Mitsubishi MELDAS HS Series Specifications And Instruction Manual Download Page 65

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7–1

Chapter 7 Setup

7-1 Setting the initial parameters ..................................................................... 7-2

7-1-1 Servo specification parameters........................................................... 7-2

7-1-2 Limitations to electronic gear setting value......................................... 7-2

7-1-3 Parameters set according to feedrate ................................................. 7-3

7-1-4 Parameters set according to machine load inertia.............................. 7-3

7-1-5 Standard parameter list according to motor ........................................ 7-4

Summary of Contents for MELDAS HS Series

Page 1: ...epair services USA 1 888 932 9183 Canada 1 905 829 2505 Emergency After hours 1 416 624 0386 Servicing USA and Canada Scroll down to view your document Over 100 years cumulative experience 24 hour rush turnaround technical support service Established in 1993 The leading independent repairer of servo motors and drives in North America ...

Page 2: ...BNP B3981 ENG INTELLIGENT SERVOMOTOR HS Series Specifications and Instruction Manual ...

Page 3: ...N DANGER When a dangerous situation may occur if handling is mistaken leading to fatal or major injuries CAUTION When a dangerous situation may occur if handling is mistaken leading to medium or minor injuries or physical damage Note that some items described as CAUTION may lead to major results depending on the situation In any case important information that must be observed is described The sig...

Page 4: ...hes with wet hands Failure to observe this could lead to electric shocks Do not damage apply forcible stress place heavy items or engage the cable Failure to observe this could lead to electric shocks 2 Fire prevention CAUTION Install the servo amplifier servomotor and regenerative resistor on noncombustible material Direct installation on combustible material or near combustible materials could l...

Page 5: ...lowing precautions Incorrect handling of the unit could lead to faults injuries and electric shocks etc 1 Transportation and installation CAUTION Correctly transport the product according to its weight Do not stack the products above the tolerable number Do not hold the cables axis or detector when transporting the servomotor Follow this Instruction Manual and install the unit in a place where the...

Page 6: ...ist or dust Altitude 1000m or less above sea level HS RF HS SF 1kW or less X 9 8m sec 2 1G Y Y 24 5m sec 2 2 5G or less HS SF 2 0kW or less X 19 6m sec 2 2G Y 49m sec 2 5G or less Vibration HS MF X 19 6m sec 2 2G Y 19 6m sec 2 2G or less 5 9m sec 2 0 6G or less Securely fix the servomotor to the machine Insufficient fixing could lead to the servomotor deviating during operation Never touch the rot...

Page 7: ...fied persons must not disassemble or repair the unit Never make modifications Reduce magnetic interference by installing a noise filter The electronic devices used near the servo amplifier could be affected by magnetic noise Install a line noise filter etc when there is an influence from magnetic interference Always use the servomotor and servo amplifier with the designated combination The servomo...

Page 8: ...uddenly Design the machine so that personal safety can be ensured even if the machine starts suddenly 6 Maintenance inspection and part replacement CAUTION The capacity of the electrolytic capacitor will drop due to deterioration To prevent secondary damage due to failures replacing this part every ten years when used under a normal environment is recommended Contact the nearest dealer for repair ...

Page 9: ...ons of compliance Use the standard servo amplifier and EN Standards compliance part some standard models are compliant for the servomotor In addition to the items described in this instruction manual observe the items described below 1 Environment The servo amplifier must be used within an environment having a Pollution Class of 2 or more as stipulated in the IEC664 For this install the servo ampl...

Page 10: ...s below When using other conditions follow Table 5 of EN60204 and the Appendix C Ambient temperature 40 C Sheath PVC polyvinyl chloride Install on wall or open table tray 6 Servomotor Contact Mitsubishi for the outline dimensions connector signal array and detector cable 7 Others Refer to the EMC INSTALLATION GUIDELINES IB NA 67303 for other EMC Directive measures related to the servo amplifier ...

Page 11: ...r with magnetic brakes 3 3 3 2 2 Magnetic brake characteristics 3 4 3 2 3 Magnetic brake power supply 3 4 3 3 Dynamic brake characteristics 3 5 3 3 1 Deceleration torque 3 5 3 3 2 Coasting amount 3 6 Chapter 4 Peripheral Devices 4 1 Dedicated options 4 2 4 1 1 I F unit 4 2 4 1 2 Battery option for absolute position system 4 6 4 1 3 Cables and connectors 4 7 4 1 4 Cable clamp fitting 4 11 4 2 Perip...

Page 12: ...ystem 6 11 Chapter 7 Setup 7 1 Setting the initial parameters 7 2 7 1 1 Servo specification parameters 7 2 7 1 2 Limitations to electronic gear setting value 7 2 7 1 3 Parameters set according to feedrate 7 3 7 1 4 Parameters set according to machine load inertia 7 3 7 1 5 Standard parameter list according to motor 7 4 Chapter 8 Adjustment 8 1 Measurement of adjustment data 8 2 8 1 1 D A output sp...

Page 13: ...0 3 10 3 2 Warnings list 10 7 10 3 3 Alarm and warning deceleration method and reset method 10 8 Chapter 11 Selection 11 1 Outline 11 2 11 1 1 Servomotor 11 2 11 1 2 Regeneration methods 11 3 11 2 Selection of servomotor series 11 4 11 2 1 Motor series characteristics 11 4 11 2 2 Servomotor precision 11 4 11 3 Selection of servomotor capacity 11 6 11 3 1 Load inertia ratio 11 6 11 3 2 Short time c...

Page 14: ...or outline 1 2 1 2 Limits and special notes for intelligent servomotor 1 2 1 2 2 Precautions for selecting the intelligent servomotor 1 2 1 2 2 Precautions for use 1 2 1 2 3 Miscellaneous 1 2 1 3 Inspection at purchase 1 3 1 3 1 Explanation of type 1 3 ...

Page 15: ...se the standalone HA HC Series motor and MDS B V1 V2 SVJ2 Series servo amplifier for applications having a high regenerative energy due to a high positioning frequency or large load inertia etc 2 The HS MF23 type does not have a regenerative resistor There may be limits to the working rotation speed depending on the load inertia Avoid using in applications generating continuous regeneration such a...

