motor brake" for details.)
SD RQ BAT P5(+5V)
SD* RQ* P5(+5V) P5(+5V)
SD SD* RQ RQ* FG LG(GND) P5(+5V) UVW
Power wire and grounding wire (Refer to Specification manual for details on selecting the wire.) Name U V W
Grounding
Power connector Pin

CE05-2A24-10P F E G D C A B A B C D E F G
Brake connector
MS3102A10SL-4P A B Pin A B Name B1 B2
These are 24VDC, and have no polarity.
2 - 12
(3) Connecting the HC353R(B)/HC503R(B)


Pin No. No.1 No.11
Name
BAT
SD RQ BAT P5(+5V)
SD* RQ* P5(+5V) P5(+5V)
Grounding
Power connector Pin

CE05-2A24-10P F E D G C A B A B C D E F G
B1 B2
B1 and B2 are brake terminals. (Only for motor with brakes) These are 24VDC, and have no polarity.
2 - 13
(4) Connecting the HC702(B)/HC902(B)/HC453(B)/HC703(B)


Pin No. No.1 No.11
Name
Motor brake wiring

BAT
(Refer to section "2-6 Wiring of the motor brake" for details.)
SD RQ BAT P5(+5V)
SD* RQ* P5(+5V) P5(+5V)
Grounding
Power connector Pin

CE05-2A32-17P D A A B C D
Brake connector
MS3102A10SL-4P A B Pin A B Name B1 B2 C B
2 - 14
(5) Connecting the HA053N/HA13N


Pin No. No.1 No.11
Name
BAT
SD RQ BAT P5(+5V)
SD* RQ* P5(+5V) P5(+5V)
Grounding
Power connector Pin

MS3102A18-12 F E D A B C A B C D E F
2 - 15
(6) Connecting the HA23N(B)/HA33N(B)


Pin No. No.1 No.11
Name
Motor brake wiring

BAT
(Refer to section "2-6 Wiring of the motor brake" for details.)
SD RQ BAT P5(+5V)
SD* RQ* P5(+5V) P5(+5V)
Grounding
Power connector Pin

MS3102A18-12 F E D A B A B C D E F
Brake connector
2 - 16
(7) Connecting the HA-LF11K2(B)-S8/HA-LF15K2(B)-S8


Pin No. No.1 No.11
Name
BAT
SD RQ BAT P5(+5V)
SD* RQ* P5(+5V) P5(+5V)
SD SD* RQ RQ* FG LG(GND) P5(+5V) U V W
Power wire and grounding wire (Refer to Specification manual for details on selecting the wire.)
Motor brake wiring (Refer to section "2-6 Wiring of the motor brake" for details.)
Brake connector
2 - 17
2-4-2 Connecting the full-closed loop system

Refer to section "2-4-1 Connecting the servomotor" for details on connecting the each motor type. (1) Connecting the ball screw end detector

Pin No. No.1 No.10 Pin 1 2 3 4 5 6 7 8 9 10 CN3 CNV13 Name LG No.11 No.20 Pin 11 12 13 14 15 16 17 18 19 20 Name LG
MDS-C1-V1
SD RQ BAT P5(+5V)
SD* RQ* P5(+5V) P5(+5V)
CN2 Max. 30m CNV12
UVW
Table
Servomotor
2 - 18
(2) Connecting the linear scale (for oblong wave data output)

Pin No. No.1 No.10 Pin 1 2 3 4 5 6 7 8 9 10 CN3 Name LG A B Z No.11 No.20 Pin 11 12 13 14 15 16 17 18 19 20 Name LG A* B* Z*
MDS-C1-V1
BAT P5(+5V)
P5(+5V) P5(+5V)
CN2 Max. 30m CNV12
UVW
Table
Servomotor
Linear scale
2 - 19
(3) Connecting the linear scale (for serial data output)

Pin No. No.1 No.10 Pin 1 2 3 4 5 6 7 8 9 10 CN3 Name LG No.11 No.20 Pin 11 12 13 14 15 16 17 18 19 20 Name LG
MDS-C1-V1
SD RQ BAT P5(+5V)
SD* RQ* P5(+5V) P5(+5V)
CN2 Max. 30m CNV12
UVW
Table
Servomotor
Linear scale
2 - 20
(4) Connecting the linear scale (for analog output)

Pin No. No.1 No.10 Pin 1 2 3 4 5 6 7 8 9 10 CN3 CNL3-H2 Name LG No.11 No.20 Pin 11 12 13 14 15 16 17 18 19 20 Name LG
MDS-C1-V1
SD RQ BAT P5(+5V)
SD* RQ* P5(+5V) P5(+5V)
CN2 Max. 30m CNV12
CON1 CON2 Detector converter unit MDS-B-HR
CON3 CON4 UVW
Table
CNLH3
Servomotor
Linear scale
2 - 21
2-4-3 Connecting the synchronous control system

The connection method and motor/encoder type (SV025) setting combinations for each synchronous control system are shown in the table below. For power supply connections for each servomotor type, refer to "2-4-1 Connecting the servomotor".
Semi-closed system (Only for motor side detector) Position command synchronous control Speed command synchronous control Current command synchronous control Full-closed system (For machine side detector + motor side detector)
The operation is controlled with position commands from the NC, so there are no special connections. A normal value is set for the SV025 setting. (1) When using MDS-C1-V1 drive unit (2) When using MDS-C1-V2 drive unit (3) When using MDS-C1-V1 drive unit (Only compatible with serial output linear scale) MDS-C1-V2 drive unit (4-1) When using serial output linear scale (4-2) When using analog output linear scale
Some control restrictions may apply when using speed and current command synchronous control, depending on the servo drive unit's control mode and control system configuration. Refer to the following table for details.
List of control systems and supported synchronous control (high-gain specifications) Control system type Controlled by MDS-C1-V2 Speed command synchronous control Current command synchronous control Speed command synchronous control Current command synchronous control Speed command synchronous control Current command synchronous control Speed command synchronous control Current command synchronous control Controlled by MDS-C1-V1 x 2 Units
Incremental control Semi-closed system Absolute position control
Not supported
Speed command synchronous control Current command synchronous control
Incremental control Full-closed system (Note) Absolute position control (Note) Pulse output linear scale is not supported.
Not supported
Speed command synchronous control
List of control systems and supported synchronous control (standard specifications) Control system type Incremental control Semi-closed system Absolute position control Incremental control Absolute position control Controlled by MDS-C1-V2 Not supported Controlled by MDS-C1-V1 x 2 Units Not supported Speed command synchronous control Current command synchronous control Not supported Not supported
Not supported
Full-closed system
Not supported Not supported
POINT
1. Incremental control is only supported when using 2-axis servo drive unit. If two 1-axis units are used, be sure to carry out absolute position control. 2. When synchronous control operation is carried out at 2-axis servo drive unit, the L-axis is the master axis, and the M-axis is the slave axis. 2 - 22
(1) Connection for semi-closed synchronous control (when using MDS-C1-V1 drive unit)
Slave axis
Master axis Detector cable CNV12 MDS-C1-V1 (Slave axis) MDS-C1-V1 (Master axis)
MDS-B-SD Signal distribution unit CN2 CN3 CN2 SH21 CN2 CN2A CN2B
SH21
Parameter settings
No. SV025 Abbrev. MTYP Parameter name Motor/detector type Description Set the detector type. The value determined for each motor type is input to xx in the following table. Motor end detector type OSE104/OSE105 Speed command synchronous control Current command synchronous control Not compatible OSA104 OSA105
Master axis =11xx Master axis =22xx Slave axis =C1xx Slave axis =C2xx
Not compatible
Master axis =11xx Master axis =22xx Slave axis =CCxx Slave axis =CCxx
(Note) A system in which two MDS-C1-V1 unit are used is not compatible with incremental system.
2 - 23
(2) Connection for semi-closed synchronous control (when using MDS-C1-V2 drive unit)
Slave axis
Master axis
MDS-C1-V2
Detector cable CNV12
CN2L CN2M
Parameter settings
No. SV025 Abbrev. MTYP Parameter name Motor/detector type Description Set the detector type. The value determined for each motor type is input to xx in the following table. Motor end detector type OSE104 Speed command synchronous control Current command synchronous control Master axis =00xx Slave axis =C0xx OSA104 Master axis =11xx Slave axis =C1xx OSE105/OSA105 Master axis =22xx Slave axis =C2xx
Master axis =00xx Master axis =11xx Master axis =22xx Slave axis =CCxx Slave axis =CCxx Slave axis =CCxx
2 - 24
(3) Connection for full-closed synchronous control (when using MDS-C1-V1 drive unit and serial output linear scale)
Slave axis
Master axis Linear scale MDS-C1-V1 (Slave axis) MDS-C1-V1 (Master axis) Detector cable CNV12
MDS-B-SD Signal distribution unit CN2 CN3 CN2 CN3 SH21 SH21 CN3 A CN3 B CN3
Parameter settings
No. SV025 Abbrev. MTYP Parameter name Motor/detector type Description Set the detector type. The value determined for each motor type is input to xx in the following table. Motor end detector type OSE104/OSE105 Speed command synchronous control Current command synchronous control Not compatible OSA104 OSA105
Master axis =A1xx Master axis =A2xx Slave axis =D1xx Slave axis =D2xx
Not compatible
(Note1) A system in which two MDS-C1-V1 unit are used is not compatible with incremental system. (Note2) The full-closed system in which two MDS-C1-V1 units are used is not compatible with current command synchronous control.
2 - 25
(4-1) Connection for full-closed synchronous control (when using MDS-C1-V2 drive unit and serial output linear scale)
Slave axis
Master axis Linear scale MDS-C1-V2 Detector cable CNV12
CN2L CN2M
CN3L
Parameter settings
No. SV025 Abbrev. MTYP Parameter name Motor/detector type Description Set the detector type. The value determined for each motor type is input to xx in the following table. Motor end detector type OSE104 OSA104 OSE105/OSA105
Speed command Master axis =A0xx Master axis =A1xx Master axis =A2xx synchronous Slave axis =D0xx Slave axis =D1xx Slave axis =D2xx control Current command synchronous control Master axis =A0xx Master axis =A1xx Master axis =A2xx Slave axis =DExx Slave axis =DExx Slave axis =DExx
2 - 26
(4-2) Connection for full-closed synchronous control (when using MDS-C1-V2 drive unit and analog output linear scale)
Slave axis
Master axis Linear scale MDS-C1-V2 Detector cable CNV12
CN2L CN2M
CN3L
CON4 CON3
Detector Converter unit MDS-B-HR

CON2 CON1
Parameter settings
No. SV025 Abbrev. MTYP Parameter name Motor/detector type Description Set the detector type. The value determined for each motor type is input to xx in the following table. Motor end detector type OSE104 Speed command Master axis =A0xx synchronous Slave axis =D0xx control Current command synchronous control Master axis =A0xx Slave axis =DExx OSA104/OSA105 Not compatible OSE105 Master axis =A2xx Slave axis =D2xx
Not compatible
Master axis =A2xx Slave axis =DExx
POINT
In a system in which MDS-B-HR is used, this connection is compatible only with incremental control.
2 - 27
2-4-4 Connection of the spindle motor

Refer to each motor specifications for details on the motor side connection destination, specifications and outline, and for the spindle PLG detector specifications. (1) Connecting the motor built-in PLG
MDS-C1-SP Detector connector : CN5

Pin No. No.1 CN5 Max. 30m Option cable : CNP5 No.10 Pin Name 1 LG 2 3 MOH 4 5 P15(+15V) 6 PA 7 PB 8 PZ 9 10 No.11 No.20 Pin Name 11 12 13 RG 14 15 N15(-15V) 16 RA 17 RB 18 19 20
Power cable U V W
BU BV BW
UVW
Spindle motor
Cooling fan terminal block (BU,BV,BW)
Grounding terminal Motor power terminal block (U,V,W)
Example for 3-phase cooling fan power supply
(Note) Either a single-phase or 3-phase power supply is used for the cooling fan. Refer to the Spindle Motor Specifications for details.
CAUTION
The shield of spindle detector cable is not FG. Do not ground.
2 - 28
(2) Connecting the magnetic sensor Refer to section (1) for connection with the spindle motor.

Pin No. No.1 CN5 CN6 No.10 Pin Name 1 2 3 4 5 P15(+15V) 6 MAG 7 LS 8 9 10 No.11 No.20 Pin 11 12 13 14 15 16 17 18 19 20 Name
Max. 30m
Option cable : CNP5
LG MAGR LSR
Power cable U V W
U VW
Spindle motor
Magnetic sensor Spindle Option cable : CNP6M
CAUTION
2 - 29
(3) Connecting the spindle end detector Refer to section (1) for connection with the spindle motor.

Pin No. No.1 CN5 Max. 30m Option cable : CNP5 Pin 1 2 3 4 5 6 7 8 9 10 Name LG MA MB MZ Pin 11 12 13 14 15 16 17 18 19 20 Name LG MA* MB* MZ* LG CN6 No.10 No.11 No.20
P5(+5V)
P5(+5V) P5(+5V)
Power cable U V W
U VW
Spindle motor
Spindle
Spindle end detector Option cable: CNP6A
CAUTION
2 - 30
(4) Connecting the for C-axis detector Refer to section (1) for connection with the spindle motor.

Pin No. No.1 CN5 Max. 30m Option cable : CNP5 Pin 1 2 3 4 5 6 7 8 9 10 Name MA MB MZ Pin 11 12 13 14 15 16 17 18 19 20 Name MA* MB* MZ* CN6 No.10 No.11 No.20
CN7
Option cable : CNP7A

Pin No. Power cable No.1 U V W No.10
UVW
No.11 No.20 Pin 11 12 13 14 15 16 17 18 19 20 Name LG CA* CB* CZ* LG
Spindle motor
Pin 1 2 3 4 5 6 7 8 9 10
Name LG CA CB CZ
P5(+5V)
P5(+5V) P5(+5V)
Spindle
C-axis detector
Option cable : CNP67A
Supplement 1. The C-axis control function is connected to the CN7 connector. 2. When using both the C-axis control function and orientation function, two cables (two-wire cable) are connected from the detector. 3. The orientation signal connected to CN5 or CN6 can be connected to the NC with the differential output from the CN8 connector.
CAUTION
The shield of spindle detector cable is not FG. Do not ground. 2 - 31
(5) Connecting the simple C-axis control Refer to section (1) for connection with the spindle motor.
MDS-C1-SPX MDS-C1-SPHX Detector connector : CN7
Pin No. No.1 CN5 Max. 30m Option cable : CNP5 Pin 1 2 3 4 5 6 7 8 9 10 Name LG CA CB CZ Pin 11 12 13 14 15 16 17 18 19 20 Name LG CA* CB* CZ* LG No.10 No.11 No.20
CN7
P5(+5V)
P5(+5V) P5(+5V)
Power cable U V W SH21 UVW MDS-B-PJEX CN5
CN8 Motor axis
Spindle motor
Spindle
Spindle end PLG
CAUTION
VR2
VR1
VR4
A Z B G
CR30
24VDC power
CNP5
Bottom
2 - 32
2-5 Connection of power supply

1. Make sure that the power supply voltage is within the specified range of each unit. Failure to observe this could lead to damage or faults. 2. For safety purposes, always install a No-fuse breaker (NFB), and make sure that the circuit is cut off when an error occurs or during inspections. 3. The wire size will differ according to each drive unit capacity. 4. For safety purposes, always install a magnetic contactor (contactor) on the main circuit power supply input. Large rush currents will flow when the power is turned ON. 5. A semiconductor element is used in the power supply unit's magnetic contact drive circuit, and a surge absorber is installed to protect the element. Therefore, a leakage current of approx. 15mA is passed. Confirm that the exciting coil in the magnetic contact will not function at 15mA or less.
CAUTION
2 - 33
2-5-1 Power supply input connection

(1) When using one power supply unit Install the drive unit so that the DC power supply bus (L+, L-) is as near to the power supply unit as possible. Large-capacity spindle drive units, in particular, should be installed adjacent to the power supply unit which they control.
MDS-C1-CV MDS-C1-SP MDS-C1-V1/V2
CN4
CN4
AC reactor
Contactor L1 L2 L3 TE1 L+ TE2 MC MC1 L11 L21 TE3 L11 L21 TE3 L11 L21 TE3 LL+ LTE2 L+ L-
TE2
Ground Breaker
: Main circuit : Control circuit Ground Ground Ground
CAUTION
1. The power supply unit is a power supply regenerative type converter; an AC reactor is surely installed in the power supply line. 2. When connecting to the TE3 terminal, connect to the power supply side (primary side) of the AC reactor. 3. Connect the power supply unit's CN4 connector with the spindle drive unit of the maximum capacity. If there is no spindle drive unit, connect to the servo drive unit which is the unbalance axis. 4. When installing the units dispersed install the spindle drive unit adjacent to the power supply unit, and connections for other drive units should be such that the total TE2 wiring length is 50cm or less.
2 - 34
(2) When using two or more power supply units within a single NC communication bus system Install a no-fuse breaker and a contactor for each of the power supply units.
To NC CN1A CN1A
CN1B CN4 CN4
CN1B
AC reactor
Contactor L1 L2 L3 TE1 L+ TE2 MC MC1 L11 L21 TE3 L11 L21 TE3 L11 L21 TE3 LL+ LTE2 L+ LTE2
Ground Breaker
Ground
Ground
Ground
MDS-C1-CV
MDS-C1-SP
MDS-C1-V1/V2
CN1A CN1B CN4 CN4
CN1A
AC reactor
Contactor L1 L2 L3 TE1 L+ TE2 MC MC1 L11 L21 TE3 L11 L21 TE3 L11 L21 TE3 LL+ LTE2
L+ L-
TE2
Ground Breaker
CAUTION
1. An AC reactor and breaker are required for each power supply unit. 2. When installing the units dispersed install the spindle drive unit adjacent to the power supply unit, and connections for other drive units should be such that the total TE2 wiring length is 50cm or less.
2 - 35
(3) When using one power supply shared by two NC communication bus systems The axis connected to the power supply unit's CN4 connector becomes the power supply unit control axis.
CN4
CN4
CN9
AC reactor
Contactor L1 L2 L3 TE1 L+ TE2 MC MC1 L11 L21 TE3 L11 L21 TE3 L11 L21 TE3 LL+ LTE2 L+ LTE2
Ground Breaker
Ground
Ground
Ground
MDS-C1-V1/V2
MDS-C1-V1/V2
CN4
L+ L-
TE2
L+ L-
TE2
L11 L21
TE3
L11 L21
TE3
Ground
Ground
CAUTION
1. If the two NC communication bus systems include a spindle drive unit, connect the power supply unit's CN4 connector to the CN4 connector of the largest-capacity spindle drive unit. If there is no spindle drive unit, connect to the unbalance-axis servo drive unit. 2. Install the spindle drive unit adjacent to the power supply unit, and connections for other drive units should be such that the total TE2 wiring length is 50cm or less. 2 - 36
2-5-2 Connecting the grounding cable

(1) Connecting the protective grounding (PE) and frame ground (FG) Each unit has a terminal or mounting hole to connect PE ( ) or FG. Please connect an earth wire to the main ground of a cabinet or a machine frame at one point. Ground each device according to the grounding conditions set forth by each country. (Typically, a Y-connection neutral point ground is used in Europe.) PE: Grounding to provide protection from electric shock, etc. FG: Grounding to stabilize the operation of the devices, etc. (Suppress noise)
MDS-C1-V1/V2/SP MDS-C1-CV
B-AL
Grounding plate
HC Series motor
SJ Series motor
POINT
Do not connect the grounding cable from each unit directly to the grounding plate. Noise from other units could result in malfunctions.
Unit Grounding plate
(2) Grounding cable size Earth wire size should follow the following table.
Type MDS-C1-CV Unit MDS-C1-V1/V2/SP[] Unit B-AL (AC Reactor) Grounding cable size (Required grounding) Larger than thickness of wire connected to TE1 (L1/L2/L3). (PE) Larger than thickness of wire connected to TE1 (U/V/W). (PE) 5.5 mm (AWG10) or more (FG)
2
2 - 37
2-5-3 Main circuit control

(1) Contactor ON sequence Main circuit power is turned ON in the sequence shown below when an emergency stop status is canceled.
Emergency stop (EMG) OFF ON ON OFF PN charging completed
Contactor control output (MC1) PN bus voltage
Dynamic brake Motor ON (GATE) Motor brake control output (CN20) Ready ON signal (READY) Servo ON signal (SERVO)
OFF ON ON OFF OFF ON ON OFF ON OFF 0 500
Ready completion Command input enable 1000 1500 Time (ms)
Contactor ON sequence
(2) Contactor shutoff sequence When an emergency stop occurs, the NC checks the MC shutoff permission (motor stop or dynamic brake operation) status for all axes and then shuts off the contactors. If there is no MC shutoff permission output, the contactors are forced off 30 seconds later by their control units. Contactors are shut off immediately if an alarm occurs.
Emergency stop (EMG) Servo 1st axis (Dynamic brake stop) OFF ON Speed 0 MC shutoff permission Speed 0 MC shutoff permission Speed 0 MC shutoff permission Speed 0 MC shutoff permission ON OFF Contactor shutoff sequence Shutoff after all-axes permission check Drop prevention
Servo 2nd axis (Deceleration control)
Servo 3rd axis (Drop prevention control)
Spindle (Deceleration stop)
Contactor control output (MC1)
2 - 38
2-6 Wiring of the motor brake

2-6-1 Wiring of the motor magnetic brake
The magnetic brake of servomotors with a magnetic brake is controlled by the motor brake control connector (CN20) on the servo drive unit. The servo drive unit releases the brake when the motor is ON. (Servo ON means when torque is generated in the motor.) (1) Motor brake release sequence The motor brake control output (CN20: MBR) releases the magnetic brake in the sequences in the following drawing when canceling the emergency stop. The brake is released after the start of the power ON to the servomotor.
Emergency stop (EMG) Dynamic brake Motor brake control output (MBR) ON Cancel Cancel ON Cancel ON
Servo ready signal (RDY) Servo ready completion signal (SA)
ON OFF ON OFF 0 500 1000
Ready completion Command input enable 1500 Time (ms)
Motor brake control sequences when an emergency stop is canceled
(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) Motor brake control output CN20 connector (MBR) SERVO ON SERVO OFF OFF ON ON OFF OFF ON
Motor brake control sequences when a servo OFF command is output
CAUTION
1. The vertical axis drop prevention control only is performed during an emergency stop (including alarms and power failures). It is not performed when a servo OFF command is input. 2. A servo OFF command is required at both axes in order to perform a motor brake control output (MBR) at 2-axis drive unit.
2 - 39
(3) Operation sequences when an emergency stop occurs The motor brake control output operation when an emergency stop occurs differs according to the motor deceleration stop method. Refer to section "4-5 Setting for emergency stop" for details on the operation sequences for each stop method.
(4) Motor brake control connector (CN20) output circuit As shown in the illustration below, an external power supply circuit is controlled by the CN20 connector output. Dynamic brake unit is controlled simultaneously for large-capacity drive unit (MDS-C1-V1-110/150). Refer to "2-6-2 Dynamic brake unit wiring" for details.
MDS-C1-V1/V2 Always install a surge absorber 24VDC
CN20
3 MBR2 2 DBR 1 MBR1
Emergency stop switch
Surge absorber
Brake
Unit internal relay specification: 5A 30Vdc/8A 250Vac
CAUTION
1. Always install a surge absorber near the motor's brake terminal to eliminate noise and protect the contacts. 2. The brakes cannot be released just by connecting the CN20 and motor brake terminal. 24VDC must be supplied.
POINT
To ensure safety in an emergency, make sure that the magnetic brakes are applied in sequence with the emergency stop switch.
2 - 40
2-6-2 Dynamic brake unit wiring

The 11kW and larger servo drive unit does not have built-in dynamic brakes. Always install a dynamic brake unit. The 9kW and smaller servo drive unit has built-in dynamic brakes.
MDS-C1-V1-110/150 External power supply 24VDC GND CNU20S(AWG14)
1 2 3
Brake connector
CN20 Pin 1 2 3 Name 24VDC DBU MBR
Control terminal blockM3

Pin 1 2 3 4 5 6 Name NC a b 13 14
Twist wire
Motor with a brake
V W
Dynamic brake unit (MDS-B-DBU-150)
Drive terminal blockM3

Pin 1 2 3 Name U V W
Servomotor
CAUTION
Correct wire the dynamic brake unit to the servo drive unit. 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) of CN20 connector.
POINT
2 - 41
2-7 Peripheral control wiring

2-7-1 Input/output circuit wiring
The input/output circuit to control the external signal such as external emergency stop input and relay changeover signal output is wired. The input/output circuit for each unit is as follows.
Input circuit CN9 connector 24V 10k
Output circuit CN9 connector 24V
Relay, etc. 33.3k MPI1 20 18 24G Switch 10 Servo/spindle drive unit 24G MPO2 8 MPO1
10
CN23 connector 24V 3 Switch 2k Servo/spindle drive unit
1 Power supply unit The part indicated by the " by the user. " must be prepared
Input condition Switch ON 18VDC to 25.2VDC 9mA or more 4VDC or less 2mA or less Output voltage Tolerable output current Io Switch OFF
Output condition 24VDC 5% 50mA or less
For a switch or relay to be wired, use a switch or relay that satisfies the input/output (voltage, current) conditions.
Interface name For digital input signal (CN23,CN9) Selection example Use a minute signal switch which is stably contacted and operated even with low voltage or current <Example> OMRON: G2A, G6B type, MY type, LY type Use a compact relay operated with rating of 24VDC, 50mA or less. <Example> OMROM: G6B type, MY type
For digital output signal (CN9)
2 - 42
2-7-2 Spindle coil changeover

There are spindle motors capable of coil changeover control, which enables favorable characteristics to be attained from low speeds to high speeds by changing two types or three types (only for MDS-C1-SPM) of coils. (1) Coil changeover control The speed at which to change the coils is detected by the spindle drive according to the value set with spindle parameter SP020. This is conveyed to the NC with a speed detection (SD) signal. The NC judges the other conditions (coil fixed, etc.), and issue a coil changeover command to the spindle drive with the L coil selection command (LCS). To prevent the contactor from varying, the hysteresis set with SP047 is applied on the speed when changing from the low-speed coil to the high-speed coil and the high-speed coil to the low-speed coil.
6000 4000 SP020 2000 (SP020+SP047 0 Speed detection (SD1) L coil selection command (LCS) Changing coil (MKC) [SPNC] [NCSP] [SPNC]
Low-speed coil
Spindle motor speed (r/min)
Time
Contactor changeover
High-speed coil
Low-speed coil
Spindle motor coil changeover control
No. SP020 SP047
Abbrev. Parameter name SDTS* SDTR* Speed detection set value Speed detection reset value
Description 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).
Setting range 0 to 32767 (r/min) 0 to 1000 (r/min)
Standard value 600 30
2 - 43
(2) Protective functions [1] Base shutoff after a winding changeover When the L-coil selection command (LCS) is used to perform low-speed winding high-speed winding switching, or vice-versa, the base is shut off during contactor operation time in order to protect the spindle drive unit's main circuit. The base shutoff time is determined by the "Winding changeover base shutoff timer" (SP059) setting. The standard time setting should be used, as a shorter time can cause contactor burn damage. (Refer to 5-2-2 (4) "Spindle control output 4" Coil changing (bit 6) for details.)
No. SP059 Abbrev. Parameter name MKT* Winding changeover base shut-off timer Description Set the base shut-off time for contactor switching at coil changeover. Note that the contactor may be damaged with burning if the value of this parameter is too small. Setting range 50 to 10000 (ms) Standard value 150
[2] Current limit after coil changeover Following a coil changeover, the current is limited (SP061) for the period specified by the current limit timer (SV060) in order to stabilize control. Because position loop control (synchronous tap, C-axis control, etc.) that occurs immediately after a coil changeover will result in unstable control, be sure that position commands specified by the sequence is input after the current limit is cancelled.
No. SP060 Abbrev. Parameter name Description Setting range 0 to 10000 (ms) 0 to 120 (%) Standard value 500
MKT2* Current limit timer Set the current limit time to be taken after completion of after coil contactor switching at coil changeover. changeover MKIL* Current limit value Set the current limit value during a period defined in SP060 after coil (MKT2) after completion of contactor switching at coil changeover changeover.
SP061
75
2 - 44
(3) Wiring The illustration below shows the 2 types of changeover that occur after a coil changeover, (a) Y (star) (delta) changeover, and (b) Y (star) Y (star) changeover. As shown in (c), one of the contactors (MC1 or MC2) is turned ON and the other is turned OFF at all of the coil changeover control circuits.
U V W MC2 Spindle drive unit terminal block U V W
MC1
X Y Z
MC1: Contactor to connect low-speed coil (Y-connection) MC2: Contactor to connect high-speed coil (-connection) (a) Y (star) - (delta) changeover circuit
Spindle motor
U V W
MC1
U1 V1 W1
Spindle drive unit terminal block
MC2
U2 V2 W2
MC1: Contactor to connect low-speed coil (1st Y-connection) MC2: Contactor to connect high-speed coil (2nd Y-connection)
Spindle motor
(b) Y (star) - Y (star) changeover circuit
MDS-C1-SP RA RA
CN9-8 RA CN9-10 S MC1 T
MC2
MC1
SK
MC2
SK
(c) Coil changeover control circuit (common) Coil changeover relay control circuit
2 - 45
2-7-3 Wiring of an external emergency stop

(1) External emergency stop setting Besides the emergency stop input from the NC communication cable (CN1A, CN1B), double-protection when an emergency stop occurs can be provided by directly inputting an external emergency stop to the CN23 connector on the power supply unit. Even if the emergency stop is not input from CNC for some reason, the contactors will be shut off by the external emergency stop input from CN23 connector on the power supply unit.
[1] Connection
Emergency stop Mitsubishi NC SV1,2 Alarm SH21 FCUA-R000 CN1A CN1B CN4 SH21 FCUA-R000 CN4 MC1
MC1 L11 L21
MDS-C1-V1/V2/SP
Emergency stop Alarm
MDS-C1-CV
Contactor shutoff command
CN23 External emergency stop input

1 EMG1 2 NC 3 EMG2
[2] Setting When using the external emergency stop, the rotary switch on the front of the power supply unit and the parameter (PTYP) of drive unit that controls the power supply must be set. Rotary switch setting: 4 Parameter setting: Add "0040" to the setting of PTYP (Servo=SV036, Spindle=SP041). Parameter settings
No. SV036 SP041 Abbreviation PTYP Parameter name Power supply type Descriptions When external emergency stop is validated, 0040 [hex] is added to PTYP for the drive unit connected to the power supply unit.
CAUTION
The emergency stop signal input to the CNC side cannot be used as a substitute for the external emergency stop function (CN23).
2 - 46
(2) Operation sequences of CN23 external emergency stop function If only external emergency stop is input when external emergency stop valid is set in the parameters (the emergency stop is not input in NC), an "In external emergency stop" (warning EA) will be detected. At this time, the system itself does not enter an emergency stop status. (There will be no deceleration control or dynamic brake stop.) If a contactor shutoff command is not issued from the NC within 30 seconds after the external emergency stop is input, the power supply unit outputs contactor shutoff signal (MC1), and then it shuts off the contactors, and a power supply error (alarm 6F) is detected simultaneously. If the emergency stop is input from NC within 30 seconds, the warning EA replaces the "In NC emergency stop" (warning E7). A normal emergency stop status will result if the contactor shutoff command from the NC are further input. Ready ON is possible even if CN23, an external emergency stop has been input when the emergency stop is canceled, but an power supply error (alarm 6F) will occur after 30 seconds.
External emergency stop input (EMGX) Main emergency stop input (EMG) Motor speed 0 Contactor control command Contactor control terminal (MC) Servo drive unit status display ON OFF ON OFF dx EA E7 Cx dx OFF ON OFF ON Deceleration control
External emergency stop input sequences
The communication line enters an emergency stop state by the output from the servo. External emergency stop input (EMGX) Main emergency stop input (EMG) Motor speed 0 Contactor control command Contactor control terminal (MC) Servo drive unit status display ON OFF ON OFF dx 0 EA 30 6F, E7 Time (s) OFF ON OFF ON Dynamic brake
When neither a main emergency stop nor contactor shutoff command is input
2 - 47
(3) Example of emergency stop circuit [1] Outline of function The power supply unit's external emergency stop can be validated by wiring to the CN23 connector, and setting the parameters and rotary switch. If the emergency stop cannot be processed and the external contractor cannot be shut off (due to a fault) by the NC unit, the external contactor can be shut off by the power supply unit instead of the NC. At this time, the spindle motor will coast and the servomotor will stop with the dynamic brakes. EN60204-1 Category 1 can be basically complied with by inputting the external emergency stop and installing contactor. 1. The power supply unit external emergency stop function is a function that assists the NC emergency stop. 2. It will take 30 seconds for the external contactor to function after the emergency stop is input to CN23. (This time is fixed.)
CAUTION
[2] Outline of function The emergency stop is a signal used to NC Unit TM1 stop the machine in an emergency. This R EMG SV1/2 External RA1 R is connected to the NC unit. Wire to the Emergency Switch power supply unit when necessary. The servo/spindle unit will be decelerated MBR* Power Supply Servo/Spindle and controlled by the software according Unit Drive Unit CN23 CN1A/B to the emergency stop command issued CN4 CN4 from the NC unit. (The deceleration control depends on a parameter setting.) The diagram on the right shows an MC example of the emergency stop circuit (EN60204-1 Category 0 stop) in which an CN20 MBR* Motor off delay timer (TM1) is installed as a Brake power shutoff method independent from AC Reactor External Contactor 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.
CUP & ASIC Hardware Emergency
GND
GND
CUP & ASIC
Software Emergency
L11 L21
L11 L21
CUP & ASIC
MC1
MC-OFF*
L1
L2 L3
[3] Setting the off delay timer (TM1) time Set the TM1 operation time so that it functions after it has been confirmed that all axes have stopped. If the set time is too short, the spindle motor will coast to a stop. tm All axes stop time Provide a mechanism that shuts off the power even if the NC 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 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.
POINT
2 - 48
3. Setup
3-1 Initial setup........................................................................................................................................ 3-2 3-1-1 Setting the rotary switch ............................................................................................................ 3-2 3-1-2 Transition of LED display after power is turned ON .................................................................. 3-3 3-1-3 Servo standard specifications and high-gain specifications ...................................................... 3-4 3-2 Setting the initial parameters for the servo drive unit (High-gain specifications).......................... 3-5 3-2-1 Setting the standard parameters ............................................................................................... 3-5 3-2-2 List of standard parameters for each servomotor.................................................................... 3-11 3-2-3 Servo parameter list................................................................................................................. 3-23 3-3 Setting the initial parameters for the servo drive unit (Standard specifications) ............................ 3-39 3-3-1 Setting the standard parameters ............................................................................................. 3-39 3-3-2 List of standard parameters for each servomotor.................................................................... 3-44 3-3-3 Servo parameter list................................................................................................................. 3-51 3-4 Restrictions on servo control .......................................................................................................... 3-63 3-4-1 Restrictions of electronic gear setting value ............................................................................ 3-63 3-4-2 Restrictions on absolute position control ................................................................................. 3-64 3-5 Setting the initial parameters for the spindle drive unit................................................................... 3-65 3-5-1 Spindle specification parameters............................................................................................. 3-65 3-5-2 List of spindle parameters........................................................................................................ 3-70 3-6 Initial adjustment of the spindle PLG ............................................................................................ 3-104 3-6-1 Adjusting the PLG installation................................................................................................ 3-104 3-6-2 Z phase automatic adjustment............................................................................................... 3-110 3-6-3 Motor end PLG automatic adjustment ................................................................................... 3-111 3-6-4 Spindle end PLG automatic adjustment ................................................................................ 3-112
3-1
3. Setup
3-1
3-1-1
Initial setup
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) 2nd axis Servo drive unit (MDS-C1-V2) Spindle drive unit (MDS-C1-SP ) Power supply unit (MDS-C1-CV)
L axis M axis
5 4 3 67 8 9A B C D 21 FE 0 5 4 3 67 8 9A B C D 21 FE 0 5 4 3 67 8 9A B C D 21 FE 0 5 4 3 67 8 9A B C D 21 FE 0
5 4 3
67 8 9A B C D 21 FE 0
Setting the rotary switch 0 1 2 3 4 5 6 7 8 9 A B C D E F
Details Setting the MDS-C1-V1/V2/SP 1st axis 2nd axis 3rd axis 4th axis 5th axis 6th axis 7th axis Setting the MDS-C1-CV External emergency stop invalid Setting prohibited External emergency stop valid (Used CN23)
Setting prohibited
Setting prohibited
Axis not used
POINT
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 of the axis not in use is disconnected, the NC system's emergency stop cannot be released.
3-2
3. Setup
3-1-2
Transition of LED display after power is turned ON
When CNC, each drive unit and the power supply unit power have been turned ON, each unit will automatically execute self-diagnosis and initial settings for operation, etc. The LEDs on the front of the units will change as shown below according to the progression of these processes. If an alarm occurs, the alarm No. will appear on the LEDs. Refer to "6-1 LED display when alarm or warning occurs" for details on the alarm displays.
Drive units
Power supply unit
LED display Drive unit initialization complete Waiting for NC power start up Waiting for NC power start up NC power ON NC power ON
LED display NC power ON
Executing initial communication with NC
Executing initial communication with NC A : Initializing b : Ready OFF, in emergency stop c : Ready ON/servo OFF
Emergency stop state The LED will alternate between F# E7 not lit. (# is the set axis No.) Servo ON state Servo OFF sate
Servo ON state
Emergency stop state
NC power OFF
Repeats lighting and going out. (1st axis in the display example)
CAUTION
Always input emergency stop when starting the servo system.
3-3
3. Setup
3-1-3
Servo standard specifications and high-gain specifications
(1) Two-part system compliance With the MDS-C1-V1/V2 Series, control is possible with the standard servo (MDS-B-V1/V2) control mode and high-gain servo (MDS-B-V14/V24) control mode. When replacing an older model (MDS-B Series) with this series, the servo parameter settings are automatically recognized and the control mode is determined. Thus, the model can be changed from either a standard servo or high-gain servo without changing the servo parameters. When using the MDS-C1-V1/V2 unit and newly adjusting the machine, select the high-gain specifications. The high-gain specifications are set as the default. (2) Judging the control mode Whether the servo drive unit starts up with the standard servo specifications or high-gain servo specifications depends on the servo parameter SV009 to SV012 and SV033/bit8, 9 settings.
Parameter SV009 SV010 SV011 SV012 SV033/bit8 SV033/bit9 (Note) SV009 = 4096 or more, and SV010 = 4096 or more, and SV011 = 768 or more, and SV012 = 768 or more 0 0 High-gain Standard 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 0 0 Standard SV009=* SV010=* SV011=* SV012=* 1 0 High-gain SV009=* SV010=* SV011=* SV012=* 0 1 High-gain SV009=* SV010=* SV011=* SV012=* 1 1
* 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 MDS-C1-V1MDS-C1-V2MDS-C1-V1-45S MDS-C1-V1-70S MDS-C1-V2-3510S MDS-C1-V2-3520S MDS-C1-V2-4545S MDS-C1-V2-7070S MDS-C1-V2-9090S For standard servo specifications C1V1s C1V2s C1V1s4S C1V1s7S C1V2s3510 C1V2s3520 C1V2s4S4S C1V2s7S7S C1V2s9S9S For high-gain servo specifications C1V1C1V2C1V1-4S C1V1-7S C1V2-3510 C1V2-3520 C1V2-4S4S C1V2-7S7S C1V2-9S9S
CAUTION
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 must be changed and adjusted for high-gain servo use. 2. If alarm 7F occurs after setting the servo parameters, turn the servo drive unit power ON again.
3-4
3. Setup
3-2
Setting the initial parameters for the servo drive unit (High-gain specifications)
The servo parameters must be set before the servo system can be started up. The servo parameters are input from the NC. The input method differs according to the NC being used, so refer to each NC Instruction Manual.
3-2-1
Setting the standard parameters
When starting up the system, first set the standard parameters listed in "3-2-2 List of standard parameters for each servomotor". For the parameters shown below, check the machine and servo system specifications and determine the setting value. (1) Basic specification parameters [1] When performing absolute position control, set SV017/bit7=1. This may be automatically set by NC system parameter setting, depending on NC model. (Setting on the servo parameter screen is not valid.) [2] When performing absolute position control with speed and current synchronous control, set SV081/bit4=1 for master and slave axes. Also set SV017/bit7=1. [3] For HA053N, HA13N, HA23N, HA33N motors, if the connector direction of the motor end detector with motor power connector is 90, set SV017/bit5=1. If the angle is 180, use a standard setting (SV017/bit5=0).
Setting basic specification parameters High-gain specifications No. Abbrev. Parameter name F E D spm bit 5 7 vdir abs Incremental control C B A Explanation
9 8 7 mpt mp abs
5 4 3 2 1 0 vdir fdir vfb seqh dfbx fdir2 Meaning when "1" is set
SV017
SPEC*
Servo specification selection 1
Meaning when "0" is set Standard setting
HA motor (4 pole motor) Detector installation position 90 degrees (B, D) Absolute position control
F SV081 SPEC2* Servo specification selction 2
4 3 pabs
1 rabs
bit
Meaning when "0" is set
Meaning when "1" is set Speed/current synchronous control absolute position control
4 pabs Normal setting
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
POINT
Setting of absolute position control (SV017/bit7) may be set automatically by NC system parameter setting, depending on NC model. In this case, setting on the servo parameter screen is not valid.
3-5
3. Setup
(2) Electronic gear related parameters The setting range of the following parameters, which configure the electronic gears, may be limited according to the combination. Refer to section "3-4 Restrictions on servo control" for details.
High-gain specifications No. SV001 SV002 SV018 Abbrev. PC1* PC2* PIT* Parameter name Motor side gear ratio Machine side gear ratio Ball screw pitch Explanation Set the motor side and machine side gear ratio. For the rotary axis, set the total deceleration (acceleration) ratio. Even if the gear ratio is within the setting range, the electronic gears may overflow and cause an alarm. Set the ball screw pitch. Set to "360" for the rotary axis. 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 OHE25K-ET, OHA25K-ET OSE104-ET,OSA104-ET OSE105-ET,OSA105-ET Relative position detection scale AT41 (Mitsutoyo) Resolution 100,000 (p/rev) 100,000 (p/rev) 1,000,000 (p/rev) Refer to detector specification manual 1 (m/p) Refer to detector specification manual Refer to detector specification manual 0.5 (m/p) 0.05 (m/p) 0.05 (m/p) 0.1, 0.05 (m/p) 0.05 (m/p) 8,000,000(p/rev) 8,000,000(p/rev) SV019 setting 100 100 1000 PIT/Resolution (m) The same as SV018 (PIT) PIT/Resolution (m) PIT/Resolution (m) Twice as big as SV018 (PIT) 20 times as big as SV018 (PIT) 20 times as big as SV018 (PIT) PIT/Resolution (m) PIT/Resolution (m) 8000 8000 PIT/scale(m)
Setting range (Unit) 1 to 32767 1 to 32767 1 to 32767 (mm/rev) 1 to 9999 (kp/rev)
SV019
RNG1*
Position detector resolution
FME type, FLE type (Futaba) MP type (Mitsubishi Heavy Industries) AT342 (Mitsutoyo) AT343 (Mitsutoyo) AT543 (Mitsutoyo) LC191M (Heidenhain) LC491M (Heidenhain) RCN223(Heidenhain) RCN723(Heidenhain) MDS-B-HR
1 to 3000 (kp/pit)
Set the number of pulses per one revolution of the motor end detector. SV020 RNG2* Speed detector resolution Detector model name OSE104, OSA104 OSE105, OSA105 SV020 setting 100 1000 1 to 9999 (kp/rev)
3-6
3. Setup
(3) Detector related parameters (a) For semi-closed loop control For control using only the motor end detector, specify the settings shown in the table below. For speed and current synchronous control, refer to section "2-4-3 Connecting the synchronous control system".
Setting for semi-closed loop control High-gain specifications No. Abbrev. Parameter name Explanation
bit 8 9 A SV025 MTYP* Motor/Detector type B C D E F
Details Set the detector type. Set the position detector type for "pen", and the speed detector type ent for "ent". In the case of the semi-closed loop control, set the same value for "pen" and "ent".
Detector model name OSE104 OSA104 OSE105, OSA105 pen setting 0 1 2 ent setting 0 1 2
pen
(b) For full-closed loop control Some parameter settings must be specified in order to use the machine end detector. These settings are determined by type or the installation conditions of the linear scale and the ball screw end detector. [1] The SV025/bit8 to B (ent) setting must be specified according to the motor end detector specifications, in the same manner as for semi-closed loop control. For current synchronous control, however, refer to section "2-4-3 Connecting the synchronous control system". [2] If the polarities of the motor end detector and the machine end detector do not match, specify SV017/bit4=1 setting. [3] To use AT342, AT343, AT543, LC191M, LC491M, specify SV027/bit6=1 setting. [4] To use the MP scale, specify SV017/bit8 setting in accordance with the scale specifications. For absolute position control, specify SV017/bit9=1 setting. [5] For ABZ phase pulse output type relative position detection scale with constant Z-phase detection position without regard to the travel direction, specify SV027/bit6=1 setting. Z-phase detection occurs as follows: Plus-direction travel: Rising edge detection, Minus-direction travel: Falling edge detection [6] For machine end absolute position control at the rotation axis, specify SV081/bit1=1 setting. [7] For speed and current synchronous control, refer to "2-4-3 Connecting the synchronous control system".
3-7
3. Setup
Setting for full-closed loop control High-gain specifications No. Abbrev. Parameter name Explanation
E D spm bit
9 8 7 mpt mp abs
5 4 3 2 1 0 vdir fdir vfb seqh dfbx fdir2 Meaning when "1" is set
SV017 SPEC*
Servo specification selection
4 8 9
fdir Position feedback forward polarity mp MP scale 360P (2mm pitch) MP scale ABS detection NC mpt control
Position feedback reverse polarity MP scale 720P (1mm pitch) MP scale ABS detection automatic (Standard setting)
bit 8 9 A B C D E F
Explanation 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 Detector model name ent setting setting
OSE104 0 (Note) 1 (Note) 2 (Note) 3 (Note) OHE25K-ET,OSE104-ET OHA25K-ET,OSA104-ET OSE105-ET, OSA105-ET, RCN223, RCN723 (Heidenhain) 4 5 6 7 0 1 2 3 Setting impossible Setting impossible Setting impossible Setting impossible Setting impossible Setting impossible Setting impossible Setting impossible C (Current synchronization) E (Current synchronization) Setting impossible Setting impossible OSA104 OSE105, OSA105
pen
SV025 MTYP* Motor/Detector type
Relative position detection scale, MP type (Mitsubishi Heavy Industries) AT41 (Mitsutoyo), FME type, FLE type (Futaba) AT342, AT343, AT543 (Mitsutoyo), LC191M/491M (Heidenhain), MDS-B-HR
8 9 A B
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 F
(Note) Setting for semi-closed loop control
3-8
3. Setup
Setting for full-closed loop control High-gain specifications No. Abbr ev. Parameter name Explanation
F E D C aflt zrn2 afse SV027 SSF1 Servo function selection 1 6 bit
B ovs
9 lmc
7 6 5 4 omr zrn3 vfct
2 upc
1 0 vcnt
Meaning when "0" is set Meaning when "1" is set ABZ phase scale: Set to "1" to fix Z-phase detection edge. zrn3 Absolute position scale: Set to "1" in using AT342/343, LC191M/491M.
F SV081 SPEC2* Servo function selection 2 1
4 3 pabs
1 rabs
bit rabs
Meaning when "0" is set Normal setting
Meaning when "1" is set Rotary axis machine end absolute position control
3-9
3. Setup
(4) Setting the power supply type Set the drive unit connected to the power supply unit with the CN4 connector. This does not need to be set if the power supply for the axis is not connected with the CN4 connector. (Set "0000".) If the power supply unit is connected with the spindle drive unit, the parameters do not need to be set on the servo side. When connected to a 2-axis servo drive unit (MDS-C1-V2), set the power supply type for one of the two target axes.
High-gain specifications No. Abbrev. Parameter name
Explanation
E D amp bit
A 9 rtyp
4 3 ptyp
0 1 2 3 4 5 6 7 SV036 PTYP* Power supply type
Explanation When the CN4 connector of the drive unit and the power supply unit are connected, setting below is necessary. To validate the external emergency stop function, add 40h.
Setting x0 x1 x2 x3 x4 x5 x6 x7 x8 x9 CV-75 CV-185 CV-55 CV-37 CV-150 CV-260 CV-370 CR-75 CR-90 MDS-B- MDS-BCVE-450 CVE-550 CR-55 0x Not used 1x 2x 3x CV-300 CV-110 CV-220 CR-10 CR-15 CR-22 CR-37 4x 5x 6x 7x 8x
ptyp
8 Set the regenerative resistor type when using MDS-A-CR. Set 0 when using the MDS-C1-CV (power regeneration.) 9 rtyp A B C Set "0". D amp E F
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 stop
F1 F+axis No.
E7 Emergency stop
Not lit
Normal LED display when NC power is turned ON (1st axis)
3 - 10
3. Setup
3-2-2
List of standard parameters for each servomotor
(1) HC Series (Standard 2000r/min rating)

High-gain specifications
Motor Parameter No. Abbrev. Details Unit capacity SV001 PC1 Motor side gear ratio SV002 PC2 Machine side gear ratio SV003 PGN1 Position loop gain 1 SV004 PGN2 Position loop gain 2 SV005 VGN1 Speed loop gain 1 SV006 VGN2 Speed loop gain 2 SV007 VIL Speed loop delay compensation SV008 VIA Speed loop lead compensation SV009 IQA Current loop q axis lead compensation SV010 IDA Current loop d axis lead compensation SV011 IQG Current loop q axis gain SV012 IDG Current loop d axis gain SV013 ILMT Current limit value SV014 ILMTsp Current limit value in special control SV015 FFC Acceleration rate feed forward gain SV016 LMC1 Lost motion compensation 1 SV017 SPEC Servo specification selection SV018 PIT Ball screw pitch SV019 RNG1 Position detector resolution SV020 RNG2 Speed detector resolution SV021 OLT Overload detection time constant SV022 OLL Overload detection level SV023 OD1 Excessive error detection width during servo ON SV024 INP In-position detection width SV025 MTYP Motor/detector type Excessive error detection width during servo SV026 OD2 OFF SV027 SSF1 Servo function selection 1 SV028 SV029 VCS Speed at the change of speed loop gain Voltage dead time compensation / SV030 IVC current bias 1 SV031 OVS1 Overshooting compensation 1 SV032 TOF Torque offset SV033 SSF2 Servo function selection 2 SV034 SSF3 Servo function selection 3 SV035 SSF4 Servo function selection 4 SV036 PTYP Power supply type SV037 JL Load inertia scale SV038 FHz1 Notch filter frequency 1 SV039 LMCD Lost motion compensation timing Lost motion compensation non-sensitive band SV040 LMCT /current bias 2 SV041 LMC2 Lost motion compensation 2 SV042 OVS2 Overshooting compensation 2 SV043 OBS1 Disturbance observer filter frequency SV044 OBS2 Disturbance observer gain SV045 TRUB Frictional torque/current bias 3 SV046 FHz2 Notch filter frequency 2 SV047 EC Inductive voltage compensation gain SV048 EMGrt Vertical axis drop prevention time Position loop gain 1 in spindle synchronous SV049 PGN1sp control Position loop gain 2 in spindle synchronous SV050 PGN2sp control SV051 DFBT Dual feedback control time constant SV052 DFBN Dual feedback control non-sensitive band Excessive error detection width in special SV053 OD3 control SV054 ORE Overrun detection width in closed loop control SV055 EMGx Max. gate off delay time after emergency stop SV056 EMGt Deceleration time constant at emergency stop SV057 SHGC SHG control gain SV058 SHGCsp SHG control gain in spindle synchronous control SV059 TCNV Collision detection torque estimating gain SV060 TLMT Collision detection level SV061 DA1NO D/A output channel 1 data No. SV062 DA2NO D/A output channel 2 data No. SV063 DA1MPY D/A output channel 1 output scale SV064 DA2MPY D/A output channel 2 output scale HC52 05 ----47 0 200 0 0 1364 4096 4096 768 768 500 500 0 0 0000 ------60 150 6 50 xxB0 6 HC 102 10 ----47 0 200 0 0 1364 4096 4096 768 768 500 500 0 0 0000 ------60 150 6 50 xxB1 6 Standard HC motor 2000 r/min rating HC HC HC452 HC702 HC202 352 152 20 20 35 45S 45 70S 70 ----------------------------47 47 47 47 47 47 47 0 0 0 0 0 0 0 200 200 200 200 200 200 200 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1364 1364 1364 1364 1364 1364 1364 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 768 768 768 768 768 768 768 768 768 768 768 768 768 768 500 500 500 500 500 500 500 500 500 500 500 500 500 500 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0000 0000 0000 1000 0000 1000 0000 ------------------------------------------60 60 60 60 60 60 60 150 150 150 150 150 150 150 6 6 6 6 6 6 6 50 50 50 50 50 50 50 xxB2 xxB3 xxB4 xx95 xxB5 xx96 xxB6 6 6 4000 0 0 0 0 0 0000 0003 0040 0000 0 0 0 6 4000 0 0 0 0 0 0000 0003 0040 0000 0 0 0 6 4000 0 0 0 0 0 0000 0003 0040 0000 0 0 0 6 4000 0 0 0 0 0 0000 0003 0040 0000 0 0 0 6 4000 0 0 0 0 0 0000 0003 0040 0000 0 0 0 6 4000 0 0 0 0 0 0000 0003 0040 0000 0 0 0 HC902 90S ----47 0 200 0 0 1364 4096 4096 768 768 500 500 0 0 1000 ------60 150 6 50 xx97 6 4000 0 0 0 0 0 0000 0003 0000 0000 0 0 0 90 ----47 0 200 0 0 1364 4096 4096 768 768 500 500 0 0 0000 ------60 150 6 50 xxB7 6 4000 0 0 0 0 0 0000 0003 0000 0000 0 0 0
4000 4000 4000 0 0 0 0 0 0 0 0 0 0000 0003 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0000 0003 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0000 0003 0040 0000 0 0 0
0 10240 10240 10240 10240 10240 10240 10240 10240 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3 - 11
3. Setup
Motor Parameter No. Abbrev. Details Unit capacity SV065 TLC Tool end compensation spring constant (System parameter area) SV081 SPEC2 Servo specification selection 2 SV082 SSF5 Servo function selection 5 SV083 SSF6 Servo function selection 6 SV084 SSF7 Servo function selection 7 Lost motion compensation spring constant SV085 LMCk Lost motion compensation viscous coefficient SV086 LMCc SV087 FHz4 Notch filter frequency 4 SV088 FHz5 Notch filter frequency 5 SV089 : SV100
Standard HC motor 2000 r/min rating HC10 HC1 HC35 HC52 HC202 HC452 HC702 2 52 2 05 10 20 20 35 45S 45 70S 70 0 0 0 0 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0
HC902 90S 0 0000 0000 0000 0000 0 0 0 0 0 90 0 0000 0000 0000 0000 0 0 0 0 0
3 - 12
3. Setup
(2) HC Series (Standard 3000r/min rating)

Parameter No. Abbrev. SV001 PC1 SV002 PC2 SV003 PGN1 SV004 PGN2 SV005 VGN1 SV006 VGN2 SV007 VIL SV008 VIA SV009 IQA SV010 IDA SV011 IQG SV012 IDG SV013 ILMT SV014 ILMTsp SV015 FFC SV016 LMC1 SV017 SPEC SV018 PIT SV019 RNG1 SV020 RNG2 SV021 OLT SV022 OLL SV023 OD1 SV024 INP SV025 MTYP SV026 SV027 SV028 SV029 SV030 SV031 SV032 SV033 SV034 SV035 SV036 SV037 SV038 SV039 SV040 SV041 SV042 SV043 SV044 SV045 SV046 SV047 SV048 OD2 SSF1 VCS IVC OVS1 TOF SSF2 SSF3 SSF4 PTYP JL FHz1 LMCD LMCT LMC2 OVS2 OBS1 OBS2 TRUB FHz2 EC EMGrt Standard HC motor 3000 r/min rating HC53 HC103 HC153 HC203 HC353 HC453 HC703 Details Unit capacity 05 10 20 35 45S 45 70S 70 90S 90 Motor side gear ratio --------------------Machine side gear ratio --------------------Position loop gain 1 47 47 47 47 47 47 47 47 47 47 Position loop gain 2 0 0 0 0 0 0 0 0 0 0 Speed loop gain 1 200 200 200 200 200 200 200 200 200 200 Speed loop gain 2 0 0 0 0 0 0 0 0 0 0 Speed loop delay compensation 0 0 0 0 0 0 0 0 0 0 Speed loop lead compensation 1364 1364 1364 1364 1364 1364 1364 1364 1364 1364 Current loop q axis lead compensation 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 Current loop d axis lead compensation 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 Current loop q axis gain 768 768 768 768 768 768 768 768 768 768 Current loop d axis gain 768 768 768 768 768 768 768 768 768 768 Current limit value 500 500 500 500 500 500 500 500 500 500 Current limit value in special control 500 500 500 500 500 500 500 500 500 500 Acceleration rate feed forward gain 0 0 0 0 0 0 0 0 0 0 Lost motion compensation 1 0 0 0 0 0 0 0 0 0 0 Servo specification selection 0000 0000 0000 0000 1000 0000 1000 0000 1000 0000 Ball screw pitch --------------------Position detector resolution --------------------Speed detector resolution --------------------Overload detection time constant 60 60 60 60 60 60 60 60 60 60 Overload detection level 150 150 150 150 150 150 150 150 150 150 Excessive error detection width during servo ON 6 6 6 6 6 6 6 6 6 6 In-position detection width 50 50 50 50 50 50 50 50 50 50 Motor/detector type xxC0 xxC1 xxC2 xxC3 xxA4 xxC4 xxA5 xxC5 xxA6 xxC6 Excessive error detection width during servo 6 6 6 6 6 6 6 6 6 6 OFF Servo function selection 1 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 0 0 0 0 0 0 0 0 0 0 Speed at the change of speed loop gain 0 0 0 0 0 0 0 0 0 0 Voltage dead time compensation / 0 0 0 0 0 0 0 0 0 0 current bias 1 Overshooting compensation 1 0 0 0 0 0 0 0 0 0 0 Torque offset 0 0 0 0 0 0 0 0 0 0 Servo function selection 2 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 Servo function selection 3 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 Servo function selection 4 0000 0000 0040 0040 0040 0040 0040 0040 0000 0000 Power supply type 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 Load inertia scale 0 0 0 0 0 0 0 0 0 0 Notch filter frequency 1 0 0 0 0 0 0 0 0 0 0 Lost motion compensation timing 0 0 0 0 0 0 0 0 0 0 Lost motion compensation non-sensitive band 0 0 0 10240 10240 10240 10240 10240 10240 10240 /current bias 2 Lost motion compensation 2 0 0 0 0 0 0 0 0 0 0 Overshooting compensation 2 0 0 0 0 0 0 0 0 0 0 Disturbance observer filter frequency 0 0 0 0 0 0 0 0 0 0 Disturbance observer gain 0 0 0 0 0 0 0 0 0 0 Frictional torque/current bias 3 0 0 0 0 0 0 0 0 0 0 Notch filter frequency 2 0 0 0 0 0 0 0 0 0 0 Inductive voltage compensation gain 100 100 100 100 100 100 100 100 100 100 Vertical axis drop prevention time 0 0 0 0 0 0 0 0 0 0 Position loop gain 1 in spindle synchronous 15 15 15 15 15 15 15 15 15 15 control Position loop gain 2 in spindle synchronous 0 0 0 0 0 0 0 0 0 0 control Dual feedback control time constant 0 0 0 0 0 0 0 0 0 0 Dual feedback control non-sensitive band 0 0 0 0 0 0 0 0 0 0 Excessive error detection width in special 0 0 0 0 0 0 0 0 0 0 control Overrun detection width in closed loop control 0 0 0 0 0 0 0 0 0 0 Max. gate off delay time after emergency stop 0 0 0 0 0 0 0 0 0 0 Deceleration time constant at emergency stop 0 0 0 0 0 0 0 0 0 0 SHG control gain 0 0 0 0 0 0 0 0 0 0 SHG control gain in spindle synchronous control 0 0 0 0 0 0 0 0 0 0 Collision detection torque estimating gain 0 0 0 0 0 0 0 0 0 0 Collision detection level 0 0 0 0 0 0 0 0 0 0 D/A output channel 1 data No. 0 0 0 0 0 0 0 0 0 0 D/A output channel 2 data No. 0 0 0 0 0 0 0 0 0 0 D/A output channel 1 output scale 0 0 0 0 0 0 0 0 0 0 D/A output channel 2 output scale 0 0 0 0 0 0 0 0 0 0 Tool end compensation spring constant 0 0 0 0 0 0 0 0 0 0 Motor
SV049 PGN1sp SV050 PGN2sp SV051 SV052 SV053 SV054 SV055 SV056 SV057 SV058 SV059 SV060 SV061 SV062 SV063 SV064 SV065 DFBT DFBN OD3 ORE EMGx EMGt SHGC SHGCsp TCNV TLMT DA1NO DA2NO DA1MPY DA2MPY TLC
3 - 13
3. Setup
Motor Details Unit capacity (System parameter area) SV081 SPEC2 Servo specification selection 2 SV082 SSF5 Servo function selection 5 SV083 SSF6 Servo function selection 6 SV084 SSF7 Servo function selection 7 Lost motion compensation spring constant SV085 LMCk Lost motion compensation viscous coefficient SV086 LMCc SV087 FHz4 Notch filter frequency 4 SV088 FHz5 Notch filter frequency 5 SV089 : SV100 Parameter No. Abbrev.
Standard HC motor 3000 r/min rating HC53 HC103 HC153 HC203 HC353 HC453 05 10 20 35 45S 45 70S 70 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0
HC703 90S 90 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0
3 - 14
3. Setup
(3) HC Series (Low-inertia)

Motor Parameter No. Abbrev. SV001 PC1 SV002 PC2 SV003 PGN1 SV004 PGN2 SV005 VGN1 SV006 VGN2 SV007 VIL SV008 VIA SV009 IQA SV010 IDA SV011 IQG SV012 IDG SV013 ILMT SV014 ILMTsp SV015 FFC SV016 LMC1 SV017 SPEC SV018 PIT SV019 RNG1 SV020 RNG2 SV021 OLT SV022 OLL SV023 OD1 SV024 INP SV025 MTYP SV026 SV027 SV028 SV029 SV030 SV031 SV032 SV033 SV034 SV035 SV036 SV037 SV038 SV039 SV040 SV041 SV042 SV043 SV044 SV045 SV046 SV047 SV048 OD2 SSF1 VCS IVC OVS1 TOF SSF2 SSF3 SSF4 PTYP JL FHz1 LMCD LMCT LMC2 OVS2 OBS1 OBS2 TRUB FHz2 EC EMGrt Details Unit capacity Motor side gear ratio Machine side gear ratio Position loop gain 1 Position loop gain 2 Speed loop gain 1 Speed loop gain 2 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 Current limit value Current limit value in special control Acceleration rate feed forward gain Lost motion compensation 1 Servo specification selection Ball screw pitch Position detector resolution Speed detector resolution Overload detection time constant Overload detection level Excessive error detection width during servo ON In-position detection width Motor/detector type Excessive error detection width during servo OFF Servo function selection 1 Speed at the change of speed loop gain Voltage dead time compensation / current bias 1 Overshooting compensation 1 Torque offset Servo function selection 2 Servo function selection 3 Servo function selection 4 Power supply type Load inertia scale Notch filter frequency 1 Lost motion compensation timing Lost motion compensation non-sensitive band /current bias 2 Lost motion compensation 2 Overshooting compensation 2 Disturbance observer filter frequency Disturbance observer gain Frictional torque/current bias 3 Notch filter frequency 2 Inductive voltage compensation gain Vertical axis drop prevention time Position loop gain 1 in spindle synchronous control Position loop gain 2 in spindle synchronous control Dual feedback control time constant Dual feedback control non-sensitive band Excessive error detection width in special control Overrun detection width in closed loop control Max. gate off delay time after emergency stop Deceleration time constant at emergency stop SHG control gain SHG control gain in spindle synchronous control Collision detection torque estimating gain Collision detection level D/A output channel 1 data No. D/A output channel 2 data No. D/A output channel 1 output scale D/A output channel 2 output scale Tool end compensation spring constant HC103R 10 ----33 0 15 0 0 1364 4096 4096 256 512 500 500 0 0 0000 ------60 150 6 50 xxE1 6 4000 0 0 0 0 0 0200 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HC153R 10 ----33 0 15 0 0 1364 4096 4096 256 512 500 500 0 0 0000 ------60 150 6 50 xxE2 6 4000 0 0 0 0 0 0200 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Low-inertia HC motor HC203R HC353R 20 35 --------33 33 0 0 20 40 0 0 0 0 1364 1364 4096 4096 4096 4096 256 256 512 512 500 500 500 500 0 0 0 0 0000 0000 ------------60 60 150 150 6 6 50 50 xxE3 xxE4 6 4000 0 0 0 0 0 0200 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 6 4000 0 0 0 0 0 0200 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HC503R 45 ----33 0 40 0 0 1364 4096 4096 512 512 500 500 0 0 0000 ------60 150 6 50 xxE5 6 4000 0 0 0 0 0 0200 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3 - 15
3. Setup
Motor Details Unit capacity (System parameter area) SV081 SPEC2 Servo specification selection 2 SV082 SSF5 Servo function selection 5 SV083 SSF6 Servo function selection 6 SV084 SSF7 Servo function selection 7 Lost motion compensation spring constant SV085 LMCk Lost motion compensation viscous coefficient SV086 LMCc SV087 FHz4 Notch filter frequency 4 SV088 FHz5 Notch filter frequency 5 SV089 : SV100 Parameter No. Abbrev. HC103R 10 0000 0000 0000 0000 0 0 0 0 0 HC153R 10 0000 0000 0000 0000 0 0 0 0 0
Low-inertia HC motor HC203R HC353R 20 35 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0
HC503R 45 0000 0000 0000 0000 0 0 0 0 0
3 - 16
3. Setup
(4) HA series
Motor Parameter No. Abbrev. SV001 PC1 SV002 PC2 SV003 PGN1 SV004 PGN2 SV005 VGN1 SV006 VGN2 SV007 VIL SV008 VIA SV009 IQA SV010 IDA SV011 IQG SV012 IDG SV013 ILMT SV014 ILMTsp SV015 FFC SV016 LMC1 SV017 SPEC SV018 PIT SV019 RNG1 SV020 RNG2 SV021 OLT SV022 OLL SV023 OD1 SV024 INP SV025 MTYP SV026 SV027 SV028 SV029 SV030 SV031 SV032 SV033 SV034 SV035 SV036 SV037 SV038 SV039 SV040 SV041 SV042 SV043 SV044 SV045 SV046 SV047 SV048 OD2 SSF1 VCS IVC OVS1 TOF SSF2 SSF3 SSF4 PTYP JL FHz1 LMCD LMCT LMC2 OVS2 OBS1 OBS2 TRUB FHz2 EC EMGrt Details Unit capacity Motor side gear ratio Machine side gear ratio Position loop gain 1 Position loop gain 2 Speed loop gain 1 Speed loop gain 2 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 Current limit value Current limit value in special control Acceleration rate feed forward gain Lost motion compensation 1 Servo specification selection Ball screw pitch Position detector resolution Speed detector resolution Overload detection time constant Overload detection level Excessive error detection width during servo ON In-position detection width Motor/detector type Excessive error detection width during servo OFF Servo function selection 1 Speed at the change of speed loop gain Voltage dead time compensation / current bias 1 Overshooting compensation 1 Torque offset Servo function selection 2 Servo function selection 3 Servo function selection 4 Power supply type Load inertia scale Notch filter frequency 1 Lost motion compensation timing Lost motion compensation non-sensitive band /current bias 2 Lost motion compensation 2 Overshooting compensation 2 Disturbance observer filter frequency Disturbance observer gain Frictional torque/current bias 3 Notch filter frequency 2 Inductive voltage compensation gain Vertical axis drop prevention time Position loop gain 1 in spindle synchronous control Position loop gain 2 in spindle synchronous control Dual feedback control time constant Dual feedback control non-sensitive band Excessive error detection width in special control Overrun detection width in closed loop control Max. gate off delay time after emergency stop Deceleration time constant at emergency stop SHG control gain SHG control gain in spindle synchronous control Collision detection torque estimating gain Collision detection level D/A output channel 1 data No. D/A output channel 2 data No. D/A output channel 1 output scale D/A output channel 2 output scale Tool end compensation spring constant HA053N 01 ----33 0 70 0 0 1364 4096 4096 768 768 500 500 0 0 0000 ------60 150 6 50 xx8C 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Small capacity HA motor HA13N HA23N 01 03 --------33 33 0 0 70 100 0 0 0 0 1364 1364 4096 4096 4096 4096 768 768 768 768 500 500 500 500 0 0 0 0 0000 0000 ------------60 60 150 150 6 6 50 50 xx8D xx8E 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HA33N 03 ----33 0 100 0 0 1364 4096 4096 768 768 500 500 0 0 0000 ------60 150 6 50 xx8F 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Large capacity HA motor HA-LF11K2 HA-LF15K2 110 150 --------33 33 0 0 150 150 0 0 0 0 1364 1364 4096 4096 4096 4096 512 512 512 512 500 500 500 500 0 0 0 0 0000 0000 ------------60 60 150 150 6 6 50 50 xx2E xx2F 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3 - 17
3. Setup
Motor Details Unit capacity (System parameter area) SV081 SPEC2 Servo specification selection 2 SV082 SSF5 Servo function selection 5 SV083 SSF6 Servo function selection 6 SV084 SSF7 Servo function selection 7 SV085 LMCk Lost motion compensation spring constant SV086 LMCc Lost motion compensation viscous coefficient SV087 FHz4 Notch filter frequency 4 SV088 FHz5 Notch filter frequency 5 SV089 : SV100 Parameter No. Abbrev. HA053N 01 0000 0000 0000 0000 0 0 0 0 0
Small capacity HA motor HA13N HA23N 01 03 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0
HA33N 03 0000 0000 0000 0000 0 0 0 0 0
Large capacity HA motor HA-LF11K2 HA-LF15K2 110 150 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0
3 - 18
3. Setup
(5) HA series (MDS-B-Vx4)

Motor Parameter No. Abbrev. SV001 PC1 SV002 PC2 SV003 PGN1 SV004 PGN2 SV005 VGN1 SV006 VGN2 SV007 VIL SV008 VIA SV009 IQA SV010 IDA SV011 IQG SV012 IDG SV013 ILMT SV014 ILMTsp SV015 FFC SV016 LMC1 SV017 SPEC SV018 PIT SV019 RNG1 SV020 RNG2 SV021 OLT SV022 OLL SV023 OD1 SV024 INP SV025 MTYP SV026 SV027 SV028 SV029 SV030 SV031 SV032 SV033 SV034 SV035 SV036 SV037 SV038 SV039 SV040 SV041 SV042 SV043 SV044 SV045 SV046 SV047 SV048 OD2 SSF1 VCS IVC OVS1 TOF SSF2 SSF3 SSF4 PTYP JL FHz1 LMCD LMCT LMC2 OVS2 OBS1 OBS2 TRUB FHz2 EC EMGrt Details Unit capacity Motor side gear ratio Machine side gear ratio Position loop gain 1 Position loop gain 2 Speed loop gain 1 Speed loop gain 2 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 Current limit value Current limit value in special control Acceleration rate feed forward gain Lost motion compensation 1 Servo specification selection Ball screw pitch Position detector resolution Speed detector resolution Overload detection time constant Overload detection level Excessive error detection width during servo ON In-position detection width Motor/detector type Excessive error detection width during servo OFF Servo function selection 1 Speed at the change of speed loop gain Voltage dead time compensation / current bias 1 Overshooting compensation 1 Torque offset Servo function selection 2 Servo function selection 3 Servo function selection 4 Power supply type Load inertia scale Notch filter frequency 1 Lost motion compensation timing Lost motion compensation non-sensitive band /current bias 2 Lost motion compensation 2 Overshooting compensation 2 Disturbance observer filter frequency Disturbance observer gain Frictional torque/current bias 3 Notch filter frequency 2 Inductive voltage compensation gain Vertical axis drop prevention time Position loop gain 1 in spindle synchronous control Position loop gain 2 in spindle synchronous control Dual feedback control time constant Dual feedback control non-sensitive band Excessive error detection width in special control Overrun detection width in closed loop control Max. gate off delay time after emergency stop Deceleration time constant at emergency stop SHG control gain SHG control gain in spindle synchronous control Collision detection torque estimating gain Collision detection level D/A output channel 1 data No. D/A output channel 2 data No. D/A output channel 1 output scale D/A output channel 2 output scale Tool end compensation spring constant HA40N 05 ----33 0 150 0 0 1364 4096 4096 768 768 500 500 0 0 0000 ------60 150 6 50 xx00 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HA80N 10 ----33 0 150 0 0 1364 4096 4096 768 768 500 500 0 0 0000 ------60 150 6 50 xx01 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HA motor 2000 r/min rating HA100N HA200N HA300N 20 35 45 ------------33 33 33 0 0 0 150 150 150 0 0 0 0 0 0 1364 1364 1364 4096 4096 4096 4096 4096 4096 768 768 768 768 768 768 500 500 500 500 500 500 0 0 0 0 0 0 0000 0000 0000 ------------------60 60 60 150 150 150 6 6 6 50 50 50 xx02 xx03 xx04 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HA700N 70 ----25 0 250 0 0 1364 4096 4096 768 768 500 500 0 0 0000 ------60 150 6 50 xx05 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HA900N 90 ----25 0 250 0 0 1364 4096 4096 768 768 500 500 0 0 0000 ------60 150 6 50 xx85 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3 - 19
3. Setup
Motor Details Unit capacity (System parameter area) SV081 SPEC2 Servo specification selection 2 SV082 SSF5 Servo function selection 5 SV083 SSF6 Servo function selection 6 SV084 SSF7 Servo function selection 7 SV085 LMCk Lost motion compensation spring constant SV086 LMCc Lost motion compensation viscous coefficient SV087 FHz4 Notch filter frequency 4 SV088 FHz5 Notch filter frequency 5 SV089 : SV100 Parameter No. Abbrev. HA40N 05 0000 0000 0000 0000 0 0 0 0 0 HA80N 10 0000 0000 0000 0000 0 0 0 0 0
HA motor 2000 r/min rating HA100N HA200N HA300N 20 35 45 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0
HA700N 70 0000 0000 0000 0000 0 0 0 0 0
HA900N 90 0000 0000 0000 0000 0 0 0 0 0
3 - 20
3. Setup
(6) HA series (MDS-B-Vx4)

