CNC INTELLIGENT SERVOMOTOR HS Series SPECIFICATIONS AND INSTRUCTION MANUAL BNP-B3981*(ENG)
Introduction Thank you for purchasing the Mitsubishi CNC. This instruction manual describes the handling and caution points for using this CNC. Incorrect handling may lead to unforeseen accidents, so always read this instruction manual thoroughly to ensure correct usage. Make sure that this instruction manual is delivered to the end user.
For Safe Use 1. Electric shock prevention DANGER Wait at least 10 minutes after turning the power OFF, check the voltage between L1-L2-L3 and L11-L12 terminals with a tester, etc., before starting wiring or inspections. Failure to observe this could lead to electric shocks. Ground the servo amplifier and servomotor with Class 3 grounding or higher. Wiring and inspection work must be done by a qualified technician. Wire the servo amplifier and servomotor after installation.
3. Injury prevention CAUTION Do not apply a voltage other than that specified in Instruction Manual on each terminal. Failure to observe this item could lead to ruptures or damage, etc. Do not mistake the terminal connections. Failure to observe this item could lead to ruptures or damage, etc. Do not mistake the polarity( + , – ) . Failure to observe this item could lead to ruptures or damage, etc. Do not touch the servo amplifier fins, regenerative resistor or servomotor, etc.
CAUTION Store and use the units under the following environment conditions.
(2) Wiring CAUTION Correctly and securely perform the wiring. Failure to do so could lead to runaway of the servomotor. (3) Trial operation and adjustment CAUTION Check and adjust each parameter before starting operation. Failure to do so could lead to unforeseen operation of the machine. Do not make remarkable adjustments and changes as the operation could become unstable.
(5) Troubleshooting CAUTION If a hazardous situation is predicted during stop or product trouble, use a servomotor with magnetic brakes or install an external brake mechanism. Use a double circuit configuration that allows the operation circuit for the magnetic brakes to be operated even by the external emergency stop signal. If an alarm occurs, remove the cause and secure the safety before resetting the alarm. Control in the intelligent servomotor.
Compliance to European EC Directives 1. European EC Directives The European EC Directives were issued to unify Standards within the EU Community and to smooth the distribution of products of which the safety is guaranteed. In the EU Community, the attachment of a CE mark (CE marking) to the product being sold is mandatory to indicate that the basic safety conditions of the Machine Directives (issued Jan. 1995), EMC Directives (issued Jan. 1996) and the Low-voltage Directives (issued Jan.
(5) Peripheral devices 1) Use a no-fuse breaker and magnetic contactor that comply with the EN/IEC Standards described in Chapter 7 Peripheral Devices. 2) The wires sizes must follow the conditions 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.
Contents Chapter 1 Introduction 1-1 Intelligent servomotor outline ............................................................................... 1-2 Limits and special notes for intelligent servomotor ........................................... 1-2-2 Precautions for selecting the intelligent servomotor ....................................... 1-2-2 Precautions for use......................................................................................... 1-2-3 Miscellaneous ...............................
5-2 Installation of interface unit................................................................................... 5-2-1 Environmental conditions................................................................................ 5-2-2 Installation direction ........................................................................................ 5-2-3 Prevention of entering of foreign matter ......................................................... 5-3 Noise measures ........................................
8-3-6 Improvement of characteristics during acceleration/deceleration................... Setting for emergency stop ................................................................................... 8-4-1 Deceleration control........................................................................................ 8-4-2 Vertical axis drop prevention control............................................................... 8-5 Collision detection ..................................................................
Chapter 1 Introduction 1-1 1-2 Intelligent servomotor outline .................................................................... Limits and special notes for intelligent servomotor................................. 1-2-2 Precautions for selecting the intelligent servomotor............................. 1-2-2 Precautions for use .............................................................................. 1-2-3 Miscellaneous ................................................................................
Chapter 1 1-1 Introduction Intelligent servomotor outline The Mitsubishi intelligent servomotor is an integrated motor, encoder and amplifier, and has the following features. • Space saving The amplifier does not need to be stored in the power distribution panel, so the machine, power distribution panel and heat exchanger can be downsized. • Wire saving Only one wire is used between the NC and motor. (The signal and 200VAC input are wired with the same cable.
Chapter 1 1-3 Introduction Inspection at purchase Open the package, and read the rating nameplate to confirm that the servo amplifier and servomotor are as ordered. 1-3-1 Explanation of type (1) Amplifier + motor integrated type HS - - S Motor special symbol (Not provided with standard product) Amplifier/encoder special symbol (Cable length, etc.
Chapter 2 2-1 2-2 2-3 Specifications Standard specifications ............................................................................ Torque characteristics .............................................................................. Outline dimension drawings..................................................................... 2-3-1 HS-MF23 ........................................................................................... 2-3-2 HS-RF43/73 ..................................................
Chapter 2 2-1 Specifications Standard specifications (1) HS-MF, HS-RF Series (Low-inertia, small capacity/low-inertia, medium capacity) Type Rated output (kW) Rated torque (N·m) Rated output (kW) Continuous characteristics Rated torque (N·m) Maximum torque (N·m) Rated rotation speed (r/min) Maximum rotation speed (r/min) -4 2 Moment of inertia J (×10 kg·m ) Detector resolution/method Voltage/frequency Tolerable voltage fluctuation Power Tolerable frequency supply fluctuation Power facility capacity (kVA
Chapter 2 2-2 Specifications Torque characteristics [HS-MF23] 3.0 [HS-RF43] 4.0 Intermittent operation range 6.0 Intermittent operation range 2.0 1.0 Short-time operation range 1.0 Short-time operation range 0 0 1000 2000 3000 Motor speed［r/min］ 0 [HS-SF52] 4.0 Short-time operation range 2.
