Page 2 Introduction Thank you for selecting the Mitsubishi numerical control unit. This instruction manual describes the handling and caution points for using this AC servo/spindle. Incorrect handling may lead to unforeseen accidents, so always read this instruction manual thoroughly to ensure correct usage. Make sure that this instruction manual is delivered to the end user.
Page 4 Precautions for Safety Please read this manual and auxiliary documents before starting installation, operation, maintenance or inspection to ensure correct usage. Thoroughly understand the device, safety information and precautions before starting operation. The safety precautions in this instruction manual are ranked as "WARNING" and "CAUTION". DANGER When there is a potential risk of fatal or serious injuries if handling is mistaken.
Page 5 The signs indicating prohibited and mandatory matters are explained below. Indicates a prohibited matter. For example, "Fire Prohibited" is indicated as Indicates a mandatory matter. For example, grounding is indicated as The meaning of each pictorial sign is as follows. CAUTION rotated Danger Electric shock CAUTION...
Page 6 WARNING 1. Electric shock prevention Make sure the power is shut OFF before connecting a unit and a motor to the power. Do not open the front cover while the power is ON or during operation. Failure to observe this could lead to electric shocks.
Page 7 WARNING 2. Injury prevention When handling a motor, perform operations in safe clothing. In the system where the optical communication with CNC is executed, do not see directly the light generated from CN1A/CN1B connector of drive unit or the end of cable. When the light gets into eye, you may feel something is wrong for eye.
Page 8 CAUTION 1. Fire prevention Install the units, motors and regenerative resistor on non-combustible material. Direct installation on combustible material or near combustible materials could lead to fires. Always install a circuit protector and contactor on the servo drive unit power input as explained in this manual.
Page 9 CAUTION 3. Various precautions Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and electric shocks, etc. (1) Transportation and installation Correctly transport the product according to its weight. Use the motor's hanging bolts only when transporting the motor itself. Do not use the motor's hanging bolts to transport a motor with other parts installed, or to transport a machine with a motor installed.
Page 10 CAUTION Store and use the units under the following environment conditions. Environment Unit Servo motor Spindle motor Operation: 0 to +55°C Operation: 0 to +40°C Operation: 0 to +40°C Ambient (with no freezing), (with no freezing), (with no freezing), temperature Storage / Transportation: -15°C to +70°C Storage: -15°C to +70°C Storage: -20°C to +65°C...
Page 11 CAUTION (2) Wiring Correctly and securely perform the wiring. Failure to do so could lead to abnormal operation of the motor. Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of the drive unit.
Page 12 CAUTION (4) Usage methods In abnormal state, install an external emergency stop circuit so that the operation can be stopped and power shut off immediately. Turn the power OFF immediately if smoke, abnormal noise or odors are generated from the unit or motor. Do not disassemble or repair this product.
Page 13 CAUTION (6) Maintenance, inspection and part replacement Always backup the programs and parameters before starting maintenance or inspections. The capacity of the electrolytic capacitor will drop over time due to self-discharging, etc. To prevent secondary disasters due to failures, replacing this part every five years when used under a normal environment is recommended.
Page 14 Treatment of waste The following two laws will apply when disposing of this product. Considerations must be made to each law. The following laws are in effect in Japan. Thus, when using this product overseas, the local laws will have a priority.
Page 16 This symbol mark is according to the directive 2006/66/EC Article 20 Information for end- users and Annex II. Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and/or reused. This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately from your household waste.
Page 18 Trademarks MELDAS, MELSEC, EZSocket, EZMotion, iQ Platform, MELSOFT, GOT, CC-Link, CC-Link/LT and CC-Link IE are either trademarks or registered trademarks of Mitsubishi Electric Corporation in Japan and/or other countries. Other company and product names that appear in this manual are trademarks or registered trademarks of the...
Page 20 本製品の取扱いについて ( 日本語 /Japanese) 本製品は工業用 ( クラス A) 電磁環境適合機器です。販売者あるいは使用者はこの点に注意し、住商業環境以外での使用をお願いいたします。 Handling of our product (English) This is a class A product. In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures. 본...
Page 22: Table Of Contents
Contents 1 Installation ..............................1 1.1 Installation of Servo Motor............................. 2 1.1.1 Environmental Conditions ..........................2 1.1.2 Quakeproof Level ............................3 1.1.3 Cautions for Mounting Load (Prevention of Impact on Shaft) ..............4 1.1.4 Installation Direction ............................4 1.1.5 Shaft Characteristics ............................. 5 1.1.6 Machine Accuracy ............................
Page 23 2.7.3 Spindle Coil Changeover..........................93 2.7.4 Proximity Switch Orientation ........................97 3 Safety Function ............................101 3.1 Safety Function..............................102 3.1.1 Harmonized Standard ..........................102 3.1.2 Outline of Safety Function ........................102 3.2 STO (Safe Torque Off) Function ........................103 3.3 SBC (Safe Brake Control) Function ........................
Page 24 6.1.7 Spindle C Axis Adjustment (For Lathe System) ..................347 6.1.8 Spindle Synchronization Adjustment (For Lathe System) ..............352 6.1.9 Deceleration Coil Changeover Valid Function by Emergency Stop ............354 6.1.10 High-response Acceleration/Deceleration Function ................355 6.1.11 Spindle Cutting Withstand Level Improvement..................356 6.1.12 Spindle Motor Temperature Compensation Function................
Page 25 11.3 Setting the Output Magnification ........................480 11.3.1 Servo Drive Unit Settings ........................480 11.3.2 Spindle Drive Unit Settings ........................481 12 Appx. 3: Protection Function ........................ 483 12.1 Protection Function............................484 12.1.1 Outline of Protection Function ....................... 484 12.2 Emergency Stop Observation ......................... 485 12.3 SLS (Safely Limited Speed) function ......................
Page 26 Outline for MDS-E/EH Series 3.2.9 HAS Control 3.2.10 OMR-FF Control Specifications Manual 3.2.11 Control Loop Gain Changeover (IB-1501226-G) 3.2.12 Spindle Output Stabilizing Control 3.2.13 High-response Spindle Acceleration/Decelera- tion Function 1 Introduction 3.3 Compensation Control Function 1.1 Servo/Spindle Drive System Configuration 3.3.1 Jitter Compensation 1.1.1 System Configuration 3.3.2 Notch Filter...
Page 27 4.3.4 Installation of Tool Spindle Motor 6.4.2 Fuse Protection 4.4 Drive Unit 6.5 Noise Filter 4.4.1 Environmental Conditions 6.6 Surge Absorber 4.4.2 Heating Value 6.7 Relay 6.8 Selection of Link Connection 5 Dedicated Options 6.8.1 Connection of L11 and L21 Link 5.1 Servo Options 6.8.2 Connection of L+ and L- Link 5.1.1 Dynamic Brake Unit (MDS-D-DBU)
Page 28 Function Specifications List < Power supply specification > MDS-EM/ MDS-EJ- MDS-EJ- MDS-EJH-V1 EMH-SPV3 V1/V2 SP/SP2 Item MDS-E-CV MDS-EH-CV built-in built-in built-in built-in converter converter converter converter 1.14 Power regeneration control ● ● ● Base control 1.15 Resistor regeneration control ● ●...
Page 29 < Servo specification > MDS-E-V1/V2/ MDS-EH-V1/ MDS-EM/EMH- MDS-EJ/EJH- Item MDS-EJ-V2 SPV3 1.1 Full closed loop control ● ● ● ● ● 1.2 Position command synchronous ● ● ● ● ● control Base control 1.3 Speed command synchronous control ● (Note 1) ●...
Page 30 < Spindle specifications > MDS-EM/EMH- Item MDS-E/EH-SP MDS-E-SP2 MDS-EJ-SP MDS-EJ-SP2 SPV3 1.1 Full closed loop control ● ● ● ● ● 1.5 Spindle's continuous position loop ● ● ● ● ● control 1.6 Coil changeover control ● ● ● 1.7 Gear changeover control ●...
Page 32: Installation
Installation IB-1501229-F...
Page 33: Installation Of Servo Motor
MDS-E/EH Series Instruction Manual 1 Installation 1.1 Installation of Servo Motor CAUTION 1. Do not hold the cables, axis or encoder when transporting the motor. Failure to observe this could lead to faults or injuries. 2. Securely fix the motor to the machine. Insufficient fixing could lead to the motor deviating during operation. Failure to observe this could lead to injuries.
Page 34: Quakeproof Level
MDS-E/EH Series Instruction Manual 1 Installation 1.1.2 Quakeproof Level Acceleration direction Series Motor type Direction at right angle to axis Axis direction (X) HG46, 56, 96 49m/s (5G) or less 49m/s (5G) or less HG75, 105 200V 24.5m/s (2.5G) or less 24.5m/s (2.5G) or less HG54, 104, 154, 224, 123, 223, 142...
Page 35: Cautions For Mounting Load (Prevention Of Impact On Shaft)
MDS-E/EH Series Instruction Manual 1 Installation 1.1.3 Cautions for Mounting Load (Prevention of Impact on Shaft) When using the servo motor with key way, use the screw hole at the end of the shaft to mount the pulley onto the shaft.
Page 36: Shaft Characteristics
MDS-E/EH Series Instruction Manual 1 Installation 1.1.5 Shaft Characteristics There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction and thrust direction, when mounted on the machine, is below the tolerable values given below. These loads may affect the motor output torque, so consider them when designing the machine.
Page 37: Machine Accuracy
MDS-E/EH Series Instruction Manual 1 Installation 1.1.6 Machine Accuracy Machine accuracy of the servo motor's output shaft and around the installation part is as below. (Excluding special products) Flange size [mm] Measurement Accuracy point Less than 100 SQ. 100 SQ., 130 SQ. 176 SQ.
Page 38: Coupling With The Load
MDS-E/EH Series Instruction Manual 1 Installation 1.1.7 Coupling with the Load There are several ways to couple the motor shaft and machine, such as direct coupling with flexible coupling or rigid coupling, gear connection, timing belt connection, etc. Summarized comparison is as follows. Degree of Torque Backl...
Page 39: Oil / Water Standards
MDS-E/EH Series Instruction Manual 1 Installation (2) Direct coupling - Rigid coupling A rigid coupling has benefits such as high rigidity, and relatively lower price. However, shaft core deviation and angle deviation of the motor shaft and ball screw are not allowed, so full attention is required in installing the rigid coupling.
Page 40 MDS-E/EH Series Instruction Manual 1 Installation (2) When a gear box is installed on the servo motor, make sure that the oil level height from the center of the shaft is higher than the values given below. Open a breathing hole on the gear box so that the inner pressure does not rise. Series Servo motor Oil level (mm)
Page 41 MDS-E/EH Series Instruction Manual 1 Installation (4) Do not use the unit with the cable submerged in oil or water. (Refer to following drawing.) Cover Servo motor Oil water Capillary tube phenomenon (5) Make sure that oil and water do not flow along the cable into the motor or encoder. (Refer to following drawing.) Cover Servo motor...
Page 42: Installation Of Servo Motor
MDS-E/EH Series Instruction Manual 1 Installation 1.1.9 Installation of Servo Motor Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat dissipation effect: Flange size (mm) Servo motor capacity 150×150×6 100W 250×250×6 200 to 400W 250×250×12...
Page 43: Installation Of Spindle Motor
MDS-E/EH Series Instruction Manual 1 Installation 1.2 Installation of Spindle Motor CAUTION 1. Do not hold the cables, axis or encoder when transporting the motor. Failure to observe this could lead to faults or injuries. 2. Securely fix the motor to the machine. Insufficient fixing could lead to the motor deviating during operation. Failure to observe this could lead to injuries.
Page 44: Balancing The Spindle Motor (Unit)
MDS-E/EH Series Instruction Manual 1 Installation 1.2.2 Balancing the Spindle Motor (Unit) When a spindle motor is driven at a high speed with unbalance generated on the rotor, the whirling load is generated and the load to the motor's internal bearings is increased. Thus abnormal vibration, and/or damages known as fretting or flaking occurs to the bearings, which may result in shorter bearing life.
Page 45 MDS-E/EH Series Instruction Manual 1 Installation (3) How to balance the rotation Find out the rotation speed at which the vibration reaches the maximum, within the actual rotation speed range of the spindle motor. Run the motor at the speed found above and perform balancing to minimize the vibration. When balancing is decided, measure the vibration at different rotation speeds and make a further fine adjustment so that the vibration acceleration generated is always 0.5G (4.9m/s ) or less.
Page 46: Shaft Characteristics
MDS-E/EH Series Instruction Manual 1 Installation 1.2.3 Shaft Characteristics There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction, when mounted on the machine, is below the tolerable values given below. These loads may affect the motor output torque, so consider them when designing the machine.
Page 47: Coupling With The Fittings
MDS-E/EH Series Instruction Manual 1 Installation 1.2.5 Coupling with the Fittings We recommend you to adjust the dynamic balance (field balance) before fastening a belt. The position deviation in the axial direction between the motor pulley and spindle side pulley should be as small as possible and perform parallel correcting carefully.
Page 48 MDS-E/EH Series Instruction Manual 1 Installation (1) Rotary joint (a) Installation Rotary joints are used to supply/exhaust high pressure fluid or liquid which is equal to or lower than the atmospheric pressure from the fixed pipe to rotary parts of each mechanical device with no leakage. When attaching a separate external-support type rotary joint to the shaft rear end, structure the rotary joint so that cutting fluid (drain), which is generated when switching ON/OFF the coolant pressure, does not enter inside of the motor.
Page 49 MDS-E/EH Series Instruction Manual 1 Installation (2) Coolant joint (a) Thrust load of through coolant When spindle through coolant is used, the thrust load works between the spindle and the motor at the position A, and between the motor and the rotary joint at the position B in the figure below. Setting the diameter of the pressured area of the coolant joint attached to the end of the motor shaft appropriately makes the thrust load at the position B slightly larger than at the position A, which is effective for coolant pump pulsation.
Page 50 MDS-E/EH Series Instruction Manual 1 Installation (c) Installation of coolant joint Install the coolant joint to the motor shaft end so that it stops at the shaft edge. Stopping the coolant joint at the edge of the inner diameter or at the screw bottom may generate an excessive radial runout, which may generate abnormal noise or vibration.
Page 51 MDS-E/EH Series Instruction Manual 1 Installation (c) Installation of coupling The following describes how to install a coupling using a product by Miki Pulley. Contact the manufacturer for details of cautions and confirmation. Make sure that the pressure bolts of the coupling are loosened, and remove rust, dirt, and grease, etc. from the shaft and the inner diameter part of the coupling.
Page 52 MDS-E/EH Series Instruction Manual 1 Installation (ix) The space between flange hubs (S) must be within the permissible error of the axial movement for the standard value. Note that the allowable value assumes that parallel offset and angular misalignment are 0 (zero).
Page 53: Ambient Environment
1.2.8 Installation of Spindle Motor Make sure that the spindle motor is installed so that the motor shaft points from downward to 90° as shown below. When installing upward more than 90°, contact your Mitsubishi Electric dealer. CAUTION 1. Rubber packing for waterproof is attached on the inner surface of the top cover of terminal block, and on the fan lead.
Page 54: Connection
MDS-E/EH Series Instruction Manual 1 Installation 1.2.9 Connection (1) Cable wiring When connecting the power line to the terminal block, tighten the screws with proper torque as shown below. Screw size Proper torque [N•m] 10.0 CAUTION 1. When connecting the power line to the terminal block, tighten the screws with proper torque described in this section. 2.
Page 55: Cable
MDS-E/EH Series Instruction Manual 1 Installation Connection method to a screwless terminal block for fan motor (1) Lead-out length Strip the sheath of the cable in the range of 8 to 9mm with an appropriate tool. Applicable cable size: 0.08mm to 2.5mm (28AWG to 12AWG) (2) Tool...
Page 56: Installation Of Tool Spindle Motor
MDS-E/EH Series Instruction Manual 1 Installation 1.3 Installation of Tool Spindle Motor 1.3.1 Environmental Conditions Environment Conditions Ambient temperature 0°C to +40°C (with no freezing) Ambient humidity 80% RH or less (with no dew condensation) Storage temperature -15°C to +70°C (with no freezing) Storage humidity 90% RH or less (with no dew condensation) Indoors (no direct sunlight)
Page 57: Installation Of The Drive Unit
MDS-E/EH Series Instruction Manual 1 Installation 1.4 Installation of the Drive Unit CAUTION 1. Install the unit on noncombustible material. Direct installation on combustible material or near combustible materials may lead to fires. 2. Follow the instructions in this manual and install the unit while allowing for the unit mass. 3.
Page 58: Installation Direction And Clearance
MDS-E/EH Series Instruction Manual 1 Installation 1.4.2 Installation Direction and Clearance Wire each unit in consideration of the maintainability and the heat dissipation, as well as secure sufficient space for ventilation. Installation clearance 100mm 100mm 60mm or more or more Exhaust 80mm more...
Page 59 MDS-E/EH Series Instruction Manual 1 Installation Cooling fan position < MDS-E/EH Series > [Unit: mm] 60mm width 90mm width 120mm width 150mm width unit unit unit unit (EH-V1-160W, EH-SP-160) 150mm width 150mm width 150mm width 150mm width unit unit unit unit (E-V1-320W, E-SP-240) (E-SP-320)
Page 60: Prevention Of Entering Of Foreign Matter
MDS-E/EH Series Instruction Manual 1 Installation 1.4.3 Prevention of Entering of Foreign Matter Treat the cabinet with the following items. (1) Make sure that the cable inlet is dust and oil proof by using packing, etc. (2) Make sure that the external air does not enter inside by using head radiating holes, etc. (3) Close all clearances of the cabinet.
Page 61: Panel Installation Hole Work Drawings (Panel Cut Drawings)
MDS-E/EH Series Instruction Manual 1 Installation 1.4.4 Panel Installation Hole Work Drawings (Panel Cut Drawings) Prepare a square hole to match the unit width. [Unit: mm] Square Square hole hole 2-M5 screw hole 2-M5 screw hole 60mm 90mm Unit width: Unit width: Square hole Square hole...
Page 62 MDS-E/EH Series Instruction Manual 1 Installation [Unit: mm] Square hole Square hole 4-M5 screw hole 4-M5 screw hole 240mm Unit width: 300mm Unit width: POINT Attach packing around the square hole to provide a seal. IB-1501229-F...
Page 63: Heating Value
The values for the servo drive unit apply for load rate 50%. The values for the spindle drive unit apply for the continuous rated output. The values for the power supply unit include the AC reactor's heating value. < MDS-E Series > Power backup...
Page 64: Heat Radiation Countermeasures
MDS-E/EH Series Instruction Manual 1 Installation 1.4.6 Heat Radiation Countermeasures (1) Heat radiation countermeasures in the control panel In order to secure reliability and life, design the temperature in the panel so that the ambient temperature of each unit is 55°C or less. If the heat accumulates at the top of the unit, etc., install a fan or heat exchanger so that the temperature in the panel remains constant.
Page 65 MDS-E/EH Series Instruction Manual 1 Installation The following shows a calculation example for considering heat radiation countermeasures. < Control panel outline dimension (assumption) > When installing four units which have the heating value in the panel of 15W Top of panel inside Fan for agitating Heat radiation area (A): When a bottom section contacts with a machine A = 0.6 × 0.3 ＋ 0.6 × 0.6 × 2 ＋ 0.6 × 0.3 × 2 = 1.26 (m ) ...
Page 66 MDS-E/EH Series Instruction Manual 1 Installation (2) Heat radiation countermeasures outside the control panel Measure the temperature at 40mm form tops of all units, and design the temperature rise so that it is 20°C or less against the ambient temperature. If the temperature rise at the temperature measurement position exceeds 20°C, consider adding a fan.
Page 67: Installation Of The Machine End Encoder
MDS-E/EH Series Instruction Manual 1 Installation 1.5 Installation of the Machine End Encoder 1.5.1 Spindle Side ABZ Pulse Output Encoder (OSE-1024 Series) To maintain the encoder life and performance, a flexible coupling should be used to couple the spindle side encoder and C-axis encoder with the spindle.
Page 68: Spindle Side Plg Serial Output Encoder (Ts5690, Mu1606 Series)
MDS-E/EH Series Instruction Manual 1 Installation 1.5.2 Spindle Side PLG Serial Output Encoder (TS5690, MU1606 Series) (1) Part configuration The encoder is configured of a sensor and detection gear. The sensor and detection gear must be used in the designated combination. These are precision parts, and require care when handling.
Page 69 MDS-E/EH Series Instruction Manual 1 Installation (3) Installing the sensor section Sensor installation surface Prepare the notched fitting section at the machine side's installation position to be of the specified dimensions in advance. Lead wire With the sensor installation seat's R section butted against the Sensor installation seat notched fitting section, fix the sensor installation seat with a mounting screw (M4 ×...
Page 70 MDS-E/EH Series Instruction Manual 1 Installation (4) Installation accuracy diagnosis for spindle side PLG encoder CAUTION Do not operate the spindle before performing this installation accuracy diagnosis. If operated with an improperly installed spindle side PLG encoder, the spindle motor may rotate at high speed. Always perform this diagnosis before normal operation.
Page 71 MDS-E/EH Series Instruction Manual 1 Installation When an error is detected with spindle PLG diagnosis → "1" is displayed on the corresponding diagnosis signal bit Information for spindle PLG diagnosis (For details of each diagnosis signal bit, refer to the next page.) Item Details...
Page 72 MDS-E/EH Series Instruction Manual 1 Installation Details of each diagnosis signal bit which is displayed as information for spindle PLG diagnosis are shown in the following table. Diagnosis Error details Description Main factor signal bit A-phase amplitude excessive The A-phase amplitude is larger than the specified value. Too small gap A-phase amplitude too small The A-phase amplitude is smaller than the specified value.
Page 73 MDS-E/EH Series Instruction Manual 1 Installation 【#13017(PR)】 SP017 SPEC1 Spindle specification 1 bit 4 : fdir Position feedback Set the machine side encoder's installation polarity. 0: Forward polarity 1: Reverse polarity 【#13018(PR)】 SP018 SPEC2 Spindle specification 2 bit 1 : oplp Open loop control This allows the operation in which no encoder feedback signals are used.
Page 74: Noise Measures
MDS-E/EH Series Instruction Manual 1 Installation 1.6 Noise Measures Noise includes "propagation noise" generated from the power supply or relay, etc., and propagated along a cable causing the power supply unit or drive unit to malfunction, and "radiated noise" propagated through air from a peripheral device, etc., and causing the power supply unit or drive unit to malfunction.
