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Mitsubishi Electric MELDAS MDS-B Series Instruction Manual

Linear servo system
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BNP-B3977A (ENG)
MDS-B Series
Linear Servo System
Specifications and Instruction Manual

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Summary of Contents for Mitsubishi Electric MELDAS MDS-B Series

  • Page 1 BNP-B3977A (ENG) MDS-B Series Linear Servo System Specifications and Instruction Manual...
  • Page 2 Introduction Thank you for purchasing the Mitsubishi linear servo system. This instruction manual describes the handling and caution points for using this CNC. Incorrect handling may lead to unforeseen accidents, so always read this instruction manual thoroughly to ensure correct usage. Make sure that this instruction manual is delivered to the end user.
  • Page 3 For Safe Use 1. Special precautions for linear servo system DANGER The linear servo system uses a powerful magnet on the secondary side. Thus, caution must be taken not only by the person installing the linear motor, but also the machine operators. For example, persons wearing a pacemaker, etc., must not approach the machine.
  • Page 4 3. Fire prevention CAUTION Install the servo amplifier, linear servomotor and regenerative resistor on noncombustible material. Direct installation on combustible material or near combustible materials could lead to fires. If a servo amplifier fault should occur, turn OFF the power on the servo amplifier's power supply side.
  • Page 5 5. Various precautions Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and electric shocks, etc. (1) Transportation and installation CAUTION Correctly transport the product according to its weight. Do not stack the products above the tolerable number. Do not hold the front cover when transporting the servo amplifier.
  • Page 6 CAUTION Always use nonmagnetic tools when installing the linear servomotor. Always mount a mechanical stopper on the end of the linear servomotor's travel path to avoid danger if the motor should go over the end. Securely fix the linear servomotor onto the machine. Insufficient fixing could cause the servomotor to come off during operation.
  • Page 7 (3) Trial operation and adjustment CAUTION Check and adjust each parameter before starting operation. Failure to do so could lead to unforeseen operation of the machine. Do not make remarkable adjustments and changes as the operation could become unstable. (4) Usage methods CAUTION Install an external emergency stop circuit so that the operation can be stopped and power shut OFF immediately.
  • Page 8 (6) Maintenance, inspection and part replacement CAUTION Carry out maintenance and inspection after backing up the servo amplifier programs and parameters. The capacity of the electrolytic capacitor will drop due to deterioration. To prevent secondary damage due to failures, replacing this part every five years when used under a normal environment is recommended.

  • Page 9: Table Of Contents

    Contents Chapter 1 Outline 1-1 Outline ........................1-2 1-2 Features........................1-2 Chapter 2 Drive System Configuration 2-1 Basic system configuration................... 2-3 2-2 List of units and corresponding linear motors............ 2-4 2-3 Linear motor drive system..................2-5 2-3-1 Standard linear servo system ................. 2-5 2-3-2 Configuration of parallel drive system.............
  • Page 10 6-3-2 Type configuration ..................6-7 6-3-3 List of specifications..................6-7 6-3-4 Outline dimensions ..................6-8 6-3-5 Explanation of connectors ................6-8 6-3-6 Installation....................... 6-9 Chapter 7 Installation 7-1 Installation of the linear servomotor ..............7-2 7-1-1 Environmental conditions................7-3 7-1-2 Installing the linear servomotor ............... 7-3 7-1-3 Cooling of linear servomotor ................
  • Page 11 (1) Command polarity/feedback polarity (SV017: SPEC) ....... 9-3 (2) Servo specifications (SV017: SPEC) ............9-4 (3) Ball screw pitch (SV018: PIT)..............9-4 (4) Detector resolution (SV019: RNG1, SV020: RNG2) ......... 9-4 (5) Motor type (SV025: MTYP) ............... 9-5 (6) Detector type (SV025: MTYP) ..............9-6 (7) Power supply type (SV036: PTYP)............

  • Page 12: Chapter 1 Outline

    Chapter 1 Outline 1-1 Outline ......................1-2 1-2 Features......................1-2 1–1...

  • Page 13: Outline

    Chapter 1 Outline 1-1 Outline In recent years, demands for high accuracy, high speed and high efficiency have increased in the field of machine tools. The application of a linear servo for the feed axis has increased as a measure to respond to the demands.
  • Page 14 Chapter 2 Drive System Configuration 2.1 Basic system configuration ................ 2-3 2-2 List of units and corresponding linear motors ......... 2-4 2-3 Linear motor drive system ................2-5 2-3-1 Standard linear servo system............... 2-5 2-3-2 Configuration of parallel drive system ..........2-8 2–1...
  • Page 15 Chapter 2 Drive System Configuration WARNING All wiring work must be carried out by a qualified electrician. Wait at least 10 minutes after turning the power OFF, before starting wiring or inspections. Failure to observe this could lead to electric shocks. Install the servo amplifier and linear servomotor before staring wiring.

  • Page 16: Basic System Configuration

    Chapter 2 Drive System Configuration 2.1 Basic system configuration Example: One spindle axis + two rotary servo axes + one linear servo axis MELDAS CNC Servo drive unit Servo drive unit Spindle drive unit Power supply (two axes) (two axes) (one axis) unit MDS-B-V24...

  • Page 17: List Of Units And Corresponding Linear Motors

    Chapter 2 Drive System Configuration 1. In a system having a spindle drive unit, always place the spindle drive unit next to the power supply unit as shown in the drawing. Also, place the servo drive unit 11kW and above next to the power supply unit. 2.

  • Page 18: Linear Motor Drive System

    Chapter 2 Drive System Configuration 2-3 Linear motor drive system 1. With the linear servo system, the linear motor is assembled into the machine, and the position detector (linear scale) is also installed when the machine is assembled. Thus, it is not possible to know the motor pole position beforehand as information in the CNC unit.
  • Page 19 Chapter 2 Drive System Configuration (1) Standard incremental system Unit name Type Qty. MDS-B-V14L Servo driver Linear servomotor LM-NP Servo driver MDS-B-V14L- Linear scale LS186, LIDA181 etc. Scale I/F unit MDS-B-HR-11M Pole detection unit MDS-B-MD-600 To next axis, To NC or CN1A CN1B terminator or...
  • Page 20 Chapter 2 Drive System Configuration (3) Absolute system 2 (System using linear scale AT342) The linear scale and servo drive unit can be connected directly and used without the scale I/F unit (MDS-B-HR) or pole detection unit (MDS-B-MD). Note that the position and speed resolution will be limited to 0.5µm, so to further improve the controllability, use of the system shown in (4) is recommended.

  • Page 21: Configuration Of Parallel Drive System

    Chapter 2 Drive System Configuration 2-3-2 Configuration of parallel drive system The system configuration when driving one axis with two motors and two servo drive units is as shown below. In this case, the position command sent to each servo drive unit must be the same position command using the CNC synchronous control function.
  • Page 22 Chapter 2 Drive System Configuration (2) 1-scale 2-motor (2-amplifier) control When using only one linear scale to detect the position, if this linear scale is an incremental scale, the pole position of each motor cannot be detected independently. Thus, the motor installation position on the master side and slave side must be mechanically aligned.

  • Page 23: Chapter 3 Selection

    Chapter 3 Selection 3-1 Selecting the linear servomotor ..............3-2 3-1-1 Max. feedrate ..................3-2 3-1-2 Max. thrust ................... 3-2 3-1-3 Continuous thrust................. 3-4 3-2 Selecting the power supply unit..............3-6 3-3 Selecting the power supply capacity, wire size, AC reactor, contactor and NFB ..................

  • Page 24: Selecting The Linear Servomotor

    Chapter 3 Selection 3-1 Selecting the linear servomotor It is important to select a linear servomotor matched to the purpose of the machine that will be installed. If the linear servomotor and machine to be installed do not match, the motor performance cannot be fully realized, and it will also be difficult to adjust the parameters.
  • Page 25 Chapter 3 Selection During acceleration: Speed – acceleration During deceleration: Speed – acceleration Servo response characteristics Servo response characteristics Max. speed 120m/min, PGN1 = 47 (SHG) Max. speed 120m/min, PGN1 = 47 (SHG) During During decceleration acceleration Command 29.4m/s Command 29.4m/s Command 19.6m/s Command 19.6m/s Command 9.8m/s...

