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Mitsubishi Electric MELDAS MDS-R Series, Technical Specification And Instruction Manual

The Mitsubishi Electric MELDAS MDS-R Series offers precise control for industrial automation. To ensure optimal performance, refer to the comprehensive Specifications And Instruction Manual. Download the free manual from our website manualshive.com for detailed guidance on utilizing the full potential of this advanced Mitsubishi Electric product.

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7. Wiring and Connection 

 

 
 

 

 

7 - 15

7-7-2  Contactor control signal (MC) output circuit 

 

A relay or photo coupler can be driven. When using an inductive load, install a diode. 
(Tolerable current: 40mA or less, rush current: 100mA or less) 

 

When using an internal power supply 

 

 

 

When using an external power supply 

 

 
 
 
 
 
 
 
 
 
 
 
 

 

 
 

 

 

POINT

 

When using the internal power supply, the power can be directly connected to 
VDD if using only the digital output (MC, MBR). When using the digital input 
(EMGX), always connect across VDD-COM. 

 

Contactor 

MDS-R-V1/V2 

10

VDD

5

COM

15

MC

3

SG

CN9

Contactor control relay 
(There are also types that 
are built into the contactor.) 

The servo drive unit will 
fail if the diode polarity is 
incorrect. 

24VDC

 

MDS-R-V1/V2 

10

VDD

5

COM

15

MC

3

SG

CN9

27VDC 
or less

24VDC

 

Contactor 

Contactor control relay 
(There are also types that 
are built into the contactor.) 

The servo drive unit  will 
fail if the diode polarity is 
incorrect. 

Summary of Contents for MELDAS MDS-R 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: ...qualified technician Wire the servo drive unit and servomotor after installation Failure to observe this could lead to electric shocks Do not touch the switches with wet hands Failure to observe this could lead to electric shocks Do not damage apply forcible stress place heavy items on the cables or get them caught Failure to observe this could lead to electric shocks 2 Injury prevention The linea...

Page 9: ... 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 co...

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: ...ode 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 th...

Page 13: ... used near the unit 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...

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: ... 2 Magnetic brake 3 8 3 2 3 Dynamic brake characteristics 3 11 4 Dedicated Options 4 1 Regenerative option 4 2 4 1 1 Regenerative resistor unit 4 4 4 1 2 Regenerative resistor 4 6 4 2 Machine side detector 4 8 4 3 Battery and terminator option 4 9 4 3 1 Terminator A TM 4 9 4 3 2 Battery ER6 4 10 4 3 3 Battery unit MDS A BT 4 11 4 4 Relay terminal block MR J2CN3TM 4 12 4 5 Cables and connectors 4 1...

Page 18: ...7 6 Connection of regenerative resistor 7 11 7 6 1 Connection of external option regeneration resistance unit 7 11 7 6 2 Connection of external regenerative resistor 7 12 7 7 Wiring of contactors 7 14 7 7 1 Contactor control 7 14 7 7 2 Contactor control signal MC output circuit 7 15 7 7 3 Contactor power ON sequences 7 16 7 7 4 Contactor shutoff sequences 7 16 7 7 5 Monitor of contactor operation ...

Page 19: ...ing to alarm and warning number 10 7 10 4 1 Alarms 10 7 10 4 2 Warning 10 18 10 4 3 Parameter No during initial parameter error 10 20 11 Characteristics 11 1 Inspections 11 2 11 2 Service parts 11 2 Appendix 1 Cable and Connector Specifications Appendix 1 1 Selection of cable A1 2 Appendix 1 1 1 Cable wire and assembly A1 2 Appendix 1 2 Cable connection diagram SVJ2 6 4 5 6 22P A1 4 Appendix 1 3 C...

Page 20: ...5 2 Appendix 5 2 Notes for AC servo system A5 2 Appendix 5 2 1 General Precaution A5 2 Appendix 5 2 2 Installation A5 2 Appendix 5 2 3 Short circuit ratings A5 2 Appendix 5 2 4 Peripheral devices A5 2 Appendix 5 2 5 Field Wiring Reference Table for Input and Output A5 2 Appendix 5 2 6 Motor Over Load Protection A5 2 Appendix 5 2 7 Flange of servo motor A5 2 Appendix5 3 AC Servo Spindle System Conn...

Page 21: ...1 1 1 Introduction 1 1 System configuration 1 2 1 2 Explanation of type 1 3 1 2 1 Servomotor type 1 3 1 2 2 Servo drive unit type 1 4 ...

Page 22: ... 2nd axis servomotor Servo drive unit MDS R V2 Contactor Note Prepared by user NFB Note Prepared by user To 3rd axis servomotor To 24V power supply Regenerative resistor unit Grounding 1st axis servomotor To 24V power supply Grounding G4 G3 C P Regenerative resistor unit G4 G3 C P 3 phase 200VAC power supply Contactor Note Prepared by user NFB Note Prepared by user ...

Page 23: ...series HF medium inertia series Rating 3000r min Rating 3000r min Sym bol Rated output Sym bol Rated output 44 0 4 kW 53 0 5 kW 74 0 75kW 103 1 0 kW 153 1 5 kW 203 2 0 kW 353 3 5 kW HF 1 2 3 4 Serial No Rated rotation speed Motor type Rated output MITSUBISHI SER No XXXXXXXXX DATE 03 9 SPEED 3000r min OUTPUT 1kW IEC34 1 1994 INPUT 3AC 123V 6 0A HF103S AC SERVO MITSUBISHI ELECTRIC MADE IN JAPAN Moto...

Page 24: ...153 203 353 V2 2020 L M M V2 4020 L V2 4040 60mm width L M M V2 6040 L V2 6060 L M M V2 8040 L M V2 8060 L V2 8080 90mm width L M Note 1 indicates the motor corresponding to each servo drive unit Note 2 indicates the motor that can be combined with the drive unit capacity of one rank up It is selected when using the 2 axis drive unit etc Note 3 indicates the motor that can be combined with the dri...

Page 25: ...ns list 2 2 2 1 2 Torque characteristics 2 3 2 1 3 Outline dimension drawings 2 4 2 2 Servo drive unit 2 16 2 2 1 Installation environment conditions 2 16 2 2 2 Specifications list 2 16 2 2 3 Outline dimension drawings 2 17 2 2 4 Explanation of each part 2 21 ...

Page 26: ...ss of motor inertia Motor side detector resolution A42 For high gain 100 000 pulse rev A47 For general use 100 000 pulse rev Structure Fully closed self cooling Protection method IP67 Note 3 Ambient temperature Operation 0 to 40 C non freezing Storage 15 to 70 C non freezing Ambient humidity Operation 80 RH or less non condensing Storage 90 RH or less non condensing Atmosphere Indoors no direct su...

Page 27: ...peration range Torque N m 0 1000 2000 3000 Rotation speed r min Continuous operation range Torque N m 0 10 20 30 40 0 1000 2000 3000 Rotation speed r min Continuous operation range Short time operation range Torque N m 0 10 20 30 40 Short time operation range HF153 Compatible unit R V1 V2 40 HF153 Compatible unit R V1 V2 60 80 HF203 Compatible unit R V1 V2 40 0 10 20 40 50 0 1000 2000 3000 Rotatio...

Page 28: ...r ø80h7 ø14h6 7 5 33 5 3 25 ø36 SC15307 5 A A 3 55 5 0 0 03 0 0 03 45º 4 ø6 6 mounting hole Use a hexagon socket bolt 88 5 90 54 ø100 ø118 ø14 Oil seal ø18 3 18 5 3 14 14 12 Plain washer 8 U nut M8 1 0 Taper 1 10 A A ø80h7 ø36 M8 1 0 screw 8 9 44 Servomotor type L KL HF44 128 61 HF74 164 97 Note 1 Use a friction coupling Spun ring etc to connect with the load A straight axis Note 2 Attach the cann...

Page 29: ...C15307 Brake connector CM10 R2P 81 5 67 5 5 A A 3 55 5 0 0 03 0 0 03 45º 4 ø6 6 mounting hole Use a hexagon socket bolt 88 5 90 54 ø100 ø118 ø14 Oil seal ø18 3 18 5 3 14 14 12 Plain washer 8 U nut M8 1 0 Taper 1 10 A A ø80h7 ø36 M8 1 0 screw 8 9 44 Servomotor type L KL HF44B 169 61 HF74B 205 97 Note 1 Use a friction coupling Spun ring etc to connect with the load A straight axis Note 2 Attach the ...

Page 30: ...6 7 5 33 5 3 25 ø36 5 A A 3 55 5 0 0 03 0 0 03 45º 4 ø6 6 mounting hole Use a hexagon socket bolt 88 5 90 54 ø100 ø118 ø14 Oil seal ø18 3 18 5 3 14 14 12 Plain washer 8 U nut M8 1 0 Taper 1 10 A A ø80h7 ø36 M8 1 0 screw 8 9 44 Servomotor type L KL HF44 132 5 61 HF74 168 5 97 Note 1 Use a friction coupling Spun ring etc to connect with the load A straight axis Note 2 Attach the cannon connector fac...

Page 31: ...ø80h7 ø14h6 7 5 33 5 3 25 ø36 81 5 72 5 A A 3 55 5 0 0 03 0 0 03 45º 4 ø6 6 mounting hole Use a hexagon socket bolt 88 5 90 54 ø100 ø118 ø14 Oil seal ø18 3 18 5 3 14 14 12 Plain washer 8 U nut M8 1 0 Taper 1 10 A A ø80h7 ø36 M8 1 0 screw 8 9 44 Servomotor type L KL HF44B 173 5 61 HF74B 209 5 97 Note 1 Use a friction coupling Spun ring etc to connect with the load A straight axis Note 2 Attach the ...

Page 32: ...ø110h7 ø24h6 12 58 18 12 10 58 112 5 ø165 ø145 45º 130 4 ø9 mounting hole Use a hexagon socket bolt Tightening torque 23 to 30 N m U nut M10 1 25 ø110h7 ø22 28 25 A A 3 ø16 000 Plain washer 10 Taper 1 10 Oil seal S30457B 4 3 5 5 0 0 03 Servomotor type L KL HF53 120 57 8 HF103 142 79 8 HF153 164 101 8 Note 1 Use a friction coupling Spun ring etc to connect with the load Note 2 Attach the cannon con...

Page 33: ...ector 29 MS3102A18 10P 79 9 69 39 5 58 18 12 10 58 112 5 ø165 ø145 45º 130 4 ø9 mounting hole Use a hexagon socket bolt Tightening torque 23 to 30 N m U nut M10 1 25 ø110h7 ø22 28 25 A A 3 ø16 000 Plain washer 10 Taper 1 10 Oil seal S30457B 4 3 5 5 0 0 03 Servomotor type L KL HF53B 158 57 8 HF103B 180 79 8 HF153B 202 101 8 Note 1 Use a friction coupling Spun ring etc to connect with the load Note ...

Page 34: ...0h7 ø24h6 12 58 18 12 10 58 112 5 ø165 ø145 45º 130 4 ø9 mounting hole Use a hexagon socket bolt Tightening torque 23 to 30 N m U nut M10 1 25 ø110h7 ø22 28 25 A A 3 ø16 000 Plain washer 10 Taper 1 10 Oil seal S30457B 4 3 5 5 0 0 03 Servomotor type L KL HF53 124 5 57 8 HF103 146 5 79 8 HF153 168 5 101 8 Note 1 Use a friction coupling Spun ring etc to connect with the load Note 2 Attach the cannon ...

Page 35: ...ector 29 MS3102A18 10P 79 9 73 5 58 18 12 10 58 112 5 ø165 ø145 45º 130 4 ø9 mounting hole Use a hexagon socket bolt Tightening torque 23 to 30 N m U nut M10 1 25 ø110h7 ø22 28 25 A A 3 ø16 000 Plain washer 10 Taper 1 10 Oil seal S30457B 4 3 5 5 0 0 03 Servomotor type L KL HF53B 162 5 57 8 HF103B 184 5 79 8 HF153B 206 5 101 8 Note 1 Use a friction coupling Spun ring etc to connect with the load No...

Page 36: ... load Note 2 Attach the cannon connector facing downward to improve the splash proof performance HF203BS A47 Unit mm 82 MS3102A20 29P 185 79 39 5 3 75 81 5 19 5 79 8 140 9 ø230 ø200 45º 176 4 ø13 5 mounting hole Use a hexagon socket bolt Power connector Detector connector ø114 3 ø35 18 MS3102A22 22P 0 01 0 0 0 025 96 9 Brake connector CM10 R2P Note 1 Use a friction coupling Spun ring etc to connec...

Page 37: ... load Note 2 Attach the cannon connector facing downward to improve the splash proof performance HF203BS A42 Unit mm 82 MS3102A22 14P 189 5 79 44 3 75 81 5 21 5 79 8 140 9 ø230 ø200 45º 176 4 ø13 5 mounting hole Use a hexagon socket bolt Power connector Detector connector ø114 3 ø35 18 MS3102A22 22P 0 01 0 0 0 025 96 9 Brake connector CM10 R2P Note 1 Use a friction coupling Spun ring etc to connec...