Motor Parameter No. Abbrev. SV001 PC1 SV002 PC2 SV003 PGN1 SV004 PGN2 SV005 VGN1 SV006 VGN2 SV007 VIL SV008 VIA SV009 IQA SV010 IDA SV011 IQG SV012 IDG SV013 ILMT SV014 ILMTsp SV015 FFC SV016 LMC1 SV017 SPEC SV018 PIT SV019 RNG1 SV020 RNG2 SV021 OLT SV022 OLL SV023 OD1 SV024 INP SV025 MTYP SV026 SV027 SV028 SV029 SV030 SV031 SV032 SV033 SV034 SV035 SV036 SV037 SV038 SV039 SV040 SV041 SV042 SV043 SV044 SV045 SV046 SV047 SV048 OD2 SSF1 VCS IVC OVS1 TOF SSF2 SSF3 SSF4 PTYP JL FHz1 LMCD LMCT LMC2 OVS2 OBS1 OBS2 TRUB FHz2 EC EMGrt Details Unit capacity Motor side gear ratio Machine side gear ratio Position loop gain 1 Position loop gain 2 Speed loop gain 1 Speed loop gain 2 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 Current limit value Current limit value in special control Acceleration rate feed forward gain Lost motion compensation 1 Servo specification selection Ball screw pitch Position detector resolution Speed detector resolution Overload detection time constant Overload detection level Excessive error detection width during servo ON In-position detection width Motor/detector type Excessive error detection width during servo OFF Servo function selection 1 Speed at the change of speed loop gain Voltage dead time compensation / current bias 1 Overshooting compensation 1 Torque offset Servo function selection 2 Servo function selection 3 Servo function selection 4 Power supply type Load inertia scale Notch filter frequency 1 Lost motion compensation timing Lost motion compensation non-sensitive band /current bias 2 Lost motion compensation 2 Overshooting compensation 2 Disturbance observer filter frequency Disturbance observer gain Frictional torque/current bias 3 Notch filter frequency 2 Inductive voltage compensation gain Vertical axis drop prevention time Position loop gain 1 in spindle synchronous control Position loop gain 2 in spindle synchronous control Dual feedback control time constant Dual feedback control non-sensitive band Excessive error detection width in special control Overrun detection width in closed loop control Max. gate off delay time after emergency stop Deceleration time constant at emergency stop SHG control gain SHG control gain in spindle synchronous control Collision detection torque estimating gain Collision detection level D/A output channel 1 data No. D/A output channel 2 data No. D/A output channel 1 output scale D/A output channel 2 output scale Tool end compensation spring constant HA43N 05 ----33 0 150 0 0 1364 4096 4096 768 768 500 500 0 0 0000 ------60 150 6 50 xx80 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HA83N 10 ----33 0 150 0 0 1364 4096 4096 768 768 500 500 0 0 0000 ------60 150 6 50 xx81 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HA motor 3000 r/min rating HA93N HA103N HA203N 20 35 45 ------------33 33 33 0 0 0 150 150 150 0 0 0 0 0 0 1364 1364 1364 4096 4096 4096 4096 4096 4096 768 768 768 768 768 768 500 500 500 500 500 500 0 0 0 0 0 0 0000 0000 0000 ------------------60 60 60 150 150 150 6 6 6 50 50 50 xx8A xx82 xx83 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HA303N 70 ----33 0 150 0 0 1364 4096 4096 768 768 500 500 0 0 0000 ------60 150 6 50 xx84 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HA703N 90 ----25 0 250 0 0 1364 4096 4096 768 768 500 500 0 0 0000 ------60 150 6 50 xx85 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3 - 21
3. Setup
Motor Details Unit capacity (System parameter area) SV081 SPEC2 Servo specification selection 2 SV082 SSF5 Servo function selection 5 SV083 SSF6 Servo function selection 6 SV084 SSF7 Servo function selection 7 SV085 LMCk Lost motion compensation spring constant SV086 LMCc Lost motion compensation viscous coefficient SV087 FHz4 Notch filter frequency 4 SV088 FHz5 Notch filter frequency 5 SV089 : SV100 Parameter No. Abbrev. HA43N 05 0000 0000 0000 0000 0 0 0 0 0 HA83N 10 0000 0000 0000 0000 0 0 0 0 0
HA motor 3000 r/min rating HA93N HA103N HA203N 20 35 45 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0
HA303N 70 0000 0000 0000 0000 0 0 0 0 0
HA703N 90 0000 0000 0000 0000 0 0 0 0 0
3 - 22
3. Setup
3-2-3
No. SV001 SV002
Servo parameter list

Abbrev. PC1* PC2* Parameter name Motor side gear ratio Machine side gear ratio Explanation Set the motor side and machine side gear ratio. For the rotary axis, set the total deceleration (acceleration) ratio. Even if the gear ratio is within the setting range, the electronic gears may overflow and cause an alarm. Set the position loop gain. The standard setting is "47". 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 motors rated speed, and use this with SV029 (VCS). When not using, set to "0". Setting range (Unit) 1 to 32767 1 to 32767
SV003
PGN1
Position loop gain 1
1 to 200 (rad/s) 0 to 999 (rad/s)
SV004
PGN2
SV005
VGN1
Speed loop gain 1
1 to 999
SV006
VGN2
Speed loop gain 2
VGN1 VGN2 0 VCS VLMT

(Rated speed*1.2)
-1000 to 1000
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 motors electrical characteristics, the setting is fixed for each type of motor. Set the standard values for all the parameters depending on each motor type. 0 to 32767
SV007
VIL
Speed loop delay compensation
SV008
VIA
Speed loop lead compensation
1 to 9999
SV009 SV010 SV011 SV012
IQA IDA IQG IDG
Current loop q axis lead compensation Current loop d axis lead compensation Current loop q axis gain Current loop d axis gain
1 to 20480
1 to 8192
3 - 23
3. Setup
High-gain specifications No. Abbrev. Parameter name Explanation Set the normal current (torque) limit value. (Limit values for both + and direction.) When the value is "500" (a standard setting), the maximum torque is determined by the specification of the motor. Setting range (Unit) 0 to 999 (Stall [rated] current %) 0 to 999 (Stall [rated] current %) 0 to 999 (%)
SV013
ILMT
Current limit value
SV014
ILMTsp
Set the current (torque) limit value in a special control (initial absolute Current limit value in position setting, stopper control, etc). (Limit values for both of the + and special control directions.) Set to "500" when not using. Acceleration rate feed forward gain 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. Type3 When SV082(SSF5)/bit1(lmc3)1 Set the compensation amount based on the stall current of the motor. Setting on SV082/bit1(lmc3) has a priority over SV027/bit9,8(lmc) 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 wont be performed in the direction of the command.
SV015
FFC
-1 to 200 (%)
SV016
LMC1
Lost motion compensation 1
-1 to 200 (Stall [rated] current %) -1 to 200 (Stall current %)
3 - 24
3. Setup
High-gain specifications No. Abbrev. Parameter name Explanation Setting range (Unit) HEX setting F E D C B A 9 8 7 6 5 4 3 2 1 0 spm bit 0 1 mpt mp abs Meaning when "0" is set vdir fdir vfb seqh dfbx fdir2 Meaning when "1" is set Speed feedback reverse polarity Dual feedback control start Speed feedback filter stop (2250Hz) HA motor (4 pole motor) Detector installation position 90 degrees (B, D) Absolute position control MP scale 720P (1mm pitch) MP scale ABS detection automatic (Standard setting)
fdir2 Speed feedback forward polarity dfbx Dual feedback control stop Speed feedback filter stop
2 seqh 3 4 5 SV017 SPEC* Servo specification selection 6 7 8 9 A B C D 0 : Setting for normal use spm 1 : When using the S type drive unit (Only in the case of MDS-C1-Vx) E 2 to F : Setting probhited F Set to "0" for bits with no particular description. abs Incremental control mp
mpt
vfb fdir vdir
Position feedback forward polarity Position feedback reverse polarity Standard setting
MP scale 360P (2mm pitch) MP scale ABS detection NC control
(Note)
3 - 25
3. Setup
High-gain specifications No. SV018 Abbrev. PIT* Parameter name Ball screw pitch Explanation Set the ball screw pitch. Set to "360" for the rotary axis. 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 OHE25K-ET, OHA25K-ET OSE104-ET,OSA104-ET OSE105-ET,OSA105-ET Relative position detection scale AT41 (Mitsutoyo) Resolution 100,000 (p/rev) 100,000 (p/rev) 1,000,000 (p/rev) Refer to detector specification manual 1 (m/p) Refer to detector specification manual Refer to detector specification manual 0.5 (m/p) 0.05 (m/p) 0.05 (m/p) 0.1, 0.05 (m/p) 0.05 (m/p) 8,000,000(p/rev) 8,000,000(p/rev) SV019 setting 100 100 1000 PIT/Resolution (m) The same as SV018 (PIT) PIT/Resolution (m) PIT/Resolution (m) Twice as big as SV018 (PIT) 20 times as big as SV018 (PIT) 20 times as big as SV018 (PIT) PIT/Resolution (m) PIT/Resolution (m) 8000 8000 PIT/scale(m)
Setting range (Unit) 1 to 32767 (mm/rev) 1 to 9999 (kp/rev)
SV019
RNG1*
FME type, FLE type (Futaba) MP type (Mitsubishi Heavy Industries) AT342 (Mitsutoyo) AT343 (Mitsutoyo) AT543 (Mitsutoyo) LC191M (Heidenhain) LC491M (Heidenhain) RCN223(Heidenhain) RCN723(Heidenhain) MDS-B-HR
1 to 30000 (kp/pit)
Set the number of pulses per one revolution of the motor end detector. SV020 RNG2* Speed detector resolution Detector model name OSE104, OSA104 OSE105, OSA105 SV020 setting 100 1000 1 to 9999 (kp/rev) 1 to 999 (s) 110 to 500 (Stall [rated] current %) 0 to 32767 (mm)
SV021 SV022
OLT OLL
Overload detection time constant Overload detection level
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. <Standard Rapid traverse rate setting value> OD1=OD2= (mm/min) 2 (mm) 60 PGN1 When "0" is set, the excessive error detection will not be performed. Set the 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".
SV023
OD1
Excessive error detection width during servo ON
SV024
INP
In-position detection width
0 to 32767 (m)
3 - 26
3. Setup
High-gain specifications No. Abbrev. Parameter name F E D pen C B A ent 9 Explanation 8 7 6 5 4 3 mtyp 2 1 0
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 3 x0 HA40N HA50L HA53L mtyp 4 x1 HA80N HA100L HA103L 5 x2 HA100N HA200L HA203L 6 x3 HA200N HA300L HA303L 7 x4 HA300N HA500L HA503L
x5 x6 x7 x8 x9 xA xB xC xD xE xF Setting x0 x1 x2 x3 x4 x5 x6 x7 x8 x9 xA xB xC xD xE xF HA700N HA900N HALH11K2 HALH15K2 HA150L HA153L
7x
HALF11K2 HA-LF15K2 8x HA43N HA83N HA103N HA203N HA303N HA703N 9x Ax Bx HC52 HC102 HC152 HC202 HC352 HC452 HC702 HC902 Cx HC53 HC103 HC153 HC203 HC353 HC453 HC703 Dx Ex HC103R HC153R HC203R HC353R HC503R Fx
SV025
MTYP*
Motor/Detector type
HA93N HA053N HA13N HA23N HA33N
[2] When SV017/spm=1 (S type drive unit)

Setting x0 x1 x2 x3 x4 x5 x6 x7 x8 x9 xA xB xC xD xE xF 8x 9x Ax Bx Cx Dx Ex Fx
HC452 HC702 HC902
HC353 HC453 HC703
3 - 27
3. Setup
High-gain specifications No. Abbrev. Parameter name Explanation Setting range (Unit)
8 9 A B C D E F
ent
Set the detector type. Set the position detector type for "pen", and the speed detector type for "ent". In the case of the semi-closed loop control, set the same value for "pen" and "ent".
Detector model name OSE104 OSA104 OSE105, OSA105 OHE25K-ET, OSE104-ET OHA25K-ET, OSA104-ET OSE105-ET, OSA105-ET, RCN223, RCN723 (Heidenhain) Relative position detection scale, MP type (Mitsubishi Heavy Industries) AT41 (Mitsutoyo), FME type, FLE type (Futaba) AT342, AT343, AT543 (Mitsutoyo), LC191M/491M (Heidenhain), MDS-B-HR The setting of the slave axis in the speed/current synchronization control. When the master axis is the semi-closed control. The setting of the slave axis in the speed/ current synchronization control. When the master axis is the full-closed control. (Current synchronization control is only for MDS-C1-V2.) pen setting ent setting 0 (Note) 0 1 (Note) 1 2 (Note) 2 3 (Note) 3 4 Setting impossible 5 Setting impossible 6 7 8 9 A B C Setting impossible Setting impossible Setting impossible Setting impossible Setting impossible Setting impossible C (Current synchronization)
pen
SV025
MTYP*
Motor/Detector type
E (Current synchronization) Setting impossible Setting impossible
E F
(Note) Setting for semi-closed loop control 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. 0 to 32767 (mm)
SV026
OD2
3 - 28
3. Setup
High-gain specifications No. Abbrev. Parameter name Explanation Setting range (Unit) HEX setting
F E D C B ovs A 9 lmc 8 7 6 5 vfct 4 3 2 upc 1 vcnt 0 aflt zrn2 bit 0 1 2 3 4 5 Set the number of compensation pulses of the jitter compensation. vfct 00: Jitter compensation invalid 10: Jitter compensation 2 pulses 11: Jitter compensation 3 pulses 01: Jitter compensation 1 pulse zrn3 ABZ phase scale: Set to "1" to fix Z-phase detection edge. Absolute position scale: Set to "1" in using AT342/343, LC191M/491M. Machine end compensation valid afse omr zrn3
Set the execution changeover type of the speed loop delay compensation. vcnt 00: Delay compensation changeover invalid 10: Delay compensation type 2 01: Delay compensation changeover type 1 11: Setting prohibited upc Starting torque compensation invalid Starting torque compensation valid
SV027
SSF1
Servo function selection 1
6 7 8 9 A B C D F
omr Machine end compensation invalid
Set the compensation amount with SV016 (LMC1) and SV041 (LMC2). lmc 00: Lost motion compensation stop 10: Lost motion compensation type 2 01: Lost motion compensation type 1 11: Setting prohibited Set the compensation amount with SV031 (OVS1) and SV042 (OVS2). ovs 00: Overshooting compensation stop 10: Overshooting compensation type 2 01: Overshooting compensation type 1 11: Overshooting compensation type 3 afse 00: Adaptive filter sensitivity standard 11: Adaptive filter sensitivity increase (Set 2bits at a time) Adaptive filter start
E zrn2 Set to "1". aflt Adaptive filter stop
(Note) SV028 Speed at the change of speed loop gain
Set to "0" for bits with no particular description. 0 0 to 9999 (r/min)
Not used. Set to "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 VCS SV006 (VGN2). (Refer to SV006) 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 Setting range Abbrev. Parameter name Explanation (Unit) When 100% is set, the voltage equivalent to the logical non-energized time will be compensated. IVC 0 to 255 Voltage dead time When "0" is set, a 100% compensation will be performed. (Low compensation Adjust in increments of 10% from the default value 100%. (%) order) If increased too much, vibration or vibration noise may be generated. Normally set to "0". Icx Use this in combination with SV040 and the high order (High Current bias 1 0 to 127 8bits of SV045. order)
SV029
SV030
0 to 32767
3 - 29
3. Setup
High-gain specifications No. Abbrev. Parameter name Explanation Set this if overshooting occurs during positioning. This compensates the motor torque during positioning. This is valid only when the overshooting compensation SV027 (SSF1.ovs) is selected. Type 1: When SV027 (SSF1)/bitB, A (ovs)=01 Normally use type 3 to provide compatibility with the old method. Type 2: When SV027 (SSF1)/bitB, A (ovs)=10 Normally use type 3 to provide compatibility with the old method.. Type 3: When SV027 (SSF1)/bitB, A (ovs)=11 -1 to 100 Increase the amount in increments of 1%, and find the amount where (Stall [rated] overshooting does not occur. Also set SV034 (SSF3)/bit F to C (ovsn) current %) when using feed forward control. When you wish different compensation amount depending on the direction When SV042 (OVS2) is "0", compensate with the value of SV031 (OVS1) in both of the + and -directions. If you wish to change the compensation amount depending on the command direction, set this and SV042 (OVS2). (SV031: + direction, SV042: - direction. However, the directions may be opposite depending on other settings.) When "-1" is set, the compensation wont be performed in the direction of the command. Set the unbalance torque of vertical axis and inclined axis. -100 to 100 (Stall [rated] current %) Setting range (Unit)
SV031
OVS1
Overshooting compensation 1
SV032
TOF
Torque offset
9 8 hvx svx
6 nfd2
4 nf3
2 1 nfd1
0 zck
0 1 2 3 4 5 6 7 8 9 A B C D E F
SV033
SSF2
bit Meaning when "0" is set Meaning when "1" is set zck Z phase check valid (Alarm 42) Z phase check invalid Set the filter depth for Notch filter 1 (SV038). nfd1 Value 000 001 010 011 100 101 110 111 Depth (dB) Infntly -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2 deep Deep Shallow nf3 Notch filter 3 stop Notch filter 3 start (1125Hz) Set the filter depth of Notch filter 2 (SV046). nfd2 Value 000 001 010 011 100 101 110 111 Depth (dB) Infntly -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2 deep Deep Shallow svx Set the performance mode of the servo control. (only for MDS-C1-VX) 00: By current loop gain 10: High gain mode selected hvx 01: MDS-B-Vx compatible mode 11: High gain mode selected selected
(Note)
Set to "0" for bits with no particular description.
3 - 30
3. Setup
High-gain specifications No. Abbrev. Parameter name Explanation Setting range (Unit)
E D ovsn bit
has2 has1
SV034
SSF3
Meaning when "0" is set Meaning when "1" is set Setting for normal use. HAS control 1 valid (Except for HC) (HC: High acceleration rate support) Setting for normal use. HAS control 2 valid 1 has2 (Except for HC) (HC; Overshooting support) 2 3 4 5 6 7 8 9 A B C Set the non-sensitive band of the overshooting compensation type 3 in increments of 2m at a time. D ovsn In the feed forward control, the non-sensitive band of the model E position droop is set, and overshooting of the model is ignored. Set F 2m (0001) as a standard. (Note) Set to "0" for bits with no particular description. 0 has1
F clt bit 0 1 2 3 4 5 6 SV035 SSF4 Servo function selection 4 7 8 9 A B C D E F (Note)
D C B A clG1 cl2n clet
9 cltq
6 iup
3 tdt
tdt
Td creation time setting Set to "0". (For machine tool builder adjustment)
iup
Set to "1" when using any of motors from HC152 to HC702 and from HC153 to HC453.
Set the retracting torque for collision detection in respect to the Cltq maximum torque of the motor. 00: 100% 01: 90% 10: 80% (Standard) 11: 70% Setting for normal use The disturbance torque peak of the clet latest two seconds is displayed in MPOS of the servo monitor screen. Collision detection method 2 cl2n Collision detection method 2 valid invalid Collision detection method 1 Set the collision detection level during cutting feed (G1). clG1 The G1 collision detection level=SV060 clG1. When clG1=0, the collision detection method 1 during cutting feed wont function. Setting for normal use The guide value of the SV059 clt setting value is displayed in MPOS of the servo monitor screen. Set to "0" for bits with no particular description.
3 - 31
3. Setup
High-gain specifications No. Abbrev. Parameter name Explanation Setting range (Unit) HEX setting F E D amp bit 0 1 2 3 4 5 6 7 ptyp C B A 9 rtyp 8 7 6 5 4 3 ptyp 2 1 0
Explanation When the CN4 connector of the drive unit and the power supply are connected, setting below is necessary. To validate the external emergency stop function, add 40h.
Setting x0 x1 x2 x3 x4 x5 x6 x7 x8 CV-75 CV-185 CV-55 CV-37 CV-150 CV-260 CV-370 CR-75 CR-90
MDS-B- MDS-BCVE-450 CVE-550
0x Not used
1x
2x
3x CV-300
4x
5x
6x 7x
8x
CV-110 CV-220
CR-10 CR-15 CR-22 CR-37
CR-55
SV036
PTYP*
Power supply type 8 9 A B rtyp
x9
Set the regenerative resistor type when MDS-A-CR is used.

Setting Regenerative resistor model name Resistance value Capacity 0 1 2 3 4 5 6 7 8 9 A to F MDS-C1-CV (Setting when using power supply regeneration) GZG200W260HMJ GZG300W130HMJ 2 MR-RB30 MR-RB50 GZG200W200HMJ 3 GZG300W200HMJ 3 R-UNIT-1 R-UNIT-2 R-UNIT-3 No setting 26 26 13 13 6.7 6.7 30 80W 150W 300W 500W 350W 500W 700W 700W 2100W
15 15
C Always set "0". D amp E F Set "the motor inertia + motor axis conversion load inertia" in respect to the motor inertia. Jl+Jm Jm: Motor inertia 100 SV037(JL) = Jl: Motor axis conversion load inertia Jm Set the vibration frequency to suppress if machine vibration occurs. (Valid at 36 or more) When not using, set to "0".
SV037
JL
Load inertia scale Notch filter frequency 1
0 to 5000 (%) 0 to 9000 (Hz)
SV038
FHz1
3 - 32
3. Setup
High-gain specifications No. SV039 Abbrev. LMCD Parameter name Explanation Setting range (Unit) 0 to 2000 (ms)
Lost motion Set this when the lost motion compensation type2 timing doest not match. compensation Adjust by increasing the value by 10 at a time. timing For SV040, the hex. values higher order 8bits and lower order 8bits are used for different functions. "Setting value of SV040" = (Icy256) + LMCT Parameter name Explanation Set the non-sensitive band of the lost motion compensation in the feed forward control. When "0" is set, the actual value that is set is 2m. Adjust by increasing by 1m at a time. Normally, set to "40" if you use HC202 to HC902, HC203 to HC703. Use this in combination with SV030 and the high order 8bits of SV045.
Setting range (Unit)
Abbrev.
SV040
LMCT Lost motion (Low compensation order) non-sensitive band Icy (High Current bias 2 order)
0 to 100 (m)
0 to 32767
0 to 127
SV041
LMC2
Lost motion compensation 2 Overshooting compensation 2 Disturbance observer filter frequency
Set this with SV016 (LMC1) only when you wish to set the lost motion compensation amount to be different depending on the command directions. Set to "0" as a standard. Set this with SV031 (OVS1) only when you wish to set the overshooting compensation amount to be different depending on the command directions. Set to "0" as a standard.
SV042
OVS2
-1 to 200 (Stall [rated] current %) -1 to 100 (Stall [rated] current %) 0 to 1000 (rad/s) 0 to 500 (%)
SV043 SV044
Set the disturbance observer filter band. Set to "100" as a standard. To use the disturbance observer, also set SV037 (JL), SV044 (OBS2) and SV082/bit7 (obshj). When not using, set to "0". Set the disturbance observer gain. The standard setting is "100" to "300". Disturbance To use the disturbance observer, also set SV037 (JL), SV043 (OBS1) and OBS2 observer gain SV082/bit7 (obshj). When not using, set to "0". For SV045, the hexadecimal value's higher order 8 bits and lower order 8 bits are used for different functions. "Setting value of SV045" = (Icy 256) + LMCT OBS1
Abbrev.
Parameter name
Explanation When you use the collision detection function, set the frictional torque. Normally set to "0". Use this in combination with SV030 and the high order 8bits of SV040.
SV045
TRUB (Low Frictional torque order) Ib1 (High Current bias 3 order) Notch filter frequency 2 Inductive voltage compensation gain Vertical axis drop prevention time
0 to 100 (Stall [rated] current %) 0 to 127
0 to 32767
SV046 SV047
FHz2 EC
Set the vibration frequency to suppress if machine vibration occurs. (Valid at 36 or more) When not using, set to "0". Set the inductive voltage compensation gain. Set to "100" as a standard. If the current FB peak exceeds the current command peak, lower the gain.
0 to 9000 (Hz) 0 to 200 (%)
SV048
EMGrt
SV049
Position loop gain 1 PGN1sp in spindle synchronous control Position loop gain 2 PGN2sp in spindle synchronous control
SV050
Input a length of time to prevent the vertical axis from dropping by delaying 0 to 20000 Ready OFF until the brake works when the emergency stop occurs. Increase the setting by 100msec at a time and set the value where the axis (ms) does not drop. Set the position loop gain during the spindle synchronous control (synchronous tapping, synchronous control with spindle/C axis). 1 to 200 Set the same value as the value of the spindle parameter, position loop gain in synchronous control. (rad/s) When performing the SHG control, set this with SV050 (PGN2sp) and SV058 (SHGCsp). Set this with SV049 (PGN1sp) and SV058 (SHGCsp) if you wish to perform 0 to 999 the SHG control in the spindle synchronous control (synchronous tapping, synchronous control with spindle/C axis). (rad/s) When not performing the SHG control, set to "0".
3 - 33
3. Setup
High-gain specifications No. Abbrev. Parameter name Dual feed back control time constant Dual feedback control non-sensitive band Excessive error detection width in special control Explanation Set the control time constant in dual feed back. When "0" is set, the actual value that is set is 1ms. The higher the time constant is, the closer it gets to the semi-closed control, so the limit of the position loop gain is raised. Set to "0" as a standard. Set the dead zone in the dual feedback control. Setting range (Unit) 0 to 9999 (ms) 0 to 9999 (m)
SV051
DFBT
SV052 SV053
DFBN
SV054
SV055
SV056
SV057 SV058
SV059
Set the excessive error detection width when servo ON in a special control 0 to 32767 (initial absolute position setting, stopper control, etc.). OD3 (mm) If "0" is set, excessive error detection wont be performed. Set the overrun detection width in the full-closed loop control. If the gap between the motor end detector and the linear scale (tool end Overrun detection -1 to 32767 detector) exceeds the value set by this parameter, it is judged to be width in closed loop ORE overrun and Alarm 43 will be detected. (mm) control When "-1" is set, the alarm detection wont be performed. When "0" is set, overrun is detected with a 2mm width. Set a length of time from the point when the emergency stop is input to the Max. gate off delay point when READY OFF is compulsorily executed. 0 to 20000 Normally, set the same value as the absolute value of SV056. EMGx time after (ms) emergency stop In preventing the vertical axis from dropping, the gate off is delayed for the length of time set by SV048 if SV055s value is smaller than that of SV048. Set the time constant used for the deceleration control at emergency stop. Set a length of time that takes from rapid traverse rate (rapid) to stopping. -20000 to Deceleration time Normally, set the same value as the rapid traverse 20000 EMGt constant at acceleration/deceleration time constant. emergency stop (ms) When executing the synchronous operation, put the minus sign to the settings of both of the master axis and slave axis. When performing the SHG control, set this with S003 (PGN1) and 0 to 1200 SV004 (PGN2). SHGC SHG control gain (rad/s) When not performing the SHG control, set to "0". SHG control gain in Set this with SV049 (PGN1sp) and SV050 (PGN2sp) if you wish to perform 0 to 1200 the SHG control in the synchronous tapping control. SHGCsp spindle (rad/s) synchronous control When not performing the SHG control, set to "0". Set the torque estimating gain when using the collision detection function. Collision detection After setting as SV035/bitF(clt)=1 and performing -32768 to acceleration/deceleration, set the value displayed in MPOS of the NC TCNV torque estimating 32767 gain servo monitor screen. Set to "0" when not using the collision detection function.
3 - 34
3. Setup
High-gain specifications No. Abbrev. Parameter name Collision detection level D/A output channel 1 data No. Explanation Setting range (Unit)
SV060
TLMT
SV061 SV062 SV063 SV064
DA1NO DA2NO
When using the collision detection function, set the collision detection level 0 to 999 during the G0 feeding. (Stall [rated] If "0" is set, none of the collision detection function will work. current %) Input the data number you wish to output to D/A output channel. In the case of MDS-C1-V2, set the axis on the side to which the data will not be output to "-1". -1 to 127 Set the scale with a 1/256 unit. When "0" is set, output is done with the standard output unit.
D/A output channel 2 data No. D/A output channel DA1MPY 1 output scale D/A output channel DA2MPY 2 output scale
-32768 to 32767 (Unit: 1/256)
SV065
TLC
Tool end compensation spring constant
Set the spring constant of the tool end compensation. In the semi-closed loop control, the tool end compensation amount is calculated with the following equation. F (mm/min)2 SV065 Compensation amount= R (mm) 109 (m) -32768 to 32767
SV066 : SV080
System setting parameter
When not using, set to "0". These parameters are set automatically by the NC system.
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3. Setup
High-gain specifications No. Abbrev. Parameter name Explanation
4 3 pabs
1 rabs
bit 0 1 rabs
Meaning when "0" is set Normal setting
Meaning when "1" is set Rotary axis machine end absolute position control
2 3 4 pabs Normal setting SV081 SPEC2* Servo specification selection 2 5 6 7 8 9 A B C D E F (Note)
Speed/current synchronous control absolute position control
7
obshj
1 0 lmc3 lmct
bit 0 lmct
Meaning when "0" is set Setting for normal use
SV082 SSF5
Servo function selection5
1 lmc3 Lost motion compensation 3 stop 2 3 4 5 6 Normal use 7 obshj 8 9 A B C D E F (Note)
Meaning when "1" is set Lost motion compensation 3 adjustment time measurement valid Lost motion compensation 3 start
Disturbance observer High-load inertia compatible control
3 - 36
3. Setup
High-gain specifications No. Abbrev. Parameter name Explanation Setting range (Unit) 7 6
nfd5 bit 0 1 2 3 nfd4 Set the filter depth for Notch filter 4 (SV038). Setting value Deep 000 Depth (dB) 4 - 001 -18.1 010 -12.0 011 -8.5 100 -6.0 101 -4.1 110 -2.5 Shallow 111 -1.2 Meaning when set to 0
2
nfd4
Meaning when set to 1
Servo function SV083 SSF6 selection 6
5 6 7
nfd5
Set the filter depth for Notch filter 5 (SV046). Setting value Deep 000 Depth (dB) - 001 -18.1 010 -12.0 011 -8.5 100 -6.0 101 -4.1 110 -2.5 Shallow 111 -1.2
8 9 A B C D E F
(Note) Set to "0" for bits with no particular description. F E

bit 0 1 2 3 4 5 6 7 8 9 A B C D E F
SV084 SSF7
(Note) Set to "0" for bits with no particular description.
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3. Setup
High-gain specifications No. Abbrev. Parameter name Explanation Set the machine system's spring constant when using lost motion compensation type 3. Set the machine system's viscous coefficient when using lost motion compensation type 3. Set the vibration frequency to suppress if machine vibration occurs. (Valid at 141 or more) When not using, set to "0". To use this function, set to not "0" (normally "1") when turning the power ON. This function cannot be used with adaptive filter. Not used. Set to "0". 0 Setting range (Unit) 0 to 32767
Lost motion SV085 LMCk compensation spring constant Lost motion SV086 LMCc compensation viscous coefficient SV087 FHz4 SV088 FHz5 SV089 : SV100 Notch filter frequency 4 Notch filter frequency 5
0 to 32767 0 to 2250 (Hz) 0 to 2250 (Hz)
3 - 38
3. Setup
3-3 Setting the initial parameters for the servo drive unit (Standard 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.
3-3-1
Setting the standard parameters
When starting up the system, first set the standard parameters listed in "3-3-2 List of standard parameters for each servomotor". For the parameters shown below, check the machine and servo system specifications and determine the setting value. (1) Basic specification parameters [1] When performing absolute position control, set SV017/bit7=1. This may be automatically set by NC system parameter setting, depending on NC model. (Setting on the servo parameter screen is not valid.) [2] For HA053N, HA13N, HA23N, HA33N motors, if the connector direction of the motor end detector with motor power supply connector is 90, set SV017/bit5=1. If the angle is 180, use a standard setting (SV017/bit5=0).
Setting basic specification parameters Standard specifications No. Abbrev. Parameter name F E D spm bit 5 7 vdir abs Incremental control C B A Explanation
9 8 7 mpt mp abs
5 4 3 2 1 vdir fdir vfb seqh dfbx
SV017
SPEC*
Servo specification selection 1
Meaning when set to 0 Standard setting
Meaning when set to 1 HA motor (4 pole motor) Detector installation position 90 degrees (B, D) Absolute position control
POINT
Setting of absolute position control (SV017/bit7) may be set automatically by NC system parameter setting, depending on NC model. In this case, setting on the servo parameter screen is not valid.
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3. Setup
(2) Electronic gear related parameters The setting range of the following parameters, which configure the electronic gears, may be limited according to the combination. Refer to section "3-4 Restrictions on servo control" for details.
Standard specifications No. SV001 SV002 SV018 Abbrev. PC1* PC2* PIT* Parameter name Motor side gear ratio Machine side gear ratio Ball screw pitch Explanation Set the motor side and machine side gear ratio. For the rotary axis, set the total deceleration (acceleration) ratio. Even if the gear ratio is within the setting range, the electronic gears may overflow and cause an alarm. Set the ball screw pitch. Set to 360 for the rotary axis. 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 OHE25K-ET, OHA25K-ET OSE104-ET,OSA104-ET OSE105-ET,OSA105-ET Relative position detection scale AT41 (Mitsutoyo) AT342 (Mitsutoyo) FME type, FLE type (Futaba) MP type (Mitsubishi Heavy Industries) Resolution 100,000 (p/rev) 100,000 (p/rev) 1,000,000 (p/rev) Refer to detector specification manual 1 (m/p) 0.5 (m/p) Refer to detector specification manual Refer to detector specification manual SV019 setting 100 100 1000 PIT/Resolution (m) The same as SV018 (PIT) Twice as big as SV018 (PIT) PIT/Resolution (m) PIT/Resolution (m)
Setting range (Unit) 1 to 32767 1 to 32767 1 to 32767 (mm/rev) 1 to 9999 (kp/rev)
SV019
RNG1*
1 to 9999 (kp/pit)
SV020
RNG2*
Speed detector resolution
Set the number of pulses per one revolution of the motor end detector. Detector model name SV020 setting OSE104, OSA104 100 OSE105, OSA105 1000
1 to 9999 (kp/rev)
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3. Setup
(3) Detector related parameters (a) For semi-closed loop control For control using only the motor end detector, specify the settings shown in the table below. For speed and current synchronous control, refer to section "2-4-3 Connecting the synchronous control system".
Setting for semi-closed loop control Standard specifications No. Abbr ev. Parameter name Explanation
bit
Details
8 9 A SV025 MTYP* Motor/Detector type B C D E F
Set the detector type. Set the position detector type for pen, and the speed detector type ent for ent. In the case of the semi-closed loop control, set the same value for pen and ent.
Detector model OSE104 OSA104 OSE105, OSA105 pen setting 0 1 2 ent setting 0 1 2
pen
(b) For full-closed loop control Some parameter settings must be specified in order to use the machine end detector. These settings are determined by type or the installation conditions of the linear scale and the ball screw end detector. [1] The SV025/bit8 to B (ent) setting must be specified according to the motor end detector specifications, in the same manner as for semi-closed loop control. For current synchronous control, however, refer to section "2-4-3 Connecting the synchronous control system". [2] If the polarities of the motor end detector and the machine end detector do not match, specify SV017/bit4=1 setting. [3] To use AT342, specify SV027/bit6=1 setting. [4] To use the MP scale, specify SV017/bit8 setting in accordance with the scale specifications. For absolute position control, specify SV017/bit9=1 setting. [5] For ABZ phase pulse output type relative position detection scale with constant Z-phase detection position without regard to the travel direction, specify SV027/bit6=1 setting. Z-phase detection occurs as follows: Plus-direction travel: Rising edge detection, Minus-direction travel: Falling edge detection [6] For machine end absolute position control at the rotation axis, specify SV081/bit1=1 setting. [7] For speed and current synchronous control, refer to "2-4-3 Connecting the synchronous control system".
3 - 41
3. Setup
Setting for full-closed loop control Standard specifications No. Abbrev. Parameter name Explanation
9 8 7 mpt mp abs
5 4 3 2 1 vdir fdir spwvseqh dfbx Meaning when set to 1
SV017 SPEC*
Servo specification selection
bit 4 8 9
fdir Position feedback forward polarity mp MP scale 360P (2mm pitch) MP scale ABS detection NC mpt control
Position feedback reverse polarity MP scale 720P (1mm pitch) MP scale ABS detection automatic (Standard swetting)
bit 8 9 A B C D E F
Explanation Set the detector type. Set the position detector type for pen, and the speed detector type ent for ent. In the case of the semi-closed loop control, set the same value for pen and ent.
Detector model name OSE104 pen setting 0 (Note) 1 (Note) 2 (Note) 3 (Note) OHE25K-ET,OSE104-ET OHA25K-ET,OSA104-ET OSE105-ET,OSA105-ET 4 5 6 7 Relative position detection scale, MP type (Mitsubishi Heavy Industries) AT41 (Mitsutoyo), FME type, FLE type (Futaba) AT342 (Mitsutoyo) 8 9 A B The setting of the slave axis in the speed/current synchronization control. When the master axis is the semi-closed control. ent setting 0 1 2 3 Setting impossible Setting impossible Setting impossible Setting impossible Setting impossible Setting impossible Setting impossible Setting impossible C (Current synchronization) Setting impossible Setting impossible Setting impossible
pen
OSA104 OSE105, OSA105
SV025 MTYP* Motor/Detector type
D E F
(Note) Setting for semi-closed loop control
F E D C aflt zrn2 afse SV027 SSF1 Servo function selection 2 6 bit
A ovs
9 lmc
6 5 4 zrn3 vfct
2 upc
1 0 vcnt
ABZ scale: Set to "1" to fix Z-phase detection edge. zrn3 Absolute position scale: Set to "1" in using AT342.
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3. Setup
(4) Setting the power supply type Set the drive unit connected to the power supply unit with the CN4 connector. This does not need to be set if the power supply for the axis is not connected with the CN4 connector. (Set "0000".) If the power supply unit is connected with the spindle drive unit, the parameters do not need to be set on the servo side. When connected to a 2-axis servo drive unit (MDS-C1-V2), set the power supply type for one of the two target axes.
Setting power supply type Standard specifications No. Abbrev. Parameter name Explanation
E D amp bit
A 9 rtyp
4 3 ptyp
0 1 2 3 4 5 6 7 SV036 PTYP* Power supply type ptyp
Setting x0 x1 x2 x3 x4 x5 x6 x7 x8 x9 CV-75 CV-185 CV-55 CV-37 CV-150 CV-260 CV-370 CR-75 CR-90
0x Not used
1x
2x
3x CV-300
4x
5x
6x 7x
8x
CV-110 CV-220
CR-10 CR-15 CR-22 CR-37
CR-55
8 Set the regenerative resistor type when MDS-A-CR is used. 9 Set "0" when using MDS-C1-CV (power supply regeneration). rtyp A B C Always set "0". D amp E F
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 stop
F1 F+axis No.
E7 Emergency stop
Not lit
Normal LED display when NC power is turned ON (1st axis)
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3. Setup
3-3-2
(1)
List of standard parameters for each servomotor

HC series (Standard 2000 r/min rating)
Motor HC52 05 ----33 0 100 0 0 1364 2048 2048 512 512 500 500 0 0 0000 ------60 150 6 50 xxB0 6 4000 0 0 0 0 0 0000 0003 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HC102 10 ----33 0 100 0 0 1364 2048 2048 512 512 500 500 0 0 0000 ------60 150 6 50 xxB1 6 4000 0 0 0 0 0 0000 0003 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Standard HC motor 2000 r/min rating HC152 HC202 HC352 HC452 20 20 35 45 ----------------33 33 33 33 0 0 0 0 100 100 100 100 0 0 0 0 0 0 0 0 1364 1364 1364 1364 2048 2048 2048 2048 2048 2048 2048 2048 512 256 256 256 512 512 512 512 500 500 500 500 500 500 500 500 0 0 0 0 0 0 0 0 0000 0000 0000 0000 ------------------------60 60 60 60 150 150 150 150 6 6 6 6 50 50 50 50 xxB2 xxB3 xxB4 xxB5 6 6 6 6 4000 4000 4000 4000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0000 0000 0000 0000 0003 0003 0003 0003 0040 0040 0040 0040 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 10240 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 10240 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 10240 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HC702 70 ----33 0 150 0 0 1364 2048 2048 200 256 500 500 0 0 0000 ------60 150 6 50 xxB6 6 4000 0 0 0 0 0 0000 0003 0040 0000 0 0 0 10240 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HC902 90 ----33 0 150 0 0 1364 2048 2048 200 256 500 500 0 0 0000 ------60 150 6 50 xxB7 6 4000 0 0 0 0 0 0000 0003 0040 0000 0 0 0 10240 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Standard specifications
Parameter No. Abbrev. SV001 PC1 SV002 PC2 SV003 PGN1 SV004 PGN2 SV005 VGN1 SV006 VGN2 SV007 VIL SV008 VIA SV009 IQA SV010 IDA SV011 IQG SV012 IDG SV013 ILMT SV014 ILMTsp SV015 FFC SV016 LMC1 SV017 SPEC SV018 PIT SV019 RNG1 SV020 RNG2 SV021 OLT SV022 OLL SV023 OD1 SV024 INP SV025 MTYP SV026 OD2 SV027 SSF1 SV028 SV029 VCS SV030 IVC SV031 OVS1 SV032 TOF SV033 SSF2 SV034 SSF3 SV035 SSF4 SV036 PTYP SV037 JL SV038 FHz1 SV039 LMCD SV040 SV041 SV042 SV043 SV044 SV045 SV046 SV047 SV048 LMCT LMC2 OVS2 OBS1 OBS2 TRUB EC EMGrt
Details Unit capacity Motor side gear ratio Machine side gear ratio Position loop gain 1 Position loop gain 2 Speed loop gain 1 Speed loop gain 2 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 Current limit value Current limit value in special control Acceleration rate feed forward gain Lost motion compensation 1 Servo specifications selection 1 Ball screw pitch Position detector resolution Speed detector resolution Overload detection time constant Overload detection level Excessive error detection width during servo ON In-position detection width Motor/detector type Excessive error detection width during servo OFF Servo function selection 1 Speed at the change of speed loop gain Voltage dead time compensation / current bias 1 Overshooting compensation 1 Torque offset Servo function selection 2 Servo function selection 3 Servo function selection 4 Power supply type Load inertia scale Notch filter frequency 1 Lost motion compensation timing Lost motion compensation non-sensitive band /current bias 2 Lost motion compensation 2 Overshooting compensation 2 Disturbance observer filter frequency Disturbance observer gain Frictional torque/current bias 3 Inductive voltage compensation gain Vertical axis drop prevention time Position loop gain 1 in spindle synchronous control Position loop gain 2 in spindle synchronous control Dual feedback control time constant Dual feedback control non-sensitive band Excessive error detection width in special control Overrun detection width in closed loop control Max. gate off delay time after emergency stop Deceleration time constant at emergency stop SHG control gain SHG control gain in spindle synchronous control Collision detection torque estimating gain Collision detection level D/A output channel 1 data No. D/A output channel 2 data No. D/A output channel 1 output scale D/A output channel 2 output scale
SV049 PGN1sp SV050 PGN2sp SV051 SV052 SV053 SV054 SV055 SV056 SV057 SV058 SV059 SV060 SV061 SV062 SV063 SV064 SV065 DFBT DFBN OD3 ORE EMGx EMGt SHGC SHGCsp TCNV TLMT DA1NO DA2NO DA1MPY DA2MPY
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3. Setup
(2) HC series (Standard 3000 r/min rating)

Motor Parameter No. Abbrev. SV001 PC1 SV002 PC2 SV003 PGN1 SV004 PGN2 SV005 VGN1 SV006 VGN2 SV007 VIL SV008 VIA SV009 IQA SV010 IDA SV011 IQG SV012 IDG SV013 ILMT SV014 ILMTsp SV015 FFC SV016 LMC1 SV017 SPEC SV018 PIT SV019 RNG1 SV020 RNG2 SV021 OLT SV022 OLL SV023 OD1 SV024 INP SV025 MTYP SV026 OD2 SV027 SSF1 SV028 SV029 VCS SV030 IVC SV031 OVS1 SV032 TOF SV033 SSF2 SV034 SSF3 SV035 SSF4 SV036 PTYP SV037 JL SV038 FHz1 SV039 LMCD SV040 SV041 SV042 SV043 SV044 SV045 SV046 SV047 SV048 LMCT LMC2 OVS2 OBS1 OBS2 TRUB EC EMGrt Details Unit capacity Motor side gear ratio Machine side gear ratio Position loop gain 1 Position loop gain 2 Speed loop gain 1 Speed loop gain 2 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 Current limit value Current limit value in special control Acceleration rate feed forward gain Lost motion compensation 1 Servo specifications selection 1 Ball screw pitch Position detector resolution Speed detector resolution Overload detection time constant Overload detection level Excessive error detection width during servo ON In-position detection width Motor/detector type Excessive error detection width during servo OFF Servo function selection 1 Speed at the change of speed loop gain Voltage dead time compensation / current bias 1 Overshooting compensation 1 Torque offset Servo function selection 2 Servo function selection 3 Servo function selection 4 Power supply type Load inertia scale Notch filter frequency 1 Lost motion compensation timing Lost motion compensation non-sensitive band /current bias 2 Lost motion compensation 2 Overshooting compensation 2 Disturbance observer filter frequency Disturbance observer gain Frictional torque/current bias 3 Inductive voltage compensation gain Vertical axis drop prevention time Position loop gain 1 in spindle synchronous control Position loop gain 2 in spindle synchronous control Dual feedback control time constant Dual feedback control non-sensitive band Excessive error detection width in special control Overrun detection width in closed loop control Max. gate off delay time after emergency stop Deceleration time constant at emergency stop SHG control gain SHG control gain in spindle synchronous control Collision detection torque estimating gain Collision detection level D/A output channel 1 data No. D/A output channel 2 data No. D/A output channel 1 output scale D/A output channel 2 output scale HC53 05 ----33 0 100 0 0 1364 2048 2048 256 512 500 500 0 0 0000 ------60 150 6 50 xxC0 6 4000 0 0 0 0 0 0000 0003 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Standard HC motor 3000 r/min rating HC103 HC153 HC203 HC353 HC453 10 20 35 45 70 --------------------33 33 33 33 33 0 0 0 0 0 100 100 100 100 100 0 0 0 0 0 0 0 0 0 0 1364 1364 1364 1364 1364 2048 2048 2048 2048 2048 2048 2048 2048 2048 2048 256 256 256 256 256 512 512 512 512 512 500 500 500 500 500 500 500 500 500 500 0 0 0 0 0 0 0 0 0 0 0000 0000 0000 0000 0000 ------------------------------60 60 60 60 60 150 150 150 150 150 6 6 6 6 6 50 50 50 50 50 xxC1 xxC2 xxC3 xxC4 xxC5 6 6 6 6 6 4000 4000 4000 4000 4000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0000 0000 0000 0000 0000 0003 0003 0003 0003 0003 0000 0040 0040 0040 0040 0000 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 10240 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 10240 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 10240 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HC703 90 ----33 0 100 0 0 1364 2048 2048 256 512 500 500 0 0 0000 ------60 150 6 50 xxC6 6 4000 0 0 0 0 0 0000 0003 0040 0000 0 0 0 10240 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV049 PGN1sp SV050 PGN2sp SV051 SV052 SV053 SV054 SV055 SV056 SV057 SV058 SV059 SV060 SV061 SV062 SV063 SV064 SV065 DFBT DFBN OD3 IRE EMGx EMGt SHGC SHGCsp TCNV TLMT DA1NO DA2NO DA1MPY DA2MPY
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3. Setup
(3) HC series (Low-inertia)

Motor Parameter No. Abbrev. SV001 PC1 SV002 PC2 SV003 PGN1 SV004 PGN2 SV005 VGN1 SV006 VGN2 SV007 VIL SV008 VIA SV009 IQA SV010 IDA SV011 IQG SV012 IDG SV013 ILMT SV014 ILMTsp SV015 FFC SV016 LMC1 SV017 SPEC SV018 PIT SV019 RNG1 SV020 RNG2 SV021 OLT SV022 OLL SV023 OD1 SV024 INP SV025 MTYP SV026 OD2 SV027 SSF1 SV028 SV029 VCS SV030 IVC SV031 OVS1 SV032 TOF SV033 SSF2 SV034 SSF3 SV035 SSF4 SV036 PTYP SV037 JL SV038 FHz1 SV039 LMCD SV040 SV041 SV042 SV043 SV044 SV045 SV046 SV047 SV048 LMCT LMC2 OVS2 OBS1 OBS2 TRUB EC EMGrt Details Unit capacity Motor side gear ratio Machine side gear ratio Position loop gain 1 Position loop gain 2 Speed loop gain 1 Speed loop gain 2 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 Current limit value Current limit value in special control Acceleration rate feed forward gain Lost motion compensation 1 Servo specifications selection 1 Ball screw pitch Position detector resolution Speed detector resolution Overload detection time constant Overload detection level Excessive error detection width during servo ON In-position detection width Motor/detector type Excessive error detection width during servo OFF Servo function selection 1 Speed at the change of speed loop gain Voltage dead time compensation / current bias 1 Overshooting compensation 1 Torque offset Servo function selection 2 Servo function selection 3 Servo function selection 4 Power supply type Load inertia scale Notch filter frequency 1 Lost motion compensation timing Lost motion compensation non-sensitive band /current bias 2 Lost motion compensation 2 Overshooting compensation 2 Disturbance observer filter frequency Disturbance observer gain Frictional torque/current bias 3 Inductive voltage compensation gain Vertical axis drop prevention time Position loop gain 1 in spindle synchronous control Position loop gain 2 in spindle synchronous control Dual feedback control time constant Dual feedback control non-sensitive band Excessive error detection width in special control Overrun detection width in closed loop control Max. gate off delay time after emergency stop Deceleration time constant at emergency stop SHG control gain SHG control gain in spindle synchronous control Collision detection torque estimating gain Collision detection level D/A output channel 1 data No. D/A output channel 2 data No. D/A output channel 1 output scale D/A output channel 2 output scale HC103R 10 ----33 0 15 0 0 1364 4096 4096 256 512 500 500 0 0 0000 ------60 150 6 50 xxE1 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Low-inertia HC motor HC153R HC203R HC353R 10 20 35 ------------33 33 33 0 0 0 15 20 40 0 0 0 0 0 0 1364 1364 1364 4096 4096 4096 4096 4096 4096 256 256 256 512 512 512 500 500 500 500 500 500 0 0 0 0 0 0 0000 0000 0000 ------------------60 60 60 150 150 150 6 6 6 50 50 50 xxE2 xxE3 xxE4 6 6 6 4000 4000 4000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HC503R 45 ----33 0 40 0 0 1364 4096 4096 256 512 500 500 0 0 0000 ------60 150 6 50 xxE5 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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3. Setup
(4) HA series (Standard 2000 r/min rating)

Motor Parameter No. Abbrev. SV001 PC1 SV002 PC2 SV003 PGN1 SV004 PGN2 SV005 VGN1 SV006 VGN2 SV007 VIL SV008 VIA SV009 IQA SV010 IDA SV011 IQG SV012 IDG SV013 ILMT SV014 ILMTsp SV015 FFC SV016 LMC1 SV017 SPEC SV018 PIT SV019 RNG1 SV020 RNG2 SV021 OLT SV022 OLL SV023 OD1 SV024 INP SV025 MTYP SV026 OD2 SV027 SSF1 SV028 SV029 VCS SV030 IVC SV031 OVS1 SV032 TOF SV033 SSF2 SV034 SSF3 SV035 SSF4 SV036 PTYP SV037 JL SV038 FHz1 SV039 LMCD SV040 SV041 SV042 SV043 SV044 SV045 SV046 SV047 SV048 LMCT LMC2 OVS2 OBS1 OBS2 TRUB EC EMGrt Details Unit capacity Motor side gear ratio Machine side gear ratio Position loop gain 1 Position loop gain 2 Speed loop gain 1 Speed loop gain 2 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 Current limit value Current limit value in special control Acceleration rate feed forward gain Lost motion compensation 1 Servo specifications selection 1 Ball screw pitch Position detector resolution Speed detector resolution Overload detection time constant Overload detection level Excessive error detection width during servo ON In-position detection width Motor/detector type Excessive error detection width during servo OFF Servo function selection 1 Speed at the change of speed loop gain Voltage dead time compensation / current bias 1 Overshooting compensation 1 Torque offset Servo function selection 2 Servo function selection 3 Servo function selection 4 Power supply type Load inertia scale Notch filter frequency 1 Lost motion compensation timing Lost motion compensation non-sensitive band /current bias 2 Lost motion compensation 2 Overshooting compensation 2 Disturbance observer filter frequency Disturbance observer gain Frictional torque/current bias 3 Inductive voltage compensation gain Vertical axis drop prevention time Position loop gain 1 in spindle synchronous control Position loop gain 2 in spindle synchronous control Dual feedback control time constant Dual feedback control non-sensitive band Excessive error detection width in special control Overrun detection width in closed loop control Max. gate off delay time after emergency stop Deceleration time constant at emergency stop SHG control gain SHG control gain in spindle synchronous control Collision detection torque estimating gain Collision detection level D/A output channel 1 data No. D/A output channel 2 data No. D/A output channel 1 output scale D/A output channel 2 output scale HA40N 05 ----33 0 150 0 0 1364 2048 2048 512 512 500 500 0 0 0000 ------60 150 6 50 xx00 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HA80N 10 ----33 0 150 0 0 1364 2048 2048 512 512 500 500 0 0 0000 ------60 150 6 50 xx01 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Standard HA motor 2000 r/min rating HA100N HA200N HA300N HA700N 20 35 45 70 ----------------33 33 33 25 0 0 0 0 150 150 150 250 0 0 0 0 0 0 0 0 1364 1364 1364 1364 2048 2048 2048 2048 2048 2048 2048 2048 256 256 256 200 512 512 512 256 500 500 500 500 500 500 500 500 0 0 0 0 0 0 0 0 0000 0000 0000 0000 ------------------------60 60 60 60 150 150 150 150 6 6 6 6 50 50 50 50 xx02 xx03 xx04 xx05 6 6 6 6 4000 4000 4000 4000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HA900N 90 ----25 0 250 0 0 1364 2048 2048 200 256 500 500 0 0 0000 ------60 150 6 50 xx06 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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3. Setup
(5) HA series (Standard 3000 r/min rating)

Motor Parameter No. Abbrev. SV001 PC1 SV002 PC2 SV003 PGN1 SV004 PGN2 SV005 VGN1 SV006 VGN2 SV007 VIL SV008 VIA SV009 IQA SV010 IDA SV011 IQG SV012 IDG SV013 ILMT SV014 ILMTsp SV015 FFC SV016 LMC1 SV017 SPEC SV018 PIT SV019 RNG1 SV020 RNG2 SV021 OLT SV022 OLL SV023 OD1 SV024 INP SV025 MTYP SV026 OD2 SV027 SSF1 SV028 SV029 VCS SV030 IVC SV031 OVS1 SV032 TOF SV033 SSF2 SV034 SSF3 SV035 SSF4 SV036 PTYP SV037 JL SV038 FHz1 SV039 LMCD SV040 SV041 SV042 SV043 SV044 SV045 SV046 SV047 SV048 LMCT LMC2 OVS2 OBS1 OBS2 TRUB EC EMGrt Details Unit capacity Motor side gear ratio Machine side gear ratio Position loop gain 1 Position loop gain 2 Speed loop gain 1 Speed loop gain 2 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 Current limit value Current limit value in special control Acceleration rate feed forward gain Lost motion compensation 1 Servo specifications selection 1 Ball screw pitch Position detector resolution Speed detector resolution Overload detection time constant Overload detection level Excessive error detection width during servo ON In-position detection width Motor/detector type Excessive error detection width during servo OFF Servo function selection 1 Speed at the change of speed loop gain Voltage dead time compensation / current bias 1 Overshooting compensation 1 Torque offset Servo function selection 2 Servo function selection 3 Servo function selection 4 Power supply type Load inertia scale Notch filter frequency 1 Lost motion compensation timing Lost motion compensation non-sensitive band /current bias 2 Lost motion compensation 2 Overshooting compensation 2 Disturbance observer filter frequency Disturbance observer gain Frictional torque/current bias 3 Inductive voltage compensation gain Vertical axis drop prevention time Position loop gain 1 in spindle synchronous control Position loop gain 2 in spindle synchronous control Dual feedback control time constant Dual feedback control non-sensitive band Excessive error detection width in special control Overrun detection width in closed loop control Max. gate off delay time after emergency stop Deceleration time constant at emergency stop SHG control gain SHG control gain in spindle synchronous control Collision detection torque estimating gain Collision detection level D/A output channel 1 data No. D/A output channel 2 data No. D/A output channel 1 output scale D/A output channel 2 output scale HA43N 05 ----33 0 150 0 0 1364 2048 2048 256 512 500 500 0 0 0000 ------60 150 6 50 xx80 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HA83N 10 ----33 0 150 0 0 1364 2048 2048 256 512 500 500 0 0 0000 ------60 150 6 50 xx81 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Standard HA motor 3000 r/min rating HA93N HA103N HA203N HA303N 20 35 45 70 ----------------33 33 33 33 0 0 0 0 150 150 150 150 0 0 0 0 0 0 0 0 1364 1364 1364 1364 2048 2048 2048 2048 2048 2048 2048 2048 256 256 256 256 512 512 512 512 500 500 500 500 500 500 500 500 0 0 0 0 0 0 0 0 0000 0000 0000 0000 ------------------------60 60 60 60 150 150 150 150 6 6 6 6 50 50 50 50 xx8A xx82 xx83 xx84 6 6 6 6 4000 4000 4000 4000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 HA703N 90 ----25 0 250 0 0 1364 2048 2048 200 256 500 500 0 0 0000 ------60 150 6 50 xx85 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3 - 48
3. Setup
(6) HA series (Low-inertia 2000 r/min rating)

Motor Parameter No. Abbrev. SV001 PC1 SV002 PC2 SV003 PGN1 SV004 PGN2 SV005 VGN1 SV006 VGN2 SV007 VIL SV008 VIA SV009 IQA SV010 IDA SV011 IQG SV012 IDG SV013 ILMT SV014 ILMTsp SV015 FFC SV016 LMC1 SV017 SPEC SV018 PIT SV019 RNG1 SV020 RNG2 SV021 OLT SV022 OLL SV023 OD1 SV024 INP SV025 MTYP SV026 OD2 SV027 SSF1 SV028 SV029 VCS SV030 IVC SV031 OVS1 SV032 TOF SV033 SSF2 SV034 SSF3 SV035 SSF4 SV036 PTYP SV037 JL SV038 FHz1 SV039 LMCD SV040 SV041 SV042 SV043 SV044 SV045 SV046 SV047 SV048 LMCT LMC2 OVS2 OBS1 OBS2 TRUB EC EMGrt HA50L Details Unit capacity 05 Motor side gear ratio --Machine side gear ratio --Position loop gain 1 33 Position loop gain 2 0 Speed loop gain 1 30 Speed loop gain 2 0 Speed loop delay compensation 0 Speed loop lead compensation 1364 Current loop q axis lead compensation 2048 Current loop d axis lead compensation 2048 Current loop q axis gain 512 Current loop d axis gain 512 Current limit value 500 Current limit value in special control 500 Acceleration rate feed forward gain 0 Lost motion compensation 1 0 Servo specifications selection 1 0000 Ball screw pitch --Position detector resolution --Speed detector resolution --Overload detection time constant 60 Overload detection level 150 Excessive error detection width during servo ON 6 In-position detection width 50 Motor/detector type xx20 Excessive error detection width during servo OFF 6 Servo function selection 1 4000 0 Speed at the change of speed loop gain 0 Voltage dead time compensation / current bias 1 0 Overshooting compensation 1 0 Torque offset 0 Servo function selection 2 0000 Servo function selection 3 0000 Servo function selection 4 0000 Power supply type 0000 Load inertia scale 0 Notch filter frequency 1 0 Lost motion compensation timing 0 Lost motion compensation non-sensitive band 0 /current bias 2 Lost motion compensation 2 0 Overshooting compensation 2 0 Disturbance observer filter frequency 0 Disturbance observer gain 0 Frictional torque/current bias 3 0 0 Inductive voltage compensation gain 100 Vertical axis drop prevention time 0 Position loop gain 1 in spindle synchronous 15 control Position loop gain 2 in spindle synchronous 0 control Dual feedback control time constant 0 Dual feedback control non-sensitive band 0 Excessive error detection width in special control 0 Overrun detection width in closed loop control 0 Max. gate off delay time after emergency stop 0 Deceleration time constant at emergency stop 0 SHG control gain 0 SHG control gain in spindle synchronous control 0 Collision detection torque estimating gain 0 Collision detection level 0 D/A output channel 1 data No. 0 D/A output channel 2 data No. 0 D/A output channel 1 output scale 0 D/A output channel 2 output scale 0 0 Low-inertia HA motor 2000 r/min rating HA100L HA150L HA200L HA300L HA500L HA-LH11K2 HA-LH15K2 10 10 20 35 45 110 150 ----------------------------33 33 33 33 33 33 33 0 0 0 0 0 0 0 30 30 30 30 50 150 150 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1364 1364 1364 1364 1364 1364 1364 2048 2048 2048 2048 2048 2048 2048 2048 2048 2048 2048 2048 2048 2048 512 512 512 256 256 512 512 512 512 512 512 512 512 512 500 500 500 500 500 500 500 500 500 500 500 500 500 500 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0000 0000 0000 0000 0000 0000 0000 ------------------------------------------60 60 60 60 60 60 3 150 150 150 150 150 150 150 6 6 6 6 6 6 6 50 50 50 50 50 50 50 xx21 xx2A xx22 xx23 xx24 xx27 xx28 6 6 6 6 6 6 6 4000 4000 4000 4000 4000 4000 4000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3 - 49
3. Setup
(7) HA series (Small capacity, Low-inertia 3000 r/min rating)

Motor Parameter No. Abbrev. SV001 PC1 SV002 PC2 SV003 PGN1 SV004 PGN2 SV005 VGN1 SV006 VGN2 SV007 VIL SV008 VIA SV009 IQA SV010 IDA SV011 IQG SV012 IDG SV013 ILMT SV014 ILMTsp SV015 FFC SV016 LMC1 SV017 SPEC SV018 PIT SV019 RNG1 SV020 RNG2 SV021 OLT SV022 OLL SV023 OD1 SV024 INP SV025 MTYP SV026 OD2 SV027 SSF1 SV028 SV029 VCS SV030 IVC SV031 OVS1 SV032 TOF SV033 SSF2 SV034 SSF3 SV035 SSF4 SV036 PTYP SV037 JL SV038 FHz1 SV039 LMCD SV040 SV041 SV042 SV043 SV044 SV045 SV046 SV047 SV048 LMCT LMC2 OVS2 OBS1 OBS2 TRUB EC EMGrt Details Unit capacity Motor side gear ratio Machine side gear ratio Position loop gain 1 Position loop gain 2 Speed loop gain 1 Speed loop gain 2 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 Current limit value Current limit value in special control Acceleration rate feed forward gain Lost motion compensation 1 Servo specifications selection 1 Ball screw pitch Position detector resolution Speed detector resolution Overload detection time constant Overload detection level Excessive error detection width during servo ON In-position detection width Motor/detector type Excessive error detection width during servo OFF Servo function selection 1 Speed at the change of speed loop gain Voltage dead time compensation / current bias 1 Overshooting compensation 1 Torque offset Servo function selection 2 Servo function selection 3 Servo function selection 4 Power supply type Load inertia scale Notch filter frequency 1 Lost motion compensation timing Lost motion compensation non-sensitive band /current bias 2 Lost motion compensation 2 Overshooting compensation 2 Disturbance observer filter frequency Disturbance observer gain Frictional torque/current bias 3 Inductive voltage compensation gain Vertical axis drop prevention time Position loop gain 1 in spindle synchronous control Position loop gain 2 in spindle synchronous control Dual feedback control time constant Dual feedback control non-sensitive band Excessive error detection width in special control Overrun detection width in closed loop control Max. gate off delay time after emergency stop Deceleration time constant at emergency stop SHG control gain SHG control gain in spindle synchronous control Collision detection torque estimating gain Collision detection level D/A output channel 1 data No. D/A output channel 2 data No. D/A output channel 1 output scale D/A output channel 2 output scale Small capacity HA motor
HA053A HA13N HA23N
Low-inertia HA motor 10 ----33 0 30 0 0 1364 2048 2048 512 512 500 500 0 0 0000 ------60 150 6 50 xx30 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 20 ----33 0 30 0 0 1364 2048 2048 512 512 500 500 0 0 0000 ------60 150 6 50 xx31 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 20 ----33 0 30 0 0 1364 2048 2048 512 512 500 500 0 0 0000 ------60 150 6 50 xx3A 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3000 r/min rating 35 ----33 0 30 0 0 1364 2048 2048 512 512 500 500 0 0 0000 ------60 150 6 50 xx32 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 45 ----33 0 30 0 0 1364 2048 2048 256 512 500 500 0 0 0000 ------60 150 6 50 xx33 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 70 ----33 0 50 0 0 1364 2048 2048 256 512 500 500 0 0 0000 ------60 150 6 50 xx34 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
HA33N HA53L HA103L HA153L HA203L HA303L HA503L
01 ----33 0 70 0 0 1364 2048 2048 256 256 500 500 0 0 0000 ------60 150 6 50 xx8C 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
01 ----33 0 70 0 0 1364 2048 2048 256 256 500 500 0 0 0000 ------60 150 6 50 xx8D 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
03 ----33 0 100 0 0 1364 2048 2048 224 224 500 500 0 0 0000 ------60 150 6 50 xx8E 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
03 ----33 0 100 0 0 1364 2048 2048 224 224 500 500 0 0 0000 ------60 150 6 50 xx8F 6 4000 0 0 0 0 0 0000 0000 0000 0000 0 0 0 0 0 0 0 0 0 0 100 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3 - 50
3. Setup
3-3-3
No. SV001 SV002
Servo parameter list

Abbrev. PC1* PC2* Parameter name Motor side gear ratio Machine side gear ratio Explanation Set the motor side and machine side gear ratio. For the rotary axis, set the total deceleration (acceleration) ratio. Even if the gear ratio is within the setting range, the electronic gears may overflow and cause an alarm. 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 motors rated speed, and use this with SV029 (VCS). When not using, set to 0. Setting range (Unit) 1 to 32767 1 to 32767
SV003
PGN1
1 to 200 (rad/s) 0 to 999 (rad/s)
SV004
PGN2
SV005
VGN1
Speed loop gain 1
1 to 999
SV006
VGN2
Speed loop gain 2
VGN1 VGN2 0 VCS VLMT

(Rated speed1.2)
-1000 to 1000
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 motors electrical characteristics, the setting is fixed for each type of motor. Set the standard values for all the parameters depending on each motor type. 0 to 32767
SV007
VIL
SV008
VIA
1 to 9999
SV009 SV010 SV011 SV012
IQA IDA IQG IDG
Current loop q axis lead compensation Current loop d axis lead compensation Current loop q axis gain Current loop d axis gain
1 to 20480
1 to 2560
3 - 51
3. Setup
Standard specifications No. Abbrev. Parameter name Explanation Set the normal current (torque) limit value. (Limit values for both + and direction.) When the value is 500 (a standard setting), the maximum torque is determined by the specification of the motor. Setting range (Unit) 0 to 999 (Stall [rated] current %) 0 to 999 (Stall [rated] current %) 0 to 999 (%)
SV013
ILMT
Current limit value
SV014
ILMTsp
Set the current (torque) limit value in a special control (initial absolute Current limit value in position setting, stopper control, etc). (Limit values for both of the + and special control directions.) Set to 500 when not using. Acceleration rate feed forward gain 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.
SV015
FFC
-1 to 200 (%)
SV016
LMC1
Lost motion compensation 1
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 wont be performed in the direction of the command.
-1 to 200 (Stall [rated] current %)
3 - 52
3. Setup
Standard specifications No. Abbrev. Parameter name Explanation Setting range (Unit)
mpt mp abs bit 0 1 2 3 4 SV017 SPEC* Servo specification selection dfbx seqh spwv fdir Dual feedback control stop Meaning when 0 is set
vdir fdir spwvseqh dfbx Meaning when 1 is set Dual feedback control start
Normal ready ON/servo ON time High-speed ready ON/servo ON time Normal mode Position feedback forward polarity Standard setting High-gain servo synchronization mode Position feedback reverse polarity HA motor (4 pole motor) Detector installation position 90 degrees (B, D)
5 6 7 8 9 A B C D E F (Note)
vdir
abs mp mpt
Incremental control MP scale 360P (2mm pitch) MP scale ABS detection NC control
Absolute position control MP scale 720P (1mm pitch) MP scale ABS detection automatic (Standard swetting)
Set to 0 for bits with no particular description. 1 to 32767 (mm/rev)
SV018
PIT*
Ball screw pitch
Set the ball screw pitch. Set to 360 for the rotary axis.
3 - 53
3. Setup
Standard 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 OHE25K-ET, OHA25K-ET OSE104-ET,OSA104-ET Resolution 100,000 (p/rev) 100,000 (p/rev) 1,000,000 (p/rev) Refer to detector specification manual 1 (m/p) 0.5 (m/p) Refer to detector specification manual Refer to detector specification manual SV019 setting 100 100 1000 PIT/Resolution (m) The same as SV018 (PIT) Twice as big as SV018 (PIT) PIT/Resolution (m) PIT/Resolution (m)
Setting range (Unit) 1 to 9999 (kp/rev)
SV019
RNG1*
OSE105-ET,OSA105-ET Relative position detection scale AT41 (Mitsutoyo) AT342 (Mitsutoyo) FME type, FLE type (Futaba) MP type (Mitsubishi Heavy Industries)
1 to 9999 (kp/pit)
SV020
RNG2*
Speed detector resolution
Set the number of pulses per one revolution of the motor end detector. Detector model name SV020 setting OSE104, OSA104 100 OSE105, OSA105 1000
1 to 9999 (kp/rev)
SV021
OLT
Overload detection time constant Overload detection level
SV022
OLL
SV023
OD1
Excessive error detection width during servo ON
SV024
INP
In-position detection width
Set the detection time constant of Overload 1 (Alarm 50). 1 to 999 Set to 60 as a standard. (For machine tool builder adjustment.) (s) Set the current detection level of Overload 1 (Alarm 50) in respect to the 110 to 500 stall (rated) current. (Stall [rated] Set to 150 as a standard. (For machine tool builder adjustment.) current %) Set the excessive error detection width when servo ON. <Standard Rapid traverse rate 0 to 32767 2 (mm) OD1=OD2= setting value> (mm/min) (mm) 60 PGN1 When 0 is set, the excessive error detection will not be performed. Set the in-position detection width. 0 to 32767 Set the accuracy required for the machine. The lower the setting is, the higher the positioning accuracy gets, however, (m) the cycle time (setting time) becomes longer. The standard setting is 50.
3 - 54
3. Setup
Standard specifications No. Abbrev. Parameter name F E D pen C B A ent 9 Explanation 8 7 6 5 4 3 mtyp 2 1 0
bit Explanation 0 Set the motor type. 1 2 Setting 0x 1x 2x 3x 3 x0 HA40N HA50L HA53L mtyp 4 x1 HA80N HA100L HA103L 5 x2 HA100N HA200L HA203L 6 x3 HA200N HA300L HA303L 7 x4 HA300N HA500L HA503L
x5 x6 x7 x8 x9 xA xB xC xD xE xF Setting x0 x1 x2 x3 x4 x5 x6 x7 x8 x9 xA xB xC xD xE xF HA700N HA900N HA-LH11K2 HA-LH15K2 HA150L HA153L
4x
5x
6x
7x
SV025
MTYP*
Motor/Detector type
8x HA43N HA83N HA103N HA203N HA303N HA703N
9x
Ax
Bx HC52 HC102 HC152 HC202 HC352 HC452 HC702 HC902
Cx H53 HC103 HC153 HC203 HC353 HC453 HC703
Dx
Ex HC103R HC153R HC203R HC353R HC503R
Fx
HA93N HA053N HA13N HA23N HA33N
3 - 55
3. Setup
Standard specifications No. Abbrev. Parameter name Explanation Setting range (Unit) Explanation Set the detector type. Set the position detector type for pen, and the speed detector type for ent. In the case of the semi-closed loop control, set the same value for pen and ent.
Detector model name OSE104 OSA104 OSE105, OSA105 OHE25K-ET, OSE104-ET OHA25K-ET, OSA104-ET OSE105-ET, OSA105-ET pen setting 0 (Note) 1 (Note) 2 (Note) 3 (Note) 4 5 6 7 8 9 A B ent setting 0 1 2 3 Setting impossible Setting impossible Setting impossible Setting impossible Setting impossible Setting impossible Setting impossible Setting impossible C (Current synchronization) Setting impossible Setting impossible Setting impossible
bit 8 9 A B C D E F ent
pen
SV025
MTYP*
Motor/Detector type
Relative position detection scale, MP type (Mitsubishi Heavy Industries) AT41 (Mitsutoyo), FME type, FLE type (Futaba) AT342 (Mitsutoyo) The setting of the slave axis in the speed/current synchronization control. When the master axis is the semi-closed control.
D E F
(Note) Setting for semi-closed loop control 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.
SV026
OD2
0 to 32767 (mm)
3 - 56
3. Setup
7 6 zrn3 5 vfct 4 3 2 upc 1 vcnt 0
B ovs
9 lmc
aflt zrn2 bit 0 1 2 3 4 5
afse
Meaning when 0 is set
Set the execution changeover type of the speed loop delay compensation. vcnt 00: Delay compensation changeover invalid 10: Delay compensation type 2 01: Delay compensation changeover type 1 11: Setting prohibited upc Starting torque compensation invalid Starting torque compensation valid Set the number of compensation pulses of the jitter compensation. vfct 00: Jitter compensation invalid 10: Jitter compensation 2 pulses 11: Jitter compensation 3 pulses 01: Jitter compensation 1 pulse zrn3 ABZ scale: Set to "1" to fix Z-phase detection edge. Absolute position scale: Set to "1" in using AT342. Machine end compensation valid
SV027
SSF1
6 7 8 9 A B C D F
omr Machine end compensation invalid
Set the compensation amount with SV016 (LMC1) and SV041 (LMC2). lmc 00: Lost motion compensation stop 10: Lost motion compensation type 2 01: Lost motion compensation type 1 11: Setting prohibited Set the compensation amount with SV031 (OVS1) and SV042 (OVS2). ovs 00: Overshooting compensation stop 10: Overshooting compensation type 2 01: Overshooting compensation type 1 11: Setting prohibited afse 00: Adaptive filter sensitivity standard 11: Adaptive filter sensitivity increase (Set 2bits at a time) Adaptive filter start
E zrn2 Set to 1. aflt Adaptive filter stop
(Note) SV028
Set to "0" for bits with no particular description. 0
Not used. Set to "0". If the noise is bothersome at high speed during rapid traverse, etc, lower the speed loop gain. VCS Set the speed at which the speed loop gain changes, and use this with SV006 (VGN2). When not using, set to 0. The higher order 8bits and lower order 8bits are used for different functions. The setting value of SV030 = (Icx 256) + IVC Setting range Abbrev. Parameter name Explanation (Unit) When 100% is set, the voltage equivalent to the logical non-energized time will be compensated. IVC 0 to 255 Voltage dead band When 0 is set, a 100% compensation will be performed. (Low compensation Adjust in increments of 10% from the default value 100%. (%) order) If increased too much, vibration or vibration noise may be generated. Normally set to 0. Icx Use this in combination with SV040 and the high order 0 to 127 (High Current bias 1 8bits of SV045. order) Speed at the change of speed loop gain
SV029
0 to 9999 (r/min)
SV030
0 to 32767
3 - 57
3. Setup
Standard specifications No. Abbrev. Parameter name Explanation Set this if overshooting occurs during positioning. This compensates the motor torque during positioning. This is valid only when the overshooting compensation SV027 (SSF1.ovs) is selected. Type 1: When SV027 (SSF1)/bitB, A (ovs)=01 Set the compensation amount based on the motors stall current. This compensates overshooting that occurs during pulse feeding. Normally, use Type 2. Type 2: When SV027 (SSF1)/bitB, A (ovs)=10 Set the compensation amount based on the motors stall current. Increase by 1% and determine the amount that overshooting doesnt occur. -1 to 100 In Type 2, compensation during the feed forward control during circular (Stall [rated] cutting wont be performed. current %) Type 3: When SV027 (SSF1)/bitB, A (ovs)=11 Use this to perform the overshooting compensation during circular cutting or the feed forward control. The setting method is the same in Type 2. When you wish different compensation amount depending on the direction When SV042 (OVS2) is 0, compensate with the value of SV031 (OVS1) in both of the + and -directions. If you wish to change the compensation amount depending on the command direction, set this and SV042 (OVS2). (SV031: + direction, SV042: - direction. However, the directions may be opposite depending on other settings.) When -1 is set, the compensation wont be performed in the direction of the command. Set the unbalance torque of vertical axis and inclined axis. -100 to 100 (Stall [rated] current %) Setting range (Unit)
SV031
OVS1
Overshooting compensation 1
SV032
TOF
Torque offset
9 8 hvx svx
6 5 fhz2
2 1 nfd1
0 zck
SV033
SSF2
bit Meaning when 0 is set Meaning when 1 is set zck Z phase check valid (Alarm 42) Z phase check invalid Set the filter depth for Notch filter 1 (SV038). nfd1 Value 000 001 010 011 100 101 110 111 Depth (dB) Infntly -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2 3 deep Deep Shallow 4 Set the operation frequency of Notch filter 2 0: Invalid 3: 750Hz 6: 375Hz 5 1: 2250Hz 4: 563Hz 7: 321Hz 6 fhz2 2 : 1125Hz 5: 450Hz 8 to F: 281Hz 7 Set the performance mode of the servo control. (Only for 8 svx MDS-C1-Vx) 00: By current loop gain 10: High gain mode selected 9 hvx 01: MDS-B-Vx compatible mode 11: High gain mode selected selected A B C D E F 0 1 2 (Note) Set to 0 for bits with no particular description.
3 - 58
3. Setup
E D ovsn bit
has2 has1
SV034
SSF3
Meaning when 0 is set Meaning when 1 is set Setting for normal use. HAS control 1 valid (Except for HC) (HC: High acceleration rate support) Setting for normal use. HAS control 2 valid 1 has2 (Except for HC) (HC: Overshooting support) 2 3 4 5 6 7 8 9 A B C Set the non-sensitive band of the overshooting compensation type 3 in increments of 2 m at a time. D ovsn In the feed forward control, the non-sensitive band of the model E position droop is set, and overshooting of the model is ignored. Set F 2m (0001) as a standard. (Note) Set to 0 for bits with no particular description. 0 has1 HEX setting F clt bit 0 1 2 3 4 5 6 Set to 1 when using any of motors from HC152 to HC702 and from HC153 to HC453. Setting for normal use No signal 2 (Alarm 21) special ckab detection Set the retracting torque for collision detection in respect to the Cltq maximum torque of the motor. 00: 100% 01: 90% 10: 80% (Standard) 11: 70% Setting for normal use The disturbance torque peak of the clet latest two seconds is displayed in MPOS of the servo monitor screen. Collision detection method 2 cl2n Collision detection method 2 valid invalid Collision detection method 1 Set the collision detection level during cutting feed (G1). clG1 The G1 collision detection level=SV060*clG1. When clG1=0, the collision detection method 1 during cutting feed wont function. Setting for normal use The guide value of the SV059 clt setting value is displayed in MPOS of the servo monitor screen. iup Set to 0 for bits with no particular description. Td creation time setting Set to 0. (For machine tool builder adjustment) E D C B A clG1 cl2n clet 9 cltq 8 7 6 iup 5 4 3 tdt Meaning when 1 is set 2 1 0
tdt
SV035
SSF4
7 8 9 A B C D E F (Note)
3 - 59
3. Setup
Standard specifications No. Abbrev. Parameter name Explanation Setting range (Unit) 7 6 5 4 3 ptyp 2 1 0
E D amp bit
A 9 rtyp
0 1 2 3 4 5 6 7 ptyp
Setting x0 x1 x2 x3 x4 x5 x6 x7 x8 CV-75 CV-185 x9 CV-55 CV-37 CV-150 CV-260 CV-370 CR-75 CR-90
0x Not used
1x
2x
3x CV-300
4x
5x
6x 7x
8x
CV-110 CV-220
CR-10 CR-15 CR-22 CR-37
CR-55
SV036
PTYP*
Power supply type 8 9 A B rtyp