  • Page 26: Continuous Thrust

    Chapter 3 Selection 3-1-3 Continuous thrust A typical operation pattern is assumed, and the motor's continuous effective load thrust (Frms) is calculated from the load force. If numbers (1) to (8) in the following drawing were considered a one cycle operation pattern, the continuous effective load thrust is obtained from the root mean square of the thrust during each operation, as shown in the expression (3-2).
  • Page 27 Chapter 3 Selection (2) Unbalance axis load force When operations (1) to (8) are for an unbalance axis, calculate so that the following forces are required in each period. Note that the forward speed shall be an upward movement. Table 3-2 Load thrusts of unbalance axes Period Load thrust calculation method Explanation...

  • Page 28: Selecting The Power Supply Unit

    Chapter 3 Selection 3-2 Selecting the power supply unit Compared to the normal rotary motor, when using the linear servo system, the instantaneous output, such as the acceleration/deceleration, is large in respect to the continuous operation. Furthermore, this system is used in applications where acceleration/deceleration is carried out frequently, so the selection differs from the methods for selecting the conventional power supply unit.

  • Page 29: Chapter 4 Linear Servomotor Specifications

    Chapter 4 Linear Servomotor Specifications 4-1 Type configuration..................4-2 4-2 List of specifications ................... 4-3 4-3 Speed – torque characteristics drawing (At input voltage 200VAC) ..4-4 4-4 Dynamic brake characteristics ..............4-5 4-5 Outline dimensions ..................4-6 4-6 Explanation of connectors................4-9 4–1...

  • Page 30: Type Configuration

    Chapter 4 Linear Servomotor Specifications 4-1 Type configuration The type indication for the linear servomotor differs for the primary side and secondary side. (1) Primary side LM – N – – 5) Mitsubishi control No. The Mitsubishi control No. is indicated with two alphanumeric digits.

  • Page 31: List Of Specifications

    Chapter 4 Linear Servomotor Specifications 4-2 List of specifications Type NP2S-05M NP2M-10M NP2L-15M NP4S-10M NP4M-20M NP4L-30M NP4G-40M Item Cooling method Self- Oil-c Self- Oil-c Self- Oil-c Self- Oil-c Self- Oil-c Self- Oil-c Self- Oil-c cool-i ool-i cool-i ool-i cool-i ool-i cool-i ool-i cool-i...

  • Page 32: Speed - Torque Characteristics Drawing (At Input Voltage 200Vac)

    Chapter 4 Linear Servomotor Specifications 4-3 Speed – torque characteristics drawing (At input voltage 200VAC) Thrust Thrust Thrust LM-NP2S-05M LM-NP2M-10M LM-NP2L-15M 4500 3000 1500 Short time usage Short time usage Short time usage range range range 1500 1000 Continuous Continuous Continuous usage usage...

  • Page 33: Dynamic Brake Characteristics

    Chapter 4 Linear Servomotor Specifications 4-4 Dynamic brake characteristics When the system detects an abnormality, the motor stops the machine using the dynamic brakes. The machine's coasting amount at this time can be calculated with the following expression. ･･･ Lmax = ×...

  • Page 34: Outline Dimensions

    Chapter 4 Linear Servomotor Specifications 4-5 Outline dimensions Primary side dimensions C-M8 screw, depth 12 Cooling oil inlet/outlet 2-PT1/4 screw n×90 Key position (27) Nameplate Cannon connector MS3102A22-23P Changed dimensions Type LM-NP2S-05M 3 × 2 LM-NP2M-10M 5 × 2 LM-NP2L-15M 8 ×...
  • Page 35 Chapter 4 Linear Servomotor Specifications Primary side dimensions Cooling oil inlet/outlet C-M8 screw, depth 12 2-PT3/8 screw n×90 Key position (30) Nameplate Cannon connector MS3102A24-10P Changed dimensions Type LM-NP4S-10M 3 × 3 LM-NP4M-20M 5 × 3 LM-NP4L-30M 8 × 3 Secondary side dimensions d-ø9 (Installation hole) Nameplate...
  • Page 36 Chapter 4 Linear Servomotor Specifications Primary side dimensions Cooling oil inlet/outlet C-M8 screw, depth 12 2-PT3/8 screw Power supply cannon connector 10×90 MS3101A32-17P Cable length 700mm Key position Thermal cannon connector Nameplate MS3101A10SL-4P Cable length 700mm Changed dimensions Type LM-NP4G-40M 1010 11 ×...

  • Page 37: Explanation Of Connectors

    Chapter 4 Linear Servomotor Specifications 4-6 Explanation of connectors For LM-NP2 (S, M, L) For LM-NP4 (S, M, L) Lead wire side Lead wire side symbol symbol For motor For motor Grounding Grounding Thermal protector Thermal protector Blank Blank (MS3102A22-23P) (MS3102A24-10P) Key position K e y p o s i t i o n...
  • Page 38 Chapter 4 Linear Servomotor Specifications For LM-NP4G Lead wire side Lead wire side symbol symbol For motor Thermal protector Grounding (MS3101A32-17P) (MS3101A10SL-4P) Key position Key position G2 Thermal protector For motor Grounding Connect the thermal protector lead wire parallel to the emergency stop circuit CAUTION on the CNC control unit, or connect it to the scale I/F unit (MDS-B-HR).

  • Page 39: Chapter 5 Servo Drive Specifications

    Chapter 5 Servo Drive Specifications 5-1 Type configuration..................5-2 5-2 List of specifications ................... 5-3 5-3 Overload protection specifications ............5-4 5-4 Outline dimensions ..................5-6 5-5 Explanation of connectors and terminal blocks ........5-8 5-6 Dynamic brake unit..................5-9 5-6-1 Connection of dynamic brake unit............

  • Page 40: Type Configuration

    Chapter 5 Servo Drive Specifications 5-1 Type configuration MDS-B-V14L- Capacity class symbol Capacity 11.0 15.0 (kW) 5–2...

  • Page 41: List Of Specifications

    Chapter 5 Servo Drive Specifications 5-2 List of specifications Amplifier type MDS-B-V14L- Capacity class symbol Output voltage (V) Continuous output 18.2 25.0 44.0 50.0 50.0 52.0 52.0 current (A) Max. output current (A) 17.0 28.0 42.0 57.0 85.0 Control method Sine wave PWM method Main circuit method Transistor, inverter (Intelligent power module using IGBT)

  • Page 42: Overload Protection Specifications

    Chapter 5 Servo Drive Specifications 5-3 Overload protection specifications The servo amplifier has an electronic thermal to protect the servomotor and servo amplifier from overloads. The operation characteristics of the electronic thermal are shown below. If overload operation exceeding the electronic thermal protection curve shown below, the overload 1 (alarm 50) will occur.
  • Page 43 Chapter 5 Servo Drive Specifications Motor : LM-NP4L Servo amplifier : MDS-B-V14L-90 When operating When stopped Motor : LM-NP4G Servo amplifier : MDS-B-V14L-110 When operating When stopped 5–5...

  • Page 44: Outline Dimensions

    Chapter 5 Servo Drive Specifications 5-4 Outline dimensions Rectan- Rectan- Rectan- gular gular hole gular hole hole W = 90, W = 60 W = 150 (Front) (Installation) (Installation) (Installation) Maintenance area Inside Outside panel panel (Note) The outline dimension type A0 unit indicated in 2-2 List of units and corresponding linear motors does not have the fin + fan section.
  • Page 45 Chapter 5 Servo Drive Specifications MDS-B-14L-01 MDS-B-14L-45 MDS-B-14L-70 (Note) The front view drawing shows the state with the terminal cover removed. MDS-B-14L-110 5–7...