Page 38: ...ad Note 2 Attach the cannon connector facing downward to improve the splash proof performance HF353BS A47 Unit mm 82 MS3102A20 29P 235 79 39 5 3 75 81 5 19 5 119 8 140 9 ø230 ø200 45º 176 4 ø13 5 mounting hole Use a hexagon socket bolt Power connector Detector connector ø114 3 ø35 18 MS3102A22 22P 0 01 0 0 0 025 68 5 96 9 Brake connector CM10 R2P Note 1 Use a friction coupling Spun ring etc to con...

Page 39: ...oad Note 2 Attach the cannon connector facing downward to improve the splash proof performance HF353BS A42 Unit mm 82 MS3102A22 14P 239 5 79 44 3 75 81 5 21 5 119 8 140 9 ø230 ø200 45º 176 4 ø13 5 mounting hole Use a hexagon socket bolt Power connector Detector connector ø114 3 ø35 18 MS3102A22 22P 0 01 0 0 0 025 73 96 9 Brake connector CM10 R2P Note 1 Use a friction coupling Spun ring etc to conn...

Page 40: ...rol method Current control method Braking Regenerative resistor External option Dynamic brakes Built in External analog output 0 to 5V 2ch data for various adjustments Structure Protection type Protection method IP10 Cooling method Forced wind cooling Fin Weight kg 3 3 3 3 5 0 5 0 Heat radiated at rated output W 46 73 101 141 Noise Less than 55dB 2 2 axis servo drive unit 2 axis servo drive unit M...

Page 41: ...360 52 Panel mounting hole machining drawing 2 M5 screw hole Square hole Note 1 Unit mm Note 1 Attach packing around the square hole for sealing Note 2 The intake fan can be mounted only at the top as shown above Note 3 Required wind passage space 8 380 340 70 Wiring allowance Note3 Intake 350 15 15 40 Note3 40 15 165 226 Note3 8 10 ...

Page 42: ...ote 2 The intake fan can be mounted only at the top as shown above Note 3 Required wind passage space 8 380 340 70 Wiring allowance Note3 Intake 350 15 15 40 Note3 40 15 165 226 Note3 360 10 90 45 6 ø6 hole 342 360 82 Panel mounting hole machining drawing 2 M5 screw hole Square hole Note 1 8 10 30 Unit mm ...

Page 43: ...10 60 30 6 ø6 hole 342 360 52 Panel mounting hole machining drawing 2 M5 screw hole Square hole Note 1 Unit mm Note 1 Attach packing around the square hole for sealing Note 2 Required wind passage space 8 380 340 70 Wiring allowance Note2 350 15 15 Intake 40 Note2 40 15 165 226 Note2 8 10 Intake ...

Page 44: ...1 Attach packing around the square hole for sealing Note 2 Required wind passage space 8 380 340 70 Wiring allowance Note2 350 15 15 Intake 40 Note2 40 15 165 226 Note2 360 10 90 45 6 ø6 hole 342 360 82 Panel mounting hole machining drawing 2 M5 screw hole Square hole Note 1 8 10 30 Unit mm Intake ...

Page 45: ...minator Lower axis communication connector 6 CN9 Analog output connector 7 CN4 Maintenance connector 8 CN2L Motor side detector connection connector L axis 9 CN2M Motor side detector connection connector M axis 10 CN3L Machine side detector connection connector L axis 11 CN3M Machine side detector connection connector M axis 12 CN22 Control power 24VDC input connector 13 Control circuit CHARGE LAM...

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Page 47: ... 3 1 Drive unit characteristics 3 2 3 1 1 Heating value 3 2 3 1 2 Overload protection characteristics 3 3 3 2 Servomotor 3 7 3 2 1 Shaft characteristics 3 7 3 2 2 Magnetic brake 3 8 3 2 3 Dynamic brake characteristics 3 11 ...

Page 48: ... 21 52 V2 4020 32 83 V1 60 27 74 V2 4040 38 105 V1 80 36 105 V2 6040 45 125 V2 6060 50 150 V2 8040 53 158 V2 8060 60 180 V2 8080 68 210 POINT Design the panel s heating value taking the actual axis operation load rate into consideration With a general machine tool the servo drive unit s load rate is approx 50 so the heating values inside the panel are half the values shown above Calculation exampl...

Page 49: ...ectronic thermal relay protection curve shown below is carried out overload 1 alarm 50 will occur If the maximum current is commanded at 95 or higher continuously for one second or more due to a machine collision etc overload 2 alarm 51 will occur 1 Motor HF44 HF44 Overload protection characteristics 0 1 1 10 100 1000 10000 0 100 200 300 400 500 Current stall Time s When rotating When stopped 2 Mo...

Page 50: ...n characteristics 0 1 1 10 100 1000 10000 0 100 200 300 400 500 Current stall Time s When rotating When stopped 4 Motor HF103 HF103 Overload protction characteristics 0 1 1 10 100 1000 10000 0 100 200 300 400 500 Current stall Time s When rotating When stopped ...

Page 51: ...n characteristics 0 1 1 10 100 1000 10000 0 100 200 300 400 500 Current stall Time s When rotating When stopped 6 Motor HF203 HF203 Overload protection characteristics 0 1 1 10 100 1000 10000 0 100 200 300 400 500 Current stall Time s When rotating When stopped ...

Page 52: ...3 Characteristics 3 6 7 Motor HF353 HF353 Overload protection characteristics 0 1 1 10 100 1000 10000 0 100 200 300 400 500 Current stall Time s When rotating When stopped ...

Page 53: ...th from flange installation surface to center of load mm CAUTION 1 Use a flexible coupling when connecting with a ball screw etc and keep the shaft core deviation to below the tolerable radial load of the shaft 2 When directly installing the gear on the motor shaft the radial load increases as the diameter of the gear decreases This should be carefully considered when designing the machine 3 When ...

Page 54: ...ulic balancer s hydraulic pressure reaches zero when the power turns OFF When used with a robot deviation of the posture when the power is turned OFF can be prevented When used for the feed axis of a grinding machine a double safety measures is formed with the deceleration stop dynamic brake stop during emergency stop and the risks of colliding with the grinding stone and scattering can be prevent...

Page 55: ... amount per braking J 32 200 1000 Notes 1 There is no manual release mechanism If handling is required such as during the machine core alignment work prepare a separate 24VDC power supply and electrically release a brake 2 These are the values added to the servomotor without a brake 3 This is the representative value for the initial attraction gap at 20 C 4 The brake gap will widen through brake l...

Page 56: ...ircuits b Brake excitation circuit 1 AC OFF and 2 DC OFF can be used to turn OFF the brake excitation power supply to apply the brake 1 AC OFF The braking delay time will be longer but the excitation circuit will be simple and the relay cut off capacity can be decreased 2 DC OFF The braking delay time can be shortened but a surge absorber will be required and the relay cut off capacity will be inc...

Page 57: ...motor is shown in the following table Deceleration torque characteristics of a dynamic brake Max deceleration torque of a dynamic brake Motor type Stall torque N m Combination drive unit type Ndp r min Tdp N m MDS R V1 20 to 40 MDS R V2 2020 to 4040 1254 HF44 2 00 MDS R V2 6040 to 8040 1282 5 43 MDS R V1 20 to 40 MDS R V2 2020 to 4040 1254 HF74 3 00 MDS R V2 6040 to 8040 1369 5 43 MDS R V1 20 to 4...

Page 58: ...ble Motor type JM kg cm 2 Combination drive unit type A B HF44 MDS R V1 20 to 40 MDS R V2 2020 to 4040 0 67 10 9 3 14 10 3 2 6 MDS R V2 6040 to 8040 0 65 10 9 3 21 10 3 HF74 MDS R V1 20 to 40 MDS R V2 2020 to 4040 1 31 10 9 6 16 10 3 5 1 MDS R V2 6040 to 8040 1 20 10 9 6 73 10 3 HF53 MDS R V1 20 to 40 MDS R V2 2020 to 4040 5 62 10 9 3 85 10 3 6 1 MDS R V2 6040 to 8040 5 03 10 9 4 30 10 3 HF103 MDS...

Page 59: ...resistor 4 6 4 2 Machine side detector 4 8 4 3 Battery and terminator option 4 9 4 3 1 Terminator A TM 4 9 4 3 2 Battery ER6 4 10 4 3 3 Battery unit MDS A BT 4 11 4 4 Relay terminal block MR J2CN3TM 4 12 4 5 Cables and connectors 4 13 4 5 1 Cable connection diagram 4 13 4 5 2 Cable and connector options 4 14 ...

Page 60: ...ce Regenerative resistor type Japan Resistor GZG80 W26 OHMJ GZG200 W26 OHMJ GZG300 W20 OHMJ GZG400 W13 OHMJ GZG400 W8 OHMJ GZG200 W120 OHMJ 3 units connected in parallel GZG200 W39 OHMJ 3 units connected in parallel GZG300 W39 OHMJ 3 units connected in parallel GZG200 W20 OHMJ 3 units connected in parallel GZG300 W20 OHMJ 3 units connected in parallel GRZG400 2 OHMJ 4 units connected in serial Reg...

Page 61: ...ted in parallel 6 MR RB50 or GZG300W39OHMJ 3 units connected in parallel 7 MR RB31 or GZG200W20OHMJ 3 units connected in parallel 8 MR RB51 or GZG300W20OHMJ 3 units connected in parallel 9 MR RB65 or GRZG400 20HMJ 4 units connected in serial A GZG80W26OHMJ B GZG400W13OHMJ C GZG400W8OHMJ D to F Setting prohibited CAUTION 1 Only the designated combination can be used for the regenerative option and ...

Page 62: ...ption type Regenerative power W Resistance value Ω Mass kg MR RB30 300 13 2 9 MR RB31 300 6 7 2 9 MR RB32 300 40 2 9 MR RB50 500 13 5 6 MR RB51 500 6 7 5 6 MR RB65 800 8 10 2 Outline dimension drawings MR RB30 MR RB31 MR RB32 Unit mm 30 125 150 100 79 90 7 G4 G3 C P MR RB30 31 32 318 17 52 ...

Page 63: ...4 Dedicated Options 4 5 MR RB50 MR RB51 Unit mm 128 103 116 7 325 350 G4 G3 C P MR RB50 51 95 200 17 27 MR RB65 Unit mm 2 ø10 mounting hole 215 260 230 TE1 10 230 2 3 10 30 500 480 10 500 30 ...

Page 64: ...Ø3 2 2 mounting hole 148 167 26 6 22 54 GZG200W20OHMJ GZG200W26OHMJ GZG200W39OHMJ GZG200W120OHMJ Unit mm Ø4 3 2 mounting hole 287 306 26 6 22 54 GZG400W13OHMJ GZG400W8OHMJ Unit mm 9 5 9 5 78 385 411 40 40 Ø5 5 2 mounting hole GZG300W20OHMJ GZG300W39OHMJ Unit mm Ø5 5 2 mounting hole 309 335 78 40 40 9 5 ...

Page 65: ...400 2OHMJ Unit mm Ø5 5 2 mounting hole 384 410 40 9 79 40 CAUTION When using the regenerative resistor a protective cover must be mounted on the machine side so that flammable matters do not come in contact or adhere on the device ...

Page 66: ...se 0 1µs or more A phase Integer mm B phase 0 1µs or more For a scale having multiple Z phases select the neighboring Z phases whose distance is an integral mm Output circuit A B Z phase A B Z phase Note The above value is minimum value that can be received normally in the servo drive unit side In an actual selection ensure margin of 20 or more in consideration of degradation of electrical wave an...

Page 67: ...he system specifications Incremental system a Terminator A TM Absolute position system b Battery ER6 terminator A TM c Battery unit MDS A BT 4 3 1 Terminator A TM Always connect the terminator to the last unit connected to the NC communication bus line If there are many axes and two NC communication bus line channels are in use connect a terminator per each channel 1 Outline dimension drawing A TM...

Page 68: ...re a Remove the battery holder s cover b Mount the battery into the battery holder c Securely insert the battery connector into BT1A d Mount the battery holder s cover To battery holder To BT1A Battery connector Battery CAUTION 1 To protect the absolute position do not shut off the servo drive unit control power supply if the battery voltage becomes low warning 9F 2 The battery life will be greatl...

Page 69: ...ave time during battery replacement 20 hours at time of delivery 10 hours after 5 years Back up time from battery warning 9F to alarm occurrence Approx 100 hours Number of backup axes 2 axes 4 axes 6 axes 7 axes 2 Outline dimension drawings MDS A BT 2 4 6 8 Unit mm CAUTION 1 To protect the absolute position do not shut off the servo drive unit control power supply if the battery voltage becomes lo...

Page 70: ...y Connect VDD when using the drive unit 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 DI contactor B contact This is not used with the MDS R MO1 Monitor output 1 D A output ch 1 used to measure the voltage across M01 and LG MO2 Monitor output 2 D A...

