Manuel d'utilisation / d'entretien du produit MDS-B du fabricant Mitsubishi Electronics
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BNP-B3977A (ENG) MDS-B Series Linear Servo System Specifications and Instruction Manual.
I Introduction Thank you for purchasing the Mitsubishi linear servo system. This instruction manual describes the hand ling and caution points for using this CNC. Incorrect handling may lead to unforeseen acci dents, so always read this instruction manual thoroughly to ensure correct usage.
II For Safe Use 1. Special precautions for linear servo system DANGER The linear servo system uses a powerful magnet on the secondary side. Thus, caution must be taken not only by the person installing the li near motor, but also the machine operators.
III 3. Fire prevention CAUTION Install the servo amplifier, linear servom otor and regenerative resistor on noncombustible material. Direct installation on combustible material or near combustible materials could lead to fires. If a servo amplifier fault should occur, turn OFF the power on the servo amplifier's power supply side.
IV 5. Various precautions Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and electric shocks, etc. (1) Transportation and installation CAUTION Correctly transport the product according to its weight. Do not stack the products above the tolerable number.
V CAUTION Always use nonmagnetic tools when in stalling the linear servomotor. Always mount a mechanical stopper on the end of t he linear servomotor's travel path to avoid danger if the motor should go over the end. Securely fix the linear servomotor onto the machine.
VI (3) Trial operation and adjustment CAUTION Check and adjust each parameter before starting operation. Failure to do so could lead to unforeseen operation of the machine. Do not make remarkable adjustments and changes as the operation could become unstable.
VII (6) Maintenance, inspection and part replacement CAUTION Carry out maintenance and inspection after backing up the servo amplifier programs and parameters.
i Contents Chapter 1 Outline 1-1 Outline ................................................................................................................... .. 1-2 1-2 Features...........................................................................
ii 6-3-2 Type configuration .......................................................................................... 6-7 6-3-3 List of specifications ........................................................................................ 6-7 6-3-4 Outline dimensions .
iii (1) Command polarity/feedback polarity (SV017: SPEC) ............................... 9-3 (2) Servo specifications (SV017: SPEC) ........................................................ 9-4 (3) Ball screw pitch (SV018: PIT) ........................
1–1 Chapter 1 Outline 1-1 Outlin e .......................................................................................................... 1-2 1-2 Featur es .........................................................................................
Chapter 1 Outline 1–2 1-1 Outline In recent years, demands for high accuracy, high speed and high efficiency have increased in the field of machine tools. The application of a linear serv o for the feed axis has increased as a measure to respond to the demands.
2–1 Chapter 2 Drive System Configuration 2.1 Basic system c onfiguratio n ........................................................................ 2-3 2-2 List of units and co rresponding linear motors ......................................... 2-4 2-3 Linear motor drive syst em .
Chapter 2 Drive System Configuration 2–2 WARNING All wiring work must be carried out by a qualified electrician. Wait at least 10 minutes after turning the pow er OFF, before starting wiring or inspections. Failure to observe this coul d lead to electric shocks.
Chapter 2 Drive System Configuration 2–3 2.1 Basic system configuration Example: One spindle axis + two rotary servo axes + one linear servo axis MC NF For control circuit power supply (RS) 200VAC M.
Chapter 2 Drive System Configuration 2–4 CAUTION 1. In a system having a spindle drive unit, always place the spindle drive unit next to the power supply unit as shown in the drawing. Also, place the servo drive unit 11kW and above next to the power supply unit.
Chapter 2 Drive System Configuration 2–5 2-3 Linear motor drive system CAUTION 1. With the linear servo system, the linear motor is assembled into the machine, and the position detector (linear scale) is also installed when the machine is assembled.
Chapter 2 Drive System Configuration 2–6 (1) Standard incremental system MDS-B-V14L Servo driver ＣＮ１Ａ To next axis, terminator or battery unit To power supply if final axis ＣＮ２ Empty C.
Chapter 2 Drive System Configuration 2–7 (3) Absolute system 2 (System using linear scale AT342) The linear scale and servo drive unit can be connect ed directly and used without the scale I/F unit (MDS-B-HR) or pole detection unit (M DS-B-MD). Note that the posit ion and speed resolution will be limited to 0.
Chapter 2 Drive System Configuration 2–8 2-3-2 Configuration of parallel drive system The system configuration when driving one axis with two motors and tw o servo drive units is as shown below. In this case, the position command sent to each servo drive unit must be the same position command using the CNC synchronous control function.
Chapter 2 Drive System Configuration 2–9 (2) 1-scale 2-motor (2-amplifier) control When using only one linear scale to detect the position, if this linear scale is an incremental scale, the pole position of each motor cannot be detec ted independently.
3–1 Chapter 3 Selection 3-1 Selecting the lin ear servomoto r ................................................................. 3-2 3-1-1 Max. feedrate ....................................................................................... 3-2 3-1-2 Max.
Chapter 3 Selection 3–2 3-1 Selecting the linear servomotor It is important to select a linear servomotor matched to the purpose of the machine that will be installed. If the linear servomotor and machine to be installed do not match, the motor performance cannot be fully realized, and it will also be difficult to adjust the parameters.
Chapter 3 Selection 3–3 During acceleration: Speed – acceleration During deceleration: Speed – acceleration Servo response characteristics Servo response characteristics Max. speed 120m/min, PGN1 = 47 (SHG) Max. speed 120m/min, PGN1 = 47 (SHG) 0 20 40 60 80 100 120 0 5 10 15 20 25 30 35 40 Ve locit y (m /m in) Command 29.
Chapter 3 Selection 3–4 3-1-3 Continuous thrust A typical operation pattern is assumed, and the moto r's continuous effective load thrust (Frms) is calculated from the load force.
Chapter 3 Selection 3–5 (2) Unbalance axis load force When operations (1) to (8) are for an unbalance axis , calculate so that the following forces are required in each period.
Chapter 3 Selection 3–6 3-2 Selecting the power supply unit Compared to the normal rotary motor, when usi ng the linear servo system , the instantaneous output, such as the acceleration/deceleration, is large in respect to the continuous operation.
4–1 Chapter 4 Linear Servomotor Specifications 4-1 Type confi guration....................................................................................... 4-2 4-2 List of sp ecifications ...........................................................
Chapter 4 Linear Servomotor Specifications 4–2 4-1 Type configuration The type indication for the linear servomotor differs for the primary side and secondary side.
