Mitsubishi MELDAS MDS-C1 Instruction Manual
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Mitsubishi MELDAS MDS-C1 Instruction Manual

Ac servo/spindle
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AC SERVO/SPINDLE
MDS-C1 Series
INSTRUCTION MANUAL
BNP-B2365*(ENG)

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Summary of Contents for Mitsubishi MELDAS MDS-C1

  • Page 1 AC SERVO/SPINDLE MDS-C1 Series INSTRUCTION MANUAL BNP-B2365*(ENG)
  • Page 2 Introduction Thank you for selecting the Mitsubishi numerical control unit. This instruction manual describes the handling and caution points for using this AC servo/spindle. Incorrect handling may lead to unforeseen accidents, so always read this instruction manual thoroughly to ensure correct usage.
  • Page 3 Precautions for safety Please read this manual and auxiliary documents before starting installation, operation, maintenance or inspection to ensure correct usage. Thoroughly understand the device, safety information and precautions before starting operation. The safety precautions in this instruction manual are ranked as "WARNING" and "CAUTION". When there is a potential risk of fatal or serious injuries if DANGER handling is mistaken.
  • Page 4 WARNING 1. Electric shock prevention Do not open the front cover while the power is ON or during operation. Failure to observe this could lead to electric shocks. Do not operate the unit with the front cover removed. The high voltage terminals and charged sections will be exposed, and can cause electric shocks.
  • Page 5 CAUTION 3. Various precautions Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and electric shocks, etc. (1) Transportation and installation Correctly transport the product according to its weight. Use the servomotor's hanging bolts only when transporting the servomotor. Do not transport the servomotor when it is installed on the machine.
  • Page 6 CAUTION Store and use the units under the following environment conditions. Conditions Environment Servo drive unit Servomotor Ambient temperature 0°C to +55°C (with no freezing) 0°C to +40°C (with no freezing) 90%RH or less 80% RH or less Ambient humidity (with no dew condensation) (with no dew condensation) Storage temperature...
  • Page 7 CAUTION (2) Wiring Correctly and securely perform the wiring. Failure to do so could lead to runaway of the servomotor. Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of the servo drive unit. Correctly connect the output side (terminals U, V, W).
  • Page 8 CAUTION (3) Trial operation and adjustment Check and adjust each program and parameter before starting operation. Failure to do so could lead to unforeseen operation of the machine. Do not make remarkable adjustments and changes as the operation could become unstable. (4) Usage methods Install an external emergency stop circuit so that the operation can be stopped and power shut off immediately.
  • Page 9 CAUTION (5) Troubleshooting If a hazardous situation is predicted during power failure or product trouble, use a servomotor with magnetic brakes or install an external brake mechanism. Use a double circuit configuration Shut off with NC brake Shut off with the servomotor control PLC output.

  • Page 10: Table Of Contents

    CONTENTS Installation of servomotor..................... 1-1-1 Environmental conditions ..................1-1-2 Cautions for mounting load (prevention of impact on shaft)......... 1-1-3 Installation direction ..................... 1-1-4 Tolerable load of axis .................... 1-1-5 Oil and waterproofing measures ................1-1-6 Cable stress......................Installation of spindle motor ..................1-2-1 Environmental conditions ..................
  • Page 11 2-11 Wiring of an external emergency stop ................. 2-44 2-11-1 External emergency stop setting................2-44 2-11-2 Operation sequences of CN23 external emergency stop function....... 2-45 2-11-3 Example of emergency stop circuit ............... 2-46 Initial setup ........................3-1-1 Setting the rotary switch ..................3-1-2 Transition of LED display after power is turned ON ..........
  • Page 12 Adjustment procedures for each control..............5-15 5-3-1 Basic adjustments ....................5-15 5-3-2 Adjusting the acceleration/deceleration operation..........5-16 5-3-3 Adjusting the orientation control................5-19 5-3-4 Adjusting the synchronous tap control..............5-26 5-3-5 Adjusting the C-axis control .................. 5-30 5-3-6 Adjusting the spindle synchronous control ............5-32 Points of caution and confirmation................

  • Page 13: Cautions For Mounting Load (Prevention Of Impact On Shaft)

    1. Installation Installation of servomotor ..................... 1-1-1 Environmental conditions ..................1-1-2 Cautions for mounting load (prevention of impact on shaft) ......... 1-1-3 Installation direction ....................1-1-4 Tolerable load of axis .................... 1-1-5 Oil and waterproofing measures ................1-1-6 Cable stress......................Installation of spindle motor ..................

  • Page 14: Environmental Conditions

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

  • Page 15: Installation Direction

    1. Installation The vibration conditions are as shown below. Servomotor Acceleration 1000 2000 3000 Speed (r/min) 1-1-2 Cautions for mounting load (prevention of impact on shaft) <1> When using the servomotor with key way, use the screw hole at the end of the shaft to mount the pulley Double-end stud onto the shaft.

  • Page 16: Tolerable Load Of Axis

    1. Installation 1-1-4 Tolerable load of axis There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction and thrust direction, when mounted on the machine, is below the tolerable values given below.

  • Page 17: Oil And Waterproofing Measures

    1. Installation 1-1-5 Oil and waterproofing measures Oil or water <1> The motor protective format uses the IP type, which complies with IE standard. However, these Standards are short-term performance specifications. They do not guarantee continuous environmental protection characteristics. Measures such as covers, etc., must be taken if there is any possibility that oil or water will fall on the motor, and the motor will be constantly wet and permeated by water.
  • Page 18 1. Installation <4> Do not use the unit with the cable submerged in oil or water. (Refer to right drawing.) Cover Servomotor Oil or water pool <Fault> Capillary tube Phenomenon <5> Make sure that oil and water do not flow along the cable into the motor or detector.

  • Page 19: Cable Stress

    5 10 2 10 1 10 5 10 Bending radius (mm) 3 10 Detector cable bending life (Mitsubishi optional detector cable and wire material: A14B2343) Note: The values in this graph are calculated values and are not guaranteed. 1 - 7...

  • Page 20: Environmental Conditions

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

  • Page 21: Installation Of The Control Unit

    1. Installation 1-3 Installation of the control unit 1. Install the unit on noncombustible material. Direct installation on combustible material or near combustible materials may lead to fires. 2. Follow the instructions in this manual and install the unit while allowing for the unit weight.

  • Page 22: Installation Direction And Clearance

    1. Installation 1-3-2 Installation direction and clearance Wire each unit in consideration of the maintainability and the heat dissipation, as well as secure sufficient space for ventilation. 160mm or more 100mm or 100mm or 100mm or more more more 10mm 10mm more more...

  • Page 23: Panel Installation Hole Work Drawings (Panel Cut Drawings)

    1. Installation 1-3-4 Panel installation hole work drawings (Panel cut drawings) Prepare a square hole to match the unit width. Unit [mm] Square Square hole hole (Note 1) (Note 1) 2-M5 screw 2-M5 screw Unit width: 90mm Unit width: 60mm Square hole Square hole (Note 1)

  • Page 24: Each Unit's Heating Value

    1. Installation 1-3-5 Each unit's heating value Each heating value is calculated with the following values. The values for the servo drive unit are for a stall output, and the values for the spindle drive unit are for a continuous rated output. The value for the power supply unit includes the AC reactor's heating value. Servo drive unit Spindle drive unit Power supply unit...

  • Page 25: Heat Radiation Countermeasures

    1. Installation 1-3-6 Heat radiation countermeasures In order to secure reliability and life, design the temperature in the panel so that the ambient temperature of each unit is 55°C or less. If heat accumulates at the top of the unit, etc., install a fan so that the temperature in the panel remains constant.

  • Page 26: Installing The Magnetic Sensor

    1. Installation 1-4 Installing the spindle detector 1-4-1 Installing the magnetic sensor Reference notch Spindle G hole Case Cover Spindle clamping screw Gap L Reference drawing for magnet installation 1. Tolerance to shaft dimension should be "h6" on the part for installing a magnet. 2.
  • Page 27 1. Installation (2) Magnet and sensor installation directions • Install so that the magnet's reference hole and sensor's reference notch are aligned. (Standard/high-speed standards) • Install so that the magnet's N pole comes to the left side when the sensor's reference notch is faced downward.

  • Page 28: Installing The Encoder

    1. Installation 1-4-2 Installing the encoder To maintain the encoder life and performance, a flexible coupling should be used to couple the spindle encoder and C-axis encoder with the spindle shaft. Encoder Flexible coupling Opposite encoder shaft side Encoder and coupling installation accuracy Recommended coupling Recommendation 1 Recommendation 2...

  • Page 29: Installing The Spindle End Plg

    1. Installation 1-4-3 Installing the spindle end PLG (1) Environmental conditions Environment Conditions Ambient temperature Sensor section : -10°C to +80°C (With no freezing) PCB section : -10°C to +75°C (With no freezing) Atmosphere Indoors (Where unit is not subject to direct sunlight) With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles (2) Part configuration...
  • Page 30 1. Installation Keep the deviation of the sensor center and detection Sensor installation surface gear center to ±0.25mm or less. If the center deviation Sensor installation seat cannot be directly measured, set so that the dimension from the sensor installing surface to the edge of the Lead wire detection gears is 22.5±0.25mm.
  • Page 31 1. Installation With the sensor installation seat's R section butted against the notched fitting section, fix the sensor installation seat with a mounting screw (M5 x 0.8 screws). A locking agent should be applied on the mounting screw before it is tightened. 3.5mm or less Butt the back side of the sensor installation 29mm...

  • Page 32: Noise Measures

    1. Installation 1-5 Noise measures Noise includes "propagation noise" generated from the power supply or relay, etc., and propagated along a cable causing the power supply unit or drive unit to malfunction, and "radiated noise" propagated through air from a peripheral device, etc., and causing the power supply unit or drive unit to malfunction.
  • Page 33 1. Installation Example) Drive system <5> <7> <2> <7> <2> <1> Sensor Drive Instru- power Receiver unit ment supply <6> <3> <4> <8> Sensor Servomotor Spindle motor Noise propagation Measures path When devices such as instrument, receiver or sensor, which handle minute signals and are easily affected by noise, or the signal wire of these devices, are stored in the same panel as the drive units and the wiring is close, the device could malfunction due to airborne propagation of the noise.
  • Page 34 2. Wiring and Connection Part system connection diagram.................. Main circuit terminal block/control circuit connector ............ 2-2-1 Names and applications of main circuit terminal block signals and control circuit connectors ......................2-2-2 Connector pin assignment..................NC and drive unit connection..................Motor and detector connection ..................2-4-1 Connecting the servomotor ...................
  • Page 35 2. Wiring and Connection 1. Wiring work must be done by a qualified technician. 2. Wait at least 15 minutes after turning the power OFF and check the voltage with a tester, etc., before starting wiring. Failure to observe this could lead to DANGER electric shocks.

  • Page 36: Part System Connection Diagram

    2. Wiring and Connection 2-1 Part system connection diagram Mitsubishi NC MDS-C1-SP- MDS-C1-CV- MDS-C1-V2- SH21Cable SV1,2 Battery unit (CSH21) CN1B CN1A CN1B CN1A CN1A SH21Cable Tool end detector CNV13Cable CN3M Tool end detector External emergency CNV13Cable CN23 CN3L stop input...

  • Page 37: Main Circuit Terminal Block/Control Circuit Connector

    2. Wiring and Connection 2-2 Main circuit terminal block/control circuit connector 2-2-1 Names and applications of main circuit terminal block signals and control circuit connectors The following table shows the details for each terminal block signal. Name Signal name Description Main circuit Main circuit power supply input terminal L1 .

  • Page 38: Connector Pin Assignment

    2. Wiring and Connection 2-2-2 Connector pin assignment Do not apply a voltage other than that specified in Instruction Manual on each CAUTION terminal. Failure to observe this item could lead to rupture or damage, etc. (1) Main circuit terminal block Power supply unit Unit MDS-C1-CV-37 to 75...
  • Page 39 2. Wiring and Connection Servo/spindle drive unit MDS-C1-V1-10 and Unit MDS-C1-V1-20 and larger smaller MDS-C1-V2-1010 and MDS-C1-V2-2010 and MDS-C1-SP-22 and MDS-C1-SP-15 and smaller larger Terminal larger smaller Terminal position <2> <2> <2> <2> <3> <3> <3> <3> <1> <1> <1> <1>...
  • Page 40 2. Wiring and Connection (2) Control circuit connector Unit MDS-C1-V1 MDS-C1-V2 Terminal <1> <2> <1> <2> <3> <4> <3> <4> <5> <9> <5> <9> <6> <6> Connector <7> <8> position <1> CN1A <2> CN1B Pin No. <3> CN9 <4> CN4 No.1 No.11 <5>...

  • Page 41: Nc And Drive Unit Connection

    2. Wiring and Connection 2-3 NC and drive unit connection The NC bus cables are connected from the NC to each drive unit so that they run in a straight line from the NC to the terminal connector (battery unit). And up to 7 axes can be connected per system. (Note that the number of connected axes is limited by the CNC.

