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Direct Drive Motor Specifications and Instruction

1. otor irect drive motor TM eries Parameter 012C20 036E20 048G20 105G10 105G20 150G20 340J20 500J20 No Abbrev Details MDS D2 V1 40 80 80 160 160 160 320 320W SV001 PC1 Motor side gear ratio SV002 PC2 Machine side gear ratio 2 SV003 PGN1 Position loop gain 1 33 33 33 33 33 33 33 33 SV004 PGN2 Position loop gain 2 0 0 0 0 0 0 0 0 SV005 VGNi Speed loop gain 1 100 100 100 100 100 100 100 100 SV006 VGN2 Speed loop gain 2 0 0 0 0 0 0 0 0 SV007 VIL Speed loop delay compensation 0 0 0 0 0 0 0 0 SV008 VIA Speed loop lead compensation 1364 1364 1364 1364 1364 1364 1364 1364 SV009 IQA Current loop q axis lead compensation 20480 20480 20480 20480 20480 20480 20480 20480 SV010 IDA Current loop d axis lead compensation 20480 20480 20480 20480 20480 20480 20480 20480 SV011 IQG Current loop q axis gain 2048 2048 3072 6144 4096 3072 3072 2048 SV012 IDG Current loop d axis gain 2048 2048 3072 6144 4096 3072 3072 2048 SV013 ILMT Current limit value 800 800 800 800 800 800 800 800 SV014 ILMTsp Current limit value in special control 800 800 800 800 800 800 800 800 SV015 FFC Acceleration rate feed forward gain 0 0 0 0 0 0 0 0 SV016 LMC1 Lost motion compensation 1 0 0 0 0 0 0 0 0 SV017 SPEC1 Servo specification 1 7000 7000 7000 7000 7000 7000 7000
2. 3 30 Wire mark 20 20 o 8 M6 screw 40 Cooling groove Depth 14 ze 250 Ey sy Wire mark position e cms m a g all pl 9 8 8o E 2 Q 5 i 88 Rotor loa TM RBS048G20 EEN 5 E 18 3 1 Note 1 Do not move the stator by holding the lead wire 20 Note 2 Degree of protection is IP00 Use explosion proof oil etc as necessary Detail A Note 3 Continuous rated torque is assured only when the required cooling capacity is satisfied Note 4 There is no problem on the functionality or performance even if the molded parts include sink marks or voids etc TM RBS048G20 66 8 M6 screw 20 8 M6 screw Depth 14 2 5 2 Ep AL 2 X 5 1 2 172 rotor outer diameter 0130 H7 A rotor inner diameter Note 1 Deliverable rotors are magnetized Please note the magnetic attraction Take special care for the magnet part not to hit against a thing A crack or chip may occur Degree of protection is IP00 Use explosion proof oil etc as necessary There is no problem on the functionality or performance even if the molded parts include sink marks or voids etc Note 2 Note 3 Note 4 Unit mm Direct Drive Motor Specifications and Instruction Manual 2 1 Direct drive motor TM RBP105G10 Unit mm
3. 7 11 351 Adjustment procedure EE Eine Erg rere iE qe rtr SE eene Ep yet es 7 11 7 3 2 Related paraimetets itg ete ate i ERE CR IRE ERA eR LEX Mr ERR EE e dx 7 14 7 4 Protective functions list of UNIS astinan ner 7 15 Teel Drive Unt Ms d eoe en d e 7 15 4 2 Drive unit warning tierra 7 15 7 4 3 Parameter numbers during initial parameter error 7 16 8 Servo AUS MEN eene etre 8 1 8 1 Servo adjustment 8 2 8 1 1 Speed loop gall tiae Dp elemente ech 8 3 Introduction MITSUBISHI CNC _ 1 Introduction 1 1 Servo drive system configuration 1 1 1 System configuration lt MDS D2 Series gt MDS D2 Series 1 axis 2 axis Spindle Power supply Built in cell battery _ servo drive unit servo dr
4. 1 4 1 21 Direct drive TrotOr Piu He tede o e e t tele re px Fee 1 4 2 Specifications 2 222222 EEE la pd iii 2 1 2 1 Direct drive motor 2 ee es in 2 2 2 1 1 Environmental conditions Ka nene rre 2 2 2 1 2 Precautions Tor nn A A AE 2 3 2 1 8 Specifications list 2 22 1 tee a Hee pt PU id 2 4 2 1 4 Torque characteristics AENA 2 5 2 1 5 Outline dimension drawings 2444s440unnnnnnnnnnnennnnnnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnsnnnnnnnnnnnnnnn 2 6 E A 3 1 S24 DIreCtarive Mot etin tete e p ttes tarifa 3 2 3 1 1 Overload protection characteristics usrs4004nnnennnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnn mann 3 2 3 1 2 Dynamic brake characteristics 3 4 4 Dedicated Options 5 2 2 ad nebenan 4 1 4 1 Detector system options A 4 2 4 1 1 Twin head magnetic detector MBA Series 4 3 4 2 Gables and connectors iiie ledit eu 4 6 4 2 1 Cable connection 4 6 4 2 2 List of cables and 4 7 A A
5. Circuit M Circuit e Circuit protector oy oy oy Circuit protector protector al o e Note es o o Note Prepared by user fu Prepared by user g Contactor Note o oy Contactor Prepared d A d Note Prepared d d d Note by user Prepared by user by user Prepared by user Servo Spindle drive unit drive unit MDS DJ V MDS DJ SP L1 L2 L3 L1 L2 L3 Regene rative resistor Regene rative CN1A From NC Servo detector cable Motor side detector cable gt Detector MBA405W Prepared by user Q MR sensor head twin head v Spindle motor La H Thermistor signal Spindle side detector Direct drive motor Power cable Z CAUTION Keep the detection sensor cable away from the power cable MITSUBISHI CNC _ 1 Introduction 1 2 Explanation of type 1 2 1 Direct drive motor type 1 TM RB Series lt Primary side coil side gt TM RBP 1 Rated torque 2 Stator dimensions 3 Rated rotation speed DIA 230 mm Note 1 This explains the model name system of direct drive motors but does not mean allthe combinations are available Note 2 The primary and secondary sides having the same variable part of
6. Drive unit side power connector DDK Housing DK 5200S 04R Contact DK 5RECMLP1 100 MITSUBISHI CNC _ 4 Dedicated Options lt Cable drawing gt Drive unit side connector 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 MOLEX Connector set 54599 1019 Machine side serial communication detector 0 5mm 4 P5 5V 1 LG E 0 5mm 1 PS 5V 14 E 4 P5 4 5V LG 2444 LG 10 i 2 va RQ 3 4 m RQ request data RQ 44 LL RQ T 0 2mm SD 7H L SD detection data SD slit it SD neue dei Case grounding MT1 5 MT1 thermistor signal pog 2 MT2 6H 0 2mm MT2 Case grounding PE MJ Note Contactthe relevant manufacturer about whether or not the P5V wiring is necessary Direct Drive Motor Specifications and Instruction Manual 4 2 Cables and connectors lt Twin head magnetic detector MBA405W connection diagram gt Drive unit side connector 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 MOLEX Connector set 54599 1019 Detector preamplifier side connector CN2 Hirose Electric Plug RM15WTPZK 12S Cord clamp J R13WCCA 8 72 P5 45V 1 7 HT 9 P5 5V LG 2 4 14 10 LG rg 0 5mm E i 112 CNT BAT 9H i i13 BAT mi 50 omma 6 MT1 MT2 eh 11 2 50 02mm 3 SD sD 38H mH 4 sD ro
7. er rn a 5 1 5 1 Selection of the power supply unit only MDS D2 V1 V2 sse 5 2 5 1 1 Calculation of direct drive motor output sssssssssssseeee eene 5 2 6 Assembly and rr 6 1 6 1 Installation a en cC s 6 2 6 2 The structure of direct drive MotOr uusuernnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnennn nennt 6 3 6 3 Direct drive motor assembly 6 4 6 3 1 Example procedure of assembly uuuuu2s24nnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 6 4 6 4 Installing twin head magnetic detector MBA405W 6 7 yas pepe Aa 7 1 7 1 Setting the initial parameters for the direct drive motor 7 2 7 1 1 Setting of detector related parameters cn ee eene 7 2 7 1 2 List of standard parameters for each direct drive 7 3 7 2 Initial setup for the direct drive motor 7 7 7 2 1 Adjustnent procedure 2 2 O rn 7 7 7 2 2 Related parameters nit dan cede cu Tte a eg S 7 10 7 3 Initial setup for direct drive motor system when using 5
8. When stopped When rotating 100 200 300 400 500 Motor current value rated current value ratio TM RBP105G10 When stopped When rotating 100 200 300 400 500 Motor current value rated current value ratio TM RBP150G20 When stopped When rotating 100 200 300 400 500 Motor current value rated current value ratio TM RBP500J20 When stopped When rotating 100 200 300 400 500 Motor current value rated current value ratio Direct Drive Motor Specifications and Instruction Manual 3 1 Direct drive motor lt MDS DJ Series gt TM RBP012C20 TM RBP036E20 10000 0 10000 0 When stopped When stopped 1000 0 When rotating 4000 0 When rotating E 100 0 2 100 0 10 0 E 10 0 1 0 1 0 0 1 0 1 0 100 200 300 400 500 0 100 200 300 400 500 Motor current value rated current value ratio Motor current value rated current value ratio TM RBP048G20 TM RBP105G10 10000 0 10000 0 When stopped When stopped 1000 0 When rotating 1000 0 When rotating E 100 0 100 0 E E 400 E 100 1 0 1 0 0 1 0 1 0 100 200 300 400 500 0 100 200 300 400 500 Motor current value rated current value ratio Motor current value rated current value ratio MITSUBISHI CNC _ 3 Characteristics 3 1 2 Dynamic brake characteristics If a servo alarm that cannot control the motor occurs the dynamic brakes will function to stop the direct drive motor regardless of the parameter settings 1 Deceleration torqu
9. 151 25 25 7 28 Y 8206 gt meter 8205 H7 0 046 rotor inner diai 0258 rotor outer diameter JU ni Note 1 Note 2 Deliverable rotors are magnetized Please note the magnetic attraction Take special care for the magnet part not to hit against a thing A crack or chip may occur Degree of protection is IP00 Use explosion proof oil etc as necessary There is no problem on the functionality or performance even if the molded parts include sink marks or voids etc Unit mm a N Detail A 12 M8 screw Depth 18 E N S X N 2 22 6 29 Unit mm 12 M8 screw TM RBP500J20 Power supply lead 3 AWG6 Finish outer diameter 6 7 U U V W Thermistor lead 2 AWG18 Finish outer diameter22 3 MT1 MT2 Ground lead 1 AWG6 Finish outer diametere7 04 Effective length Direct Drive Motor Specifications and Instruction Manual position for cooling liquid Recommended inlet outlet 38 135 Cooling groove 28 8260 stator inner diameter a Lead out range Recommended inlet outlet 300 of lead wire for cooling liquid o 250 38 9 30 Wire mark position 28 gt 12 M8 screw Wire mark Depth 18 94 gt gt Ys f NS 1 5 nd