Chapter 2 2-3 2-3-1 Specifications Outline dimension drawings HS-MF23 60±5 4 2.5 4 640±30 178 56.5 108 Φ11h6 Cross-section A-A 18 Φ27 30 7 45° 3 101 16 4 AA φ 70 With oil seal HS-RF43/73 0 5 -0.03 100 23.3 4.3108.
Chapter 2 2-3-3 Specifications HS-SF52/53/102/103 145 23.3 L 130 4.3 4.25 5 0 -0.03 5 Cross section A-A 70 12 3 φ16.000 φ22 A A 110h7 216 96 φ 165 25 A Taper 1/10 φ 145 18 LL 12 □130 58 Changed dimensions Model HS-SF53/52 500W HS-SF53/52B 500W with brakes HS-SF103/102 1kW HS-SF103/102B 1kW with brakes L 87 119 112 144 45° LL 232 270 257 295 HS-SF202 L 79 45° 3 75 0 φ114.3-0.025 φ35+0.
Chapter 3 Characteristics 3-1 Overload protection characteristics........................................................... 3-2 Magnetic brake characteristics .................................................................. 3-2-1 Motor with magnetic brakes ................................................................. 3-2-2 Magnetic brake characteristics............................................................. 3-2-3 Magnetic brake power supply ....................................................
Chapter 3 3-1 Characteristics Overload protection characteristics The servo amplifier has an electronic thermal relay to protect the servomotor and servo amplifier from overloads. The operation characteristics of the electronic thermal relay when standard parameters (SV021=60, SV022=150) are set shown below. If overload operation over the electronic thermal relay protection curve shown below is carried out, overload 1 (alarm 50) will occur.
Chapter 3 3-2 Magnetic brake characteristics CAUTION 3-2-1 Characteristics 1. The axis will not be mechanically held even when the dynamic brakes are used. If the machine could drop when the power fails, use a servomotor with magnetic brakes or provide an external brake mechanism as holding means to prevent dropping. 2. The magnetic brakes are used for holding, and must not be used for normal braking.
Chapter 3 3-2-2 Characteristics Magnetic brake characteristics HS-RF Series Item HA-SF Series 43B 73B Type (Note 1) 53B 103B 52B 102B 202B Spring braking type safety brakes Rated voltage 24VDC Rated current at 20°C (A) 0.41 Excitation coil resistance at 20°C Capacity (Ω) (W) 58 30 30 9.9 19.2 19.2 Attraction current (A) 0.20 0.25 0.25 Dropping current (A) 0.12 0.085 0.08 8.
Chapter 3 Characteristics 3-3 Dynamic brake characteristics When an emergency stop occurs such as that due to a servo alarm detection, the motor will stop with the deceleration control at the standard setting. However, by setting the servo parameter (SV017: SPEC), the dynamic brake stop can be selected. If a servo alarm that cannot control the motor occurs, the dynamic brakes stop the servomotor regardless of the parameter setting.
Chapter 3 3-3-2 Characteristics Coasting amount The motor coasting amount when stopped by a dynamic brake can be approximated using the following expression.
Chapter 4 4-1 Peripheral Devices Dedicated options........................................................................................ 4-1-1 I/F unit.................................................................................................. 4-1-2 Battery option for absolute position system ......................................... 4-1-3 Cables and connectors ........................................................................ 4-2 4-2 4-6 4-7 4-1-4 Cable clamp fitting ....................
Chapter 4 4-1 4-1-1 Peripheral Devices DANGER Always wait at least 10 minutes after turning the power OFF, and check the voltage with a tester, etc., before connecting the option or peripheral device. Failure to observe this could lead to electric shocks. CAUTION Use the designated peripheral device and options. Failure to observe this could lead to faults or fires.
Chapter 4 Peripheral Devices (2) Explanation of each part Alarm display LED アラーム表示ＬＥＤ 1st axis, 2nd axis, to 6th axis, 左より第１軸、第２軸、・・・ CN1B connection axis from left. 第６軸、CN1B接続軸 CN1B CN1B Servo/spindle drive サーボ・主軸ドライブ CN1A CN1ANC From SW7 SW7 Servo monitor D/A output サーボモニタD/A出力 changeover switch 切替スイッチ Always set to ON (left) when starting up.
Chapter 4 Peripheral Devices (3) Signal wire connection and switch settings 1) Connector connection Connect the cable from the NC unit to CN1A. The servo/spindle drive other than the intelligent servomotor is connected to CN1B. If there is no servo/spindle drive, connect the battery unit or terminator. The intelligent servomotor axis No. is set according to the I/F unit connector connection site. Connect to the correct connector.
Chapter 4 Peripheral Devices 4) Total capacity of connected motors The total capacity of the motors that can be connected to the HS-IF-6 main power terminal block is 6kW or less. If the total motor capacity exceeds 6kW, wire with a standalone terminal block. HS-IF-6 HS motor Terminal block (5) D/A output measurement methods 1) Remove the upper cover from the I/F unit. 2) Connect a measuring instrument to the I/F unit check pin.
Chapter 4 4-1-2 Peripheral Devices Battery option for absolute position system A battery or battery unit must be provided for the absolute position system. Battery option specifications Item Type Battery unit MDS-A-BT4 MDS-A-BT6 MDS-A-BT2 No. of backup axes 2 axes 4 axes Battery continuous back up time MDS-A-BT8 6 axes 7 axes Approx.
Chapter 4 4-1-3 Peripheral Devices Cables and connectors (1) Cable list Part name Communication cable for CNC unit - Amplifier Amplifier - Amplifier For I/F unit Terminator connector Type SH21 Length: 0.35, 0.5, 0.7, 1, 1.5, 2, 2.5, 3, 3.5, 4, 4.