  • Page 46: Explanation Of Connectors And Terminal Blocks

    Chapter 5 Servo Drive Specifications 5-5 Explanation of connectors and terminal blocks Name Application Remarks Connection of CNC and upward axis CN1A Connection of battery unit and CN1B downward axis Maintenance (normally not used) Connection with power supply Connection with motor end detector Connector Connection with machine end detector...

  • Page 47: Dynamic Brake Unit

    Chapter 5 Servo Drive Specifications 5-6 Dynamic brake unit The MDS-B-V14L-110 and MDS-B-V14L-150 do not have built-in dynamic brakes. An external dynamic brake unit must be provided. 5-6-1 Connection of dynamic brake unit (1) For only dynamic brake unit (2) For dynamic brake unit + magnetic brakes (combined use) 5–9...

  • Page 48: Outline Dimensions Of Dynamic Brake Unit

    Chapter 5 Servo Drive Specifications 5-6-2 Outline dimensions of dynamic brake unit Applicable servo Type Weight amplifier MDS-B-DBU-150 193.8 MDS-B-V14L-110/150 5-7 Battery unit For the linear servo system, a battery-less linear scale (AT342, LC191M) is used for the absolute position detector used in the absolute position system. Thus, basically the battery unit is not required. However, in a system using a rotation motor for the other axes, a battery unit is required for the CNC system.

  • Page 49: Chapter 6 Detector Specifications

    Chapter 6 Detector Specifications 6-1 Linear scale ....................6-2 6-2 Scale I/F unit....................6-3 6-2-1 Outline ....................6-3 6-2-2 Type configuration ................6-3 6-2-3 List of specifications................6-4 6-2-4 Outline dimensions ................6-5 6-2-5 Explanation of connectors..............6-6 6-3 Pole detection unit..................6-7 6-3-1 Outline ....................

  • Page 50: Linear Scale

    Chapter 6 Detector Specifications 6-1 Linear scale The following types of scales can be used with the linear servo drive system. • Only some of the types are listed here. Note that the application may change due to changes in the specifications and termination of production by the scale maker.

  • Page 51: Scale I/F Unit

    Chapter 6 Detector Specifications 6-2 Scale I/F unit 6-2-1 Outline MDS-B-HR outline (1) The scale analog output source waves are interpolated to generate high resolution position data. This is effective for increasing the servo's high gain by increasing the detector's resolution. (2) The linear motor's pole position data is generated with the source waves output by the MDS-B-MD (pole detection unit).

  • Page 52: List Of Specifications

    Chapter 6 Detector Specifications 6-2-3 List of specifications Scale I/F unit type Unit MDS-B-HR- MDS-B-HR- MDS-B-HR- MDS-B-HR- MDS-B-HR- MDS-B-HR- MDS-B-HR- MDS-B-HR- 12M 11MP 12MP 21M 22M 21MP 22MP LS186 LS186 AT342 special AT342 special Corresponding scale LIDA181 Heidenhain LIDA181 Heidenhain (Mitsutoyo) (Mitsutoyo) LIF181...

  • Page 53: Outline Dimensions

    Chapter 6 Detector Specifications 6-2-4 Outline dimensions RM15WTR-10S 4-ø5 hole RM15WTR-12S RM15WTR-8P×2 6–5...

  • Page 54: Explanation Of Connectors

    Chapter 6 Detector Specifications 6-2-5 Explanation of connectors Connector name Application Remarks Not required for 1-system CON1 Connection with servo amplifier (2nd system) specifications CON2 Connection with servo amplifier CON3 Connection with scale Connection with pole detection unit CON4 (MDS-B-MD) Connector pin layout CON2 CON3...

  • Page 55: Pole Detection Unit

    Chapter 6 Detector Specifications 6-3 Pole detection unit 6-3-1 Outline Outline of MDS-B-MD (1) This unit detects the pole of the linear motor's secondary side magnet and outputs an analog voltage. When using an incremental specification scale, always install this unit. * Pole alignment when the power is turned ON will not be necessary.

  • Page 56: Outline Dimensions

    Chapter 6 Detector Specifications 6-3-4 Outline dimensions 35.5 10.5 15.5 33.1 6-3-5 Explanation of connectors Connector name Application Remarks CON1 Connection with scale I/F unit (MDS-B-HR) Connector pin layout CON1 Function A phase signal REF signal B phase signal REF signal TH signal ･･････････...

  • Page 57: Installation

    Chapter 6 Detector Specifications 6-3-6 Installation (1) For LM-NP2 type linear motor 13.0 35.5 12.0 51.0     (2) For LM-NP4 type linear motor * View from side (Same for both 23.5 35.5 linear motor types.) 16.0 18.0 51.0    ...
  • Page 58 Chapter 7 Installation 7-1 Installation of the linear servomotor ............7-2 7-1-1 Environmental conditions ..............7-3 7-1-2 Installing the linear servomotor ............7-3 7-1-3 Cooling of linear servomotor ..............7-4 7-2 Installation of the servo amplifier............... 7-5 7-2-1 Environmental conditions ..............7-5 7-2-2 Drive section wiring system diagram............

  • Page 59: Installation Of The Linear Servomotor

    Chapter 7 Installation 1. The linear servo system uses a powerful magnet on the secondary side. Thus, caution must be taken not only by the person installing the linear motor, but also the machine operators. For example, persons wearing a pacemaker, etc., must not approach the machine.

  • Page 60: Environmental Conditions

    Chapter 7 Installation 7-1-1 Environmental conditions Environment Conditions Ambient temperature 0°C to +40°C (with no freezing) Ambient humidity 80% (RH) or less (with no dew condensation) Storage temperature –15°C to +50°C (with no freezing) Storage humidity 90% (RH) or less (with no dew condensation) Atmosphere Indoors (Where unit is not subject to direct sunlight) With no corrosive gas, combustible gas or dust...

  • Page 61: Cooling Of Linear Servomotor

    Chapter 7 Installation (2) Installation of secondary side 1) Direction When using multiple secondary sides, lay the units out so that the nameplates on the products all face the same direction in order to maintain the pole arrangement. Nameplate 2) Procedures Install with the following procedure to eliminate clearances between the secondary sides.

  • Page 62: Installation Of The Servo Amplifier

    Chapter 7 Installation 7-2 Installation of the servo amplifier 1. Always observe the installation directions. Failure to observe this could lead to faults. 2. Secure the specified distance between the servo amplifier and control panel, or between the servo amplifier and other devices. Failure to observe this could lead to faults.

  • Page 63: Drive Section Wiring System Diagram

    Chapter 7 Installation 7-2-2 Drive section wiring system diagram Wire the power supply and main circuit as shown below. Always use a no-fuse breaker (NF) on the power supply input wire. Note 1: Each unit is provided with an earth Note 2: If there are noise-generating bar.

  • Page 64: Installing The Unit

    Chapter 7 Installation 7-2-3 Installing the unit (1) Each unit is designated to be installed in a cabinet such as a power distribution panel. Avoid installing the unit where it will be subject to direct sunlight, or near heating elements. (2) Keep the environmental conditions (temperature, humidity, vibration, atmosphere) in the cabinet within the limits given in the "Specifications for each unit".

  • Page 65: Layout Of Each Unit

    Chapter 7 Installation (5) Installing the cooling fan 1) Each unit (excluding type without fins) is provided with a cooling fan (FAN1 below). However, to maintain operation when the fan stops due to deterioration of the fan's ambient environment, and to improve the serviceability, the user should install an additional fan (FAN2 below).

  • Page 66: Main Circuit Connection

    Chapter 7 Installation 7-2-5 Main circuit connection 1. Always provide Class 3 grounding or higher for the servo drive unit and servomotor. 2. Correctly connect the power phases (U, V, W) of the servo drive unit and servomotor. Failure to do so could cause the servomotor to abnormally CAUTION operation.
  • Page 67 Chapter 7 Installation Precautions for connections (1) Each unit is provided with an earth bar. Do not tighten the grounding bar together with the other wires. (2) The wires and crimp terminals used differ according to the motor capacity. (3) Always ground the power supply. (4) The phase order of the power supply's power terminals (L1, L2, L3) is random.

