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Mitsubishi MELDAS HS Series Specifications And Instruction Manual

Intelligent servomotor
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Summary of Contents for Mitsubishi MELDAS HS Series

  • Page 1 Over 100 years cumulative experience 24 hour rush turnaround / technical support service Established in 1993 The leading independent repairer of servo motors and drives in North America. Visit us on the web: www.servo-repair.com www.servorepair.ca www.ferrocontrol.com www.sandvikrepair.com www.accuelectric.com Scroll down to view your document! For 24/7 repair services : USA: 1 (888) 932 - 9183 Canada: 1 (905) 829 -2505...
  • Page 2 BNP-B3981* (ENG) INTELLIGENT SERVOMOTOR HS Series Specifications and Instruction Manual...
  • Page 3 Introduction Thank you for purchasing the Mitsubishi CNC. This instruction manual describes the handling and caution points for using this CNC. Incorrect handling may lead to unforeseen accidents, so always read this instruction manual thoroughly to ensure correct usage. Make sure that this instruction manual is delivered to the end user.
  • Page 4 For Safe Use 1. Electric shock prevention DANGER Wait at least 10 minutes after turning the power OFF, check the voltage between L1-L2-L3 and L11-L12 terminals with a tester, etc., before starting wiring or inspections. Failure to observe this could lead to electric shocks. Ground the servo amplifier and servomotor with Class 3 grounding or higher.
  • Page 5 3. Injury prevention CAUTION Do not apply a voltage other than that specified in Instruction Manual on each terminal. Failure to observe this item could lead to ruptures or damage, etc. Do not mistake the terminal connections. Failure to observe this item could lead to ruptures or damage, etc.
  • Page 6 CAUTION Store and use the units under the following environment conditions. Conditions Environment Servomotor Interface unit Ambient 0°C to +40°C 0°C to +55°C temperature (with no freezing) (with no freezing) 80% RH or less 90%RH or less Ambient humidity (with no dew condensation) (with no dew condensation) –15°C to +65°C –20°C to +65°C...
  • Page 7 (2) Wiring CAUTION Correctly and securely perform the wiring. Failure to do so could lead to runaway of the servomotor. (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.
  • Page 8 (5) Troubleshooting CAUTION If a hazardous situation is predicted during stop or product trouble, use a servomotor with magnetic brakes or install an external brake mechanism. Use a double circuit configuration Shut off with CNC brake Control in the intelligent that allows the operation circuit for control PLC output.
  • Page 9 (NA) 67303) which explain the servo amplifier installation method and control panel manufacturing method, etc., has been prepared to make compliance to the EMC Directives easier. Contact Mitsubishi or your dealer for more information. 2. Cautions of compliance Use the standard servo amplifier and EN Standards compliance part (some standard models are compliant) for the servomotor.
  • Page 10 • Sheath: PVC (polyvinyl chloride) • Install on wall or open table tray (6) Servomotor Contact Mitsubishi for the outline dimensions, connector signal array and detector cable. (7) Others Refer to the EMC INSTALLATION GUIDELINES (IB (NA) 67303) for other EMC Directive measures related to the servo amplifier.

  • Page 11: Table Of Contents

    Contents Chapter 1 Introduction 1-1 Intelligent servomotor outline ................1-2 1-2 Limits and special notes for intelligent servomotor........... 1-2 1-2-2 Precautions for selecting the intelligent servomotor ........1-2 1-2-2 Precautions for use..................1-2 1-2-3 Miscellaneous ....................1-2 1-3 Inspection at purchase..................1-3 1-3-1 Explanation of type ..................
  • Page 12 5-2 Installation of interface unit ................. 5-6 5-2-1 Environmental conditions................5-6 5-2-2 Installation direction ..................5-6 5-2-3 Prevention of entering of foreign matter ............5-6 5-3 Noise measures ....................5-7 Chapter 6 Wiring 6-1 System connection diagram ................6-3 6-2 Connector ......................6-4 6-2-1 Connector signal layout ................
  • Page 13 8-3-6 Improvement of characteristics during acceleration/deceleration ....8-21 8-4 Setting for emergency stop ................. 8-24 8-4-1 Deceleration control..................8-24 8-4-2 Vertical axis drop prevention control............. 8-26 8-5 Collision detection ....................8-27 8-6 Parameter list......................8-30 Chapter 9 Inspections 9-1 Inspections......................9-2 9-2 Life parts .......................
  • Page 14 Chapter 1 Introduction 1-1 Intelligent servomotor outline ..............1-2 1-2 Limits and special notes for intelligent servomotor ........ 1-2 1-2-2 Precautions for selecting the intelligent servomotor ......1-2 1-2-2 Precautions for use ................1-2 1-2-3 Miscellaneous ..................1-2 1-3 Inspection at purchase ................1-3 1-3-1 Explanation of type ................

  • Page 15: Chapter 1 Introduction

    Chapter 1 Introduction 1-1 Intelligent servomotor outline The Mitsubishi intelligent servomotor is an integrated motor, encoder and amplifier, and has the following features. • Space saving The amplifier does not need to be stored in the power distribution panel, so the machine, power distribution panel and heat exchanger can be downsized.

  • Page 16: Inspection At Purchase

    Chapter 1 Introduction 1-3 Inspection at purchase Open the package, and read the rating nameplate to confirm that the servo amplifier and servomotor are as ordered. 1-3-1 Explanation of type (1) Amplifier + motor integrated type HS - oo ¡¡o o - So Motor special symbol (Not provided with standard product) Amplifier/encoder special symbol (Cable length, etc.)
  • Page 17 Chapter 1 Introduction MITSUBISHI INTELLIGENT SERVO Type         HS-SF202EX TYPE Motor section type MOTOR       HS‑SF202 DRIVE UNIT  MDS‑B‑ISV‑20EX Amplifier/encoder section type  RATED INPUT   * 3AC 200‑230V 50/60Hz  10.0A and rated input/output  RATED OUTPUT 3AC         11.0A Current version Ｓ /Ｗ  ＢＮ Ｄ ５ １ ６ Ｗ０ ０ ０ Ａ ７   Ｈ /Ｗ Ｖ Ｅ Ｒ . * SERIAL# ...