Page 16: ...ltra low inertia Short time rated output W 100 o Rotation speed rpm 1000 103 1kW 3000r min 202 2kW 2000r min 73 0 75kW 3000r min 102 1kW 2000r min 53 0 5kW 3000r min 52 0 5kW 2000r min 43 0 4kW 3000r min 23 200W 3000r min Motor option B Brakes provided Blank No brakes Amplifier encoder special symbol Cable length etc Intelligent servomotor amplifier encoder Short time rated output W 100 20 2kW 05 ...

Page 17: ...NT SERVO MOTOR HS SF202 DRIVE UNIT MDS B ISV 20EX RATED INPUT 3AC 200 230V 50 60Hz 10 0A RATED OUTPUT 3AC 11 0A ＳＷＢＮＤ５１６Ｗ０００Ａ７ＨＷＶＥＲ SERIAL XXXXXXXXXXX DATE 00 01 ＸＸＸＸＸＸＸＸＸＸＸ Type Motor section type Amplifier encoder section type and rated input output Current version Serial No ...

Page 18: ...apter 2 Specifications 2 1 Standard specifications 2 2 2 2 Torque characteristics 2 3 2 3 Outline dimension drawings 2 4 2 3 1 HS MF23 2 4 2 3 2 HS RF43 73 2 4 2 3 3 HS SF52 53 102 103 2 5 2 3 4 HS SF202 2 5 ...

Page 19: ...inuous characteristics Rated torque N m 1 91 1 27 3 58 2 39 7 16 Maximum torque N m 11 8 8 82 21 6 16 7 41 7 Rated rotation speed r min 2000 3000 2000 3000 2000 Maximum rotation speed r min 2000 3000 2000 3000 2000 Moment of inertia J 10 4 kg m 2 6 6 6 6 13 6 13 6 42 5 Detector resolution method 100 000 absolute value Voltage frequency 3 phase 200VAC to 230VAC 50 60Hz Tolerable voltage fluctuation...

Page 20: ...d r min Intermittent operation range Intermittent operation range Intermittent operation range Intermittent operation range Intermittent operation range Intermittent operation range Intermittent operation range Short time operation range Short time operation range Short time operation range Short time operation range Short time operation range Short time operation range Short time operation range ...

Page 21: ...With oil seal 2 3 2 HS RF43 73 Connector JL04V 2A28 11PE LL 93 100 25 φ16 000 φ22 28 12 Taper 1 10 18 φ95h7 10 5 0 0 03 5 4 3 φ 115 4 φ9 45ﾟ L 75 173 5 φ 135 118 23 3 100 3 A 108 00 A A Cross section A A With oil seal Changed dimensions Model L LL HS RF43 400W 86 204 HS RF43B 400W with brakes In planning stages HS RF73 750W 104 222 HS RF73B 750W with brakes In planning stages ...

Page 22: ...6 Cross section A A 145 L A A Changed dimensions Model L LL HS SF53 52 500W 87 232 HS SF53 52B 500W with brakes 119 270 HS SF103 102 1kW 112 257 HS SF103 102B 1kW with brakes 144 295 2 3 4 HS SF202 LL L 75 18 3 79 φ114 3 0 025 φ35 0 010 176 45 φ 200 φ 230 264 0 0 70 119 Changed dimensions Model L LL HS SF202 2kW 116 270 HS SF202B 2kW with brakes In planning stages ...

Page 23: ...teristics 3 2 3 2 Magnetic brake characteristics 3 3 3 2 1 Motor with magnetic brakes 3 3 3 2 2 Magnetic brake characteristics 3 4 3 2 3 Magnetic brake power supply 3 4 3 3 Dynamic brake characteristics 3 5 3 3 1 Deceleration torque 3 5 3 3 2 Coasting amount 3 6 ...

Page 24: ...own below If overload operation over the electronic 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 0 1 1 0 10 0 100 0 1000 0 0 50 100 150 200 250 300 350 400 Fig 3 1 Overload protection characteristics Operat...

Page 25: ...etic brakes is set for each motor The B following the standard motor type indicates the motor with brakes 2 Applications When this type of motor is used for the vertical feed axis in a machining center etc slipping and dropping of the spindle head can be prevented even when the hydraulic balancer s hydraulic pressure reaches zero when the power turns OFF When used with a robot deviation of the pos...

Page 26: ...2 Manually releasing the magnetic brakes 2 These are the values added to the servomotor without brakes 3 This is the value for 20 C at the initial attraction gap 4 The brake gap will widen through brake lining wear caused by braking However the gap cannot be adjusted Thus the brake life is reached when adjustments are required 5 A leakage flux will be generated at the shaft end of the servomotor w...

Page 27: ... the deceleration torque by consuming that energy with the dynamic brake resistance The characteristics of this deceleration torque have a maximum deceleration torque Tdp regarding the motor speed as shown in the following drawing The torque for each motor is shown in the following table Tdp Ndp Deceleration torque Motor speed 0 Fig 3 2 Deceleration torque characteristics of a dynamic brake stop T...

Page 28: ...e table below B Coefficient B Refer to the table below Fig 3 3 Dynamic brake braking diagram Table 3 2 Coasting amount calculation coefficients Motor type JM kg cm 2 A B Motor type JM kg cm 2 A B HS MF23 0 088 1 38 10 11 0 90 10 5 HS SF52 6 6 16 13 10 11 11 93 10 5 HS RF43 0 8 2 04 10 11 2 07 10 5 HS SF53 6 6 15 99 10 11 10 71 10 5 HS RF73 1 5 2 04 10 11 2 07 10 5 HS SF102 13 6 4 00 10 11 9 38 10 ...

Page 29: ... 4 1 2 Battery option for absolute position system 4 6 4 1 3 Cables and connectors 4 7 4 1 4 Cable clamp fitting 4 11 4 2 Peripheral devices 4 12 4 2 1 Selection of wire 4 12 4 2 2 Selection of no fuse breakers 4 12 4 2 3 Selection of contactor 4 13 4 2 4 Circuit protector 4 14 ...

Page 30: ...fications Input power voltage AC200 to 230V 50 60Hz Functions Serial bus interface between NC and intelligent servomotor 200VAC branching to main circuit and control power circuit Miscellaneous Surge absorber radio noise filter internal 5V power Ambient temperature 0 C to 55 C with no freezing Ambient humidity 90 RH or less with no dew condensation Storage temperature 20 C to 65 C with no freezing...