Chapter 4 Linear Servomotor Specifications 4–3 4-2 List of specifications Type Item LM- NP2S-05M LM- NP2M-10M LM- NP2L-15M LM- NP4S-10M LM- NP4M-20M LM- NP4L-30M LM- NP4G-40M Cooling method Unit Sel.
Chapter 4 Linear Servomotor Specifications 4–4 4-3 Speed – torque characteristics drawing (At input voltage 200VAC) 1500 0 06 0 1 2 0 500 m/ mi n Th r u s t S h or t time usag e rang e Sp e e d N .
Chapter 4 Linear Servomotor Specifications 4–5 4-4 Dynamic brake characteristics When the system detects an abnormalit y, the motor stops the machine using the dynamic brakes. The machine's coasting amount at this time can be calculated with the following expression.
Chapter 4 Linear Servomotor Specifications 4–6 4-5 Outline dimensions Primary side dimensions Changed dimensions Type L A B C n LM-NP2S-05M 290 55 55 3 × 2 2 LM-NP2M-10M 530 85 85 5 × 2 4 LM-NP2L-.
Chapter 4 Linear Servomotor Specifications 4–7 Primary side dimensions Changed dimensions Type L A B C n LM-NP4S-10M 290 55 55 3 × 3 2 LM-NP4M-20M 530 85 85 5 × 3 4 LM-NP4L-30M 770 70 70 8 × 3 7 .
Chapter 4 Linear Servomotor Specifications 4–8 Primary side dimensions Changed dimensions Type L A B C LM-NP4G-40M 1010 55 55 11 × 3 L A 90 B 50 15 23 20 75 75 210 178 40 C-M 8 scr e w, depth 12 Co.
Chapter 4 Linear Servomotor Specifications 4–9 4-6 Explanation of connectors For LM-NP2 (S, M, L) For LM-NP4 (S, M, L) Pin symbol Lead wire side Pin symbol Lead w ire side A B C U V For motor W A B .
Chapter 4 Linear Servomotor Specifications 4–10 For LM-NP4G Pin symbol Lead wire side Pin symbol Lead w ire side A B C D U V For motor W Grounding A B G1 Thermal protector G2 (MS3101A32-17P) (MS3101.
5–1 Chapter 5 Servo Drive Specifications 5-1 Type confi guration....................................................................................... 5-2 5-2 List of sp ecifications .................................................................
Chapter 5 Servo Drive Specifications 5–2 5-1 Type configuration MDS-B-V14L- Capacity class symbol 01 03 05 10 20 35 45 70 90 110 150 Capacity (kW) 0.
Chapter 5 Servo Drive Specifications 5–3 5-2 List of specifications Amplifier type MDS-B-V14L- Capacity class symbol 01 03 05 10 20 35 45 70 90 110 150 Output voltage (V) 155 Continuous output current (A) 1.4 3.0 5.0 8.8 18.2 25. 0 44.0 50.0 50.0 52.
Chapter 5 Servo Drive Specifications 5–4 5-3 Overload protection specifications The servo amplifier has an electronic thermal to protect the servomotor and servo amplifier from overloads. The operation characteristics of the electronic thermal are shown below.
Chapter 5 Servo Drive Specifications 5–5 Motor : LM-NP4L Servo amplifier : MDS-B-V14L-90 Motor : LM-NP4G Servo amplifier : MDS-B-V14L-110 When operating When stopped When operating When stopped Time.
Chapter 5 Servo Drive Specifications 5–6 5-4 Outline dimensions d b c W = 60 (Front) (Installation) d b c W = 90, 120 (Installation) d b c W = 150 Rectan- gular hole (Installation) W Rectan- gular h.
Chapter 5 Servo Drive Specifications 5–7 (Note) The front view drawing shows the state w ith the terminal cover removed. MDS-B-14L-01 MDS-B- 14L-45 MDS-B-14L-70 0 3 9 0 05 10 20 35 MDS-B-14L-110 150.
Chapter 5 Servo Drive Specifications 5–8 5-5 Explanation of connectors and terminal blocks Name Application Remarks CN1A CN1B CN9 CN4 CN2 CN3 Connection of CNC and upward axis Connection of battery .
Chapter 5 Servo Drive Specifications 5–9 5-6 Dynamic brake unit The MDS-B-V14L-110 and MDS-B-V14L-150 do not have built-in dynamic brakes. An external dynamic brake unit must be provided.
Chapter 5 Servo Drive Specifications 5–10 5-6-2 Outline dimensions of dynamic brake unit Type A B C D E F G Weight Applicable serv o amplifier MDS-B-DBU-150 200 190 140 20 5 200 193.
6–1 Chapter 6 Detector Specifications 6-1 Linear scale .................................................................................................. 6-2 6-2 Scale I/F unit ........................................................................
Chapter 6 Detector Specifications 6–2 6-1 Linear scale The following types of scales can be used with the linear servo drive system. • Only some of the types are listed here. Note that the application may change due to changes in the specifications and termination of production by the scale maker.
Chapter 6 Detector Specifications 6–3 6-2 Scale I/F unit 6-2-1 Outline MDS-B-HR outline (1) The scale analog output source waves are inte rpolated to generate high resolution position data. This is effective for increasing the servo's hi gh gain by increasing the detector's resolution.
Chapter 6 Detector Specifications 6–4 6-2-3 List of specifications Scale I/F unit type MDS-B-HR- MDS-B-HR- M DS-B-HR- MDS-B-HR- MDS-B-HR- M DS- B-HR- MDS-B-HR- MDS-B-HR- Unit 11 12 11P 12P 21 22 21P.
Chapter 6 Detector Specifications 6–5 6-2-4 Outline dimensions 152 46 RM15WTR-10S 4-ø5 hole 6.5 RM15WTR-8P×2 165 CON4 70 6.5 RM15WTR-12S CON3 CON2 CON1 5 5.
Chapter 6 Detector Specifications 6–6 6-2-5 Explanation of connectors Connector name Application Remarks CON1 Connection with servo amplifier (2nd system) Not required for 1-system specifications CON2 Connection with servo amplifier CON3 Connection with scale CON4 Connection with pole detection unit (MDS-B-MD) Connector pin layout CON1 Pin No.