Chapter 4 Peripheral Devices (3) Usage cables The following cables are available as the compound cables for both signals and power supply. (1) Part name: MIX20C(30/-SV,40/,7/36/0.08)-V Maker: Oki Electric Cable Co., Ltd. (2) Part name: MIX19C(19,30,150/0.08)-V Maker: Oki Electric Cable Co., Ltd. Use the (1) cable for a capacity of 1kW or more. (4) Connector outline drawing For IF unit Maker: Sumitomo 3M (Ltd.) Connector: 10120-3000VE Shell kit: 10320-52F0-008 [Unit: mm] 10.0 12.0 14.0 33.
Chapter 4 Peripheral Devices For intelligent servomotor HS-RF/HS-SF Single block Maker: Japan Aviation Type: JL04V-6A28-11SE [Unit: mm] Screw Positioning key Conduit installation 10 or dimensions less Straight plug Maker: Japan Aviation Type: JL04V-6A28-11SE-EB [Unit: mm] Positioning key (spanner catching width) 10 or more (Effective screw length) Angle plug Maker: Japan Aviation Type: JL04V-8A28-11SE-EB Screw 1-7/46-18UNEF-2A [Unit: mm] Positioning key (Spanner catching width) Screw 1-7/16-18UN
Chapter 4 Peripheral Devices Connector for intelligent servomotor HS-MF [Unit: mm] For signal 12-pole receptacle/housing: 178289-6 Contact: 1-175217-5 6 12 178289-3 178289-6 3.81 Circuit number 1 A Dimension A 24.36 35.09 Row A Row B B 16.70 28.35 22.8 Type Row B 16.3 No. of poles Row A 5.08 Maker: Japan AMP For power supply 6-pole receptacle/housing: 178289-3 Contact: 1-917511-5 (L1, L2, PE) 1-175217-5 (L11, L12) 11.
Chapter 4 4-1-4 Peripheral Devices Cable clamp fitting Use the following types of grounding plate and cable clamp fitting to strengthen the noise resistance of the communication cable. The grounding plate can be installed onto the terminal block cover of the I/F unit (HS-IF-6). 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.
Chapter 4 4-2 Peripheral Devices Peripheral devices 4-2-1 Selection of wire Select the interface unit L1, L2, L3 and grounding wires from the following wire sizes according to the total capacity of the connected motors. Total motor capacity 2 Wire size (mm ) 1kW or less 2.5kW or less 6kW or less 9kW or less 12kW or less IV1.25SQ IV2SQ IV3.5SQ IV5.5SQ IV8SQ (Note) The total capacity of the motors connected to the interface unit must be 6kW or less.
Chapter 4 DANGER 4-2-3 Peripheral Devices Install independent no-fuse breakers and contactors as the SVJ2 main circuit power supply if the total current capacity exceeds 60A when the power supply is shared between the converter and a large capacity SPJ2 spindle amplifier. No-fuse breakers may not operate for short-circuits in small capacity amplifiers if they are shared with a large capacity unit, and this could cause fires.
Chapter 4 Peripheral Devices (2) Selection from input current Use the following table to select the contactors so the total input current for each unit does not exceed the rated continuity current. Input current table Intelligent servomotor MDS-B-SVJ2 total output capacity 1.5kW or less 3.
Chapter 5 5-1 Installation Installation of servomotor........................................................................... 5-1-1 Environmental conditions ..................................................................... 5-1-2 Cautions for mounting load (prevention of impact on shaft)................. 5-1-3 Installation direction ........................................................................... 5-1-4 Tolerable load of axis................................................................
Chapter 5 CAUTION Installation 1. Install the unit on noncombustible material. Direct installation on combustible material or near combustible materials could lead to fires. 2. Follow this Instruction Manual and install the unit in a place where the weight can be borne. 3. Do not get on top of or place heavy objects on the unit. Failure to observe this could lead to injuries. 4. Always use the unit within the designated environment conditions. 5.
Chapter 5 5-1 Installation of servomotor CAUTION 5-1-1 1. Do not hold the cables, axis or detector when transporting the servomotor. Failure to observe this could lead to faults or injuries. 2. Securely fix the servomotor to the machine. Insufficient fixing could lead to the servomotor deviating during operation. Failure to observe this could lead to injuries. 3. When coupling to a servomotor shaft end, do not apply an impact by hammering, etc. The detector could be damaged. 4.
Chapter 5 5-1-4 Installation Tolerable load of axis (1) Using the flexible coupling, set the axis core deviation to less than the tolerable radial load of the axis. (2) When using a pulley, sprocket and timing belt, select so that the loads are within the tolerable radial load. (3) A rigid coupling must not be used as it will apply an excessive bending load on the axis to break.
Chapter 5 Installation (3) When installing the servomotor horizontally, set the power cable and detector cable to face downward. When installing vertically or on an inclination, provide a cable trap. Cable trap (4) Do not use the unit with the cable submerged in oil or water. (Refer to lower left drawing) (5) When installing on the top of the shaft end, make sure that oil from the gear box, etc., does not enter the servomotor.
Chapter 5 5-2 5-2-1 Installation of interface unit Environmental conditions Environment 5-2-2 Installation Conditions Ambient temperature 0°C to +55°C Ambient humidity 90% RH or less (with no dew condensation) Storage temperature –20°C to +65°C (with no freezing) Storage humidity 90% RH or less (with no dew condensation) Atmosphere Indoors (Where unit is not subject to direct sunlight) With no corrosive gas, combustible gas, oil mist or dust Altitude 1000m or less above sea level Vibration
Chapter 5 5-3 Installation Noise measures Noise includes that which enters the servo amplifier from an external source and causes the servo amplifier to malfunction, and that which is radiated from the servo amplifier or motor and causes the peripheral devices or amplifier itself to malfunction. The servo amplifier output is a source of noise as the DC voltage is switched at a high frequency.