Page 71: ... A TM 3 Motor power connector 4 Motor brake connector 2 Detector cable connector set 1 NC bus cable connector set 1 Servomotor 1 Servo drive unit MDS R V2 6 Drive unit Motor power connector 5 Drive unit Main circuit power connector 1 7 Drive unit Control power connector Relay terminal block MR J2CN3TM 1 2 B A 1 2 Pin No Signal A1 V A2 PE B1 U B2 W B A 1 2 3 Pin No Signal A1 P A2 C A3 PE B1 L1 B2 L...

Page 72: ... 15 20 25 30 Servo drive unit side connector Molex Connector set 54599 1019 or 3Ｍ Receptacle 36210 0100JL Shell kit 36310 3200 008 Servomotor detector side connector DDK Connector MS3106A20 29S D190 Angle back shell CE 20BA S Clamp CE3057 12A 3 For CN2L CN2M 2 Detector cable for HF A42 IP67 compati ble Straight CNV2E 2P M indicates length m 2 3 4 5 7 10 15 20 25 30 Servo drive unit side connector ...

Page 73: ... to ø10mm Servomotor detector side connector DDK Connector MS3106A20 29S D190 Straight back shell CE02 20BS S Clamp CE3057 12A 3 Angle CNE20 29L 10 Compliant cable range ø6 8 to ø10mm Servomotor detector side connector DDK Connector MS3106A20 29S D190 Angle back shell CE 20BA S Clamp CE3057 12A 3 2 Detector connector set for HF A42 IP67 compati ble Straight CNE22 14S 10 Compliant cable range ø6 8 ...

Page 74: ...compati ble Straight PWCE22 22S Compliant cable range ø12 5 to ø16mm Servomotor side power supply connector DDK Plug CE05 6A22 22SD B BSS Clamp CE3057 12A 1 D256 Angle PWCE22 22L Compliant cable range ø12 5 to ø16mm Servomotor side power supply connector DDK Plug CE05 8A22 22SD B BAS Clamp CE3057 12A 1 D256 For motor brake 3 Brake connector set for HF44B 74B HF53B 103B 153B HF203B 353B IP67 compat...

Page 75: ...ng DK 5RECMLP1 100 For CN31L CN31M 6 Motor power connector for MDS R V1 V2 RCN31S For AWG14 16 Drive unit motor power supply connector DDK Contact DK 5200M 04R Housing DK RECSLP1 100 RCN31M For AWG10 12 Drive unit motor power supply connector DDK Contact DK 5200M 04R Housing DK 5RECMLP1 100 For CN22 7 Control power connector common for MDS R V1 V2 RCN22 Drive unit control power supply connector DD...

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Page 77: ...s by unit 5 2 5 2 Selection of no fuse breaker and contactor 5 4 5 2 1 Selection of no fuse breaker 5 4 5 2 2 Selection of contactor 5 5 5 3 Selection of earth leakage breaker 5 6 5 4 Selection of control power supply 5 7 5 5 Noise filter 5 8 5 6 Surge absorber 5 9 5 7 Relay 5 10 ...

Page 78: ... L2 L3 Regenerative option CN30 P C Motor output CN31L CN31M LU LV LW MU MV MW Control power 24VDC CN22 Magnetic brake CN9 Terminal name Unit type mm 2 AWG mm 2 AWG mm 2 AWG mm 2 AWG MDS R V1 20 2 14 2 14 MDS R V1 40 2 14 2 14 MDS R V1 60 2 14 3 5 12 Servo drive unit MDS R V1 80 3 5 12 2 14 3 5 12 2 14 MDS R V2 2020 2 14 2 14 MDS R V2 4020 2 14 2 14 MDS R V2 4040 2 14 2 14 MDS R V2 6040 3 5 12 3 5...

Page 79: ...2 14 2 14 MDS R V2 6040 2 14 2 14 MDS R V2 6060 2 14 2 14 MDS R V2 8040 2 14 2 14 MDS R V2 8060 3 5 12 2 14 Servo drive unit 2 axis MDS R V2 8080 3 5 12 2 14 2 14 1 25 to 2 14 to 16 CAUTION 1 Selection conditions follow IEC EN60204 1 UL508C JEAC8001 Ambient temperature is maximum 40 C Cable installed on walls without ducts or conduits To use the wire under conditions other than above check the sta...

Page 80: ...060 V2 8080 Recommended breaker Mitsubishi Electric Corp option part NF30 CS3P 20A NF30 CS3P 30A NF30 CS3P 30A NF30 CS3P 30A NF50 CW3P 40A NF50 CW3P 40A NF50 CW3P 40A NF50 CW3P 40A Rated current of the recommended breaker 20A 30A 30A 30A 40A 40A 40A 40A Option part A breaker is not prepared as an NC unit accessory so purchase the part from your dealer etc CAUTION 1 If a no fuse breaker is shared b...

Page 81: ...A 50A Unit type MDS R V2 2020 V2 4020 V2 4040 V2 6040 V2 6060 V2 8040 V2 8060 V2 8080 Recommended contactor Mitsubishi Electric Corp option part S N18 AC200V S N20 AC200V S N20 AC200V S N20 AC200V S N25 AC200V S N25 AC200V S N25 AC200V S N25 AC200V Free air thermal current of the recommended contactor 25A 32A 32A 32A 50A 50A 50A 50A Option part A breaker is not prepared as an NC unit accessory so ...

Page 82: ...age current Maximum earth leakage current MDS R V1 20 to 80 1mA 2mA MDS R V2 2020 to 8080 1mA 4mA for two axes Note1 Maximum earth leakage current Value that considers wiring length and grounding etc Commercial frequency 50 60Hz 2 Measurement of earth leakage current When actually measuring the earth leakage current use a product that is not easily affected by the higher frequency earth leakage cu...

Page 83: ...ation of the drive unit control power supply specification If the power supply is supplied to multiple drive units select a product that satisfies the total of the drive units NFB NFB DC24V Stabilized power supply ACIN DCOUT CN22 Servo drive unit MDS R Note Circuit protector or Protection fuse CAUTION 1 Do not damage apply excessive stress place heavy things on or sandwich the cables as this may l...

Page 84: ...r input as the diagram below indicates Drive unit MDS R V1 V2 Noise filter T S R Breaker Power supply Power distribution panel Contactor Note The noise filter must be prepared by the user Recommended devices Densei lambda MX13 Series Soshin Electric HF3000C TM Series Contact Densei lambda Co Ltd TEL0120 507039 http www densei lambda com Soshin Electric Co Ltd TEL03 3775 9112 81 3 3775 9112 http ww...

Page 85: ...t voltage Electrostatic capacity reference value Varistor type V AC V DC V 1 time 2 times 10 1000μs 2ms W V pF ERZV10D121 TNR10V121K 120 108 to 132 75 100 3500 2500 20 14 5 0 4 200 1400 ERZV10D221 TNR10V221K 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 exciting current is 2A or less Note 2 ERZV10D121 and ERZV10D22...

Page 86: ...tor break control signal CN9 Interface name Selection example For digital input signal CN9 Use a minute signal relay Example twin contact to prevent a contact defect Example OMRON G2A G6B type MY type LY type For digital output signal CN9 Use a compact relay with rating of 24VDC 50mA or less Example OMRON G6B type MY type ...

Page 87: ...ation direction 6 3 6 1 5 Oil and waterproofing measures 6 3 6 1 6 Cable stress 6 5 6 2 Installation of the units 6 6 6 2 1 Environmental conditions 6 6 6 2 2 Installation direction and clearance 6 7 6 2 3 Prevention of foreign matter entry 6 10 6 2 4 Panel installation hole machining drawings Panel cut drawings 6 10 6 2 5 Heating value 6 11 6 2 6 Heat radiation countermeasures 6 12 6 3 Noise meas...

Page 88: ... 1 Environmental conditions Environment Conditions Ambient temperature 0 C to 40 C with no freezing Ambient humidity 80 RH or less with no dew condensation Storage temperature 15 C to 70 C with no freezing Storage humidity 90 RH or less with no dew condensation Atmosphere Indoors Where unit is not subject to direct sunlight No corrosive gases inflammable gases oil mist or dust Altitude Operation s...

Page 89: ...ip proofing If the servomotor is not to be installed in the standard direction special caution must be taken for oil and waterproofing Refer to section 6 2 5 Oil and waterproofing measures and provide appropriate measures When installing the servomotor with magnetic brakes with the shaft facing upward the sound of the brake plates sliding may be heard This is not an abnormality Top Bottom Standard...

Page 90: ...otor or accumulate on the motor Oil can also enter the motor through cutting chip accumulation so be careful of this also 2 When the motor is installed facing upwards take measures on the machine side so that gear oil etc does not flow onto the motor shaft 3 Do not remove the detector from the motor The detector installation screw is treated for sealing 4 Do not use the unit with the cable submerg...

Page 91: ... on the cable connection section 2 If the detector cable and servomotor wiring are stored in a cable bear and the servomotor moves make sure that the cable bending part is within the range of the optional detector cable Fix the detector cable and power cable enclosed with the servomotor 3 Make sure that the cable sheathes will not be cut by sharp cutting chips worn or stepped on by workers or vehi...

Page 92: ...serve the installation directions Failure to observe this could lead to faults 11 Secure the specified distance between the units and panel s inner wall or between the units and other devices Failure to observe this could lead to faults 6 2 1 Environmental conditions Environment Conditions Ambient temperature 0 C to 55 C with no freezing Ambient humidity 90 RH or less with no dew condensation Stor...

Page 93: ...more 10mm or more 100mm or more 80mm or more Inlet Filter Exhaust Exhaust 10mm or more 100mm or more 100mm or more 60mm or more 260m 60mm 60mm CAUTION 1 The operation ambient temperature for the drive unit is 55ºC or less 2 Because heat can easily accumulate in the upper portion of the units give sufficient consideration to heat dissipation when designing the panel If required install a fan in the...

Page 94: ...l cooling effect is recommended Filter a Back face inlet type Cooling will be more high efficiency by installing a partition plate inside to separate inlet and exhaust Fan inlet hole b Side face inlet type Filter Install a partition plate inside to separate inlet and exhaust Fan inlet hole ...

Page 95: ...position 60mm width unit 90mm width unit 40 60 60 105 40 170 105 170 CAUTION 1 Design the inlet so that it is the position of the cooling fan 2 Make the inlet and exhaust size more than the area that is a total of the cooling fan area ...

Page 96: ...er the cabinet from the screw holes After installing each unit avoid machining in the periphery If cutting chips etc stick onto the electronic parts trouble may occur When using the unit in an area with toxic gases or high levels of dust protect the unit with air purging system to blow clean air so that the panel s inner pressure is higher than the outer pressure 6 2 4 Panel installation hole mach...

Page 97: ... 83 V1 60 27 74 V2 4040 38 105 V1 80 36 105 V2 6040 45 125 V2 6060 50 150 V2 8040 53 158 V2 8060 60 180 V2 8080 68 210 POINT Design the panel s heating value taking the actual axis operation load rate into consideration With a general machine tool the servo drive unit s load rate is approx 50 so the heating values inside the panel are half the values shown above Calculation example When using MDS ...

Page 98: ...ective heat radiation area m 2 Heat dissipation area in panel Sections contacting other objects are excluded T Internal temperature rise value 10 C 3 Points in manufacturing and evaluation Understanding the temperature rise in the panel and install a fan or heat exchanger T average value 10 C Tmax maximum value 15 C Hypothetical conditions 1 Average temperature in panel T 55 C 2 Panel peripheral t...

Page 99: ...15W W 15 x 4 60 W Considering necessity of agitating fan 1 Temperature standard 1 Standard of temperature in panel around each unit T 55 C 2 External peripheral temperature Ta 0 to 45 C 3 Internal temperature rise value T T Ta MAX 10 C 2 Cooling capacity of control panel W1 W1 U x A x T T Internal temperature rise value 10 C U 6W m2 C with internal agitating fan 4W m2 C without internal agitating ...

Page 100: ...rature rise at the temperature measurement position exceeds 20 C consider adding a fan 40mm Temperature measurement position 40mm Side face Back face POINT The temperature of some units may rise locally because air accumulates at a particular point Therefore take a temperature measurement in each unit If a temperature at even one point exceeds 20 C in the temperature measurements take a heat radia...

Page 101: ...curately ground the devices Use one point grounding for the drive unit and motor Accurately ground the AC reactor 2 Propagation noise measures Take the following measures when noise generating devices are installed and the power supply unit or drive unit could malfunction Install a surge killer on devices magnetic contactors relays etc which generate high levels of noise Install a power supply fil...

Page 102: ...parallel to the power line or if it is bundled with the power line the noise could be propagated to the signal wire and cause malfunction because of the magnetic induction noise or static induction noise In this case take the following measures 1 Install devices easily affected as far away from the drive unit as possible 2 Lay devices easily affected as far away from the signal wire of the drive u...

Page 103: ...Connection of external regenerative resistor 7 12 7 7 Wiring of contactors 7 14 7 7 1 Contactor control 7 14 7 7 2 Contactor control signal MC output circuit 7 15 7 7 3 Contactor power ON sequences 7 16 7 7 4 Contactor shutoff sequences 7 16 7 7 5 Monitor of contactor operation 7 17 7 8 Wiring of the motor brake 7 18 7 8 1 Motor brake control signal MBR output circuit 7 18 7 8 2 Motor brake releas...