Setting Regenerative resistor model name Resistance value Capacity 0 1 2 3 4 5 6 7 8 9 MDS-C1-CV (Setting when using power supply regeneration) GZG200W260HMJ GZG300W130HMJ2 MR-RB30 MR-RB50 GZG200W200HMJ 3 GZG300W200HMJ 3 R-UNIT-1 R-UNIT-2 R-UNIT-3 26 26 13 13 6.7 6.7 30 80W 150W 300W 500W 350W 500W 700W 700W 2100W
15 15
A to F No setting
C Always set "0". D amp E F Set the motor inertia + motor axis conversion load inertia in respect to the motor inertia. Jl+Jm Jm Motor inertia 100 SV037(JL) = Jl Motor axis conversion load inertia Jm Set the vibration frequency to suppress if machine vibration occurs. (Valid at 36 or more) When not using, set to 0. Set this when the lost motion compensation type2 timing doest not match. Adjust by increasing the value by 10 at a time.
SV037
JL
Load inertia scale
0 to 5000 (%) 0 to 3000 (Hz) 0 to 2000 (ms)
SV038 SV039
FHz1 LMCD
Notch filter frequency 1 Lost motion compensation timing
3 - 60
3. Setup
For SV040, the hex. values higher order 8bits and lower order 8bits are used for different functions. Setting value of SV040 = (Icy*256) + LMCT
Abbrev.
Parameter name
Explanation
SV040
LMCT (Low order) Icy (High order)
Set the dead band of the lost motion compensation in the Lost motion feed forward control. compensation dead When 0 is set, the actual value that is set is 2 m. band Adjust by increasing by 1 m at a time. Normally, set to 40 if you use HC202 to HC902, HC203 to HC703. Current bias 2 Use this in combination with SV030 and the high order 8bits of SV045.
0 to 100 (m)
0 to 32767
0 to 127
SV041
SV042
SV043
SV044
Set this with SV016 (LMC1) only when you wish to set the lost motion compensation amount to be different depending on the command directions. Set to 0 as a standard. Set this with SV031 (OVS1) only when you wish to set the overshooting Overshooting OVS2 compensation amount to be different depending on the command directions. compensation 2 Set to 0 as a standard. Set the disturbance observer filter band. Disturbance Set to 100 as a standard. OBS1 observer filter To use the disturbance observer, also set SV037 (JL) and SV044 (OBS2). frequency When not using, set to 0. Set the disturbance observer gain. The standard setting is 100 to 300. Disturbance OBS2 To use the disturbance observer, also set SV037 (JL) and SV043 (OBS1). observer gain When not using, set to 0. For SV045, the hexadecimal value's higher order 8 bits and lower order 8 bits are used for different functions. Setting value of SV045 = (Icy 256) + LMCT LMC2 Lost motion compensation 2
Abbrev.
-1 to 200 (Stall [rated] current %) -1 to 100 (Stall [rated] current %) 0 to 1000 (rad/s)
0 to 500 (%)
Parameter name
Explanation When you use the collision detection function, set the frictional torque. Normally set to 0. Use this in combination with SV030 and the high order 8bits of SV040.
SV045
TRUB (Low Frictional torque order) Ib1 (High Current bias 3 order)
0 to 100 (Stall [rated] current %) 0 to 127
0 to 32767
SV046 SV047 EC Inductive voltage compensation gain Vertical axis drop prevention time
SV048
EMGrt
SV049
Position loop gain 1 PGN1sp in spindle synchronous control
SV050
Position loop gain 2 PGN2sp in spindle synchronous control
Not used. Set to "0". 0 Set the inductive voltage compensation gain. Set to 100 as a standard. 0 to 200 If the current FB peak exceeds the current command peak, lower the gain. (%) Input a length of time to prevent the vertical axis from dropping by delaying Ready OFF until the brake works when the emergency stop occurs. 0 to 20000 (ms) Increase the setting by 100msec at a time and set the value where the axis does not drop. Set the position loop gain during the spindle synchronous control (synchronous tapping, synchronous control with spindle/C axis). Set the same value as the value of the spindle parameter, position loop gain 1 to 200 (rad/s) in synchronous control. When performing the SHG control, set this with SV050 (PGN2sp) and SV058 (SHGCsp). Set this with SV049 (PGN1sp) and SV058 (SHGCsp) if you wish to perform 0 to 999 the SHG control in the spindle synchronous control (synchronous tapping, synchronous control with spindle/C axis). (rad/s) When not performing the SHG control, set to 0.
3 - 61
3. Setup
Standard specifications No. Abbrev. Parameter name Dual feed back control time constant Dual feedback control dead zone Excessive error detection width in special control Explanation Set the control time constant in dual feed back. When 0 is set, the actual value that is set is 1ms. The higher the time constant is, the closer it gets to the semi-closed control, so the limit of the position loop gain is raised. Set to 0 as a standard. Set the dead zone in the dual feedback control. Setting range (Unit) 0 to 9999 (ms) 0 to 9999 (m)
SV051
DFBT
SV052
DFBN
SV053
OD3
SV054
ORE
SV055
EMGx
SV056
EMGt
SV057
SHGC
SV058
SHGCsp
SV059
TCNV
SV060 SV061 SV062 SV063 SV064 SV065
TLMT DA1NO DA2NO DA1MPY DA2MPY
Set the excessive error detection width when servo ON in a special control 0 to 32767 (initial absolute position setting, stopper control, etc.). (mm) If 0 is set, excessive error detection wont be performed. Set the overrun detection width in the full-closed loop control. If the gap between the motor end detector and the linear scale (tool end Overrun detection detector) exceeds the value set by this parameter, it is judged to be overrun -1 to 32767 width in closed loop and Alarm 43 will be detected. (mm) control When -1 is set, the alarm detection wont be performed. When 0 is set, overrun is detected with a 2mm width. Set a length of time from the point when the emergency stop is input to the Max. gate off delay point when READY OFF is compulsorily executed. 0 to 20000 time after Normally, set the same value as the absolute value of SV056. (ms) emergency stop In preventing the vertical axis from dropping, the gate off is delayed for the length of time set by SV048 if SV055s value is smaller than that of SV048. Set the time constant used for the deceleration control at emergency stop. Set a length of time that takes from rapid traverse rate (rapid) to stopping. -20000 to Deceleration time Normally, set the same value as the rapid traverse acceleration/deceleration constant at 20000 time constant. emergency stop (ms) When executing the synchronous operation, put the minus sign to the settings of both of the master axis and slave axis. When performing the SHG control, set this with S003 (PGN1) and SV004 0 to 999 SHG control gain (PGN2). (rad/s) When not performing the SHG control, set to 0. SHG control gain in Set this with SV049 (PGN1sp) and SV050 (PGN2sp) if you wish to perform 0 to 999 spindle the SHG control in the synchronous tapping control. (rad/s) synchronous control When not performing the SHG control, set to 0. Set the torque estimating gain when using the collision detection function. Collision detection After setting as SV035/bitF(clt)=1 and performing acceleration/deceleration, -32768 to torque estimating set the value displayed in MPOS of the NC servo monitor screen. 32767 gain Set to 0 when not using the collision detection function. When using the collision detection function, set the collision detection level 0 to 999 Collision detection during the G0 feeding. (Stall [rated] level If 0 is set, none of the collision detection function will work. current %) D/A output channel Input the data number you wish to output to D/A output channel. 1 data No. In the case of MDS-C1-V2, set the axis on the side to which the data will not -1 to 127 D/A output channel be output to -1. 2 data No. D/A output channel Set the scale with a 1/256 unit. -32768 to 1 output scale When 0 is set, output is done with the standard output unit. 32767 D/A output channel (Unit: 1/256) 2 output scale Not used. Set to "0". 0
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3. Setup
3-4
Restrictions on servo control
There may be some restrictions on mechanical specifications and electrical specifications when executing servo controls. Always read this section when designing machines and confirm that no problems exist with the specifications.
3-4-1
Restrictions of 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, and each value (ELG1, ELG2) must be 32767 or less. 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 (such as resolution of the detector) must be revised so that the electronic gears are within the specifications range. (1) For semi-closed loop control ELG1 Reduced fraction of = ELG2 PC2RNG1 PC1PITIUNIT
(reduced fraction)
IUNIT = 2/NC command unit (m) 1m : IUNIT = 2, 0.1m : IUNIT = 20 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
PC2RNG2PGN1 PC1RNG130
(reduced fraction)
When the above is calculated, the following conditions must be satisfied. PGNX 32767 PGNY 32767 And, Reduced fraction of PGNXsp PGNYsp = PC2RNG2PGN1sp PC1RNG130 (reduced fraction)
When the above is calculated, the following conditions must be satisfied. PGNXsp 32767 PGNYsp 32767
POINT
If the electronic gears overflow, the alarm 37 or error parameter No. 101 (2301 with M60S/E60 series NC) will be output.
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3. Setup
3-4-2
Restrictions on absolute position control
When executing absolute position control, the following conditions must be satisfied. If not satisfied, mechanical specifications and electrical specifications (such as resolution of the detector) must be revised. When executing incremental control, there are no particular restrictions on servo control. (Confirm with the NC system side specifications.) (1) For linear axis The following conditions, Condition 1 and 2, must be satisfied simultaneously. (Condition 1) Length of stroke 2147 IUNIT [m]
IUNIT = 2/NC command unit (m) 1m : IUNIT = 2 0.1m : IUNIT = 20 (Condition 2) (a) For semi-closed loop control Length of stroke 2147 x (b) For full-closed loop control Length of stroke 2147 x PIT RNG1 [m] PC1 x PIT PC2 x RNG2 [m]
(Note) Even during the full-closed loop control, when the MP scale is used, restrictions are applied with the condition (a), as well. (2) For rotary axis The following conditions must be satisfied. 2147000 PC2 x PC1 RNG2
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3. Setup
3-5
Setting the initial parameters for the spindle drive unit
The spindle specification parameters and spindle parameters must be set before the spindle system can be started up. The spindle related parameters are input from the NC. The input method differs according to the NC being used, so refer to each NC Instruction Manual.
3-5-1
Spindle specification parameters
The configuration of these parameters depends on the NC, so refer to each NC Instruction Manual. The following table shows the configuration of the M60S and E60 Series NC.
M60S Series Abbrev. No. 3001 3002 3003 3004 3005 3006 3007 3008 3009 3010 3011 3012 3013 3014 3015 3016 3017 3018 3019 3020 slimit 1 2 3 4 smax 1 2 3 4 ssift 1 2 3 4 1 2 3 4 1 2 3 4 Parameter name Details Set spindle rotation speed for maximum motor rotation speed with gears 00, 01, 10, 11. (Set the spindle speed for the S analog output 10V.) Setting range (Unit) 0 to 99999 (r/min)
Limit rotation speed
Set maximum spindle rotation speed with gears 00, 01, 10, 11. Maximum rotation Set to slimt smax. speed By comparing the S command value and the value of gear 1 to 4, a spindle gear shift command will be output automatically. Shift rotation speed Set spindle speed for gear shifting with gears 00, 01, 10, 11. (Note) Setting too large value may cause a gear nicks when changing gears. Set maximum spindle rotation speed during tap cycle with gears 00, 01, 10, 11.
0 to 99999 (r/min) 0 to 32767 (r/min)
stap
Tap rotation speed
0 to 99999 (r/min)
stapt
Tap time constant
Set time constants for constant inclination synchronous tap cycles for gears 00, 01, 10, 11 (linear acceleration/deceleration pattern).
1 to 5000 (ms)
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3. Setup
<Relation of spindle limit rotation speed and spindle maximum rotation speed> The spindle rotation speed which can be attained at the spindle motor's maximum rotation speed is set for the limit rotation speed (slimt). This value is obtained by multiplying the gear ratio on the spindle motor maximum rotation speed (SP017). Set the maximum rotation speed (smax) when the rotation speed is to be limited according to the machine specifications, such as the spindle gear specifications. Up to four value can be set for gear changeover.
Spindle motor rotation speed (r/min) SP017
0 smax1 slimt1 smax2 slimt2 smax(n) slimt(n) Spindle rotation speed (r/min)
<Relation of tap time constant and actual acceleration/deceleration time constant> (For constant inclination synchronous tap cycle) Set the acceleration time up to the tap rotation speed (stap) in the tap time constant (stapt). Acceleration/deceleration is carried out at the same inclination for all speed commands. Up to four values can be set for gear changeover.
stap(n) Spindle speed (r/min)
Actual command
0 Actual time Time (ms) stapt(n)
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3. Setup
M60S Series Abbrev. No. 3021 sori
Parameter name Orientation rotation speed
Details Set the spindle orientation rotation speed. Set the rotation speed for when the spindle rotates at the constant rotation speed.
Setting range (Unit) 0 to 32767 (r/min) 0: 1/1 1: 1/2 2: 1/4 3: 1/8 0 to 32767 (r/min) 0 to 5
3022
sgear
Encoder gear ratio Set the gear ratio of the spindle to the spindle end detector when the spindle end detector feed back is directly input to NC.
3023
smini
Minimum rotation speed Spindle connection
Set the minimum rotation speed of the spindle. If an S command instructs the rotation speed below this setting, the spindle rotates at the minimum rotation speed set by this parameter. Set the type of the spindle to be connected. 0: No connection with the spindle 1: Serial connection (bus) 2 to 5: Analog output Set the spindle end detector connection destination. 0: No connection 1: NC 2: Drive unit
3024
sout*
3025
enc-on
Spindle end detector
0 to 2
3026
cs_ori
Selection of coil in 0: Perform orientation using the coil selected when the orientation orientation mode command is issued. 1: Use coil L whenever the orientation command is issued. Selection of coil in 0: The coil H/L is selected by the actual spindle motor rotation speed spindle (calculated from commanded rotation speed) when spindle synchronous synchronous control starts. (The coil is not switched during mode synchronous control. The control is carried out with the coil selected at start.) If the actual spindle motor rotation speed is less than SP020, the coil L is selected, and if more than the value, the coil H is selected. 1: Use coil H whenever the spindle synchronous command is issued. L system tap cycle Set the M code of the spindle forward run/reverse run command. spindle forward High-order three digits: The spindle forward run command's M code is run/ set. reverse run M Low-order three digits: The spindle reverse run command's M code is command set. Asynchronous tap Specify whether to use the tap rotation speed or maximum rotation gear selection speed for the gear that is selected when an asynchronous tap command is issued. 0: Tap rotation speed 1: Maximum rotation speed This parameter is valid only when the M-function synchronous tap cycle enable parameter (#1272 ext08/bit1) is ON. Not used. Set to "0". Drive unit I/F channel No. (spindle) Using a 4-digit number, set the drive unit interface channel No. and which axis in that channel is to be used when connecting a spindle drive unit. High-order two digits : Drive unit interface channel No. Low-order two digits : Axis No. When using the conventional fixed layout, set all axes to "0000". Set "0000" when using an analog spindle. Not used. Set to "0".
0/1
0/1
3027
cs_syn
0 to 999999
3028
sprcmm
0/1
3029
tapsel
3030
0 0000 0101 to 0107 0201 to 0207
3031
smcp_no *
3032
Parameters with an asterisk * in the abbreviation, such as sout*, are validated with the NC power turned ON again.
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3. Setup
M60S Series Abbrev. No. 3037 3038 3039 3040 3041 3042 3043 3044 3045 3046 3047 3048 taps 21 22 23 24 tapt 21 22 23 24 tapt 31 32 33 34
Parameter name Synchronous tap switching spindle speed 2 Synchronous tap switching time constant 2 Synchronous tap switching time constant 3 Spindle synchronization acceleration/ deceleration time constant Spindle synchronization rotation speed attainment level Spindle phase synchronization attainment level Spindle motor spindle relative polarity Spindle end detector Z -phase position
Details Set the spindle rotation speed at which the step-2 acceleration/deceleration time constant is to be switched at gear 00, 01, 10, or 11. Set the time constant to reach synchronous tap switching spindle rotation speed 2 (taps 21 to 24) at gear 00, 01, 10, or 11.
Setting range (Unit) 0 to 99999 (r/min)
1 to 5000 (ms)
Set the time constant to reach the maximum rotation speed (smax 1 to 4) 1 to 5000 (ms) at gear 00, 01, 10, or 11.
3049
spt
Set the acceleration/deceleration time constant for when the spindle synchronization command's rotation speed changes during spindle synchronous control.
0 to 9999 (ms)
3050
sprlv
The spindle rotation speed synchronization complete signal will turn ON when the difference of the reference spindle and synchronous spindle actual rotation speeds is less than the level set for the synchronous spindle rotation speed command value during spindle synchronous control. The spindle phase synchronization complete signal will turn ON when the phase difference of the reference spindle and synchronous spindle is less than the set level during spindle phase synchronization control. Set the spindle motor and spindle's relative polarity. Spindle CW rotation at motor CW rotation: Positive polarity Spindle CCW rotation at motor CW rotation: Negative polarity Set the deviation amount from the spindle's reference position to the spindle end detector's Z phase. The deviation amount is obtained using the clockwise direction looking from the front of the spindle as the positive direction.
0 to 4095 (pulse) (1 pulse = 0.088) 0 to 4095 (pulse) (1 pulse = 0.088) Positive polarity 1: Negative polarity 0 to 359999 (1/1000) 0:
3051
spplv
3052
spplr
3053
sppst
3054
sptc1
Spindle synchroSet the spindle speed for changing the 1st step's nization multi-step acceleration/deceleration time constant. acceleration/ deceleration changeover speed 1 Spindle synchroSet the spindle speed for changing the 2nd step's nization multi-step acceleration/deceleration time constant. acceleration/ deceleration changeover speed 2 Spindle synchroSet the spindle speed for changing the 3rd step's nization multi-step acceleration/deceleration time constant. acceleration/ deceleration changeover speed 3 Spindle synchroSet the spindle speed for changing the 4th step's nization multi-step acceleration/deceleration time constant. acceleration/ deceleration changeover speed 4 Spindle synchroSet the spindle speed for changing the 5th step's nization multi-step acceleration/deceleration time constant. acceleration/ deceleration changeover speed 5
0 to 99999 (r/min)
0 to 99999 (r/min)
3055
sptc2
0 to 99999 (r/min)
3056
sptc3
0 to 99999 (r/min)
3057
sptc4
0 to 99999 (r/min)
3058
sptc5
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3. Setup
M60S Series Abbrev. No.
Parameter name
Details
Setting range (Unit) 0 to 99999 (r/min)
3059
sptc6
Spindle synchroSet the spindle speed for changing the 6th step's nization multi-step acceleration/deceleration time constant. acceleration/ deceleration changeover speed 6 Spindle synchroSet the spindle speed for changing the 7th step's nization multi-step acceleration/deceleration time constant. acceleration/ deceleration changeover speed 7 Magnification for time constant changeover speed 1 Magnification for time constant changeover speed 2 Magnification for time constant changeover speed 3 Magnification for time constant changeover speed 4 Magnification for time constant changeover speed 5 Magnification for time constant changeover speed 6 Magnification for time constant changeover speed 7 Phase synchronization start confirmation time Phase synchronization end confirmation time Phase synchronization speed (Not used.) (Not used.) Set the acceleration/deceleration time constant between the spindle synchronization multi-step acceleration/deceleration changeover speed 1 (sptc1) to the spindle synchronization multi-step acceleration/ deceleration changeover speed 2 (sptc2) as a magnification in respect to the spindle synchronization acceleration/deceleration time constant (spt). Set the acceleration/deceleration time constant between the spindle synchronization multi-step acceleration/deceleration changeover speed 2 (sptc2) to the spindle synchronization multi-step acceleration/deceleration changeover speed 3 (sptc3) as a magnification in respect to the spindle synchronization acceleration/deceleration time constant (spt). Set the acceleration/deceleration time constant between the spindle synchronization multi-step acceleration/deceleration changeover speed 3 (sptc3) to the spindle synchronization multi-step acceleration/deceleration changeover speed 4 (sptc4) as a magnification in respect to the spindle synchronization acceleration/deceleration time constant (spt). Set the acceleration/deceleration time constant between the spindle synchronization multi-step acceleration/deceleration changeover speed 4 (sptc4) to the spindle synchronization multi-step acceleration/deceleration changeover speed 5 (sptc5) as a magnification in respect to the spindle synchronization acceleration/deceleration time constant (spt). Set the acceleration/deceleration time constant between the spindle synchronization multi-step acceleration/deceleration changeover speed 5 (sptc5) to the spindle synchronization multi-step acceleration/deceleration changeover speed 6 (sptc6) as a magnification in respect to the spindle synchronization acceleration/deceleration time constant (spt). Set the acceleration/deceleration time constant between the spindle synchronization multi-step acceleration/deceleration changeover speed 6 (sptc6) to the spindle synchronization multi-step acceleration/deceleration changeover speed 7 (sptc7) as a magnification in respect to the spindle synchronization acceleration/deceleration time constant (spt). Set the acceleration/deceleration time constant for the spindle synchronization multi-step acceleration/ deceleration changeover speed 7 (sptc7) and higher as a magnification in respect to the spindle synchronization acceleration/deceleration time constant (spt). Set the time to confirm that synchronization is attained before phase synchronization control is started. When "0" is set, the time will be 2 seconds. When "100" or less is set, the time will be 100ms.
0 to 99999 (r/min)
3060
sptc7
0 to 127
3061
spdiv1
0 to 127
3062
spdiv2
0 to 127
3063
spdiv3
0 to 127
3064
spdiv4
0 to 127
3065
spdiv5
0 to 127
3066
spdiv6
0 to 127
3067
spdiv7
0 to 9999 (ms)
3068
symtm1
3069
symtm2
Set the time to wait for phase synchronization control to end as the time 0 to 9999 (ms) for the rotation speed to reach the attainment range. When "0" is set, the time will be 2 seconds. When "100" or less is set, the time will be 100ms. Set the fluctuation amount to change the synchronous spindle rotation speed during phase synchronization control as the command speed and rate. When "0" is set, the amount will be 100%. Not used. Set to "0". Not used. Set to "0". 0 to 100 (%)
3070 3071 3072
syprt
0 0
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3. Setup
3-5-2
List of spindle parameters
These parameters are sent to the spindle drive unit when the NC power is turned ON. The standard parameters are designated with the "Spindle parameter setting list" enclosed when the spindle motor is delivered. There may be cases when the machine specifications are unclear, so the parameters determined by the machine specifications should be confirmed by the user.
No. Abbr. Parameter name Details Setting range Standard (Unit) setting
SP001
PGM
<For MDS-C1-SP/SPH/SPM> The orientation time will be shorter when the value is Magnetic sensor, motor increased, and the servo rigidity will increase. On the PLG orientation position other hand, the vibration will increase, and the machine loop gain will sway easily. <For MDS-C1-SPX/SPHX> Not used. Set "0". <For MDS-C1-SP/SPH/SPM> The orientation time will be shorter when the value is increased, and the servo rigidity will increase. On the other hand, the vibration will increase, and the machine will sway easily. <For MDS-C1-SPX/SPHX> Set the position loop gain for spindle end PLG orientation.
0 to 1000 (0.1 rad/s)
100
SP002
PGE
Encoder orientation position loop gain
0 to 1000 (0.1 rad/s)
100
SP003 SP004
PGC OINP
Position gain during C-axis non-cutting Orientation in-position width Orientation mode speed clamp value
Set the position loop gain for the C-axis non-cutting mode. During non-cutting (rapid traverse, etc.) with the C axis control, this position loop gain setting is valid. Set the position error range in which an orientation completion signal is output. Set the motor speed limit value to be used when the speed loop is changed to the position loop in orientation mode. When this parameter is set to "0", SP017 (TSP) becomes the limit value. As the set value is larger, the orientation time becomes shorter. However, the machine becomes likely to overshoot.
0 to 100 (rad/s) 1 to 2880 (1/16) 0 to 32767 (r/min)
15 16
SP005
OSP*
SP006
CSP
Orientation mode deceleration rate
1 to 1000
20
SP007
OPST
Set the stop position for orientation. (1) Motor PLG and spindle end detector Position shift amount for Set a value obtained by dividing 360 by 4096. orientation (2) Magnetic sensor orientation Divide -5C to +5 by 1024, and set 0 as "0". Not used. Set "0". Synchronous tap position loop gain Set the spindle position loop gain for synchronous tapping.
(1) 0 to 4095 (2) -512 to 512 0 1 to 100 (rad/s) 1 to 100 (rad/s) 0 0 0 0 0 0
SP008 SP009 SP010 SP011 SP012 SP013 SP014 SP015 SP016 PGT PGS
0 15 15 0 0 0 0 0 0
Spindle synchronization Set the spindle position loop gain for spindle position loop gain synchronization. Not used. Set "0". Not used. Set "0". Not used. Set "0". Not used. Set "0". Not used. Set "0". Not used. Set "0".
Parameters with an asterisk * in the abbreviation, such as OSP*, are validated with the NC power turned ON again.
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3. Setup
No. SP017 SP018 SP019
Abbr. TSP* ZSP* CSN1*
Parameter name Maximum motor speed Motor zero speed Speed cushion 1 Speed detection set value Torque limit 1
Details Set the maximum spindle motor speed. Set the motor speed for which zero-speed output is performed. Set the time constant for a speed command from "0" to the maximum speed. (This parameter is invalid during position loop control.) Set the motor speed for which speed detection output is performed. Usually, the setting value is 10% of SP017 (TSP). Set the torque limit rate for torque limit signal 001. Set the speed loop proportional gain in speed control mode. When the gain is increased, response is improved but vibration and sound become larger.
Setting range Standard (Unit) setting 1 to 32767 (r/min) 1 to 1000 (r/min) 1 to 32767 (10 ms) 0 to 32767 (r/min) 0 to 120 (%) 0 to 1000 6000 50 30
SP020 SP021
SDTS* TLM1
600 10 63
Speed loop gain SP022 VGNP1* proportional term under speed control
Speed loop gain integral Set the speed loop integral gain in speed control mode. SP023 VGNI1* term under speed Normally, this is set so that the ratio in respect to SP022 control (VGNP1) is approximately constant. SP024 SP025 SP026 SP027 SP028 SP029 SP030 SP031 SP032 GRA1* GRA2* GRA3* GRA4* GRB1* GRB2* GRB3* GRB4* Not used. Set "0". Spindle gear teeth count Set the number of gear teeth of the spindle 1 corresponding to gear 000. Spindle gear teeth count Set the number of gear teeth of the spindle 2 corresponding to gear 001. Spindle gear teeth count Set the number of gear teeth of the spindle 3 corresponding to gear 010. Spindle gear teeth count Set the number of gear teeth of the spindle 4 corresponding to gear 011. Motor shaft gear teeth count 1 Motor shaft gear teeth count 2 Motor shaft gear teeth count 3 Motor shaft gear teeth count 4 Set the number of gear teeth of the motor shaft corresponding to gear 000. Set the number of gear teeth of the motor shaft corresponding to gear 001. Set the number of gear teeth of the motor shaft corresponding to gear 010. Set the number of gear teeth of the motor shaft corresponding to gear 011.
0 to 1000 0 1 to 32767 1 to 32767 1 to 32767 1 to 32767 1 to 32767 1 to 32767 1 to 32767 1 to 32767
60 0 1 1 1 1 1 1 1 1
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3. Setup
No.
Abbr.
Parameter name <For MDS-C1-SP/SPH> F E D C

ront
Details
2
sftk
poff hzs bit 1 2 3 4 5 6 pyoff 7 dflt sftk
pycal pychg pyst pyoff
dflt 1a2m Standard 0 0 0 0 0 0 0 0 0
Meaning when set to 0 Default motor: Main Without SF-TK card
Meaning when set to 1 Default motor: Sub With SF-TK card
0 1a2m 1 drive unit 2 motor function: Invalid 1 drive unit 2 motor function: Valid
pyst This is used by Mitsubishi. Set to "0" unless particularly designated. High-speed rate deceleration method valid for minimum excitation rate
8 pychg 9 pycal (Conventional specifications) A B C D E F hzs Gate OFF by high-cycle zero speed Gate OFF by high-cycle zero speed invalid valid Contactor hold at NC power OFF valid ront Normal ready ON High-speed ready ON
0 0 0 0 0 0 0
Contactor hold at NC power OFF poff invalid
(Note 1) bits 0, 1 and 2 are invalid for SPH. (Note 2) Set 0 if there is no particular explanation for the bit. SP033 SFNC1* Spindle function 1 <For MDS-C1-SPX/SPHX> F E D C B A 9 8 7 6 5 4 3 2 1 0
poff hzs sfnc1 ront bit 0 1 2 3 4 5 6 pyoff 7 pyst This is used by Mitsubishi. Set to "0" unless particularly designated. High-speed rate deceleration method valid for minimum excitation rate 8 pychg 9 pycal (Conventional specifications) A B C ront Normal ready ON High-speed ready ON MDS-B-PJEX connection valid D sfnc1 MDS-B-PJEX connection invalid E F hzs poff
Standard 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0
Gate OFF by high-cycle zero speed Gate OFF by high-cycle zero speed invalid valid Contactor hold at NC power OFF invalid Contactor hold at NC power OFF valid
(Note) Set 0 if there is no particular explanation for the bit. Parameters with an asterisk * in the abbreviation, such as OSP*, are validated with the NC power turned ON again.
3 - 72
3. Setup
No.
Abbr.
Parameter name <For MDS-C1-SPM> F

poff bit 0 1 2 3
Details
C
ront
Standard 0 0 0 0 0 0 0 0 0 0 0 0
SP033 SFNC1* Spindle function 1
4 5 6 7 8 9 A B C D E F Contactor hold at NC power OFF poff invalid Contactor hold at NC power OFF valid ront Normal ready ON High-speed ready ON
0 0 0 0
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3. Setup
No.
Abbr.
Parameter name <For MDS-C1-SP/SPH/SPX/SPHX> F E D C B A 9
Details
mkc2 mkch invm mtsl
bit 0 1
Meaning when set to 1 Special motor constant setting valid
Standard 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
mtsl Special motor constant invalid
A general-purpose motor FV control A general-purpose motor FV control invm invalid valid Coil switch function valid Coil switch function 2 valid (Turns ON simultaneously with bit2)
2 mkch Coil switch function invalid 3 mkc2 Coil switch function 2 invalid 4 5 6 7 8 9 A B C D E F
(Note 1) To validate bit3, NC side needs to be prepared. (Note 2) Set 0 if there is no particular explanation for the bit. SP034 SFNC2* Spindle function 2 <For MDS-C1-SPM> F E D C B A 9 8 7 6 5 4 3 2 1 0
mkc2 mkch mk3c mtsl
bit 0
Meaning when set to 1 Special motor constant setting valid 3-step coil switch function valid Coil switch function valid Coil switch function 2 valid (Turns ON simultaneously with bit2)
Standard 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
mtsl Special motor constant invalid
1 mk3c 3-step coil switch function invalid 2 mkch Coil switch function invalid 3 mkc2 Coil switch function 2 invalid 4 5 6 7 8 9 A B C D E F
(Note 1) To validate bit3, NC side needs to be prepared. (Note 2) Set 0 if there is no particular explanation for the bit. Parameters with an asterisk * in the abbreviation, such as OSP*, are validated with the NC power turned ON again.
3 - 74
3. Setup
No.
Abbr.
Details
lbsd hbsd lwid hwid bit 0 1 Meaning when set to 0 Meaning when set to 1 H-coil wide-range constant output valid L-coil wide-range constant output valid H-coil base slide valid L-coil base slide valid Standard 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
H-coil wide-range constant output hwid invalid lwid L-coil wide-range constant output invalid
2 hbsd H-coil base slide invalid 3 4 5 6 7 8 9 A B C D E F lbsd L-coil base slide invalid
(Note) Set 0 if there is no particular explanation for the bit. SP035 SFNC3* Spindle function 3 <For MDS-C1-SPM> F E D C B A 9 8 7 6 5 4 3 2 1 0
mwid lwid hwid
bit
Standard 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
H coil output characteristic 0 hwid change invalid

1 lwid
H coil output characteristic change valid L coil output characteristic change valid M coil output characteristic change valid
L coil output characteristic change invalid M coil output characteristic change invalid
2 mwid 3 4 5 6 7 8 9 A B C D E F
3 - 75
3. Setup
No.
Abbr.
Parameter name <For MDS-C1-SP> F E D C B A 9
Details
dslm dssm bit 0 1 Meaning when set to 0
enc2 enc1 mag2 mag1 plg2 plg1 Meaning when set to 1 PLG of motor 1 invalid PLG of motor 2 invalid MAG of motor 1 invalid MAG of motor 2 invalid ENC of motor 1 invalid ENC of motor 2 invalid Standard 0 0 0 0 0 0 0 0 Speedometer output invalid Load meter output invalid 0 0 0 0 0 0 0 0
plg1 PLG of motor 1 valid plg2 PLG of motor 2 valid
2 mag1 MAG of motor 1 valid 3 mag2 MAG of motor 2 valid 4 enc1 ENC of motor 1 valid 5 enc2 ENC of motor 2 valid 6 7 8 dssm Speedometer output valid 9 A B C D E F dslm Load meter output valid
(Note) Set 0 if there is no particular explanation for the bit. SP036 SFNC4* Spindle function 4 <For MDS-C1-SPH/SPX/SPHX/SPM> F E D C B A 9 8 7 6 5 4 3 2 1 0
bit 0 1 2 3 4 5 6 7 8 9 A B C D E F
Standard 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3 - 76
3. Setup
No.
Abbr.
Parameter name <For MDS-C1-SP/SPH> F E D C B A 9
Details
splg dplg ospcl bit
noplg nsno nosg
plgo mago enco Meaning when set to 1 Encoder orientation valid Magnetic sensor orientation valid PLG orientation valid Standard 0 0 0 0 0 0 0 0 No-signal detection valid only in position loop or orientation-mode No-signal detection invalid Constant monitor of PLG-Z phase no-signal valid 0 0 0 0 0
0 enco Encoder orientation invalid 1 mago Magnetic sensor orientation invalid 2 3 4 5 6 7 No-signal detection type 8 nosg (Always monitoring) 9 nsno No-signal detection valid Constant monitor of PLG-Z phase A noplg no-signal invalid B C D ospcl E F dplg splg Orientation speed clamp motor speed setting plgo PLG orientation invalid
Orientation speed clamp spindle speed setting
0 0 0
This is used by Mitsubishi. Set to "0" unless particularly designated.
(Note 1) For bit0 to 2, do not set two bits or more to "1" at the same time. (Note 2) BitD is valid only when MDS-C1-SPH is used. (Note 3) Set 0 if there is no particular explanation for the bit. SP037 SFNC5* Spindle function 5 <For MDS-C1-SPX/SPHX> F E D C B A 9 8 7 6 5 4 3 2 1 0
enco bit 1 2 3 4 5 6 7 8 9 A B C D E F Meaning when set to 0 Meaning when set to 1 Standard 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 enco Spindle end PLG orientation invalid Spindle end PLG orientation valid
3 - 77
3. Setup
No.
Abbr.
Parameter name <For MDS-C1-SPM> F E D C B A 9
Details
2
plgo
0
enco Standard 0 0 0 0 0 0 0 0
nsno nosg bit 1 2 3 4 plgo PLG orientation invalid PLG orientation valid Meaning when set to 0
Meaning when set to 1 Encoder orientation valid
0 enco Encoder orientation invalid
5 6 7 No-signal detection type 8 nosg (Always monitoring) 9 nsno No-signal detection valid A B C D E F Monitoring only in position loop or orientation-mode No-signal detection invalid
0 0 0 0 0 0 0 0
(Note 1) For bit0 to 2, do not set two bits or more to "1" at the same time. (Note 2) Set 0 if there is no particular explanation for the bit.
3 - 78
3. Setup
No.
Abbr.
Parameter name <For MDS-C1-SP/SPH> F E D C B A 9
Details
0
alty Standard 0 0
oplp lmx iqsv XFzs dcsn lmnp pl80 sdt2 vfbs orm adin bit 0 1 2 3 4 5 6 7 8 9 adin Interpolation during thread cutting invalid Encoder feedback serial pftm communication invalid plg2 Semi-closed pulse output signal 2 invalid alty Meaning when set to 0 Deceleration stop during special alarm invalid
plg2 pftm
Meaning when set to 1 Deceleration stop during special alarm valid Encoder feedback serial communication valid Semi-closed pulse output signal 2 valid Interpolation during thread cutting valid Orientation start memo valid Set output 2 to 2nd speed detection output 180 wave PLG other than MHE90K Dual cushion during acceleration/ deceleration invalid Set output 2 to zero speed output
0 0 0 0 0 0 0 0 0 0 0 0 0 0
orm Orientation start memo invalid
vfbs This is used by Mitsubishi. Set to "0" unless particularly designated. sdt2 (Follows SP038/bitC setting) pl80 MHE90K detector's 180 wave PLG Dual cushion during acceleration/ deceleration valid Set output 2 to MP scale low (L) speed mode
A lmnp This is used by Mitsubishi. Set to "0" unless particularly designated. B dcsn C XFzs D E F Iqsv lmx
This is used by Mitsubishi. Set to "0" unless particularly designated Open loop operation valid
oplp Open loop operation invalid
(Note) Set 0 if there is no particular explanation for the bit. SP038 SFNC6* Spindle function 6 <For MDS-C1-SPX/SPHX> F E D C B A 9 8 7 6 5 4 3 2 1 0
alty Standard 0 0 Encoder feedback serial pftm communication invalid Semi-closed pulse output signal 2 plg2 invalid Encoder feedback serial communication valid Semi-closed pulse output signal 2 valid 0 0 0 0 0 vfbs This is used by Mitsubishi. Set to "0" unless particularly designated. sdt2 (Follows SP038/bitC setting) Set output 2 to 2nd speed detection output 0 0 0 0 Dual cushion during acceleration/ deceleration valid Set output 2 to MP scale low (L) speed mode Dual cushion during acceleration/ deceleration invalid Set output 2 to zero speed output 0 0 0 0 0 oplp lmx iqsv XFzs dcsn bit 0 1 2 3 4 5 6 7 8 9 A B dcsn C XFzs D E F Iqsv lmx alty Meaning when set to 0 Deceleration stop during special alarm invalid sdt2 vfbs plg2 pftm Meaning when set to 1 Deceleration stop during special alarm valid
This is used by Mitsubishi. Set to "0" unless particularly designated Open loop operation valid
oplp Open loop operation invalid
(Note) Set 0 if there is no particular explanation for the bit. Parameters with an asterisk * in the abbreviation, such as OSP*, are validated with the NC power turned ON again
3 - 79
3. Setup
No.
Abbr.
Parameter name <For MDS-C1-SPM> F E D C

XFzs
Details
0
alty Standard 0 0
pl80 sdt2 vfbs orm
tdn plg2 pftm
bit 0 1 2 3 alty
Meaning when set to 0 Deceleration stop during special alarm invalid
Meaning when set to 1 Deceleration stop during special alarm valid Encoder feedback serial communication valid Semi-closed pulse output signal 2 valid
Encoder feedback serial pftm communication invalid plg2 tdn Semi-closed pulse output signal 2 invalid
0 0 0 0 0 0 0 0 0 0
4 5 6 7 8 9 A B
This is used by Mitsubishi. Set to "0" unless particularly designated. Orientation start memo valid Set output 2 to 2nd speed detection output 180 wave PLG other than MHE90K
orm Orientation start memo invalid
vfbs This is used by Mitsubishi. Set to "0" unless particularly designated. sdt2 (Follows SP038/bitC setting) pl80 MHE90K detector's 180 wave PLG
Set output 2 to MP scale low (L) C XFzs speed mode D E F
Set output 2 to zero speed output
0 0 0 0
3 - 80
3. Setup
No.
Abbr.
Parameter name
Details Set the spindle drive unit's capacity type. Setting 0000 0001 0002 0003 0004 0005 0006 0007 0008 0009 000A 000B 000C 000D 000E 000F (HEX setting) Unit capacity Setting Unit capacity --0010 MDS-B-SP-550 MDS-C1-SP-075 0011 --MDS-C1-SP-15 0012 --MDS-C1-SP-22 0013 --MDS-C1-SP-37 0014 --MDS-C1-SP-55 0015 --MDS-C1-SP-75 0016 --MDS-C1-SP-110 0017 --MDS-C1-SP-150 0018 --MDS-C1-SP-185 0019 --MDS-C1-SP-220 001A --MDS-C1-SP-260 001B --MDS-C1-SP-300 001C --MDS-B-SP-370 001D --MDS-B-SP-450 001E --MDS-C1-SP-04 001F ---
Setting range Standard (Unit) setting
SP039
ATYP* Drive unit type
0000 to FFFF
0000
SP040
MTYP* Motor type
This parameter is valid when SP034 (SFNC2)/bit0 is set to "0". (Old type of motor) Set the appropriate motor number from the standard motors listed below. (HEX setting) Maximum Corresponding Setting Motor name speed drive unit 0000 ------0001 SJ-2.2A 10000 r/min MDS-C1-SP-22 0002 SJ-3.7A 10000 r/min MDS-C1-SP-37 0003 SJ-5.5A 8000 r/min MDS-C1-SP-55 0004 SJ-7.5A 8000 r/min MDS-C1-SP-75 0005 SJ-11A 6000 r/min MDS-C1-SP-110 0006 SJ-15A 6000 r/min MDS-C1-SP-150 0007 SJ-18.5A 6000 r/min MDS-C1-SP-185 0008 SJ-22A 4500 r/min MDS-C1-SP-220 0009 SJ-26A 4500 r/min MDS-C1-SP-260 000A SJ-30A 4500 r/min MDS-C1-SP-300 000B ------000C ------000D ------000E ------000F ------0010 ------0011 SJ-N0.75A 10000 r/min MDS-C1-SP-075 0012 SJ-N1.5A 10000 r/min MDS-C1-SP-15 0013 SJ-N2.2A 10000 r/min MDS-C1-SP-22 0014 SJ-N3.7A 10000 r/min MDS-C1-SP-37 0015 SJ-N5.5A 8000 r/min MDS-C1-SP-55 0016 SJ-N7.5A 8000 r/min MDS-C1-SP-75 0017 ------0018 ------0019 ------001A ------001B ------001C ------001D ------001E ------001F -------
0000 to FFFF
0000
3 - 81
3. Setup
No.
Abbr.
Parameter name
Details
Setting range Standard (Unit) setting 9 8 7 6 5 4

ptyp Explanation
A
rtyp
amp bit 0 1 2 3 4 5 6 7 ptyp
When the CN4 connector of the drive unit and the power supply are connected, setting below is necessary. To validate the external emergency stop function, add 40h.
Setting x0 x1 x2 x3 x4 x5 x6 x7 x8 x9 CV-75 CV-185 CV-55 CV-37 CV-150 CV-260 CV-370 CR-75 CR-90 MDS-B- MDS-BCVE-450 CVE-550 CR-55 0x Not used CV-110 CV-220 1x 2x 3x CV-300 CR-10 CR-15 CR-22 CR-37 4x 5x 6x 7x 8x
SP041
PTYP* Power supply type

8 9 A B rtyp

Setting 0 1 2 3 4 5 6 7 8 9 A~F Regenerative resistor model name Resistance Capacity value 26 26 13 13 6.7 6.7 30 15 15 80W 150W 300W 500W 350W 500W 700W 700W 2100W
MDS-C1-CV (Setting when using power supply regeneration) GZG200W260HMJ (Note) GZG300W130HMJ2 MR-RB30 MR-RB50 GZG200W200HMJ3 GZG300W200HMJ3 R-UNIT-1 R-UNIT-2 R-UNIT-3 No setting
C D E F amp Always set to "0".
(Note) When MDS-B-SP-370, 450 or 550 is used, set "0" even if power regeneration type is applied. <For MDS-C1-SP/SPH/SPM> This parameter is used to set the C-axis detector range. Set "0" for this parameter. "2" is used by Mitsubishi for testing. <For MDS-C1-SPX/SPHX> Set the number of pulses for the spindle end PLG. "4" = 128, "5" = 256, "6" = 512, "8" = 180 Synchronous tapping, SP043 TRNG* spindle synchronous detector range This parameter is used to set the synchronous tapping or spindle synchronous detector range. Set "0" for this parameter. 0 to 7 0
SP042 CRNG* C-axis detector range
0 to 8
3 - 82
3. Setup
No.
Abbr.
Parameter name
Details Set a frequency of data communication with NC.
Setting range Standard (Unit) setting 0 to 32767 Standard: 0 Special: 1028
NC communication SP044 TRANS* frequency
SP045
CSNT
Dual cushion timer
Set the cycle to add the increment values in the dual cushion process. When this setting value is increased, the dual cushion will 0 to 1000 (ms) increase, and the changes in the speed during acceleration/deceleration will become gradual. For an acceleration/deceleration time constant defined in SP019 (CSN1) , this parameter is used to provide smooth movement only at the start of acceleration/deceleration. As the value of this parameter is smaller, it moves smoother but the acceleration/deceleration time becomes longer. To make this parameter invalid, set "0". Set the reset hysteresis width for a speed detection set value defined in SP020 (SDTS). Set the speed deviation rate with respect to the commanded speed for output of the speed reach signal. Set the torque limit rate for the torque limit signal 010. Set the torque limit rate for the torque limit signal 011. Set the torque limit rate for the torque limit signal 100. Set the torque limit rate for the torque limit signal 101. Set the torque limit rate for the torque limit signal 110. Set the torque limit rate for the torque limit signal 111. Set the timer value until the excessive speed deviation alarm is output. The value of this parameter should be longer than the acceleration/deceleration time. Set the minimum value of the variable excitation rate. Select a smaller value when gear noise is too high. Set the value for judging when changing the speed command from a constant to acceleration/deceleration. When "0" is set, judge the speed with 12 r/min. Set the motor speed for carry out speed detection 2 output. Set the base shut-off time for contactor switching at coil changeover. Note that the contactor may be damaged with burning if the value of this parameter is too small. Set the current limit time to be taken after completion of contactor switching at coil changeover. Set the current limit value during a period defined in SP060 (MKT2) after completion of contactor switching at coil changeover. Not used. Set to "0".
SP046
CSN2*
Speed command dual cushion
0 to 1000
SP047 SP048 SP049 SP050 SP051 SP052 SP053 SP054 SP055
SDTR* SUT* TLM2 TLM3 TLM4 TLM5 TLM6 TLM7 SETM*
Speed detection reset value Speed reach range Torque limit 2 Torque limit 3 Torque limit 4 Torque limit 5 Torque limit 6 Torque limit 7 Excessive speed deviation timer Variable excitation (min value) Constant transition judgment value Speed detection setting value 2 Winding changeover base shut-off timer Current limit timer after coil changeover Current limit value after coil changeover
0 to 1000 (r/min) 0 to 100 (%) 0 to 120 (%) 0 to 120 (%) 0 to 120 (%) 0 to 120 (%) 0 to 120 (%) 0 to 120 (%) 0 to 160 (s)
30 15 20 30 40 50 60 70 12
SP056 SP057 SP058
PYVR STOD* SDT2*
0 to 100 (%) 0 to 50 (r/min) 0 to 32767 (r/min) 50 to 10000 (ms) 0 to 10000 (ms) 0 to 120 (%) 0 0 to 1000 (s) 0 to 120 (%) 0 to 100 (%)
50 0 0
SP059
MKT*
150
SP060 SP061 SP062 SP063 SP064
MKT2* MKIL*
500 75 0 60 110 100
OLT* OLL*
Set the time constant for detection of the motor overload Overload alarm detection alarm. time (For machine tool builder adjustment) Overload alarm detection Set the detection level of the motor overload alarm. level (For machine tool builder adjustment) Set the magnification of speed loop proportional gain with respect to SP022 (VGNP1) at the maximum motor speed defined in SP017 (TSP).
Target value of variable SP065 VCGN1* speed loop proportional gain
3 - 83
3. Setup
No.
Abbr.
Parameter name
Details Set the speed when the speed loop proportional gain change starts.
Change starting speed of SP066 VCSN1* variable speed loop proportional gain
Proportional gain SP022 SP022 (SP065/100) SP066 SP017
0 to 32767 (r/min)
Speed
SP067 VIGWA* SP068 VIGWB*
Change starting speed of Set the speed where the current loop gain change starts. variable current loop gain Change ending speed of Set the speed where the current loop gain change ends. variable current loop gain Set the magnification of current loop gain (torque component and excitation component) for a change ending speed defined in SP068 (VIGWB). When this parameter is set to "0", the magnification is 1.
SP069(1/16)-fold 1-fold
0 to 32767 (r/min) 0 to 32767 (r/min)
0 0
SP069
VIGN*
Target value of variable current loop gain SP017 (TSP) Maximum motor speed 0 to 6000 6001 to 8000 8001 or more
Speed SP067 SP068 SP017
0 to 32767 (1/16-fold)
SP067 (VIGWA) 0 5000 5000
Setting value SP068 SP069 (VIGWB) (VIGN) 0 8000 10000 0 45 64
SP070
FHz
Machine resonance suppression filter frequency
When machine vibration occurs in speed and position control, set the frequency of the required vibration suppression. Note that a value of 100Hz or more is set. Set to "0" when not used. Set by Mitsubishi. Set "0" unless designated in particular. Set by Mitsubishi. Set "0" unless designated in particular. Set by Mitsubishi. Set "0" unless designated in particular. Set by Mitsubishi. Set "0" unless designated in particular.
0 to 3000 (Hz)
SP071 VR2WA* Fixed control constant SP072 VR2WB* Fixed control constant SP073 VR2GN* Fixed control constant SP074 IGDEC* Fixed control constant
0 0 0 0
0 0 0 0
3 - 84
3. Setup
No.
Abbr.
Parameter name
Details
Setting range Standard (Unit) setting 9 8 7 6 5 4 3 2 1 0
r2iro r2ini bit 0 r2ch 1 no51 Meaning when set to 0
r2am r2lm r2dm no51 r2ch
Standard 0 0 0 0 0 0 0 0
2 r2dm Set by Mitsubishi. Set "0" unless designated in particular. 3 r2lm 4 r2am
SP075 R2KWS Fixed control constant
5 6 7 8 9 A B C D E F r2ini Set by Mitsubishi. Set "0" unless designated in particular. r2iro Set by Mitsubishi. Set "0" unless designated in particular.
0 0 0 0 0 0 0 0
(Note) Set 0 if there is no particular explanation for the bit. When the vibration increases in motor stop (ex. in orientation stop) when the machine vibration suppression filter is operated by SP070, operate the machine vibration suppression filter at a speed of this parameter or more. When set to "0", this is validated for all speeds. Set by Mitsubishi. Set "14" unless designated in particular. Set by Mitsubishi. Set "0" unless designated in particular. Set by Mitsubishi. Set "0" unless designated in particular. Not used. Set "0". LMCA Fixed control constant LMCB Fixed control constant Fixed control constant Set by Mitsubishi. Set "14" unless designated in particular. Set by Mitsubishi. Set "0" unless designated in particular. Set by Mitsubishi. Set "0" unless designated in particular. Not used. Set "0".
SP076
Machine resonance FONS suppression filter operation speed TDSL* Fixed control constant
0 to 32767 (r/min)
SP077
14 0 0 0 14 0 0 0
14 0 0 0 14 0 0 0
SP078 FPWM* Fixed control constant SP079 SP080 SP081 SP082 SP083 SP084 ILMT* Fixed control constant
3 - 85
3. Setup
No.
Abbr.
Parameter name
Details
Setting range Standard (Unit) setting 0 to 150 (%) 0 0 0
SP085
< For MDS-C1-SPH> Target value of variable Set the minimum value of variable torque limit at AIQM* torque limit magnification acceleration. at acceleration < For MDS-C1-SP/SPX/SPHX/SPM > Not used. Set "0". <For MDS-C1-SPH> Set the speed where the torque limit value at acceleration starts to change.
SP086
Speed for starting change of variable AIQN* torque limit magnification at acceleration
100%
Torque limit Inversely proportional to speed
0 to 32767 (r/min)
SP085
SP086
SP017
Speed
< For MDS-C1-SP/SPX/SPHX/SPM> Not used. Set "0". SP087 Target value of variable Set the minimum value of variable torque limit at DIQM* torque limit magnification deceleration. at deceleration Set the speed where the torque limit value at deceleration starts to change.
0 0 to 150 (%)
0 75
SP088
DIQN*
Speed for starting change of variable torque limit magnification at deceleration
100%
0 to 32767 (r/min)
3000
SP087
SP088
SP017
Speed
SP089 SP090 SP091 Offset compensation OFSN during motor PLG forward run OFSI ORE* Offset compensation during motor PLG reverse run Tolerable pulse check error
Not used. Set "0". Not used. Set "0". Set the PLG offset for forward run. Normally "0" is set. Set the PLG offset for reverse run. Normally "0" is set. Set this when detecting the pulse detector's pulse mistakes. (Valid only for full close control.) Set the filter time constant of load meter output. When "0" is set, a filter time constant is set to 100ms. Set by Mitsubishi. Set "0" unless designated in particular. Set the gear ratio between the spindle end and the detector end (except for the motor PLG) as indicated below.
Setting value Gear ratio (deceleration) 1:1 1 : 1/2 1 : 1/4 1 : 1/8 1 : 1/16 Setting value -1 -2 -3 Gear ratio (acceleration) 1:2 1:4 1:3
0 0 -2048 to 2047 (-1mV) -2048 to 2047 (-1mV) 0 to 32767 0 to 32767 (2ms) 0
0 0 0
SP092 SP093 SP094 SP095
0 0 0 0
LMAV* Load meter output filter VFAV* Fixed control constant
SP096
EGAR* Encoder gear ratio
0 1 2 3 4
-3 to 4
3 - 86
3. Setup
No.
Abbr.
Parameter name <For MDS-C1-SP> F

bit 0 1 2 3 4 5 6 7 8 9 A B
Details
Setting range Standard (Unit) setting 9 8 7 6 5 4 3 2 1 0

Standard 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ostp orze ksft gchg
ips2 zdir
vg8x mdir fdir
oscl pyfx dmin odi2 odi1
odi1 direction (only SPX, SPHX) 00: Previous (the direction in which the motor has so far rotated under speed control) odi2 01: Forward rotation 10: Backward rotation 11: Prohibited Orientation completion advance Orientation completion advance dmin invalid valid Excitation min. (50%) during Excitation min. (50%) during pyfx orientation servo lock invalid orientation servo lock valid oscl Indexing speed clamp invalid Indexing speed clamp valid fdir Spindle end detector polarity: + Spindle end detector polarity: mdir Magnetic sensor polarity: + Magnetic sensor polarity: Speed gain *1/8 during torque limit Speed gain *1/8 during torque limit vg8x valid invalid zdir This is used by Mitsubishi. Set to "0" unless particularly designated. ips2 2nd orientation completion invalid 2nd orientation completion valid Gain changeover during orientation Gain changeover during orientation invalid valid ksft Orientation virtual target shift invalid Orientation virtual target shift valid orze This is used by Mitsubishi. ostp Set to "0" unless particularly designated.
Meaning when set to 0 Meaning when set to 1 Orientation rotation direction, C-axis control zero point return
C gchg D E F
(Note 1) Set 0 if there is no particular explanation for the bit. SP097 SPECO* Orientation specification <For MDS-C1-SPH> F
bit 0 1 odi1 odi2
0
Standard 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ostp orze ksft gchg tlmp ips2 zdir
tlet vg8x mdir fdir
2 dmin 3 4 5 6 7 8 9 A B pyfx oscl fdir mdir vg8x tlet zdir ips2 tlmp
C gchg D E F ksft orze ostp
Meaning when set to 0 Meaning when set to 1 Orientation rotation direction 00: Previous (the direction in which the motor has so far rotated under speed control) 01: Forward rotation 10: Backward rotation 11: Prohibited Orientation completion advance Orientation completion advance invalid valid Excitation min. (50%) during Excitation min. (50%) during orientation servo lock invalid orientation servo lock valid Indexing speed clamp invalid Indexing speed clamp valid Spindle end detector polarity: + Spindle end detector polarity: Magnetic sensor polarity: + Magnetic sensor polarity: Speed gain *1/8 during torque limit Speed gain *1/8 during torque limit valid invalid Turret indexing invalid Turret indexing valid This is used by Mitsubishi. Set to "0" unless particularly designated. 2nd orientation completion invalid 2nd orientation completion valid Turret indexing 1-deg unit Turret indexing 0.1-deg unit Gain changeover during orientation Gain changeover during orientation invalid valid Orientation virtual target shift invalid Orientation virtual target shift valid This is used by Mitsubishi. Set to "0" unless particularly designated.
Orientation completion advance (SP097/bit2) 0 (Invalid) 1 (Valid) In SP004 (OINP) width: Orientation completion signal (ORCF) Control output 4/bit4=1 In SP004 (OINP) width: 2nd orientation completion signal (ORF2) Orientation completion signal (ORCF) Control output 4/bitF=Invalid Control output 4/bit4=1 In SP101 (DINP) width: 2nd orientation completion signal (ORF2) Orientation completion signal (ORCF) Control output 4/bitF=Invalid Control output 4/bit4=1 In SP004 (OINP) width: 2nd orientation completion signal (ORF2) Control output 4/bitF=1
0 (Invalid) 2nd orientation completion signal (SP097/bitA) 1 (Valid)
3 - 87
3. Setup
No.
Abbr.
Parameter name
Details Continued from previous page <For MDS-C1-SPX/SPHX> F

bit 0 1 odi1 odi2
7
vg8x
5
fdir
0
Standard 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ostp orze ksft gchg
ips2 zdir
2 dmin 3 4 5 6 7 8 9 A B pyfx oscl fdir vg8x
Meaning when set to 0 Meaning when set to 1 Orientation rotation direction, C-axis control zero point return direction (only SPX, SPHX) 00: Previous (the direction in which the motor has so far rotated under speed control) 01: Forward rotation 10: Backward rotation 11: Prohibited Orientation completion advance Orientation completion advance invalid valid Excitation min. (50%) during Excitation min. (50%) during orientation servo lock invalid orientation servo lock valid Indexing speed clamp invalid Indexing speed clamp valid Spindle end detector polarity: + Spindle end detector polarity: Speed gain *1/8 during torque limit valid Speed gain *1/8 during torque limit invalid
zdir This is used by Mitsubishi. Set to "0" unless particularly designated. ips2 2nd orientation completion invalid 2nd orientation completion valid Gain changeover during orientation Gain changeover during orientation invalid valid ksft Orientation virtual target shift invalid Orientation virtual target shift valid orze This is used by Mitsubishi. ostp Set to "0" unless particularly designated.
C gchg D E F
(Note 1) Set 0 if there is no particular explanation for the bit. SP097 SPECO* Orientation specification <For MDS-C1-SPM> F
bit
A
ips2
7
vg8x
5
fdir
4
oscl
0
Standard 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ostp orze ksft gchg
dmin odi2 odi1
Meaning when set to 0 Meaning when set to 1 Orientation rotation direction 0 odi1 00: Previous (the direction in which the motor has so far rotated under speed control) 01: Forward rotation 1 odi2 10: Backward rotation 11: Prohibited Orientation completion advance Orientation completion advance 2 dmin invalid valid 3 4 oscl Indexing speed clamp invalid Indexing speed clamp valid 5 fdir Spindle end detector polarity: + Spindle end detector polarity: 6 Speed gain *1/8 during torque limit Speed gain *1/8 during torque limit 7 vg8x valid invalid 8 9 A ips2 2nd orientation completion invalid 2nd orientation completion valid B Gain changeover during orientation Gain changeover during orientation C gchg invalid valid D ksft Orientation virtual target shift invalid Orientation virtual target shift valid E orze This is used by Mitsubishi. F ostp Set to "0" unless particularly designated.
(Note 1) Set 0 if there is no particular explanation for the bit. Parameters with an asterisk * in the abbreviation, such as OSP*, are validated with the NC power turned ON again.
3 - 88
3. Setup
No.
Abbr.
Parameter name
Details
Setting range Standard (Unit) setting 0 to 1000 63
Set the speed loop proportional gain in orientation control Speed loop gain mode. SP098 VGOP* proportional term in When the gain is increased, rigidity is improved in the orientation control mode orientation stop but vibration and sound become larger. SP099 Orientation control mode Set the speed loop integral gain in orientation control VGOI* speed loop gain integral mode. term
0 to 1000
60
Orientation control mode Set a loop gain delay advance gain in orientation control SP100 VGOD* speed loop gain delay mode. advance term When this parameter is set to "0", PI control is applied. SP101 DINP* Orientation advance in-position width When using the orientation completed advance function, set the in-position width that is larger than the normal in-position width defined in SP004 (OINP).
0 to 1000 1 to 2880 (1/16 deg) 0 to 32767 (1/4 pulse) (1 pulse= 0.088 deg) 0 to 10000 (ms)
15
16
SP102 OODR*
Set the excessive error detection width in orientation Excessive error value in control mode. orientation control mode Index positioning completion OFF time timer Torque limit value after orientation completed l Set the time for forcedly turn OFF the index positioning completion signal (different from the orientation completion signal) after the leading edge of the indexing start signal. Set the torque limit value after orientation completed. If the external torque limit signal is input, the torque limit value set by this parameter is made invalid.
32767
SP103
FTM*
200
SP104
TLOR*
0 to 120 (%)
100
SP105
Current loop gain Set the magnification for current loop gain (torque IQGO* magnification 1 in component) at orientation completion. orientation control mode Current loop gain Set the magnification for current loop gain (excitation IDGO* magnification 2 in component) at orientation completion. orientation control mode CSP2 Set the deceleration rate in orientation mode Deceleration rate 2 in corresponding to the gear 001. orientation control mode When this parameter is set to "0", same as SP006 (CSP). Set the deceleration rate in orientation mode Deceleration rate 3 in corresponding to the gear 010. orientation control mode When this parameter is set to "0", same as SP006 (CSP). Set the deceleration rate in orientation mode Deceleration rate 4 in corresponding to the gear 011. orientation control mode When this parameter is set to "0", same as SP006 (CSP).
1 to 1000 (%)
100
SP106
1 to 1000 (%)
100
SP107
0 to 1000
SP108
CSP3
0 to 1000
SP109
CSP4
0 to 1000 0 to 32767 (fold) 0 0 to 32767 (1/256-fold) 0 0 to 32767 (r/min) 0 0 to 32767 (0.088deg) 0
SP110
<For MDS-C1-SPH> Specify the gear ratio for the motor axis and the turret Turret indexing control axis. WCML Command magnification <For MDS-C1-SP/SPX/SPHX/SPM> Not used. Set "0". Turret indexing control WDEL Deceleration magnification <For MDS-C1-SPH> Specify the deceleration rate for turret indexing control. <For MDS-C1-SP/SPX/SPHX/SPM> Not used. Set "0". <For MDS-C1-SPH> Specify the clamp speed for the turret axis end. <For MDS-C1-SP/SPX/SPHX/SPM> Not used. Set "0". <For MDS-C1-SPH> Specify the in-position detection range for turret indexing control. <For MDS-C1-SP/SPX/SPHX/SPM> Not used. Set "0".
0 0 0 0 0 0 0 0
SP111
SP112
Turret indexing control WCLP Clamp speed
SP113
WINP
Turret indexing control In-position width
3 - 89
3. Setup
No.
Abbr.
Parameter name
Details
SP114
OPER
Orientation control pulse miss check value
An alarm "5C" will occur if the pulse miss value at the orientation stop exceeds this setting value. (Note that this is invalid when set to "0".) 0 to 32767 In this parameter, set the value to fulfill the following (360 deg/4096) conditions. SP114 setting value > 1.5 SP004 (orientation in-position width) When the orientation clamp speed is changed by the control input, this parameter setting will be used instead of SP005: OSP. Indexing speed clamp valid This parameter is used when (SP097: SPEC0/bit4 = 1). 0 to 32767 (r/min)
SP115
OSP2
Orientation control speed clamp value 2
Minimum excitation value Set the minimum excitation rate when position control SP116 OPYVR after changeover (2nd input or external input is selected. minimum excitation rate) SP117 ORUT Fixed control constant Orientation control ORCT number of retry times Set by Mitsubishi. Set "0" unless designated in particular. Set the number of times to retry when an orientation or feedback error occurs. The warning (A9) is issued while retrying orientation, and an alarm (5C) is issued when the set number of times is exceeded. Set the compensation magnification of the orientation position loop gain for the H coil. H coil orientation position loop gain = SP001 (or SP002) SP119/256 When set to "0", will become the same as SP001 or SP002. Set the compensation magnification of the orientation position loop gain for the L coil. L coil orientation position loop gain = SP001 (or SP002) SP120/256 When set to "0", will become the same as SP001 or SP002.
0 to 100 (%) 0 0 to 100 (time)
0 0
SP118
SP119
Orientation control MPGH position loop gain H coil magnification
0 to 2560 (1/256-fold)
SP120
Orientation control MPGL position loop gain L coil magnification
0 to 2560 (1/256-fold)
Set the compensation magnification of the orientation deceleration rate for the H coil. Orientation deceleration SP121 MPCSH Orientation deceleration rate for the H coil rate H coil magnification = SP006 SP121/256 When set to "0", will become the same as SP006. Orientation deceleration SP122 MPCSL rate L coil magnification Set the compensation magnification of the orientation deceleration rate for the L coil. Orientation deceleration rate for the L coil = SP006 SP122/256 When set to "0", will become the same as SP006. This parameter is used for adjusting the operation during magnetic sensor orientation. Set the peak value of the magnetic sensor output. If the gap between the sensor and magnet is small, set a large value. If the gap is large, set a small value. This parameter is used for adjusting the operation during magnetic sensor orientation. Set the width of the magnetic sensor linear zone. If the installation radius of the magnet is large, set a small value. This parameter is used for adjusting the operation during magnetic sensor orientation. Set the distance from the target stop point for changing the position feedback to magnetic sensor output. Normally, a value that is approx. half of SP124 (MGDI) is set.
0 to 2560 (1/256-fold)
0 to 2560 (1/256-fold)
SP123
MGD0
Magnetic sensor output peak value
1 to 10000
Standard magnet=542 Compact magnet=500
SP124
MGD1
Magnetic sensor linear zone width
1 to 10000
SP125
MGD2
Magnetic sensor changeover point
1 to 10000
3 - 90
3. Setup
No.
Abbr.
Parameter name
Details
SP126
<For MDS-C1-SPM> Set the compensation magnification of the orientation position loop gain for the M coil. M coil orientation position loop gain Orientation position loop MPGM = SP001 (or SP002) SP119/256 gain M coil magnification When set to "0", will become the same as SP001 or SP002. <For MDS-C1-SP/SPH/SPX/SPHX> Not used. Set "0".
0 to 2560 (1/256-fold)
<For MDS-C1-SPM> Set the compensation magnification of the orientation deceleration rate for the M coil. Orientation deceleration rate for the M coil Orientation deceleration SP127 MPCSM = SP006 SP121/256 rate M coil magnification When set to "0", will become the same as SP006. <For MDS-C1-SP/SPX/SPHX/SPM> Not used. Set "0". After orientation completion, SP128 OXKPM Position loop gain magnification (M coil) <For MDS-C1-SPM> Set the switched M coil position loop gain magnification after orientation when gain switching is enabled (SP097: SPEC0/bitC=1). <For MDS-C1-SP/SPX/SPHX/SPM> Not used. Set "0".
0 to 2560 (1/256-fld)
0 0 to 2560 (1/256-fold) 0
3 - 91
3. Setup
No.
Abbr.
Parameter name <For MDS-C1-SP/SPH/SPX/SPHX> F

bit 0 fclx
Details E D C B A 9 8 7 6 5
fdir
0
Standard 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
zrtn ptyp fb9x zrtd zrn2
zdir ztyp vg8x
phos rtrn adin fclx
Meaning when set to 1 Semi-closed loop (Gear 1 : 1 only) Interpolation A/D compensation valid Position monitor during ready OFF valid High-gain servo synchronous compensation valid Position detector polarity (-)
Closed loop Interpolation A/D compensation 1 adin invalid Position monitor during ready OFF 2 rtrn invalid High-gain servo synchronous 3 phos compensation invalid 4 5 6 7 8 9 A B C D E F zrn2 zrtd vg8x zdir fdir Position detector polarity (+)
Speed gain 1/8 during torque limit Speed gain 1/8 during torque limit valid invalid ztyp Z-phase type: Normal start up Z-phase type: Start up only Z-phase rising polarity (+) Z-phase rising polarity (-)
This is used by Mitsubishi. Set to "0" unless particularly designated. Speed feedback 90,000 pulse detector Position control switch type: After deceleration stop Zero point return direction: CW
fb9x Speed feedback, Standard (PLG) Position control switch type: After ptyp zero point return zrtn Zero point return direction: CCW
(Note 1) bits 5, D and F are invalid for SPX and SPHX. Set the direction with SP097. (Note 2) Set 0 if there is no particular explanation for the bit. SP129 SPECC* C-axis specifications <For MDS-C1-SPM> F
bit 0 1 Position monitor during ready OFF invalid High-gain servo synchronous 3 phos compensation invalid 4 2 rtrn 5 6 7 8 9 A B C D E F zrn2 zrtd This is used by Mitsubishi. Set to "0" unless particularly designated. Speed feedback 90,000 pulse detector Position control switch type: After deceleration stop Zero point return direction: CW vg8x zdir Speed gain 1/8 during torque limit Speed gain 1/8 during torque limit valid invalid ztyp Z-phase type: Normal start up Z-phase type: Start up only Z-phase rising polarity (+) Z-phase rising polarity (-) fdir Position detector polarity (+) Position monitor during ready OFF valid High-gain servo synchronous compensation valid Position detector polarity (-) fclx
5
fdir
0
fclx Standard 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
zrtn ptyp fb9x zrtd zrn2
zdir ztyp vg8x
phos rtrn
Meaning when set to 0 Closed loop
Meaning when set to 1 Semi-closed loop (Gear 1 : 1 only)
fb9x Speed feedback, Standard (PLG) ptyp Position control switch type: After zero point return zrtn Zero point return direction: CCW
(Note) Set 0 if there is no particular explanation for the bit.
3 - 92
3. Setup
No. SP130
Abbr. PGC1
Parameter name First position loop gain for cutting control on C-axis
Details Set the position loop gain when the first gain is selected for C axis cutting.
Setting range Standard (Unit) setting 1 to 100 (rad/s) 1 to 100 (rad/s) 1 to 100 (rad/s) 1 to 100 (rad/s) 0 to 5000 15
SP131
PGC2
Second position loop Set the position loop gain when the second gain is gain for cutting control on selected for C axis cutting. C-axis Third position loop gain for cutting control on C-axis Stop position loop gain for cutting control on C-axis Set the position loop gain when the third gain is selected for C-axis cutting. Set the position loop gain for stopping when carrying out C-axis cutting control. Set the speed loop proportional gain in C-axis non-cutting control mode. Set the speed loop integral gain in C-axis non-cutting control mode. Set the speed loop delay advance gain in C-axis non-cutting control mode. When this parameter is set to "0", PI control is exercised. Set the speed loop proportional gain when the first gain is selected for C-axis cutting control. Set the speed loop integral gain when the first gain is selected for C-axis cutting control.
15
SP132
PGC3
15
SP133
PGC4
15
C-axis non-cutting SP134 VGCP0* control speed loop gain proportional item C-axis non-cutting SP135 VGCI0* control speed loop gain integral item C-axis non-cutting SP136 VGCD0* control speed loop gain delay advance item First speed loop gain SP137 VGCP1* proportional item for C-axis cutting control First speed loop gain SP138 VGCI1* integral item for cutting control on C-axis
63
0 to 5000
60
0 to 5000
15
0 to 5000
63
0 to 5000
60
First speed loop gain Set the speed loop delay advance gain when the first gain SP139 VGCD1* delay advance item for is selected for curing on the C-axis cutting control. cutting control on C-axis When this parameter is set to "0", PI control is applied. Second speed loop gain Set the speed loop proportional gain when the second SP140 VGCP2* proportional item for gain is selected for C-axis cutting control. cutting control on C-axis Second speed loop gain Set the speed loop integral gain when the second gain is SP141 VGCI2* integral item for cutting selected for C-axis cutting control. control on C-axis Second speed loop gain Set the speed loop delay advance gain when the second SP142 VGCD2* delay advance item for gain is selected for C-axis cutting. cutting control on C-axis When this parameter is set to "0", PI control is applied. Third speed loop gain Set the speed loop proportional gain when the third gain is SP143 VGCP3* proportional item for selected for C-axis cutting control. cutting control on C-axis Third speed loop gain SP144 VGCI3* integral item for cutting control on C-axis Third speed loop gain SP145 VGCD3* delay advance item for cutting on C-axis Set the speed loop integral gain when the third gain is selected for C-axis cutting control. Set the speed loop delay advance gain when the third gain is selected for C-axis cutting control. When this parameter is set to "0", PI control is applied.
0 to 5000
15
0 to 5000
63
0 to 5000
60
0 to 5000
15
0 to 5000
63
0 to 5000
60
0 to 5000
15
Speed loop gain propor- Set the speed loop proportional gain when C-axis cutting SP146 VGCP4* tional item for stop of is stopped. cutting on C-axis Speed loop gain integral Set the speed loop integral gain when C-axis cutting is SP147 VGCI4* item for stop of cutting on stopped. C-axis Speed loop gain delay Set the speed loop delay advance gain when C-axis SP148 VGCD4* advance item for stop of cutting is stopped. cutting on C-axis When this parameter is set to "0", PI control is applied. SP149 This parameter is valid when SP129 (SPECC)/bitE is set C-axis control zero point to "0". CZRN return speed Set the zero point return speed used when the speed loop changes to the position loop.
0 to 5000
63
0 to 5000
60
0 to 5000
15
1 to 500 (r/min)
50
3 - 93
3. Setup
No.
Abbr.
Parameter name
Details
SP150
SP151 SP152
SP153 SP154 SP155
SP156 SP157 SP158 SP159 SP160
SP161
SP162
SP163
SP164
SP165
SP166
SP167
SP168
SP169
This parameter is valid when SP129 (SPECC)/bitE is set to "0". Set the deceleration rate where the machine starts to C-axis control zero point CPDT decelerate when it returns to the target stop point during 1 to 10000 return deceleration point C-axis zero point return. When the machine tends to overshoot at the stop point, set the smaller value. C-axis zero point return This parameter is valid when SPECC (SP129)/bitE is set 00000000 to CPSTL shift amount (low byte) to "0". FFFFFFFF Set the C-axis zero point position. Only for SPX (HEX setting) 00000000 to C-axis zero point return CPSTH 00057E3F shift amount (high byte) (1/1000 deg) Set the position error range for outputting the in-position C-axis control in-position 0000 to FFFF CINP signal during C-axis control. width (1/1000 deg) (HEX setting) Excessive error width on Set the excessive error width on the C-axis control. CODRL* 00000000 to C-axis control (low byte) (HEX setting) FFFFFFFF Excessive error width on (1/1000 deg) CODRH* C-axis control (high byte) Set this to prevent overshooting when shifting from C-axis control overshoot movement to stopping with C-axis control. 0 to 1000 OVSH compensation (0.1%) (Set this referring to the load meter display when overshooting occurred.) Not used. Set to "0". 0 Not used. Set to "0". 0 C-axis non-cutting Set the minimum value of variable excitation ratio for CPY0 control variable 0 to 100 (%) non-cutting control on the C-axis. excitation ratio C-axis cutting control Set the minimum variable excitation ratio for cutting CPY1 0 to 100 (%) variable excitation ratio control on the C-axis. Current loop gain Set the magnification of current loop gain (torque magnification 1 for component) for C-axis non-cutting control. IQGC0* 1 to 1000 (%) non-cutting control on C-axis Current loop gain Set the magnification of current loop gain (excitation magnification 2 for component) for C-axis non-cutting control. IDGC0* 1 to 1000 (%) non-cutting control on C-axis Current loop gain Set the magnification of current loop gain (torque IQGC1* magnification 1 for component) for C-axis cutting control. 1 to 1000 (%) cutting control on C-axis Current loop gain Set the magnification of current loop gain (excitation IDGC1* magnification 2 for component) for C-axis cutting control. 1 to 1000 (%) cutting control on C-axis Set the second position loop gain when high-gain control is carried out for control of the C-axis. C-axis control position 0 to 999 PG2C This parameter is applied to all the operation modes of loop gain 2 (rad/s) C-axis control. When this function is not used, assign "0". Set the third position loop gain when high-gain control is carried out for control of the C-axis. C-axis control position 0 to 999 PG3C This parameter is applied to all the operation modes of loop gain 3 (rad/s) C-axis control. When this function is not used, assign "0". Position loop gain for Set the position loop gain for when the disturbance 0 to 999 PGU* increased spindle observer is valid. (rad/s) holding force Speed loop gain Set the speed loop gain proportional item for when the proportional item for disturbance observer is valid. VGUP* 0 to 5000 increased spindle holding force Speed loop gain integral Set the speed loop gain integral item for when the VGUI* item for increased disturbance observer is valid. 0 to 5000 spindle holding force
0000 0000
03E8 D4C0 0001
0 0 0 50 100
100
100
100
100
15
63
60
3 - 94
3. Setup
No.
Abbr.
Parameter name Speed loop gain delay advance item for increased spindle holding force
Details Set the speed loop gain delay advance item for when the disturbance observer is valid.
Setting range Standard (Unit) setting 0 to 5000 0 0 0 0 0 0 to 1000 (10ms) 0 15 0 0 0 0 0 0 0
SP170 VGUD* SP171 SP172 SP173 SP174 SP175
Not used. Set "0". Not used. Set "0". Not used. Set "0". Not used. Set "0". Not used. Set "0". Gate OFF delay time ZGOF after zero speed detection <For MDS-C1-SP/SPH/SPX/SPHX> Set the time until gate OFF after zero speed (ZS) is detected at speed control. < For MDS-C1-SPM> Not used. Set "0".
SP176
3 - 95
3. Setup
No.
Abbr.
Parameter name <For MDS-C1-SP/SPH/SPX/SPHX> F