Chapter 6 Detector Specifications 6–7 6-3 Pole detection unit 6-3-1 Outline Outline of MDS-B-MD (1) This unit detects the pole of the linear motor's secondary side magnet and outputs an analog voltage. When using an incremental specificati on scale, always install this unit.
Chapter 6 Detector Specifications 6–8 6-3-4 Outline dimensions 6-3-5 Explanation of connectors Connector name Application Remarks CON1 Connection with scale I/F unit (MDS-B-HR) Connector pin layout CON1 Pin No.
Chapter 6 Detector Specifications 6–9 6-3-6 Installation (1) For LM-NP2 type linear motor 35.5 3.50 13.0 44.00 29.5 2.50 12.5 5.5 12.0 1.0 51.0 7.0 (2) For LM-NP4 type linear motor 35.5 23.5 51.0 29.5 12.5 12.0 18.0 16.0 1.5 1.0 15.0 2.50 44.00 9.0 10.
7–1 Chapter 7 Installation 7-1 Installation of the linear servomo tor .......................................................... 7-2 7-1-1 Environment al conditi ons ..................................................................... 7-3 7-1-2 Installing the linear servom otor .
Chapter 7 Installation 7–2 CAUTION 1. The linear servo system uses a powerful magnet on the secondary side. Thus, caution must be taken not only by the person installing the linear motor, but also the machine operator s. For example, persons wearing a pacemaker, etc.
Chapter 7 Installation 7–3 7-1-1 Environmental conditions Environment Conditions Ambient temperature 0 ° C to +40 ° C (with no freezing) Ambient humidity 80% (RH) or less (with no dew condensation.
Chapter 7 Installation 7–4 (2) Installation of secondary side 1) Direction When using multiple secondary sides, lay the units out so that the nameplates on the products all face the same direction in order to maintain the pole arrangement.
Chapter 7 Installation 7–5 7-2 Installation of the servo amplifier CAUTION 1. Always observe the installation directions. Failure to observe this could lead to faults. 2. Secure the specified distance bet ween the servo amplifier and control panel, or between the servo amplifier and other devices.
Chapter 7 Installation 7–6 7-2-2 Drive section wiring system diagram Wire the power supply and main circuit as shown below. Always use a no-fuse breaker (NF) on the power supply input wire. Note 1: Each unit is provided with an earth bar. Do not tighten the grounding bar together with the other wires.
Chapter 7 Installation 7–7 7-2-3 Installing the unit (1) Each unit is designated to be installed in a cabinet such as a power distribution panel. Avoid installing the unit where it will be subject to direct sunlight, or near heating elements.
Chapter 7 Installation 7–8 (5) Installing the cooling fan 1) Each unit (excluding type without fins) is prov ided with a cooling fan (FAN1 below). However, to maintain operation when the fan stops due to deterioration of the fan's ambient environment, and to improve the serviceability, t he user should install an additional fan (FAN2 below).
Chapter 7 Installation 7–9 7-2-5 Main circuit connection CAUTION 1. Always provide Class 3 grounding or higher for the servo drive unit and servomotor. 2. Correctly connect the power phases (U, V, W) of the servo drive unit and servomotor. Failure to do so could cause the servomotor to abnormally operation.
Chapter 7 Installation 7–10 Precautions for connections (1) Each unit is provided with an earth bar. Do not tighten the grounding bar together with the other wires. (2) The wires and crimp terminals used differ according to the motor capacity. (3) Always ground the power supply.
Chapter 7 Installation 7–11 7-2-6 Connection of feedback cable Peel the sheath of the feedback cabl e where indicated below to expose the shield cover. Ground this section with a cable clamp, etc. Normally, only the cable to which the scale is connected is grounded on the servo amplifier side or I/F unit side.
Chapter 7 Installation 7–12 7-2-7 Link bar specifications The link bar specifications are shown below. Wire usage Terminal block Details L+, L– Not possible M6 screw Connection wire for supplying the converter DC voltage from the power supply unit to each drive unit.
Chapter 7 Installation 7–13 7-2-8 Separated layout of units When installing the units vertically, avoid separat ing the MDS-B-V14L linear scale compatible drive unit and power supply unit (A/B-CV), and the spi ndle drive unit (A/B-SP) and power supply unit (A/B-CV).
Chapter 7 Installation 7–14 7-2-9 Installing multiple power supply units (1) When not sharing a contactor The following system will be explained here as a main example of installing multiple power supply units without sharing a contactor. This same c onnection is used in other systems using multiple supply units.
Chapter 7 Installation 7–15 (1) When not sharing a contactor The following system will be explained here as a main example of installing multiple power supply units sharing one contactor. This same connection is used in other systems using multiple supply units.
Chapter 7 Installation 7–16 7-2-10 Installation for 2ch communication specifications with CNC, and installation of only one power supply unit. (2-sy stem control) In this example, the following systems are explained. The same connection is used for other 2ch systems.
Chapter 7 Installation 7–17 7-2-11 Connection of battery unit When using the absolute rotary encoder (OSA104, O SA105, etc.) with the li near servo system, the battery unit must be used. When using an absolut e linear scale such as LC191M (Heidenhain) or AT342 (Mitsutoyo) with the normal linear servo system, the battery unit is not required.
Chapter 7 Installation 7–18 7-2-12 Connection with mechanical brakes Mechanical brake (magnetic brake) cont act connection terminal (EM1, EM2) A brake terminal is provided on the MDS-B-V14L servo driver. When controlling mechanical brakes using this terminal, connect the magnetic brake cable to the CN20 connector.
8–1 Chapter 8 Drive Section Connector and Cable Specifications 8-1 Cable connect ion system ............................................................................ 8-2 8-1-1 Cable opt ion list ...................................................
Chapter 8 Drive Section Connector and Cable Specifications 8–2 8-1 Cable connection system The cables and connectors shown below are those that can be ordered from Mitsubishi. Only the cable lengths designated in the table on the next page and following pages can be ordered.
Chapter 8 Drive Section Connector and Cable Specifications 8–3 8-1-1 Cable option list Part name Type Descriptions (1) Communication cable for CNC unit - Amplifier Amplifier - Amplifier Amplifier - .
Chapter 8 Drive Section Connector and Cable Specifications 8–4 Part name Type Descriptions Servomotor side power supply connector (DDK) Connector : CE05-6A22-23SD-B-BSS Clamp: CE3057-12A-2 (D265) Straight PWCE22-23S Compliant cable range ø9.
