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Mitsubishi Electric MELDAS MDS-B-SVJ2 Series, Specifications And Instruction Manual

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Mitsubishi Electric MELDAS MDS-B-SVJ2 Series Specifications And Instruction Manual Download Page 136

Chapter 5  Adjustment

 

 

5-28 

5-4-2    Vertical axis drop prevention control 

(1)  Vertical axis drop prevention control 

The vertical axis drop prevention control is a function that prevents the vertical axis from dropping 
due to a delay in the brake operation when an emergency stop occurs. The servo ready OFF will 
be delayed by the time set in the parameter from when the emergency stop occurs. Thus, the 
no-control time until the brakes activate can be eliminated. 

 

<Setting and adjustment methods> 

Set the time to delay the ready OFF in the vertical axis drop prevention time (SV048:EMGrt). 
Read the current position on the CNC screen, and apply the emergency stop. Set the minimum 
delay time where the axis does not drop. 

 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

No. 

Abbrev. 

Parameter name 

Unit 

Explanation 

Setting range

SV048  EMGrt  Vertical axis drop 

prevention time 

msec  Input the time to delay the ready OFF when an emergency 

stop occurs. 
Increase the setting by 100 msec at a time and set the 
minimum value where the axis does not drop. 

0 ~ 2000 

 

 

 

POINT

 

1.  This control will not function if the dynamic brake stop is selected with the 

servo specification selection (SV017: SPEC).   

2.  This control will not function if an alarm for which the dynamic brakes are 

set as the stopping method occurs in an axis where vertical axis drop 
prevention control is being carried out.   

3.  A drop amount of several 

μ

m to 10

μ

m will remain due to the brake play.   

 

 

CAUTION

 

1.  Do not set a vertical axis drop prevention time longer than required. The 

servo control and brakes could collide causing an overload alarm or 
amplifier damage. There is no problem if the duplicate time is within 
100msec. 

2.  During a power failure, vertical axis drop prevention control (including 

deceleration control) exceeding 100msec cannot be guaranteed. The 
control will change to the dynamic brakes. 

EMGrt 

OFF
ON 

OFF
ON 

ON 
OFF

OFF
ON 

Brake activation delay

 

Emergency stop occurrence

Motor speed

 

Time 

Deceleration control

 

Dynamic brakes

 

Servo ready (READY)

 

Motor brake actual operation

 

Motor brake control output (MBR)

 

Summary of Contents for MELDAS MDS-B-SVJ2 Series

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Page 3: ...MELDAS is a registered trademark of Mitsubishi Electric Corporation Other company and product names that appear in this manual are trademarks or registered trademarks of their respective companies ...

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Page 5: ...f all function specifications described in this manual are applicable refer to the specifications for each CNC Notes on Reading This Manual 1 Since the description of this specification manual deals with NC in general for the specifications of individual machine tools refer to the manuals issued by the respective machine manufacturers The restrictions and available functions described in the manua...

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Page 7: ...ion that must be observed is described The signs indicating prohibited and mandatory matters are explained below Indicates a prohibited matter For example Fire Prohibited is indicated as Indicates a mandatory matter For example grounding is indicated as After reading this specifications and instructions manual store it where the user can access it easily for reference The numeric control unit is c...

Page 8: ...e unit and motor following the standards set forth by each country Wiring maintenance and inspection work must be done by a qualified technician Wire the servo drive unit and servomotor after installation Failure to observe this could lead to electric shocks Do not touch the switches with wet hands Failure to observe this could lead to electric shocks Do not damage apply forcible stress place heav...

Page 9: ...or etc The battery unit could heat up ignite or rupture if submerged in water or if the poles are incorrectly wired Cut off the main circuit power with the contactor when an alarm or emergency stop occurs 2 Injury prevention Do not apply a voltage other than that specified in this manual on each terminal Failure to observe this item could lead to ruptures or damage etc Do not mistake the terminal ...

Page 10: ...tector when transporting the motor Do not hold the connected wires or cables when transporting the units Do not hold the front cover when transporting the unit The unit could drop Always observe the installation directions of the units or motors Secure the specified distance between the units and control panel or between the servo drive unit and other devices Do not install or run a unit or motor ...

Page 11: ...motor Securely fix the servomotor to the machine Insufficient fixing could lead to the servomotor slipping off during operation Always install the servomotor with reduction gear in the designated direction Failure to do so could lead to oil leaks Structure the rotary sections of the motor so that it can never be touched during operation Install a cover etc on the shaft When installing a coupling t...

Page 12: ...diode as a noise measure parallel to the load When using a capacitance load such as a lamp always connect a protective resistor as a noise measure serial to the load Do not reverse the direction of a diode which connect to a DC relay for the control output signals such as contractor and motor brake output etc to suppress a surge Connecting it backwards could cause the drive unit to malfunction so ...

Page 13: ...it could be affected by magnetic noise Install a line noise filter etc if there is a risk of magnetic noise Use the unit motor and regenerative resistor with the designated combination Failure to do so could lead to fires or trouble The brake magnetic brake of the servomotor are for holding and must not be used for normal braking There may be cases when holding is not possible due to the magnetic ...

Page 14: ...r a normal environment is recommended Contact the Service Center Service Station Sales Office or delayer for repairs or part replacement Do not perform a megger test insulation resistance measurement during inspections If the battery low warning is issued back up the machining programs tool data and parameters with an input output unit and then replace the battery Do not short circuit charge overh...

Page 15: ...n Organization ICAO International Air Transportation Association IATA International Maritime Organization IMO and United States Department of Transportation DOT etc 9 General precautions The drawings given in this manual show the covers and safety partitions etc removed to provide a clearer explanation Always return the covers or partitions to their respective places before starting operation and ...

Page 16: ...ric parts etc and sold to scrap contractors Mitsubishi recommends sorting the product and selling the members to appropriate contractors 2 Requirements for Law for Treatment of Waste and Cleaning 1 Mitsubishi recommends recycling and selling the product when no longer needed according to item 1 above The user should make an effort to reduce waste in this manner 2 When disposing a product that cann...

Page 17: ...formation 2 Cautions of compliance Use the standard servo amplifier and EN Standards compliance part some standard models are compliant for the servomotor In addition to the items described in this instruction manual observe the items described below 1 Configuration Control panel Breaker Servo amplifier Magnetic contactor MC Motor Insulation transformer Use a type B AC DC detectable type breaker 2...

Page 18: ...ient temperature 40 C Sheath PVC polyvinyl chloride Install on wall without duct or conduit 7 Servomotor A servomotor that complies with the EN Standards as a standard and an EN Standards compatible part are available Motor series name EN Standards compatible part HC Series HC R Series HA Series HC SF Series Complies as a standard HC RF Series HA FF Series HA FF C UE HC MF Series HC MF UE HC MF S1...

Page 19: ...tandard Fuses Applicable drive unit UL Fuse type UL Voltage rating Vac UL Current rating A MDS B SVJ2 01 K5 250 10 MDS B SVJ2 03 K5 250 10 MDS B SVJ2 04 K5 250 15 MDS B SVJ2 06 K5 250 20 MDS B SVJ2 07 K5 250 20 MDS B SVJ2 10 K5 250 25 MDS B SVJ2 20 K5 250 40 MDS B SPJ2 02 K5 250 10 MDS B SPJ2 04 K5 250 15 MDS B SPJ2 075 K5 250 20 MDS B SPJ2 15 K5 250 40 MDS B SPJ2 22 K5 250 40 MDS B SPJ2 37 K5 250...

Page 20: ...s type R2 4 Crimping terminals type R2 4 Crimping tools type YHT 2210 Crimping tools type YHT 2210 14 60 14 60 Earth wire size AWG 14 75 Earth wire size AWG 14 75 Note 2 75 C Grade heat resistant polyvinyl chloride insulated wires HIV Use copper wire only Above listed wire are for use in the electric cabinet on machine or equipment 2 7 2 Spindle Drive Unit MDS B SPJ2 Capacity kW 0 2 0 75 1 5 3 7 5...

Page 21: ... type R2 4 Crimping tools type YNT 1614 Crimping tools type YHT 2210 L1 L2 L3 U V W Capacity kW 0 1 2 0 3 5 Capacity kW 0 1 2 0 3 5 14 60 10 60 14 60 10 60 Wire size AWG Temp rating Note 2 14 75 10 75 Wire size AWG Temp rating Note 2 14 75 10 75 Crimping terminals type R2 4 5 5 S4 Crimping terminals type R2 4 5 5 S4 Crimping tools type YHT 2210 Crimping tools type YHT 2210 14 60 12 60 14 60 12 60 ...

Page 22: ...tion of NC see the NC manual book Refer to the following specification manuals MDS B SVJ2 BNP B3937 MDS B SPJ2 BNP B2164 MR J2 CT BNP B3944 Enclosure Side Machine Side Servo Spindle Motor Encoder CN3 L1 L2 L3 U V W Contactor Fuse or Circuit Breaker 3 phases 200 to 230Vac MC CB Note It recommends installing Relay Input ...

Page 23: ...ging Materials falling under Class 9 Mitsubishi type Type for arrangement Battery type Lithium metal content Application Battery class Outline dimension drawing MDS A BT 4 ER6 B4 11 2 6g For servo MDS A BT 6 ER6 B6 11 3 9g For servo MDS A BT 8 ER6 B8 11 5 2g For servo FCU6 BT4 D1 Combination of ER6 B4D 11 and ER6 2 6g 0 65g For NC servo Battery CR23500SE CJ5 Note1 CR23500SE CJ5 1 52g For NC M500 B...

Page 24: ...ttery incorporated in a device or included Shipper and consignee s address and name b Preparation of shipping documents Declaration of dangerous goods Refer to 3 Example of hazardous goods declaration list in this section 2 When packaged by user The user must follow UN Regulations when packing preparing for shipping and preparing the indications etc a Packing a lithium battery falling under Class ...

Page 25: ...N packaging However the item must be packed prepared for shipping and labeled following the Packing Instruction 912 specified in the IATA DGR Dangerous Goods Regulation book Check with your shipping company for details on packing and transportation The outline of the Packing Instruction 912 is as follows All the items in the packing instructions for shipping the isolated lithium battery products P...

Page 26: ...on the exterior box 2 2 Target products All NC products for which the lithium batteries are used are subject to the regulation Refer to the table 1 1 Target products 2 3 Handling by user The 2 1 Outline of regulation described above is solely Mitsubishi s opinion The shipper must confirm orders of 2 4 Reference described below for transportation method corresponding the regulation Actually these s...

Page 27: ... at least 15 minutes and then consult a doctor Ingestion If swallowed consult a doctor immediately 3 Fire fighting measure Appropriate fire extinguisher Dry sand dry chemical graphite powder or carbon dioxide gas Special fire fighting measure Keep the battery away from the fireplace to prevent fire spreading Protectors against fire Fire protection gloves eye face protector face mask body skin prot...

Page 28: ...the chemical substance is stored in a sealed metal container the battery has no harmfulness Just for reference the table below describes the main substance of the battery Lithium metal Acute toxicity No information Local effect Corrosive action in case of skin contact 9 Ecological information Mobility Persistence Decomposability Bio accumulation potential Ecological toxicity Not found 10 Caution f...

Page 29: ...oduct catalogue Class Product catalogue 1 Electric Wires and Cables 5 items 5 Electric tools 16 items 2 Switches Installation protective and connection devices 6 items 6 Welding machines 15 items Low voltage Electrical Apparatus 9 items Compulsory Certification Regulations 7 Household and similar electrical appliances 18 items Circuit breakers including RCCB RCBO MCB 8 Audio and video equipment 16...

Page 30: ...ification Thus the importer must apply for a Certification of Exemption with CNCA Note 3 Refer to 1 4 Application for Exemption for details on applying for an exemption Note 1 The First Catalogue of Products subject to Compulsory Product Certification Target HS Codes can be confirmed at http www cqc com cn Center html 60gonggao htm Note 2 HS Code Internationally unified code up to 6 digits assigne...

Page 31: ...pairs to the end user Or the spare parts for the service service and repairs of discontinued products j Products imported or manufactured for research and development testing or measurements k Other special situations The following documents must be prepared to apply for an exemption of the Import Commodity Safety and Quality License and CCC Certification 1 Formal Application a Relevant introducti...

Page 32: ... HS Codes used normally when exporting from Japan Note 2 Reference IEC Standards are used as the actual IEC Standards may not match the GB Standards in part depending on the model Whether or not the NC products are subject to CCC Certification was judged based on the following five items a Announcement 33 Issued by AQSIQ and CNCA in December 2001 b HS Codes for the products subject to CCC Certific...

Page 33: ...ion product pollution priority control list cannot be sold in China unless it conforms to the Compulsory Product Certification System CCC Certification and its cadmium usage is suppressed to 0 01w and other substances usage less than 0 1w Note that the timing when this is effective is unmentioned 2 2 Response to the drive product for Mitsubishi NC The drive product for NC has no items falling unde...

Page 34: ...B PBDE Drive unit Servo motor spindle motor Dedicated options cable connector Dedicated Options detector AC reactor Dedicated Options battery This mark means that toxic hazardous substance content in all homogeneous materials of corresponding parts does not exceed the standard specified in the standard of SJ T11363 2006 This mark means that toxic hazardous substance content in the homogeneous mate...

Page 35: ... 11 Connection of HC SF152 HC SF153 2 17 2 4 12 Connection of HC SF202 HC SF203 HC SF352 HC SF353 2 18 2 4 13 Connection of HC RF103 HC RF153 HC RF203 2 18 2 4 14 Connection of HA FF Series 2 19 2 4 15 Connection of HA FF C UE Series 2 19 2 4 16 Connection of HC MF UE Series 2 20 2 4 17 Connection of HC MF S15 Series 2 20 2 5 Connection of power supply 2 21 2 5 1 Example of connection when using c...

Page 36: ...ording to feedrate 4 4 4 2 4 Parameters set according to machine load inertia 4 4 4 3 Standard parameter list according to motor 4 6 Chapter 5 Adjustment 5 1 Measurement of adjustment data 5 2 5 1 1 D A output specifications 5 2 5 1 2 Setting the output data 5 2 5 1 3 Setting the output scale 5 3 5 1 4 Setting the offset amount 5 3 5 1 5 Clamp function 5 3 5 1 6 Filter function 5 3 5 2 Gain adjust...

Page 37: ...orber 7 7 Chapter 8 Troubleshooting 8 1 Points of caution and confirmation 8 2 8 2 Troubleshooting at start up 8 3 8 3 Protective functions list 8 4 8 3 1 Alarm 8 4 8 3 2 Warnings 8 10 8 3 3 Alarm and warning deceleration method and reset method 8 11 Chapter 9 Characteristics 9 1 Overload protection characteristics 9 2 9 2 Servo amplifier generation loss 9 3 9 2 1 Servo amplifier calorific value 9...

Page 38: ...1 7 11 3 3 Continuous characteristics 11 8 11 4 Selection of regenerative resistor 11 12 11 4 1 Calculation of regenerative energy 11 12 11 4 2 Calculation of positioning frequency 11 14 11 5 Example of servo selection 11 15 11 5 1 Motor selection calculation 11 15 11 5 2 Regenerative resistor selection calculation 11 17 11 5 3 Servo selection results 11 19 11 6 Motor shaft conversion load torque ...

Page 39: ...1 1 Chapter 1 Preface 1 1 Inspection at purchase 1 2 1 1 1 Package contents 1 2 1 1 2 Explanation of types 1 2 1 2 Explanation of each part 1 7 1 2 1 Explanation of each servo amplifier part 1 7 ...