Chapter 5 Installation ⑤ ⑦ ② ⑦ ② Instrument Sensor power supply ① Servo amplifier Receiver ⑥ ③ ④ ⑧ Sensor Servomotor SM Noise propaga-tion path ① ② ③ ④ ⑤ ⑥ ⑦ ⑧ Measures When devices such as instruments, receivers or sensors, which handle minute signals and are easily affected by noise, or the signal wire of these devices, are stored in the same panel as the servo amplifier and the wiring is close, the device could malfunction due to airborne propagation of the noise.
Chapter 6 Wiring 6-1 6-2 System connection diagram ........................................................................ Connector...................................................................................................... 6-2-1 Connector signal layout ......................................................................... 6-2-2 Signal name........................................................................................... 6-3 Connection of power supply............................
Chapter 6 DANGER CAUTION Wiring 1. Wiring work must be done by a qualified technician. 2. Wait at least 10 minutes after turning the power OFF and check the voltage with a tester, etc., before starting wiring. Failure to observe this could lead to electric shocks. 3. Securely ground the servo amplifier and servomotor with Class 3 grounding or higher. 4. Wire the servo amplifier and servomotor after installation. Failure to observe this could lead to electric shocks. 5.
Chapter 6 6-1 Wiring System connection diagram I/F unit HS-IF-6 I/Fユニット HS-IF-6 Battery unit Servo サーボ MDSMDSBB- V1,V2 Spindle 主軸 MDSMDSB-SP B-SP ﾊﾟﾜｰｻ Power ﾌﾟﾗｲ supply MDSMDSB-CV B-CV バッテリーユニット A-BT A-BT MELDAS CNC DC24V 24VDC MC relay ＭＣ用リレー B-AL ブレーキ回路 Brake circuit ACリア AC クトル reactor ＭＣ ＮＦ 3ø200VAC L1, L2, 主回路電源用 L3 for main circuit power L1,L2,L3, 3φAC200V 200VAC L11, L12 for 制御回路電源用AC200V control L11,L12 circuit power インテリジェント Intelligent servomotor サーボモータ Note) 1) Keep the cable
Chapter 6 6-2 6-2-1 Wiring Connector CAUTION Never connect the power wire to the signal terminal or the signal wire to the power terminal. There is a risk of electric shock. Failure to observe this can also cause damage or faults with the NC unit or devices connected to the NC. DANGER Apply only the designated voltage to each terminal. Failure to observe this could lead to damage or faults.
Chapter 6 6-2-2 Signal name Power supply Name L1·L2·L3 L11·L12 PE Control signal TXD, TXD* RXD, RXD* MON FG EMG, EMG* ALM, ALM* BAT GND Brake Wiring RG BR Signal name Main circuit power supply Control circuit power supply Protective ground NC transmission data NC reception data Monitor output Ground Emergency stop Alarm Battery Ground Details Main circuit power supply input terminal Connect 3-phase 200 to 230VAC, 50/60Hz.
Chapter 6 6-3 Connection of power supply CAUTION 6-3-1 Wiring 1. Keep the power voltage and capacity within the controller's specification range. Failure to observe this could lead to damage or faults. 2. For safety purposes, always install a no-fuse breaker or earth leakage breaker, and shut off when an error occurs or before inspecting. A large rush current flows when the power is turned ON. Refer to Chapter 6 and select the no-fuse breaker or earth leakage breaker. 3.
Chapter 6 Wiring (2) When not sharing a converter and power supply If the rated current exceeds 60A by the selection of the no-fuse breaker when the converter and power supply are shared, install the no-fuse breakers and contactors separate from the converter unit.
Chapter 6 Wiring 6-3-2 Example of connection for controlling magnetic switch with external sequence circuit Relay Prepare a sequence that cuts off with the alarm.
Chapter 6 6-3-4 Wiring Surge absorber As protection against surge voltage caused by lightning, etc., the surge absorber and radio noise filter shown below are built into the intelligent servomotor's I/F unit MDS-B-HSIF (refer to Chapter 6) and the MDS-B-CV AC reactor B-ALxx. When not using these simultaneously, install a surge absorber and filter on the input power supply as shown below. Refer to the following table and select the surge absorber.
Chapter 6 6-4-2 Wiring Manually releasing the magnetic brakes The intelligent servomotor has a relay for controlling the brakes in the amplifier, so the brakes cannot be released even if power is supplied to the 24V power terminal (BR, RG) for the cannon plug brakes. Release the brakes with the following method when the brakes need to be released for handling when assembling, adjusting or servicing the machine. (1) Method 1 Remove the amplifier section and input the 24V power to the motor brakes.
Chapter 6 6-5 6-5-1 Wiring Connection with the NC Connection system Terminator or battery unit when there is no other drive unit Terminator or battery unit I/F unit CN1A CN1B Mitsubishi CNC CON1 to CON4 MDS-B Series servo/spindle drive unit Intelligent servomotor (1) Refer to "Chapter 6 Peripheral devices" for details on connecting and setting the I/F unit. (2) The I/F unit's CON1 to CON4 (intelligent servo connection connectors) can be connected to any connector.
Chapter 7 7-1 Setup Setting the initial parameters...................................................................... 7-1-1 Servo specification parameters............................................................ 7-1-2 Limitations to electronic gear setting value .......................................... 7-1-3 Parameters set according to feedrate .................................................. 7-1-4 Parameters set according to machine load inertia ...............................