Chapter 8 Drive Section Connector and Cable Specifications 8–5 8-2 Cable connectors 8-2-1 Servo amplifier CN1A, CN1B and CN9 cable connector Maker: Sumitomo 3M <Type> Connector: 10120-6000EL Shell kit: 10320-3210-000 There is no option setting with this connector.
Chapter 8 Drive Section Connector and Cable Specifications 8–6 8-2-4 MDS-B-HR, MDS-B-MD cable connector Maker: Hirose [unit:mm] RM15W TP- M19×1 M16×0.75 36.8 ø15.2 ø23 RM15W TP − CP( ) ø19 M16×0.75 8.5 20 øA I/F unit connector Product name øA Applicable cable diameter RM15WTP-CP (5) 6.
Chapter 8 Drive Section Connector and Cable Specifications 8–7 8-2-5 Power supply section power wire connector Straight plug Maker : DDK (Ltd.) [Unit: mm] Type A B +0 − 0.38 C ± 0.8 D or less W CE05-6A22-23SD-B-BSS 1 3 / 8 -18UNEF-2B 40.48 38.3 61 1 3 / 16 -18UNEF-2A CE05-6A24-10SD-B-BSS 1 1 / 2 -18UNEF-2B 43.
Chapter 8 Drive Section Connector and Cable Specifications 8–8 Straight plug Maker : DDK (Ltd.) [Unit: mm] Type A B +0 − 0.38 C ± 0.5 D E ± 0.3 G +0.05 − 0.25 J ± 0.12 MS3106A10SL-4S (D190) 5 / 8 -24UNEF-2B 22.22 23.3 9 / 16 -24UNEF-2A 7.5 12.
Chapter 8 Drive Section Connector and Cable Specifications 8–9 Straight plug Maker : DDK (Ltd.) [ U n i t : m m ] Coupling screw Length of coupling section Total length Connection nut outside diameter Cable clamp installation screw Effective screw length Max.
Chapter 8 Drive Section Connector and Cable Specifications 8–10 8-2-6 Flexible conduits Basically, splash proofing can be ensured if cab- tire cable and connectors with IP65 or higher specifications are used.
Chapter 8 Drive Section Connector and Cable Specifications 8–11 8-3 Cable clamp fitting Install a grounding plate near the servo amplifier or scale I/F unit (MDS-B-HR), peel part of the detector cable sheath to expose the shield coa t, and press that section against the grounding plate with a cable clamp fitting.
Chapter 8 Drive Section Connector and Cable Specifications 8–12 8-4 Cable wire and assembly The following shows the specifications and proce ssing of the wire used in each cable. Use the following recommended wires or equivalent part when m anufacturing the cable, and make sure not to mistake the connection.
Chapter 8 Drive Section Connector and Cable Specifications 8–13 8-5 Cable connection diagram CAUTION Do not mistake the connection when manufacturing the detector cable.
Chapter 8 Drive Section Connector and Cable Specifications 8–14 8-5-2 Absolute value scale coupling cable <CNL2S-S cable connection diagram> This is an actual connection diagram for the CNL2S-S cable supplied by Mitsubishi. The connection differs according to the cable length.
Chapter 8 Drive Section Connector and Cable Specifications 8–15 8-5-3 Cable for amplifier – scale I/F unit <CNL2H2-S cable connection diagram> This is an actual connection diagram for the CNL2H2-S cable supplied by Mitsubishi. The connection differs according to the cable length.
Chapter 8 Drive Section Connector and Cable Specifications 8–16 8-5-4 Cable for scale I/F unit – scale <CNLH3S cable connection diagram> This is an actual connection diagram for t he CNLH3S cable supplied by Mitsubishi. The connection differs according to the cable length.
Chapter 8 Drive Section Connector and Cable Specifications 8–17 8-5-5 Cable for scale I/F unit – pole detector <CNLH4MD cable connection diagram> This is an actual connection diagram for the CNLH4MD cable supplied by Mitsubishi. 8-5-6 Cable for I/F unit – motor thermal CAUTION 1.
Chapter 8 Drive Section Connector and Cable Specifications 8–18 8-5-7 Mechanical brake cable (1) 9kW or less mechanical brakes (2) 11, 15kW mechanical brakes and dynamic brakes １ 2 3 CN20 RA1 Ampl.
9–1 Chapter 9 Setup 9-1 Initial setup of ser vo drive uni t ................................................................... 9-2 9-1-1 Setting the ro tary switc hes ................................................................... 9-2 9-1-2 Transition of LED displa y after power is turned ON .
Chapter 9 Setup 9–2 9-1 Initial setup of servo drive unit 9-1-1 Setting the rotary switches Before turning ON the power, the axis No. must be set with the rotary switches. The rotary switch settings will be validated when the servo driver (servo drive unit) power is turned ON.
Chapter 9 Setup 9–3 9-2 Setting the initial parameters 9-2-1 Setting the initial parameters (1) Command polarity/feedback polarity (SV017: SPEC) Command polarity When the motor is to rotate in the clockwise direction (looking from the load side) when the command is used in the + direction, the command di rection is CW.
Chapter 9 Setup 9–4 (2) Servo specifications (SV017: SPEC) The following parameters are set according to the sy stem specifications su ch as the servomotor type, motor and driver (servo drive unit) combinat ion, and absolute position system or incremental position system, etc.
Chapter 9 Setup 9–5 (5) Motor type (SV025: MTYP) Set the combination with SV017: SPEC spm in SV025: MTYP mtyp. Name Abbrev . Details Setting range (unit) SV017 SPEC Servo specifications HEX setting Name Abbrev . Details Setting range (unit) SV025 MTYP Motor/detector type HEX setting 1) Standard linear motor SV017: SPEC = 6xxx Set the Nos.
Chapter 9 Setup 9–6 2) Special linear motor SV017: SPEC = 7xxx SV025: Set the following Nos. in SV025: mtyp (bit 0 to bit 7). Cooling method Motor series No. 8x 9x Ax Bx Cx Dx Ex Fx x0 x1 x2 x3 x4 x5 x6 x7 x8 x9 xA xB xC xD xE xF (6) Detector type (SV025: MTYP) Set the following parameter according to the detector being used.