  • Page 68: Connection Of Feedback Cable

    Chapter 7 Installation 7-2-6 Connection of feedback cable Peel the sheath of the feedback cable where indicated below to expose the shield cover. Ground this section with a cable clamp, etc. Normally, only the cable to which the scale is connected is grounded on the servo amplifier side or I/F unit side.

  • Page 69: Link Bar Specifications

    Chapter 7 Installation 7-2-7 Link bar specifications The link bar specifications are shown below. Wire usage Terminal block Details Connection wire for supplying the converter L+, L– M6 screw Not possible DC voltage from the power supply unit to each drive unit. Connection wire for supplying control power L1+, L1–...

  • Page 70: Separated Layout Of Units

    Chapter 7 Installation 7-2-8 Separated layout of units When installing the units vertically, avoid separating the MDS-B-V14L linear scale compatible drive unit and power supply unit (A/B-CV), and the spindle drive unit (A/B-SP) and power supply unit (A/B-CV). In the same manner, do not separate the 11kW or more standard servo drive unit (MDS-B-V1).

  • Page 71: Installing Multiple Power Supply Units

    Chapter 7 Installation 7-2-9 Installing multiple power supply units (1) When not sharing a contactor The following system will be explained here as a main example of installing multiple power supply units without sharing a contactor. This same connection is used in other systems using multiple supply units.
  • Page 72 Chapter 7 Installation (1) When not sharing a contactor The following system will be explained here as a main example of installing multiple power supply units sharing one contactor. This same connection is used in other systems using multiple supply units.

  • Page 73: Installation For 2Ch Communication Specifications With Cnc, And Installation Of Only One Power Supply Unit

    Chapter 7 Installation 7-2-10 Installation for 2ch communication specifications with CNC, and installation of only one power supply unit. (2-system control) In this example, the following systems are explained. The same connection is used for other 2ch systems. • CH1: B-V14/V24/V14L + B-V14/V24/V14L •...

  • Page 74: Connection Of Battery Unit

    Chapter 7 Installation 7-2-11 Connection of battery unit When using the absolute rotary encoder (OSA104, OSA105, etc.) with the linear servo system, the battery unit must be used. When using an absolute linear scale such as LC191M (Heidenhain) or AT342 (Mitsutoyo) with the normal linear servo system, the battery unit is not required. (1) Without battery unit (2) With battery unit The battery unit type is as shown below according to the battery capacity (No.

  • Page 75: Connection With Mechanical Brakes

    Chapter 7 Installation 7-2-12 Connection with mechanical brakes Mechanical brake (magnetic brake) contact connection terminal (EM1, EM2) A brake terminal is provided on the MDS-B-V14L servo driver. When controlling mechanical brakes using this terminal, connect the magnetic brake cable to the CN20 connector. (1) Brake contact specifications Item Specifications...

  • Page 76: Chapter 8 Drive Section Connector And Cable Specifications

    Chapter 8 Drive Section Connector and Cable Specifications 8-1 Cable connection system................8-2 8-1-1 Cable option list ................... 8-3 8-2 Cable connectors..................8-5 8-2-1 Servo amplifier CN1A, CN1B and CN9 cable connector...... 8-5 8-2-2 Servo amplifier CN2 and CN3 cable connector........8-5 8-2-3 Servo amplifier CN20 connector (for mechanical brakes)....

  • Page 77: Cable Connection System

    Chapter 8 Drive Section Connector and Cable Specifications 8-1 Cable connection system The cables and connectors shown below are those that can be ordered from Mitsubishi. Only the cable lengths designated in the table on the next page and following pages can be ordered. If cables with a special length are required, the user should purchase the connector set, etc., and manufacture the cables.

  • Page 78: Cable Option List

    Chapter 8 Drive Section Connector and Cable Specifications 8-1-1 Cable option list Part name Type Descriptions (1) Communication cable for SH21 Servo amplifier side connector Servo amplifier side CN1A, (Sumitomo 3M or equivalent) connector CNC unit - Amplifier Length: CN1B, (Sumitomo 3M or Connector : 10120-6000EL Amplifier - Amplifier...
  • Page 79 Chapter 8 Drive Section Connector and Cable Specifications Part name Type Descriptions Power supply IP67 and Straight PWCE22-23S Servomotor side power supply motor connector for Compliant cable range connector (DDK) power LM-NP2S standard Connector : ø9.5 to ø13 supply LM-NP2M compati- CE05-6A22-23SD-B-BSS LM-NP2L...

  • Page 80: Cable Connectors

    Chapter 8 Drive Section Connector and Cable Specifications 8-2 Cable connectors 8-2-1 Servo amplifier CN1A, CN1B and CN9 cable connector Maker: Sumitomo 3M [Unit: mm] <Type> Connector: 10120-6000EL Shell kit: 10320-3210-000 There is no option setting with this 20.9 connector. This is a part integrally formed with the cable.

  • Page 81: Mds-B-Hr, Mds-B-Md Cable Connector

    Chapter 8 Drive Section Connector and Cable Specifications 8-2-4 MDS-B-HR, MDS-B-MD cable connector Maker: Hirose [unit:mm] RM15WTP- I/F unit connector M19×1 M16×0.75 RM15WTP-8S CON1, CON2 RM15WTP-CP ( RM15WTP-12P CON3 RM15WTP-CP ( RM15WTP-10P CON4 RM15WTP-CP ( 36.8 Pole detector connector RM15WTP-8S CNM1 RM15WTP-CP ( RM15WTP−CP( )

  • Page 82: Power Supply Section Power Wire Connector

    Chapter 8 Drive Section Connector and Cable Specifications 8-2-5 Power supply section power wire connector Straight plug D or less Maker : DDK (Ltd.)   7.85 or more [Unit: mm] D or Type C±0.8 −0.38 less CE05-6A22-23SD-B-BSS -18UNEF-2B 40.48 38.3 -18UNEF-2A CE05-6A24-10SD-B-BSS -18UNEF-2B...
  • Page 83 Chapter 8 Drive Section Connector and Cable Specifications Straight plug Gasket J± 0.12 Maker : DDK (Ltd.) E± H or less C± [Unit: mm] +0.05 Type C±0.5 E±0.3 J±0.12 −0.38 −0.25 MS3106A10SL-4S (D190) -24UNEF-2B 22.22 23.3 -24UNEF-2A 12.5 13.49 MS3106A22-14S (D190) -18UNEF-2B 40.48 34.11...
  • Page 84 Chapter 8 Drive Section Connector and Cable Specifications Straight plug L or less Maker : DDK (Ltd.) J± W or more 0.12 [Unit: mm] Length of Connection Cable clamp Effective Coupling Total Max. coupling nut outside installation screw screw length width section diameter...

  • Page 85: Flexible Conduits

    D-B-BSS D-B-BAS VF-08 (Min. inside dia.: LM-NP4L RCC-108CA2428 24.4) (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...

  • Page 86: Cable Clamp Fitting

    Chapter 8 Drive Section Connector and Cable Specifications 8-3 Cable clamp fitting Install a grounding plate near the servo amplifier or scale I/F unit (MDS-B-HR), peel part of the detector cable sheath to expose the shield coat, and press that section against the grounding plate with a cable clamp fitting.

  • Page 87: Cable Wire And Assembly

    Chapter 8 Drive Section Connector and Cable Specifications 8-4 Cable wire and assembly The following shows the specifications and processing of the wire used in each cable. Use the following recommended wires or equivalent part when manufacturing the cable, and make sure not to mistake the connection.

  • Page 88: Cable Connection Diagram

    Chapter 8 Drive Section Connector and Cable Specifications 8-5 Cable connection diagram Do not mistake the connection when manufacturing the detector cable. Failure CAUTION to observe this could lead to faults, runaway or fires. 8-5-1 CNC unit bus cable <SH21 cable connection diagram> This is an actual connection diagram for the SH21 cable supplied by Mitsubishi.