Chapter 7 7-1 Setup Setting the initial parameters The servo parameters must be set to start up the servo drive system. The servo parameters are input from the CNC. The input method will differ according to the CNC, so refer to the Instruction Manual provided with each CNC. 7-1-1 Servo specification parameters The servo specification parameters are determined according to the machine specifications and servo system specifications. No. Abbrev.
Chapter 7 7-1-3 Setup Parameters set according to feedrate The following parameters are determined according to each axis' feedrate. No. Abbrev. SV023 OD1 SV026 OD2 7-1-4 Parameter name Explanation Excessive error detection width at servo ON Excessive error detection width at servo OFF A protective function will activate if the error between the position command and position feedback is excessive.
Chapter 7 7-1-5 Setup Standard parameter list according to motor Set the parameters other than 7-2-1 to 7-2-4 to the standard parameters. Motor type Parameter name MF23 RF43 RF73 SF52 SF53 SF102 SF103 SF202 No. Abbrev.
Chapter 8 8-1 Adjustment Measurement of adjustment data............................................................... 8-1-1 D/A output specifications ..................................................................... 8-1-2 Setting the output data......................................................................... 8-1-3 Setting the output scale ....................................................................... 8-1-4 Setting the offset amount ..................................................
Chapter 8 8-1 Adjustment Measurement of adjustment data The intelligent servomotor has a function to D/A output the various control data. To adjust the servo and set the servo parameters that match the machine, it is necessary to use the D/A output and measure the internal status of the servo. Measure using a hi-coder, synchroscope, etc. 8-1-1 D/A output specifications
Chapter 8 8-1-3 Adjustment Setting the output scale This is set when an output is to made with a unit other than the standard output unit. (Example 1) When SV061= 5, SV063 = 2560 The V-phase current value will be output with 4A/V unit to D/A output ch. 1. (Example 2) When SV063 = 11, SV064 = 128 The position droop will be output with a 8mm/V unit to the D/A output ch. 2. No. Abbrev.
Chapter 8 8-2 Adjustment Gain adjustment 8-2-1 Current loop gain No. Abbrev. SV009 IQA q axis leading compensation SV010 IDA d axis leading compensation SV011 IQG q axis gain SV012 IDG d axis gain 8-2-2 Parameter name Explanation This setting is determined by the motor's electrical characteristics. Set the standard parameters for all parameters. (These are used for maker adjustments.
Chapter 8 Adjustment (2) Setting the speed loop leading compensation The speed loop leading compensation (SV008: VIA) determines the characteristics of the speed loop mainly at low frequency regions. 1364 is set as a standard, and 1900 is set as a standard during SHG control. The standard value may drop as shown in the graph in section 7-1-3 in respect to loads with a large inertia.
Chapter 8 8-2-3 Adjustment Position loop gain (1) Setting the position loop gain The position loop gain (SV003:PGN1) is a parameter that determines the trackability to the command position. 33 is set as a standard. Set the same position loop gain value between interpolation axes. When PGN1 is raised, the settling time will be shortened, but a speed loop that has a responsiveness that can track the position loop gain with increased response will be required.
Chapter 8 Adjustment (3) SHG control (option function) If the position loop gain is increased or feed forward control (CNC function ) is used to shorten the settling time or increase the precision, the machine system may vibrate easily. SHG control changes the position loop to a high-gain by stably compensating the servo system position loop through a delay. This allows the settling time to be reduced and a high precision to be achieved.
Chapter 8 8-3 8-3-1 Adjustment Characteristics improvement Optimal adjustment of cycle time The following items must be adjusted to adjust the cycle time. Refer to the Instruction Manuals provided with each CNC for the acceleration/deceleration pattern. 1) Rapid traverse rate (rapid) : This will affect the maximum speed during positioning. 2) Clamp speed (clamp) : This will affect the maximum speed during cutting. 3) Acceleration/deceleration time : Set the time to reach the feedrate.
Chapter 8 Adjustment For the maximum current command value during acceleration/deceleration, the maximum current command value (MAXcmd) for one second is output to MAX current 1 and MAX current 2 on the CNC servo monitor screen and observed. The meaning of the display for MAX current 1 and MAX current 2 will differ according to the parameter settings. No. Abbrev.
Chapter 8 Adjustment 3000 Speed command (r/min) 0 Time -3000 200 Current command (Stall %) 0 Time -200 Example of speed/current command waveform during acceleration/deceleration (Reference) The rapid traverse acceleration/deceleration time setting value G0tL for when linear acceleration/deceleration is set is calculated with the following expression. G0tL = (JL + JM) × No 95.5 × (0.
Chapter 8 Adjustment (1) Machine resonance suppression filter (Notch filter) The resonance elimination filter will function at the set frequency. Use the D/A output function to output the current feedback and measure the resonance frequency. Note that the resonance frequency that can be measured is 0 to 500 Hz. 1. Set the resonance frequency in the machine resonance suppression filter frequency (SV038: FHz). 2.
Chapter 8 8-3-3 Adjustment Improving the cutting surface precision If the cutting surface precision or roundness is poor, improvements can be made by increasing the speed loop gain (VGN1, VIA) or by using the disturbance observer function. Y • The surface precision in the 45° direction of a taper or arc is poor. • The load fluctuation during cutting is large, causing vibration or surface precision defects to occur.
Chapter 8 No. Abbrev. SV030 IVC Adjustment Parameter name Voltage non-sensitive band compensation Explanation Setting range Set the standard value 20. Note that the vibration could increase during motor operation.
Chapter 8 Adjustment (4) Disturbance observer The disturbance observer can reduce the effect caused by disturbance, frictional resistance or torsion vibration during cutting by estimating the disturbance torque and compensating it. It also is effective in suppressing the vibration caused by speed leading compensation control. 1) Adjust VGN1 to the value where vibration does not occur, and then lower it 10 to 20%.