Chapter 9 Setup 9–7 (7) Pow er supply type (SV036: PTYP) Name Abbrev . Details Setting range (unit) SV036 PTYP Power supply type HEX setting Refer to the following table and set SV036: PTYP ptyp.
Chapter 9 Setup 9–8 9-2-2 Parameters set according to feedrate The following parameters are determined according to each axis' feedrate. No. Abbrev .
Chapter 9 Setup 9–9 9-2-4 List of standard parameters for each motor List of standard parameters for each motor Linear servomotor (self-cooling) Linear serv omotor (oil-cooling) Motor LM-NP 2S-05 M .
Chapter 9 Setup 9–10 9-3 Initial setup of the linear servo system The motor is driven by the magnetic force created by the coil and the magnetic force of the permanent magnet. Thus, it is necessary to comprehend at which pole of the permanent magnet the coil is located.
Chapter 9 Setup 9–11 (2) Feedback direction of linear scale The linear scales include the AT342 scale and Hei denhain scale, etc. The feedback direction of the AT342 scale is shown below.
Chapter 9 Setup 9–12 If the linear motor's pole direction and linear scale's feedback direction are same, the state is called forward polarity. If these directions differ, the st ate is called reverse polarity. Normally, these are installed to achieve forward polarity, but can be in stalled to achieve reverse polarity.
Chapter 9 Setup 9–13 (1) (3) (4) (2) Powe r line connect or Detect i on head Signal c able Powe r line connect or Detect i on head Signal c able Powe r line connect or Detect i on head Signal c able Powe r line connect or Detect i on head Signal c able Fig.
Chapter 9 Setup 9–14 <Adjustment methods> 1. Secure the distance (PIT) that the linear motor could move during DC excitation as shown on the right. 2. Set SV034/dcd to "1", and the setting values for starting DC excitation in SV061 to SV063.
Chapter 9 Setup 9–15 9-3-3 Setting the pole shift When the linear motor and linear scale are installed, the linear motor does not know which pole the permanent magnet is at. Thus, if the linear motor is driven in that state, it may not move or could runaway.
Chapter 9 Setup 9–16 Flow chart for DC excitation and pole shift amount setting Y Start of adjustment Set SV061: –250 SV062: –250 SV063: 500 Set SV034/dcd to "1" Release the emergency stop Confirm the motor movement and NC Servo Monitor MAX CURRENT 2 value.
Chapter 9 Setup 9–17 9-3-4 Setting the parallel drive system When driving the linear motor with a parallel drive system, confirm that t he following parameters are correctly set for the (1), (2) 2-scale 2-motor (2-a mplifier) control or (3) 1-scale 2-motor (2-amplifier) control method.
Chapter 9 Setup 9–18 (1) 2-scale 2-motor (2-amplifier) control (Syste m using only main side (CN2 connector side) feedback) Setting parameter Master axis Slav e axis SV017/fdir Normally, set the setting value for control. Normally, set the setting value for control.
10–1 Chapter 10 Adjustment 10-1 Measurement of ad justment da ta ........................................................... 10-2 10-1-1 D/A output s pecificati ons ................................................................. 10-2 10-1-2 Setting the output data .
Chapter 10 Adjustment 10–2 10-1 Measurement of adjustment data The MDS-B-V14L servo driver has a function to D/ A output the various control data. To adjust the servo and set the servo parameters t hat match the machine, it is nec essary to use the D/A output and measure the internal status of the servo.
Chapter 10 Adjustment 10–3 10-2 Gain adjustment 10-2-1 Current loop gain No. Abbrev . Parameter name Explanation Setting range SV009 IQA Current loop q axis leading compensation 1 to 20480 SV010 IDA.
Chapter 10 Adjustment 10–4 (2) Setting the speed loop leading compensation The speed loop leading compensation (SV008: VIA) determines the characteristics of the speed loop mainly at low frequency regions. 1364 is se t as a standard, and 1900 is set as a standard during SHG control.
Chapter 10 Adjustment 10–5 10-2-3 Position loop gain (1) Setting the position loop gain The position loop gain (SV003:PGN1) is a paramet er that determines the trackability to the command position. 47 (SHG control) is set as a standard. Set the same position loop gain value between interpolation axes.
Chapter 10 Adjustment 10–6 (3) SHG control (option function) If the position loop gain is increased or feed forwar d control (CNC function ) is used to shorten the settling time or increase the precision, the machine system may vibrate easily.
Chapter 10 Adjustment 10–7 10-3 Characteristics improvement 10-3-1 Optimal adjustment of cycle time The following items must be adjusted to adjust t he cycle time. Refer to the Instruction Manuals provided with each CNC for the acceleration/deceleration pattern.
Chapter 10 Adjustment 10–8 (3) Adjusting the in-position w idth Because there is a response delay in the servomot or drive due to position loop control, a "settling time" is also required for the motor to ac tually stop after the command speed from the CNC reaches 0.
Chapter 10 Adjustment 10–9 (4) Adjusting the settling time The settling time is the time required for the position droop to enter the in-position width after the feed command (F ∆ T) from the CNC reaches 0. The settling time can be shortened by raising the position loop gain or using SHG control.
Chapter 10 Adjustment 10–10 10-3-2 Vibration suppression measures If vibration (machine resonance) occurs, it can be suppressed by lowering the speed loop gain (VGN1). However, cutting precision and cycle time will be sacrif iced. (Refer to "10-2-2 Speed loop gain".
Chapter 10 Adjustment 10–11 (1) Machine resonance suppression filter The machine resonance suppression filter will f unction at the set frequency. Use the D/A output function to output the current feedback and meas ure the resonance frequency. Note that the resonance frequency that can be measured is 0 to 500 Hz.
Chapter 10 Adjustment 10–12 (2) Adaptive filter (option function) The servo driver detects the machine resonance poi nt and automatically sets the filter constant. Even if the ball screw and table position relati on changes causing the resonance point to change, the filter will track these changes.
Chapter 10 Adjustment 10–13 (2) Adjusting the speed loop leading compensation (VIA) The VIA has a large influence on the position tr ackability, particularly during high-speed cutting (generally F1000 or more). Raising the setting va lue improves the position trackability, and the contour precision during high-speed cutting c an be improved.
Chapter 10 Adjustment 10–14 10-3-4 Improvement of protrusion at quadrant changeover The response delay (caused by non-sensitive band from friction, torsion, expansion/contraction, backlash, etc.) caused when the machine advance direction reverses is compensated with the lost motion compensation (LMC compensation) function.