  • Page 89: Absolute Value Scale Coupling Cable

    Chapter 8 Drive Section Connector and Cable Specifications 8-5-2 Absolute value scale coupling cable <CNL2S-S cable connection diagram> This is an actual connection diagram for the CNL2S-S cable supplied by Mitsubishi. The connection differs according to the cable length. (20m or less) (20 to 30m) Amplifier side CN2, 3 Scale side...

  • Page 90: Cable For Amplifier - Scale I/F Unit

    Chapter 8 Drive Section Connector and Cable Specifications 8-5-3 Cable for amplifier – scale I/F unit <CNL2H2-S cable connection diagram> This is an actual connection diagram for the CNL2H2-S cable supplied by Mitsubishi. The connection differs according to the cable length. (15m or less) (15 to 30m) Amplifier side CN2, 3...

  • Page 91: Cable For Scale I/F Unit - Scale

    Chapter 8 Drive Section Connector and Cable Specifications 8-5-4 Cable for scale I/F unit – scale <CNLH3S cable connection diagram> This is an actual connection diagram for the CNLH3S cable supplied by Mitsubishi. The connection differs according to the cable length. (15m or less) (15 to 30m) Scale I/F unit side CON3...

  • Page 92: Cable For Scale I/F Unit - Pole Detector

    Chapter 8 Drive Section Connector and Cable Specifications 8-5-5 Cable for scale I/F unit – pole detector <CNLH4MD cable connection diagram> This is an actual connection diagram for the CNLH4MD cable supplied by Mitsubishi. Scale I/F unit side CON4 Pole detector side RM15WTP-10P RM15WTP-8S P5(+5V)

  • Page 93: Mechanical Brake Cable

    Chapter 8 Drive Section Connector and Cable Specifications 8-5-7 Mechanical brake cable (1) 9kW or less mechanical brakes CN20 １ Amplifier side (2) 11, 15kW mechanical brakes and dynamic brakes CN20 Common １ Dynamic brakes Mechanical brakes Amplifier side 8–18...

  • Page 94: Chapter 9 Setup

    Chapter 9 Setup 9-1 Initial setup of servo drive unit..............9-2 9-1-1 Setting the rotary switches..............9-2 9-1-2 Transition of LED display after power is turned ON ......9-2 9-2 Setting the initial parameters..............9-3 9-2-1 Setting the initial parameters..............9-3 (1) Command polarity/feedback polarity (SV017: SPEC) ....

  • Page 95: Initial Setup Of Servo Drive Unit

    Chapter 9 Setup 9-1 Initial setup of servo drive unit 9-1-1 Setting the rotary switches Before turning ON the power, the axis No. must be set with the rotary switches. The rotary switch settings will be validated when the servo driver (servo drive unit) power is turned ON. Rotary switch setting Set axis No.

  • Page 96: Setting The Initial Parameters

    Chapter 9 Setup 9-2 Setting the initial parameters 9-2-1 Setting the initial parameters (1) Command polarity/feedback polarity (SV017: SPEC) Command polarity When the motor is to rotate in the clockwise direction (looking from the load side) when the command is used in the + direction, the command direction is CW. Conversely, when the motor is to rotate in the counterclockwise direction, the command direction is CCW.

  • Page 97: Servo Specifications (Sv017: Spec)

    Chapter 9 Setup (2) Servo specifications (SV017: SPEC) The following parameters are set according to the system specifications such as the servomotor type, motor and driver (servo drive unit) combination, and absolute position system or incremental position system, etc. Setting range Name Abbrev.

  • Page 98: Motor Type (Sv025: Mtyp)

    Chapter 9 Setup (5) Motor type (SV025: MTYP) Set the combination with SV017: SPEC spm in SV025: MTYP mtyp. Setting range Name Abbrev. Details (unit) SV017 SPEC HEX setting Servo specifications drvall drvup mpt3 mp abs vmh vdir fdir seqh dfbx vdir2 Name Meaning when "0"...

  • Page 99: Detector Type (Sv025: Mtyp)

    Chapter 9 Setup 2) Special linear motor SV017: SPEC = 7xxx SV025: Set the following Nos. in SV025: mtyp (bit 0 to bit 7). Cooling method Motor series (6) Detector type (SV025: MTYP) Set the following parameter according to the detector being used. Setting range Name Abbrev.

  • Page 100: Power Supply Type (Sv036: Ptyp)

    Chapter 9 Setup (7) Power supply type (SV036: PTYP) Setting range Name Abbrev. Details (unit) SV036 PTYP Power supply type HEX setting rtyp ptyp Name Details ptyp Set the power supply type. rtyp Set 0 if the power supply unit is a power regeneration type. If the power supply unit is a resistance regeneration type, set the type of resistor being used.

  • Page 101: Parameters Set According To Feedrate

    Chapter 9 Setup 9-2-2 Parameters set according to feedrate The following parameters are determined according to each axis' feedrate. Abbrev. Parameter name Explanation SV023 Excessive error detection A protective function will activate if the error between the position command and width at servo ON position feedback is excessive.

  • Page 102: List Of Standard Parameters For Each Motor

    Chapter 9 Setup 9-2-4 List of standard parameters for each motor List of standard parameters for each motor Linear servomotor (self-cooling) Linear servomotor (oil-cooling) Motor LM-NP LM-NP LM-NP LM-NP LM-NP LM-NP LM-NP LM-NP LM-NP LM-NP LM-NP LM-NP LM-NP LM-NP LM-NP 2S-05 2M-10 2L-15...

  • Page 103: Initial Setup Of The Linear Servo System

    Chapter 9 Setup 9-3 Initial setup of the linear servo system The motor is driven by the magnetic force created by the coil and the magnetic force of the permanent magnet. Thus, it is necessary to comprehend at which pole of the permanent magnet the coil is located.
  • Page 104 Chapter 9 Setup (2) Feedback direction of linear scale The linear scales include the AT342 scale and Heidenhain scale, etc. The feedback direction of the AT342 scale is shown below. When moved to the left, looking from the direction with the detector head facing downward and the AT342 display facing forward, the feedback moves in the plus direction.
  • Page 105 Chapter 9 Setup If the linear motor's pole direction and linear scale's feedback direction are same, the state is called forward polarity. If these directions differ, the state is called reverse polarity. Normally, these are installed to achieve forward polarity, but can be installed to achieve reverse polarity. The polarity achieved with the linear motor and linear scale installation directions is shown below.

  • Page 106: Dc Excitation Function

    Chapter 9 Setup Power line Detection head connector Signal cable Detection head Power line connector Signal cable Power line connector Detection head Signal cable Signal cable Detection head Power line connector Fig. 9.3.2 When linear scale body is installed on motor's primary side (This is for the AT342.
  • Page 107 Chapter 9 Setup <Adjustment methods> 1. Secure the distance (PIT) that the linear motor could move during DC Movement excitation as shown on the right. distance within 2. Set SV034/dcd to "1", and the setting values for starting DC PIT setting value excitation in SV061 to SV063.

  • Page 108: Setting The Pole Shift

    Chapter 9 Setup 9-3-3 Setting the pole shift When the linear motor and linear scale are installed, the linear motor does not know which pole the permanent magnet is at. Thus, if the linear motor is driven in that state, it may not move or could runaway.
  • Page 109 Chapter 9 Setup Flow chart for DC excitation and pole shift amount setting Start of adjustment  Move the motor's primary side.  Cycle counter = 0?  Set SV061: –250 SV062: –250 SV063: 500 Set SV034/dcd to "1"  Release the emergency stop   ...

  • Page 110: Setting The Parallel Drive System

    Chapter 9 Setup 9-3-4 Setting the parallel drive system When driving the linear motor with a parallel drive system, confirm that the following parameters are correctly set for the (1), (2) 2-scale 2-motor (2-amplifier) control or (3) 1-scale 2-motor (2-amplifier) control method.

  • Page 111: Settings When Motor Thermal Is Not Connected

    Chapter 9 Setup (1) 2-scale 2-motor (2-amplifier) control (System using only main side (CN2 connector side) feedback) Setting parameter Master axis Slave axis SV017/fdir Normally, set the setting value for control. Normally, set the setting value for control. SV017/vdir2 Set 0. Set 0.