Page 40: ... manufacture Software hardware version MDS B SVJ2 MELDAS AC servo drive unit Note As a standard the MDS B SVJ2 servo amplifier complies with the EN Standards and UL Standards Servomotor Packaged parts Qty Servomotor 1 Capacity class symbol Corresponding motor HC HC R HA N Symbol 2000r min 3000r min 3000r min 2000r min 3000r min 01 053N 13N 03 23N 33N 04 06 52 53 40N 43N 07 102 10 102 152 202 103 1...

Page 41: ...SER No XXXXXXXXX DATE 98 9 SPEED 2000r min OUTPUT 1kW IEC34 1 1994 INPUT 3AC 123V 6 0A HC102S AC SERVO MOTOR MITSUBISHI ELECTRIC MADE IN JAPAN Motor rating nameplate Detector Symbol Detection method Detector resolution Detector type A47 100 000p rev OSA17 A42 100 000p rev OSA104S2 A33 absolute position 25 000p rev OSA253S2 E42 100 000p rev OSE104S2 E33 Incremental 25 000p rev OSE253S2 Protective s...

Page 42: ...n Detector type E33 25000p rev OSE253 E42 Incremental 100000p rev OSE104 A33 25000p rev OSA253 A42 ABS absolute position 100000p rev OSA104 The detector types for HA053N to 33N are OSE S and OSA S Protective structure Symbol Protective structure None IP54 D5 IP65 Shaft end shape Symbol Shaft end shape S Straight T Tapered Magnetic brake Symbol Magnetic brake None None B With magnetic brake Rated o...

Page 43: ... 2000r min Rating 3000r min Rating 3000r min Symbol Rating output Symbol Rating output Symbol Rating output 52 0 5kW 53 0 5kW 103 1 0kW 102 1 0kW 103 1 0kW 153 0 5kW 152 1 5kW 153 1 5kW 203 2 0kW 202 2 0kW 203 2 0kW 352 3 5kW 353 3 5kW Servomotor HC SF Series Medium inertia Peripheral axis for general industrial machines HC RF Series Low inertia Peripheral axis for general industrial machines Type...

Page 44: ...raight Straight K Keyway with key D D cut D cut Magnetic brake Symbol Magnetic brake None None B With magnetic brake Power input Symbol Power input None Lead C Cannon connector Always attach C to the HA FF UE There is no C for other series servomotors Rated output and rated speed HA FF Series HC MF Series Rating 3000r min Rating 3000r min Symbol Rating output Symbol Rating output 053 0 05kW 053 0 ...

Page 45: ...on connector CN3 Magnetic brake control output contactor control output D A output connector Charge lamp This indicates that a high voltage is applied in the amplifier main circuit capacitor When this lamp is lit do not touch the terminal block or connect disconnect the cables and connectors Terminal block cover Grounding terminal Connect the grounding wire Main circuit terminal block Connect the ...

Page 46: ......

Page 47: ... 18 2 4 13 Connection of HC RF103 HC RF153 HC RF203 2 18 2 4 14 Connection of HA FF Series 2 19 2 4 15 Connection of HA FF C UE Series 2 19 2 4 16 Connection of HC MF UE Series 2 20 2 4 17 Connection of HC MF S15 Series 2 20 2 5 Connection of power supply 2 21 2 5 1 Example of connection when using converter unit 2 21 2 5 2 Example of connection when controlling the contactor with the MDS B SVJ2 2...

Page 48: ...or damage etc 3 Do not mistake the polarity Failure to observe this item could lead to ruptures or damage etc 4 Do not mistake the direction of the diodes for the surge absorption installed on the DC relay for the motor brake and contactor magnetic contact control The signal might not be output when a failure occurs COM 24VDC RA Servo amplifier Control output signal 5 Electronic devices used near ...

Page 49: ...osition detection Connect the MDS A BT to the final axis Shut off with motor brake control output OFF Always insert the terminator connector A TM into CN1B for the final axis 5m or less 5m or less SH21 cable SH21 cable 2nd axis nth axis Do not connect when using external power supply Monitor output ch 1 Monitor output ch 2 Plate Note 2 Note 2 Digital input external emergency stop Digital output 1 ...

Page 50: ... 10 MDS B SVJ2 20 Terminal position Main circuit terminal block TE1 Terminal signal Control circuit terminal block TE2 D C P L11 L21 Front Rear D C P L11 L21 N Front Rear Protective grounding terminal block PE Terminal screw M4 0 7 Tightening torque 1 24N m Terminal screw M4 0 7 Tightening torque 1 24N m CAUTION Do not apply a voltage other than that specified in Instruction Manual on each termina...

Page 51: ...ween P and D and wire the regenerative option between P and C N Main circuit reference potential This is not used normally This is the reference potential for the main circuit DC voltage U V W Servomotor output Servomotor power supply output terminal The servomotor power supply terminal U V W is connected Protective grounding PE Grounding terminal The servomotor grounding terminal is connected and...

Page 52: ... of the core wires Solder plating onto the core wire section could cause a contact defect and must be avoided 2 When the twisted wires are put together using a bar terminal Use the bar terminal shown below Wire size Bar terminal type mm 2 AWG For one wire For two wires Crimping tool Manufacturer 1 25 1 5 16 AI1 5 10BK AI TWIN2 1 5 10BK 2 2 5 14 AI2 5 10BU CRIMPFOX ZA 3 Phoenix contact Cut the wire...

Page 53: ...alternately pulling the short circuit bar For the installation insert the bar straight to the end Twisted wire Button Small flat blade screwdriver or the like b When the twisted wires are put together using a bar terminal Insert a bar terminal with the odd shaped side of the pressured terminal on the button side Bar terminal for one wire or single strand Bar terminal for two wires When two wires a...

Page 54: ... section of the wire into the opening and tighten with a flat blade screwdriver so that the wire does not come out Tightening torque 0 5 to 0 6 N m When inserting the wire into the opening make sure that the terminal screw is sufficiently loose When using a wire that is 1 5 mm2 or less two wires can be inserted into one opening Opening Control circuit terminal block Wire Tip 0 4 to 0 6mm Total wid...

Page 55: ...output CN1B CN1A connector of terminator connector side amplifier or terminator connector battery unit CAUTION Arrange the NC and servo amplifiers so that the NC bus cable length from the NC to the terminator connector battery unit is 30m or less POINT Axis Nos are determined by the rotary switch for setting the axis No Refer to section 4 1 1 Setting the rotary switches The axis No has no relation...

Page 56: ...D C G H MR K MRR L M SD N P LG R T MS3102A22 14P J K H N L R S V U Power supply connector CE05 2A22 23P D Signal Grounding U V W B A Pin C E F B1 G B2 H A B C H F E D G B1 and B2 are the brake terminals Only for motor with brakes 24VDC with no polarity Option cable CNV2C Refer to Chapter 6 for details on the cable treatment U MDS B SVJ2 06 to 07 V W Power wire and grounding wire Refer to Chapter 7...

Page 57: ...V12 Refer to Chapter 6 for details on the cable treatment Detector connector E S P5 5V MDR J Signal BAT B MD E A Pin F D C G H MR K MRR L M SD N P LG R T MS3102A22 14P J K H N L R S V U Pin No No 1 No 10 No 11 No 20 B1 and B2 are the brake terminals Only for motor with brakes 24VDC with no polarity Option cable CNV2C Refer to Chapter 6 for details on the cable treatment U MDS B SVJ2 10 to 20 V W P...

Page 58: ...R J Signal BAT B MD E A Pin F D C G H MR K MRR L M SD N P LG R T MS3102A22 14P J K H N L R S V U Detector connector CN2 Pin No No 1 No 10 No 11 No 20 Max 30m Option cable CNV12 Refer to Chapter 6 for details on the cable treatment Detector connector Refer to Chapter 7 for details on selecting the wire Option cable CNV2C Refer to Chapter 6 for details on the cable treatment U MDS B SVJ2 10 to 20 V ...

Page 59: ...S P5 5V MDR J Signal BAT B MD E A Pin F D C G H MR K MRR L M SD N P LG R T MS3102A22 14P J K H N L R S V U Detector connector CN2 Pin No No 1 No 10 No 11 No 20 Max 30m Option cable CNV12 Refer to Chapter 6 for details on the cable treatment Detector connector Option cable CNV2C Refer to Chapter 6 for details on the cable treatment U MDS B SVJ2 10 to 20 V W Power wire and grounding wire Refer to Ch...

Page 60: ...nnector MS3102A18 12P D Signal Grounding U V W B A Pin C E F A B C F E D Detector connector CN2 Pin No No 1 No 10 No 11 No 20 Max 30m Option cable CNV12 Refer to Chapter 6 for details on the cable treatment Detector connector U BAT 9 Signal LG LG MR MD 2 5 1 Pin 6 4 3 10 7 8 P5 5V 19 Signal LG LG MRR MDR 12 P5 5V P5 5V 15 11 Pin 16 14 13 20 17 18 MDS B SVJ2 03 V W Power wire and grounding wire Ref...

Page 61: ...F B1 G B2 H A B C H F E D G B1 and B2 are the brake terminals Only for motor with brakes 24VDC with no polarity Detector connector CN2 Pin No No 1 No 10 No 11 No 20 Max 30m Option cable CNV12 Refer to Chapter 6 for details on the cable treatment Detector connector U BAT 9 Signal LG LG MR MD 2 5 1 Pin 6 4 3 10 7 8 P5 5V 19 Signal LG LG MRR MDR 12 P5 5V P5 5V 15 11 Pin 16 14 13 20 17 18 MDS B SVJ2 1...

Page 62: ...DR 12 P5 5V P5 5V 15 11 Pin 16 14 13 20 17 18 MDS B SVJ2 20 V W Power wire and grounding wire Refer to Chapter 7 for details on selecting the wire Power supply connector CE05 2A24 10P D Signal Grounding U V W B A Pin C E F G A B C F E D G Brake connector MS3102A10SL 4P Signal B1 B2 B A Pin A B 24VDC with no polarity E S P5 5V MDR J Signal BAT B MD E A Pin F D C G H MR K MRR L M SD N P LG R T MS310...

Page 63: ... brake terminals Only for motor with brakes 24VDC with no polarity Detector connector CN2 Pin No No 1 No 10 No 11 No 20 Max 50m Option cable CNV2C Refer to Chapter 6 for details on the cable treatment Detector connector U BAT 9 Signal LG LG MR MD 2 5 1 Pin 6 4 3 10 7 8 P5 5V 19 Signal LG LG MRR MDR 12 P5 5V P5 5V 15 11 Pin 16 14 13 20 17 18 MDS B SVJ2 10 V W Power wire and grounding wire Refer to ...

Page 64: ...h no polarity Detector connector CN2 Pin No No 1 No 10 No 11 No 20 Max 50m Option cable CNV2C Refer to Chapter 6 for details on the cable treatment Detector connector U BAT 9 Signal LG LG MR MD 2 5 1 Pin 6 4 3 10 7 8 P5 5V 19 Signal LG LG MRR MDR 12 P5 5V P5 5V 15 11 Pin 16 14 13 20 17 18 MDS B SVJ2 10 to 20 V W Power wire and grounding wire Refer to Chapter 7 for details on selecting the wire A B...

Page 65: ...11 No 20 Max 50m Option cable MR JHSCBL M H Refer to Chapter 6 for details on the cable treatment Detector connector Power wire and grounding wire Refer to Chapter 7 for details on selecting the wire U BAT 9 Signal LG LG MR MD 2 5 1 Pin 6 4 3 10 7 8 P5 5V 19 Signal LG LG MRR MDR 12 P5 5V P5 5V 15 11 Pin 16 14 13 20 17 18 MDS B SVJ2 01 to 06 V W Power wire and grounding wire Refer to Chapter 7 for ...

Page 66: ...ctor cable 0 3m With connector 172161 9 AMP Detector connector CN2 Pin No No 1 No 10 No 11 No 20 Max 50m Option cable MR JHSCBL M H Refer to Chapter 6 for details on the cable treatment Detector connector 172161 9 Option cable MR RMCBL M Refer to Chapter 6 for details on the cable treatment U BAT 9 Signal LG LG MR MD 2 5 1 Pin 6 4 3 10 7 8 P5 5V 19 Signal LG LG MRR MDR 12 P5 5V P5 5V 15 11 Pin 16 ...

Page 67: ... in the system use the contactor control output MC1 of the converter The MDS C1 CV can directly drive the contactor 1 When sharing a converter and power supply Circuit protector L11 L21 L1 L2 L3 L11 L21 L1 L2 L3 MDS B SVJ2 TE1 TE2 CN1A CN1B MDS B C1 CV L MDS C1 SP Vx CN1A CN1B CN4 L L L CN4 MC1 L11 L21 Contactor Terminator connector A TM or battery unit MDS A BT AC reactor B AL Always required wit...

Page 68: ...y breaker Refer to section 7 2 Selection of circuit protectors CAUTION If the converter capacity is more than 45kW or more MDS B CVE 450 or more the MDS B SVJ2 contactor drive cannot be shared with the converter Refer to 2 5 2 Example of connection when controlling the contactor with the MDS B SVJ2 and control contactor 2 from the MDS B SVJ2 Circuit protector1 L11 L21 L1 L2 L3 L11 L21 L1 L2 L3 MDS...

Page 69: ...ters must be set when controlling the contactor CN3 drive with MC with the MDS B SVJ2 Refer to section 2 7 Wiring of contactors Circuit protector L11 L21 L1 L2 L3 MDS B SVJ2 SPJ2 TE1 TE2 CN1A CN1B L11 L21 L1 L2 L3 MDS B SVJ2 TE1 TE2 CN1A CN1B 15 MC 10 VDD 5 COM CN3 Contactor SH21 cable Terminator connector A TM or battery unit MDS A BT SH21 cable Emergency stop Alarm There are also types that are ...

Page 70: ...in regenerative resistor is connected by short circuiting between the P and D terminals of the control circuit terminal block TE2 Shipment state Confirm that a short bar has been connected between the P and D terminals CAUTION The MDS B SVJ2 01 does not have a built in regenerative resistor If the load inertia is small there will be no problem with the capacitor regeneration regenerative resistanc...

Page 71: ...Give sufficient consideration to heat dissipation and installation position 3 Use flame retardant wire or provide flame retardant treatment for the wire connected to the regenerative resistor CAUTION 1 When installing on a wall install the regenerative resistors vertically 2 The regenerative resistor generates heat and will reach high temperatures if the regeneration frequency is high Do not insta...

Page 72: ...rcuit between the P and C terminals could lead to servo amplifier damage 2 The regenerative resistor generates heat of approximately 100 C or higher depending on the installation conditions Give sufficient consideration to heat dissipation and installation position 3 Use flame retardant wire or provide flame retardant treatment for the wire connected to the regenerative resistance unit CAUTION Alw...

Page 73: ...ntrol output MC1 of the converter unit 2 Driving from the servo amplifier MDS B SVJ2 of the vertical axis unbalanced axis 3 Driving from the servo amplifier MDS B SVJ2 having the longest deceleration time constant CAUTION 1 The contactors cannot be driven other than from an amplifier or converter Undervoltage alarm may occur if the contactors are shut off at the same time as an emergency stop occu...

Page 74: ... 2 Contactor shutoff sequences When an emergency stop or servo alarm occurs the NC confirms the MC shutoff enabled motor stop or dynamic brake operation for all axes and then shuts off the contactors When an MC shutoff enabled signal is not output the contactors will be forcibly shut off by the controlling unit after 30 seconds Contactor shutoff sequences OFF ON ON OFF ON OFF 0 500 1000 1500 Time ...