Page 31: ...ligent servomotor terminal block The drawing shows the state with the terminal block cover removed SW4 to SW6 Usage non usage setting switch for CN11 to CN13 Set switch to right for connected axis and to left for disconnected axis SW1 to SW3 Usage non usage setting switch for CN11 to CN13 Set switch to right for connected axis and to left for disconnected axis SW7 Servo monitor D A output changeov...

Page 32: ... 200VAC power to TE7 The intelligent servomotor s power wires are connected to TE1 to TE6 The TE1 to TE6 connection order is random but connect from TE6 in order from the motor with the larger capacity The connections are L1 L2 L3 main power L11 L12 control circuit power and PE from the left on each terminal block 2 Wire end treatment Single wire Peel the wire sheath and use the wire Stranded wire...

Page 33: ...below 1 2 3 4 5 6 7 When 200VAC is turned ON Not set Not set Not set Not set Not set Not set Not set After NC starts Not ON Not ON Not ON Not ON Not ON Not ON Not ON Emergency stop occurrence from NC side Not ON Not ON Not ON Not ON Not ON Not ON Not ON Emergency stop occurrence from intelligent servomotor 1st axis ON Not ON Not ON Not ON Not ON Not ON Not ON Emergency stop occurrence from intelli...

Page 34: ...Chapter 4 Option and Peripheral Devices 4 6 Emergency stop occurrence from servo spindle connected to CN1B Not ON Not ON Not ON Not ON Not ON Not ON ON ...

Page 35: ... 1 hour after 5 years HS RF SF 20 hours at time of delivery 10 hour after 5 years Back up time from battery warning to alarm occurrence Approx 100 hours CAUTION The battery life will be greatly affected by the ambient temperature The above data shows the theoretic values for when the ambient temperature of the battery is 25 C If the ambient temperature rises generally the back up time and useful l...

Page 36: ...M I F unit side connector Sumitomo 3M 10120 3000VE Connector 10320 52A0 008 Shell kit Servomotor side connector Japan Aviation JI04V 6A28 11SE EB Straight or JI04V 8A28 11SE EB Angle JL04 2428CK Clamp For intelligent servo moto r For HS RF and HS SF between intelligent servomotor and I F unit HSSFo CABL o oM 2 Cable wiring diagram For MS MF For HS RF SF 2 12 4 14 3 13 7 17 8 5 9 Plate TXD TXD RXD ...

Page 37: ...MIX19C 19 30 150 0 08 V Maker Oki Electric Cable Co Ltd Use the 1 cable for a capacity of 1kW or more 4 Connector outline drawing For IF unit Maker Sumitomo 3M Ltd Type Connector 10120 3000VE Shell kit 10320 52F0 008 Unit mm 22 0 33 3 12 7 14 0 12 0 39 0 23 8 10 0 Maker Sumitomo 3M Ltd Type Connector 10120 6000EL Shell kit 10320 3210 000 This connector is not an option It is integrated with the ca...

Page 38: ...pe JL04V 8A28 11SE EB Cable clamp Maker Japan Aviation Type JL04V 2428CK 17 Applicable cable diameter ø15 to ø18 Unit mm 10 or less Conduit installation dimensions Screw Positioning key 10 or more Effective screw length spanner catching width Screw 1 7 46 18UNEF 2A Positioning key Effective screw length Spanner catching width Screw 1 7 16 18UNEF 2A Clamp range Bushing Screw 1 7 16 18UNEF 2B Positi...

Page 39: ...the connector Ground plate Sheath Shield external conductor Core wire Sheath Shield external conductor Core wire When folding back the shield fold back the shield over an area covered with vinyl tape or copper tape and seat onto the fitting surface of the plate screw section so that the shield wire and grounding plate securely contact without play CAUTION Take care not to mistake the connection wh...

Page 40: ...S IF 6 Peel part of the cable sheath as shown in the drawing to expose the shield sheath and press that section against the grounding plate with the cable clamp fitting Shield sheath Cable clamp fitting A B Grounding plate Grounding bar Cable clamp fitting outline 30 10 MAX L 24 L Fitting A 70 Grounding plate E outline 70 24 56 6 3 35 6 22 17 5 M4 screw 2 φ5 hole Installation hole 11 Always wire t...

Page 41: ...s 16kW or less NFB rated current 10A 20A 30A 40A 50A 60A MDS B SPJ2 MDS B SPJ2 02 MDS B SPJ2 04 MDS B SPJ2 075 MDS B SPJ2 15 MDS B SPJ2 22 MDS B SPJ2 37 MDS B SPJ2 55 MDS B SPJ2 75 MDS B SPJ2 110 Converter unit MDS A CR 10 MDS A CR 15 MDS A B CV 37 MDS A CR 22 MDS A CR 37 MDS A B CV 55 MDS A CR 55 MDS A B CV 75 MDS A CR 75 MDS A CR 90 MDS A B CV 110 NFB rated current 10A 20A 30A 40A 50A No fuse br...

Page 42: ... contactors so the total rush current for each unit does not exceed the closed circuit current amount Rush current table Intelligent servomotor HS RF43 HS RF73 HS SF52 HS SF53 HS MF23 HS SF102 HS SF103 HS SF202 Rush current 45A 100A MDS B SVJ2 MDS B SVJ2 01 MDS B SVJ2 03 MDS B SVJ2 04 MDS B SVJ2 06 MDS B SVJ2 07 MDS B SVJ2 10 MDS B SVJ2 20 Rush current 45A 50A 70A 100A MDS B SPJ2 MDS B SPJ2 02 MDS...

Page 43: ...r part This part is not handled by the NC Dept Marketing Section or dealer The contactor is selected for the MDS B SVJ2 10 with four HS SF102 axes and one MDS B CV 55 connected Selection from rush current HS SF102 4 axes rush current MDS B CV 55 rush current 4 100A 15A 415A Therefore S K50 200VAC Selection from input current JS SF102 4 axes input current MDS B CV 55 input current 30A 30A 60A There...

Page 44: ...tion of impact on shaft 5 3 5 1 3 Installation direction 5 3 5 1 4 Tolerable load of axis 5 4 5 1 5 Oil and waterproofing measures 5 4 5 1 6 Cable stress 5 5 5 2 Installation of interface unit 5 6 5 2 1 Environmental conditions 5 6 5 2 2 Installation direction 5 6 5 2 3 Prevention of entering of foreign matter 5 6 5 3 Noise measures 5 7 ...