Page 75 MDS-E/EH Series Instruction Manual 1 Installation Sensor Drive Instru- power Receiver unit ment supply Sensor Servo motor Spindle motor Generated noise of drive system Noise propagation path Measures When devices such as instrument, receiver or sensor, which handle minute signals and are easily affected by noise, or the signal wire of these devices, are stored in the same panel as the drive units and the wiring is close, the device could malfunction due to airborne propagation of the noise.
Page 76: Wiring And Connection
Wiring and Connection IB-1501229-F...
Page 77 MDS-E/EH Series Instruction Manual 2 Wiring and Connection WARNING 1. Wiring work must be done by a qualified technician. 2. Wait at least 15 minutes after turning the power OFF and check the voltage with a tester, etc., before starting wiring. Failure to observe this could lead to electric shocks.
Page 78: Part System Connection Diagram
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.1 Part System Connection Diagram MDS-E/EH MDS-E/EH MDS-E/EH (PE) Mitsubishi CNC Power supply unit Spindle drive unit Servo drive unit Optical communication cable CN1A CN1B CN1A CN1B Optical communication cable CN3L CN41 Machine side SH21 External emergency...
Page 79: Main Circuit Terminal Block/Control Circuit Connector
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.2 Main Circuit Terminal Block/Control Circuit Connector 2.2.1 Names and Applications of Main Circuit Terminal Block Signals and Control Circuit Connectors The following table shows the details for each terminal block signal. Name Signal name Description...
Page 80: Connector Pin Assignment
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.2.2 Connector Pin Assignment CAUTION Do not apply a voltage other than that specified in Instruction Manual on each terminal. Failure to observe this item could lead to rupture or damage, etc. (1) Main circuit terminal block and connector Power supply unit Unit...
Page 81 MDS-E/EH Series Instruction Manual 2 Wiring and Connection Unit MDS-E-CV-300 to 450 MDS-E-CV-550 Terminal MDS-EH-CV-300 to 450 MDS-EH-CV-550 to 750 Terminal position [1] TE1 Compatible E-CV Compatible unit All of CV unit EH-CV 550 to 750 Screw size M8 x 16 Screw size M10 x 20 M8 x 16...
Page 82 MDS-E/EH Series Instruction Manual 2 Wiring and Connection 1-axis servo drive unit / 1-axis spindle drive unit MDS-E-V1-160W or less MDS-E-V1-320 or more Unit MDS-E-SP-80 or less MDS-E-SP-160 to 320 Terminal MDS-EH-V1-80W or less MDS-EH-V1-160 to 160W MDS-EH-SP-80 or less MDS-EH-SP-100 to 160 Terminal position...
Page 83 MDS-E/EH Series Instruction Manual 2 Wiring and Connection MDS-E-SP-400 to 640 Unit MDS-EH-V1-200 Terminal MDS-EH-SP-200 to 600 Terminal position [1] TE1 E-SP- 400 to 640 Compatible EH-V1- unit EH-SP- 200 to 480 Screw size M8 x 15 M10 x 20 Tightening torque 6.0Nm 11.0Nm...
Page 84 MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2-axis servo/spindle drive unit MDS-E-V2-160W or less Unit MDS-E-SP2-80 or less MDS-E-SP2-16080 Terminal MDS-EH-V2-160 or less Terminal position For L axis LU LV LW Screw size M5 x 12 Tightening torque 2.0Nm For M axis [1] TE1 (Note) This is a bottom view.
Page 85 MDS-E/EH Series Instruction Manual 2 Wiring and Connection 3-axis servo drive unit Unit MDS-E-V3-20 MDS-E-V3-80 Terminal MDS-E-V3-40 MDS-EH-V3-40 Connector position For L axis For L axis For M axis [1] TE1 For M axis For S axis For S axis Terminal (Note) This is bottom view.
Page 86 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (2) Control circuit connector 1-axis servo drive unit Unit MDS-E-V1 MDS-EH-V1-200 Terminal MDS-EH-V1-160W or less Connector position Optical communication connector [1] CN1A [2] CN1B No.1 [3] CN5 No.5 Pin No. [4] CN9 No.20 No.10 [5] CN4...
Page 87 MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2-axis servo drive unit Unit MDS-E/EH-V2 Terminal [11] Connector [10] position Optical communication connector [1] CN1A [2] CN1B No.1 [3] CN5 No.5 Pin No. [4] CN9 No.20 No.10 [5] CN4 No.1 No.11 Connector specification No.7...
Page 88 MDS-E/EH Series Instruction Manual 2 Wiring and Connection 3-axis servo drive unit Unit MDS-E/EH-V3 Terminal [13] Connector [10] [11] position [12] Optical communication connector [1] CN1A [2] CN1B No.1 [3] CN5 No.5 Pin No. [4] CN9 No.20 No.10 [5] CN4 No.11 No.1 Connector...
Page 89 MDS-E/EH Series Instruction Manual 2 Wiring and Connection 1-axis spindle drive unit Unit MDS-E-SP-320 or less MDS-E-SP-400 or more Terminal MDS-EH-SP-160 or less MDS-EH-SP-200 or more Connector position Optical communication connector [1] CN1A [2] CN1B No.1 [3] CN5 No.5 Pin No. Connector [4] CN9 specification...
Page 90 MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2-axis spindle drive unit Unit MDS-E-SP2-80 or less MDS-E-SP2-16080 Terminal Connector [10] [10] position Optical communication connector [1] CN1A [2] CN1B No.1 [3] CN5 No.5 Pin No. Connector [4] CN9 specification No.20 No.10 [5] CN4 No.1...
Page 91: Servo Motor Power Supply Connector Wiring Method
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.2.3 Servo Motor Power Supply Connector Wiring Method (1) Connector configuration Drive unit Connector for L axis (for 3-axis) CNU01SEL < Applicable cable example > (For L axis) Cable finish OD：to 7.8mm (For M axis) Connector for M axis CNU01SEM...
Page 92 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (3) Cable connection procedure (a) Processing of power insulator Since the strip length of wire depends on the types of wire, etc., decide the optimum length according to the machining state. Sheath Core Strip length Retwist and straighten the core as shown below.
Page 93: Nc And Drive Unit Connection
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.3 NC and Drive Unit Connection 2.3.1 Connection of Optical Communication Cables Connect the optical communication cables from the NC to the each drive unit so that they run in a straight line from the NC to the drive unit that is a final axis.
Page 94 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (2) When using two or more power supply units within a single NC communication bus system Two or more power supply units may be required within a single NC communication bus system if the spindle drive unit capacity is large.
Page 95 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (3) When using the additional axis drive unit by supplying power (L+, L-) from MDS-EM/EMH unit The power (L+, L-) can be supplied to the additional axis drive unit by using the power supply part which is built into MDS-EM/EMH.
Page 96: Drive Unit Arrangement
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.3.2 Drive Unit Arrangement Arrange the drive units in the following procedure. (1) Install a power supply unit. (2) Arrange drive units in order of the nominal current from largest from the right. (3) In the arrangement, the clearance between the units is 1 mm.
Page 97: Motor And Encoder Connection
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.4 Motor and Encoder Connection 2.4.1 Connection of the Servo Motor (1) Connecting the HG46(B) / HG56(B) / HG96(B) MDS-E-V1 Encoder connector : CN2L Pin No Optional cable: CNV2E (Refer to Appx. 1 for details No.9 No.1 on the cable treatment.)
Page 98 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (2) Connecting the HG75(B) / HG105(B) / HG54(B) / HG104(B) / HG154(B) / HG224(B) / HG123(B) / HG223(B) / HG142(B) HG-H75(B) / HG-H105(B) / HG-H54(B) / HG-H104(B) / HG-H154(B) MDS-E/EH-V1 Encoder connector : CN2L Optional cable: CNV2E (Refer to Appx.
Page 99 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (3) Connecting the HG204(B) / HG303(B) / HG354(B) / HG453(B) / HG302(B) HG-H204(B) / HG-H354(B) / HG-H453(B) / HG-H703(B) MDS-E/EH-V1 Encoder connector : CN2L Optional cable: CNV2E (Refer to Appx. 1 for details Pin No.
Page 100 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (4) Connecting the HG703(B) / HG903(B) HG-H903(B) HQ-H903(B) / HQ-H1103(B) MDS-E/EH-V1 Optional cable: CNV2E Encoder connector : CN2L (Refer to Appx. 1 for details Pin No on the cable treatment.) No.9 No.1 CN2L No.10 No.2 Encoder connector...
Page 101 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (5) Connecting the HG-H1502 MDS-EH-V1-200 Optional cable: CNV2E Encoder connector ： CN2L (Refer to Appx. 1 for details Pin No. on the cable treatment.) No.9 No.1 CN2L No.10 No.2 Max. 30m Name Name P5 (+5V) Power wire and grounding wire...
Page 102: Connection Of The Full-Closed Loop System
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.4.2 Connection of the Full-closed Loop System Refer to the section "Connecting the Servo Motor" for details on connecting each motor type and wiring the power line or the motor magnetic brake. (1) Connecting the ball screw side encoder Connect the ball screw side encoder cable to CN3L(CN3M for M axis of dual-axis unit).
Page 103 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (3) Connecting the linear scale (for rectangular wave signal output) Rectangular wave signal output (including when SIN wave signal output is converted to the rectangular wave signal output with a scale manufacturer encoder interface unit) can directly input to the drive unit. MDS-E/EH-V1 Encoder connector : CN3L Pin No.
Page 104: Connection Of The Speed Command Synchronization Control System
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.4.3 Connection of the Speed Command Synchronization Control System Connecting the position command synchronous control system, connect each system as an independent axis. (1) Connecting SIN wave signal output linear scale (when using MDS-E/EH-V2) For the FB signal of the linear scale, the SIN wave signal is converted to Mitsubishi serial signal with the encoder conversion unit (MDS-EX-HR-11), and that signal is divided to each axis control inside the 2-axis drive unit.
Page 105 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (3) Connecting Mitsubishi serial signal output linear scale (when using two units of MDS-E/EH-V1) The FB signal of the linear scale is divided to each drive unit with the signal division unit (MDS-B-SD). MDS-E/EH-V1 MDS-E/EH-V1 （Secondary axis）...
Page 106: Connection Of The Spindle Motor
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.4.4 Connection of the Spindle Motor Refer to each motor specifications for details on the motor side connection destination, specifications and outline, and for the spindle PLG encoder specifications. (1) Connecting the motor built-in PLG MDS-E/EH-SP Encoder connector : CN2L Pin No.
Page 107 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (2) Connecting the spindle side ABZ pulse output encoder (OSE-1024-3-15-68, OSE-1024-3-15-68-8) MDS-E/EH-SP Encoder connector ： CN3L Pin No. No.9 No.1 CN2L No.10 No.2 CNP2E-1 cable Name Name max. 30m P5(+5V) CN3L Spindle motor ABZSEL* CNP3EZ cable Spindle...
Page 108: Connection Of Tool Spindle Motor
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.4.5 Connection of Tool Spindle Motor (1) Connecting the HG46 / HG56 / HG96 MDS-E-SP Optional cable: CNV2E (Refer to Appx.1 for details on the Encoder connector : CN2L cable treatment.) Pin No. No.9 No.1 CN2L...
Page 109 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (3) Connecting the HG204 Optional cable: CNV2E MDS-E-SP (Refer to Appx.1 for details on the cable treatment.) Encoder connector : CN2 Pin No No.9 No.1 No.10 No.2 Max : 30m Name Name P5(+5V) Encoder connector CMV1-R10P...
Page 110 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (5) Connecting the HG703 / HG903 MDS-E-SP Optional cable: CNV2E Encoder connector : CN2L (Refer to Appx.1 for details on the cable treatment.) Pin No No.9 No.1 CN2L No.10 No.2 Name Name Max : 30m P5(+5V) Encoder connector...
Page 111: Connection Of Power Supply
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.5 Connection of Power Supply CAUTION 1. Make sure that the power supply voltage is within the specified range of each unit. Failure to observe this could lead to damage or faults. 2.
Page 112 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (2) When using two or more power supply units within a single NC communication bus system Install a circuit protector and a contactor for each of the power supply units. MDS-E/EH-CV MDS-E/EH-SP/SP2 MDS-E/EH-V1/V2/V3 To NC CN1A...
Page 113: Connection Of The Grounding Cable
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.5.2 Connection of the Grounding Cable (1) Connecting the protective grounding (PE) and frame ground (FG) Each unit has a terminal or mounting hole to connect PE ( ) or FG. Please connect a grounding cable to the main ground of a cabinet or a machine frame at one point. Ground each device according to the grounding conditions set forth by each country.
Page 114: Wiring Of The Motor Brake
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.6 Wiring of the Motor Brake 2.6.1 Wiring of the Motor Magnetic Brake The magnetic brake of servo motors with a magnetic brake is controlled by the motor brake control connector (CN9 and CN20) on the servo drive unit.
Page 115 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (2) When using motor brakes for 2 axes or 3 axes When controlling multiple motor brakes with 2-axis or 3-axis drive units, the motor brakes must be connected in parallel to the connector CN9 using the external 24V driving relay as shown in the illustration below. External 24VDC power supply MDS-E/EH-V3 L-axis...
Page 116 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (3) Motor brake release sequence The motor brake control connector (CN20: MBR) releases the magnetic brake in the following sequences in after the start of the power ON to the servo motor when canceling the emergency stop. If the power of the power supply unit has been charged by the servo parameter setting, the time to the Ready completion can be reduced.
Page 117 MDS-E/EH Series Instruction Manual 2 Wiring and Connection POINT Using the high-speed ready ON sequence, set the parameter for all the axes including the spindle. Especially when it is not set for the power supply control axis, power supply will not work at high-speed sequence. CAUTION When SV017/bit2=1, SP017/bit2=1 is set, for the model using an external dynamic brake, the Ready completion will be delayed by 10ms to ensure the external contactor operation time.
Page 118: Dynamic Brake Unit Wiring
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.6.2 Dynamic Brake Unit Wiring The servo drive units of MDS-E-V1-320W or larger and MDS-EH-V1-160W or larger do not have built-in dynamic brakes. Always install a dynamic brake unit. The servo drive units of MDS-E-V1-320 or smaller or MDS-EH-V1-160 or smaller have built-in dynamic brakes. External power supply 24VDC...
Page 119: Peripheral Control Wiring
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.7 Peripheral Control Wiring 2.7.1 Input/Output Circuit Wiring CN9 connector is equipped with 24V input/output circuit for the control of external devices and the control by an external signal. Set the relevant parameters and use them with care for the wiring since some signals are changeover type, which can be switched over by parameters.
Page 120 MDS-E/EH Series Instruction Manual 2 Wiring and Connection Input circuit Output circuit CN9 connector CN9 connector 4.1k Relay, etc. MPO1 MPO2 4.1k MPO3 MPO4 4.1k MPO5 4.1k Servo/spindle drive unit 4.1k The part indicated by the " " must be prepared by the user.
Page 121 MDS-E/EH Series Instruction Manual 2 Wiring and Connection Servo input/output signal (CN9 connector) Connector Signal changeover Device name Signal name pin No. parameter MPI1 CN9-13 (Reservation) MPI2 CN9-2 (Reservation) Servo input MPI3 CN9-3 (Reservation) signal MPI4 CN9-14 (Reservation) MPI5 CN9-17 (Reservation) MPO1 CN9-8...
Page 122: Specified Speed Output
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.7.2 Specified Speed Output Specified speed output function turns the output signal ON when the machine-end speed is below the speed specified with the parameter. This function enables the safety door, etc., to be locked to secure the machine operator when the machine-end speed has exceeded the specified speed.
Page 123 MDS-E/EH Series Instruction Manual 2 Wiring and Connection < Servo drive unit > 【#2233】 SV033 SSF2 Servo function 2 bit D : rps Safely limited speed setting increment Change the setting units of the specified speed signal output speed (SV073) and safely limited speed (SV238).
Page 124: Spindle Coil Changeover
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.7.3 Spindle Coil Changeover There are spindle motors capable of coil changeover control, which enables favorable characteristics to be attained from low speeds to high speeds by changing two types of coils. (1) Coil changeover control The speed at which to change the coils is detected by the spindle drive according to the value set with spindle parameter SP028.
Page 125 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (2) Protective functions [1] Gate shutoff after a winding changeover When the L-coil selection command (LCS) is used to perform low-speed winding -> high-speed winding switching, or vice-versa, the gate is shut off during contactor operation time in order to protect the spindle drive unit's main circuit.
Page 126 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (3) Wiring The illustration below shows the 2 types of changeover that occur after a coil changeover, (a) (star) - Δ(delta) changeover, and (b) (star)- (star) changeover. As shown in (c), one of the contactors (MC1 or MC2) is turned ON and the other is turned OFF at all of the coil changeover control circuits.
Page 127 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (star) - (star) changeover circuit Motor terminal Spindle drive unit MC1: Contactor to connect low-speed coil (1st -connection) Spindle motor MC2: Contactor to connect high-speed coil (2nd -connection) Coil changeover circuit ...
Page 128: Proximity Switch Orientation
MDS-E/EH Series Instruction Manual 2 Wiring and Connection 2.7.4 Proximity Switch Orientation (1) Electrical specifications Use a proximity switch which satisfies the following specifications. Item Specification Output method DC double wire system /three wire system Power supply voltage 24V DC Response frequency 400Hz or more Load current...
Page 129 MDS-E/EH Series Instruction Manual 2 Wiring and Connection (3) Detection signal polarity The table below is the polarities of the detections signals. According to the polarity, select the enable edge of the signals with the spindle parameter (SP225/bit5). Enable edge Enable Drive unit input signal polarity Sensor operation...
Page 130 MDS-E/EH Series Instruction Manual 2 Wiring and Connection bit 7 : Synchronous tapping command polarity 0: Forward direction 1: Reverse direction (The standard setting when spindle and motor are directly coupled) bit 6-5 : Synchronous tapping zero point return direction bit 6,5= 00: Short-cut 01: Forward run...
Page 131 MDS-E/EH Series Instruction Manual 2 Wiring and Connection < Related control signals > Control input 5 bitD. Zero point re-detection request (ORC) When ORC is changed from 0 to 1, the Z phase passed will be 0(control output2/bit0). Control output 5 bitD. Zero point re-detection complete (ORF) If the zero point re-detection is completed after the zero point re-detection request (control input5/bitD) is set to1, ORF=1 is set.
Page 132: Safety Function
Safety Function IB-1501229-F...
Page 133: Safety Function
MDS-E/EH Series Instruction Manual 3 Safety Function 3.1 Safety Function This drive unit offers the safety function which satisfies the following harmonized standard can be offered with this drive unit. Each function can be available in the system consisting of the safety function compliant NC control unit and drive unit, and various communication cables, sensors, and contactors.
Page 134: Sto (Safe Torque Off) Function
Device manufacturer accepts responsibility for all the risk assessments and related residual risks. The followings are the residual risks relevant to the STO function. Mitsubishi Electric will not accept liability for any accidents such as damage or injury caused by such residual risks.
Page 135 MDS-E/EH Series Instruction Manual 3 Safety Function Safe Torque Off function is a shutoff function which does not provide the energy to the motor capable of generating torque and it shuts off an energy supply electronically inside the drive unit. STO function can be used in the following two ways ((1) and (2) below).
Page 136 MDS-E/EH Series Instruction Manual 3 Safety Function (2) Dedicated wiring STO function [1] System configuration This method is used to shut off the motor power with STO function only for the specific axis. For example, to shut off the motor power with STO function only for the magazine rack axis, install a safety door for tool change and directly connect the door open/close signal to the STO signal input (CN8) of the drive unit.
Page 137 MDS-E/EH Series Instruction Manual 3 Safety Function < Operation sequences example for dedicated wiring STO function > SERVO ON Input the STO signal in servo OFF status. Servo OFF signal SERVO OFF STO1 signal Drive unit detects dual signal warning A4(sub-number 0001) by the STO signal input (power shutoff) state in servo OFF.
Page 138 MDS-E/EH Series Instruction Manual 3 Safety Function External input/output signal connection example when using a NC controller IO unit Door signal contact for NC controller Shutoff Shutoff effect Drive unit command STO1 TOF_COM STO2 TOF1 STO_COM TOF2 Detail description of external input/output signal connection Details of the input/output signal as stated before (refer to "I/O class"...
Page 139 MDS-E/EH Series Instruction Manual 3 Safety Function [3] Parameter setting Input observation for dedicated wiring STO signal is set with the parameter SV113,SP229/bit8. The following parameter setting is not to enable or disable the shutoff function of STO function performed by the H/W. When using network STO function only, make sure to set to "0".
Page 140: Sbc (Safe Brake Control) Function
MDS-E/EH Series Instruction Manual 3 Safety Function 3.3 SBC (Safe Brake Control) Function (1) Base specifications The communication path of NC unit and Drive unit, and the safe brake control circuit which is redundant inside the drive unit are diagnosed. When the communication error between NC unit and Drive unit occurs, the safety communication alarm is issued.
Page 141 MDS-E/EH Series Instruction Manual 3 Safety Function (2) Wiring of the motor magnetic brake The magnetic brake of servo motors with a magnetic brake is controlled by the motor brake control connector (CN9 and CN20) on the servo drive unit. The servo drive unit releases the brake when the motor is ON. (Servo ON means when torque is generated in the motor.) It also contains duplex contacts for motor magnetic brake control to support the safe brake control (SBC).
Page 142: Setup
Setup IB-1501229-F...
Page 143: Initial Setup
MDS-E/EH Series Instruction Manual 4 Setup 4.1 Initial Setup 4.1.1 Setting the Rotary Switch Before turning on the power, the axis No. must be set with the rotary switch. The rotary switch settings will be validated when the drive units are turned ON. <...
Page 144: Setting Dip Switch
MDS-E/EH Series Instruction Manual 4 Setup < Power supply unit > Power supply unit (MDS-E/EH-CV) MDS-E/EH-CV setting Rotary switch setting Setting items Normal setting 1 to 3 Setting prohibited External emergency stop setting 5 to F Setting prohibited 4.1.2 Setting DIP Switch Setting the DIP switches is necessary prior to turning ON the power.
Page 145: Transition Of Led Display After Power Is Turned On
MDS-E/EH Series Instruction Manual 4 Setup 4.1.3 Transition of LED Display After Power Is Turned ON When the NC power is turned ON and the initial communication with the NC is started, each unit will automatically execute self-diagnosis and initial settings for operation, etc. The LEDs on the front of the units will change as shown below according to the progression of these processes.
Page 146: Setting The Initial Parameters For The Servo Drive Unit
MDS-E/EH Series Instruction Manual 4 Setup 4.2 Setting the Initial Parameters for the Servo Drive Unit The servo parameters must be set before the servo system can be started up. The servo parameters are input from the NC. The input method differs according to the NC being used, so refer to each NC Instruction Manual. When setting the initial setting parameters, perform the following settings in each system.
Page 147: Setting Of Servo Specification Parameters