  • Page 42: Motor And Detector Connection

    2. Wiring and Connection 2-4 Motor and detector connection 2-4-1 Connecting the servomotor (1) Connecting the HC52(B)/HC102(B)/HC152(B)/HC53(B)/HC103(B)/HC153(B)/HC103R(B) /HC153R(B)/HC203R(B) MDS-C1-V1 Detector connector Detector connector : CN2 Option cable : CNV12 MS3102A22-14P Pin No. (Refer to Appendix 1 for details on the cable treatment.) No.1 No.11 Max.
  • Page 43 2. Wiring and Connection (2) Connecting the HC202(B)/HC352(B)/HC452(B)/HC203(B)/HC353(B) MDS-C1-V1 Detector connector Detector connector : CN2 Option cable : CNV12 MS3102A22-14P Pin No. (Refer to Appendix 1 for details on the cable treatment.) No.1 No.11 Max. 30m No.10 No.20 Name Name Name Motor brake wiring (Refer to section...
  • Page 44 2. Wiring and Connection (3) Connecting the HC353R(B)/HC503R(B) MDS-C1-V1 Detector connector Detector connector : CN2 Option cable : CNV12 MS3102A22-14P Pin No. (Refer to Appendix 1 for details on the cable treatment.) No.1 No.11 Max. 30m No.10 No.20 Name Name Name P5(+5V) P5(+5V)
  • Page 45 2. Wiring and Connection (4) Connecting the HC702(B)/HC902(B)/HC453(B)/HC703(B) MDS-C1-V1 Detector connector Detector connector : CN2 Option cable : CNV12 MS3102A22-14P Pin No. (Refer to Appendix 1 for details on the cable treatment.) No.1 No.11 Max. 30m No.10 No.20 Name Name Name Motor brake wiring (Refer to section...
  • Page 46 2. Wiring and Connection (5) Connecting the HA053N/HA13N MDS-C1-V1 Detector connector Detector connector : CN2 Option cable : CNV12 MS3102A22-14P Pin No. (Refer to Appendix 1 for details on the cable treatment.) No.1 No.11 Max. 30m No.10 No.20 Name Name Name P5(+5V) P5(+5V)
  • Page 47 2. Wiring and Connection (6) Connecting the HA23N(B)/HA33N(B) MDS-C1-V1 Detector connector Detector connector : CN2 Option cable : CNV12 MS3102A22-14P Pin No. (Refer to Appendix 1 for details on the cable treatment.) No.1 No.11 Max. 30m No.10 No.20 Name Name Name Motor brake wiring (Refer to section...
  • Page 48 2. Wiring and Connection (7) Connecting the HA-LF11K2(B)-S8/HA-LF15K2(B)-S8 MDS-C1-V1 Detector connector Detector connector : CN2 Option cable : CNV12 MS3102A22-14P Pin No. (Refer to Appendix 1 for details on the cable treatment.) No.1 No.11 Max. 30m No.10 No.20 Name Name Name P5(+5V) P5(+5V)

  • Page 49: Connecting The Full-Closed Loop System

    2. Wiring and Connection 2-4-2 Connecting the full-closed loop system Refer to section 2-4-1 Connecting the servomotor for details on connecting the each motor. (1) Connecting the ball screw end detector Detector connector : CN3 Pin No. No.1 No.11 No.10 No.20 Name Name...
  • Page 50 2. Wiring and Connection (2) Connecting the linear scale (for serial data output) Detector connector : CN3 Pin No. No.1 No.11 No.10 No.20 Name Name MDS-C1-V1 P5(+5V) P5(+5V) P5(+5V) CNV12 CNL3 Max. 30m DRSV1 U V W Table Linear scale Servomotor 2 - 17...
  • Page 51 2. Wiring and Connection (3) Connecting the linear scale (for analog output) Detector connector : CN3 Pin No. No.1 No.11 No.10 No.20 Name Name MDS-C1-V1 P5(+5V) P5(+5V) P5(+5V) Max. 30m CNV12 CNL3 CON1 CON2 Detector converter unit MDS-B-HR CON3 CON4 DRSV1 U V W CNLH3...

  • Page 52: Connecting The Synchronous Control System

    2. Wiring and Connection 2-4-3 Connecting the synchronous control system The methods of connecting the synchronous control system are explained in this section. Explanations on connecting the motor detector and power are omitted. Refer to section 2-4-1 Connecting the servomotor for details. Semi-closed system Full-closed system Position command...
  • Page 53 2. Wiring and Connection (1) Connection for semi-closed synchronous control (when using MDS-C1-V1 drive unit) Slave axis Master axis Detector cable CNV12 MDS-C1-V1 MDS-C1-V1 (Slave axis) (Master axis) MDS-B-SD Signal distribution unit CN2A CN2B Parameter settings Abbrev. Parameter name Description Set the detector type.
  • Page 54 2. Wiring and Connection (2) Connection for semi-closed synchronous control (when using MDS-C1-V2 drive unit) Slave axis Master axis Detector cable CNV12 MDS-C1-V2 CN2L CN2M Parameter settings Abbrev. Parameter name Description Set the detector type. (Refer to Chapter 3 Setup for details) Master axis Speed command synchronous control : 00xx or 11xx or 22xx SV025...
  • Page 55 2. Wiring and Connection (3-1) Connection for full-closed synchronous control (when using MDS-C1-V1 drive unit and serial output linear scale) Slave axis Master axis Linear scale Detector cable MDS-C1-V1 MDS-C1-V1 CNV12 (Slave axis) (Master axis) MDS-B-SD Signal distribution unit CN3A CN3B Parameter settings Abbrev.
  • Page 56 2. Wiring and Connection (3-2) Connection for full-closed synchronous control (when using MDS-C1-V1 drive unit and analog output linear scale) Slave axis Master axis Linear scale Detector cable CNV12 CON4 CON3 Detector converter unit MDS-B-HR CON2 CON1 MDS-C1-V1 MDS-C1-V1 (Slave axis) (Master axis) CNL3H2 CNL3H1...
  • Page 57 2. Wiring and Connection (3-3) Connection for full-closed synchronous control (when using MDS-C1-V1 drive unit and MP scale) Slave axis Master axis MP scale Detector cable CNV12 A/D converter MDS-B-SD Signal distribution unit CN2A CN3A CN3B CN2B MDS-C1-V1 MDS-C1-V1 (Slave axis) (Master axis) Parameter settings Abbrev.
  • Page 58 2. Wiring and Connection (4-1) Connection for full-closed synchronous control (when using MDS-C1-V2 drive unit and serial output linear scale) Slave axis Master axis Linear scale Detector cable CNV12 MDS-C1-V2 CN3L CN2L CN2M Parameter settings Abbrev. Parameter name Description Set the detector type. (Refer to Chapter 3 Setup for details) Master axis Speed command synchronous control : A0xx or A1xx or A2xx SV025...
  • Page 59 2. Wiring and Connection (4-2) Connection for full-closed synchronous control (when using MDS-C1-V2 drive unit and analog output linear scale) Slave axis Master axis Linear scale Detector cable MDS-C1-V2 CNV12 CON4 CON3 Detector CN3L CN2L Converter unit MDS-B-HR CN2M CON2 CON1 Parameter settings Abbrev.

  • Page 60: Connection Of The Spindle Motor

    2. Wiring and Connection 2-4-4 Connection of the spindle motor Refer to each motor specifications for details on the motor side connection destination, specifications and outline, and for the spindle PLG detector specifications. (1) Connecting the motor built-in PLG MDS-C1-SP Max.
  • Page 61 2. Wiring and Connection (2) Connecting the magnetic sensor Refer to section (1) for connection with the spindle motor. MDS-C1-SP Max. 30m Option cable : CNP5S Power cable U V W U V W Spindle motor Magnetic sensor Spindle Option cable : CNP6M 2 - 28...
  • Page 62 2. Wiring and Connection (3) Connecting the spindle encoder Refer to section (1) for connection with the spindle motor. MDS-C1-SP Max. 30m Option cable : CNP5S Power cable U V W U V W Spindle motor Spindle Spindle encoder Option cable : CNP6M 2 - 29...
  • Page 63 2. Wiring and Connection (4) Connecting the encoder for C axis control Refer to section (1) for connection with the spindle motor. MDS-C1-SP Max. 30m Option cable : CNP5S Option cable : CNP7A Power cable U V W U V W Spindle motor Spindle C axis control...
  • Page 64 2. Wiring and Connection (5) Connecting the simple C-axis control Refer to section (1) for connection with the spindle motor. MDS-C1-SPX MDS-C1-SPHX Option cable : CNP5S Max. 30m Power cable U V W U V W MDS-B-PJEX Motor axis Spindle motor Spindle Spindle end PLG CR30...

  • Page 65: Connection Of Power Supply

    2. Wiring and Connection 2-5 Connection of power supply 1. Make sure that the power supply voltage is within the specified range of the servo drive unit. Failure to observe this could lead to damage or faults. 2. For safety purposes, always install a circuit breaker (CB), and make sure that the circuit is cut off when an error occurs or during inspections.

  • Page 66: Two-Part System Control Of Power Supply Unit

    2. Wiring and Connection 2-5-2 Two-part system control of power supply unit Confirm that the total capacity of the drive units does not exceed the power supply unit's capacity. The axis controlled to the power supply unit's CN4 connector is the axis controlled by the power supply unit.

  • Page 67: Using Multiple Power Supply Units

    2. Wiring and Connection 2-5-3 Using multiple power supply units In a system configured of multiple spindle drive units, etc., there may be cases when the drive capacity is large and the units cannot be driven with one power supply unit. Split the drive configuration so that the units can be driven with one power supply unit.

  • Page 68: Connecting The Grounding Cable

    2. Wiring and Connection 2-6 Connecting the grounding cable 2-6-1 Connecting the protective grounding (PE) and frame ground (FG) Each unit has a terminal or mounting hole to connect PE ( ) or FG. Please connect an earth wire to the main ground of a cabinet or a machine frame. (PE: Grounding to provide protection from electric shock, etc.

  • Page 69: Wiring Of Contactors

    2. Wiring and Connection 2-7 Wiring of contactors A contactor (magnetic contactor) is inserted in the main circuit power supply input (L1, L2, L3) of a power supply unit, and the power supply input is shut off when an emergency stop or servo alarm occurs.

  • Page 70: Contactor Power On Sequences

    2. Wiring and Connection 2-7-1 Contactor power ON sequences The main circuit power supply is turned ON in the sequences in the following drawing when the contactor control output (TE3: MC1) of the power supply unit is used. Each interface voltage of the main circuit power supply (L1/L2/L3) is checked.

  • Page 71: Contactor Control Signal (Mc1) Output Circuit

    2. Wiring and Connection 2-7-3 Contactor control signal (MC1) output circuit A relay or photo coupler can be driven. Install a surge absorber (noise killer) when driving a conductive load. (Tolerable current: 40mA or less, rush current: 100mA or less) Contactor MDS-C1-CV-370 or less Surge absorber...

  • Page 72: Wiring Of The Motor Brake

    2. Wiring and Connection 2-8 Wiring of the motor brake The magnetic brake of servomotors with a magnetic brake is driven by the motor brake control connector (CN20) on the servo drive unit. The servo drive unit releases the brake when the motor is ON. (Servo ON means when torque is generated in the motor.) 2-8-1 Motor brake release sequence The motor brake control connector (CN20: MBR) releases the magnetic brake in the sequences in the...

  • Page 73: Motor Brake Control Connector (Cn20) Output Circuit

    2. Wiring and Connection 2-8-4 Motor brake control connector (CN20) output circuit The motor brakes can be controlled with the CN20 connector. The brakes controlled with the CN20 connector include the magnetic brakes and dynamic brakes (dedicated for MDS-C1-V1-110/150). (Unit internal relay specifications: 5A 30VDC/8A 250VAC) MDS-C1-V1/V2 Always install a surge absorber...

  • Page 74: Dynamic Brake Unit Wiring

    2. Wiring and Connection 2-9 Dynamic brake unit wiring The 11kW and larger servo drive unit does not have built-in dynamic brakes. Always install a dynamic brake unit. The 9kW and smaller servo drive unit has built-in dynamic brakes. External power supply 24VDC GND Brake connector...

  • Page 75: Spindle Coil Changeover

    2. Wiring and Connection 2-10 Spindle coil changeover There are spindle motors capable of coil changeover control, which enables favorable characteristics to be attained from low speeds to high speeds by changing two types of coils. 2-10-1 Coil changeover control The speed at which to change the coils is detected by the spindle drive according to the value set with spindle parameter SP020.

  • Page 76: Wiring

    2. Wiring and Connection 2-10-2 Wiring A typical Y-∆ changeover control circuit is shown below. The contactors MC1 and MC2 are controlled with the signal from the spindle drive. When one turns ON, the other turns OFF. Spindle drive terminal block MC1: Contactor for Y (star) connection at low-speed regions Spindle motor MC2: Contactor for ∆...

  • Page 77: Wiring Of An External Emergency Stop

    CN23 connector on the power supply unit. Even if the emergency stop is not input from CNC for some reason, the contactors will be shut off by the external emergency stop input from CN23 connector on the power supply unit. (1) Connection MDS-C1-V1/V2/SP MDS-C1-CV Emergency stop Mitsubishi NC Alarm Alarm CN1A CN1B SV1,2 SH21 FCUA-R000...

  • Page 78: Operation Sequences Of Cn23 External Emergency Stop Function

    2. Wiring and Connection 2-11-2 Operation sequences of CN23 external emergency stop function If only CN23, an external emergency stop, is input when external emergency stop valid is set in the parameters (the emergency stop is not input in CNC), an "In external emergency stop" (warning EA) will be detected.

  • Page 79: Example Of Emergency Stop Circuit

    2. Wiring and Connection 2-11-3 Example of emergency stop circuit (1) Outline of function The power supply unit's external emergency stop can be validated by wiring to the CN23 connector, and setting the parameters and rotary switch. If the emergency stop cannot be processed and the external contractor cannot be shut off (due to a fault) by the CNC unit, the external contactor can be shut off by the power supply unit instead of the CNC.
  • Page 80 3. Setup Initial setup ........................3-1-1 Setting the rotary switch ..................3-1-2 Transition of LED display after power is turned ON ..........3-1-3 Servo standard specifications and high-gain specifications ......... Setting the initial parameters for the servo drive unit (High-gain specifications) ..3-2-1 Setting the standard parameters................