Page 45: ...injuries 4 Always use the unit within the designated environment conditions 5 Do not let conductive objects such as screws or metal chips etc or combustible materials such as oil enter the servo amplifier or servomotor 6 Do not block the servo amplifier intake and outtake ports Doing so could lead to failure 7 The servo amplifier and servomotor are precision devices so do not drop them or apply st...

Page 46: ... 6m s 2 2G or less Y 49m s 2 5G or less 5 1 2 Cautions for mounting load prevention of impact on shaft 1 When using the servomotor with key way use the screw hole at the end of the shaft to mount the pulley onto the shaft To install first place the double end stud into the shaft screw holes contact the coupling end surface against the washer and press in as if tightening with a nut When the shaft ...

Page 47: ...on generated from the tension is less than the values given above 4 In a machine having a thrust load such as a worm gear provide a separate bearing on the machine side so that the a load exceeding the tolerable thrust load is not applied on the motor 5 Do not use a rigid coupling as an excessive bending load will be applied on the shaft and could cause the shaft to break 5 1 5 Oil and waterproofi...

Page 48: ...ector in a relay box having a structure IP54 that prevents water oil and dust etc from entering Fix the enclosed cable to the motor and also fix the enclosed cable to the motor 5 1 6 Cable stress 1 Sufficiently consider the cable clamping method so that bending stress and the stress from the cable s own weight is not applied on the cable connection 2 In applications where the servomotor moves make...

Page 49: ...irection Install so that the front of the interface unit is visible and the terminal block comes to the bottom 5 2 3 Prevention of entering of foreign matter Treat the cabinet with the following items Make sure that the cable inlet is dust and oil proof by using packing etc Make sure that the external air does not enter inside by using head radiating holes etc Close all clearances Securely install...

Page 50: ... point grounding for the servo amplifier and motor 2 Measures against noise entering from external source and causing servo amplifier to malfunction If a device generating noise is installed near the servo amplifier and the servo amplifier could malfunction take the following measures Install a surge killer on devices magnetic contactor relay etc that generate high levels of noise Install a data l...

Page 51: ... it is bundled with the power wire the noise could be propagated to the signal wire and cause malfunction because of the magnetic induction noise or static induction noise In this case take the following measures 1 Install devices easily affected as far away from the servo amplifier as possible 2 Lay the signals wires easily affected as far away from the input wire with the servo amplifier 3 Avoid...

Page 52: ...ion for controlling magnetic switch MC with MDS B CV CR 6 6 6 3 2 Example of connection for controlling magnetic switch with external sequence circuit 6 8 6 3 3 Wiring of contactors MC 6 8 6 3 4 Surge absorber 6 9 6 4 Wiring the motor with brakes 6 9 6 4 1 Connection example 6 9 6 4 2 Manually releasing the magnetic brakes 6 10 6 5 Connection with the NC 6 11 6 5 1 Connection system 6 11 ...

Page 53: ...lectric shocks 5 Do not damage apply forcible stress place heavy items or engage the cable Failure to observe this could lead to electric shocks CAUTION 1 Correctly and securely perform the wiring Failure to do so could lead to runaway of the servomotor 2 Do not mistake the terminal connections Failure to observe this item could lead to ruptures or damage etc 3 Do not mistake the polarity Failure ...

Page 54: ...hin 30m 2 This is a motor with magnetic brakes The power connected to the magnetic brake does not have a polarity 3 Securely connect the shield wire to the plate grounding plate in the connector 4 When using as an absolute connector connect MDS A BTo AC reactor Intelligent servomotor 200VAC L11 L12 for control circuit power MC relay Battery unit A BT Power supply MDS B CV Spindle MDS B SP Servo MD...

Page 55: ...to each terminal Failure to observe this could lead to damage or faults 6 2 1 Connector signal layout 1 HS RFxxE HS SFxxE ＡＴＸＤＢＲＸＤＣＥＭＧＤＡＬＭＦＲＸＤＧＥＭＧＨＡＬＭＩＢＡＴＥＴＸＤＫＬ２ＪＬ１ＬＬ３ＭＰＥＲＲＧＳ Open ＴＧＮＤＮＬ１１ＵＬ１２ＷＢＲＸＭＯＮＶ Open Ｐ Open Japan Aviation Applicable connector JL04V 28A28 11PE 2 HS MF23E Ｂ１Ｌ２Ｂ２ＰＥＢ３Ｌ１２Ａ１Ｌ１Ａ２ Open Ａ３Ｌ１１Ａ１ＴＸＤＡ２ＲＸＤＡ３ＥＭＧＢ４ＡＬＭＢ６ＧＮＤＢ６ＦＧＡ４Ａ...

Page 56: ...hase 200 to 230VAC 50 60Hz Power supply PE Protective ground Grounding terminal Connect and ground with the servomotor grounding terminal TXD TXD NC transmission data RXD RXD NC reception data MON Monitor output FG Ground EMG EMG Emergency stop ALM ALM Alarm BAT Battery Control signal GND Ground For NC connection RG Brake BR Power supply for magnetic brakes Connect the 24VDC for the magnetic brake...

Page 57: ...ction for controlling magnetic switch MC with MDS B CV CR The following connection example applies when the power supply unit MDS B CV CVE CR is provided in the system The magnetic switch can also be controlled by the MDS B SVJ2 SPJ2 Refer to the respective unit s specification manual for details 1 When sharing a power supply unit and power supply Power supply unit MDS B CV CR ＬＬ Mitsubishi CNC I...

Page 58: ...pindle drive unit MDS B Vx SP Ｌ１１Ｌ１２ＭＣ１ＰＥＬ１Ｌ２Ｌ３ＬＬＬ１１Ｌ１２ＰＥ MC1 MC2 NFB2 Intelligent servomotor External emergency stop AC reactor B AL Terminator DANGER Install independent no fuse breakers as the intelligent servomotor power supply if the total current capacity exceeds 60A when the converter and power supply are shared No fuse breakers may not operate for short circuits in small capacit...

Page 59: ...hat drive contactors When actually driving the contactor it is driven by the amplifier of the axis having the longest deceleration time constant in consideration of the communication from the NC being cut off Generally when a converter MDS B CV CVE CR is provided the contact is driven by the converter When a spindle amplifier is provided the contactor is driven by the spindle amplifier and when th...