MDS-E/EH Series Instruction Manual 4 Setup 4.2.1 Setting of Servo Specification Parameters (1) Basic specification parameters When performing absolute position control, set the axis specification parameter #2049. When the setting value of #2049 is "1 to 4", "SV017/bit7" is automatically set to the absolute position control. It is not possible to set SV017/bit7 directly.
Page 148 MDS-E/EH Series Instruction Manual 4 Setup 【#2236(PR)】 SV036 PTYP Power supply type bit F-C : amp Set the power backup function to be used. No function used : 0 Deceleration and stop function at power failure : 8 Retraction function at power failure : C bit 7-0 : ptyp External emergency stop setting When the emergency stop input signal of the power supply unit is "disabled"...
Page 149: Setting Of Machine Side Encoder
MDS-E/EH Series Instruction Manual 4 Setup 4.2.2 Setting of Machine Side Encoder (1) Setting of the machine side encoder specification 【#2225(PR)】 SV025 MTYP Motor/Encoder type Set the position encoder type, according to the machine side encoder specifications. bit F-C: pen Position encoder Rectangular wave signal output rotary scale : pen=4 OSA405ET2AS, OSA676ET2AS : pen=6...
Page 150 MDS-E/EH Series Instruction Manual 4 Setup (2) Setting table for each encoder Rectangular wave signal output encoder Control Manufacturer Encoder type Interface unit type SV025 SV019 SV117 resolution (SV018×1000/1.0) /65536= 1.0μm 82 □□ remainder quotient (SV018×1000/0.5) /65536= 0.5μm 82 □□ remainder quotient SR74...
Page 151 4 Setup Mitsubishi serial signal output encoder (Absolute position) Control Manufacturer Encoder type Interface unit type SV025 SV019 SV117 resolution 4,194,304p/rev OSA405ET2AS Mitsubishi Electric Not required 62 □□ OSA676ET2AS 67,108,864p/rev 0.1μm SV018/0.1 A2 □□ SR67A SR77 Not required 0.05μm A2 □□...
Page 152 MDS-E/EH Series Instruction Manual 4 Setup (3) Setting of the installation polarity of the machine side encoder Since the installation polarity may not be judged from the encoder appearance, confirm the installation polarity of the machine side encoder with moving the axis by hand after the installation. If "Motor end FB"...
Page 153: Setting Of Distance-Coded Reference Scale
MDS-E/EH Series Instruction Manual 4 Setup 4.2.3 Setting of Distance-coded Reference Scale (1) Setting of the base specifications In order to set the distance-coded reference scale, the following setting follows "Setting of Machine Side Encoder". 【#2281(PR)】 SV081 SPEC2 Servo specification 2 bit 7 : szchk Distance-coded reference scale reference mark Set the number of reference marks to be passed during the reference position calculation.
Page 154 MDS-E/EH Series Instruction Manual 4 Setup (2) Setting of the distance-coded reference check function If The reference marks are checked at four points by the basic point computer processing, the basic point can be recreated almost certainly. If you would like to strengthen the check further, set the distance-coded reference check function, which executes the relation check with a coordinate of the motor side encoder during the basic point calculation after the power-on.
Page 155: Setting Of Speed Command Synchronous Control
MDS-E/EH Series Instruction Manual 4 Setup 4.2.4 Setting of Speed Command Synchronous Control This section explains about the setting of the speed command synchronous control of the full closed loop control. The servo parameter setting during the position command synchronous control is same as single axis. 【#2225(PR)】...
Page 156: List Of Standard Parameters For Each Servo Motor
MDS-E/EH Series Instruction Manual 4 Setup 4.2.5 List of Standard Parameters for Each Servo Motor (1) 200V Standard motor HG Series Motor 200V Standard motor HG Series Parameter HG46 HG56 HG96 MDS-E-V1- Abbrev. Details MDS-E-V2- MDS-E-V3- SV001 Motor side gear ratio SV002 Machine side gear ratio SV003...
Page 157 MDS-E/EH Series Instruction Manual 4 Setup Motor 200V Standard motor HG Series Parameter HG75 HG105 HG54 HG104 HG154 HG224 HG204 HG354 MDS-E-V1- Abbrev. Details MDS-E-V2- 160W MDS-E-V3- SV001 Motor side gear ratio SV002 Machine side gear ratio SV003 PGN1 Position loop gain 1 SV004 PGN2 Position loop gain 2...
Page 158 MDS-E/EH Series Instruction Manual 4 Setup Motor 200V Standard motor HG Series Parameter HG123 HG223 HG303 HG453 HG703 HG903 HG142 HG302 MDS-E-V1- 160W 160, Abbrev. Details MDS-E-V2- 160W 160W MDS-E-V3- SV001 Motor side gear ratio SV002 Machine side gear ratio SV003 PGN1 Position loop gain 1...
Page 159 MDS-E/EH Series Instruction Manual 4 Setup (2) 400V Standard motor HG-H Series Motor 400V Standard motor HG-H Series Parameter HG-H75 HG-H105 HG-H54 HG-H104 HG-H154 MDS-EH-V1- Abbrev. Details MDS-EH-V2- MDS-EH-V3- SV001 Motor side gear ratio SV002 Machine side gear ratio SV003 PGN1 Position loop gain 1 SV004...
Page 160 MDS-E/EH Series Instruction Manual 4 Setup Motor 400V Standard motor HG-H Series Parameter HG-H204 HG-H354 HG-H453 HG-H703 HG-H903 HG-H1502 MDS-EH-V1- Abbrev. Details MDS-EH-V2- 80, 80W 80, 80W MDS-EH-V3- SV001 Motor side gear ratio SV002 Machine side gear ratio SV003 PGN1 Position loop gain 1 SV004 PGN2...
Page 161 MDS-E/EH Series Instruction Manual 4 Setup (3) 400V Standard motor HQ-H Series Motor 400V Standard motor HQ-H Series Parameter HQ-H903 HQ-H1103 MDS-EH-V1- 160W Abbrev. Details MDS-EH-V2- SV001 Motor side gear ratio SV002 Machine side gear ratio SV003 PGN1 Position loop gain 1 SV004 PGN2 Position loop gain 2...
Page 162: Servo Parameters
MDS-E/EH Series Instruction Manual 4 Setup 4.2.6 Servo Parameters The parameters with "(PR)" requires the CNC to be turned OFF after the settings. Turn the power OFF and ON to enable the parameter settings. (PR) #2201 SV001 PC1 Motor side gear ratio Set the gear ratio in the motor side when there is the gear between the servo motor's shaft and machine (ball screw, etc.).
Page 163 MDS-E/EH Series Instruction Manual 4 Setup #2206 SV006 VGN2 Speed loop gain 2 Set the speed loop gain at the motor limitation speed VLMT (maximum rotation speed x 1.15) with "VCS(SV029: Speed at the change of speed loop gain)". Use this to suppress noise at high speed rotation during rapid traverse, etc. Then, the speed loop gain de- creases at faster speed than the setting value of VCS.
Page 164 MDS-E/EH Series Instruction Manual 4 Setup #2212 SV012 IDG Current loop d axis gain Set the fixed value of each motor. Set the standard value for each motor described in the standard parameter list. ---Setting range--- 1 to 8192 #2213 SV013 ILMT Current limit value Set the current (torque) limit value in a normal operation.
Page 165 MDS-E/EH Series Instruction Manual 4 Setup (PR) #2217 SV017 SPEC1 Servo specification 1 Select the servo specifications. A function is allocated to each bit. Set this in hexadecimal format. mdir dfbx sdir drvup bit F-C : spm Motor series selection 0: Not used 1: 200V HG motor (Standard) 2: Not used...
Page 166 MDS-E/EH Series Instruction Manual 4 Setup (PR) #2218 SV018 PIT Ball screw pitch/Magnetic pole pitch For servo motor: Set the ball screw pitch. For the rotary axis, set to "360". For direct-drive motor Set to "360". For linear motor Set the ball screw pitch. (For LM-F series, set to "48") ---Setting range--- For general motor: 1 to 32767 (mm/rev) - For linear motor 1 to 32767 (mm)
Page 167 MDS-E/EH Series Instruction Manual 4 Setup #2222 SV022 OLL Overload detection level Set the "Overload 1" (Alarm 50) current detection level as percentage to the stall current. Normally set this parameter to "150". (For Mitsubishi adjustment.) Related parameters: SV021 ---Setting range--- 110 to 500 (Stall current %) #2223 SV023 OD1...
Page 168 MDS-E/EH Series Instruction Manual 4 Setup (PR) #2225 SV025 MTYP Motor/Encoder type Set the position encoder type, speed encoder type and motor type. The setting value is a four-digit hex (HEX). HEX- mtyp bit F-C: pen(HEX-4) Position encoder Semi-closed loop control by general motor pen=2 Full-closed loop control by general motor - Ball screw end encoder (OSA405ET2AS, OSA676ET2AS)
Page 169 MDS-E/EH Series Instruction Manual 4 Setup bit 7-0: mtyp(HEX-2,1) Motor type Set the motor type. Set this with SV017/bitF-C. For SV017/bitF-C = 1 (200V standard motor series) HG75 : 41h HG123 : 64h HG105 : 42h HG142 : 65h HG54 : 43h HG46 : BAh HG104...
Page 170 MDS-E/EH Series Instruction Manual 4 Setup #2227 SV027 SSF1 Servo function 1 Select the servo functions. A function is assigned to each bit. Set this in hexadecimal format. bit F : Not used. Set to "0". bit E : zrn2 Set to "1".
Page 171 MDS-E/EH Series Instruction Manual 4 Setup bit 2 : Not used. Set to "0". bit 1-0 : vcnt Speed loop delay compensation changeover type selection Normally, use "Changeover type 2". bit1,0= 00: Disable 01: Changeover type 1 10: Changeover type 2 11: Setting prohibited Related parameters: SV007 (PR)
Page 172 MDS-E/EH Series Instruction Manual 4 Setup #2231 SV031 OVS1 Overshooting compensation 1 This compensates the motor torque when overshooting occurs during positioning. This is valid only when the overshooting compensation (SV027/bitB,A) is selected. Type 3 SV027/bitB,A=11 Set the compensation amount based on the motor stall current. Observing positioning droop waveform, increase in increments of 1% and find the value where overshooting does not occur.
Page 173 MDS-E/EH Series Instruction Manual 4 Setup #2233 SV033 SSF2 Servo function 2 Select the servo functions. A function is assigned to each bit. Set this in hexadecimal format. nfd1 fhz3 nfd2 lmc2a bit F : lmc2a Lost motion compensation 2 timing 0: Normal 1: Change bit E : zup Vertical axis pull up function...
Page 174 MDS-E/EH Series Instruction Manual 4 Setup #2234 SV034 SSF3 Servo function 3 Select the servo functions. A function is assigned to each bit. Set this in hexadecimal format. has2 mohn linN ovsn bit F-C: ovsn Overshooting compensation type 3 Non-sensitive band Set the non-sensitive band of the model position droop overshooting amount in increments of 2μm.
Page 175 MDS-E/EH Series Instruction Manual 4 Setup #2235 SV035 SSF4 Servo function 4 Select the servo functions. A function is assigned to each bit. Set this in hexadecimal format. ckab cltq clstp cl2n clG1 bit F: clt Inertia ratio display 0: Setting for normal use 1: Display the total inertia ratio estimated at acceleration/deceleration at the inertia ratio on the servo monitor screen To display it on the screen, set an imbalance torque and friction torque to both SV032 and SV045 and...
Page 176 MDS-E/EH Series Instruction Manual 4 Setup (PR) #2236 SV036 PTYP Power supply type/ Regenerative resistor type MDS-E/EH Series: Power supply type When connecting a power supply unit, set a code for each power supply unit. ptyp rtyp bit F-C : amp Set the power backup function to be used.
Page 177 MDS-E/EH Series Instruction Manual 4 Setup MDS-EJ/EJH Series: Regenerative resistor type Set the regenerative resistor type. emgx rtyp bit F-8 : amp(bit F-C) / rtyp(bit B-8) Resistor built-in drive unit : 10 Setting prohibited : 11 MR-RB032 : 12 MR-RB12 or GZG200W39OHMK : 13 MR-RB32 or GZG200W120OHMK 3 units connected in parallel : 14 MR-RB30 or GZG200W39OHMK 3 units connected in parallel : 15...
Page 178 MDS-E/EH Series Instruction Manual 4 Setup #2238 SV038 FHz1 Notch filter frequency 1 Set the vibration frequency to suppress when machine vibration occurs. (Normally, do not set 80 or less.) Set to "0" when not using. Related parameters: SV033/bit3-1, SV115 ---Setting range--- 0 to 5000 (Hz) #2239...
Page 179 MDS-E/EH Series Instruction Manual 4 Setup #2245 SV045 TRUB Friction torque Set the frictional torque when using the collision detection function. To use load inertia estimation function (drive monitor display), set this parameter, imbalance torque (SV032) and load inertia display enabling flag (SV035/bitF). ---Setting range--- 0 to 255 (Stall current %) #2246...
Page 180 MDS-E/EH Series Instruction Manual 4 Setup #2251 SV051 DFBT Dual feedback control time constant Set the control time constant in dual feed back. When "0" is set, it operates at 1ms. The higher the time constant is, the closer it gets to the semi-closed control, so the limit of the position loop gain will be raised.
Page 181 MDS-E/EH Series Instruction Manual 4 Setup #2256 SV056 EMGt Deceleration time constant at emergency stop Set the time constant used for the deceleration control at emergency stop. Set the time required to stop from rapid traverse rate (rapid). The standard setting value is EMGt≤G0tL×0.9. However, note that the standard setting value differs from the above-mentioned value when the setting value of "#2003:smgst Acceleration and deceleration modes bit 3-0:Rapid traverse acceleration/deceleration type"...
Page 182 MDS-E/EH Series Instruction Manual 4 Setup #2261 SV061 DA1NO D/A output ch1 data No. / Initial DC excitation level Input the data number you wish to output to the D/A output channel 1. When using the 2-axis drive unit, set "-1" to the axis that the data will not be output. When the DC excitation is running (SV034/bit4=1): Use this when the DC excitation is running (SV034/bit4=1) to adjust the initial magnetic pole position (when measuring the magnetic pole shift amount) for linear motor and direct-drive motor.
Page 183 MDS-E/EH Series Instruction Manual 4 Setup #2265 SV065 TLC Machine end compensation gain The shape of the machine end is compensated by compensating the spring effect from the machine end to the motor end. Set the machine end compensation gain. Measure the error amount by roundness measurement and esti- mate the setting value by the following formula.
Page 184 MDS-E/EH Series Instruction Manual 4 Setup #2282 SV082 SSF5 Servo function 5 Select the servo functions. A function is assigned to each bit. Set this in hexadecimal format. lmc3 dos2 dos3 bit F-C: Not used. Set to "0". bit B-A: dos3 Digital signal output 3 selection bitB,A= 00: Disable 01: Setting prohibited...
Page 185 MDS-E/EH Series Instruction Manual 4 Setup #2283 SV083 SSF6 Servo function 6 Select the servo functions. A function is assigned to each bit. Set this in hexadecimal format. nfd4 nfd5 bit F-8 : Not used. Set to "0". bit 7-5 : nfd5 Depth of Notch filter 5 Set the depth of Notch filter 5 (SV088).
Page 186 MDS-E/EH Series Instruction Manual 4 Setup #2284 SV084 SSF7 Servo function 7 Select the servo functions. A function is assigned to each bit. Set this in hexadecimal format. irms ilm2u bit F : h2c HAS control cancel amount 0: 1/4 (standard) 1: 1/2 Related parameters: SV034/bit1 bit E :...
Page 187 MDS-E/EH Series Instruction Manual 4 Setup #2288 SV088 FHz5 Notch filter frequency 5 Set the vibration frequency to suppress when machine vibration occurs. (Normally, do not set 80 or less.) Set to "0" when not using. Related parameters: SV083/bit7-5, SV115 ---Setting range--- 0 to 5000 (Hz) #2289...
Page 188 MDS-E/EH Series Instruction Manual 4 Setup #2295 SV095 ZUPD Vertical axis pull up distance Set this parameter to adjust the pull up distance when the vertical axis pull up function is enabled. When the pull up function is enabled and this parameter is set to "0", for a rotary motor, 8/1000 of a rotation at the motor end is internally set as the pull up distance, and for a linear motor, 80[μm] is set.
Page 189 MDS-E/EH Series Instruction Manual 4 Setup #2314 SV114 SSF9 Servo function 9 Select the servo functions. A function is assigned to each bit. Set this in hexadecimal format. nohis bit F-9 : Set to "8" when HG46, 56, 96 motors are driven by MDS-E-V3. Set to "0"...
Page 190 MDS-E/EH Series Instruction Manual 4 Setup #2315 SV115 SSF10 Servo function 10 Select the servo functions. A function is assigned to each bit. Set this in hexadecimal format. dfhz ade1 ade2 ade4 ade5 bit F : are Notch filter5 all frequencies adapted When enabled, Notch filter5 all frequencies adaptive range is not limited regardless of SV115/bit4,5 setting.
Page 191 MDS-E/EH Series Instruction Manual 4 Setup bit 5-4 : dfhz Notch filter frequency range Set the adaptive range of the notch filter frequency. When the adaptive follow-up function is enabled and if the estimated resonance frequency exists in the set range, the notch filter will be adapted. Normally set this parameter to "00".
Page 192 MDS-E/EH Series Instruction Manual 4 Setup (PR) #2330 SV130 RPITS Base reference mark interval Set the base reference mark intervals of distance-coded reference scale. When the distance-coded refer- ence scale is not used, set to "0". The interval of basic reference mark (SV130) and auxiliary interval (SV131) must be in the specified relation- ship.
Page 193 MDS-E/EH Series Instruction Manual 4 Setup #2336 SV136 RPn0L Distance-coded reference check / position within one rotation Low Set this parameter to operate distance-coded reference check when using distance-coded reference scale. During the distance-coded reference check initial setup (SV137:RAER=-1), set the following items on the NC drive monitor screen after the distance-coded reference check initial setup warning A3 turns OFF.
Page 194 MDS-E/EH Series Instruction Manual 4 Setup #2399 SV199 RTGM Real-time tuning: maximum adaptive gain multiplier In case that machine resonance is induced when mounting a workpiece, the speed loop gain is switched au- tomatically in response to inertia by setting the speed loop gain and workpiece inertia multiplier in advance. The speed loop gain SV199(RTGM) changes in response to the estimated inertia ratio SV200(RTJX) based on the speed loop gain SV005(VGN1) and the inertia multiplier SV037(JL) which were adjusted when no workpiece was mounted.
Page 195 MDS-E/EH Series Instruction Manual 4 Setup #2406 SV206 FCTC Full-closed torsion compensation control torsion amount Set the compensation amount of full-closed torsion compensation function. Set the torsion amount between the motor-end position and the machine-end position right after the stop as a standard setting value.
Page 196: Setting The Initial Parameters For The Spindle Drive Unit
MDS-E/EH Series Instruction Manual 4 Setup 4.3 Setting the Initial Parameters for the Spindle Drive Unit The spindle specification parameters and spindle parameters must be set before the spindle system can be started up. The spindle related parameters are input from the NC. The input method differs according to the NC being used, so refer to each NC Instruction Manual.
Page 197 MDS-E/EH Series Instruction Manual 4 Setup (3) Spindle speed settings for Z-phase detection when starting At the first spindle rotation after the power ON (including turning the power ON again only for NC), the spindle rotates at the speed of setting parameters during Z-phase detection for the encoder. Set the rotation speed. 【#3106】...
Page 198 MDS-E/EH Series Instruction Manual 4 Setup < Initial parameters set depending on the machine specifications > Set the following parameters depending on the spindle drive method (direct, gear drive, etc.) or inertia size of rotary sections for machine specifications. (1) Adjustment parameters in orientation mode When the inertia ratio is large for the spindle motor such as large lathes, set the following parameters so that abnormal noise or machine sway does not occur during orientation control.
Page 199 MDS-E/EH Series Instruction Manual 4 Setup < Setting parameters for the encoder with semi/full-closed loop control > Set parameters depending on the encoder configured in the machine. For semi-closed loop, set the same value to the main side and the sub side. For full-closed loop, set the encoder of the main side and the sub side. 【#13019(PR)】...
Page 200 MDS-E/EH Series Instruction Manual 4 Setup 【#13098】 SP098 RNG2ex Extension main side encoder resolution When setting the motor side encoder resolution in pulse (p) unit, set the number of pulses to four bite data of SP098 (high-order) and SP020 (low-order) in pulse (p) unit. When SP098=0, the setting unit of SP020 is (kp).
Page 201 MDS-E/EH Series Instruction Manual 4 Setup < Cautions for starting the spindle > The test operation (acceleration/deceleration, orientation) of the spindle can be executed by setting the initial parameters, however, check the spindle operation with caution. Check the wiring and ensure the safety of the surroundings before starting the operation. Do not operate at high-speed rotation at first.
Page 202: List Of Standard Parameters For Each Spindle Motor
MDS-E/EH Series Instruction Manual 4 Setup 4.3.2 List of Standard Parameters for Each Spindle Motor (1) 200V Standard motor SJ-D Series (Normal) 200V Standard motor SJ-D Series (Normal) Motor SJ-D3.7/ SJ-D5.5/ SJ-D5.5/ SJ-D7.5/ SJ-D7.5/ SJ-D11/ Parameter SJ-D5.5/120-02 100-01 100-01 120-01 100-01 120-01 100-01...
Page 203 MDS-E/EH Series Instruction Manual 4 Setup 200V Standard motor SJ-D Series (Normal) Motor SJ-D3.7/ SJ-D5.5/ SJ-D5.5/ SJ-D7.5/ SJ-D7.5/ SJ-D11/ Parameter SJ-D5.5/120-02 100-01 100-01 120-01 100-01 120-01 100-01 MDS-E-SP- Abbrev. Details 16080 16080 16080 16080 MDS-E-SP2- 16080 16080 16080 Slip compensation scale during regeneration high- SP075 DWSH speed coil...
Page 204 MDS-E/EH Series Instruction Manual 4 Setup 200V Standard motor SJ-D Series (Normal) Motor SJ-D15/ SJ-D26/ Parameter SJ-D18.5/80-01 SJ-D22/80-01 80-01 80-01 MDS-E-SP- Abbrev. Details MDS-E-SP2- SP001 Position loop gain non-interpolation mode SP002 Position loop gain interpolation mode SP003 Position loop gain spindle synchronization SP004 SP005 VGN1...
Page 205 MDS-E/EH Series Instruction Manual 4 Setup 200V Standard motor SJ-D Series (Normal) Motor SJ-D15/ SJ-D26/ Parameter SJ-D18.5/80-01 SJ-D22/80-01 80-01 80-01 MDS-E-SP- Abbrev. Details MDS-E-SP2- SP078 D axis current lead compensation 4096 4096 4096 4096 SP079 Q axis current gain 1024 1024 1024 1024...
Page 206 MDS-E/EH Series Instruction Manual 4 Setup (2) 200V Standard motor SJ-D Series (Hollow shaft) Motor 200V Standard motor SJ-D Series (Hollow shaft) Parameter SJ-D5.5/120-02T-S MDS-E-SP- Abbrev. Details MDS-E-SP2- 16080(L) SP001 Position loop gain non-interpolation mode SP002 Position loop gain interpolation mode SP003 Position loop gain spindle synchronization SP004...
Page 207 MDS-E/EH Series Instruction Manual 4 Setup Motor 200V Standard motor SJ-D Series (Hollow shaft) Parameter SJ-D5.5/120-02T-S MDS-E-SP- Abbrev. Details MDS-E-SP2- 16080(L) SP077 Q axis current lead compensation 4096 4096 SP078 D axis current lead compensation 4096 4096 SP079 Q axis current gain 1024 1024 SP080...
Page 208 MDS-E/EH Series Instruction Manual 4 Setup (3) 200V Standard motor SJ-DG Series (High-output) 200V Standard motor SJ-DG Series (High-output) Motor SJ-DG11/ SJ-DG15/ Parameter DG3.7/ DG5.5/ DG7.5/ DG11/ 120-03T 120-02T-K 120-03T 120-04T 120-05T 100-03T MDS-E-SP- Abbrev. Details MDS-E-SP2- 16080(L) SP001 Position loop gain non-interpolation mode SP002 Position loop gain interpolation mode SP003...
Page 209 MDS-E/EH Series Instruction Manual 4 Setup 200V Standard motor SJ-DG Series (High-output) Motor SJ-DG11/ SJ-DG15/ Parameter DG3.7/ DG5.5/ DG7.5/ DG11/ 120-03T 120-02T-K 120-03T 120-04T 120-05T 100-03T MDS-E-SP- Abbrev. Details MDS-E-SP2- 16080(L) Slip compensation scale during regeneration low- SP076 DWSL speed coil SP077 Q axis current lead compensation 4096...
Page 210 MDS-E/EH Series Instruction Manual 4 Setup 200V Standard motor SJ-DG Series (High-output) Motor SJ-DG11/ SJ-DG15/ Parameter DG3.7/ DG5.5/ DG7.5/ DG11/ 120-03T 120-02T-K 120-03T 120-04T 120-05T 100-03T MDS-E-SP- Abbrev. Details MDS-E-SP2- 16080(L) SP180 Motor unique constants (L) SP181 Motor unique constants (L) 7736 10079 SP182...
Page 211 MDS-E/EH Series Instruction Manual 4 Setup (4) 200V Standard motor SJ-DJ Series (Compact & Lightweight output) 200V SJ-DJ Series (Compact & Lightweight output) Motor SJ-DJ5.5/ SJ-DJ5.5/ SJ-DJ7.5/ SJ-DJ7.5/ SJ-DJ11/ SJ-DJ15/ Parameter 100-01 120-01 100-01 120-01 100-01 80-01 MDS-E-SP- Abbrev. Details MDS-E-SP2- 16080(L) 16080(L)
Page 212 MDS-E/EH Series Instruction Manual 4 Setup 200V SJ-DJ Series (Compact & Lightweight output) Motor SJ-DJ5.5/ SJ-DJ5.5/ SJ-DJ7.5/ SJ-DJ7.5/ SJ-DJ11/ SJ-DJ15/ Parameter 100-01 120-01 100-01 120-01 100-01 80-01 MDS-E-SP- Abbrev. Details MDS-E-SP2- 16080(L) 16080(L) 16080(L) 16080(M) 16080(M) Slip compensation scale during regeneration low- SP076 DWSL speed coil...