Page 104: ...ke the polarity Failure to observe this item could lead to ruptures or damage etc 4 Do not mistake the direction of the diodes for the surge absorption installed on the DC relay for the motor brake and contactor magnetic contactor control The signal may not be output when a failure occurs RA COM 24VDC Control output signal Servo drive unit RA COM 24VDC Control output signal Servo drive unit 5 Elec...

Page 105: ...tor side detector MDS A BT MDS R V2 MDS R V1 Motor side detector Motor Motor Motor Regenerative resistor unit No fuse breaker Machine side detector CN3L Machine side detector CN3L Machine side detector CN3M Contactor No fuse breaker T S R Note 1 The total length of the SH21 cable must be within 30m Note 2 The connection method will differ according to the motor to be used Note 3 When not using an ...

Page 106: ...6 Contact DK 5RECMLP1 100 for AWG10 12 b c CN31L CN31M DDK Housing DK 5200M 04R Contact DK 5RECSLP1 100 for AWG14 16 Contact DK 5RECMLP1 100 for AWG10 12 Terminal specification Pin assignment d CN22 DDK Housing DK 3200S 02R Contact DK 3REC2LLP1 100 for AWG14 CAUTION Do not apply a voltage other than that specified on each terminal Failure to observe this item could lead to rupture or damage etc L1...

Page 107: ...l Connect a 3 phase 200 to 230VAC 50 60Hz power supply P C Regenerative resistor Regenerative resistor connection terminal Connect the regenerative resistor U V W Motor output Servomotor power output terminal The servo spindle motor power terminal U V W is connected PE Protective grounding PE Grounding terminal The servomotor spindle motor grounding terminal is connected and grounded VDD SG Contro...

Page 108: ...ive unit or terminal connector battery unit Max length of 30m from the NC to the terminal connector Connect to the battery unit with a terminal connector or SH21 cable MDS R V1 5th axis final axis MDS R V2 3rd 4th axis MDS R V2 1st 2nd axis Connected to the NC Refer to the instruction manual of each NC for details CN1B CN1A CN1B CN1A CN1B CN1A SH21 cable CAUTION Wire the SH21 cable between the NC ...

Page 109: ...ecting the wire U V W PE MS3102A20 29P Detector connector MS3102A22 14P E J K H N L R S For OSA104S2 For OSA17 Pin A B C D E F G H J K L M N P R S T U V Signal BAT SD SD RQ RQ FG LG P5 5V Pin A B C D E F G H J K L M N P R S T Signal SD SD RQ RQ BAT LG CONT FG LG P5 5V A B F D C G N M R S Motor side detector connector CN2L M Signal P5 LG RQ RQ Pin 1 2 3 4 5 Signal SD SD BAT Pin 6 7 8 9 10 There is ...

Page 110: ...P E J K H N L R S For OSA104S2 For OSA17 Pin A B C D E F G H J K L M N P R S T U V Signal BAT SD SD RQ RQ FG LG P5 5V Pin A B C D E F G H J K L M N P R S T Signal SD SD RQ RQ BAT LG CONT FG LG P5 5V A B F D C G N M R S Motor side detector connector CN2L M Signal P5 LG RQ RQ Pin 1 2 3 4 5 Signal SD SD BAT Pin 6 7 8 9 10 Motor power connector CN31L M 1 2 Pin 1B 1A 2B 2A Signal U V W PE B A There is ...

Page 111: ...he linear scale for oblong wave data output MDS R V1 V2 Max 30m CN2L CN31L U V W PE CNV2E Table CN3L Servomotor Pin No Detector connector CN3L Name LG A B Z ABZSEL Pin 2 4 6 8 10 Name P5 5V A B Z Pin 1 3 5 7 9 No 9 No 1 No 10 No 2 Linear scale ...

Page 112: ...ity Refer to Chapter 5 and select the size 4 For safety purposes always install a contactor magnetic contactor on the main circuit power supply input Large rush currents will flow when the power is turned ON Refer to Chapter 5 and select the correct contactor Drive the contactor via the relay from the CN9 connector s contactor control output MC Some types of contactors can be directly driven with ...

Page 113: ...protector terminals The current stops flowing between G3 and G4 when there is abnormal overheating Contact capacity 150mA Contact ON resistance 10mΩ Twist the wires 5m or less DANGER 1 Install the regenerative resistor unit in the control panel or in the place where foreign matter does not enter the regenerative resistor unit If foreign matter cutting chips cutting oil etc enters the regenerative ...

Page 114: ...nt foreign matter cutting chips cutting oil etc from entering the regenerative resistor or the regenerative resistor from being touched directly 2 Connection of three resistors in parallel GZG200W120OHMJ GZG200W39OHMJ GZG300W39OHMJ GZG200W20OHMJ GZG300W20OHMJ 100mm or more 100mm or more P C Wire length 5m or less Use a twisted flame retardant wire CN30 External optional regenerative resistor Insta...

Page 115: ...t the regenerative resistor A short circuit across P C could result in servo drive unit damage 3 The regenerative resistor heats up to approx 100 degrees It may get hotter depending on the installation conditions Pay special attention to heat dissipation and the installation position Do not touch the regenerative resistor directly 4 Use flame retardant wires or provide flame retardant treatment fo...

Page 116: ...top of all axes or the dynamic brake operation Then it outputs a shutoff command to the drive units that drive contactors CAUTION 1 The contactors cannot be driven from other than a drive unit Undervoltage alarm may occur if the contactors are shut off at the same time as an emergency stop occurrence 2 Do not directly shut off the contactors with an external sequence If they are shut off earlier t...

Page 117: ... be directly connected to VDD if using only the digital output MC MBR When using the digital input EMGX always connect across VDD COM Contactor MDS R V1 V2 10 VDD 5 COM 15 MC 3 SG CN9 Contactor control relay There are also types that are built into the contactor The servo drive unit will fail if the diode polarity is incorrect 24VDC MDS R V1 V2 10 VDD 5 COM 15 MC 3 SG CN9 27VDC or less 24VDC Conta...

Page 118: ...top or dynamic brake operation for all axes and then shuts off the contactors If 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 Emergency stop EMG ON OFF Ready ON signal READY ON OFF Servo ON signal SERVO 0 500 1000 1500 Time ms Command input enable OFF ON Motor brake control output MBR...

Page 119: ... fault rate Add appropriate resistors so that the proper current is passed to the contactor in use and then flow the current to the B contact A current of approx 5mA at 24VDC will flow if a resistor is not added No Abbrev Parameter name Explanation SV033 SSF2 Servo function selection 2 F E D C B A 9 8 7 6 5 4 3 2 1 0 zup dis nfd2 nf3 nfd1 bit Explanation A Select the digital signal input B dis 00 ...

Page 120: ...C MBR When using the digital input EMGX always connect across VDD COM CAUTION 1 Always install a surge absorber near the motor s brake terminal to eliminate noise and protect the contacts Refer to section 5 4 Surge absorber 2 The magnetic brakes cannot be directly driven with the output signal from the servo drive unit Always install a relay 3 The magnetic brakes cannot be driven by the servo driv...

Page 121: ...s performed only during an emergency stop including alarms and power failures It is not performed when a servo OFF command is input 7 8 4 Operation sequences when an emergency stop occurs The motor brake control output operation when an emergency stop occurs differs according to the motor deceleration stop method Refer to section 9 4 Setting for emergency stop for details on the operation sequence...

Page 122: ...er name Explanation SV036 PTYP Regenerative resistor type F E D C B A 9 8 7 6 5 4 3 2 1 0 amp rtyp emgx bit Descriptions 4 Set the external emergency stop function Setting is prohibited for values with no description 5 Setting Descriptions 6 emgx 0 External emergency stop invalid 7 4 External emergency stop valid CAUTION Always input the external emergency stop to the servo drive unit controlling ...

Page 123: ...rnal power supply When using an internal power supply When using an external power supply MDS R V1 V2 10 VDD 5 COM 3 SG 20 EMGX CN9 Current direction approx 5mA External emergency stop canceled by CLOSE For a transistor VCES 1 0V I CEO 100µA External emergency stop 4 7k 24VDC MDS R V1 V2 10 VDD 5 COM 20 EMGX 3 SG CN9 27VDC or less 4 7k 24VDC Current direction approx 5mA External emergency stop can...

Page 124: ...econds the warning EA changes to the In NC emergency stop state warning E7 The normal emergency stop status warning E7 will result 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 main emergency stop is not input OFF ON Ext...

Page 125: ... 8 2 8 1 2 Transition of LED display after power is turned ON 8 3 8 2 Setting the initial parameters 8 4 8 2 1 Setting the standard parameters 8 4 8 2 2 Limitations to electronic gear setting value 8 8 8 2 3 Standard parameter list according to servomotor 8 9 8 3 List of parameters 8 11 ...

Page 126: ... 1st axis 1 2nd axis 2 3rd axis 3 4th axis 4 5th axis 5 6th axis 6 7th axis 7 8 9 A B Not usable C D E 8 9 A B C D E F 0 1 2 3 4 5 6 7 L M 8 9 A B C D E F 0 1 2 3 4 5 6 7 When MDS R V2 Series are used F Axis not used POINT When an axis that is not used is selected that axis will not be controlled when the power is turned ON and Ab will remain displayed on the LED If the power of the axis not in us...

Page 127: ...on of these processes If an alarm occurs the alarm No will appear on the LEDs Refer to Chapter 10 Troubleshooting for details on the alarm displays Executing initial communication with NC Servo drive unit initialization complete Waiting for NC power start up Emergency stop state The LED will alternate between F E7 not lit is the set axis No Repeats lighting and going out 1st axis in the display ex...

Page 128: ...wing parameters 1 Basic specification parameters When performing absolute position control set SV017 bit7 1 This may be automatically set by NC system parameter setting depending upon NC model Setting on the servo parameter screen invalid Setting basic specification parameters No Abbrev Parameter name Explanation F E D C B A 9 8 7 6 5 4 3 2 1 0 spm abs fdir vfb dfbx bit Meaning when set to 0 Meani...

Page 129: ...pulses per ball screw pitch Detector model name Resolution SV019 setting Relative position oblong wave output scale Refer to detector specification manual SV018 PIT mm Resolution µm SV019 RNG1 Position detector resolution 1 to 9999 kp PIT Set the number of pulses per one revolution of the motor side detector Detector model name Motor type SV020 setting OSA104S2 HF A42 100 OSA17 HF A47 100 SV020 RN...

Page 130: ... Servo specification selection bit Details 8 9 A B ent Set the detector type Set the position detector type for pen and the speed detector type for ent In the case of the semi closed loop control set the same value for pen and ent C Detector model name pen setting ent setting D 0 Setting impossible E 1 Setting impossible F pen OSA105 OSA166 2 Note 2 3 Setting impossible 4 Setting impossible 5 Sett...

Page 131: ...J 3 units connected in parallel 7 MR RB31 or GZG200W20OHMJ 3 units connected in parallel 8 MR RB51 or GZG300W20OHMJ 3 units connected in parallel 9 MR RB65 or GRZG400 2OHMJ 4 units connected in serial A GZG80W26OHMJ B GZG400W13OHMJ C GZG400W8OHMJ D to F Setting prohibited SV036 PTYP Regenerative resistor type Parameters with an asterisk in the abbreviation such as PC1 are validated with the NC pow...

Page 132: ...onic gears are within the specified range 1 For semi closed loop control ELG1 PC2 RNG1 Reduced fraction of ELG2 PC1 PIT IUNIT reduced fraction IUNIT 2 NC command unit µm 1µm IUNIT 2 0 1µm IUNIT 20 When the above is calculated the following conditions must be satisfied ELG1 32767 ELG2 32767 2 For full closed loop control PGNX PC2 RNG2 PGN1 Reduced fraction of PGNY PC1 RNG1 30 reduced fraction When ...

Page 133: ...e error detection width during servo OFF 6 6 6 6 6 6 6 SV027 SSF1 Servo function selection 1 4000 4000 4000 4000 4000 4000 4000 SV028 0 0 0 0 0 0 0 SV029 VCS Speed at the change of speed loop gain 0 0 0 0 0 0 0 SV030 IVC Voltage non sensitive compensation 0 0 0 0 0 0 0 SV031 OVS1 Overshooting compensation 1 0 0 0 0 0 0 0 SV032 TOF Torque offset 1 0 0 0 0 0 0 0 SV033 SSF2 Servo function selection 2...

Page 134: ...A output channel 1 data No 0 0 0 0 0 0 0 SV062 DA2NO D A output channel 2 data No 0 0 0 0 0 0 0 SV063 DA1MPY D A output channel 1 output scale 0 0 0 0 0 0 0 SV064 DA2MPY D A output channel 2 output scale 0 0 0 0 0 0 0 SV065 0 0 0 0 0 0 0 System parameter area SV081 to SV088 0 0 0 0 0 0 0 SV089 TQMAX Kq Torque maximizing control Kq gain For machine tool builder adjustment 0 0 0 0 0 0 0 SV090 TQMAX ...