Chapter 8 8-3-4 Adjustment Improvement of protrusion at quadrant changeover The response delay (caused by non-sensitive band from friction, torsion, expansion/contraction, backlash, etc.) caused when the machine advance direction reverses is compensated with the lost motion compensation function. With this, the protrusions that occur with the quadrant changeover in the DDB measurement method, or the streaks that occur when the quadrant changes during circular cutting can be improved.
Chapter 8 Adjustment First confirm whether the axis to be compensated is an unbalance axis (vertical axis, slant axis). If it is an unbalance axis, carry out the adjustment after performing step "(2) Unbalance torque compensation". Next, measure the frictional torque. Carry out reciprocation operation (approx. F1000) with the axis to be compensated and measure the load current % when fed at a constant speed on the CNC servo monitor screen.
Chapter 8 Adjustment (2) Unbalance torque compensation If the load torque differs in the positive and negative directions such as with a vertical axis or slant axis, the torque offset (TOF) is set to carry out accurate lost motion compensation. Measure the unbalance torque. Carry out reciprocation operation (approx. F1000) with the axis to be compensated and measure the load current % when fed at a constant speed on the CNC servo monitor screen.
Chapter 8 No. Abbrev. Parameter name Unit SV039 LMCD Lost motion compensation timing msec Adjustment Explanation Set this when the lost motion compensation timing does not match. Adjust while increasing the value by 10 at a time. Setting range 0 to 2000 When the LMCD is gradually raised, a two-peaked contour may occur at the motor FB position DBB measurement. However, due to the influence of the cutter diameter in cutting such as end milling, the actual cutting surface becomes smooth.
Chapter 8 8-3-5 Adjustment Improvement of overshooting The phenomenon when the machine position goes past or exceeds the command during feed stopping is called overshooting. Overshooting is compensated by overshooting compensation (OVS compensation). The phenomenon when the machine position exceeds the command during feed stopping is called overshooting. Overshooting occurs due to the following two causes. 1. Machine system torsion: Overshooting will occur mainly during rapid traverse settling 2.
Chapter 8 No. Abbrev. Parameter name SV027 SSF1 Special servo function selection 1 Adjustment Explanation The overshooting compensation starts with the following parameter. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 aft zrn2 bit ovs1 lmc2 lmc1 Meaning when "0" is set. Overshooting compensation 10 ovs1 type 1 stop No. Abbrev. SV031 OVS1 SV042 OVS2 0 Meaning when "1" is set.
Chapter 8 8-3-6 Adjustment Improvement of characteristics during acceleration/deceleration (1) SHG control (option function) Because SHG control has a smoother response than conventional position controls, the acceleration/deceleration torque (current FB) has more ideal output characteristics (A constant torque is output during acceleration/deceleration.) The peak torque is kept low by the same acceleration/deceleration time constant, enabling the time constant to be shortened.
Chapter 8 Adjustment (2) Acceleration feed forward Vibration may occur at 10 to 20 Hz during acceleration/deceleration when a short time constant of 30 msec or less is applied, and a position loop gain (PGN1) higher than the general standard value or SHG control is used. This is because the torque is insufficient when starting or when starting deceleration, and can be resolved by setting the acceleration feed forward gain (SV015:FFC). This is also effective in reducing the peak current (torque).
Chapter 8 Adjustment (3) Inductive voltage compensation The current loop response is improved by compensating the back electromotive force element induced by the motor rotation. This improved the current command efficiency, and allows the acceleration/deceleration time constant to the shortened. 1) Set 1 in "mon" of the special servo function selection 3 (SV034: SSF3) bit 0, and output the current command and current FB to the servo monitor.
Chapter 8 8-4 Adjustment Setting for emergency stop The emergency stop referred to here indicates the following states.
Chapter 8 CAUTION Adjustment If the deceleration control time constant (EMGt) is set longer than the acceleration/deceleration time constant, the overtravel point (stroke end point) may be exceeded. A collision may be caused on the machine end, so be careful. (2) Dynamic brake stop When an emergency stop occurs, it is possible to have the machine stop from the beginning using a dynamic brake without controlling the deceleration.
Chapter 8 8-4-2 Adjustment Vertical axis drop prevention control The vertical axis drop prevention control is a function that prevents the vertical axis from dropping due to a delay in the brake operation when an emergency stop occurs. The servo ready OFF will be delayed by the time set in the parameter from when the emergency stop occurs. Thus, the no-control time until the brakes activate can be eliminated.
Chapter 8 8-5 Adjustment Collision detection The purpose of the collision detection function is to quickly detect a collision and decelerate to a stop. This suppresses the excessive torque generated to the machine tool, and suppresses the occurrence of an abnormality. Impact during a collision cannot be prevented even when the collision detection function is used, so this function does not guarantee that the machine will not break and does not guarantee the machine accuracy after a collision.
Chapter 8 Adjustment 1. Validate the extended function. (Set sv035: SSF4, bit7 (eram) to 1.) 2. Confirm that SHG control is being used. The collision detection function is valid only during SHG control. 3. Measure the unbalance torque, and set in the torque offset (SV03: TOF). Refer to the section "8-3-4 (2) Unbalance torque compensation" for details on measuring the unbalance torque. 4. Measure the frictional torque, and set in the frictional torque (SV045: TRUB).
Chapter 8 No. Abbrev. Parameter name SV035 SSF4 Special servo function selection 4 Adjustment Explanation The following parameters are used for the collision detection. 15 14 13 12 11 10 9 8 7 6 5 4 3 clt clG1 bit cl2n clet 2 1 0 eram Meaning when "0" is set. Meaning when "1" is set. 7 eram Extended function invalid Extended function invalid 10 clet During normal use The latest two-second estimated disturbance torque peak value (3.