Page 213 MDS-E/EH Series Instruction Manual 4 Setup (5) 200V Standard motor SJ-DL Series (Low-inertia) / (Hollow shaft) 200V Standard motor SJ-DL Series (Low-inertia) Motor SJ-DL0.75/ SJ-DL1.5/ SJ-DL3.7/ SJ-DL5.5/ SJ-DL5.5/ Parameter 100-01 100-01 240-01T 150-01T 200-01T MDS-E-SP- Abbrev. Details MDS-E-SP2- SP001 Position loop gain non-interpolation mode SP002 Position loop gain interpolation mode SP003...
Page 214 MDS-E/EH Series Instruction Manual 4 Setup 200V Standard motor SJ-DL Series (Low-inertia) Motor SJ-DL0.75/ SJ-DL1.5/ SJ-DL3.7/ SJ-DL5.5/ SJ-DL5.5/ Parameter 100-01 100-01 240-01T 150-01T 200-01T MDS-E-SP- Abbrev. Details MDS-E-SP2- Slip compensation scale during SP075 DWSH regeneration high-speed coil Slip compensation scale during SP076 DWSL regeneration low-speed coil...
Page 215 MDS-E/EH Series Instruction Manual 4 Setup 200V Standard motor Motor 200V Standard motor SJ-DL Series (Low-inertia) SJ-DL Series (Hollow shaft) Parameter SJ-DL5.5/240-05T SJ-DL7.5/150-01T SJ-DL5.5/200-01T-S MDS-E-SP- Abbrev. Details MDS-E-SP2- SP001 Position loop gain non-interpolation mode SP002 Position loop gain interpolation mode SP003 Position loop gain spindle synchronization SP004...
Page 216 MDS-E/EH Series Instruction Manual 4 Setup 200V Standard motor Motor 200V Standard motor SJ-DL Series (Low-inertia) SJ-DL Series (Hollow shaft) Parameter SJ-DL5.5/240-05T SJ-DL7.5/150-01T SJ-DL5.5/200-01T-S MDS-E-SP- Abbrev. Details MDS-E-SP2- Slip compensation scale during SP075 DWSH regeneration high-speed coil Slip compensation scale during SP076 DWSL regeneration low-speed coil...
Page 217 MDS-E/EH Series Instruction Manual 4 Setup 200V Standard motor Motor 200V Standard motor SJ-DL Series (Low-inertia) SJ-DL Series (Hollow shaft) Parameter SJ-DL5.5/240-05T SJ-DL7.5/150-01T SJ-DL5.5/200-01T-S MDS-E-SP- Abbrev. Details MDS-E-SP2- SP177 Motor unique constants (L) SP178 Motor unique constants (L) SP179 Motor unique constants (L) SP180 Motor unique constants (L) SP181...
Page 218 MDS-E/EH Series Instruction Manual 4 Setup (6) 200V Standard motor SJ-DN Series (High-torque) Motor 200V Standard motor SJ-DN Series (High-torque) Parameter SJ-DN7.5/80-01 SJ-DN11/80-01 SJ-DN15/80-01 SJ-DN18.5/80-01 MDS-E-SP- Abbrev. Details MDS-E-SP2- 16080(L) SP001 Position loop gain non-interpolation mode SP002 Position loop gain interpolation mode SP003 Position loop gain spindle synchronization SP004...
Page 219 MDS-E/EH Series Instruction Manual 4 Setup Motor 200V Standard motor SJ-DN Series (High-torque) Parameter SJ-DN7.5/80-01 SJ-DN11/80-01 SJ-DN15/80-01 SJ-DN18.5/80-01 MDS-E-SP- Abbrev. Details MDS-E-SP2- 16080(L) Slip compensation scale during SP075 DWSH regeneration high-speed coil Slip compensation scale during SP076 DWSL regeneration low-speed coil SP077 Q axis current lead compensation 4096...
Page 220 MDS-E/EH Series Instruction Manual 4 Setup (7) 200V Standard motor SJ-V Series (Normal) Motor 200V Standard motor SJ-V Series (Normal) Parameter SJ-V2.2-01T SJ-V3.7-02ZT SJ-V15-09ZT MDS-E-SP- Abbrev. Details MDS-E-SP2- 16080(M) SP001 Position loop gain non-interpolation mode SP002 Position loop gain interpolation mode SP003 Position loop gain spindle synchronization SP004...
Page 221 MDS-E/EH Series Instruction Manual 4 Setup Motor 200V Standard motor SJ-V Series (Normal) Parameter SJ-V2.2-01T SJ-V3.7-02ZT SJ-V15-09ZT MDS-E-SP- Abbrev. Details MDS-E-SP2- 16080(M) SP074 VGVS Variable speed gain change start speed Slip compensation scale during SP075 DWSH regeneration high-speed coil Slip compensation scale during SP076 DWSL regeneration low-speed coil...
Page 222 MDS-E/EH Series Instruction Manual 4 Setup 200V Standard motor SJ-V Series (Normal) Motor SJ-V18.5- SJ-V18.5- SJ-V22- SJ-V22- SJ-V22- SJ-V26- SJ-V37- SJ-V45- SJ-V55- Parameter 01ZT 04ZT 01ZT 04ZT 06ZT 01ZT 01ZT 01ZT 01ZT Abbrev. Details MDS-E-SP- SP001 Position loop gain non-interpolation mode SP002 Position loop gain interpolation mode Position loop gain spindle...
Page 223 MDS-E/EH Series Instruction Manual 4 Setup 200V Standard motor SJ-V Series (Normal) Motor SJ-V18.5- SJ-V18.5- SJ-V22- SJ-V22- SJ-V22- SJ-V26- SJ-V37- SJ-V45- SJ-V55- Parameter 01ZT 04ZT 01ZT 04ZT 06ZT 01ZT 01ZT 01ZT 01ZT Abbrev. Details MDS-E-SP- Slip compensation scale during regeneration SP076 DWSL low-speed coil...
Page 224 MDS-E/EH Series Instruction Manual 4 Setup (8) 200V Standard motor SJ-V Series (Wide range constant output) 200V Standard motor SJ-V Series (Wide range constant output) Motor SJ-V11- SJ-V11- SJ-V15- SJ-V18.5- SJ-V22- SJ-V22- SJ-VK22- Parameter 19ZT Abbrev. Details MDS-E-SP- SP001 Position loop gain non-interpolation mode SP002 Position loop gain interpolation mode SP003...
Page 225 MDS-E/EH Series Instruction Manual 4 Setup 200V Standard motor SJ-V Series (Wide range constant output) Motor SJ-V11- SJ-V11- SJ-V15- SJ-V18.5- SJ-V22- SJ-V22- SJ-VK22- Parameter 19ZT Abbrev. Details MDS-E-SP- SP077 Q axis current lead compensation 4096 4096 4096 4096 4096 4096 4096 SP078 D axis current lead compensation...
Page 226 MDS-E/EH Series Instruction Manual 4 Setup 200V Standard motor SJ-V Series (Wide range constant output) Motor SJ-V11- SJ-V11- SJ-V15- SJ-V18.5- SJ-V22- SJ-V22- SJ-VK22- Parameter 19ZT Abbrev. Details MDS-E-SP- SP182 Motor unique constants (L) 4453 SP183 Motor unique constants (L) SP184 SP185 Motor unique constants (L) SP186...
Page 227 MDS-E/EH Series Instruction Manual 4 Setup (9) 200V Standard motor SJ-VL Series (Low-inertia) Motor 200V Standard motor SJ-VL Series (Low-inertia) Parameter SJ-VL2.2-02ZT SJ-VL11-02FZT SJ-VL11-05FZT-S01 MDS-E-SP- Abbrev. Details MDS-E-SP2- 16080(L) 16080(L) SP001 Position loop gain non-interpolation mode SP002 Position loop gain interpolation mode SP003 Position loop gain spindle synchronization SP004...
Page 228 MDS-E/EH Series Instruction Manual 4 Setup Motor 200V Standard motor SJ-VL Series (Low-inertia) Parameter SJ-VL2.2-02ZT SJ-VL11-02FZT SJ-VL11-05FZT-S01 MDS-E-SP- Abbrev. Details MDS-E-SP2- 16080(L) 16080(L) SP077 Q axis current lead compensation 4096 4096 4096 SP078 D axis current lead compensation 4096 4096 4096 SP079 Q axis current gain...
Page 229 MDS-E/EH Series Instruction Manual 4 Setup (10) 400V Standard motor SJ-4-V Series (Normal) 400V Standard motor SJ-4-V Series (Normal) Motor SJ-4-V2.2 SJ-4-V3.7 SJ-4-V5.5 SJ-4-V7.5 SJ-4-V7.5 SJ-4-V11 Parameter -03T -03T -07T -12T -13ZT -18T Abbrev. Details MDS-EH-SP- SP001 Position loop gain non-interpolation mode SP002 Position loop gain interpolation mode SP003...
Page 230 MDS-E/EH Series Instruction Manual 4 Setup 400V Standard motor SJ-4-V Series (Normal) Motor SJ-4-V2.2 SJ-4-V3.7 SJ-4-V5.5 SJ-4-V7.5 SJ-4-V7.5 SJ-4-V11 Parameter -03T -03T -07T -12T -13ZT -18T Abbrev. Details MDS-EH-SP- SP077 Q axis current lead compensation 4096 4096 4096 4096 4096 4096 SP078 D axis current lead compensation...
Page 231 MDS-E/EH Series Instruction Manual 4 Setup 400V Standard motor SJ-4-V Series (Normal) Motor SJ-4-V18.5- SJ-4-V22- SJ-4-V22- SJ-4-V26- SJ-4-V37- SJ-4-V45- SJ-4-V55- Parameter 18ZT 08ZT 04ZT Abbrev. Details MDS-EH-SP- SP001 Position loop gain non-interpolation mode SP002 Position loop gain interpolation mode SP003 Position loop gain spindle synchronization SP004 SP005...
Page 232 MDS-E/EH Series Instruction Manual 4 Setup 400V Standard motor SJ-4-V Series (Normal) Motor SJ-4-V18.5- SJ-4-V22- SJ-4-V22- SJ-4-V26- SJ-4-V37- SJ-4-V45- SJ-4-V55- Parameter 18ZT 08ZT 04ZT Abbrev. Details MDS-EH-SP- SP078 D axis current lead compensation 4096 4096 4096 4096 4096 4096 4096 SP079 Q axis current gain 1024...
Page 233 MDS-E/EH Series Instruction Manual 4 Setup (11) 400V Standard motor SJ-4-V Series (Wide range constant output) Motor 400V Standard motor SJ-4-V Series (Wide range constant output) Parameter SJ-4-V15-20T SJ-4-V22-16T Abbrev. Details MDS-EH-SP- SP001 Position loop gain non-interpolation mode SP002 Position loop gain interpolation mode SP003 Position loop gain spindle synchronization SP004...
Page 234 MDS-E/EH Series Instruction Manual 4 Setup Motor 400V Standard motor SJ-4-V Series (Wide range constant output) Parameter SJ-4-V15-20T SJ-4-V22-16T Abbrev. Details MDS-EH-SP- SP078 D axis current lead compensation 4096 4096 SP079 Q axis current gain 1024 1024 SP080 D axis current gain 1024 1024 SP081...
Page 235 MDS-E/EH Series Instruction Manual 4 Setup (12) 200V Tool spindle motor HG Series Motor 200V Tool spindle motor HG Series Parameter HG46 HG56 HG96 HG75 HG105 HG54 HG104 HG154 Abbrev. Details MDS-E-SP- SP001 Position loop gain non-interpolation mode SP002 Position loop gain interpolation mode SP003 Position loop gain spindle synchronization SP004...
Page 236 MDS-E/EH Series Instruction Manual 4 Setup Motor 200V Tool spindle motor HG Series Parameter HG46 HG56 HG96 HG75 HG105 HG54 HG104 HG154 Abbrev. Details MDS-E-SP- SP078 D axis current lead compensation 1290 2110 1580 1700 2100 SP079 Q axis current gain 1040 1060 SP080...
Page 237 MDS-E/EH Series Instruction Manual 4 Setup Motor 200V Tool spindle motor HG Series Parameter HG46 HG56 HG96 HG75 HG105 HG54 HG104 HG154 Abbrev. Details MDS-E-SP- SP239 SSCRPM Safely limited motor speed SP240 SP256 IB-1501229-F...
Page 238 MDS-E/EH Series Instruction Manual 4 Setup 200V Tool spindle motor HG Series Motor Parameter HG224 HG204 HG354 HG453 HG703 HG903 JR73 JR153 Abbrev. Details MDS-E-SP- SP001 Position loop gain non-interpolation mode SP002 Position loop gain interpolation mode SP003 Position loop gain spindle synchronization SP004 SP005 VGN1...
Page 239 MDS-E/EH Series Instruction Manual 4 Setup 200V Tool spindle motor HG Series Motor Parameter HG224 HG204 HG354 HG453 HG703 HG903 JR73 JR153 Abbrev. Details MDS-E-SP- SP078 D axis current lead compensation 2700 1030 1020 SP079 Q axis current gain 3400 1030 SP080 D axis current gain...
Page 240 MDS-E/EH Series Instruction Manual 4 Setup 200V Tool spindle motor HG Series Motor Parameter HG224 HG204 HG354 HG453 HG703 HG903 JR73 JR153 Abbrev. Details MDS-E-SP- SP240 SP256 IB-1501229-F...
Page 241 MDS-E/EH Series Instruction Manual 4 Setup (13) 400V Tool spindle motor HG Series Motor 400V Tool spindle motor HG Series Parameter HG-JR734 HG-JR1534 Abbrev. Details MDS-EH-SP- SP001 Position loop gain non-interpolation mode SP002 Position loop gain interpolation mode SP003 Position loop gain spindle synchronization SP004 SP005 VGN1...
Page 242 MDS-E/EH Series Instruction Manual 4 Setup Motor 400V Tool spindle motor HG Series Parameter HG-JR734 HG-JR1534 Abbrev. Details MDS-EH-SP- SP078 D axis current lead compensation 1010 SP079 Q axis current gain SP080 D axis current gain SP081 IQAL Q axis current lead compensation low-speed coil SP088 FHz5 Notch filter frequency 5...
Page 243 MDS-E/EH Series Instruction Manual 4 Setup Motor 400V Tool spindle motor HG Series Parameter HG-JR734 HG-JR1534 Abbrev. Details MDS-EH-SP- SP239 SSCRPM Safely limited motor speed SP240 SP256 IB-1501229-F...
Page 244: Spindle Parameters
MDS-E/EH Series Instruction Manual 4 Setup 4.3.3 Spindle Parameters These parameters are sent to the spindle drive unit when the NC power is turned ON. The standard parameters are des- ignated with the "Spindle parameter setting list" enclosed when the spindle motor is delivered. There may be cases when the machine specifications are unclear, so the parameters determined by the machine specifications should be confirmed by the user.
Page 245 MDS-E/EH Series Instruction Manual 4 Setup #13007 SP007 VIL1 Speed loop delay compensation 1 Set this parameter when the limit cycle occurs in the full-closed loop or overshooting occurs in positioning. When setting this parameter, make sure to set the torque offset "SP050(TOF)". When not using, set to "0".
Page 246 MDS-E/EH Series Instruction Manual 4 Setup #13015 SP015 PY2 Minimum excitation rate 2 Normally, SP014(PY1) is used. By setting "SP035/bit2, SP035/bitA or SP036/bit2=1", the excitation rate 2 can be used according to the ap- plication. The excitation rate 2 can also be used by setting "the minimum excitation rate 2 changeover request (control input 5/ bitB) = 1".
Page 247 MDS-E/EH Series Instruction Manual 4 Setup (PR) #13018 SP018 SPEC2 Spindle specification 2 Select the spindle specification. A function is allocated to each bit. Set this in hexadecimal format. oplp mkch spsu bit F-A : Not used. Set to "0". bit 9 : mpg Earth fault detection 0: Disable 1: Enable (standard)
Page 248 MDS-E/EH Series Instruction Manual 4 Setup (PR) #13019 SP019 RNG1 Sub side encoder resolution [For semi-closed loop] Set the same value as SP020 (RNG2). (Refer to the explanation of SP020.) [For full-closed loop] Set the number of pulses per revolution of the machine side encoder. When using the encoder interface unit MDS-EX-HR, use this with SP097(RNG1ex).
Page 249 MDS-E/EH Series Instruction Manual 4 Setup #13024 SP024 INP In-position width Set the in-position detection width. Set the positioning accuracy required to the machine. Lower setting value increases the positioning accuracy, but makes the cycle time (settling time) longer. The standard setting is "875". ---Setting range--- 0 to 32767 (1°/1000) #13025...
Page 250 MDS-E/EH Series Instruction Manual 4 Setup (PR) #13032 SP032 PTYP Power supply type/ Regenerative resistor type MDS-E/EH Series: Power supply type When connecting a power supply unit, set a code for each power supply unit. ptyp rtyp bit F-C : amp Set the power backup function to be used.
Page 251 MDS-E/EH Series Instruction Manual 4 Setup MDS-EM/EMH Series: Power supply type Set as follows for the spindle drive section of the MDS-EM/EMH-SPV3. ptyp rtyp bit F-C : amp Not used. Set to "0". bit B-8 : rtyp Not used. Set to "0". bit 7-0 : ptyp External emergency stop setting Normal MDS-EM: 20, MDS-EMH: 22, MDS-EM-SPV3-16040S: 16, MDS-EM-SPV3-320120: 37...
Page 252 MDS-E/EH Series Instruction Manual 4 Setup #13033 SP033 SFNC1 Spindle function 1 Select the spindle specification. A function is allocated to each bit. Set this in hexadecimal format. vfct bit F-C : Not used. Set to "0". bit B-A : ovs Overshoot compensation Set this parameter when overshooting occurs during positioning.
Page 253 MDS-E/EH Series Instruction Manual 4 Setup #13034 SP034 SFNC2 Spindle function 2 Select the spindle function. A function is allocated to each bit. Set this in hexadecimal format. fhz3 bit F-D : nfd5 Depth of Notch filter 5 Set the depth of Notch filter 5 (SP088). bit F,E,D= 000: -∞...
Page 254 MDS-E/EH Series Instruction Manual 4 Setup bit 3-1 : nfd1 Depth of Notch filter 1 Set the depth of Notch filter 1 (SP038). bit3,2,1= 000: -∞ 001: -18.1[dB] 010: -12.0[dB] 011: -8.5[dB] 100: -6.0[dB] 101: -4.1[dB] 110: -2.5[dB] 111: -1.2[dB] bit 0 : Not used.
Page 255 MDS-E/EH Series Instruction Manual 4 Setup (PR) #13035 SP035 SFNC3 Spindle function 3 Select the spindle function. A function is allocated to each bit. Set this in hexadecimal format. vgin pyin rtt_vgn shgn bit F-D : Not used. Set to "0". bit C : shgn SHG control in interpolation mode 0: Stop 1: Start...
Page 256 MDS-E/EH Series Instruction Manual 4 Setup (PR) #13036 SP036 SFNC4 Spindle function 4 Select the spindle function. A function is allocated to each bit. Set this in hexadecimal format. shgs rtt_vgns mksl bit F-8 : Not used. Set to "0". bit 7 : mksl Coil selection in spindle synchronization mode 0: Select the coil commanded during synchronization 1: Select high-speed coil bit 6 : rtt_vgns Real-time tuning I in spindle synchronization mode / speed gain adaptation stop...
Page 257 MDS-E/EH Series Instruction Manual 4 Setup #13039 SP039 LMCD Lost motion compensation timing Set this parameter when the lost motion compensation type2 timing does not match. Adjust by increasing the value by 10 at a time. ---Setting range--- 0 to 2000 (ms) #13040 SP040 LMCT Lost motion compensation non-sensitive band...
Page 258 MDS-E/EH Series Instruction Manual 4 Setup #13045 SP045 OBS1 Disturbance observer filter frequency Set the disturbance observer filter band. Normally, set to "100". To use the disturbance observer, also set SP037(JL), SP044(OBS2) and SP226/ bitE. When not using, set to "0". ---Setting range--- 0 to 1000 (rad/s) #13046...
Page 259 MDS-E/EH Series Instruction Manual 4 Setup #13051 SP051 DFBT Dual feed back control time constant Set the control time constant in dual feed back. When the function is valid, the standard setting is "100". When "0" is set, the value is 1 ms. When the time constant is increased, the operation will get closer to the semi-closed control and the limit of the position loop gain will be raised.
Page 260 MDS-E/EH Series Instruction Manual 4 Setup (PR) #13057 SP057 GRA1 Spindle side gear ratio 1 Set the number of gear teeth on the spindle side when "the gear selection command (control input 4/bit6, 5)" is set to "00". ---Setting range--- 1 to 32767 (PR) #13058...
Page 261 MDS-E/EH Series Instruction Manual 4 Setup #13067 SP067 TLM3 Torque limit 3 Set the torque limit value when the torque limit (spindle control input 1/bitA, 9, 8) is set to "011" (TL3, TL2, TL1 = 011). ---Setting range--- 0 to 999 (Short-time rated %) #13068 SP068 Not used.
Page 262 MDS-E/EH Series Instruction Manual 4 Setup #13073 SP073 VGVN Variable speed gain target value If noise is bothersome during high speed rotation, it may be reduced by lowering the speed loop gain at high speed. Set this value to ensure the adequate response by suppressing noise and vibration at low speeds and in- creasing the speed loop gain at high speeds for a high-speed spindle of machining center, etc.
Page 263 MDS-E/EH Series Instruction Manual 4 Setup #13075 SP075 DWSH Slip compensation scale during regeneration high- speed coil Set the slip frequency scale during deceleration. Normally, set to "0". (For Mitsubishi adjustment) ---Setting range--- 0 to 255 (1/16-fold) #13076 SP076 DWSL Slip compensation scale during regeneration low- speed coil Set the slip frequency scale at deceleration when using the low-speed coil.
Page 264 MDS-E/EH Series Instruction Manual 4 Setup #13082 SP082 IDAL D axis current lead compensation low-speed coil When using coil switch function, set the current loop gain for when the low-speed coil is selected. The setting value is determined by the motor's electrical characteristics so that the value is fixed to each mo- tor used.
Page 265 MDS-E/EH Series Instruction Manual 4 Setup #13090 SP090 TMKD Spindle output stabilizing gain D axis Set the magnification of the excitation current stabilizing gain. (For Mitsubishi adjustment) When set to "0", the excitation current stabilization is disabled. When not using, set to "0". ---Setting range--- 0 to 32767 #13091...
Page 266 MDS-E/EH Series Instruction Manual 4 Setup #13098 SP098 RNG2ex Extension main side encoder resolution When setting the motor side encoder resolution in pulse (p) unit, set the number of pulses to four bite data of SP098 (high-order) and SP020 (low-order) in pulse (p) unit. When SP098=0, the setting unit of SP020 is (kp).
Page 267 MDS-E/EH Series Instruction Manual 4 Setup #13116 SP116 MKIL Coil changeover current limit value Set the time required to limit the current immediately after the coil switch contactor ON/OFF is completed and the gate is turned ON. The standard setting is "120". ---Setting range--- 0 to 999 (Short-time rated %) #13117...
Page 268 MDS-E/EH Series Instruction Manual 4 Setup #13125 SP125 DA1NO D/A output ch1 data No. / Initial DC excitation level Input the desired data number to D/A output channel. When using the 2-axis drive unit, set "-1" to the axis that the data will not be output. When the DC excitation is running: Use in the DC excitation function.
Page 269 MDS-E/EH Series Instruction Manual 4 Setup (PR) #13143- SP143-SP160 13160 Set the unique constants for the spindle motor. (High-speed coil) The setting value is determined by the motor's mechanical and electrical characteristics and specifications, so normally set the value given in the spindle parameter list. (PR) #13161- SP161-SP192...
Page 270 MDS-E/EH Series Instruction Manual 4 Setup #13199 SP199 RTGM Real-time tuning: maximum adaptive gain multiplier In case that machine resonance is induced when mounting a workpiece, the speed loop gain is switched au- tomatically in response to inertia by setting the speed loop gain and workpiece inertia multiplier in advance. The speed loop gain SP199(RTGM) changes in response to the estimated inertia ratio SP200(RTJX) based on the speed loop gain SP005(VGN1) and the inertia multiplier SP037(JL) which were adjusted when no workpiece was mounted.
Page 271 MDS-E/EH Series Instruction Manual 4 Setup #13201- SP201-SP224 13224 Not used. Set to "0". #13225 SP225 SFNC5 Spindle function 5 Select the spindle functions. Functions are allocated to each bit. Set this in hexadecimal format. mohn thtyp ddir thno mken ovsn bit F-C: ovsn Overshooting compensation type 3 non-sensitive band Set the non-sensitive band of the overshooting compensation type 3 in increments of 2°/1000.
Page 272 MDS-E/EH Series Instruction Manual 4 Setup #13226 SP226 SFNC6 Spindle function 6 Select the spindle functions. Functions are allocated to each bit. Set this in hexadecimal format. tqof bit F : Not used. Set to "0". bit E : obs Disturbance observer 0: Normal 1: Enable bit D : vup High response acceleration / deceleration This suppresses a temporal delay which occurs when the target speed is attained from acceleration and...
Page 273 MDS-E/EH Series Instruction Manual 4 Setup #13227 SP227 SFNC7 Spindle function 7 Select the spindle functions. Functions are allocated to each bit. Set this in hexadecimal format. dos3 bit F-C : dis Digital signal input selection 0: No signal 4: Proximity switch signal detection Other settings: setting prohibited bit B-A : dos3 Digital signal output 3 selection (MDS-EJ-SP/SP2) bitB,A=...
Page 274 MDS-E/EH Series Instruction Manual 4 Setup #13229 SP229 SFNC9 Spindle function 9 Select the spindle functions. Functions are allocated to each bit. Set this in hexadecimal format. omrffon sdt2 bit F-E : Not used. Set to "0". bit D : rps Safely limited speed setting unit 0: Normal 1: 100°/min bit C : sdt2 Specified speed output digital signal 2 output 0: Normal 1: Enable...
Page 275 MDS-E/EH Series Instruction Manual 4 Setup #13230 SP230 SFNC10 Spindle function 10 Select the spindle functions. Functions are allocated to each bit. Set this in hexadecimal format. nohis pfdsr bit F-C : Not used. Set to "0". bit B : pfdsr Set the spindle stop operation at a power failure when the deceleration and stop function at power failure is enabled.
Page 276 MDS-E/EH Series Instruction Manual 4 Setup (PR) #13236 SP236 WIH Temperature compensation time constant Set the delay time constant from the thermistor temperature to the control compensation amount. When "0" is set, the delay time constant is disabled. When not using, or when using an IPM spindle motor, set to "0". ---Setting range--- 0 to 150 (min) (PR)
Page 277 MDS-E/EH Series Instruction Manual 4 Setup IB-1501229-F...
Page 278: Servo Adjustment
Servo Adjustment IB-1501229-F...
Page 279: Servo Adjustment Procedure
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.1 Servo Adjustment Procedure Adjusting servo Setup has completed. Look for the maximum value not causes Measures against the vibration Set speed loop gain machine resonance. The final setting · Notch filter value should be 70 to 80% of the ·...
Page 280: Gain Adjustment
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.2 Gain Adjustment 5.2.1 Current Loop Gain 【#2209】 SV009 IQA Current loop q axis lead compensation Set the fixed value of each motor. Set the standard value for each motor described in the standard parameter list. ---Setting range--- 1 to 20480 【#2210】...
Page 281: Speed Loop Gain
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.2.2 Speed Loop Gain (1) Setting the speed loop gain The speed loop gain 1 (SV005: VGN1) is an important parameter for determining the responsiveness of the servo control. During servo adjustment, the highest extent that this value can be set to becomes important. The setting value has a large influence on the machine cutting precision and cycle time.
Page 282 MDS-E/EH Series Instruction Manual 5 Servo Adjustment Load inertia ratio display Perform the measurement in the section "Measuring unbalance torque and frictional torque", and set a torque offset (SV032) and frictional torque (SV045). When an acceleration/deceleration operation is executed with the setting of SV035/bitF=1, an estimated load inertia ratio will be displayed in "load inertia ratio"...