Page 60: ...Chapter 6 Wiring 6 9 the undervoltage alarm could occur or the deceleration control may be prevented ...

Page 61: ...UTION 1 No mechanical guarantee is provided even when the dynamic brakes are used If the machine could drop during a power failure use a motor with magnetic brakes or provide an external brake mechanism to prevent dropping 2 The magnetic brakes are used for holding and must not be used for normal braking There may be cases when holding is not possible due to the life and machine structure when bal...

Page 62: ...Chapter 6 Wiring 6 11 2 Prepare a brake excitation power supply that ensures a secure attraction current 3 The brake terminal polarity is random but must not be mistaken with other circuits ...

Page 63: ...BC Socket contact BHF 001T 0 8BS J S T Mfg Co Ltd 2 Method 2 Enter the brake release mode by changing the MON signal normally used for the axis No selection several times 1 Prepare the circuit operation box shown with the dotted line below and connect with the intelligent servomotor as shown in the drawing 2 Open SW1 and SW2 3 Input 200VAC to the LL1 and LL2 terminals The LED will turn ON 4 Turn S...

Page 64: ...lligent servo connection connectors can be connected to any connector 3 If the MDS B Series servo spindle drive unit is connected as shown above connect the I F unit between the CNC and servo spindle drive Other drive units cannot be connected between the CNC and I F unit Mitsubishi CNC I F unit An I F unit cannot be connected behind the servo spindle drive unit Intelligent servomotor MDS B Series...

Page 65: ... 2 7 1 1 Servo specification parameters 7 2 7 1 2 Limitations to electronic gear setting value 7 2 7 1 3 Parameters set according to feedrate 7 3 7 1 4 Parameters set according to machine load inertia 7 3 7 1 5 Standard parameter list according to motor 7 4 ...

Page 66: ...tor resolution Set the motor detector resolution with a kp rev unit for both settings Refer to the standard parameters for each motor for the settings SV003 PGN1 Position loop gain Set 33 as a standard 7 1 2 Limitations to electronic gear setting value The servo amplifier has internal electronic gears The command value from the NC is converted into a detector resolution unit to carry out position ...

Page 67: ...rtia No Abbrev Parameter name Explanation SV005 VGN1 Speed loop gain Refer to the comparison graph with the load inertia scale for the standard setting value SV008 VIA Speed loop leading compensation Set 1364 as a standard Set 1900 as a standard for the SHG control If the load inertia is large and is in the standard VIA change region set the value in the comparison graph regardless of whether norm...

Page 68: ...p Current limit value during special operation 400 250 250 700 700 600 700 500 SV015 FFC Acceleration feed forward gain 0 SV016 LMC1 Lost motion compensation 1 0 SV017 SPEC Servo specifications Refer to 7 1 1 Servo specification parameters SV018 PIT Ball screw pitch Set the ball screw pitch with an mm unit Set 360 for a rotary axis SV019 RNG1 Position detector resolution 8 100 SV020 RNG2 Speed det...

Page 69: ...3 Position loop gain 8 6 8 3 Characteristics improvement 8 8 8 3 1 Optimal adjustment of cycle time 8 8 8 3 2 Vibration suppression measures 8 10 8 3 3 Improving the cutting surface precision 8 12 8 3 4 Improvement of protrusion at quadrant changeover 8 15 8 3 5 Improvement of overshooting 8 19 8 3 6 Improvement of characteristics during acceleration deceleration 8 21 8 4 Setting for emergency sto...

Page 70: ... the No of the data to be output to each D A output channel No Output data Standard output unit Output cycle 21 Motor load level 100 1 25V 113 7 msec 22 Amplifier load level 100 1 25V 113 7 msec 23 Regenerative load level 100 1 25V 910 2 msec 24 PN bus wire voltage 200V V 1 200 888 µsec 25 Speed cumulative item 888 µsec 26 Cycle counter 0 125V 888 µsec 27 3 55 msec 28 29 3 55 msec 30 3 55 msec 31 ...

Page 71: ...d do not set it to 0 again The offset value will be reset when the amplifier power is turned OFF The value is not reset when the NC power is turned OFF No Abbrev Parameter name Explanation Setting range SV061 DA1NO D A output channel 1 data No Set 0 0 to 102 SV063 DA1MPY D A output channel 1 offset amount The amount can be set with the output precision unit Observe the output value and set so that...

Page 72: ...xes having a large amount of friction but this should be ignored Refer to section 8 3 3 4 Disturbance observer for details 4 The SV037 setting where the disturbance torque becomes the smallest during the estimated acceleration deceleration is the machine s total load inertia magnification including the motor inertia Obtain the standard VGN1 from the graph in section 7 1 3 based on this value When ...

Page 73: ...Chapter 8 Adjustment 8 5 more favorable ...

Page 74: ...commands becomes worse that amount of positioning time and precision are sacrificed VIA must be kept high set the standard value to guarantee precision especially in high speed contour cutting generally F 1000 or higher In other words a large enough value must be set in VGN1 so that the VIA does not need to be lowered in machines aimed at high speed precision When adjusting the cutting precision w...

Page 75: ...Chapter 8 Adjustment 8 7 POINT Position droop vibration of 10Hz or less is not leading compensation control vibration The position loop gain must be adjusted ...

Page 76: ...tions To adjust the SHG control gradually raise the gain from a setting where 1 2 of a normal control PGN1 where vibration did not occur was set in PGN1 If the PGN1 setting value is more than 1 2 of the normal control PGN1 when SHG control is used there is an improvement effect in position control Note that for the settling time the improvement effect is at 1 2 or more No Abbrev Parameter name Exp...

Page 77: ...ring SHG control even if the PGN1 setting value is the same the actual position loop gain will be higher so the speed loop must have a sufficient response If the speed loop response is low vibration or overshooting could occur during acceleration deceleration in the same manner as conventional control If the speed loop gain has been lowered because machine resonance occurs lower the position loop ...

Page 78: ...sting watch the current FB waveform during acceleration deceleration and adjust so that the torque is within the specified range Be careful as insufficient torque can easily occur when the amplifier input voltage is low 170 to 190V and an excessive error can easily occur during acceleration deceleration HS MF Series HS RF Series HS SF Series Motor type Max current command value Motor type Max curr...