  • Page 81: Setting The Rotary Switch

    3. Setup 3-1 Initial setup 3-1-1 Setting the rotary switch Before turning on the power, the axis No. must be set with the rotary switch. The rotary switch settings will be validated when the units are turned ON. 1st axis 2nd axis Spindle drive unit Power supply unit...

  • Page 82: Transition Of Led Display After Power Is Turned On

    3. Setup 3-1-2 Transition of LED display after power is turned ON When CNC, each drive unit and the power supply unit power have been turned ON, each unit will automatically execute self-diagnosis and initial settings for operation, etc. The LEDs on the front of the units will change as shown below according to the progression of these processes.

  • Page 83: Servo Standard Specifications And High-Gain Specifications

    3. Setup 3-1-3 Servo standard specifications and high-gain specifications (1) Two-part system compliance With the MDS-C1-V1/V2 Series, control is possible with the standard servo (MDS-B-V1/V2) control mode and high-gain servo (MDS-B-V14/V24) control mode. When replacing an older model (MDS-B Series) with this series, the servo parameter settings are automatically recognized and the control mode is determined.

  • Page 84: Setting The Initial Parameters For The Servo Drive Unit (High-Gain Specifications)

    SV018 (PIT) 1 to 9999 FME type, FLE type Refer to specification PIT/Resolution (kp/pit) µ (Futaba) manual for each detector MP type (Mitsubishi Heavy Refer to specification PIT/Resolution µ Industries) manual for each detector Twice as big as µ AT342 (Mitsutoyo) 0.5 (...
  • Page 85 Setting impossible OHA25K-ET, OSA104-ET OSE105-ET, OSA105-ET, RCN723 Setting impossible (Heidenhain) Setting impossible Relative position detection scale, MP type Setting impossible (Mitsubishi Heavy Industries) AT41 (Mitsutoyo), FME type, FLE type SV025 MTYP* Motor/Detector type Setting impossible (Futaba) AT342, AT343, (Mitsutoyo), Setting impossible...
  • Page 86 3. Setup (3) Setting the power supply type Set the drive unit connected to the power supply unit with the CN4 connector. This does not need to be set if the power supply for the axis is not connected with the CN4 connector. (Set "0000".) If the power supply unit is connected with the spindle drive unit, the parameters do not need to be set on the servo side.

  • Page 87: Limitations To Electronic Gear Setting Value

    3. Setup 3-2-2 Limitations to electronic gear setting value The servo drive unit has internal electronic gears. The command value from the NC is converted into a detector resolution unit to carry out position control. The electronic gears are single gear ratios calculated from multiple parameters as shown below.

  • Page 88: List Of Standard Parameters For Each Servomotor

    3. Setup 3-2-3 List of standard parameters for each servomotor (1) HC Series (Standard 2000r/min rating) High-gain specifications Motor Standard HC motor 2000 r/min rating Parameter HC10 HC35 HC52 HC202 HC452 HC702 HC902 Abbrev. Details Unit capacity SV001 Motor side gear ratio SV002 Machine side gear ratio SV003...
  • Page 89 3. Setup (2) HC Series (Standard 3000r/min rating) High-gain specifications Motor Standard HC motor 3000 r/min rating Parameter HC53 HC103 HC153 HC203 HC353 HC453 HC703 Abbrev. Details Unit capacity SV001 Motor side gear ratio SV002 Machine side gear ratio SV003 PGN1 Position loop gain 1 SV004...
  • Page 90 3. Setup (3) HC Series (Low-inertia) High-gain specifications Motor Low-inertia HC motor Parameter HC103R HC153R HC203R HC353R HC503R Abbrev. Details Unit capacity SV001 Motor side gear ratio SV002 Machine side gear ratio SV003 PGN1 Position loop gain 1 SV004 PGN2 Position loop gain 2 SV005 VGN1...
  • Page 91 3. Setup (4) HA series High-gain specifications Motor Small capacity HA motor Large capacity HA motor Parameter HA053N HA13N HA23N HA33N HA-LF11K2 HA-LF15K2 Abbrev. Details Unit capacity SV001 Motor side gear ratio SV002 Machine side gear ratio SV003 PGN1 Position loop gain 1 SV004 PGN2 Position loop gain 2...
  • Page 92 3. Setup (5) HA series (MDS-B-Vx4) High-gain specifications Motor HA motor 2000 r/min rating Parameter HA40N HA80N HA100N HA200N HA300N HA700N HA900N Abbrev. Details Unit capacity SV001 Motor side gear ratio SV002 Machine side gear ratio SV003 PGN1 Position loop gain 1 SV004 PGN2 Position loop gain 2...
  • Page 93 3. Setup (6) HA series (MDS-B-Vx4) High-gain specifications Motor HA motor 3000 r/min rating Parameter HA43N HA83N HA93N HA103N HA203N HA303N HA703N Abbrev. Details Unit capacity SV001 Motor side gear ratio SV002 Machine side gear ratio SV003 PGN1 Position loop gain 1 SV004 PGN2 Position loop gain 2...

  • Page 94: Servo Parameter List

    3. Setup 3-2-4 Servo parameter list High-gain specifications Setting Abbrev. Parameter name Explanation range (Unit) Set the motor side and machine side gear ratio. Motor side gear SV001 PC1* 1 to 32767 For the rotary axis, set the total deceleration (acceleration) ratio. ratio Even if the gear ratio is within the setting range, the electronic gears may Machine side gear...
  • Page 95 3. Setup High-gain specifications Setting Abbrev. Parameter name Explanation range (Unit) Set the normal current (torque) limit value. (Limit values for both + and - 0 to 999 direction.) (Stall SV013 ILMT Current limit value When the value is "500" (a standard setting), the maximum torque is [rated] determined by the specification of the motor.
  • Page 96 3. Setup High-gain specifications Setting Abbrev. Parameter name Explanation range (Unit) HEX setting drvall drvup mpt mp abs vdir fdir vfb seqh dfbx fdir2 Meaning when "0" is set Meaning when "1" is set 0 fdir2 Speed feedback forward polarity Speed feedback reverse polarity 1 dfbx Dual feedback control stop Dual feedback control start...
  • Page 97 SV018 (PIT) 1 to 9999 FME type, FLE type Refer to specification PIT/Resolution (kp/pit) µ (Futaba) manual for each detector MP type (Mitsubishi Refer to specification PIT/Resolution µ Heavy Industries) manual for each detector Twice as big as µ AT342 (Mitsutoyo) 0.5 (...
  • Page 98 3. Setup High-gain specifications Abbrev. Parameter name Explanation mtyp Explanation Set the motor type. Set this along with SV017 (SPEC)/spm. 1) When SV017/spm=0 (Normal drive unit) Setting HA40N HA50L HA53L mtyp HA80N HA100L HA103L HA100N HA200L HA203L HA200N HA300L HA303L HA300N HA500L HA503L...
  • Page 99 OSE105-ET, OSA105-ET, RCN723 Setting impossible SV025 MTYP* Motor/Detector type (Heidenhain) Setting impossible Relative position detection scale, MP type Setting impossible (Mitsubishi Heavy Industries) AT41 (Mitsutoyo), FME type, FLE type Setting impossible (Futaba) AT342, AT343 (Mitsutoyo), Setting impossible LC191M/491M (Heidenhain), MDS-B-HR Setting impossible...
  • Page 100 3. Setup High-gain specifications Setting range Abbrev. Parameter name Explanation (Unit) HEX setting aflt zrn2 afse omr zrn3 vfct vcnt " " " " Meaning when is set Meaning when is set Set the execution changeover type of the speed loop delay compensation. vcnt 00: Delay compensation changeover invalid 10: Delay compensation type 2...
  • Page 101 3. Setup High-gain specifications Setting range Abbrev. Parameter name Explanation (Unit) Set this if overshooting occurs during positioning. This compensates the motor torque during positioning. This is valid only when the overshooting compensation SV027 (SSF1/ovs) is selected. Type 1: When SV027 (SSF1)/ bitB, A (ovs)=01 Set the compensation amount based on the motor’s stall current.
  • Page 102 3. Setup High-gain specifications Setting range Abbrev. Parameter name Explanation (Unit) ovsn os2 zeg mohn has2 has1 Meaning when "0" is set Meaning when "1" is set Setting for normal use. HAS control 1 valid 0 has1 (Except for HC) (HC: High acceleration rate support) Setting for normal use.
  • Page 103 3. Setup High-gain specifications Setting range Abbrev. Parameter name Explanation (Unit) HEX setting rtyp ptyp Explanation When the CN4 connector of the drive unit and the power supply are connected, setting below is necessary. To validate the external emergency stop function, add 40h. Setting 6x 7x ptyp...
  • Page 104 3. Setup High-gain specifications Setting range Abbrev. Parameter name Explanation (Unit) For SV040, the hex. value’s higher order 8bits and lower order 8bits are used for different functions. "Setting value of SV040" = (Icy×256) + LMCT Setting range Parameter name Explanation Abbrev.
  • Page 105 3. Setup High-gain specifications Setting range Abbrev. Parameter name Explanation (Unit) Set the control time constant in dual feed back. Dual feed back When "0" is set, the actual value that is set is 1msec. 0 to 9999 SV051 DFBT The higher the time constant is, the closer it gets to the semi-closed control, control time constant (ms)
  • Page 106 3. Setup High-gain specifications Setting range Abbrev. Parameter name Explanation (Unit) When using the collision detection function, set the collision detection level 0 to 999 Collision detection SV060 TLMT during the G0 feeding. (Stall [rated] level If "0" is set, none of the collision detection function will work. current %) Input the data number you wish to output to D/A output channel.

  • Page 107: Setting The Initial Parameters For The Servo Drive Unit (Standard Specifications)

    AT41 (Mitsutoyo) m/p) SV018 (PIT) FME type, FLE type Refer to specification PIT/Resolution µ (Futaba) manual for each detector MP type (Mitsubishi Heavy Refer to specification PIT/Resolution µ Industries) manual for each detector Twice as big as µ AT342 (Mitsutoyo) 0.5 (...
  • Page 108 Setting impossible OHE25K-ET, OSE104-ET Setting impossible OHA25K-ET, OSA104-ET Setting impossible OSE105-ET, OSA105-ET Setting impossible Relative position detection scale, MP type Setting impossible (Mitsubishi Heavy Industries) AT41 (Mitsutoyo), FME type, FLE type SV025 MTYP* Motor/Detector type Setting impossible (Futaba) Setting impossible AT342 (Mitsutoyo)
  • Page 109 3. Setup (3) Setting the power supply type Set the drive unit connected to the power supply unit with the CN4 connector. This does not need to be set if the power supply for the axis is not connected with the CN4 connector. (Set "0000".) If the power supply unit is connected with the spindle drive unit, the parameters do not need to be set on the servo side.

  • Page 110: Limitations To Electronic Gear Setting Value

    3. Setup 3-3-2 Limitations to electronic gear setting value The servo drive unit has internal electronic gears. The command value from the NC is converted into a detector resolution unit to carry out position control. The electronic gears are single gear ratios calculated from multiple parameters as shown below.

  • Page 111: List Of Standard Parameters For Each Servomotor

    3. Setup 3-3-3 List of standard parameters for each servomotor HC series (Standard 2000 r/min rating) Standard specifications Motor Standard HC motor 2000 r/min rating Parameter HC52 HC102 HC152 HC202 HC352 HC452 HC702 HC902 Abbrev. Details Unit capacity SV001 Motor side gear ratio SV002 Machine side gear ratio SV003...
  • Page 112 3. Setup (2) HC series (Standard 3000 r/min rating) Standard specifications Motor Standard HC motor 3000 r/min rating Parameter HC53 HC103 HC153 HC203 HC353 HC453 HC703 Abbrev. Details Unit capacity SV001 Motor side gear ratio SV002 Machine side gear ratio SV003 PGN1 Position loop gain 1...
  • Page 113 3. Setup (3) HC series (Low-inertia) Standard specifications Motor Low-inertia HC motor Parameter HC103R HC153R HC203R HC353R HC503R Abbrev. Details Unit capacity SV001 Motor side gear ratio SV002 Machine side gear ratio SV003 PGN1 Position loop gain 1 SV004 PGN2 Position loop gain 2 SV005 VGN1...
  • Page 114 3. Setup (4) HA series (Standard 2000 r/min rating) Standard specifications Motor Standard HA motor 2000 r/min rating Parameter HA40N HA80N HA100N HA200N HA300N HA700N HA900N Abbrev. Details Unit capacity SV001 Motor side gear ratio SV002 Machine side gear ratio SV003 PGN1 Position loop gain 1...
  • Page 115 3. Setup (5) HA series (Standard 3000 r/min rating) Standard specifications Motor Standard HA motor 3000 r/min rating Parameter HA43N HA83N HA93N HA103N HA203N HA303N HA703N Abbrev. Details Unit capacity SV001 Motor side gear ratio SV002 Machine side gear ratio SV003 PGN1 Position loop gain 1...
  • Page 116 3. Setup (6) HA series (Low-inertia 2000 r/min rating) Standard specifications Motor Low-inertia HA motor 2000 r/min rating Parameter HA50L HA100L HA150L HA200L HA300L HA500L HA-LH11K2 HA-LH15K2 Abbrev. Details Unit capacity SV001 Motor side gear ratio SV002 Machine side gear ratio SV003 PGN1 Position loop gain 1...
  • Page 117 3. Setup (7) HA series (Small capacity, Low-inertia 3000 r/min rating) Standard specifications Motor Small capacity HA motor Low-inertia HA motor 3000 r/min rating Parameter HA053A HA13N HA23N HA33N HA53L HA103L HA153L HA203L HA303L HA503L Abbrev. Details Unit capacity SV001 Motor side gear ratio SV002 Machine side gear ratio...