Page 283 MDS-E/EH Series Instruction Manual 5 Servo Adjustment [ HG105, HG104, HG224 [ HG-H104 [ HG-H105 Isolated motor Isolated motor Standard VGN1 Load inertia magnification (%) Load inertia magnification (%) [ HG204, HG354, HG123, HG142 [ HG223, HG453 ...
Page 284 MDS-E/EH Series Instruction Manual 5 Servo Adjustment [ HG-H1502 Isolated motor Standard VGN1 Load inertia magnification (%) IB-1501229-F...
Page 285 MDS-E/EH Series Instruction Manual 5 Servo Adjustment (2) Setting the speed loop lead compensation The speed loop lead 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 in respect to loads with a large inertia.
Page 286: Position Loop Gain
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.2.3 Position Loop Gain (1) Setting the position loop gain The position loop gain 1 (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 trackability will be raised and 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.
Page 287 MDS-E/EH Series Instruction Manual 5 Servo Adjustment (2) Setting the position loop gain for spindle synchronous control During spindle synchronous control (synchronous tapping control, etc.), there are three sets of position loop gain parameters besides the normal control. 【#2249】 SV049 PGN1sp Position loop gain 1 in spindle synchronous control Set the position loop gain during spindle synchronization control (synchronous tapping and synchronization control with spindle C-axis).
Page 288 MDS-E/EH Series Instruction Manual 5 Servo Adjustment 50.0 [1] : Commanded path [2] : SHG control (PGN1=47) [3] : Conventional control (PGN1=33) Control Roundness error ( m) method Conventional 22.5 control SHG control -50.0 -50.0 50.0 (F=3000mm/min , ERROR=5.0μm/div) Shape error characteristics During SHG control, PGN1, PGN2 and SHGC are set with the following ratio.
Page 289: Omr-Ff Function
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.2.4 OMR-FF Function OMR-FF control improves the inner rounding amount of the arc, corner tracking error, or path vibration, etc. more comprehensively than conventional high-speed high-accuracy control by creating appropriate feed forward command for each of position, speed, and current depending on the vibration characteristics of the control target.
Page 290 MDS-E/EH Series Instruction Manual 5 Servo Adjustment < Initial implementation > When using OMR-FF function, perform the following adjustment items beforehand. The adjustment for OMR- FF function does not operate correctly if the following items are not performed. < Setting method > (1) Confirm that OMR-FF function is invalid.
Page 291 MDS-E/EH Series Instruction Manual 5 Servo Adjustment 【#2203】 SV003 PGN1 Position loop gain 1 Set the position loop gain. The standard setting is "33". The higher the setting value is, the more accurately the command can be followed, and the shorter the settling time in positioning gets, however, note that a bigger shock will be applied to the machine during acceleration/deceleration.
Page 292 MDS-E/EH Series Instruction Manual 5 Servo Adjustment < OMR-FF function adjustment items > Enable OMR-FF function after performing the adjustment items in < Initial implementation > and adjust the following parameters. < Setting method > (1) Disable SHG control. Set #2204 : SV004(PGN2) to "0" Set #2257 : SV057(SHGC) to "0"...
Page 293 MDS-E/EH Series Instruction Manual 5 Servo Adjustment Adjustment method of OMR-FF function Always perform < Initial implementation > before performing the following adjustment items. In the state where OMR-FF function adjustment start OMR-FF function is enabled - SV106(PGM) =33 Set the standard parameters for OMR-FF control - SV112(IFF) = 10000 [1] Check the acceleration/deceleration for G01 feed (cutting feed) / G00 feed (rapid traverse)
Page 294 MDS-E/EH Series Instruction Manual 5 Servo Adjustment 【#2306】 SV106 PGM OMR-FF scale model gain Set the scale model gain (position response) in OMR-FF control. Set the same value as SV003(PGN1). Increase the setting value to perform a high-speed machining such as a fine arc or to improve the path error.
Page 295: Characteristics Improvement
If the drive unit's input voltage is less than the rated voltage, the torque will easily become insufficient, and excessive errors will occur easily during acceleration/deceleration. Maximum tolerable current command value when adjusting the rapid traverse acceleration/deceleration time constant MDS-E Series (200V) MDS-EH Series (400V) Motor Max.
Page 296 Adjust the cutting feed rate so that the maximum current command value during acceleration/deceleration is within the range shown below, and then set the value in the clamp speed. Maximum tolerable current command value when adjusting the cutting feed acceleration/deceleration time constant MDS-E Series (200V) MDS-EH Series (400V) Motor Max.
Page 297 MDS-E/EH Series Instruction Manual 5 Servo Adjustment (3) Adjusting the in-position width Because there is a response delay in the servo motor drive due to position loop control, a "settling time" is also required for the motor to actually stop after the command speed from the CNC reaches 0. The movement command in the next block is generally started after it is confirmed that the machine has entered the "in-position width"...
Page 298: Vibration Suppression Measures
MDS-E/EH Series Instruction Manual 5 Servo Adjustment (4) Adjusting the settling time The settling time is the time required for the position droop to enter the in-position width after the feed Setting time command (FΔT) from the CNC reaches 0. The settling time can be shortened by raising the Time G0tL...
Page 299 MDS-E/EH Series Instruction Manual 5 Servo Adjustment < Notch filter > This servo drive unit mounts 5 notch filters. Measure the resonance frequency with AFLT frequency display on NC drive monitor screen and the current feedback analog output function, and set that frequency in parameter. However, if the notch filter is set to a particularly low frequency, another resonance frequency that did not vibrate initially may occur.
Page 300 MDS-E/EH Series Instruction Manual 5 Servo Adjustment 【#2283】 SV083 SSF6 Servo function 6 bit 7-5 : nfd5 Depth of Notch filter 5 Set the depth of Notch filter 5 (SV088). bit7,6,5= 000: - ∞ 001: -18.1[dB] 010: -12.0[dB] 011: -8.5[dB] 100: -6.0[dB] 101: -4.1[dB] 110: -2.5[dB]...
Page 301 MDS-E/EH Series Instruction Manual 5 Servo Adjustment < Notch filter frequency adaptive tracking function > Machine system resonance can vary depending on secular changes or installation conditions of machine, resonance frequency may deviate from the notch filter frequency set at the initial adjustment. The adaptive tracking function estimates minor changes in resonance frequency from current command oscillating component, automatically adjusting notch filter effective frequency.
Page 302 MDS-E/EH Series Instruction Manual 5 Servo Adjustment 【#2315】 SV115 SSF10 Servo function 10 bit F : are Notch filter5 all frequencies adopted When enabled, Notch filter5 all frequencies adoptive range is not limited regardless of SV115/bit4,5 setting. 0: Disable 1: Enable bit E-C: dsl Notch filter frequency display Switch the "AFLT frequency"...
Page 303 MDS-E/EH Series Instruction Manual 5 Servo Adjustment < Jitter compensation (Vibration control when motor is stopped.) > The load inertia becomes much smaller than usual if the motor position enters the machine backlash when the motor is stopped. Because this means that an extremely large VGN1 is set for the load inertia, vibration may occur. Jitter compensation can suppress the vibration that occurs at the motor stop by ignoring the backlash amount of speed feedback pulses when the speed feedback polarity changes.
Page 304 MDS-E/EH Series Instruction Manual 5 Servo Adjustment < Variable speed loop gain control > If vibration occurs when the motor is rotating at a high speed, such during rapid traverse, or if disturbing noise occurs, the state can be improved by lowering the speed loop gain during high-speed rotation. The low-speed region speed loop gain used for cutting feed (G1 feed), etc., is maintained at a high level, so the vibration can be improved without dropping the machining accuracy.
Page 305: Improving The Cutting Surface Precision
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.3.3 Improving the Cutting Surface Precision If the cutting surface precision or roundness is poor, these can be improved by increasing the speed loop gain (VGN1, VIA) or by using the disturbance observer function. <...
Page 306 MDS-E/EH Series Instruction Manual 5 Servo Adjustment 【#2205】 SV005 VGN1 Speed loop gain 1 Set the speed loop gain. The higher the setting value is, the more accurate the control will be, however, vibration tends to occur. If vibration occurs, adjust by lowering by 20 to 30%. The value should be determined to the 70 to 80% of the value at which the vibration stops.
Page 307 MDS-E/EH Series Instruction Manual 5 Servo 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.
Page 308: Improvement Of Characteristics During Acceleration/Deceleration
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.3.4 Improvement of Characteristics during Acceleration/Deceleration < SHG control > Because SHG control has a smoother response during acceleration/deceleration than conventional position controls, the acceleration/deceleration torque (current FB) has more ideal output characteristics (A constant torque is output during acceleration/deceleration.) The peak torque is kept low by the same acceleration/deceleration time constant, enabling the time constant to be shortened.
Page 309 MDS-E/EH Series Instruction Manual 5 Servo Adjustment < Acceleration feed forward > Vibration may occur at 10 to 20 Hz during acceleration/deceleration when a short time constant of 30 ms or less is applied, and a position loop gain (PGN1) higher than the general standard value or SHG control is used. This is because the torque is insufficient when starting or when starting deceleration, and can be resolved by setting the acceleration rate feed forward gain (SV015: FFC).
Page 310 MDS-E/EH Series Instruction Manual 5 Servo Adjustment < 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.
Page 311 MDS-E/EH Series Instruction Manual 5 Servo Adjustment < HAS control > If an output torque during acceleration/deceleration is close to the servo motor's maximum torque, the motor cannot accelerate with a commanded time constant when the torque is saturated due to input voltage fluctuation, etc. Generally, if an acceleration command is switched to a constant speed command, speed FB overshoots to compensate a delay of position droop, making the machine operation unstable.
Page 312: Improvement Of Protrusion At Quadrant Changeover
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.3.5 Improvement of Protrusion at Quadrant Changeover The response delay (caused by dead band from friction, torsion, expansion/contraction, backlash, etc.) caused when the machine advance direction reverses is compensated with the lost motion compensation (LMC compensation) function. With this, the protrusions that occur at the quadrant changeover in the DBB measurement method, or the streaks that occur when the quadrant changes during circular cutting can be improved.
Page 313 MDS-E/EH Series Instruction Manual 5 Servo Adjustment (1) Measuring unbalance torque and frictional torque Machine unbalance torque and frictional torque measurements are required before the LMC compensation can be set. However, the horizontal axis unbalance torque is necessarily "0". Carry out the reciprocating operation (approx. F1000) with the measured axis, and the load current % value during constant-speed feed is measured at the NC servo monitor screen.
Page 314 MDS-E/EH Series Instruction Manual 5 Servo Adjustment (2) Setting and adjusting LMC compensation type 3 LCM compensation type 3 can be used to accommodate quadrant projection changes that accompany feed rate and circular radius changes which could not be accommodated by LCM compensation type 2. In this case, on a machine model where the travel direction is reversed, the effect caused by torsion or expansion and contraction on the machine system are also considered in addition to the friction, with compensation occurring in accordance with the changes in the cutting conditions.
Page 315 MDS-E/EH Series Instruction Manual 5 Servo Adjustment 【#2216】 SV016 LMC1 Lost motion compensation 1 Set this parameter when the protrusion (that occurs due to the non-sensitive band by friction, torsion, backlash, etc.) at quadrant change is too large. This sets the compensation torque at quadrant change (when an axis feed direction is reversed) by the proportion (%) to the stall torque.
Page 316: Improvement Of Overshooting
MDS-E/EH Series Instruction Manual 5 Servo Adjustment (3) Setting and adjusting LMC compensation type 4 LMC compensation type 4 is enabled by being used with LMC compensation type 3. Make sure to adjust the LMC compensation type 3 before setting the LMC compensation type 4. <...
Page 317 MDS-E/EH Series Instruction Manual 5 Servo Adjustment (1) Overshooting compensation (OVS compensation) In OVS compensation, the overshooting is suppressed by subtracting the torque command set in the parameters when the motor stops. OVS compensation type 3 has a compensation effect for the overshooting during either rapid traverse settling or pulse feed.
Page 318 MDS-E/EH Series Instruction Manual 5 Servo Adjustment 【#2231】 SV031 OVS1 Overshooting compensation 1 This compensates the motor torque when overshooting occurs during positioning. This is valid only when the overshooting compensation (SV027/bitB,A) is selected. Type 3 SV027/bitB,A = 11 Set the compensation amount based on the motor stall current. Observing positioning droop waveform, increase in increments of 1% and find the value where overshooting does not occur.
Page 319: Improvement Of The Interpolation Control Path
MDS-E/EH Series Instruction Manual 5 Servo Adjustment POINT When using feed forward control (high-speed high-accuracy control), stop the feed forward control (fwd_g=0) before adjusting the overshooting compensation. If overshooting occurs during subsequent feed forward control, adjust the feed forward gain (fwd_g). 5.3.7 Improvement of the Interpolation Control Path (1) Machine end compensation control The machine end compensation control compensates the shape of the tool end during high-speed and high-speed...
Page 320 MDS-E/EH Series Instruction Manual 5 Servo Adjustment < Adjustment methods > Confirm that the motor side circle accuracy measured with the NC sampling function is appropriate. In this state, measure the machine side low-speed and high-speed circle path without machine end compensation control.
Page 321: Adjustment During Full Closed Loop Control
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.4 Adjustment during Full Closed Loop Control 5.4.1 Outline (1) Full closed loop control The servo control is all closed loop control using the encoder's feedback. "Full closed loop control" is the system that directly detects the machine position using a linear scale, whereas the general "semi-closed loop"...
Page 322: Speed Loop Delay Compensation
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.4.2 Speed Loop Delay Compensation Generally, the machine position follows the operation later than the motor position. With full closed loop position loop control, the machine position is used for position feedback, so the motor position could advance too far and cause the machine position to overshoot easily.
Page 323: Dual Feedback Control
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.4.3 Dual Feedback Control If the motor and machine coupling or machine system's rigidity is low (ex. large machine, etc.) when using a closed loop system, the response during acceleration/deceleration will vibrate and cause overshooting. This can cause the position loop gain from increasing.
Page 324 MDS-E/EH Series Instruction Manual 5 Servo Adjustment < Adjustment method > Set the servo specifications (SV017: SPEC)/bit1 to 1, and turn the NC power ON again. Measure the position droop overshooting while increasing the dual feedback control time constant (SV051: DFBT) in increments of 5ms.
Page 325: Full-Closed Torsion Compensation Function
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.4.4 Full-closed Torsion Compensation Function This function performs compensation by setting the torsion compensation amount based on the distance between the motor-end position and the machine-end position when the direction is reversed. Setting the torsion compensation amount in addition to the conventional lost motion compensation enables to reduce the distance from the machine end and smooth the tracking to the position command.
Page 326 MDS-E/EH Series Instruction Manual 5 Servo Adjustment < Setting method > (1) Disable all the input compensation parameters before checking the torsion amount with the motor-end feedback in the roundness measurement. Set lost motion compensation 1 (LMC1) to "0". Set lost motion compensation 2 (LMC2) to "0". Set lost motion compensation 3 spring constant (LMCk) to "0".
Page 327 MDS-E/EH Series Instruction Manual 5 Servo Adjustment Measure the roundness and read the torsion amounts generated when the direction is reversed (linear parts in the following figure). Set the smaller value of the read values to the parameter: SV206 (unit: 0.01μm) as the compensation amount.
Page 328: Settings For Emergency Stop
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.5 Settings for Emergency Stop Emergency stop in this section refers to the following states. Emergency stop was input (including other axis alarms) NC power down was detected A drive unit alarm was detected 5.5.1 Deceleration Control With the servo drive unit, if the deceleration stop function is validated, the motor will decelerate following the set time constant while maintaining the READY ON state.
Page 329 MDS-E/EH Series Instruction Manual 5 Servo Adjustment < Operation > When an emergency stop occurs, the motor will decelerate at the same inclination from each speed. S V056 Forced READY OFF range S V055 RAPID Constant inclination deceleration Motor speed Time...
Page 330 MDS-E/EH Series Instruction Manual 5 Servo Adjustment (2) Deceleration control stop distance The stopping distance Lemg when the motor is stopped with deceleration control during an emergency stop can be approximated with the following expression. Note that the value will be higher than this if the current is limited during deceleration.
Page 331: Vertical Axis Drop Prevention Control
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.5.2 Vertical Axis Drop Prevention Control The vertical axis drop prevention control is a function that prevents the vertical axis from dropping due to a delay in the brake operation when an emergency stop occurs. The no-control time until the brakes activate can be eliminated by delaying the servo READY OFF state by the time set in the parameters when an emergency stop occurs.
Page 332 MDS-E/EH Series Instruction Manual 5 Servo Adjustment CAUTION 1. Always set deceleration control when using the vertical axis drop prevention control setting. 2. Configure so that the power supply unit is controlled directly by the servo drive unit which controls the spindle drive unit or the vertical axis drop prevention control.
Page 333 MDS-E/EH Series Instruction Manual 5 Servo Adjustment POINT 1. SV048 and SV055 are set for each axis, but when using MDS-E/EH-V2/V3 (2-axis or 3-axis drive unit), the axes are controlled with the larger setting value. 2. If an alarm, for which dynamic brake stopping is designated, occurs with the axis for which vertical axis drop prevention control is active, the function will not activate.
Page 334 MDS-E/EH Series Instruction Manual 5 Servo Adjustment [1] Spindle drive unit controls power supply unit. Vertical axis is a 1-axis unit (vertical axis: Z axis). MDS-E/EH-V2 MDS-E/EH-V1 MDS-E/EH-SP MDS-E/EH-CV X axis, Y axis *Z axis Spindle Power supply...
Page 335 MDS-E/EH Series Instruction Manual 5 Servo Adjustment [3] Servo drive unit controls power supply unit. Vertical axis is a 1-axis unit (vertical axis: Z axis). MDS-E/EH-V2 MDS-E/EH-V1 MDS-E/EH-CV MDS-E/EH-SP MDS-E/EH-CV *Z axis Power supply Spindle Power supply X axis, Y axis Axis X axis Y axis...
Page 336 MDS-E/EH Series Instruction Manual 5 Servo Adjustment [5] Spindle drive unit in the 2nd part system controls power supply unit. Vertical axis is a 1-axis unit in the 1st part system (vertical axis: Z axis). MDS-E/EH-V2 MDS-E/EH-V2 MDS-E/EH-V1 *Z axis (1st part system) MDS-E/EH-V2 MDS-E/EH-SP...
Page 337 MDS-E/EH Series Instruction Manual 5 Servo Adjustment [6] Spindle drive unit in the 2nd part system controls power supply unit. Vertical axis is a 2-axis unit in the 1st part system (vertical axis: Z axis). MDS-E/EH-V2 MDS-E/EH-V1 MDS-E/EH-V2 Y axis, *Z axis (1st part system) MDS-E/EH-V2 MDS-E/EH-SP...
Page 338: Vertical Axis Pull-Up Control
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.5.3 Vertical Axis Pull-up Control Even when the vertical axis drop prevention control is applied, the axis will drop several μm due to the mechanical play of the motor brakes. Work could be damaged especially when the power fails during machining. For the vertical machining center, etc., vertical axis pull-up control protect works from collision by slightly pulling the vertical axis when an emergency stop (including the power failure) occurs.
Page 339: Protective Functions
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 【#2233】 SV033 SSF2 Servo function 2 bit E : zup Vertical axis pull up function 0: Stop 1: Enable 【#2248】 SV048 EMGrt Vertical axis drop prevention time Input the time required to prevent the vertical axis from dropping by delaying READY OFF until the brake works at an emergency stop.
Page 340: Excessive Error Detection
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.6.2 Excessive Error Detection An excessive error (alarms 52, 53, 54) is detected when the difference between the servo's commanded position and the FB position exceeds the value set by parameter. Separate excessive error detection width can be set for servo ON (SV023) and servo OFF (SV026) statuses.
Page 341: Collision Detection Function
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.6.3 Collision Detection Function Collision detection function quickly detects a collision of the motor shaft, and decelerates and stops the motor. This suppresses the generation of an excessive torque in the machine tool, and helps to prevent an abnormal state from occurring.
Page 342 MDS-E/EH Series Instruction Manual 5 Servo Adjustment (2) Collision detection method 2 When the current command reaches the motor's maximum current, the motor will decelerate and stop at a torque 80% (standard value) of the motor's maximum torque. After decelerating to a stop, alarm 5A will occur, and the system will stop.
Page 343 MDS-E/EH Series Instruction Manual 5 Servo Adjustment < Setting and adjustment methods > Confirm that SHG control or OMR-FF function is enabled. Set the axis unbalanced torque to the torque offset (SV032: TOF). (Refer to "Measuring unbalance torque and frictional torque" for details on measuring the unbalance torque.) Measure the frictional torque and set in the frictional torque (SV045: TRUB).
Page 344 MDS-E/EH Series Instruction Manual 5 Servo Adjustment 【#2235】 SV035 SSF4 Servo function 4 bit F : clt Inertia ratio display 0: Setting for normal use 1: Display the total inertia ratio estimated at acceleration/deceleration at the inertia ratio on the servo monitor screen To display it on the screen, set an imbalance torque and friction torque to both SV032 and SV045 and repeat acceleration/deceleration operations for several times.
Page 345: Servo Control Signal
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.7 Servo Control Signal The sequence input/output signals exchanged between the NC and servo drive unit are explained in this section. The status of each signal is displayed on the NC SERVO MONITOR screen. 5.7.1 Servo Control Input (NC to Servo) (1) Servo control input 1 Name...
Page 346 MDS-E/EH Series Instruction Manual 5 Servo Adjustment (2) Servo control input 2 Name Details Servo control input 2 NCDC SRVDC Details (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) Speed monitor command valid NCDC In door closed (controller) In door closed (all drive units)