bit 0 1 2 3 4 5 6 7 High-gain servo synchronous 8 phos compensation invalid 9 A B C D odx8 E F Excessive error detection width normal fdir Position detector direction (positive direction) fclx
Details E D
odx8 Meaning when set to 0
8
phos
5
fdir
0
Standard 0 0 0 0 0
pyfx rtrn adin fclx
Meaning when set to 1 Semi-closed loop Interpolation A/D compensation valid Position monitor during ready OFF valid Position loop excitation fixed (strong) Position detector direction (negative direction)
Closed loop Interpolation A/D compensation adin invalid Position monitor during ready OFF rtrn invalid pyfx Normal excitation
0 0 0
High-gain servo synchronous compensation valid
0 0 0 0 0
Magnification of excessive error detection width 8 times valid
0 0 0
SP177 SPECS*
Spindle synchronous specifications
(Note 1) bits 5, D and F are invalid for SPX and SPHX. Set the direction with SP097. (Note 2) Set 0 if there is no particular explanation for the bit. <For MDS-C1-SPM> F
bit 0 1 2 Automatic coil changeover during 3 mach spindle synchronization invalid 4 Position detector direction 5 fdir (positive direction) 6 7 High-gain servo synchronous 8 phos compensation invalid 9 A B C D odx8 E F Excessive error detection width normal Magnification of excessive error detection width 8 times valid High-gain servo synchronous compensation valid Automatic coil changeover during spindle synchronization valid Position detector direction (negative direction) fclx
D
odx8
8
phos
5
fdir
3
mach
0
fclx Standard 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0
Meaning when set to 0 Closed loop
Meaning when set to 1 Semi-closed loop
3 - 96
3. Setup
No.
Abbr.
Parameter name
Details Set the speed loop proportional gain in spindle synchronous control mode. Set the speed loop integral gain in spindle synchronous control mode.
Setting range (Unit) 0 to 1000
Standard setting 63
Spindle synchronous SP178 VGSP* control speed loop gain proportional term Spindle synchronous SP179 VGSI* control speed loop gain integral term Spindle synchronous SP180 VGSD* control speed loop gain delay advance term Spindle synchronous control SP181 VCGS* Target value of variable speed loop proportional gain Spindle synchronous control SP182 VCSS* Change starting speed of variable speed loop proportional gain Spindle synchronous SP183 SYNV control Sync matching speed SP184 SP185 Spindle synchronous SINP control In-position width
0 to 1000
60
Set the speed loop delay advance gain in spindle 0 to 1000 synchronous control mode. When this parameter is set to "0", PI control is applied. Set the magnification of speed loop proportional gain with respect to SP178 (VGSP) at the maximum speed defined 0 to 100 (%) in SP017 (TSP) in spindle synchronous control mode. Set the speed when the speed loop proportional gain change starts in the spindle synchronous control mode.
15
100
SP178 SP178 X (SP181/100)
0 to 32767 (r/min)
SP182 SP017
For changeover from the speed loop to the position loop in the spindle synchronous control mode, set a speed command error range for output of the synchronous speed matching signal. Not used. Set "0". Set the position error range for output of the in-position signal in the spindle synchronous control mode. Set the excessive error width in the spindle synchronous control mode.
0 to 1000 (r/min) 0 1 to 2880 (1/16 deg) 0 to 32767 (pulse) (1 pulse = 0.088 deg) 1 to 1000 (%)
20 0 16
Spindle synchronous SP186 SODR* control Excessive error width Spindle synchronous control Current loop gain magnification1 Spindle synchronous control SP188 IDGS* Current loop gain magnification 2 Spindle synchronous SP189 PG2S control Position loop gain 2 Spindle synchronous SP190 PG3S control Position loop gain 3 SP191 SP192 SP187 IQGS*
32767
Set the magnification of current loop gain (torque component) in the spindle synchronous control mode.
100
Set the magnification of current loop gain (excitation component) in the spindle synchronous control mode.
1 to 1000 (%) 0 to 999 (rad/s) 0 to 999 (rad/s) 0 0
10
Set the second position loop gain when high-gain control is carried out in the spindle synchronous control mode. When this parameter function is not used, set to "0". Set the third position loop gain when high-gain control is carried out in the spindle synchronous control mode. When this parameter function is not used, set to "0". Not used. Set "0". Not used. Set "0".
0 0 0
3 - 97
3. Setup
No.
Abbr.
Details
8
phos
5
fdir
zrtn ptyp od8x bit 0 1 2 3 4 5 6 7 8 phos 9 A B C D od8x E F ptyp High-gain servo synchronous compensation invalid fclx Meaning when set to 0 Closed loop
cdir pyfx rtrn adin fclx Standard 0 0 0 0 0 0 0 0
Meaning when set to 1 Semi-closed loop (Gear 1 : 1 only) Interpolation A/D compensation valid Position monitor during ready OFF valid Position loop excitation fixed (strong) Command polarity () Position detector polarity ()
Interpolation A/D compensation adin invalid rtrn Position monitor during ready OFF invalid
pyfx Normal excitation cdir fdir Command polarity (+) Position detector polarity (+)
1 0 0 0 0
Magnification of excessive error width 8 times invalid Position control switch type: After zero point return
Magnification of excessive error width 8 times valid Position control switch type: After deceleration stop Zero point return direction: CW
0 0 0
zrtn Zero point return direction: CCW
Synchronized tapping SP193 SPECT* specifications
(Note) Set 0 if there is no particular explanation for the bit. <For MDS-C1-SPM> F E D C B A 9 8
phos Meaning when set to 0 Closed loop Position monitor during ready OFF invalid Command polarity (+) Position detector polarity (+)
5
fdir
4
cdir
2
rtrn
0
fclx Standard 0 0
zrtn ptyp od8x bit 0 1 2 3 4 5 6 7 High-gain servo synchronous 8 phos compensation invalid 9 A B C D od8x E F ptyp rtrn pyfx cdir fdir fclx
Meaning when set to 1 Semi-closed loop (Gear 1 : 1 only) Position monitor during ready OFF valid Command polarity () Position detector polarity ()
0 0 0 0 0 0
1 0 0 0 0
Magnification of excessive error width 8 times invalid Position control switch type: After zero point return
Magnification of excessive error width 8 times valid Position control switch type: After deceleration stop Zero point return direction: CW
0 0 0
zrtn Zero point return direction: CCW
(Note) Set 0 if there is no particular explanation for the bit.
3 - 98
3. Setup
No.
Abbr.
Parameter name Synchronized tapping control speed loop gain proportional term Synchronized tapping control speed loop gain integral term Synchronized tapping control speed loop gain delay advance term Fixed control constant Synchronized tapping control target value of variable speed loop proportional gain
Details Set the speed loop proportional gain in synchronized tapping control mode.
Setting range (Unit) 0 to 1000
Standard setting
SP194 VGTP*
63
SP195 VGTI*
Set the speed loop integral gain in synchronized tapping control mode.
0 to 1000
60
SP196 VGTD*
Set the speed loop delay advance gain in synchronized tapping control mode. When this parameter is set to "0", PI control is applied.
0 to 1000
15
SP197
SP198 VCGT*
Set by Mitsubishi. Set "0" unless designated in particular. 0 Set the magnification of speed loop proportional gain with respect to SP194 (VGTP) at the maximum motor speed defined in SP017 (TSP) in synchronized tapping control 0 to 100 (%) mode. Set the speed where the speed loop proportional gain change starts during synchronized tapping control.
100
Synchronized tapping control SP199 VCST* change starting speed of variable speed loop proportional gain Synchronized tapping control acceleration feed forward gain (gear 1) Synchronized tapping control acceleration feed forward gain (gear 2) Synchronized tapping control acceleration feed forward gain (gear 3) Synchronized tapping control acceleration feed forward gain (gear 4) Fixed control constant PLG Z-phase automatic adjustment
SP194 SP194 (SP198/100) 0 SP199 SP017
0 to 32767 (r/min)
SP200 FFCI*
SP201 FFC2*
Set the acceleration feed forward gain for selection of gear 000 during synchronized tapping control. This parameter should be used when an error of relative position to Z-axis servo is large. Set the acceleration feed forward gain for selection of gear 001 during synchronized tapping control.
0 to 1000 (%)
0 to 1000 (%)
SP202 FFC3*
Set the acceleration feed forward gain for selection of gear 010 during synchronized tapping control.
0 to 1000 (%)
SP203 FFC4* SP204 THOD
Set the acceleration feed forward gain for selection of gear 011 during synchronized tapping control.
0 to 1000 (%) 0 0 to 1 0 0 0 0 0 0 0 0
0 0 01 0 0 0 0 0 0 0 0
SP205 ZCHS
SP206 GCK* Fixed control constant SP207 GDL* Fixed control constant SP208 W2 Fixed control constant SP209 SP210 SP211 SP212
Set by Mitsubishi. Set "0" unless designated in particular. <For MDS-C1-SPM> This validates the PLG Z-phase automatic adjustment function <For MDS-C1-SP/SPH/SPX/SPHX> Not used. Set to "0". Set by Mitsubishi. Set "0" unless designated in particular. Set by Mitsubishi. Set "0" unless designated in particular. Set by Mitsubishi. Set "0" unless designated in particular. Not used. Set to "0". Not used. Set to "0". Not used. Set to "0". Not used. Set to "0".
3 - 99
3. Setup
No.
Abbr.
Parameter name
Details <For MDS-C1-SP/SPH/SPM> Set to reduce the noise generated from the spindle motor Set the band of the low path filter <For MDS-C1-SPX/SPHX> Not used. Set to "0".
Setting range Standard (Unit) setting 0 to 2250 (rad/s) 0 0 to 500 (r/min) 0
SP213
LPF
Low path filter
SP214
TZRN
Synchronized tapping control zero point return speed
This parameter is valid when SP193 (SPECT)/bit E is set to "0". Set the zero point return speed used when the speed loop changes to the position loop. This parameter is valid when SP193 (SPECT)/bit E is set to "0". Set the deceleration rate where the machine starts to decelerate when it returns to the target stop point during synchronized tapping zero point return. When the machine tends to overshoot at the stop point set a smaller value. This parameter is valid when SP193 (SPECT)/bit E is set to "0". Set the synchronized tapping zero point position. Set the position error range for output of the in-position during synchronized tapping control. Set the excessive error width during synchronized tapping.
50
SP215
TPDT
Synchronized tapping control zero point return deceleration rate Synchronized tapping control zero point return shift amount Synchronized tapping control in-position width
0 to 10000 (pulse)
SP216
TPST
0 to 4095
SP217
TINP
1 to 2880 (1/16 deg) 0 to 32767 (pulse) (1 pulse = 0.088 deg) 1 to 1000 (%)
16
SP218
Synchronized tapping TODR* control excessive error width Synchronized tapping control IQGT* current loop gain magnification 1 Synchronized tapping control IDGT* current loop gain magnification 2 PG2T Synchronized tapping control position loop gain 2 Synchronized tapping control position loop gain 3 Speed monitor speed
32767
SP219
Set the magnification of current loop gain (torque component) during synchronized tapping control.
100
SP220
Set the magnification of current loop gain (excitation component) during synchronized tapping control.
1 to 1000 (%)
100
SP221
Set the second position loop gain when high-gain control is applied during synchronized tapping control. When this parameter is not used, set to "0". Set the third position loop gain when high-gain control is applied during synchronized tapping control. When this parameter is not used, set to "0". Set the spindle limit speed in the door open state. (Invalid when 0 is set.) If the spindle end speed exceeds this setting value when the door is open, the speed monitor error (5E) will occur. Set the time (continuous) to detect alarms. (Detected instantly when 0 is set.) If gain changeover is valid (SP097: SPEC0/bitC=1) during orientation control, set the magnification of each gain changed to after orientation completed.
0 to 999 (rad/s) 0 to 999 (rad/s) 0 to 800 (r/min) 0 to 2813 (3.5 ms) 0 to 2560 (1/256-fold)
SP222
PG3T
SP223
SPDV
SP224
SPDF
Speed monitor time Position loop gain magnification after orientation completed (H coil) Position loop gain magnification after orientation completed (L coil)
SP225 OXKPH
SP226 OXKPL
0 to 2560 (1/256-fold) 0 to 2560 (1/256-fold) 0 to 2560 (1/256-fold)
Speed loop proportional SP227 OXVKP gain magnification after orientation completed SP228 Speed loop cumulative OXVKI gain magnification after orientation completed
3 - 100
3. Setup
No.
Abbr.
Parameter name
Details
Setting range Standard (Unit) setting 0 to 2048 (360 deg/4096) 0 to 100 (%) 0 0 to 60 (min) 0 0 0
SP229 OXSFT
Set the amount to shift the target position when Orientation virtual target orientation virtual target position is valid (SP097: shift amount SPEC0/bitD=1). <For MDS-C1-SPH> Set the ratio of iron loss to all losses when temperature compensation considering iron loss is valid. <For MDS-C1-SP/SPX/SPHX/SPM> Not used. Set "0". <For MDS-C1-SPH> Set the primary-delay time constant to detect overload 2 <For MDS-C1-SP/SPX/SPHX/SPM> Not used. Set "0". Not used. Set "0".
SP230
WIH
Iron loss compensation value
0 0 0 0
SP231
OL2T
Overload 2 time constant
SP232
SP233
JL*
Disturbance observer Load inertia rate
Set "the motor inertia + motor axis conversion load inertia" in respect to the motor inertia. Jl + Jm 100 SV037 (JL) = 0 to 5000 (%) Jm Jm : Motor inertia Jl : Motor axis conversion load inertia 0 to 1000 (rad/s) 0 to 500 (%) 0 0 to 32767 (r/min)
SP234 SP235 SP236
OBS1* OBS2* OBS3
Disturbance observer Set the frequency of the low path filter for when the low path filter frequency disturbance observer is valid. Disturbance observer gain Fixed control constant Set the gain for the disturbance observer. Set by Mitsubishi. Set "0" unless designated in particular. <For MDS-C1-SPM> The following value is judgment value for spindle speed overrun (alarm 3E). The speed command + SP237 0.125 [r/min] <For MDS-C1-SP/SPH/SPX/SPHX> Not used. Set "0". <For MDS-C1-SPM> The following value is judgment value for speed excessive deflection 2 (alarm 3F). The speed command SP238 / 100 [r/min] <For MDS-C1-SP/SPH/SPX/SPHX> Not used. Set "0". Speed excessive deflection 2 detection time <For MDS-C1-SPM> Set the continuous detection time for speed excessive deflection 2 (alarm 3F). <For MDS-C1-SP/SPH/SPX/SPHX> Not used. Set "0". <For MDS-C1-SPX/SPHX> This validates the automatic adjustment function for the PLG connected to the MDS-B-PJEX. <For MDS-C1-SP/SPH/SPM> Not used. Set "0". <For MDS-C1-SPX/SPHX> This changes the spindle drive unit type, serial NO. and software version display. "0" Displays the details for the spindle drive unit. "1" Displays the details for the detector converter. <For MDS-C1-SP/SPH/SPM> Not used. Set "0".
0 0 0 0
SP237
Spindle speed overrun KSCP* judgment value
SP238
SE2R
Speed excessive deflection 2 detection range
0 to 100 (%)
0 to 3000
SP239
SE2T
0 0 to 1 0
0 01 0
SP240
EXHS
PLG automatic adjustment (PJEX)
SP241
EXBIT
Spindle monitor changeover
0 to 1
0 0 0
0 0 0
SP242 SP243 SP244
Vavx OPLP
Fixed control constant Fixed control constant
Set by Mitsubishi. Set "0" unless designated in particular. Set by Mitsubishi. Set "0" unless designated in particular. Set by Mitsubishi. Set "0" unless designated in particular.
UTTM Fixed control constant
3 - 101
3. Setup
No.
Abbr.
Parameter name
Details <For MDS-C1-SP/SPH/SPM> This validates the automatic adjustment function for the PLG. <For MDS-C1-SPX/SPHX> Not used. Set "0". Set by Mitsubishi. Set "0" unless designated in particular. Not used. Set "0". Not used. Set "0". Set the motor rotation speed when the speed meter 10V is output. When set to "0", this parameter becomes the same as SP017 (TSP). Set the voltage when the load meter 120% is output. When set to "0", this becomes 10V. Not used. Set "0". Not used. Set "0". Set the output data number for channel 1 of the D/A output function. When set to "0", the output is speedometer. Set the output data number for channel 2 of the D/A output function. When set to "0", the output is speedometer. Set the data magnification for channel 1 of the D/A output function. The output magnification is the setting value divided by 256. When set to "0", the output magnification becomes 1-fold, in the same manner as when "256" is set. Set the data magnification for channel 2 of the D/A output function. The output magnification is the setting value divided by 256. When set to "0", the output magnification becomes 1-fold, in the same manner as when "256" is set.
Setting range Standard (Unit) setting 0 to 1 0 0 0 0 0 to 32767 (r/min) 0 to 10 (V) 0 0 -32768 to 32767 -32768 to 32767 01 0 0 0 0 0
SP245
PGHS
PLG automatic adjustment
SP246 SP247 SP248 SP249
TEST
Fixed control constant
SMO
Speed meter speed
SP250 SP251 SP252
LMO
Load meter voltage
0 0 0 0
SP253 DA1NO
D/A output channel 1 data number D/A output channel 2 data number
SP254 DA2NO
SP255 DA1MPY
DA output channel 1 magnification
-32768 to 32767 (1/256-fold)
SP256 DA2MPY
DA output channel 2 magnification
-32768 to 32767 (1/256-fold)
3 - 102
3. Setup
<For MDS-C1-SP/SPH/SPX/SPHX> No. Abbr. Parameter name Details This parameter is valid only in the following two conditional cases: (a) In case that SP034 (SFNC2)/bit0=1 and SP034 (SFNC2)/bit2=0 Set the motor constants when using a special motor, not described in the SP040 (MTYP) explanation and when not using the coil changeover motor. (b) In case that SP034 (SFNC2)/bit0=1 and SP034 (SFNC2)/bit2=1 Set the motor constant of the H coil of the coil changeover motor. (Note) It is not allowed for the user to change the setting. (HEX setting) This parameter is valid only in the following conditional case: (a) In case that SP034 (SFNC2)/bit0=1 and SP034 (SFNC2)/bit2=1 Set the motor constant of the L coil of the coil changeover motor. (Note) It is not allowed for the user to change the setting. (HEX setting) All motor constant parameters are validated with the NC power turned ON again. <For MDS-C1-SPM> No. Abbr. Parameter name Details This parameter is valid only in the following two conditional cases: (a) In case that SP034 (SFNC2)/bit0=1 and SP034 (SFNC2)/bit2=0 Set the motor constants when using a special motor, not described in the SP040 (MTYP) explanation and when not using the coil changeover motor. (b) In case that SP034 (SFNC2)/bit0=1 and SP034 (SFNC2)/bit2=1 Set the motor constant of the H coil of the coil changeover motor. (Note) It is not allowed for the user to change the setting. (HEX setting) SP297 to SP311 SP363 to SP375 This parameter is valid only in the following conditional case: (a) In case that SP034 (SFNC2)/bit0=1 and SP034 (SFNC2)/bit2=1 Set the motor constant of the M coil of the coil changeover motor. (Note) It is not allowed for the user to change the setting. (HEX setting) This parameter is valid only in the following conditional case: (a) In case that SP034 (SFNC2)/bit0=1 and SP034 (SFNC2)/bit2=1 Set the motor constant of the L coil of the coil changeover motor. (Note) It is not allowed for the user to change the setting. (HEX setting) Setting range Standard (Unit) setting Setting range Standard (Unit) setting
SP257 to SP320
Motor constant (H coil)
0000 to FFFF
0000
SP321 to SP384
Motor constant (L coil)
0000 to FFFF
0000
SP257 to SP296 SP312 to SP320
Motor constant (H coil)
0000 to FFFF
0000
Motor constant (M coil)
0000 to FFFF
0000
SP321 to SP362 SP376 to SP384
Motor constant (L coil)
0000 to FFFF
0000
All motor constant parameters are validated with the NC power turned ON again.
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3. Setup
3-6
3-6-1
Initial adjustment of the spindle PLG

Adjusting the PLG installation
(1) Checking the gap
The PLG (spindle motor speed detector) mounted on the Mitsubishi framed spindle motor is shipped from Mitsubishi in the adjusted state. If there are no particular problems, carry out automatic adjustment "3-6-2 Automatic adjustment of Z phase" and "3-6-3 Automatic adjustment of motor end PLG" according to the spindle system. When using the spindle end PLG for simple C-axis control or the built-in spindle, the PLG detector is installed by the user, so the PLG sensor's gap and output signal must be adjusted with the following procedures. After installing and adjusting these, carry out automatic adjustment of the PLG according to each system. Install the PLG and then adjust following the procedures on the right. The output signal waveform can be retrieved from the check terminal on the PCB. Measure the waveform with an oscilloscope. The A/B phase output signal and the Z phase pulse width can be adjusted with the volume (VR1 to VR5) on the PCB. (The pulse width has been adjusted at shipment, and normally does not need to be adjusted.)
(2) Adjusting the gap
(3) Checking the A and B phase output signal
(4) Adjusting the A and B phase output signal
(5) Checking the Z phase pulse width
(6) Adjusting the Z phase pulse width
(7) Checking the Z phase and A phase difference
(8) Adjusting the Z phase and A phase difference
Flow of PLG installation and adjustment
(1) Checking the gap Check that the gap between the sensor detection surface and detection gear circumference is within 0.150.01mm as shown below. The gap is adjusted before shipment, but an error could occur due to the effect of the dimensional difference of the notched fitting section provided for installation, or the dimensional difference of the detection gears' outer diameter. If deviated from the above range, adjust the gap following the section "(2) Adjusting the gap".
Sensor Sensor installation seat 0.150.01mm
Sensor detection surface Sensor fixing screw Marking line Sensor section Detection gear
Gap with detection gear
3 - 104
Detection gear circumference
Gap
3. Setup
(2) Adjusting the gap [1] Confirm that the detection gears are not rotating. The sensor could be damaged if the gap is adjusted while the gears are rotating. [2] Loosen the sensor fixing screw with the sensor fixed on the sensor installation seat. [3] Using a clearance gauge, adjust so that the gap between the sensor detection surface and the detection gears' circumference is 0.150.01mm. [4] The sensor can be moved up and down or turned when the sensor fixing screw is loosened. Position the rotating direction to match the marking line drawn on the sensor and installation seat. [5] When done adjusting the gap, apply a locking agent on the sensor fixing screw, and then fix the sensor. [6] After fixing the sensor, check the gap again. If operation is carried out with an excessively small gap, the sensor and gears could contact, and the sensor could be damaged. [7] Faults could occur if an excessive external force is applied or if the sensor detection surface is damaged. (3) Checking the A phase and B phase output signal Check the output signal waveform by measuring the signals of the check terminals on the PCB with the DC range of the synchroscope. A phase output signal........ Across A-G B phase output signal........ Across B-G The PLG reference speed when confirming the output signal waveform differs according to the number of output pulses. Refer to the following table for the reference speed for each number of pulses. If operation is not possible at the reference speed, operate at a low speed within the range in which the waveform can be confirmed.
Check terminal function
Check terminal A B Z G Signal name A phase B phase Z phase Ground
Reference speed for A and B phase output signal confirmation

Number of detection gear teeth 128 180 256 512 Number of A and B phase pulses 128 180 256 512 Reference speed for signal confirmation 3600 r/min 2500 r/min 1800 r/min 1200 r/min
The output signal waveform is confirmed when the motor is run in the forward direction and reverse direction. The rotation directions are defined below. During forward run ... When the detection gears are rotating in the clockwise direction looking from the sensor lead side. During reverse run ... When the detection gears are rotating in the counterclockwise direction looking from the sensor lead side. The normal A and B phase output signal waveform when running at the reference speed is shown below. If the output signal waveform is not as shown below, refer to the next section "(4) Adjusting the A and B phase output signal" and adjust.
Voltage [V] 1.45 ~ 1.55 A phase B phase Voltage [V] 1.37 ~ 1.63 B phase A phase
-1.45 ~ -1.55 Time
-1.37 ~ -1.63 Time
A phase/B phase output signal waveform during forward run
A phase/B phase output signal waveform during reverse run
3 - 105
3. Setup
(4) Adjusting the A phase and B phase output signal [1] Set the drive unit in the open loop operation state. (Set the spindle parameter SP038/bitF to "1" and turn the NC power ON again.) There are cases when sudden speed changes cannot be followed during open loop operation, so gradually change the speed command. [2] Forward run the motor and rotate the PLG at the reference speed. [3] Using the PCB volume VR1 to VR4, adjust so that the A phase and B phase signals are within the specified range. If the correct waveform cannot be attained even after adjusting with VR1 to VR4, adjust the gap again. [4] Reverse run the motor and rotate the PLG at the reference speed. [5] Adjust the output waveform by adjusting VR1 to VR4 in the same manner.
Volume function
VR2 VR1 VR4 VR3 VR5 B A Z G
Check terminal VR1 VR2 VR3 VR4 VR5
Signal name A phase offset adjustment A phase gain adjustment B phase offset adjustment B phase gain adjustment Z phase pulse width adjustment (Already adjusted before shipment)
PCB section
[6] Set the drive unit to the closed loop operation state (normal operation). [7] Run the motor at the maximum speed, and confirm that the A phase and B phase output voltage peak value is larger than 0.8V on both the plus side and minus side during both forward run and reverse run. [8] Run the motor at the reference speed, and confirm that the A phase and B phase output signal envelope is 0.4V or less. The envelope is calculated by the expression below. (Envelope) = (Maximum amplitude ) - (Minimum amplitude ) [9] If the envelope is larger than the designated value, the deflection of the detection gears' outer diameter may be large, so check the deflection.
Voltage [V] 0.8 A phase B phase Voltage [V]
Maximum amplitude:
-0.8 Time Time
Example of A phase/B phase signal waveform during forward run at maximum speed
Definition of envelope
3 - 106
Minimum amplitude:
3. Setup
(5) Confirming the Z phase pulse width Check the output signal waveform by measuring the signals of the check terminals on the PCB with the DC range of the synchroscope. A phase output signal........ Across A-G Z phase output signal........ Across Z-G The output signal waveform is confirmed during motor forward run and reverse run. Set the synchroscope as follows to measure the waveform during each run direction. During forward run ............ Apply a trigger at the rising edge of the Z phase output signal During reverse run ............ Apply a trigger at the falling edge of the Z phase output signal Confirm that the Z phase pulse width (time that the Z phase signal is at the "H" level = approx. 15V) is 40% or more and 60% or less, when one cycle of the A phase signal is calculated as 100%. The normal Z phase output signal waveform when run at the reference speed is shown below. If the output signal waveform is not as shown below, refer to the next section "(6) Adjusting the Z phase pulse width" and adjust. The Z phase pulse width has been adjusted at shipment, with a combination of the sensor section and PCB section having the same serial No. Thus, it normally does not need to be adjusted. If a sensor section and PCB section having different serial numbers must be used, causing the Z phase pulse width to deviate from the specified range, carry out the adjustment.
One A phase cycle = 100% A phase Q point 0V 0V One A phase cycle = 100% A phase R point
Apply a trigger at the rising edge of the Z phase Z phase H level (reference voltage +15V) L level Z phase pulse width: 40 to 60% A phase/Z phase output signal waveform during forward run Z phase
Apply a trigger at the falling edge of the Z phase H level (reference voltage +15V) L level Z phase pulse width: 40 to 60% A phase/Z phase output signal waveform during reverse run
(6) Adjusting the Z phase pulse width The Z phase pulse width can be adjusted with potentiometer VR5 on the PCB. VR5 is fixed after it has been tested and adjusted to match the sensor section and PCB section having the same serial No., so do not turn it unless a sensor section and PCB section with different serial numbers must be used.
3 - 107
3. Setup
(7) Checking the Z phase and A phase difference Check the output signal waveform by measuring the signals of the check terminals on the PCB with the DC range of the synchroscope. A phase output signal........ Across A-G Z phase output signal........ Across Z-G The output signal waveform is confirmed during motor forward run and reverse run. Set the synchroscope as follows to measure the waveform during each run direction. During forward run ....... Apply a trigger at the rising edge of the Z phase output signal During reverse run ....... Apply a trigger at the falling edge of the Z phase output signal The phase difference for the Z phase signal and A phase signal is defined as follows. During forward run ....... Time difference between Z phase output signal rising edge and A phase output signal zero point (Q point) During reverse run ....... Time difference between Z phase output signal falling edge and A phase output signal's 1/2 cycle point (R point) Confirm that the phase difference between the Z phase to the A phase is within 25% during both forward and reverse run when one cycle of the A phase signal is calculated as100%. If the output signal waveform is not as shown below, refer to the next section "(8) Adjusting the Z phase and A phase difference" and adjust.
One A phase cycle = 100% A phase Q point 0V 0V One A phase cycle = 100% A phase R point
Tolerable range of phase Apply a trigger at the rising difference 25% edge of the Z phase Z phase H level (reference voltage +15V) L level Phase difference of A phase and Z phase Z phase
Tolerable range of phase Apply a trigger at the falling difference edge of the Z phase 25% H level (reference voltage +15V) L level
Phase difference of A phase and Z phase
Confirming the Z phase signal phase difference during forward run
Confirming the Z phase signal phase difference during reverse run
3 - 108
3. Setup
(8) Adjusting the Z phase and A phase difference [1] Stop the motor, and make sure that the detection gears are not rotating. The sensor could be damaged if adjustments are carried out while the gears are rotating. [2] Using a clearance gauge, adjust so that the gap between the sensor direction surface and the detection gears circumference is 0.150.01mm, and loosen the sensor fixing screw. [3] The phase difference of the Z phase to the A phase can be adjusted by rotating the sensor as shown on the right. At this time, rotate the sensor a little bit while using the marking lines on the sensor and installation seat as a guide. [4] Tighten the sensor fixing screw so that the sensor Sensor does not move, and confirm that the gap between the installation sensor detection surface and detection gears' seat circumference is 0.15 0.01mm. Then, rotate the gears and confirm the phase difference as explained Marking Rotate line above. Sensor [5] When the phase difference is within the tolerable fixing screw range, apply a locking agent on the sensor fixing screw, and then fix the sensor. Check the gap again Adjusting the Z phase difference after fixing the sensor. Always carry out the initial automatic adjustment when starting the spindle system up for the first time or when the spindle drive unit has been replaced. [1]MDS-C1-SPM : "3-6-2 Z-phase automatic adjustment" + "3-6-3 Motor end PLG automatic adjustment" [2]MDS-C1-SP/SPH : "3-6-3 Motor end PLG automatic adjustment" [3]MDS-C1-SPX/SPHX : "3-6-4 Spindle end PLG automatic adjustment"
3 - 109
3. Setup
3-6-2
Z phase automatic adjustment
Z-phase automatic adjustment is a function that automatically adjusts the relative position of the IPM spindle motor pole and the PLG Z-phase pulse signal input into the spindle drive unit. The adjustment data is saved in the drive unit, and is used to control the motor the next time the power is turned ON. The motor cannot be started without completing this adjustment (alarm 16 will be detected), so always carry out this adjustment when starting up the spindle system, when the spindle motor has been replaced, when the PLG has been replaced or adjusted, or when the spindle drive unit has been replaced. <Adjustment methods> [1] If SP205 is set to 1, change it to 0, and reboot the NC power. If it is already set to 0, go to step [2]. [2] If the SP205 setting is 0, change it to 1. [3] Input forward run start. The spindle motor will automatically rotate at the adjustment speed (two stages for Z-phase pulse detection and pole position detection). (The control output 4/bitD is changed to 1 on the NC spindle monitor screen from startup until a restart occurs. In the same manner, the control input 3/bit8 or bit9 status of 1 is established after the forward run start input, and "D" is displayed for the drive unit until automatic adjustment is completed.) [4] The adjustment results will be calculated and the operation will automatically stop approx. 90 seconds after forward run is started (may vary according to pole position). (When automatic adjustment is completed, the drive unit display at the NC spindle monitor screen changes from "D" to "C". Even though the motor is stopped while "D" is displayed, automatic adjustment is in progress. Be sure to wait until "C" displays.) [5] Turn forward run OFF. (The adjustment data will be saved.) [6] Reboot the NC power.
No. SP205 Abbr. ZCHS Parameter name Details Setting range Standard (Unit) setting 0 to 1 01
<For MDS-C1-SPM> PLG Z-phase automatic This validates the PLG Z-phase automatic adjustment adjustment function
POINT
1. If the NC power is turned ON when SP205 is set to 1, the adjustment data saved in the drive unit will be used for control. 2. To readjust, or to turn the start OFF during the automatic adjustment when "D" is displayed for the drive unit (see step [4] above), specify another SP205=0 setting to restart the NC, then perform the above procedure, beginning from step [2]. 3. If operation is started without completing the adjustment, alarm 16 will occur.
CAUTION
1. The motor will automatically rotate at the adjustment speed during Z-phase automatic adjustment. Do not touch the rotating sections as this is hazardous. 2. Complete PLG adjustment before starting this adjustment. (Built-in motor) 3. Keep the spindle load inertia and friction load as small as possible when using this function. (The maximum inertia is approx. 5-fold the motor inertia.)
3 - 110
3. Setup
3-6-3
Motor end PLG automatic adjustment
Motor end PLG automatic adjustment is a function that automatically adjusts the gain and offset of the spindle motor built-in PLG's A and B phase sine wave signals which are input into the spindle drive unit. The adjustment data is saved in the drive unit, and is used to control the motor the next time the power is turned ON. Always carry out this adjustment when starting up the spindle system, when the spindle motor has been replaced, when the PLG has been replaced or adjusted, or when the spindle drive unit has been replaced. This function is used to improve the accuracy of the position data. When using the IPM motor (MDS-C1-SPM), complete the "3-6-1 Z-phase automatic adjustment" before starting this adjustment. <Adjustment methods> [1] If SP245 is set to 1, change it to 0, and turn the NC power ON again. If it is already set to 0, go to step [2]. [2] If the SP245 setting is 0, change it to 1. [3] Input forward run start. The spindle motor will automatically rotate at the adjustment speed (two stages for offset adjustment and gain adjustment). (The control input 3/bit8 or bit9 is changed to 1 after the forward run start input, and "D" is displayed for the drive unit until automatic adjustment is completed. For C1-SPM, a control output 4/bitD status of 1 is established on the NC spindle monitor screen from startup until a restart occurs.) [4] The adjustment results will be calculated and the operation will automatically stop several seconds after forward run is started. (When automatic adjustment is completed, the drive unit display at the NC spindle monitor screen changes from "D" to "C". Even though the motor is stopped while "D" is displayed, automatic adjustment is in progress. Be sure to wait until "C" displays.) [5] Turn forward run OFF. (The adjustment data will be saved.) [6] Turn the NC power ON again. After completing the PLG adjustment, carry out trial operation, and confirm that there is no abnormal noise (knocking or scratching noise) during forward run or reverse run.
No. SP245 Abbr. PGHS Parameter name PLG automatic adjustment Details <For MDS-C1-SP/SPH/SPM> This validates the automatic adjustment function for the PLG Setting range Standard (Unit) setting 0 to 1 01
POINT
1. If the NC power is turned ON when SP245 is set to 1, the adjustment data saved in the drive unit will be used for control. 2. To readjust, or to turn the start OFF during the automatic adjustment (when "D" is displayed for the drive unit (see step [4] above)), specify another SP205=0 setting to restart the NC, then perform the above procedure, beginning from step [2].
CAUTION
1. The motor will automatically rotate at the adjustment speed during PLG automatic adjustment. Do not touch the rotating sections as this is hazardous. 2. Complete PLG adjustment before starting this adjustment. (Built-in motor)
3 - 111
3. Setup
3-6-4
Spindle end PLG automatic adjustment
Spindle end PLG automatic adjustment is a function that automatically adjusts the gain and offset of the A and B phase sine wave signals of the spindle end PLG used for C axis control which are input into the detector converter (MDS-B-PJEX) used in the MDS-C1- SPX/SPHX unit. The adjustment data is saved in the detector converter, and is used to control the motor the next time the power is turned ON. Always carry out this adjustment when starting up the spindle system, when the spindle motor has been replaced, when the PLG has been replaced or readjusted, or when the detector converter has been replaced. This function is used to improve the accuracy of the position data. <Adjustment methods> [1] If SP240 is set to 1, change it to 0, and turn the NC power ON again. If it is already set to 0, go to step [2]. [2] If the SP240 setting is 0, change it to 1. [3] Input forward run start. The spindle motor will automatically rotate at the adjustment speed (two stages for offset adjustment and gain adjustment). (The control input 3/bit8 or bit9 is changed to 1 after the forward run start input, and "D" is displayed for the drive unit until automatic adjustment is completed.) [4] The adjustment results will be calculated and the operation will automatically stop several seconds after forward run is started. (When automatic adjustment is completed, the drive unit display at the NC spindle monitor screen changes from "D" to "C". Even though the motor is stopped while "D" is displayed, automatic adjustment is in progress. Be sure to wait until "C" displays.) [5] Turn forward run OFF. (The adjustment data will be saved.) [6] Turn the NC power ON again.
No. SP240 Abbr. EXHS Parameter name PLG automatic adjustment (PJEX) Details <For MDS-C1-SPX/SPHX> This validates the automatic adjustment function for the PLG connected to the MDS-B-PJEX. Setting range Standard (Unit) setting 0 to 1 01
POINT
1. If the NC power is turned ON when SP240 is set to 1, the adjustment data saved in the detector converter (MDS-B-PJEX) will be used for control. 2. To readjust, or to turn the start OFF during the automatic adjustment when "D" is displayed for the drive unit (see step [4] above), specify another SP205=0 setting to restart the NC, then perform the above procedure, beginning from step [2].
CAUTION
1. The motor will automatically rotate at the adjustment speed during PLG automatic adjustment. Do not touch the rotating sections as this is hazardous. 2. Complete PLG adjustment before starting this adjustment.
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4. Servo Adjustment
4-1 D/A output specifications for servo drive unit ................................................................................... 4-2 4-1-1 D/A output specifications ........................................................................................................... 4-2 4-1-2 Output data settings................................................................................................................... 4-3 4-1-3 Setting the output magnification ................................................................................................ 4-3 4-2 Gain adjustment................................................................................................................................ 4-4 4-2-1 Current loop gain ....................................................................................................................... 4-4 4-2-2 Speed loop gain ......................................................................................................................... 4-4 4-2-3 Position loop gain....................................................................................................................... 4-6 4-3 Characteristics improvement ............................................................................................................ 4-9 4-3-1 Optimal adjustment of cycle time............................................................................................... 4-9 4-3-2 Vibration suppression measures ............................................................................................. 4-11 4-3-3 Improving the cutting surface precision ................................................................................... 4-15 4-3-4 Improvement of characteristics during acceleration/deceleration ........................................... 4-19 4-3-5 Improvement of protrusion at quadrant changeover................................................................ 4-22 4-3-6 Improvement of overshooting .................................................................................................. 4-29 4-3-7 Improvement of the interpolation control path ......................................................................... 4-31 4-4 Adjustment during full closed loop control ...................................................................................... 4-33 4-4-1 Outline...................................................................................................................................... 4-33 4-4-2 Speed loop delay compensation.............................................................................................. 4-34 4-4-3 Dual feedback control (Optional function) ............................................................................... 4-35 4-5 Settings for emergency stop........................................................................................................... 4-37 4-5-1 Deceleration control ................................................................................................................. 4-37 4-5-2 Vertical axis drop prevention control........................................................................................ 4-39 4-6 Protective functions ........................................................................................................................ 4-43 4-6-1 Overload detection................................................................................................................... 4-43 4-6-2 Excessive error detection ........................................................................................................ 4-43 4-6-3 Collision detection.................................................................................................................... 4-44
4-1
4. Servo Adjustment
CAUTION
4-1
"Chapter 4 Servo adjustment" explains the methods when controlling with the high-gain specifications.
D/A output specifications for servo drive unit
The MDS-C1-V1/V2 servo drive unit has a function to D/A output the various control data. The servo adjustment data required for setting the servo parameters to match the machine can be D/A output. Measure using a hi-coder, oscilloscope, etc.
4-1-1
D/A output specifications

Item Explanation 2ch 888s (min. value) 8bit 0V to 2.5V (zero) to +5V 1/256 to 128-fold CN9 connector MO1 = Pin 9 MO2 = Pin 19 GND = Pins 1, 11 Phase current feedback output function L axis U phase current FB : Pin 7 L axis V phase current FB : Pin 17 M axis U phase current FB : Pin 6 M axis V phase current FB : Pin 16 The D/A output for the 2-axis unit (MDS-C1-V2) is also 2ch. When using the 2-axis unit, set -1 for the output data (SV061, 62) of the axis that is not to be measured.
No. of channels Output cycle Output precision Output voltage range Output magnification setting Output pin
CN9 connector
Pin 1 2 3 4 5 6 7 8 9 10 Name LG Pin 11 12 13 14 15 16 17 18 19 20 Name LG
MUIFB LUIFB MO1
MVIFB LVIFB MO2
Function
Others
With the MDS-C1-V1/V2 Series, there is a 2.5V offset voltage (2.5V when data is 0), so the zero level position must be adjusted on the hi-corder side.
Memory Single shot Scroll
+5 [V]
Speed FB +2.5 [V]
0 [V] +5 [V]
Current FB +2.5 [V]
0 [V] Example of D/A output waveform
4-2
4. Servo Adjustment
4-1-2
No. SV061 SV062
Output data settings

Abbrev. DA1NO DA2NO Parameter name D/A output channel 1 data No. D/A output channel 2 data No. Output magnification standard setting value (SV063, SV064) Explanation Input the No. of the data to be output to each D/A output channel.
No.
Output data
Original data unit
Output unit for standard setting
Output cycle
-1
D/A output not selected ch1: Speed feedback ch2: Current command Current command Current feedback Position droop Feedrate (FT) Position command Position feedback Collision detection estimated torque Collision detection disturbance torque Current command (high-speed) Current feedback (high-speed)
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 64 65 77
For 2-axis drive unit (MDS-C1-V2). Set the parameters to another axis in the drive unit that is not D/A output. 13 (2000r/min) 1000r/min/V 3.55ms r/min 9 (3000r/min) 1500r/min/V 3.55ms Stall % 131 Stall 100%/V 3.55ms Stall % 131 Stall 100%/V 3.55ms Stall % 131 Stall 100%/V 3.55ms
NC display unit/2 (NC disiplay unit/2)/ Communication cycle NC display unit/2 NC display unit/2 Stall % Stall % Internal unit Internal unit Internal unit 0V to 5V 0V to 5V 2.5V
328 (Display unit = 1m) 55 (1m, 3.5ms) 328 (Display unit = 1m) 328 (Display unit = 1m) 131 131 8 (adjustments required) 8 (adjustments required) 8 (adjustments required) 0 (256) 0 (256) 0 (256)
10m/0.5V 1000 (mm/min)/0.5V 10m/0.5V 10m/0.5V Stall 100%/V Stall 100%/V Cycle: 227.5ms Cycle 1.7ms -
3.55ms 3.55ms 3.55ms 3.55ms 3.55ms 3.55ms 888s 888s 888s 888s 888s 888s
Estimated disturbance torque Test output saw tooth 125 wave 126 Test output oblong wave 127 Test output 2.5V (data 0)
4-1-3
Setting the output magnification
Normally, set the standard setting value for the output scale (SV063, SV064). When "0" is set, the magnification will be the same as "256". DATA
SV063 5 [V] 256 256 (8 bit)
+ 2.5 [V] (Offset) = Output voltage [V]
(Example) To output current FB with stall 100%/V unit (SV061=3, SV063=131) 100
No. Abbrev.
131 256
5 256
+ 2.5 = 3.499 [V]

Explanation Set the output magnification with a 1/256 unit. When "0" is set, the magnification will be the same as "256". Setting range -32768 to 32767 (1/256-fold)
Parameter name
SV063 DA1MPY D/A output channel 1 output scale SV064 DA2MPY D/A output channel 2 output scale
4-3
4. Servo Adjustment
4-2
4-2-1
No. SV009 SV010 SV011 SV012
Gain adjustment
Current loop gain
Abbrev. IQA IDA IQG IDG Parameter name Current loop q axis lead compensation Current loop d axis lead compensation Current loop q axis gain Current loop d axis gain Explanation Set the gain of current loop. As this setting is determined by the motors electrical characteristics, the setting is fixed for each type of motor. Set the standard values for all the parameters depending on each motor type. Setting range 1 to 20480
1 to 8192
4-2-2
Speed loop gain

The speed loop gain 1 (SV005: VGN1) is an important parameter for determining the responsiveness of the servo control. During servo adjustment, the highest extent that this value can be set to becomes important. The setting value has a large influence on the machine cutting precision and cycle time. [1] Refer to the following table and set the standard VGN1 according to the size of the entire load inertia (motor and machine load inertia). [2] If the standard speed gain setting value is exceeded, the current command fluctuation will increase even if the speed feedback fluctuates by one pulse. This can cause the machine to vibrate easily, so set a lower value to increase the machine stability.
Isolated motor 500 High-gain specifications Isolated motor 500 High-gain specifications
HA200N~HA700N HA203N~HA703N
(1) Setting the speed loop gain
<HC >
400
HC353~HC703
<HA N>
400
HA80N/100N/900N HA43N~HA103N
Standard VGN1
300 200 100

HC52~HC152 HC202~HC902 HC53~HC203
300 200 100 0 100

HA40N
HA053~HA33N
0 100
200
300
400
500
600
200
300
400
500
600
Load inertia scale (%)
Load inertia scale (%)
<When machine resonance does not occur at the standard VGN1> Set the standard VGN1. Use the standard value if no problem (such as machine resonance) occurs. If sufficient cutting precision cannot be obtained at the standard VGN1, VGN1 can be raised above the standard value as long as a 70 percent margin in respect to the machine resonance occurrence limit is maintained. The cutting accuracy can also be improved by adjusting with the disturbance observer. <When machine resonance occurs at the standard VGN1> Machine resonance is occurring if the shaft makes abnormal sounds when operating or stopping, and a fine vibration can be felt when the machine is touched while stopped. Machine resonance occurs because the servo control responsiveness includes the machine resonance points. (Speed control resonance points occur, for example, at parts close to the motor such as ball screws.) Machine resonance can be suppressed by lowering VGN1 and the servo control responsiveness, but the cutting precision and cycle time are sacrificed. Thus, set a vibration suppression filter and suppress the machine resonance (Refer to section "4-3-2 Vibration suppression measures"), and set a value as close as possible to the standard VGN1. If the machine resonance cannot be sufficiently eliminated even by using a vibration suppression filter, then lower the VGN1.
4-4
4. Servo Adjustment
No. SV005
Abbrev. VGN1
Parameter name Speed loop gain 1
Explanation 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%.
Setting range 1 to 999
POINT
The final VGN1 setting value is 70 to 80% of the maximum value at which the machine does not resonate. Suppressing the resonance with the vibration suppression function and increasing the VGN1 setting is effective for adjusting the servo later.
(2) Setting the speed loop lead compensation The speed loop lead compensation (SV008: VIA) determines the characteristics of the speed loop mainly at low frequency regions. 1364 is set as a standard, and 1900 is set as a standard during SHG control. The standard value may drop in respect to loads with a large inertia. When the VGN1 is set lower than the standard value because the load inertia is large or because machine resonance occurred, the speed loop control band is lowered. If the standard value is set in the leading compensation in this status, the leading compensation control itself will induce vibration. In concrete terms, a vibration of 10 to 20Hz could be caused during acceleration/ deceleration or stopping, and the position droop waveform could be disturbed when accelerating to a constant speed and when stopped. (Refer to lower left drawing) This vibration cannot be suppressed by the vibration suppression functions. Lower the VIA in increments of 100 from the standard setting value. Set a value where vibration does not occur and the position droop waveform converges smoothly. Because lowering the VIA causes a drop in the position control's trackability, the vibration suppression is improved even when a disturbance observer is used without lowering the VIA. (Be careful of machine resonance occurrence at this time.)
Speed FB 0 Time D/A output range 0 Time
Position droop
Time
Time
Vibration waveform with lead compensation control
Adjusted position droop waveform
If VIA is lowered, the position droop waveform becomes smooth and overshooting does not occur. However, because the trackability in respect to the position commands becomes worse, the positioning time and accuracy are sacrificed. VIA must be kept high (set the standard value) to guarantee precision, especially in high-speed contour cutting (generally F = 1000 or higher). In other words, in a machine aiming for high speed and high accuracy, a large enough value must be set in VGN1 so that VIA does not need to be lowered. When adjusting, the cutting precision will be better if adjustment is carried out to a degree where overshooting does not occur and a high VIA is maintained, without pursuing position droop smoothness.
4-5
4. Servo Adjustment
If there are no vibration or overshooting problems, the high-speed contour cutting precision can be further improved by setting the VIA higher than the standard value. In this case, adjust by raising the VIA in increments of 100 from the standard value. Setting a higher VIA improves the trackability regarding position commands in machines for which cycle time is important, and the time to when the position droop converges on the in-position width is shortened. It is easier to adjust the VIA to improve precision and cycle time if a large value (a value near the standard value) can be set in VGN1, or if VGN1 can be raised equivalently using the disturbance observer.
No. SV008 Abbrev. VIA Parameter name Speed loop lead compensation Explanation 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). Setting range 1 to 9999
POINT
Position droop vibration of 10Hz or less is not leading compensation control vibration. The position loop gain must be adjusted.
4-2-3
Position loop gain

The position loop gain 1 (SV003: PGN1) is a parameter that determines the trackability to the command position. 47 is set as a standard. Set the same position loop gain value between interpolation axes. When PGN1 is raised, the trackability will be raised and the settling time will be shortened, but a speed loop that has a responsiveness that can track the position loop gain with increased response will be required. If the speed loop responsiveness is insufficient, several Hz of vibration or overshooting will occur during acceleration/deceleration. Vibration or overshooting will also occur when VGN1 is smaller than the standard value during VIA adjustment, but the vibration in the position loop occurs generally 10Hz or less. (The VIA vibration occurs from 10 to 20Hz.) When the position control includes machine resonance points (Position control machine resonance points occur at the tool end parts, etc.) because of insufficient machine rigidity, the machine will vibrate during positioning, etc. In either case, lower PGN1 and adjust so that vibration does not occur. If the machine also vibrates due to machine backlash when the motor stops, the vibration can be suppressed by lowering the PGN1 and smoothly stopping. If SHG control is used, an equivalently high position loop gain can be maintained while suppressing these vibrations. To adjust the SHG control, gradually raise the gain from a setting where 1/2 of a normal control PGN1 where vibration did not occur was set in PGN1. If the PGN1 setting value is more than 1/2 of the normal control PGN1 when SHG control is used, there is an improvement effect in position control. (Note that for the settling time the improvement effect is at 1/ 2 or more.)
(1) Setting the position loop gain
No. SV003
Abbrev. PGN1
Parameter name Position loop gain 1
Explanation Set the position loop gain. The standard setting is "47". 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). Set 0. (For SHG control) Set 0. (For SHG control)
Setting range 1 to 200 (rad/s)
SV004 SV057
PGN2 SHGC
Position loop gain 2 SHG control gain
0 to 999 0 to 1200
CAUTION
Always set the same value for the position loop gain between the interpolation axes. 4-6
4. Servo Adjustment
(2) Setting the position loop gain for spindle synchronous control During spindle synchronous control (synchronous tapping control, etc.), there are three sets of position loop gain parameters besides the normal control.
No. Abbrev. Parameter name Explanation Set the same parameter as the position loop gain for the spindle synchronous control. Setting range 1 to 200 (rad/s) 0 to 999
SV049 PGN1sp Position loop gain 1 Set 15 as a standard. in spindle synchronous control SV050 PGN2sp Position loop gain 2 Set 0 as a standard. (For SHG control) in spindle synchronous control SV058 SHGCsp SHG control gain in Set 0 as a standard. spindle synchronous (For SHG control) control
0 to 1200
CAUTION
Always set the same value for the position loop gain between the spindle and servo synchronous axes.
(3) SHG control (option function) If the position loop gain is increased or feed forward control (NC function) is used to shorten the settling time or increase the precision, the machine system may vibrate easily. SHG control changes the position loop to a high-gain by stably compensating the servo system position loop through a delay. This allows the settling time to be reduced and a high precision to be achieved. (SHG: Smooth High-Gain) (Feature 1) When the SHG control is set, even if PGN1 is set to the same value as the conventional gain, the position loop gain will be doubled. (Feature 2) The SHG control response is smoother than conventional position control during acceleration/deceleration, so the gain can be increased further with SHG control compared to the conventional position control. (Feature 3) With SHG control, a high gain is achieved so a high precision can be obtained during contour control. The following drawing shows an example of the improvement in roundness characteristics with SHG control.
50.0 [1] : Commanded path [2] : SHG control (PGN1=47) [3] : Conventional control (PGN1=33) <Effect> 0.0 Control method Conventional control SHG control -50.0 -50.0 0.0 (F=3000mm/min, ERROR=5.0m/div) Shape error characteristics 50.0 2.5 Roundness error (m)
22.5
During SHG control, PGN1, PGN2 and SHGC are set with the following ratio. PGN1 : PGN2 : SHGC = 1 :
8 3
:6
4-7
4. Servo Adjustment
During SHG control even if the PGN1 setting value is the same, the actual position loop gain will be higher, so the speed loop must have a sufficient response. If the speed loop response is low, vibration or overshooting could occur during acceleration/deceleration in the same manner as conventional control. If the speed loop gain has been lowered because machine resonance occurs, lower the position loop gain and adjust.
No. SV003 (SV049) SV004 (SV050)
Abbrev.
Parameter name
Setting ratio
Setting example 23 62 26 70 33 38 47
Explanation Always set with a combination of these three parameters.
Setting range 1 to 200 0 to 999 0 to 999 1 to 9999 0 to 999
PGN1 Position loop gain 1 (PGN1sp) PGN2 Position loop gain 2 (PGN2sp)
1 8 3 6
86 102 125
SV057 SHGC SHG control gain (SV058) (SHGCsp) SV008 VIA Speed loop lead compensation SV015 FFC Acceleration rate feed forward gain
140 160 187 225 281
Set 1900 as a standard for SHG control. Set 100 as a standard for SHG control.
POINT
The SHG control is an optional function. If the option is not set in the CNC, the alarm 37 (at power ON) or warning E4, Error Parameter No. 104 (2304 for M60S/E60 Series CNC) will be output.
4-8
4. Servo Adjustment
4-3
4-3-1
Characteristics improvement
Optimal adjustment of cycle time
The following items must be adjusted to adjust the cycle time. Refer to the Instruction Manuals provided with each CNC for the acceleration/deceleration pattern. [1] Rapid traverse rate (rapid) : This will affect the maximum speed during positioning. [2] Clamp speed (clamp) : This will affect the maximum speed during cutting. [3] Acceleration/deceleration time : Set the time to reach the feedrate. constant (G0t, G1t) [4] In-position width (SV024) : This will affect each block's movement command end time. [5] Position loop gain (SV003) : This will affect each block's movement command settling time. (1) Adjusting the rapid traverse To adjust the rapid traverse, the CNC axis specification parameter rapid traverse rate (rapid) and acceleration/deceleration time constant (G0t) are adjusted. The rapid traverse rate is set so that the motor speed matches the machine specifications in the range below the maximum speed in the motor specifications. For the acceleration/deceleration time constants, carry out rapid traverse reciprocation operation, and set so that the maximum current command value at acceleration/ deceleration is within the range shown below. The output torque is limited at areas near the maximum speed, so monitor the current FB waveform during acceleration/deceleration and adjust so that the torque is within the specified range. If the drive unit's input voltage is less than the rated voltage, the torque will easily become insufficient, and excessive errors will occur easily during acceleration/deceleration. (2) Adjusting the cutting feed To adjust the cutting rate, the NC axis specification parameter clamp speed (clamp) and acceleration/deceleration time constant (G1t) are adjusted. The in-position width at this time must be set to the same value as actual cutting. Determining the clamp rate and adjusting the acceleration/deceleration time constant (Features) The maximum cutting rate (clamp speed) can be determined freely. (Adjustment) Carry out cutting feed reciprocation operation with no dwell at the maximum cutting rate and adjust the acceleration/deceleration time constant so that the maximum current command value during acceleration/deceleration is within the range shown below. Setting the step acceleration/deceleration and adjusting the clamp speed (Features) The acceleration/deceleration time constant is determined with the position loop in the servo, so the acceleration/deceleration FT can be reduced. (Adjustment) Set 1 (step) for the acceleration/deceleration time constant and carry out cutting feed reciprocation operation with no dwell. Adjust the cutting feed rate so that the maximum current command value during acceleration/deceleration is within the range shown below, and then set the value in the clamp speed.
Maximum current command value when adjusting acceleration/deceleration time constant Motor model HC52 HC102 HC152 HC202 HC352 HC452 HC702 HC902 HC53 HC103 HC153 HC203 HC353 HC453 HC703 Max. current command value Within 388% Within 340% Within 380% Within 275% Within 251% Within 189% Within 221% Within 228% Within 264% Within 257% Within 266% Within 257% Within 230% Within 177% Within 189% Motor model HA053N HA13N HA23N HA33N HA-LF11K2 HA-LF15K2 HC452* HC702* HC902* HC353* HC453* HC703* Max. current command value Within 240% Within 240% Within 230% Within 230% Within 215% Within 240% Within 242% Within 248% Within 228% Within 242% Within 248% Within 228% Motor model HA40N HA80N HA100N HA200N HA300N HA700N HA900N HA43N HA83N HA103N HA203N HA303N HA703N Max. current command value Within 400% Within 365% Within 260% Within 225% Within 200% Within 205% Within 220% Within 295% Within 275% Within 245% Within 210% Within 180% Within 180%
(Note) The motor indicated with an asterisk indicates the combination with the S-type drive unit.
4-9
4. Servo Adjustment
(3) Adjusting the in-position width Because there is a response delay in the servomotor drive due to position loop control, a "settling time" is also required for the motor to actually stop after the command speed from the CNC reaches 0. The movement command in the next block is generally started after it is confirmed that the machine has entered the "in-position width" range set for the machine. Set the precision required for the machine as the in-position width. If a high precision is set needlessly, the cycle time will increase due to a delay in the settling time. The in-position width is validated with the servo parameter settings, but there may be cases when it is validated with the NC parameters. Refer to each NC Instruction Manual.
No. SV024 Abbrev. INP Parameter name Explanation Setting range 0 to 32767 (m)
In-position detection Set the in-position detection width. Set the accuracy required for the machine. width The lower the setting is, the higher the positioning accuracy gets, however, the cycle time (setting time) becomes longer. The standard setting is "50".
POINT
The in-position width setting and confirmation availability depend on the CNC parameters.
(4) Adjusting the settling time The settling time is the time required for the position droop to enter the in-position width after the feed command (FT) from the CNC reaches 0. The settling time can be shortened by raising the position loop gain or using SHG control. However, a sufficient response (sufficiently large VGN1 setting) for the speed loop is required to carry out stable control. The settling time during normal control when the CNC is set to linear acceleration/ deceleration can be calculated using the following equation. During SHG control, estimate the settling time by multiplying PGN1 by 2 . Settling time (ms) = 103 PGN1
F FT 0
G0tL Setting time Time
Position droop 0
In-position
In-position width
ln
INP F 60G0tLPGN12 106 1 - exp PGN1G0tL 103
PGN1 : Position loop gain1 (SV003) (rad/s) F : Rapid traverse rate (mm/min) G0tL : Rapid traverse linear acceleration/ deceleration time constant (ms) INP : In-position width (SV024) (m)
4 - 10
4. Servo Adjustment
4-3-2
Vibration suppression measures
If vibration (machine resonance) occurs, it can be suppressed by lowering the speed loop gain 1 (VGN1). However, cutting precision and cycle time will be sacrificed. (Refer to "4-2-2 Speed loop gain".) Thus, try to maintain the VGN1 as high as possible, and suppress the vibration using the vibration suppression functions. If the VGN1 is lowered and adjusted because vibration cannot be sufficiently suppressed with the vibration suppression functions, adjust the entire gain (including the position loop gain) again. <Examples of vibration occurrence> A fine vibration is felt when the machine is touched, or a groaning sound is heard. Vibration or noise occurs during rapid traverse.
POINT
Suppress the vibration using the vibration suppression functions, and maintain the speed loop gain (SV005: VGN1) as high as possible.
4 - 11
4. Servo Adjustment
(1) Notch filter This servo drive unit mounts 5 notch filters. Measure the resonance frequency with the current feedback analog output function, and set that frequency in parameter. However, if the notch filter is set to a particularly low frequency, another resonance frequency that did not vibrate initially may occur. If the notch filter's depth compensation (SV033, nfd1, nfd2) is adjusted so that the filter does not operate unless necessary, the servo control will be stabilized. Notch filter 3 is a filter with frequency fixed to 1125Hz, and has no depth compensation. <Setting method> [1] Set the resonance frequency in the notch filter frequency (1, 2, 4, 5). [2] If the machine starts to vibrate at another frequency, raise (make shallower) the notch filter depth compensation value, and adjust to the optimum value at which the resonance can be eliminated. [3] When the vibration cannot be completely eliminated, use also another notch filter for this frequency.
No. SV033 Abbrev. SSF2 Parameter name Servo function selection 2 F E D C B Explanation A 9 8 hvx svx 7 6 nfd2 5 4 nf3 3 Setting range 2 nfd1 1 0 zck
bit 1 2 3 4 5 6 7
Meaning when "0" is set Meaning when "1" is set Set the filter depth for Notch filter 1 (SV038). nfd1 Value 000 001 010 011 100 101 110 111 Depth (dB) Infntly -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2 deep Deep Shallow nf3 Notch filter 3 stop Notch filter 3 start (1125Hz) Set the filter depth of Notch filter 2 (SV046). nfd2 Value 000 001 010 011 100 101 110 111 Depth (dB) Infntly -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2 deep Deep Shallow 0 to 9000 (Hz) 0 to 9000 (Hz) 2 nfd1 1 0 zck
SV038 SV046 SV083
FHz1 FHz2 SSF6
Notch filter frequency 1
Set the vibration frequency to suppress if machine vibration occurs. (Valid at 36 or more) When not using, set to "0".
Notch filter frequency Set the vibration frequency to suppress if machine vibration occurs. 2 (Valid at 36 or more) When not using, set to "0". Servo function selection 6 F E D C B A 9 8 7 6 5 4 3 hvx svx nfd2 nf3 bit 1 2 3 5 6 7 Deep
Meaning when "0" is set Meaning when "1" is set Set the filter depth for Notch filter 4 (SV038). 000 - 001 010 011 -18.1 -12.0 -8.5 100 -6.0 101 -4.1 110 -2.5 111 -1.2 Shallow 101 -4.1 110 -2.5 111 -1.2 Shallow 0 to 2250 (Hz) 0 to 2250 (Hz)
nfd4 Value Depth (dB)
Deep Set the filter depth for Notch filter 5 (SV046). nfd5 Value Depth (dB) 000 - 001 010 011 -18.1 -12.0 -8.5 100 -6.0
SV087 SV088
FHz4 FHz5
Notch filter frequency 4 Notch filter frequency 5
Set the vibration frequency to suppress if machine vibration occurs. (Valid at 141 or more) When not using, set to "0". To use this function, set to not "0" (normally "1") when turning the power ON. This function cannot be used with adaptive filter.
4 - 12
4. Servo Adjustment
(2) Jitter compensation (Vibration control when motor is stopped.) The load inertia becomes much smaller than usual if the motor position enters the machine backlash when the motor is stopped. Because this means that an extremely large VGN1 is set for the load inertia, vibration may occur. Jitter compensation can suppress the vibration that occurs at the motor stop by ignoring the backlash amount of speed feedback pulses when the speed feedback polarity changes. Increase the number of ignored pulses by one pulse at a time, and set a value at which the vibration can be suppressed. (Because the position feedback is controlled normally, there is no worry of positional deviation.) When jitter compensation is set to an axis that is not vibrating is set, vibration could be induced, so take care. (3) Adaptive filter The servo drive unit detects the machine resonance point and automatically sets the filter constant. Even if the ball screw and table position relation changes causing the resonance point to change, the filter will track these changes. If the sensitivity to detect the vibration is insufficient and the effect of the filter is not apparent, increase the sensitivity (SV027/bitC, D). The filter coefficient is recalculated when the power is turned ON again, so vibration may occur temporarily. Notch filter 4 and notch filter 5 cannot be used together.
No. SV027 Abbrev. Parameter name SSF1 Servo function selection 1 Explanation F E D C aflt zrn2 afse B ovs A 9 lmc 8 7 6 omr zrn3 5 vfct 4 3 2 1 0 upc vcnt
<Jitter compensation> Removal of vibration when motor is stopped bit Explanation 4 Set the number of compensation pulses of the jitter compensation. vfct 5 00: Jitter compensation invalid 10: Jitter compensation 2 pulses 01: Jitter compensation 1 pulse 11: Jitter compensation 3 pulses <Adaptive filter> bit Meaning when "0" is set Meaning when "1" is set C 00: Adaptive filter sensitivity standard afse D 11: Adaptive filter sensitivity increase (Set 2bits at a time) E zrn2 Set to "1". F aflt Adaptive filter stop Adaptive filter start
POINT
Jitter compensation vibration suppression is only effective when the motor is stopped.
4 - 13
4. Servo Adjustment
(4) Variable speed loop gain control If vibration occurs when the motor is rotating at a high speed, such during rapid traverse, or if disturbing noise occurs, the state can be improved by lowering the speed loop gain during high-speed rotation. The low-speed region speed loop gain used for cutting feed (G1 feed), etc., is maintained at a high level, so the vibration can be improved without dropping the machining accuracy.
No. SV005 Abbrev. Parameter name VGN1 Speed loop gain 1 Explanation 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 VGN1 loop gain of the speed 1.2 times as VGN2 fast as the motors rated speed, and use this with SV029 (VCS). 0 VCS VLMT When not using, set to "0". (Rated speed 1.2) Setting range 1 to 999
SV006
VGN2
Speed loop gain 2
-1000 to 1000
SV029
VCS
Speed at the change If the noise is bothersome at high speed during rapid traverse, etc, of speed loop gain lower the speed loop gain. Set the speed at which the speed loop gain changes, and use this with SV006 (VGN2). (Refer to SV006.) When not using, set to "0".
0 to 9999 (r/min)
4 - 14
4. Servo Adjustment
4-3-3
Improving the cutting surface precision

Y
If the cutting surface precision or roundness is poor, these can be improved by increasing the speed loop gain (VGN1, VIA) or by using the disturbance observer function. <Examples of faults> The surface precision in the 45 direction of a taper or arc is poor. The load fluctuation during cutting is large, causing vibration or surface precision defects to occur.
POINT
Adjust by raising the speed loop gain equivalently to improve cutting surface precision, even if the measures differ. In this case, it is important how much the machine resonance can be controlled, so adjust making sufficient use of vibration suppression functions.
(1) Adjusting the speed loop gain (VGN1) If the speed loop gain is increased, the cutting surface precision will be improved but the machine will resonate easily. The final VGN1 setting should be approx. 70 to 80% of the maximum value where resonance does not occur. (Refer to "4-2-2 (1) Setting the speed loop gain") (2) Adjusting the speed loop leading compensation (VIA) The VIA has a large influence on the position trackability, particularly during high-speed cutting (generally F1000 or more). Raising the setting value improves the position trackability, and the contour precision during high-speed cutting can be improved. For high-speed high-precision cutting machines, adjust so that a value equal to or higher than the standard value can be set. When VIA is set lower than the standard value and set to a value differing between interpolation axes, the roundness may worsen (the circle may distort). This is due to differences occurring in the position trackability between interpolation axes. The distortion can be improved by matching the VIA with the smaller of the values. Note that because the position trackability is not improved, the surface precision will not be improved. (Refer to "4-2-2 (2) Setting the speed loop leading compensation")
No. SV005 Abbrev. VGN1 Parameter name Speed loop gain 1 Explanation 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. 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). Setting range 1 to 999
SV008
VIA
1 to 9999
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4. Servo Adjustment
(3) Voltage non-sensitive zone (Td) compensation With the PWM control of the inverter circuit, a dead time (non-energized time) is set to prevent short-circuits caused by simultaneous energizing of the P side and N side transistors having the same phase. The dead time has a non-sensitive zone for particularly low voltage commands. Thus, when feeding with a low speed and a low torque, the control may be unstable. When an unbalanced axis is lowering, the frictional torque and unbalance torque, and the frictional torque and deceleration torque before the quadrant changes during circle cutting, are balanced. The motor output torque will be approximately zero, and the control accuracy may drop. In this case, the control accuracy can be improved by using the voltage non-sensitive band compensation. Note that this may cause vibration to be increased while the motor is running.
Cutting direction
. Motor torque = 0
Frictional torque
Balanced
Unbalance torque Deceleration torque = frictional torque For circle cutting Lowering
For unbalance torque
No. SV030
Abbrev. IVC
Parameter name Voltage dead time compensation
Explanation 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 generated.
Setting range 0 to 200 (%)
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4. Servo Adjustment
(4) Disturbance observer The disturbance observer can reduce the effect caused by disturbance, frictional resistance or torsion vibration during cutting by estimating the disturbance torque and compensating it. It also is effective in suppressing the vibration caused by speed leading compensation control. <Setting method> [1] Set SV082/bit7=1. [2] Adjust VGN1 to the value where vibration does not occur, and then lower it 10 to 20%. [3] Set the load inertia scale (SV037: JL) with a percentage in respect to the motor inertia of the total load inertia. (Refer to next page for measuring the motor shaft conversion load inertia ratio.) [4] Set the observer filter band (observer pole) in the disturbance observer filter frequency (SV043: OBS1), and suppress the high frequency disturbance estimate to suppress the vibration. Set "100" as a standard. [5] Set the observer gain in disturbance observer gain (SV044: OBS2). The disturbance observer will function here for the first time. Set 100 first, and if vibration does not occur, increase the setting by 50 at a time to increase the observer effect.
No. SV037 Abbrev. JL Parameter name Load inertia scale Explanation Set "the motor inertia + motor axis conversion load inertia" in respect to the motor inertia. Jl + Jm Jm : Motor inertia 100 SV037 (JL) = Jm Jl : Motor axis conversion load inertia Set the disturbance observer filter band. Set to "100" as a standard. To use the disturbance observer, also set SV037 (JL) and SV044 (OBS2). When not using, set to "0". Set the disturbance observer gain. The standard setting is "100" to "300". To use the disturbance observer, also set SV037 (JL) and SV043 (OBS1). When not using, set to "0". F E D C B A 9 8 7
obshj
SV043
OBS1
Disturbance observer filter frequency Disturbance observer gain Servo function selection5
0 to 1000 (rad/s) 0 to 500 (%)
SV044 SV082
OBS2 SSF5
1 0 lmc3 lmct
bit 7 obshj
Meaning when "0" is set Normal use
Meaning when "1" is set Disturbance observer High-load inertia compatible control
POINT
1. The estimated disturbance torque can be output to the D/A output even if the disturbance observer gain is zero (OBS2 = 0), and the disturbance observer is not functioning. 2. Sections where the machine is not moving smoothly can be estimated as the disturbance. 3. The lost motion compensation must be readjusted when the disturbance observer is started. 4. SV082/bit7 is the characteristics improvement function when load inertia is large. SV082/bit7 can be set when load inertia is small, also.
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4. Servo Adjustment
<Measuring the load inertia> If the load inertia is not clear, it can be estimated with the following method. [1] Set the torque offset (SV032: TOF) for the unbalance torque. (Refer to "4-3-5 (1) Unbalance torque and frictional torque".) [2] Set JL = 100, OBS1 = 600 and OBS2 =0, and reciprocate the axis within the range that it can be moved smoothly. Set the acceleration/deceleration time constant so that the acceleration/deceleration torque is larger than the stall (rated) torque (100% or more). [3] Measure the estimated disturbance torque with the D/A output, and raise JL until the disturbance torque during acceleration/deceleration is small (until it cannot be observed). Even if the torque offset is set and JL is an appropriate value, if the axis has a large friction, the frictional torque will remain in the estimated disturbance torque. Judge the JL setting value, with frictional torque remaining, as the machine's load inertia scale as shown below.
Speed command
0 Frictional torque
Time
Estimated disturbance 0 torque JL: Too small
Time
Time
JL: Appropriate
JL: Too large
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4. Servo Adjustment
4-3-4
Improvement of characteristics during acceleration/deceleration