Chapter 10 Adjustment 10–15 <Adjustment method> First confirm whether the axis to be compensated is an unbalance axis (vertica l axis, slant axis). If it is an unbalance axis, carry out the adjustment after performing step "(2) Unbalance thrust compensation".
Chapter 10 Adjustment 10–16 (2) Unbalance thrust compensation If the load force differs in the positive and negative dire ctions such as with a vertical axis or slant axis, the thrust offset (SV032: TOF) is set to carry out accurate lost motion compensation.
Chapter 10 Adjustment 10–17 (3) Adjusting the lost motion compensation timing If the speed loop gain has been lowered from the standard setting value because the machine rigidity is low or because m.
Chapter 10 Adjustment 10–18 (4) Adjusting for feed forw ard control In LMC compensation, a model position considering the position loop gain is calculated based on the position command sent from the CNC, and compensation is carried out when the feed changes to that direction.
Chapter 10 Adjustment 10–19 10-3-5 Improvement of overshooting The phenomenon when the machine position goes past or exceeds the command during feed stopping is called overshooting. Overshooting is compensated by overshooting compensation (OVS compensation).
Chapter 10 Adjustment 10–20 (2) Adjusting for feed forw ard control Use OVS compensation type 3 if overshooting is a problem in contour cutting during feed forward control. If OVS compensation type 3 is used to attempt to compensate overshoot ing, the overshooting may conversely become larger, or projections may appear during arc cutting.
Chapter 10 Adjustment 10–21 POINT 1. When either parameter SV031: OVS1 or SV042: OVS2 is set to 0, the same amount of compensation is carried out in both the positive and negative direction, using the setting value of the other parameter (the parameter not set to 0).
Chapter 10 Adjustment 10–22 10-3-6 Improvement of characteristics during acceleration/deceleration (1) SHG control (option function) Because SHG control has a smoother respons e than conventional po.
Chapter 10 Adjustment 10–23 (2) Acceleration feed forw ard Vibration may occur at 10 to 20 Hz during accelera tion/deceleration when a short time constant of 30 msec or less is applied, and a position l oop gain (PGN1) higher than the general standard value or SHG control is used.
Chapter 10 Adjustment 10–24 (3) Inductive voltage compensation The current loop response is improved by com pensating the back electromotive force element induced by the motor feedrate. This improved the current command efficiency, and allows the acceleration/deceleration time constant to the shortened.
Chapter 10 Adjustment 10–25 10-4 Setting for emergency stop 10-4-1 Vertical axis drop prevention control The vertical axis drop prevention control is a func tion that prevents the vert ical axis from dropping due to a delay in the brake operation when an emer gency stop occurs.
Chapter 10 Adjustment 10–26 CAUTION 1. If 0 is set for both SV048 and SV055, the drop prevention function will be invalidated. 2. SV048 and SV055 are available for each ax is, but if the values differ for two axes in the same driver, the larger value will be validated.
Chapter 10 Adjustment 10–27 Tbd EM G r t EMG r t ＞ Tbd 0 EM Gt EMGx Emerg ency stop Br ak e op erat ion Tbd: Br ake operat ion del ay t im e Servo ON De te ct in-po sition and t ur n ser vo OF F M.
Chapter 10 Adjustment 10–28 (3) Adjustment procedures • Set the drop prevention function parameters in the vertical axis se rvo parameters SV048, 055 and 056. 1) Set the vertical axis parameter SV048 (ver tical axis drop prevention time) to 50, 100, .
Chapter 10 Adjustment 10–29 1) When power supply control axis is main axis (Example; W hen vertical axis is Z axis) 1)-1: When vertical axis is 1-axis driver X axis (B-V14/V24) Y axis (B-V14/V24) Z .
Chapter 10 Adjustment 10–30 2) When power supply control axis is vertical axis servo axis (E xample: When both vertical axis and axis connected to power supply are Z axis) 2)-1: When vertical axis i.
Chapter 10 Adjustment 10–31 3) When power supply control axis is different driver than vertic al axis servo axis (Example: When vertical axis is Y axis, and axis connected to power supply is Z axis).
Chapter 10 Adjustment 10–32 3)-3: When amplifier connected to the power supply is a 2-axis driver X axis (B-V14/V24) Y axis (B-V14) Z axis (B-V24) A axis (B-V24) Spindle (B-SP) Axi s Parameter setti.
Chapter 10 Adjustment 10–33 10-4-2 Deceleration control Basically, this MDS-B-V14L servo driver carries out dynamic brake stopping when an emergency stop occurs. However, if the deceleration stop function is validated, the motor will decelerate according to the set time constant while maintaining the READ Y ON state.
Chapter 10 Adjustment 10–34 (2) Dynamic brake stop When the deceleration stop function is not used, the dynamic brakes will be used to stop. In a dynamic brake stop, the dynamic brakes operate at the same time the emergency stop occurs, and the motor brake control output also operates at the same time.
Chapter 10 Adjustment 10–35 <Setting and adjustment methods> 1. Confirm that SHG control is being used. 2. SV032: TOF Thrust offset Move the axis to be adjusted approx. F1000mm/mi with jog, etc., and check the load current on the [I/F DIAGNOSIS screen, Servo Monitor ].
Chapter 10 Adjustment 10–36 No. Abbrev . Parameter name Unit Explanation Setting range SV032 TOF Thrust offset Stall % (rated current %) Set the unbalance thrust amount of an axis having an unbalanced thrust, such as a ve rtical axis, as a percentage (%) in respect to the stall rated current.
Chapter 10 Adjustment 10–37 10-6 Parameter list There are 64 servo parameters. The methods for setting and displaying the servo parameters differ on the CNC being used, so refer to the inst ruction manual for the respective CNC. Class Name Abbrev . Descriptions Setting screen B-Vx compa-t ibility Chang-i ng method Setting unit Min.
Chapter 10 Adjustment 10–38 Name Abbrev . Descriptions Setting screen B-Vx compa-t ibility Chang-i ng method Setting unit Min. unit Max . unit Class SV055 EMGx Emergency stop max.
Chapter 10 Adjustment 10–39 Details of parameters No. Abbrev . Details Setting range (Unit) SV001 PC1 Set 1 for the linear motor system. 1 to 32767 SV002 PC2 Set 1 for the linear motor system. 1 to 32767 SV003 PGN1 Set the position loop gain in increments of 1.