  • Page 18: Chapter 2 Specifications

    Chapter 2 Specifications 2-1 Standard specifications................2-2 2-2 Torque characteristics................2-3 2-3 Outline dimension drawings ..............2-4 2-3-1 HS-MF23.................... 2-4 2-3-2 HS-RF43/73 ..................2-4 2-3-3 HS-SF52/53/102/103 ................. 2-5 2-3-4 HS-SF202 ..................2-5 2–1...

  • Page 19: Standard Specifications

    Chapter 2 Specifications 2-1 Standard specifications (1) HS-MF, HS-RF Series (Low-inertia, small capacity/low-inertia, medium capacity) Type HS-MF23 HS-RF43 HS-RF73 Rated output (kW) 0.2/15min 0.4/30min 0.75/30min Short-time characteristics Rated torque (N· m) 0.64 1.27 2.39 Rated output (kW) 0.15 0.32 Continuous characteristics Rated torque (N·...

  • Page 20: Torque Characteristics

    Chapter 2 Specifications 2-2 Torque characteristics [HS-MF23] [HS-RF43] [HS-RF73] Intermittent Intermittent operation range operation range Intermittent operation range Short-time operation range Short-time operation range Short-time operation range Continuous Continuous Continuous operation range operation range operation range 1000 2000 3000 1000 2000 3000 1000...

  • Page 21: Outline Dimension Drawings

    Chapter 2 Specifications 2-3 Outline dimension drawings 2-3-1 HS-MF23 60±5 640±30 Φ11h6 56.5 Cross-section 45° φ 70 With oil seal 2-3-2 HS-RF43/73 -0.03 23.3 Cross-section Connector JL04V-2A28-11PE With oil seal Taper 1/10 45ﾟ 4-φ9 □100 Changed dimensions Model HS-RF43 400W HS-RF43B 400W with brakes In planning stages...

  • Page 22: Hs-Sf52/53/102/103

    Chapter 2 Specifications 2-3-3 HS-SF52/53/102/103 23.3 -0.03 Cross section φ 165 Taper 1/10 φ 145 45° □130 Changed dimensions Model HS-SF53/52 500W HS-SF53/52B 500W with brakes HS-SF103/102 HS-SF103/102B 1kW with brakes 2-3-4 HS-SF202 45° φ 200 φ 230 □176 Changed dimensions Model HS-SF202 HS-SF202B...

  • Page 23: Chapter 3 Characteristics

    Chapter 3 Characteristics 3-1 Overload protection characteristics............3-2 3-2 Magnetic brake characteristics..............3-3 3-2-1 Motor with magnetic brakes ..............3-3 3-2-2 Magnetic brake characteristics ............3-4 3-2-3 Magnetic brake power supply ............. 3-4 3-3 Dynamic brake characteristics..............3-5 3-3-1 Deceleration torque................3-5 3-3-2 Coasting amount .................

  • Page 24: Overload Protection Characteristics

    Chapter 3 Characteristics 3-1 Overload protection characteristics The servo amplifier has an electronic thermal relay to protect the servomotor and servo amplifier from overloads. The operation characteristics of the electronic thermal relay when standard parameters (SV021=60, SV022=150) are set shown below. If overload operation over the electronic thermal relay protection curve shown below is carried out, overload 1 (alarm 50) will occur.

  • Page 25: Magnetic Brake Characteristics

    Chapter 3 Characteristics 3-2 Magnetic brake characteristics 1. The axis will not be mechanically held even when the dynamic brakes are used. If the machine could drop when the power fails, use a servomotor with magnetic brakes or provide an external brake mechanism as holding means to prevent dropping.

  • Page 26: Magnetic Brake Characteristics

    Chapter 3 Characteristics 3-2-2 Magnetic brake characteristics HS-RF Series HA-SF Series Item 202B 103B 102B Type (Note 1) Spring braking type safety brakes Rated voltage 24VDC 0.41 Rated current at 20°C Excitation coil resistance at 20°C (Ω) Capacity 19.2 19.2 Attraction current 0.20 0.25...

  • Page 27: Dynamic Brake Characteristics

    Chapter 3 Characteristics 3-2 Dynamic brake characteristics When an emergency stop occurs such as that due to a servo alarm detection, the motor will stop with the deceleration control at the standard setting. However, by setting the servo parameter (SV017: SPEC), the dynamic brake stop can be selected.

  • Page 28: Coasting Amount

    Chapter 3 Characteristics 3-3-2 Coasting amount The motor coasting amount when stopped by a dynamic brake can be approximated using the following expression. · te + ( 1 + ) · (A · No + B · No) : Maximum motor coasting amount (turn) : Initial motor speed (r/min)

  • Page 29: Chapter 4 Peripheral Devices

    Chapter 4 Peripheral Devices 4-1 Dedicated options ..................4-2 4-1-1 I/F unit ....................4-2 4-1-2 Battery option for absolute position system ........4-6 4-1-3 Cables and connectors ............... 4-7 4-1-4 Cable clamp fitting ................4-11 4-2 Peripheral devices..................4-12 4-2-1 Selection of wire.................. 4-12 4-2-2 Selection of no-fuse breakers .............