Page 347 MDS-E/EH Series Instruction Manual 5 Servo Adjustment (4) Servo control input 4 This is used for maintenance. (5) Servo control input 5 This is used for maintenance. (6) Servo control input 6 Name Details Servo control input 6 OMRFF Details OMRFF OMR-FF control request (For maintenance)
Page 348: Servo Control Output (Servo To Nc)
MDS-E/EH Series Instruction Manual 5 Servo Adjustment 5.7.2 Servo Control Output (Servo to NC) (1) Servo control output 1 Name Details Servo control output 1 ALMR Details In READY ON In servo ON (For maintenance) (For maintenance) In position loop gain changeover (For maintenance) In excessive error detection width changeover In alarm...
Page 349 MDS-E/EH Series Instruction Manual 5 Servo Adjustment bitE. In absolute position data loss (AER) It indicates that the drive unit is in absolute position data loss at AER=1. bitF. In warning (WRN) It indicates that drive unit is in some warning state at WRN=1. (Note) The bits other than those above are used for maintenance.
Page 350 MDS-E/EH Series Instruction Manual 5 Servo Adjustment (3) Servo control output 3 Name Details Servo control output 3 Details In control axis detachment (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance)
Page 351 MDS-E/EH Series Instruction Manual 5 Servo Adjustment IB-1501229-F...
Page 352: Spindle Adjustment
Spindle Adjustment IB-1501229-F...
Page 353: Adjustment Procedures For Each Control
MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 6.1 Adjustment Procedures for Each Control CAUTION 1. Do not adjust when possible risks associated with adjustment procedures are not thoroughly taken into consideration. 2. Be careful when touching rotating section, or your hand may be caught in or cut. 3.
Page 354: Gain Adjustment
MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 6.1.2 Gain Adjustment (1) Checking the current loop gain Check to see if the settings of following parameters, SP077 to SP084, are the standard setting. Basically, parameters for current loop gain do not need to be changed. 【#13077】...
Page 355 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 【#13082】 SP082 IDAL D axis current lead compensation low-speed coil When using coil switch function, set the current loop gain for when the low-speed coil is selected. The setting value is determined by the motor's electrical characteristics so that the value is fixed to each motor used.
Page 356 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment (3) Adjusting the speed loop parameter Adjust speed loop gain Set SP001=15 Stops at servo ON status Command M19 (orientation stop) Increase the value up to where Set SP005 (standard setting 150) resonance occurs. Resonance occurs? Increase SP005 by +20 Increase SP005 by -20...
Page 357 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 【#13005】 SP005 VGN1 Speed loop gain 1 Set the speed loop gain. Set this according to the load inertia size. The higher setting value will increase the accuracy of control, however, vibration tends to occur. If vibration occurs, adjust by lowering by 20 to 30%.
Page 358: Adjusting The Acceleration/Deceleration Operation
MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 6.1.3 Adjusting the Acceleration/Deceleration Operation (1) Calculating the theoretical acceleration/deceleration time The spindle motor output characteristics (shown on the right) have three Constant torque range ranges, which are constant torque, constant output, and deceleration Deceleration Constant ranges.
Page 359 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment CAUTION 1. Note that the inertia (J) is a quarter of "GD ". Ex.) When "GD " is 0.2 [kg•m ], the inertia is "0.2 / 4 = 0.05 [kg•m ]". 2. If the AC input power voltage to the power supply is low, or if the input power impedance is high, the acceleration/ deceleration time may be long.
Page 360 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment (2) Measuring the acceleration/deceleration waveforms Measure the speed feedback and current feedback output by setting the monitor output data on "Time-series data measurement" with NC Analyzer, and check if theoretical acceleration/deceleration time is within ±15%. Refer to "NC Analyzer Instruction Manual (IB-1501086)"...
Page 361 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment (3) Adjustment when the load inertia is large When the load inertia is large and acceleration time is 10s or more, excessive speed deviation alarm (ALM23) may occur because the time in which deviation between speed command and speed FB, which is the actual spindle motor rotation speed, exists is prolonged.
Page 362 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment (4) Acceleration/deceleration adjustment Checks acceleration waveform and adjusts deceleration time. (a) Checking acceleration waveform < NC Analyzer setting (Time-series data measurement) > Waveform type Speed feedback (r/min) Check acceleration waveform Current feedback Set the "Time-series data measurement"...
Page 363 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment (b) Adjusting deceleration time Adjusts deceleration time in the same manner as acceleration time by using SP071 (variable current limit during deceleration, lower limit value) and SP072 (variable current limit during deceleration, break point speed).
Page 364 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment Relation between SP071 (variable current limit during deceleration, lower limit value) and SP072 (variable current limit during deceleration, break point speed) Decreasing current value Motor rotation speed Current limit Deceleration time ”100” is the setting value for the current limit during regeneration (SP152 (high-speed coil), SP184 (low speed coil)).
Page 365: Orientation Adjustment
MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 6.1.4 Orientation Adjustment Adjusts orientation time by adjusting SP016. (1) Orientation characteristics When decelerating to stop is executed with orientation, the remaining distance to the orientation stop position is compensated within one rotation. Thus, as shown in Case 1 below, when the remaining distance in deceleration is about "0", orientation time would be the shortest (time required to decelerate and stop + 0s), and as shown in Case 2 below, when the remaining distance in deceleration is about as much as one rotation amount, orientation time would be the longest.
Page 366 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment (2) Confirmation in orientation stop at deceleration ≒ 0 rotation according to spindle specification If orientation stop is performed with the load inertia increased due to an excessive workpiece or tool installed to the spindle, the spindle may start vibrating by trying to reverse after overshooting the stop position and stop after converging the vibrations (refer to the waveform below).
Page 367 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment (3) Orientation time adjustment method (a) Orientation adjustment from maximum rotation speed Adjust orientation time < NC Analyzer setting (Time-series data measurement) > Set the "Time-series data measurement" with NC Analyzer Waveform type as shown on the right Speed feedback (r/min) Current feedback...
Page 368 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment (b) Orientation adjustment from stop mode Adjust orientation time < NC Analyzer setting (Time-series data measurement) > Waveform type Speed feedback (r/min) Set the "Time-series data Current feedback measurement" with NC Analyzer as shown on the right Control output 1(bitC) *In-position signal Screen operation [1] Press the NC function key DIAGN .
Page 369: Synchronous Tapping Adjustment
MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 6.1.5 Synchronous Tapping Adjustment (1) Gain setting and time constant determination For speed loop gain during synchronous tapping, speed loop gain set 2, which consists of SP008 (speed loop gain 2), SP009 (speed loop lead compensation 2), and SP010 (speed loop delay compensation 2), is used. Thus, SP035 has to be set as follows.
Page 370 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment Select "Synchronous tapping error measurement" on NC Analyzer, and perform synchronous tapping operations with the operation pattern 2 above. *The following measurement data of servo and spindle are automatically set when "Synchronous tapping error measurement"...
Page 371 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 【#13002】 SP002 PGN Position loop gain interpolation mode Set the position loop gain for "interpolation" control mode. When the setting value increases, the command tracking ability will enhance and the positioning settling time can be shorter. However, the impact on the machine during acceleration/deceleration will increase.
Page 372: High-Speed Synchronous Tapping
MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 6.1.6 High-speed Synchronous Tapping This function uses high-speed communication between drive units to send compensation data from a spindle to a servo system. The servo system uses the received data for compensation to follow the spindle position, and reduce synchronous errors.
Page 373 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment (2) Related parameters The following are the parameters related to high-speed synchronous tapping function. NC parameter High-speed synchronous tapping function is an option. Check the machine specifications when adjusting the parameters. 【#1281(PR)】 ext17 bit 5 : High-speed synchronous tapping valid Select whether to enable the high-speed synchronous tapping.
Page 374 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 【#3120】 staptr Time constant reduction rate in high-speed synchronous tapping When performing high-speed synchronous tapping control(#1281/bit5), set the reduction rate of the time constant compared to the time constant in normal synchronous tapping. (Setting "0"...
Page 375 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 【#2329】 SV129 Kwf Synchronous control feed forward filter frequency Set the acceleration rate feed forward filter frequency in high-speed synchronous tapping control. The standard setting is "600". ---Setting range--- 0 to 32767 (rad/s) 【#2444(PR)】...
Page 376 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment The checking of error waveforms Check the error waveforms of the time constant to be set to confirm that the synchronous errors are less than or equal to the base value. Disable machine end compensation such as backlash compensation before checking. Base value The base value of synchronous errors is 8.8°...
Page 377 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment (4) Adjustment procedures The adjustment procedures of high-speed synchronous tapping function are shown below. (Note 1) Start High-speed synchronous tapping-related parameter settings [NC] 1281/bit5: High-speed synchronous tapping enabled [Servo] Check that the parameters related to high-speed SV032: Torque offset synchronous tapping function are set.
Page 378: Spindle C Axis Adjustment (For Lathe System)
MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 6.1.7 Spindle C Axis Adjustment (For Lathe System) (1) Setting the gain For spindle C axis speed loop gain, SP008 (speed loop gain 2), speed loop gain set 2, which consists of SP009 (speed loop lead compensation 2), and SP010 (speed loop delay compensation 2), is used.
Page 379 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment * Waveform during stopped in C axis (Reference) Ch1: Position droop 0.010° or less Ch2: Current command * Waveform when executing cutting feed with G01 F20 (Reference) Ch1: Position droop 0.010° or less Ch2: Current command When satisfactory accuracy is not secured, increase SP008 (VGN2) by 10 increments and adjust so that the accuracy level meets the standard.
Page 380 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment POINT 1. When incorrect frequency is set, suddenly resonance can occur and big abnormal noise can be generated. Input the appropriate value. 2. Do not set the value to low-frequency (50Hz). 【#13002】 SP002 PGN Position loop gain interpolation mode Set the position loop gain for "interpolation"...
Page 381 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 【#13034】 SP034 SFNC2 Spindle function 2 bit F-D : nfd5 Depth of Notch filter 5 Set the depth of Notch filter 5 (SP088). bit F,E,D= 000: - ∞ 001: -18.1[dB] 010: -12.0[dB] 011: -8.5[dB] 100: -6.0[dB] 101: -4.1[dB] 110: -2.5[dB]...
Page 382 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 【#13038】 SP038 FHz1 Notch filter frequency 1 Set the vibration frequency to suppress when machine vibration occurs. (Enabled at 50 or more.) When not using, set to "0". ---Setting range--- 0 to 5000 (Hz) 【#13046】...
Page 383: Spindle Synchronization Adjustment (For Lathe System)
MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 6.1.8 Spindle Synchronization Adjustment (For Lathe System) (1) Setting the gain, changeover rotation speed and time constant For speed loop gain during spindle synchronization, SP005 (speed loop gain 1), SP006 (speed loop lead compensation 1), and SP007 (speed loop delay compensation 2) are used.
Page 384 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 【#13003】 SP003 PGS Position loop gain spindle synchronization Set the position loop gain for "spindle synchronization" control mode. When the setting value increases, the command tracking ability will enhance and the positioning settling time can be shorter. However, the impact on the machine during acceleration/deceleration will increase.
Page 385: Deceleration Coil Changeover Valid Function By Emergency Stop
MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 6.1.9 Deceleration Coil Changeover Valid Function by Emergency Stop If a large workpiece is mounted on a large workpiece chuck in lathe, the acceleration/deceleration time increases because of the increase of the total inertia. When the deceleration stop time at emergency stop exceeds the upper limit value (29900ms) of the gate shutoff delay time (SP055), the spindle motor will coast.
Page 386: High-Response Acceleration/Deceleration Function
MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 6.1.10 High-response Acceleration/Deceleration Function Under continuous position control method makes position droop is set with primary delay depending on the position control gain during the acceleration/deceleration by S command. If the position gain is set lower, the zero speed detection which indicates the spindle stop is more conspicuously delayed.
Page 387: Spindle Cutting Withstand Level Improvement
MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 6.1.11 Spindle Cutting Withstand Level Improvement Conventionally, the spindle rotation speed was slowed down due to heavy cutting that exceeds the spindle output characteristics, and this caused the alarm (Excessive error 52, Overload command 51) to stop the machining. This function enables setting of the dropping speed allowable value by parameter.
Page 388: Spindle Motor Temperature Compensation Function
MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 6.1.12 Spindle Motor Temperature Compensation Function When an IM spindle motor is in a cooled state, its maximum output characteristics tend to degrade compared to when warmed up. Eventually the spindle acceleration deceleration time may extend or the cutting load on the display may increase immediately after the start of operation.
Page 389 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment (2) Setting of the temperature compensation time constant (SP236) Set SP236(WIH)=10. (Leave the setting of SP235 unchanged.) Run the program (acceleration/deceleration) that you created in [5] of (1), and continue until [Temperature (°C)] on the spindle monitor screen reaches 100 (or the upper limit of temperature in practical use). Stop the spindle when [Temperature (°C)] on the spindle monitor reaches 100 (or the upper limit of temperature in practical use).
Page 390 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment < How to adjust the spindle motor temperature compensation function > Start the adjustment Set the temperature compensation parameters to the initial settings: SP235(R2H)=150, SP236(WIH)=0 Change SP153 and SP185 to [original setting x 0.8] respectively.
Page 391 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment Set SP236(WIH)=10 Continue until [Temperature (°C)] on the Execute cycle operation with the spindle monitor becomes ≧100. acceleration/deceleration up to the * If it is difficult to increase the actual temperature up to maximum speed in constant output 100°C, check the temperature until it reaches the upper limit of temperature in practical use.
Page 392 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 【#13226】 SP226 SFNC6 Spindle function 6 bit 8 : r2c Temperature compensation adjustment indicator 0: Normal 1: Display 【#13235(PR)】 SP235 R2H Temperature compensation gain Set the magnification in converting the thermistor temperature to the control compensation amount. When "0"...
Page 393: Settings For Emergency Stop
MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 6.2 Settings for Emergency Stop Emergency stop in this section refers to the following states. Emergency stop was input (including other axis alarms) NC power down was detected A drive unit alarm was detected 6.2.1 Deceleration Control (1) Setting the deceleration control time constant Set the time for stopping from the maximum motor speed (TSP) in the deceleration time constant for emergency...
Page 394: Spindle Control Signal
MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 6.3 Spindle Control Signal The sequence input/output signals exchanged between the NC and spindle drive unit are explained in this section. The status of each signal is displayed on the NC SPINDLE MONITOR screen. 6.3.1 Spindle Control Input (NC to Spindle) (1) Spindle control input 1 Name...
Page 395 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment (2) Spindle control input 2 Name Details Spindle control input 2 NCDC SRVDC Details (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) Speed monitor command valid In door closed (controller) NCDC In door closed (all drive units)
Page 396 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment Drive unit operation mode can be selected with the bit correspondences below. Mode changeover is valid during in-position (INP=1) or other than during droop cancel / phase compensation (DCSL=PCMP=0). Operation mode Conventional method New method Speed/orientation control Non interpolation control...
Page 397 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment (5) Spindle control input 5 Name Details Spindle control input 5 TLUP Details (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) Minimum excitation rate 2 changeover request Speed gain set 2 changeover request...
Page 398 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment (6) Spindle control input 6 Name Details Spindle control input 6 OMRFF Details OMRFF OMR-FF control request (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) (For maintenance) Drivers communication control request (For maintenance) (For maintenance) (For maintenance)
Page 399: Spindle Control Output (Spindle To Nc)
MDS-E/EH Series Instruction Manual 6 Spindle Adjustment 6.3.2 Spindle Control Output (Spindle to NC) (1) Spindle control output 1 Name Details Spindle control output 1 LMT INP TL3 TL2 TL1 ALMR SRV RDY Details In ready ON In servo ON (For maintenance) (For maintenance) (For maintenance)
Page 400 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment (2) Spindle control output 2 Name Details Spindle control output 2 SRVDC NCDC SSW EXEMG Details Z phase passed (For maintenance) (For maintenance) In zero speed (For maintenance) (For maintenance) (For maintenance) EXEMG In external emergency stop (For maintenance) In speed monitor...
Page 401 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment (4) Spindle control output 4 Name Details Spindle control output 4 Details In spindle control mode selection 1 In spindle control mode selection 2 In spindle control mode selection 3 (For maintenance) In gear changeover command In gear selection 1 In gear selection 2 Magnetic pole position not set...
Page 402 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment (5) Spindle control output 5 Name Details Spindle control output 5 INP2 Details (For maintenance) Speed detection (For maintenance) (For maintenance) (For maintenance) (For maintenance) In coil changeover (For maintenance) (For maintenance) 2nd speed detection (For maintenance) In minimum excitation rate 2 selection In speed gain set 2 selection...
Page 403 MDS-E/EH Series Instruction Manual 6 Spindle Adjustment bitB. In minimum excitation rate 2 selection (PY2) When PY2=1 is set, the minimum excitation rate 2 (SP015) is being selected. When PY2=0 is set, the minimum excitation rate 1(SP014) is being selected. bitC.
Page 404: Troubleshooting
Troubleshooting IB-1501229-F...
Page 405: Points Of Caution And Confirmation
MDS-E/EH Series Instruction Manual 7 Troubleshooting 7.1 Points of Caution and Confirmation If an error occurs in the drive unit, the warning or alarm will occur. When a warning or alarm occurs, check the state while observing the following points, and inspect or remedy the unit according to the details given in this section. <...
Page 406: Led Display When Alarm Or Warning Occurs
MDS-E/EH Series Instruction Manual 7 Troubleshooting 7.1.1 LED Display When Alarm or Warning Occurs (1) Servo and spindle drive unit The axis No. and alarm/warning No. alternate on the display. The display flickers when an alarm occurs. F1 (flicker) 25 (flicker) F2 (flicker) 37 (flicker) Not lit...
Page 407: Protective Functions List Of Units
MDS-E/EH Series Instruction Manual 7 Troubleshooting 7.2 Protective Functions List of Units 7.2.1 List of Alarms When an alarm occurs, the servo drive unit will make the motor stop by the deceleration control or dynamic brake. The spindle drive unit will coast to a stop or will decelerate to a stop. At the same time, the alarm No. will appear on the NC monitor screen and with the LEDs on the front of the drive unit.
Page 408 MDS-E/EH Series Instruction Manual 7 Troubleshooting Reset Servo Spindle Name Details method stop method stop method 27 Sub side encoder: Error 5 An error was detected by the encoder connected to the machine side. Dynamic stop Coast to a stop The error details are different according to the encoder type.
Page 409 MDS-E/EH Series Instruction Manual 7 Troubleshooting Reset Servo Spindle Name Details method stop method stop method 41 Feedback error 3 Either a missed feedback pulse in the motor side encoder or an Dynamic stop Coast to a stop error in the Z-phase was detected in the full closed loop system. 42 Feedback error 1 Either a missed feedback pulse in the position detection or an Dynamic stop Coast to a stop...
Page 410 MDS-E/EH Series Instruction Manual 7 Troubleshooting Reset Servo Spindle Name Details method stop method stop method 5B Safely limited: Commanded A commanded speed exceeding the safely limited speed was Deceleration Deceleration speed monitoring error detected in the safely limited mode. stop stop 5D Safely limited:...
Page 411 MDS-E/EH Series Instruction Manual 7 Troubleshooting Encoder alarm (Servo drive unit) Alarm number when the encod- er is connected to CN2 side Alarm number when the encod- er is connected to CN3 side OSA405 Mitsubishi Memory LED alarm Data alarm Encoder OSA676 Electric...
Page 412 MDS-E/EH Series Instruction Manual 7 Troubleshooting Encoder alarm (Spindle drive unit) Alarm number when the encod- er is connected toCN2 side Alarm number when the encod- er is connected to CN3 side TS5690 Mitsubishi Memory error Waveform Overspeed Relative po- TS5691 Electric error...
Page 413 MDS-E/EH Series Instruction Manual 7 Troubleshooting Dual signal error (4D) Name Sub info Details 004D.xxx Dual signal error An error was detected in the signal related to the dual signal. The name of the axis with an error is displayed. The number "xxx" in the decimal place in- dicates the sub-number.