Chapter 8 8-6 Adjustment Parameter list No. Abbrev. Parameter name SV001 PC1 Motor side gear ratio PC2 Machine side gear ratio SV002 Unit Explanation Set the motor side and machine side gear ratio. For the rotary axis, set the total deceleration (acceleration) ratio. Even if the gear ratio is within the setting range, the electronic gears may overflow and cause an alarm.
Chapter 8 No. Abbrev. SV021 OLT Overload time constant SV022 OLL Overload detection level SV023 OD1 SV024 INP SV025 SV026 Parameter name Unit Setting range Explanation sec Set 60 as a standard. (For maker adjustment) Stall % (rated Set 150 as a standard. (For maker adjustment) current %) When 0 is set, the excessive error alarm during servo ON will not be detected.
Chapter 8 No. Abbrev. Adjustment Parameter name Setting range Explanation bit 0 1 2 3 nfd Meaning when "0" is set Meaning when "1" is set Set the filter depth for the notch filter (SV038: FHz). The control is stabilized by making the filter shallower. Setting value 0 2 4 6 8 A C Depth (dB) ∞ −18.1 −12.0 −8.5 −6.0 −4.1 −2.5 E −1.2 4 5 6 SV033 SSF2 Special servo function selection 2 7 8 9 10 11 12 13 14 15 Set "0" in bits with no particular description.
Chapter 8 No. Abbrev. Adjustment Parameter name Setting range Explanation bit Meaning when "0" is set Meaning when "1" is set 0 1 2 3 4 5 6 7 eram Extended function invalid Extended function invalid 8 9 SV035 SSF4 Special servo function selection 4 10 clet During normal use The latest two-second estimated disturbance torque peak value (3.5ms average value) is displayed at MPOF on the Servo Monitor screen.
Chapter 8 No. Abbrev.
Chapter 9 9-1 9-2 9-3 Inspections Inspections................................................................................................... Life parts....................................................................................................... Replacing the unit........................................................................................ 9-3-1 HS-MF23** type ...................................................................................
Chapter 9 9-1 Inspections DANGER 1. Wait at least 10 minutes after turning the power OFF and check that the input/output and voltage are zero with a tester, etc., before starting wiring or inspections. Failure to observe this could lead to electric shocks. 2. Only qualified persons must carry out the inspections. Failure to observe this could lead to electric shocks. Contact your dealer for repairs or part replacements. CAUTION 3.
Chapter 9 9-3 9-3-1 Inspections Replacing the unit HS-MF23** type With the HS-MF2** type, the amplifier/encoder section and motor section cannot be separated. The motor and amplifier must be replaced together. 9-3-2 HS-FR43/73, HS-SF52/53/102/103 type With the HS-FR43/73, HS-SF52/53/102/103 types, the amplifier and encoder section can be separated from the motor section. The procedures for replacing the amplifier and encoder section are shown below. (1) Removing the amplifier and encoder unit.
Chapter 9 9-3-3 Inspections HS-SF202 type With the HS-SF202 type, the amplifier section, encoder section and motor can be separated. The procedures for replacing the amplifier section and encoder section are shown below. (1) Removing the amplifier unit 1) Wait at least 10 minutes after turning the power OFF, and then remove the connector. 2) Remove the four hexagon socket bolts installing the amplifier and encoder unit. 3) Pull the amplifier unit out from the back.
Chapter 10 Troubleshooting 10-1 Points of caution and confirmation.......................................................... 10-2 Troubleshooting at start up ...................................................................... 10-3 Protective functions list ............................................................................ 10-3-1 Alarm ................................................................................................. 10-3-2 Warnings list .........................................
Chapter 10 10-1 Troubleshooting Points of caution and confirmation A servo warning or servo alarm occurs if there is an abnormal state in the servo system or if an error occurs. When a servo warning or alarm occurs, check the state while observing the following points, and inspect or remedy the unit according to the details given in this section. 1. What is the alarm code display? 2. Can the error or trouble be repeated? (Check alarm history) 3.
Chapter 10 10-3 10-3-1 Troubleshooting Protective functions list Alarm When an alarm occurs, the motor will stop by the deceleration control or dynamic brakes. At the same time, the alarm No. will appear on the CNC monitor screen. Check the alarm No., and remove the cause of the alarm by following this list. No. Name 10 Undervoltage Details Cause of occurrence The PN bus wire Contactor operation, voltage is 200 V or conductivity defect less.
Chapter 10 No. Name Details Troubleshooting Cause of occurrence 2F Detector, communication error Communication Detector peripheral with the detector circuit fault was cut off or there was an error in the received data. The connection between the detector and amplifier is disconnected. (SF202) 30 Over-regenerati Overheating of the The regeneration on regenerative frequency is too high. resistor was detected. The power voltage is high.
Chapter 10 No. Name 36 CNC communication, transmission error Troubleshooting Cause of occurrence The communication cable is disconnected. The communication cable is broken. 37 Initial parameter The servo The parameter is not error parameter setting within the setting is incorrect. range. Check the error The HEX setting parameter No. If parameter setting is there are several incorrect. error parameters, The electronic gears' the most recent constant is No. is output. overflowing.
Chapter 10 No. Name 51 Overload 2 Details Troubleshooting Cause of occurrence Visually check whether there was a collision with the machine. Is there interference with the positioning pin? Amplifier detector fault. Check the repeatability. 52 Excessive error The actual motor 1 position and model position difference was excessive at servo ON. The speed loop gain (VGN1) is small. The motor load is too large. The excessive error detection width is too small. The input voltage is low.