10. Revision History Date of revision Manual No Revision details Jun 2013 IB NA 1501068 A First edition created Aug 2013 IB NA 1501068 B WARRANTY was revised The explanation for CN3 was added to Twin head magnetic detector MBA Series MBA405W was added to System configuration and Cable connection diagram The motor thermistor cable connection diagram was added to List of cables and connectors Grobal Service Network was revised Global Service Network MITSUBISHI ELECTRIC AUTOMATION INC AMERICA FA CENTER Central Region Service Center 500 CORPORATE WOODS PARKWAY VERNON HILLS ILLINOIS 60061 U S A TEL 1 847 478 2500 FAX 1 847 478 2650 Michigan Service Satellite ALLEGAN MICHIGAN 49010 U S A TEL 1 847 478 2500 FAX 1 847 478 2650 Ohio Service Satellite LIMA OHIO 45801 U S A TEL 1 847 478 2500 FAX 1 847 478 2650 CINCINATTI OHIO 45201 U S A TEL 1 847 478 2500 FAX 1 847 478 2650 Minnesota Service Satellite ROGERS MINNESOTA 55374 U S A TEL 1 847 478 2500 FAX 1 847 478 2650 West Region Service Center 16900 VALLEY VIEW AVE LAMIRADA CALIFORNIA 90638 U S A TEL 1 714 699 2625 FAX 1 847 478 2650 Northern CA Satellite SARATOGA CALIFORNIA 95070 U S A TEL 1 714 699 2625 FAX 1 847 478 2650 East Region Service Center 200 COTTONTAIL LANE SOMERSET NEW JERSEY 08873 U S A TEL 1 732 560 4500
11. TM RBP012C20 Power supply lead NS Finish outer diametere2 3 U V W Thermistor lead 2 AWG18 Finish outer diameter 2 3 MT1 MT2 Ground lead 1 AWG18 Finish outer diametere2 89 Lead out range of lead wire Effective length Recommended inlet 300 76 y position for cooling liquid 15 __ 46 Cooling groove 15 Wire mark E 250 m m x r Wire mark position NN 13 D A 6 M5 screw Depth 11 Unit mm 130h8 3 03 987 stator inner diameter S RS Moor ego F TM RBS012C20 130h8 0 7 gap Recommended outlet position for cooling liquid Note 1 Do not move the stator by holding the lead wire Note 2 Degree of protection is IP00 Use explosion proof oil etc as necessary 12 7 2 Note 3 Continuous rated torque is assured only when the required cooling capacity is satisfied P Note 4 There is no problem on the functionality or performance even if the molded parts include sink marks or voids etc 15 Detail A TM RBS012C20 62 18 6 M5 screw 6 M5 screw Depth 11 30 f A DE 285 6 rotor outer diameter on 56 7 0 rotor inner di 1957 Note 1 Note 2 Note 1 Deliverable rotors are mag
12. CN1 2 For connection with scale sub head CN2 For connection with servo drive unit CN3 For connection with motor thermistor lt Connector pin layout gt CN2 lt Drive unit gt O unction 5 O CN3 lt Thermistor gt unction BT SD SD SHD MT1 RQ B Oj N RO P5 LG MT2 ol n CNT N MITSUBISHI CNC _ 4 Dedicated Options 4 2 Cables and connectors 4 2 1 Cable connection diagram The cables and connectors that can be ordered from Mitsubishi Electric Corp as option parts are shown below Cables can only be ordered in the designated lengths Purchase a connector set etc to create special length cables lt MDS D2 Series gt MDS D2 V1 fa o al of Ea CN2 Servo detector cable lt Motor side detector cable gt ek MR sensor head twin head Detector MBA405W Prepared by user Thermistor signal Direct drive motor Power cable lt MDS DJ V1 Series gt MDS DJ V1 V OPEN CD Detector MBA405W do Prepared by user mj l MR sensor head twin head Servo detector cable lt Motor side
13. Changes for the Better MITSUBISHI ELECTRIC MITSUBISHI CNC Specifications and Instruction Manual Direct Drive Motor E a re 5 a le p 7 a High Productivity High Accuracy Easy Operability IB 1501068 ENG B 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 Always store this manual in a safe place In order to confirm if all function specifications described in this manual are applicable refer to the specifications for each CNC Notes on Reading This Manual 1 Since the description of this specification manual deals with NC in general for the specifications of individual machine tools refer to the manuals issued by the respective machine manufacturers The restrictions and available functions described in the manuals issued by the machine manufacturers have precedence to those in this manual 2 This manual describes as many special operations as possible but it should be kept in mind that items not mentioned in this manual cannot be performed Precautions for safety Please read this manual and auxiliary documents before starting installation operation mai
14. FAX 1 732 560 4531 Pennsylvania Service Satellite PITTSBURG PENNSYLVANIA 15644 U S A TEL 1 732 560 4500 FAX 1 732 560 4531 Connecticut Service Satellite TORRINGTON CONNECTICUT 06790 U S A TEL 1 732 560 4500 FAX 1 732 560 4531 South Region Service Center 1845 SATTELITE BOULEVARD STE 450 DULUTH GEORGIA 30097 U S A TEL 1 678 258 4529 FAX 1 678 258 4519 Texas Service Satellites GRAPEVINE TEXAS 76051 U S A TEL 1 678 258 4529 FAX 1 678 258 4519 HOUSTON TEXAS 77001 U S A TEL 1 678 258 4529 FAX 1 678 258 4519 Tennessee Service Satellite Nashville Tennessee 37201 U S A TEL 1 678 258 4529 FAX 1 678 258 4519 Florida Service Satellite WEST MELBOURNE FLORIDA 32904 U S A TEL 1 678 258 4529 FAX 1 678 258 4519 Canada Region Service Center 4299 14TH AVENUE MARKHAM ONTARIO L3R OJ2 CANADA TEL 1 905 475 7728 FAX 1 905 475 7935 Canada Service Satellite EDMONTON ALBERTA T5A 0A1 CANADA TEL 1 905 475 7728 FAX 1 905 475 7935 Mexico Region Service Center MARIANO ESCOBEDO 69 TLALNEPANTLA 54030 EDO DE MEXICO TEL 52 55 3067 7500 FAX 52 55 9171 7649 Monterrey Service Satellite MONTERREY N L 64720 MEXICO TEL 52 81 8365 4171 BRAZIL MELCO CNC do Brasil Comercio e Servigos S A Brazil Region Service Center ACESSO JOSE SARTORELLI KM 2 1 CEP 18550 000 BOITUVA SP BRAZIL TEL 55 15 3363 9900 FAX 55 15 3363 9911 MITSUBISHI ELECTRIC EUROPE B V GOT
15. If the battery low warning is issued back up the machining programs tool data and parameters with an input output unit and then replace the battery Do not short circuit charge overheat incinerate or disassemble the battery For after purchase servicing of the built in motor only the servicing parts for MITSUBISHI detector can be supplied For the motor body prepare the spare parts at the machine manufacturers For maintenance part replacement and services in case of failures in the built in motor including the detector take necessary actions at the machine manufacturers For drive unit Mitsubishi can offer the after purchase servicing as with the general drive unit Disposal Take the batteries and backlights for LCD etc off from the controller drive unit and motor and dispose of them as general industrial wastes Do not disassemble the unit or motor Dispose of the battery according to local laws Always return the secondary side magnet side of the linear servo motor to the Service Center or Service Station When incinerating optical communication cable hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated For disposal of optical communication cable request for specialized industrial waste disposal services that has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas Transportation The unit and motor are precision parts and must be handled
16. Power supply lead 3 AWG10 Finish outer diametere4 3 U V w Thermistor lead 2 AWG18 Finish outer diametero2 3 Effective length Lead out range MT1 MT2 300 105 f lead wi Ground lead 1 AWG10 Finish outer diametere4 73 _ Ones WIR Recommended inlet outlet Recommended inlet outlet position for cooling liquid position for cooling liquid m 35 35 Wire mark 20 20 Is a 65 Cooling groove M6 screw E Depth 14 FS a I 250 e Wire mark position a 13 la 9174 stator inner diameter 230h8 8 072 Rotor TM RBS105G10 i 2 2 Za Note 1 Do not move the stator by holding the lead wire 18 3 1 Note 2 Degree of protection is IPOO Use explosion proof oil etc as necessary Lago Note 3 Continuous rated torque is assured only when the required cooling capacity is satisfied Detail A Note 4 There is no problem on the functionality or performance even if the molded parts include sink marks or voids etc TM RBS105G10 Unit mm 91 AS 8 M6 screw 20 A gt 8 M6 screw Depth 14 Depth 14 ep i fy Ce 2 5 po i Note 1 Note 2 172 rotor outer diameter 130 7 9 rotor inner diameter Note
17. 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 respective companies AN DO LT HA Japanese AMIS LRA VDA SHIRA CT WEEDE OAD CEEL ERRA AAT DERERELIAELET Handling of our product English user may be required to take adequate measures AGA 419 de This is a class A product In a domestic environment this product may cause radio interference in which case the A 71399 219 o Hol 4s Fels AAPA 8717122 EE AA el 379 Korean wong Az Yu WARRANTY Please confirm the following product warranty details before using MITSUBISHI CNC 1 Warranty Period and Coverage Should any fault or defect hereafter called failure for which we are liable occur in this product during the warranty period we shall provide repair services at no cost through the distributor from which the product was purchased or through a Mitsubishi Electric service provider Note however that this shall not apply ifthe customer was informed prior to purchase of the product that the product is not covered under warranty Also note that we are not responsible for any on site readjustment and or trial run that may
18. Drive LED displays Cx during DC excitation 7 Note down the AFLT gain magnetic pole shift amount on the drive monitor screen 8 Emergency stop terminate DC excitation mode 9 Repeat 5 to 8 5 times 10 The variation in the AFLT gain magnetic pole shift amount is 1000 or less Yes 11 Set the average value of magnetic pole shift amounts to SV028 MSFT 12 Release the DC excitation mode SVO34 SSF3 bit4 dcd 0 Overshooting occurs during the axis direct drive motor movement 13 NC power ON again Change the setting for detector installation polarity SVO17 SPEC bitO mdir 14 Release the emergency stop There is no need to change the magnetic pole shift amount even if the setting for 0 Forward polarity lt 1 Reverse polarity 15 Drive the axis direct drive motor with handle detector installation polarity is changed feed for one rotation Magnification minimum pulse 16 Any alarm occurs No Yes The installation polarity between the direct drive motor and detector may be reverse if the alarm 3E 51 or 52 occurs at operation check 17 Release the current limit SVO13 ILMT Current limit value for each motor Initial setup completed MITSUBISHI CNC _ 7 Setup 7 2 2 Related parameters As DC excitation is a function used for initial setup for the direct drive motor use the servo parameters 2261 SV061 and 2262 SV062 that have another function D A o