Page 75: ...can be directly connected to VDD if only the digital output MC MBR is being used When using the digital input EMGX always connect between VDD and COM MDS B SVJ2 10 VDD 5 COM 15 MC 3 SG CN3 24VDC Contactor Contactor control relay There are also types that are built into the contactor The servo amplifier will fail if the diode polarity is incorrect MDS B SVJ2 10 VDD 5 COM 15 MC 3 SG CN3 24VDC 27VDC ...

Page 76: ... shut off Note that the vertical axis drop prevention control is not validated so a drop due to the brake operation lag occurs When the servo OFF is canceled a drop due to an uncontrolled state does not occur Motor brake control output operation sequences when a servo OFF command is canceled CAUTION The vertical axis drop prevention control only operates during an emergency stop including alarms a...

Page 77: ... noise and protect the contacts Refer to section 7 4 2 Surge absorber 2 The magnetic brakes cannot be directly driven with the output signal from the servo amplifier Always install a relay 3 The magnetic brakes cannot be driven by the servo amplifier s VDD 24VDC Always install a separate power supply MDS B SVJ2 10 VDD 5 COM 13 MBR 3 SG CN3 24VDC 24VDC Brake control relay The brake cannot be direct...

Page 78: ...ing is prohibited for values with no description 5 0 External emergency stop invalid 6 4 External emergency stop valid 7 emgx CAUTION Always input the external emergency stop to the servo amplifier controlling the contactors POINT 1 When the SVJ2 controls the contactor the external emergency stop input is validated for the axis receiving the main circuit power supply from that contactor When the c...

Page 79: ...g E7 A normal emergency stop status warning E7 will result if contactor shutoff commands from the CNC are further input Ready ON is possible even if an external emergency stop has been input when the emergency stop is canceled but an external emergency stop error alarm 55 will occur after 30 seconds External emergency stop input sequences When neither a main emergency stop nor contactor shutoff co...

Page 80: ...ernal power supply When using an internal power supply When using an external power supply MDS B SVJ2 10 VDD 5 COM 3 SG 20 EMGX CN3 4 7k 24VDC Approx 5mA toward the power supply External emergency stop canceled by closing For a transistor VCES 1 0V I CEO 100μA External emergency stop MDS B SVJ2 10 VDD 5 COM 20 EMGX 3 SG CN3 4 7k 24VDC 27VDC or less External emergency stop canceled by closing Exter...

Page 81: ... 3 3 3 1 3 Prevention of entering of foreign matter 3 3 3 2 Installation of servomotor 3 4 3 2 1 Environmental conditions 3 4 3 2 2 Cautions for mounting load prevention of impact on shaft 3 5 3 2 3 Installation direction 3 5 3 2 4 Tolerable load of axis 3 6 3 2 5 Oil and waterproofing measures 3 7 3 2 6 Cable stress 3 9 3 3 Noise measures 3 10 ...

Page 82: ...here the weight can be borne 3 Do not get on top of or place heavy objects on the unit Failure to observe this could lead to injuries 4 Always use the unit within the designated environment conditions 5 Do not let conductive objects such as screws or metal chips etc or combustible materials such as oil enter the servo amplifier or servomotor 6 Do not block the servo amplifier intake and outtake po...

Page 83: ...signing the power distribution panel If required install a fan in the power distribution panel to agitate the heat in the upper portion of the amplifier 3 1 3 Prevention of entering of foreign matter Treat the cabinet with the following items Make sure that the cable inlet is dust and oil proof by using packing etc Make sure that the external air does not enter inside by using head radiating holes...

Page 84: ...re as shown below 200 100 80 60 50 40 30 20 1000 2000 3000 0 Speed r min Vibration amplitude double sway width µm CAUTION 1 Do not hold the cables axis or detector when transporting the servomotor Failure to observe this could lead to faults or injuries 2 Securely fix the servomotor to the machine Insufficient fixing could lead to the servomotor deviating during operation Failure to observe this c...

Page 85: ...en not installing in the standard direction When the servomotor is not installed in the standard direction refer to section 3 2 5 Oil and waterproofing measures and take the appropriate measures The brake plates may make a sliding sound when a servomotor with magnetic brake is installed with the shaft facing upward but this is not a fault In a situation where the detector cannon plug cannot be wir...

Page 86: ...HC RF103 153 203 Straight shaft 686N L 45 196N HA FF053 108N L 30 98N HA FF13 118N L 30 98N HA FF23 33 176N L 30 147N HA FF43 63 323N L 40 284N HC MF053 13 88N L 25 59N HC MF23 43 245N L 30 98N HC MF73 392N L 40 147N Caution The symbols in the table follow the drawing below L Thrust load Radial load L Length from flange installation surface to center of load weight mm CAUTION 1 Use a flexible coup...

Page 87: ...0 HA40N 43N 80N 83N 20 HA100N 103N 200N 25 HC SF52 102 152 53 103 153 20 HC SF202 203 352 353 25 HC RF103 153 203 20 HA FF053C UE 13C UE 8 HA FF23C UE 33C UE 12 HA FF43C UE 63C UE 14 HC MF13 S15 10 HC MF23 S15 43 S15 15 HC MF73 S15 20 When installing the servomotor horizontally set the power cable and detector cable to face downward When installing vertically or on an inclination provide a cable t...

Page 88: ...oil and water do not flow along the cable into the motor or detector Refer to right drawing When installing on the top of the shaft end make sure that oil from the gear box etc does not enter the servomotor The servomotor does not have a waterproof structure Cover Servomotor Oil or water pool Cover Servomotor Fault Respiration Gear Lubricating oil Servomotor ...

Page 89: ... excessive stress is not applied on the cable If the detector cable and servomotor wiring are stored in a cable bear and the servomotor moves make sure that the cable bending section is within the range of the optional detector cable Fix the detector cable and power cable enclosed with the servomotor The bending life of the detector cable is as shown below Regard this with a slight allowance If th...

Page 90: ...e point grounding for the servo amplifier and motor 2 Measures against noise entering from external source and causing servo amplifier to malfunction If a device generating noise is installed near the servo amplifier and the servo amplifier could malfunction take the following measures Install a surge killer on devices magnetic contactor relay etc that generate high levels of noise Install a data ...

Page 91: ... it is bundled with the power wire the noise could be propagated to the signal wire and cause malfunction because of the magnetic induction noise or static induction noise In this case take the following measures 1 Install devices easily affected as far away from the servo amplifier as possible 2 Lay the signals wires easily affected as far away from the input wire with the servo amplifier 3 Avoid...

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Page 93: ...splay after power is turned ON 4 2 4 2 Setting the initial parameters 4 3 4 2 1 Servo specification parameters 4 3 4 2 2 Limitations to electronic gear setting value 4 4 4 2 3 Parameters set according to feedrate 4 4 4 2 4 Parameters set according to machine load inertia 4 4 4 3 Standard parameter list according to motor 4 6 ...

Page 94: ...lifier power and NC power have been turned ON the servo amplifier will automatically execute self diagnosis and initial settings for operation etc The LEDs on the front of the servo amplifier will change as shown below according to the progression of these processes If an alarm occurs the alarm No will appear on the LEDs Refer to Chapter 8 Troubleshooting for details on the alarm displays Rotary s...

Page 95: ... pitch with an mm unit Set 360 for a rotary axis SV019 RNG1 Position detector resolution SV020 RNG2 Speed detector resolution Set the motor detector resolution with a kp rev unit for both settings Refer to the standard parameters for each motor for the settings SV003 PGN1 Position loop gain Set 33 as a standard F E D C B A 9 8 7 6 5 4 3 2 1 0 abs vdir mc dmk bit Meaning when 0 is set Meaning when ...

Page 96: ...meter No 101 2301 with M50 M64 series NC will be output 4 2 3 Parameters set according to feedrate The following parameters are determined according to each axis feedrate No Abbrev Parameter name Explanation SV023 OD1 Excessive error detection width at servo ON SV026 OD2 Excessive error detection width during servo OFF A protective function will activate if the error between the position command a...

Page 97: ...IA HC SF HC SF352 HC SF153 HC SF53 HC SF103 Standard VGN1 Standard VIA change region 80 60 20 40 0 100 1 5 3 7 11 9 HA FF63 HA FF43 HA FF33 HA FF23 HA FF13 HA FF053 HA FF 20 40 0 100 80 60 1500 1000 VIA 1 5 30 10 25 20 15 HC MF73 HC MF VIA HC MF23 HC MF43 HC MF053 HC MF13 Standard VGN1 Standard VIA change region 10 20 0 50 40 30 1 2 4 6 3 5 HC103R HC153R HC203R HC R Standard VGN1 Motor single unit...

Page 98: ... SV012 IDG Current loop d axis gain 512 256 384 256 384 256 384 256 SV013 ILMT Current limit value 500 SV014 ILMTsp Current limit value in special control 500 SV015 FFC Acceleration rate feed forward gain 0 SV016 LMC1 Lost motion compensation 1 0 SV017 SPEC Servo specification selection Refer to 4 2 1 Servo specification parameters SV018 PIT Ball screw pitch Set the ball screw pitch with an mm uni...

Page 99: ...mit value in special control 500 SV015 FFC Acceleration rate feed forward gain 0 SV016 LMC1 Lost motion compensation 1 0 SV017 SPEC Servo specification selection Refer to 4 2 1 Servo specification parameters SV018 PIT Ball screw pitch Set the ball screw pitch with an mm unit Set 360 for a rotary axis SV019 RNG1 Position detector resolution SV020 RNG2 Speed detector resolution Set to 100 for the HC...

Page 100: ...ion rate feed forward gain 0 SV016 LMC1 Lost motion compensation 1 0 SV017 SPEC Servo specification selection Refer to 4 2 1 Servo specification parameters SV018 PIT Ball screw pitch Set the ball screw pitch with an mm unit Set 360 for a rotary axis SV019 RNG1 Position detector resolution SV020 RNG2 Speed detector resolution Set to 100 for the HC R A47 E42 A42 Series Set to 25 for the HC R E33 A33...

Page 101: ...ontrol 500 SV015 FFC Acceleration rate feed forward gain 0 SV016 LMC1 Lost motion compensation 1 0 SV017 SPEC Servo specification selection Refer to 4 2 1 Servo specification parameters SV018 PIT Ball screw pitch Set the ball screw pitch with an mm unit Set 360 for a rotary axis SV019 RNG1 Position detector resolution SV020 RNG2 Speed detector resolution Set to 100 for the HA E42 A42 Series Set to...

Page 102: ...rrent limit value in special control 500 SV015 FFC Acceleration rate feed forward gain 0 SV016 LMC1 Lost motion compensation 1 0 SV017 SPEC Servo specification selection Refer to 4 2 1 Servo specification parameters SV018 PIT Ball screw pitch Set the ball screw pitch with an mm unit Set 360 for a rotary axis SV019 RNG1 Position detector resolution SV020 RNG2 Speed detector resolution Set to 100 fo...

Page 103: ...t limit value in special control 500 SV015 FFC Acceleration rate feed forward gain 0 SV016 LMC1 Lost motion compensation 1 0 SV017 SPEC Servo specification selection Refer to 4 2 1 Servo specification parameters SV018 PIT Ball screw pitch Set the ball screw pitch with an mm unit Set 360 for a rotary axis SV019 RNG1 Position detector resolution 16 SV020 RNG2 Speed detector resolution 16 SV021 OLT O...

Page 104: ...t limit value in special control 500 SV015 FFC Acceleration rate feed forward gain 0 SV016 LMC1 Lost motion compensation 1 0 SV017 SPEC Servo specification selection Refer to 4 2 1 Servo specification parameters SV018 PIT Ball screw pitch Set the ball screw pitch with an mm unit Set 360 for a rotary axis SV019 RNG1 Position detector resolution 16 SV020 RNG2 Speed detector resolution 16 SV021 OLT O...

Page 105: ...0 SV015 FFC Acceleration rate feed forward gain 0 SV016 LMC1 Lost motion compensation 1 0 SV017 SPEC Servo specification select Refer to 4 2 1 Servo specification parameters SV018 PIT Ball screw pitch Set the ball screw pitch with an mm unit Set 360 for a rotary axis SV019 RNG1 Position detector resolution 16 SV020 RNG2 Speed detector resolution 16 SV021 OLT Overload time constant 60 SV022 OLL Ove...

Page 106: ... limit value 500 SV014 ILMTsp Current limit value in special control 500 SV015 FFC Acceleration rate feed forward gain 0 SV016 LMC1 Lost motion compensation 1 0 SV017 SPEC Servo specification selection Refer to 4 2 1 Servo specification parameters SV018 PIT Ball screw pitch Set the ball screw pitch with an mm unit Set 360 for a rotary axis SV019 RNG1 Position detector resolution 8 SV020 RNG2 Speed...

Page 107: ...e 500 SV014 ILMTsp Current limit value in special control 500 SV015 FFC Acceleration rate feed forward gain 0 SV016 LMC1 Lost motion compensation 1 0 SV017 SPEC Servo specification selection Refer to 4 2 1 Servo specification parameters SV018 PIT Ball screw pitch Set the ball screw pitch with an mm unit Set 360 for a rotary axis SV019 RNG1 Position detector resolution 8 SV020 RNG2 Speed detector r...

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Page 109: ...3 Position loop gain 5 6 5 3 Characteristics improvement 5 8 5 3 1 Optimal adjustment of cycle time 5 8 5 3 2 Vibration suppression measures 5 11 5 3 3 Improving the cutting surface precision 5 14 5 3 4 Improvement of protrusion at quadrant changeover 5 16 5 3 5 Improvement of overshooting 5 21 5 3 6 Improvement of characteristics during acceleration deceleration 5 23 5 4 Setting for emergency sto...

Page 110: ...e item 888 μsec 26 Cycle counter 0 5V Regardless of resolution 888 μsec 27 Excessive error detection amount mm V 3 55 msec 28 Collision detection estimated torque Rated stall current 2V 888 μsec 29 Position command stroke 100mm V 3 55 msec 30 Position command pulse 10μm V 3 55 msec 31 99 No setting 100 5 V test output 101 Saw tooth wave test output 5 5V Cycle 113 7 msec 888 μsec 102 Rectangular wa...

Page 111: ...set again when the amplifier power is turned ON next No Abbrev Parameter name Explanation Setting range SV061 DA1NO D A output channel 1 data No Set 0 0 102 SV062 DA2NO D A output channel 2 data No SV063 DA1MPY D A output channel 1 offset amount The amount can be set with the output precision unit Observe the output value and set so that the output value is 0 V 10 10 SV064 DA2MPY D A output channe...

Page 112: ...way for axes having a large amount of friction but this should be ignored Refer to section 5 3 3 3 Disturbance observer for details The SV037 setting where the disturbance torque becomes the smallest during the estimated acceleration deceleration is the machine s total load inertia magnification including the motor inertia Obtain the standard VGN1 from the graph in section 4 2 3 based on this valu...

Page 113: ...on are sacrificed VIA must be kept high set the standard value to guarantee precision especially in high speed contour cutting generally F 1000 or higher In other words a large enough value must be set in VGN1 so that the VIA does not need to be lowered in machines aimed at high speed precision When adjusting the cutting precision will be better if adjustment is carried out to a degree where overs...

Page 114: ...ese vibrations To adjust the SHG control gradually raise the gain from a setting where 1 2 of a normal control PGN1 where vibration did not occur was set in PGN1 If the PGN1 setting value is more than 1 2 of the normal control PGN1 when SHG control is used there is an improvement effect in position control Note that for the settling time the improvement effect is at 1 2 or more No Abbrev Parameter...

Page 115: ... 6 During SHG control even if the PGN1 setting value is the same the actual position loop gain will be higher so the speed loop must have a sufficient response If the speed loop response is low vibration or overshooting could occur during acceleration deceleration in the same manner as conventional control If the speed loop gain has been lowered because machine resonance occurs lower the position ...