  • Page 30: Dedicated Options

    Chapter 4 Option and Peripheral Devices Always wait at least 10 minutes after turning the power OFF, and check the DANGER voltage with a tester, etc., before connecting the option or peripheral device. Failure to observe this could lead to electric shocks. Use the designated peripheral device and options.
  • Page 31 Chapter 4 Option and Peripheral Devices (2) Explanation of each part Alarm display LED アラーム表示ＬＥＤ CN1B 1st axis, 2nd axis, to 6th axis, CN1B 左より第１軸、第２軸、・・・ CN1B connection axis from Servo/spindle drive サーボ・主軸ドライブ 第６軸、CN1B接続軸 left. CN1A CN1A From NC Servo monitor D/A output サーボモニタD/A出力...
  • Page 32 Chapter 4 Option and Peripheral Devices (3) Signal wire connection and switch settings 1) Connector connection Connect the cable from the NC unit to CN1A. The servo/spindle drive other than the intelligent servomotor is connected to CN1B. If there is no servo/spindle drive, connect the battery unit or terminator.
  • Page 33 Chapter 4 Option and Peripheral Devices 4) Total capacity of connected motors The total capacity of the motors that can be HS-IF-6 connected to the HS-IF-6 main power terminal block is 6kW or less. If the total motor capacity exceeds 6kW, wire with a standalone terminal block.
  • Page 34 Chapter 4 Option and Peripheral Devices Emergency stop occurrence from servo/spindle connected to CN1B Not ON Not ON Not ON Not ON Not ON Not ON 4–6...

  • Page 35: Battery Option For Absolute Position System

    Chapter 4 Option and Peripheral Devices 4-1-2 Battery option for absolute position system A battery or battery unit must be provided for the absolute position system. Battery option specifications Item Battery unit Type MDS-A-BT2 MDS-A-BT4 MDS-A-BT6 MDS-A-BT8 No. of backup axes 2 axes 4 axes 6 axes...

  • Page 36: Cables And Connectors

    Chapter 4 Option and Peripheral Devices 4-1-3 Cables and connectors (1) Cable list Part name Type Descriptions Communication cable for SH21 Servo amplifier side Servo amplifier side CNC unit - Amplifier Length: connector (Sumitomo 3M) connector (Sumitomo 3M) Amplifier - Amplifier 10120-6000EL (Connector) 10120-6000EL (Connector) 0.35, 0.5, 0.7, 1, 1.5, 2, 2.5,...
  • Page 37 Chapter 4 Option and Peripheral Devices (3) Usage cables The following cables are available as the compound cables for both signals and power supply. (1) Part name: MIX20C(30/-SV,40/,7/36/0.08)-V Maker: Oki Electric Cable Co., Ltd. (2) Part name: MIX19C(19,30,150/0.08)-V Maker: Oki Electric Cable Co., Ltd. Use the (1) cable for a capacity of 1kW or more.
  • Page 38 Chapter 4 Option and Peripheral Devices For intelligent servomotor HS-RF/HS-SF Single block [Unit: mm] Maker: Japan Aviation Screw Positioning key Type: JL04V-6A28-11SE Conduit installation 10 or dimensions less Straight plug [Unit: mm] Maker: Japan Aviation Positioning key Type: JL04V-6A28-11SE-EB (spanner catching width) Screw 1-7/46-18UNEF-2A 10 or more...
  • Page 39 Chapter 4 Option and Peripheral Devices Connector for intelligent servomotor HS-MF Maker: Japan AMP [Unit: mm] <Type> For power supply 6-pole receptacle/housing: 178289-3 Contact: 1-917511-5 (L1, L2, PE) Row A 1-175217-5 (L11, L12) Row B For signal 3.81 12-pole receptacle/housing: 178289-6 Circuit number 1 Contact: 1-175217-5 Dimension...

  • Page 40: Cable Clamp Fitting

    Chapter 4 Option and Peripheral Devices 4-1-4 Cable clamp fitting Use the following types of grounding plate and cable clamp fitting to strengthen the noise resistance of the communication cable. The grounding plate can be installed onto the terminal block cover of the I/F unit (HS-IF-6).

  • Page 41: Peripheral Devices

    NF30-CS3P30 NF50-CP3P40 NF50-CP3P50 NF60-CP3P60 (Mitsubishi Electric Corp.: Option part) Special order part: This part is not handled by the NC Dept. Marketing Section or dealer. (Example 1) The NFB is selected for the MDS-B-SVJ2-10 with three HS-SF102 axes and one MDS-B-SPJ2-75 axis connected.

  • Page 42: Selection Of Contactor

    (Total rush current) Recommended contactor S-N10 S-N18 S-N20 S-N25 S-N35 S-K50 S-K65 S-K80 (Mitsubishi Electric Corp.: AC200V AC200V AC200V AC200V AC200V AC200V AC200V AC200V Option part) Special order part: This part is not handled by the NC Dept. Marketing Section or dealer.

  • Page 43: Circuit Protector

    Contactor rated continuity current (Total input current) Recommended contactor S-N10 S-N20 S-N25 S-N35 (Mitsubishi Electric Corp.: AC200V AC200V AC200V AC200V Option part) Special order part: This part is not handled by the NC Dept. Marketing Section or dealer. (Example 2) The contactor is selected for the MDS-B-SVJ2-10 with four HS-SF102 axes and one MDS-B-CV-55 connected.

  • Page 44: Chapter 5 Installation

    Chapter 5 Installation 5-1 Installation of servomotor ................5-3 5-1-1 Environmental conditions..............5-3 5-1-2 Cautions for mounting load (prevention of impact on shaft) ....5-3 5-1-3 Installation direction ................5-3 5-1-4 Tolerable load of axis................5-4 5-1-5 Oil and waterproofing measures ............5-4 5-1-6 Cable stress ..................
  • Page 45 Chapter 5 Installation 1. Install the unit on noncombustible material. Direct installation on combustible material or near combustible materials could lead to fires. 2. Follow this Instruction Manual and install the unit in a place where the weight can be borne. 3.