  • Page 112: Chapter 10 Adjustment

    Chapter 10 Adjustment 10-1 Measurement of adjustment data ............10-2 10-1-1 D/A output specifications ..............10-2 10-1-2 Setting the output data..............10-2 10-1-3 Setting the output scale ..............10-2 10-2 Gain adjustment..................10-3 10-2-1 Current loop gain ................10-3 10-2-2 Speed loop gain ................10-3 10-2-3 Position loop gain................

  • Page 113: Measurement Of Adjustment Data

    Chapter 10 Adjustment 10-1 Measurement of adjustment data The MDS-B-V14L servo driver has a function to D/A output the various control data. To adjust the servo and set the servo parameters that match the machine, it is necessary to use the D/A output and measure the internal status of the servo.

  • Page 114: Gain Adjustment

    Chapter 10 Adjustment 10-2 Gain adjustment 10-2-1 Current loop gain Abbrev. Parameter name Explanation Setting range SV009 Current loop q axis leading This setting is determined by the motor's electrical 1 to 20480 compensation characteristics. Basically set the standard parameters for all parameters. SV010 Current loop d axis leading 1 to 20480...
  • Page 115 Chapter 10 Adjustment (2) Setting the speed loop leading compensation The speed loop leading compensation (SV008: VIA) determines the characteristics of the speed loop mainly at low frequency regions. 1364 is set as a standard, and 1900 is set as a standard during SHG control.

  • Page 116: Position Loop Gain

    Chapter 10 Adjustment 10-2-3 Position loop gain (1) Setting the position loop gain The position loop gain (SV003:PGN1) is a parameter that determines the trackability to the command position. 47 (SHG control) is set as a standard. Set the same position loop gain value between interpolation axes.
  • Page 117 Chapter 10 Adjustment (3) SHG control (option function) If the position loop gain is increased or feed forward control (CNC function ) is used to shorten the settling time or increase the precision, the machine system may vibrate easily. SHG control changes the position loop to a high-gain by stably compensating the servo system position loop through a delay.

  • Page 118: Characteristics Improvement

    Chapter 10 Adjustment 10-3 Characteristics improvement 10-3-1 Optimal adjustment of cycle time The following items must be adjusted to adjust the cycle time. Refer to the Instruction Manuals provided with each CNC for the acceleration/deceleration pattern. Rapid traverse rate (rapid) : This will affect the maximum speed during positioning.
  • Page 119 Chapter 10 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. ...
  • Page 120 Chapter 10 Adjustment (4) Adjusting the settling time The settling time is the time required for the position droop to enter the in-position width after the feed command (F∆T) from the CNC reaches 0. The settling time can be shortened by Positioning raising the position loop gain or using F∆T...
  • Page 121 Chapter 10 Adjustment 10-3-2 Vibration suppression measures If vibration (machine resonance) occurs, it can be suppressed by lowering the speed loop gain (VGN1). However, cutting precision and cycle time will be sacrificed. (Refer to "10-2-2 Speed loop gain".) Thus, try to maintain the VGN1 as high as possible, and suppress the vibration using the vibration suppression functions.
  • Page 122 Chapter 10 Adjustment (1) Machine resonance suppression filter The machine resonance suppression filter will function at the set frequency. Use the D/A output function to output the current feedback and measure the resonance frequency. Note that the resonance frequency that can be measured is 0 to 500 Hz. For resonance exceeding 500 Hz, directly measure the phase current with a current probe, etc.

  • Page 123: Improving The Cutting Surface Precision

    Chapter 10 Adjustment (2) Adaptive filter (option function) The servo driver 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. Set the special servo function selection 1 (SV027: SSF1) bit 15 to activate the adaptive filter.
  • Page 124 Chapter 10 Adjustment (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.

  • Page 125: Improvement Of Protrusion At Quadrant Changeover

    Chapter 10 Adjustment 10-3-4 Improvement of protrusion at quadrant changeover The response delay (caused by non-sensitive band from friction, torsion, expansion/contraction, backlash, etc.) caused when the machine advance direction reverses is compensated with the lost motion compensation (LMC compensation) function. With this, the protrusions that occur with the quadrant changeover in the DBB measurement method, or the streaks that occur when the quadrant changes during circular cutting can be improved.
  • Page 126 Chapter 10 Adjustment <Adjustment method> First confirm whether the axis to be compensated is an unbalance axis (vertical axis, slant axis). If it is an unbalance axis, carry out the adjustment after performing step "(2) Unbalance thrust compensation". Next, measure the frictional torque. Carry out reciprocation operation (approx. F1000) with the axis to be compensated and measure the load current % when fed at a constant speed on the CNC servo monitor screen.
  • Page 127 Chapter 10 Adjustment (2) Unbalance thrust compensation If the load force differs in the positive and negative directions such as with a vertical axis or slant axis, the thrust offset (SV032:TOF) is set to carry out accurate lost motion compensation. <Setting method>...
  • Page 128 Chapter 10 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.
  • Page 129 Chapter 10 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.

  • Page 130: Improvement Of Overshooting

    Chapter 10 Adjustment 10-3-5 Improvement of overshooting The phenomenon when the machine position goes past or exceeds the command during feed stopping is called overshooting. Overshooting is compensated by overshooting compensation (OVS compensation). Overshooting occurs due to the following two causes. 1) Machine system torsion: Overshooting will occur mainly during rapid traverse positioning 2) Machine system friction: Overshooting will occur mainly during one pulse feed Either phenomenon can be confirmed by measuring the position droop.
  • Page 131 Chapter 10 Adjustment (2) Adjusting for feed forward control Use OVS compensation type 3 if overshooting is a problem in contour cutting during feed forward control. If OVS compensation type 3 is used to attempt to compensate overshooting, the overshooting may conversely become larger, or projections may appear during arc cutting.
  • Page 132 Chapter 10 Adjustment 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).

  • Page 133: Improvement Of Characteristics During Acceleration/Deceleration

    Chapter 10 Adjustment 10-3-6 Improvement of characteristics during acceleration/deceleration (1) SHG control (option function) Because SHG control has a smoother response than conventional position controls, the acceleration/deceleration thrust (current FB) has more ideal output characteristics (A constant thrust is output during acceleration/deceleration.) The peak thrust is kept low by the same acceleration/deceleration time constant, enabling the time constant to be shortened.
  • Page 134 Chapter 10 Adjustment (2) Acceleration feed forward Vibration may occur at 10 to 20 Hz during acceleration/deceleration when a short time constant of 30 msec or less is applied, and a position loop gain (PGN1) higher than the general standard value or SHG control is used.
  • Page 135 Chapter 10 Adjustment (3) Inductive voltage compensation The current loop response is improved by compensating the back electromotive force element induced by the motor feedrate. This improved the current command efficiency, and allows the acceleration/deceleration time constant to the shortened. <Adjustment method>...