Page 116: ... easily occur when the amplifier input voltage is low 170 to 190V and an excessive error can easily occur during acceleration deceleration HC Series HA N Series HC SF Series Motor type Max current command value Motor type Max current command value Motor type Max current command value HC52 390 or less HA40N 420 or less HC SF52 270 or less HC102 270 or less HA80N 370 or less HC SF102 270 or less HC1...

Page 117: ...isplay No Abbrev Parameter name Explanation SV034 SSF3 Servo function selection 3 The display data for the maximum current value on the servo monitor is determined with the following parameter F E D C B A 9 8 7 6 5 4 3 2 1 0 daf2 daf1 dac2 dac1 mon bit mon MAX current 1 MAX current 2 0 Max current command value when power is turned ON Max current command value for 1 second 1 Max current command va...

Page 118: ...G0tL Rapid traverse linear acceleration deceleration time constant msec INP In position width SV024 μm Example of speed current command waveform during acceleration deceleration Reference The rapid traverse acceleration deceleration time setting value G0tL for when linear acceleration deceleration is set is calculated with the following expression G0tL JL JM No 95 5 0 8 TMAX TL 6000 PGN1 K 2 msec ...

Page 119: ...n to output the current feedback and measure the resonance frequency Note that the resonance frequency that can be measured is 0 to 500 Hz For resonance exceeding 500 Hz directly measure the phase current with a current probe etc When the notch filter is set vibration may occur at a separate resonance frequency that existed latently at first In this case the servo control is stabilized when the no...

Page 120: ... Jitter compensation is the suppression of vibration occurring when the motor stops by ignoring the backlash amount of speed feedback pulses when the speed feedback polarity changes Increase the number of ignored pulses by one pulse at a time and set a value at which the vibration can be suppressed Because the position feedback is controlled normally there is no worry of positional deviation When ...

Page 121: ... is set Meaning when 1 is set F aflt Adaptive filter stopped Adaptive filter activated SV033 SSF2 Set the adaptive filter sensitivity compensation with the following parameters Servo function selection 2 F E D C B A 9 8 7 6 5 4 3 2 1 0 afs fhz2 nfd bit Descriptions 8 B afs Standard sensitivity when 0 is set If the filter depth is not deep enough generally 70 or more and the vibration cannot be suf...

Page 122: ...l not be improved Refer to 5 2 2 2 Setting the speed loop leading compensation No Abbrev Parameter name Explanation Setting range SV005 VGN1 Speed loop gain Increase the value by 20 to 30 at a time If the machine starts resonating lower the value by 20 to 30 at a time The setting value should be 70 to 80 of the value where resonance does not occur 1 999 SV008 VIA Speed loop lead compensation 1364 ...

Page 123: ...ration deceleration torque equals or exceeds is 100 or higher than the stall rated torque 3 Observe the estimated disturbance torque using the D A output and increase JL until the disturbance torque during acceleration deceleration becomes small cannot be observed Even when the torque offset is set and JL is an appropriate value the friction torque amount remains in the estimated disturbance torqu...

Page 124: ... used for compensation in the positive and negative directions when SV041 LMC2 is 0 3 If the compensation amount is to be changed in the direction to be compensated set LMC2 The compensation direction setting will be as shown below with the CW CCW setting in the CNC parameter If only one direction is to be compensated set the side not to be compensated as 1 No Abbrev Parameter name Explanation SV0...

Page 125: ...reverses from the direction to the direction 25 15 2 20 For the final adjustment measure the CNC sampling measurement DBB measurement or while carrying out actual cutting If the compensation amount is insufficient increase LMC1 or LMC2 by 5 at a time Note that if the setting is too high biting may occur Compensation 0 Optimum Too high POINT 1 When either parameter SV016 LMC1 or SV041 LMC2 is set t...

Page 126: ...ent feed load current 2 The unbalance torque value above is set for the torque offset TOF If there is a difference in the protrusion amount according to the direction make an adjustment with LMC2 Do not adjust with TOF Assume that the load current was 40 in the direction and 20 in the direction when JOG feed was carried out at approx F1000 The unbalance torque is as shown below so 30 is set for TO...

Page 127: ...the arc path increase LMCD by 10 msec at a time to find the timing that the protrusion and compensation position match Before timing delay compensation After timing delay compensation No Abbrev Parameter name Unit Explanation Setting range SV039 LMCD Lost motion compensation timing msec Set this when the lost motion compensation timing does not match Adjust while increasing the value by 10 at a ti...

Page 128: ... feed forward control In this non sensitive band control overshooting of a set width or less is ignored The model position direction change point is correctly recognized and the LMC compensation is correctly executed This parameter is meaningless when feed forward control is not being carried out Adjustment method If the compensation timing deviates during feed forward control increase the LMCT se...

Page 129: ...re is no compensation during circle cutting There is also no compensation when the CNC is carrying out feed forward control To compensate overshooting during feed forward control refer to the following section 2 Adjusting for feed forward control Setting and adjustment methods Set the servo function selection 1 SV027 SSF1 bit A OVS compensation type 1 will start Observe the position droop waveform...

Page 130: ... when the LMCT is set to 0 POINT OVS compensation type 2 is used if overshooting is a problem during feed forward control No Abbrev Parameter name Explanation SV027 SSF1 The overshooting compensation starts with the following parameter Servo function selection 1 F E D C B A 9 8 7 6 5 4 3 2 1 0 aft zrn2 ovs lmc vfct bit Explanation A 01 Overshooting comp stop 10 Overshooting comp type2 B ovs 11 Ove...

Page 131: ...v Parameter name Setting ratio Setting example Explanation Setting range SV003 SV049 PGN1 PGN1sp Position loop gain 1 1 23 26 33 38 47 1 200 SV004 SV050 PGN2 PGN2sp Position loop gain 2 8 3 62 70 86 102 125 0 999 SV057 SV058 SHGC SHGCsp SHG control gain 6 140 160 187 225 281 Always set a combination of 3 parameters 0 999 SV008 VIA Speed loop lead compensation Set 1900 as a standard value during SH...

Page 132: ...orward gain means that the speed loop gain during acceleration deceleration is raised equivalently Thus the torque current command required during acceleration deceleration starts sooner The synchronization precision will improve if the FFC of the delayed side axis is raised between axes for which high precision synchronous control such as synchronous tap control and superimposition control No Abb...

Page 133: ...ermined with the following parameter F E D C B A 9 8 7 6 5 4 3 2 1 0 daf2 daf1 dac2 dac1 mon bit mon MAX current 1 MAX current 2 0 Max current command value when power is turned ON Max current command value for 1 second 1 Max current command value for 1 second Max current FB value for 1 second 2 Max current FB value when power is turned ON Max current FB value for 1 second 3 Load inertia rate SV05...

Page 134: ... G0tL becomes the standard value When another acceleration deceleration pattern is selected set the rapid traverse to linear acceleration deceleration Adjust to the optimum acceleration deceleration time constant and set that value as the standard value Operation When an emergency stop occurs the motor will decelerate at the same inclination from each speed and will change to the dynamic brakes at...

Page 135: ...hen 0 is set Meaning when 1 is set 0 dmk Deceleration control stop Dynamic brake stop POINT If a dynamic brake stop is selected the software does not participate at all in the motor stop control after an emergency stop occurs CAUTION When a dynamic brake stop is selected in general the coasting distance during an emergency stop will be comparatively longer so be careful 3 Deceleration control stop...

Page 136: ...tting by 100 msec at a time and set the minimum value where the axis does not drop 0 2000 POINT 1 This control will not function if the dynamic brake stop is selected with the servo specification selection SV017 SPEC 2 This control will not function if an alarm for which the dynamic brakes are set as the stopping method occurs in an axis where vertical axis drop prevention control is being carried...

Page 137: ... SSF1 Servo function selection 1 SV032 TOF Torque offset Stall Rated current Set the unbalanced torque The compensation direction is determined by this parameter s sign When set to 0 the vertical axis lift up control will not be executed 100 100 SV048 EMGrt Vertical axis drop prevention time msec The brake operation will be delayed 100msec from the normal operation so set a value of 200msec or mor...

Page 138: ...function during cutting feed If 0 is set for TLMT SV060 all collision detections method 1 and method 2 will not function Alarm detection range for collision detection method 1 2 Collision detection method 2 When the current command reaches the motor s maximum current the axis will decelerate to a stop with at 80 of the motor s maximum torque or the parameter current limit value torque limit value ...

Page 139: ...apid traverse speed when possible to measure accurately The load inertia rate can also be measured using the disturbance observer function Refer to section 5 3 3 4 Disturbance observer 5 If the acceleration deceleration time is short and the current is easily saturated set SV035 bitF cl2n to 1 and ignore the collision detection method 2 6 Set the collision detection level Feed Detection level sett...

Page 140: ...n clG1 bit Meaning when 0 is set Meaning when 1 is set C D E clG1 Set the collision detection level for the collision detection method 1 cutting G1 feed G1 collision detection level will be SV060 clG1 When clG1 is set to 0 the collision detection method 1 will not function during cutting feed F cl2n Collision detection method 2 valid Collision detection method 2 invalid No Abbrev Parameter name Un...

Page 141: ...g is 1364 During the SHG control the standard setting is 1900 Adjust the value by increasing decreasing it by about 100 at a time Raise this value to improve contour tracking precision in high speed cutting Lower this value when the position droop vibrates 10 to 20Hz 1 to 9999 SV009 IQA Current loop q axis lead compensation 1 to 20480 SV010 IDA Current loop d axis lead compensation 1 to 20480 SV01...

Page 142: ...41 LMC2 is 0 compensate with the value of SV016 LMC1 in both of the and directions If you wish to change the compensation amount depending on the command direction set this and SV041 LMC2 SV016 direction SV041 direction However the directions may be opposite depending on other settings When 1 is set the compensation won t be performed in the direction of the command 15 14 13 12 11 10 9 8 7 6 5 4 3...

Page 143: ...vel Set the current detection level of Overload 1 Alarm 50 in respect to the stall rated current Set to 150 as a standard For machine tool builder adjustment 50 to 180 Stall rated current Set the excessive error detection width when servo ON Rapid traverse rate mm min Standard setting value OD1 OD2 60 PGN1 2 mm SV023 OD1 Excessive error detection width during servo ON When 0 is set the excessive e...

Page 144: ...9x Ax Bx Cx Dx Ex Fx x0 HC MF4 3 HC52 or HC SF52 HC53 or HC SF53 x1 HC MF7 3 HC102 or HC SF102 HC103 or HC SF103 HC103R or HC RF103 SV025 MTYP Motor Detector type x2 HC152 or HC SF152 HC153 or HC SF153 HC153R or HC RF153 x3 HC202 or HC SF202 HC203 or HC SF203 HC203R or HC RF203 x4 HC352 or HC SF352 HC SF353 x5 x6 x7 x8 x9 xA xB xC HC MF0 53 xD HC MF1 3 xE HC MF2 3 xF 8 Set the speed detector type ...

Page 145: ...lse 11 Jitter compensation 3 pulses SV027 SSF1 Servo function selection 1 6 7 8 Set the compensation amount with SV016 LMC1 and SV041 LMC2 9 lmc 00 Lost motion comp stop 10 Lost motion comp type 2 01 Lost motion comp type 1 11 Setting prohibited 10 Set the compensation amount with SV031 OVS1 and SV042 OVS2 11 ovs 00 Overshooting comp stop 10 Overshooting comp type 2 01 Overshooting comp type 1 11 ...

Page 146: ... you wish to change the compensation amount depending on the command direction set this and SV042 OVS2 SV031 direction SV042 direction However the directions may be opposite depending on other settings When 1 is set the compensation won t be performed in the direction of the command 1 to 100 Stall rated current SV032 TOF Torque offset Set the unbalance torque of vertical axis and inclined axis 100...

Page 147: ...d 3 Load inertia rate 4 Adaptive filter operation frequency Hz Adaptive filter operation gain 5 PN bus voltage V Regenerative operation frequency monitor The number of times sec 6 Estimated max torque for one second Max current FB value for one second SV034 SSF3 Servo function selection 3 7 Estimated max torque for one second Max disturbance torque for two seconds 8toF Setting prohibited 4 dac1 D ...

Page 148: ...ction selection 4 5 6 7 8 9 10 11 12 Collision detection method 1 Set the collision detection level during cutting feed G1 13 clG1 The G1 collision detection level SV060 clG1 14 When clG1 0 the collision detection method 1 during cutting feed won t function 15 cl2n Collision detection method 2 valid Collision detection method 2 invalid Note Set to 0 for bits with no particular description ...

Page 149: ...ative resistor type 8 Set the regenerative resistor type 9 Setting Explanation 10 rtyp 0 Drive unit standard built in resistor SVJ2 01 doesn t have a built in resistor 11 1 Setting prohibited 2 MR RB032 3 MR RB12 or GZG200W390HMK 4 MR RB32 or GZG200W1200HMK 3 units connected in parallel 5 MR RB30 or GZG200W390HMK 3 units connected in parallel 6 MR RB50 or GZG300W390HMK 3 units connected in paralle...

Page 150: ...nce observer gain The standard setting is 100 to 300 To use the disturbance observer also set SV037 JL and SV043 OBS1 When not using set to 0 0 to 1000 SV045 TRUB Frictional torque Set the frictional torque when using the collision detection function 0 to 100 Stall rated current SV046 Not used Set to 0 0 SV047 EC Inductive voltage compensation gain Set the inductive voltage compensation gain Set t...

Page 151: ...ng gain To use the collision detection function set the torque estimating gain In the case of MDS B SVJ2 the value is the same as the load inertia ratio that includes the motor inertia SV037 JL If acceleration deceleration is performed after setting SV034 mon 3 and SV060 0 the load inertia ratio will be displayed on the NC monitor screen 0 to 5000 SV060 TLMT Collision detection level When using th...

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Page 153: ...stor 6 4 6 1 3 Outline dimension drawing of external option regenerative resistance unit 6 5 6 2 Battery option MDS A BT A6BAT 6 7 6 3 Relay terminal block 6 14 6 4 Cables and connectors 6 15 6 4 1 Cable option list 6 16 6 4 2 Connector outline dimension drawings 6 20 6 4 3 Flexible conduits 6 26 6 4 4 Cable wire and assembly 6 28 6 4 5 Option cable connection diagram 6 29 ...

Page 154: ...Always use the designated options Failure to observe this could lead to faults or fires 2 Take care to the installation environment so that cutting chips and oil etc do not get on the optional regenerative resistor A short circuit fault could occur at the resistor s terminal block and the oil that adheres could burn leading to fires This chapter describes the dedicated option parts that can be ord...

Page 155: ...sponding servo amplifier Resistance value 40Ω 39Ω MR RB12 40Ω 40Ω 13Ω 13Ω MDS B SVJ2 01 No built in resistor MDS B SVJ2 03 10W 100Ω MDS B SVJ2 04 10W 100Ω MDS B SVJ2 06 10W 40Ω MDS B SVJ2 07 20W 40Ω MDS B SVJ2 10 100W 13Ω MDS B SVJ2 20 100W 13Ω No Abbrev Parameter name Explanation SV036 PTYP Regenerative resistor type This is a HEX setting parameter F E D C B A 9 8 7 6 5 4 3 2 1 0 amp rtyp emgx bi...

Page 156: ...s 6 4 6 1 2 Outline dimension drawing of external option regenerative resistor GZG200W39OHMK GZG200W120OHMK Unit mm GZG300W39OHMK Unit mm ø4 3 2 installation hole 287 306 22 26 6 54 ø5 5 2 installation hole 309 335 40 40 9 5 78 ...