  • Page 46: Installation Of Servomotor

    Chapter 5 Installation 5-1 Installation of servomotor 1. Do not hold the cables, axis or detector when transporting the servomotor. Failure to observe this could lead to faults or injuries. 2. Securely fix the servomotor to the machine. Insufficient fixing could lead to the servomotor deviating during operation.

  • Page 47: Tolerable Load Of Axis

    Chapter 5 Installation 5-1-4 Tolerable load of axis (1) Using the flexible coupling, set the axis core deviation to less than the tolerable radial load of the axis. (2) When using a pulley, sprocket and timing belt, select so that the loads are within the tolerable radial load.

  • Page 48: Cable Stress

    Chapter 5 Installation (3) When installing the servomotor horizontally, set the power cable and detector cable to face downward. When installing vertically or on an inclination, provide a cable trap. Cable trap (4) Do not use the unit with the cable submerged in oil or water. (Refer to lower left drawing) (5) When installing on the top of the shaft end, make sure that oil from the gear box, etc., does not enter the servomotor.

  • Page 49: Installation Of Interface Unit

    Chapter 5 Installation 5-2 Installation of interface unit 5-2-1 Environmental conditions Environment Conditions Ambient temperature 0°C to +55°C (with no freezing) Ambient humidity 90% RH or less (with no dew condensation) Storage temperature –20°C to +65°C (with no freezing) Storage humidity 90% RH or less (with no dew condensation) Atmosphere Indoors (Where unit is not subject to direct sunlight)

  • Page 50: Noise Measures

    Chapter 5 Installation 5-3 Noise measures Noise includes that which enters the servo amplifier from an external source and causes the servo amplifier to malfunction, and that which is radiated from the servo amplifier or motor and causes the peripheral devices or amplifier itself to malfunction. The servo amplifier output is a source of noise as the DC voltage is switched at a high frequency.
  • Page 51 Chapter 5 Installation ⑤ ⑦ ② ⑦ ② ① Sensor Servo power Instru- amplifier Receiver supply ment ⑥ ③ ④ ⑧ Sensor Servomotor Noise propaga-tion Measures path When devices such as instruments, receivers or sensors, which handle minute signals and are easily affected by noise, or the signal wire of these devices, are stored in the same panel as the servo amplifier and the wiring is close, the device could malfunction due to airborne propagation of the noise.
  • Page 52 Chapter 6 Wiring 6-1 System connection diagram................ 6-3 6-2 Connector ..................... 6-4 6-2-1 Connector signal layout ................ 6-4 6-2-2 Signal name ..................6-5 6-3 Connection of power supply ............... 6-6 6-3-1 Example of connection for controlling magnetic switch (MC) with MDS-B-CV/CR ................6-6 6-3-2 Example of connection for controlling magnetic switch with external sequence circuit ..............
  • Page 53 Chapter 6 Wiring 1. Wiring work must be done by a qualified technician. 2. Wait at least 10 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.

  • Page 54: System Connection Diagram

    Chapter 6 Wiring 6-1 System connection diagram I/F unit HS-IF-6 I/Fユニット HS-IF-6 Battery unit バッテリーユニット  A-BT A-BT サーボ 主軸 ﾊﾟﾜｰｻ Servo Spindle Power MDS- MDS- MDS- MDS- ﾌﾟﾗｲ supply B-SP B-SP MDS- MDS- V1,V2 B-CV B-CV MELDAS CNC DC24V 24VDC MC relay ＭＣ用リレー...

  • Page 55: Connector

    Chapter 6 Wiring 6-2 Connector Never connect the power wire to the signal terminal or the signal wire to the power terminal. There is a risk of electric shock. Failure to observe this can CAUTION also cause damage or faults with the NC unit or devices connected to the NC. Apply only the designated voltage to each terminal.

  • Page 56: Signal Name

    Chapter 6 Wiring 6-2-2 Signal name Name Signal name Details Main circuit Main circuit power supply input terminal L1· L2· L3 power supply Connect 3-phase 200 to 230VAC, 50/60Hz. Control circuit Control circuit power supply input terminal L11· L12 power supply Connect 1-phase 200 to 230VAC, 50/60Hz.

  • Page 57: Connection Of Power Supply

    Ｌ− 24VDC External I/F unit emergency Mitsubishi stop Terminator 1. The MDS-B-CV is a power supply regenerative type converter; an AC reactor is required in the power supply line. Connect the intelligent servomotor main circuit power supply on the power CAUTION supply side of the AC reactor.
  • Page 58 Ｌ１２ Terminator 24VDC External I/F unit emergency Mitsubishi stop Install independent no-fuse breakers as the intelligent servomotor power supply if the total current capacity exceeds 60A when the converter and power supply are shared. DANGER No-fuse breakers may not operate for short-circuits in small capacity amplifiers if they are shared with a large capacity unit, and this could cause fires.

  • Page 59: Example Of Connection For Controlling Magnetic Switch With External Sequence Circuit

    External Terminator emergency I/F unit Mitsubishi stop 6-3-3 Wiring of contactors (MC) A contactor (magnetic contactor) is inserted in the main circuit power supply input (L1, L2, L3) of servo amplifier, and the power supply input is shut off when an emergency stop or servo alarm occurs.
  • Page 60 Chapter 6 Wiring the undervoltage alarm could occur or the deceleration control may be prevented. 6–9...