Chapter 10 10-3-2 Troubleshooting Warnings list When a warning occurs, a warning No. will appear on the CNC monitor screen and with the LEDs on the front of the amplifier. Check the warning No., and remove the cause of the warning by following this list. No. Name Details 93 Initial absolute The position data value fluctuation fluctuated when creating the initial absolute position.
Chapter 10 10-3-3 No.
Chapter 10 No. Name Deceleration method Initial absolute position 93 fluctuation Detector, multi-rotation 9E counter error Reset method Explanation PR ∗ ∗ 9F Battery voltage drop The motor will not stop. Over-regeneration E0 warning Troubleshooting ∗ E1 Overload warning ∗ Absolute position counter E3 warning ∗ ∗ E4 Parameter error warning E7 CNC emergency stop Deceleration control Instantaneous stop E9 warning The motor will not stop.
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 ................
Chapter 11 11-1 11-1-1 Selection Outline Servomotor There are limits to the lineup of the intelligent servomotor. As the regenerative resistor is fixed to the built-in type, the repeated positioning frequency is limited. If the servomotor does not comply with the following items, use the MDS-B-V1/V2/SVJ2 servo drive unit and HA/HC Series servomotor. (1) Motor inertia The servomotor series is mainly categorized according to the motor inertia size.
Chapter 11 11-1-2 Selection Regeneration methods When the servomotor decelerates, rotating load inertia or the operation energy of the moving object is returned to the servo amplifier through the servomotor as electrical power. This is called "regeneration". The three general methods of processing regeneration energy are shown below. Table 11-2 Servo amplifier regeneration methods Regeneration method Explanation 1.
Chapter 11 11-2 Selection Selection of servomotor series 11-2-1 Motor series characteristics The servomotor series is categorized according to purpose, motor inertia size, and detector resolution. Select the motor series that matches the purpose of the machine to be installed. Table 11-3 Motor series Motor series characteristics Capacity (rated speed) Detector resolution Characteristics HS-SF 0.5 to 2.0kW (2000r/min) 0.5 to 1.
Chapter 11 Selection (4) Absolute position repeatability : ∆εa This is the precision outline that affects the absolute position system machine, and expresses the repeatability of the position before the power was shut off and the position when the power is turned on again. With the single motor unit, the precision is 1 to 2 times the theoretic precision ∆ε. Note that the absolute position repeatability ∆εa is the difference from when the power was turned off last and returned on.
Chapter 11 11-3 Selection Selection of servomotor capacity The following three elements are used to determine the servomotor capacity. 1. Load inertia ratio 2. Short time characteristics (acceleration/deceleration torque) 3. Continuous characteristics (continuous effective load torque) Carry out appropriate measures, such as increasing the motor capacity, if any of the above conditions is not fulfilled.
Chapter 11 11-3-3 Selection Continuous characteristics A typical operation pattern is assumed, and the motor's continuous effective load torque (Trms) is calculated from the motor shaft conversion and load torque. If numbers ① to ⑧ in the following drawing were considered a one cycle operation pattern, the continuous effective load torque is obtained from the root mean square of the torque during each operation, as shown in the expression (11-3).
Chapter 11 Selection (1) Horizontal axis load torque When operations ① to ⑧ are for a horizontal axis, calculate so that the following torques are required in each period. Table 11-6 Period Load torques of horizontal axes Load torque calculation method Explanation Normally the acceleration/deceleration time constant is calculated so this torque is 80% of the maximum torque of the motor.
Chapter 11 11-4 Selection Selection of regenerative resistor The intelligent servomotor series does not have the optional regenerative resistor. (Only the standard built-in resistor is provided.) Thus, when selecting the motor, make sure that the regenerative energy does not exceed the capacity of the built-in regenerative resistor. 11-4-1 Limits for HS-MF23 The HS-MF23 does not have a built-in regenerative resistor. Thus, there are limits to the instantaneous regeneration capacity.
Chapter 11 Selection Example The regeneration energy is obtained for when the axis stops from the rated speed while a load with the same inertia as the motor is connected to the HC52 motor. Regeneration energy ER is calculated using expression (11-6) below. ER = 5.48 × 10−7 × 0.85 × (6.6 + 6.6) × 20002 − 11 = 13.6 (J) Servomotor reverse effect and amplifier charging energy Servomotor HS-MF23 HS-RF43 HS-RF73 Motor reverse effect η 0.70 0.85 0.
Chapter 11 Selection (Example) A return operation is executed for a time constant of 50msec for 200mm. The operation is executed at F20000 in a machine tool vertical axis driven by an HS-SF52 motor. The regenerative energy per return operation is obtained at this time. Note the following : Travel per upward motor rotation : 10mm Upward stop deceleration torque : 5N·m Downward stop deceleration torque : 8N·m Upward torque during downward movement : 0.
Chapter 11 11-5 Selection Motor shaft conversion load torque The main load torque calculation expressions are shown below.
Chapter 11 11-6 Selection Expressions for load inertia calculation The calculation method for a representative load inertia is shown. Type Mechanism Calculation expression φ D 1. Rotary shaft is cylinder center W π · ρ ·L (D14 – D24) = 8 (D12 – D22) 32 Reference data JL : Load inertia [kg·m2] Material densities Iron 3 3 3 ρ : Density of cylinder material[kg·m ] ..... 7.80×10 [kg/m ] L : Length of cylinder [m] Aluminum 3 3 D1 : Outer diameter of cylinder [m] ..... 2.
MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE : MITSUBISHI DENKI BLDG., 2-2-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN MODEL HS Series MODEL CODE 008-152 Manual No. BNP-B3981*(ENG) Specifications subject to change without notice. (0109)MEE Printed in Japan on recycled paper.