Page 157: ...e option type Regenerative power W Resistance value Ω Weight kg MR RB032 30 40 0 5 MR RB12 Unit mm Regenerative option type Regenerative power W Resistance value Ω Weight kg MR RB12 100 40 0 8 G3 G4 P C MR RB032 30 ø6 installation hole 15 6 156 168 6 ø6 installation hole G3 G4 P C MR RB12 6 40 15 156 168 6 144 47 149 20 144 12 119 99 20 35 ...

Page 158: ...e power W Resistance value Ω Weight kg MR RB32 300 40 2 9 MR RB30 300 13 2 9 MR RB50 Unit mm Regenerative option type Regenerative power W Resistance value Ω Weight kg MR RB50 500 13 5 6 30 125 150 100 79 90 7 G4 G3 C P MR RB30 32 318 17 52 128 103 116 7 325 350 G4 G3 C P MR RB50 95 200 17 27 ...

Page 159: ...cations Cell battery Battery option type A6BAT MR BAT Lithium battery series ER17330V Nominal voltage 3 6V Nominal capacity 1700mAh Hazard class Battery shape Single battery Number of batteries used A6BAT MR BAT 1 Lithium alloy content 0 48g Battery safety Mercury content 1g or less Number of connectable axes 1 axis per 1 battery Battery continuous backup time Approx 10000 hours Battery useful lif...

Page 160: ...e battery into the servo drive unit with the following procedure Open the operation section window For the MDS B SVJ2 10 20 also remove the front cover Mount the battery into the battery holder Insert the battery connector into CON1 until a click is heard Battery MR BAT Battery MR BAT CON1 Battery holder Battery holder CON1 For MDS B SVJ2 01 to MDS B SVJ2 07 For MDS B SVJ2 10 MDS B SVJ2 20 Battery...

Page 161: ...fter 5 years HA FF HC MF series approx 2 hours at time of delivery approx 1 hour after 5 years Back up time from battery warning to alarm occurrence Note Approx 80 hours Weight 17g Note This time is a guideline so does not guarantee the back up time Replace the battery with a new battery as soon as a battery warning occurs Specifications of the dedicated case MDS BTCASE Type MDS BTCASE Number of b...

Page 162: ...batteries Photo 8 batteries incorporated CON1 CON8 CON2 A6BAT MR BAT A6BAT MR BAT CN1A CON1 CON8 A6BAT MR BAT A6BAT MR BAT CN1A CON6 CN1A CON1 CON8 A6BAT MR BAT A6BAT MR BAT Corresponding to MDS A BT 2 Corresponding to MDS A BT 6 CON1 CON8 A6BAT MR BAT A6BAT MR BAT CN1A CON4 Corresponding to MDS A BT 4 Corresponding to MDS A BT 8 b Attach a seal indicating the number of incorporated batteries to t...

Page 163: ...Chapter 6 Dedicated Options 6 11 Outline dimension drawing of the dedicated case MDS BTCASE 2 M5screw 25 6 16 8 15 30 R3 50 7 160 145 136 145 15 130 130 130 7 5 160 Panel drawing Unit mm ...

Page 164: ...6 axes Up to 8 axes Battery continuous backup time Approx 12000 hours Battery useful life From date of unit manufacture 7 years Data save time in battery replacement HC HC R HA N HC SF HC RF series approx 20 hours at time of delivery approx 10 hours after 5 years HA FF HC MF series approx 2 hours at time of delivery approx 1 hour after 5 years Back up time from battery warning to alarm occurrence ...

Page 165: ... Transportation Association IATA International Maritime Organization IMO and United States Department of Transportation DOT etc The packaging methods correct transportation methods and special regulations are specified according to the quantity of lithium alloys The battery unit exported from Mitsubishi is packaged in a container UN approved part satisfying the standards set forth in this UN Advis...

Page 166: ...ugh the COM terminal COM Common power supply Connect VDD when using the amplifier internal power supply Connect the side of the external power supply when using an external power supply EMG External emergency stop input This is the input terminal for external emergency stops DOG Near point dog input This is not used with the MDS B SVJ2 MO1 Monitor output 1 This is the D A output ch 1 Measure the v...

Page 167: ...create special length cables when required NC MDS B SVJ2 MDS B SVJ2 Relay terminal block Battery unit Terminator NC bus cable connector set HC HC R HA N HC SF HC RF HA FF HC MF HC MF S15 HA FF C UE Brake connector Detector cable connector set Detector cable connector set Brake connector Power supply connector Brake connector Power supply connector Power supply connector Detector cable connector se...

Page 168: ...ctor 172161 9 Connector pin 170359 1 Clamp MTI 0002 Detector cable for HA FF HC MF For general environ ment Straight Length is shown in the MR RMCBL M Length 2 5 10 20 30m Servo amplifier side connector Sumitomo 3M Connector 10120 3000VE Shell kit 10320 52F0 008 Servomotor detector side connector Hirose Plug RM15WTJA 10S Clamp RM15WTP CP 7 Detector cable for HC MF S15 IP65 compati ble Straight Ser...

Page 169: ...ifier side connector Sumitomo 3M Connector 10120 3000VE Shell kit 10320 52F0 008 Servomotor detector side connector Hirose Plug RM15WTJA 10S Clamp RM15WTP CP 7 For CN2 Detector cable for HC MF S15 IP65 compati ble Straight MR RMCS Adaptive cable range ø6 5 ø7 5 Servo amplifier side connector Sumitomo 3M Connector 10120 3000VE Shell kit 10320 52F0 008 Servomotor detector side connector DDK Connecto...

Page 170: ...A13N HA23N HA33N For general environ ment Angle Servomotor detector side connector DDK Connector CE05 6A22 23SD B BSS Clamp CE3057 12A 2 D265 Straight PWCE22 23S Compliant cable range ø9 5 ø13 MR PWCNS1 can also be used PWCE22 23L Compliant cable range ø9 5 ø13 Servomotor detector side connector DDK Connector CE05 8A22 23SD B BAS Clamp CE3057 12A 2 D265 IP67 and EN standard compati ble Angle FCUA ...

Page 171: ...t MR PWCNF Servomotor detector side connector Hirose Connector RM15WTJA 4S Clamp RM15WTP CP 8 9 10 For motor power supply Power supply connector for HC MF S15 IP65 compati ble Straight MR RM4S The value in indicates the cable clamp diameter 8 9 10mm Compliant cable range Clamp diameter 0 5mm BRKP10SL 4S Compliant cable range ø5 ø8 3 MR BKCN can also be used Servomotor detector side connector Conne...

Page 172: ...23 8 12 0 10 0 Maker Sumitomo 3M Ltd Type Connector 10120 3000VE Shell kit 10320 52A0 008 Unit mm 22 0 39 0 33 3 23 8 12 7 14 0 12 0 10 0 Maker Sumitomo 3M Ltd Type Connector 10120 6000EL Shell kit 10320 3210 000 Because this connector is an integrated molding part of the cable it is not an option setting in the connector set The terminator connector A TM also has the same outline Unit mm 20 9 29 ...

Page 173: ... 13 69 5 1 20UNEF 2A 13 2 30 2 43 4 7 5 CE05 8A22 23SD B BAS 13 8 18UNEF 2B 40 48 75 5 13 16 18UNEF 2A 16 3 33 3 49 6 7 5 CE05 8A24 10SD B BAS 11 2 18UNEF 2B 43 63 86 3 17 16 18UNEF 2A 18 2 36 5 54 7 7 5 Cable clamp Maker DDK Ltd Moveable range of one side φE Cable clamp inside diameter H G 0 7 A V screw C 1 6 Bushing inside diameter φ F D B 0 7 Unit mm Total length Outside dia Effective screw len...

Page 174: ...0 1 3 8 18UNEF 2B 40 48 34 11 1 1 4 18UNEF 2A 12 15 29 9 18 26 Straight plug Maker DDK Ltd Type CE05 6A14S 2SD B Unit mm 5 6 0 8 24 1 20UNEF 2B screw 20UNEF 2A screw D terminal 3 4 7 8 0 38 0 φ 28 57 Straight back shell Maker DDK Ltd W screw φ C φ A L B V screw O ring 7 85 or more effective screw length D Spanner grip Unit mm Type L A B C D V W CE02 20BS S 35 35 10 9 17 8 31 6 1 1 8 18UNEF 2B 1 3 ...

Page 175: ...YSO10 5 8 YLO10 5 8 ø5 8 3 9 16 24UNEF 2B 43 39 42 5 24 26 26 YSO14 9 11 ø8 3 11 3 3 4 20UNEF 2B 44 43 5 44 5 26 28 35 Connectors for HC MF S15 motor detector and power supply IP65 compatible Straight plug Maker Hirose Type RM15WTJA 4S Unit mm RM15WTJA 10S Cable clamp Maker Hirose Type RM15WTP CP Unit mm Spring inner diameter Cable clamp type Cable clamp diameter øA RM15WTP CP 7 ø7 8 0 RM15WTP CP ...

Page 176: ...ug Maker DDK Ltd J 0 12 L or less A R 0 5 U 0 5 V 0 38 0 φ Q W or more Unit mm Coupling screw Length of coupling section Total length Connection nut outside diameter Cable clamp installation screw Effective screw length Type A J 0 12 L or less øQ 0 0 38 R 0 5 U 0 5 V W or more MS3108B18 12S 1 1 8 18UNEF 18 26 68 27 34 13 20 5 30 2 1 20UNEF 9 53 MS3108B22 14S MS3108B22 23S 1 3 8 18UNEF 18 26 76 98 ...

Page 177: ... 7 V Bushing MS3057 4A 10SL 12S 20 6 20 6 10 3 7 9 5 6 1 6 22 2 5 8 24UNEF AN3420 4 MS3057 10A 18 23 8 30 1 10 3 15 9 14 3 3 2 31 7 1 20 UNEF AN3420 10 MS3057 12A 20 22 23 8 35 0 10 3 19 0 15 9 4 0 37 3 13 16 18UNEF AN3420 12 MS3057 16A 24 28 26 2 42 1 10 3 23 8 19 1 4 8 42 9 17 16 18UNEF AN3420 16 HA FF HC MF motor detector connector for general environment Maker Japan AMP Ltd Type Connector 1 17...

Page 178: ...ia 19 RCC 106CA2428 VF 06 Min inside dia 19 For power supply HC202 HC203 HC352 HA100N HA103N HA200N HC SF202 352 203 353 CE05 6A24 10S D B BSS CE05 8A24 10S D B BAS RCC 108CA2428 VF 08 Min inside dia 24 4 HA FF053C UE 63C UE Select according to section 2 Method for connecting to the connector main body Note None of the parts in this table can be ordered from Mitsubishi Electric Corp Back shell Con...

Page 179: ...HC202 HC203 HC352 HA100N HA103N HA200N HC SF202 352 203 353 CE05 6A24 10SD B MSA 28 24 Straight MAA 28 24 Angle FCV28 Min inside dia 26 4 For power supply HA FF053C UE 63C UE CE05 6A14S 2SD B MSA 12 14 Straight MAA 12 14 Angle FCV12 Min inside dia 12 3 For brakes HA053NB HA33NB HA100NB HA103NB HA200NB HC202B HC203B HC352B HA FF CB UE HC SF202B 352B 203B 353B MS3106A10SL 4S D190 MSA 10 10 Straight ...

Page 180: ...ctor Ground plate Sheath Shield external conductor Core wire Sheath Shield external conductor Core wire 3 Cable protection tube noise countermeasure If influence from noise is unavoidable or further noise resistance is required selecting a flexible tube and running the signal cable through this tube is effective This is also an effective countermeasure for preventing the cable sheath from being cu...

Page 181: ...unaway or fires 1 NC unit 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 Refer to section 6 4 4 Cable wire and assembly for details on wire 1 11 2 12 3 13 4 14 5 15 6 16 7 17 8 18 9 19 10 20 PE 1 11 2 12 3 13 4 14 5 15 6 16 7 17 8 18 9 19 10 20 PE Plate ...

Page 182: ...0 PE MD MDR MR MRR BAT LG CONT LG P5 5V Plate Amplifier side Detector side 2m 5m 10m 20m 30m Amplifier side Detector side Connection diagram for cable manufacturing Manufacture the cable as shown below The cable can be up to 30m long Refer to section 6 4 4 Cable wire and assembly for details on wire A B C D F G R M S N 6 16 7 17 9 1 2 18 11 19 12 20 PE MD MDR MR MRR BAT LG LG CONT P5 5V Plate Ampl...

Page 183: ...0 1 11 PE MD MDR MR MRR BAT P5 5V LG Plate Amplifier side Detector side Amplifier side Detector side 20m or less 20 to 30m Connection diagram for cable manufacturing Manufacture the cable as shown below The cable can be up to 30m long Refer to section 6 4 4 Cable wire and assembly for details on wire H J K L E R S N 6 16 7 17 9 1 2 18 11 19 12 20 PE MD MDR MR MRR BAT LG P5 5V Plate Amplifier side ...

Page 184: ... the connection for a 4 wire detector communication separated transmission reception lines type 2 wire type detector communication common transmission reception lines type can be used with this motor However it is recommended to manufacture the 4 wire communication type cable which is more effective against noise 2 The detector communication method is automatically determined by the servo amplifie...

Page 185: ...OINT The MR RMCBL M cable is a general purpose cable that can be used with other detectors When the MR RMCBL M cable is used the 2 wire type detector communication common transmission reception lines type detector will be used so the MD and MDR signals will not be used CAUTION 1 The cable manufacturing connection diagram shows the connection for a 4 wire detector communication separated transmissi...

Page 186: ......

Page 187: ...e 7 2 7 2 Selection of circuit protectors 7 3 7 3 Selection of contactor 7 4 7 3 1 Selection from rush current 7 4 7 3 2 Selection from input current 7 5 7 4 Control circuit related 7 6 7 4 1 Circuit protector 7 6 7 4 2 Relays 7 6 7 4 3 Surge absorber 7 7 ...

Page 188: ...iant wire AMP Refer to section 2 2 3 for the L11 L21 P and C below SVJ2 07 Note 3 This value is for a single amplifier Refer to the next table when wiring across several amplifiers Note 4 The wires in the table U V W are for when the distance between the servomotor and servo amplifier is 30m or less Note 5 Twist and wire the connecting wire for the regenerative option P C When wiring L1 L2 L3 and ...

Page 189: ...ector rated current 10A 20A 30A 40A 50A 60A Recommended Circuit protector Mitsubishi Electric Corp Option part NF30 CS3P 10A NF30 CS3P 20A NF30 CS3P 30A NF50 CP3P 40A NF50 CP3P 50A NF60 CP3P 60A The circuit protector is selected for the MDS B SVJ2 10 with 3 HC102 axes and an MDS B SPJ2 75 axis connected Because there are 1kW 3 3kW on the SVJ2 side 20A is selected from the table for the circuit pro...

Page 190: ...VJ2 01 MDS B SVJ2 03 MDS B SVJ2 04 MDS B SVJ2 06 MDS B SVJ2 07 MDS B SVJ2 10 MDS B SVJ2 20 Rush current 45A 50A 70A 100A MDS B SPJ2 MDS B SPJ2 02 MDS B SPJ2 04 MDS B SPJ2 075 MDS B SPJ2 15 MDS B SPJ2 22 MDS B SPJ2 37 MDS B SPJ2 55 MDS B SPJ2 75 MDS B SPJ2 110 Rush current 45A 50A 100A 15A Converter unit MDS A CR 10 MDS A CR 90 MDS C1 CV 37 MDS C1 CV 75 MDS C1 CV 110 Rush current 15A 40A Contactor ...