Chapter 10 Adjustment 10–40 Name Abbrev . Details Setting range (unit) SV017 SPEC Servo specifications HEX setting SV018 PIT Set the pole pitch. 1 to 32767 (mm) SV019 RNG1 Set the resolution per pole pitch of t he detector used for position control.
Chapter 10 Adjustment 10–41 Name Abbrev . Details Setting range (unit) SV025 MTYP Motor/detector ty pe HEX setting SV026 OD2 Set the excessive error detection width for servo OFF. Normally, the same value as SV023:OD1 is set. When 0 is set, the excessive error will not be detected at servo OFF.
Chapter 10 Adjustment 10–42 Name Abbrev . Details Setting range (unit) SV032 TOF Set the unbalance thrust amount of an axis having an unbalanced thrust, such as a vertical axis, as a percentage in respect to the stall rated current. This is used when SV027: SSF1/lmc1, lmc2 or SV027: SSF1/vcnt1, vcnt2 is set.
Chapter 10 Adjustment 10–43 Name Abbrev . Details Setting range (unit) SV035 SSF4 Special servo function selection 4 HEX setting SV036 PTYP Power supply type HEX setting SV037 JL Set the total mass of the moving section (including the motor mass) with a kg unit.
Chapter 10 Adjustment 10–44 Name Abbrev . Details Setting range (unit) SV040 LMCT • Set the lost motion compensation non-sensitiv e band. The low-order 8 digits are used. Set this when the lost motion compensati on timing does not match during feed forward control.
Chapter 10 Adjustment 10–45 Name Abbrev . Details Setting range (unit) SV056 EMGt Set the deceleration time constant from the max. rapid traverse speed when using the drop prevention function. Normally, the same value as the normal CNC G0 acceleration/deceleration time constant is set.
11–1 Chapter 11 Troubleshooting 11-1 Points of caution and confirma tion .......................................................... 11-2 11-2 Troubleshooting at start up ...................................................................... 11-3 11-3 List of servo ala rms and warn ings .
Chapter 11 Troubleshooting 11–2 11-1 Points of caution and confirmation If an error occurs in the servo sy stem, the servo warning or serv o alarm will occur. When a servo warning or alarm occurs, check the state while obs erving the following points, and inspect or remedy the unit according to the details given in this section.
Chapter 11 Troubleshooting 11–3 11-2 Troubleshooting at start up If the CNC system does not start up correctly and a system error occurs when the CNC power is turned ON, the servo driver may not have been started up correctly. Confirm the LED display on the driver, and take measures according to this section.
Chapter 11 Troubleshooting 11–4 11-3 List of servo alarms and warnings No Abbrev. Name RS A/C No Abbrev . Name RS A / C 10 50 OL1 Overload detection 1 NR A 11 ASE Axis selection error AR V4 51 OL2 O.
Chapter 11 Troubleshooting 11–5 No Abbrev. Name RS A/C No Abbrev . Name RS A / C 90 WST Low-speed serial initial communication error PR V4 E0 WOR Over-regeneration warning * SVJ 91 WAS Low-speed ser.
Chapter 11 Troubleshooting 11–6 11-4 Alarm details Servo alarms No. Abbrev . Name Details RS A /C 12 ME Memory error An error was detected in the memory IC/FBIC during the self-check carried out when the driver power was turned ON. (Refer to 11-5. LED display Nos.
Chapter 11 Troubleshooting 11–7 No. Abbrev . Name Details RS A /C 49 SOSP Scale overspeed The absol ute position liner scale connected to the MAIN side detected a speed of 45m/s or more when the CNC power was turned ON.
Chapter 11 Troubleshooting 11–8 11-5 LED display Nos. at memory error When a memory error (alarm 12) occurs, in most cases the connection with the CNC is not being executed.
Chapter 11 Troubleshooting 11–9 11-7 Troubleshooting for each servo alarm [Alarm/w arning check timing] f1: When servo driver power is turned ON f2: When CNC power supply is tu rned ON (emergency st.
Chapter 11 Troubleshooting 11–10 Alarm check timing f1 f2 f3 f4 Alarm No. 17 A/D converter error: There is an error in the drive unit's A/D converter. – { – – Investigation details Investigation results Remedies The error is always repeated.
Chapter 11 Troubleshooting 11–11 Alarm check timing f1 f2 f3 f4 Alarm No. 1B CPU error (SUB): An error was detected in the data stored in the EEPROM of an absolute position linear scale connected to the SUB side. – { { { Investigation details Investigation results Remedies The connector is disconnected (or loose).
Chapter 11 Troubleshooting 11–12 Alarm check timing f1 f2 f3 f4 Alarm No. 27 Scale CPU error (SUB): The CPU of the absolute position linear scale connected to the SUB side is not operating correctly. – { { { Investigation details Investigation results Remedies The connector is disconnected (or loose).
Chapter 11 Troubleshooting 11–13 Alarm check timing f1 f2 f3 f4 Alarm No. 29 Absolute position detecti on circuit error (SUB): An error was detected in the scale or scale side circuit of the absolute position linear scale connected to the SUB side. – { { { Investigation details Investigation results Remedies 1 Check the alarm No.
Chapter 11 Troubleshooting 11–14 Alarm check timing f1 f2 f3 f4 Alarm No. 2D Date error: An error was detected within one rotati on position of an absolute position linear position linear scale connected to the MAIN side. – { { { Investigation details Investigation results Remedies 1 Check items 3 and following for alarm No.
Chapter 11 Troubleshooting 11–15 Alarm check timing f1 f2 f3 f4 Alarm No. 32 Power module error (Overcurrent): The IPM used for the inverter detected an overcurrent. – { { { Investigation details Investigation results Remedies The phases are short circuited or there is no continuity.
Chapter 11 Troubleshooting 11–16 Alarm check timing f1 F2 f3 f4 Alarm No. 34 CNC communication CRC error: An error was detected in the data sent from the CNC to the driver. – { { { Investigation details Investigation results Remedies The connector is disconnected (or loose).
Chapter 11 Troubleshooting 11–17 Alarm check timing f1 f2 f3 f4 Alarm No. 37 Initial parameter error: An illegal parameter was detected in the parameters sent when the CNC power w as turned ON. – { – { Investigation details Investigation results Remedies The parameter is incorrect.