  • Page 118: Servo Parameter List

    3. Setup 3-3-4 Servo parameter list Standard specifications Setting Abbrev. Parameter name Explanation range (Unit) Set the motor side and machine side gear ratio. Motor side gear SV001 PC1* 1 to 32767 For the rotary axis, set the total deceleration (acceleration) ratio. ratio Even if the gear ratio is within the setting range, the electronic gears may Machine side gear...
  • Page 119 3. Setup Standard specifications Setting Abbrev. Parameter name Explanation range (Unit) Set the normal current (torque) limit value. (Limit values for both + and - 0 to 999 direction.) (Stall SV013 ILMT Current limit value When the value is “500” (a standard setting), the maximum torque is [rated] determined by the specification of the motor.
  • Page 120 3. Setup Standard specifications Setting Abbrev. Parameter name Explanation range (Unit) mpt mp abs vdir fdir spwvseqh dfbx fdir2 Meaning when “0” is set Meaning when “1” is set fdir2 Speed feedback forward polarity Speed feedback reverse polarity dfbx Dual feedback control stop Dual feedback control start Normal ready ON/servo ON time High-speed ready ON/servo ON seqh...
  • Page 121 AT41 (Mitsutoyo) m/p) SV018 (PIT) FME type, FLE type Refer to specification PIT/Resolution µ (Futaba) manual for each detector MP type (Mitsubishi Refer to specification PIT/Resolution µ Heavy Industries) manual for each detector Twice as big as µ AT342 (Mitsutoyo) 0.5 (...
  • Page 122 3. Setup Standard specifications Abbrev. Parameter name Explanation mtyp Explanation Set the motor type. Setting HA40N HA50L HA53L mtyp HA80N HA100L HA103L HA100N HA200L HA203L HA200N HA300L HA303L HA300N HA500L HA503L HA700N HA900N HA-LH11K2 HA-LH15K2 HA150L HA153L Setting HA43N HC52 HA83N HC102 HC103...
  • Page 123 Setting impossible OSE105-ET, OSA105-ET SV025 MTYP* Motor/Detector type Setting impossible Relative position detection scale, MP type Setting impossible (Mitsubishi Heavy Industries) AT41 (Mitsutoyo), FME type, FLE type Setting impossible (Futaba) Setting impossible AT342 (Mitsutoyo) Setting impossible The setting of the slave axis in the speed/current (Current synchronization control.
  • Page 124 3. Setup Standard specifications Setting range Abbrev. Parameter name Explanation (Unit) aflt zrn2 afse zrn3 vfct vcnt Meaning when “0” is set Meaning when “1” is set Set the execution changeover type of the speed loop delay compensation. vcnt 00: Delay compensation changeover invalid 10: Delay compensation type 2 01: Delay compensation changeover type 1 11: Setting prohibited...
  • Page 125 3. Setup Standard specifications Setting range Abbrev. Parameter name Explanation (Unit) Set this if overshooting occurs during positioning. This compensates the motor torque during positioning. This is valid only when the overshooting compensation SV027 (SSF1/ovs) is selected. Type 1: When SV027 (SSF1)/ bitB, A (ovs)=01 Set the compensation amount based on the motor’s stall current.
  • Page 126 3. Setup Standard specifications Setting range Abbrev. Parameter name Explanation (Unit) ovsn os2 zeg has2 has1 Meaning when “0” is set Meaning when “1” is set Setting for normal use. HAS control 1 valid 0 has1 (Except for HC) (HC: High acceleration rate support) Setting for normal use.
  • Page 127 3. Setup Standard specifications Setting range Abbrev. Parameter name Explanation (Unit) rtyp ptyp Explanation When the CN4 connector of the drive unit and the power supply are connected, setting below is necessary. To validate the external emergency stop function, add 40h. Setting 6x 7x ptyp...
  • Page 128 3. Setup Standard specifications Setting range Abbrev. Parameter name Explanation (Unit) For SV040, the hex. value’s higher order 8bits and lower order 8bits are used for different functions. “Setting value of SV040” = (Icy*256) + LMCT Setting range Parameter name Explanation Abbrev.
  • Page 129 3. Setup Standard specifications Setting range Abbrev. Parameter name Explanation (Unit) Set the control time constant in dual feed back. Dual feed back When “0” is set, the actual value that is set is 1msec. 0 to 9999 SV051 DFBT The higher the time constant is, the closer it gets to the semi-closed control, control time constant (ms)

  • Page 130: Setting The Initial Parameters For The Spindle Drive Unit

    3. Setup Setting the initial parameters for the spindle drive unit The spindle specification parameters and spindle parameters must be set before the spindle system can be started up. The spindle related parameters are input from the NC. The input method differs according to the NC being used, so refer to each NC Instruction Manual.
  • Page 131 3. Setup <Relation of spindle limit rotation speed and spindle maximum rotation speed> The spindle rotation speed which can be attained at the spindle motor's maximum rotation speed is set for the limit rotation speed (slimt). This value is obtained by multiplying the gear ratio on the spindle motor maximum rotation speed (SP017).
  • Page 132 3. Setup M60S Setting range Series Abbrev. Parameter name Details (Unit) Orientation Set the spindle orientation rotation speed. 0 to 32767 3021 sori rotation speed Set the rotation speed for when the spindle rotates at the constant (r/min) rotation speed. Encoder gear ratio Set the gear ratio of the spindle to the encoder.
  • Page 133 3. Setup M60S Setting range Series Abbrev. Parameter name Details (Unit) 3037 taps 21 Synchronous tap Set the spindle rotation speed at which the step-2 0 to 99999 3038 switching spindle acceleration/deceleration time constant is to be switched at gear 00, 01, (r/min) 3039 speed 2...
  • Page 134 3. Setup M60S Setting range Series Abbrev. Parameter name Details (Unit) Spindle synchro- Set the spindle speed for changing the 6th step's 0 to 99999 nization multi-step acceleration/deceleration time constant. (r/min) acceleration/ 3059 sptc6 deceleration changeover speed 6 Spindle synchro- Set the spindle speed for changing the 7th step's 0 to 99999 nization multi-step...

  • Page 135: List Of Spindle Parameters

    3. Setup 3-4-2 List of spindle parameters These parameters are sent to the spindle drive unit when the NC power is turned ON. The standard parameters are designated with the "Spindle parameter setting list" enclosed when the spindle motor is delivered.
  • Page 136 3. Setup Setting range Standard Abbr. Parameter name Details (Unit) setting 1 to 32767 SP017 TSP* Maximum motor speed Set the maximum spindle motor speed. 6000 (r/min) Set the motor speed for which zero-speed output is 1 to 1000 SP018 ZSP* Motor zero speed performed.
  • Page 137 Default motor: Main Default motor: Sub sftk Without SF-TK card With SF-TK card 6 pyoff This is used by Mitsubishi. Set to "0" unless particularly designated. pyst 8 pychg High-speed rate deceleration 9 pycal (Conventional specifications) method valid for minimum excitation...
  • Page 138 Meaning when set to 1 Standard SP033 SFNC1* Spindle function 1 This is used by Mitsubishi. Set to "0" unless particularly designated. ront Normal ready ON High-speed ready ON This is used by Mitsubishi. Set to "0" unless particularly designated.
  • Page 139 3. Setup Abbr. Parameter name Details <For MDS-C1-SP/SPH/SPX/SPHX> mkc2 mkch invm mtsl Meaning when set to 0 Meaning when set to 1 Standard mtsl Special motor constant invalid Special motor constant setting valid A general-purpose motor FV control A general-purpose motor FV control 1 invm invalid valid...
  • Page 140 3. Setup Abbr. Parameter name Details <For MDS-C1-SP/SPH/SPX/SPHX> lbsd hbsd lwid hwid Meaning when set to 0 Meaning when set to 1 Standard H-coil wide-range constant output H-coil wide-range constant output hwid invalid valid L-coil wide-range constant output L-coil wide-range constant output lwid invalid valid...
  • Page 141 3. Setup Abbr. Parameter name Details <For MDS-C1-SP> dslm dssm enc2 enc1 mag2 mag1 plg2 plg1 Meaning when set to 0 Meaning when set to 1 Standard plg1 PLG of motor 1 valid PLG of motor 1 invalid plg2 PLG of motor 2 valid PLG of motor 2 invalid 2 mag1 MAG of motor 1 valid MAG of motor 1 invalid...
  • Page 142 This is used by Mitsubishi. Set to "0" unless particularly designated. splg (Note 1) For bit0 to 2, do not set two bits or more to "1" at the same time. (Note 2) Set 0 if there is no particular explanation for the bit.
  • Page 143 3. Setup Abbr. Parameter name Details <For MDS-C1-SPM> nsno nosg plgo enco Meaning when set to 0 Meaning when set to 1 Standard 0 enco Encoder orientation invalid Encoder orientation valid plgo PLG orientation invalid PLG orientation valid SP037 SFNC5* Spindle function 5 No-signal detection type Monitoring only in position loop or 8 nosg...
  • Page 144 (Follows SP038-bitC setting) output pl80 MHE90K detector's 180 wave PLG 180 wave PLG other than MHE90K A lmnp This is used by Mitsubishi. Set to "0" unless particularly designated. Dual cushion during acceleration/ Dual cushion during acceleration/ B dcsn...
  • Page 145 This is used by Mitsubishi. Set to "0" unless particularly designated. orm Orientation start memo invalid Orientation start memo valid vfbs This is used by Mitsubishi. Set to "0" unless particularly designated. Set output 2 to 2nd speed detection sdt2 (Follows SP038.bitC setting)
  • Page 146 3. Setup Setting range Standard Abbr. Parameter name Details (Unit) setting Set the spindle drive unit's capacity type. HEX setting Setting Unit capacity Setting Unit capacity 0000 0010 SP-550 0001 SP-075 0011 0002 SP-15 0012 0003 SP-22 0013 0004 SP-37 0014 0005 SP-55...
  • Page 147 Always set to “0”. <For MDS-C1-SP/SPH/SPM> This parameter is used to set the C-axis detector range. Set "0" for this parameter. "2" is used by Mitsubishi for testing. SP042 CRNG* C-axis detector range 0 to 8 <For MDS-C1-SPX/SPHX> Set the number of pulses for the spindle end PLG.
  • Page 148 3. Setup Setting range Standard Abbr. Parameter name Details (Unit) setting Set the cycle to add the increment values in the dual cushion process. SP045 CSNT Dual cushion timer When this setting value is increased, the dual cushion will 0 to 1000 (ms) increase, and the changes in the speed during acceleration/deceleration will become gradual.
  • Page 149 Note that a value of 100Hz or more is set. Set to "0" when not used. SP071 VR2WA* Fixed control constant Set by Mitsubishi. Set "0" unless designated in particular. SP072 VR2WB* Fixed control constant Set by Mitsubishi. Set "0" unless designated in particular.
  • Page 150 SP077 TDSL* Fixed control constant Set "14" unless designated in particular. SP078 FPWM* Fixed control constant Set by Mitsubishi. Set "0" unless designated in particular. 0 to 1 SP079 ILMT* Fixed control constant Set by Mitsubishi. Set "0" unless designated in particular.
  • Page 151 Speed gain *1/8 during torque limit Speed gain *1/8 during torque limit 7 vg8x valid invalid zdir This is used by Mitsubishi. Set to "0" unless particularly designated. ips2 2nd in-position invalid 2nd in-position valid Gain changeover during orientation Gain changeover during orientation...
  • Page 152 SP117 ORUT Fixed control constant Set by Mitsubishi. Set "0" unless designated in particular. Parameters with an asterisk * in the abbreviation, such as OSP*, are validated with the NC power turned ON again. 3 - 73...
  • Page 153 3. Setup Setting range Standard Abbr. Parameter name Details (Unit) setting Set the number of times to retry when an orientation or feedback error occurs. Number of orientation 0 to 100 SP118 ORCT The warning (A9) is issued while retrying orientation, and retry times (time) an alarm (5C) is issued when the set number of times is...
  • Page 154 Z-phase type: Normal start up Z-phase type: Start up only zdir Z-phase rising polarity (+) Z-phase rising polarity (–) B zrn2 This is used by Mitsubishi. Set to "0" unless particularly designated. zrtd Speed feedback D fb9x Speed feedback, Standard (PLG) 90,000 pulse detector...
  • Page 155 3. Setup Setting range Standard Abbr. Parameter name Details (Unit) setting First position loop gain Set the position loop gain when the first gain is selected 1 to 100 SP130 PGC1 for cutting control on for C axis cutting. (rad/s) C-axis Second position loop Set the position loop gain when the second gain is...
  • Page 156 3. Setup Setting range Standard Abbr. Parameter name Details (Unit) setting This parameter is valid when SP129 (SPECC) bitE is set to "0". Set the deceleration rate where the machine starts to C-axis control zero point SP150 CPDT decelerate when it returns to the target stop point during 1 to 10000 return deceleration point C-axis zero point return.
  • Page 157 3. Setup Setting range Standard Abbr. Parameter name Details (Unit) setting SP171 Not used. Set "0". SP172 Not used. Set "0". SP173 Not used. Set "0". SP174 Not used. Set "0". SP175 Not used. Set "0". SP176 Not used. Set "0". <For MDS-C1-SP/SPH/SPX/SPHX>...
  • Page 158 3. Setup Setting range Standard Abbr. Parameter name Details (Unit) setting Spindle synchronous Set the speed loop proportional gain in spindle SP178 VGSP* control speed loop gain 0 to 1000 synchronous control mode. proportional term Spindle synchronous Set the speed loop integral gain in spindle synchronous SP179 VGSI* control speed loop gain...
  • Page 159 3. Setup Setting range Standard Abbr. Parameter name Details (Unit) setting <For MDS-C1-SP/SPH/SPX/SPHX> zrtn ptyp od8x phos fdir cdir pyfx rtrn adin fclx Meaning when set to 0 Meaning when set to 1 Standard fclx Closed loop Semi-closed loop (Gear 1 : 1 only) Interpolation A/D compensation Interpolation A/D compensation adin...
  • Page 160 When this parameter is set to "0", PI control is applied. term SP197 Fixed control constant Set by Mitsubishi. Set "0" unless designated in particular. Synchronized tapping Set the magnification of speed loop proportional gain with control respect to SP194 (VGTP) at the maximum motor speed...
  • Page 161 3. Setup Setting range Standard Abbr. Parameter name Details (Unit) setting This parameter is valid when SP193 (SPECT) bit E is set Synchronized tapping to "0". 0 to 500 SP214 TZRN control Set the zero point return speed used when the speed loop (r/min) zero point return speed changes to the position loop.
  • Page 162 OBS2* Set the gain for the disturbance observer. 0 to 500 (%) gain SP236 OBS3 Fixed control constant Set by Mitsubishi. Set "0" unless designated in particular. SP237 Not used. Set "0". SP238 Not used. Set "0". SP239 Not used. Set "0".
  • Page 163 3. Setup Setting range Standard Abbr. Parameter name Details (Unit) setting Set the output data number for channel 2 of the D/A D/A output channel 2 -32768 to SP254 DA2NO output function. data number 32767 When set to "0", the output is speedometer. Set the data magnification for channel 1 of the D/A output function.