Page 191: ...S C1 CV 37 MDS A CR 22 MDS A CR 37 MDS C1 CV 55 MDS A CR 55 MDS C1 CV 75 MDS A CR 75 MDS A CR 90 MDS C1 CV 110 Input current 10A 20A 30A 40A 50A Contactor selection table 2 Contactor rated continuity current Total input current 20A 32A 50A 60A Recommended contactor Mitsubishi Electric Corp Option part S N10 AC200V S N20 AC200V S N25 AC200V S N35 AC200V The contactor is selected for the MDS B SVJ2 ...

Page 192: ...ded circuit protector Mitsubishi Electric Corp Option part CP30 BA type with medium speed inertial delay MDS B SVJ2 01 07 70 100A 0 5 1msec MDS B SVJ2 10 20 100 130A 0 5 1msec Circuit protector rated current 1 0A per axis 7 4 2 Relays Use the following relays for the input output interface motor brake output MBR contactor output MC external emergency stop EMGX Interface name Selection example For ...

Page 193: ...stand level A Energy withstand level J Power Max limit voltage Electrostatic capacity reference value Varistor type V AC V DC V 1 time 2 times 10 1000us 2ms W V pF ERZV10D121 TND10V 121K 120 108 to 132 75 100 3500 2500 20 14 5 0 4 200 1400 ERZV10D221 TND10V 221K 220 198 to 242 140 180 3500 2500 39 27 5 0 4 360 410 Note 1 Selection condition When ON OFF frequency is 10 times min or less and excitin...

Page 194: ......

Page 195: ...shooting 8 1 Points of caution and confirmation 8 2 8 2 Troubleshooting at start up 8 3 8 3 Protective functions list 8 4 8 3 1 Alarm 8 4 8 3 2 Warnings 8 10 8 3 3 Alarm and warning deceleration method and reset method 8 11 ...

Page 196: ...g a specific operation or command 9 At what frequency does the trouble occur 10 Is a load applied or removed 11 Has the amplifier unit been replaced parts replaced or emergency measures taken 12 How many years has the unit been operating 13 Is the power voltage normal Does the state change greatly according to the time band LED display during servo alarm LED display during servo warning CAUTION 1 ...

Page 197: ...y AA Initial communication with the CNC was not completed correctly Communication with CNC is incorrect Is the cable broken Check the conductivity with a tester Replace the cable The axis is not used the setting is for use inhibiting Is the axis setting rotary switch set to 7 to F Set correctly Is the connector CN1A CN1B disconnected Connect correctly Ab Initial communication with the CNC was not ...

Page 198: ...perature Improve the ambient environment The detector input connector is disconnected Check the connector CN2 connection Check the cable connection Connect correctly The detector cable is broken Replace with the cable for another axis and check the repeatability Replace the detector cable Detector fault 18 Motor side detector Initial communication error Initial communication with the detector was ...

Page 199: ... correctly The servo parameter setting is incorrect Check SV001 PC1 SV002 PC2 SV018 PIT SV025 MTYP Set correctly Is the speed loop gain too low Adjust the gain Is the acceleration deceleration time constant too short causing the current to be limited Increase the acceleration decele r ation time constant The speed is overshooting Is the current limit value too low Adjust the limit value 31 Overspe...

Page 200: ...he setting range of the parameter having the error NO Set correctly The HEX setting parameter setting is incorrect SV025 A non entered motor type was selected SV027 Both ovs 1 and 2 were set ovs and aflt were set with lmcl SV036 A non entered resistor type was selected Set correctly The electronic gears constant is overflowing The error No is 101 2301 Check parameters SV001 SV002 and SV018 If the ...

Page 201: ...r the potential difference during operation Securely ground Amplifier fault Replace the amplifier 3A Overcurrent The motor drive current is excessive Detector fault Check the repeatability Replace the detector Regenerative resistor error Check the resistance value of the regenerative resistor Refer to Chapter 6 for the resistance values Replace the regenerative resistor The regenerative transistor...

Page 202: ...short The current limit value is too low and a sufficient torque is not output Adjust the parameters The motor load is too large The motor brakes cannot be released Repair the brake circuit The motor is demagnetized The HA motor is easily demagnetized Remove the motor and check that it turns smoothly CNC motor Replace the motor The excessive error detection width is too small Check the SV023 SV053...

Page 203: ...ing acceleration Increase the acceleration decele ration time constant 5A Collision detection 2 The command torque reached the motor s maximum torque The acceleration deceleration time constant is too small The time constant cannot be increased Set to ignore collision detection method 2 Contactor fusing Check the contactor conductivity Replace the contactor Contactor control was set for a system t...

Page 204: ...he overload 50 column E2 Continuous high speed revolution warning The motor continuously rotated at a speed exceeding the rated rotation speed Rotary axis program command Check whether the motor is continuously rotating at a speed exceeding the rated rotation speed Apply a duty when rotating at a speed exceeding the rated rotation speed E3 Absolute position counter warning A deviation was detected...

Page 205: ...t cannot be carried out when the motor is overheated 4F Instantaneous power interruption Deceleration control NR 50 Overload 1 Deceleration control NR NR and PR reset is not possible when the load level is 50 or more Do not reset AR forcibly by turning off the amplifier If AR is carried out at 50 or more 80 will be set the next time the power is turned ON 51 Overload 2 Dynamic NR 52 Excessive erro...

Page 206: ...f a deceleration stop is set Reset method The unit will be automatically reset when the state in which the warning occurred is canceled NR Reset with the CNC reset button Resetting is also possible with the PR AR resetting conditions PR Reset by turning the CNC power ON again Resetting is also possible with the AR resetting conditions Resetting while the control axis is removed is possible with th...

Page 207: ...alue 9 3 9 2 2 Heat radiation area of fully closed type control panel 9 4 9 3 Magnetic brake characteristics 9 5 9 3 1 Motor with magnetic brakes 9 5 9 3 2 Magnetic brake characteristics 9 6 9 3 3 Magnetic brake power supply 9 8 9 4 Dynamic brake characteristics 9 9 9 4 1 Deceleration torque 9 9 9 4 2 Coasting amount 9 10 9 5 Vibration class 9 11 ...

Page 208: ...verload 2 alarm 51 will occur The HA FF053 13 and HC MF053 13 have characteristics different from the other motors 0 1 1 0 10 0 100 0 1000 0 0 50 100 150 200 250 300 350 400 Operation time sec When rotating When stopped 95 of amplifier or motor maximum capacity Motor load rate Fig 9 1 1 Overload protection characteristics of MDS B SVJ2 01 03 04 06 07 0 1 1 0 10 0 100 0 1000 0 0 50 100 150 200 250 ...

Page 209: ... SF53 40 15 0 8 HC202 130 20 2 6 HC SF103 50 15 1 0 HC352 140 20 2 8 HC SF153 60 20 1 2 HC53 70 15 1 5 HC SF203 85 20 1 7 HC103 70 20 1 5 HC SF353 140 20 2 8 HC153 135 20 2 7 HC203 140 20 2 8 HC RF103 45 15 0 9 HC RF153 60 20 1 2 HC103R 45 15 0 9 HC RF203 120 20 2 4 HC153R 60 20 1 2 HC203R 120 20 2 4 HA FF053 25 15 0 5 HA FF13 25 15 0 5 HA40N 45 15 0 9 HA FF23 25 15 0 5 HA80N 50 20 1 0 HA FF33 30 ...

Page 210: ...rol panel Refer to the table in section 9 2 1 Servo amplifier calorific value for the servo amplifier calorific values A indicates the area effective for heat radiation so if the control panel is directly installed on a heat insulating wall etc provide the control panel s surface area as an allowance The required heat radiation area will also differ according to the conditions in the control panel...

Page 211: ...an be suppressed to the minimum 9 3 1 Motor with magnetic brakes 1 Types The motor with magnetic brakes is set for each motor The B following the standard motor type indicates the motor with brakes 2 Applications When this type of motor is used for the vertical feed axis in a machining center etc slipping and dropping of the spindle head can be prevented even when the hydraulic balancer s hydrauli...

Page 212: ...W 5 2 12 15 25 Attraction current A 0 15 0 2 0 25 0 5 Dropping current A 0 06 0 06 0 12 0 18 Static friction torque N m 0 4 2 0 5 9 29 Inertia Note 2 kg cm 2 0 016 0 2 0 7 4 3 Release delay time Note 3 sec 0 03 0 05 0 07 0 10 AC OFF sec 0 10 0 20 0 24 0 27 Braking delay time Note 3 DC OFF sec 0 02 0 03 0 04 0 04 Per braking J 5 6 49 294 980 Tolerable braking work amount Per hour J 56 490 2 940 9 8...

Page 213: ...aking J 200 1 000 200 Table 9 2 4 Magnetic brake characteristics 4 HA FF Series HC MF Series Motor type Item 053B 13B 23B 33B 43B 63B 053B 13B 23B 43B 73B Type Note 1 Spring braking type safety brakes Rated voltage 24 VDC Rated current at 20 C A 0 22 0 31 0 46 0 26 0 33 0 42 Excitation coil resistance at 20 C Ω 111 78 52 91 73 57 Capacity W 7 7 4 11 6 3 7 9 10 Attraction current A 0 15 0 2 0 3 0 1...

Page 214: ...ther circuits 2 Brake excitation circuit a AC OFF and b DC OFF can be used to turn OFF the brake excitation power supply to apply the brakes a AC OFF The braking delay time will be longer but the excitation circuit will be simple and the relay cut off capacity will be smaller b DC OFF The braking delay time can be shortened but a surge absorber will be required and the relay cut off capacity will ...

Page 215: ...p r min HC52 2 94 2 40 496 HC SF52 2 39 2 40 496 HC102 4 78 5 59 473 HC SF102 4 78 5 59 473 HC102 5 88 11 19 884 HC SF152 7 16 18 49 1062 HC152 7 16 18 49 1062 HC SF202 9 55 10 56 457 HC152 8 82 18 49 1062 HC SF352 16 70 32 57 945 HC202 9 55 10 56 457 HC SF53 1 59 2 54 472 HC202 13 72 10 56 457 HC SF103 3 18 5 36 417 HC352 16 70 32 57 945 HC SF153 4 78 18 88 1676 HC53 2 94 2 54 472 HC SF203 6 37 1...

Page 216: ...3 42 5 15 08 10 11 26 92 10 5 HC103 13 6 3 53 10 11 11 58 10 5 HC SF353 82 0 7 77 10 11 41 74 10 5 HC153 20 0 1 84 10 11 15 49 10 5 HC203 42 5 17 24 10 11 27 42 10 5 HC RF103 1 5 2 04 10 11 2 07 10 5 HC RF153 1 9 1 52 10 11 2 04 10 5 HC103R 1 5 2 04 10 11 2 07 10 5 HC RF203 2 3 0 96 10 11 2 73 10 5 HC153R 1 9 1 52 10 11 2 04 10 5 HC203R 2 3 0 96 10 11 2 73 10 5 HA FF053 0 063 0 11 10 11 16 21 10 5...

Page 217: ...n class of the servomotor is V 10 at the rated speed The servomotor installation posture and measurement position to be used when measuring the vibration are shown below Fig 9 6 Servomotor vibration measurement conditions Top Bottom Servomotor Measurement position ...

Page 218: ......

Page 219: ...10 2 10 1 1 List of specifications 10 2 10 1 2 Outline dimension drawings 10 3 10 2 Servomotor 10 5 10 2 1 List of specifications 10 5 10 2 2 Torque characteristic drawings 10 11 10 2 3 Outline dimension drawings 10 17 10 2 4 Special axis servomotor 10 41 ...

Page 220: ...ly Built in or external option External digital input External emergency stop input External digital output Contactor control output motor brake control output External analog output 10V 2ch Protective functions Overcurrent cut off over voltage cut off overload cut off electronic thermal relay servomotor overheating protection detector error protection regeneration error protection undervoltage in...

Page 221: ...6 168 6 6 50 6 6 6 3 M4 0 7 screw Wiring allowance 70 or more Heat radiation allowance 100 or more ø6 installation Wiring allowance 40 or more 6 M4 0 7 screw 135 4 3 M4 0 7 screw 156 168 6 6 70 22 22 6 Wiring allowance 70 or more Heat radiation allowance 100 or more ø6 installation Wiring allowance 40 or more 6 M4 0 7 screw ...

Page 222: ...5 6 156 168 6 6 90 6 6 6 6 6 Wiring allowance 75 or more Heat radiation allowance 100 or more 2 ø6 installation hole Wiring allowance 40 or more 6 156 168 6 6 70 22 22 3 M4 0 7 screw 6 6 190 6 Wiring allowance 70 or more Heat radiation allowance 100 or more ø6 installation Wiring allowance 40 or more 6 M4 0 7 screw ...

Page 223: ...te 1 The above characteristics values are representative values The maximum current and maximum torque are the values when combined with the amplifier Note 2 Only the A47 detector is compatible for use with the HC102 HC152 or HC202 amplifier having one rank lower capacity HC Series 3000r min rating INC specifications HC E42 E33 ABS specifications HC A47 A42 A33 Servomotor type HC53 HC103 HC153 HC2...

Page 224: ... 15 9 Motor inertia kg cm 2 1 5 1 9 2 3 Motor inertia with brakes kg cm 2 1 9 2 3 2 7 Recommended motor shaft conversion load inertia rate 5 times or less of motor inertia Power facility capacity kVA 1 7 2 6 3 5 Speed position detector Resolution per motor rotation E42 A42 A47 100000 pulse rev E33 A33 25000 pulse rev Structure Fully closed self cooling protection method IP65 Environment conditions...

Page 225: ...the amplifier HA N Series 3000r min rating INC specifications HC N E42 E33 ABS specifications HC N A42 A33 Servomotor type HA053N HA13N HA23N HA33N HA43N HA83N HA103N Corresponding servo amplifier type SVJ2 01 SVJ2 03 SVJ2 06 SVJ2 10 SVJ2 20 Rated output kW 0 05 0 1 0 3 0 45 0 5 1 0 2 0 Rated current A 0 95 0 95 2 9 2 2 2 8 4 9 9 2 Rated torque N m 0 16 0 32 0 95 1 43 1 59 3 18 6 37 Stall current ...

Page 226: ...alues are representative values The maximum current and maximum torque are the values when combined with the amplifier HC SF Series 3000r min rating Absolute position standard Servomotor type HC SF53 HC SF103 HC SF153 HC SF203 HC SF353 Corresponding servo amplifier type SVJ2 06 SVJ2 07 SVJ2 10 SVJ2 20 Rated output kW 0 5 1 0 1 5 2 0 3 5 Rated current A 3 2 5 4 8 6 10 2 16 8 Continuous characterist...

Page 227: ... 3 Motor inertia with brakes kg cm 2 1 9 2 3 2 7 Recommended motor shaft conversion load inertia rate 5 times or less of motor inertia Power facility capacity kVA 1 7 2 5 3 5 Speed position detector Resolution per motor rotation 16384 pulse rev Structure Fully closed self cooling protection method IP65 Environment conditions To follow section 3 2 1 Environment conditions Weight With without brakes...

Page 228: ...ove characteristics values are representative values The maximum current and maximum torque are the values when combined with the amplifier HC MF Series Absolute position standard Servomotor type HC MF053 HC MF13 HC MF23 HC MF43 HC MF73 Corresponding servo amplifier type SVJ2 01 SVJ2 03 SVJ2 04 SVJ2 07 Rated output kW 0 05 0 1 0 2 0 4 0 75 Rated current A 0 85 0 85 1 5 2 8 5 2 Continuous character...