Page 414 MDS-E/EH Series Instruction Manual 7 Troubleshooting 004D.xxx : Alarm number.Sub-number Reset Axis Servo Spindle Sub-No. Name Details method type stop method stop method Calculation device diagno- An error was detected in the calculation de- Each axis Initial error Initial error sis error vice diagnosis for the safety function.
Page 415 MDS-E/EH Series Instruction Manual 7 Troubleshooting (2) Power supply alarm Reset Name Details method 61 Power supply: Power module overcurrent Overcurrent protection function in the power module has started its operation. 62 Power supply: Frequency error The input power supply frequency increased above the specification range. 66 Power supply: Process error An error occurred in the process cycle.
Page 416: List Of Warnings
MDS-E/EH Series Instruction Manual 7 Troubleshooting 7.2.2 List of Warnings When a warning occurs, a warning No. will appear on the NC monitor screen and with the LEDs on the front of the drive unit. Check the warning No., and remove the cause of the warning by following this list. (1) Drive unit warning Reset Stop...
Page 417 MDS-E/EH Series Instruction Manual 7 Troubleshooting (2) Power supply warning Reset Name Details method E9 Instantaneous power interruption warning The power was momentarily interrupted. EA In external emergency stop state External emergency stop signal was input. EB Power supply: Over regeneration warning Over-regeneration detection level exceeded 80%.
Page 418: Troubleshooting
MDS-E/EH Series Instruction Manual 7 Troubleshooting 7.3 Troubleshooting Follow this section to troubleshoot the alarms that occur during start up or while the machine is operating. If the state is not improved with the following investigations, the drive unit may be faulty. Exchange the unit with another unit of the same capacity, and check whether the state is improved.
Page 419: Troubleshooting For Each Alarm No
MDS-E/EH Series Instruction Manual 7 Troubleshooting 7.3.2 Troubleshooting for Each Alarm No. Alarm No. Insufficient voltage Insufficient bus voltage was detected in main circuit. Investigation details Investigation results Remedies SV SP The moment of READY ON Check the investigation item No. 2. Check the timing when the alarm occurs.
Page 420 MDS-E/EH Series Instruction Manual 7 Troubleshooting Initial magnetic pole position detection error Alarm No. In linear motor or IPM spindle motor using absolute position encoder, the servo ON has been set before the magnetic pole shift amount(servo:SV028,spindle:SP118) is set. In the initial magnetic pole position detection control, the pole position was not correctly set.
Page 421 MDS-E/EH Series Instruction Manual 7 Troubleshooting Alarm No. Sub side encoder: Initial communication error Initial communication with the machine side encoder failed. Investigation details Investigation results Remedies SV SP Check the servo parameter (SV025.pen:position The value is not set correctly. Correctly set SV025.
Page 422 MDS-E/EH Series Instruction Manual 7 Troubleshooting Sub side encoder: Communication error Alarm No. An error was detected in communication data with the linear scale or the ball screw side encoder. Or the communication was interrupted. Investigation details Investigation results Remedies SV SP Jiggle the encoder connectors (drive unit side and The connector is disconnected (or loose).
Page 423 MDS-E/EH Series Instruction Manual 7 Troubleshooting Excessive speed error Alarm No. A difference between the speed command and speed feedback was continuously exceeding 50 r/min for longer than the setting time. Investigation details Investigation results Remedies SV SP Check the U, V and W wiring connected to the The wires are not correctly connected.
Page 424 MDS-E/EH Series Instruction Manual 7 Troubleshooting Alarm No. Unused axis error A power module error occurred in the axis whose axis No. selection switch was set to "F" (free axis). Investigation details Investigation results Remedies SV SP The error is always repeated. Replace the drive unit.
Page 425 MDS-E/EH Series Instruction Manual 7 Troubleshooting Main side encoder: Error 4 Alarm No. The motor side encoder (CN2 side) detected an error. (Note) It includes the linear scale in the case of linear motor. As details differ for each encoder, refer to section "Encoder alarm". Investigation details Investigation results Remedies...
Page 426 MDS-E/EH Series Instruction Manual 7 Troubleshooting Overspeed Alarm No. The motor was detected to rotate at a speed exceeding the allowable speed (In the case of linear motor, it was detected to move at a speed exceeding the allowable speed). Investigation details Investigation results Remedies...
Page 427 MDS-E/EH Series Instruction Manual 7 Troubleshooting Alarm No. Overvoltage: The main circuit bus voltage exceeded the tolerable value. Investigation details Investigation results Remedies SV SP An external regenerative resistor is used. Check the investigation item No. 3. Is an external regenerative resistor used? ◯...
Page 428 MDS-E/EH Series Instruction Manual 7 Troubleshooting Alarm No. Initial parameter error An incorrect parameter was detected among the parameters received from the CNC at the power ON. Investigation details Investigation results Remedies SV SP The alarm was detected in servo axis. Check the investigation item No.
Page 429 MDS-E/EH Series Instruction Manual 7 Troubleshooting Alarm No. Power module overheat Thermal protection function in the power module has started its operation. Investigation details Investigation results Remedies SV SP Large amounts of cutting oil or cutting chips, Check that the fan of the drive unit is rotating etc., are adhered to the fan, or the rotation is Clean or replace the fan.
Page 430 MDS-E/EH Series Instruction Manual 7 Troubleshooting Feedback error 3 Alarm No. Either a missed feedback pulse in the main side incremental encoder or an error in the Z-phase was detected in the full closed loop system. In the servo, Z-phase was not detected by a rotary encoder within 2 rotations. Investigation details Investigation results Remedies...
Page 431 MDS-E/EH Series Instruction Manual 7 Troubleshooting Alarm No. Fan stop A cooling fan built in the drive unit stopped, and overheat occurred in the power module. Investigation details Investigation results Remedies SV SP Continue to use. Turn the unit power ON again, and confirm the The power may be turned ON without rotation of the fan.
Page 432 MDS-E/EH Series Instruction Manual 7 Troubleshooting Motor side encoder: Error 5 Alarm No. The motor side encoder (linear scale in the case of linear motor) detected an error. As details differ for each encoder, refer to section "Encoder alarm". Investigation details Investigation results Remedies SV SP...
Page 433 MDS-E/EH Series Instruction Manual 7 Troubleshooting Alarm No. Instantaneous power interrupt The control power supply has been shut down for 50ms or more. Investigation details Investigation results Remedies SV SP Check the power facilities. Check the repeatability. The alarm occurs occasionally. ◯...
Page 434 MDS-E/EH Series Instruction Manual 7 Troubleshooting Overload 2 Alarm No. Current command of more than 95% of the unit's max. current was being continuously given for longer than 1 second in a servo system. In a spindle system, current command of more than 95% of the motor's max. current was being continuously given for longer than 1 second.
Page 435 MDS-E/EH Series Instruction Manual 7 Troubleshooting Alarm No. Excessive error 2 A difference between the actual and theoretical motor positions during servo OFF exceeded the setting value. Investigation details Investigation results Remedies SV SP The axis detachment function (NC parameter) is invalid. Check the investigation item No.
Page 436 MDS-E/EH Series Instruction Manual 7 Troubleshooting Commanded speed error Alarm No. The encoder has detected that the commanded speed exceeded 1.15 times of the rapid traverse rate (rapid), or the motor rotation speed exceeded the maximum speed. Investigation details Investigation results Remedies Check if the NC power is turned ON again when the NC power is turned OFF and ON.
Page 437 MDS-E/EH Series Instruction Manual 7 Troubleshooting Safely limited: Door state error Alarm No. In safely limited mode, the door state signal from the NC and the same signal from the drive unit don't match. Otherwise, door open state was detected in normal mode. Investigation details Investigation results Remedies...
Page 438 MDS-E/EH Series Instruction Manual 7 Troubleshooting Alarm No. Power supply: Power module overcurrent Overcurrent protection function in the power module of power supply has started its operation. Investigation details Investigation results Remedies The alarm occurs immediately after 200VAC Replace the unit. is supplied or after READY is turned ON.
Page 439 MDS-E/EH Series Instruction Manual 7 Troubleshooting Alarm No. Power supply: Watchdog The system does not operate correctly. LED display is fixed as "8". Investigation details Investigation results Remedies The alarm occurs each time READY is turned Replace the unit. Check the repeatability. ◯...
Page 440 MDS-E/EH Series Instruction Manual 7 Troubleshooting Alarm No. Power supply: Main circuit error An error was detected in charging operation of the main circuit capacitor. Investigation details Investigation results Remedies [1] The light of the lamp becomes faint. [2] An alarm occurs when ready is turned ON Replace the power supply unit.
Page 441 MDS-E/EH Series Instruction Manual 7 Troubleshooting Alarm No. Power supply: External emergency stop error A mismatch of the external emergency stop input and CNC emergency stop input continued for 30 seconds. Investigation details Investigation results Remedies Check the connection between external emergency Correctly wire the external emergency stop Not wired.
Page 442 MDS-E/EH Series Instruction Manual 7 Troubleshooting Power supply: Over regeneration Alarm No. Over-regeneration detection level became over 100%. The regenerative resistor is overloaded. This alarm cannot be reset for 15 min from the occurrence. Leave the drive system energized for more than 15 min, then turn the power ON to reset the alarm. Investigation details Investigation results Remedies...
Page 443 MDS-E/EH Series Instruction Manual 7 Troubleshooting Alarm No. Power supply: Power module overheat Thermal protection function in the power module has started its operation. Investigation details Investigation results Remedies Large amounts of cutting oil or cutting chips, Clean or replace the fan. Confirm that the fan is properly rotating.
Page 444 MDS-E/EH Series Instruction Manual 7 Troubleshooting Alarm No. Sub side encoder cable error The cable type of machine side encoder does not match the encoder specifications set by the parameter. Investigation details Investigation results Remedies SV SP The encoder does not match the Replace the encoder.
Page 445: Troubleshooting For Each Warning No
MDS-E/EH Series Instruction Manual 7 Troubleshooting 7.3.3 Troubleshooting for Each Warning No. Scale feedback error Warning No. An excessive difference in feedback amount was detected between the main side encoder and the MPI scale in MPI scale absolute position detection system. Investigation details Investigation results Remedies...
Page 446 MDS-E/EH Series Instruction Manual 7 Troubleshooting Warning No. Battery voltage drop The battery voltage that is supplied to the absolute position encoder dropped. The absolute position data is retained. Investigation details Investigation results Remedies SV SP Change the used battery and check whether the The warning does not occur.
Page 447 MDS-E/EH Series Instruction Manual 7 Troubleshooting Warning No. Overload warning Overload detection level exceeded 80%. Investigation details Investigation results Remedies SV SP Check the alarm No. "50" items. ◯ ◯ Warning No. Set parameter warning An incorrect parameter was detected among the parameters received from the CNC. Investigation details Investigation results Remedies...
Page 448: Parameter Numbers During Initial Parameter Error
MDS-E/EH Series Instruction Manual 7 Troubleshooting Warning No. Power supply: Fan stop warning A cooling fan built in the power supply unit stopped. Investigation details Investigation results Remedies Check the alarm No. "72" items. ◯ Warning No. Power supply option unit warning: A warning was detected in the power backup unit (an option unit for the power supply).
Page 449 MDS-E/EH Series Instruction Manual 7 Troubleshooting Error parameter Details Related parameters For the MDS-E/EH Series: The power supply type (SV036) is set but a power supply unit is not connected. Always set the power supply type for the drive unit connected last on the NC optical communication cable. 2236 For the MDS-EM/EMH Series: SV036...
Page 450 MDS-E/EH Series Instruction Manual 7 Troubleshooting (2) Spindle parameter error No. Error parameter Details Related parameters The motor selected is of a motor series different from the drive unit's input voltage (200V/400V). 13017 SP017 Or a motor of an incompatible motor series is selected. For the MDS-E/EH Series: 　The power supply type (SP032) is set, but a power supply unit is not connected.
Page 451: Troubleshooting The Spindle System When There Is No Alarm Or Warning
MDS-E/EH Series Instruction Manual 7 Troubleshooting 7.3.5 Troubleshooting the Spindle System When There Is No Alarm or Warning If an abnormality is observed in the spindle system but no alarm or warning has occurred, refer to the following table and check the state.
Page 452 MDS-E/EH Series Instruction Manual 7 Troubleshooting [6] The rotation does not stabilize. Investigation item Investigation results Remedies The rotation stabilizes when the settings Change the setting value. values are both set to approx. double. Note that the gear noise may increase. Check the spindle parameter SP005 (SP008) Return the setting values to the original settings.
Page 453: Details Of Alarm 4D
MDS-E/EH Series Instruction Manual 7 Troubleshooting 7.3.6 Details of Alarm 4D If dual signal error (4D) occurs, the sub-number and the axis name will appear on the NC Diagnosis screen as shown below. Take measures for each sub-number referring to the following table. S03 Servo error 004D.
Page 454 MDS-E/EH Series Instruction Manual 7 Troubleshooting Sub- Name Alarm details Investigation details Remedies Check the safety parameters. Set correctly. A receiving error was detected in the Check if there is any abnormality in Take remedies according to the Safety communication: Initial initial communication for the safety the unit's ambient environment.
Page 455 MDS-E/EH Series Instruction Manual 7 Troubleshooting IB-1501229-F...
Page 456: Maintenance
Maintenance IB-1501229-F...
Page 457: Periodic Inspections
MDS-E/EH Series Instruction Manual 8 Maintenance WARNING 1. Before starting maintenance or inspections, turn the main circuit power and control power both OFF. Wait at least fifteen minutes for the CHARGE lamp to turn OFF, and then using a tester, confirm that the input and output voltage are zero.
Page 458 MDS-E/EH Series Instruction Manual 8 Maintenance < For the spindle motor SJ-D Series> (1) Detaching the cooling fan unit Remove the cooling fan unit from the spindle motor. Remove fixing screws (hexagon socket screws at four locations) for the terminal box cover. Terminal box cover Hexagon socket screws at four locations...
Page 459 MDS-E/EH Series Instruction Manual 8 Maintenance Remove the fixing screws (hexagon socket screws at four locations) for the cooling fan unit. Hexagon socket screws at four locations Spindle motor View A-A Cooling fan Hexagon socket screws unit (Note 1) Some spindle motors have the fixing screws (hexagon socket screws) for the cooling fan unit at two locations.
Page 460 MDS-E/EH Series Instruction Manual 8 Maintenance Slowly remove the cooling fan unit in the direction of arrow (c). Protection tube and cooling fan lead wires Spindle motor Cooling fan unit (Note 1) Do not strike the side face of the cooling fan unit. Failure to observe this may result in damages of the fan unit.
Page 461 MDS-E/EH Series Instruction Manual 8 Maintenance (2) Removal of the bellmouth inside the cooling fan unit Remove the bellmouth fixing screws (hexagon socket screws at four locations). Bellmouth Hexagon socket screws at four locations Cooling fan unit (before the bellmouth is removed) (Note 1) Some spindle motors have the bellmouth fixing screws (hexagon socket screws) at two locations.
Page 462 MDS-E/EH Series Instruction Manual 8 Maintenance Clean up the inside of the cooling fan unit and the cooling air vent. Wipe dirt off the inside of the cooling fan unit and the cooling air vent using wastes, etc. Protection tube and cooling fan lead wires Spindle motor Cooling fan unit...
Page 463 MDS-E/EH Series Instruction Manual 8 Maintenance [3-2] Use the cleaning jigs to clean the air ducts of the spindle motor frame. Insert the cleaning jigs A and B into the motor frame's air ducts from the counter-load side of the spindle motor, scrape out the dirt, and wipe it off with wastes, etc.
Page 464 MDS-E/EH Series Instruction Manual 8 Maintenance (b) Draw the lead wires including the protection tube of the cooling fan unit into the terminal box not to project at the back side of the motor. Failure to observe this could lead to breakage of the lead wires. Lead wires including the protection tube must not project at the back side of the motor Back side of the motor...
Page 465 MDS-E/EH Series Instruction Manual 8 Maintenance < For the spindle motor SJ-VL Series> (1) Detaching the cooling fan unit Remove the cooling fan unit from the spindle motor. [1] Disconnect the cooling fan's terminals from the terminal block (See the diagram below). Terminal box inside Spindle motor Cooling fan terminals...
Page 466 MDS-E/EH Series Instruction Manual 8 Maintenance (2) Cleaning (a) Clean up the backside of the cooling fan unit and the air duct in the counter-load side bracket of the spindle motor. Wipe dirt off the backside of the cooling fan unit and the air duct of the counter-load side bracket using wastes, etc. (Note 1) Do not use air blow as this may cause foreign matters to enter the inner part of the cooling fan motor.
Page 467 MDS-E/EH Series Instruction Manual 8 Maintenance [2] Detach the finger guard from the cooling fan unit. Remove the four screws used for securing the finger guard. Finger guard Spindle motor Cooling fan unit Screws for securing the finger guard (four locations) View Wipe dirt off the finger guard using wastes, etc.
Page 468 MDS-E/EH Series Instruction Manual 8 Maintenance [5] Use the cleaning jigs to clean the air ducts of the spindle motor body. Insert the cleaning jigs A and B into the motor's air ducts from the counter-load side bracket, scrape out the dirt, and wipe it off with wastes, etc.
Page 469: Service Parts
MDS-E/EH Series Instruction Manual 8 Maintenance 8.2 Service Parts A guide to the part replacement cycle is shown below. Note that these will differ according to the working conditions or environmental conditions, so replace the parts if any abnormality is found. Contact Mitsubishi branch or your dealer for repairs or part replacements.
Page 470: Adding And Replacing Units And Parts
MDS-E/EH Series Instruction Manual 8 Maintenance 8.3 Adding and Replacing Units and Parts CAUTION 1. Correctly transport the product according to its weight. Failure to do so could result in injury. 2. Do not stack the product above the indicated limit. 3.
Page 471: Replacing The Unit Fan
MDS-E/EH Series Instruction Manual 8 Maintenance 8.3.2 Replacing the Unit Fan (1) Replacing parts < MDS-E Series > Servo drive unit Spindle drive unit Power supply unit Type Size Type Size Type Size Fan type Fan type Fan type MDS-E-...
Page 472 MDS-E/EH Series Instruction Manual 8 Maintenance (2) Replacement procedure Replace the unit fan with the following procedures. < MDS-E/EH-V1/V2/V3/SP/SP2 Series > Turn the breaker for the input power OFF, and wait for the CHARGE lamp on the power supply unit to turn OFF before removing the unit.
Page 473: Replacing The Battery
MDS-E/EH Series Instruction Manual 8 Maintenance 8.3.3 Replacing the Battery (1) Replacing parts < Replacing a battery equipped with the spindle/servo drive unit or the battery unit, MDSBTBOX-LR2060 > When the battery voltage is low (warning 9F), place an order for the same type of a battery as the one currently equipped with the unit.
Page 474 MDS-E/EH Series Instruction Manual 8 Maintenance < Replacement procedure for the battery unit MDSBTBOX-LR2060 > Possible backup period Possible backup period is at most one year. Thus, make sure to exchange the batteries in the one-year cycle. How to replace the battery [1] Remove the battery box cover (four screws).
Page 475 MDS-E/EH Series Instruction Manual 8 Maintenance IB-1501229-F...
Page 476: Power Backup System
Power Backup System IB-1501229-F...
Page 477: Deceleration And Stop Function At Power Failure
MDS-E/EH Series Instruction Manual 9 Power Backup System 9.1 Deceleration and Stop Function at Power Failure The deceleration and stop function at power failure is a function to safely decelerate the servo axes and the spindle when a power failure occurs. This function prevents a damage on the machine due to an overrun of the servo axes, and at the same time, realizes a protection against overvoltage for high-speed IPM spindle motors and high-speed DDMs.
Page 478: Wiring Of Deceleration And Stop Function At Power Failure
MDS-E/EH Series Instruction Manual 9 Power Backup System 9.1.2 Wiring of Deceleration and Stop Function at Power Failure MDS-E/EH-SP MDS-D/DH-PFU MDS-E/EH-CV MDS-E/EH-Vx R-UNIT : Main circuit : Control circuit CN43 CN41 CN41 Circuit Contactor reactor protector CN23 Ground OUT- L11 OUT- L21 Circuit protector...
Page 479: Setup Of Deceleration And Stop Function At Power Failure
MDS-E/EH Series Instruction Manual 9 Power Backup System (1) Connection of Regenerative Resistor Unit Connect the PFU connection terminal R1/R2 of the regenerative resistor for external option power backup unit between the regenerative resistor connection terminals R1 and R2 in TE5. The regenerative resistor generates heats, so wire and install the unit while taking care to safety.
Page 480 MDS-E/EH Series Instruction Manual 9 Power Backup System (3) Parameter setting of servo drive unit When using the deceleration and stop function at power failure, set the servo parameter of this function for the servo drive unit connected to the power supply unit. 【#2236(PR)】...
Page 481: Retraction Function At Power Failure
MDS-E/EH Series Instruction Manual 9 Power Backup System 9.2 Retraction function at power failure The retraction function at power failure is a function to backup the power of the main circuit from the capacitor unit when a power failure occurs. For example, when power failure occurs during hobbing, tool escape by retraction operation can be realized using an NC command (hob retraction).
Page 482 MDS-E/EH Series Instruction Manual 9 Power Backup System (1) Connection of Regenerative Resistor Unit If the spindle motor is decelerated to a stop after servo retraction has been performed using the retraction function at power failure, the regenerative resistor unit (R-UNIT6,7) is required. When connecting the regenerative resistor unit, wire it according to "9.1.3 Connection of Regenerative Resistor Unit (1) Connection of Regenerative Resistor Unit".
Page 483 MDS-E/EH Series Instruction Manual 9 Power Backup System (3) Connection of tool escape request signal When using the retraction function at power failure, input the DO2 signal of MDS-D/DH-PFU(CN43) to DI of the NC so that DO2 can turn ON the retraction request signal (YCDE) through the PLC sequence. <...
Page 484: Setup Of Retraction Function At Power Failure System
MDS-E/EH Series Instruction Manual 9 Power Backup System 9.2.2 Setup of Retraction Function at Power Failure System (1) Setting the rotary switch (SW1) Set the rotary switch (SW1) of MDS-D/DH-PFU depending on the spindle motor stop operation to be made after the retraction is completed.
Page 485 MDS-E/EH Series Instruction Manual 9 Power Backup System (3) Parameter setting of servo drive unit When using the retraction function at power failure, set the servo parameter of this function for the servo drive unit connected to the power supply unit. 【#2236(PR)】...
Page 486: Explanation Of Each Part Of Power Backup System