  • Page 164: Initial Adjustment Of The Spindle Plg

    (1) Checking the gap 3-5-1 Adjusting the PLG installation The PLG (spindle motor speed detector) mounted on the Mitsubishi framed spindle motor is shipped from Mitsubishi (2) Adjusting the gap in the adjusted state. If there are no particular problems, carry...
  • Page 165 3. Setup (2) Adjusting the gap Confirm that the detection gears are not rotating. The sensor could be damaged if the gap is adjusted while the gears are rotating. Loosen the sensor fixing screw with the sensor fixed on the sensor installation seat. Using a clearance gauge, adjust so that the gap between the sensor detection surface and the detection gears' circumference is 0.15±0.01mm.
  • Page 166 3. Setup (4) Adjusting the A phase and B phase output signal Set the drive unit in the open loop operation state. (Set the spindle parameter SP038. bit F to "1" and turn the NC power ON again.) There are cases when sudden speed changes cannot be followed during open loop operation, so gradually change the speed command.
  • Page 167 3. Setup (5) Confirming the Z phase pulse width Check the output signal waveform by measuring the signals of the check terminals on the PCB with the DC range of the synchroscope. A phase output signal..Across A-G Z phase output signal..Across Z-G The output signal waveform is confirmed during motor forward run and reverse run.
  • Page 168 3. Setup (7) Checking the Z phase and A phase difference Check the output signal waveform by measuring the signals of the check terminals on the PCB with the DC range of the synchroscope. A phase output signal..Across A-G Z phase output signal..

  • Page 169: Z Phase Automatic Adjustment

    3. Setup Always carry out the initial automatic adjustment when starting the spindle system up for the first time or when the spindle drive unit has been replaced. 1) MDS-C1-SPM : "3-5-2 Z-phase automatic adjustment" + "3-5-3 Motor end PLG automatic adjustment"...

  • Page 170: Motor End Plg Automatic Adjustment

    3. Setup 3-5-3 Motor end PLG automatic adjustment Motor end PLG automatic adjustment is a function that automatically adjusts the gain and offset of the spindle motor built-in PLG's A and B phase sine wave signals which are input into the spindle drive unit. The adjustment data is saved in the drive unit, and is used to control the motor the next time the power is turned ON.

  • Page 171: Spindle End Plg Automatic Adjustment

    3. Setup 3-5-4 Spindle end PLG automatic adjustment Spindle end PLG automatic adjustment is a function that automatically adjusts the gain and offset of the A and B phase sine wave signals of the spindle end PLG used for C axis control which are input into the detector converter (MDS-B-PJEX) used in the MDS-C1- SPX/SPHX unit.
  • Page 172 4. Servo Adjustment D/A output specifications for servo drive unit............... 4-1-1 D/A output specifications ..................4-1-2 Output data settings ....................4-1-3 Setting the output magnification................Gain adjustment ......................4-2-1 Current loop gain....................4-2-2 Speed loop gain..................... 4-2-3 Position loop gain ....................Characteristics improvement ..................

  • Page 173: D/A Output Specifications For Servo Drive Unit

    4. Servo Adjustment "Chapter 4 Servo adjustment" explains the methods when controlling with the CAUTION high-gain specifications. D/A output specifications for servo drive unit The MDS-C1-V1/V2 servo drive unit has a function to D/A output the various control data. The servo adjustment data required for setting the servo parameters to match the machine can be D/A output.

  • Page 174: Output Data Settings

    4. Servo Adjustment 4-1-2 Output data settings Abbrev. Parameter name Explanation SV061 DA1NO D/A output channel 1 data No. Input the No. of the data to be output to each D/A output channel. SV062 DA2NO D/A output channel 2 data No. Output magnification Output unit for standard Output...

  • Page 175: Gain Adjustment

    4. Servo Adjustment Gain adjustment 4-2-1 Current loop gain Abbrev. Parameter name Explanation Setting range Set the gain of current loop. SV009 Current loop q axis lead 1 to 20480 As this setting is determined by the motor’s electrical compensation characteristics, the setting is fixed for each type of motor.
  • Page 176 4. Servo Adjustment Abbrev. Parameter name Explanation Setting range Set the speed loop gain. SV005 VGN1 Speed loop gain 1 1 to 999 Set this according to the load inertia size. The higher the setting value is, the more accurate the control will be, however, vibration tends to occur.

  • Page 177: Position Loop Gain

    4. Servo Adjustment If there are no vibration or overshooting problems, the high-speed contour cutting precision can be further improved by setting the VIA higher than the standard value. In this case, adjust by raising the VIA in increments of 100 from the standard value. Setting a higher VIA improves the trackability regarding position commands in machines for which cycle time is important, and the time to when the position droop converges on the in-position width is shortened.
  • Page 178 4. Servo Adjustment (2) Setting the position loop gain for spindle synchronous control During spindle synchronous control (synchronous tapping control, etc.), there are three sets of position loop gain parameters besides the normal control. Abbrev. Parameter name Explanation Setting range SV049 PGN1sp Position loop gain 1 Set 15 as a standard.

  • Page 179: Position Loop Gain 1

    4. Servo Adjustment During SHG control even if the PGN1 setting value is the same, the actual position loop gain will be higher, so the speed loop must have a sufficient response. If the speed loop response is low, vibration or overshooting could occur during acceleration/deceleration in the same manner as conventional control.

  • Page 180: Characteristics Improvement

    4. Servo Adjustment Characteristics improvement 4-3-1 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 181 4. Servo Adjustment (3) Adjusting the in-position width Because there is a response delay in the servomotor drive due to position loop control, a "settling time" is also required for the motor to actually stop after the command speed from the CNC reaches The movement command in the next block is generally started after it is confirmed that the machine has entered the "in-position width"...

  • Page 182: Vibration Suppression Measures

    4. Servo Adjustment 4-3-2 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 "4-2-2 Speed loop gain".) Thus, try to maintain the VGN1 as high as possible, and suppress the vibration using the vibration suppression functions.
  • Page 183 4. Servo Adjustment (2) Jitter compensation (Vibration control when motor is stopped.) The load inertia becomes much smaller than usual if the motor position enters the machine backlash when the motor is stopped. Because this means that an extremely large VGN1 is set for the load inertia, vibration may occur.
  • Page 184 4. Servo Adjustment (4) Variable speed loop gain If vibration occurs when the motor is rotating at a high speed, such during rapid traverse, or if disturbing noise occurs, the state can be improved by lowering the speed loop gain during high-speed rotation.

  • Page 185: Improving The Cutting Surface Precision

    4. Servo Adjustment 4-3-3 Improving the cutting surface precision If the cutting surface precision or roundness is poor, these can be improved by increasing the speed loop gain (VGN1, VIA) or by using the disturbance observer function. <Examples of faults> •...
  • Page 186 4. Servo Adjustment (3) 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 187 4. Servo Adjustment (4) Voltage non-sensitive zone (Td) compensation With the PWM control of the inverter circuit, a dead time (non-energized time) is set to prevent short-circuits caused by simultaneous energizing of the P side and N side transistors having the same phase.

  • Page 188: Improvement Of Characteristics During Acceleration/Deceleration

    4. Servo Adjustment 4-3-4 Improvement of characteristics during acceleration/deceleration (1) SHG control (option function) Because SHG control has a smoother response during acceleration/deceleration than conventional position controls, the acceleration/deceleration torque (current FB) has more ideal output characteristics (A constant torque is output during acceleration/deceleration.) The peak torque is kept low by the same acceleration/deceleration time constant, enabling the time constant to be shortened.
  • Page 189 4. Servo Adjustment (2) Acceleration feed forward Vibration may occur at 10 to 20 Hz during acceleration/deceleration when a short time constant of 30 ms or less is applied, and a position loop gain (PGN1) higher than the general standard value or SHG control is used.
  • Page 190 4. Servo Adjustment (3) Inductive voltage compensation The current loop response is improved by compensating the back electromotive force element induced by the motor rotation. This improved the current command efficiency, and allows the acceleration/deceleration time constant to the shortened. <Adjustment method>...

  • Page 191: Improvement Of Protrusion At Quadrant Changeover

    4. Servo Adjustment 4-3-5 Improvement of protrusion at quadrant changeover The response delay (caused by dead band from friction, torsion, expansion/contraction, backlash, etc.) caused when the machine advance direction reverses is compensated with the lost motion compensation (LMC compensation) function. With this, the protrusions that occur at the quadrant changeover in the DBB measurement method, or the streaks that occur when the quadrant changes during circular cutting can be improved.
  • Page 192 4. Servo 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 torque compensation". Next, measure the frictional torque. Carry out reciprocation operation (approx. F1000) with the axis to be compensated and measure the load current % when fed at a constant speed on the NC servo monitor screen.
  • Page 193 4. Servo 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 (SV032 (TOF)) is set to carry out accurate lost motion compensation. <Setting method>...
  • Page 194 4. Servo Adjustment (3) Adjusting the lost motion compensation timing If the speed loop gain has been lowered from the standard setting value because the machine rigidity is low or because machine resonance occurs easily, or when cutting at high speeds, the quadrant protrusion may appear later than the quadrant changeover point on the servo control.
  • Page 195 4. Servo Adjustment (4) Adjusting for feed forward control In LMC compensation, a model position considering the position loop gain is calculated based on the position command sent from the CNC, and compensation is carried out when the feed changes to that direction.

  • Page 196: Improvement Of Overshooting

    4. Servo Adjustment 4-3-6 Improvement of overshooting The phenomenon when the machine position goes past or exceeds the command during feed stopping is called overshooting. Overshooting is compensated by overshooting compensation (OVS compensation). Overshooting occurs due to the following two causes. <1>...
  • Page 197 4. Servo Adjustment (2) Adjusting for feed forward control When using feed forward control (high-speed high-accuracy control), the feed forward control must be stopped (fwd_g =0) before adjusting the overshooting compensation. After adjusting the overshooting compensation with normal control, set the overshooting compensation non-sensitive zone (SV034 (SSF3)/bitC to F (ovsn) to 1 (2µm) and start up feed forward control.
  • Page 198 4. Servo Adjustment 4-3-7 Improvement of the interpolation control path (4) Tool end compensation The tool end compensation function compensates the shape of the tool end during high-speed and high-speed acceleration/deceleration. The spring effect from the tool (spindle) end to the motor (scale) end is compensated.
  • Page 199 4. Servo Adjustment <Adjustment methods> 1. Confirm that the motor end circle accuracy measured with the NC sampling function is appropriate. 2. In this state, measure the tool end low-speed and high-speed circle path without tool end compensation. The difference of the high-speed circle path and low-speed circle path is the amount that path has swelled due to the spring effect of the machine system.

  • Page 200: Adjustment During Full Closed Loop Control

    4. Servo Adjustment Adjustment during full closed loop control 4-4-1 Outline (1) Full closed loop control The servo control is all closed loop control using the detector's feedback. "Full closed loop control" is the system that directly detects the machine position using a linear scale, whereas the general "semi-closed loop"...

  • Page 201: Speed Loop Delay Compensation

    4. Servo Adjustment 4-4-2 Speed loop delay compensation Generally, the tool end position follows the operation later than the motor end position. With full closed loop position loop control, the tool end position is used for position feedback, so the motor end position could advance too far and cause the tool end position to overshoot easily.

  • Page 202: Dual Feedback Control (Optional Function)

    4. Servo Adjustment 4-4-3 Dual feedback control (Optional function) If the motor and machine coupling or machine system's rigidity is low (ex. large machine, etc.) when using a closed loop system, the response during acceleration/deceleration will vibrate and cause overshooting. This can cause the position loop gain from increasing. The dual feedback function is effective in this case.
  • Page 203 4. Servo Adjustment <Adjustment method> 1. Set the servo specifications (SV017: SPEC) bit1 to 1, and turn the NC power ON again. 2. Measure the position droop overshooting while increasing the dual feedback control time constant (SV051: DFBT) in increments of 5ms. Adjust to the time constant where overshooting does not occur.