Page 135: ... cycle occurs in the full closed loop or overshooting occurs in positioning When you set this parameter make sure to set the torque offset SV032 TOF When not using set to 0 0 to 32767 SV008 VIA Speed loop lead compensation Set the gain of the speed loop integration control The standard setting is 1364 During the SHG control the standard setting is 1900 Adjust the value by increasing decreasing it ...

Page 136: ... 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 1 to 200 Stall current F E D C B A 9 8 7 6 5 4 3 2 1 0 spm abs fdir vfb dfbx bit Meaning when 0 is set Meaning when 1 is set 0 1 dfbx Dual feedback cont...

Page 137: ...d detector resolution 1 to 9999 kp rev SV021 OLT Overload detection time constant Set the detection time constant of Overload 1 Alarm 50 Set to 60 as a standard For machine tool builder adjustment 1 to 999 s SV022 OLL Overload detection level 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 110...

Page 138: ... x9 xA xB xC xD HF44 xE HF74 xF Setting 8x 9x Ax Bx Cx Dx Ex Fx x0 x1 SV025 MTYP Motor Detector type x2 x3 x4 x5 x6 x7 x8 x9 xA xB xC xD xE xF 8 Set the speed detector type 9 Set 2 A ent B C Set the position detector type D When applying semi closed loop control Set 2 E pen Oblong wave ABZ output type When using relative position detector scale Set 8 F Parameters with an asterisk in the abbreviati...

Page 139: ...o 1 F Note Set to 0 for bits with no particular description SV028 Not used Set to 0 0 SV029 VCS Speed at the change of speed loop gain If the noise is bothersome at high speed during rapid traverse etc lower the speed loop gain Set the speed at which the speed loop gain changes and use this with SV006 VGN2 When not using set to 0 0 to 9999 r min SV030 IVC Voltage non sensitive compensation When 10...

Page 140: ...0 4 1 2 5 1 2 ShallowÆ 8 9 A B dis Select the digital signal input 00 DI not used 10 Reserved 01 Contactor B contact input 11 Reserved C D E zup Vertical axis pull up control stop Vertical axis pull up control start F Note Set to 0 for bits with no particular description F E D C B A 9 8 7 6 5 4 3 2 1 0 ovsn zeg bit Meaning when 0 is set Meaning when 1 is set 0 1 2 3 4 SV034 SSF3 Servo function 5 z...

Page 141: ...me Explanation Setting range Unit F E D C B A 9 8 7 6 5 4 3 2 1 0 bit Meaning when 0 is set Meaning when 1 is set 0 1 2 3 4 5 SV035 SSF4 Servo function 6 selection 4 7 8 9 A B C D E F Note Set to 0 for bits with no particular description ...

Page 142: ...g prohibited resistor type B 2 GZG200W26OHMJ 3 GZG300W20OHMJ 4 MR RB32 or GZG200W120OHMJ 3 units connected in parallel 5 MR RB30 or GZG200W39OHMJ 3 units connected in parallel 6 MR RB50 or GZG300W39OHMJ 3 units connected in parallel 7 MR RB31 or GZG200W20OHMJ 3 units connected in parallel 8 MR RB51 or GZG300W20OHMJ 3 units connected in parallel 9 MR RB65 or GRZG400 2OHMJ 4 units connected in seria...

Page 143: ...ut a length of time to prevent the vertical axis from dropping by delaying Ready OFF until the brake works when the emergency stop occurs Increase the setting by 100msec at a time and set the value where the axis does not drop 0 to 20000 ms SV049 PGN1sp Position loop gain 1 in spindle synchronous control Set the position loop gain during the spindle synchronous control synchronous tapping synchron...

Page 144: ...When not performing the SHG control set to 0 0 to 1200 rad s SV059 Not used Set to 0 0 SV060 Not used Set to 0 0 SV061 DA1NO D A output channel 1 data No Input the No of the data to be output to the D A output channel SV062 DA2NO D A output channel 2 data No 0 to 102 SV063 DA1MPY D A output channel 1 output scale SV064 DA2MPY D A output channel 2 output scale When 0 is set the data is output with ...

Page 145: ...sition loop gain 9 6 9 3 Characteristics improvement 9 9 9 3 1 Optimal adjustment of cycle time 9 9 9 3 2 Vibration suppression measures 9 11 9 3 3 Improving the cutting surface precision 9 15 9 3 4 Improvement of protrusion at quadrant changeover 9 18 9 3 5 Improvement of overshooting 9 23 9 3 6 Improvement of characteristics during acceleration deceleration 9 25 9 4 Settings for emergency stop 9...

Page 146: ...ch D A output channel Note When using the 2 axis drive unit MDS R V2 set 0 for the data No of the other axis in the same drive unit which is not to be D A output No Output data Standard output unit Output cycle No Output data Standard output unit Output cycle 0 D A output not selected 1 Speed feedback 1000 r min 0 5V 0 8ms 21 Load level 100 0 5V 0 1s 2 Current feedback Stall current 0 5V 0 8ms 22 ...

Page 147: ...r than 0 to change the output unit The scale is set with a 1 256 unit When 256 is set the unit is the same as the standard output unit 32768 to 32767 9 1 4 Current feedback analog output function Use this function to measure the resonance frequency when adjusting machine resonance suppression filter 20 ms Current feedback 9 crests 9 cycles 20 x 10 3 s 450 Hz Machine resonance frequency Set the spe...

Page 148: ...d above the standard value as long as a 70 percent margin in respect to the machine resonance occurrence limit is maintained The cutting accuracy can also be improved by adjusting with the disturbance observer When machine resonance occurs at the standard VGN1 Machine resonance is occurring if the shaft makes abnormal sounds when operating or stopping and a fine vibration can be felt when the mach...

Page 149: ...on is improved even when a disturbance observer is used without lowering the VIA Be careful of machine resonance occurrence at this time If VIA is lowered the position droop waveform becomes smooth and overshooting does not occur However because the trackability in respect to the position commands becomes worse the positioning time and accuracy are sacrificed VIA must be kept high set the standard...

Page 150: ...urs from 10 to 20Hz When the position control includes machine resonance points Position control machine resonance points occur at the machine end parts etc because of insufficient machine rigidity the machine will vibrate during positioning etc In either case lower PGN1 and adjust so that vibration does not occur If the machine also vibrates due to machine backlash when the motor stops the vibrat...

Page 151: ...the machine system may vibrate easily SHG control changes the position loop to a high gain by stably compensating the servo system position loop through a delay This allows the settling time to be reduced and a high precision to be achieved SHG Smooth High Gain Feature 1 When the SHG control is set even if PGN1 is set to the same value as the conventional gain the position loop gain will be double...

Page 152: ...io Setting example Explanation Setting range SV003 SV049 PGN1 PGN1sp Position loop gain 1 1 23 26 33 38 47 1 to 200 SV004 SV050 PGN2 PGN2sp Position loop gain 2 8 3 62 70 86 102 125 0 to 999 SV057 SV058 SHGC SHGCsp SHG control gain 6 140 160 187 225 281 Always set a combination of 3 parameters 0 to 1200 SV008 VIA Speed loop lead compensation Set 1900 as a standard for SHG control 1 to 9999 SV015 F...

Page 153: ...rive unit s input voltage is less than the rated voltage the torque will easily become insufficient and excessive errors will occur easily during acceleration deceleration 2 Adjusting the cutting feed To adjust the cutting rate the NC axis specification parameter clamp speed clamp and acceleration deceleration time constant G1t are adjusted The in position width at this time must be set to the sam...

Page 154: ...ting is the higher the positioning accuracy gets however the cycle time setting time becomes longer The standard setting is 50 0 to 32767 µm POINT The in position width setting and confirmation availability depend on the CNC parameters 4 Adjusting the settling time The settling time is the time required for the position droop to enter the in position width after the feed command F T from the CNC r...

Page 155: ...ess necessary the servo control will stabilize Notch filter 3 SV033 bit4 is a filter with frequency fixed to 1125Hz and has no depth compensation Setting method 1 Set the resonance frequency in the machine resonance suppression filter frequency SV038 FHz1 SV046 FHz2 2 If the machine starts to vibrate at another frequency raise make shallower the machine resonance suppression filter depth compensat...

Page 156: ...12 0 1125Hz 0 250Hz 8 6 0 900Hz 0 225Hz 8 6 0 750Hz 0 204Hz 8 6 0 642Hz 0 187Hz 8 6 0 562Hz 0 173Hz 8 6 0 500Hz 0 160Hz 8 6 0 450Hz 0 150Hz 8 6 0 409Hz 0 140Hz C 2 5 375Hz 4 12 0 128Hz C 2 5 346Hz 4 12 0 112Hz C 2 5 321Hz 4 12 0 100Hz C 2 5 300Hz 4 12 0 Note1 The setting of the standard depth compensation in the above table indicates the HEX setting value applied when the setting of bit 0 or bit 4...

Page 157: ...en there are three or more machine resonance points With the MDS R V1 V2 Series machine resonance suppression filter the filter is also applied at the odd fold of the set frequency If one machine resonance is near the odd fold of another machine resonance set the machine resonance suppression filter frequency to the lower resonance and try changing it by approx 10 to 20Hz It may be possible to eli...

Page 158: ... time and set a value at which the vibration can be suppressed Because the position feedback is controlled normally there is no worry of positional deviation When jitter compensation is set to an axis that is not vibrating is set vibration could be induced so take care No Abbrev Parameter name Explanation SV027 SSF1 Special servo function selection 1 F E D C B A 9 8 7 6 5 4 3 2 1 0 zrn2 lmc vfct b...

Page 159: ...uring high speed cutting can be improved For high speed high precision cutting machines adjust so that a value equal to or higher than the standard value can be set When VIA is set lower than the standard value and set to a value differing between interpolation axes the roundness may worsen the circle may distort This is due to differences occurring in the position trackability between interpolati...

Page 160: ...Measure the estimated disturbance torque with the D A output and raise JL until the disturbance torque during acceleration deceleration is small until it cannot be observed Even when the torque offset is set and JL is an appropriate value if the axis has a large friction the frictional torque will remain in the estimated disturbance torque Judge the JL setting value with frictional torque remainin...

Page 161: ...anced The motor output torque will be approximately zero and the control accuracy may drop In this case the control accuracy can be improved by using the voltage non sensitive band compensation Note that this may cause vibration to increase while the motor is running No Abbrev Parameter name Explanation Setting range SV030 IVC Voltage non sensitive compensation When 100 is set the voltage equivale...

Page 162: ...hown below with the CW CCW setting in the NC parameter If only one direction is to be compensated set the side not to be compensated as 1 No Abbrev Parameter name Explanation Setting range SV016 LMC1 Lost motion compensation 1 Set the compensation value using the motor s stall current as a reference The standard setting value is double the friction torque The compensation amount will be 0 when 0 i...

Page 163: ...C1 LMC2 is left set at 0 With this setting 40 compensation will be carried out when the command reverses from the direction to the direction and when the command reverses from the direction to the direction Example Perform the final adjustment carrying out the CNC sampling measurement DBB measurement or actual cutting If the compensation amount is insufficient increase LMC1 or LMC2 by 5 at a time ...

Page 164: ...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 TOF 40 20 2 30 No Abbrev Parameter name ...

Page 165: ... the arc path increase LMCD by 10ms 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 Explanation Setting range SV039 LMCD Lost motion compensation timing Set this when the lost motion compensation timing doest not match Adjust by increasing the value by 10 at a time 0 to 2000 m...

Page 166: ...te correctly Lost motion compensation non sensitive band SV040 LMCT during feed forward control In this non sensitive band control overshooting of the 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 c...

Page 167: ...se directions with the OVS1 setting value 3 If the compensation amount is to be changed in the direction to be compensated set the direction compensation value in OVS1 and the direction compensation value in OVS2 If only one direction is to be compensated set the side not to be compensated as 1 The compensation direction setting will be as reversed with the NC parameter CW CCW setting 2 Adjusting ...

Page 168: ...the compensation won t be performed in the direction of the command 1 to 100 Stall current SV042 OVS2 Overshooting compensation 2 Set this with SV031 OVS1 only when you wish to set the overshooting compensation amount to be different depending on the command directions Set to 0 as a standard 1 to 100 Stall current No Abbrev Parameter name Explanation Setting range F E D C B A 9 8 7 6 5 4 3 2 1 0 o...

Page 169: ...ition loop gain 1 1 23 26 33 38 47 1 to 200 SV004 SV050 PGN2 PGN2sp Position loop gain 2 8 3 62 70 86 102 125 0 to 999 SV057 SV058 SHGC SHGCsp SHG control gain 6 140 160 187 225 281 Always set a combination of 3 parameters 0 to 1200 SV008 VIA Speed loop lead compensation Set 1900 as a standard value during SHG control 1 to 9999 SV015 FFC Acceleration rate feed forward gain Set 100 as a standard va...