Because SHG control has a smoother response during acceleration/deceleration than conventional position controls, the acceleration/deceleration torque (current FB) has more ideal output characteristics (A constant torque is output during acceleration/deceleration.) The peak torque is kept low by the same acceleration/deceleration time constant, enabling the time constant to be shortened. Refer to item "(3) SHG control" in section "4-2-3 Position loop gain" for details on setting SHG control.
3000 Speed command (r/min) 0
(1) SHG control (option function)
Time
-3000 200 Current FB (stall current%)
Time
-200 Acceleration/deceleration characteristics during conventional control
3000 Speed command (r/min) 0
Time
-3000 200 Current FB (stall current %)
Time
-200 Acceleration/deceleration characteristics during SHG control
No. SV003 (SV049) SV004 (SV050) SV057 (SV058) SV008 SV015
Abbrev.
Parameter name
Setting ratio 1 23 62 140
Setting example 26 70 160 33 86 187 38 102 225 47 125 281
Explanation
Always set with a combination of these three parameters.
Setting range 1 to 200 0 to 999 0 to 1200 1 to 9999 0 to 999
PGN1 Position loop gain 1 (PGN1sp) PGN2 Position loop gain 2 (PGN2sp) SHGC SHG control gain (SHGCsp) VIA FFC Speed loop lead compensation Acceleration rate feed forward gain
8 3
6
Set 1900 as a standard value during SHG control. Set 100 as a standard value during SHG control.
POINT
SHG control is an option function. If the option is not set in the NC, alarm 37 (at power ON), or warning E4 and error parameter No. 104 (2304 for M60S/E60 Series NC) will be output.
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4. Servo Adjustment
(2) Acceleration feed forward Vibration may occur at 10 to 20 Hz during acceleration/deceleration when a short time constant of 30 ms or less is applied, and a position loop gain (PGN1) higher than the general standard value or SHG control is used. This is because the torque is insufficient when starting or when starting deceleration, and can be resolved by setting the acceleration rate feed forward gain (SV015: FFC). This is also effective in reducing the peak current (torque). While measuring the current command waveform, increase FFC by 50 to 100 at a time and set the value where vibration does not occur.
200 Current command (%) 100 0
200 100 0
20
40
60
80
100
20
40
60
80
100
Time (ms) No FFC setting
Time (ms) With FFC setting
Acceleration rate feed forward gain means that the speed loop gain during acceleration/deceleration is raised equivalently. Thus, the torque (current command) required during acceleration/deceleration starts sooner. The synchronization precision will improve if the FFC of the delayed side axis is raised between axes for which high-precision synchronous control (such as synchronous tapping control and superimposition control).
No. SV015 Abbrev. FFC Parameter name Acceleration rate feed forward gain Explanation 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. Setting range 0 to 999 (%)
POINT
Overshooting occurs easily when a value above the standard value is set during SHG control.
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4. Servo Adjustment
(3) Inductive voltage compensation The current loop response is improved by compensating the back electromotive force element induced by the motor rotation. This improved the current command efficiency, and allows the acceleration/deceleration time constant to the shortened. <Adjustment method> 1. While accelerating/decelerating at rapid traverse, adjust the inductive voltage compensation gain (SV047: EC) so that the current FB peak is a few % smaller than the current command peak.
3000 Speed command 0 (r/min) -3000 200 Current command (Rated current %) 0 With inductive voltage compensation Inductive voltage compensation No inductive voltage compensation Time
Time
-200
No. SV047
Abbrev. EC
Parameter name Inductive voltage compensation gain
Explanation Set the inductive voltage compensation gain. Set to "100" as a standard. If the current FB peak exceeds the current command peak, lower the gain.
POINT
If the current FB peak becomes larger than the current command peak (over compensation), an overcurrent (alarm 3A) will occur easily. Note that over compensation will occur easily if the load inertia is large.
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4. Servo Adjustment
4-3-5
Improvement of protrusion at quadrant changeover
The response delay (caused by dead band from friction, torsion, expansion/contraction, backlash, etc.) caused when the machine advance direction reverses is compensated with the lost motion compensation (LMC compensation) function. With this, the protrusions that occur at the quadrant changeover in the DBB measurement method, or the streaks that occur when the quadrant changes during circular cutting can be improved.
Compensation
Cutting direction
Circle cutting path before compensation
Circle cutting path after compensation DBB: Double Ball Bar
The following three compensation types are available for lost motion compensation (LMC compensation). [1] LMC compensation type 1 This is a backward compatible (for older models) compensation type. Either type 2 or type 3 should be used on new models. [2] LMC compensation type 2 Performs servo internal PI control response delay compensation for the frictional torque reversing condition that occurs during servo reverse travel. Reverse response delay is compensated with adding the torque command set by parameter when a speed and direction change occurs. LMC compensation type 2 adjustments should be performed with reference to the following items. (1) Unbalance torque and frictional torque (2) LMC compensation type 2 setting and adjustment (3) Lost motion compensation timing adjustment (4) Adjustment at feed forward control [3] LMC compensation type 3 In addition to frictional torque influence, this type compensates torsion and expansion/contraction influences in the machine system in which compensation amount is changed by travel speed. A mechanical system viscosity coefficient setting further enhances the compensation accuracy even if the travel speed is changed. Adjustment requires a machine end roundness measurement. LMC compensation type 3 adjustments should be performed with reference to the following items. (1) Unbalance torque and frictional torque (2) LMC compensation type 3 setting and adjustment
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4. Servo Adjustment
(1) Unbalance torque and frictional torque Machine unbalance torque and frictional torque measurements are required before the LMC compensation can be set. However, the horizontal axis unbalance torque is necessarily "0". Carry out the reciprocating operation (approx. F1000) with the measured axis, and the load current % value during constant-speed feed is measured at the NC servo monitor screen. The unbalance torque and frictional torque at that time are expressed by the following formulas. Unbalance torque (%) = Frictional torque (%) = (+ feed load current %) (+ feed load current %) + 2 (- feed load current %)
- (- feed load current %) 2
(Example)
Assume that the load current % was -55% in the + direction and -25% in the - direction when JOG feed was carried out at approx. F1000. The unbalance torque and frictional torque are as shown below. Unbalance torque (%) = Friction torque (%) = (-55) + (-25) = -40% 2 (-55) - (-25) = 15% 2
(2) Setting and adjusting LMC compensation type 2 <Setting method> [1] Set the servo function selection 1 (SV027)/bit 9. (The LMC compensation type 2 will start). [2] Set unbalance torque to the torque offset (SV032). [3] Set a value double the friction torque to the lost motion compensation 1 (SV016). The SV016 setting value will be used for compensation in the positive and negative directions when the lost motion compensation 2 (SV041) is 0. [4] Set SV041, when changing the compensation amount in the direction for compensation. The setting of the compensation direction is shown below with the setting of CW/CCW in the NC parameter. If compensating only one direction, set -1 to the side not to be compensated.
Compensation point A B C D
CW X axis: SV041 Y axis: SV016 X axis: SV016 Y axis: SV041
CCW X axis: SV016 Y axis: SV041 X axis: SV041 Y axis: SV016

-X
+Y
The Y axis command direction changes from + to -.
The X axis command direction changes from + to -.
+X
The X axis command direction changes from - to +.
-Y
The Y axis command direction changes from - to +.
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4. Servo Adjustment
<Adjustment method> Perform the final adjustment, carrying out the NC sampling measurement (DBB measurement) or actual cutting. If the compensation amount is insufficient, increase LMC1 or LMC2 by 5% at a time. Note that if the setting is too high, biting may occur.
Compensation 0 No. Abbrev. Parameter name SV016 LMC1 Lost motion compensation 1 SV041 LMC2 SV032 TOF Lost motion compensation 2 Torque offset Servo function selection 1
Optimum
Too high Setting range -1 to 200 (Stall [rated] current %) -1 to 200 (Stall [rated] current %) -100 to 100 (Stall [rated] current %) 1 0 vcnt
Explanation 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. Set this with SV016 (LMC1) only when you wish to set the lost motion compensation amount to be different depending on the command directions. Set to "0" as a standard. This setting is specified when using lost motion compensation. Set the unbalance torque of vertical axis and inclined axis.
SV027 SSF1
F E aflt zrn2
D C afse
B ovs
9 lmc
7 6 omr zrn3
5 vfct
2 upc
bit Meaning when "0" is set Meaning when "1" is set 8 Set the compensation amount with SV016 (LMC1) and SV041 (LMC2). lmc 9 00: Lost motion compensation stop 10: Lost motion compensation type 2 01: Lost motion compensation type 1 11: Setting prohibited
POINT
1. Set SV082/bit1=0 when using LMC compensation type 2. 2. When either parameter SV016: LMC1 or SV041: LMC2 is set to 0, the same amount of compensation is carried out in both the positive and negative direction with the setting value of the other parameter (the parameter not set to 0). 3. When the protrusion amount varies according to direction, use LMC2 to adjust it. For compensation in one direction only, set "-1" at the parameter (LMC1 or LMC2) for the direction in which compensation is prohibited. 4. Even if a TOF is set, the motor's torque output characteristics and the load current displayed at the NC servo monitor will remain unchanged. Only the LMC compensation is affected. 5. The value set based on the friction torque is the standard value for LMC compensation. The optimum compensation value changes with the cutting conditions (cutting speed, cutting radius, blade type, workpiece material, etc.). Be sure to ultimately make test cuts matching the target cutting and determine the compensation amount.
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4. Servo Adjustment
(3) Adjusting the lost motion compensation timing If the speed loop gain has been lowered from the standard setting value because the machine rigidity is low or because machine resonance occurs easily, or when cutting at high speeds, the quadrant protrusion may appear later than the quadrant changeover point on the servo control. In this case, suppress the quadrant protrusion by setting the lost motion compensation timing (SV039: LMCD) to delay the LMC compensation. <Adjustment method> If a delay occurs in the quadrant protrusion in the circle or arc cutting as shown below in respect to the cutting direction when CNC sampling measurement (DBB measurement) or actual cutting is carried out, and the compensation appears before the protrusion position, set the lost motion compensation timing (SV039: LMCD). While measuring the arc path, increase LMCD by 10 ms at a time, to find the timing that the protrusion and compensation position match.
After compensation
Cutting direction
Before timing delay compensation No. SV039 Abbrev. LMCD Parameter name
After timing delay compensation Explanation Setting range 0 to 2000 (ms)
Set this when the lost motion compensation timing does not match. Adjust Lost motion compensation timing while increasing the value by 10 at a time.
When the LMCD is gradually raised, a two-peaked contour may occur at the motor FB position DBB measurement. However, due to the influence of the cutter diameter in cutting such as end milling, the actual cutting surface becomes smooth. Because satisfactory cutting can be achieved even if this two-peaked contour occurs, consider the point where the protrusion becomes the smallest and finest possible without over compensating (bite-in) as the optimum setting.
Quadrant changeover point Cutter diameter Cutter center path
Actual cutting surface
Cutting direction
Point of LMC compensation execution
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4. Servo Adjustment
(4) Adjusting for feed forward control In LMC compensation, a model position considering the position loop gain is calculated based on the position command sent from the CNC, and compensation is carried out when the feed changes to that direction. When the CNC carries out feed forward (fwd) control, overshooting equivalent to the operation fraction unit occurs in the position commands, and the timing of the model position direction change may be mistaken. As a result, the LMC compensation timing may deviate, or compensation may be carried out twice or more. If feed forward control is carried out and the compensation does not operate correctly, adjust with the non-sensitive band (SV040 (LMCT)) during feed forward control. In this non-sensitive band control, the overshooting set with LMCT is ignored during feed forward control. Instead the model position direction change point is correctly recognized to correctly compensate LMC. This parameter is meaningless when feed forward control is not being carried out. <Adjustment method> If the compensation timing deviates during feed forward control, increase the LMCT setting by 1m at a time. Note that 2m are set even when the LMCT is set to 0.
No. SV040 Abbrev. LMCT Parameter name Lost motion compensation non-sensitive band Explanation Set the non-sensitive band of the lost motion compensation in the feed forward control. When "0" is set, the actual value that is set is 2m. Adjust by increasing by 1m at a time. Setting range 0 to 100 (m)
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4. Servo Adjustment
(5) Setting and adjusting LMC compensation type 3 LCM compensation type 3 can be used to accommodate quadrant projection changes that accompany feed rate and circular radius changes which could not be accommodated by LCM compensation type 2. In this case, on a machine model where the travel direction is reversed, the viscosity component is also considered in addition to the friction, with compensation occurring in accordance with the changes in the cutting conditions. Adjust Compensation parameter (SV016, SV041), a basis of compensation, while measuring roundness at low speed. Then adjust viscous coefficient (SV086) while measuring roundness at high speed. LMC compensation type 3 parameter adjustments should be made while performing a machine end roundness measurement such as a DDB measurement, etc. <Adjustment method> [1] Set the bit1=1 to servo function selection 5 (SV082). (The LMC compensation type 3 will start). [2] Set a value double the friction torque to the lost motion compensation 1 (SV016). The SV016 setting value will be used for compensation in the positive and negative directions when the lost motion compensation 2 (SV041) is 0. [3] Set the initial value, 1000 to the lost motion compensation viscous coefficient (SV086). [4] Perform a roundness measurement at such speed as radius R=100mm and feedrate F=1000mm/min and adjust SV016 value. [5] Set SV041, when changing the compensation amount in the direction for compensation. The setting of the compensation direction is shown below with the setting of CW/CCW in the NC parameter. If compensating only one direction, set 1 to the side not to be compensated. D
The Y axis command direction changes from + to -.
Compensation point A B C D
CW X axis: SV041 Y axis: SV016 X axis: SV016 Y axis: SV041
CCW X axis: SV016 Y axis: SV041 X axis: SV041 Y axis: SV016

-X
+Y
The X axis command direction changes from + to -.
+X
The X axis command direction changes from - to +.
-Y
The Y axis command direction changes from - to +.
[6] Perform a roundness measurement at such speed as radius, R=100mm and feedrate, F=5000mm/min. (Select a condition to be used for the actual cutting according to the machine's specification.) Adjust viscous coefficient (SV086) by reducing it gradually to have minimum quadrant protrusion. [7] After adjusting SV086, verify its accuracy by performing roundness measurement at low speed again.
POINT
1. As the acceleration of circular feed increases, the quadrant protrusion tends to get larger. Therefore, the quadrant protrusion gets larger as the circular feedrate increases for the same radius and as radius gets smaller for the same feedrate. 2. Torque offset (SV032) does not work for LMC compensation type 3. 3. Always set 0 to the lost motion compensation timing (SV039:LMCD).
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4. Servo Adjustment
No.
Abbrev.
SV027 SSF1
Parameter name Servo function selection 1
Explanation F E aflt zrn2 D C afse B ovs A 9 lmc 8 7 6 omr zrn3 5 vfct 4 3 2 upc
Setting range 1 0 vcnt
bit Meaning when "0" is set Meaning when "1" is set 8 Set the compensation amount with SV016 (LMC1) and SV041 (LMC2). lmc 9 00: Lost motion compensation stop 10: Lost motion compensation type 2 01: Lost motion compensation type 1 11: Setting prohibited SV016 LMC1 SV041 LMC2 Lost motion compensation 1 Lost motion compensation 2 Set the compensation amount based on the stall (rated) current of the motor. -1 to 200 The standard setting is double of the friction torque. Setting to "0" means the (Stall [rated] compensation amount is zero. current %) Set this with SV016 (LMC1) only when you wish to set the lost motion -1 to 200 compensation amount to be different depending on the command directions. (Stall [rated] Set to "0" as a standard. current %) F E D C B A 9 8 7
obshj
SV082
SSF5 Servo function selection5
1 0 lmc3 lmct
1 SV086 LMCc Lost motion compensation viscous coefficient
bit Meaning when "0" is set lmc3 Lost motion compensation 3 stop
Meaning when "1" is set Lost motion compensation 3 start 0 to 32767
Set the machine system's viscous coefficient when using lost motion compensation type 3.
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4. Servo Adjustment
4-3-6
Improvement of overshooting
The phenomenon when the machine position goes past or exceeds the command during feed stopping is called overshooting. Overshooting is compensated by overshooting compensation (OVS compensation). Overshooting occurs due to the following two causes. [1] Machine system torsion: Overshooting will occur mainly during rapid traverse settling [2] Machine system friction: Overshooting will occur mainly during one pulse feed Either phenomenon can be confirmed by measuring the position droop.
Speed FB Position command 0
Position droop 0 Overshoot Time

[1] Overshooting during rapid traverse settling
Position droop 0 Overshoot Time

[2] Overshooting during pulse feed
(1) Overshooting compensation (OVS compensation) In OVS compensation, the overshooting is suppressed by subtracting the torque command set in the parameters when the motor stops. There are three types of OVS compensation. Type 3 is the standard method. (Types 1 and 2 are for compatibility with older models, and thus explanations have been omitted.) OVS compensation type 3 has a compensation effect for the overshooting during either rapid traverse settling or pulse feed. To compensate overshooting during feed forward control, refer to the following section "(2) Adjusting for feed forward control". <Setting and adjustment methods> [1] Set the servo function selection 1 (SV027: SSF1)/bit A, B. (OVS compensation type 3 will start.) [2] Observe the position droop waveform using the D/A output, and increase the overshooting compensation 1 (SV031: OVS1) value 1% at a time. Set the smallest value where the overshooting does not occur. If SV042 (OVS2) is 0, the overshooting will be compensated in both the forward/reverse directions with the OVS1 setting value. [3] If the compensation amount is to be changed in the direction to be compensated, set the + direction compensation value in OVS1 and the - direction compensation value in OVS2. If only one direction is to be compensated, set the side not to be compensated as -1. The compensation direction setting will be as reversed with the NC parameter CW/CCW setting. 1. When either parameter SV031: OVS1 or SV042: OVS2 is set to 0, the same amount of compensation is carried out in both the positive and negative direction, using the setting value of the other parameter (the parameter not set to 0). 2. To compensate in only one direction, set -1 in the parameter (OVS1 or OVS2) for the direction in which compensation is prohibited. 3. For contour cutting, the projection at the arc end point is compensated with OVS compensation. LMC compensation is carried out at the arc starting point.
OVS compensation LMC compensation
POINT
Cutting direction
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4. Servo Adjustment
(2) Adjusting for feed forward control When using feed forward control (high-speed high-accuracy control), the feed forward control must be stopped (fwd_g =0) before adjusting the overshooting compensation. After adjusting the overshooting compensation with normal control, set the overshooting compensation non-sensitive zone (SV034 (SSF3)/bitC to F (ovsn) to 1 (2m) and start up feed forward control. If overshooting compensation is used during feed forward control, the overshooting will increase, or protrusions could appear during arc cutting. This is because, when the NC is carrying out feed forward (fwd) control, overshooting equivalent to the operation fraction unit occurs in the position command, and the OVS compensation is recognized as a change in the command direction, resulting in compensation in the reverse direction. This can be improved by setting the overshooting compensation non-sensitive zone width. If overshooting does not occur during normal control, and occurs only during feed forward control, adjust the feed forward gain (fwd_g).
No. Abbrev. Parameter name Explanation Setting range
SV031
OVS1
Overshooting compensation 1 Overshooting compensation 2 Servo function selection 1
Increase in increments of 1%, and find the value where overshooting does not occur. The value is set in both the directions when OVS2 is set to 0. Set to "0" as a standard. Set this to change the compensation amount according to the direction.
-1 to 100 (Stall [rated] current %) -1 to 100 (Stall [rated] current %) 2 upc 1 0 vcnt
SV042
OVS2
SV027
SSF1
F E D C aflt zrn2 afse
B ovs
9 lmc
7 6 omr zrn3
5 vfct
bit Meaning when "0" is set Meaning when "1" is set A Set the compensation amount with SV031 (OVS1) and SV042 (OVS2). ovs B 00: Overshooting compensation stop 10: Overshooting compensation type 2 01: Overshooting compensation type1 11: Overshooting compensation type 3 SV034 SSF3 Servo function selection 3
E D ovsn bit
1 0 has2 has1
C D E F
Explanation Set the non-sensitive band of the overshooting compensation type 3 in increments of 2m at a time. ovsn In the feed forward control, the non-sensitive band of the model position droop is set, and overshooting of the model is ignored. Set to the standard 2m (0001).
POINT
When using feed forward control (high-speed high-accuracy control), stop the feed forward control (fwd_g=0) before adjusting the overshooting compensation. If overshooting occurs during subsequent feed forward control, adjust the feed forward gain (fwd_g).
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4. Servo Adjustment
4-3-7
Improvement of the interpolation control path

The tool end compensation function compensates the shape of the tool end during high-speed and high-speed acceleration/deceleration. The spring effect from the tool (spindle) end to the motor (scale) end is compensated. If the machine has a large spring effect, the shape may be fine during low-speed operation. However, at high speeds (specially when using a small radius), the section from the tool (shaft) end to the outer sides of the motor (scale) end could swell, and cause the shape to become elliptical during measurement of the roundness. The tool end compensation function compensates the motor end position according to the acceleration size, so the tool end position is always controlled to the commanded position.
The inner side is driven by the amount that the end section swells due to the spring effect.
(1) Tool end compensation
During high acceleration, the end section swells outward due to the spring effect.
Tool end path (machining surface)
Tool end path (machining surface)
Tool end roundness (machining surface) Elliptical shape fault High speed (high acceleration): Command path (ideal path) Low speed:
Example: R25mm F1000mm/min Example: R25mm F10000mm/min
Tool end roundness (machining surface) Elliptical shape is improved
Command path (ideal path)
Both low speed and high speed are on the same path.
Without tool end compensation
With tool end compensation
POINT
1. Always evaluate the roundness accuracy at the tool end. 2. Adjust the parameter after adjusting the roundness accuracy at the motor end.
4 - 31
4. Servo Adjustment
<Adjustment methods> [1] Confirm that the motor end circle accuracy measured with the NC sampling function is appropriate. [2] In this state, measure the tool end low-speed and high-speed circle path without tool end compensation. The difference of the high-speed circle path and low-speed circle path is the amount that path has swelled due to the spring effect of the machine system. Calculate the SV065 setting value with the following expression using this amount as the compensation amount. 9 Compensation amount [m] radius R [mm] 10 2 SV065 = (command speed F [mm/min]) [3] Set SV027/bit7 to 1, and input the value calculated in step 2 into SV065. Measure the high-speed circle path. If the shape is still elliptical, adjust by increasing/decreasing the SV065 value in 1/10 units. [4] Confirm that there is no problem with the low-speed circle path.
Example of low-speed and high-speed roundness measurement for adjusting tool end compensation When using grid encoder When using DBB measurement Acceleration
Low speed (reference circle) High-speed (when adjusting compensation amount)

No. Abbrev.
R=25 [mm], F=500 [mm/min] R=25 [mm], F=10000 [mm/min]
R=100 [mm], F=1000 [mm/min] R=100 [mm], F=20000 [mm/min]
0.00028G 0.11G
Parameter name
Explanation
Setting range
SV027
SSF1
F E D C aflt zrn2 afse
B ovs
9 lmc
7 6 omr zrn3
5 vfct
2 upc
1 0 vcnt
7 SV065 TLC
bit Meaning when "0" is set omr Tool end compensation invalid
Meaning when "1" is set Tool end compensation valid -32768 to 32767
Set the spring constant of the tool end compensation. Tool end compensation spring In the semi-closed loop control, the tool end compensation amount is calculated with the following equation. constant Commanded speed F (mm/min)2 SV065 (m) Compensation amount = 9 Radius R (mm) 10 When not using, set to "0".
POINT
1. To confirm the machine's spring element, adjust the electrical end roundness, and then tool end roundness while changing the cutting speed. Confirm that the error increases with the speed. 2. The electrical end roundness will have an error on the inner side when tool end compensation is used.
CAUTION
If an excessive value is set in the tool end compensation spring constant (SV065), the machine could vibrate when stopping, resulting in a dangerous state.
4 - 32
4. Servo Adjustment
4-4
4-4-1
Adjustment during full closed loop control

Outline
The servo control is all closed loop control using the detector's feedback. "Full closed loop control" is the system that directly detects the machine position using a linear scale, whereas the general "semi-closed loop" is the one that detects the motor end position. In a machine that drives a table with a ball screw, the following factors exist between the motor and table end: [1] Coupling or ball screw table bracket's backlash [2] Ball screw pitch error These can adversely affect the accuracy. If the table position, which is the tool end, is directly detected with a linear scale, high-accuracy position control which is not affected by backlash or pitch error is possible. However, with the full closed loop system, the machine system is also directly included in the position loop control. Thus, if the machine's rigidity is not high, the gain cannot be increased, and the required high accuracy cannot be attained. The procedures for adjusting the servo with the full closed loop system are the same as the semi-closed loop system. Vibration or overshooting will occur easily, so the position loop gain is generally lower than the semi-closed loop.
(1) Full closed loop control
(2) Overrun detection With the full closed system, the tool end position feedback (FB) detected with the linear scale is used for the position control. However, the motor end position FB is detected at the same time, and the error of both FB is observed. If this FB error exceeds the servo parameter SV054 setting value, alarm 43 will be detected and the system will stop to prevent overrunning due to a scale FB error from occurring.
Table Position droop Position command PGN + Motor end position FB FB error + Machine end position FB Speed command Servomotor ENC Linear scale
Overrun detection control
No.
Abbrev.
Parameter name
Explanation
Setting range
SV054
ORE
Set the overrun detection width in the full-closed loop control. Overrun detection width in closed loop If the gap between the motor end detector and the linear scale (tool end detector) exceeds the value set by this parameter, it is judged to be control overrun and Alarm 43 will be detected. When "-1" is set, the alarm detection wont be performed. When "0" is set, overrun is detected with a 2mm width.
-1 to 32767 (mm)
4 - 33
4. Servo Adjustment
4-4-2
Generally, the tool end position follows the operation later than the motor end position. With full closed loop position loop control, the tool end position is used for position feedback, so the motor end position could advance too far and cause the tool end position to overshoot easily. Speed loop delay compensation suppresses overshooting by weakening the speed loop PI control (weakening advance compensation = delaying). If the compensation is too large and PI control is weakened too far, the positioning time could increase, or the position droop will remain when the motor is stopped. <Adjustment method> [1] Set the servo function selection 1 (SV027: SSF1)/bit1, bit0 to 10. (Select delay compensation changeover type 2) [2] Set the axis unbalance torque to the torque offset (SV032: TOF). (Refer to "4-3-5 (1) Unbalance torque and frictional torque" for details on measuring the unbalance torque.) [3] Observe the position droop waveform, and confirm the overshooting. Increase SV007 (VIL) in increments of 5, and adjust so that the overshooting is improved. If set too high, the position droop will remain when the axis is stopped.
SV007
VIL
SV032
TOF
Torque offset
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". 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 unbalance torque of vertical axis and inclined axis.
0 to 32767
-100 to 100 (Stall [rated] current %) 2 upc 1 0 vcnt
SV027
SSF1
F E D C aflt zrn2 afse bit 0 1
B ovs
9 lmc
7 6 omr zrn3
5 vfct
Meaning when "0" is set Meaning when "1" is set Set the execution changeover type of the speed loop delay compensation. vcnt 00: Delay compensation changeover 10: Delay compensation invalid changeover type 2 01: Delay compensation changeover 11: Setting prohibited type 1
CAUTION
The position droop will remain if SV007 is set too high.
4 - 34
4. Servo Adjustment
4-4-3
Dual feedback control (Optional function)
If the motor and machine coupling or machine system's rigidity is low (ex. large machine, etc.) when using a closed loop system, the response during acceleration/deceleration will vibrate and cause overshooting. This can cause the position loop gain from increasing. The dual feedback function is effective in this case. To validate the dual feedback function, use position feedback with a motor end detector in ranges with high acceleration to enable stable control. In ranges with low acceleration, use position feedback with the tool end detector (scale). This will make it possible to increase the position loop gain.
Speed command Table Servomotor Linear scale Motor end position FB dead band + Primary delay filter SV051
Dual feedback control
Position command + -
Position droop
Position control
High frequency FB element
ENC
Low frequency FB element
+ -
SV052 Tool end position FB
The state will approach the semi-closed loop system as the primary delay filter's time constant increases, so the position loop gain limit will increase. Note that the limit of the position loop gain increased with the dual feedback function is the same as the position loop gain limit for a semi-closed system that does not use a tool end detector(scale, etc.). In addition, the positioning time will increase as the primary delay filter time constant increases.
POINT
1. Dual feedback control is a function that compensates symptoms resulting from insufficient machine rigidity. If there are items that can be improved on the machine (improvement of scale installation position, etc.) improve those first. 2. The position loop gain limit will not increase compared to the semi-closed loop system even when using dual feedback control. 3. Dual feedback control is an optional function. If the option is not set in the NC, alarm 37 (at power ON), or warning E4 and error parameter No. 103 (2303 for M60S/E60 Series NC) will be output.
4 - 35
4. Servo Adjustment
<Adjustment method> [1] Set the servo specifications (SV017: SPEC)/bit1 to 1, and turn the NC power ON again. [2] Measure the position droop overshooting while increasing the dual feedback control time constant (SV051: DFBT) in increments of 5ms. Adjust to the time constant where overshooting does not occur. [3] For the final setting value, set a value 1.5 to 2-fold the value adjusted in 3.
SV017
SPEC* Servo specification selection
E
spm
9
mpt
8
mp
7
abs
5
vdir
4
fdir
3
vfb
seqh dfbx fdir2
1 SV051 DFBT
bit Meaning when "0" is set dfbx Dual feedback control stop
Meaning when "1" is set Dual feedback control start 0 to 9999 (ms) 0 to 9999 (m)
SV052
DFBN
Dual feedback Set the control time constant in dual feed back. control time constant When "0" is set, the actual value that is set is 1ms. The higher the time constant is, the closer it gets to the semi-closed control, so the limit of the position loop gain is raised. Dual feedback Set the non-sensitive band in the dual feedback control. control non-sensitive Set to "0" as a standard. band
4 - 36
4. Servo Adjustment
4-5
Settings for emergency stop
Emergency stop in this section refers to the following states. [1] Emergency stop was input (including other axis alarms) [2] NC power down was detected [3] A servo alarm was detected
4-5-1
Deceleration control
With the MDS-C1-V1/V2 servo drive unit, if the deceleration stop function is validated, the motor will decelerate following the set time constant while maintaining the READY ON state. READY will turn OFF and the dynamic brakes will function after stopping. If an alarm, for which dynamic brakes are designated as the stopping method, occurs, the motor will stop with the dynamic brakes. <Features> When the load inertia is large, deceleration stop can be executed at a shorter time than the dynamic brakes. (The stop time for the normal acceleration/deceleration time constants will be achieved.) (1) Setting the deceleration control time constant Set the time for stopping from the rapid traverse rate (rapid: axis specification parameter) in the deceleration time constant for emergency stop (SV056: EMGt). The operation stops with the position loop step when 0 is set. If linear acceleration/deceleration is selected for rapid traverse, the same value as the acceleration/deceleration time constant (G0tL) will be the standard value. If another acceleration/deceleration pattern is selected, set rapid traverse to linear acceleration/deceleration and adjust to a suitable acceleration/deceleration time constant. Use that value as the standard value. <Operation> When an emergency stop occurs, the motor will decelerate at the same inclination from each speed.
SV056 RAPID SV055 Forced READY OFF range
Motor speed
Constant inclination deceleration Time
Emergency stop (EMG) In-position (INP) Servo READY (READY) Motor brake control output (CN20)
ON OFF ON OFF ON OFF OFF ON
READY OFF after in-position
Deceleration control sequence
4 - 37
4. Servo Adjustment
No.
Abbrev.
Parameter name
Explanation
Setting range
SV055
EMGx Max. gate off delay time after emergency stop Deceleration time constant at emergency stop
SV056
EMGt
Set a length of time from the point when the emergency stop is input to the point when READY OFF is compulsorily executed. Normally, set the same value as the absolute value of SV056. In preventing the vertical axis from dropping, the gate off is delayed for the length of time set in SV048 if SV055s value is smaller than that of SV048. In the vertical axis drop prevention time control, set the time constant used for the deceleration control at emergency stop. Set a length of time that takes from rapid traverse rate (rapid) to stopping. Normally, set the same value as the rapid traverse acceleration/deceleration time constant. When executing the synchronous operation, put the minus sign to the settings of both of the master axis and slave axis.
0 to 20000 (ms)
-20000 to 20000 (ms)
(2) Deceleration control stop distance The stopping distance LEMG when the motor is stopped with deceleration control during an emergency stop can be approximated with the following expression. Note that the value will be higher than this if the current is limited during deceleration.
F LEMG = PGN1 60 + 1 2
: : : :
F EMGt F (mm) rapid 1000 60

Feedrate during emergency stop Rapid traverse rate Position loop gain 1 (SV003) Deceleration time constant for emergency stop (SV056) (mm/min) (mm/min) (rad/s) (ms)
F rapid PGN1 EMGt
POINT
1. Deceleration control will not take place when a servo alarm, for which the stopping method is dynamic, occurs. The motor will stop with dynamic braking regardless of the parameter setting. 2. If the power fails and the deceleration time constant is set to a relatively long time, the braking method may change from deceleration control to dynamic braking due to a drop in the bus voltage in the drive unit. If the deceleration control time constant (EMGt) is set to a value longer than the acceleration/deceleration time constant, the overtravel point (stroke end point) may be exceeded. Take care as the axis could collide with the tool end.
CAUTION
4 - 38
4. Servo Adjustment
4-5-2
Vertical axis drop prevention control
(1) Vertical axis drop prevention control The vertical axis drop prevention control is a function that prevents the vertical axis from dropping due to a delay in the brake operation when an emergency stop occurs. The no-control time until the brakes activate can be eliminated by delaying the servo READY OFF state by the time set in the parameters when an emergency stop occurs. Always use this function together with deceleration control. <Setting procedures> [1] Apply emergency stop while viewing the current position on the NC screen. Adjust the vertical axis drop prevention time (SV048), and set the minimum delay time at which the axis does not drop. [2] Set the same value as the adjusted vertical axis drop prevention time (SV048) for the max. gate off delay time after emergency stop (SV055). [3] For the axis for which the vertical drop is to be controlled, set the same value as the acceleration/deceleration time constant for the deceleration control time constant at emergency stop (SV056). [4] If the vertical axis is MDS-C1-V2 (2-axis drive unit), set the servo parameters for the other axis in the same unit. SV048 = Same value as adjusted vertical axis SV048 SV055 = Same value as adjusted vertical axis SV055 SV056 = Same value as that axis' rapid traverse acceleration/deceleration time constant [5] Set the spindle parameter SP033/bitF=1 when the converter that supplies PN power to the vertical axis is controlled by the spindle amplifier. [6] If the converter that supplies PN power to the vertical axis is controlled by a different servo amplifier, set the servo parameter setting for that axis as well. (Same as item [4] above).
Emergency stop (EMG) Motor brake control output (CN20) Motor brake actual operation (BRK) Servo READY (READY)
ON OFF OFF ON OFF ON ON OFF SV048
Vertical axis drop prevention control sequence
CAUTION
1. Always set deceleration control when using the vertical axis drop prevention control setting. 2. Configure so that the power supply unit is controlled directly by the servo drive unit which controls the spindle drive unit or the vertical axis drop prevention control. 3. If an alarm, for which dynamic brake stopping is designated, occurs with the axis for which vertical axis drop prevention control is active, the function will not activate. To prevent axis dropping under all conditions, provide measures on the machine side by installing a balance unit, etc.
4 - 39
4. Servo Adjustment
No.
Abbrev.
Parameter name
Servo parameter Explanation Input a length of time to prevent the vertical axis from dropping by delaying Ready OFF until the brake works when the emergency stop occurs. Increase the setting by 100ms at a time and set the value where the axis does not drop. Set a length of time from the point when the emergency stop is input to the point when READY OFF is compulsorily executed. Normally, set the same value as the absolute value of SV056. In preventing the vertical axis from dropping, the gate off is delayed for the length of time set in SV048 if SV055s value is smaller than that of SV048. In the vertical axis drop prevention time control, set the time constant used for the deceleration control at emergency stop. Set a length of time that takes from rapid traverse rate (rapid) to stopping. Normally, set the same value as the rapid traverse acceleration/deceleration time constant. When executing the synchronous operation, put the minus sign to the settings of both of the master axis and slave axis. Spindle parameter Explanation F
poff
Setting range
SV048
EMGrt Vertical axis drop prevention time
0 to 20000 (ms)
SV055
EMGx Max. gate off delay time after emergency stop EMGt Deceleration time constant at emergency stop
0 to 20000 (ms)
SV056
-20000 to 20000 (ms)
No.
Abbrev.
Parameter name
Setting range
SP033 SFNC1* Spindle function 1 E

hzs
C
ront
9
pycal
8
pychg
2
sftk
pyst pyoff
dflt 1a2m
bit
F

Contactor hold at NC power OFF valid
poff Contactor hold at NC power OFF invalid
POINT
1. SV048 and SV055 are set for each axis, but when using MDS-C1-V2 (2-axis drive unit), the two axes are simultaneously controlled with the larger setting value for the two axes. 2. If an alarm, for which dynamic brake stopping is designated, occurs with the axis for which vertical axis drop prevention control is active, the function will not activate. 3. A drop amount of several m to several 10m will remain due to brake play.
CAUTION
1. Do not set the vertical axis drop prevention time longer than required. The servo control and brakes could collide, resulting in an overload alarm or drive unit damage. There is no problem if the overlapping time is within 100ms. 2. Vertical axis drop prevention control (including deceleration control) longer than 100ms will not be guaranteed during a power failure. The operation will change to dynamic brakes. 3. If only SV048 and SV055 are set, and SV056 is set to 0, the deceleration stop will be a stepped stop and could result in collision with the machine.
4 - 40
4. Servo Adjustment
<Outline of system configurations and corresponding parameter settings> [1] Spindle controls power supply, vertical axis is a 1-axis unit (vertical axis: Z axis)
MDS-C1-V2 X axis, Y axis MDS-C1-V1 *Z axis MDS-C1-SP Spindle MDS-C1-CV Power supply
NC
Axis Parameter
X axis MDS-C1-V2
Y axis
Z axis (Vertical axis) MDS-C1-V1
Spindle MDS-C1-SP
SV048 SV055 SV056
Set by adjustment Same value as SV048 Same value as Z axis rapid traverse time constant
Spindle parameter SP033/bitF=1
[2] Spindle controls power supply, vertical axis is a 2-axis unit (vertical axis: Z axis)
MDS-C1-V1 X axis MDS-C1-V2 Y axis, *Z axis MDS-C1-SP Spindle MDS-C1-CV Power supply
NC
Axis Parameter
X axis MDS-C1-V1
Y axis
Spindle MDS-C1-SP
SV048 SV055 SV056
Same value as Z axis Same value as Z axis Same value as Y axis rapid traverse time constant
Set by adjustment Same value as SV048 Same value as Z axis rapid traverse time constant Spindle parameter SP033/bitF=1
4 - 41
4. Servo Adjustment
[3] Servo controls power supply, vertical axis is a 1-axis unit (vertical axis: Z axis)
MDS-C1-V2 X axis, Y axis MDS-C1-V1 *Z axis MDS-C1-CV Power supply MDS-C1-SP Spindle MDS-C1-CV Power supply
NC
Axis Parameter
X axis MDS-C1-V2
Y axis
Spindle MDS-C1-SP
SV048 SV055 SV056
Set by adjustment Same value as SV048 Same value as Z axis rapid traverse time constant
No spindle parameter setting required
[4] Servo controls power supply, vertical axis is a 2-axis unit (vertical axis: Z axis)
MDS-C1-V1 X axis MDS-C1-V2 Y axis, *Z axis MDS-C1-CV Power supply MDS-C1-SP Spindle MDS-C1-CV Power supply
NC
Axis Parameter
X axis MDS-C1-V1
Y axis
Spindle MDS-C1-SP
SV048 SV055 SV056
Same value as Z axis Same value as Z axis Same value as Y axis rapid traverse time constant
Set by adjustment Same value as SV048 Same value as Z axis rapid traverse time constant No spindle parameter setting required
4 - 42
4. Servo Adjustment
4-6
4-6-1
Protective functions
Overload detection
The servo drive unit is equipped with an electronic thermal that protects the servomotor and servo drive unit from overload conditions. The overload 1 alarm (alarm 50) is detected if an overload condition occurs, and the overload 2 alarm (alarm 51) is detected if 95% or more of the maximum current is commanded continuously for 1 second or longer due to a machine collision, etc. The parameters shown below are for machine tool builder adjustment purposes only, and should be kept at their standard settings (SV021=60, SV022=150). For details concerning the overload protection characteristics, refer to the MDS-C1 Series Specifications Manual (BNP-C3040).
No. SV021 SV022 Abbrev. OLT OLL Parameter name Overload detection time constant Overload detection level Explanation 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.) Setting range 1 to 999 (s) 110 to 500 (Stall [rated] current %)
4-6-2
Excessive error detection
An excessive error (alarms 52, 53, 54) is detected when the difference between the servo's commanded position and the FB position exceeds the value set by parameter. Separate excessive error detection width can be set for servo ON (SV023) and servo OFF (SV026) statuses. When a wider excessive error detection width than that used for standard control is required in stopper control, etc., the detection width setting can be changed to the SV053 setting value by NC command. Follow-up control (NC commanded position tracks servo FB position) is used during emergency stop and during a servo OFF command, and so there is no excessive error detection at those times, although the follow-up control during a servo OFF status can be disabled by an NC system parameter setting.
No. SV023 Abbrev. OD1 Parameter name Excessive error detection width during servo ON Explanation Set the excessive error detection width when servo ON. <Standard Rapid traverse rate 2 (mm) OD1=OD2= setting value> (mm/min) 60 PGN1 When "0" is set, the excessive error detection will not be performed. 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. Set the excessive error detection width when servo ON in a special control (initial absolute position setting, stopper control, etc.). If "0" is set, excessive error detection wont be performed. Setting range 0 to 32767 (mm)
SV026 SV053
OD2 OD3
Excessive error detection width during servo OFF Excessive error detection width in special control
0 to 32767 (mm) 0 to 32767 (mm)
4 - 43
4. Servo Adjustment
4-6-3
Collision detection
Collision detection quickly detects a collision of the motor shaft, and decelerates and stops the motor. This suppresses the generation of an excessive torque in the machine tool, and helps to prevent an abnormal state from occurring. Impact at a collision will not be prevented by using this collision detection function, so this function does not necessarily guarantee that the machine tool will not be damaged or that the machine accuracy will be maintained after a collision. The same caution as during regular operation is required to prevent the machine from colliding. (1) Collision detection method 1 The required torque for the command is estimated from the position command issued from the NC, and the disturbance torque is obtained from the difference with the actual torque. When this disturbance torque exceeds the collision detection level set with the parameters, the motor will decelerate to a stop with a torque 80% (standard) value of the motor's maximum torque. After decelerating to a stop, alarm 58 or 59 will occur, and the system will stop. The collision detection level for rapid traverse (G0) is set with SV060: TLMT. The collision detection level for cutting feed (G1) is set to 0 to 7-fold (SV35.clG1) based on the collision detection level for rapid traverse. When clG1 is set to 0, collision detection method 1 will not function during cutting feed. If SV060 is set to 0, all collision detection (including methods 1 and 2) will not function.
Collision detection level setting parameter During rapid traverse (During G0 feed) During cutting feed (During G1 feed) Detected alarm
SV060 SV060 c1G1 (SV035)
Alarm 58 Alarm 59
3000 Speed command (r/min)
-3000 Collision detection method 1, detection range (alarm 58/59) Frictional torque (SV045)
200 100 Estimated torque (stall%) 0 -100 -200
G0 collision detection level (SV060) G1 collision detection level (SV060clG1)
Unbalance torque (SV032)
G0 feed (rapid traverse)
G1 feed (cutting feed)
Alarm detection range for collision detection method 1
CAUTION
The collision detection function does not guarantee safety or machine accuracy when a collision occurs. Thus, the same caution as during regular operation is required to prevent the machine from colliding.
4 - 44
4. Servo Adjustment
(2) Collision detection method 2 When the current command reaches the motor's maximum current, the motor will decelerate and stop at a torque 80% (standard value) of the motor's maximum torque. After decelerating to a stop, alarm 5A will occur, and the system will stop. If the acceleration/deceleration time constant is short and incorrect detections easily occur during normal operation, lengthen the acceleration/ deceleration time constant and adjust so that the current is not saturated (does not reach the maximum current) during acceleration. If the acceleration/deceleration time constant cannot be lengthened, set parameter SV035/bitF (SSF4.c12n) to 1 to ignore collision detection method 2.
POINT
1. Always validate SHG control when using the collision detection function, or when carrying out SV059 setting value operation. 2. Provide an allowance in the detection level setting to prevent incorrect detections. 3. All collision detection functions will be disabled when SV60 is set to 0. 4. Collision detection method 2 will function if a value other than 0 is set in SV060. Note that the detection can be ignored by setting the parameter (SV035/bitB). 5. The torque estimated gain (SV059) must be readjusted when there are changes in the detector resolution following the detector replacement, or in the detector loop gain (PGN) or position control system. (closed loop control and semi-closed loop has been changed).
<Setting and adjustment methods> [1] Confirm that SHG control is active. Collision detection function is valid only during SHG control. [2] Set the axis unbalanced torque to the torque offset (SV032: TOF). (Refer to "4-3-5 (1) Unbalance torque and frictional torque" for details on measuring the unbalance torque.) [3] Measure the frictional torque and set in the frictional torque (SV045: TRUB). Carry out reciprocation operation (approx. F1000) with the axis to be adjusted, and measure the load current % when the axis is fed at the constant speed on the NC SERVO MONITOR screen. This frictional torque is expressed with the following expression.
Frictional torque (%) = (+ feed load current %) - (- feed load current %) 2
[4] Set SV035: SSF4.clt (bitF) to 1 for the axis being adjusted, and move in both directions with JOG, etc., at the rapid traverse rate. When the MPOS display on the NC SERVO MONITOR screen has stabilized, set that value for the torque estimated gain (SV059: TCNV). Return SV035: SSF4.clt (bitF) to 0. [5] If the acceleration/deceleration time is short, and the current is limited, set SV035: SSF4.c12n (bitB) to 1 to invalidate collision detection method 2. [6] Adjust the collision detection level (SV060: TLMT). First set 100. If operation at the rapid traverse rate results in an alarm, increase the setting value by approx. 20. If an alarm does not occur, lower the setting value by approx. 10. When SV035: SSF4.clet (bitA) is set to 1, the estimated disturbance torque peak value for the latest two seconds will appear at MPOS. This value can be used as reference. Set the final setting value to a value approx. 1.5-fold the limit value at which an alarm does not occur. [7] Divide the maximum cutting load with the value set for the collision detection level (SV060: TLMT). (Round up the decimal) Set this value in SV035: SSF4.clG1 (bitC-E).
4 - 45
4. Servo Adjustment
No.
Abbrev.
Parameter name
Explanation
Setting range
SV032 SV035
TOF SSF4
Torque offset Servo function selection 4
Set the unbalance torque of vertical axis and inclined axis.
-100 to 100 (Stall current %) 4 3 tdt 2 1 0
F clt bit 8 9 A B C D E F
D C clG1
B A cl2n clet
9 cltq
6 iup
Meaning when "0" is set Meaning when "1" is set Set the retracting torque for collision detection in respect to the maximum cltq torque of the motor. 00 : 100% 01 : 90% 10 : 80% (Standard) 11 : 70% Setting for normal use The disturbance torque peak of the clet latest two seconds is displayed in MPOS of the servo monitor screen. cl2n Collision detection method 2 valid Collision detection method 2 invalid Collision detection method 1 Set the collision detection level during cutting feed (G1). clG1 The G1 collision detection level=SV060 clG1. When clG1=0, the collision detection method 1 during cutting feed wont function. Setting for normal use The guide value of the SV059 clt setting value is displayed in MPOS of the servo monitor screen. 0 to 100 (Stall current %)
SV045
SV059
TRUB Frictional torque (Low order) TCNV Collision detection torque estimating gain TLMT Collision detection level
When you use the collision detection function, set the frictional torque.
SV060
Set the torque estimating gain when using the collision detection function. -32768 to After setting as SV035/bitF(clt)=1 and performing 32767 acceleration/deceleration, set the value displayed in MPOS of the NC servo monitor screen. Set to "0" when not using the collision detection function. When using the collision detection function, set the collision detection 0 to 999 level during the G0 feeding. (Stall current %) If "0" is set, none of the collision detection function will work.
4 - 46
5. Spindle Adjustment
5-1 D/A output specifications for spindle drive unit................................................................................. 5-2 5-1-1 D/A output specifications ........................................................................................................... 5-2 5-1-2 Setting the output data............................................................................................................... 5-3 5-1-3 Setting the output magnification ................................................................................................ 5-4 5-2 Spindle control signal........................................................................................................................ 5-6 5-2-1 Spindle control input (NC to SP) ................................................................................................ 5-6 5-2-2 Spindle control output (SP to NC)............................................................................................ 5-15 5-3 Adjustment procedures for each control......................................................................................... 5-26 5-3-1 Basic adjustments.................................................................................................................... 5-26 5-3-2 Adjusting the acceleration/deceleration operation................................................................... 5-27 5-3-3 Adjusting the orientation control .............................................................................................. 5-35 5-3-4 Adjusting the synchronous tap control..................................................................................... 5-49 5-3-5 Adjusting the C-axis control ..................................................................................................... 5-53 5-3-6 Adjusting the spindle synchronous control .............................................................................. 5-56
5-1
5-1
D/A output specifications for spindle drive unit
The MDS-C1-SP/SPH/SPX/SPHX/SPM spindle drive unit has a function to D/A output each control data. The spindle adjustment data required to set the spindle parameters matching the machine can be D/A output. The data can be measured with a hi-corder or oscilloscope, etc.
5-1-1
D/A output specifications

Item Explanation 2ch 444s (min. value) 8bit 0V to +5V (zero) to +10V, 0V to +10V for meter output 1/256 to 128-fold CN9 connector MO1 = Pin 9 MO2 = Pin 19 GND = Pin 1 Phase current feedback output function U phase current FB : Pin 7 V phase current FB : Pin 17
No. of channels Output cycle Output precision Output voltage range Output magnification setting Output pin
CN9 connector
Pin 1 2 3 4 5 6 7 8 9 10 Name LG Pin 11 12 13 14 15 16 17 18 19 20 Name
UIFB MO1
VIFB MO2
Function
5-2
5-1-2
No. SP253 SP254
Setting the output data

Abbr. DA1NO DA2NO Parameter name D/A output channel 1 data No. D/A output channel 2 data No. Output magnification standard setting value (SP255, SP256) 0 0 8 8 13 Output unit for standard setting Depends on maximum speed 30-minute rating 12%/V 30-minute rating 20%/V 30-minute rating 20%/V 500rpm/V Output cycle 3.55ms 3.55ms 3.55ms 3.55ms 3.55ms Explanation Input the No. of the data to be output to each D/A output channel.
No.
Output data ch1: Speedometer output ch2: Load meter output Current command Current feedback Speed feedback Position droop (lower order 16bit) Position droop (higher order 16bit) Feedrate (FT) (lower order 16bit) Feedrate (FT) (higher order 16bit) Position command (lower order 16bit) Position command (higher order 16bit) Position FB (lower order 16bit) Position FB (higher order 16bit) Control input 1 Control input 2 Control input 3 Control input 4 Control output 1 Control output 2 Control output 3 Control output 4
Original data unit 10V=max. speed (Zero=0V) 10V=120% load (Zero=0V) Rated 100%=4096 Rated 100%=4096 r/min
0 1 2 3 4 5 6 7 8 9 10 11 12 13 80 81 82 83 84 85 86 87
0.001deg=64 1deg=(6400065536) 0.001deg=64 1deg=(6400065536) 0.001deg=64 1deg=(6400065536) 0.001deg=64 1deg=(6400065536)
10 (10.24) 671 173 (at 3.5ms communication) 629 (at 3.5ms communication) 10 (10.24) 19 (18.64) 10 (10.24) 19 (18.64)
0.01deg/V 10deg/V 10deg/min/V 500rpm/V 0.01deg/V 360deg/V 0.01deg/V 360deg/V
888s 888s 888s 888s 888s 888s 888s 888s
HEX
Bit correspondence
3.55ms
5-3
5-1-3
Setting the output magnification

With meter output, the output channel is fixed, and the output voltage range is 0 to 10V in the positive range. Set the magnification with the following parameters. Also, low path filter can be set on the load meter output.
(1) Meter output (Data No. 0)
No. SP017
Abbr. TSP*
Parameter name Maximum motor speed
Details
Setting range
Standard 6000
Set the maximum spindle motor speed. 1 to 32767 When SP249=0, the motor speed will be the motor rotation (r/min) speed at the speedometer 10V output. Set the filter time constant of load meter output. When "0" is set, a filter time constant is set to 100ms. 0 to 32767 (2ms)
SP094 SP249
LMAV* Load meter output filter SMO
0 0
Speedometer speed Set the motor rotation speed when the speedometer 10V is 0 to 32767 output. (r/min) When set to "0", this parameter becomes the same as SP017 (TSP). Load meter voltage Set the voltage when the load meter 120% is output. When set to "0", this becomes 10V. 0 to 10 (V)
SP250
LMO
(2) Internal data output (Data No. 1 to 13) Normally, the standard setting value is set for the output magnification (SP255, SP256). When "0" is set, the magnification will be the same as "256". DATA
10 [V] SP255 + 5 [V] (offset) = Output voltage [V] 256 (8 bit) 256
(Example) To output current FB at a 30-minute stall rating 20%/V unit (SP253=3, SP255=8) 819.2
No. Abbr.
8 256
10 256
+ 5 = 6 [V]
Details Setting range -32768 to 32767 (1/256-fold) Standard 0 0
Parameter name
SP255 DA1MPY DA output channel 1 Set the output magnification with a 1/256 unit. When "0" is set, the magnification will be the same as "256". magnification SP256 DA2MPY DA output channel 2 magnification
5-4
(3) Control signal output (Data No. 80 to 87) A hexadecimal display is converted into a decimal and output. The method of calculating the magnification is the same as (2). The status cannot be output for each bit, so output the status for all 16 bits. (Example) Orientation indexing control With orientation indexing control, the following operations of the "Control output 4" can be observed as shown on the right: bit4: Orientation completed bit7: Indexing positioning completed Note that the weight of the D/A output differs for each bit.
Orientation start
10[V]
Orientation speed
Motor speed
Orientation Indexing complete complete

5[V]
Control output 4
Time Orientation time Indexing time Orientation indexing control sequence output
5-5
5-2
Spindle control signal
The sequence input/output signals exchanged between the NC and spindle drive unit are explained in this section. The status of each signal is displayed on the NC SPINDLE MONITOR screen.
5-2-1
Spindle control input (NC to SP)

Name Spindle control input 1 F
G1
(1) Spindle control input 1

Details E D C B A 9
TL2
8
TL1
7
ALMR
6
PRM
MAC TL3
SRV RDY
bit Details 0 RDY READY ON command 1 SRV Servo ON command 2 3 4 5 6 PRM Parameter conversion command 7 ALMR Drive unit alarm reset command 8 TL1 Torque limit 1 9 TL2 Torque limit 2 A TL3 Torque limit 3 B MAC Pole position detection check command (only for MDS-C1-SPM) C D E G1 F Cutting
bit0. READY ON command (RDY) This signal is input when preparations to rotate the motor are completed. The forward run and reverse run commands will not be accepted even if input before this signal turns ON. bit1. Servo ON command (SRV) This is input for position control, excluding orientation. If this signal is not ON, position control will not be executed even if the spindle control mode selection command's combination indicates the position control mode. bit6. Parameter conversion command (PRM) This is started when the spindle parameters are converted on the NC screen. bit7. Drive unit alarm reset command (ALMR) This turns ON while NC reset is input. Spindle alarms that can be reset with NR are reset.
5-6
bit8. Torque limit 1 (TL1) bit9. Torque limit 2 (TL2) bitA. Torque limit 3 (TL3) This signal is used to temporarily reduce the spindle motor's output torque such as when clamping the spindle motor on the machine side. The torque limit is designated in percentage using the motor's short-time rating as 100%. Set the SP021, SP049 to SP054 torque limit value with a combination of TL1 to 3.
TL3 0 0 0 1 1 1 1 TL2 0 1 1 0 0 1 1 TL1 1 0 1 0 1 0 1 Torque limit value SP021 SP049 SP050 SP051 SP052 SP053 SP054 Related spindle parameters No. SP021 SP049 SP050 SP051 SP052 SP053 SP054 Abbr. TLM1 TLM2 TLM3 TLM4 TLM5 TLM6 TLM7 Parameter name Torque limit 1 Torque limit 2 Torque limit 3 Torque limit 4 Torque limit 5 Torque limit 6 Torque limit 7 Details Set the torque limit rate for the torque limit signal 001. Set the torque limit rate for the torque limit signal 010. Set the torque limit rate for the torque limit signal 011. Set the torque limit rate for the torque limit signal 100. Set the torque limit rate for the torque limit signal 101. Set the torque limit rate for the torque limit signal 110. Set the torque limit rate for the torque limit signal 111. Setting range 0 to 120(%) 0 to 120(%) 0 to 120(%) 0 to 120(%) 0 to 120(%) 0 to 120(%) 0 to 120(%) Standard 10 20 30 40 50 60 70
bitB. Pole position check command (MAC) (only for MDS-C1-SPM) When requesting pole position check from NC, pole position check is performed by turning ON this signal. However, the pole position check is not performed when the check has already completed (control output 1/bitB=1). When SP2070 is set, it stars automatically on the spindle drive unit side. bitF. Cutting (G1) This signal is used to determine whether cutting is taking place or not during C-axis control.
5-7

Name Spindle control input 2 F bit 0 1 2 3 4 5 6 7 8 9 A B C D E F E
DAR
Details D C
PAR
Details
PAR DAR
PS alarm history clear Alarm history clear
bitC. PS alarm history clearPAR This signal turns ON when clearing alarm history for power supply. bitE. Alarm history deleteDAR This signal turns ON when clearing alarm history for driver.
5-8

PCHG
Details E
MS
LCS ORC WRI WRN SRI SRN
GR2 GR1 SC5 SC4 SC3 SC2 SC1
bit 0 SC1 1 SC2 2 SC3 3 SC4 4 SC5 5 GR1 6 GR2 7 8 SRN 9 SRI A WRN B WRI C ORC D LCS
Details Spindle control mode selection command 1 Spindle control mode selection command 2 Spindle control mode selection command 3 Spindle control mode selection command 4 Spindle control mode selection command 5 Gear selection command 1 Gear selection command 2
Forward run start command Reverse run start command Indexing forward run command Indexing reverse run command Orientation start command L coil selection command (When using coil changeover motor) <<For MDS-C1-SP>> MS Sub-motor selection command (for 1-drive unit 2-motor changeover) E <<For MDS-C1-SPM>> MCS M coil selection command (when using coil changeover motor) F PCHG Position changeover mode selection
bit0. bit1. bit2. bit3. bit4.
Spindle control mode selection command 1 (SC1) Spindle control mode selection command 2 (SC2) Spindle control mode selection command 3 (SC3) Spindle control mode selection command 4 (SC4) Spindle control mode selection command 5 (SC5)
SC5 0 0 0 0 0 0 0 1 1 1 1 SC4 0 0 1 1 1 1 1 0 0 1 1 SC3 0 1 0 1 1 1 1 0 1 0 1 SC2 * * * 0 0 1 1 * * * * SC1 * * * 0 1 0 1 * * * * Setting prohibited Speed control Synchronous tap control C-axis control, No. 1 gain selection C-axis control, No. 2 gain selection C-axis control, No. 3 gain selection Setting prohibited Spindle synchronous control Control mode
(Note) The asterisk indicates 1 or 0.
5-9
bit5. Gear selection command 1 (GR1) bit6. Gear selection command 2 (GR2) This selects the number of spindle gear stages required to carry out orientation operation or various position control operation.
GR2 0 0 1 1 GR1 0 1 0 1 Gear ratio SP025, SP029 SP026, SP030 SP027, SP031 SP028, SP032 Related spindle parameters No. SP025 SP026 SP027 SP028 SP029 SP030 SP031 SP032 Abbr. Parameter name Details Setting range Standard setting 1 1 1 1 1 1 1 1
GRA1* Spindle gear teeth count 1 GRA2* Spindle gear teeth count 2 GRA3* Spindle gear teeth count 3 GRA4* Spindle gear teeth count 4 GRB1* Motor shaft gear teeth count 1 GRB2* Motor shaft gear teeth count 2 GRB3* Motor shaft gear teeth count 3 GRB4* Motor shaft gear teeth count 4
Set the number of gear teeth of the spindle corresponding to 1 to 32767 gear 000. Set the number of gear teeth of the spindle corresponding to 1 to 32767 gear 001. Set the number of gear teeth of the spindle corresponding to 1 to 32767 gear 010. Set the number of gear teeth of the spindle corresponding to 1 to 32767 gear 011. Set the number of gear teeth of the motor shaft corresponding 1 to 32767 to gear 000. Set the number of gear teeth of the motor shaft corresponding 1 to 32767 to gear 001. Set the number of gear teeth of the motor shaft corresponding 1 to 32767 to gear 010. Set the number of gear teeth of the motor shaft corresponding 1 to 32767 to gear 011.
bit8. Forward run start command (SRN) This is an operation command. The speed command must also be designated to rotate the motor. If the orientation command is input, the orientation operation will have the priority.
SRN 1 (ON) 0 (OFF) Explanation The motor rotates in the counterclockwise direction (CCW) looking from the shaft at the commanded speed. The motor decelerates to a stop. After stopping, the drive unit's power module turns OFF. Counterclockwise direction Spindle motor rotation direction
bit9. Reverse run start command (SRI) This is an operation command. The speed command must also be designated to rotate the motor. If the orientation command is input, the orientation operation will have the priority.
SRN 1 (ON) 0 (OFF) Explanation The motor rotates in the clockwise direction (CW) looking from the shaft at the commanded speed. The motor decelerates to a stop. After stopping, the drive unit's power module turns OFF. Clockwise direction Spindle motor rotation direction
5 - 10
bitA. Indexing forward run command (WRN) bitB. Indexing reverse run command (WRI) This is valid when the orientation start command is ON.
WRI 1 (ON) 0 (OFF) 1 (ON) 0 (OFF) WRN 1 (ON) 1 (ON) 0 (OFF) 0 (OFF) Setting prohibited. Indexing is carried out in the counterclockwise (CCW) direction looking from the motor end. Indexing is carried out in the clockwise (CW) direction looking from the motor end. Indexing is not carried out. Explanation
bitC. Orientation start command (ORC) This signal is used to start orientation. Orientation has a priority when the orientation start command is input.
ORC 1 (ON) 0 (OFF) Explanation Orientation starts regardless of the run command (SRN, SRI). When a run command (SRN, SRI) is selected, the rotation starts again at the commanded speed.
bitD. L coil selection command (LCS) This command is input to select the coil method for changing the coil. Note that coil changeover is not possible when orientation is commanded. The coil is fixed when the orientation command is input.
LCS 1 (ON) 0 (OFF) Explanation The low-speed command is selected. The high-speed command is selected.
5 - 11
<<For MDS-C1-SP>> bitE. Sub-motor selection command (MS) This command input signal is used to select sub-motor when changing over 1-drive unit 2-motor (spindle motor/general purpose motor).
MS 1 (ON) 0 (OFF) Sub-motor is selected. Main-motor is selected. Explanation
<<For MDS-C1-SPM>> bitE. M coil selection command (MCS) This command is input to select medium-speed coil when using the medium-speed coil.
MCS 1 (ON) 0 (OFF) Explanation Medium-speed command is selected. High-speed command is selected.
bitF. Position changeover mode selection (PCHG) This command is input to select changeover operation from speed control to position control (synchronous tap control, C-axis control and spindle synchronous control.)
PCHG 1 (ON) 0 (OFF) Explanation No zero point return is selected. With zero point return is selected.
5 - 12

TLUP
Details E D C
OSPC
B
PYVC
bit Details 0 1 2 3 4 5 6 7 8 9 A B PYVC Minimum excitation rate changeover request C OSPC Orientation speed changeover request D E F TLUP Spindle holding force up
bitB. Minimum excitation rate changeover request (PYVC) This command selects the minimum excitation rate of weak excitation control. When SP033/bit8=1, the minimum excitation rate changes over from SP056 to SP116 by turning ON this signal.
Related spindle parameters No. SP056 Abbr. PYVR Parameter name Variable excitation (min value) Details Set the minimum value of the variable excitation rate. Select a smaller value when gear noise is too high. Lager value is more effective on impact response. Set the minimum excitation rate when position control input or external input is selected. Setting range 0 to 100 (%) 0 to 100 (%) Standard 50
SP116
OPYVR Minimum excitation value after changeover (2nd minimum excitation rate)
5 - 13
bitC. Orientation speed changeover request (OSPC) This command selects clamp speed for the orientation changeover operation. When the orientation is started with control input 3/bitC(ORC)=1, the clamp speed changes over from SP005 to SP115 by turning ON this signal.
Related spindle parameters No. SP005 Abbr. OSP* Parameter name Orientation mode speed clamp value Details Setting range Standard 0
Set the motor speed limit value to be used when the speed loop 0 to 32767 is changed to the position loop in orientation mode. (r/min) When this parameter is set to "0", SP017 (TSP) becomes the limit value.
SP115
OSP2
Orientation control When the orientation clamp speed is changed by the control 0 to 32767 speed clamp value 2 input, this parameter setting will be used instead of SP005: (r/min) OSP. Indexing speed clamp valid This parameter is used when (SP097: SPEC0/bit4 = 1).
bitF. Spindle holding force up (TLUP) The disturbance observer starts, and the servo rigidity increases. Refer to "5-3-5 (3) Disturbance observer" for details.
5 - 14
5-2-2
Spindle control output (SP to NC)

Name Spindle control output 1 F
CL
(1) Spindle control output 1

Details E bit 0 1 2 3 4 5 6 7 8 9 A B C D E F
RON SON
6
PRMA
4
WRN
INP ZFIN
MAO TL3A TL2A TL1A ALM
SON RON
Details In READY ON In servo ON
WRN
In drive unit warning
PRMA In parameter conversion ALM In drive unit alarm TL1A TL2A TL3A MAO ZFIN INP CL
In torque limit 1 signal input In torque limit 2 signal input In torque limit 3 signal input Magnetic pole position checked (Only for MDS-C1-SPM) Z-phase passed In position loop in-position Limiting current
bit0. In READY ON (RON) When the READY ON signal is input from the NC, if there is no abnormality, this signal turns on in approx. one second. If the start signal (forward run, reverse run, orientation) is turned ON while this signal is ON, the motor will start rotating. If an alarm occurs in the spindle drive unit, this signal will turn OFF. If the READY ON signal from the NC turns OFF while the spindle motor is rotating, the motor will decelerate to a stop, but this signal will remain ON until the motor stops. bit1. In servo ON (SON) This signal turns ON after position control is switched when performing position control except for the orientation. bit4. In drive unit warning (WRN) This signal turns ON when a warning is occurring in the spindle drive unit. bit6. In parameter conversion (PRMA) The parameters sent from the NC are converted into effective parameters for spindle control. bit7. In drive unit alarm (ALM) This signal turns ON when an alarm is occurring in the spindle drive unit. bit8. In torque limit 1 signal input (TL1A) bit9. In torque limit 2 signal input (TL2A) bitA. In torque limit 3 signal input (TL3A) The respective signal turns ON when the torque limit signal 1 to 3 is input.
5 - 15
bitB. Magnetic pole position checked (MAO) This signal turns ON when magnetic pole position is checked. bitD. Z-phase passed (ZFIN) This signal turns ON when the Z-phase is passed for the first time after servo ON during position control. bitE. In position loop in-position (INP) During position loop control, this signal turns ON if the position droop drops below the value set with SP153 (CINP) during C-axis control, SP185 (SINP) during spindle synchronous control, and SP217 (TINP) during synchronous tap control.
Related spindle parameters No. SP153 Abbr. CINP Parameter name C-axis control in-position width Details Setting range Standard 03E8
Set the position error range for outputting the in-position signal 0000 to during C-axis control. FFFF (HEX setting) (1/1000deg) 1 to 2880 (1/16deg) 1 to 2880 (1/16deg)
SP185
SINP
Spindle synchronous Set the position error range for output of the in-position signal in control the spindle synchronous control mode. In-position width Synchronized tapping control in-position width Set the position error range for output of the in-position during synchronized tapping control.
16
SP217
TINP
16
bitF. Limiting current (CL) This signal turns ON if a load higher than the spindle's excessive load withstand level is applied during spindle motor rotation. This may also turn ON during motor acceleration/deceleration.
5 - 16

Name Spindle control output 2 F E
DARA
Details D C
PARA
bit 0 1 2 3 4 5 6 7 8 9 A B C PARA In PS alarm history clear D E DARA In alarm history in clear F
Details
bitC. In PS alarm history clear (PARA) This signal turns ON while clearing power supply alarm history. bitE. In alarm history clear (DARA) This signal turns ON while clearing drive alarm history.
5 - 17

Name Spindle control output 3 F bit 0 1 2 3 4 5 6 7 8 9 A B C D E F
SC1A SC2A SC3A SC4A SC5A GR1A GR2A
Details E D C B A 9 8 7 6 5 4 3 2 1 0
LCSA ORCA WRIA WRNA SRIA SRNA
GR2A GR1A SC5A SC4A SC3A SC2A SC1A
Details Inputting spindle control mode selection command 1 signal Inputting spindle control mode selection command 2 signal Inputting spindle control mode selection command 3 signal Inputting spindle control mode selection command 4 signal Inputting spindle control mode selection command 5 signal Inputting gear selection command 1 signal Inputting gear selection command 2 signal
SRNA Motor in forward run SRIA Motor in reverse run WRNA In forward run indexing WRIA
In reverse run indexing
ORCA In orientation start command signal LCSA L coil selected (when using the coil changeover motor)
<<For MDS-C1-SP>> In sub-motor selection (for 1-drive unit 2-motor changeover) <<For MDS-C1-SPM>> MCSA In M coil selection (when using coil changeover motor)
MSA
bit0. Inputting spindle control mode selection command 1 signal (SC1A) bit1. Inputting spindle control mode selection command 2 signal (SC2A) bit2. Inputting spindle control mode selection command 3 signal (SC3A) bit3. Inputting spindle control mode selection command 4 signal (SC4A) bit4. Inputting spindle control mode selection command 5 signal (SC5A) The respective signal turns ON when the spindle control mode selection command 1 to 5 is input. bit5. Inputting gear selection command 1 signal (GR1A) bit6. Inputting gear selection command 2 signal (GR2A) The respective signal turns ON when the gear selection command 1 or 2 is input. bit8. Motor in forward run (SRNA) This signal turns ON while the start signal is input and the motor is rotating in the CCW direction looking from the motor shaft. This signal may turn ON and OFF if the motor speed is several r/min or less. bit9. Motor in reverse run (SRIA) This signal turns ON while the start signal is input and the motor is rotating in the CW direction looking from the motor shaft. This signal may turn ON and OFF if the motor speed is several r/min or less.
5 - 18
bitA. In forward run indexing (WRNA) bitB. In reverse run indexing (WRIA) The corresponding output signal turns ON while forward run indexing (WRN) or reverse run indexing (WRI) is input to the spindle drive unit. bitC. In orientation start command signal (ORCA) This signal turns ON while the orientation start command (ORC) is input to the spindle drive unit. bit D. L coil selected (LCSA) This signal turns ON while the L coil selection signal (LCA) is input to the spindle drive unit. <<For MDS-C1-SP>> bitE. In sub-motor selection (MSA) This signal turns ON when selecting sub-motor with 1-drive unit 2-motor specification. <<For MDS-C1-SPM>> bitE. In M coil selection (MCSA) This signal turns ON when selecting medium-speed coil in case of using the medium-speed coil.
5 - 19

Name Spindle control output 4 F bit 0 1 2 3 4 5 6 7 8 9 A B C D E F E D C B A 9 8 7
WRCF
Details 6 5 4
ORCF
3
ZS
2
US
1
SD1
0
CD
ORF2 TLUA ATA OSPA PYVA
SD2 MTC
MKC SYSA
Details Current detection SD1 Speed detection 1 US Up-to-speed ZS Zero speed ORCF Orientation complete SYSA Synchronous speed match MKC Changing coil WRCF Index positioning completed MTC In changeover (for 1-drive unit 2-motor changeover) SD2 Speed detection 2
CD PYVA
In minimum weak excitation value changeover
OSPA Orientation speed changeover state ATA In automatic adjustment (only for MDS-C1-SPM) TLUA ORF2
Spindle holding force increased 2nd orientation completed
bit0. Current detection (CD) This signal turns ON when the start signal (forward run, reverse run, orientation) is ON, and the current flowing to the motor is approx. 110% or more of the rating. (The motor output (current) guarantee value is 120% of the rating.) bit1. Speed detection 1 (SD1) This signal turns ON when the motor speed drops below the value set with parameter SP020 (SDTS). The ON to OFF hysteresis width is set with parameter SP047 (SDTR). This signal turns ON when the motor's speed is less than the set speed regardless of the input signal state.
SP047 Motor speed SP020 0 Speed detection 1 (SD1) ON OFF
Speed detection 1 (SD1) sequence
Related spindle parameters No. SP020 Abbr. Parameter name Details Set the motor speed for which speed detection 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). Setting range 0 to 32767 (r/min) 0 to 1000 (r/min) Standard 600
SDTS* Speed detection set value SDTR* Speed detection reset value
SP047
30
5 - 20
bit2. Up-to-speed (US) This signal turns ON when the start command signal (forward run, reverse run) is ON, and the motor speed has reached a range of 15% (standard value) of the speed command value. This signal turns OFF when the start command signal turns OFF. The up-to-speed output range can be set with the parameter SP048 (SUT). Even though the setting value is small, the output will be 45r/min. Pay attention when speed command value is small.
Output range (minimum 45r/min) Motor speed 0 SP048
Forward run start command ON (SRN) OFF Reverse run start command ON OFF (SRI) Up-to-speed (US) ON OFF Up-to-speed (US) sequence
Output range
Related spindle parameter No. SP048 Abbr. SUT* Parameter name Speed reach range Details Set the speed deviation rate with respect to the commanded speed for output of the speed reach signal. Setting range 0 to 100 (%) Standard 15
5 - 21
bit3. Zero speed (ZS) Regardless of the input signal state, this signal turns ON when the motor speed drops below the value set with parameter SP018 (ZSP). Once this signal turns ON, it will not turn OFF for at least 200ms. When switching ON to OFF, hysteresis width is 15r/min. Note that if the parameter SP018 (ZSP) setting value is too small (approx. 10r/min or less), this signal may not be output even if the motor is stopped.
Motor speed 0
SP018
15r/min Output range
15r/min Forward run start command ON OFF (SRN) ON Reverse run start command OFF (SRI) ON Zero speed (ZS) OFF 200ms Zero speed (ZS) sequence
Related spindle parameter No. SP018 Abbr. ZSP* Parameter name Motor zero speed Details Set the motor speed for which zero-speed output is performed. Setting range 1 to 1000 (r/min) Standard 50
5 - 22
bit4. Orientation complete (ORCA) This signal turns ON when the orientation command is input, and the spindle position is reached the set range (within the in-position range) in respect to the target stop position. This signal turns OFF when orientation is completed and the spindle position deviates from the in-position range, but it will turn ON again when the spindle position enters the in-position range again. If the orientation command is turned OFF, this signal will turn OFF even if the spindle position is within the in-position range. The in-position range can be set with parameter SP004 (OINP).
Related spindle parameter No. SP004 Abbr. OINP Parameter name Orientation in-position width Details Set the position error range in which an orientation completion signal is output. Setting range 1 to 2880 (1/16deg) Standard 16
bit5. Synchronous speed match (SYSA) This signal turns ON during spindle synchronous control, when the mode can be changed from the speed operation mode to the spindle synchronous operation mode. bit6. Changing coil (MKC) When using the coil changeover motor, this signal turns ON for the time set in parameter SP059 (MKT) when the L coil selection command is turned ON or OFF. The coil is not changed when the orientation command is input, so this signal will not turn ON even if the L coil selection signal is turned ON or OFF. During orientation control, this signal will turn ON when the orientation command turns OFF and the coil changeover operation takes place. Do not turn the start signal ON or OFF while this signal is ON.
L coil selection command (LCS) Changing coil (MKC) ON OFF ON OFF SP059 SP059
Changing coil (MKC) sequence
Related spindle parameter No. SP059 Abbr. MKT* Parameter name Details Setting range 50 to 10000 (ms) Standard 150
Winding changeover Set the base shut-off time for contactor switching at coil base shut-off timer changeover. Note that the contactor may be damaged with burning if the value of this parameter is too small.
5 - 23
bit7. Index positioning completed (WRCF) This signal turns ON during indexing operation when the spindle position reaches the in-position range in respect to the target stop position. Once this signal turns ON it will remain ON regardless of the spindle position until the orientation signal turns OFF or the next indexing operation signal is input. This signal will turn OFF for the time set with parameter SP103 (FTM) when the indexing operation signal is input even if the current stop point and the next indexing position are in the in-position range.
Related spindle parameter No. SP103 Abbr. FTM* Parameter name Details Setting range 0 to 10000 (ms) Standard 200
Index positioning Set the time for forcedly turn OFF the index positioning completion OFF time completion signal (different from the orientation completion timer signal) after the leading edge of the indexing start signal.
bit8. In 1-drive unit 2-motor changeover (MTC) This signal turns ON during motor changeover with 1-drive unit 2-motor specification. bit9. Speed detection 2 (SD2) This signal turns ON when the motor speed drops below the value set with parameter SP058 (SDT2). The ON to OFF hysteresis width is fixed at 15r/min. This signal turns ON when the motor speed drops below the set speed regardless of the input signal state.
15r/min Motor speed SP058 0 Speed detection 2 (SD2) ON OFF
Speed detection 2 (SD2) sequence
Related spindle parameter No. SP058 Abbr. Parameter name Details Set the motor speed for carry out speed detection 2 output. Setting range 0 to 32767 (r/min) Standard 0
SDT2* Speed detection setting value 2
bitB. In minimum weak excitation value changeover (PYDA) This signal turns ON in response to minimum excitation changeover request (control input 4/bitB).
5 - 24
bitC. Orientation speed changeover state (OSPA) This signal turns ON in response to orientation speed (control input 4/bitB). bitD. In automatic adjustment (ATA) This signal turns ON while the spindle is starting during Z-phase automatic adjustment of the PLG with MDS-C1-SPM. bitE. Spindle holding force increased (TLUA) This signal turns ON while the spindle holding force up (TLUP) signal is input. bitF. 2nd orientation complete (ORF2) When orientation complete advance is valid, this signal turns ON as in-position width determined by required SP004 is reached.
Orientation control speed waveform Orientation complete (ORCF) (during normal control)
0 ON OFF
Orientation complete (ORCF) ON (when advance control is valid) OFF ON 2nd orientation completed OFF (ORF2)
Orientation complete advance SP101 setting
Sequence of 2nd orientation completed (ORF2)
Related spindle parameters No. SP004 SP101 Abbr. OINP DINP* Parameter name Orientation in-position width Details Set the position error range in which an orientation completion signal is output. Setting range 1 to 2880 (1/16deg) 1 to 2880 (1/16deg) Standard 16 16
Orientation advance When using the orientation completed advance function, set the in-position width in-position width that is larger than the normal in-position width defined in SP004 (OINP). F E D C B A 9 8 7 6 5 4
SP097
SPECO* Orientation specification
ostp orze ksft gchg
ips2 zdir
vg8x mdir fdir oscl pyfx dmin odi2 odi1
bit
Meaning when set to 1 Orientation completion advance valid 2nd orientation completion valid
Standard 0 0
Orientation completion 2 dmin advance invalid A ips2 2nd orientation completion invalid
5 - 25
5-3
5-3-1
Adjustment procedures for each control