Page 229: ...ation 0 1000 2000 HC152 SVJ2 10 21 6 Short time operation 7 16 0 10 20 30 40 Torque N m Speed r min 7 16 0 1000 2000 HC152 SVJ2 20 35 3 8 82 Short time operation 29 4 1750 Continuous operation Continuous operation Speed r min 0 1000 2000 HC202 SVJ2 10 28 5 9 55 Short time operation 0 10 20 40 50 30 Torque N m 0 1000 2000 HC202 SVJ2 20 41 7 13 7 28 5 9 55 1450 Short time operation Continuous operat...

Page 230: ...ontinuous operation Short time operation 0 1000 2000 3000 0 5 10 15 20 HC203R 15 9 6 37 Torque N m 0 5 10 15 20 0 1000 2000 3000 HC153R 11 9 4 77 Torque N m HC103R 0 1000 2000 3000 0 5 10 15 20 7 95 3 18 Torque N m Speed r min Speed r min Speed r min Continuous operation Short time operation Continuous operation Short time operation Continuous operation Short time operation Caution The data in the...

Page 231: ...Continuous operation Short time operation Speed r min Speed r min Speed r min 0 5 10 15 20 0 1000 2000 HA40N 14 2 2 94 9 6 1500 2 39 Torque N m Continuous operation Short time operation 0 10 20 30 40 0 1000 2000 HA80N 25 5 5 88 18 0 1550 4 78 Torque N m Continuous operation Short time operation 0 1000 2000 0 10 20 40 50 HA100N 42 0 13 7 30 33 6 9 55 1650 Torque N m Continuous operation Short time ...

Page 232: ...7 64 Torque N m Speed r min Speed r min Continuous operation Short time operation Continuous operation Short time operation 0 5 10 15 20 0 1000 2000 3000 HC SF153 14 3 4 78 Torque N m 0 1000 2000 3000 0 2 4 8 10 HC SF103 9 55 3 18 6 Torque N m 0 1000 2000 3000 0 1 2 4 5 HC SF53 4 77 1 59 3 Torque N m Speed r min Speed r min Speed r min Continuous operation Short time operation Continuous operation...

Page 233: ...0 0 6 8 0 5 7 4 2 4000 1000 2000 3000 1 4 1 9 Torque N m HA FF43 2 8 3000 0 3 4 5 0 3 8 2 1 4000 1000 2000 3000 0 95 1 3 Torque N m HA FF33 2 1 3000 0 3 4 5 0 2 9 2 1 4000 1000 2000 3000 0 72 0 95 Torque N m Speed r min Speed r min Speed r min Continuous operation Short time operation Continuous operation Short time operation Continuous operation Short time operation HC RF203 0 0 5 10 15 20 15 9 3...

Page 234: ...1 0 0 HC MF13 0 95 0 4 0 2 1000 2000 3000 4000 0 83 4000 0 32 0 21 Torque N m 0 0 6 0 8 1 0 0 HC MF053 0 48 0 4 0 2 1000 2000 3000 4000 0 16 0 11 Torque N m Speed r min Speed r min Speed r min Continuous operation Short time operation Continuous operation Short time operation Continuous operation Short time operation 0 6 8 10 0 HC MF73 7 2 4 2 1000 2000 3000 4000 2 9 3000 2 4 1 6 Torque N m 0 3 4 ...

Page 235: ...ead bolt 41 U nut M10 1 25 5 0 0 03 Cross section A A A 10 A 3 58 25 28 18 12 Plain washer 10 Taper 1 10 Oil seal S30457B 130 45 Tightening torque 23 to 30 N m 41 φ110h7 φ24h6 81 5 φ 145 111 φ 165 5 4 3 φ22 φ110h7 φ16 000 φ 145 111 φ 165 4 φ9 installation hole Use a hexagon socket head bolt Servomotor type 2000r min 3000r min L Note 1 KL HC52 B A47 HC53 B A47 120 153 51 5 HC102 B A47 HC103 B A47 1...

Page 236: ...8 5 HC352S A47 187 110 5 Note 1 Use a friction coupling Spun ring etc to connect with the load HC202BS A47 HC203BS A47 HC352BS A47 Unit mm 4 φ13 5 installation hole 176 45 46 Power supply connector CE05 2A24 10P MS3102A20 29P Detector connector 39 5 18 3 KL MS3102A10SL 4P Brake connector S40608B Oil seal 19 5 69 79 L 75 Use a hexagon socket head bolt φ 200 φ 230 142 0 0 025 0 010 0 117 φ114 3 φ35 ...

Page 237: ... A A 10 U nut M10 1 25 Plain washer 10 Taper 1 10 Oil seal S30457B 41 5 0 0 03 Cross section A A Tightening torque 23 to 30 N m φ95h7 φ24h6 81 5 φ 115 96 φ 135 45 φ 135 φ 115 φ22 φ95h7 M101 25 screw φ16 000 96 5 4 3 0 0 03 4 φ9 installation hole Use a hexagon socket head bolt Servomotor type L Note 1 KL HC103R B A47 147 185 71 HC153R B A47 172 210 96 HC203R B A47 197 235 121 Note 1 The dimensions ...

Page 238: ...n hole Use a hexagon socket head bolt U nut M10 1 25 5 0 0 03 Cross sectin A A 5 4 3 A 10 A 3 58 25 28 18 12 Plain washer 10 Taper 1 10 Oil seal S30457B 130 45 4 φ9 installation hole 41 Tightening torque 23 to 30 N m 41 φ110h7 φ24h6 81 5 φ 145 φ22 φ110h7 φ16 000 φ 145 111 φ 165 111 φ 165 Use a hexagon socket head bolt Servomotor type IP67 specifications IP67 specifications with W 2000r min 3000r m...

Page 239: ... Spun ring etc to connect with the load Note 2 IP67 specifications with W is also the same size HC202BS W A42 E42 A33 E33 HC203BS W A42 E42 A33 E33 HC352BS W A42 E42 A33 E33 Unit mm 176 45 φ200 φ 230 46 142 Power supply connector 18 3 KL MS3102A10SL 4P Brake connector S40608B Oil seal 0 0 0 2 5 0 0 1 0 0 79 L 75 φ114 3 φ35 Use a hexagon socket head bolt MS3102A22 14P Detector connector 117 21 5 73...

Page 240: ...gon socket head bolt 100 21 5 S30457B Oil seal L 44 10 3 45 Power supply connector CE05 2A22 23P Detector connector MS3102A22 14P KL 5 0 0 03 Cross section A A 40 Tightening torque 23 to 30 N m φ 135 φ 115 96 φ22 φ95h7 M10 1 25 screw φ16 000 96 φ 135 φ 115 81 5 φ95h7 φ24h6 5 4 3 0 0 03 Use a hexagon socket head bolt Servomotor type L Note 1 KL HC103R B 152 189 71 HC153R B 177 214 96 HC203R B 202 2...

Page 241: ...ation hole 45 85 φ80 81 72 φ 7 6 Servomotor type A B HA053NS 139 43 HA13NS 156 60 Note 1 The dimensions do not differ between the incremental specifications and absolute value specifications Note 2 Install a cannon connector facing downward This is effective for splash proofing Note 3 The wiring plug is an option Note 4 Taper axis specifications have not been prepared Contact the nearest branch of...

Page 242: ...nector facing downward This is effective for splash proofing Note 3 The wiring plug is an option HA23NBT D5 A42 E42 A33 E33 HA23NBS D5 A42 E42 A33 E33 HA33NBT D5 A42 E42 A33 E33 HA33NBS D5 A42 E42 A33 E33 Unit mm 86 4 φ6 6 installation hole 45 30 3 0 04 S 0 05 S 25 8 0 5 B A 38 S Oil seal S15357B 0 5 A A 12 37 14 3 8 15 8 6 3 S 23 Tightening torque 48 65 kgf cm U nut M6 1 0 Plain washer 6 Taper 1 ...

Page 243: ...er 10 S 0 06 S 0 02 0 04 S Use a hexagon socket head bolt 0 06 S 0 04 S φ16 000 Oil seal S25408B Power supply connector MS3102A22 23P Detector connector MS3102A22 14P Oil seal S25408B φ110h7 φ110h7 5 4 3 70 φ24h6 φ 1 4 5 φ165 23 Servomotor type 2000r min 3000r min A Note 1 B HA40N B HA43N B 214 270 131 HA80N B HA83N B 254 310 171 Note 1 The dimensions given in parentheses are for when magnetic bra...

Page 244: ...tor facing downward This is effective for splash proofing Note 3 The wiring plug is an option HA100NBS D5 A42 E42 A33 E33 HA103NBS D5 A42 E42 A33 E33 HA200NBS D5 A42 E42 A33 E33 Unit mm 176 21 79 3 18 A 0 08 S 0 06 S 45 0 03 Power supply connector MS3102A24 10P Oil seal Screw hole for installation of an M8 eye bolt S Brake connector MS3102A10SL 4P 73 B S35508B Detector connector MS3102A22 14P 4 φ1...

Page 245: ...e a hexagon socket head bolt 41 5 4 3 φ22 φ110h7 φ 145 111 φ 165 5 0 0 03 A 10 A 3 58 25 28 18 12 S30457B 130 45 41 U nut M10 1 25 Cross section A A Plain washer 10 Taper 1 10 Oil seal 4 φ9 installation hole Use a hexagon socket head bolt Tightening torque 23 30 N m φ16 000 Servomotor type 2000r min 3000r min L Note 1 KL HC SF52 B HC SF53 B 120 153 51 5 HC SF102 B HC SF103 B 145 178 76 5 HC SF152 ...

Page 246: ...68 5 HC SF352 HC SF353 187 110 5 Note 1 Refer to section 10 2 4 for the dimension of K keyway HC SF202B K HC SF203B K HC SF352B K HC SF353B K Unit mm φ200 φ 230 142 0 0 025 0 010 0 117 φ114 3 φ35 81 5 4 φ13 5 installation hole 176 45 46 Power supply connector CE05 2A24 10P MS3102A20 29P Detector connector 39 5 18 3 KL MS3102A10SL 4P Brake connector S40608B Oil seal 19 5 69 79 L 75 Use a hexagon so...

Page 247: ...d bolt 100 φ22 φ95h7 φ16 000 96 5 4 3 0 0 03 M10 1 25 screw 10 3 58 25 28 18 12 45 100 A A 10 S30457B 41 5 0 0 03 U nut M10 1 25 Cross section A A Plain washer 10 Taper 1 10 Oil seal 4 φ9 installation hole Use a hexagon socket head bolt Tightening torque 23 30 N m φ 135 φ 115 Servomotor type L Note 1 KL HC RF103 B 147 185 71 HC RF153 B 172 210 96 HC RF203 B 197 235 121 Note 1 The dimensions given ...

Page 248: ... the load Note 2 Refer to section 10 2 4 for the dimension of D D cut HA FF053B D HA FF13B D Unit mm 39 φ8h6 φ50h7 φ 6 0 φ68 φ47 39 0 3m detector cable With end connector 172169 9 AMP 45 54 L 30 6 2 5 4 φ4 5 39 V ring Ground terminal M3 screw Brake lead VCTF 2 0 52 0 5m With round crimp terminals with end insulation tube 1 25 4 Power supply lead wire outlet Power supply lead Detector cable wire ou...

Page 249: ...φ70h7 50 2 5 φ90 φ100 4 39 Servomotor type L HA FF23 130 5 HA FF33 148 HA FF23B HA FF33B Unit mm 45 76 4 φ5 5 Power supply lead M4 0 7 screw Depth15 Cross section A A 4 φ11h6 Power supply lead wire outlet Ground terminal M3 screw 30 8 3 25 16 4 A A L 39 VCTF 2 0 52 0 5m With round crimp terminals with end insulation tube 1 25 4 Brake lead Detector cable wire outlet With end connector 172169 9 AMP ...

Page 250: ...φ47 39 3 5 62 φ 115 φ135 Servomotor type L HA FF43 154 5 HA FF63 169 5 HA FF43B HA FF63B Unit mm Power supply lead wire outlet Cross section A A 5 φ16h6 M5 0 8 screw Depth20 45 4 φ9 100 Power supply lead 40 3 35 A A 25 V ring 10 L 39 Detector cable wire outlet With end connector 172169 9 AMP 0 3m detector cable 5 VCTF 2 0 52 0 5m With round crimp terminals with end insulation tube 1 25 4 Brake lea...

Page 251: ...n ring etc to connect with the load Note 2 Refer to section 10 2 4 for the dimension of D D cut HA FF053CB D UE HA FF13CB D UE Unit mm 45 54 4 φ4 5 L 12 2 5 30 47 20 KL CE05 2A14S 2PD B D17 MS3102A20 29P Detector connector Oil seal Brake connector MS3102E10SL 4P 28 35 5 HA FF053CB UE GM10204B 25 41 32 HA FF13CB UE S10207B 44 Power supply connector φ 6 0 φ68 69 φ8h6 φ50h7 φ47 74 Servomotor type L K...

Page 252: ...pth 15 2 5 4 4 Crosssection A A 44 Servomotor type L KL HA FF23C UE 145 71 5 HA FF33C UE 162 89 HA FF23CB UE HA FF33CB UE Unit mm 74 φ70h7 φ47 φ11h6 79 4 φ90 φ 100 45 76 4 φ5 5 Oil seal L 14 3 30 47 CE05 2A14S 2PD B D17 Brake connector MS3102E10SL 4P 25 MS3102A20 29P Detector connector M4 screw depth 15 2 5 A A 28 38 5 4 41 20 32 KL 16 4 Power supply connector 44 S15307B Crosssection A A Servomoto...

Page 253: ...crew depth 20 44 Cross section A A Servomotor type L KL HA FF43C UE 169 93 HA FF63C UE 184 108 HA FF43CB UE HA FF63CB UE Unit mm 74 φ47 5 φ16h6 91 φ 115 φ 135 φ95h7 A A 25 16 35 3 5 41 20 32 47 L 3 5 M5 screw depth 20 100 4ｰφ9 45 40 Oil seal S17308B 42 5 KL 44 Power supply connector CE05 2A14S 2PD B D17 Brake connector MS3102E10SL 4P Detector connector MS3102A20 29P Cross section A A 28 Servomotor...

Page 254: ... ring Note 3 Refer to section 10 2 4 for the dimension of D D cut HC MF053B D UE HC MF13B D UE Unit mm 45 40 2 φ4 5 25 2 5 5 L 25 2 V 10A 10 3 KL 55 2 Detector cable 0 3m Power supply lead 4 AWG19 0 3m With round crimp terminals with end insulation 1 25 4 With connector 172169 9 AMP V ring Note 2 Brake lead 2 0 32 0 3m With round crimp terminals with end insulation 1 25 4 Blue B1 B2 φ 46 φ30h7 φ8h...

Page 255: ... V ring Note 3 Refer to section 10 2 4 for the dimension of D D cut HC MF2B K UE HC MF43B K UE Unit mm 45 60 4 φ5 8 30 3 7 L 25 2 V 16A 57 4 KL 10 6 Detector cable 0 3m Power supply lead 4 AWG19 0 3m With round crimp terminals with end insulation 1 25 4 With connector 172169 9 AMP V ring Note 2 Brake lead 2 0 32 0 3m With round crimp terminals with end insulation 1 25 4 Blue B1 B2 φ 70 φ50h7 φ14h6...

Page 256: ... V ring Note 3 Refer to section 10 2 4 for the dimension of D D cut HC MF73B K UE Unit mm 80 45 4 φ6 6 40 3 8 L V 25A 25 2 61 11 KL Detector cable 0 3m Power supply lead 4 AWG19 0 3m With round crimp terminals with end insulation 1 25 4 With connector 172169 9 AMP V ring Note 2 Brake lead 2 0 32 0 3m With round crimp terminals with end insulation 1 25 4 Blue B1 B2 φ 90 φ70h7 φ19h6 48 Servomotor ty...