  • Page 136: Setting For Emergency Stop

    Chapter 10 Adjustment 10-4 Setting for emergency stop 10-4-1 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 servo ready OFF will be delayed by the time set in the parameter from when the emergency stop occurs.
  • Page 137 Chapter 10 Adjustment 1. If 0 is set for both SV048 and SV055, the drop prevention function will be invalidated. 2. SV048 and SV055 are available for each axis, but if the values differ for two CAUTION axes in the same driver, the larger value will be validated. 3.
  • Page 138 Chapter 10 Adjustment Emergency stop Brake operation Tbd: Brake operation delay time Servo ON EMGrt EMGrt＞Tbd Drop prevention function sequence for emergency stop Emergency stop Brake operation Tbd: Brake operation delay time Servo ON Detect in-position and turn servo OFF Motor speed Rapid traverse speed...
  • Page 139 Chapter 10 Adjustment (3) Adjustment procedures • Set the drop prevention function parameters in the vertical axis servo parameters SV048, 055 and 056. 1) Set the vertical axis parameter SV048 (vertical axis drop prevention time) to 50, 100, ... while carrying out emergency stop, and set the value for which the drop amount is the minimum on the CNC screen.
  • Page 140 Chapter 10 Adjustment 1) When power supply control axis is main axis (Example; When vertical axis is Z axis) 1)-1: When vertical axis is 1-axis driver Spindle Power supply CN1A CN1B Set in the vertical axis servo parameters SV48, 55 and 56. If the axis connected to the power B-SP supply that is supplying power to...
  • Page 141 Chapter 10 Adjustment 2) When power supply control axis is vertical axis servo axis (Example: When both vertical axis and axis connected to power supply are Z axis) Power supply Spindle Power supply B-SP B-CV B-CV V14/V24 V14/V24 When the vertical axis and axis connected to the power supply are the same driver, only the vertical axis servo parameters need to be set.
  • Page 142 Chapter 10 Adjustment 3) When power supply control axis is different driver than vertical axis servo axis (Example: When vertical axis is Y axis, and axis connected to power supply is Z axis) 3)-1: When vertical axis and power supply axis are 1-axis driver Power supply Spindle Power supply...
  • Page 143 Chapter 10 Adjustment 3)-3: When amplifier connected to the power supply is a 2-axis driver Power supply Spindle Power supply B-SP B-CV B-CV V14/V24 Axis X axis Y axis Z axis A axis Spindle (B-V14/V24) (B-V14) (B-V24) (B-V24) (B-SP) Separate power Power supply connected driver Parameter Vertical axis...

  • Page 144: Deceleration Control

    Chapter 10 Adjustment 10-4-2 Deceleration control Basically, this MDS-B-V14L servo driver carries out dynamic brake stopping when an emergency stop occurs. However, if the deceleration stop function is validated, the motor will decelerate according to the set time constant while maintaining the READY ON state. READY will turn OFF after the motor stops, and the dynamic brakes will be activated.

  • Page 145: Collision Detection

    Chapter 10 Adjustment (2) Dynamic brake stop When the deceleration stop function is not used, the dynamic brakes will be used to stop. In a dynamic brake stop, the dynamic brakes operate at the same time the emergency stop occurs, and the motor brake control output also operates at the same time.  ...
  • Page 146 Chapter 10 Adjustment <Setting and adjustment methods> 1. Confirm that SHG control is being used. 2. SV032: TOF Thrust offset Move the axis to be adjusted approx. F1000mm/mi with jog, etc., and check the load current on the [I/F DIAGNOSIS screen, Servo Monitor]. If the current load during movement is positive, check the max.
  • Page 147 Chapter 10 Adjustment Abbrev. Parameter name Unit Explanation Setting range SV032 Thrust offset Stall % Set the unbalance thrust amount of an axis having an –100 to 100 (rated unbalanced thrust, such as a vertical axis, as a percentage current %) (%) in respect to the stall rated current.

  • Page 148: Parameter List

    Chapter 10 Adjustment 10-6 Parameter list There are 64 servo parameters. The methods for setting and displaying the servo parameters differ on the CNC being used, so refer to the instruction manual for the respective CNC. Class B-Vx Chang-i Setting Min.
  • Page 149 Chapter 10 Adjustment B-Vx Chang-i Setting Min. Max. Name Abbrev. Descriptions compa-t Setting unit Class screen unit unit ibility method SV055 EMGx Emergency stop max. delay time Normal 2000 Deceleration time constant during emergency SV056 EMGt Normal 2000 stop SV057 SHGC SHG control gain Normal...
  • Page 150 Chapter 10 Adjustment Details of parameters Setting range Abbrev. Details (Unit) SV001 Set 1 for the linear motor system. 1 to 32767 SV002 Set 1 for the linear motor system. 1 to 32767 SV003 PGN1 Set the position loop gain in increments of 1. 1 to 200 Normally, 47 is set.
  • Page 151 Chapter 10 Adjustment Setting range Name Abbrev. Details (unit) SV017 SPEC Servo specifications HEX setting drvall drvup mpt3 mp abs vmh vdir fdir seqh dfbx vdir2 Name Meaning when "0" is set Meaning when "1" is set vdir2 Sub side (CN3 connector) feedback Sub side (CN3 connector) feedback forward polarity reverse polarity...
  • Page 152 Chapter 10 Adjustment Setting range Name Abbrev. Details (unit) SV025 MTYP Motor/detector type HEX setting mtyp Name Meaning when "0" is set Meaning when "1" is set mtyp Set the motor type. (Refer to 7-201 (6) List of motor types.) Set the speed detector type.
  • Page 153 Chapter 10 Adjustment Setting range Name Abbrev. Details (unit) SV032 Set the unbalance thrust amount of an axis having an unbalanced thrust, such as a vertical –100 to 100 axis, as a percentage in respect to the stall rated current. This is used when SV027: SSF1/lmc1, lmc2 or SV027: SSF1/vcnt1, vcnt2 is set.
  • Page 154 Chapter 10 Adjustment Setting range Name Abbrev. Details (unit) SV035 SSF4 Special servo function selection 4 HEX setting clG1 cl2n clet cltq Name Meaning when "0" is set Meaning when "1" is set Td creation time setting (driver-fixed) Setting time (µs) = (tdt+1) × 0.569 Setting time when 0 is set Less than 7kW: 5.69µsec, 7kW or more: 8.52µs When tdt <...
  • Page 155 Chapter 10 Adjustment Setting range Name Abbrev. Details (unit) SV040 LMCT • • Set the lost motion compensation non-sensitive band. The low-order 8 digits are used. Lost motion Set this when the lost motion compensation timing does not match during feed forward compensation control.
  • Page 156 Chapter 10 Adjustment Setting range Name Abbrev. Details (unit) SV056 EMGt Set the deceleration time constant from the max. rapid traverse speed when using the drop 0 to 2000 prevention function. (ms) Normally, the same value as the normal CNC G0 acceleration/deceleration time constant is set.

  • Page 157: Chapter 11 Troubleshooting

    Chapter 11 Troubleshooting 11-1 Points of caution and confirmation............11-2 11-2 Troubleshooting at start up ..............11-3 11-3 List of servo alarms and warnings............11-4 11-4 Alarm details ....................11-6 11-5 LED display Nos. at memory error ............11-8 11-6 Error parameter Nos. at initial parameter error........11-8 11-7 Troubleshooting for each servo alarm.............

  • Page 158: Points Of Caution And Confirmation

    Chapter 11 Troubleshooting 11-1 Points of caution and confirmation If an error occurs in the servo system, the servo warning or servo alarm will occur. When a servo 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.

  • Page 159: Troubleshooting At Start Up

    Chapter 11 Troubleshooting 11-2 Troubleshooting at start up If the CNC system does not start up correctly and a system error occurs when the CNC power is turned ON, the servo driver may not have been started up correctly. Confirm the LED display on the driver, and take measures according to this section. Symptom Cause of occurrence Investigation method...

  • Page 160: List Of Servo Alarms And Warnings

    Chapter 11 Troubleshooting 11-3 List of servo alarms and warnings No Abbrev. Name RS A/C No Abbrev. Name RS A/C Overload detection 1 Axis selection error Overload detection 2 Memory error Excessive error 1 (at servo ON) Software processing error Excessive error 2 (at servo OFF) SWE2 Software processing error 2 Excessive error 3 (no power)
  • Page 161 Chapter 11 Troubleshooting No Abbrev. Name RS A/C No Abbrev. Name RS A/C Over-regeneration warning Low-speed serial initial communication error Low-speed serial communication error Overload warning Low-speed serial protocol error Absolute position fluctuation Absolute position counter warning Parameter error warning MP scale feedback error Control axis removal warning MP scale offset fluctuation...

  • Page 162: Alarm Details

    Chapter 11 Troubleshooting 11-4 Alarm details Servo alarms No. Abbrev. Name Details RS A/C Memory error An error was detected in the memory IC/FBIC during the self-check carried out when the driver power was turned ON. (Refer to 11-5. LED display Nos.
  • Page 163 Chapter 11 Troubleshooting No. Abbrev. Name Details RS A/C SOSP Scale overspeed The absolute position liner scale connected to the MAIN side detected a speed of 45m/s or more when the CNC power was turned ON. SABS Absolute position detection circuit An error was detected in the scale or scale side circuit of the absolute error position linear scale connected to the MAIN side.