Basic adjustments
[1] Directly couple the motor and machine, and check the control status during machine run-in. [2] Check that the command speed and actual speed match. If the speeds do not match, check spindle parameters again. (Especially check SP017, SP034, SP040 and SP257 to SP384.) [3] Check the NC parameters Slimit1 to 4, Smax 1 to 4, and Smini. [4] Is the rotation smooth? [5] Is there any abnormal noise? [6] Are there any abnormal odors? [7] Has the bearing temperature risen abnormally?
(1) Items to check during trial operation
(2) Adjusting the spindle rotation speed The rotation speed is received as digital signals from the NC, and thus does not need to be adjusted. If the spindle rotation speed does not match the commanded value due to a dimensional error, such as the pulley diameter, adjust the parameters with the following method. [1] Set the spindle specification parameter slimit. Slimit = SP017 (deceleration rate between motor and spindle) [2] Set the S command to half of the maximum spindle rotation speed, and then measure the spindle rotation speed. If the speeds do not match, change the Slimit value in small increments until the speed matches. [3] Set the S command to the maximum spindle rotation speed, and check whether the spindle rotation speed matches. [4] In machines involving gear changeover, etc., change the gears, and then adjust with steps [1] to [3] above.
5 - 26
5-3-2
Adjusting the acceleration/deceleration operation

The theoretical acceleration/deceleration time is calculated for each output range based on the spindle motor output characteristics as shown on the right. Note that the load torque (mainly frictional torque) is assumed to be 0 in this theoretical expression, so the time tends to be shorter than the acceleration time with the actual machine. (a) Maximum motor output during acceleration/deceleration: Po During acceleration/deceleration, the motor can output at 120% of the short-time rating. Thus, the motor output Po in the output range during acceleration/deceleration follows the expression below. Po = (Short-time rated output) 1.2 [W] (b) Total load GD2: GD2 GD2 of the total load which is accelerated and decelerated follows the expression below. GD2 = (Motor GD2) + (motor shaft conversion load GD2) [kgm2] The acceleration/deceleration time for each output range is calculated as shown below, using the values obtained in (a) and (b). (c) Acceleration/deceleration time for constant torque range: t10N [r/min] (0NN1) 1.03 GD2 N1 N [s] t1 = 375 Po (d) Acceleration/deceleration time for constant output range: t2N1N [r/min] (N1NN2) 1.03 GD2 (N2 - N12) t2 = [s] 2 375 Po (e) Acceleration/deceleration time in deceleration output range: t3N2N [r/min] (N2NN3) 1.03 GD2 (N3 - N23) t3 = [s] 3 375 Po N2 Based on the above expressions, the acceleration/deceleration time: t from 0 to N3 [r/min] is: t = t1 + t2 + t3 [s]
Constant output range Constant Deceleration output range range Output [W] Po Short-time rating 1.2 0 0 N1 N2 Rotation speed [r/min] Output characteristics for acceleration/deceleration N3
(1) Calculating the theoretical acceleration/deceleration time
[Calculation example] Calculate the acceleration/deceleration time from 0 to 10000[r/min] for an SJ-V5.5-01 motor having the output characteristics shown on the right, when the motor shaft conversion load GD2 is 0.2[kgm2].
Po = (Short-time rated output) 1.2 = 5500 1.2 = 6600 [W] GD = (Motor GD ) + (load GD ) = 0.059 + 0.2 = 0.259 [kgm ] Output [kW] t1 =
2 2 2 2
8.0
1.03 GD2 N12 1.03 0.2592 15002 = = 0.063[s] 375 Po 375 6600
2 2 2 2 2 2
6.0 5.5 4.0 3.7 2.0
t2 = 1.03 GD (N2 - N1 ) = 1.03 0.259 (6000 - 1500 ) = 0.471[s] 2 375 Po 2 375 6600 t3 = 1.03 GD (N3 - N2 ) = 1.03 0.259 (10000 - 6000 ) = 1.216[s] 3 375 Po N2 3 375 6600 6000
2 3 3 2 3 3
15-minute rating
4.1 2.8
Thus,
t = t1 + t2 + t3 = 0.063 + 0.471 + 1.216 = 1.75 [s]
Continuous rating 0 0 1500 6000 10000 Rotation speed [r/min] SJ-V5.5-01 output characteristics
5 - 27
(2) Measuring the acceleration/deceleration waveforms Measure the acceleration/deceleration waveforms by using the spindle drive unit's D/A output function and check if theoretical acceleration/deceleration time is within 15%. Refer to "5-1 D/A output specifications for spindle drive unit" for details on D/A output functions. Phase current FB output can be measured by the waveform for either U or V phase FB.
Speedometer output [V]
0 4.0 U(V) phase current FB output [V] 2.5
1.0 Acceleration time: ta Deceleration time: td
Acceleration/deceleration waveforms of spindle motor
When acceleration/deceleration time does not match the theoretical value (an error rate 15% or more), check the following items. [1] There may be an error in calculating load GD2 for the motor axis conversion used when calculating the theoretical acceleration/deceleration time. Check the load GD2 again. [2] When acceleration time is long and deceleration time is short, friction torque is thought to be large. Check load meter value at the maximum speed (spindle monitor screen). If the load is 10% or more, friction torque is thought to be relatively large. Mechanical friction, such as bearing friction or timing belt friction, is assumed to be large. Measure the acceleration/ deceleration time again following trial run. [3] Even if the problems above are not found, when acceleration/deceleration time does not match, there may be a possibility of using spindle motor and spindle drive unit that are not specified, or using wrong parameters. Check the spindle motor type and spindle drive unit type again, as well as the spindle parameter settings.
POINT
1. There are cases where acceleration/deceleration waveforms change depending on the spindle temperature. Check the waveforms when the spindle temperature is high (after continuous operation) and when it is low. 2. Conduct "3-5 Initial adjustment of spindle PLG" beforehand.
5 - 28
(3) Adjustment when the load inertia is large When the load inertia is large and acceleration time is 10s or more, excessive speed deviation alarm (ALM23) may occur because the time in which deviation between speed command and speed FB, which is the actual spindle motor rotation speed, exists is prolonged. In this case, increase speed cushion 1 (SP019). When the acceleration time is 10s or less, use the standard value 30 (300ms). Alarm can be avoided by adjusting excessive speed deviation timer (SP055). However, in this case, alarm detection will be delayed during constant speed operation. In order to improve current ripple waveforms during acceleration/deceleration, adjust by using speed command dual cushion explained later.
Setting range 1 to 32767 (10ms) 0 to 60 (s)
No. SP019
Abbr.
Parameter name
Details Set the time constant for a speed command from "0" to the maximum speed. (This parameter is invalid during position loop control.) Set the timer value until the excessive speed deviation alarm is output. The value of this parameter should be longer than the acceleration/deceleration time.
Standard 30
CSN1* Speed cushion 1
SP055
SETM* Excessive speed deviation timer
12
(4) Adjustment when machine system vibration (noise) is generated When machine components such as gears produce vibration and noise, a machine resonance suppressing filter (notch filter) can be set to eliminate the vibration. At the SP070 parameter, specify the frequency of the vibration to be eliminated. This filter is enabled during all positioning control modes, including speed control, orientation control, and synchronous tap control. If vibration is generated or increased by setting this filter at low speeds, set a machine resonance suppressing filter activation speed (SP076) to prevent the vibration. When noise from the spindle motor seems excessive, a low-pass filter (SP076) can be set to reduce the noise level. The low-pass filter frequency should be set as high as possible, as a low frequency setting can impair spindle control.
Setting range 0 to 3000 (Hz)
No. SP070
Abbr. FHz
Parameter name Machine resonance suppression filter frequency Machine resonance suppression filter operation speed
Details When machine vibration occurs in speed and position control, set the frequency of the required vibration suppression. Note that a value of 100Hz or more is set. Set to "0" when not used. When the vibration increases in motor stop (ex. in orientation stop) when the machine vibration suppression filter is operated by SP070, operate the machine vibration suppression filter at a speed of this parameter or more. When set to "0", this is validated for all speeds. <For MDS-C1-SP/SPH/SPM> Set to reduce the noise generated from the spindle motor Set the band of the low path filter <For MDS-C1-SPX/SPHX> Not used. Set to "0".
Standard 0
SP076
FONS
0 to 32767 (r/min)
SP213
LPF
Low path filter
0 to 2250 (rad/s) 0
5 - 29
(5) Adjusting speed command dual-cushion When a deceleration start causes rippling in the phase current FB waveform, or when a spindle override change causes gear impact noise, the speed command dual-cushion (SP046) setting should be adjusted. The smaller the SP046 setting value, the longer the acceleration/deceleration time. Therefore, set SP046 value as high as possible, while observing the phase current FB waveform, or while listening to the impact noise. (Setting upper limit = 5)
Adjusting SP046
Set SP046=5
Measure acceleration/deceleration waveform at high speed Change the spindle override
Does waveform ripple or impact noise occur?
NO
YES YES SP046=1 ? NO Increase SP046 by 1.
Check for other causes
SP046 adjustment completed
No. SP046
Abbr.
Parameter name
Details For an acceleration/deceleration time constant defined in SP019 (CSN1) , this parameter is used to provide smooth movement only at the start of acceleration/deceleration. As the value of this parameter is smaller, it moves smoother but the acceleration/deceleration time becomes longer. To make this parameter invalid, set "0".
Standard 0
CSN2* Speed command dual cushion
5 - 30
(6) Adjusting speed loop gain The speed loop gain adjustment is made to improve the high-speed range characteristics for speeds of 10,000r/min and higher. Use only the motor-specific standard settings for the basic parameters (SP022, SP023). If the problems shown below occur during constant-speed operation at a speed of 10,000r/min or higher, adjust the target value of variable speed loop proportional gain (SP065) and the change starting speed of variable speed loop proportional gain (SP066) parameter settings. 1) A swell or spike appears in the current waveform 2) An overvoltage condition (alarm 32) occurs If the maximum speed is 10,000 r/min or less, or if no improvement is seen after adjusting the speed loop gain, then adjust the current loop gain.
Adjusting SP065
Set SP065=100, SP066=10000
Measure acceleration/deceleration waveform at high speed
Abnormal current waveform alarm activated?
NO
YES YES SP065=30?
Increase SP065 by 10.
Adjust the current loop gain
SP065 adjustment completed Setting range 0 to 1000
No. SP022
Abbr.
Parameter name
Details
Standard 63
VGNP1* Speed loop gain Basically, use standard setting value set for each motor. proportional term under speed control VGMI1* Speed loop gain integral term under speed control VCGN1* Target value of variable speed loop proportional gain VCSN1* Change starting speed of variable speed loop proportional gain Set the magnification of speed loop proportional gain with respect to SP022 (VGNP1) at the maximum motor speed defined in SP017 (TSP). Set the speed when the speed loop proportional gain change starts. Set 10,000 normally.
SP023
0 to 1000
60
SP065
0 to 100 (%) 0 to 32767 (r/min)
100
SP066
SP022 SP022 (SP065/100)
SP066
SP017
5 - 31
(7) Adjusting current loop gain Although the default setting value is usually appropriate, an adjustment may be required if slight vibration occurs at high spindle motor rotating. In such cases, adjust the target value of variable current loop gain (SP069) parameter setting while observing the current waveform in the high-speed range. Adjust until the output waveform to the spindle motor stabilizes. Set the change starting/ending speed of variable current loop gain (SP067 and SP068) parameters in accordance with the motor's maximum rotation speed.
Adjusting SP069
Default settings in accordance with motor's max. rotation speed (SP067, SP068, SP069)
Increase SP069 by +8.
YES Improved?
NO Adjust by decreasing the SP069 setting in decrements of 8 Adjust by increasing the SP069 setting in increments of 8
YES
Vibration in current waveform?
NO
SP069 adjustment completed
No. SP067
Abbr.
Parameter name
Details Set the speed where the current loop gain change starts.
Setting range 0 to 32767 (r/min) 0 to 32767 (r/min) 0 to 32767 (1/16-fold)
Standard 0
VIGWA* Change starting speed of variable current loop gain VIGWB* Change ending speed of variable current loop gain VIGN* Target value of variable current loop gain
SP068
Set the speed where the current loop gain change ends.
SP069
Set the magnification of current loop gain (torque component and excitation component) for a change ending speed defined in SP068 (VIGWB). When this parameter is set to "0", the magnification is 1.
SP069(1/16) fold
1-fold
SP067
SP068 SP017
SP017(TSP) Setting value Maximum motor SP067 SP068 SP069 speed (VIGWA) (VIGWB) (VIGN) 0 to 6000 6001 to 8000 8001 or more 0 5000 5000 0 8000 10000 0 45 64
5 - 32
(8) Adjusting excitation rate If the motor noise is excessive during constant-speed operation, adjust the variable excitation (SP056) value downward in decrements of 10 from the standard setting of 50 (setting lower limit = 25). The SP033/bit9 parameter setting is an effective way to reduce noise for high-speed operation only (it lowers the excitation rate for high-speed operation only).
No. SP056
Abbr. PYVR
Parameter name Variable excitation (min value)
Details Set the minimum value of the variable excitation rate. Select a smaller value when gear noise is too high. Larger value is more effective on impact response. <For MDS-C1-SP/SPH/SPX/SPHX> F E D C
ront
Standard 50
SP033
SFNC1* Spindle function 1
2
sftk
poff hzs
dflt 1a2m
bit 9
Meaning when set to 1 High-speed rate deceleration method valid for minimum excitation rate
Standard 0
pycal (Conventional specifications)
5 - 33
(9) Adjusting deceleration time When the deceleration time "td" is significantly different from the acceleration time "ta" (td < 0.95 ta, 1.1 1a < td) and no problem with the acceleration time, adjust the deceleration time by changing the target value of variable torque limit magnification at deceleration (SP087) setting. In cases, however, where the variable torque characteristic cannot be lowered to the SP087 level, adjust by changing the speed for starting change of variable torque limit magnification at deceleration (SP088) setting.
Adjusting SP087, SP088
NO td > 1.1 ta? YES td < 0.95 ta? Increase SP087 by +5. YES Increase SP087 by 5. NO
NO
SP087<100 SP088 ? SP017
YES Increase SP088 by 500.
SP087, SP088 adjustment completed
No. SP087
Abbr.
Parameter name
Details Set the minimum value of variable torque limit at deceleration.
Standard 75
SP088
DIQM* Target value of variable torque limit magnification at deceleration DIQN* Speed for starting change of variable torque limit magnification at deceleration
Set the speed where the torque limit value at deceleration starts to change.
0 to 32767 (r/min)
3000
100%
SP087
SP088
SP017 Speed
5 - 34
5-3-3
Adjusting the orientation control

Set the default parameters for each detector used in orientation control. (a) Motor PLG Motor PLG orientation is possible only when the spindle and motor are coupled, or when they are coupled 1:1 with gears (timing belt). The SP025 (GRA1) to SP032 (GRB4) parameters can be set only to 1. The PLG with Z-phase must be mounted on the motor to be used. (b) Spindle end detector An accurate gear ratio (pulley ratio) is required from the motor shaft to the spindle end detector rotary axis. Make sure that the correct number of gear teeth is set in SP025 (GRA1) to SP032 (GRB4). SP025 to SP028=A C E SP029 to SP032=B D F Set the gear ratio (A:X) between the spindle and spindle end detector in SP096 (EGAR).
Spindle X A B D F C E Spindle motor Spindle end detector
(1) Confirming the default parameters
Spindle configuration when using spindle end detector
No. SP096
Abbr.
Parameter name
Details Set the gear ratio between the spindle end and the detector end (except for the motor PLG) as indicated below.
Setting value Gear ratio (deceleration) Setting value Gear ratio (acceleration)
Setting range -3 to 4
Standard 0
EGAR* Encoder gear ratio
0 1 2 3 4
1:1 1 : 1/2 1 : 1/4 1 : 1/8 1 : 1/16
-1 -2 -3
1:2 1:4 1:3
5 - 35
(c) Magnetic sensor An accurate gear ratio (pulley ratio) is required from the motor shaft to the detector rotary axis. Make sure that the correct number of gear teeth is set in SP025 (GRA1) to SP032 (GRB1). SP025 to SP028=A C E SP029 to SP032=B D F The SP123 (MGD0) to SP125 (MGD2) parameters are set as shown below according to the magnetic sensor type.
Type Magnetic sensor type MAGNETIC SENSOR BKO-C1810H01-3
Spindle A B D F C E Spindle motor
Spindle configuration when using magnetic sensor

Parameter setting
SP123 (MGD0)
SP124 (MGD1)
SP125 (MGD2)
Standard
542
768
384
MAGNETIC SENSOR High-speed standard BKO-C1730H01.2.6 High-speed compact MAGNETIC SENSOR BKO-C1730H01.2.9 MAGNETIC SENSOR BKO-C1730H01.2.41 MAGNETIC SENSOR BKO-C1730H01.2.42 MAGNETIC SENSOR BKO-C1730H01.2.43 MAGNETIC SENSOR BKO-C1730H01.2.44 500 440 220
High-speed ring type
POINT
When using the magnetic sensor, orientation control cannot be carried out with a machine having a gear ratio between the spindle motor and spindle exceeding 1:31.
5 - 36
The default orientation control parameters for each detector are as shown below. Confirm that these parameters are correctly set according to the machine specifications.
No. Abbr. Parameter name Default parameter settings for detector in use (b) Spindle end (c) Magnetic (a) Motor PLG detector sensor 100 16 0 20 0 1 1 1 1 1 1 1 1 0004 0000 63 60 15 16 32767 200 100 100 100 0 0 0 0 0 0 0 0 0 0 0 0 100 16 0 20 0 * * * * * * * * 0001 * 0000 63 60 15 16 32767 200 100 100 100 0 0 0 0 0 0 0 0 0 0 0 0 100 16 0 20 0 * * * * * * * * 0002 0000 63 60 15 16 32767 200 100 100 100 0 0 0 0 0 0 0 0 0 0 0 0 Standard: 542 Small type: 500 Standard: 768 Small type: 440 Standard: 384 Small type: 220
SP001 SP002 SP004 SP005 SP006 SP007 SP025 SP026 SP027 SP028 SP029 SP030 SP031 SP032
Magnetic sensor and motor PLG orientation position loop gain PGE Encoder orientation position loop gain OINP Orientation in-position width OSP* Orientation mode speed clamp value CSP Orientation mode deceleration rate OPST In-position shift amount for orientation PGM GRA1* GRA2* GRA3* GRA4* GRB1* GRB2* GRB3* GRB4* Spindle gear teeth count 1 Spindle gear teeth count 2 Spindle gear teeth count 3 Spindle gear teeth count 4 Motor shaft gear teeth count 1 Motor shaft gear teeth count 2 Motor shaft gear teeth count 3 Motor shaft gear teeth count 4
SP037 SFNC5* Spindle function 5 SP096 EGAR* Encoder gear ratio SP097 SPECO* Orientation specification Speed loop gain proportional term in orientation SP098 VGOP* mode SP099 VGOI* Speed loop gain integral term in orientation mode Speed loop gain delay advance term in orientation SP100 VGOD* mode SP101 DINP* Orientation advance in-position width SP102 OODR* Excessive error value in orientation mode SP103 FTM* Index positioning completion OFF time timer SP104 TLOR* Torque limit value after orientation completed SP105 IQGO* Current loop gain magnification 1 in orientation mode SP106 IDGO* Current loop gain magnification 2 in orientation mode SP107 CSP2 Deceleration rate 2 in orientation mode SP108 CSP3 Deceleration rate 3 in orientation mode SP109 CSP4 Deceleration rate 4 in orientation mode SP114 SP115 SP116 SP117 SP118 SP119 SP120 SP121 SP122 SP123 SP124 SP125 OPER Orientation pulse miss check value OSP2 Orientation control speed clamp value 2 Minimum excitation value after changeover OPYVR (2nd minimum excitation rate) ORUT Fixed control constant ORCT Orientation control number of retry times Orientation control position loop gain H coil MPGH magnification Orientation control position loop gain L coil MPGL magnification MPCSH Orientation deceleration rate H coil magnification MPCSL Orientation deceleration rate L coil magnification MGD0 Magnetic sensor output peak value MGD1 Magnetic sensor linear zone width MGD2 Magnetic sensor changeover point
(Note 1) *: Set according to machine specifications, -: Setting irrelevant (Note 2) Parameters with an asterisk in the Abbrev. column (such as OSP*) are validated when the NC power is turned ON again.
5 - 37
No.
Abbr.
Parameter name
Default parameter settings for detector in use (c) Magnetic (a) Motor PLG (b) Spindle detector sensor 0 0 0 0 0 0 0 0 0
SP126 MPGM Orientation position loop gain M coil magnification SP127 MPCSM Orientation deceleration rate M coil magnification After orientation completion, SP128 OXKPM Position loop gain magnification (M coil) Position loop gain magnification after orientation completed (H coil) Position loop gain magnification after orientation completed (L coil) Speed loop proportional gain magnification after orientation completed Speed loop cumulative gain magnification after orientation completed
SP225 OXKPH SP226 OXKPL SP227 OXVKP SP228 OXVKI
0 0 0 0
0 0 0 0
0 0 0 0
(Note 1) *: Set according to machine specifications, -: Setting irrelevant (Note 2) Parameters with an asterisk in the Abbrev. column (such as OSP*) are validated when the NC power is turned ON again.
5 - 38
(2) Adjusting the orientation deceleration control [1] Polarity setting of sensor Input the orientation command (ORC) when the machine is in the normal state. Confirm that the operation stops at one point and the orientation complete signal (ORCF) turns ON even when the operation is unstable. If the excessive error alarm (alarm 52) occurs, or if the operation does not stop and repeats forward/reverse run at a low-speed when using the magnetic sensor orientation specifications, change the value for SP097/bit5 or bit6. If the excessive error alarm occurs even after changing this value, carry out step [3].
No. SP097 Abbr. Parameter name F E D C B A 9 Details 8 7 6 5 4 3 2 1 0
ostp orze ksft gchg bit 5 6 fdir
ips2 zdir
vg8x mdir fdir Oscl pyfx dmin odi2 odi1 Meaning when set to 1 Spindle end detector polarity: Magnetic sensor polarity: Standard 0 0
Meaning when set to 0 Spindle end detector polarity: +
mdir Magnetic sensor polarity: +
[2] Adjustment of orientation stop position Next, adjust the in-position shift amount for orientation control: SP007 (OPST) so that the axis stops at the target stop point. If the stop position command data is input from the spindle end detector, or from an external source during motor PLG orientation, the operation will stop according to the given data as shown in the drawing below regardless of the detector's mounting direction. The 0 position shown below is the position shifted by SP007 (OPST).
0h (0) S 400h (90) C00h (270) Spindle X A B D F 800h (180) View S Orientation stop position (Note) The external stop position command data is read in at the rising edge of the orientation start, so always change the value before inputting the orientation start command. Any changes to the value will be invalid if made after orientation has started. No. SP007 Abbr. OPST Parameter name In-position shift amount for orientation Details Set the stop position for orientation. (1) Motor PLG, spindle end detector: Set the value by dividing 360 by 4096. (2) Magnetic sensor: Divide 5 to +5 by 1024 and put 0 for 0. Setting range (1) 0 to 4095 (2) -512 to 512 Standard 0 C E Spindle motor Spindle end detector
5 - 39
[3] Adjustment of position loop gain deceleration rate Adjust the orientation time and vibration. Refer to the following table and adjust the parameters according to the apparent state. When using the motor PLG and magnetic sensor, adjust the position loop gain with SP001 (PGM). When using the spindle end detector, adjust SP002 (PGE). Adjust SP006 (CSP) after adjusting SP001 and PS002. When performing coil change over, each coil can be adjusted individually. (Refer to the next page.)
Speed FB Position loop changeover speed 0 ORC ORCF
Adjusting the orientation control

State The operation overshoots when stopping The orientation time is long Hunting occurs when stopping An excessive error alarm occurs Parameter adjustment SP001/SP002 Decrease the setting value Increase the setting value Decrease the setting value Decrease the setting value SP006 Decrease the setting value Increase the setting value Do not change the setting value Decrease the setting value
To adjust the shortest orientation time for each gear, adjust deceleration rate for each gear by SP107 (CSP2) to SP109 (CSP4) in the same manner. If an excessive error alarm occurs when the gear ratio is 1:10 or more, and the state is not improved with the above adjustments, adjust the speed clamp value (SP005) as described later.
No. SP001 Abbr. PGM Parameter name Magnetic sensor, motor PLG orientation position loop gain Encoder orientation position loop gain Details The orientation time will be shorter when the value is increased, and the servo rigidity will increase. On the other hand, the vibration will increase, and the machine will sway easily. <For MDS-C1-SP/SPH/SPM> The orientation time will be shorter when the value is increased, and the servo rigidity will increase. On the other hand, the vibration will increase, and the machine will sway easily. <For MDS-C1-SPX/SPHX> Set the position loop gain for spindle end PLG orientation. SP006 SP107 CSP CSP2 Orientation mode deceleration rate As the set value is larger, the orientation time becomes shorter. However, the machine becomes likely to overshoot. 1 to 1000 0 to 1000 20 0 Setting range 0 to1000 (0.1rad/s) Standard 100
SP002
PGE
0 to 1000 (0.1rad/s)
100
Deceleration rate 2 Set the deceleration rate in orientation mode corresponding to in orientation control the gear 001. mode When this parameter is set to "0", same as SP006 (CSP). Deceleration rate 3 Set the deceleration rate in orientation mode corresponding to in orientation control the gear 010. mode When this parameter is set to "0", same as SP006 (CSP). Deceleration rate 4 Set the deceleration rate in orientation mode corresponding to in orientation control the gear 011. mode When this parameter is set to "0", same as SP006 (CSP).
SP108
CSP3
0 to 1000
SP109
CSP4
0 to 1000
POINT
On machines with large spindle-to-motor gear ratios, it may not be possible to achieve the desired results by adjusting the SP001, SP002, and SP006 parameters, due to internal clamping. When clamped, the parameter settings can be changed, but control remains unchanged. 5 - 40
[4] Position loop gain and deceleration rate adjustment at coil changeovers When using a coil changeover motor, the position loop gain and deceleration rate can be set for each coil. Coil-specific orientation control position loop gain Compensation magnification values are set for each coil by the SP119, SP120 and SP126 settings, relative to each coil's SP001 or SP002 position loop gain reference value. If a "0" is set, the SP001 (SP002) setting is adopted.
Effective position loop gain (H-coil) = SP001 (SP002) SP119 256 SP120 256
Effective position loop gain (L-coil) = SP001 (SP002) <<Only for MDS-C1-SPM>> Effective position loop gain (M-coil) = SP001 (SP002)
SP126 256
No. SP119
Abbr.
Parameter name
Details
Setting range
Standard 0
MPGH Orientation control Set the compensation magnification of the orientation position 0 to 2560 position loop gain H loop gain for the H coil. (1/256-fold) coil magnification MPGL Orientation control position loop gain L coil magnification Set the compensation magnification of the orientation position 0 to 2560 loop gain for the L coil. (1/256-fold) <For MDS-C1-SPM> 0 to 2560 Set the compensation magnification of the orientation position (1/256-fold) loop gain for the M coil.
SP120
SP126
MPGM Orientation position loop gain M coil magnification
Coil-specific orientation control deceleration rate Compensation magnification values are specified for each coil by the SP121, SP122 and SP127 settings, relative to each coil's SP006 deceleration rate reference value. If a "0" is set, the SP006 setting is adopted.
Effective deceleration rate (H coil) = SP006 SP121 256 SP122 256
Effective deceleration rate (L coil) = SP006 <<Only for MDS-C1-SPM>> Effective deceleration rate (M coil) = SP006
SP127 256
No. SP121
Abbr.
Parameter name
Details Set the compensation magnification of the orientation deceleration rate for the H coil. Set the compensation magnification of the orientation deceleration rate for the L coil. <For MDS-C1-SPM> Set the compensation magnification of the orientation deceleration rate for the M coil.
Setting range 0 to 2560 (1/256-fold) 0 to 2560 (1/256-fold) 0 to 2560 (1/256-fold)
Standard 0
MPCSH Orientation deceleration rate H coil magnification MPCSL Orientation deceleration rate L coil magnification MPCSM Orientation deceleration rate M coil magnification
SP122
SP127
5 - 41
[5] Speed clamp value adjustment The orientation control mode's position loop control changing speed is determined automatically, based on the position loop gain, the deceleration rate, and the gear ratio, etc. A changing speed that is too high can be limited by the orientation mode changing speed limit value (SP005) setting. A change to the orientation motor speed clamp value 2 (SP115) occurs at control input 4/bitC.
Setting range
No. SP005
Abbr. OSP*
Parameter name Orientation mode speed clamp value
Details
Standard 0
Set the motor speed limit value to be used when the speed loop 0 to 32767 is changed to the position loop in orientation mode. (r/min) When this parameter is set to "0", SP017 (TSP) becomes the limit value. 0 to 32767 (r/min)
SP115
OSP2
Orientation control When the orientation clamp speed is changed by the control speed clamp value 2 input, this parameter setting will be used instead of SP005: OSP. Indexing speed clamp valid This parameter is used when (SP097: SPEC0/bit4 = 1).
For MDS-C1-SPH, SP037/bitD=1 setting can be used to set a clamp speed that is the same as the spindle end speed. At gear changes, too, the spindle speed is clamped at the same speed. The clamp speed parameter is the same as that used to set the motor speed.
Setting range 8 7 6 5 4 3 2 1
No. SP037
Abbr.
Parameter name
Details
Standard
SFNC5* Spindle function 5 F E D C B A 9 0
splg dplg ospcl
noplg nsno nosg Meaning when set to 0
plgo mago enco Meaning when set to 1 Orientation speed clamp spindle speed setting Standard 0
bit D ospcl
Orientation speed clamp motor speed setting
(Note) bitD is valid only for MDS-C1-SPH.
5 - 42
(3) Adjustments during orientation stop [1] Position loop gain adjustment Stop position accuracy can be improved by increasing the post-orientation servo rigidity. To increase the post-orientation position loop gain, enable a gain change by the SP097/bitC parameter setting, then set the desired position loop gain magnification. A separate position loop gain (other than that used during deceleration) can be set for operation that begins from the orientation completed ON status that follows orientation deceleration control. The effective position loop gain values for each coil are calculated using the formulas shown below. If a magnification setting of "0" is set, a "256" setting is adopted.
Effective position loop gain (H coil) = SP001 (SP002) SP119 256 SP120 256 SP225 256 SP226 256
Effective position loop gain (L coil) = SP001 (SP002) <<Only for MDS-C1-SPM>> Effective position loop gain (M coil) = SP001 (SP002)
SP126 256
SP128 256
No. SP001
Abbr. PGM
Parameter name Magnetic sensor, motor PLG orientation position loop gain Encoder orientation position loop gain
Details The orientation time will be shorter when the value is increased, and the servo rigidity will increase. On the other hand, the vibration will increase, and the machine will sway easily. <For MDS-C1-SP/SPH/SPM> The orientation time will be shorter when the value is increased, and the servo rigidity will increase. On the other hand, the vibration will increase, and the machine will sway easily. <For MDS-C1-SPX/SPHX> Set the position loop gain for spindle end PLG orientation.
Setting range 0 to1000 (0.1rad/s)
Standard 100
SP002
PGE
0 to 1000 (0.1rad/s)
100
SP097
ostp orze ksft gchg bit

invalid
ips2 zdir
vg8x mdir fdir oscl pyfx dmin odi2 odi1 Meaning when set to 1
Gain changeover during orientation valid
Standard 0
C gchg Gain changeover during orientation
SP225
OXKPH Position loop gain magnification after orientation completed (H coil) OXKPL Position loop gain magnification after orientation completed (L coil) OXKPM After orientation completion, Position loop gain magnification (M coil)
If gain changeover is valid (SP097: SPEC0/bitC=1) during orientation, set the position loop gain magnification (H coil) changed to after orientation completed.
0 to 2560 (1/256-fold)
SP226
If gain changeover is valid (SP097: SPEC0/bitC=1) during orientation, set the position loop gain magnification (L coil) changed to after orientation complete. <For MDS-C1-SPM> Set the switched M coil position loop gain magnification after orientation when gain switching is enabled (SP097: SPEC0/ bitC=1).
0 to 2560 (1/256-fold)
SP128
0 to 2560 (1/256-fold)
5 - 43
[2] Speed loop gain adjustment In the same manner as for the position loop gain, a speed loop gain can be set separately from the one used during deceleration for a operation that begins from the orientation completed ON status, following orientation deceleration control. Although the servo lock rigidity can be improved by increasing the speed loop gain during stop, vibration tends to be generated. To change the post-orientation speed loop gain, enable a gain change by SP097/bitC=1 parameter setting, then set the desired speed loop proportional gain magnification and integral gain magnification. The proportional and integral gains should be increased at the same rate, and should be decreased if vibration occurs. The effective speed loop gains are common to all coils, and are calculated using the formulas shown below. If a magnification setting of "0" is set, a "256" setting is adopted.
SP227 256 SP228 256
Effective speed loop proportional gain = SP098
Effective speed loop integral gain = SP099
No. SP098
Abbr.
Parameter name
Details Set the speed loop proportional gain in orientation control mode. When the gain is increased, rigidity is improved in the orientation stop but vibration and sound become larger. Set the speed loop integral gain in orientation control mode.
Standard 63
VGOP* Speed loop gain proportional term in orientation control mode VGOI* Orientation control mode speed loop gain integral term OXVKP Speed loop proportional gain magnification after orientation completed OXVKI Speed loop cumulative gain magnification after orientation completed
SP099
0 to 1000
60
SP227
If gain changeover is valid (SP097: SPEC0/bitC=1) during orientation control, set the magnification of each gain changed to after orientation completed.
0 to 2560 (1/256-fold)
SP228
0 to 2560 (1/256-fold)
5 - 44
[3] Speed loop delay compensation adjustment This adjustment selects the delay compensation control used at normal orientation stops for tool changes, etc. Because the full-closed loop control used by the spindle end detector, etc., is prone to overshooting at stops, the speed loop gain delay advance term (SP100) value is adjusted upward. SP100 value that is too high, however, will result in stop position inconsistency, particularly on high-friction machines. In cases where stop position accuracy is required on spindles with high frictional torques, set SP100=0, and select PI control. <Examples of using PI control> Positioning a workpiece with a lathe A machine that indexes a 5-plane machining attachment
No. SP100 Abbr. Parameter name Details Set a loop gain delay advance gain in orientation control mode. When this parameter is set to "0", PI control is applied. Setting range 0 to 1000 Standard 15
VGOD* Orientation control mode speed loop gain delay advance term
POINT
When forward and reverse run stop positions differ even with PI control, machine's backlash may be large. In such cases, accuracy can be improved by setting orientation positioning direction as one direction only (unidirectional). (Refer to spindle parameter SP097/bit0, 1)
[4] Torque limit adjustment The torque during post-orientation stops is limited by the parameter shown below. In case of performing a mechanical lock at orientation stops, be sure to lower the torque limit value to avoid interference between the spindle motor and the machine. If a torque limit is commanded by a spindle control input 1 even during an orientation stop, however, the torque limit will be applied.
No. SP104
Abbr.
Parameter name
Details Set the torque limit value after orientation completed. If the external torque limit signal is input, the torque limit value set by this parameter is made invalid.
Standard 100
TLOR* Torque limit value after orientation completed l
CAUTION
In case of locking the spindle mechanically at orientation stops, be sure to enter a torque limit to restrict the motor's output torque. (Recommended torque limit: 10% or less)
5 - 45
(4) Setting orientation positioning accuracy check The positioning accuracy at orientation control is checked by the parameters shown below. An error is detected if the positioning pulse error amount from the reference position (Z-phase) exceeds the orientation control pulse miss check value (SP114). When an error is detected, the spindle continues rotating until the next reference position is detected, and a positioning retry then occurs. The "A9" warning is activated during the positioning retry, and the "5C" alarm is activated if the number of retries exceeds the number of orientation retry times (SP118).
Setting range
No. SP114
Abbr. OPER
Parameter name Orientation control pulse miss check value
Details
Standard 0
An alarm "5C" will occur if the pulse miss value at the 0 to 32767 orientation stop exceeds this setting value. (Note that this is (360deg invalid when set to "0".) /4096) In this parameter, set the value to fulfill the following conditions. SP114 setting value > 1.5 SP004 (orientation in-position width) 0 to 100 (time)
SP118
ORCT
Orientation control Set the number of times to retry when an orientation or number of retry times feedback error occurs. The warning (A9) is issued while retrying orientation, and an alarm (5C) is issued when the set number of times is exceeded.
5 - 46
(5) Troubleshooting [1] Orientation does not take place (motor keeps rotating)
Cause 1 Parameter setting values are incorrect Investigation item The orientation detector and parameter do not match. SP037 (SFNC5) Motor PLG.............................. 4 Spindle end detector .............. 1 Magnetic sensor..................... 2 Motor PLG orientation is attempted with standard motor instead of motor with Z phase. The connector pin numbers are incorrect, The inserted connector number is incorrect. The cable is disconnected. Remedy Correctly set SP037 (SFNC5). Remarks
2 The specification are not correct 3 Incorrect wiring
Change to a motor having a PLG-built-in motor with Z phase. Correct the wiring. Replace the cable.
For motor PLG orientation
[2] The motor overtravels and stops. (The motor sways when stopping.)
Cause 1 Parameter setting values are incorrect Investigation item The gear ratio parameters: SP025 (GRA1) to SP032 (GRB4) are incorrect. The phenomenon is improved when the deceleration rate for orientation parameter SP006 (CSP) is halved. Remedy Correctly set SP025 (GRA1) to SP032 (GRB4). Readjust SP006 (CSP) This also applies to: SP107 (CSP2) SP108 (CSP3) SP109 (CSP4) SP121 (MPCSH) SP122 (MPCSL) This also applies to: SP119 (MPGH) SP120 (MPGL) Remarks
The phenomenon is improved when the position loop gain parameters SP001 (PGM) and SP002 (PGE) are halved. The orientation stop direction is set to one direction (CCW or CW).
Readjust SP001 (PGM), SP002 (PGE).
Set the SP097 (SPECO) /bit 0, 1 to "0".
[3] The stopping position deviates.

Cause 1 Mechanical cause Investigation item The stopping position is not deviated with the encoder axis. Remedy Remarks There is backlash or slipping, etc., For spindle end between the spindle and encoder. detector orientation The gear ratio between the spindle and encoder is not 1:1 or 1:2. There is backlash or slipping between the spindle and motor. The gear ratio between the spindle and motor is not 1:1. 2 Noise The position detector's cable is relayed with a terminal block (connector), etc. The position detector cable's shield is not treated properly. The peeled section of signal wire at the position detector cable's connector section is large. (A large section is not covered by the shield.) 3 The magnetic sensor Check the relation of the magnet and installation direction is sensor installation. incorrect Do not relay the cable. For motor PLG orientation
Properly treat the shield. Keep the peeled section to 3cm or less when possible. Keep the peeled section as far away from the power cable as possible. Correct the relation of the magnet and sensor installation. For magnetic sensor orientation.
5 - 47
[4] The stopping position does not change even when the position shift parameter is changed.
Cause 1 Parameter setting values are incorrect Investigation item The position shift was changed to 2048 when the gear ratio between the spindle and encoder was 1:2 (one encoder rotation at two spindle rotations). Remedy If the gear ratio on the left is established between the spindle and encoder, the position shift amount for one spindle rotation is 2048 instead of 4096. Remarks
[5] The machine vibrates when stopping.

Cause 1 Parameter setting values are incorrect 2 The orientation adjustment is faulty Investigation item The gear ratio parameters SP025 (GRA1) to SP032 (GRB4) are incorrect. Remedy Correctly set SP025 (GRA1) to SP032 (GRB4). Remarks
The vibration frequency is several Hz. Decrease the position loop gain parameters SP001 (PGM) and SP002 (PGE). Increase the current loop gain for orientation parameters SP105 (IQGO) and SP106 (IDGO). The vibration frequency is 10Hz or more. Decrease the speed loop gain for orientation parameters SP098 (VGOP) and SP099 (VGOI). Decrease the current loop gain for orientation parameters SP105 (IQGO) and SP106 (IDGO).
[6] The orientation complete signal is not output

Cause Investigation item Remedy Review the in-position range, and increase SP004 (OINP). Review the values set for the speed loop gain for orientation parameters SP098 (VGOP), SP099 (VGOI) and SP100 (VGOD). Remarks 1 The machine's load is The in-position parameter SP004 heavy (OINP) is too small. State is improved if delay compensation control is stopped during orientation stopping. (State is improved when changed to PI control).
2 Carry out the items for [1] Orientation does not take place (motor keeps rotating).
5 - 48
5-3-4
Adjusting the synchronous tap control

Confirm that the parameters are correctly set according to the machine specifications. Pay special attention to the following points. (a) Position loop gain The position loop gain must be the same as the servo axis used for interpolation control during synchronous tap control. Position loop gain for synchronous tap control SP009 = SV049 Position loop gain 2 for synchronous tap control SP221 = SV050 Position loop gain 3 for synchronous tap control SP222 = SV058 (b) High-gain servo synchronous compensation The synchronous tap control specifications SP193/bit8 must be set according to the specification of the servo drive unit used for interpolation control during synchronous tap control. Synchronous compensation valid = High-gain servo : MDS-C1-V1/V2 (for high-gain setting), MDS-B-V14/V24 Synchronous compensation invalid = Standard servo : MDS-C1-V1/V2 (for standard setting), MDS-B-V1/V2, MDS-B-SVJ2
<Spindle parameters>
No. SP009 Abbrev. PGT Parameter name Synchronized tapping Position loop gain Unit rad/s Setting range 1 to 100 Standard value 15
Synchronized tapping specifications SP193 SPECT* (The standard value is set according to the servo drive for interpolation control.) SP194 VGTP* Synchronized tapping speed loop gain proportional term SP195 VGTI* Synchronized tapping speed loop gain integral term SP196 VGTD* Synchronized tapping speed loop gain delay advance term SP197 Fixed control constant SP198 VCGT* Synchronized tapping target value of variable speed loop proportional gain Synchronized tapping change starting speed of variable speed loop SP199 VCST* proportional gain SP200 FFC1* Synchronized tapping acceleration feed forward gain (gear 1) SP201 FFC2* Synchronized tapping acceleration feed forward gain (gear 2) SP202 FFC3* Synchronized tapping acceleration feed forward gain (gear 3) SP203 FFC4* Synchronized tapping acceleration feed forward gain (gear 4) SP214 TZRN Synchronized tapping zero point return speed SP215 TPDT Synchronized tapping zero point return deceleration rate SP216 TPST Synchronized tapping zero point return shift amount SP217 TINP Synchronized tapping in-position width SP218 TODR* Synchronized tapping excessive error width (1pulse=0.088deg) SP219 IQGT* Synchronized tapping current loop gain magnification 1 SP220 IDGT* Synchronized tapping current loop gain magnification 2 SP221 PG2T Synchronized tapping position loop gain 2 SP222 PG3T Synchronized tapping position loop gain 3
HEX
% r/min % % % % r/min pulse
Standard: 0000 High-gain: 0100 0 to 1000 63 0 to 1000 60 0 to 1000 15 0 0 0 to 100 100 0000 to FFFF 0 to 32767 0 to 1000 0 to 1000 0 to 1000 0 to 1000 0 0 0 0 0 50 1 0 16 32767 100 100 0 0
0 to 500 0 to 10000 0 to 4095 1/16 deg 1 to 2880 pulse 0 to 32767 % 0 to 1000 % 0 to 1000 rad/s 0 to 999 rad/s 0 to 999
<Servo parameters>
No. Abbrev. Parameter name Unit rad/s rad/s rad/s SV049 PGN1sp Position loop gain 1 in spindle synchronous control SV050 PGN2sp Position loop gain 2 in spindle synchronous control SV058 SHGCsp SHG control gain in spindle synchronous control Setting Standard range value 1 to 200 15 0 to 999 0 0 to 1200 0
POINT
Always adjust the synchronous tap control after adjusting the operation and acceleration/deceleration time with the speed command, and adjusting the servo axis controlled in synchronization with the spindle during synchronous tap control. 5 - 49
(2) Adjusting the acceleration/deceleration time constant Synchronous tap synchronizes the operation with the servo. Generally, the spindle takes longer to accelerate and decelerate, so the acceleration/deceleration time constant is determined on the spindle side. Measure the acceleration time for the S command, and set a value 1.5-fold that as the standard value. If the spindle maximum rotation speed is 2000r/min during synchronous tap operation, first carry out 2000r/min acceleration/deceleration with the S command as shown below. Then, measure the total acceleration/deceleration time in a linear, 2-step or 3-step state. The time constant for synchronous tap operation is 450ms which is 1.5-fold 300ms.
2000 Speed FB [r/min]
During S command
1000 During synchronous tap control 0 0 300 450 [ms] Acceleration time during S command Standard acceleration time during synchronous tap (1.5-fold)
Measuring the acceleration time during S command
POINT
When carrying out synchronous tap operation with a motor capable of coil changeover, either the high-speed coil or low-speed coil is used. Fix the coil being used, and measure the acceleration time by issuing the S command in this case.
(3) Synchronous tap trial operation Carry out trial operation after setting the parameters. Carry out dry operation without tapping or a workpiece, and confirm the amount that the spindle moves in respect to the servo axis. If an alarm occurs when there is no load, check the cause with the following table.
Troubleshooting for synchronous tap trial operation Fault Excessive error alarm occurs (ALM52) Cause The synchronous tap detector direction is set in reverse. The motor cannot follow because the tap time constant is too short. Overcurrent alarm occurs (ALM32) The motor cannot follow because the tap time constant is too short. Remedy Check the SP193/bit5 setting. 0 = Forward run, 1 = Reverse run Readjust the tap time constant. Set a value double the value for the S command. Readjust the tap time constant. Set a value double the value for the S command.
The speed loop gain is too high for The SP194 setting value is too large. synchronous tap control (Is there vibration Set 100% as the standard. when changing to synchronous control?) The current loop gain is too high during synchronous tap control. The spindle rotation movement amount does not match the command The closed loop and semi-closed loop settings for spindle control are incorrect. The gear ratio setting is incorrect. The SP219, SP220 setting value is too large. Set 100% as the standard. Check which detector's FB is being used. Spindle ENC = full closed loop: SP193/bit0 =0 Motor PLG = semi-closed loop: SP193/bit0 =1 Check the machine gear ratio. Number of gear teeth on spindle side : SP025 to SP028 Number of gear teeth on motor side : SP029 to SP032
5 - 50
(4) Adjusting the parameters Adjust the following parameters while measuring the synchronous error between the servo and spindle. The servo axis speed loop gain is valid for all control, so adjust the speed loop gain only on the spindle side. Adjust mainly the lost motion compensation parameters on the servo side. When these have already been adjusted when measuring the roundness, etc., they do not need to be adjusted again. If the acceleration/deceleration is delayed for one of the axes, set the acceleration feed forward gain for the delayed axis to compensate the synchronous delay.
Spindle adjustment parameters No. SP194 Abbr. Parameter name Details Set the speed loop proportional gain in synchronized tapping mode. 0 to 1000 Set the speed loop integral gain in synchronized tapping mode. Set the acceleration feed forward gain for selection of gear 000 during synchronized tapping. This parameter should be used when an error of relative position to Z-axis servo is large. 0 to 1000 (%) 0 60 Setting range 0 to 1000 Standard 63
VGTP* Synchronized tapping control speed loop gain proportional term VGTI* Synchronized tapping control speed loop gain integral term Synchronized tapping control acceleration feed forward gain (gear 1) (Gear 2) (Gear 3) (Gear 4)
SP195
SP200
FFCI*
SP201 SP202 SP203
FFC2* FFC3* FFC4*
0 0 0 Spindle adjustment parameters
No. SV027
Abbr. SSF1
Parameter name Servo function selection 1 F E D C B

ovs
Details A 9
lmc
Setting range 8 7 6 5
vfct
2
upc
1
vcnt
aflt zrn2 bit 8 9 lmc
afse
omr zrn3
Meaning when set to 0 00: Lost motion compensation stop 01: Lost motion compensation type 1
Meaning when set to 1 10: Lost motion compensation type 2 11: Setting prohibited
Set the compensation amount with SV016 (LMC1) and SV041 (LMC2).
SV016
LMC1
Lost motion compensation 1 Lost motion compensation 2
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. Set this with SV016 (LMC1) only when you wish to set the lost motion compensation amount to be different depending on the command directions. Normally, set to "0".
-1 to 200 (Stall [rated] current %) -1 to 200 (Stall [rated] current %) 0 to 999 (%)
SV041
LMC2
SV015
FFC
Acceleration rate When a relative error in the synchronous control is large, apply this parameter feed forward gain 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.
POINT
1. Stop the machine error compensation function (backlash compensation, pitch error compensation, etc.) when measuring the synchronous error. 2. The servo's speed loop gain has an effect on all control, so do not adjust it for synchronous tap. The spindle parameters are dedicated for synchronous tap control, so improve the synchronization accuracy by adjusting the spindle parameters when possible. The above spindle parameters adjusted when adjusting the synchronous tap are all validated when the NC power is turned ON again. 5 - 51
CAUTION
(5) Synchronous tap cutting operation After adjusting the parameters, mount the tap and workpiece, and carry out actual cutting. Various elements affect the tap cutting. Even if the synchronous accuracy (electrical accuracy) is good up to this point, it may not enable cutting with a sufficient accuracy. Check the items in the following table and improve the cutting accuracy.
Investigation items for improving cutting accuracy Investigation item 1. The cutting chip discharge is poor (cutting chips get caught) 2. The tap cutting performance is poor 3. The tap hole diameter is too large 4. The spindle PLG waveform adjustment is insufficient 5. The servo axis backlash compensation amount is incorrect 6. The servo axis pitch error compensation amount is incorrect Remedy Use a spiral tape (recommended) with good cutting chip discharge performance Adjust the cutting speed to an appropriate value Replace the tap Set the tap hole diameter to an appropriate size Readjust the offset and gain Adjust the backlash compensation amount Adjust the pitch error compensation amount
7. The acceleration/deceleration time constant is Increase the acceleration/deceleration time constant to improve the short accuracy 8. The tap depth is too deep for the tap diameter 9. The spindle center deviates 10. The spindle backlash is too large Set the tap depth to up to 3-times the tap diameter Check the tap mounting state Improve the machine side
11. The spindle load inertia is too large (3-times or Try using fixed position loop excitation (SP193/bit3 = 1) more) Note that vibration noise will be generated easily 12. The cutting load is large (50% or more) The tap hole is too small Check the tap mounting state The spindle center deviates Check the tap mounting state The tap cutting performance is poor Replace the tap Try using fixed position loop excitation (SP193/bit3 = 1)
If the tap breaks, investigate the following items.

Investigation items when tap breaks Investigation item 1. The program's screw pitch and tap pitch do not Set the program to the tap. match. 2. The tap center deviation is large 3. The tap hole is too shallow 4. The tap hole is too small Check the accuracy of the spindle and the tap mounting state Drill the tap hole to an appropriate depth Drill the tap hole to an appropriate size Remedy
5 - 52
5-3-5
Adjusting the C-axis control

Confirm that the parameters are correctly set according to the machine specifications. When carrying out interpolation control with the servo axis, set the following parameters according to the servo axis specifications. (a) Position loop gain When carrying out interpolation control with the servo axis using C-axis control, the C-axis control and position loop gain for each mode must be set to match the servo axis used for interpolation control. During C-axis control in this case, the operation is always controlled with the same position loop gain. C-axis non-cutting position loop gain SP003 = SV003 First position loop gain for cutting on C-axis SP130 = SV003 Second position loop gain for cutting on C-axis SP131 = SV003 Third position loop gain for cutting on C-axis SP132 = SV003 Stop position loop gain for cutting on C-axis SP133 = SV003 C-axis position loop gain 2 SP165 = SV004 C-axis position loop gain 3 SP166 = SV057 (b) High-gain servo synchronous compensation Set C-axis control specification SP129/bit3 according to the specifications of the servo drive unit used for interpolation control with C-axis control. Synchronous compensation valid = High-gain servo: MDS-C1-V1/V2 (for high-gain setting), MDS-B-V14/V24 Synchronous compensation invalid = Standard servo: MDS-C1-V1/V2 (for standard setting), MDS-B-V1/V2, MDS-B-SVJ2
(2) Gain parameters The position loop gain and speed loop gain can be set according to each control state. Note that when using SHG control for C-axis control, or when carrying out interpolation control with the servo axis, the same value must be set in the position loop gain (SP003, SP130, SP131, SP132, SP133) for each control state.
Gain parameter settings for C-axis control Control state Parameter Speed loop proportional gain Speed loop integral gain Speed loop delay compensation Position loop gain Position loop gain 2 Position loop gain 3 During No.1 gain No.2 gain non-cutting selection for selection for (rapid traverse) cutting control cutting control SP134 SP135 SP136 SP003 SP137 SP138 SP139 SP130 SP140 SP141 SP142 SP131 SP165 SP166 No.3 gain When cutting selection for is stopped cutting control SP143 SP144 SP145 SP132 SP146 SP147 SP148 SP133
POINT
In order to perform C-axis interpolation with the servo axis, the position loop gain settings for each C-axis control mode must match that of the servo axis where interpolation occurs. If the servo axis is performing SHG control, the SP165 and SP166 settings apply to all control modes. Therefore, the position loop gain values for each control mode (SP003, SP130, SP131, SP132 and SP133) must be the same as the position loop gain (SV003) for all the servo axes.
5 - 53
< Spindle parameters>

No. SP003 Abbr. PGC0 Parameter name C-axis non-cutting position loop gain Unit rad/s Setting range 1 to 100 Standard value 15 Standard: 0000 High-gain: 0008 15 15 15 15 63 60 15 63 60 15 63 60 15 63 60 15 63 60 15 50 1 0000 0000 03E8 D4C0 0001 0 50 100 100 100 100 100 0 0
C-axis specifications SP129 SPECC* (The standard value is set according to the servo drive for interpolation control.) SP130 SP131 SP132 SP133 PGC1 PGC2 PGC3 PGC4 First position loop gain for cutting on C-axis Second position loop gain for cutting on C-axis Third position loop gain for cutting on C-axis Stop position loop gain for cutting on C-axis
HEX rad/s rad/s rad/s rad/s
0000 to FFFF 1 to 100 1 to 100 1 to 100 1 to 100 0 to 5000 0 to 5000 0 to 5000 0 to 5000 0 to 5000 0 to 5000 0 to 5000 0 to 5000 0 to 5000 0 to 5000 0 to 5000 0 to 5000 0 to 5000 0 to 5000 0 to 5000
SP134 VGCP0* C-axis non-cutting speed loop gain proportional item SP135 VGCI0* C-axis non-cutting speed loop gain integral item SP136 VGCD0* C-axis non-cutting speed loop gain delay advance item SP137 VGCP1* First speed loop gain proportional item for C-axis cutting SP138 VGCI1* First speed loop gain integral item for cutting on C-axis SP139 VGCD1* First speed loop gain delay advance item for cutting on C-axis SP140 VGCP2* Second speed loop gain proportional item for cutting on C-axis SP141 VGCI2* Second speed loop gain integral item for cutting on C-axis SP142 VGCD2* Second speed loop gain delay advance item for cutting on C-axis SP143 VGCP3* Third speed loop gain proportional item for cutting on C-axis SP144 VGCI3* Third speed loop gain integral item for cutting on C-axis SP145 VGCD3* Third speed loop gain delay advance item for cutting on C-axis SP146 VGCP4* Speed loop gain proportional item for stop of cutting on C-axis SP147 VGCI4* Speed loop gain integral item for stop of cutting on C-axis SP148 VGCD4* Speed loop gain delay advance item for stop of cutting on C-axis SP149 SP150 CZRN CPDT C-axis zero point return speed C-axis zero point return deceleration point 1/1000 deg (HEX) 1/1000 deg (HEX) 1/1000 deg (HEX) 0.1% % % % % % % rad/s rad/s r/min
1 to 500 1 to 1000 00000000 to FFFFFFFF 0000 to FFFF 00000000 to FFFFFFFF 0 to 1000 0 to 100 0 to 100 1 to 1000 1 to 1000 1 to 1000 1 to 1000 0 to 999 0 to 999
SP151 CPSTL C-axis zero point return shift amount (low byte) SP152 CPSTH C-axis zero point return shift amount (high byte) SP153 CINP C-axis in-position width
SP154 CODRL* Excessive error width on C-axis (low byte) SP155 CODRH* Excessive error width on C-axis (high byte) SP156 SP159 SP160 OVSH C-axis overshoot compensation CPY0 CPY1 C-axis non-cutting variable excitation ratio C-axis cutting variable excitation ratio
SP161 IQGC0* Current loop gain magnification 1 for non-cutting on C-axis SP162 IDGC0* Current loop gain magnification 2 for non-cutting on C-axis SP163 IQGC1* Current loop gain magnification 1 for cutting on C-axis SP164 IDGC1* Current loop gain magnification 2 for cutting on C-axis SP165 SP166 PG2C PG3C C-axis position loop gain 2 C-axis position loop gain 3
<Servo parameters>
No. SV003 SV004 Abbr. PGN1 Position loop gain 1 PGN2 Position loop gain 2 Parameter name Unit rad/s rad/s rad/s Setting range 1 to 200 0 to 999 0 to 1200 Standard value 33 0 0
SV057 SHGC SHG control gain
5 - 54
(3) Disturbance observer The disturbance observer estimates the disturbance torque and compensates accordingly, thereby minimizing cutting time disturbance, frictional resistance, and torsion vibration. It is also effective in suppressing vibration that is caused by speed advance compensation control. The disturbance observer function is enabled in all control modes (not just the C-axis control) during a spindle control input 4/bitF=1 (increased spindle hold force). The position loop gain and speed loop gain settings are set separately during disturbance observer operation. <Setting method> [1] Calculate the inertia for all axes including the spindle motor, then set the motor inertia rate as the disturbance observer load inertia rate (SP233) value. [2] Set the disturbance observer low path filter frequency (SP234) to the observer filter band (observer pole) value to suppress the estimated high-frequency disturbance and vibration. The standard setting is "100". [3] Set the disturbance observer gain (SP235) to the observer gain value. This activates the disturbance observer function. Begin with a setting of "100", then, if no vibration occurs, increase the setting value in increments of "50" to increase the compensation efficacy. [4] If the disturbance observer setting facilitates vibration, decrease the speed loop gain proportional item for increased spindle holding force (SP168) and the speed loop gain integral item for increased spindle holding force (SP169) values by 10 to 20% at the same rate. [5] Although the position loop gain can be set individually by the position loop gain for increased spindle holding force (SP167) setting during disturbance observer operation, it should be set to the same value as the other settings if the interpolation servo axis is performing SHG control.
Setting range 0 to 100 (rad/s) 0 to 5000
No. SP167
Abbr. PGU*
Parameter name
Details
Standard 15
Position loop gain for Set the position loop gain for when the disturbance observer is increased spindle valid. holding force
SP168
VGUP* Speed loop gain Set the speed loop gain proportional item for when the proportional item for disturbance observer is valid. increased spindle holding force VGUI* Speed loop gain integral item for increased spindle holding force Set the speed loop gain integral item for when the disturbance observer is valid.
63
SP169
0 to 5000
60
SP170
VGUD* Speed loop gain Set the speed loop gain delay advance item for when the delay advance item disturbance observer is valid. for increased spindle holding force JL* Disturbance Set "the motor inertia + motor axis conversion load inertia" in observer Load inertia respect to the motor inertia. rate JlJm SP233 (JL) 100 Jm Jm : Motor inertia Jl : Motor axis conversion load inertia
0 to 5000
15
SP233
0 to 5000 (%)
SP234
OBS1* Disturbance observer low path filter frequency OBS2* Disturbance observer gain
Set the frequency of the low path filter for when the disturbance observer is valid. Set the gain for the disturbance observer.
0 to 1000 (rad/s) 0 to 500 (%)
SP235
POINT
Disturbance observer control is valid in all control modes during a spindle control input 4/bitF.
5 - 55
5-3-6
Adjusting the spindle synchronous control

Confirm that the parameters are correctly set according to the machine specifications. The parameters are set with the following conditions for spindles used for synchronous control. (a) Position loop gain The same value must be set for the spindle drive units used for synchronous control. Spindle synchronous position loop gain : SP010 Spindle synchronous position loop gain 2 : SP189 Spindle synchronous position loop gain 3 : SP190
<Spindle parameters>
No. SP010 Abbr. PGS Parameter name Spindle synchronization position loop gain Unit rad/s Setting range 1 to 100 0000 to FFFF 0 to 1000 0 to 1000 0 to 1000 % r/min r/min 1/16 deg pulse % % rad/s rad/s 0 to 100 0 to 32767 0 to 1000 1 to 2880 0 to 32767 0 to 1000 0 to 1000 0 to 999 0 to 999 Standard value 15
SP177 SPECS* Spindle synchronous specifications SP178 VGSP* Spindle synchronous speed loop gain proportional term SP179 VGSI* Spindle synchronous speed loop gain integral term SP180 VGSD* Spindle synchronous speed loop gain delay advance term SP181 VCGS* Spindle synchronous Target value of variable speed loop proportional gain SP182 VCSS* SP183 SP185 Spindle synchronous Change starting speed of variable speed loop proportional gain
HEX
0000 63 60 15 100 0 20 16 32767 100 100 0 0
SYNV Spindle synchronous Sync matching speed SINP Spindle synchronous In-position width
SP186 SODR* Spindle synchronous Excessive error width (1pulse=0.088deg) SP187 IQGS* Spindle synchronous Current loop gain magnification 1 SP188 SP189 SP190 IDGS* Spindle synchronous Current loop gain magnification 2 PG2S Spindle synchronous Position loop gain 2 PG3S Spindle synchronous Position loop gain 3
5 - 56
(2) Setting the multi-step acceleration/deceleration time constant For acceleration/deceleration control during spindle synchronous control, the acceleration/ deceleration time constant can be set up to eight steps according to the spindle rotation speed. The acceleration/deceleration time constant (acceleration time from 0 to limit rotation speed slimit) for each step is set as shown below based on the time constant set for the first step. 1st stage acceleration/deceleration time constant : TC1 = spt 2nd stage acceleration/deceleration time constant : TC2 = spt spdiv1 3rd stage acceleration/deceleration time constant : TC3 = spt spdiv2 4th stage acceleration/deceleration time constant : TC4 = spt spdiv3 5th stage acceleration/deceleration time constant : TC5 = spt spdiv4 6th stage acceleration/deceleration time constant : TC6 = spt spdiv5 7th stage acceleration/deceleration time constant : TC7 = spt spdiv6 8th stage acceleration/deceleration time constant : TC8 = spt spdiv7
Slimit = sptc4 sptc3 sptc2 Spindle speed sptc1 0 TC1=spt TC2 TC3 TC4 Multi-step acceleration/deceleration control for spindle synchronous control (for 4-step setting) Time
<Spindle specification parameters>

No. 3049 Abbr. spt Parameter name Spindle synchronization acceleration/deceleration time constant Details Set the acceleration/deceleration time constant for when the spindle synchronization command's rotation speed changes during spindle synchronous control. Set the spindle speed for changing the Nth step's acceleration/deceleration time constant. Setting range 0 to 9999 (ms)
3054 3055 3056 3057 3058 3059 3060
sptc1 sptc2 sptc3 sptc4 sptc5 sptc6 sptc7
Spindle synchronization multi-step acceleration/deceleration changeover speed 1 Spindle synchronization multi-step acceleration/deceleration changeover speed 2 Spindle synchronization multi-step acceleration/deceleration changeover speed 3 Spindle synchronization multi-step acceleration/deceleration changeover speed 4 Spindle synchronization multi-step acceleration/deceleration changeover speed 5 Spindle synchronization multi-step acceleration/deceleration changeover speed 6 Spindle synchronization multi-step acceleration/deceleration changeover speed 7
0 to 99999 (r/min)
5 - 57
No. 3061 3062 3063 3064 3065 3066
Abbr. spdiv1 spdiv2 spdiv3 spdiv4 spdiv5 spdiv6
Parameter name Magnification for time constant changeover speed 1 Magnification for time constant changeover speed 2 Magnification for time constant changeover speed 3 Magnification for time constant changeover speed 4 Magnification for time constant changeover speed 5 Magnification for time constant changeover speed 6
Details Set the acceleration/deceleration time constant in the spindle synchronization multi-step acceleration/deceleration changeover speed sptc (N) to sptc (N+1) range. Set the time that the spindle speed accelerates from 0 to slmit as a magnification in respect to the spindle synchronization acceleration/deceleration time constant (spt). When spdiv7 is set, the range is sptc7 to slimit.
3067
spdiv7 Magnification for time constant changeover speed 7
5 - 58
(3) Adjusting the multi-step acceleration/deceleration time constants [1] Measure the acceleration/deceleration waveform to the spindle's maximum rotation speed using S command operation. (No. 1 spindle, No. 2 spindle)
10000 Speed FB (r/min) 0
Time Example of spindle acceleration/deceleration waveform
[2] Calculate the multi-step acceleration/deceleration pattern based on the acceleration/ deceleration waveform for the spindle with a long acceleration/deceleration time.
10000
4-step
Speed FB (r/min) 0
3-step 2-step 1-step
Time Calculation of multi-step acceleration/deceleration
[3] Set the actual acceleration/deceleration time constant in the parameters while maintaining a 50% margin from each time constant calculated in step [2].
Maintaining a 50% margin 10000 Speed FB (r/min) 0
Time Setting the multi-step acceleration/deceleration parameters
[4] Try spindle synchronous acceleration/deceleration operation with the actual machine, and confirm that the speed is accelerated or decelerated at 50% or less of the load meter value. If the load meter value exceeds 50%, adjust the time constant again.
5 - 59
6. Troubleshooting
6-1 Points of caution and confirmation ................................................................................................... 6-2 6-1-1 LED display when alarm or warning occurs .............................................................................. 6-3 6-2 Protective functions list of units ........................................................................................................ 6-4 6-2-1 List of alarms.............................................................................................................................. 6-4 6-2-2 List of warnings .......................................................................................................................... 6-9 6-3 Troubleshooting .............................................................................................................................. 6-10 6-3-1 Troubleshooting at power ON .................................................................................................. 6-10 6-3-2 Troubleshooting for each alarm No. ........................................................................................ 6-11 6-3-3 Troubleshooting for each warning No...................................................................................... 6-38 6-3-4 Parameter numbers during initial parameter error................................................................... 6-42 6-3-5 Troubleshooting the spindle system when there is no alarm or warning................................. 6-43
6-1
6. Troubleshooting
6-1
Points of caution and confirmation
If an error occurs in the servo drive unit or spindle drive unit, the warning or alarm will occur. When a warning or alarm occurs, check the state while observing the following points, and inspect or remedy the unit according to the details given in this section. <Points of confirmation> [1] What is the alarm code display? [2] Can the error or trouble be repeated? (Check alarm history) [3] Is the motor and servo drive unit temperature and ambient temperature normal? [4] Are the servo drive unit, control unit and motor grounded? [5] Was the unit accelerating, decelerating or running at a set speed? What was the speed? [6] Is there any difference during forward and backward run? [7] Was there a momentary power failure? [8] Did the trouble occur during a specific operation or command? [9] At what frequency does the trouble occur? [10] Is a load applied or removed? [11] Has the drive unit been replaced, parts replaced or emergency measures taken? [12] How many years has the unit been operating? [13] Is the power supply voltage normal? Does the state change greatly according to the time band?
CAUTION
1. This power supply unit uses a large capacity electrolytic capacitor. When the CHARGE lamp on the front of the power supply unit is lit, voltage is still present at the PN terminal (TE2). Do not touch the terminal block in this state. 2. Before replacing the unit, etc., always confirm that there is no voltage at the PN terminal (TE2) with a tester or wait at least 15 minutes after turning the main power OFF. 3. The conductivity in the unit cannot be checked. 4. Never carry out a megger test on the drive unit or power supply unit as the unit could be damaged.
6-2
6. Troubleshooting
6-1-1
LED display when alarm or warning occurs

The axis No. and alarm/warning No. alternate on the display. The display flickers when an alarm occurs.
(1) Servo and spindle drive unit
F1 (flicker) F+axis No.
25 (flicker) Alarm No.
F2 (flicker) F+axis No.
37 (flicker) Alarm No.
Not lit
LED display during servo alarm or spindle alarm
F1 F+axis No.
E7 Warning No.
F2 F+axis No.
9F Warning No.
Not lit
LED display during servo warning or spindle warning
Numbers displayed on LED No. LED display 0 1 2 3 4 5 6 7 8 9 A B C D E F
(2) Power supply unit The alarm/warning No. is converted into a symbol and displayed. Refer to section "6-2-1 List of alarms and "6-2-2 List of warnings" for details. The display flickers when an alarm occurs.
Alarm 71 (flicker) LED display during power supply alarm
Warning E9 LED display during power supply warning
6-3
6. Troubleshooting
6-2
6-2-1
Protective functions list of units

List of alarms
When an alarm occurs, the servo drive unit will make the motor stop by the deceleration control or dynamic brake. The spindle drive unit will coast to a stop or will decelerate to a stop. At the same time, the alarm No. will appear on the NC monitor screen and with the LEDs on the front of the drive unit. Check the alarm No., and remove the cause of the alarm by following this list. Drive unit alarm
No. Alarm name SV SP Alarm details The axis No. selection switch setting is incorrect. A CPU or internal memory error was detected during the self-check at power ON. The software process was not completed within the specified time. (CPU1) The software process was not completed within the specified time. (CPU2) Creation of the initial magnetic pole, required for motor control, was not completed. An error was detected in the A/D converter for current FB detection. Initial communication with the motor end detector was not possible. Initial communication with the master axis motor end detector was not possible when the closed current command synchronous control was set. Or, the communication was cut off. Initial communication with the linear scale or ball screw end detector was not possible. A CPU initial error was detected with the linear scale or ball screw end detector. An error was detected in the data stored in the memory with the linear scale. Or, LED deterioration was detected with the linear scale. A data error was detected with the linear scale or ball screw end detector. An internal memory error was detected with the linear scale. An error was detected in the communication data with the linear scale or ball screw end detector. Or, the communication was cut off. Reset AR AR PR PR PR PR PR PR 11 Axis selection error 12 Memory error 1 13 Software processing error 1 14 Software processing error 2 16 Magnetic pole position detection error 17 A/D converter error 18 Motor side detector, initial communication error 19 Synchronous control/detector communication error 1A Machine side detector, initial communication error 1B Machine side detector, CPU error 1 1C Machine side detector, EEPROM/LED abnormality 1D Machine side detector, data error 1E Machine side detector, memory error 1F Machine side detector, communication error
PR PR PR PR PR PR
(Note 1) Motor stopping method applied when self-axis drive unit alarm occurs is indicated in SV for servo and in SP for spindle. (Note 2) Servo (SV) alarm stopping method : Deceleration control (when SV048, SV055 or SV056 is set) : Dynamic brake stop : Initial error (while motor is stopped) (Note 3) Spindle (SP) alarm stopping method : Deceleration control (when SP038/bit0=1 is set) : Coast to a stop : Initial error (while motor is stopped) Resetting methods NR : Reset with the NC RESET button. This alarm can also be reset with the PR and AR resetting conditions. PR : Reset by turning the NC power ON again. This alarm can also be reset with the AR resetting conditions. When the control axis is removed, this alarm can be reset with the NC RESET button. (Excluding alarms 32 and 37.) AR : Reset by turning the servo drive unit power ON again.
6-4
6. Troubleshooting
Drive unit alarm

No. Alarm name SV SP Alarm details A PLG Z-phase no signal was detected. The pulse-type linear scale or ball screw end detector's ABZ-phase no signal was detected with the servo, or the encoder no-signal was detected with the spindle. A difference of 50r/min or more between the speed command and speed feedback continued for longer than the set time. The backup voltage in the absolute position detector dropped causing the absolute position to be lost. A power module error is occurring with the axis for which the axis No. selection switch is set to "F" (not used axis). A CPU error was detected with the linear scale. A speed exceeding the specified maximum speed was detected with the linear scale. An error was detected in the absolute position data detection circuit with the linear scale. An error was detected in the relative position data detection circuit with the linear scale. A CPU initial error was detected with the motor end detector or linear scale in the linear servo system. Deterioration of the LEDs was detected with the motor end detector. Or, an error in the data stored in the memory was detected with the linear scale in the linear servo system. A data error was detected with the motor end detector or linear scale in the linear servo system. A communication data error was detected with the motor end detector or linear scale for the linear servo. Or, communication was cut off. A rotation speed exceeding the motor's tolerable rotation speed was detected. The power module's overcurrent protection function activated. An error was detected in the data received from the NC. The movement command data received from the NC was excessive. Communication from the NC was cut off. An illegal parameter was detected in the parameters received from the NC at NC power ON. An error was detected in the communication frame received from the NC. An error was detected in the axis information data received from the NC. An excessive current was detected in the motor drive current. The power module's temperature protection function activated. Even when the maximum torque was commanded, the motor speed does not increase to 45r/min or more. 1. A state in which the motor's speed feedback exceeded the speed command and accelerated was detected. 2. Even though the speed command is 0 (including when stopped during position control), motor rotation exceeding the parameter setting value was detected. During constant speed operation, the difference between the speed command and speed feedback exceeded the set amount and set time. Reset PR PR 20 Motor side detector, No signal 1 21 Machine side detector, No signal 2
23 Excessive speed deflection 1 25 Absolute position lost 26 Unusable axis error 27 Machine side detector, CPU error 2 28 Machine side detector, overspeed 29 Machine side detector, absolute position data error 2A Machine side detector, incremental position data error 2B Motor side detector, CPU error 1 2C Motor side detector, EEPROM/LED error 2D Motor side detector, data error 2F Motor side detector, communication error 31 Overspeed 32 Power module overcurrent 34 Communication or CRC error between NC and drive unit 35 NC command error 36 Communication or transmission error between NC and drive unit 37 Initial parameter error 38 Communication or protocol error 1 between NC and drive unit 39 Communication or protocol error 2 between NC and drive unit 3A Overcurrent 3B Power module overheat 3D Spindle speed lock 3E Spindle speed overrun
PR AR PR PR PR PR PR PR PR
PR PR PR PR PR PR PR PR PR PR PR PR PR PR
3F Speed excessive deflection 2
PR
(Note 1) Motor stopping method applied when self-axis drive unit alarm occurs is indicated in SV for servo and in SP for spindle. (Note 2) Servo (SV) alarm stopping method : Deceleration control (when SV048, SV055 or SV056 is set) : Dynamic brake stop : Initial error (while motor is stopped) (Note 3) Spindle (SP) alarm stopping method : Deceleration control (when SP038/bit0=1 is set) : Coast to a stop : Initial error (while motor is stopped)
6-5
6. Troubleshooting
Drive unit alarm

No. Alarm name SV SP Alarm details During 1-drive unit 2-motor control, an error was detected in the motor changeover signal received form the detector changeover unit. During 1-drive unit 2-motor control, an error was detected in the communication with the detector changeover unit. With the servo, pulse-type position detector feedback signal error was detected. With the spindle, a PLG feedback signal error was detected. With the servo, an excessive error was detected in the position data for the motor side detector and machine side detector. With the spindle, an error was detected in the encoder feedback signal. When using the coil changeover control motor, the mode was changed to C-axis control while the high-speed coil was selected. The temperature protection function in the motor or detector activated. A spindle control mode selection exceeding the specifications was input. The overload detection level reached 100% or more. The motor or drive unit is in the overload state. With the servo, a current command exceeding 95% of the unit's maximum current continued for one second or more. With the spindle, a load exceeding the continuous rating continued for 30 minutes or more. With the servo, the difference of the motor's actual position at servo ON and the theoretical position exceeded the setting value. With the spindle, the difference of the position command and position feedback exceeded the setting value. The difference of the motor's actual position at servo OFF and the theoretical position exceeded the setting value. The motor current was not detected when the excessive error 1 alarm occurred. When the collision detection function is valid, the disturbance torque exceeded the collision detection value during rapid traverse (G0). When the collision detection function is valid, the disturbance torque exceeded the collision detection level during cutting feed (G1). When the collision detection function is valid, the command torque reached the motor's maximum torque. After orientation was completed, the command and feedback error exceeded the parameter setting. Reset PR PR PR PR 40 Detector changeover unit, changeover error 41 Detector changeover unit, communication error 42 Feedback error 1 43 Feedback error 2
44 C-axis changeover alarm 46 Motor overheat 4E NC command mode error 50 Overload 1 51 Overload 2
NR NR NR NR NR
52 Excessive error 1
NR
53 Excessive error 2 54 Excessive error 3 58 Collision detection 1 G0 59 Collision detection 1 G1 5A Collision detection 2 5C Orientation feedback error
NR NR NR NR NR PR
6-6
6. Troubleshooting
Power supply alarm

No. display 60 61 62 63 65 67 68 69 6A 6B 6C 6D 6E 6F
LED
Alarm name Instantaneous power failure Power module overcurrent Frequency error Auxiliary regeneration error Rush relay error Phase failure Watch dog Ground fault External contactor melting Rush relay melted Main circuit error Parameter error Memory error Power supply error
CV CR
Alarm details A drop in the 24VDC power was detected. The power module's overcurrent protection function activated. The input power frequency exceeded the specified range. The auxiliary regenerative transistor is still ON. The rush resistance short-circuit relay does not turn ON. There is a phase failure in the input power. The system is not operating normally. The motor power cable is contacting FG (ground). The external contactor's contact has melted. The rush resistance short-circuit relay does not turn OFF. An abnormality was detected in the main circuit capacitor's charging operation. The power supply unit's capacity is not appropriate for the regenerative resistor type set with the parameters. An error was detected in the internal memory. The power supply is not connected, or an error was detected in the power supply's A/D converter. This is detected simultaneously if another power supply alarm occurs. An instantaneous power failure occurred. The over-regeneration detection level exceeded 100%. The regenerative resistor is in the overload state. The temperature protection function in the regenerative resistor activated. The main circuit PN bus voltage exceeded the tolerable value. The rotary switch setting for the external emergency stop does not match the parameter setting. The power module's temperature protection function activated.
Reset PR PR PR PR PR PR AR PR PR PR PR PR AR AR
71 73 74 75 76 77
Instantaneous power failure/ external emergency stop Over-regeneration Regenerative resistor overheat Overvoltage External emergency stop setting error Power module overheat
NR PR PR NR AR AR
(Note 1) If a power supply alarm (60 to 77) occurs, all servos will stop with the dynamic brakes, and all spindles will be stop with the coast to a stop. (Note 2) "b", "C" and "d" displayed on the power supply unit's LED as a solid light (not flickering) do not indicate an alarm.
6-7
6. Troubleshooting
Drive unit alarm

No. Alarm name SV SP Alarm details A mismatch in the program mode selection was detected. Turn the drive unit power ON again. The system is not operating normally. With the servo, an error was detected in the connection with the analog output linear scale for the MDS-B-HR unit. With the spindle, initial communication with the MDS-B-PJEX was not possible. With the servo, an error was detected in the communication with the serial output linear scale for the MDS-B-HR unit. With the spindle, an error was detected in the communication with the MDS-B-PJEX. An abnormal signal from the PLG was detected during automatic adjustment of the PLG. A detector type not within the specifications was detected with the MDS-B-PJEX. With the servo, a CPU error was detected with the MDS-B-HR unit. With the spindle, a CPU error was detected with the MDS-B-PJEX unit. A data error was detected with the MDS-B-HR unit. Reset PR AR PR 7F Power reboot request 88 Watch dog 89 Detector converter unit 2 connection error 8A Encoder converter unit 2 communication error 8B Encoder converter unit 2 automatic adjustment error 8C Encoder converter unit 2 judgment error 8D Encoder converter unit 2 CPU error 8E Encoder converter unit 2 data error
PR
PR PR AR PR
6-8
6. Troubleshooting
6-2-2
List of warnings
When a warning occurs, a warning No. will appear on the NC monitor screen and with the LEDs on the front of the drive unit. Check the warning No., and remove the cause of the warning by following this list. Drive unit warnings
No. Alarm name Warning details Initial communication with the absolute position linear scale was not possible. An error was detected in the communication with the detector for the absolute position detection system. An error was detected in the data for the absolute position detection system. The position data fluctuated when creating the initial absolute position. An excessive deviation was detected in the motor end detector and MP scale feedback data for the MP scale absolute position detection system. An error was detected in the offset data received from the MP scale for the MP scale absolute position detection system. An error was detected in the multi-rotation counter for the absolute position detector. The absolute position cannot be compensated. The voltage of the battery supplying to the absolute position detector has dropped. The absolute position data is held. The commanded turret indexing position shift amount is not within the specified range. Retrying during an orientation feedback error. The overload detection level is 80% or more. A deviation was detected in the absolute position data and absolute position data. A parameter exceeding the setting range was set. Control axis removal was commanded. Emergency stop was input from the NC. Reset PR * * PR * PR * * * * * * * * * 90 Detector, initial communication error 91 Detector, communication error 92 Detector, protocol error 93 Initial absolute position fluctuation 96 MP scale feedback error 97 MP scale offset error 9E Absolute position detector, multirotation counter error 9F Battery voltage drop A8 Turret indexing error warning A9 Orientation feedback error warn E1 Overload warning E3 Absolute position counter warning E4 Parameter error warning E6 Control axis removal warning E7 CNC emergency stop
(Note 1) Servo and spindle motor do not stop when the warning occurs. (Note 2) When an emergency stop is input, servo and spindle motor decelerate to a stop. (When SV048, SV055 or SV056 is set for servo and when SP038/bit 0=1is set.)
Power supply warnings

No. display E8 E9 EA EB
LED
Alarm name Auxiliary regeneration frequency over Instantaneous power failure warning External emergency stop Over-regeneration warning
CV CR
Warning details Regeneration at the power supply performance limit is occurring frequently. An instantaneous power failure occurred. The external emergency stop signal was input. The over-regeneration level is 80% or more.
Reset * NR * *
(Note) Servo and spindle motor do not stop when the warning occurs. Resetting methods * : Automatically reset once the cause of the warning is removed. NR : Reset with the NC RESET button. This warning can also be reset with the PR and AR resetting conditions. PR : Reset by turning the NC power ON again. This warning can also be reset with the AR resetting conditions. When the control axis is removed, this warning can be reset with the NC RESET button. (Excluding warning 93.)
6-9
6. Troubleshooting
6-3
Troubleshooting
Follow this section to troubleshoot the alarms that occur during start up or while the machine is operating. If the state is not improved with the following investigations, the drive unit may be faulty. Exchange the unit with another unit of the same capacity, and check whether the state is improved.
6-3-1
Troubleshooting at power ON
If the NC system does not start up correctly and a system error occurs when the NC power is turned ON, the drive unit may not have been started up properly. Check the LED display on the drive unit, and take measures according to this section.
LED display AA Symptom Cause of occurrence Investigation method Remedy
Initial communication with The drive unit axis No. Is there any other drive unit that has the Set correctly. setting is incorrect. same axis No. set? the CNC was not completed correctly. The CNC setting is incorrect. Is the No. of CNC controlled axes Set correctly. correct? Connect correctly. Communication with CNC is Is the connector (CN1A, CN1B) disconnected? incorrect. Is the cable broken? Replace the cable. Check the conductivity with a tester. Initial communication with The axis is not used, the Is the axis setting rotary switch set to "7" Set correctly. to "F"? the CNC was not carried setting is for use inhibiting. out. Connect correctly. Communication with CNC is Is the connector (CN1A, CN1B) disconnected? incorrect. Is the cable broken? Replace the cable. Check the conductivity with a tester An error was detected in The CPU peripheral circuit is Check the repeatability. Replace the unit. the unit's memory and IC abnormal. Check whether there is any abnormality Improve the during the self-diagnosis with the unit's surrounding environment, surrounding at power ON. etc. environment.
Ab
12
The drive unit has started up normally if the following type of emergency stop (E7) is displayed on the display unit's LED display.
F1 F+axis No.
E7 Emergency stop
F1 F+axis No.
E7 Emergency stop
Not lit
Normal drive unit LED display at NC power ON (for 1st axis)
6 - 10
6. Troubleshooting
6-3-2
Troubleshooting for each alarm No.