19. Q 1 1 Ky Rotor al FE TM RBS500J20 u rn g Note 1 Do not move the stator by holding the lead wire Note 2 Degree of protection is IP00 Use explosion proof oil etc as necessary Note 3 Continuous rated torque is assured only when the required cooling capacity is satisfied Note 4 There is no problem on the functionality or performance even if the molded parts include sink marks or voids etc TM RBS500J20 Note 1 Note 2 Note 3 Note 4 12 M8 screw 330h8 8 080 330h8 2 1 Direct drive motor Unit mm 12 M8 screw Depth 18 25 7 28 188 25 ak T S e E S T 4 E 5 5 E don N PEIE E 3 82 3 Lia z ME 2 8 om a E Deliverable rotors are magnetized Please note the magnetic attraction Take special care for the magnet part not to hit against a thing A crack or chip may occur Degree of protection is IPOO Use explosion proof oil etc as necessary There is no problem on the functionality or performance even if the molded parts include sink marks or voids etc Unit mm 12 M8 screw 2 13 MITSUBISHI CNC _ 2 Specifications 2 14 3 Characteristics 3 1 MITSUBISHI CNC _ 3 Characteristics 3 1 Direct drive motor 3 1 1 Overload protection characteristics The servo drive unit has an el
20. foame 7 RQ RQ 1 8 RQ Case Er TET NUN grounding PE 5 SHD lt For 10m or less gt Drive unit side connector 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 MOLEX Connector set 54599 1019 P5 45V LG BAT MT1 MT2 SD SD RQ RO Case grounding PE 4 wo Y U o Detector preamplifier side connector CN2 Hirose Electric Plug RMI5WTPZK 12S Cord clamp JRI3WCCA 8 72 P5 45V LG CNT 2 BAT SD RQ Z i 0 2mm 1 6 MT1 r 11 MT2 3 4 SD 7 8 RQ 5 T5 SHD For 10m to 20m lt Twin head magnetic detector MBA405W motor thermistor cable connection diagram gt To motor thermistor Detector preamplifier side connector CN3 Hirose Electric Plug RM15WTPZK 10S Cord clamp J RI3WCCA 8 72 3 MT1 MI MITSUBISHI CNC _ 4 Dedicated Options 4 10 Selection Sei MITSUBISHI CNC _ 5 Selection 5 1 Selection of the power supply unit only MDS D2 V1 V2 For the power supply unit calculate the spindle motor output servo motor output and direct drive motor output each and select the capacity satisfying the required rated capacity and the maximum momentary output For details on the calculation method of motor output and selecting method for motors other than a direct drive motor refer to MDS D2 DH2 Series Instruction Manual 5 1 1 Calculation of
21. is setto a value other than 0 for a detector that does not support the resolution expansion setting The expansion main side detector resolution SV118 is set to 0 for a detector that requires the resolution expansion setting 2318 If the upper 16 bits for the detector resolution are 0 this should be set to 1 V020 SV025 SV118 The expansion main side detector resolution SV118 is set to a value other than 0 for a detector that does not support the resolution expansion setting 2321 Magnetic pole detection position loop gain SV121 is not set at initial setup when MBA405W is connected SV121 2322 Magnetic pole detection speed loop gain SV122 is not set at initial setup when MBA405W is connected SV122 2323 Magnetic pole detection speed loop lead compensation SV123 is not set at initial setup when MBA405W is SV123 connected 8 Servo Adjustment MITSUBISHI CNC _ 8 Servo Adjustment 8 1 Servo adjustment procedure The servo parameters must be set before the direct drive motor 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 Adjusting servo Set current loop gain Set standard parameter for each motor because setting values are determined depending on motors used gt Refer to 7 4 List of standard parameters
22. 1 Deliverable rotors are magnetized Please note the magnetic attraction Note 2 Take special care for the magnet part not to hit against a thing A crack or chip may occur Note 3 Degree of protection is IPOO Use explosion proof oil etc as necessary Note 4 There is no problem on the functionality or performance even if the molded parts include sink marks or voids etc MITSUBISHI CNC _ 2 Specifications TM RBP105G20 Unit mm Power supply lead 3 AWG10 Finish outer diametero4 3 U V W Thermistor lead 2 AWG18 Finish outer diameter 2 3 Effective length MT1 MT2 Lead out range 300 105 Ground lead 1 AWG10 Finish outer diameter 4 73 of lead wire Recommended inlet outlet Recommended inlet outlet position for cooling liquid position for cooling liquid 35 35 Wire mark 20 20 an S M6 screw 65 Cooling groove ad Depth 14 E Depth 14 E EN SS Qso III tg Wire mark position E 13 4 f E a or 230h8 8 072 1 i Rotor 7 TM RBS105G20 8174 stator inner diameter 1 gap li 230h8 Note 1 Do not move the stator by holding the lead wire 18 3 1 Note 2 Degre
23. 1500 2000 Standard Standard VGN1 VGN1 1000 1500 1000 500 500 0 0 100 600 1100 1600 2100 100 600 1100 1600 2100 Load inertia magnification Load inertia magnification TM RBP340J20 TM RBP500J20 Isolated motor Isolated motor 4000 5000 3500 4500 4000 3000 3500 2500 3000 2000 2500 Standard Standard VGN1 1500 VGN1 2000 1500 1000 1000 500 500 0 0 100 300 500 700 900 1100 100 300 500 700 900 1100 Load inertia magnification Load inertia magnification 96 lt MDS DJ Series gt TM RBP012C20 Isolated motor 3000 2500 2000 1500 Standard VGN1 1000 500 100 600 1100 1600 2100 Load inertia magnification TM RBP048G20 Isolated motor 4000 3500 3000 2500 2000 Standard VGN1 1500 1000 500 0 100 600 1100 1600 2100 Load inertia magnification Direct Drive Motor Specifications and Instruction Manual 3000 2500 2000 1500 Standard VGN1 1000 500 4000 3500 3000 2500 2000 Standard VGN1 1500 1000 500 0 8 1 Servo adjustment procedure TM RBP036E20 Isolated motor 100 600 1100 1600 2100 Load inertia magnification TM RBP105G10 Isolated motor 100 600 1100 1600 2100 Load inertia magnification MITSUBISHI CNC _ 8 Servo Adjustment
24. 7000 SV018 PIT Ball screw pitch Magnetic pole pitch 360 360 360 360 360 360 360 360 SV019 RNG1 Sub side detector resolution SV020 RNG2 Main side detector resolution E SV021 OLT Overload detection time constant 60 60 60 60 60 60 60 60 SV022 OLL Overload detection level 150 150 150 150 150 150 150 150 SV023 OD1 Excessive error detection width during servo ON 6 6 6 6 6 6 6 6 SV024 INP In position detection width 50 50 50 50 50 50 50 50 SV025 MTYP Motor Detector type 22FF 2213 22FF 22FF 22FF 2218 22FF 22FF SV026 OD2 Excessive error detection width during servo OFF 6 6 6 6 6 6 6 6 SV027 SSF1 Servo function 1 4000 4000 4000 4000 4000 4000 4000 4000 SV028 MSFT Magnetic pole shift amount 0 0 0 0 0 0 0 0 SV029 VCS Speed at the change of speed loop gain 0 0 0 0 0 0 0 0 SV030 IVC Voltage non sensitive band compensation 0 0 0 0 0 0 0 0 SV031 OVS1 Overshooting compensation 1 0 0 0 0 0 0 0 0 SV032 TOF Torque offset 0 0 0 0 0 0 0 0 SV033 SSF2 Servo function 2 0000 0000 0000 0000 0000 0000 0000 0000 SV034 SSF3 Servo function 3 0000 0000 0000 0000 0000 0000 0000 0000 SV035 55 4 Servo function 4 0000 0000 0000 0000 0000 0000 0000 0000 SV036 PTYP Power supply type Regenerative resistor type 0000 0000 0000 0000 0000 0000 0000 0000 SV037 JL Load inertia scale 0 0 0 0 0 0 0 0 SV038 FHz1 Notch filter frequency 1 0 0 0 0 0 0 0 0 SV039 LMCD Lost motion compensation timing 0 0 0 0 0 0 0 0 SV040 LMCT Lost motion compensa
25. 8 000 000p rev 8000 0 ENGINEERING 42219 PR SV019 RNG1 Sub side detector resolution Set the number of pulses per revolution in one kp increments Note that the value must be input in increments of 10K pulses the 1st digit of the setting value is 0 If any restriction is imposed due to the above condition also set SV117 in one pulse increments 2220 PR SV020 RNG2 Main side detector resolution Set the same value as SV019 2317 PR SV117 RNGiex Expansion sub side detector resolution To set the resolution of the motor side detector in one pulse increments set the number of pulses of the detector by 4 byte data in total SV117 high order 16bit and SV019 low order 16bit SV117 Quotient of the number of pulses divided by 65536 If the quotient is 0 set SV117 to 1 SV019 Remainder of the number of pulses divided by 65536 SV019 can be set in one pulse increments If the NC is C70 and SV019 is greater than 32767 enter the negative value obtained by subtracting 65536 from the above remainder in SV019 2318 PR SV118 RNG2ex Expansion main side detector resolution Set the same value as SV117 Direct Drive Motor Specifications and Instruction Manual 7 1 Setting the initial parameters for the direct drive motor 7 1 2 List of standard parameters for each direct drive motor 1 Direct drive motor TM RB Series MDS D2 Vo