  • Page 164: Led Display Nos. At Memory Error

    Chapter 11 Troubleshooting 11-5 LED display Nos. at memory error When a memory error (alarm 12) occurs, in most cases the connection with the CNC is not being executed. Normally, if the connection is not executed even when the connected with the CNC, check whether a memory error (alarm 12) has occurred by reading the LED display on the servo driver.

  • Page 165: Troubleshooting For Each Servo Alarm

    Chapter 11 Troubleshooting 11-7 Troubleshooting for each servo alarm [Alarm/warning check timing] f1: When servo driver power is turned ON f2: When CNC power supply is turned ON (emergency stop ON) f3: During normal operation (servo ON) f4: During axis removal (ready ON, servo OFF) (Note) Note that warning "93"...
  • Page 166 Chapter 11 Troubleshooting A/D converter error: Alarm check timing Alarm No. There is an error in the drive unit's A/D converter. – – – Investigation details Investigation results Remedies 1 Check the repeatability. The error is always repeated. Replace the drive unit. The state returns to normal once, but Investigate item 2.
  • Page 167 Chapter 11 Troubleshooting CPU error (SUB): Alarm check timing Alarm No. An error was detected in the data stored in the EEPROM of an absolute position linear scale connected to the SUB side. – Investigation details Investigation results Remedies 1 Wiggle the connectors by hand to check The connector is disconnected (or Correctly install.
  • Page 168 Chapter 11 Troubleshooting Scale CPU error (SUB): Alarm check timing Alarm No. The CPU of the absolute position linear scale connected to the SUB side is not operating correctly. – Investigation details Investigation results Remedies 1 Wiggle the connectors by hand to check The connector is disconnected (or Correctly install.
  • Page 169 Chapter 11 Troubleshooting Absolute position detection circuit error (SUB): Alarm check timing Alarm No. An error was detected in the scale or scale side circuit of the absolute position linear scale connected to the SUB side. – Investigation details Investigation results Remedies 1 Check the alarm No.
  • Page 170 Chapter 11 Troubleshooting Date error: Alarm check timing Alarm No. An error was detected within one rotation position of an absolute position linear position linear scale connected to the MAIN side. – Investigation details Investigation results Remedies 1 Check items 3 and following for alarm No.
  • Page 171 Chapter 11 Troubleshooting Power module error (Overcurrent): Alarm check timing Alarm No. The IPM used for the inverter detected an overcurrent. – Investigation details Investigation results Remedies 1 Check whether the unit's output U, V The phases are short circuited or there Replace the UVW wires.
  • Page 172 Chapter 11 Troubleshooting CNC communication CRC error: Alarm check timing Alarm No. An error was detected in the data sent from the CNC to the driver. – Investigation details Investigation results Remedies 1 Wiggle the connection cables by hand The connector is disconnected (or Correctly install.
  • Page 173 Chapter 11 Troubleshooting Initial parameter error: Alarm check timing Alarm No. An illegal parameter was detected in the parameters sent when the CNC power was turned ON. – – Investigation details Investigation results Remedies 1 The illegal parameter No. will appear on The parameter is incorrect.
  • Page 174 Chapter 11 Troubleshooting Feedback error 2: Alarm check timing Alarm No. An excessive deviation of the feedback amount for the MAIN side detector and SUB side detected was detected in the 2-scale 2-motor (2-amplifier) control. – – Investigation details Investigation results Remedies 1 Check items 3 and following for alarm No.
  • Page 175 Chapter 11 Troubleshooting Scale CPU error: Alarm check timing Alarm No. The CPU of the absolute position linear scale connected to the MAIN side is not operating correctly. – Investigation details Investigation results Remedies 1 Wiggle the connectors by hand to check The connector is disconnected (or Correctly install.
  • Page 176 Chapter 11 Troubleshooting Absolute position detection circuit error: Alarm check timing Alarm No. An error was detected in the scale or scale side circuit of the absolute position linear scale connected to the MAIN side. – Investigation details Investigation results Remedies 1 Check the alarm No.
  • Page 177 Chapter 11 Troubleshooting Overload 1: Alarm check timing Alarm No. The servomotor or servo driver load level obtained from the motor current reached the overload level set with the overload detection level (SV022:OLL). – Investigation details Investigation results Remedies 1 Check the servo parameter (OLL) The value differs from the standard When not using special specifications, set setting value.
  • Page 178 Chapter 11 Troubleshooting Excessive error 1: Alarm check timing Alarm No. The difference of the ideal position and actual position exceeded the parameter SV023:OD1 (or SV053:OD3) at servo ON. – – – Investigation details Investigation results Remedies 1 Check whether the PN power is The voltage is being supplied.
  • Page 179 Chapter 11 Troubleshooting Excessive error 2: Alarm check timing Alarm No. The difference of the ideal position and actual position exceeded parameter SV026:OD2 at servo OFF. – – – Investigation details Investigation results Remedies 1 Check the servo parameter (OD2) The value differs from the standard When not using special specifications, set setting value.
  • Page 180 Chapter 11 Troubleshooting Collision detection 0: Alarm check timing Alarm No. A collision detection method 1 error was detected during the G0 modal (rapid traverse). (A disturbance torque exceeding the tolerable disturbance torque was detected.) – – – Investigation details Investigation results Remedies 1 Check whether the collision detection...
  • Page 181 Chapter 11 Troubleshooting Collision detection 1: Alarm check timing Alarm No. A collision detection method 1 error was detected during the G1 modal (cutting feed). (A disturbance torque exceeding the tolerable disturbance torque was detected.) – – – Investigation details Investigation results Remedies 1 Check whether the collision detection...
  • Page 182 Chapter 11 Troubleshooting HR unit connection error: Alarm check timing Alarm No. An incorrect connection or cable breakage was detected in the MDS-B-HR connected to the MAIN side. – Investigation details Investigation results Remedies 1 Wiggle the connectors by hand to check The connector is disconnected (or Correctly install.
  • Page 183 Chapter 11 Troubleshooting HR unit scale judgment error: Alarm check timing Alarm No. The MDS-B-HR connected to the MAIN side could not judge the analog frequency of the connected linear scale. – Investigation details Investigation results Remedies 1 Wiggle the connectors by hand to check The connector is disconnected (or Correctly install.
  • Page 184 Chapter 11 Troubleshooting HR unit pole error: Alarm check timing Alarm No. An error was detected in the pole data of the MDS-B-HR connected to the MAIN side. – Investigation details Investigation results Remedies 1 Wiggle the connectors by hand to check The connector is disconnected (or Correctly install.
  • Page 185 Chapter 11 Troubleshooting HR unit HSS communication error (SUB): Alarm check timing Alarm No. The MDS-B-HR connected to the SUB side detected an error in the communication with the absolute position linear scale. – Investigation details Investigation results Remedies 1 Check the alarm No. "80" items. HR unit scale judgment error (SUB): Alarm check timing Alarm No.
  • Page 186 Chapter 11 Troubleshooting Absolute position fluctuation: Alarm check timing Alarm No. A fluctuation exceeding the tolerable value was detected in the absolute position detected when the CNC power is turned ON. – – – Investigation details Investigation results Remedies 1 Wiggle the connectors by hand to check The connector is disconnected (or Correctly install.
  • Page 187 Chapter 11 Troubleshooting Pole shift warning: Alarm check timing Alarm No. An error was detected in the pole shift amount set in servo parameter SV028. – – – Investigation details Investigation results Remedies 1 Check whether the MDS-B-MD system The system is not MDS-B-MD. Investigate item 4.
  • Page 188 Chapter 11 Troubleshooting Overload warning: Alarm check timing Alarm No. An level 80% of the overload alarm 1 was detected. – Investigation details Investigation results Remedies 1 Check whether the motor is hot. The motor is not hot. Check the alarm No. "50" items. The motor is hot.

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