Axis selection error The axis No. selection switch setting is incorrect. SV SP
Alarm No. 11
1
Investigation details Investigation results Remedies Check the setting of the axis The same axis No. is set for the L and Correctly set the axis No. selection switch on the top of the unit. M axes. 0 = No. 1 axis, 1 = No. 2 axis, ...
Alarm No. 12
1
Memory error 1 A CPU or internal memory error was detected during the self-check at power ON. Remedies SV SP
Investigation details Investigation results Refer to "6-3-1 Troubleshooting at power ON".
Alarm No. 13
1
Software processing error 1 The software process was not completed within the specified time. (CPU1) Remedies Try replacing with the drive unit containing the original software version. The version was not changed. Investigate item 2. The error is always repeated. Replace the drive unit. The state returns to normal once, but Investigate item 3. occurs sometimes thereafter. No abnormality is found in particular. Replace the drive unit. An abnormality was found in the Take remedies according to the ambient environment. causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground. Investigation results The version was changed. SV SP
Investigation details Check whether the servo software version was changed recently.
Check the repeatability.
Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)
Alarm No. 14
1
Software processing error 2 The software process was not completed within the specified time. (CPU2) Investigation results Remedies SV SP
Investigation details Carry out the items for alarm No. 13.
Alarm No. 16
1
Magnetic pole position detection error Creation of the initial magnetic pole, required for motor control, was not completed. Investigation results It was replaced. It was not replaced. SP205 = 0 SP205 = 1 Remedies SV SP Carry out automatic adjustment of the PLG Z-phase. Investigate item 2. Carry out automatic adjustment of the PLG Z-phase. Set SP205 to 0, and turn the NC power ON again. Then, carry out automatic adjustment of the PLG Z-phase.
Investigation details Was the spindle drive unit replaced?
Check the spindle parameters.
6 - 11
6. Troubleshooting
Alarm No. 17
1
A/D converter error An error was detected in the A/D converter for current FB detection. Investigation results The error is always repeated. The state returns to normal once, but occurs sometimes thereafter. No abnormality is found in particular. An abnormality was found in the ambient environment. Remedies Replace the drive unit. Investigate item 2. Replace the drive unit. Take remedies according to the causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground. SV SP
Investigation details Check the repeatability.
Alarm No. 18
1
Motor side detector, initial communication error Initial communication with the motor end detector was not possible. Investigation results The value is not set correctly. The value is set correctly. Remedies Correctly set SV025. Investigate item 2. SV SP
Investigation details Check the servo parameter (SV025) setting value. OSE104: 0, OSA104: 1 Are all other set to 2? (Excluding slave axis for synchronous control) Check whether the drive unit connectors (CN2) or detector connectors are disconnected. Turn the power OFF, and check the detector cable connection with a tester. Connect to another normal axis drive unit, and check whether the fault is on the drive unit side or detector side. Check if there is any abnormality in the detector's ambient environment. (Ex. Ambient temperature, noise, grounding)
The connector is disconnected (or loose). The connector is not disconnected. There is a connection fault. The connection is normal. The alarm is on the drive unit side. The alarm is on the detector side. No abnormality is found in particular.
Correctly install. Investigate item 3. Replace the detector cable. Investigate item 4. Replace the drive unit. Investigate item 5. Replace the detector. (With the absolute position system, the zero point must be established.) Take remedies according to the causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground.
An abnormality was found in the ambient environment.
1 2
Synchronous control/detector communication error Initial communication with the master axis motor end detector was not possible when the closed current command synchronous control was set. Or, the communication was cut off. Investigation details Investigation results Remedies SV SP Check whether the MDS-B-SD unit The connector is disconnected. Correctly connect. CN2B connector is disconnected. The connector is not disconnected. Investigate item 2. Check the continuity of the cable The cable is disconnected or Replace the cable. between the MDS-B-SD unit CN2B incorrectly connected. and the slave side drive unit CN3. There is no abnormality in particular. Try replacing the drive unit or MDS-B-SD unit.
Alarm No. 19
6 - 12
6. Troubleshooting
Alarm No. 1A
1
Machine side detector, initial communication error Initial communication with the linear scale or ball screw end detector was not possible. Investigation results The value is not set correctly. The value is set correctly. Remedies Correctly set SV025. Investigate item 2. SV SP
Investigation details Check the servo parameter (SV025.pen) setting value. Are the serial communication parameters set for the pulse-type detector? Check whether the drive unit connectors (CN3) or detector connectors are disconnected. Turn the power OFF, and check the detector cable connection with a tester. Connect to another normal axis drive unit, and check whether the fault is on the drive unit side or detector side. Check if there is any abnormality in the detector's ambient environment. (Ex. Ambient temperature, noise, grounding)
The connector is disconnected (or loose). The connector is not disconnected. There is a connection fault. The connection is normal. The alarm is on the drive unit side. The alarm is on the detector side. No abnormality is found in particular.
Correctly install. Investigate item 3. Replace the detector cable. Investigate item 4. Replace the drive unit. Investigate item 5. Replace the detector. (With the absolute position system, the zero point must be established.) Take remedies according to the causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground.
Alarm No. 1B
1
Machine side detector, CPU error 1 A CPU initial error was detected with the linear scale or ball screw end detector. Investigation results The alarm is on the drive unit side. The alarm is on the detector side. No abnormality is found in particular. Remedies Replace the drive unit. Investigate item 2. Replace the detector. (With the absolute position system, the zero point must be established.) Take remedies according to the causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground. SV SP
Investigation details Connect to another normal axis drive unit, and check whether the fault is on the drive unit side or scale side. Check if there is any abnormality in the detector's ambient environment. (Ex. Ambient temperature, noise, grounding)
Machine side detector, EEPROM/LED abnormality An error was detected in the data stored in the memory by the linear scale. Or, LED deterioration was detected with the linear scale. Investigation details Investigation results Remedies SV SP Check the alarm No. "1B" items.
Alarm No. 1C
Alarm No. 1D
1
Machine side detector, data error A data error was detected with the linear scale or ball screw end detector. Investigation results Remedies SV SP
Investigation details Check the alarm No. "1B" items.
Alarm No. 1E
1
Machine side detector, memory error An internal memory error was detected with the linear scale. Investigation results Remedies SV SP
6 - 13
6. Troubleshooting
Machine side detector, communication error An error was detected in the communication data with the linear scale or ball screw end detector. Or, the communication was cut off. Investigation details Investigation results Remedies SV SP Check whether the drive unit The connector is disconnected (or Correctly install. connectors (CN3) or detector loose). connectors are disconnected. The connector is not disconnected. Investigate item 2. Is the detector cable wired in the The cables are wired near each Improve the cable wiring. same conduit as the motor's power other. (Noise is entering from the cable or are the two cables laid in power cable.) parallel near each other? The wires are sufficiently separated. Investigate item 3. Is the motor FG wire connected only The motor FG wire is grounded on Ground the motor to one point, to the drive unit which drives it? the motor side. connecting the wires together on the (Is the motor grounded to one point?) drive unit side. The motor is grounded to one point. Investigate item 4. Turn the power OFF, and check the There is a connection fault. Replace the detector cable. detector cable connection with a The connection is normal. Investigate item 5. tester. (Is the cable shielded?) Connect to another normal axis drive The alarm is on the drive unit side. Replace the drive unit. unit, and check whether the fault is The alarm is on the detector side. Investigate item 6. on the drive unit side or detector side. Check if there is any abnormality in No abnormality is found in particular. Replace the detector. the detector's ambient environment. (With the absolute position system, (Ex. Ambient temperature, noise, the zero point must be established.) grounding) An abnormality was found in the Take remedies according to the ambient environment. causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground.
Alarm No. 1F
Motor side detector, No signal 1 A PLG Z-phase no signal was detected. An error was detected in the A/B phase output waveform during PLG automatic adjustment. Investigation details Investigation results Remedies SV SP Check whether the drive unit The connector is disconnected (or Correctly install. connectors (CN5) or detector loose). connectors are disconnected. The connector is not disconnected. Investigate item 2. Turn the power OFF, and check the There is a connection fault. Replace the detector cable. detector cable connection with a The connection is normal. Investigate item 3. tester. Check whether the alarm occurred The alarm occurred during PLG Investigate item 4. during PLG automatic adjustment. automatic adjustment. The alarm occurred during normal Investigate item 5. operation. Check the PLG output waveform (A/B There is a problem. (The A/B phase Adjust the PLG output waveform. phase). input voltage is 0.8V or less or 2.2V or higher.) Normal Investigate item 6. Check the PLG output waveform There is a problem. (The output Investigate item 7. (Z-phase). waveform is 0V even after the gears' Z-phase is passed.) Normal Investigate item 6. Check the occurrence frequency. Occurs each time. Replace the drive unit. Occurs occasionally. Check whether the cable is disconnected, whether there is a contact fault, or a detector fault. Check if there is any abnormality in No abnormality is found in particular. Replace the PLG detector. the unit's ambient environment. An abnormality was found in the Take measures according to the error (Ex. Ambient temperature, noise, ambient environment. cause. grounding) Cable disconnection, contact fault. The sensor is hot during high-load operation. Review the operation, and adjust the Z-phase again.
Alarm No. 20
6 - 14
6. Troubleshooting
2 3
Machine side detector, No signal 2 The pulse-type linear scale or ball screw end detector's ABZ-phase no signal was detected with the servo, or the encoder no-signal was detected with the spindle. Investigation details Investigation results Remedies SV SP Check the servo parameter (SV025. The value is not set correctly. Correctly set SV025. pen) setting value. The value is set correctly. Investigate item 3. Are the pulse-type detector parameters set for a serial communication type detector? Check the spindle parameter Encoder orientation is not used. Set SP037/bit0 to 0. (SP037/bit0) settings. Encoder orientation is used. Investigate item 3. Check whether the drive unit The connector is disconnected (or Correctly install. connectors (servo: CN3, spindle: loose). CN6) or detector connectors are The connector is not disconnected. Investigate item 4. disconnected. Turn the power OFF, and check the There is a connection fault. Replace the detector cable. detector cable connection with a The connection is normal. Investigate item 5. tester. Connect to another normal axis drive The alarm is on the drive unit side. Replace the drive unit. unit, and check whether the fault is The alarm is on the detector side. Investigate item 6. on the drive unit side or detector side. Check if there is any abnormality in No abnormality is found in particular. Replace the detector. the detector's ambient environment. (With the absolute position system, (Ex. Ambient temperature, noise, the zero point must be established.) grounding) An abnormality was found in the Take remedies according to the ambient environment. causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground.
Alarm No. 21
4 5
Excessive speed deflection 1 A difference of 50r/min or more between the speed command and speed feedback continued for longer than the set time. Investigation details Investigation results Remedies SV SP Check the U, V and W wiring The wires are not correctly Correctly connect. between the spindle drive unit and connected. spindle motor. The wires are correctly connected. Investigate item 2. Check the settings for SP034, The correct values are not set. Correctly set. SP040, SP055, and SP257 to The correct values are set. Investigate item 3. SP384. Measure the acceleration/ 12 seconds or more. Increase the SP055 setting value. deceleration time constants. Less than 12 seconds. Investigate item 4. Measure the time required to reach the reverse run maximum speed from the forward run maximum speed. Measure the load during cutting. 120% or more. Reduce the load. Less than 120%. Investigate item 5. Check the PLG output waveform. There is a problem. Adjust the PLG output waveform. Normal. Replace the drive unit.
Alarm No. 23
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6. Troubleshooting
Alarm No. 25
1 2
Absolute position lost The backup voltage in the absolute position detector dropped causing the absolute position to be lost. Investigation results The warning is occurring. The warning is not occurring. 3V or less. 3V or more. Alarm 18 occurred. Remedies SV SP Investigate item 2. Investigate item 3. Replace the battery, and establish the zero point. Check the NC bus cable connection. Turn the drive unit control power ON again, and establish the zero point. Investigate item 4. Turn the drive unit control power ON again, and establish the zero point. Investigate item 5. Replace the cable. Replace the drive unit.
Investigation details Is warning 9F occurring at the same time? Measure the battery voltage with a tester. Did alarm 18 occur when the power was turned ON the last time?
Alarm 18 did not occur. Was the detector cable or battery The unit was left for a long time. cable disconnected from the unit for a Guide at delivery : 20 hours or more long time? After 5 years : 10 hours or more The cables were not disconnected. Check the detector cable or battery The connection is faulty. cable connection with a tester. The connection is normal.
Unusable axis error A power module error is occurring with the axis for which the axis No. selection switch is set to "F" (not used axis). Investigation details Investigation results Remedies SV SP Check if there is any abnormality in No abnormality is found in particular. Replace the drive unit. the unit's ambient environment. An abnormality was found in the Take remedies according to the (Ex. Ambient temperature, noise, ambient environment. causes of the abnormality. grounding) Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground.
Alarm No. 26
Alarm No. 27
1
Machine side detector, CPU error 2 A CPU error was detected with the linear scale. Investigation results Remedies SV SP
Alarm No. 28
1
Machine side detector, overspeed A speed exceeding the specified maximum speed was detected with the linear scale. Investigation results The rapid traverse rate is higher than the specified value. The rapid traverse rate is less than the specified value. No abnormality is found in particular. An abnormality was found in the ambient environment. Remedies Use within the specified range. Investigate item 2. Replace the linear scale. Take remedies according to the causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground. SV SP
Investigation details Check the linear scale's maximum speed.
Check if there is any abnormality in the detector's ambient environment. (Ex. Ambient temperature, noise, grounding)
Alarm No. 29
1
Machine side detector, absolute position data error An error was detected in the absolute position data detection circuit with the linear scale. Investigation results Remedies SV SP
Alarm No. 2A
1
Machine side detector, incremental position data error An error was detected in the relative position data detection circuit with the linear scale. Investigation results Remedies SV SP
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6. Troubleshooting
Alarm No. 2B
1
Motor side detector, CPU error 1 A CPU initial error was detected with the motor end detector. Investigation results No abnormality is found in particular. Remedies Replace the detector. (With the absolute position system, the zero point must be established.) Take remedies according to the causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground. SV SP
Investigation details Check if there is any abnormality in the detector's ambient environment. (Ex. Ambient temperature, noise, grounding)
Alarm No. 2C
1
Motor side detector, EEPROM/LED error Deterioration of the LEDs was detected with the motor end detector. Investigation results Remedies SV SP
Alarm No. 2D
1
Motor side detector, data error A data error was detected with the motor end detector. Investigation results Remedies SV SP
Alarm No. 2F
1
Motor side detector, communication error A communication data error was detected with the motor end detector. Or, communication was cut off. Remedies Correctly install. Investigate item 2. Improve the cable wiring. SV SP
Investigation results The connector is disconnected (or loose). The connector is not disconnected. Is the detector cable wired in the The cables are wired near each same conduit as the motor's power other. (Noise is entering from the cable or are the two cables laid in power cable.) parallel near each other? The wires are sufficiently separated. Is the motor FG wire connected only The motor FG wire is grounded on to the drive unit which drives it? the motor side. (Is the motor grounded to one point?) The motor is grounded to one point. Turn the power OFF, and check the There is a connection fault. detector cable connection with a The connection is normal. tester. (Is the cable shielded?) Connect to another normal axis drive The alarm is on the drive unit side. unit, and check whether the fault is The alarm is on the detector side. on the drive unit side or detector side. Check if there is any abnormality in No abnormality is found in particular. the detector's ambient environment. (Ex. Ambient temperature, noise, grounding) An abnormality was found in the ambient environment.
Investigation details Check whether the drive unit connectors (CN2) or detector connectors are disconnected.
Investigate item 3. Connect together on the drive unit side. Investigate item 4. Replace the detector cable. Investigate item 5. Replace the drive unit. Investigate item 6. Replace the detector. (With the absolute position system, the zero point must be established.) Take remedies according to the causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground.
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6. Troubleshooting
Alarm No. 31
1
Overspeed A rotation speed exceeding the motor's tolerable rotation speed was detected. Investigation results The rapid traverse rate is too fast. The speed is within the motor's maximum rotation speed. The settings are incorrect. Correctly set. The setting is incorrect. The alarm is detected at 115% of SP017. Correctly set. There is a problem. Normal. The waveform is overshooting. The waveform is not overshooting. Remedies Set within the motor's maximum rotation speed. Investigate item 2. Correctly set. Investigate item 5. Correctly set. SV SP
Investigation details Check the rapid traverse rate (rapid) and motor maximum rotation speed.
Check the settings for the servo parameters SV001 (PC1), SV002 (PC2), SV018 (PIT) and SV025 (MTYP). Confirm the spindle parameter SP017 (TSP) setting.
4 5
Confirm the PLG output waveform. Check whether the speed waveform is overshooting.
Investigate item 4. Adjust the PLG output waveform. Investigate item 5. Increase the acceleration/ deceleration time constant. Check if there is any abnormality in the unit's ambient environment. (Ex.: Ambient temperature, noise, grounding)
Alarm No. 32
1
Power module overcurrent The power module's overcurrent protection function activated. Investigation results Remedies The alarm occurs before READY ON. Check investigation item 2 and (The drive unit is faulty.) following, and remove the cause of the fault. Then replace the drive unit. The alarm occurs after READY ON. Investigate item 2. The setting is incorrect. Correctly set. Servo : SV025 Spindle : SP034, SP040, SP257 to SP384 The setting is correct. Investigate item 3. The setting is large compared to the Set the standard value. standard value. The standard value is set. Investigate item 4. The power cable is short-circuited. Replace the motor's power cable. There is no problem. Investigate item 5. The power cable is short-circuited. There is no problem. The motor is short-circuited. Replace the motor's power cable. Investigate item 6. Replace the motor. (With the absolute position system, the zero point must be established.) Investigate item 7. Replace the drive unit. Replace the motor and improve the motor installation environment. (With the absolute position system, the zero point must be established.) SV SP
Check the parameter setting. Motor type
5 6
Check the parameter settings. Current loop gain Speed loop gain Disconnect the UVW phase wiring from the terminal block, and the cannon plug from the motor. Check the insulation with a tester. Check the insulation between the motor power cable and FG. Connect the cannon plug, and check the insulation between the power cable and FG. Check for any abnormalities in the motor's ambient environment. (Ex.: Ambient temperature, cutting water)
There is no problem. No abnormality is found in particular. An abnormality was found in the ambient environment.
6 - 18
6. Troubleshooting
Alarm No. 34
1 2
Communication or CRC error between NC and drive unit An error was detected in the data received from the NC. Remedies Replace the cause of the fault. Investigate item 2. Replace the cable. Investigate item 3. SV SP
Investigation details Investigation results Try replacing the terminator or battery The state is improved. unit. The state is not improved. Check the NC bus communication The connection is incorrect. cable connection. There is no problem. Is the cable disconnected? Is the communication pair cable connected in reverse? Change the order of the connected The alarm is on the cable drive units. connections. (The rotary switch does not need to The alarm is on the unit connections. be changed.) Check if there is any abnormality in No abnormality is found in particular. the unit's ambient environment. An abnormality was found in the (Ex. Ambient temperature, noise, ambient environment. grounding)
Replace the cable. Investigate item 4. Replace the unit. Take remedies according to the causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground.
Alarm No. 35
1
NC command error The movement command data received from the NC was excessive. Investigation results The rapid traverse rate is large. The rate is not especially large. Remedies Check the rapid traverse rate limit. Look for problems on the NC side, such as not being able to follow up the position FB. SV SP
Investigation details Is the rapid traverse rate large for using a sub-micron system or rotary axis?
Alarm No. 36
1
Communication or transmission error between NC and drive unit Communication from the NC was cut off. Investigation results The connector is disconnected (or loose). The state is not improved. The connection is incorrect. There is no problem. Remedies Connect correctly. Investigate item 2. Replace the cable. Investigate item 3. SV SP
Investigation details Check whether the NC bus communication cable connectors (CN1A, CN1B) are disconnected. Check the NC bus communication cable connection. Is the cable disconnected? Is the communication pair cable connected in reverse? Change the order of the connected drive units. (The rotary switch does not need to be changed.) Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)
The alarm is on the cable Replace the cable. connections. The alarm is on the unit connections. Investigate item 4. No abnormality is found in particular. An abnormality was found in the ambient environment. Replace the unit. Take remedies according to the causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground.
6 - 19
6. Troubleshooting
Initial parameter error An illegal parameter was detected in the parameters received from the NC at NC power ON. "S02 initial parameter error ####" is displayed on the NC screen. #### indicates the incorrect parameter No. Investigation details Investigation results Remedies SV SP Check the error parameter No. SV001 to SV065 (M60S Series: 2201 Set the value within the designated to 2265) setting range. SP001 to SP384 (M60S Series: 3201 to 3584) SV101 (M60S Series: 2301) Check SV001, SV002 and SV018. The electronic gears are overflowing. SV102 (M60S Series: 2302) Absolute position control cannot be The absolute position detection used. To use, change to an absolute parameter is valid when OSE104 and position detector. OSE105 are connected. SV104 (M60S Series: 2304) SHG control cannot be used. No SHG control operation is provided. SV105 (M60S Series: 2305) The adaptive filter cannot be used. No adaptive filter option is provided.
Alarm No. 37
(Note) Refer to "6-3-4 Parameter numbers at initial parameter error".
Alarm No. 38
1
Communication or protocol error 1 between NC and drive unit An error was detected in the communication frame received from the NC. Investigation results Remedies SV SP
Investigation details Check the alarm No. "34" items.
Alarm No. 39
1
Communication or protocol error 2 between NC and drive unit An error was detected in the axis information data received from the NC. Investigation results Remedies SV SP
Alarm No. 3A
1
Overcurrent An excessive current was detected in the motor drive current. Remedies Set a filter. Lower the speed loop gain (SV005). Investigate item 2. Set an appropriate value. Investigate item 3. Set the standard value. Investigate item 4. Replace the motor power cable. Investigate item 5. Replace the motor power cable. Investigate item 6. Replace the motor. (With the absolute position system, the zero point must be established.) Investigate item 7. Replace the drive unit. Improve the installation environment. (With the absolute position system, the zero point must be established.) SV SP
Investigation details Investigation results Check whether vibration is occurring. Vibration is occurring.
The speed loop gain (SV005) setting is larger than the standard value. Check the current loop gain. (SV009, SV010, SV011, SV012) Disconnect the UVW phase wiring from the terminal block, and the cannon plug from the motor. Check the insulation with a tester. Check the insulation between the motor power cable and FG. Connect the cannon plug, and check the insulation between the power cable and FG. Check if there is any abnormality in the motor's ambient environment. (Ex. Ambient temperature, cutting water)
3 4
There is no vibration. The setting is too large. The setting is approximately the same as the standard value. The setting is incorrect. The standard value is set. The power cable is short-circuited. There is no problem. There is a ground fault at the power cable. There is no problem. There is a ground fault in the motor.
There is no problem. No abnormality is found in particular. An abnormality was found in the ambient environment.
6 - 20
6. Troubleshooting
Alarm No. 3B
1
Power module overheat The power module's temperature protection function activated. Investigation results Large amounts of cutting oil or cutting chips, etc., are adhered, or the rotation is slow. The fan is rotating properly. Cutting oil or cutting chips, etc., are adhered, and the fins are clogged. The fins are normal. 55C or more Less than 55C. No abnormality is found in particular. Remedies Clean or replace the fan. SV SP
Investigation details Confirm that the fan is rotating correctly.
Check whether the heat dissipating fins are dirty. Measure the drive unit's ambient temperature. Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)
Investigate item 2. Clean the fins. Investigate item 3. Improve the ventilation and cooling for the power distribution panel. Investigate item 4. If the alarm occurs even after the unit temperature has dropped, replace the unit. Take remedies according to the causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground.
Spindle speed lock Even when the maximum torque was commanded, the motor speed does not increase to 45r/min or more. Investigation details Investigation results Remedies SV SP Does the alarm occur immediately Occurs immediately after power is Investigate item 2. after the power is turned ON? turned ON. Occurs after normal operation. Investigate item 5. Is there any abnormal noise when There is abnormal noise. Investigate item 4. starting? (The initial pole estimate may be incorrect.) There is no abnormal noise. Investigate item 3. Check that the PN voltage is supplied The voltage is not supplied. Correctly supply the PN voltage. to the drive unit. Approx. 300V is correctly supplied. Investigate item 3. Is the CHARGE lamp ON? Check the motor power cable (U, V, The connections are incorrect. Connect correctly. W phases). (Also check the operation immediately after emergency stop is cancelled.) The power cable is not connected. Is the cable connected to the motor The connections are correct. Investigate item 5. for another axis? Is the contactor between the drive unit and motor OFF? (When using coil changeover specifications.) Check the load value with the spindle The cutting load is large. Lower the cutting load. monitor, and investigate the The cutting load is not large. Investigate item 6. machine's load state. Check whether the spindle rotary Locked with a mechanical lock. Remove the cause of the lock. section is locked with a mechanical Not locked with a mechanical lock. Investigate item 7. lock (C-axis clamp, etc.). Try replacing the drive unit. Improved. Replace the drive unit. Not improved. Investigate the motor. (Check the motor type and parameters.)
Alarm No. 3D
6 - 21
6. Troubleshooting
Spindle speed overrun 1. A state in which the motor's speed feedback exceeded the speed command and accelerated was detected. 2. Even though the speed command is 0 (including when stopped during position control), motor rotation exceeding the parameter setting value was detected. Investigation details Investigation results Remedies SV SP Does the alarm occur immediately Occurs immediately after power is Investigate item 2. after the power is turned ON? turned ON. Occurs after normal operation. Investigate item 3. Check the motor power cable (U, V, The connections are incorrect. Connect correctly. W phases). (Also check the operation immediately after emergency stop is cancelled.) The power cable is not connected. Is the cable connected to the motor The connections are correct. Investigate item 3. for another axis? Is the contactor between the drive unit and motor OFF? (When using coil changeover specifications.) Check whether the spindle rotary Locked with a mechanical lock. Remove the cause of the lock. section is locked with a mechanical Not locked with a mechanical lock. Investigate item 4. lock (C-axis clamp, etc.). Try replacing the drive unit. Improved. Replace the drive unit. Not improved. Investigate the motor. (Check the motor type and parameters.)
Alarm No. 3E
Speed excessive deflection 2 During constant speed operation, the difference between the speed command and speed feedback exceeded the set amount and set time. Investigation details Investigation results Remedies SV SP Check the load value with the spindle The cutting load is large. Lower the cutting load. monitor, and investigate the The cutting load is not large. Investigate item 2. machine's load state. Check whether the spindle rotary Locked with a mechanical lock. Remove the cause of the lock. section is locked with a mechanical Not locked with a mechanical lock. Investigate item 3. lock (C-axis clamp, etc.). Try replacing the drive unit. Improved. Replace the drive unit. Not improved. Investigate the motor. (Check the motor type and parameters.)
Alarm No. 3F
Detector changeover unit, changeover error During 1-drive unit 2-motor control, an error was detected in the motor changeover signal received form the detector changeover unit. Investigation details Investigation results Remedies SV SP Wiggle the FR-TK unit connector by The connector is disconnected (or Correctly install. hand to check whether it is loose). disconnected. The connector is not disconnected. Investigate item 2. Check whether the cable connected The cable is broken. Replace the cable. between the spindle drive unit and The cable is not broken. Investigate item 3. FR-TK unit is broken. Check if there is any abnormality in No abnormality is found in particular. Replace the drive unit. the unit's ambient environment. An abnormality was found in the Take remedies according to the (Ex. Ambient temperature, noise, ambient environment. causes of the abnormality. grounding) Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground.
Alarm No. 40
Detector changeover unit, communication error During 1-drive unit 2-motor control, an error was detected in the communication with the detector changeover unit. Investigation details Investigation results Remedies SV SP Check the alarm No. "40" items.
Alarm No. 41
6 - 22
6. Troubleshooting
4 5
Feedback error 1 With the servo, pulse-type position detector feedback signal error was detected. With the spindle, a PLG feedback signal error was detected. Investigation details Investigation results Remedies SV SP Check whether the drive unit The connector is disconnected (or Correctly install. connectors (servo: CN3, spindle: loose). CN6) or detector connectors are The connector is not disconnected. Investigate item 2. disconnected. Turn the power OFF, and check the There is a connection fault. Replace the detector cable. detector cable connection with a The connection is normal. Investigate item 3. tester. Connect to another normal axis drive The alarm is on the drive unit side. Replace the drive unit. unit, and check whether the fault is The alarm is on the detector side. Servo : Investigate item 5. on the drive unit side or detector side. Spindle : Investigate item 4. Check the PLG output waveform. There is a problem. Adjust the PLG output waveform. Normal Investigate item 5. Check if there is any abnormality in No abnormality is found in particular. Replace the detector. the detector's ambient environment. (With the absolute position system, (Ex. Ambient temperature, noise, the zero point must be established.) grounding) An abnormality was found in the Take remedies according to the ambient environment. causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground.
Alarm No. 42
Feedback error 2 With the servo, an excessive error was detected in the position data for the motor side detector and machine side detector. With the spindle, an error was detected in the encoder feedback signal. Investigation details Investigation results Remedies SV SP Check whether the drive unit The connector is disconnected (or Correctly install. connectors or detector connectors loose). are disconnected. The connector is not disconnected. Investigate item 2. Is the detector cable wired in the The cables are wired near each Improve the cable wiring. same conduit as the motor's power other. (Noise is entering from the cable or are the two cables laid in power cable.) parallel near each other? The wires are sufficiently separated. Investigate item 3. Is the motor FG wire connected only The motor FG wire is grounded on Connect together on the drive unit to the drive unit which drives it? the motor side. side. (Is the motor grounded to one point?) The motor is grounded to one point. Investigate item 4. Turn the power OFF, and check the There is a connection fault. Replace the detector cable. detector cable connection with a The connection is normal. Investigate item 5. tester. (Is the cable shielded?) Connect to another normal axis drive The alarm is on the drive unit side. Replace the drive unit. unit, and check whether the fault is The alarm is on the detector side. Investigate item 6. on the drive unit side or detector side. Check if there is any abnormality in No abnormality is found in particular. Replace the detector. the detector's ambient environment. (With the absolute position system, (Ex. Ambient temperature, noise, the zero point must be established.) grounding) An abnormality was found in the Take remedies according to the ambient environment. causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground.
Alarm No. 43
6 - 23
6. Troubleshooting
C-axis changeover alarm When using the coil changeover control motor, the mode was changed to C-axis control while the high-speed coil was selected. Investigation details Investigation results Remedies SV SP Check the coil selected with the High-speed coil is selected (bitD = 0) Correct the sequence. spindle control input 3, bitD for the Low-speed coil is selected (bitD= 1) Investigate item 2. C-axis control command. Is coil changeover validated for the Coil changeover valid (SP034/bit2 = Correctly set the parameter. special motor specifications? 1) Coil changeover invalid (SP034/bit2 Replace the drive unit. = 0)
Alarm No. 44
Alarm No. 46
1
Motor overheat The temperature protection function in the motor or detector activated. Investigation results The alarm occurs before operation. The alarm occurs occasionally after operation is started. The connector is disconnected (or loose). The connector is not disconnected. The cable is broken. The cable is not broken. Remedies Investigate item 2. Investigate item 5. Correctly install. Investigate item 3. Replace the cable. Servo : Investigate item 4. Spindle : Investigate item 12. Set SP034/bit2 to 1. Investigate item 12. Servo : Investigate item 6. Spindle : Investigate item 8. Investigate item 9. Select the motor so that the constant load torque is 60% or less. Investigate item 7. Do not turn the drive unit's power OFF when an overload alarm occurs. (The NC power can be turned OFF.) Investigate item 9. Correctly set. Investigate item 9. Investigate item 10. Investigate item 12. Investigate item 11. Clean. Investigate item 12. Replace the cable. Replace the fan. Replace the drive unit. Replace the motor. SV SP
Check whether the drive unit connectors (servo: CN3, spindle: CN6) or detector connectors are disconnected. Using a tester, check whether the detector cable is broken.
When using MDS-B-HR, is the motor SV034/bit2 = 0 thermal validated even when it is not SV034/bit2 = 1 provided? 5 Check the overload % (servo) or load The load is large. meter (spindle). The load is not large. 6 Is the unbalance torque high? The constant load torque (friction + unbalance) is 60% or more. The constant load torque is less than 60%. 7 Was the overload alarm (50) forcibly The alarm was forcibly reset. reset by turning the drive unit power OFF? The alarm was not forcibly reset. 8 Check the parameter settings. There was an incorrect setting. The settings are correct. 9 Measure the motor temperature Hot. when the alarm occurs. Not hot. 10 When using a motor with fan, check The fan motor was stopped. whether the fan is stopped, or The motor fan wind flow is poor. whether it is clogged with dust, etc. There is no problem. 11 Check the fan wiring. The cable is broken. The cable is not broken. 12 Try replacing the drive unit. Improved. Not improved.
Alarm No. 4E
1
NC command mode error A spindle control mode selection outside the specifications was input. Investigation results The alarm always occurs at the same position. The alarm occurs irregularly. The alarm occurs during position control. The alarm occurs during speed control. Remedies Check the NC and PLC program process. Investigate item 2. Check the NC and PLC program process. Check the NC and PLC program process. (If the cause cannot be pinpointed, replace the drive unit, and confirm.) SV SP
Investigation details Pinpoint where the alarm occurs in the PLC program. Does the alarm occur when position control (C-axis, spindle synchronization, synchronous tap) is started?
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6. Troubleshooting
Alarm No. 50
1
Overload 1 The overload detection level reached 100% or more. The motor or drive unit is in the overload state. Remedies Set the standard values. SV SP
Investigation details Check the overload parameters. Servo : SV021, SV022 Spindle : SP063, SP064
Investigation results The standard values (below) are not set. Servo : SV021 = 60, SV022 = 150 Spindle : SV063 = 60, SP064 = 110 The standard values are set. Check the overload % (servo) or load The load is large. meter (spindle). The load is not large. Check whether machine resonance is Resonance is occurring. occurring.
7 8
Investigate item 2. Servo : Investigate item 3. Spindle : Investigate item 7. Investigate item 9. Adjust the parameters. Set the notch filter. Lower VGN1 (SV005). Resonance is not occurring. Investigate item 4. Check whether the shaft sways when The motor is hunting. Adjust the parameters. the motor is stopped. (Hunting) Increase VGN1 (SV005). Lower VIA (SV008). The motor is not hunting. Investigate item 5. Check the brake operation The motor brakes are not released. Correct the faulty section. Check the brake relay. The motor brake operation is normal. Investigate item 6. Check the connector (CN20) connection. Check the load current with the NC The cutting load is large. Lower the cutting load. Servo Monitor, and investigate the There is interference with the When using the positioning pin, turn machine load. positioning pin. the servo OFF when stopped. An excessive force is applied from Check whether the ball screw is bent, the machine. or whether there is a fault in the guide. The machine load is not large. Investigate item 8. Check the PLG output waveform. There is a problem. Adjust the PLG output waveform. Normal Investigate item 8. Confirm the motor capacity selection The motor performance is Lower the acceleration/deceleration again. insufficient. rate or cutting load. The motor performance is sufficient. Investigate item 9. Try replacing the drive unit. Improved. Replace the drive unit. Not improved. Replace the motor.
(Note) NR and PR resetting are not possible when the overload level is 50% or more. Do not forcibly reset (AR) by turning the unit power OFF. If AR resetting is used at 50% or higher, the level is set to 80% when the power is turned ON next. (Servo)
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6. Troubleshooting
8 9
Overload 2 With the servo, a current command exceeding 95% of the unit's maximum current continued for one second or more. With the spindle, a load exceeding the continuous rating continued for 30 minutes or more. Investigation details Investigation results Remedies SV SP Did the alarm occur immediately after The alarm occurred after ready ON Investigate item 2. READY ON? before operation starts. The alarm occurred after normal Investigate item 5. operation. Check that the PN voltage is supplied The voltage is not supplied. Correctly supply the PN voltage. to the drive unit. Approx. 300V is correctly supplied. Investigate item 3. Is the CHARGE lamp ON? Check the motor power cable (U, V, The connections are incorrect. Connect correctly. W phases). The power cable is not connected. The connections are correct. Investigate item 4. Is the cable connected to the motor for another axis? Check the detector cable connection. The connections are incorrect. Connect correctly. Is the cable connected to the motor The connections are correct. Investigate item 5. for another axis? Check whether the machine has The machine has collided. Check the machining program and collided. soft limit settings. The machine has not collided. Investigate item 6. Check whether the current value on The current is saturated during Increase the acceleration/ the NC Servo Monitor screen is acceleration/deceleration. deceleration time constant. saturated during The current value during Investigate item 7. acceleration/deceleration. acceleration/deceleration is appropriate. Check the detector FB. The FB signal is abnormal. Replace the detector. (With the absolute position system, the zero point must be established.) The FB signal is normal. Replace the drive unit. Check the load meter value. The load is large. Lower the load. The load is not large. Investigate item 9. Check the PLG output waveform. There is a problem. Adjust the PLG output waveform. Normal Replace the drive unit.
Alarm No. 51
Excessive error 1 The difference between the motor's actual position at servo ON and the theoretical position exceeded the setting value. Investigation details Investigation results Remedies SV SP Check the excessive error detection The excessive error detection width is Set appropriate values. width. too small. SV023 (Servo) Servo standard value: RAPID SP102 (Orientation control) SV023 = 60 PGN1 2 SP154, SP155 (C-axis control) For the spindle, a value larger than SP177/bitD, SP186 (Spindle the droop amount: synchronous control) SP193/bitD, SP218 (Synchronous Droop amount = Spindle rotation speed No. of pulses tap)
Alarm No. 52
60 position loop gain
Check the position detector polarity. SV017/bit4 (Servo) SP097/bit5 (Orientation control) SP129/bit5 (C-axis control) SP177/bit5 (Spindle synchronous control) SP193/bit5 (Synchronous tap control) Check the alarm No. "51" items.
Appropriate values are set. The polarity is reversed. Normal.
Investigate item 2. Correctly set the parameters. Investigate item 3.
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6. Troubleshooting
Excessive error 2 The difference between the motor's actual position at servo OFF and the theoretical position exceeded the setting value. Investigation details Investigation results Remedies SV SP Check the follow-up function while NC parameter (M60S Series) #1064 Investigate item 2. the NC is in the servo OFF state. svof = 0 NC parameter (M60S Series) #1064 Investigate item 3. svof = 1 Check whether the axis has moved The axis moved. Adjust the brakes, etc., so that the during servo OFF, and check the axis does not move. motor brake operation. The axis has not moved. Investigate item 3. Check the excessive error detection The excessive error detection width is Set an appropriate value. width. too small. RAPID SV026 (Servo) 2 SV026 =
Alarm No. 53
60 PGN1
An appropriate value is set.
Check for problems on the NC side, such as the position FB follow-up control.
Alarm No. 54
1
Excessive error 3 The motor current was not detected when the excessive error 1 alarm occurred. Investigation results The voltage is not supplied. Approx. 300V is correctly supplied. The connections are incorrect. The connections are correct. Remedies Correctly supply the PN voltage. Investigate item 2. Connect correctly. Replace the drive unit. SV SP
Investigation details Check that the PN voltage is supplied to the drive unit. Is the CHARGE lamp ON? Check the motor power cable (U, V, W phases). The power cable is not connected. Is the cable connected to the motor for another axis?
Supplement (servo) Depending on the ideal machine position in respect to the command position, the actual machine position could enter the actual shaded section shown below, which is separated more than the distance set in OD1.
Position Command position
OD1
Ideal machine position
OD2 OD2 OD1 Time Servo OFF Servo ON
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6. Troubleshooting
Collision detection 1 G0 When the collision detection function is valid, the disturbance torque exceeded the collision detection value during rapid traverse (G0). Investigation details Investigation results Remedies SV SP Check whether the machine has The machine has collided. Check the machining program and collided. soft limit settings. The machine has not collided. Increase the detection level (SV060). (The detection level should have an allowance and be set as approx. 1.5-times the maximum disturbance torque.)
Alarm No. 58
Collision detection 1 G1 When the collision detection function is valid, the disturbance torque exceeded the collision detection level during cutting feed (G1). Investigation details Investigation results Remedies SV SP Check whether the machine has The machine has collided. Check the machining program and collided. soft limit settings. The machine has not collided. Increase the detection level (SV035. clG1). (Set the detection level larger than the maximum cutting load.)
Alarm No. 59
Collision detection 2 When the collision detection function is valid, the command torque reached the motor's maximum torque. Investigation details Investigation results Remedies SV SP Check whether the machine has The machine has collided. Check the machining program and collided. soft limit settings. The machine has not collided. Investigate item 2. Check whether the current value on The current is saturated during Investigate item 3. the NC Servo Monitor screen is acceleration/deceleration. saturated during The current value during Investigate the cause of the load acceleration/deceleration. acceleration/deceleration is fluctuation. appropriate. Can the acceleration/deceleration The constant can be changed. Increase the acceleration/ time constant be changed? deceleration time constant. The constant cannot be changed. Set to ignore collision detection method 2.
Alarm No. 5A
Alarm No. 5C
1 2
Orientation feedback error After orientation was completed, the command and feedback error exceeded the parameter setting. Investigation results The cable is not correctly shielded. The cable is correctly shielded. The cable is incorrectly connected or broken. Normal There is a problem. Normal Remedies Shield the cable. Investigate item 2. Replace the cable. Investigate item 3. Adjust the PLG output waveform. Replace the drive unit SV SP
Investigation details Check the PLG cable shield. Check the PLG cable connection.
Check the PLG output waveform.
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6. Troubleshooting
Alarm No. 60
1
Instantaneous power failure A drop in the 24VDC power was detected. Investigation results The voltage is not applied. The voltage is 20.4VDC or less. The voltage drops below 20.4VDC sometimes. The voltage is correctly applied. The LEDs are not ON. The LEDs are ON. The power is abnormal. The wiring or connectors are abnormal. A voltage drop is not observed. A voltage drop is observed. Remedies Investigate item 3. Increase the power voltage. Investigate item 4. Investigate item 2. Replace the unit. Investigate item 4. Replace the power. Replace the cable. Check the wiring. Increase the power capacity.
CV CR
Investigation details Is 24VDC applied on the CN22 connector? Is the voltage low, or does it drop sometimes? Are the LEDs on the CR unit ON? Check the wiring and power voltage.
2 3
Check whether the voltage is dropping because of another load.
Alarm No. 61
1
Power module overcurrent The power module's overcurrent protection function activated. Investigation results The alarm occurs immediately after 200VAC is supplied and after READY is turned ON. The alarm occurs frequently during READY ON. The alarm occurs after continuous operation for a long time. The unit is hot. The total load of all motors exceeds the rated capacity of the power supply unit. The total does not exceed the capacity. The power capacity is insufficient. The specified power capacity is secured. The voltage drops to 170V or less occasionally. The difference of the voltage across wires is 10V or more. The difference of the voltage across wires is less than 10V. The power voltage is distorted. The power voltage waveform is not abnormal. No abnormality is found in particular. The grounding is incomplete. An alarm will occur easily if another device operates. Remedies Replace the unit.
CV CR
Investigation details Check the state of the operation when the alarm occurs, and check the repeatability.
Investigate item 3. Investigate item 2.
Check the load state of all motors, and the starting/stopping frequency.
Lower the motor load and operation frequency. Investigate item 3. Increase the power capacity. Investigate item 4. Increase the power capacity. Improve the power phase balance. Investigate item 5. Improve the source of the distortion. Install an AC reactor. Investigate item 6. Replace the unit. Take remedies according to the causes of the abnormality. Ex. Incomplete grounding: Additionally ground. Noise: Noise measures for other devices.
Check the power capacity.
Measure the voltage across wires. Is the voltage 170V or more even when the motor is accelerating?
Measure the power voltage with a synchroscope, and check whether there is any distortion. Are there any other devices causing the power distortion? Check if there is any abnormality in the unit's ambient environment. (Ex. Noise, grounding)
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6. Troubleshooting
Alarm No. 62
1
Frequency error The input power frequency exceeded the specified range. Remedies Investigate item 2.
CV CR
Investigation details Check the state of the operation when the alarm occurs, and check the repeatability.
Investigation results The alarm occurs each time immediately after the power is turned ON. Or, the alarm occurs occasionally regardless of the operation state. The alarm occurs only while the motor is accelerating/decelerating. Measure the power voltage waveform The frequency is deviated from during normal operation. 50Hz3% or 60Hz3%. The voltage waveform dips at some sections. There is no problem. Measure the power voltage when the The frequency greatly fluctuates motor is accelerating/decelerating. during acceleration/deceleration. The voltage waveform during deceleration dips in some sections. There is no problem. Check if there is any abnormality in No abnormality is found in particular. the unit's ambient environment. The grounding is incomplete. (Ex. Noise, grounding) An alarm will occur easily if another device operates.
Investigate item 3. Review the power facilities. Improve the source of the distortion. Install an AC reactor. Investigate item 4. Review the power facilities. Improve the source of the distortion. Install an AC reactor. Investigate item 4. Replace the unit. Take remedies according to the causes of the abnormality. Ex. Incomplete grounding: Additionally ground. Noise: Noise measures for other devices.
Alarm No. 63
1
Auxiliary regeneration error The auxiliary regenerative transistor is still ON. Remedies Take measure to prevent cutting oil and dust from getting on the fins at the back of the unit, and then carry out investigation details 2. Replace the unit. Replace the unit. Clean the resistor or fins.
CV CR
Investigation details Investigation results Check whether the regenerative Cutting oil or oil mist is adhered on resistor on the back of the unit is dirty. the regenerative resistor.
The resistor is not dirty. Using a tester, check the continuity of There is continuity. the terminal block and resistor The resistance value is . surface.
Alarm No. 65
1
Rush relay error The rush resistance short-circuit relay does not turn ON. Investigation results The alarm occurs each time READY is turned ON. The alarm occurs occasionally. No abnormality is found in particular. The grounding is incomplete. An alarm will occur easily if another device operates. Remedies Replace the unit. Investigate item 2. Replace the unit. Take remedies according to the causes of the abnormality. Ex. Incomplete grounding: Additionally ground. Noise: Noise measures for other devices.
CV CR
Check if there is any abnormality in the unit's ambient environment. (Ex. Noise, grounding)
Alarm No. 67
1 2
Phase failure There is a phase failure in the input power. Investigation results There are phases with no voltage. There is no problem. Remedies Correct the power supply. Investigate item 2.
CV CR
Investigation details Check the voltage for each input phase. Check the alarm No. "71" items.
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6. Troubleshooting
Alarm No. 68
1
Watch dog The system is not operating normally. Investigation results The alarm occurs each time READY is turned ON. The alarm occurs occasionally. No abnormality is found in particular. The grounding is incomplete. An alarm will occur easily if another device operates. Remedies Replace the unit. Investigate item 2. Replace the unit. Take remedies according to the causes of the abnormality. Ex. Incomplete grounding: Additionally ground. Noise: Noise measures for other devices.
CV CR
Alarm No. 69
1
Ground fault The motor power cable is contacting FG (ground). Investigation results 100k or less. 100k or more. Oil has come in contact. Remedies The motor or power cable may be ground faulted. Investigate item 2. Take measures so that oil does not come in contact. Check the motor's cannon connector and the inside of the terminal box, and clean as necessary. Investigate item 3. Replace the motor or cable. Investigate item 2. Replace the drive unit. Replace the power supply unit.
CV CR
Investigation details Measure the insulation across the U, V, W phase cables for all motors and the ground. (Carry out a megger test.) Has oil come in contact with the motor or power cable?
3 4
Oil has not come in contact. 1M or less. 1M or more. Measure the resistance across the U, 100k or less. V, W phase terminals of the 100k or more. servo/spindle drive unit and the ground. (Do not measure the insulation, as the unit could be damaged.) Measure the insulation again.
Alarm No. 6A
1
External contactor melting The external contactor's contact has melted. Investigation results An alarm has occurred. Remedies Remove the cause of the alarm on the drive side, and then carry out the investigation details 2. Investigate item 2. Replace the contactor. Investigate item 3. Correctly connect. Replace the power supply unit.
CV CR
Investigation details Check whether any alarm has occurred on the drive unit side.
2 3
An alarm has not occurred. The contactor has melted. The contactor has not melted. Check that the contactor excitation The connection is correct. wiring is correctly connected from the The connection is incorrect. power supply unit's MC1 terminal. Check whether the contactor's contact has melted.
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6. Troubleshooting
Alarm No. 6B
1
Rush relay melted The rush resistance short-circuit relay does not turn OFF. Investigation results An alarm has occurred. Remedies Remove the cause of the alarm on the drive side, and then carry out the investigation details 2. Investigate item 2. Replace the unit. Investigate item 3. Replace the unit. Take remedies according to the causes of the abnormality. Ex. Incomplete grounding: Additionally ground. Noise: Noise measures for other devices.
CV CR
Investigation details Check whether any alarm has occurred on the drive unit side.
An alarm has not occurred. The alarm occurs each time READY is turned ON. The alarm occurs occasionally. No abnormality is found in particular. The grounding is incomplete. An alarm will occur easily if another device operates.
Alarm No. 6C
1
Main circuit error An abnormality was detected in the main circuit capacitor's charging operation. Remedies Replace the power supply unit. Investigate item 2.
CV CR
Investigation details Investigation results Check the CHARGE lamp state when The CHARGE lamp remains ON for the alarm occurs. some time. The lamp turns ON instantly, but when the alarm occurs and the contactor turns OFF, the lamp turns OFF immediately. The lamp never turns ON. Disconnect the power supply unit's PN terminal block wiring, and measure the resistance value at 1) and 2) shown below.
Drive unit Power supply unit 2) P N 1)
1) The power supply unit side is abnormal. 2) The drive unit side is abnormal. 1) and 2) are both normal.
Tester Polarity Normal measurement point + P N Several 100 1) N P P N Several 100 2) N P
Investigate item 2. Then replace the unit. Replace the power supply unit. Disconnect the PN wiring, and then check the drive unit side. Replace the power supply unit.
Abnormal Short-circuit/ Several 100 Short-circuit/ Several 100
Parameter error The power supply unit's capacity is not appropriate for the regenerative resistor type set with the parameters. CV CR Investigation details Investigation results Remedies Check the parameters (regenerative SV036 and SP041 setting resistor type) of the drive unit to F E D C B A 9 8 7 6 5 4 3 2 1 0 which the power supply unit's control amp rtyp ptyp wire (CN4) is connected. Servo: SV036, Spindle: SP041
Alarm No. 6D
rtyp 0 1 2 3 4 5 6 7 8 9 A~F
Regenerative resistor type For MDS-C1-CV GZG200W260HMJ GZG300W130HMJ2 MR-RB30 MR-RB50 GZG200W200HMJ3 GZG300W200HMJ3 R-UNIT-1 R-UNIT-2 R-UNIT-3 No setting ptyp setting
CR-10
CR-15
CR-22
CR-37
CR-55
CR-75
CR-90
81
82
83
84
86
88
89
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6. Troubleshooting
Alarm No. 6E
1
Memory error An error was detected in the internal memory. Investigation results The alarm occurs each time READY is turned ON. The alarm occurs occasionally. No abnormality is found in particular. The grounding is incomplete. An alarm will occur easily if another device operates. Remedies Replace the unit. Investigate item 2. Replace the unit. Take remedies according to the causes of the abnormality. Ex. Incomplete grounding: Additionally ground. Noise: Noise measures for other devices.
CV CR
2 3
Power supply error The power supply is not connected. An error was detected in the power supply's A/D converter. This is detected simultaneously if another power supply alarm occurs. CV CR Investigation details Investigation results Remedies Check the LED display on the power "F" is flickering. An A/D converter error has occurred. supply unit. Carry out the items for alarm No. 6E. Another alarm code is flickering. Refer to the section for each alarm. "0" is displayed. Investigate item 2. "F" is displayed. Investigate item 2. "8" is displayed. Refer to the section for alarm No.68. "b", "C", "d" is displayed. Investigate item 3. Something else is displayed. Refer to the section for alarm No.68. Check the rotary switch setting. 0 or 4 is set. Investigate item 3. A value other than the above is set. Correctly set the rotary switch. Check the communication cable There is a problem with the wiring or Replace the cable. (CN4) connected with the drive unit. shield. There is no problem. Replace the unit.
Alarm No. 6F
(Note) Alarm 6F is detected at the same time other power supply alarms occur.
Alarm No. 71
1
Instantaneous power failure/ external emergency stop An instantaneous power failure occurred. Investigation results The contactor has been turned OFF externally. Remedies Review the machine sequence. When turning the contactor OFF with external means, such as an emergency stop button, this alarm can be avoided by inputting NC emergency stop at the same time. Investigate item 2. Investigate item 3.
CV CR
Investigation details Investigate the sequence to check whether the contactor has been turned OFF with an emergency stop button, etc.
The contactor has not been turned OFF. The alarm occurs each time READY is turned ON. The alarm occurs at a certain operation.
3 4
Check whether the power input wire and contactor are correctly wired. Check the power voltage waveform with a synchroscope.
Investigate item 1. If there is no problem, carry out investigation item 3. The alarm occurs occasionally during Investigate item 4. operation. The wiring is incorrect. Correctly connect. There is no problem. Investigate item 4. An instantaneous power failure or Correct the power facility. voltage drop occurs frequently. There is no problem. Replace the unit.
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6. Troubleshooting
Over-regeneration The over-regeneration detection level exceeded 100%. The regenerative resistor is in the overload state. CV CR Investigation details Investigation results Remedies Check the alarm occurrence state The regenerative load display Check whether the state is affected and regenerative load displayed on increases when the power is turned by power fluctuation, grounding or the NC Monitor screen while ON and the motor is not rotated. noise. If there is no problem, replace changing the operation mode. the unit. The regenerative load display A-CR : Investigate item 2. increases each time the motor C1-CV : Investigate item 4. decelerates, and the alarm occurs. The regenerative load display A-CR : Investigate item 2. increases each time the motor C1-CV : Ease the operation mode. decelerates, but the alarm does not occur when the operation mode is eased. Check whether the parameter The setting is incorrect. Correctly set. (Refer to the section for (regenerative resistor type) of the alarm No. 6D.) drive unit controlling the power The setting is correct. Investigate item 3. supply unit is correct. Check the regenerative resistor's The regenerative resistor is Replace the regenerative resistor. state. abnormal. Is oil adhered? There is no problem. Investigate item 4. Measure the resistance value. Check the alarm No. "75" items.
Alarm No. 73
Alarm No. 74
1 2
Regenerative resistor overheat The temperature protection function in the regenerative resistor activated. Investigation results The resistor is overheated. The resistor is not overheated. Check whether over-regeneration occurred before. Over-regeneration has not occurred before. Remedies Investigate item 2. Investigate item 3. Refer to the section for alarm No.73.
CV CR
Investigation details Check whether the regenerative resistor is overheated. Check the alarm history.
Check the connections of the CN22 (B) connector pins 1 and 2. Check whether the pins are short-circuited with the resistor's thermal terminal or wire.
Take measures to dissipate the regenerative resistor's heat. Improve the ventilation. Install a fan. The wire is about to break. Replace the wire. There is no continuity at the resistor's Replace the resistor unit. thermal terminal. There is no problem. Replace the power supply unit.
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6. Troubleshooting
Alarm No. 75
1
Overvoltage The main circuit PN bus voltage exceeded the tolerable value. Investigation results The alarm occurs each time the motor decelerates. The alarm occurs occasionally. Auxiliary regeneration frequency over (E8) occurs just before the overvoltage occurs. Others. The power capacity is insufficient. The specified power capacity is secured. The voltage drops to 170V or less occasionally. The difference of the voltage across wires is 10V or more. The difference of the voltage across wires is less than 10V. The power voltage is distorted. The power voltage waveform is not abnormal. No abnormality is found in particular. The grounding is incomplete. An alarm will occur easily if another device operates. Remedies Investigate item 3. Investigate item 2. Limit the occurrence of the excessive instantaneous regeneration by not decelerating multiple axes at the same time. Investigate item 3. Increase the power capacity. Investigate item 4. Increase the power capacity. Improve the power phase balance. Investigate item 5. Improve the source of the distortion. Install an AC reactor. Investigate item 6. Replace the unit. Take remedies according to the causes of the abnormality. Ex. Incomplete grounding: Additionally ground. Noise: Noise measures for other devices.
CV CR
Check the power supply's alarm history.
Check the power capacity.
Measure the voltage across wires. Is the voltage 170V or more even when the motor is accelerating?
Measure the power voltage with a synchroscope, and check whether there is any distortion. Are there any other devices causing the power distortion? Check if there is any abnormality in the unit's ambient environment. (Ex. Noise, grounding)
Alarm No. 76
1
External emergency stop setting error The rotary switch setting for the external emergency stop does not match the parameter setting. Investigation results Remedies When using external emergency stop: Add 0040h to the normal setting for SV036 or SP041, and set the power supply's rotary switch to "4".
CV CR
Investigation details Check the rotary switch settings and parameter settings.
Alarm No. 77
1
Power module overheat The power module's temperature protection function activated. Investigation results Large amounts of cutting oil or cutting chips, etc., are adhered, or the rotation is slow. The fan is rotating properly. Cutting oil or cutting chips, etc., are adhered, and the fins are clogged. The fins are normal. 55C or more Less than 55C. No abnormality is found in particular. Remedies Clean or replace the fan.
CV CR
Investigation details Confirm that the fan is rotating correctly.
Check whether the heat dissipating fins are dirty. Measure the drive unit's ambient temperature. Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)
Investigate item 2. Clean the fins. Investigate item 3. Improve the ventilation and cooling for the power distribution panel. Investigate item 4. If the alarm occurs even after the unit temperature has dropped, replace the unit. Take remedies according to the causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground.
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6. Troubleshooting
Alarm No. 7F
1
Power reboot request A mismatch in the program mode selection was detected. Turn the drive unit power ON again. Investigation results Remedies This alarm is detected if the high-gain Turn the drive unit's control power specification parameters are set ON again. when the drive unit is started up with the standard specification software mode, or if the standard specification parameters are set when started up with the high-gain specifications. SV SP
Investigation details Were the parameter settings changed? SV009, SV010, SV011, SV012 SV033/bit8, 9
Alarm No. 88
1
Watch dog The system is not operating normally. Remedies Replace with a drive unit containing the original software version. The version was not changed. Investigate item 2. The alarm is always repeated. Replace the drive unit. The state is returned to normal once, Investigate item 3. but then the alarm occurs occasionally. No abnormality is found in particular. Replace the drive unit. An abnormality was found in the Take remedies according to the ambient environment. causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground. Investigation results The version was changed. SV SP
Investigation details Check whether the servo software version was changed recently. Check the repeatability.
Encoder converter unit 2, connection error With the servo, an error was detected in the connection with the analog output linear scale for the MDS-B-HR unit. With the spindle, initial communication with the MDS-B-PJEX was not possible. Investigation details Investigation results Remedies SV SP Wiggle the MDS-B-HR/MDS-B-PJEX The connector is disconnected (or Correctly install. unit connector (CON3) by hand to loose). check whether it is disconnected. The connector is not disconnected. Servo : Investigate item 2. Spindle : Investigate item 4. Check whether the cable between The cable is broken. Replace the cable. the linear scale and MDS-B-HR is The cable is not broken. Investigate item 3. broken. Check if there is any abnormality in No abnormality is found in particular. Replace the MDS-B-HR unit. the unit's ambient environment. An abnormality was found in the Take remedies according to the (Ex. Ambient temperature, noise, ambient environment. causes of the abnormality. grounding) Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground. Check whether the cable between The cable is broken. Replace the cable. the spindle drive unit and The cable is not broken. Investigate item 5. MDS-B-PJEX is broken. Check if there is any abnormality in No abnormality is found in particular. Replace the drive unit. the unit's ambient environment. An abnormality was found in the Take remedies according to the (Ex. Ambient temperature, noise, ambient environment. causes of the abnormality. grounding) Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground.
Alarm No. 89
Detection converter unit 2, communication error With the servo, an error was detected in the communication with the serial output linear scale for the MDS-B-HR unit. With the spindle, an error was detected in the communication with the MDS-B-PJEX. Investigation details Investigation results Remedies SV SP Check the alarm No. "89" items.
Alarm No. 8A
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6. Troubleshooting
Alarm No. 8B
1
Encoder converter unit 2, automatic adjustment error An abnormal signal from the PLG was detected during automatic adjustment of the PLG. Investigation results The connector is disconnected (or loose). The connector is not disconnected. There is a connection fault. The connection is normal. Remedies Correctly install. Investigate item 2. Replace the detector cable. Investigate item 3. Adjust the PLG output waveform. SV SP
Investigation details Check whether the MDS-B-PJEX connectors (CN5) or detector connectors are disconnected.
Turn the power OFF, and check the detector cable connection with a tester. Check the PLG output waveform (A/B There is a problem. (The A/B phase phase). input voltage is 0.8V or less or 2.2V or higher.) Normal Check the occurrence frequency. Occurs each time. Occurs occasionally.
Investigate item 4. Replace the MDS-B-PJEX unit. Check whether the cable is disconnected, whether there is a contact fault, or a detector fault.
Alarm No. 8C
1
Encoder converter unit 2, judgment error A detector type outside the specifications was detected with the MDS-B-PJEX. Remedies Set correctly according to the No. of PLG gear teeth. SV SP
Investigation details Investigation results Check the spindle parameter SP042. The setting was incorrect. SP042: C-axis control detector range. "4" : 128 pulses (Spindle end PLG No. of pulse "5" : 256 pulses setting) "6" : 512 pulses "8" : 180 pulses The setting is correct. Check if there is any abnormality in No abnormality is found in particular. the unit's ambient environment. An abnormality was found in the (Ex. Ambient temperature, noise, ambient environment. grounding)
Investigate item 2. Replace the MDS-B-PJEX. Take remedies according to the causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground.
Detection converter unit 2, CPU error With the servo, a CPU error was detected with the MDS-B-HR unit. With the spindle, a CPU error was detected with the MDS-B-PJEX unit. Investigation details Investigation results Remedies SV SP Check if there is any abnormality in No abnormality is found in particular. Replace the detection converter unit. the detector's ambient environment. An abnormality was found in the Take remedies according to the (Ex. Ambient temperature, noise, ambient environment. causes of the abnormality. grounding) Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground.
Alarm No. 8D
Alarm No. 8E
1
Detection converter unit 2, data error A data error was detected with the MDS-B-HR unit. Investigation results The cable is broken. The cable is not broken. No abnormality is found in particular. An abnormality was found in the ambient environment. Remedies Replace the cable. Investigate item 2. Investigate item 3. Take remedies according to the causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground. Replace the MDS-B-HR unit. Replace the linear scale. SV SP
Investigation details Check whether the cable between the linear scale and MDS-B-HR is broken. Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)
Try replacing the MDS-B-HR unit.
The state is improved. The state is not improved.
6 - 37
6. Troubleshooting
6-3-3
Troubleshooting for each warning No.