Page 170: ...ing acceleration deceleration is raised equivalently Thus the torque current command required during acceleration deceleration starts sooner The synchronization precision will improve if the FFC of the delayed side axis is raised between axes for which high precision synchronous control such as synchronous tapping control and superimposition control No Abbrev Parameter name Explanation Setting ran...

Page 171: ...n the current command peak Inductive voltage compensation No Abbrev Parameter name Explanation Setting range SV047 EC Inductive voltage compensation gain Set the inductive voltage compensation gain Set to 100 as a standard If the current FB peak exceeds the current command peak lower the gain 0 to 200 POINT If the current FB peak becomes larger than the current command peak over compensation an ov...

Page 172: ...ate at the same inclination from each speed No Abbr Parameter name Explanation Setting range SV055 EMGx Max gate off delay time after emergency stop Set the maximum delay time from when emergency stop is input to when READY ON is kept Normally set the value of SV056x1 1 fold For contactor control axis set the maximum value of all connected axes 0 to 20000 ms SV056 EMGt Deceleration time constant a...

Page 173: ...resuming operation 3 Deceleration control stop distance The stopping distance LEMG to stop the motor with deceleration control during an emergency stop can be approximated with the following expression Note that the value will be higher than this if the current is limited during deceleration Refer to section 3 2 3 2 Coasting rotation distance during emergency stop for the stopping distance when us...

Page 174: ...ent the axis from dropping under all conditions To prevent the axis from dropping under all conditions take measures on the machine such as installing a balance unit 2 Function outline and parameter settings While stopped The drive unit enters the ready OFF state after the vertical axis drop prevention time SV048 has elapsed While moving Deceleration stop is carried out and the drive unit enters t...

Page 175: ... the vertical axis from dropping by delaying Ready OFF until the brake works when the emergency stop occurs Increase the setting by 100msec at a time and set the value where the axis does not drop 0 to 20000 ms SV055 EMGx Max gate off delay time after emergency stop Set the time from when emergency stop is input to when READY is forcibly turned OFF Normally set the same value as SV056 When using v...

Page 176: ...fd1 bit Meaning when 0 is set Meaning when 1 is set E zup Vertical axis pull up control stop Vertical axis pull up control start SV032 TOF Torque offset Set the unbalance torque for the vertical axis and slant axis The vertical axis pull up control compensation direction is determined by this parameter s sign Vertical axis pull up control is not carried out when 0 is set 100 to 100 Stall current S...

Page 177: ...ooting at start up 10 3 10 3 List of unit protection functions 10 4 10 3 1 List of alarms 10 4 10 3 2 List of warnings 10 6 10 4 Troubleshooting according to alarm and warning number 10 7 10 4 1 Alarms 10 7 10 4 2 Warning 10 18 10 4 3 Parameter No during initial parameter error 10 20 ...

Page 178: ...ncy does the trouble occur 10 Is a load applied or removed 11 Has the drive unit been replaced parts replaced or emergency measures taken 12 How many years has the unit been operating 13 Is the power supply voltage normal Does the state change greatly according to the time band LED display during servo alarm LED display during servo warning CAUTION 1 This power supply unit uses a large capacity el...

Page 179: ...ion 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 carried out Communication with CNC is incorrect Is the cable broken Check the ...

Page 180: ... in the motor side detector Dynamic brakes PR 2D Motor side detector Data error A data error was detected in the motor side detector Dynamic brakes PR 2F Motor side detector Communication error An error was detected in communication with the motor side detector Or the communication was interrupted Dynamic brakes PR 30 Over regeneration Over regeneration detection level became over 100 The regenera...

Page 181: ...op was input Dynamic brakes NR 5F External contactor error A contact of the external contactor is welding Or the contactor fails to be ON during ready ON Deceleration control NR 88 Watchdog The system does not operate correctly Dynamic brakes AR Stopping method Deceleration control The motor stops with the deceleration control time constants set with the parameters SV056 Dynamic brakes The dynamic...

Page 182: ...r regeneration detection level exceeded 80 Does not stop E1 Overload warning Overload detection level exceeded 80 Does not stop E4 Set parameter warning A parameter setting was outside the setting range Does not stop E6 Control axis detachment warning Control axis detachment was commanded E7 In NC emergency stop state Emergency stop was input from the CNC Deceleration control E9 Instantaneous powe...

Page 183: ...selection switch is incorrect Cause of occurrence Investigation items Remedy 1 When using the 2 axis servo drive unit the same axis No is selected for the L and M axes Check the setting of the axis selection switch on the unit Set the correct axis No 0 1st axis 1 2nd axis Alarm No 12 Memory error 1 A CPU error or an internal memory error was detected during the power ON self check Cause of occurre...

Page 184: ...nit s surrounding environment etc Example Ambient temperature noise grounding Improve the surrounding environment Example High temperature Check the cooling fan Incomplete grounding Add grounding measures 4 Drive unit input circuit is faulty Replace the drive unit 5 Detector is faulty Try connecting the drive unit and detector with another axis and check the repeatability Note Do not release the e...

Page 185: ...place the battery and establish the zero point The machine operation will not be affected even if there is no battery as long as the power is not turned OFF 2 Detector cable was disconnected while power was OFF Did alarm 18 occur last time power was turned ON Correctly connect the detector cable and establish the zero point 3 Detector cable is broken Check the detector cable continuity with a test...

Page 186: ...Is the motor FB wire connected only to the drive unit to be driven Is one point grounding used Connect the motor FG wire to the drive unit and ground to one point with the drive unit 2 Carry out items for alarm No 18 Alarm No 30 Over regeneration Over regeneration detection level became over 100 The regenerative resistor is overloaded Cause of occurrence Investigation items Remedy 1 Regenerative r...

Page 187: ...round fault in motor s power wire Check the insulation across the motor s power wire and FG Replace the motor s power wire 3 Drive unit is faulty Check the repeatability Does the alarm occur before READY ON If the alarm occurs before READY ON replace the drive unit 4 Ground fault in motor Check that there is no ground fault in the power cable Then without disconnecting the cannon plug check the in...

Page 188: ...tion cable is disconnected Check the connector connection CN1A CN1B Correctly connect 2 NC bus communication cable is broken Check the cable continuity Replace the cable Alarm No 37 Initial parameter error An incorrect parameter was detected among the parameters received from the CNC at the power ON This is displayed as S02 initial parameter error on the NC screen Error parameter No Cause of occur...

Page 189: ...l protection function in the power module has started its operation Cause of occurrence Investigation items Remedy Large amounts of cutting oil or dust etc are adhered 1 The fan is not rotating correct The rotation is slow Clean or replace the fan 2 The heat dissipating fins are dirty Cutting oil or dust etc is adhered and clogging the fins Clean the fins 3 Drive unit s ambient temperature is high...

Page 190: ...orque large Select the motor so that the unbalance torque is 60 or less 3 Motor load is large Was the overload alarm 50 forcibly reset by turning the drive unit power OFF Review the operation pattern Alarm No 50 Overload 1 Overload detection level became over 100 The motor or the drive unit is overloaded Cause of occurrence Investigation items Remedy 1 Machine resonance is occurring Is vibration n...

Page 191: ...W phases The power wire is not connected Is the wire connected to another axis motor Correctly connect 4 Detector is incorrectly connected Is the wire connected to another axis detector Correctly connect 5 Detector is faulty Move the axis and check the FB signal Replace the detector When using the absolute position system the zero point must be established again Alarm No 52 Excessive error 1 A dif...

Page 192: ...Cause of occurrence Investigation items Remedy 1 An error occurred during main emergency stop Check the emergency stop input and sequence program Improve the emergency stop sequence 2 Parameters are incorrectly set Check the PTYP SV036 external emergency stop setting Set correctly Alarm No 5F External contactor error A contact of the external contactor is welding Or the contactor fails to be ON du...

Page 193: ...ck whether the servo software version was changed recently Try returning to the original software version 2 CPU peripheral circuit operation is incorrect Check for abnormalities in the unit s surrounding environment etc Example Ambient temperature noise grounding Improve the surrounding environment 3 Drive unit is faulty Check the repeatability Replace the drive unit ...

Page 194: ...ge drop The battery voltage that is supplied to the absolute position detector dropped The absolute position data is retained Cause of occurrence Investigation items Remedy 1 Battery is spent Measure the battery voltage Warning 9F occurs at 3V or less Replace the battery 2 The cable between the drive unit or battery unit is disconnected Check the cable connection Correctly connect 3 The battery co...

Page 195: ...g with another drive unit Check whether an alarm is occurring in another drive unit Reset the alarm in the other drive unit 3 Emergency stop cannot be reset Check that the terminator or battery unit is connected and that the cable between the drive unit is not disconnected Correctly connect Warning No E9 Instantaneous power interruption warning The power was momentarily interrupted Cause of occurr...

Page 196: ...oftware may be illegal Turn the power ON again NC setting rapid 2271 The CNC setting maximum cutting speed setting value is incorrect The CNC system software may be illegal Turn the power ON again NC setting clamp 2301 The following settings are overflowing Electronic gears Position loop gain Speed feedback SV001 SV002 SV003 SV018 SV019 SV020 SV049 2302 Other than the absolute position detection i...

Page 197: ...11 1 11 Characteristics 11 1 Inspections 11 2 11 2 Service parts 11 2 ...

Page 198: ...e parts if any abnormality is found Contact Mitsubishi branch or your dealer for repairs or part replacements Part name Standard replacement time Remarks Smoothing capacitor 10 years Cooling fan 10 000 to 30 000 hours 2 to 3 years Servo drive unit Battery 10 000 hours Bearings 20 000 to 30 000 hours Detector 20 000 to 30 000 hours Servomotor Oil seal V ring 5 000 hours The standard replacement tim...

Page 199: ...x 1 1 1 Cable wire and assembly A1 2 Appendix 1 2 Cable connection diagram SVJ2 6 4 5 6 22P A1 4 Appendix 1 3 Connector outline dimension drawings A1 8 Appendix 1 4 Cable and connector assembly A1 13 Appendix 1 4 1 CM10 SP S plug connector A1 13 Appendix 1 4 2 CM10 AP S Angle Plug Connector A1 20 ...

Page 200: ... R200 b General purpose heat resistant specifications cable Wire characteristics Wire type special order part Finish outer diameter Sheath material No of pairs Configura tion Conductive resistor Withstand voltage Insulation resistance Heat resistance temperature Flexibility 2 0 5mm2 100 strands 0 08mm 40 7Ω km or less BD20032 Compound 6 pair shielded cable Specification No Bangishi 16903 Revision ...

Page 201: ...istance is required selecting a flexible tube and running the signal cable through this tube is effective This is also an effective countermeasure for preventing the cable sheath from being cut or becoming worn due to cutting chips A cable clamp MS3057 is not installed on the detector side so be particularly careful of broken wires in applications involving bending and vibration Connector Supplier...

Page 202: ...ults runaway or fires 1 NC bus cable SH21 cable connection diagram This is an actual connection diagram for the SH21 cable supplied by Mitsubishi Manufacture the cable as shown below The cable can be up to 30m long Connector 10120 3000VE Shell kit 10320 52F0 008 Connector 10120 3000VE Shell kit 10320 52F0 008 1 11 2 12 3 13 4 14 5 15 6 16 7 17 8 18 9 19 10 20 PE 1 11 2 12 3 13 4 14 5 15 6 16 7 17 ...

Page 203: ...ide connector 3M Receptacle 36210 0100JL Shell kit 36310 3200 008 Molex Connector set 54599 1019 For 15m or less 1 2 9 7 8 3 4 PE S R E H J K L N P5 5V LG BT SD SD RQ RQ P5 5V LG BT SD SD RQ RQ SHD 0 5mm 2 Case grounding 0 2mm 2 0 5mm 2 0 2mm 2 0 2mm 2 Servo motor detector side connector DDK Connector MS3106A22 14S D190 Clamp CE3057 12A 3 Straight back shell CE02 22BS S Right angle back shell CE22...

Page 204: ...side connector 3M Receptacle 36210 0100JL Shell kit 36310 3200 008 Molex Connector set 54599 1019 For 15m or less 1 2 9 7 8 3 4 PE S R G M F A B C D N P5 5V LG BT SD SD RQ RQ P5 5V LG CONT BT SD SD RQ RQ SHD 0 5mm2 Case grounding 0 2mm2 0 5mm2 0 2mm2 0 2mm2 Servo motor detector side connector DDK Connector MS3106A20 29S D190 Clamp CE3057 12A 3 Straight back shell CE02 20BS S Right angle back shell...

Page 205: ... B Z Z P5 5V LG A A B B Z Z SHD 0 5mm2 0 5mm2 0 2mm2 Contact the detector manufacture for the details Note Contact the detector manufacture about whether to perform the P5V wiring or not Servo drive unit side connector 3M Receptacle 36210 0100JL Shell kit 36310 3200 008 Molex Connector set 54599 1019 Case grounding 0 2mm 2 0 2mm2 Note This cable must be prepared by the user ...