  • Page 61: Surge Absorber

    VAR1 to MARCON ELECTRONICS TNR23G471K Varistor voltage 423 to 517V VAR3 CO., LTD. DC discharge start voltage VAR4 DSAZR2-302M Mitsubishi Materials Corp. 2400 to 3600V SHIZUKI ELECTRONIC C1 to C3 AL-U2E224K 250VAC 0.22µF CO., INC. Murata Manufacturing Co., C4 to C6...
  • Page 62 Chapter 6 Wiring 2) Prepare a brake excitation power supply that ensures a secure attraction current. 3) The brake terminal polarity is random, but must not be mistaken with other circuits. 6–11...

  • Page 63: Manually Releasing The Magnetic Brakes

    Chapter 6 Wiring 6-4-2 Manually releasing the magnetic brakes The intelligent servomotor has a relay for controlling the brakes in the amplifier, so the brakes cannot be released even if power is supplied to the 24V power terminal (BR, RG) for the cannon plug brakes. Release the brakes with the following method when the brakes need to be released for handling when assembling, adjusting or servicing the machine.

  • Page 64: Connection With The Nc

    I/F unit CN1A CN1B Mitsubishi CON1 to CON4 MDS-B Series servo/spindle drive unit Intelligent servomotor (1) Refer to "Chapter 6 Peripheral devices" for details on connecting and setting the I/F unit. (2) The I/F unit's CON1 to CON4 (intelligent servo connection connectors) can be connected to any connector.

  • Page 65: Chapter 7 Setup

    Chapter 7 Setup 7-1 Setting the initial parameters ..............7-2 7-1-1 Servo specification parameters............7-2 7-1-2 Limitations to electronic gear setting value......... 7-2 7-1-3 Parameters set according to feedrate ..........7-3 7-1-4 Parameters set according to machine load inertia......7-3 7-1-5 Standard parameter list according to motor ........

  • Page 66: Setting The Initial Parameters

    Chapter 7 Setup 7-1 Setting the initial parameters The servo parameters must be set to start up the servo drive system. The servo parameters are input from the CNC. The input method will differ according to the CNC, so refer to the Instruction Manual provided with each CNC. 7-1-1 Servo specification parameters The servo specification parameters are determined according to the machine specifications and servo system specifications.

  • Page 67: Parameters Set According To Feedrate

    Chapter 7 Setup 7-1-3 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 68: Standard Parameter List According To Motor

    Chapter 7 Setup 7-1-5 Standard parameter list according to motor Set the parameters other than 7-2-1 to 7-2-4 to the standard parameters. Motor type MF23 RF43 RF73 SF52 SF53 SF102 SF103 SF202 Abbrev. Parameter name SV001 Motor side gear ratio Set the motor side gear ratio in PC1 and the machine side gear ratio in PC2.

  • Page 69: Chapter 8 Adjustment

    Chapter 8 Adjustment 8-1 Measurement of adjustment data .............. 8-2 8-1-1 D/A output specifications ..............8-2 8-1-2 Setting the output data................ 8-2 8-1-3 Setting the output scale ..............8-3 8-1-4 Setting the offset amount ..............8-3 8-1-5 Clamp function ..................8-3 8-1-6 Filter function ..................

  • Page 70: Measurement Of Adjustment Data

    Chapter 8 Adjustment 8-1 Measurement of adjustment data The intelligent servomotor has a function to D/A output the various control data. To adjust the servo and set the servo parameters that match the machine, it is necessary to use the D/A output and measure the internal status of the servo.

  • Page 71: Setting The Output Scale

    Chapter 8 Adjustment 8-1-3 Setting the output scale This is set when an output is to made with a unit other than the standard output unit. (Example 1) When SV061= 5, SV063 = 2560 The V-phase current value will be output with 4A/V unit to D/A output ch. 1. (Example 2) When SV063 = 11, SV064 = 128 The position droop will be output with a 8mm/V unit to the D/A output ch.

  • Page 72: Gain Adjustment

    Chapter 8 Adjustment 8-2 Gain adjustment 8-2-1 Current loop gain Abbrev. Parameter name Explanation Setting range This setting is determined by the motor's electrical characteristics. SV009 q axis leading compensation 1 to 20480 Set the standard parameters for all parameters. SV010 d axis leading compensation 1 to 20480...
  • Page 73 Chapter 8 Adjustment more favorable. 8–5...
  • Page 74 Chapter 8 Adjustment (2) Setting the speed loop leading compensation The speed loop leading compensation (SV008: VIA) determines the characteristics of the speed loop mainly at low frequency regions. 1364 is set as a standard, and 1900 is set as a standard during SHG control.
  • Page 75 Chapter 8 Adjustment Position droop vibration of 10Hz or less is not leading compensation control POINT   vibration. The position loop gain must be adjusted. 8–7...

  • Page 76: Position Loop Gain

    Chapter 8 Adjustment 8-2-3 Position loop gain (1) Setting the position loop gain The position loop gain (SV003:PGN1) is a parameter that determines the trackability to the command position. 33 is set as a standard. Set the same position loop gain value between interpolation axes.
  • Page 77 Chapter 8 Adjustment (3) SHG control (option function) If the position loop gain is increased or feed forward control (CNC function ) is used to shorten the settling time or increase the precision, the machine system may vibrate easily. SHG control changes the position loop to a high-gain by stably compensating the servo system position loop through a delay.

  • Page 78: Characteristics Improvement

    Chapter 8 Adjustment 8-3 Characteristics improvement 8-3-1 Optimal adjustment of cycle time The following items must be adjusted to adjust the cycle time. Refer to the Instruction Manuals provided with each CNC for the acceleration/deceleration pattern. 1) Rapid traverse rate (rapid) : This will affect the maximum speed during positioning.
  • Page 79 Chapter 8 Adjustment <Maximum current command value> For the maximum current command value during acceleration/deceleration, the maximum current command value (MAXcmd) for one second is output to MAX current 1 and MAX current 2 on the CNC servo monitor screen and observed. The meaning of the display for MAX current 1 and MAX current 2 will differ according to the parameter settings.