Detector, initial communication error Initial communication with the absolute position linear scale was not possible. Investigation results The setting is incorrect. The setting is correct. The connector is disconnected (loose). The connector is not disconnected. The connection is faulty. The connection is normal. No abnormality is found in particular. Remedies Correctly set SV025. Investigate item 2. Correctly install. Investigate item 3. Replace the detector cable (CN3 side). Investigate item 4. Replace the tool end detector. (With the absolute position system, the zero point must be established.) Take remedies according to the causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground. SV SP
Warning No. 90
1 2
Investigation details Check the servo parameter (SV025.pen) setting. Check whether the drive unit connector (CN3) and detector connector are disconnected. Turn the power OFF, and check the detector cable connection with a tester. Check if there is any abnormality in the tool end detector's ambient environment. (Ex.: Ambient temperature, noise, grounding)
Warning No. 91
1
Detector, communication error An error was detected in the communication with the detector for the absolute position detection system. Investigation details Investigation results Remedies SV SP Check whether the drive unit The connector is disconnected (or Correctly install. connectors (CN3) or detector loose). connectors are disconnected. The connector is not disconnected. Investigate item 2. Is the detector cable wired in the The cables are wired near each Improve the cable wiring. same conduit as the motor's power other. (Noise is entering from the cable or are the two cables laid in power cable.) parallel near each other? The wires are sufficiently separated. Investigate item 3. Is the motor FG wire connected only The motor FG wire is grounded on Ground the motor to one point, to the drive unit which drives it? the motor side. connecting the wires together on the (Is the motor grounded to one point?) drive unit side. The motor is grounded to one point. Investigate item 4. Turn the power OFF, and check the There is a connection fault. Replace the detector cable. detector cable connection with a The connection is normal. Investigate item 5. tester. (Is the cable shielded?) Connect to another normal axis drive The alarm is on the drive unit side. Replace the drive unit. unit, and check whether the fault is The alarm is on the detector side. Investigate item 6. on the drive unit side or detector side. Check if there is any abnormality in No abnormality is found in particular. Replace the detector. the detector's ambient environment. (With the absolute position system, (Ex. Ambient temperature, noise, the zero point must be established.) grounding) An abnormality was found in the Take remedies according to the ambient environment. causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground. Detector, protocol error An error was detected in the data for the absolute position detection system. Investigation results No abnormality is found in particular. An abnormality was found in the ambient environment. Remedies Investigate item 2. Take remedies according to the causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground. Replace the detector. Investigate item 1. SV SP
Warning No. 92
1
Occurs frequently. Is not repeated.
6 - 38
6. Troubleshooting
Warning No. 93
1
Initial absolute position fluctuation The position data fluctuated when creating the initial absolute position. Investigation results The vertical axis or slant axis drops when the NC power is turned ON. The axis moves with an external force when the NC power is turned ON. Remedies Check the brake operation. Make sure that the axis does not move when the power is turned ON. SV SP
Investigation details Check the state of the axis when the NC power is turned ON.
Warning No. 96
1
MP scale feedback error An excessive deviation was detected between the motor end detector and MP scale feedback data for the MP scale absolute position detection system. Investigation details Investigation results Remedies SV SP Check the alarm No. "43" items.
Warning No. 97
1
MP scale offset error An error was detected in the offset data received from the MP scale for the MP scale absolute position detection system. Investigation details Investigation results Remedies SV SP Check if there is any abnormality in No abnormality is found in particular. Investigate item 2. the detector's ambient environment. An abnormality was found in the Take remedies according to the (Ex. Ambient temperature, noise, ambient environment. causes of the abnormality. grounding) Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground. Check the repeatability. Occurs frequently. Replace the detector. Is not repeated. Investigate item 1. Absolute position detector, multi-rotation counter error An error was detected in the multi-rotation counter for the absolute position detector. The absolute position cannot be compensated. Investigation details Investigation results Remedies SV SP Check if there is any abnormality in No abnormality is found in particular. Investigate item 2. the detector's ambient environment. An abnormality was found in the Take remedies according to the (Ex. Ambient temperature, noise, ambient environment. causes of the abnormality. grounding) Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground. Check the repeatability. Occurs frequently. Replace the detector. Is not repeated. Investigate item 1.
Warning No. 9E
1
(Note) When this alarm occurs, the absolute position system's zero point must be established.
Warning No. 9F
1 2 3 4
Battery voltage drop The voltage of the battery supplying to the absolute position detector has dropped. The absolute position data is held. Investigation details Investigation results Remedies SV SP Measure the battery (MDS-A-BT) Less than 3V. Replace the battery unit. voltage. 3V or more. Investigate item 2. Check whether the NC bus cable is The cable is disconnected. Connect correctly. disconnected. There is no problem. Investigate item 3. Check whether the battery wire in the The cable is broken. Replace the cable. detector cable is broken. The cable is not broken. Investigate item 4. Try replacing the drive unit. Improved. Replace the drive unit. Not improved. Replace the detector. (With the absolute position system, the zero point must be established.)
(Note) When warning 9F occurs, do not turn the drive unit power OFF to ensure that the absolute position data is held. Replace the battery with the drive unit power ON.
6 - 39
6. Troubleshooting
Warning No. A8
1
Turret indexing error warning The commanded turret indexing position shift amount is outside the specified range. Investigation results The setting is incorrect. The setting is correct. Remedies Correctly set SP097. Investigate item 2. SV SP
Investigation details Check the parameters. SP097/bitB = 0 command angle 1 unit SP097/bitB = 1 command angle 0.1 unit Pinpoint where the alarm occurs in the PLC program.
The position can be pinpointed. The position cannot be pinpointed.
Check the PLC program process. Investigate the details of the NC and PLC program process.
Warning No. A9
1
Orientation feedback error warning Retrying during an orientation feedback error. Investigation results Remedies SV SP
Investigation details Check the alarm No. "5C" items.
Warning No. E1
1
Overload warning The overload detection level is 80% or more. Investigation results Remedies SV SP
Warning No. E3
1
Absolute position counter warning A deviation was detected in the absolute position data and relative position data. Investigation results No abnormality is found in particular. An abnormality was found in the ambient environment. Remedies Investigate item 2. Take remedies according to the causes of the abnormality. Ex. High temperature: Check the cooling fan. Incomplete grounding: Additionally ground. Replace the detector. Investigate item 1. SV SP
Occurs frequently. Is not repeated.
(Note) When this alarm occurs, the absolute position system's zero point must be established.
Warning No. E4
1
Parameter error warning A parameter exceeding the setting range was set. "S51 parameter error ####" is displayed on the NC screen. #### indicates the incorrect parameter No. Investigation details Investigation results Remedies SV SP Check the error parameter No. SV001 to SV065 Set the value within the designated (M60S system: 2201 to 2265) setting range. SP001 to SP384 (M60S system: 3201 to 3584) Control axis removal warning Control axis removal was commanded. SV SP
Warning No. E6
1
Investigation details Investigation results Remedies The status in which removal of the control axis was commanded from the NC is indicated.
6 - 40
6. Troubleshooting
Warning No. E7
1
NC emergency stop Emergency stop was input from the NC. Remedies The NC is in the emergency stop state. (Normal) Emergency stop was not input. Investigate item 2. An alarm is occurring in another drive Reset the alarm in the other drive unit. unit. An alarm is not occurring. Investigate item 3. The terminator or battery unit's cable Correctly connect. is disconnected. The NC communication bus Correctly connect the cable. connector (CN1A, CN1B) is loose, or the cable is broken. Investigation results Emergency stop was input. SV SP
Investigation details Check whether NC emergency stop was input. Check whether an alarm is occurring in another drive unit. Check the NC communication bus line.
Warning No. E8
1
Auxiliary regeneration frequency over Regeneration at the power supply performance limit is occurring frequently. Investigation results Remedies
CV CR
Warning No. E9
1
Instantaneous power failure warning An instantaneous power failure occurred. Investigation results Remedies
CV CR
Warning No. EA
1
External emergency stop The external emergency stop signal was input. Investigation results Use not allowed. Use is allowed. 24V is input. 24V is not input. Remedies Invalidate the external emergency stop. Investigate item 2. Replace the power supply unit. Check whether the external emergency stop cable is broken, or check the external contact operation.
CV CR
Investigation details Check whether the specifications allow use of the external emergency stop. Measure the input voltage of the CN23 connector. (While emergency stop is cancelled.)
Warning No. EB
1
Over-regeneration warning The over-regeneration level is 80% or more. Investigation results Remedies
CV CR
6 - 41
6. Troubleshooting
6-3-4
Parameter numbers during initial parameter error
If an initial parameter error (alarm 37) occurs, the alarm and the number of the parameter that may have been set exceeding the setting range will appear on the CNC Diagnosis screen. (For M60S, E60 Series NC.) S02 Initial parameter error : Error parameter : Axis name If an error number larger than the servo parameter number is displayed for the servo drive unit (MDS-C1-V1/V2), the alarm is occurring for several related parameters. Refer to the following table, and correctly set the parameters.
Error parameter No. 2301 Details The following settings are overflowing. Electronic gears Position loop gain Speed feedback The absolute position parameter is valid when OSE104 and OSE105 are connected. The servo option is not available. The SHG control function is set. The servo option is not available. The adaptive filter function is set. Related parameters SV001, SV002 SV003, SV018 SV019, SV020 SV049 SV017, SV025 SV057, SV058 SV027
2302 2304 2305
6 - 42
6. Troubleshooting
6-3-5
Troubleshooting the spindle system when there is no alarm or warning
If an abnormality is observed in the spindle system but no alarm or warning has occurred, refer to the following table and check the state. [1] No abnormality is displayed, but the motor does not rotate.
Investigation item 1 Investigation results Remedies Correctly wire. Correctly tighten the screws. Replace the cables. Investigate investigation item 2 and remedy. Restore the power to the correct state. Investigate investigation item 3 and remedy. Set the correct values. Investigate investigation item 4 and remedy. Correct the input signals. Check the wiring around the spindle drive The wiring is incorrect, the screws are loose, or the cables are disconnected. unit. Also check for loosening in the terminal No particular problems found. screws and disconnec- tions, etc. The voltage is exceeding the specification value. The voltage is within the specification value. The correct values are not set. 3 Check all of the spindle parameters. Check the input signals. Are the READY, forward run and reverse run signals input? In particular, the forward run and reverse run signals must be input at least one second after READY is turned ON. Check whether the forward run and reverse run signals are turned ON simultaneously. Check the speed command. The correct values are set. The signals are not input or the sequence is incorrect. The orientation command is input.
Check the input voltage.
No particular problems found.
Investigate investigation item 5 and remedy.
The speed command is not input correctly. The speed command is input correctly.
Input the correct speed command. Replace the unit.
[2] No fault is displayed, but the motor only rotates slowly, or a large noise is heard from the motor.
Investigation item 1 Investigation results The wires are not connected correctly. Remedies Correctly connect. Check the U, V and W wiring between the Investigate investigation item 2 and spindle drive unit and motor. The wires are connected correctly. remedy. One of the three phases is not within the Restore the power to the correct state. Check the input voltage. specification value. Investigate investigation item 3 and No particular problems found. remedy. The speed command is not input Check the NC and PLC sequence. correctly. Check the speed command. Investigate investigation item 4 and The speed command is input correctly. remedy. The connector is disconnected (or Tug on the connector by hand to check Correctly connect the connector. loose). whether the speed detector connector (drive unit side and speed detector side) The connector is not disconnected (or Investigate investigation item 5 and is loose. loose). remedy. Replace the detector cable. Turn the power OFF, and check the The connection is faulty or disconnected. Correct the connection. connection of the speed detector cable with a tester. The connection is normal. Replace the drive unit.
6 - 43
6. Troubleshooting
[3] The rotation speed command and actual rotation speed do not match.
Investigation item 1 Check the speed command. Check whether there is slipping between the motor and spindle. (When connected with a belt or clutch.) Check the spindle parameters (SP017, SP034, SP040, SP257 and following). Investigation results The speed command is not input correctly. The speed command is correct. There is slipping. No particular problems found. The correct values are not set. The correct values are set. 2 3 Remedies Input the correct speed command. Investigate investigation item 2 and remedy. Repair the machine side. Investigate investigation item 3 and remedy. Set the correct values. Replace the drive unit.
[4] The starting time is long or has increased in length.

Investigation item 1 Check whether the friction torque has increased. Manually rotate the motor bearings and check the movement. Investigation results The friction torque has increased. No particular problems found. The bearings do not rotate smoothly. The bearings rotate smoothly. Remedies Repair the machine side. Investigate investigation item 2 and remedy. Replace the spindle motor. Investigate investigation item 3 and remedy. Do not input this signal. Replace the drive unit.
2 3
Check whether the torque limit signal has The signal has been input. been input. The signal is not input.
[5] The motor stops during cutting.

Investigation item 1 Check the load rate during cutting. Investigation results The load meter sways past 120% during cutting. No particular problems found. Remedies Reduce the load. Investigate the same matters as item (4), and remedy.
[6] The vibration and noise (gear noise), etc., are large.
Investigation item 1 Check the machine's dynamic balance. (Coast from the maximum speed.) Check whether there is a resonance point in the machine. (Coast from the maximum speed.) Check the machine's backlash. Investigation results The same noise is heard during coasting. No particular problems found. Vibration and noise increase at a set rotation speed during coasting. No particular problems found. Remedies Repair the machine side. Investigate investigation item 2 and remedy. Repair the machine side.
Check the spindle parameter settings. (SP022, SP023, SP056)
Tug on the connector by hand to check whether the speed detector connector (spindle drive unit side and speed detector side) is loose. Turn the power OFF, and check the connection of the speed detector cable with a tester.
Investigate investigation item 3 and remedy. The backlash is great. Repair the machine side. Investigate investigation item 4 and No particular problems found. remedy. Change the setting value. Symptoms decrease when setting value Note that the impact response will is set to approx. half. drop. Return the setting values to the The symptoms do not change even original values. when the above value is set. Investigate investigation item 5 and remedy. The connector is disconnected (or Correctly connect the connector. loose). The connector is not disconnected (or Investigate investigation item 6 and loose). remedy. The connection is faulty or Replace the detector cable. disconnected. Correct the connection. The connection is normal. Replace the drive unit.
6 - 44
6. Troubleshooting
[7] The spindle coasts during deceleration.

Investigation item 1 Investigation results Remedies Repair the machine side. Replace the drive unit. Check whether there is slipping between There is slipping. the motor and spindle. (When connected No particular problems found. with a belt or clutch.)
[8] The rotation does not stabilize.

Investigation item Investigation results Remedies Change the setting value. The rotation stabilizes when the settings Note that the gear noise may values are both set to approx. double. increase. The symptoms do not change even when the above value is set. The connector is disconnected (or loose). The connector is not disconnected (or loose). The connection is faulty or disconnected. The connection is normal. Return the setting values to the original values. Investigate investigation item 2 and remedy. Correctly connect the connector. Investigate investigation item 3 and remedy. Replace the detector cable. Correct the connection. Investigate investigation item 4 and remedy.
Check the spindle parameter settings. (SP022, SP023)
Tug on the connector by hand to check whether the speed detector connector (spindle drive unit side and speed detector side) is loose. Turn the power OFF, and check the connection of the speed detector cable with a tester. (Especially check the shield wiring.) Investigate the wiring and installation environment. Is the ground correctly connected? Are there any noise-generating devices near the drive unit?
The grounding is incomplete. Correctly ground. The alarm occurs easily when a specific Use noise measures on the device device operates. described on the left. No particular problems found. Replace the drive unit.
[9] The speed does not rise above a set level.

Investigation item 1 Investigation results The speed command is not input correctly. Remedies Input the correct speed command. Investigate investigation item 2 and remedy. Repair the machine side. Investigate investigation item 3 and remedy. Replace the spindle motor. Investigate investigation item 4 and remedy. Correctly connect the connector. Investigate investigation item 5 and remedy. Replace the detector cable. Correct the connection. Replace the spindle drive unit. Check the speed command. Check whether the override input is input from the machine operation panel. The speed command is input correctly. Check whether the load has suddenly become heavier. Manually rotate the motor bearings and check the movement. Tug on the connector by hand to check whether the speed detector connector (spindle drive unit side and speed detector side) is loose. Turn the power OFF, and check the connection of the speed detector cable with a tester. (Especially check the shield wiring.) The load has become heavier. No particular problems found. The bearings do not rotate smoothly. The bearings rotate smoothly. The connector is disconnected (or loose). The connector is not disconnected (or loose). The connection is faulty or disconnected. The waveform is normal.
6 - 45
7. Maintenance
7-1 Inspections........................................................................................................................................ 7-2 7-2 Service parts ..................................................................................................................................... 7-2 7-3 Adding and replacing units and parts ............................................................................................... 7-3 7-3-1 Replacing the drive unit ............................................................................................................. 7-3 7-3-2 Replacing the unit fan ................................................................................................................ 7-4
7-1
7. Maintenance
WARNING
1. Before starting maintenance or inspections, turn the main circuit power and control power both OFF. Wait at least ten minutes for the CHARGE lamp to turn OFF, and then using a tester, confirm that the input and output voltage are zero. Failure to observe this could lead to electric shocks. 2. Inspections must be carried out by a qualified technician. Failure to observe this could lead to electric shocks. Contact your nearest Mitsubishi branch or dealer for repairs and part replacement. 1. Never perform a megger test (measure the insulation resistance) of the servo drive unit. Failure to observe this could lead to faults. 2. The user must never disassemble or modify this product.
CAUTION
7-1
Inspections
Periodic inspection of the following items is recommended. [1] Are any of the screws on the terminal block loose? If loose, tighten them. [2] Is any abnormal noise heard from the servomotor bearings or brake section? [3] Are any of the cables damaged or cracked? If the cables move with the machine, periodically inspect the cables according to the working conditions. [4] Is the core of the load coupling shaft deviated?
7-2
Service parts
A guide to the part replacement cycle is shown below. Note that these will differ according to the working conditions or environmental conditions, so replace the parts if any abnormality is found. Contact Mitsubishi branch or your dealer for repairs or part replacements.
Part name Smoothing capacitor Servo drive unit Cooling fan Battery Bearings Servomotor Detector Oil seal, V-ring Standard replacement time 10 years 10,000 to 30,000 hours (2 to 3 years) 10,000 hours 20,000 to 30,000 hours 20,000 to 30,000 hours 5,000 hours Remarks The standard replacement time is a reference. Even if the standard replacement time is not reached, the part must be replaced if any abnormality is found.
[1] Power smoothing capacitor : The characteristics of the power smoothing capacitor will deteriorate due to the effect of ripple currents, etc. The capacitor life is greatly affected by the ambient temperature and working conditions. However, when used continuously in a normal air-conditioned environment, the service life will be ten years. [2] Relays : Contact faults will occur due to contact wear caused by the switching current. The service life will be reached after 100,000 cumulative switches (switching life) although this will differ according to the power capacity. [3] Servomotor bearings : The motor bearings should be replaced after 20,000 to 30,000 hours of rated load operation at the rated speed. This will be affected by the operation state, but the bearings must be replaced when any abnormal noise or vibration is found in the inspections. [4] Servomotor oil seal, V-ring : These parts should be replaced after 5,000 hours of operation at the rated speed. This will be affected by the operation state, but these parts must be replaced if oil leaks, etc., are found in the inspections.
7-2
7. Maintenance
7-3
Adding and replacing units and parts

1. Correctly transport the product according to its weight. Failure to do so could result in injury. 2. Do not stack the product above the indicated limit. 3. Installation directly on or near combustible materials could result in fires. 4. Install the unit as indicated at a place which can withstand the weight. 5. Do not get on or place heavy objects on the unit. Failure to observe this could result in injury. 6. Always use the unit within the designated environment condition range. 7. Do not allow conductive foreign matter such as screws or metal chips, or combustible foreign matter such as oil enter the servo drive or servomotor. 8. Do not block the intake or exhaust ports of the servo drive of servomotor. Failure to observe this could result in faults. 9. The servo drive and servomotor are precision devices. Do not drop them or apply strong impacts. 10. Do not install or operate a servo drive or servomotor which is damaged or missing parts. 11. When the unit has been stored for a long time, contact the Service Center or Service Station.
CAUTION
7-3-1
Replacing the drive unit
Replace the unit with the following procedures. (1) Replacing the servo drive unit [1] Disconnect the connectors connected to CN1A, CN1B, CN9, CN4, CN2L, CN3L, CN2M, CN3M and CN20. [2] Disconnect all wires connected to the terminal block: LU, LV, LW, MU, MV, MW, , L+, L-, L11 and L21. [3] Remove the two (four) screw fixing the unit onto the control unit. Remove the unit from the control panel. [4] Install the new unit following the removal procedures in reverse. (Note) The connector and terminal block names differ for the MDS-C1-V1 unit. (CN2L, CN3L CN2, CN3 LU, LV, LW U, V, W) The CN2M, CN3M connector and MU, MV, MW connectors are not provided. (2) Replacing the spindle drive unit [1] Disconnect the connectors connected to CN1A, CN1B, CN9, CN4, CN5, CN6, CN7 and CN8. [2] Disconnect all wires connected to the terminal block: U, V, W, , L+, L-, L11 and L21. [3] Remove the two (four) screw fixing the unit onto the control unit. Remove the unit from the control panel. [4] Install the new unit following the removal procedures in reverse. (3) Replacing the power supply unit [1] Disconnect the connectors connected to CN4, CN9 and CN23. [2] Disconnect all wires connected to the terminal block's L1, L2, L3, , L+, L-, L11, L21 and MC1. [3] Remove the two (four) screw fixing the unit onto the control unit. Remove the unit from the control panel. [4] Install the new unit following the removal procedures in reverse.
7-3
7. Maintenance
7-3-2
Replacing the unit fan
Replace the unit fan with the following procedures. Replacement procedure [1] Turn the NF for the 200/230VAC input power OFF, and wait for the CHARGE lamp on the power supply unit to turn OFF before removing the unit. [2] Remove the fan guard from the back of the power supply unit, and remove the two fan mounting screws. [3] Remove the rubber bushing for the fan power cable, and pull out the connection connector. [4] Disconnect the connection connector, and replace the fan.
Remove the two screws
Remove the rubber bushing
Pull out the connection connector and disconnect the connector
7-4
Appendix 1. Cable and Connector Specifications
Appendix 1-1 Selection of cable .........................................................................................................A1-2 Appendix 1-1-1 Cable wire and assembly ......................................................................................A1-2 Appendix 1-1-2 Flexible conduits ....................................................................................................A1-4 Appendix 1-2 Cable connection diagram............................................................................................A1-6 Appendix 1-3 Connector outline dimension drawings ......................................................................A1-12
A1 - 1
Appendix 1-1 Selection of cable

Appendix 1-1-1 Cable wire and assembly
(1) Cable wire The following shows the specifications and processing of the wire used in each cable. Manufacture the cable using the following recommended wire or equivalent parts.
Recommended wire model Finished (Cannot be directly Sheath No. of outside ordered from material pairs diameter Mitsubishi Electric Corp.) UL20276 AWG28 10pair 6.1mm PVC 10 Wire characteristics Config- Conductor uration resistance Withstand Insulation voltage resistance Heat resistant temperature Application
A14B2343 (Note 1)
7.2mm
PVC
TS-91026 (Note 2)
11.6mm
PVC
7 strands/ 0.13mm 40 6 strands/ 0.08mm 60 2 strands/ 2 (0.3 mm ) 0.08mm 40 10 strands/ 2 (0.2 mm ) 0.08mm
222/km or less 105/km or less 63/km or less 95/km or less
AC350/ 1min
1M/km or more 1500M/k m or more
80C
NC unit communication cable Detector cable
AC500/ 1min
105C
AC750V/ 1min
60M/km or more
60C
Detector cable (Cable length: 20m or more)
(Note 1) Junko Co. (Dealer: Toa Denki) (Note 2) BANDO ELECTRIC WIRE (http: //www.bew.co.jp)
(2) Cable assembly Assemble the cable as shown in the following drawing, with the cable shield wire securely connected to the ground plate of the connector.
Core wire Core wire
Shield Sheath (external conductor)
Shield (external conductor)
Sheath
Ground plate
CAUTION
Do not mistake the connection when manufacturing the detector cable. Failure to observe this could lead to faults, runaway or fires.
A1 - 2
(3) Cable protection tube (noise countermeasure) If influence from noise is unavoidable, or further noise resistance is required, selecting a flexible tube and running the signal cable through this tube is effective. This is also an effective countermeasure for preventing the cable sheath from being cut or becoming worn. A cable clamp (MS3057) is not installed on the detector side, so be particularly careful of broken wires in applications involving bending and vibration.
Supplier Nippon Flex Control Corp. Tube FBA-4 (FePb wire braid sheath) Connector Drive unit side RBC-104 (straight) RBC-204 (45) RBC-304 (90) PSG-104 (straight) PLG-17 (90) PS-17 (straight) BC-17 (straight) Installation screws G16 G16 G16 Screw diameter 26.4 Screw diameter 26.4 PF1/2 Wire tube screws : 15 Motor detector side RCC-104-CA2022
DAIWA DENGYO Hi-flex CO., LTD PT #17 (FePb sheath) Sankei Works Purika Tube PA-2 #17 (FePb sheath)
PDC20-17
PDC20-17
(Note) None of the parts in this table can be ordered from Mitsubishi Electric Corp.
A1 - 3
Appendix 1-1-2 Flexible conduits

Basically, splash proofing can be ensured if cab-tire cable and connectors with IP65 or higher specifications are used. However, to further improve the oil resistance (chemical resistance to oil), weather resistance (resistance to the environment when used outdoors, etc.), durability, tensile strength, flattening strength, etc., run the cable through a flexible conduit when wiring. The following shows an example of a flexible conduit. Contact the connector maker for more information. (1) Method for connecting to a connector with back shell
Connector with Connector back shell for conduit Flexible conduit Cable
Model Application For power Applicable motors Connector (straight) HA053N, HA13N HA23N, HA33N CE05-6A18-12SD-B-BSS CE05-8A18-12SD-B-BAS RCC-104CA18 HC52, HC102, HC152 HC53, HC103, HC153 HC103R, HC153R, HC203R DDK Connector (angle) Nippon Flex Connector for conduit RCC-103CA18 Flexible conduit VF-03 (Min. inside diameter: 10.6) VF-04 (Min. inside diameter: 14) VF-04 (Min. inside diameter: 14) VF-06 (Min. inside diameter: 19) VF-06 (Min. inside diameter: 19) VF-08 (Min. inside diameter: 24.4) VF-08 (Min. inside diameter: 24.4) VF-10 (Min. inside diameter: 33.0)
RCC-104CA2022 CE05-6A22-23SD-B-BSS CE05-8A22-23SD-B-BAS RCC-106CA2022
HC202, HC352, HC452 HC203, HC353 HC353R, HC503R
RCC-106CA2428 CE05-6A24-10SD-B-BSS CE05-8A24-10SD-B-BAS RCC-108CA2428
HC702, HC902 HC453, HC703 CE05-6A32-17SD-B-BSS CE05-8A32-17SD-B-BAS
RCC108CA32
RCC110CA32 (Note) None of the parts in this table can be ordered from Mitsubishi Electric Corp.
A1 - 4
Back shell
Connector for conduit
Flexible conduit Cable
Connector
Model Application For brake Applicable motors DDK Connector/back shell (straight) Connector/back shell (angle) Nippon Flex Connector for conduit Flexible conduit
HA053NB to HA33NB HC202B to HC902B Select according to section "(2) Method for connecting to the connector main body". HC203B to HC703B Connector Connector For HA053N to HA33N VF-04 RCC-104CA2022 detector HC52 to HC902, HC53 to HC703 MS3106A22-14S MS3106A22-14S (Min. Inside diameter: 14) (D190) (D190) HC103R to HC503R VF-06 Back shell Back shell HA-LF11K2-S8, HA-LF15K2-S8 RCC-106CA2022 (Min. Inside diameter: 19) CE-22BA-S CE02-22BS-S (Note) None of the parts in this table can be ordered from Mitsubishi Electric Corp.
(2) Method for connecting to the connector main body

Connector for conduit Flexible conduit Cable
Connector
Application For power
Model Applicable motors HA053N, HA13N HA23N, HA33N DDK Connector (straight) CE05-6A18-12SD-B MSA-12-18 MAA-12-18 MSA-16-18 MAA-16-18 MSA-16-22 MAA-16-22 MSA-22-22 MAA-22-22 MSA-22-24 MAA-22-24 MSA-28-24 MAA-28-24 DAIWA DENGYO Connector for conduit (Straight) (Angle) (Straight) (Angle) (Straight) (Angle) (Straight) (Angle) (Straight) (Angle) (Straight) (Angle) Flexible conduit FCV12 (Min. inside diameter: 12.3) FCV16 (Min. inside diameter: 15.8) FCV16 (Min. inside diameter: 15.8) FCV22 (Min. inside diameter: 20.8) FCV22 (Min. inside diameter: 20.8) FCV28 (Min. inside diameter: 26.4) FCV36 (Min. inside diameter: 35.0) FCV10 (Min. inside diameter: 10.0) FCV16 (Min. inside diameter: 15.8) FCV22 (Min. inside diameter: 20.8)
HC52, HC102, HC152 HC53, HC103, HC153 CE05-6A22-23SD-B HC103R, HC153R, HC203R HC202, HC352, HC452 HC203, HC353 HC353R, HC503R HC702, HC902 HC453, HC703 For HA053NB to HA33NB brake HC202B to HC902B HC203B to HC703B For HA053N to HA33N detector HC52 to HC902, HC53 to HC703 HC103R to HC503R HA-LF11K2-S8, HA-LF15K2-S8
CE05-6A24-10SD-B
CE05-6A32-17SD-B MS3106A10SL-4S (D190)
Please contact to a maker. MSA-10-10 MAA-10-10 MSA-16-22 MAA-16-22 (Straight) (Angle) (Straight) (Angle) (Straight) (Angle)
MS3106A22-14S (D190)
MSA-22-22 MAA-22-22
(Note) None of the parts in this table can be ordered from Mitsubishi Electric Corp.
A1 - 5
Appendix 1-2 Cable connection diagram

1. Do not mistake the connection when manufacturing the detector cable. Failure to observe this could lead to faults, runaway or fires. 2. Do not connect anything to pins unless otherwise particularly specified when manufacturing a cable. (Leave OPEN) 3. Contact Mitsubishi when manufacturing a cable longer than 30m.
CAUTION
(1) NC bus cable <SH21 cable connection diagram>

Drive unit side connector Connector: 10120-3000VE Shell kit: 10320-52F0-008 1 11 2 12 3 13 4 14 5 15 6 16 7 17 8 18 9 19 10 20 PE Drive unit side connector Connector: 10120-3000VE Shell kit: 10320-52F0-008 1 11 2 12 3 13 4 14 5 15 6 16 7 17 8 18 9 19 10 20 PE FG
A1 - 6
(2) Servo detector cable <CNV12/CNV13 cable connection diagram> The connection differs according to the cable length.
Servo drive unit side connector Connector: 10120-3000VE (One-touch type lock) Shell kit: 10320-52F0-008 (Screw-type lock) Shell kit: 10320-52A0-008 6 16 7 17 9 19 10 20 1 11 Servomotor detector side/ Ball screw end detector side connector <For general environment> Plug: MS3106B22-14S (Straight) MS3108B22-14S (Angle) Clamp: MS3057-12A H J K L E S SD SD* RQ RQ* BAT P5(+5V) <IP65 compatible> Plug: MS3106A22-14S(D190) Straight back shell: CE02-22BS-S (Straight) CE-22BA-S (Angle) Clamp: CE3057-12A-3
R LG
PE
FG
<For 20m or less>
6 16 7 17 9 19 10 20 1 11
H J K L E S
SD SD* RQ RQ* BAT P5(+5V)
LG
PE
FG
<For 20m to 30m>
A1 - 7
<CNL3H1,CNL3H2,CNL3H1-S,CNL3H2-S cable connection diagram>

Servo drive unit side connector Connector:10120-3000VE (One-touch type lock) Shell kit:10320-52F0-008 (Screw-type lock) Shell kit: 10320-52A0-008 6 16 7 17 MDS-B-HR unit side connector Plug: RM15WTP-8S Clamp: RM15WTP-CP(10)
3 4 1 2
SD SD* RQ RQ*
19 5 10 6 20 1 7 LG P5(+5V) P5(+5V)
11 PE
8 PE
LG FG
A1 - 8
(3) Spindle detector cable <CNP5 cable connection diagram>
(CN5) Spindle drive unit side connector Connector: 10120-3000VE Shell kit: 10320-52F0-008 PA RA PB RB PZ P15(+15V) N15(-15V) LG 6 16 7 17 8 5 15 1
Spindle motor side connector Housing: 350720-1 Pin: 350689-1 1 2 3 4 5 8 6 9
MOH RG
3 13
V1.25-4
100mm
<CNP6M cable connection diagram>

(CN6) Spindle drive unit side connector Connector: 10120-3000VE Shell kit: 10320-52F0-008 MAG MAGR LS LSR P15(+15V) LG 6 16 7 17 5 15 A D F E C B Magnetic sensor side connector Connector: TRC116-12A10-7F10.5
<CNP6A cable connection diagram>
(CN6) Spindle drive unit side connector Connector: 10120-3000VE Shell kit: 10320-52F0-008 MA MA* MB MB* MZ MZ* P5(+5V) LG P5(+5V) LG P5(+5V) LG 2 12 3 13 4 14 10 1 19 11 20 15
Spindle end detector side connector Plug: MS3106B20-29S (Straight) MS3108B20-29S (Angle) Clamp: MS3057-12A A N C R B P H K
CAUTION
The shield of the spindle detector cable is not connected to the "FG" (earth). Do not connect the cable shield to the earth by clamping the cable, etc.
A1 - 9

(CN7) Spindle drive unit side connector Connector: 10120-3000VE Shell kit: 10320-52F0-008 CA CA* CB CB* CZ CZ* P5(+5V) LG P5(+5V) LG P5(+5V) LG 2 12 3 13 4 14 10 1 19 11 20 15 B24-9 C-axis detector side connector Plug: MS3106B20-29S (Straight) MS3108B20-29S (Angle) Clamp: MS3057-12A F L G M S T H K
<CNP7B cable connection diagram>

(CN7) Spindle drive unit side connector Connector: 10120-3000VE Shell kit: 10320-52F0-008 CA CA* CB CB* CZ CZ* P5(+5V) LG P5(+5V) LG P5(+5V) LG 2 12 3 13 4 14 10 1 19 11 20 15 B24-9 C-axis detector side connector Housing: 69176-020 Pin: 48235-000 1 11 2 12 3 13 7 9 8 18 17 19 20
<CNP7H cable connection diagram>

(CN7) Spindle drive unit side connector Connector: 10120-3000VE Shell kit: 10320-52F0-008 CA CA* CB CB* CZ CZ* LG LG LG 2 12 3 13 4 14 1 11 15 C-axis detector side connector Housing: JAC-15P Pin: J-SP1140 1 2 3 4 5 6 7
A1 - 10

(CN7) Spindle drive unit side connector Connector: 10120-3000VE Shell kit: 10320-52F0-008 CA CA* CB CB* CZ CZ* P5(+5V) LG P5(+5V) LG P5(+5V) LG 2 12 3 13 4 14 10 1 19 11 20 15
C-axis detector side connector Plug: MS3106B20-29S (Straight) MS3108B20-29S (Angle) Clamp: MS3057-12A F L G M S T H K
(CN6) Spindle drive unit side connector Connector: 10120-3000VE Shell kit: 10320-52F0-008 MA 2 MA* 12 MB 3 MB* 13 MZ 4 MZ* 14 PE E B24-9
A N C R B P
<FCUA-R220 cable connection diagram>

(CN7) MDS-B-PJEX unit side connector Connector: 2-178288-3 Contact: 1-175218-5 FG GND +24V 3 2 1 FG GND +24V 24VDC (+) power side connector Crimped terminal: V1.25-3
A1 - 11
Appendix 1-3 Connector outline dimension drawings

Connector for CN2 Servo drive unit Manufacturer: 3M (Ltd.) <Type> Connector: 10120-3000VE Shell kit: 10320-52F0-008 [Unit: mm]
12.0 12.0
22.0 22.0
14.0 14.0
39.0 39.0
23.8 23.8
33.3 33.3
12.7 12.7
Manufacturer: 3M (Ltd.) <Type> Connector: 10120-3000VE Shell kit: 10320-52A0-008
[Unit: mm]
12.0 12.0
22.0 22.0
14.0 14.0
39.0 39.0
23.8 23.8
33.3 33.3
12.7 12.7
Because this connector is an integrated molding part of the cable, it is not an option setting in the connector set. The terminal connector (A-TM) also has the same outline.
42.0 42.0 33.0 33.0
11.5 11.5
Manufacturer: 3M (Ltd.) <Type> Connector: 10120-6000EL Shell kit: 10320-3210-000
[Unit: mm]
20.9 20.9
29.7 29.7
A1 - 12
10.0 10.0
10.0 10.0
Connectors for detector and motor power (IP67 and EN standard compatible) Straight plug Manufacturer: DDK (Ltd.)
D or less 7.85 or more
C 0.8
B +0 -0.38
+0
Type CE05-6A18-12SD-B-BSS CE05-6A22-23SD-B-BSS CE05-6A24-10SD-B-BSS CE05-6A32-17SD-B-BSS Angle plug Manufacturer: DDK (Ltd.)
1 3 1
A 1 /8-18UNEF-2B 1 /8-18UNEF-2B 1 /2-18UNEF-2B 2-18UNS-2B
B -0.38 34.13 40.48 43.63 56.33
C0.8 32.1 38.3 42.0 54.2
D or less 57 61 68 79 D or less
3 7 3
[Unit: mm] W 1-20UNEF-2A 1 /16-18UNEF-2A 1 /16-18UNEF-2A 1 /4-18UNS-2A
R 0.7
Y or more
(S)1
U 0.7
W [Unit: mm] Type CE05-8A18-12SD-B-BAS CE05-8A22-23SD-B-BAS CE05-8A24-10SD-B-BAS CE05-8A32-17SD-B-BAS Cable clamp Manufacturer: DDK (Ltd.)
1 3 1
B +0 -0.38
A 1 /8-18UNEF-2B 1 /8-18UNEF-2B 1 /2-18UNEF-2B 2-18UNS-2B
+0 B 0.38
D or less 69.5 75.5 86.3 93.5
W 1-20UNEF-2A 1 /16-18UNEF-2A 1 /16-18UNEF-2A 1 /4-18UNS-2A

3 7 3
R0.7 U0.7 (S) 1 13.2 16.3 18.2 24.6 30.2 33.3 36.5 44.5 43.4 49.6 54.7 61.9
Y or more 7.5 7.5 7.5 8.5
34.13 40.48 43.63 56.33
(D) A C
V screw
1.6
(Bushing inside diameter)
G 0.7
B 0.7
E H
(Cable clamp inside diameter)
(Moveable range of one side)
[Unit: mm] Type

CE3057-10A-2 (D265) CE3057-12A-2 (D265) CE3057-12A-3 (D265) CE3057-16A-2 (D265) CE3057-20A-1 (D265) Shell size 18 20 22 24 32
Total length Outside dia. Effective screw length
A 23.8 23.8 26.2 27.8
B 30.1 35 42.1 51.6
C 10.3 10.3 10.3 11.9
D 41.3 41.3 41.3 43.0
E 15.9 19 23.8 31.7
F 11 13 10 15.5 23.8
G 31.7 37.3 42.9 51.6
H 3.2 4 4.8 6.3
Installation screw V 1-20UNEF-2B
Bushing
Compliant cable 8.5 to 11 9.5 to 13 6.8 to 10 13 to 15.5 22 to 23.8
13/16-18UNEF-2B
CE3420-10-2 CE3420-12-2 CE3420-12-3 17/16-18UNEF-2B CE3420-16-2 13/4-18UNS-2B CE3420-20-1
A1 - 13
Connectors for detector, motor power and brake (IP67 and EN standard compatible) Straight plug Manufacturer: DDK (Ltd.) Gasket A
J 0.12
G +0.05 -0.25
D
H or less
E0.3 C0.5 [Unit: mm] J0.12 13.49 18.26
Type MS3106A10SL-4S (D190) MS3106A22-14S (D190) Straight back shell Manufacturer: DDK (Ltd.)
5 3
A /8-24UNEF-2B 1 /8-18UNEF-2B
B 22.22 40.48
C0.5 23.3 34.11

9 1
D /16-24UNEF-2A 1 /4-18UNEF-2A
B +0 -0.38
E0.3 7.5 12.15
G 12.5 29.9
L B
V screw W screw
7.85 or more
O-ring
(Effective screw length) (Spanner grip)
Type CE02-22BS-S Angle back shell Manufacturer: DDK (Ltd.) Type: CE-22BA-S
L 35
A 36.5
B 10.9
C 17.8
D 32.4
1
V 1 /4-18UNEF-2B
3
[Unit: mm] W 1 /16-18UNEF-2A [Unit: mm]
50.5 or less 39.6 or less 16.3 1 /4-18UNEF-2B screw

1
(49.6)
1 /16-18UNEF-2A screw
A1 - 14
7.5 or more
33.3
38.6
O-ring
Connectors for detector, motor power and brake (for general environment) Straight plug Manufacturer: DDK (Ltd.)
L or less W or
more
J 0.12
Y or less
V
[Unit: mm]
Type
1 3 1
Coupling screw A
Length of coupling section J0.12
Total length L or less
Connection nut outside diameter +0 Q 0.38
Cable clamp installation screw V
Q +0 -0.38
Effective screw length W or more
Max. width Y or less
MS3106B18-12S MS3106B22-14S MS3106B22-23S MS3106B24-10S MS3106B32-17S
1 /8-18UNEF 1 /8-18UNEF 1 /2-18UNEF 2-18UNS
18.26 18.26 18.26 18.26
52.37 55.57 58.72 61.92
34.13 40.48 43.63 56.33
1-20UNEF 1 /16-18UNEF 1 /16-18UNEF 1 /4-18UNS

3 7 3
9.53 9.53 9.53 11.13
42 50 53 66
Angle plug Manufacturer: DDK (Ltd.)
L or less J0.12 R0.5
U0.5
V
W or more
+0 -0.38
[Unit: mm]
Coupling screw A Length of coupling section J0.12 Total length L or less Connectio n nut outside diameter Q
+0 34.13 0.38
Type
Cable clamp installation screw R0.5 U0.5 V
Effective screw length W or more
MS3108B18-12S MS3108B22-14S MS3108B22-23S MS3108B24-10S MS3108B32-17S
1 /8-18UNEF 1 /8-18UNEF 1 /2-18UNEF 2-18UNS

1 3
18.26 18.26 18.26 18.26
68.27 76.98 86.51 95.25
20.5 24.1 25.6 32.8
30.2 33.3 36.5 44.4
40.48 43.63 56.33
1-20UNEF 3 1 /16-18UNE F 7 1 /16-18UNE F 3 1 /4-18UNS
9.53 9.53 9.53 11.13 [Unit: mm]
Straight plug Manufacturer: Japan Aviation Electronics (Ltd.) Type: MS3106B10SL-4S
13.50.3
5
/8-24UNEF-2A
/8-24UNEF-2B
Effective screw length (Including relief of 2.77 or less)
9.5 or more
38.9
or less
A1 - 15
22.20.8
Connectors for detector, motor power and brake (for general environment) Angle plug Manufacturer: Japan Aviation Electronics (Ltd.) Type: MS3108B10SL-4S [Unit: mm]
13.50.3
/8-24UNEF-2B 22.20.8
9.5 or more
/8-24UNEF-2A
36.90.8 46.0 or less
Cable clamp Manufacturer: DDK (Ltd.) 1.6 V B0.7
A0.7 C E (Bushing inside diameter) D (Cable clamp inside diameter) G0.7
F (Moveable range)
[Unit: mm]
Type Shell size Total length A0.7 MS3057-4A MS3057-10A MS3057-12A MS3057-16A MS3057-20A 10SL, 12S 18 20, 22 24, 28 32 20.6 23.8 23.8 26.2 27.8 Outside diameter B0.7 20.6 30.1 35.0 42.1 51.6 Effective screw length C 10.3 10.3 10.3 10.3 11.9 D 7.9 15.9 19.0 23.8 43 E 5.6 14.3 15.9 19.1 31.7 F 1.6 3.2 4.0 4.8 6.3 G0.7 22.2 31.7 37.3 42.9 51.6
5
Installation screw V /8-24UNEF
Bushing
AN3420-4 AN3420-10 AN3420-12 AN3420-16 AN3420-20
1-20UNEF 13/16-18UNEF 17/16-18UNEF 13/4-18UNEF
A1 - 16
25.00.8
Appendix 2. Compliance to EC Directives
Appendix 2-1 Compliance to EC Directives ...........................................................................................A2-2 Appendix 2-1-1 European EC Directives............................................................................................A2-2 Appendix 2-1-2 Cautions for EC Directive compliance ......................................................................A2-2
A2 - 1
Appendix 2-1 Compliance to EC Directives

Appendix 2-1-1 European EC Directives
In the EU Community, the attachment of a CE mark (CE marking) is mandatory to indicate that the basic safety conditions of the Machine Directives (issued Jan. 1995), EMC Directives (issued Jan. 1996) and the Low-voltage Directives (issued Jan. 1997) are satisfied. The machines and devices in which the servo and spindle drive are assembled are the targets for CE marking. (1) Compliance to EMC Directives The servo and spindle drive are components designed to be used in combination with a machine or device. These are not directly targeted by the Directives, but a CE mark must be attached to machines and devices in which these components are assembled. The next section "EMC Installation Guidelines", which explains the unit installation and control panel manufacturing method, etc., has been prepared to make compliance to the EMC Directives easier. (2) Compliance to Low-voltage Directives The MDS-C1 Series units are targeted for the Low-voltage Directives. An excerpt of the precautions given in this specification is given below. Please read this section thoroughly before starting use. A Self-Declaration Document has been prepared for the EMC Directives and Low-voltage Directives. Contact Mitsubishi or your dealer when required.
Appendix 2-1-2 Cautions for EC Directive compliance

Use the Low-voltage Directive compatible parts for the servo/spindle drive and servo/spindle motor. In addition to the items described in this instruction manual, observe the items described below. (1) Configuration
Isolating transformer
Circuit breaker CB
Electromagnetic contactor MC
Drive unit
AC reactor M
Use a type B (AC/DC detectable type) breaker
(2) Environment Use the units under an Overvoltage Protection Category III and Pollution Class of 2 or less environment as stipulated in IEC60664. Install the servo/spindle drive unit in a control panel having a structure (IP54 or higher) in which water, oil, carbon or dust cannot enter.
Drive unit
During operation Ambient temperature Humidity Altitude 0C to 55C 90%RH or less 1000m or less Storage -15C to 70C 90%RH or less 1000m or less During transportation -15C to 70C 90%RH or less 10000m or less Ambient temperature Humidity Altitude
Motor
During operation 0C to 40C 80%RH or less 1000m or less Storage -15C to 70C 90%RH or less 1000m or less During transportation -15C to 70C 90%RH or less 10000m or less
A2 - 2
(3) Power supply [1] If a control power supply of the drive unit is 200V, use the power supply under an Overvoltage Protection Category II as stipulated in IEC60664. In that case, insert a star-connection isolation transformer that is compliant with EN or IEC Standard into the primary input power supply of the drive unit. [2] Do not omit the circuit breaker and electromagnetic contactor. (4) Earthing [1] [2] To prevent electric shocks, always connect the servo/spindle drive unit protective earth (PE) mark) to the protective earth (PE) on the control panel. terminal (terminal with When connecting the earthing wire to the protective earth (PE) terminal, do not tighten the wire terminals together. Always connect one wire to one terminal.
PE terminal
PE terminal
(5) Wiring [1] Always use crimp terminals with insulation tubes so that the connected wire does not contact the neighboring terminals.
Crimp terminal
Insulation tube Wire
[2]
Do not connect the wires directly.
A2 - 3
(6) Selecting the wire size for EC Directive compliance To comply with the EC Directives, select the wire size from the following table using each drive unit's capacity as a reference. The wire types are as follow. PVC : Polyvinyl chloride EPR : Ethylene polypropylene SIR : Silicon rubber [1] MDS-C1-CV (L1, L2, L3, PE)
Type (MDS-C1-) PVC EPR SIR Terminal screw size Wire CV-37 CV-55 CV-75 CV-110 CV-150 CV-185
(The unit sizes are all mm2)

CV-220 CV-260 CV-300 CV-370
2.5 1.5 1.0
2.5 2.5 1.5 M4
4 4 2.5
6 6 4
10 10 6 M5
16 16 10
25 25 16
35 35 16 M8
50 35 25
70 50 25
[2]
MDS-C1-SP (U, V, W, PE)

Type (MDS-C1-)
SP-04 SP-075 SP-15 SP-22 SP-37 SP-55 SP-75 SP-110 SP-150 SP-185 SP-220 SP-260 SP-300
PVC EPR SIR Terminal screw size Wire
1.0 1.0 1.0
1.0 1.0 1.0
1.0 1.0 1.0 M4
1.0 1.0 1.0
1.5 1.5 1.0
2.5 2.5 1.0
4 4 2.5
6 6 4 M5
10 10 6
16 16 10
25 25 10
35 35 16 M8
70 50 25
[3]
MDS-C1-V1/V2 (U, V, W, PE)

Type (MDS-C1-) V1-01 V1-03 V1-05 V1-10 V1-20 V1-35 V1-45 V1-70 V1-90 V1-110 V1-150
PVC Wire EPR SIR Terminal screw size
1.0 1.0 1.0
1.0 1.0 1.0
1.0 1.0 1.0 M4
1.0 1.0 1.0
1.5 1.0 1.0
2.5 1.5 1.0
4 4 2.5 M5
6 6 2.5
10 10 4
25 16 10 M8
35 25 16
[4]
Wire size for L11 and L21 link bar Select a 1.5mm2 wire or larger regardless of the capacity. (This also applies to the wire between NFB-L11 and L21.) Wire size for L+ and L- link bar (For unified sizes)
Type (MDS-C1-) CV-37 CV-55 CV-75 CV-110 CV-150 CV-185 CV-220 CV-260 CV-300 CV-370
[5]
PVC Wire EPR SIR Terminal screw size
2.5 1.5 1.0
2.5 2.5 1.5
6 4 2.5
10 10 4
16 16 10 M6
25 25 10
35 35 16
50 35 25
70 70 35
70 35
* The wire sizes in the above table comply with EN60204 under the following conditions. Ambient temperature 40C Wire laid along wall or in open cable tray When using under other conditions, refer to EN60204 Appendix 5 and Appended Material C.
A2 - 4
(7) Peripheral devices [1] Use EN/IEC Standards compliant parts for the no-fuse breaker and contactor.
(8) Miscellaneous [1] [2] [3] [4] Refer to "MDS-C1 INSTRUCTION MANUAL" for methods on complying with the EMC Directives. Ground the facility according to each country's requirements. The control circuit connector ( ) is safely separated from the main circuit ( ). Inspect the appearance before installing the unit. Carry out a performance inspection of the final unit, and save the inspection records.
Mitsubishi CNC SV1, 2 (CSH21) CN4 MDS-C1-CVMDS-C1-V2CN1A CN4 CN1B MDS-A-BT-
CN3M CN3L
Machine end detector Machine end detector
CN9 External emergency stop input External brake output contact
CN9 CN20
CN23
CN2L CN2M
AC reactor
Contactor L1 L2 L3 MC TE1 TE2 TE1 L+ LL+ LTE2
MU MV MW
Motor Motor end detector
MC1 L11 TE3 L21
LU LV TE3 LW
Motor
L11 L21
Motor end detector
A2 - 5
Appendix 3. EMC Installation Guidelines
Appendix 3-1 Introduction ......................................................................................................................A3-2 Appendix 3-2 EMC instructions ..............................................................................................................A3-2 Appendix 3-3 EMC measures ................................................................................................................A3-3 Appendix 3-4 Measures for panel structure ...........................................................................................A3-3 Appendix 3-4-1 Measures for control panel unit.................................................................................A3-3 Appendix 3-4-2 Measures for door .....................................................................................................A3-4 Appendix 3-4-3 Measures for operation board panel .........................................................................A3-4 Appendix 3-4-4 Shielding of the power supply input section..............................................................A3-4 Appendix 3-5 Measures for various cables ............................................................................................A3-5 Appendix 3-5-1 Measures for wiring in panel .....................................................................................A3-5 Appendix 3-5-2 Measures for shield treatment...................................................................................A3-5 Appendix 3-5-3 Servo/spindle motor power cable..............................................................................A3-6 Appendix 3-5-4 Servo motor feedback cable .....................................................................................A3-7 Appendix 3-5-5 Spindle motor feedback cable...................................................................................A3-7 Appendix 3-6 EMC countermeasure parts .........................................................................................A3-8 Appendix 3-6-1 Shield clamp fitting.................................................................................................A3-8 Appendix 3-6-2 Ferrite core ............................................................................................................A3-9 Appendix 3-6-3 Power line filter ....................................................................................................A3-10 Appendix 3-6-4 Surge protector ....................................................................................................A3-15
A3 - 1
Appendix 3-1 Introduction

EMC Instructions became mandatory as of January 1, 1996. The subject products must have a CE mark attached indicating that the product complies with the Instructions. As the NC unit is a component designed to control machine tools, it is believed to be out of the direct EMC Instruction subject. However, we would like to introduce the following measure plans to backup EMC Instruction compliance of the machine tool as the NC unit is a major component of the machine tools. [1] Methods for installation in control/operation panel [2] Methods of wiring cable outside of panel [3] Introduction of countermeasure parts Mitsubishi is carrying out tests to confirm the compliance to the EMC Standards under the environment described in this manual. However, the level of the noise will differ according to the equipment type and layout, control panel structure and wiring lead-in, etc. Thus, we ask that the final noise level be confirmed by the machine manufacturer. These contents are the same as the EMC INSTALLATION GUIDELINES (BNP-B8582-45). For measures for CNC, refer to "EMC INSTALLATION GUIDELINES" (BNP-B2230).
Appendix 3-2 EMC instructions

The EMC Instructions regulate mainly the following two withstand levels. Emission ..... Capacity to prevent output of obstructive noise that adversely affects external sources. Immunity ..... Capacity not to malfunction due to obstructive noise from external sources. The details of each level are classified as Table 1. It is assumed that the Standards and test details required for a machine are about the same as these. Table 1
Class Name Radiated noise Emission Conductive noise Static electricity electrical discharge Radiated magnetic field Burst immunity Immunity Conductive immunity Power supply frequency field Power dip (fluctuation) Surge Details Electromagnetic noise radiated through the air Electromagnetic noise discharged from power line Example) Withstand level of discharge of electricity charged in a human body. Example) Simulation of immunity from digital wireless transmitters Example) Withstand level of noise from relays or connecting/disconnecting live wires Example) Withstand level of noise entering through power line, etc. Example) 50/60Hz power frequency noise Example) Power voltage drop withstand level Example) Withstand level of noise caused by lightning EN61000-6-2 EN61800-3 (Industrial environment) Generic Standard EN61000-6-4 EN61800-3 (Industrial environment) Standards for determining test and measurement EN55011
IEC61000-4-2 IEC61000-4-3 IEC61000-4-4 IEC61000-4-6 IEC61000-4-8 IEC61000-4-11 IEC61000-4-5
A3 - 2
Appendix 3-3 EMC measures

The main items relating to EMC measures include the following. [1] Store the device in an electrically sealed metal panel. [2] Earth all conductors that are floating electrically. (Lower the impedance.) [3] Wire the power line away from the signal wire. [4] Use shielded wires for the cables wired outside of the panel. [5] Install a noise filter. Ensure the following items to suppress noise radiated outside of the panel. [1] Securely install the devices. [2] Use shielded wires. [3] Increase the panel's electrical seal. Reduce the gap and hole size. Note that the electromagnetic noise radiated in the air is greatly affected by the clearance of the panel and the quality of the cable shield.
Appendix 3-4 Measures for panel structure

The design of the panel is a very important factor for the EMC measures, so take the following measures into consideration.
Operation board panel
Door
Control panel
Appendix 3-4-1 Measures for control panel unit

[1] Use metal for all materials configuring the panel. [2] For the joining of the top plate and side plates, etc., mask the contact surface with paint, and fix with welding or screws. In either case, keep the joining clearance to a max. of 20cm for a better effect. [3] Note that if the plate warps due to the screw fixing, etc., creating a clearance, noise could leak from that place. [4] Plate the metal plate surface (with nickel, tin) at the earthing section, such as the earthing plate. [5] The max. tolerable hole diameter of the openings on the panel surface, such as the ventilation holes, must be 3cm to 5cm. If the opening exceeds this size, use a measure to cover it. Note that even when the clearance is less than 3cm to 5cm, noise may still leak if the clearance is long. Example)
Painting mask
Hole exceeding 3cm to 5cm Provide electrical conductance
Painting mask
Max. joining clearance 20cm
A3 - 3
Appendix 3-4-2 Measures for door

[1] Use metal for all materials configuring the door. [2] Use an EMI gasket or conductive packing for the contact between the door and control panel unit. [3] The EMI gasket or conductive packing must contact at a uniform and correct position of the metal surface of the control panel unit. [4] The surface of the control panel unit contacted with the EMI gasket or conductive packing must have conductance treatment. Example) Weld (or screw) a plate that is plated (with nickel, tin).
Control panel EMI gasket Packing
Door
Carry out conductance treatment on sections that the EMI gasket contacts.
[5] As a method other than the above, the control panel unit and door can be connected with a plain braided wire. In this case, the panel and door should be contacted at as many points as possible.
Appendix 3-4-3 Measures for operation board panel

[1] Always connect the operation board and indicator with an earthing wire. [2] If the operation board panel has a door, use an EMI gasket or conductive packing between the door and panel to provide electrical conductance in the same manner as the control panel. [3] Connect the operation board panel and control panel with a sufficiently thick and short earthing wire. Refer to the "EMC INSTALLATION GUIDELINES" BNP-B2230 for the NC for more details.
Appendix 3-4-4 Shielding of the power supply input section

[1] Separate the input power supply section from other parts in the control panel so that the input power supply cable will not be contaminated by radiated noise. [2] Do not lead the power line through the panel without passing it through a filter.
Control panel Drive unit Control panel Drive unit
Radiated noise
Radiated noise Shielding plate

Power line filter
Breaker
Power line filter
Breaker
AC input
AC input
The power supply line noise is eliminated by the filter, but cable contains noise again because of the noise radiated in the control panel.
Use a metal plate, etc., for the shielding partition. Make sure not to create a clearance.
A3 - 4
Appendix 3-5 Measures for various cables

The various cables act as antennas for the noise and discharge the noise externally. Thus appropriate treatment is required to avoid the noise. The wiring between the drive unit and motor act as an extremely powerful noise source, so apply the following measures.
Appendix 3-5-1 Measures for wiring in panel

[1] If the cables are led unnecessarily in the panel, they will easily pick up the radiated noise. Thus, keep the wiring length as short as possible.
Noise Noise
Device
Device
Device
Device
Device
Device
[2] The noise from other devices will enter the cable and be discharged externally, so avoid internal wiring near the openings.
Control panel Control panel
Device
Device
Device
Device
Noise
[3] Connect the control device earthing terminal and earthing plate with a thick wire. Take care to the leading of the wire.
Appendix 3-5-2 Measures for shield treatment

Common items Use of shield clamp fittings is recommended for treating the shields. The fittings are available as options, so order as required. (Refer to section "Appendix 7-6-1 Shield clamp fitting".) Clamp the shield at a position within 10cm from the panel lead out port.
POINT
1. When leading the cables, including the grounding wire (FG), outside of the panel, clamp the cables near the panel outlet (recommendation: within 10cm). 2. When using a metal duct or conduit, the cables do not need to be clamped near the panel outlet. 3. When leading cables not having shields outside the panel, follow the instructions given for each cable. (Installation of a ferrite core, etc., may be required.)
A3 - 5
Appendix 3-5-3 Servo/spindle motor power cable

Control panel
Control panel
Earth with paint mask Conduit connector
Earth with P or U clip Cannon connector To drive unit
To drive unit
Cannon connector Servomotor
Servomotor Shield cable
Conduit Cabtyre cable
Using shield cable Power cable for servo motor
Using conduit
Control panel
Control panel
Earth with paint mask Conduit connector
Earth with P or U clip To drive unit
Terminal box
Terminal box To drive unit
Shield cable
Servo motor
Conduit Cabtyre cable
Using shield cable Power cable for spindle motor
Using conduit
[1] Use four wires (3-phase + earthing) for the power cable that are completely shielded and free from breaks. [2] Earth the shield on both the control panel side and motor chassis side. [3] Earth the shield with a metal P clip or U clip. (A cable clamp fitting can be used depending on the wire size.) [4] Directly earth the shield. Do not solder the braided shield onto a wire and earth the end of the wire.
Solder
[5] When not using a shield cable for the power cable, use a conventional cabtyre cable. Use a metal conduit outside the cable. [6] Earth the power cable on the control panel side at the contact surface of the conduit connector and control panel. (Mask the side wall of the control panel with paint.) [7] Follow the treatment shown in the example for the conduit connector to earth the power cable on the motor side. (Example: Use a clamp fitting, etc.)
Clamp fitting
To earthing
Conduit Conduit connector Cannon connector
A3 - 6
Appendix 3-5-4 Servo motor feedback cable

Use a conventional batch shield pair cable for feed back cable of the servo motor to earth on NC side (inside the control panel.)
Control panel
Cannon connector To drive unit
Batch shield pair cable

Feed back cable for servomotor
Appendix 3-5-5 Spindle motor feedback cable

Use a conventional batch shield cable for feedback cable of the spindle motor.
Control panel Connect with connector case after shield clamping To drive unit To drive unit Batch pair shield cable
Spindle amp side connector (this figure shows when cover is removed)
Terminal box
(Note) Shield of the spindle motor feedback cable is not FG. Do not earth. Feed back cable for spindle motor
A3 - 7
Appendix 3-6 EMC countermeasure parts

Appendix 3-6-1 Shield clamp fitting
The effect can be enhanced by connecting the cable directly to the earthing plate. Install an earthing plate near each panel's outlet (within 10cm), and press the cable against the earthing plate with the clamp fitting. If the cables are thin, several can be bundled and clamped together. Securely earth the earthing plate with the frame ground. Install directly on the cabinet or connect with an earthing wire. Contact Mitsubishi if the earthing plate and clamp fitting set (AERSBAN- SET) is required.
Peel the cable sheath at the clamp section.
Cable Earthing plate Cable Clamp fitting (Fitting A, B)
Shield sheath
View of clamp section Outline drawing Earthing plate 2-5 hole Installation hole Clamp fitting
Note 1 M4 screw
[Unit: mm]
(Note 1) Screw hole for wiring to earthing plate in cabinet. (Note 2) The earthing plate thickness is 1.6mm.
A AERSBAN-DSET AERSBAN-ESET 100 70 B 86 56 C 30 Enclosed fittings Clamp fitting A 2 Clamp fitting B 1 Clamp fitting A Clamp fitting B L 70 45
Caution
Shield of spindle detector cable is not connected to FG (earth). Do not earth the cable shield with cable clamp, etc. A3 - 8
Appendix 3-6-2 Ferrite core

A ferrite core is integrated and mounted on the plastic case. Quick installation is possible without cutting the interface cable or power cable. This ferrite core is effective against common mode noise, allowing measures against noise to be taken without affecting the signal quality.
Recommended ferrite core TDK ZCAT Series Shape and dimensions ZCAT type
A B D C
ZCAT-A type
A B
E C
Fig.1 ZCAT-B type

A B E
Fig.2 ZCAT-C type

A
Fig.3
Fig.4
[Unit: mm] Part name ZCAT3035-1330 (-BK)*

1
Fig. 1 2 3 4
A 39 35 21 49
B 34 29 17 27
C 13 13 9 4.5
D 30 23.5 20 19.5
E --22 28.5 ---
Applicable cable outline 13 max. 10 to 13 9 max. 4.5 max.
Weight 63 29 12 26
Recommended ferrite core
ZCAT2035-0930-M (-BK) ZCAT2017-0930-M (-BK) ZCAT2749-0430-M (-BK)
*1 A fixing band is enclosed when shipped. ZCAT-B type: Cabinet fixed type, installation hole 4.8 to 4.9mm, plate thickness 0.5 to 2mm ZCAT-C type: Structured so that it cannot be opened easily by hand once closed.
A3 - 9
Appendix 3-6-3 Power line filter

(1) Power line filter for 200V HF3000A-TM Series for 200V Features 3-phase 3-wire type (250V series, 500V series) Compliant with noise standards German Official Notice Vfg243, EU Standards EN55011 (Class B) Effective for use with IGBT inverter and MOS-FET inverter. Easy mounting with terminal block structure, and outstanding reliability. Application Products which must clear noise standards German Official Notice Vfg243 and EU Standards EN55011 (Class B). For input of power converter using advanced high-speed power device such as IGBT MOS-FET. Specifications (250V series)
Part name Rated voltage Rated current Leakage current 5A 10A 15A 20A 30A HF3005A HF3010A HF3015A HF3020A HF3030A HF3040A HF3050A HF3060A HF3080A HF3100A HF3150A -TM -TM -TM -TM -TM -TM -TM -TM -TM -TM -TM 250VAC 40A 50A 60A 80A 100A 150A 1.5mA MAX 250VAC 60Hz
<Example of measuring voltage at noise terminal> ... Measured with IGBT inverter
German Official Notice Vfg243 measurement data
EU Standards EN55011 (Class B) measurement data
A3 - 10
<Typical characteristics>
40A item
<Circuit diagram>
(250V Series) (500V Series)
<Outline dimensions>
[Unit: mm] Model HF3005A-TM HF3010A-TM HF3015A-TM HF3020A-TM HF3030A-TM HF3040A-TM HF3050A-TM HF3060A-TM HF3080A-TM HF3100A-TM HF3150A-TM 260 290 405 570 155 190 220 230 140 170 230 210 180 170 130 Dimension A B C
A3 - 11
MX13 Series 3-phase high attenuation noise filter for 200V Features Perfect for mounting inside control panel: New shape with uniform height and depth dimensions Easy mounting and maintenance work: Terminals are centrally located on the front Complaint with NC servo and AC servo noise: High attenuation of 40dB at 150KHz Safety Standards: UL1283, CSA22.2 No.8, EN133200 Patent and design registration pending Specifications
Type Item 1 Rated voltage (AC) 2 Rated current (AC) Test voltage (AC for one minute across 3 terminal and case) Insulation resistance (500VDC across 4 terminal and case) 5 Leakage current (250V, 60Hz) 6 DC resistance 7 Temperature rise 8 Working ambient temperature 9 Working ambient humidity 10 Storage ambient temperature 11 Storage ambient humidity 12 Weight (typ) MX13030 30A MX13050 MX13100 MX13150 150A
3-phase 250VAC (50/60Hz) 50A 100A 2500VAC (100mA) at 25C, 70% RH 100M min. at 25C, 70% RH
3.5 mA max. 8 mA max. 30 m max. 11 m max. 5.5 m max. 3.5 m max. 30C max 25C to +85C 30% to 95% RH (non condensing) 40C to +85C 10% to 95% RH (non condensing) 2.8kg 3.9kg 11.5kg 16kg
(Note) This is the value at Ta50C. Refer to the following output derating for Ta>50C. Contact: Densei-lambda Co., Ltd. Telephone: 03-3447-4411 (+81-3-3447-4411) Fax: 03-3447-7784 (+81-3-3447-7784) http://www.densei-lambda.com
A3 - 12
Example of using MX13 Series This is a noise filter with the same dimensions as the MDS-D/DH series drive unit depth (200mm) and height (380mm). This unit can be laid out easily in the device by arraigning it in a row with the servo unit. As with the servo unit, the terminals are arranged on the front enabling ideal wire lead-out. Refer to the following figure for details.
Wire to 3-phase power supply Noise filter input terminal 200
380
Noise filter (MX13 Series)
Noise filter output terminal Servo unit Servo input terminal Wire from noise filter to servo
Example of noise terminal voltage attenuation

Noise terminal voltage [dBuV] Noise terminal voltage [dBuV] EMI data for control panel + noise filter (MX13030) Ambient temperature Ta (C)
EMI data for independent control panel (with six-axis servo unit mounted)
Output derating
Current (%)
A3 - 13
Outline dimension drawings MX13030, MX13050

[Unit: mm]
(Installation hole)
Model A B C D E F G H I J K
MX13030 66 45 10.5 50 13 10 177 M4 screw 70 M4 screw 195
MX13050 81 55 13 67 16 13 179 M6 screw 85 M6 screw 200
MX13100, MX13150
[Unit: mm]
(Installation hole) (Installation hole)
Model A B C D E F G H I J K L
MX13100 130 90 20 115 37.5 18 174 M6 screw 21 37.5 115 276
MX13150 165 110 27.5 150.5 57.5 23 176 M8 screw 27 56.5 149.5 284
A3 - 14
Appendix 3-6-4 Surge protector

Insert a surge protector in the power input section to prevent damage to the control panel or power supply unit, etc. caused by the surge (lightning or sparks, etc.) applied on the AC power line. Use a surge protector that satisfies the following electrical specifications. (1) 200V Surge protector
200V RAV BYZ Series Part name RAV-781BYZ-2 Circuit voltage 50/60Hz 3AC 250V Maximum tolerable circuit voltage 300V Clamp voltage 783V10% Surge withstand level 8/20 S 2500A Surge withstand voltage 1.2/50 S 20kV Electrostatic Service capacity temperature 75pF -20 to 70C
(Note) Refer to the manufacturer's catalog for details on the surge protector's characteristics and specifications.
Outline dimension drawings 111 111 Circuit diagram
(1) Black (2) Black (3) Black
5.51 5.51
28.51 28.51
UL-1015 AWG16
200
30 00 20030
411 411
[Unit: mm]
200V RAV BXZ Series Part name RAV-781BXZ-4 Circuit voltage 50/60Hz 3AC 250V Maximum tolerable circuit voltage 300V Clamp voltage 1700V10% Surge withstand level 8/20 S 2500A Surge withstand voltage 1.2/50 S 2kV Electrostatic Service capacity temperature 75pF -20 to 70C
(Note) Refer to the manufacturer's catalog for details on the surge protector's characteristics and specifications. Outline dimension drawings Circuit diagram 111 111 (1) Black (2) Black (3) Black Green
281 281
4.50.5
5.51 5.51
28.51 28.51
UL-1015 AWG16
200
30 0 20030 0
411 411
281 281
4.50.5 4.50.5
[Unit: mm]
A3 - 15
(2) Example of surge protector installation An example of installing the surge protector in the machine control panel is shown below. A short-circuit fault will occur in the surge protector if a surge exceeding the tolerance is applied. Thus, install a circuit protection breaker in the stage before the surge protector. Note that almost no current flows to the surge protector during normal use, so a breaker installed as the circuit protection for another device can be used for the surge protector.
Transformer
Breaker NC unit
Other device (panel power supply, etc.) Contactor Factory power Input power A Other device (panel power supply, etc.) Breaker Panel earth leakage breaker MC Breaker AC reactor Power supply unit and drive unit Control panel (relay panel, etc.)
(1) Surge protector (Protection across phases)
(2) Surge protector (Protection across each phase's grounding)
Grounding Grounding plate Installing the surge absorber
CAUTION
1. The wires from the surge protector should be connected without extensions. 2. If the surge protector cannot be installed just with the enclosed wires, keep the wiring length of A and B to 2m or less. If the wires are long, the surge protector's performance may drop and inhibit protection of the devices in the panel. 3. Surge protector to be selected varies depending on input power voltage.
A3 - 16
Appendix 4. Servo/spindle drive unit categories based on higher harmonic suppression countermeasure guidelines
Appendix 4-1 Servo/spindle drive unit circuit categories based on higher harmonic suppression countermeasure guidelines..........................................................................................A4-2
A4 - 1
Appendix 4. Servo/spindle drive unit categories based on higher harmonic suppression countermeasure guidelines
Appendix 4-1 Servo/spindle drive unit circuit categories based on higher harmonic suppression countermeasure guidelines
Refer to the following table and calculate the circuit category (conversion coefficient) and the power capacity based on higher harmonic suppression countermeasure guidelines. Circuit category
Name TRS Series MR-S1/S2/S3 MR-S11/12 Series AC servo drive unit MDS-A-SVJ MDS-B-SJV2 MR-J2-CT Series MDS-A-V1/V2 MDS-B-V1/V14/V2/V24 MDS-C1-V1/V2 Series SFJ/SGJ Series MDS-A-SPJ MDS-B-SPJ2 Series MDS-A-CSP-370/450 MDS-A-SP/SPA MDS-B-SP/SPA/SPH/SPM/SPX MDS-C1-SP/SPH/SPM/SPX Series Model Circuit category 3 3 Circuit type 3-phase bridge (smoothing capacitor) with no reactor 3-phase bridge (smoothing capacitor) with no reactor 3-phase bridge (smoothing capacitor) with no reactor 3-phase bridge (smoothing capacitor) with AC reactor 3-phase bridge (smoothing capacitor) with no reactor 3-phase bridge (smoothing capacitor) with no reactor 3-phase bridge (smoothing capacitor) with no reactor 3-phase bridge (smoothing capacitor) with no AC reactor Conversion coefficient K31 = 3.4 K31 = 3.4
K31 = 3.4
K32 = 1.8
3 3 3
K31 = 3.4 K31 = 3.4 K31 = 3.4
AC spindle drive unit
K32 = 1.8
Usage conditions: The power supply unit (MDS-A/B/C1-CV Series) applies when using the AC reactor (B-AL Series). When using the MDS-A-CR Series, calculate using the conversion coefficient K31 = 3.4 (no reactor).
Power facility capacity

Type MDS-A/B/C1-SP-37 MDS-A/B/C1-SP-55 MDS-A/B/C1-SP-75 MDS-A/B/C1-SP-110 MDS-A/B/C1-SP-150 MDS-A/B/C1-SP-185 MDS-A/B/C1-SP-220 MDS-A/B/C1-SP-260 MDS-A/B/C1-SP-300 MDS-B-SP-370 MDS-B-SP-450 MDS-B-SP-550 Rated capacity [kVA] 4.61 6.77 9.07 13.1 17.6 21.8 25.9 30.0 34.7 42.8 52.1 63.7 Type MDS-A/B/C1-V1-03 MDS-A/B/C1-V1-05 MDS-A/B/C1-V1-10 MDS-A/B/C1-V1-20 MDS-A/B/C1-V1-35 MDS-A/B/C1-V1-45 MDS-A/B/C1-V1-70 MDS-A/B/C1-V1-90 Rated capacity [kVA] 0.6 1.0 1.6 2.7 4.7 5.9 9.0 11.5 Type MDS-A/B/C1-V2-0503 MDS-A/B/C1-V2-0505 MDS-B/C1-V2-1003 MDS-A/B/C1-V2-1005 MDS-A/B/C1-V2-1010 MDS-A/B/C1-V2-2010 MDS-A/B/C1-V2-2020 MDS-A/B/C1-V2-3510 MDS-A/B/C1-V2-3520 MDS-A/B/C1-V2-3535 MDS-A/B/C1-V2-4520 MDS-A/B/C1-V2-4535 MDS-C1-V2-4545 MDS-C1-V2-7070 SP: Including SPA/SPH/SPM/SPX V1: Including V14 V2: Including V24 Rated capacity [kVA] 1.6 2.0 2.2 2.6 3.2 4.3 5.4 6.3 7.4 9.4 8.6 10.6 11.8 18.0
A4 - 2
Revision History
Date of revision June. 2004 Mar. 2004 Manual No. BNP-B2365 BNP-B2365A First edition created. Introduction Section 1-1-1 Section 1-1-5 Section 1-1-6 Section 1-2-2 Section 1-3-2 Section 1-3-4 Section 1-4-2 Section 2-1 Caution in handling the battery unit was added under precautions in safety 1 fire prevention. Vibration items under the environmental conditions were changed to 1-1-2 quakeproof level. Tolerable load of axis was changed to shaft characteristics. Oil and waterproofing measures was changed to Oil/water standards. Tolerable load of axis was changed to shaft characteristics. Installation clearance for each unit was changed. "(Only with fin)" was added to unit width: 60mm in the panel installation hole work drawings. "Encoder" was changed to "detector". Note 3 in the part system connection diagram was changed to "when not using a battery unit, connect the terminal connector (R-TM)". Connection methods When using two or more power supply units within a single NC communication bus system and When using one power supply shared unit by two NC communication bus systems were added to the connection method. (2) Connecting the linear scale (for oblong wave output) was added. The list of supported synchronous control was added to the connecting the control system. Connection diagram for synchronous control was revised. Pin names for each connector were added in the spindle motor connection diagram. "Encoder" was changed to "detector". Caution, "The shield of spindle detector cable is not FG. Do not ground" was added in the each connection drawing. Connection of power supply was fully revised. Wiring of the motor brake was fully revised. Peripheral control wiring was fully revised. (1) Basic specification parameters was added. (2) Electronic gear related parameters was revised. Explanation for (3) Detector related parameters was revised. SV081 to SV100 were added in the lists of standard parameters for each servomotor. The servo parameter list was revised. (1) Basic specification parameters was added. (2) Electronic gear related parameters was revised. Explanation for (3) Detector related parameters was revised. The servo parameter list was revised. Restrictions on servo control were added. List of spindle parameters was revised. Adjustment methods for Z phase automatic adjustment were revised. Parameter explanation was added to Z phase automatic adjustment. Adjustment methods for motor end PLG automatic adjustment were revised. Parameter explanation was added to motor end PLG automatic adjustment. Adjustment methods for spindle end PLG automatic adjustment were revised. Parameter explanation was added to spindle end PLG automatic adjustment. Setting ranges for the current loop gain SV011 and SV 012were revised. Revision details
Section 2-3
Section 2-4-2 Section 2-4-3 Section 2-4-3 Section 2-4-4 Section 2-4-4 Section 2-4-4 Section 2-5 Section 2-6 Section 2-7 Section 3-2-1 Section 3-2-1 Section 3-2-1 Section 3-2-2 Section 3-2-3 Section 3-3-1 Section 3-3-1 Section 3-3-1 Section 3-3-3 Section 3-4 Section 3-5-2 Section 3-6-2 Section 3-6-2 Section 3-6-3 Section 3-6-3 Section 3-6-4 Section 3-6-4 Section 4-2-1
Date of revision
Manual No. Section 4-3-2 Section 4-3-3 Section 4-3-5 Section 4-3-5 Section 4-3-5 Section 4-5-2 Section 4-5-2 Section 4-5-2 Section 4-5-2 Section 4-6 Section 4-6-1 Section 4-6-2 Section 5-1 Section 5-2 Section 5-3-2 Section 5-3-3 Section 5-3-5 Section 6-2-1 Section 6-2-2 Section 6-3-2 Appendix 1-1 Appendix 1-2 Appendix 2 Appendix 3-5-4 Appendix 3-5-5 Appendix 3-6-3 Appendix 3-6-4
Revision details (1) Notch filter was revised. Parameter explanation SV082 was added to (4) Disturbance observer. (1) Unbalance torque and friction torque was revised. (2) Setting and adjusting LMC compensation type 2 was revised. (5) Setting and adjusting LMC compensation type 3 was added. Setting procedures for (1) Vertical axis drop prevention control were added. Spindle parameter explanations for (1) Vertical axis drop prevention control were added. "Outline of system configurations and corresponding parameter settings" was added. Caution about vertical axis drop prevention control was added. The section "Protective functions" was added. The section "Overload detection" was added. The section "Excessive error detection" was added. D/A output specifications for spindle drive unit were revised. Spindle control signal was revised. Adjusting the acceleration/deceleration operation was revised. Adjusting the orientation control was revised. Adjusting the C-axis control was revised. List of alarms was revised. List of warnings was revised. Alarm No. 5D and 5E were deleted from the troubleshooting for each alarm No. Selection of cable was added. Cable connection diagram was revised. (8) The circuit diagram was revised. Servo motor feedback cable was revised. Spindle motor feedback cable was added. Power line filter was revised. Surge protector was revised.
Notice
Every effort has been made to keep up with software and hardware revisions in the contents described in this manual. However, please understand that in some unavoidable cases simultaneous revision is not possible. Please contact your Mitsubishi Electric dealer with any questions or comments regarding the use of this product.
Duplication Prohibited
This manual may not be reproduced in any form, in part or in whole, without written permission from Mitsubishi Electric Corporation.
2004-2005 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED
HEAD OFFICE : MITSUBISHI DENKI BLDG., 2-2-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
MITSUBISHI ELECTRIC CORPORATION
MODEL MODEL CODE Manual No.
MDS-C1 Series 008-306 BNP-B2365A(ENG)

Specifications subject to change without notice. Printed in Japan on recycled paper.
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Mds-c1 Series Instruction Manual

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What is the purpose of this instruction manual?

What is the purpose of this instruction manual?

What safety precautions should be taken when using this equipment?

What safety precautions should be taken when using this equipment?

CNC

AC SERVO/SPINDLE MDS-C1 Series

Notes on Reading This Manual

Precautions for safety

Note that some items described as

CAUTION may lead to major results depending on

Servodrive unit COM (24VDC)

Servodrive unit COM (24VDC)

Control output signal

Control output signal

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

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

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

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

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

5-2-1 Standard selection.....................................................5-5 5-2-2 Selection when a contactor is shared ........................5-6

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

2-3-1 2-3-2 2-3-3 2-3-4 2-3-5 2-3-6 2-3-7

5-3 5-4 5-5 5-6 5-7 5-8

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

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

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

Outline dimension drawings of spindle motor................................... A1-12

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

Unit outline dimension drawings ......... A1-28

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

3-3-1 3-3-2 3-3-3

4. Dedicated Options 4-1 Servo options ......................................................4-2

4-1-2 Dynamic brake unit (MDS-B-DBU)

Appendix 2-2 Appendix 2-3

Appendix 3. Selection Appendix 3-1

Selection of servomotor capacity........ A3-4

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

Appendix 7-1 Appendix 7-2 Appendix 7-3 Appendix 7-4

Selecting the power supply .................A3-13

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

EMC countermeasure parts................ A7-8

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

1-1 Installation of servomotor

1-1-1 Environmental conditions

1-1-2 Quakeproof level

The vibration conditions are as shown below.

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

Never hammer the end of the shaft during assembly.

1-1-4 Installation direction

Standard installation direction

1-1-5 Shaft characteristics

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

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

1-1-6 Oil/water standards

<Fault> Capillary tube phenomenon

Gear Lubricating oil

1-1-7 Cable stress

8 1 x 108 110 7 5 x 107 510

No. of bends (times)

5 x 106 510 2 x 106 210