Chapter 11 Troubleshooting 11–18 Alarm check timing f1 f2 f3 f4 Alarm No. 43 Feedback error 2: An excessive deviation of the feedback amount for the MAIN side detector and SUB side detected was detected in the 2-scale 2-motor (2-amplifier) control.
Chapter 11 Troubleshooting 11–19 Alarm check timing f1 f2 f3 f4 Alarm No. 48 Scale CPU error: The CPU of the absolute position linear sca le connected to the MAIN side is not operating correctly. – { { { Investigation details Investigation results Remedies The connector is disconnected (or loose).
Chapter 11 Troubleshooting 11–20 Alarm check timing f1 f2 f3 f4 Alarm No. 4A Absolute position detection circuit error: An error was detected in the scale or scale side circuit of the absolute position linear scale connected to the MAIN side. – { { { Investigation details Investigation results Remedies 1 Check the alarm No.
Chapter 11 Troubleshooting 11–21 Alarm check timing f1 f2 f3 f4 Alarm No. 50 Overload 1: The servomotor or servo driver load le vel obtained from the motor current reached the overload level set with the ov erload detection level (SV022:OLL).
Chapter 11 Troubleshooting 11–22 Alarm check timing f1 f2 f3 f4 Alarm No. 52 Excessive error 1: The difference of the ideal position and actual position exceeded the parameter SV023:OD1 (or SV053:OD3) at servo ON. – – { – Investigation details Investigation results Remedies The voltage is being supplied.
Chapter 11 Troubleshooting 11–23 Alarm check timing f1 f2 f3 f4 Alarm No. 53 Excessive error 2: The difference of the ideal position and actual position exceeded parameter SV026:OD2 at servo OFF. – { – – Investigation details Investigation results Remedies The value differs from the standard setting value.
Chapter 11 Troubleshooting 11–24 Alarm check timing f1 f2 f3 f4 Alarm No. 58 Collision detection 0: A collision detection method 1 error was detect ed during the G0 modal (rapid traverse). (A disturbance torque exceeding the tole rable disturbance torque was detected.
Chapter 11 Troubleshooting 11–25 Alarm check timing f1 f2 f3 f4 Alarm No. 59 Collision detection 1: A collision detection method 1 error was detec ted during the G1 modal (cutting feed). (A disturbance torque exceeding the tolerable disturbance torque was detected.
Chapter 11 Troubleshooting 11–26 Alarm check timing f1 f2 f3 f4 Alarm No. 80 HR unit connection error: An incorrect connection or cable br eakage was detected in the MDS-B-HR connected to the MAIN side. – { { { Investigation details Investigation results Remedies The connector is disconnected (or loose).
Chapter 11 Troubleshooting 11–27 Alarm check timing f1 f2 f3 f4 Alarm No. 83 HR unit scale judgment error: The MDS-B-HR connected to the MAIN side could not judge the analog frequency of the connected linear scale. – { { { Investigation details Investigation results Remedies The connector is disconnected (or loose).
Chapter 11 Troubleshooting 11–28 Alarm check timing f1 f2 f3 f4 Alarm No. 86 HR unit pole error: An error was detected in the pole data of the MDS-B-HR connected to the MAIN side. – { { { Investigation details Investigation results Remedies The connector is disconnected (or loose).
Chapter 11 Troubleshooting 11–29 Alarm check timing f1 f2 f3 f4 Alarm No. 8A HR unit HSS communication error (SUB): The MDS-B-HR connected to the SUB side detected an error in the communication with the absolute position linear scale. – { { { Investigation details Investigation results Remedies 1 Check the alarm No.
Chapter 11 Troubleshooting 11–30 Alarm check timing f1 f2 f3 f4 Alarm No. 93 Absolute position fluctuation: A fluctuation exceeding the tolerable val ue was detected in the absolute position detected when the CNC power is turned ON. – { – – Investigation details Investigation results Remedies The connector is disconnected (or loose).
Chapter 11 Troubleshooting 11–31 Alarm check timing f1 f2 f3 f4 Alarm No. 9B Pole shift warning: An error was detected in the pole shift amount set in servo parameter SV028. – – { – Investigation details Investigation results Remedies The system is not MDS-B-MD.
Chapter 11 Troubleshooting 11–32 Alarm check timing f1 f2 f3 f4 Alarm No. E1 Overload warning: An level 80% of the overload alarm 1 was detected. – { { { Investigation details Investigation results Remedies The motor is not hot. Check the alarm No.
Un point important après l'achat de l'appareil (ou même avant l'achat) est de lire le manuel d'utilisation. Nous devons le faire pour quelques raisons simples:
Si vous n'avez pas encore acheté Mitsubishi Electronics MDS-B c'est un bon moment pour vous familiariser avec les données de base sur le produit. Consulter d'abord les pages initiales du manuel d'utilisation, que vous trouverez ci-dessus. Vous devriez y trouver les données techniques les plus importants du Mitsubishi Electronics MDS-B - de cette manière, vous pouvez vérifier si l'équipement répond à vos besoins. Explorant les pages suivantes du manuel d'utilisation Mitsubishi Electronics MDS-B, vous apprendrez toutes les caractéristiques du produit et des informations sur son fonctionnement. Les informations sur le Mitsubishi Electronics MDS-B va certainement vous aider à prendre une décision concernant l'achat.
Dans une situation où vous avez déjà le Mitsubishi Electronics MDS-B, mais vous avez pas encore lu le manuel d'utilisation, vous devez le faire pour les raisons décrites ci-dessus,. Vous saurez alors si vous avez correctement utilisé les fonctions disponibles, et si vous avez commis des erreurs qui peuvent réduire la durée de vie du Mitsubishi Electronics MDS-B.
Cependant, l'un des rôles les plus importants pour l'utilisateur joués par les manuels d'utilisateur est d'aider à résoudre les problèmes concernant le Mitsubishi Electronics MDS-B. Presque toujours, vous y trouverez Troubleshooting, soit les pannes et les défaillances les plus fréquentes de l'apparei Mitsubishi Electronics MDS-B ainsi que les instructions sur la façon de les résoudre. Même si vous ne parvenez pas à résoudre le problème, le manuel d‘utilisation va vous montrer le chemin d'une nouvelle procédure – le contact avec le centre de service à la clientèle ou le service le plus proche.