  • Page 204: Settings For Emergency Stop

    4. Servo Adjustment Settings for emergency stop Emergency stop in this section refers to the following states. 1) Emergency stop was input (including other axis alarms) 2) NC power down was detected 3) A servo alarm was detected 4-5-1 Deceleration control With the MDS-C1-V1/V2 servo drive unit, if the deceleration stop function is validated, the motor will decelerate following the set time constant while maintaining the READY ON state.
  • Page 205 4. Servo Adjustment Abbrev. Parameter name Explanation Setting range EMGx Max. gate off delay Set a length of time from the point when the emergency stop is input to SV055 0 to 20000 time after the point when READY OFF is compulsorily executed. (ms) emergency stop Normally, set the same value as the absolute value of SV056.

  • Page 206: Vertical Axis Drop Prevention Control

    4. Servo Adjustment 4-5-2 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 no-control time until the brakes activate can be eliminated by delaying the servo READY OFF state by the time set in the parameters when an emergency stop occurs.
  • Page 207 4. Servo Adjustment Abbrev. Parameter name Explanation Setting range Input a length of time to prevent the vertical axis from dropping by SV048 EMGrt Vertical axis drop 0 to 20000 delaying Ready OFF until the brake works when the emergency stop prevention time (ms) occurs.

  • Page 208: Collision Detection

    4. Servo Adjustment Collision detection Collision detection quickly detects a collision of the motor shaft, and decelerates and stops the motor. This suppresses the generation of an excessive torque in the machine tool, and helps to prevent an abnormal state from occurring. Impact at a collision will not be prevented by using this collision detection function, so this function does not necessarily guarantee that the machine tool will not be damaged or that the machine accuracy will be maintained after a collision.
  • Page 209 4. Servo Adjustment (2) Collision detection method 2 When the current command reaches the motor's maximum current, the motor will decelerate and stop at a torque 80% (standard value) of the motor's maximum torque. After decelerating to a stop, alarm 5A will occur, and the system will stop. If the acceleration/deceleration time constant is short and incorrect detections easily occur during normal operation, lengthen the acceleration/ deceleration time constant and adjust so that the current is not saturated (does not reach the maximum current) during acceleration.
  • Page 210 4. Servo Adjustment Abbrev. Parameter name Explanation Setting range Set the unbalance torque of vertical axis and inclined axis. -100 to 100 SV032 Torque offset (Stall current %) SV035 SSF4 Servo function selection 4 clG1 cl2n clet cltq ckab Meaning when "0" is set Meaning when "1"...
  • Page 211 5. Spindle Adjustment D/A output specifications for spindle drive unit............5-1-1 D/A output specifications ..................5-1-2 Setting the output data ..................5-1-3 Setting the output magnification................Spindle control signal ....................5-2-1 Spindle control input (NC to SP) ................5-2-2 Spindle control output ................

  • Page 212: D/A Output Specifications For Spindle Drive Unit

    5. Spindle Adjustment D/A output specifications for spindle drive unit The MDS-C1-SP/SPH/SPX/SPHX/SPM spindle drive unit has a function to D/A output each control data. The spindle adjustment data required to set the spindle parameters matching the machine can be D/A output. The data can be measured with a hi-corder or oscilloscope, etc. 5-1-1 D/A output specifications Item...

  • Page 213: Setting The Output Magnification

    5. Spindle Adjustment 5-1-3 Setting the output magnification (1) Meter output (Data No. 0) With meter output, the output channel is fixed, and the output voltage range is 0 to 10V in the positive range. Set the magnification with the following parameters. Abbr.

  • Page 214: Spindle Control Signal

    5. Spindle Adjustment Spindle control signal The sequence input/output signals exchanged between the NC and spindle drive unit are explained in this section. The status of each signal is displayed on the NC SPINDLE MONITOR screen. 5-2-1 Spindle control input (NC to SP) (1) Spindle control input 1 Name Details...
  • Page 215 5. Spindle Adjustment bit8. Torque limit 1 (TL1) bit9. Torque limit 2 (TL2) bitA. Torque limit 3 (TL3) This signal is used to temporarily reduce the spindle motor's output torque such as when clamping the spindle motor on the machine side. The torque limit is designated in percentage using the motor's short-time rating as 100%.
  • Page 216 5. Spindle Adjustment (3) Spindle control input 3 Name Details Spindle control input 3 LCS ORC WRI WRN SRI SRN GR2 GR1 SC5 SC4 SC3 SC2 SC1 Details Spindle control mode selection command 1 Spindle control mode selection command 2 Spindle control mode selection command 3 Spindle control mode selection command 4 Spindle control mode selection command 5...
  • Page 217 5. Spindle Adjustment bit8. Forward run start command (SRN) This is an operation command. The speed command must also be designated to rotate the motor. If the orientation command is input, the orientation operation will have the priority. Spindle motor rotation direction Explanation The motor rotates in the counterclockwise direction (CCW) 1 (ON)
  • Page 218 5. Spindle Adjustment (4) Spindle control input 4 Name Details Spindle control input 4 TLUP Details Spindle holding force up TLUP bit5. Spindle holding force up (TLUP) The disturbance observer (SP233, SP234, SP235) starts, and the servo rigidity increases. 5 - 8...

  • Page 219: Spindle Control Output

    5. Spindle Adjustment 5-2-2 Spindle control output (SP to NC) (1) Spindle control output 1 Name Details Spindle control output 1 INP ZFIN SON RON TL3A TL2A TL1A PRMA Details In READY ON In servo ON In drive unit warning PRMA In parameter conversion In drive unit alarm...
  • Page 220 5. Spindle Adjustment bitE. In position loop in-position (INP) During position loop control, this signal turns ON if the position droop drops below the value set with SP153 (CINP) during C-axis control, SP185 (SINP) during spindle synchronous control, and SP217 (TINP) during synchronous tap control. bitF.
  • Page 221 5. Spindle Adjustment (3) Spindle control output 3 Name Details Spindle control output 3 LCSA WRIA SRIA GR2A GR1A SC5A SC4A SC3A SC2A SC1A ORCA WRNA SRNA Details SC1A Inputting spindle control mode selection command 1 signal Inputting spindle control mode selection command 2 signal SC2A Inputting spindle control mode selection command 3 signal SC3A...
  • Page 222 5. Spindle Adjustment (4) Spindle control output 4 Name Details Spindle control output 4 TLUA SYSA WRCF ORCF Details Current detection Speed detection 1 Up-to-speed Zero speed Orientation complete ORCF Synchronous speed match SYSA Changing coil WRCF Index positioning completed Speed detection 2 In automatic adjustment (only for MDS-C1-SPM) TLUA...
  • Page 223 5. Spindle Adjustment bit2. Up-to-speed (US) This signal turns ON when the start command signal (forward run, reverse run) is ON, and the motor speed has reached a range of ±15% (standard value) of the speed command value. This signal turns OFF when the start command signal turns OFF. The up-to-speed output range can be set with the parameter SP048 (SUT).
  • Page 224 5. Spindle Adjustment bit5. Synchronous speed match (SYSA) This signal turns ON during spindle synchronous control, when the mode can be changed from the speed operation mode to the spindle synchronous operation mode. bit6. Changing coil (MKC) When using the coil changeover motor, this signal turns ON for the time set in parameter SP059 (MKT) when the L coil selection command is turned ON or OFF.

  • Page 225: Adjustment Procedures For Each Control

    5. Spindle Adjustment Adjustment procedures for each control 5-3-1 Basic adjustments (1) Items to check during trial operation 1) Directly couple the motor and machine, and check the control status during machine run-in. 2) Check that the command speed and actual speed match. If the speeds do not match, check spindle parameters again.

  • Page 226: Adjusting The Acceleration/Deceleration Operation

    5. Spindle Adjustment 5-3-2 Adjusting the acceleration/deceleration operation (1) Calculating the theoretical acceleration/deceleration time Constant output range The theoretical acceleration/deceleration time is calculated for each output range based on the spindle motor output Constant Deceleration characteristics as shown on the right. Note that the load output range range torque (mainly frictional torque) is assumed to be 0 in this...
  • Page 227 5. Spindle Adjustment (2) Adjusting the acceleration/deceleration time Measure the acceleration/deceleration waveform using the spindle drive unit's D/A output function, and confirm that it is within ±15% of the theoretical acceleration/deceleration time. Refer to "5-1 Spindle drive unit D/A output specifications" for details on the D/A output function. 1) When acceleration/deceleration times do not match theoretical values (Error is 15% or more) •...
  • Page 228 5. Spindle Adjustment (3) Adjusting the variable current loop gain In most cases, problems will not occur when the default value is used. This loop gain must be adjusted if fine vibration occurs while the spindle motor is rotating at a high speed. Adjust the current loop gain at the high-speed range, so that the output current to the spindle motor is stable.

  • Page 229: Adjusting The Orientation Control

    5. Spindle Adjustment 5-3-3 Adjusting the orientation control (1) Confirming the default parameters Set the default parameters for each detector used in orientation control. 1) Motor PLG Motor PLG orientation is possible only when the spindle and motor are coupled, or when they are coupled 1:1 with gears (timing belt).
  • Page 230 5. Spindle Adjustment The default orientation control parameters for each detector are as shown below. Confirm that these parameters are correctly set according to the machine specifications. Default parameter settings for detector in use Abbrev. Parameter name (3) Magnetic (1) Motor PLG (2) Spindle encoder sensor Magnetic sensor and motor PLG orientation position SP001...

  • Page 231: Adjusting The Orientation Control

    5. Spindle Adjustment (2) Adjusting the orientation stop control 1) Input the orientation command (ORC) when the machine is in the normal state. Confirm that the operation stops at one point and the orientation complete signal (ORCF) turns ON even when the operation is unstable.
  • Page 232 5. Spindle Adjustment 3) Adjust the orientation time and vibration. Refer to the following table and adjust the parameters according to the apparent state. When using the motor PLG and magnetic sensor, adjust the position loop gain with SP001 (PGM). When using the spindle encoder, adjust SP002 (PGE). Adjust SP006 (CSP) after adjusting SP001 and PS002.
  • Page 233 5. Spindle Adjustment (3) Adjusting the servo rigidity The stopping position precision can be increased by raising the servo rigidity during orientation stop. 1) Increase the SP001 (PGM) or SP002 (PGE) value to the degree that overshooting does not occur during orientation stop. 2) Increase SP098 (VGOP) and SP099 (VGOI) by the same amount to the degree that vibration does not occur.
  • Page 234 5. Spindle Adjustment (4) Troubleshooting 1) Orientation does not take place (motor keeps rotating) Cause Investigation item Remedy Remarks 1 Parameter setting The orientation detector and Correctly set SP037 (SFNC5). values are incorrect parameter do not match. SP037 (SFNC5) Motor PLG......4 Spindle encoder .....
  • Page 235 5. Spindle Adjustment 4) The stopping position does not change even when the position shift parameter is changed. Cause Investigation item Remedy Remarks 1 Parameter setting The position shift was changed to If the gear ratio on the left is values are incorrect 2048 when the gear ratio between the established between the spindle...

  • Page 236: Adjusting The Synchronous Tap Control

    5. Spindle Adjustment 5-3-4 Adjusting the synchronous tap control (1) Confirming the default parameters Confirm that the parameters are correctly set according to the machine specifications. Pay special attention to the following points. 1) Position loop gain The position loop gain must be the same as the servo axis used for interpolation control during synchronous tap control.
  • Page 237 5. Spindle Adjustment (2) Adjusting the acceleration/deceleration time constant Synchronous tap synchronizes the operation with the servo. Generally, the spindle takes longer to accelerate and decelerate, so the acceleration/deceleration time constant is determined on the spindle side. Measure the acceleration time for the S command, and set a value 1.5-fold that as the standard value.
  • Page 238 5. Spindle Adjustment (4) Adjusting the parameters Adjust the following parameters while measuring the synchronous error between the servo and spindle. The servo axis speed loop gain is valid for all control, so adjust the speed loop gain only on the spindle side. Adjust mainly the lost motion compensation parameters on the servo side. When these have already been adjusted when measuring the roundness, etc., they do not need to be adjusted again.
  • Page 239 5. Spindle Adjustment (5) Synchronous tap cutting operation After adjusting the parameters, mount the tap and workpiece, and carry out actual cutting. Various elements affect the tap cutting. Even if the synchronous accuracy (electrical accuracy) is good up to this point, it may not enable cutting with a sufficient accuracy. Check the items in the following table and improve the cutting accuracy.

  • Page 240: Adjusting The C-Axis Control

    5. Spindle Adjustment 5-3-5 Adjusting the C-axis control (1) Confirming the default parameters Confirm that the parameters are correctly set according to the machine specifications. When carrying out interpolation control with the servo axis, set the following parameters according to the servo axis specifications.
  • Page 241 5. Spindle Adjustment < Spindle parameters> Setting Standard Abbrev. Parameter name Unit range value SP003 PGC0 C-axis non-cutting position loop gain rad/s 1 to 100 Standard: C-axis specifications 0000 to 0000 SP129 SPECC* (The standard value is set according to the servo drive for interpolation FFFF High-gain: control.)