26. TEL 420 59 5691 185 FAX 420 59 5691 199 Russia Service Center 213 BNOVODMITROVSKAYA STR 14 2 127015 MOSCOW RUSSIA TEL 7 495 748 0191 FAX 7 495 748 0192 Sweden Service Center STRANDKULLEN 718 91 FR VI SWEDEN TEL 46 581 700 20 FAX 46 581 700 75 Bulgaria Service Center 4 ANDREJ LJAPCHEV BLVD POB 21 BG 1756 SOFIA BULGARIA TEL 359 2 8176009 FAX 359 2 9744061 Ukraine Kharkov Service Center APTEKARSKIY LANE 9 A OFFICE 3 61001 KHARKOV UKRAINE TEL 380 57 732 7774 FAX 380 57 731 8721 Ukraine Kiev Service Center 4 B M RASKOVOVYI STR 02660 KIEV UKRAINE TEL 380 44 494 3355 FAX 380 44 494 3366 Belarus Service Center OFFICE 9 NEZAVISIMOSTI PR 177 220125 MINSK BELARUS TEL 375 17 393 1177 FAX 375 17 393 0081 South Africa Service Center P O BOX 9234 EDLEEN KEMPTON PARK GAUTENG 1625 SOUTH AFRICA TEL 27 11 394 8512 FAX 27 11 394 8513 MITSUBISHI ELECTRIC ASIA PTE LTD ASEAN FA CENTER Singapore Service Center 307 ALEXANDRA ROAD 05 01 02 MITSUBISHI ELECTRIC BUILDING SINGAPORE 159943 TEL 65 6473 2308 FAX 65 6476 7439 Malaysia KL Service Center 60 JALAN USJ 10 1B 47620 UEP SUBANG JAYA SELANGOR DARUL EHSAN MALAYSIA TEL 60 3 5631 7605 FAX 60 3 5631 7636 Malaysia Johor Baru Service Center NO 16 JALAN SHAH BANDAR 1 TAMAN UNGKU TUN AMINAH 81300 SKUDAI JOHOR MALAYSIA TEL 60 7 557 8218 FAX 60 7 557 3404 Philippines Service Center UNIT NO 41
27. detector cable gt Thermistor signal Power cable f Direct drive motor 4 2 2 List of cables and connectors lt Servo detector cable and connector gt Direct Drive Motor Specifications and Instruction Manual 4 2 Cables and connectors Item Model Contents Drive unit side connector 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 MOLEX Detector connector CNU2S AWG18 Connector set 54599 1019 Drive unit side connector 3M Detector preamplifier side connector Receptacle 36210 0100PL Hirose Electric CNV2E MB Shell kit 36310 3200 008 MOLEX Plug RM15WTPZK 12S ForCN2 Cable for MBA405W Length Connector set 54599 1019 Clamp JR13WCCA 8 72 2 3 4 5 7 10 15 20m Detector preamplifier side connector Hirose Electric Connector for Plug RM15WTPZK 12S MBA405W 25 8 Cord clamp JR13WCCA 8 72 Detector preamplifier side connector Hirose Electric Thermistor connector Plug RM15WTPZ 10S ForCN3 for MBA405W CNEMBSS 8 Cord clamp JR13WCCA 8 72 lt Power connector gt Item Model Contents Drive unit side power connector DDK Power connector for Housing DK 5200S 04R MDS D2 V1 20 to 80 Contact DK 5RECSLP1 100 MDS D2 V2 2020 to 8080 CNU1S AWG14 MDS D2 SP 20 to 80 MDS D2 SP2 2020 to 4040 For TE1 Power connector for MDS D2 V1 160 MDS D2 V2 16080 160160 MDS D2 SP2 8040 8080 CNU1S AWG10
28. direct drive motor output 1 Selection with rated output 2 Selection with maximum momentary output For the rated output and maximum momentary at the maximum speed of the direct drive motor calculate from the output characteristics of each motor lt Output characteristics gt TM RBP012C20 TM RBP036E20 e o Maximum mom M Maximum mom entary output Output KW Output kW 0 100 200 300 Working maximum rotarion speed r min TM RBP048G20 Rated output 100 200 300 400 500 Working maximum rotarion speed r min TM RBP105G10 3 Maximum momentary output Maximum momentary output E E 1 Rated output 0 0 100 200 300 50 100 150 200 250 Working maximum rotarion speed r min Working maximum rotarion speed r min TM RBP105G20 TM RBP150G20 8 6 Maximum momentary output Maximum momentary output 3 Z 8 4 E 2 2 o o 2 Rated output 0 0 100 200 300 100 200 300 400 500 Working maximum rotarion speed r min Working maximum rotarion speed r min TM RBP340J20 TM RBP500J20 15 12 Maximum momentary output Maximum momentary output a 6 Rated output 3 0
29. drive monitor screen SV034 SSF3 bit4 ded 0 SV061 DA1NO to SV063 DA1MPY 0 18 Turn ON the emergency stop terminate DC excitation 21 NC power ON again Repeat 15 to 18 5 times and if difference of the magnetic pole shift amounts is 1000 19 Set the average of magnetic pole shift amounts 22 Release the current limit data or bigger change the parameter to SV028 MSFT imi settings of SVOG1 DATNO and SVOB2 SV013 ILMT Current limit value for each motor DA2NO by 10 Repeat 15 to 18 5 times again and comfirm in the same way Initial setup completed 7 13 MITSUBISHI CNC _ 7 Setup 7 3 2 Related parameters For the initial setup when using MBA405W the following parameters are required to be set in addition to those related to the DC excitation function If the initial setup for MBA405W is performed before setting these parameters an alarm for Initial parameter error 37 occurs 2321 SV121 Kpp Magnetic pole detection position loop gain Set this parameter to adjust the motor magnetic pole position and detector s installation phase at using MBA405W Set the position loop gain in the magnetic polar detection loop at the initial magnetic polar detection The initial magnetic polar detection is performed for the direct drive motor which uses MBA405W as the motor side detector Related parameters SV122 SV123 SV124 Setting range 0 to 32767 2322 SV122 Kvp Magnet
30. for direct drive motor Look for the maximum value not causes machine vibration The final setting value should be 70 to 80 of the maximum value at which the machine does not vibrate gt Refer to 8 1 1 Speed loop gain Measures against the vibration Set speed loop gain Notch filter Jitter compensation Variable speed loop gain Vibration occurs Yes No Refer to the Instruction Manual of each drive unit for details on the adjustment lt method required for each setting Perform adjusting the servo in the factory configuration of the machine When the servo is adjusted N CAUTION without having an enough running in or a cover friction force machine resonance frequency or resonance gain may be different resulting in an incorrect adjustment Direct Drive Motor Specifications and Instruction Manual 8 1 Servo adjustment procedure 8 1 1 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 1 Refer to the following standard VGN1 graphs and set the standard VGN1 according to the size of the entire load inertia motor and machine load inertia 2 Ifthe standard VGN1 setting value is exceeded the current comman
31. motor or direct drive motor 46 NR Deceleration stop Thermal error was disconnected The thermistor signal receiving circuit was short circuited Current command of 95 or more of the unit s max current was given 51 Overload 2 continuously for 1 second or longer NR Deceleration stop The detector installation polarity SV17 bit0 may be reverse 52 Excessive error 1 A position tracking error during servo ON was excessive NR Deceleration stop Note 1 Resetting methods NR Reset with the NC RESET button This alarm can also be reset with the PR and AR resetting conditions PR Reset by turning the NC power ON again This alarm can also be reset with the AR resetting conditions When the control axis is removed this alarm can be reset with the NC RESET button Excluding alarms 32 and 37 AR Reset by turning the servo drive unit power ON again Detector alarm Servo drive unit Alarm number when the detector is 2B 2C 2D 2E 48 49 4A 4B connected to CN2 side MBA405W Mitsubishi cpu error Waveform Data error Count error Electric error Relative ETE Absolute Relative RCN223M RCN227M HEIDENHAIN Initialization EEPROM absolutepo ROM RAM CPU error Overspeed pasifon bositian RCN727M RCN827M error error sition data error data error data error mismatch Installation Detection Scale MPRZ scale MHI accuracy position Gain fault Phase fault breaking detection fault deviance fault
32. not move the stator by holding the lead wire L 167 lt 1 Note 2 Degree of protection is IP00 Use explosion proof oil etc as necessary 19 Detail A Note 3 Continuous rated torque is assured only when the required cooling capacity is satisfied etal Note 4 There is no problem on the functionality or performance even if the molded parts include sink marks or voids etc TM RBS036E20 Unit mm 77 20 8 M6 screw 8 M6 screw e 5 9 8 8 Eg ej 8 3 2 s 5 2 2 3 7 Olo o 515 E 2 t o N amp 2 9 Deliverable rotors are magnetized Please note the magnetic attraction Take special care for the magnet part not to hit against a thing A crack or chip may occur Degree of protection is IP00 Use explosion proof oil etc as necessary There is no problem on the functionality or performance even if the molded parts include sink marks or voids etc Note 1 Note 2 Note 3 Note 4 MITSUBISHI CNC 2 Specifications Power supply lead 3 AWG10 Finish outer diametero4 3 U V W Thermistor lead 2 AWG18 Finish outer diametere2 3 MT1 MT2 Effective length Ground lead 1 AWG10 Finish outer diametere4 73 300 80 L of lead wire ead out range ecommended inlet outlet Recommended inlet outlet 0 ME position for cooling liquid position for cooling liquid Unit mm
33. the name are combined to form a direct drive motor lt Secondary side magnet side gt TM RBS 1 2 1 Rated torque 2 Stator dimensions 3 Rated rotation speed DIA 330 mm Note 1 This explains the model name system of direct drive motors but does not mean all the combinations are available Note 2 The primary and secondary sides having the same variable part of the name are combined to form a direct drive motor 2 Specifications MITSUBISHI CNC _ 2 Specifications 2 1 Direct drive motor 2 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 Storage temperature 15 Cto 70 C with no freezing Storage humidity 90 RH or less with no dew condensation Indoors no direct sunlight Atmosphere no corrosive gas inflammable gas or dust No oil or water splash Vibration 5G or less 2 5G or less for TM RBP340J20 TM RBP500J20 Altitude 1000m or less above sea level Direct Drive Motor Specifications and Instruction Manual 2 1 Direct drive motor 2 1 2 Precautions for storage Z WARNING Z CAUTION 3 Correctly store the direct drive motor in the package to transport and siore gt As the secondary side has permanent magnets in it and the magnetic attraction force is generated between magnetic maierial as iron unexpected accidents or f