Page 206: ...4 0 23 8 12 0 10 0 Manufacturer 3M Model 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 Manufacturer 3M Model 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 terminal connector A TM also has the same outline Unit mm 20 9 29 7 33 0 4...

Page 207: ...2 4 8 10 11 33 9 22 7 Connector for CN31L CN31M CN30 drive unit Unit mm B A 29 10 16 x N 10 16 19 96 9 1 19 26 Dimension Model No of poles A B DK 5200M 04R 4 33 36 23 76 DK 5200M 06R 6 43 52 33 92 Manufacturer DDK Model For CN31L CN31M Housing DK 5200M 04R Contact DK 5RECSLP1 100 for AWG14 16 DK 5RECMLP1 100 for AWG10 12 For CN30 Housing DK 5200M 06R Contact DK 5RECSLP1 100 for AWG14 16 DK 5RECMLP...

Page 208: ...0SD B BAS 1 1 8 18UNEF 2B 34 13 69 5 1 20UNEF 2A 13 2 30 2 43 4 7 5 CE05 8A22 22SD B BAS CE05 8A22 23SD B BAS 1 3 8 18UNEF 2B 40 48 75 5 13 16 18UNEF 2A 16 3 33 3 49 6 7 5 Cable clamp Manufacturer DDK Moveable range of one side øE Cable clamp inside diameter H G 0 7 A V screw C 1 6 Bushing inside diameter øF D B 0 7 Unit mm Total length Outside dia Effective screw length Model Shell size A B C D E...

Page 209: ...rer DDK W screw øC øA L B V screw O ring 7 85 or more Effective screw length D Spanner grip Unit mm Model 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 16 18UNEF 2A CE02 22BS S 35 36 5 10 9 17 8 32 4 1 1 4 18UNEF 2B 1 3 16 18UNEF 2A Angle back shell Manufacturer DDK Model CE 22BA S Unit mm øC L1 or less L2 or less R S W or more U A screw V screw O ring Unit mm Model Shell size...

Page 210: ...onnector Specifications A1 12 Connector for brake IP67 and EN standard compatible Straight Manufacturer DDK Model CM10 SP2S M Unit mm ø21 ø18 9 51 4 Angle Manufacturer DDK Model CM10 AP2S M Unit mm 34 32 5 ø18 9 or less ø21 ...

Page 211: ...able Cut the cable to the following dimensions Cable length Cable length after cutting CM10 SP S 35mm cable length 35mm cable length 2 Inserting parts Insert the clamp nut cable clamp bushing and back shell in to the cable Note Take care not to insert them upside down Cable clamp Cable Bushing Back shell Clamp nut 3 Stripping a cable Strip the cable to a length 20mm Strip the core wire to a length...

Page 212: ...tach a heat shrink tube on it after soldering Note Take care not to stick out the core wire from the contact Take care to prevent solder from adhering to the edge of solder cup Connector name Applicable contact Applicable cable CM10 SP10S CM10 22SC S1 AWG20 or less CM10 SP2S CM10 22SC S2 AWG16 or less Solder A Contact Core wire Cable Detail A Drain wire Heat shrink tube Soldering drain wire ...

Page 213: ...t cable clamp bushing and back shell is inserted Cable Insert Contact Housing Terminal No 10 only Grounding wire or drain wire Insert the contact so that the lance and the terminal number in the housing face the same direction However in case of CM10 SP2S insert the contact so that the lance and the terminal number in the housing face the opposite direction Terminal number Lance Contact Terminal n...

Page 214: ...rately fit the wrench on the back shell coupling To remove take the reverse steps Recommendation Adhesive 2 threads around the circumference Temporary tightening Back shell coupling Back shell Tightening guide Set Tightening guide Back shell wrench Tighten Back shell wrench 19 17 Referential dimensions for back shell tightening guide Back shell width 20 Thickness 10 Recommendation Tightening guide...

Page 215: ...Appendix 1 Cable and Connector Specifications A1 17 7 Insert a busing and a cable clamp Insert the bushing and the cable clamp into the back shell Back shell Busing Cable clamp Cable Insert ...

Page 216: ...h on the clamp nut To remove take the reverse steps Recommendation Adhesive 2 threads around the circumference Temporary tightening Set Tightening guide Torque wrench Tighten Clamp nut wrench 19 17 Referential dimensions for back shell tightening guide Back shell width 20 Thickness 10 Recommendation Tightening guide 357J 50494T Recommended jigs and tools Clamp nut wrench 357J 51334T Bit 357J 51345...

Page 217: ...er rubber etc on the conduit for takes care not to cable damage Plug connector Plug connector Plug connector 1 2 3 Conduit connector nipple Conduit connector Conduit connector Cable Conduit Conduit Saddle Protective cover rubber etc Recommended conduit Type VF Type SR Type FBN Type EM Type VFS Type SRK etc Recommended connector Recommended connector Applicable connector type Applicable cable range...

Page 218: ...onnector 1 Cutting a cable Cut the cable to the following dimensions Cable length Cable length after cutting CM10 AP S A cable length A cable length 2 Stripping a cable sheath Strip the cable sheath to the following dimensions A Sheath Core wire Product name A CM10 AP S S CM10 AP S M 40mm CM10 AP S L 55mm Product name A CM10 AP S S CM10 AP S M 30mm CM10 AP S L 45mm ...

Page 219: ...p bushing and angle back shell in to the cable Note Take care not to insert them upside down Cable clamp Cable Bushing Angle back shell Clamp nut Bend and insert the cable into angle back shell Cable Insert Angle back shell Bend 4 Stripping a cable Strip the core wire to a length 6mm Cable 6 Core wire ...

Page 220: ...tach a heat shrink tube on it after soldering Note Take care not to stick out the core wire from the contact Take care to prevent solder from adhering to the edge of solder cup Connector name Applicable contact Applicable cable CM10 AP10S CM10 22SC S1 AWG20 or less CM10 AP2S CM10 22SC S2 AWG16 or less Solder A Contact Core wire Cable Detail A Drain wire Heat shrink tube Soldering drain wire ...

Page 221: ...t cable clamp bushing and back shell is inserted Cable Insert Contact Housing Terminal No 10 only Grounding wire or drain wire Insert the contact so that the lance and the terminal number in the housing face the same direction However in case of CM 10 AP2S insert the contact so that the lance and the terminal number in the housing face the opposite direction Terminal number Lance Contact Terminal ...

Page 222: ...ling To remove take the reverse steps Recommendation Adhesive 2 threads around the circumference Temporary tightening Back shell coupling Tightening guide Set Tightening guide Torque wrench Tighten Angle back shell wrench 19 17 Referential dimensions for back shell tightening guide Back shell width 22 Thickness 10 or more Recommendation Tightening guide 357J 50508T Recommended jigs and tools Back ...

Page 223: ...Appendix 1 Cable and Connector Specifications A1 25 8 Insert a busing and a cable clamp Insert the bushing and the cable clamp into the angle back shell Busing Cable clamp Cable Insert ...

Page 224: ...tely fit the wrench on the clamp nut To remove take the reverse steps Recommendation Adhesive 2 treads around the circumference Temporary tightening Tightening guide Set Torque wrench Tighten 19 17 Referential dimensions for back shell tightening guide Back shell width 22 Thickness 10 or more Recommendation Tightening guide 357J 50508T Recommended jigs and tools Clamp nut wrench 357J 51334T Bit 35...

Page 225: ...r rubber etc on the conduit for takes care not to cable damage Plug connector Plug connector Plug connector 1 2 3 Conduit connector nipple Conduit connector Conduit connector Cable Conduit Conduit Saddle Protective cover rubber etc Recommended conduit Type VF Type SR Type FBN Type EM Type VFS Type SRK etc Recommended connector Recommended connector Applicable connector type Applicable cable range ...

Page 226: ......

Page 227: ...ive resistor A2 5 Appendix 2 2 1 Calculating the regenerative energy A2 5 Appendix 2 2 2 Calculating the positioning frequency A2 7 Appendix 2 3 Example of servo selection A2 8 Appendix 2 3 1 Motor selection calculation A2 8 Appendix 2 3 2 Regenerative resistor selection calculation A2 11 Appendix 2 3 3 Servo selection results A2 13 Appendix 2 4 Motor shaft conversion load torque A2 14 Appendix 2 ...

Page 228: ...d with inertia exceeding the recommended value is impossible POINT 1 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 2 Judge the load inertia ratio for the motor with brakes using th...

Page 229: ...nuous operation pattern Trms T1 2 t1 T2 2 t2 T3 2 t3 T4 2 t4 T5 2 t5 T6 2 t6 T7 2 t7 T8 2 t8 t0 2 2 Select a motor so that the continuous effective load torque Trms is 80 or less of the stall torque Tst Trms 0 8 Tst 2 3 The amount of acceleration torque Ta shown in tables 2 1 and 2 2 is the torque to accelerate the load inertia in a frictionless state It can be calculated by the expression 2 4 For...

Page 230: ...g a stop 2 Unbalance axis load torque When operations 1 to 8 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 2 2 Load torques of unbalance axes Period Load torque calculation method Explanation 1 Amount of acceleration torque Kinetic friction torque Unbalance torque Normally the acceleration...

Page 231: ...inertia kg cm2 N Motor speed r min Ec Unit charging energy J Example When a load with the same inertia as the motor is connected to the HF53 determine the regenerative energy to stop from the rated rotation speed Note that the drive unit is MDS R V1 20 in this case According to expression 2 6 the regenerative energy ER is ER 5 48 10 7 0 85 6 1 6 1 30002 13 38 1 J Table 2 3 Drive unit charging ener...

Page 232: ...ant ms Downward stop Ec Unit charging energy J The regenerative energy per cycle ER is obtained using expression 2 9 using one reciprocation as one cycle ER ERU ERD J 2 9 Example Using a machine tool vertical axis driven by an HF153 motor reciprocation is carried out with F30000 at an acceleration deceleration time constant of 100ms for a distance of 200mm Obtain the regenerative energy per recipr...

Page 233: ...pe Japan Resistor GZG80 W26 OHMJ GZG200 W26 OHMJ GZG300 W20 OHMJ GZG400 W13 OHMJ GZG400 W8 OHMJ GZG200 W120 OHMJ 3 units connected in parallel GZG200 W39 OHMJ 3 units connected in parallel GZG300 W39 OHMJ 3 units connected in parallel GZG200 W20 OHMJ 3 units connected in parallel GZG300 W20 OHMJ 3 units connected in parallel GRZG400 2 OHMJ 4 units connected in serial Regenerative resistor unit typ...

Page 234: ...election calculation The selection calculation is carried out in order using the Z axis as an example 1 Obtaining the load inertia Calculate the 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 gea...

Page 235: ...t conversion load torque TU W1 W2 g S 2 10 3 π η 510 0 9 8 10 2 2 10 3 π 1 3 5 3 N m 3 Obtaining friction torque The friction torque is obtained from the moving object mass and friction coefficient Here the drive system efficiency is calculated as 1 Refer to section Appendix 2 4 Motor shaft conversion load torque TF F S 2 10 3 π η µ W g S 2 10 3 π η 0 05 510 9 8 10 2 2 10 3 π 1 3 0 27 N m 4 Select...

Page 236: ...ts is HF153B or more as shown below Motor type Maximum torque N m Total inertia kg cm 2 Acceleration deceleration time constant ms Judgment HF103B 21 6 46 2 123 9 HF153B 35 3 52 2 72 3 HF203B 41 7 80 1 90 5 HF353B 59 8 116 9 86 9 6 Selecting the appropriate motor from the continuous characteristics Generally the motor is judged following the typical operation pattern Because the Z axis is the vert...

Page 237: ...tion torque Tdd Ta TU TF 25 2 5 3 0 27 30 2 N m Upward torque during dropping Ts The upward torque during dropping is obtained from the unbalance torque and friction torque Ts TU TF 5 3 0 27 5 6 N m Constant speed travel L Because the constant speed travel is not clearly described in the specifications the value used here is 200mm taking the axis stroke etc into consideration 2 Obtaining the regen...

Page 238: ...times 19 6 times MR RB50 500W PR 500 DP2 48 ER 48 1470 6 16 3 times Number of positioning times 32 6 times Because the number of times described above is the number of cycle operations for 1 vertical axis reciprocation the number of positioning times is 2 fold Thus it is apparent that the MR RB30 300W option resistor is required to satisfy the specified positioning frequency of 12 times min POINT ...

Page 239: ...tc kg 100 100 10 Rapid traverse rate mm min 30000 30000 20000 Target acceleration deceleration time constant ms 120 120 100 Rapid traverse positioning frequency times min 12 12 12 Motor brake Without Without With Motor shaft conversion rotation load inertia kg cm 2 67 4 57 9 26 5 Motor shaft conversion linear movement load inertia kg cm 2 17 7 15 2 5 7 Motor shaft conversion total load inertia kg ...

Page 240: ... on inner surface of table guide N W Total mass of moving section kg g Gravitational acceleration 9 8 m s2 µ Friction coefficient TL Load torque N m F Force in axial direction of the machine that moves linearly N η Drive system efficiency V Speed of object that moves linearly mm min N Motor speed r min S Object movement amount per motor rotation mm Z1 Z2 Deceleration ratio TL Load torque N m TLO L...