  • Page 80: Vibration Suppression Measures

    Chapter 8 Adjustment : In-position width (SV024) (µm) 3000 Speed command (r/min) Time -3000 Current command (Stall %) Time -200 Example of speed/current command waveform during acceleration/deceleration (Reference) The rapid traverse acceleration/deceleration time setting value G0tL for when linear acceleration/deceleration is set is calculated with the following expression. ×...
  • Page 81 Chapter 8 Adjustment (1) Machine resonance suppression filter (Notch filter) The resonance elimination filter will function at the set frequency. Use the D/A output function to output the current feedback and measure the resonance frequency. Note that the resonance frequency that can be measured is 0 to 500 Hz. <Setting method>...

  • Page 82: Improving The Cutting Surface Precision

    Chapter 8 Adjustment 8-3-3 Improving the cutting surface precision If the cutting surface precision or roundness is poor, improvements can be made by increasing the speed loop gain (VGN1, VIA) or by using the disturbance observer function. <Examples of faults> •...
  • Page 83 Chapter 8 Adjustment that this may cause vibration to increased while the motor is running. Abbrev. Parameter name Explanation Setting range SV030 Voltage non-sensitive Set the standard value 20. Note that the vibration could increase during 0 to 200 band compensation motor operation.
  • Page 84 Chapter 8 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>...

  • Page 85: Improvement Of Protrusion At Quadrant Changeover

    Chapter 8 Adjustment 8-3-4 Improvement of protrusion at quadrant changeover The response delay (caused by non-sensitive band from friction, torsion, expansion/contraction, backlash, etc.) caused when the machine advance direction reverses is compensated with the lost motion compensation function. With this, the protrusions that occur with the quadrant changeover in the DDB measurement method, or the streaks that occur when the quadrant changes during circular cutting can be improved.
  • Page 86 Chapter 8 Adjustment according to the direction. <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 torque compensation".
  • Page 87 Chapter 8 Adjustment will occur. 8–20...
  • Page 88 Chapter 8 Adjustment (2) Unbalance torque compensation If the load torque differs in the positive and negative directions such as with a vertical axis or slant axis, the torque offset (TOF) is set to carry out accurate lost motion compensation. <Setting method>...
  • Page 89 Chapter 8 Adjustment Abbrev. Parameter name Unit Explanation Setting range Set this when the lost motion compensation timing does not SV039 LMCD Lost motion msec 0 to 2000 match. Adjust while increasing the value by 10 at a time. compensation timing When the LMCD is gradually raised, a two-peaked contour may occur at the motor FB position DBB measurement.

  • Page 90: Improvement Of Overshooting

    Chapter 8 Adjustment 8-3-5 Improvement of overshooting The phenomenon when the machine position goes past or exceeds the command during feed stopping is called overshooting. Overshooting is compensated by overshooting compensation (OVS compensation). The phenomenon when the machine position exceeds the command during feed stopping is called overshooting.
  • Page 91 Chapter 8 Adjustment Abbrev. Parameter name Explanation SV027 SSF1 Special servo function The overshooting compensation starts with the following parameter. selection 1 14 13 12 11 aft zrn2 ovs1 lmc2 lmc1 vfct2 vfct1 Meaning when "0" is set. Meaning when "1" is set. Overshooting compensation type Overshooting compensation type 1 10 ovs1...

  • Page 92: Improvement Of Characteristics During Acceleration/Deceleration

    Chapter 8 Adjustment 8-3-6 Improvement of characteristics during acceleration/deceleration (1) SHG control (option function) Because SHG control has a smoother response than conventional position controls, the acceleration/deceleration torque (current FB) has more ideal output characteristics (A constant torque is output during acceleration/deceleration.) The peak torque is kept low by the same acceleration/deceleration time constant, enabling the time constant to be shortened.
  • Page 93 Chapter 8 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 94 Chapter 8 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>...

  • Page 95: Setting For Emergency Stop

    Chapter 8 Adjustment 8-4 Setting for emergency stop The emergency stop referred to here indicates the following states. 1) When the external emergency stop was input (including other axis alarms) 2) When the CNC power down was detected 3) When a servo alarm was detected 8-4-1 Deceleration control This intelligent servomotor servo amplifier decelerates the motor according to the set time constant in the ready ON state even when an emergency stop occurs, and activates the dynamic brakes after...
  • Page 96 Chapter 8 Adjustment If the deceleration control time constant (EMGt) is set longer than the acceleration/deceleration time constant, the overtravel point (stroke end point) CAUTION may be exceeded. A collision may be caused on the machine end, so be careful. (2) Dynamic brake stop When an emergency stop occurs, it is possible to have the machine stop from the beginning using a dynamic brake without controlling the deceleration.

  • Page 97: Vertical Axis Drop Prevention Control

    Chapter 8 Adjustment 8-4-2 Vertical axis drop prevention control The vertical axis drop prevention control is a function that prevents the vertical axis from dropping due to a delay in the brake operation when an emergency stop occurs. The servo ready OFF will be delayed by the time set in the parameter from when the emergency stop occurs.