34. to a failure of this product any damages secondary damages or compensation for accidents arising under specific circumstances that either foreseen or unforeseen by Mitsubishi Electric any damages to products other than this product or compensation for any replacement work readjustment and startup test run of on site machines or any other operations conducted by the customer 4 Changes in Product Specifications Specifications shown in our catalogs manuals or technical documents are subject to change without notice 5 Product Application 1 For the use of this product its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in the product and a backup or fail safe function should operate on an external system to the product when any failure or malfunction occurs 2 Mitsubishi CNC is designed and manufactured solely for applications to machine tools to be used for industrial purposes Do not use this product in any applications other than those specified above especially those which are substantially influential on the public interest or which are expected to have significant influence on human lives or properties Contents A ee A A E n e emi I 1 1 1 1 Servo drive system configuration enne nnne nnns nnne 1 2 1 11 System configuration 3 1 2 1 2 Explanatioriot tVp9 eie th atento EM ERR
35. will be generated when a rotor is inserted into a stator Take necessary and sufficient safety measures such as using a jig considering the attraction force Otherwise the rotor may suddenly be attracted to the stator during assembling resulting in a great danger Z CAUTION Attraction force is Stator generated Rotor e Attraction force is generated 6 3 1 Example procedure of assembly 1 Shaft assembly Fit a shaft into the rotor using the pilot section of rotor inner diameter as a guide Use the screw holes on the rotor ends to fix the rotor and shaft by screws Use as many holes on the both ends as possible to fix them Fix the rotor and shaft by screws Use the pilot section of rotor inner diameter as a guide 1 Do not raise the temperature of the rotor to 40 C or higher before assembling since heat may demagnetize magnets Do not shrink fit the rotor A CAUTION 2 The rotor has not balanced If the balance of the rotor is a problem adjust the dynamic balance after assembling the shaft to the rotor Take special care for the magnetic attraction force acted on the rotor surface when balancing Use the shaft part for balancing Do not machine the rotor itself or install balancing screws Direct Drive Motor Specifications and Instruction Manual 6 3 Direct drive motor assembly 2 Shaft and bearing housing assembly Insert the bearing into the bearing housing and assemble to fix them Insert the bearing into the be
36. wire and power line Use wires and cables that have a wire diameter heat resistance and flexibility that conforms to the system Trial operation and adjustment Check and adjust each program and parameter before starting operation Failure to do so could lead to unforeseen operation of the machine Do not make remarkable adjustments and changes of parameter as the operation could become unstable The usable motor and unit combination is predetermined Always check the combinations and parameters before starting trial operation The direct drive motor and linear servo motor do not have a stopping device such as magnetic brakes Install a stopping device on the machine side Z CAUTION A gt PRP PP B gt Bb 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 Never make modifications When an alarm occurs the machine will start suddenly if an alarm reset RST is carried out while an operation start signal ST is being input Always confirm that the operation signal is OFF before carrying out an alarm reset Failure to do so could lead to accidents or injuries Reduce magnetic damage by installing a noise filter The electronic devices used near th
37. 0 100 200 300 Working maximum rotarion speed r min 100 200 300 400 Working maximum rotarion speed r min 6 Assembly and Installation 6 1 MITSUBISHI CNC _ 6 Assembly and Installation 6 1 Installation NDANGER Immediately stop using the product if any abnormality is found about the product Z CAUTION Installation must be done by a qualified technician Pay attention so that a person with a medical device such as pacemaker won t approach the product The device may be affected by the permanent magnets Do not place magnetic material such as iron close to the product Before installing remove metal items such as waich piercing jewelry necklace etc In installing the product and peripheral structures make sure to use nonmagnetic tools Do not leave the product primary and secondary side unattended When multiple operators are engaged in the operation confirm that no operator is within the range of motion before energizing the product If any operator remains in the range of motion take measures to prevent the motion with interlock system etc As the motor doesn t have the holding power when it is not energized if you use the product not as a vertical axis take measures to prevent the axis from rotating due to gravity Do not arrange the product or do not give a shock Do not get on top of or place heavy objects on the product Correctly and securely perform th
38. 0 360 SV019 RNG1 Sub side detector resolution 5 SV020 RNG2 Main side detector resolution SV021 OLT Overload detection time constant 60 60 60 60 SV022 OLL Overload detection level 150 150 150 150 SV023 OD1 Excessive error detection width during servo ON 6 6 6 6 SV024 INP In position detection width 50 50 50 50 SV025 MTYP Motor Detector type 22FF 2213 22FF 22FF SV026 002 Excessive error detection width during servo OFF 6 6 6 6 SV027 SSF1 Servo function 1 4000 4000 4000 4000 SV028 MSFT Magnetic pole shift amount 0 0 0 0 SV029 VCS Speed at the change of speed loop gain 0 0 0 0 SV030 IVC Voltage non sensitive band compensation 0 0 0 0 SV031 OVS1 Overshooting compensation 1 0 0 0 0 SV032 TOF Torque offset 0 0 0 0 SV033 SSF2 Servo function 2 0000 0000 0000 0000 SV034 SSF3 Servo function 3 0000 0000 0000 0000 SV035 SSF4 Servo function 4 0000 0000 0000 0000 SV036 PTYP Power supply type Regenerative resistor type 0000 0000 0000 0000 SV037 JL Load inertia scale 0 0 0 0 SV038 FHz1 Notch filter frequency 1 0 0 0 0 SV039 LMCD Lost motion compensation timing 0 0 0 0 SV040 LMCT Lost motion compensation non sensitive band 0 0 0 0 SV041 LMC2 Lost motion compensation 2 0 0 0 0 SV042 OVS2 Overshooting compensation 2 0 0 0 0 SV043 OBS1 Disturbance observer filter frequency 0 0 0 0 SV044 OBS2 Disturbance observer gain 0 0 0 0 SV045 TRUB Friction torque 0 0 0 0 SV046 FHz2 Notch filter frequency 2 0 0 0 0 SV047 EC Inducti
39. 055 or SV056 is set MITSUBISHI CNC 7 Setup 7 4 3 Parameter numbers during initial parameter error lt Parameter error No gt f an initial parameter error alarm 37 or set parameter warning warning E4 occurs the axis name and the No of the error parameter that exceeds the setting range will appear on the NC Diagnosis screen as shown below S02 Initial parameter error S52 Parameter error warning OOOO 0000 Error parameter No Axis name Error parameter No Axis name If an error No in the following table is displayed as the error parameter No even when the parameter is set to a value within the setting range an error is occurring due to the hardware compatibility or specifications or in relation to several other parameters Check the specifications and initial setup method of the direct drive motor system and correctly set the parameters according to the descriptions in the following table Error parameter No Details Related parameters 2198 The parameter for enabling the absolute position control 2049 type is set before the initial setup is 2049 completed when MBA405W is connected 2217 The motor selected is of a motor series different from the drive unit s input voltage 200V 400V SV017 Or a motor of an incompatible motor series is selected In a semi closed loop control system the setting
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41. 11 5 0 2 MBA405W BG160 0 0 015 MBE405W BG160 242 0 015 242 0 3 0 to 9 5 13 5 0 2 MITSUBISHI CNC _ 6 Assembly and Installation 3 For Z phase signal detection After turning the detector power ON Z phase signal is required to be detected by the main head Z phase signal position mark is required to pass the main head For the device configuration which the magnetic drum cannot drive more than one rotation install the detector so that Z phase can pass the main head in the shaft stroke Main head Z phase signal position mark 4 For the rotation direction of the detector Seeing a detector from the upper surface as shown below when the magnetic drum rotates clockwise is the forward run Confirm the rotation direction of the detector and motor by reference to each motor specifications Forward run Magnetic drum 5 For MBA405W absolute detector The initial setup operation is required after the operation is enabled for NC system to connect MBA405W to the servo drive unit Refer to 7 3 Initial setup for the direct drive motor system when using MBA405W for details The initial setup is required only for the first time after installing the detector to the machine 6 10 Setup MITSUBISHI CNC _ 7 Setup 7 1 Setting the initial parameters for the direct drive motor The servo parameters must be set before the direct drive motor can be started up The servo parameters
42. 177 ATYP Motor unique constants 100 0 200 350 SV178 0 0 0 0 SV179 0 0 0 0 SV180 0 0 0 0 SV181 0 0 0 0 SV182 0 0 0 0 SV183 0 0 0 0 SV184 0 0 0 0 SV256 0 0 0 0 Note When using a motor for which SV025 is set to 22FF the motor name displayed by selecting Servo unit on the drive monitor screen will be ROTmotor Direct Drive Motor Specifications and Instruction Manual 7 2 Initial setup for the direct drive motor system 7 2 Initial setup for the direct drive motor system This section explains the initial setup procedures for direct drive motor 1 Perform the initial setup after the operation is enabled for NC system 2 The initial setup is required for each direct drive motor 3 Perform the initial setup again after replacing the detector 4 For a system with multiple direct drive motor axes the initial setup DC excitation function AN CAUTION must be performed for each axis Set 2213 SV013 to 0 and 2228 SV028 to 1 for the direct drive motor axis for which the DC excitation function is not enabled If the emergency stop is released in the state of 2228 SV028 is 0 magnetic pole position detection error 16 will occur 5 The initial setup method differs when using MBA405W Refer to Initial setup for the direct drive motor system when using MBA405W 7 2 1 Adjustment procedure For the direct drive motor system the initial setup must be performed for each machine because the position relation between t