Page 241: ...ary axis and cylinder axis cm a2 b 2 3 JL Load inertia kg cm 2 W Mass of cylinder kg a b R Left diagram cm N3 N1 N2 N1 JL Load inertia kg cm 2 JA JB Inertia of load A B kg cm 2 J11 J31 Inertia kg cm 2 N1 N3 Each shaft s speed r min JL Load inertia kg cm 2 W Mass of object that moves linearly kg N Motor speed r min V Speed of object that moves linearly mm min S Object movement amount per motor rota...

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Page 243: ...A3 1 Appendix 3 Compliance with European EC Directives Appendix 3 1 Compliance to EC Directives A3 2 Appendix 3 1 1 European EC Directives A3 2 Appendix 3 1 2 Cautions for EC Directive compliance A3 2 ...

Page 244: ... before starting use A Self Declaration Document has been prepared for the EMC Directives and Low voltage Directives Contact Mitsubishi or your dealer when required Appendix 3 1 2 Cautions for EC Directive compliance Use the Low voltage Directive compatible parts for the servo spindle drive and servo spindle motor In addition to the items described in this instruction manual observe the items desc...

Page 245: ...terminal with mark to the protective earth PE on the control panel 2 When connecting the earthing wire to the protective earth PE terminal do not tighten the wire terminals together Always connect one wire to one terminal PE terminal PE terminal 3 Select the earthing wire size in accordance with Table 1 of EN60204 1 5 Wiring 1 Always use crimp terminals with insulation tubes so that the connected ...

Page 246: ...he control circuit connector is safely separated from the main circuit 4 Inspect the appearance before installing the unit Carry out a performance inspection of the final unit and save the inspection records P Mitsubishi CNC SV1 2 CSH21 24V power T S R Contactor Regenerative resistor unit Ground Main circuit Control circuit CN1A CN1A CN4 CN9 CN22 CN4 CN9 CN22 L1 L2 L3 C CN30 CN31L CN2L CN1B CN1B L...

Page 247: ...d panel A4 4 Appendix 4 4 4 Shielding of the power supply input section A4 4 Appendix 4 5 Measures for various cables A4 5 Appendix 4 5 1 Measures for wiring in panel A4 5 Appendix 4 5 2 Measures for shield treatment A4 5 Appendix 4 5 3 Servo spindle motor power cable A4 6 Appendix 4 5 4 Servo spindle motor feedback cable A4 7 Appendix 4 6 EMC countermeasure parts A4 8 Appendix 4 6 1 Shield clamp ...

Page 248: ...ructions regulate mainly the following two withstand levels Emission Capacity to prevent output of obstructive noise that adversely affects external sources Immunity Capacity not to malfunction due to obstructive noise from external sources The details of each level are classified as Table 1 It is assumed that the Standards and test details required for a machine are about the same as these Table ...

Page 249: ...r for the EMC measures so take the following measures into consideration Door Control panel Operation board panel Appendix 4 4 1 Measures for control panel unit 1 Use metal for all materials configuring the panel 2 For the joining of the top plate and side plates etc mask the contact surface with paint and fix with welding or screws In either case keep the joining clearance to a max of 20cm for a ...

Page 250: ... the operation board and indicator with an earthing wire 2 If the operation board panel has a door use an EMI gasket or conductive packing between the door and panel to provide electrical conductance in the same manner as the control panel 3 Connect the operation board panel and control panel with a sufficiently thick and short earthing wire Refer to the EMC INSTALLATION GUIDELINES BNP B2230 for t...

Page 251: ... internal wiring near the openings Device Device Device Device Noise Control panel Control panel 3 Connect the control device earthing terminal and earthing plate with a thick wire Take care to the leading of the wire Appendix 4 5 2 Measures for shield treatment Common items Use of shield clamp fittings is recommended for treating the shields The fittings are available as options so order as requi...

Page 252: ... power cable that are completely shielded and free from breaks 2 Earth the shield on both the control panel side and motor chassis side 3 Earth the shield with a metal P clip or U clip A cable clamp fitting can be used depending on the wire size 4 Directly earth the shield Do not solder the braided shield onto a wire and earth the end of the wire 5 When not using a shield cable for the power cable...

Page 253: ... shield pair cable for feed back cable of the servo motor to earth on NC side inside the control panel Mounting a ferrite core directly behind the unit connector is also effective in suppressing noise Control panel To drive unit Cannon connector Batch shield pair cable Feed back cable for servomotor ...

Page 254: ...ith an earthing wire Contact Mitsubishi if the earthing plate and clamp fitting set AERSBAN SET is required View of clamp section Outline drawing Peel the cable sheath at the clamp section Cable Cable Earthing plate Earthing plate Clamp fitting Fitting A B Clamp fitting 2 Ø5 hole Installation hole Unit mm Note 1 M4 screw Shield sheath Note 1 Screw hole for wiring to earthing plate in cabinet Note ...

Page 255: ...ed ferrite core TDK ZCAT Series Shape and dimensions ZCAT type ZCAT B type ZCAT C type ZCAT A type Fig 2 Fig 1 Fig 3 Fig 4 Unit mm Part name Fig A B C D E Applicable cable outline Weight Recommended ferrite core ZCAT3035 1330 BK 1 1 39 34 13 30 13 max 63 ZCAT2035 0930 M BK 2 35 29 13 23 5 22 10 to 13 29 ZCAT2017 0930 M BK 3 21 17 9 20 28 5 9 max 12 ZCAT2749 0430 M BK 4 49 27 4 5 19 5 4 5 max 26 1 ...

Page 256: ... which must clear noise standards German Official Notice Vfg243 and EU Standards EN55011 Class B For input of power converter using advanced high speed power device such as IGBT MOS FET Specifications 250V series Part name HF3005A TM HF3010A TM HF3015A TM HF3020A TM HF3030A TM HF3040A TM HF3050A TM HF3060A TM HF3080A TM HF3100A TM HF3150A TM Rated voltage 250VAC Rated current 5A 10A 15A 20A 30A 40...

Page 257: ...1 40A item 250V Series 500V Series Unit mm Dimension Model A B C HF3005A TM HF3010A TM HF3015A TM HF3020A TM 180 170 130 HF3030A TM HF3040A TM 260 155 140 HF3050A TM 170 HF3060A TM 290 190 230 HF3080A TM HF3100A TM 405 220 HF3150A TM 570 230 210 ...

Page 258: ...st voltage AC for one minute across terminal and case 2500VAC 100mA at 25 C 70 RH 4 Insulation resistance 500VDC across terminal and case 100MΩ min at 25 C 70 RH 5 Leakage current 250V 60Hz 3 5 mA max 8 mA max 6 DC resistance 30 mΩ max 11 mΩ max 5 5 mΩ max 3 5 mΩ max 7 Temperature rise 30 C max 8 Working ambient temperature 25 C to 85 C 9 Working ambient humidity 30 to 95 RH non condensing 10 Stor...

Page 259: ...es Servo unit 200 380 Wire to 3 phase power supply Noise filter input terminal Noise filter output terminal Servo input terminal Wire from noise filter to servo Example of noise terminal voltage attenuation Output derating Noise terminal voltage dBuV EMI data for independent control panel with six axis servo unit mounted Noise terminal voltage EMI data for control panel noise filter MX13030 dBuV A...

Page 260: ... B 45 55 C 10 5 13 D 50 67 E 13 16 F 10 13 G 177 179 H M4 screw M6 screw I 70 85 J M4 screw M6 screw K 195 200 Installation hole Unit mm Model MX13100 MX13150 A 130 165 B 90 110 C 20 27 5 D 115 150 5 E 37 5 57 5 F 18 23 G 174 176 H M6 screw M8 screw I 21 27 J 37 5 56 5 K 115 149 5 L 276 284 Installation hole Installation hole Unit mm ...

Page 261: ...acturer s catalog for details on the surge protector s characteristics and specifications 28 5 1 5 5 1 11 1 28 1 200 30 0 41 1 4 5 0 5 Outline dimension drawings Circuit diagram Unit mm 1 Black UL 1015 AWG16 2 Black 3 Black 41 1 28 1 200 30 0 5 5 1 28 5 1 11 1 4 5 0 5 200V R A V BXZ Series Part name Circuit voltage 50 60Hz Maximum tolerable circuit voltage Clamp voltage Surge withstand level 8 20 ...

Page 262: ...c 1 Surge protector Protection across phases Other device panel power supply etc Panel earth leakage breaker Input power Breaker AC reactor Transformer Grounding Grounding plate Factory power B A MC Contactor Breaker Breaker Power supply unit and drive unit Other device panel power supply etc 2 Surge protector Protection across each phase s grounding Installing the surge absorber CAUTION 1 The wir...

Page 263: ...tem A5 2 Appendix 5 2 1 General Precaution A5 2 Appendix 5 2 2 Installation A5 2 Appendix 5 2 3 Short circuit ratings A5 2 Appendix 5 2 4 Peripheral devices A5 2 Appendix 5 2 5 Field Wiring Reference Table for Input and Output A5 2 Appendix 5 2 6 Motor Over Load Protection A5 2 Appendix 5 2 7 Flange of servo motor A5 2 Appendix5 3 AC Servo Spindle System Connection A5 3 ...

Page 264: ...0 30A 60A S N20 MDS R V2 6040 NF30 30A 80A S N20 MDS R V2 6060 NF50 40A 80A S N25 MDS R V2 8040 NF50 40A 80A S N25 MDS R V2 8060 NF50 40A 80A S N25 MDS R V2 8080 NF50 40A 80A S N25 Notice For installation in United States branch circuit protection must be provided in accordance with the National Electrical Code and any applicable local codes For installation in Canada branch circuit protection mus...

Page 265: ...NC External emergency stop Regarding the connection of NC see the NC manual book Refer to specification manual BNP C3045 Enclosure side Machine side Servo motor Detector Servo motor Detector Battery unit or Terminator A TM CN9 CN31M CN30 CN31L Contactor Fuse or circuit breaker 3 phases 200 to 230Vac MC CB Note It recommends installing Power supply Relay Input AC DC ...

Page 266: ......

Page 267: ...Handling by user A6 3 Appendix 6 1 3 Reference A6 4 Appendix 6 2 Issuing domestic law of the United State for primary lithium battery transportation A6 5 Appendix 6 2 1 Outline of regulation A6 5 Appendix 6 2 2 Target products A6 5 Appendix 6 2 3 Handling by user A6 5 Appendix 6 2 4 Reference A6 5 Appendix 6 3 Example of hazardous goods declaration list A6 6 ...

Page 268: ...ts requiring dedicated packaging 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 CR235...

Page 269: ... for isolated battery UN3091 for battery incorporated in a device or included Shipper and consignee s address and name b Preparation of shipping documents Declaration of dangerous goods Refer to the section Appendix 6 3 Example of hazardous goods declaration list 2 When packaged by user The user must follow UN Regulations when packing preparing for shipping and preparing the indications etc a Pack...

Page 270: ...ire a dedicated packaging UN 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...

Page 271: ...craft is forbidden on the exterior box Appendix 6 2 2 Target products All NC products for which the lithium batteries are used are subject to the regulation Refer to the table Appendix 6 1 1 Target products Appendix 6 2 3 Handling by user The Appendix 6 2 1 Outline of regulation described above is solely Mitsubishi s opinion The shipper must confirm orders of Appendix 6 2 4 Reference described bel...

Page 272: ...rinse immediately with a plenty of water for 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...

Page 273: ...e 8 Toxicological information As 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 Ecologica...

Page 274: ......

Page 275: ... China Compulsory Product Certification System A7 2 Appendix 7 2 First Catalogue of Products subject to Compulsory Product Certification A7 2 Appendix 7 3 Precautions for Shipping Products A7 3 Appendix 7 4 Application for Exemption A7 4 Appendix 7 5 Mitsubishi NC Product Subject to Not Subject to CCC Certification A7 5 ...

Page 276: ...ember 3 2001 Class Product 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 a...

Page 277: ... HS code is used for the product subject to CCC Certification Thus the importer must apply for a Certification of Exemption with CNCA Note 3 Refer to Appendix 7 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 ...

Page 278: ...orted or manufactured for the service service and repairs 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 Cert...

Page 279: ...ting to China The above HS Codes are set based on the 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 200...

Page 280: ......

Page 281: ...R V1 60 MDS R V2 4020 MDS R V2 6040 MDS R V2 6060 and MDS R V2 8060 were added The regenerative option GZG80W26OHMJ GZG400W13OHMJ and GZG400W8OHMJ were added The heat radiation countermeasures were revised The parameters SV001 SV002 SV017 SV018 SV019 SV020 SV025 and SV036 were revised The parameters SV089 and SV090 were added The troubleshooting 45 was revised The error parameter No 2269 and 2271 ...

Page 282: ......

Page 283: ...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 284: ...es 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 instruction manual may not be reproduced in any form in part or in whole without written permission from Mitsubishi Electric Corporation 2004 2008 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED ...

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