Page 79: ...onfirmed that the machine has entered the in position width range set for the machine The in position width is effective even when the standard servo parameters are set However it may follow the CNC parameters so refer to the CNC Instruction Manual for the setting No Abbrev Parameter name Unit Explanation Setting range SV024 INP In position detection width µm Set 50 as a standard Set the precision...

Page 80: ...r to 8 2 2 Speed loop gain Thus try to maintain the VGN1 as high as possible and suppress the vibration using the vibration suppression functions If the VGN1 is lowered and adjusted because vibration cannot be sufficiently suppressed with the vibration suppression functions adjust the entire gain including the position loop gain again Examples of vibration occurrence A fine vibration is felt when ...

Page 81: ...it Descriptions 0 3 nfd Set the filter depth for the notch filter Deeper Shallower Setting value 0 2 4 6 8 A C E Depth dB 18 1 12 0 8 5 6 0 4 1 2 5 1 2 2 Jitter compensation The load inertia becomes extremely small if the motor position enters the machine backlash when the motor is stopped Because this means that an extremely large VGN1 is set for the load inertia vibration may occur Jitter compen...

Page 82: ...ability between interpolation axes The distortion can be improved by matching the VIA with the smaller of the values Note that because the position trackability is not improved the surface precision will not be improved Refer to 8 2 2 2 Setting the speed loop leading compensation No Abbrev Parameter name Explanation Setting range SV005 VGN1 Speed loop gain Increase the value by 20 to 30 at a time ...

Page 83: ...y using fine torque compensation Note that this may cause vibration during motor operation to increase SV030 TDCG Voltage non sensitive band compensation fine torque compensation Cx Set the fine torque compensation amount Cx in the high order 8 bits Normally 0 is set Set 255 to use this function 32768 to 32767 SV040 LMCT Lost motion compensation non sensitive band fine torque compensation Cy µm Se...

Page 84: ...t the acceleration deceleration time constant so the acceleration deceleration torque equals or exceeds is 100 or higher than the stall rated torque 3 Observe the estimated disturbance torque using the D A output and increase JL until the disturbance torque during acceleration deceleration becomes small cannot be observed Even when the torque offset is set and JL is an appropriate value the fricti...

Page 85: ...sed for compensation in the positive and negative directions when LMC2 is 0 3 If the compensation amount is to be changed in the direction to be compensated set LMC2 The compensation direction setting will be as shown below with the CW CCW setting If only one direction is to be compensated set the side not to be compensated as 1 No Abbrev Parameter name Explanation SV027 SSF1 The lost motion compe...

Page 86: ...to 0 For the final adjustment measure the CNC sampling measurement DBB measurement or while carrying out actual cutting If the compensation amount is insufficient increase LMC1 or LMC2 by 5 at a time Note that if the setting is too high biting may occur Compensation 0 Optimum Too high POINT 1 When either parameter SV016 LMC1 or SV041 LMC2 is set to 0 the same amount of compensation is carried out ...

Page 87: ...Chapter 8 Adjustment 8 20 will occur ...

Page 88: ...otion compensation Set the unbalance torque amount 100 to 100 POINT Even when TOF is set the torque output characteristics of the motor and load current display of the CNC servo monitor will not change Both the LMC compensation and collision detection function are affected 3 Adjusting the lost motion compensation timing If the speed loop gain has been lowered from the standard setting value becaus...

Page 89: ...tion direction change may be mistaken As a result the LMC compensation timing may deviate or compensation may be carried out twice If feed forward control is carried out and the compensation does not operate correctly adjust with the non sensitive band SV040 LMCT during feed forward control In this non sensitive band control overshooting of a set width or less is ignored The model position directi...

Page 90: ...top Therefore there is no compensation during circle cutting There is also no compensation when the CNC is carrying out feed forward control Setting and adjustment methods 1 Set the special servo function selection 1 SV027 SSF1 bit 10 OVS compensation will start 2 Observe the position droop waveform using the D A output and increase the overshoot compensation 1 SV031 OVS1 value 1 at a time Set the...

Page 91: ...o 0 the setting value will be applied in both the directions 1 to 100 SV042 OVS2 Overshooting compensation 2 Stall rated current Set 0 as a standard Set this when the compensation amount is to be changed according to the direction 1 to 100 POINT 1 When either parameter SV031 OVS1 or SV042 OVS2 is set to 0 the same amount of compensation is carried out in both the positive and negative direction us...

Page 92: ...meter name Setting ratio 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 999 SV008 VIA Speed loop leading compensation Set 1900 as a standard value dur...

Page 93: ...ation deceleration is raised equivalently Thus the torque current command required during acceleration deceleration starts sooner The synchronization precision will improve if the FFC of the delayed side axis is raised between axes for which high precision synchronous control such as synchronous tap control and superimposition control No Abbrev Parameter name Unit Explanation Setting range SV015 F...

Page 94: ...ev Parameter name Explanation SV034 SSF3 Special servo function selection 3 The display data for the maximum current value on the servo monitor is determined with the following parameter 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 daf1 dac1 mon bit Monitor Meaning when 0 is set Meaning when 1 is set MAX current 1 Maximum current command value after power is turned ON Maximum current command value for on...

Page 95: ...n time constant G0tL becomes the standard value When another acceleration deceleration pattern is selected set the rapid traverse to linear acceleration deceleration Adjust to the optimum acceleration deceleration time constant and set that value as the standard value Operation When an emergency stop occurs the motor will decelerate at the same inclination from each speed and will change to the dy...

Page 96: ...is set Meaning when 1 is set 0 dmk Deceleration control stop Dynamic brake stop POINT If a dynamic brake stop is selected the software does not participate at all in the motor stop control after an emergency stop occurs CAUTION When a dynamic brake stop is selected in general the coasting distance during an emergency stop will be comparatively longer so be careful 3 Deceleration control stop dista...

Page 97: ... at a time and set the minimum value where the axis does not drop 0 to 2000 POINT 1 This control will not function if the dynamic brake stop is selected with the servo specifications SV017 SPEC 2 This control will not function if an alarm for which the dynamic brakes are set as the stopping method occurs in an axis where vertical axis drop prevention control is being carried out 3 A drop amount of...