43. 538 Degree of protection IP00 Required cooling capacity kW 0 5 0 7 0 4 1 6 1 3 1 9 2 7 4 1 Cooling water volume Min 5 l min Max 6 l min at 20 Ambient temperature Operation 0 to 40 C with no freezing Storage 15 C to 70 C with no freezing Ambient humidity Operation 80 RH or less with no dew condensation Storage 90 RH or less with no dew condensation Indoors no direct sunlight Environment Atmosphere no corrosive gas inflammable gas or dust No oil or water splash Altitude 1000m or less above sea level Vibration 5G or less 2 5G or less Puma DIA130 DIA180 DIA 230 DIA 230 DIA 230 DIA230 DIA330 DIA 330 outer diameter Dimensions Secondary side mm y DIA 56 DIA 100 DIA 130 DIA 130 DIA 130 DIA 130 DIA 205 DIA 205 inner diameter Height 76 91 80 105 105 130 154 191 Primary side coil 3 9 7 1 10 13 13 16 33 41 M z ass kg Secondary side 17 37 5 7 7 9 20 26 magnet Heat resistant class 155 F Note 1 The above characteristics values are representative values The maximum current and maximum torque are the values when combined with the drive unit Note 2 The detector should be procured by the user 2 1 4 Torque characteristics lt TM RB Series gt Torque N m TM RBP012C20 Short time operation range Continuous operation range 0 200 400 500 Rotation speed
44. DA2NO D A output ch2 data No for final DC excitation level 0 0 0 0 0 0 0 0 SV063 DA1MPY ae ch1 output scale for initial DC excitation 0 0 0 0 0 0 0 0 SV064 DA2MPY D A output ch2 output scale 0 0 0 0 0 0 0 0 SV065 TLC Machine end compensation gain 0 0 0 0 0 0 0 0 MITSUBISHI CNC 7 Setup otor irect drive motor TM eries Parameter 012C20 036E20 048G20 105G10 105G20 150G20 340J20 500J20 No Abbrev Details MDS D2 V1 40 80 80 160 160 160 320 320W System parameter area SV073 FEEDout Specified speed output speed 0 0 0 0 0 0 0 0 System parameter area SV081 SPEC2 Servo specification 2 0200 0200 0200 0200 0200 0200 0200 0200 SV082 SSF5 Servo function 5 0000 0000 0000 0000 0000 0000 0000 0000 SV083 SSF6 Servo function 6 0000 0000 0000 0000 0000 0000 0000 0000 SV084 SSF7 Servo function 7 0000 0000 0000 0000 0000 0000 0000 0000 SV085 LMCk Lost motion compensation spring constant 0 0 0 0 0 0 0 0 SV086 LMCc Lost motion compensation viscous coefficient 0 0 0 0 0 0 0 0 SV087 FHz4 Notch filter frequency 4 0 0 0 0 0 0 0 0 SV088 FHz5 Notch filter frequency 5 0 0 0 0 0 0 0 0 SV089 0 0 0 0 0 0 0 0 SV090 0 0 0 0 0 0 0 0 SV091 LMCAG Lost motion compensation 4 gain 0 0 0 0 0 0 0 0 SV092 0 0 0 0 0 0 0 0 SV093 0 0 0 0 0 0 0 0 SV094 MPV Magnetic pole
45. G10 Finish outer diametere4 73 Recommended inlet outlet Lead out range Recommended inlet outlet pon EE ed of lead wire position for cooling liquid 30 30 Wire mark 20 _ 90 Cooling groove 20 8 M6 screw l Depth 14 pman I 250 d Wire mark position _ 3 y sft i PN bog ISA o L 2 e o ES oa EN EE EIS 1 S E i odes i lla tm 5 S Rotor N 5 TM RBS150G20 Ey T S Ls A 2 T 18 3 1 Note 1 Do not move the stator by holding the lead wire lt Note 2 Degree of protection is IP00 Use explosion proof oil etc as necessary 20 Detail A Note 3 Continuous rated torque is assured only when the required cooling capacity is satisfied Note 4 There is no problem on the functionality or performance even if the molded parts include sink marks or voids etc TM RBS150G20 Unit mm 116 20 8 M6 screw 8 M6 screw Depth 14 2 Depth 14 In 8131 rotor inner diameter 172 rotor outer diameter Note 1 Note 2 130 H7 9040 Note 1 Note 2 Note 3 Note 4 Deliverable rotors are magnetized Please note the magnetic attraction Take special care for the magnet part not to hit against a thing A crack or chip may occur Degree of protection is IP00 Use explosion proof oil etc as necessary There is no problem on the functionali
46. HAER STRASSE 10 40880 RATINGEN GERMANY TEL 49 2102 486 0 FAX 49 2102 486 5910 Germany Service Center KURZE STRASSE 40 70794 FILDERSTADT BONLANDEN GERMANY TEL 49 711 770598 121 FAX 49 711 770598 141 France Service Center DEPARTEMENT CONTROLE NUMERIQUE 25 BOULEVARD DES BOUVETS 92741 NANTERRE CEDEX FRANCE TEL 33 1 41 02 83 13 FAX 33 1 49 01 07 25 France Lyon Service Satellite DEPARTEMENT CONTROLE NUMERIQUE 120 ALLEE JACQUES MONOD 69800 SAINT PRIEST FRANCE TEL 33 1 41 02 83 13 FAX 33 1 49 01 07 25 Italy Service Center VIALE COLLEONI 7 CENTRO DIREZIONALE COLLEONI PALAZZO SIRIO INGRESSO 1 20864 AGRATE BRIANZA MB ITALY TEL 39 039 6053 342 FAX 39 039 6053 206 Italy Padova Service Satellite VIA G SAVELLI 24 35129 PADOVA ITALY TEL 39 039 6053 342 FAX 39 039 6053 206 U K Branch TRAVELLERS LANE HATFIELD HERTFORDSHIRE AL10 8XB U K TEL 49 2102 486 0 FAX 49 2102 486 5910 Spain Service Center CTRA DE RUBI 76 80 APDO 420 08173 SAINT CUGAT DEL VALLES BARCELONA SPAIN TEL 34 935 65 2236 FAX 34 935 89 1579 Poland Service Center UL KRAKOWSKA 50 32 083 BALICE POLAND TEL 48 12 630 4700 FAX 48 12 630 4701 Mitsubishi Electric Turkey A S Umraniye Subesi Turkey Service Center SERIFALI MAH NUTUK SOK NO 5 34775 UMRANIYE ISTANBUL TURKEY TEL 90 216 526 3990 FAX 90 216 526 3995 Czech Republic Service Center KAFKOVA 1853 3 702 00 OSTRAVA 2 CZECH REPUBLIC
47. N eo y 5 2 2 5 pulling tap 8 5 around 124 circumference 3 53 83 Magnetic drum Z phase signal position mark Magnetic drum 35 centering track Sub head IP67 lt MBA405W BF125 gt Unit mm 23 5 Cable length 1200 Main head IP67 8 4 5 hole 22 evenly spaced around 134 circumference Drum installation hole 8 Hirose Electric 4 655 RM15WTPZ 12P 72 evenly spaced around 174 circumference IP67 in the fitting state Installation ring hole E Installation ring Dimension from the bottom id of installation ring to the Installation ring 11 5 02 bottom of magnetic drum Magnetic drum 190 Sors N 2M5 pulling tap around 174 circumference outer diameter 22 Connector Magnetic drum IT Z phase signal position mark 35 Magnetic drum centering track Sub head IP67 lt MBA405W BG160 gt Unit mm 25 5 Cable length 1200 Main head IP67 8 5 5 hole 24 evenly spaced around 170 circumference 10 Drum installation hole Installation ring 4 666 evenly spaced around 226 circumference Installation ring hole Hirose Electric RM15WTPZ 12P 72 IP67 in the fitting state Dimen
48. System Encoder Absolute Relative Laser diode e ui RU77 Magnescale Ser memory mismatch Overspeed position position error error data error data error Note A drive unit processes all reset types of alarms as PR However AR will be applied according to the detector 7 4 2 Drive unit warning No Name Details Stop method method This warning is detected during the initial setup of MBA405W This warning turns Distance coded reference mm A3 check iritial setup warnin OFF after the initial setup is completed when the axis has passed the Z phase of PR p 9 MBA405W the NC power has been turned again An incorrect set value was detected among the parameters send from the NC 3 E4 Parameter warning the normal operation Note 1 A drive unit processes all reset types of alarms as PR However AR will be applied according to the detector Note 2 Resetting methods Automatically reset once the cause of the warning is removed NR Reset with the NC RESET button This warning can also be reset with the PR and AR resetting conditions PR Reset by turning the NC power ON again This warning can also be reset with the AR resetting conditions AR Reset by turning the servo drive unit power ON again Note 3 Direct drive motor does not stop when the warning occurs Note 4 When an emergency stop is input direct drive motor decelerates to a stop When SV048 SV
49. ailures may occur if the secondary side is left unattended During transportation and storage draw people s attention by applying a notice saying Strong magnet Handle with care to the package or storage shelf Do not arrange the product or do not give a shock Do not get on top of or place heavy objects on the product When suspending the product with lifting sling etc do not give a shock or stress to the mold If the product has been stored for a long time please contact your local service center or service station lt How to suspend the product gt 1 Primary side stator Before you suspend the primary side stator alone attach eye bolts etc to the fixing screws on a surface end Please ensure that the wires put no stress on the mold connector or cooling vent when suspending the product In addition please be careful that no stress is applied to the lead wire when you use lead out type When suspending the product support it with at least 3 screws 2 Secondary side rotor Before you suspend the secondary side attach the eye bolts etc to the fixing screws In order to avoid any risks posed by the magnetic attraction force the rotary axis must be in the vertical direction and support it at 3 or more points to keep its posture lt Dust and drip proof structure gt Even if the coil end of the primary side stator has mold structure it cannot guarantee full dust and drip proof So please make sure to construc