  • Page 242: Adjusting The Spindle Synchronous Control

    5. Spindle Adjustment 5-3-6 Adjusting the spindle synchronous control (1) Confirming the default parameters Confirm that the parameters are correctly set according to the machine specifications. The parameters are set with the following conditions for spindles used for synchronous control. 1) Position loop gain The same value must be set for the spindle drive units used for synchronous control.
  • Page 243 5. Spindle Adjustment (2) Setting the multi-step acceleration/deceleration time constant For acceleration/deceleration control during spindle synchronous control, the acceleration/ deceleration time constant can be set up to eight steps according to the spindle rotation speed. The acceleration/deceleration time constant (acceleration time from 0 to limit rotation speed slimit) for each step is set as shown below based on the time constant set for the first step.
  • Page 244 5. Spindle Adjustment Abbr. Parameter name Details Setting range 3061 spdiv1 Magnification for time constant changeover speed 1 0 to 127 Set the acceleration/deceleration time constant in the spindle synchronization 3062 spdiv2 Magnification for time constant changeover speed 2 multi-step acceleration/deceleration 3063 spdiv3 Magnification for time constant changeover speed 3 changeover speed sptc (N) to sptc...
  • Page 245 5. Spindle Adjustment (3) Adjusting the multi-step acceleration/deceleration time constants 1) Measure the acceleration/deceleration waveform to the spindle's maximum rotation speed using S command operation. (No. 1 spindle, No. 2 spindle) 10000 Speed FB (r/min) Time Example of spindle acceleration/deceleration waveform 2) Calculate the multi-step acceleration/deceleration pattern based on the acceleration/ deceleration waveform for the spindle with a long acceleration/deceleration time.
  • Page 246 6. Troubleshooting Points of caution and confirmation................6-1-1 LED display when alarm or warning occurs ............Troubleshooting at power ON ..................Protective functions list of units..................6-3-1 List of alarms ......................6-3-2 List of warnings...................... 6-10 Troubleshooting......................6-11 6-4-1 Troubleshooting for each alarm No............... 6-11 6-4-2 Troubleshooting for each warning No.

  • Page 247: Points Of Caution And Confirmation

    6. Troubleshooting Points of caution and confirmation If an error occurs in the servo drive unit or spindle drive unit, the warning or alarm will occur. When a warning or alarm occurs, check the state while observing the following points, and inspect or remedy the unit according to the details given in this section.

  • Page 248: Led Display When Alarm Or Warning Occurs

    6. Troubleshooting 6-1-1 LED display when alarm or warning occurs (1) Servo and spindle drive unit The axis No. and alarm/warning No. alternate on the display. The display flickers when an alarm occurs. F1 (flicker) 25 (flicker) F2 (flicker) 37 (flicker) Not lit F+axis No.

  • Page 249: Troubleshooting At Power On

    6. Troubleshooting Troubleshooting at power ON If the NC system does not start up correctly and a system error occurs when the NC power is turned ON, the drive unit may not have been started up properly. Check the LED display on the drive unit, and take measures according to this section.

  • Page 250: Protective Functions List Of Units

    6. Troubleshooting Protective functions list of units 6-3-1 List of alarms When an alarm occurs, the servo drive unit will make the motor stop by the deceleration control or dynamic brake. The spindle drive unit will coast to a stop or will decelerate to a stop. At the same time, the alarm No.
  • Page 251 6. Troubleshooting Drive unit alarm Alarm name SV SP Alarm details Reset 20 Motor side detector, No signal 1 A PLG Z-phase no signal was detected. 21 Machine side detector, No signal 2 The pulse-type linear scale or ball screw end detector's ABZ-phase no signal was detected with the servo, or the encoder no-signal was detected with the spindle.
  • Page 252 6. Troubleshooting Drive unit alarm Alarm name SV SP Alarm details Reset 40 Detector changeover unit, During 1-drive unit 2-motor control, an error was detected in the motor changeover error changeover signal received form the detector changeover unit. 41 Detector changeover unit, During 1-drive unit 2-motor control, an error was detected in the communication error communication with the detector changeover unit.
  • Page 253 6. Troubleshooting Power supply alarm Alarm name CV CR Alarm details Reset display Instantaneous power failure A drop in the 24VDC power was detected. Power module overcurrent The power module's overcurrent protection function activated. Frequency error The input power frequency exceeded the specified range. Auxiliary regeneration error The auxiliary regenerative transistor is still ON.
  • Page 254 6. Troubleshooting Drive unit alarm Alarm name SV SP Alarm details Reset 7F Power reboot request A mismatch in the program mode selection was detected. Turn the drive unit power ON again. 88 Watch dog The system is not operating normally. 89 Detector converter unit 2 With the servo, an error was detected in the connection with the analog connection error...

  • Page 255: List Of Warnings

    6. Troubleshooting 6-3-2 List of warnings When a warning occurs, a warning No. will appear on the NC monitor screen and with the LEDs on the front of the drive unit. Check the warning No., and remove the cause of the warning by following this list.

  • Page 256: Troubleshooting

    6. Troubleshooting Troubleshooting Follow this section to troubleshoot the alarms that occur during start up or while the machine is operating. If the state is not improved with the following investigations, the drive unit may be faulty. Exchange the unit with another unit of the same capacity, and check whether the state is improved. 6-4-1 Troubleshooting for each alarm No.
  • Page 257 6. Troubleshooting A/D converter error Alarm No. An error was detected in the A/D converter for current FB detection. Investigation details Investigation results Remedies SV SP Check the repeatability. The error is always repeated. Replace the drive unit. The state returns to normal once, but Investigate item 2.
  • Page 258 6. Troubleshooting Machine side detector, initial communication error Alarm No. Initial communication with the linear scale or ball screw end detector was not possible. Investigation details Investigation results Remedies SV SP Check the servo parameter The value is not set correctly. Correctly set SV025.
  • Page 259 6. Troubleshooting Machine side detector, communication error Alarm No. An error was detected in the communication data with the linear scale or ball screw end detector. Or, the communication was cut off. Investigation details Investigation results Remedies SV SP Check whether the drive unit The connector is disconnected (or Correctly install.
  • Page 260 6. Troubleshooting Machine side detector, No signal 2 Alarm No. The pulse-type linear scale or ball screw end detector's ABZ-phase no signal was detected with the servo, or the encoder no-signal was detected with the spindle. Investigation details Investigation results Remedies SV SP Check the servo parameter (SV025.
  • Page 261 6. Troubleshooting Absolute position lost Alarm No. The backup voltage in the absolute position detector dropped causing the absolute position to be lost. Investigation details Investigation results Remedies SV SP Is warning 9F occurring at the same The warning is occurring. Investigate item 2.
  • Page 262 6. Troubleshooting Motor side detector, CPU error 1 Alarm No. A CPU initial error was detected with the motor end detector. Investigation details Investigation results Remedies SV SP Check if there is any abnormality in No abnormality is found in particular. Replace the detector.
  • Page 263 6. Troubleshooting Overspeed Alarm No. A rotation speed exceeding the motor's tolerable rotation speed was detected. Investigation details Investigation results Remedies SV SP Check the rapid traverse rate (rapid) The rapid traverse rate is too fast. Set within the motor's maximum and motor maximum rotation speed.
  • Page 264 6. Troubleshooting Communication or CRC error between NC and drive unit Alarm No. An error was detected in the data received from the NC. Investigation details Investigation results Remedies SV SP Try replacing the terminator or battery The state is improved. Replace the cause of the fault.
  • Page 265 6. Troubleshooting Initial parameter error Alarm No. An illegal parameter was detected in the parameters received from the NC at NC power ON. "S02 initial parameter error ####" is displayed on the NC screen. #### indicates the incorrect parameter No. Investigation details Investigation results Remedies...
  • Page 266 6. Troubleshooting Power module overheat Alarm No. The power module's temperature protection function activated. Investigation details Investigation results Remedies SV SP Confirm that the fan is rotating Large amounts of cutting oil or cutting Clean or replace the fan. correctly. chips, etc., are adhered, or the rotation is slow.
  • Page 267 6. Troubleshooting Spindle speed overrun 1. A state in which the motor's speed feedback exceeded the speed command and accelerated was Alarm No. detected. 2. Even though the speed command is 0 (including when stopped during position control), motor rotation exceeding the parameter setting value was detected. Investigation details Investigation results Remedies...
  • Page 268 6. Troubleshooting Feedback error 1 Alarm No. With the servo, pulse-type position detector feedback signal error was detected. With the spindle, a PLG feedback signal error was detected. Investigation details Investigation results Remedies SV SP Check whether the drive unit The connector is disconnected (or Correctly install.
  • Page 269 6. Troubleshooting C-axis changeover alarm Alarm No. When using the coil changeover control motor, the mode was changed to C-axis control while the high-speed coil was selected. Investigation details Investigation results Remedies SV SP Check the coil selected with the High-speed coil is selected (bitD = 0) Correct the sequence.
  • Page 270 6. Troubleshooting Overload 1 Alarm No. The overload detection level reached 100% or more. The motor or drive unit is in the overload state. Investigation details Investigation results Remedies SV SP Check the overload parameters. The standard values (below) are not Set the standard values.
  • Page 271 6. Troubleshooting Overload 2 Alarm No. With the servo, a current command exceeding 95% of the unit's maximum current continued for one second or more. With the spindle, a load exceeding the continuous rating continued for 30 minutes or more. Investigation details Investigation results Remedies...
  • Page 272 6. Troubleshooting Excessive error 2 Alarm No. The difference between the motor's actual position at servo OFF and the theoretical position exceeded the setting value. Investigation details Investigation results Remedies SV SP Check the follow-up function while NC parameter (M60S Series) #1064 Investigate item 2.
  • Page 273 6. Troubleshooting Collision detection 1 G0 Alarm No. When the collision detection function is valid, the disturbance torque exceeded the collision detection value during rapid traverse (G0). Investigation details Investigation results Remedies SV SP Check whether the machine has The machine has collided. Check the machining program and collided.
  • Page 274 6. Troubleshooting Speed monitor/ input mismatch Alarm No. In respect to the door status signal for speed monitor control, a mismatch of the external input signal and control signal received from the NC was detected. Investigation details Investigation results Remedies SV SP Check the occurrence frequency.
  • Page 275 6. Troubleshooting Power module overcurrent Alarm No. The power module's overcurrent protection function activated. Investigation details Investigation results Remedies CV CR Check the state of the operation The alarm occurs immediately after Replace the unit. when the alarm occurs, and check 200VAC is supplied and after READY the repeatability.
  • Page 276 6. Troubleshooting Auxiliary regeneration error Alarm No. The auxiliary regenerative transistor is still ON. Investigation details Investigation results Remedies CV CR Check whether the regenerative Cutting oil or oil mist is adhered on Take measure to prevent cutting oil resistor on the back of the unit is dirty. the regenerative resistor.
  • Page 277 6. Troubleshooting Ground fault Alarm No. The motor power cable is contacting FG (ground). Investigation details Investigation results Remedies CV CR Measure the insulation across the U, The motor or power cable may be 100kΩ or less. V, W phase cables for all motors and ground faulted.
  • Page 278 6. Troubleshooting Main circuit error Alarm No. An abnormality was detected in the main circuit capacitor's charging operation. Investigation details Investigation results Remedies CV CR Check the CHARGE lamp state when The CHARGE lamp remains ON for Replace the power supply unit. the alarm occurs.
  • Page 279 6. Troubleshooting Power supply error Alarm No. The power supply is not connected. An error was detected in the power supply's A/D converter. This is detected simultaneously if another power supply alarm occurs. Investigation details Investigation results Remedies CV CR Check the LED display on the power "F"...
  • Page 280 6. Troubleshooting Over-regeneration Alarm No. The over-regeneration detection level exceeded 100%. The regenerative resistor is in the overload state. Investigation details Investigation results Remedies CV CR Check the alarm occurrence state The regenerative load display Check whether the state is affected and regenerative load displayed on increases when the power is turned by power fluctuation, grounding or...
  • Page 281 6. Troubleshooting Overvoltage Alarm No. The main circuit PN bus voltage exceeded the tolerable value. Investigation details Investigation results Remedies CV CR Check the repeatability. The alarm occurs each time the Investigate item 3. motor decelerates. The alarm occurs occasionally. Investigate item 2.
  • Page 282 6. Troubleshooting Power reboot request Alarm No. A mismatch in the program mode selection was detected. Turn the drive unit power ON again. Investigation details Investigation results Remedies SV SP Were the parameter settings This alarm is detected if the high-gain Turn the drive unit's control power changed? specification parameters are set...
  • Page 283 6. Troubleshooting Encoder converter unit 2, automatic adjustment error Alarm No. An abnormal signal from the PLG was detected during automatic adjustment of the PLG. Investigation details Investigation results Remedies SV SP Check whether the MDS-B-PJEX The connector is disconnected (or Correctly install.

  • Page 284: Troubleshooting For Each Warning No

    6. Troubleshooting 6-4-2 Troubleshooting for each warning No. Detector, initial communication error Warning No. Initial communication with the absolute position linear scale was not possible. Investigation details Investigation results Remedies SV SP Check the servo parameter The setting is incorrect. Correctly set SV025.
  • Page 285 6. Troubleshooting Initial absolute position fluctuation Warning No. The position data fluctuated when creating the initial absolute position. Investigation details Investigation results Remedies SV SP Check the state of the axis when the The vertical axis or slant axis drops Check the brake operation.
  • Page 286 6. Troubleshooting Turret indexing error warning Warning No. The commanded turret indexing position shift amount is outside the specified range. Investigation details Investigation results Remedies SV SP Check the parameters. The setting is incorrect. Correctly set SP097. SP097, bitB = 0 command angle 1° The setting is correct.
  • Page 287 6. Troubleshooting NC emergency stop Warning No. Emergency stop was input from the NC. Investigation details Investigation results Remedies SV SP Check whether NC emergency stop Emergency stop was input. The NC is in the emergency stop was input. state. (Normal) Emergency stop was not input.