  • Page 98: Collision Detection

    Chapter 8 Adjustment 8-5 Collision detection The purpose of the collision detection function is to quickly detect a collision and decelerate to a stop. This suppresses the excessive torque generated to the machine tool, and suppresses the occurrence of an abnormality. Impact during a collision cannot be prevented even when the collision detection function is used, so this function does not guarantee that the machine will not break and does not guarantee the machine accuracy after a collision.
  • Page 99 Chapter 8 Adjustment <Setting and adjustment methods> 1. Validate the extended function. (Set sv035: SSF4, bit7 (eram) to 1.) 2. Confirm that SHG control is being used. The collision detection function is valid only during SHG control. 3. Measure the unbalance torque, and set in the torque offset (SV03: TOF). Refer to the section "8-3-4 (2) Unbalance torque compensation"...
  • Page 100 Chapter 8 Adjustment Abbrev. Parameter name Explanation SV035 SSF4 Special servo function The following parameters are used for the collision detection. selection 4 clG1 cl2n clet eram Meaning when "0" is set. Meaning when "1" is set. 7 eram Extended function invalid Extended function invalid The latest two-second estimated disturbance torque peak value...

  • Page 101: Parameter List

    Chapter 8 Adjustment 8-6 Parameter list Setting Abbrev. Parameter name Unit Explanation range Set the motor side and machine side gear ratio. SV001 Motor side gear ratio 1 to 32767 For the rotary axis, set the total deceleration (acceleration) ratio. Even if the gear ratio is within the setting range, the electronic Machine side gear SV002...
  • Page 102 Chapter 8 Adjustment Setting Abbrev. Parameter name Unit Explanation range SV021 Overload time constant Set 60 as a standard. (For maker adjustment) 1 to 300 Stall % Overload detection SV022 (rated Set 150 as a standard. (For maker adjustment) 50 to 500 level current %) When 0 is set, the excessive error alarm during servo ON will not...
  • Page 103 Chapter 8 Adjustment Abbrev. Parameter name Explanation Setting range Meaning when "0" is set Meaning when "1" is set Set the filter depth for the notch filter (SV038: FHz). The control is stabilized by making the filter shallower. Setting value ∞...
  • Page 104 Chapter 8 Adjustment Abbrev. Parameter name Explanation Setting range Meaning when "0" is set Meaning when "1" is set eram Extended function invalid Extended function invalid Special servo SV035 SSF4 The latest two-second estimated function selection 4 disturbance torque peak value clet During normal use (3.5ms average value) is displayed at MPOF on the Servo Monitor screen.
  • Page 105 Chapter 8 Adjustment Abbrev. Parameter name Unit Explanation Setting range Set 0 as the standard. To use the collision detection function, set the frictional torque as a percentage of the stall rated current in the low-order 8 bits. (0 to Collision detection Stall % 100)

  • Page 106: Chapter 9 Inspections

    Chapter 9 Inspections 9-1 Inspections ....................9-2 9-2 Life parts ...................... 9-2 9-3 Replacing the unit ..................9-3 9-3-1 HS-MF23** type .................. 9-3 9-3-2 HS-FR43/73, HS-SF52/53/102/103 type..........9-3 9-3-3 HS-SF202 type..................9-4 9–1...

  • Page 107: Inspections

    Chapter 9 Inspections 1. Wait at least 10 minutes after turning the power OFF and check that the input/output and voltage are zero with a tester, etc., before starting wiring or inspections. Failure to observe this could lead to electric shocks. DANGER 2.

  • Page 108: Replacing The Unit

    Chapter 9 Inspections 9-3 Replacing the unit 9-3-1 HS-MF23** type With the HS-MF2** type, the amplifier/encoder section and motor section cannot be separated. The motor and amplifier must be replaced together. 9-3-2 HS-FR43/73, HS-SF52/53/102/103 type With the HS-FR43/73, HS-SF52/53/102/103 types, the amplifier and encoder section can be separated from the motor section.

  • Page 109: Hs-Sf202 Type

    Chapter 9 Inspections 9-3-3 HS-SF202 type With the HS-SF202 type, the amplifier section, encoder section and motor can be separated. The procedures for replacing the amplifier section and encoder section are shown below. (1) Removing the amplifier unit 1) Wait at least 10 minutes after turning Encoder lead the power OFF, and then remove the connector.

  • Page 110: Chapter 10 Troubleshooting

    Chapter 10 Troubleshooting 10-1 Points of caution and confirmation ............10-2 10-2 Troubleshooting at start up ..............10-2 10-3 Protective functions list................10-3 10-3-1 Alarm....................10-3 10-3-2 Warnings list ..................10-7 10-3-3 Alarm and warning deceleration method and reset method....10-8 10–1...

  • Page 111: Points Of Caution And Confirmation

    Chapter 10 Troubleshooting 10-1 Points of caution and confirmation A servo warning or servo alarm occurs if there is an abnormal state in the servo system or if an error occurs. 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 112: Protective Functions List

    Chapter 10 Troubleshooting 10-3 Protective functions list 10-3-1 Alarm When an alarm occurs, the motor will stop by the deceleration control or dynamic brakes. At the same time, the alarm No. will appear on the CNC monitor screen. Check the alarm No., and remove the cause of the alarm by following this list.
  • Page 113 CNC unit fault Replace the CNC unit. 35 CNC The movement Not within amplifier Is this a sub-micron system? Consult with communication, command data sent specifications. Mitsubishi. Is the axis a rotary axis? data error from the CNC was excessive. 10–4...
  • Page 114 Check parameters SV001, SV002 and consult with the most recent No. SV018. Mitsubishi. is output. The SHG control option The error No. is 104 (2304). Set correctly. setting is not provided. Check parameters SV057 and SV058.
  • Page 115 Chapter 10 Troubleshooting Name Details Cause of occurrence Investigation method Remedy 51 Overload 2 An excessive load The machine was Visually check whether there was a collision Check the cause of was applied for collided with. with the machine. the collision. longer than the set Is there interference with the positioning Do not use positioning...