Page 98: ...function during cutting feed If 0 is set for TLMT SV060 all collision detections method 1 and method 2 will not function Alarm detection range for collision detection method 1 2 Collision detection method 2 When the current command reaches the motor s maximum current the axis will decelerate to a stop with at 80 of the motor s maximum torque After decelerating to a stop the alarm 5A will occur and...

Page 99: ...and ignore the collision detection method 2 7 Set the collision detection level Feed Detection level setting Explanation G0 SV060 First set SV060 TLEV 100 and carry out no load operation at the maximum rapid traverse feed rate If an alarm does not occur lower the setting by 10 and if an alarm occurs raise the setting by 20 Set a value that is 1 5 times the limit value where the alarm does not occu...

Page 100: ...to 0 the collision detection method 1 will not function during cutting feed 15 clt During normal use The value to be set in TCNV is calculated and displayed at MPOF on the Servo Monitor screen SV032 TOF Torque offset Stall rated current Set the unbalance torque amount 100 to 100 SV045 TRUB Frictional torque Stall rated current Set the frictional torque for using the collision detection function 0 ...

Page 101: ...l parameters These are used for maker adjustments 1 to 2560 SV013 ILMT Current limit value Stall rated current Set the standard parameter value The maximum torque is determined by the motor specifications 0 to 500 SV014 ILMTsp Current limit value during special operation Stall rated current Set the standard parameter value Set the limit torque mainly for the stopper 0 to 500 SV015 FFC Acceleration...

Page 102: ... lmc1 Lost motion compensation type 1 stop Lost motion compensation type 1 start 9 lmc2 Lost motion compensation type 2 stop Lost motion compensation type 2 start 10 ovs1 Overshooting compensation type 1 stop Overshooting compensation type 1 start 11 12 13 14 Set 1 15 SV027 SSF1 Special servo function selection 1 Set 0 in bits with no particular description SV028 Set 0 0 SV029 Set 0 0 Set the volt...

Page 103: ...10 11 12 13 14 15 SV033 SSF2 Special servo function selection 2 Set 0 in bits with no particular description CNC servo monitor MAX current display data changeover bit Meaning when 0 is set Meaning when 1 is set 0 mon Current command monitor value Current FB monitor value 1 2 3 4 dac1 D A output ch 1 overflow setting D A output ch 1 clamp setting 5 6 daf1 D A output ch 1 no filter D A output ch 1 f...

Page 104: ... to be used 0 to 3000 SV039 LMCD Lost motion compensation timing msec Set this when the lost motion compensation timing does not match Adjust while increasing the value by 10 at a time 0 to 2000 The lost motion compensation non sensitive band can be set only during feed forward control Set in the low order 8 bits The setting range is 0 to 100 When 0 is set 2µm will be set Adjust the value in incre...

Page 105: ...l operation mm Set 0 as a standard 0 SV054 Set 0 0 SV055 Set 0 0 SV056 EMGt Deceleration control time constant msec Set the time to stop from rapid traverse rate rapid Set the same value as the rapid traverse acceleration deceleration time constant 0 to 5000 SV057 SHGC SHG control gain rad sec Set 0 as a standard When using SHG control also set PGN1 and SHG2 For SHG control 0 to 999 SV058 SHGCsp S...

Page 106: ...9 1 Chapter 9 Inspections 9 1 Inspections 9 2 9 2 Life parts 9 2 9 3 Replacing the unit 9 3 9 3 1 HS MF23 type 9 3 9 3 2 HS FR43 73 HS SF52 53 102 103 type 9 3 9 3 3 HS SF202 type 9 4 ...

Page 107: ...standard replacement time is reached the part must be replaced 1 Servomotor bearings When used at the rated speed and rated load replace the bearings after about 20 000 to 30 000 hours This will differ according to the operation state but if abnormal noise or vibration is found during the inspection the bearings must be replaced 2 Servomotor oil seal V ring These parts must be replaced after about...

Page 108: ...ng the amplifier and encoder unit 3 Pull the amplifier and encoder unit out from the back 4 Disconnect the connector connecting the motor and amplifier If brakes are provided also disconnect the brake connector 2 Installing the amplifier and encoder unit 5 Replace the O ring If the motor has been used the O ring may be expanded because of oil etc Thus always replace the O ring when replacing the a...

Page 109: ...de with the hub on the motor side 8 Install the encoder onto the motor and tighten the four screws Set the encoder installation angle as shown in the upper right photograph 4 Installing the amplifier unit 9 Replace the O ring If the motor has been used the O ring may be expanded because of oil etc Thus always replace the O ring when replacing the amplifier 10 The motor leads are curled when delive...

Page 110: ...g 10 1 Points of caution and confirmation 10 2 10 2 Troubleshooting at start up 10 2 10 3 Protective functions list 10 3 10 3 1 Alarm 10 3 10 3 2 Warnings list 10 7 10 3 3 Alarm and warning deceleration method and reset method 10 8 ...

Page 111: ...river is lit there is still a voltage in the unit Take care to prevent electric shocks and short circuits The voltage will remain for several minutes after the power is turned OFF 2 The conductivity in the amplifier cannot be checked due to the structure 3 Do not carry out a megger test as the amplifier could be damaged 10 2 Troubleshooting at start up If the CNC system does not start up correctly...

Page 112: ...bient environment 18 Detector initial communication error Initial communication with the detector was not possible The connection between the detector and amplifier is disconnected SF202 Remove the amplifier section and check the connector CN2 connection Reconnect Refer to section 9 3 3 for the method Check the repeatability Replace the amplifier 22 LSI error LSI operation error LSI operation erro...

Page 113: ...ction activated Motor fault Replace the amplifier with one for another axis and check the repeatability Replace the motor The power voltage is high 280V or more Occurs at ready ON Check the power voltage with a tester Review the power supply Broken wire in the regenerative resistor Replace the amplifier 33 Overvoltage The PN bus wire voltage exceeded 400 V The regeneration capacity is large for th...

Page 114: ...unication protocol error 2 There was an error in the communication data from the CNC CNC unit fault Change the connection with that for another amplifier and find the cause Replace the CNC unit Is VGN1 higher than the standard value in respect to the load inertia The speed loop gain VGN1 is excessive Is vibration occurring Lower VGN1 The current loop gain setting is incorrect Check the current loo...

Page 115: ...the difference of the actual motor position and the model position was excessive Refer to AL52 The machine collided Is there any collision or interference at the machine end Remove the cause of the collision The machine load is heavy Check the relation of the parameters and machine load sv032 Torque offset sv045 Frictional torque sv059 Estimated torque gain Reset the parameters or correct the abno...