  • Page 288: Parameter Numbers During Initial Parameter Error

    6. Troubleshooting 6-4-3 Parameter numbers during initial parameter error If an initial parameter error (alarm 37) occurs, the alarm and the number of the parameter that may have been set exceeding the setting range will appear on the CNC Diagnosis screen. (For M60S, E60 Series NC.) S02 Initial parameter error : Error parameter...

  • Page 289: Troubleshooting The Spindle System When There Is No Alarm Or Warning

    6. Troubleshooting 6-4-4 Troubleshooting the spindle system when there is no alarm or warning If an abnormality is observed in the spindle system but no alarm or warning has occurred, refer to the following table and check the state. (1) No abnormality is displayed, but the motor does not rotate. Investigation item Investigation results Remedies...
  • Page 290 6. Troubleshooting (3) The rotation speed command and actual rotation speed do not match. Investigation item Investigation results Remedies The speed command is not input Input the correct speed correctly. command. 1 Check the speed command. Investigate investigation item 2 The speed command is correct.
  • Page 291 6. Troubleshooting (7) The spindle coasts during deceleration. Investigation item Investigation results Remedies Check whether there is slipping There is slipping. Repair the machine side. between the motor and spindle. (When connected with a belt or No particular problems found. Replace the drive unit.
  • Page 292 7. Maintenance Inspections ........................Service parts ........................ Adding and replacing units and parts ................7-3-1 Replacing the drive unit..................7-3-2 Replacing the unit fan.................... 7 - 1...

  • Page 293: Inspections

    Failure to observe this could lead to electric shocks. 2. Inspections must be carried out by a qualified technician. Failure to observe this could lead to electric shocks. Contact your nearest Mitsubishi branch or dealer for repairs and part replacement.

  • Page 294: Adding And Replacing Units And Parts

    7. Maintenance Adding and replacing units and parts 1. Correctly transport the product according to its weight. Failure to do so could result in injury. 2. Do not stack the product above the indicated limit. 3. Installation directly on or near combustible materials could result in fires. 4.

  • Page 295: Replacing The Unit Fan

    7. Maintenance 7-3-2 Replacing the unit fan Replace the unit fan with the following procedures. Replacement procedure 1) Turn the NF for the 200/230VAC input power OFF, and wait for the CHARGE lamp on the power supply unit to turn OFF before removing the unit. 2) Remove the fan guard from the back of the power supply unit, and remove the two fan mounting screws.
  • Page 296 Appendix 1. Cable and Connector Specifications Appendix 1-1 Cable connection diagram ................A1-2 Appendix 1-2 Connector outline dimension drawings............A1-10 A1 - 1...

  • Page 297: Appendix 1-1 Cable Connection Diagram

    (1) NC bus cable < SH21 cable connection diagram > This is an actual connection diagram for the SH21 cable supplied by Mitsubishi. Manufacture the cable as shown below. The cable can be up to 30m long. Plate...
  • Page 298 Appendix 1. Cable and Connector Specifications (2) Detector cable <CNV12 cable connection diagram> This is an actual connection diagram for the CNV12 cable supplied by Mitsubishi. The connection differs according to the cable length. (20m or less) (20 to 30m)
  • Page 299 Appendix 1. Cable and Connector Specifications (3) Spindle detector cable <CNP5 cable connection diagram> Drive unit connector Detector connector Pin No. Pin No. Green White Purple White Yellow Brown Brown Blue Black <CNP6M cable connection diagram> Detector connector Drive unit connector Pin No.
  • Page 300 Appendix 1. Cable and Connector Specifications <CNP6A cable connection diagram> Detector connector Drive unit connector Pin No. Pin No. Green White Purple White Yellow Brown Brown Purple Brown Blue Black <CNP7A cable connection diagram> Detector connector Drive unit connector Pin No. Pin No.
  • Page 301 Appendix 1. Cable and Connector Specifications <CNP7B cable connection diagram> Drive unit connector Detector connector Pin No. Pin No. Green White Purple White Yellow Brown Brown Purple Brown Blue Black <CNP7H cable connection diagram> Drive unit connector Detector connector Pin No. Pin No.
  • Page 302 Appendix 1. Cable and Connector Specifications <CNP67A cable connection diagram> Detector connector Drive unit connector Pin No. Pin No. Green White Purple White Yellow Brown Brown Purple Brown Blue Black Drive unit connector Pin No. White Blue Brown Green Brown <CNP71A cable connection diagram>...
  • Page 303 Appendix 1. Cable and Connector Specifications <CNP71B cable connection diagram> Detector connector Drive unit connector Pin No. Pin No. Green White Purple White Yellow Brown Brown Purple Brown Blue Black NC connector Pin No. White Blue Brown Green Brown <CNP71H cable connection diagram> Drive unit connector Detector connector Pin No.
  • Page 304 Appendix 1. Cable and Connector Specifications <CNP5H cable connection diagram> Detector connector Drive unit connector Pin No. Pin No. <CNP8 cable connection diagram> NC connector Drive unit connector Pin No. Pin No. Cable clamp Pin No. Cable clamp A1 - 9...

  • Page 305: Appendix 1-2 Connector Outline Dimension Drawings

    Appendix 1. Cable and Connector Specifications Appendix 1-2 Connector outline dimension drawings Connector for CN2 Servo drive unit Manufacturer: 3M (Ltd.) [Unit: mm] <Type> Connector: 10120-3000VE 12.0 Shell kit: 10320-52F0-008 14.0 22.0 33.3 12.7 Manufacturer: 3M (Ltd.) [Unit: mm] < Type > 12.0 Connector: 10120-3000VE Shell kit: 10320-52A0-008...
  • Page 306 Appendix 2. Compliance to EC Directives Appendix 2-1 Compliance to EC Directives ................. A2-2 Appendix 2-1-1 European EC Directives................A2-2 Appendix 2-1-2 Cautions for EC Directive compliance ............. A2-2 A2 - 1...

  • Page 307: Appendix 2-1 Compliance To Ec Directives

    Please read this section thoroughly before starting use. A Self-Declaration Document has been prepared for the EMC Directives and Low-voltage Directives. Contact Mitsubishi or your dealer when required. Appendix 2-1-2 Cautions for EC Directive compliance Use the Low-voltage Directive compatible parts for the servo/spindle drive and servo/spindle motor.
  • Page 308 The control circuit connector ( ) is safely separated from the main circuit ( ). 4) Inspect the appearance before installing the unit. Carry out a performance inspection of the final unit, and save the inspection records. Mitsubishi CNC MDS-C1-CV- MDS-C1-V2-...

  • Page 309: Appendix

    Appendix 3. EMC Installation Guidelines Appendix 3-1 Introduction..................... A3-2 Appendix 3-2 EMC instructions .................... A3-2 Appendix 3-3 EMC measures....................A3-3 Appendix 3-4 Measures for panel structure ................. A3-3 Appendix 3-4-1 Measures for control panel unit..............A3-3 Appendix 3-4-2 Measures for door ..................A3-4 Appendix 3-4-3 Measures for operation board panel............

  • Page 310: Introduction

    (2) Methods of wiring cable outside of panel (3) Introduction of countermeasure parts Mitsubishi is carrying out tests to confirm the compliance to the EMC Standards under the environment described in this manual. However, the level of the noise will differ according to the equipment type and layout, control panel structure and wiring lead-in, etc.

  • Page 311: Appendix 3-3 Emc Measures

    Appendix 3. EMC Installation Guidelines Appendix 3-3 EMC measures The main items relating to EMC measures include the following. (1) Store the device in an electrically sealed metal panel. (2) Earth all conductors that are floating electrically. (Lower the impedance.) (3) Wire the power line away from the signal wire.

  • Page 312: Appendix 3-4-2 Measures For Door

    Appendix 3. EMC Installation Guidelines Appendix 3-4-2 Measures for door (1) Use metal for all materials configuring the door. (2) Use an EMI gasket or conductive packing for the contact between the door and control panel unit. (3) The EMI gasket or conductive packing must contact at a uniform and correct position of the metal surface of the control panel unit.

  • Page 313: Appendix 3-5 Measures For Various Cables

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

  • Page 314: Appendix 3-5-3 Servomotor Power Cable

    Appendix 3. EMC Installation Guidelines Appendix 3-5-3 Servomotor power cable Control panel Earth with paint mask Control panel Conduit connector Earth with P or U clip Cannon connector To drive unit Cannon connector To drive unit Servomotor Servomotor Conduit Shield cable Cabtyre cable Using shield cable Using conduit...

  • Page 315: Appendix 3-5-5 Spindle Motor Power Cable

    Appendix 3. EMC Installation Guidelines Appendix 3-5-5 Spindle motor power cable Control panel Earth with paint mask Control panel Conduit connector Earth with Terminal Terminal P or U clip To drive unit To drive unit Conduit Spindle motor Shield cable Cabtyre cable Using shield cable Using conduit...

  • Page 316: Appendix

    If the cables are thin, several can be bundled and clamped together. Securely earth the earthing plate with the frame ground. Install directly on the cabinet or connect with an earthing wire. Contact Mitsubishi if the earthing plate and clamp fitting set (AERSBAN- SET) is required. View of clamp section •...

  • Page 317: Appendix 3-6-2 Ferrite Core

    Appendix 3. EMC Installation Guidelines Appendix 3-6-2 Ferrite core A ferrite core is integrated and mounted on the plastic case. Quick installation is possible without cutting the interface cable or power cable. This ferrite core is effective against common mode noise, allowing measures against noise to be taken without affecting the signal quality.

  • Page 318: Appendix 3-6-3 Power Line Filter

    Appendix 3. EMC Installation Guidelines Appendix 3-6-3 Power line filter HF3000A-TM/HF3000C-TM Series • 3-phase 3-wire type (250V series, 500V series) • Compliant with noise standards German Official Notice Vfg243, EU Standards EN55011 (Class B) • Effective for use with IGBT inverter and MOS-FET inverter. •...
  • Page 319 Appendix 3. EMC Installation Guidelines <Typical characteristics> 40A item <Circuit diagram> (250V series) (500V series) <Outline dimensions> Dimensions (unit: mm) Dimensions (unit: mm) Part name Part name A3 - 11...
  • Page 320 Appendix 3. EMC Installation Guidelines CC3000C-AZ Series terminal block type • 3-phase 3-wire type (500V series) • Reactor type dedicated for inverter's secondary side (load side) • Attenuates noise radiated on inverter's output side. • Series provided up to 150A. <Application>...
  • Page 321 Appendix 3. EMC Installation Guidelines MX13 Series 3-phase high attenuation noise filter (for FA & servo system) Features • Perfect for mounting inside control panel: New shape with uniform height and depth dimensions • Easy mounting and maintenance work: Terminals are centrally located on the front •...
  • Page 322 Appendix 3. EMC Installation Guidelines Wire to 3-phase power supply Noise filter input terminal Noise filter (MX13 Series) Noise filter output terminal Servo unit Servo input terminal Wire from noise filter to servo Example of noise terminal voltage attenuation EMI data for independent control panel EMI data for control panel + noise filter (with six-axis servo unit mounted) (MX13030)
  • Page 323 Appendix 3. EMC Installation Guidelines MX13100, MX13150 (Installation hole) (Installation hole) Model MX13100 MX13150 27.5 150.5 37.5 57.5 M6 phillips head M8 slotted screw screw (hexagon) 37.5 56.5 149.5 A3 - 15...

  • Page 324: Appendix 3-6-4 Surge Protector

    Appendix 3. EMC Installation Guidelines Appendix 3-6-4 Surge protector Insert a surge protector in the power input section to prevent damage to the control panel or power supply unit, etc. caused by the surge (lightning or sparks, etc.) applied on the AC power line. Use a surge protector that satisfies the following electrical specifications.
  • Page 325 Appendix 3. EMC Installation Guidelines Example of surge protector installation An example of installing the surge protector in the machine control panel is shown below. A short-circuit fault will occur in the surge protector if a surge exceeding the tolerance is applied. Thus, install a circuit protection breaker in the stage before the surge protector.

  • Page 326: Appendix 4-1 Servo/Spindle Drive Unit Categories Based On Higher Harmonic Suppression Countermeasure Guidelines

    Appendix 4. Servo/spindle drive unit categories based on higher harmonic suppression countermeasure guidelines Appendix 4-1 Servo/spindle drive unit categories based on higher harmonic suppression countermeasure guidelines..................A4-2 A4 - 1...
  • Page 327 Appendix 4. Servo/spindle drive unit categories based on higher harmonic suppression countermeasure guidelines Appendix 4-1 Servo/spindle drive unit circuit categories based on higher harmonic suppression countermeasure guidelines Refer to the following table and calculate the circuit category (conversion coefficient) and the power capacity based on higher harmonic suppression countermeasure guidelines.

  • Page 328: Revision History

    Revision History Date of revision Manual No. Revision details ∗ June. 2004 First edition created. BNP-B2365...
  • Page 329 Every effort has been made to keep up with software and hardware revisions in the contents described in this manual. However, please understand that in some unavoidable cases simultaneous revision is not possible. Please contact your Mitsubishi Electric dealer with any questions or comments regarding the use of this product. Duplication Prohibited This manual may not be reproduced in any form, in part or in whole, without written permission from Mitsubishi Electric Corporation.
  • Page 330 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE : MITSUBISHI DENKI BLDG., 2-2-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN MDS-C1 Series MODEL MODEL 008-306 CODE BNP-B2365*(ENG) Manual No. Specifications subject to change without notice. Printed in Japan on recycled paper. (0406) MEE...

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