Page 257: ...es are special specifications Contact Mitsubishi or your dealer for the specifications HC MF23 K S15 HC MF43 K S15 Unit mm 70 45 60 30 3 7 14h6 50h7 L Oil seal SC17308 27 22 KL 14 4 5 8 25 64 24 82 15 Detector cable 0 5m Power supply cable 0 5m oil proof cable Connector RM15WTP 4P Cord clamp RM15WTP CP 8 Hirose Connector RM15WTP 10P Cord clamp RM15WTP CP 7 Hirose 14 15 20 60 Servomotor type L KL H...

Page 258: ...nnector RM15WTP 4P Cord clamp RM15WTP CP 8 Hirose Power supply cable 0 5m oil proof cable Connector RM15WTP 10P Cord clamp RM15WTP CP 7 Hirose Note 1 Use a friction coupling Spun ring etc to connect with the load Note 2 Refer to section 10 2 4 for the dimension of D D cut Note 3 The magnetic brakes are special specifications Contact Mitsubishi or your dealer for the specifications ...

Page 259: ...andard Refer to section 10 2 3 Outline dimensions drawings for the shapes With key Changed dimensions table Unit mm Changed dimensions Servomotor type S R Q W QK QL U H Y HC MF23K HC MF43K 14h6 30 27 5 20 3 3 5 M4 0 7 Depth 15 HC MF73K 19h6 40 37 6 25 5 3 5 6 M5 0 8 Depth 20 With key Changed dimensions table Unit mm Changed dimensions Servomotor type S R Q W QK QL U r HC SF52K 152K HC SF53K 153K 2...

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Page 261: ...1 3 2 Short time characteristics 11 7 11 3 3 Continuous characteristics 11 8 11 4 Selection of regenerative resistor 11 12 11 4 1 Calculation of regenerative energy 11 12 11 4 2 Calculation of positioning frequency 11 14 11 5 Example of servo selection 11 15 11 5 1 Motor selection calculation 11 15 11 5 2 Regenerative resistor selection calculation 11 17 11 5 3 Servo selection results 11 19 11 6 M...

Page 262: ... disturbance is small The effect of disturbance is large Speed fluctuation The effect of the torque ripple and cogging torque is small and speed fluctuation does not occur easily The effect of the torque ripple and cogging torque is large and speed fluctuation occurs easily Suitability Suitable for high precision interpolation control Suitable for high speed high frequency positioning Select a med...

Page 263: ...eration method for small capacity amplifiers The regeneration energy is charged to the condenser in the amplifier and this energy is used during the next acceleration The regeneration capacity decreases as the power supply voltage becomes higher 2 Resistance regeneration method If the condenser voltage rises too high when regenerating with the condenser only the regenerative electrical power is co...

Page 264: ...motors for NC unit machine tool feed axes However for 50W to 450W motors select the HA motor as conventionally HC SF 0 5 to 3 5kW 2000r min 0 5 to 3 5kW 3000r min 16384p rev This is a motor for medium inertia machine tool peripheral axes It is suitable for comparatively heavy load positioning such as for pallet changers etc It is drip proofed against cutting oil entering the unit and it clears IP6...

Page 265: ...se the MDS C1 V1 V2 Series servo amplifier capable of scale feedback input 3 Surface precision during machining Δεv This is the precision outline that affects the machine tools etc which are important factors in the machine operation path and interpolation functions It also affects the surface roughness of the machining surface The machining surface roughness is affected by elements caused by the ...

Page 266: ... HC R A33 E33 OSA253 OSE253 25000 20Δε 30Δε HA N A42 E42 OSA104 OSE104 100000 HA N A33 E33 OSA253 OSE253 25000 ΔS RNG Δε 2Δε 10Δε 20Δε Δε 2Δε HC SF 16384 15Δε 25Δε HC RF 16384 HA FF 8192 20Δε 30Δε HC MF 8192 ΔS RNG Δε 2Δε 30Δε 40Δε Δε 2Δε Table 11 5 Example of precision when movement amount is Δs 10mm per motor rotation Motor series Theoretic precision Δε Positioning precision Δεp Surface precisio...

Page 267: ...ing the recommended value is impossible POINT When selecting feed axis servomotors for NC unit machine tools place importance on the surface precision during machining To do this always select a servomotor with a load inertia ratio within the recommended value Select the lowest value possible within that range 11 3 2 Short time characteristics In addition to the rated output the servomotor has an ...

Page 268: ...2 t8 t0 11 3 Select a motor so that the continuous effective load torque Trms is 80 or less of the motor rated torque Tra stall torque Tst in the HC HA N Series Trms 0 8 Tra or 0 8 Tst 11 4 The amount of acceleration torque Ta shown in tables 11 6 and 11 7 is the torque to accelerate the load inertia in a frictionless state It can be calculated by the expression 11 5 For linear acceleration decele...

Page 269: ... 2 Unbalance axis load torque When operations to are for an unbalance axis calculate so that the following torques are required in each period Note that the forward speed shall be an upward movement Table 11 7 Load torques of unbalance axes Period Load torque calculation method Explanation Amount of acceleration torque Kinetic friction torque Unbalance torque Normally the acceleration deceleration...

Page 270: ...e are not considered in the acceleration deceleration time constants given in Fig 11 2 0 1 1 10 100 1000 HA Series HA40N HA80N HA100N 50msec 30 200msec 70 100 150 HA200N HA053N HA83N HA43N HA33N HA23N 70msec 50msec HA13N HA103N 300msec 100 150 200 20 30msec 0 1 1 10 100 1000 20 30msec 10 5 HC203R HC153R HC103R HC Series HC102 HC152 HC52 HC202 HC102 HC152 HC202 200msec 70 50 100 150 HC352 30 20 100...

Page 271: ... 20 30msec 10 5 HC RF Series 0 01 0 1 1 10 100 HA FF13 HA FF23 HA FF33 HA FF43 HA FF63 HA FF053 30 50msec 20 10 5 30 100mse 20 10 50 70 HA FF Series 0 01 0 1 1 10 100 HC MF053 HC MF13 HC MF23 HC MF43 HC MF73 30msec 20 10 5 1 5 30 100mse 20 10 50 70 1 HC MF Series 0 1 1 10 100 1000 HC SF Series 150 200 100 70 50 300 700msec 400 500 HC SF53 HC SF103 HC SF153 HC SF203 HC SF353 300 500mse 200 150 100 ...

Page 272: ...xpression 11 7 below ER 5 48 10 7 0 85 6 6 6 6 2000 2 11 13 6 J Table 11 8 1 Amplifier charging energy Amplifier capacity Charging energy Ec J Amplifier capacity Charging energy Ec J MDS B SVJ2 01 9 MDS B SVJ2 07 20 MDS B SVJ2 03 9 MDS B SVJ2 10 40 MDS B SVJ2 04 9 MDS B SVJ2 20 40 MDS B SVJ2 06 11 Table 11 8 2 Servomotor reverse effect Servomotor Motor reverse effect η Servomotor Motor reverse eff...

Page 273: ...n td Deceleration time time constant msec Ec Amplifier charging energy J One return is assumed to be one cycle and the regeneration energy per cycle ER is obtained using expression 11 10 ER ERU ERD J 11 10 A return operation is executed for a time constant of 50msec for 200mm The operation is executed at F20000 in a machine tool vertical axis driven by an HC52 motor The regenerative energy per ret...

Page 274: ...respondence table Standard built in regenerative resistor External option regenerative resistor type External option regenerative resistor type Japan Resistor Mfg GZG200W39OHMK GZG200W120OHMK 3 units connected in parallel GZG200W39OHMK 3 units connected in parallel GZG300W39OHMK 3 units connected in parallel External option regenerative resistance unit type MR RB032 MR RB12 MR RB32 MR RB30 MR RB50...

Page 275: ...he motor shaft conversion load inertia separately for the rotation load and linear movement load Furthermore calculate the rotation load inertia separately for the primary and secondary side Primary side rotation load inertia JR1 This is the primary side gear inertia JR1 1 6 kg cm2 Secondary rotation load inertia JR2 This is the sum of the ball screw inertia JB and secondary side gear inertia The ...

Page 276: ...d of 3000r min or more is required because of the rapid traverse speed and gear ratio Furthermore the motor to be selected is limited to the HC 3B Series because a motor with brakes is required The load inertia for all the HC53B to HC153B motors in the table below is judged to be appropriate if the load inertia is within 5 fold of the recommended load inertia ratio Motor type Motor inertia kg cm 2...

Page 277: ... of deceleration torque amount of acceleration torque is first calculated using expression 11 5 Ta JL JM N 95 5 ta 18 5 22 0 3000 95 5 120 10 6 N m The upward stop deceleration torque is obtained from the amount of deceleration torque unbalance torque and friction torque Tdu Ta TU TF 10 6 4 3 0 09 6 2 N m Downward stop deceleration torque Tdd The downward stop deceleration torque is obtained from ...

Page 278: ... 300W DP1 48 PR ER 48 300 929 6 15 5 times No of positionings 31 0 times MR RB50 500W DP2 48 PR ER 48 500 929 6 25 8 times No of positionings 51 6 times Because the No of times described above is the No of cycle operations for 1 return for a vertical axis the No of positionings is 2 fold Thus it is shown that the MR RB30 300W option resistor is required to satisfy the specified positioning frequen...

Page 279: ... mm min 30000 30000 20000 Target acceleration deceleration time constant msec 120 120 120 Rapid traverse positioning frequency times min 20 20 20 Motor brakes Not available Not available Available Motor shaft conversion rotation load inertia kg cm 2 19 6 17 7 13 9 Motor shaft conversion linear movement load inertia kg cm 2 15 2 12 7 4 6 Motor shaft conversion total load inertia kg cm 2 34 8 30 4 1...

Page 280: ...n kg g Gravitational acceleration m sec2 μ Friction coefficient TL Load torque N m F Force in axial direction of linear motion machine N η Drive system efficiency V Speed of linear operation object mm min N Motor speed r min ΔS Object movement amount per motor rotation mm Z1 Z2 Deceleration ratio TL Load torque N m TLO Load torque on load shaft N TF Motor shaft conversion load friction torque N m ...

Page 281: ... mm min S Stroke of object that moves linearly per motor rotation mm W 8 D 2 N3 N1 N2 N1 π ρ L 32 W 8 a 2 b 2 8 V 10 1 2πN S 20π JL Load inertia kg cm 2 W Weight of cylinder kg D Outer diameter of cylinder cm R Distance between rotary axis and cylinder axis cm JL Load inertia kg cm 2 W Weight of cylinder kg a b R Left diagram cm JL Load inertia kg cm 2 W Weighty of object kg D Diameter of pulley c...

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Page 283: ...12 1 Chapter 12 Inspections 12 1 Inspections 12 2 12 2 Life parts 12 2 ...

Page 284: ...reatly affected by the ambient temperature and usage conditions but when run continuously in a normal air conditioned environment the life will be reached in 10 years Relays Contact defects will occur due to contact wear caused by the switching current This will differ according to the power capacity but the life will be reached at a No of cumulative switches switching life of 100 000 times Servom...

Page 285: ...od Section 2 6 Newly added Section 2 7 Newly added Section 2 8 Newly added Section 2 9 Newly added Section 3 1 2 Revised wiring allowance dimensions Section 3 2 1 Revised errors Added new motor Section 3 2 3 Added new motor Section 3 2 4 Added new motor Section 4 2 1 Added description of SV017 bit5 SV036 emgx Section 4 2 3 Added new motor Section 4 2 4 Added new motor Changed standard current loop...

Page 286: ... Section 11 1 2 Newly added Section 11 2 1 Newly added Section 11 2 2 Added new motor Section 11 3 Added new motor Section 11 3 1 Newly added Section 11 4 1 Added new motor Changed regenerative energy calculation expression description Section 11 4 2 Changed unbalance axis regeneration capacity calculation expression Section 11 5 Newly added servo system selection example Section 11 6 Revised line...

Page 287: ... new motors Changed drawings Section 10 2 1 Added new motors Changed details described in HA FF configuration Section 10 2 2 Added new motors Revised HC102 HC SF202 HC SF352 Section 10 2 3 Added new motors Revised motor dimensions for HC HC R HA100N HC SF HC MF B UE Changed HA23N to 83N 40N to 100N power supply connector type Section 10 2 4 Newly added Section 11 2 1 Added new motors Added HA FF d...

Page 288: ...oints Section 5 4 2 Added cautions Section 5 5 Added collision detection Section 5 6 Added parameters SV034 35 45 59 60 Revised parameter explanations SV032 37 Revised parameter setting range SV041 Section 6 4 Added HC MF S15 IP65 specifications detector cable connector set and power supply connector Section 6 4 5 Changed 3 and 4 general purpose motor detector cable manufacturing connection drawin...

Page 289: ...ll without duct or conduit Section 1 1 2 Added combinations with HC102 HC152 HC202 one rank lower capacity amplifier Added HC352 HC203 HA200N and HA103N Added detector A47 OSA17 to HC motor series Deleted explanation on HC and HA motor series IP67 specifications Section 2 4 Changed CNV2 cable to CNV12 cable Changed MR JHSCBL cable to CNV2C cable Section 2 4 1 Added connection of HC52 A47 HC 53 A47...

Page 290: ...nnection diagram Section 6 4 5 3 Deleted CNV2 cable connection diagram Added CNV12 cable connection diagram Section 6 4 5 5 Added MR RMCBL cable connection diagram Section 7 2 Changed MDS B CVE to MDS C1 CV due to changes in model Section 7 3 Changed MDS B CVE to MDS C1 CV due to changes in model Section 8 3 1 Revised alarm 25 Investigation method column added note to Remedy column Section 8 3 2 A...

Page 291: ...description Changed Servo specifications to Servo specification selection Section 2 9 Changed bit description Section 3 2 Added caution Section 3 2 3 Changed bit description Changed Servo specifications to Servo specification selection Section 3 2 6 Created CAUTION and added explanation Section 4 2 1 Changed bit description Changed parameter names to integrated names Section 4 2 3 Changed paramete...

Page 292: ...ption in POINT Section 5 4 2 2 Changed parameter name to integrated name Changed bit description Section 5 5 Corrected explanation Changed parameter names to integrated names Changed bit description Section 5 6 Changed parameter names to integrated names reviewed and corrected all explanations Section 6 1 1 Changed bit description Added caution Section 8 3 Changed alarm names and warning names to ...

Page 293: ...ay 2007 BNP B3937J continued Section 6 2 Battery option MDS A BT MR BAT was revised Section 7 4 3 Surge absorber was revised End Global service network was added Feb 2008 BNP B3937K Preface Instruction Manual for Compliance with UL c UL Standard was revised ...

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Page 295: ...e Center F A TECH CO LTD 898 19 20 21 22 S V CITY BUILDING OFFICE TOWER 1 FLOOR 12 14 RAMA III RD BANGPONGPANG YANNAWA BANGKOK 10120 THAILAND TEL 66 2 682 6522 FAX 66 2 682 6020 Malaysia MITSUBISHI CNC Agent Service Center FLEXIBLE AUTOMATION SYSTEM SDN BHD 60 JALAN USJ 10 1B 47620 UEP SUBANG JAYA SELANGOR DARUL EHSAN MALAYSIA TEL 60 3 5631 7605 FAX 60 3 5631 7636 JOHOR MITSUBISHI CNC Agent Servic...

Page 296: ...le 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 1997 2008 Mitsubishi Electric Corporation ALL RIGHTS RESERVED ...

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