  • Page 116: Warnings List

    Chapter 10 Troubleshooting 10-3-2 Warnings list When a warning occurs, a warning No. will appear on the CNC monitor screen and with the LEDs on the front of the amplifier. Check the warning No., and remove the cause of the warning by following this list.

  • Page 117: Alarm And Warning Deceleration Method And Reset Method

    Chapter 10 Troubleshooting 10-3-3 Alarm and warning deceleration method and reset method Name Deceleration method Reset method Explanation When the power is cut off, the dynamic brakes may be 10 Undervoltage Deceleration control switched to. 13 Software processing error Dynamic 17 A/D converter error Dynamic Detector, initial...
  • Page 118 Chapter 10 Troubleshooting Name Deceleration method Reset method Explanation Initial absolute position fluctuation Detector, multi-rotation ∗ counter error ∗ 9F Battery voltage drop The motor will not stop. ∗ E0 Over-regeneration warning ∗ E1 Overload warning Absolute position counter ∗ warning ∗...

  • Page 119: Chapter 11 Selection

    Chapter 11 Selection 11-1 Outline ....................... 11-2 11-1-1 Servomotor..................11-2 11-1-2 Regeneration methods..............11-3 11-2 Selection of servomotor series............... 11-4 11-2-1 Motor series characteristics ............. 11-4 11-2-2 Servomotor precision ............... 11-4 11-3 Selection of servomotor capacity............11-6 11-3-1 Load inertia ratio ................11-6 11-3-2 Short time characteristics..............

  • Page 120: Outline

    Normally use the HS-SF motor for the machine tool feed axis. Consult with Mitsubishi when using a low-inertia motor for the feed axis. The servomotor has an optimum load inertia scale. If the load inertia exceeds the optimum range, the control becomes unstable and the servo parameters become difficult to adjust.

  • Page 121: Regeneration Methods

    Chapter 11 Selection 11-1-2 Regeneration methods When the servomotor decelerates, rotating load inertia or the operation energy of the moving object is returned to the servo amplifier through the servomotor as electrical power. This is called "regeneration". The three general methods of processing regeneration energy are shown below. Table 11-2 Servo amplifier regeneration methods Regeneration method Explanation...

  • Page 122: Selection Of Servomotor Series

    Chapter 11 Selection 11-2 Selection of servomotor series 11-2-1 Motor series characteristics The servomotor series is categorized according to purpose, motor inertia size, and detector resolution. Select the motor series that matches the purpose of the machine to be installed. Table 11-3 Motor series characteristics Motor Capacity...
  • Page 123 Chapter 11 Selection (4) Absolute position repeatability : ∆εa This is the precision outline that affects the absolute position system machine, and expresses the repeatability of the position before the power was shut off and the position when the power is turned on again.

  • Page 124: Selection Of Servomotor Capacity

    Chapter 11 Selection 11-3 Selection of servomotor capacity The following three elements are used to determine the servomotor capacity. 1. Load inertia ratio 2. Short time characteristics (acceleration/deceleration torque) 3. Continuous characteristics (continuous effective load torque) Carry out appropriate measures, such as increasing the motor capacity, if any of the above conditions is not fulfilled.

  • Page 125: Continuous Characteristics

    Chapter 11 Selection 11-3-3 Continuous characteristics A typical operation pattern is assumed, and the motor's continuous effective load torque (Trms) is calculated from the motor shaft conversion and load torque. If numbers ① to ⑧ in the following drawing were considered a one cycle operation pattern, the continuous effective load torque is obtained from the root mean square of the torque during each operation, as shown in the expression (11-3).
  • Page 126 Chapter 11 Selection (1) Horizontal axis load torque When operations ① to ⑧ are for a horizontal axis, calculate so that the following torques are required in each period. Table 11-6 Load torques of horizontal axes Period Load torque calculation method Explanation Normally the acceleration/deceleration time constant is (Amount of acceleration torque) +...
  • Page 127 Chapter 11 Selection 11–9...

  • Page 128: Selection Of Regenerative Resistor

    Chapter 11 Selection 11-4 Selection of regenerative resistor The intelligent servomotor series does not have the optional regenerative resistor. (Only the standard built-in resistor is provided.) Thus, when selecting the motor, make sure that the regenerative energy does not exceed the capacity of the built-in regenerative resistor. 11-4-1 Limits for HS-MF23 The HS-MF23 does not have a built-in regenerative resistor.
  • Page 129 Chapter 11 Selection Example The regeneration energy is obtained for when the axis stops from the rated speed while a load with the same inertia as the motor is connected to the HC52 motor. Regeneration energy ER is calculated using expression (11-6) below. −...

  • Page 130: Calculation Of Positioning Frequency

    Chapter 11 Selection (Example) A return operation is executed for a time constant of 50msec for 200mm. The operation is executed at F20000 in a machine tool vertical axis driven by an HS-SF52 motor. The regenerative energy per return operation is obtained at this time. Note the following : Travel per upward motor rotation : 10mm...

  • Page 131: Motor Shaft Conversion Load Torque

    Chapter 11 Selection 11-5 Motor shaft conversion load torque The main load torque calculation expressions are shown below. Type Mechanism Calculation expression F· △S · πη πη 2×10 2×10 : Load torque (N· m) F : Force in axial direction of linear motion machine η...

  • Page 132: Expressions For Load Inertia Calculation

    Chapter 11 Selection 11-6 Expressions for load inertia calculation The calculation method for a representative load inertia is shown. Type Mechanism Calculation expression φ D   π · ρ Rotary – D – D φ D   shaft is · L Reference data cylinder : Load inertia...
  • Page 133 Chapter 11 Selection 11–15...

This manual is also suitable for:

Meldas hs-sf52Meldas hs-rf73Meldas hs-mf23Meldas hs-sf53Meldas hs-rf43Meldas hs-sf102 ... Show all

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