MDS-E/EH Series Instruction Manual 9 Power Backup System 9.3 Explanation of Each Part of Power Backup System 9.3.1 How to Set Rotary Switch and Dip Switches The rotary switch (SW1) of the power backup unit is for selecting the regenerative resistor for the power backup unit to be used.
Page 487: Troubleshooting For Power Backup System
MDS-E/EH Series Instruction Manual 9 Power Backup System 9.4 Troubleshooting for Power Backup System 9.4.1 LED Display When Alarm or Warning Occurs An alarm/warning No. of the power backup unit is displayed with the LED of the unit. The 2nd digit number and the 1st digit number are displayed one by one.
Page 488: List Of Power Backup Function Alarms
MDS-E/EH Series Instruction Manual 9 Power Backup System 9.4.2 List of Power Backup Function Alarms When a power backup function alarm occurs, the power backup unit will notify the alarm to the power supply and will perform deceleration control. Due to this control, the servo/spindle drive units will decelerate and stop the motors. At the same time, “Power supply option unit error: Alarm 74”...
Page 489: Troubleshooting For Each Alarm No
MDS-E/EH Series Instruction Manual 9 Power Backup System 9.4.4 Troubleshooting for Each Alarm No. Alarm No. Watchdog : The system does not operate correctly. Investigation details Investigation results Remedies Changed. Change the S/W version back to the original. Check whether the PFU software version was changed recently.
Page 490 MDS-E/EH Series Instruction Manual 9 Power Backup System Alarm No. Resistor unit connection error : Resistor unit disconnection was detected. Investigation details Investigation results Remedies Resistor unit is disconnected. Connect the resistor unit. Check the connection of resistor unit. There is no connection failure. Check the investigation item No.
Page 491 MDS-E/EH Series Instruction Manual 9 Power Backup System Alarm No. Resistor unit circuit error : An error was detected in the resistor regeneration transistor or regeneration output. Investigation details Investigation results Remedies Always reproduced. Replace the power backup unit. Check the reproducibility. The state returns to normal once, but the error Check the investigation item No.
Page 492: Troubleshooting For Each Warning No
MDS-E/EH Series Instruction Manual 9 Power Backup System 9.4.5 Troubleshooting for Each Warning No. Instantaneous power interruption : Warning No. Instantaneous power interruption of the input power supply or voltage drop between L+ and L- was detected. This warning also occurs at normal power OFF.
Page 493: Trouble Shooting At Power On
MDS-E/EH Series Instruction Manual 9 Power Backup System 9.4.6 Trouble Shooting at Power ON If the drive unit does not start up correctly and a system error occurs when the drive unit power is turned ON, the power backup unit may not have been started up properly. Check the LED display on the power backup unit, and take measures according to this list.
Page 494: Appx. 1: Cable And Connector Assembly
Appx. 1: Cable and Connector Assembly IB-1501229-F...
Page 495: Cmv1-Xpxxs-Xx Plug Connector
MDS-E/EH Series Instruction Manual 10 Appx. 1: Cable and Connector Assembly 10.1 CMV1-xPxxS-xx Plug Connector This section explains how to assemble the wire to CMV1 plug connector. Cable length (1) Cutting a cable Cut the cable to the following dimensions: (Note) Not to change cable length.
Page 496 MDS-E/EH Series Instruction Manual 10 Appx. 1: Cable and Connector Assembly (Note) Make sure that the core wire does not come out of the contact. When soldering, make sure that the solder does not stick to the circumference of the solder cup. When using a drain wire, attach a heat shrink tube to the drain cable after soldering.
Page 497 MDS-E/EH Series Instruction Manual 10 Appx. 1: Cable and Connector Assembly (6) Assembling a back shell To prevent the back shell from loosening, it is recommended to coat 2 threads of the circumference of the back shell with adhesive. Recommended adhesive: 1401B (Three Bond Co., Ltd.) Rotate the back shell coupling of the connector and temporarily tighten the back shell.
Page 498 MDS-E/EH Series Instruction Manual 10 Appx. 1: Cable and Connector Assembly Angle back shell Fix the 2 surface width of the angle back shell on the tightening guide. Set the back shell wrench adjusting to the 2 surface width of the back shell coupling. With the wrench, tighten the back shell coupling to the angle back shell.
Page 499 MDS-E/EH Series Instruction Manual 10 Appx. 1: Cable and Connector Assembly * Recommendation Adhesive (2 threads around the circumference) Temporary tightening Tightening guide Clamp nut Tightening guide Back shell * Referential dimensions for back shell tightening guide (Back shell width) Clamp nut ●...
Page 500 MDS-E/EH Series Instruction Manual 10 Appx. 1: Cable and Connector Assembly mark mark mark Set the mark of each other’s connectors. mark Receptacle connector key Plug connector key Each other’s key (concavity and convexity) are (Convexity) (Concavity) fit in. Push it straight, take care not to tilt. Push it straight Push it straight To remove, rotate the coupling and...
Page 501: 1747464-1 Plug Connector
MDS-E/EH Series Instruction Manual 10 Appx. 1: Cable and Connector Assembly 10.2 1747464-1 Plug Connector 10.2.1 Applicable Products Part No. Descriptions 1674320-1 Encoder cable I/O kit 1674320-2 1674335-4 Receptacle contact 10.2.2 Applicable Cable Wire conductor size Cable jacket outside diameter #26-22AWG 6.8 to 7.4 mm Refer to Product Specification and Application Specification for details.
Page 502 MDS-E/EH Series Instruction Manual 10 Appx. 1: Cable and Connector Assembly (5) Verifying the direction, insert the crimped contact into the receptacle housing. After the insertion, pull each wire lightly to make sure that the contacts are fully inserted. (Lock feeling and sound can be confirmed when the contact is fully/ correctly inserted.) (6) Crimp the ground clip.
Page 503 MDS-E/EH Series Instruction Manual 10 Appx. 1: Cable and Connector Assembly (8) Shift the wire rubber packing and wire clamp to the position in the right figure, and tighten the wire fixed set screw to fix the cable to receptacle case. No space Tighten it not to create the space between the receptacle case and wire fixed set screw.
Page 504: Appx. 2: D/A Output Specifications For Drive Unit
Appx. 2: D/A Output Specifications for Drive Unit IB-1501229-F...
Page 505: D/A Output Specifications
MDS-E/EH Series Instruction Manual 11 Appx. 2: D/A Output Specifications for Drive Unit 11.1 D/A Output Specifications Drive unit has a function to D/A output the various control data. The servo and spindle adjustment data required for setting the servo and spindle parameters to match the machine can be D/A output. Measure using a high-speed waveform recorder, oscilloscope, etc.
Page 506: Output Data Settings
MDS-E/EH Series Instruction Manual 11 Appx. 2: D/A Output Specifications for Drive Unit 11.2 Output Data Settings 11.2.1 Servo Drive Unit Settings 【#2261】 SV061 DA1NO D/A output ch1 data No. Input the data number you wish to output to the D/A output channel 1. When using the 2-axis drive unit, set "-1"...
Page 507 MDS-E/EH Series Instruction Manual 11 Appx. 2: D/A Output Specifications for Drive Unit (Servo control signal) Servo control input (NC to Servo) Servo control output (Servo to NC) Details Details 16384 Servo control input 1-0 READY ON command 16480 Servo control output 1-0 In READY ON 16385 Servo control input 1-1...
Page 508: Spindle Drive Unit Settings
MDS-E/EH Series Instruction Manual 11 Appx. 2: D/A Output Specifications for Drive Unit 11.2.2 Spindle Drive Unit Settings < Standard output > 【#13125】 SP125 DA1NO D/A output ch1 data No. Input the desired data number to D/A output channel. When using the 2-axis drive unit, set "-1" to the axis that the data will not be output. ---Setting range--- -32768 to 32767 【#13126】...
Page 509 MDS-E/EH Series Instruction Manual 11 Appx. 2: D/A Output Specifications for Drive Unit < Special output > The result of PLG(TS5690) installation accuracy diagnosis is output to D/A output. D/A output magnification:SP127(DA1MPY) and SP128(DA2MPY) is 0. PLG installation diagnosis function can be enabled during the rotation, when open loop control is enabled:SP018(SPEC2)/bit1=1.
Page 510 MDS-E/EH Series Instruction Manual 11 Appx. 2: D/A Output Specifications for Drive Unit < Spindle control signal > Spindle control input (NC to Spindle) Spindle control output (Spindle to NC) Details Details 16384 Spindle control input 1-0 READY ON command 16480 Spindle control output 1-0 In ready ON...
Page 511: Setting The Output Magnification
MDS-E/EH Series Instruction Manual 11 Appx. 2: D/A Output Specifications for Drive Unit 11.3 Setting the Output Magnification 11.3.1 Servo Drive Unit Settings Set when outputting other than the standard output unit. When "0" is set, the magnification will be the same as "100". (Example 1) When SV061=1 and SV063=50 The motor rotation speed is output at 2000(r/min)/V.
Page 512: Spindle Drive Unit Settings
MDS-E/EH Series Instruction Manual 11 Appx. 2: D/A Output Specifications for Drive Unit 11.3.2 Spindle Drive Unit Settings Internal data output (Data No. -1 to 3, 50, 60, 127) Set when outputting data other than in standard magnification (the magnification is 1). When "0" is set, the magnification will be 1, which is the same as when "100"...
Page 513 MDS-E/EH Series Instruction Manual 11 Appx. 2: D/A Output Specifications for Drive Unit IB-1501229-F...
Page 514: Appx. 3: Protection Function
Appx. 3: Protection Function IB-1501229-F...
Page 515: Protection Function
MDS-E/EH Series Instruction Manual 12 Appx. 3: Protection Function 12.1 Protection Function The drive unit offers the protection function. Configure the system with the safety function compliant control units when using the safety function which satisfies the international standards. Refer to NC specifications manual "Smart safety observation (BNP-C3072-022)" for details. 12.1.1 Outline of Protection Function Function Details...
Page 516: Emergency Stop Observation
MDS-E/EH Series Instruction Manual 12 Appx. 3: Protection Function 12.2 Emergency Stop Observation The double-protection for the emergency stop signal is provided and observes whether any abnormality is found in the emergency stop signal. The whole system will be in the emergency stop state when one emergency stop signal is in open state.
Page 517 MDS-E/EH Series Instruction Manual 12 Appx. 3: Protection Function (2) Operation sequences of emergency stop [1] Operation sequences of normal emergency stop If the normal NC emergency stop and the external emergency stop are simultaneously input, the operation sequence will be the same as in the case of using only the NC emergency stop. Immediately after the emergency stop is input, deceleration control is carried out in spindle control, and dynamic brake stop in servo control in a standard case, or deceleration control when the parameter is set.
Page 518 MDS-E/EH Series Instruction Manual 12 Appx. 3: Protection Function [2] When only the external emergency stop is input If only the external emergency stop is input, all the drive units that share one NC communication enter an emergency stop state and deceleration control (servo/spindle) or dynamic brake stop (servo) is executed. At this time, the axis to which the external emergency stop is input enters "in external emergency stop"...
Page 519: Sls (Safely Limited Speed) Function
MDS-E/EH Series Instruction Manual 12 Appx. 3: Protection Function 12.3 SLS (Safely Limited Speed) function Safely Limited Speed function observes that the motors for servo and spindle do not exceed the specified speed when the safety door of the machine is open. The setup can be performed without shutting the machine power off and this contributes to reducing preparation time and improving operation.
Page 520 MDS-E/EH Series Instruction Manual 12 Appx. 3: Protection Function CAUTION 1. Make sure to input one of the door status signal for each control system to CN9B connector of servo or spindle drive unit. In the control system, it is conveyed to the axis which is not directly connected via the NC. 2.
Page 521 MDS-E/EH Series Instruction Manual 12 Appx. 3: Protection Function Sets the safely limited speed of the machine and motor for which the SLS (Safely Limited Speed) function is executed. 【#2233】 SV033 SSF2 Servo function 2 bit D : rps Safely limited speed setting increment Change the setting units of the specified speed signal output speed (SV073) and safely limited speed (SV238).
Page 522 MDS-E/EH Series Instruction Manual 12 Appx. 3: Protection Function (3) Parameter setting for spindle drive unit Starts the SLS (Safely Limited Speed) function. 【#13229】 SP229 SFNC9 Spindle function 9 bit F : ssc SLS (Safely Limited Speed) function 0: Disable 1: Enable The digital signal input selection is set to "1"...
Page 523 MDS-E/EH Series Instruction Manual 12 Appx. 3: Protection Function IB-1501229-F...
Page 524: Appx. 4: Compliance To Ec Directives
Appx. 4: Compliance to EC Directives IB-1501229-F...
Page 525: Compliance To Ec Directives
MDS-E/EH Series Instruction Manual 13 Appx. 4: Compliance to EC Directives 13.1 Compliance to EC Directives 13.1.1 European EC Directives In the EU Community, the attachment of a CE mark (CE marking) is mandatory to indicate that the basic safety conditions of the Machine Directives (issued Jan.
Page 526 MDS-E/EH Series Instruction Manual 13 Appx. 4: Compliance to EC Directives (2) Environment Use the units under an Overvoltage Category III (MDS-EH)/II (MDS-E) and Pollution Class of 2 or less environment as stipulated in IEC60664. (a) To adjust the units to the Overvoltage Category II, insert an isolating transformer of the star connection complying with EN or IEC standard in the input of the power supply unit.
Page 527 MDS-E/EH Series Instruction Manual 13 Appx. 4: Compliance to EC Directives (6) Peripheral devices Use EN/IEC Standards compliant parts for the circuit protector and contactor. Select type B circuit protector manufactured by RCD. Apply Annex C of EN60204-1 for sizing of the circuit protector. (7) Miscellaneous Refer to the next section "EMC Installation Guidelines"...
Page 528: Appx. 5: Emc Installation Guidelines
Appx. 5: EMC Installation Guidelines IB-1501229-F...
Page 529: Introduction
MDS-E/EH Series Instruction Manual 14 Appx. 5: EMC Installation Guidelines 14.1 Introduction As the NC unit is a component designed to control machine tools, it is believed to be out of the direct EMC Instruction subject. However, we would like to introduce the following measure plans to backup EMC Instruction compliance of the machine tool as the NC unit is a major component of the machine tools.
Page 530: Emc Measures
MDS-E/EH Series Instruction Manual 14 Appx. 5: EMC Installation Guidelines 14.3 EMC Measures The main items relating to EMC measures include the following. Store the device in an electrically sealed metal panel. Earth all conductors that are floating electrically. (Lower the impedance.) Wire the power line separated from the signal wire as far as possible.
Page 531: Measures For Door
MDS-E/EH Series Instruction Manual 14 Appx. 5: EMC Installation Guidelines 14.4.2 Measures for Door Use metal for all materials configuring the door. Use an EMI gasket or conductive packing for the contact between the door and control panel unit. The EMI gasket or conductive packing must contact at a uniform and correct position of the metal surface of the control panel unit.
Page 532: Measures For Various Cables
MDS-E/EH Series Instruction Manual 14 Appx. 5: EMC Installation Guidelines 14.5 Measures for Various Cables The various cables act as antennas for the noise and discharge the noise externally. Thus appropriate treatment is required to avoid the noise. The wiring between the drive unit and motor act as an extremely powerful noise source, so apply the following measures. 14.5.1 Measures for Wiring in Panel If the cables are led unnecessarily in the panel, they will easily pick up the radiated noise.
Page 533: Servo/Spindle Motor Power Cable
MDS-E/EH Series Instruction Manual 14 Appx. 5: EMC Installation Guidelines 14.5.3 Servo/Spindle Motor Power Cable Control panel Control panel Earth with paint mask Earth with P or U clip Conduit connector As close Cannon 10cm or less as possible connector To drive unit Cannon To drive unit...
Page 534: Servo/Spindle Motor Encoder Cable
MDS-E/EH Series Instruction Manual 14 Appx. 5: EMC Installation Guidelines 14.5.4 Servo/Spindle Motor Encoder Cable Use a shield pair cable for encoder cable of the servo motor to earth on NC side (inside the control panel.) Mounting a ferrite core directly behind the unit connector is also effective in suppressing noise. Control panel As close 10cm or less...
Page 535: Emc Countermeasure Parts
MDS-E/EH Series Instruction Manual 14 Appx. 5: EMC Installation Guidelines 14.6 EMC Countermeasure Parts 14.6.1 Shield Clamp Fitting The effect can be enhanced by connecting the cable directly to the earthing plate. Install an earthing plate near each panel's outlet (within 10cm), and press the cable against the earthing plate with the clamp fitting. If the cables are thin, several can be bundled and clamped together.
Page 536 MDS-E/EH Series Instruction Manual 14 Appx. 5: EMC Installation Guidelines < Recommended ferrite core > A ferrite core is integrated and mounted on the plastic case. Quick installation is possible without cutting the interface cable or power cable. This ferrite core is effective against common mode noise, allowing measures against noise to be taken without affecting the signal quality.
Page 537: Power Line Filter
MDS-E/EH Series Instruction Manual 14 Appx. 5: EMC Installation Guidelines 14.6.3 Power Line Filter HF3000C-SZA Series for 200V/400V ■ Features (a) 3-phase 3-wire type (500V series) (b) Compatible with 200V/400V Compliant with EU Standards EN55011 (Group 1 Class A) (d) Downsized for the space-saving book type ■...
Page 538: Surge Absorber
MDS-E/EH Series Instruction Manual 14 Appx. 5: EMC Installation Guidelines 14.6.4 Surge Absorber Insert a surge absorber in outside the AC reactor when viewed from the power supply unit and drive unit to prevent damage to the control panel or power supply unit, etc. caused by the surge (lightning or sparks, etc.) applied on the AC power line. Do not insert the surge absorber between the AC reactor, and the power supply unit and drive unit.
Page 539 MDS-E/EH Series Instruction Manual 14 Appx. 5: EMC Installation Guidelines < Example of surge absorber installation > An example of installing the surge absorber in the machine control panel is shown below. A short-circuit fault will occur in the surge absorber if a surge exceeding the tolerance is applied. Thus, install a circuit protector in the stage before the surge absorber.
Page 540: Appx. 6: Higher Harmonic Suppression Measure Guidelines
Appx. 6: Higher Harmonic Suppression Measure Guidelines IB-1501229-F...
Page 541: Higher Harmonic Suppression Measure Guidelines
MDS-E/EH Series Instruction Manual 15 Appx. 6: Higher Harmonic Suppression Measure Guidelines 15.1 Higher Harmonic Suppression Measure Guidelines These guidelines apply to users for which the 6-pulse equivalent capacity total of the installed higher harmonic generator exceeds the reference in the following table. (Note that household appliances and general-purpose products having a rated current of 20A/phase or less connected to a 300V or less commercial power supply are excluded from the generators.) Use the following flow chart to confirm whether the total exceeds the reference.
Page 542: Calculating The Equivalent Capacity Of The Higher Harmonic Generator
MDS-E/EH Series Instruction Manual 15 Appx. 6: Higher Harmonic Suppression Measure Guidelines 15.1.1 Calculating the Equivalent Capacity of the Higher Harmonic Generator As a principle, the higher harmonic suppression measure guidelines must be followed by the customer. (1) Calculating the total equivalent capacity (Step 1) Calculate the total equivalent capacity with the following expression.
Page 543 MDS-E/EH Series Instruction Manual 15 Appx. 6: Higher Harmonic Suppression Measure Guidelines (2) Calculating the higher harmonic current flow (Step 2) To calculate the higher harmonic current flow, calculate the rated current for the incoming power voltage conversion. Rated current for incoming power voltage conversion (mA) = a • Pi (Table 4) Incoming power voltage conversion coefficient a Incoming power voltage Coefficient a...
Page 544 MDS-E/EH Series Instruction Manual 15 Appx. 6: Higher Harmonic Suppression Measure Guidelines (3) Higher harmonic current flow calculation form A higher harmonic current flow calculation form is shown below for reference. IB-1501229-F...
Page 545 MDS-E/EH Series Instruction Manual 15 Appx. 6: Higher Harmonic Suppression Measure Guidelines IB-1501229-F...
Page 546: Revision History
Revision History Date of revision Manual No. Revision details First edition created. Feb. 2015 IB(NA)1501229-A - "Precautions for Safety" was revised. May. 2015 IB(NA)1501229-B - SJ-DG Series spindle motors were added. - Function Specifications List was revised. - "Shaft Characteristics" in "Installation of Spindle Motor" was revised. - The pictures of NC in following chapters were changed to the ones of M800.
Page 547 Revision details Date of revision Manual No. - "Shaft Characteristics", "Machine Accuracy", "Coupling with the Fittings" and Mar. 2016 IB(NA)1501229-C "Connection" in "Installation of Spindle Motor" were revised. - "Installation of the Terminal Box Cover" was added. - "Installation Direction and Clearance" and "Heating Value" were revised. - "Spindle Side PLG Serial Output Encoder (TS5690, MU1606 Series)"...
Page 548 Revision details Date of revision Manual No. - "Installation of Tool Spindle Motor" was revised. Sep. 2018 IB(NA)1501229-D - "Installation Direction and Clearance" and "Heating Value" in "Installation of the Drive Unit" were revised. - "Spindle Side PLG Serial Output Encoder (TS5690, MU1606 Series)" was revised.
Page 549 Revision details Date of revision Manual No. - "Installation of Spindle Motor" was revised. Sep. 2019 IB(NA)1501229-F - "Shaft Characteristics", "Machine Accuracy", "Coupling with the Fittings", "Installation of Spindle Motor", "Connection", and "Cable" in "Installation of Spindle Motor" were revised. - "Installation of Rotary Joint and Coolant Joint (Hollow Shaft Specifications)"...
Page 551 TEL: +420-59-5691-185 / FAX: +420-59-5691-199 Russia Service Center BRAZIL MITSUBISHI ELECTRIC RUSSIA LLC MITSUBISHI ELECTRIC DO BRASIL COMÉRCIO E SERVIÇOS LTDA. LETNIKOVSKAYA STREET 2, BLD.1, 5TH 115114 MOSCOW, RUSSIA Votorantim Office TEL: +7-495-721-2070 / FAX: +7-495-721-2071 AV. GISELE CONSTANTINO,1578， PARQUE BELA VISTA, VOTORANTIM-SP, BRAZIL CEP:18.110-650...
Page 552 MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. (CHINA FA CENTER) Singapore Service Center China Shanghai Service Center 307 ALEXANDRA ROAD #05-01/02 MITSUBISHI ELECTRIC BUILDING SINGAPORE 159943 1-3,5-10,18-23/F, NO.1386 HONG QIAO ROAD, CHANG NING QU, TEL: +65-6473-2308 / FAX: +65-6476-7439 SHANGHAI 200336, CHINA...
Page 553 Every effort has been made to keep up with software and hardware revisions in the contents described in this manual. However, please understand that in some unavoidable cases simultaneous revision is not possible. Please contact your Mitsubishi Electric dealer with any questions or comments regarding the use of this product. Duplication Prohibited This manual may not be reproduced in any form, in part or in whole, without written permission from Mitsubishi Electric Corporation.

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Mitsubishi Electric MDS-E Series Instruction Manual

1 Installation

2 Wiring and Connection

3 Safety Function

4 Setup

5 Servo Adjustment

6 Spindle Adjustment

7 Troubleshooting

8 Maintenance

9 Power Backup System

10 Appx. 1: Cable and Connector Assembly

11 Appx. 2: D/A Output Specifications for Drive Unit

12 Appx. 3: Protection Function

13 Appx. 4: Compliance to EC Directives

14 Appx. 5: EMC Installation Guidelines

15 Appx. 6: Higher Harmonic Suppression Measure Guidelines

Quick Links

Troubleshooting

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Summary of Contents for Mitsubishi Electric MDS-E Series