Page 116: ...ped The battery line in the detector cable is broken Check the conductivity with a tester Replace the cable E0 Over regeneratio n warning The regeneration level reached 80 or more Refer to the over regeneration 30 column E1 Overload warning The load level reached 80 or more Refer to the overload 50 column E3 Absolute position counter warning A deviation was detected in the absolute position data a...

Page 117: ... CNC communication transmission error Deceleration control PR 37 Initial parameter error Initial error PR 38 CNC communication protocol error 1 Deceleration control PR 39 CNC communication protocol error 2 Deceleration control PR 3A Overcurrent Dynamic PR 3C Regeneration circuit error Dynamic AR 46 Motor overheat Deceleration control NR NR and PR reset cannot be carried out when the motor is overh...

Page 118: ... also be reset automatically after 5 minutes Deceleration method Deceleration control The motor will be decelerated and controlled with the time constant set in the parameter EMGt If dynamic brake stop is selected with the parameter SPEC the motor will stop with the dynamic brakes Dynamic The motor will stop with the dynamic brakes Reset method The unit will be automatically reset when the state i...

Page 119: ...city 11 6 11 3 1 Load inertia ratio 11 6 11 3 2 Short time characteristics 11 6 11 3 3 Continuous characteristics 11 7 11 4 Selection of regenerative resistor 11 9 11 4 1 Limits for HS MF23 11 9 11 4 2 Approximate calculation of positioning frequency 11 9 11 4 3 Calculation of regenerative energy 11 9 11 4 4 Calculation of positioning frequency 11 11 11 5 Motor shaft conversion load torque 11 12 1...

Page 120: ...d fluctuation occurs easily Suitability Suitable for high precision interpolation control Suitable for high speed positioning Select a medium inertia motor when interpolation precision is required or for machines having a large load inertia Select a low inertia motor when a shorter positioning time is required by machines having a small amount of inertia Normally use the HS SF motor for the machin...

Page 121: ...t due to resistance heat radiation must be considered In large capacity servo amplifiers the regenerative resistance becomes large and this is not practical 3 Power supply regeneration method This is a method to return the regeneration energy to the power supply The regeneration energy does not become heat as in regenerative resistance Heat is generated due to regeneration efficiency problems The ...

Page 122: ...s 1 Theoretic precision ε This value is determined by the motor detector precision and is the value obtained by dividing the movement amount S per motor rotation by the detector resolution RNG 2 Positioning precision εp This is the precision outline that affects the machine targeted for positioning and expresses the machine s positioning precision When the motor is a single unit this is determined...

Page 123: ... not cumulated Table 11 4 shows the approximate precision at the motor end of each motor series Obtain the precision at the motor end during actual machining by adding the machine precision to the value in the table Table 11 4 Precision by motor series Motor series Control resolution RNG pulse rev Theoretic precision ε Positioning precision εp Surface precision εv Absolute position repeatability ε...

Page 124: ...his does not mean that controlling a load with inertia exceeding the recommended value is impossible POINT When selecting feed axis servomotors for NC unit machine tools place importance on the surface precision during machining To do this always select a servomotor with a load inertia ratio within the recommended value Select the lowest value possible within that range 11 3 2 Short time character...

Page 125: ... T8 t5 t6 t7 t8 Fig 11 1 Continuous 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 11 3 Select a motor so that the continuous effective load torque Trms is 80 or less of the motor rated torque Tra stall torque Tst in the HC HA N Series Trms 0 8 Tra or 0 8 Tst 11 4 The amount of acceleration torque Ta shown in tables 11 6 and 11 7 is the torque to accelera...

Page 126: ... 2 Unbalance axis load torque When operations to are for an unbalance axis calculate so that the following torques are required in each period Note that the forward speed shall be an upward movement Table 11 7 Load torques of unbalance axes Period Load torque calculation method Explanation Amount of acceleration torque Kinetic friction torque Unbalance torque Normally the acceleration deceleration...

Page 127: ...Chapter 11 Selection 11 9 ...

Page 128: ... SF type can be approximately calculated with expression 11 5 To obtain the detailed value refer to section 11 4 3 Calculating the regenerative energy and section 11 4 4 Calculating the positioning frequency and calculate Tolerable frequency m JL JM 11 5 Type RF43 RF73 SF52 SF53 SF102 SF103 SF202 Tolerable frequency for independent motor 360 195 220 100 110 50 50 11 4 3 Calculation of regenerative...

Page 129: ...d stop for an unbalance axis A constant regeneration state results during downward movement if the unbalance torque is the same as or larger than the friction torque Regeneration energy A regeneration state only occurs when deceleration torque downward torque is generated ERU 5 24 10 5 η Tdu N td Ec J 11 7 Upward stop η Motor reverse efficiency Tdu Upward stop deceleration torque N m N Motor speed...

Page 130: ... is as follows 20000 50 2 60 1000 8 3 mm Therefore the constant speed travel is 183 4mm The downward stop regeneration energy ERD is obtained using the following expression 11 8 ERD 2π 0 85 0 5 183 4 10 5 24 10 5 0 85 8 2000 50 11 73 6 J Thus the regeneration energy per return operation ER is as follows ER 11 3 73 6 84 9 J 11 4 2 Calculation of positioning frequency Select the regenerative resisto...

Page 131: ...on kg g Gravitational acceleration m sec 2 µ Friction coefficient TL Load torque N m F Force in axial direction of linear motion machine N η Drive system efficiency V Speed of linear operation object mm min N Motor speed r min S Object movement amount per motor rotation mm Z1 Z2 Deceleration ratio TL Load torque N m TLO Load torque on load shaft N TF Motor shaft conversion load friction torque N m...

Page 132: ... that moves linearly kg N Motor speed r min V Speed of object that moves linearly mm min V 10 1 2πN S 20π JL Load inertia kg m2 W Weight of cylinder kg D Outer diameter of cylinder m R Distance between rotary axis and cylinder axis m JL Load inertia kg m 2 W Weight of cylinder kg a b R Left diagram m D 2 JL Load inertia kg m2 W Weighty of object kg D Diameter of pulley m JP Inertia of pulley kg m2...

Page 133: ...Chapter 11 Selection 11 15 ...

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