50. 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 lt For direct drive motor system gt 1 2 Set the standard parameters in the section 7 1 2 List of standard parameters for each direct drive motor 7 1 1 Setting of detector related parameter Do not release the emergency stop even after setting the above initial parameters The initial Z CAUTION setup refer to the section 7 2 Initial setup for the direct drive motor system is always required to enable the test operation for the direct drive motor Ex manual pulse feed low speed JOG feed 7 1 1 Setting of detector related parameters Set the detector related parameters below depending on the detector connected 2219 SV019 2220 SV020 2317 SV117 2318 SV118 Mitsubishi serial signal output detector Absolute position Manufacturer Detector type Interface unit type control 2219 2220 22312 resolution svo19 SV020 SV117 SV118 Mitsubishi Electric MBA405W Provided 4 000 000p rev 4000 0 8 000 000p rev 8000 0 1 RU77 N Magnescale U ot required 32 000 000p rev 32000 0 RCN223M 1 RCN723M Not required 8 000 000p rev 8000 0 HEIDENHAIN RCN227M Not required 134 217 728p rev 0 2048 RCN727M n RCN827M Not required 134 217 728p rev 0 2048 ee ual see MPRZ Series ADB 20J71
51. aring housing and assemble them 3 Cooling jacket assembly Assemble the cooling jacket by using the pilot section of bearing housing as a guide Perform the centering of the rotor and stator using the cooling jacket inner diameter as a guide Assemble the cooling jacket into the bearing housing BI SEIEN AS 5135555557 Make sure that the concentricity deviation of the rotor inner diameter to the stator outer AN CAUTION diameter is 0 1mm or smaller at the both fitting sections Keep them as concentric as possible 4 Stator assembly 1 Install O rings to the cooling jacket 2 Insert the stator using the cooling jacket inner diameter as a guide 3 Fixthe stator to the housing with screws 2 Insert the stator into the cooling jacket 8 Fix with screws 1 Install O rings MITSUBISHI CNC _ 6 Assembly and Installation 5 Bearing housing assembly 1 Assemble the other bearing and then assemble the bearing housing by using the pilot section of the cooling jacket as a guide 2 Fix the stator to the housing with screws Use as many screw holes on the both ends as possible to fix them 1 Assemble the bearing housing 2 Fix with screws 6 Detector assembly Assemble the detector into the shaft end Assemble the detector If the rotor rotates clockwise right hand turning when viewed from the power line side this direction is considered as plus of the motor When the rota
52. be required after a defective unit is replaced Warranty Term The term of warranty for this product shall be twenty four 24 months from the date of delivery of the product to the end user provided the product is installed in the same country it was purchased in but in no event longer than thirty 30 months including the distribution time after shipment from Mitsubishi Electric or its distributor Limitations 1 The customer is requested to conduct an initial failure diagnosis by him herself as a general rule It can also be carried out by us or our service provider upon the customer s request and the actual cost will be charged 2 This warranty applies only when the conditions method environment etc of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual user s manual and the caution label affixed to the product etc 3 Even during the term of warranty repair costs shall be charged to the customer in the following cases a a failure caused by improper storage or handling carelessness or negligence etc or a failure caused by the customer s hardware or software problem b a failure caused by any alteration etc to the product made by the customer without Mitsubishi Electric s approval c a failure which may be regarded as avoidable if the customer s equipment in which this product is incorporated is equipped with a safety device required by applicab
53. carefully According to a United Nations Advisory the battery unit and battery must be transported according to the rules set forth by the International Civil Aviation Organization ICAO International Air Transportation Association IATA International Maritime Organization IMO and United States Department of Transportation DOT etc General precautions The drawings given in this manual show the covers and safety partitions etc removed to provide a clearer explanation Always return the covers or partitions to their respective places before starting operation and always follow the instructions given in this manual 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 If necessary indicate or notify these laws to the final user of the product 1 Requirements for Law for Promotion of Effective Utilization of Resources a Recycle as much of this product as possible when finished with use b When recycling often parts are sorted into steel scraps and electric parts etc and sold to scrap contractors Mitsubishi recommends sorting the product and selling the members to appropriate contractors 2 Requirements for Law for Treatment of Waste and Cleaning a Mitsubishi recommends recycling and selling the product when no longer nee
54. ccording to each unit or motor specification Note 1 For details confirm each unit or motor specifications in addition Note 2 15 C to 55 C for linear servo motor A ob bb BP When disinfectants insecticides must be used to treat wood packaging materials always use methods other than fumigation for example apply heat treatment at the minimum wood core temperature of 56 C for a minimum duration of 30 minutes ISPM No 15 2009 If products such as units are directly fumigated or packed with fumigated wooden materials halogen substances including fluorine chlorine bromine and iodine contained in fumes may contribute to the erosion of the capacitors When exporting the products make sure to comply with the laws and regulations of each country Do not use the products in conjunction with any components that contain halogenated flame retardants bromine etc Failure to observe this may cause the erosion of the capacitors Securely fix the servo motor to the machine Insufficient fixing could lead to the servo motor slipping off during operation Always install the servo motor with reduction gear in the designated direction Failure to do so could lead to oil leaks Structure the rotary sections of the motor so that it can never be touched during operation Install a cover etc on the shaft When installing a coupling to a servo motor shaft end do not apply an impact by hammering etc The dete
55. ct Servo unit and monitor AFLT gain Turn ON the emergency stop terminate DC excitation Repeat 5 to 9 5 times and monitor the ALFT gain value magnetic pole shift amount each time If difference of the magnetic pole shift amounts is 1000 data or bigger reset the related parameter settings 2261 SV061 10 2262 SV062 10 and perform 5 to 9 again 11 Calculate the average of the magnetic pole shift amounts and set it to 2228 SV028 12 Return the servo parameter 2234 bit4 SV034 bit4 back to the original setting O 13 Turn the NC power ON again N annn a MITSUBISHI CNC 7 Setup lt Confirmation of detector installation polarity gt 14 Release the emergency stop 15 Drive the direct drive motor about 20 with handle feed select the minimum pulse magnification 16 Switch to the Servo diagn menu on the NC maintenance screen select Servo unit and check Load current Also check if any alarm is occurring gt The detector installation polarity may be reverse if the current value reaches to the current limit or any alarm occurs Set the servo parameter 2217 bit0 SV017 bit0 to 1 and perform 14 to 16 again after turning the NC power ON again 17 Turn ON the emergency stop 18 Return the servo parameter 2213 SV013 back to the original setting after confirming the initial setup 1 Never operate the direct drive motor before DC excitation function
56. ctor could be damaged Do not apply a load exceeding the tolerable load onto the servo motor shaft The shaft could break Store the motor in the package box When inserting the shaft into the built in IPM spindle motor do not heat the rotor higher than 130 C The magnet could be demagnetized and the specifications characteristics will not be ensured Always use a nonmagnetic tool explosion proof beryllium copper alloy safety tool NGK Insulators etc when installing the built in IPM spindle motor direct drive motor and linear servo motor Always provide a mechanical stopper on the end of the linear servo motor s travel path If the unit has been stored for a long time always check the operation before starting actual operation Please contact the Service Center Service Station Sales Office or delayer Z CAUTION 2 gt gt BP BB BP gt BP BB Bb BB 3 gt Wiring Correctly and securely perform the wiring Failure to do so could lead to abnormal operation of the motor Do not install acondensing capacitor surge absorber or radio noise filter on the output side of the drive unit Correctly connect the output side of the drive unit terminals U V W Failure to do so could lead to abnormal operation of the motor When using a power regenerative power supply unit always install an AC reactor for each power supply unit In the main circuit power supply side of the unit always in
57. d er A N B M LMAX Motor coasting angle deg F Axis feedrate deg min N Motor speed r min Rotor inertia kg cm JL Motor shaft conversion load inertia kg cm te Brake drive relay delay time s Normally 0 03s gt Emergency stop EMG Dynamic brake control output Actual dynamic brake operation Motor speed lt MDS D2 Series gt Coefficient A Refer to the next page Coefficient B Refer to the next page OFF ON OFF ON OFF _ ON gt te Dynamic brake braking diagram Coasting amount Coasting amount calculation coefficients table lt MDS DJ Series gt Motor type kg cm A B TM RBP012C20 22 3 51 x 10 7 62 x 10 TM RBP036E20 127 7 64 x 109 9 51 x 10 TM RBP048G20 280 27 79 x 10 9 30 x 10 TM RBP105G10 393 33 49 x 10 6 16 x 10 TM RBP105G20 395 28 73 x 10 7 74 x 10 TM RBP150G20 510 24 73 x 109 7 59 x 107 TM RBP340J20 2778 28 41 x 10 20 58 x 103 TM RBP500J20 3538 35 06 x 10 15 89 x 103 Coasting amount calculation coefficients table Motortye Jm kg em a B TM RBP012C20 22 3 31 x 109 8 09 x 10 TM RBP036E20 127 6 89 x 109 10 55 x 10 TM RBP048G20 280 24 43 x 109 10 59 x 10 TM RBP105G10 395 21 67 x 10 9 62 x 10 Time MITSUBISHI CNC _ 3 Characteristics 4 Dedicated Options MITSUBISHI CNC _ 4 Dedicated Options 4 1 Detector syst
58. d fluctuation will increase even if the speed feedback fluctuates by one pulse This can cause the machine to vibrate easily so set a lower value to increase the machine stability lt When machine resonance does not occur at the standard VGN1 gt Set the standard VGN1 Use the standard value if no problem such as machine resonance occurs If sufficient cutting precision cannot be obtained at the standard VGN1 VGN1 can be raised above the standard value as long as a 70 percent margin in respect to the machine resonance occurrence limit is maintained The cutting accuracy can also be improved by adjusting with the disturbance observer lt When machine resonance occurs at the standard VGN1 gt Machine resonance is occurring if the shaft makes abnormal sounds when operating or stopping and a fine vibration can be felt when the machine is touched while stopped Machine resonance occurs because the servo control responsiveness includes the machine resonance points Speed control resonance points occur for example at parts close to the motor such as ball screws Machine resonance can be suppressed by lowering VGN1 and the servo control responsiveness but the cutting precision and cycle time are sacrificed Thus set a vibration suppression filter and suppress the machine resonance Refer to section 4 4 2 Vibration suppression measures and set a value as close as possible to the standard VGN1 If the machine resonance cannot be sufficiently elimina
59. d monitor AFLT gain Turn ON the emergency stop terminate DC excitation Repeat 17 to 21 5 times and monitor the ALFT gain value magnetic pole shift amount each time If difference of the magnetic pole shift amounts is 1000 data or bigger reset the related parameter settings 2261 SV061 10 2262 SV062 10 and perform 17 to 21 again Calculate the average of the magnetic pole shift amounts and set it to 2228 SV028 Return the servo parameter 2234 bit4 SV034 bit4 back to the original setting 0 Turn the NC power ON again Return the servo parameter 2213 SV013 back to the original setting after confirming the initial setup 19 20 21 22 Z u m o 23 24 25 26 1 Alarm 37 error number 2198 is detected before the initial setup operation but this is not a fault The alarm will be cleared after the initial setup is completed and by turning the NC A CAUTION power ON again 2 The NC monitor displays MB 405W before the initial setup is completed It will be correctly displayed as MBA405W after the initial setup is completed Direct Drive Motor Specifications and Instruction Manual 7 3 Initial setup for direct drive motor system when using MBA405W Initial setup procedures for direct drive motor when using MBA405W When using MBA405W perform the initial setup for the direct drive motor by following the steps in the flow diagram below Connect the batte
60. ded according to item 1 above The user should make an effort to reduce waste in this manner b When disposing a product that cannot be resold it shall be treated as a waste product c The treatment of industrial waste must be commissioned to a licensed industrial waste treatment contractor and appropriate measures including a manifest control must be taken d Batteries correspond to primary batteries and must be disposed of according to local disposal laws Disposal Note This symbol mark is for EU countries only This symbol mark is according to the directive 2006 66 EC Article 20 Information for end users and Annex Il 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 If achemical symbol is printed beneath the symbol shown above this chemical symbol means that the battery or accumulator contains a heavy metal at a certain concentration This will be indicated as follows Hg mercury 0 0005 Cd cadmium 0 002 Pb lead 0 004 Inthe European Union there are separate collection systems for used batteries and accumulators Please dispose of batteries and accumulators correctly at your local community waste collection recycling centre Please help us to conserve the environment we live in
61. drive motor Set the initial excitation level in DC excitation control Set 10 as standard Related parameters SV034 bit4 SV062 SV063 Setting range 1 to 127 When the DC excitation is running SV034 bit4 1 0 to 100 Stall current 96 42262 SV062 DA2NO D A output ch2 data No Final DC excitation level Input the data number you wish to output to the D A output channel 2 When using the multi 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 setup when measuring the magnetic pole shift amount for direct drive motor Set the final excitation level in DC excitation control Set 10 as standard Related parameters SV034 bit4 SV061 SV063 Setting range 1 to 127 When the DC excitation is running SV034 bit4 1 0 to 100 Stall current Direct Drive Motor Specifications and Instruction Manual 7 3 Initial setup for direct drive motor system when using MBA405W 42263 SV063 DA1MPY D A output ch1 output scale Initial DC excitation time Set output scale of the D A output channel 1 in increment of 1 100 When 0 is set the magnification is the same as when 100 is set When the DC excitation is running SV034 bit4 1 Use this when the DC excitation is running SV034 bit4 1 to adjust the initial setup when measuring the magnetic pole shift amount
62. e The dynamic brake uses the motor as a generator and obtains the deceleration torque by consuming that energy with the dynamic brake resistance The characteristics of this deceleration torque have a maximum deceleration torque Tdp regarding the motor speed as shown in the following drawing The torque for each motor is shown in the following table Deceleration torque 0 Ndp Motor speed Deceleration torque characteristics of a dynamic brake lt MDS D2 Series gt Max deceleration torque of a dynamic brake HAT Rated torque ITdp Nd Motontype iem Nem TENE TM RBP012C20 12 0 32 15 2125 TM RBPO36E20 36 0 168 89 2416 TM RBP048G20 48 0 197 39 1253 TM RBP105G10 105 0 310 09 929 TM RBP105G20 105 0 300 32 1124 TM RBP150G20 150 0 422 03 1199 TM RBP340J20 340 0 1736 57 2457 TM RBP500J20 500 0 2266 02 1943 lt MDS DJ Series gt Max deceleration torque of a dynamic brake na Rated torque Nd Motor Nem Nem mim TM RBP012C20 12 0 32 15 2258 TM RBPO36E20 36 0 168 89 2679 TM RBP048G20 48 0 197 39 1425 TM RBP105G10 105 0 310 09 1442 2 Coasting rotation distance during emergency stop The angle that the motor coasts when stopping with the dynamic brakes can be approximated with the following expression Direct Drive Motor Specifications and Instruction Manual 3 1 Direct drive motor E 60 stiet
63. e SVO14 ILMTsp for the current limit at the initial magnetic polar estimate Related parameters SV121 SV122 SV123 Setting range 0 to 200 Stall current 96 Direct Drive Motor Specifications and Instruction Manual 7 4 Protective functions list of units 7 4 Protective functions list of units The protective functions related to the direct drive motor system are shown below 7 4 1 Drive unit alarm R No Name Details Stop method method In the direct drive motor which uses the absolute position detector the m servo has been set before the magnetic pole shift amount SV028 is set Initial magnetic pole position i e n 16 detection error The magnetic pole position detected in the initial magnetic pole PR Dynamic stop estimate function at initial setup when using MBA405W is not correctly estimated 25 Absolute position data lost The absolute position data was lost in the detector AR Initial error 37 Initial parameter error An incorrect set value was detected among the parameters send from the NC at PR Inital error the power ON The magnetic pole position detected in the magnetic pole position detection Magnetic pole position 3E detection arro control is not correctly detected AR Dynamic stop The setting of magnetic pole shift amount SV028 is not reliable An overheat is detected on the motor Motor overheat The thermistor signal receiving circuit of the linear
64. e of protection is IP00 Use explosion proof oil etc as necessary 20 Note 3 Continuous rated torque is assured only when the required cooling capacity is satisfied Detail A Note 4 There is no problem on the functionality or performance even if the molded parts include sink marks or voids etc TM RBS105G20 Unit mm o 91 o Do 8 M6 screw 20 5 8 M6 screw Depth 14 Depth 14 A gt 9 Jem iE 2 N E e 130 7 040 rotor inner diameter 172 rotor outer diameter Note 1 Note 2 Note 1 Note 2 Deliverable rotors are magnetized Please note the magnetic attraction Take special care for the magnet part not to hit against a thing A crack or chip may occur Degree of protection is IPOO Use explosion proof oil etc as necessary There is no problem on the functionality or performance even if the molded parts include sink marks or voids etc Note 3 Note 4 2 10 Direct Drive Motor Specifications and Instruction Manual 2 1 Direct drive motor TM RBP150G20 Unit mm Power supply lead 3 AWG10 Finish outer diameter 4 3 U V w Thermistor lead 2 AWG18 Finish outer diametero2 3 Effective length MT1 MT2 300 130 Ground lead 1 AW
65. e 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 2013 Mitsubishi Electric Corporation ALL RIGHTS RESERVED MITSUBISHI CNC a MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN MODEL Direct Drive Motor 100 375 Manual No IB 1501068 IB NA 1501068 ENG B 1308 MEE Made in JAPAN Specifications are subject to change without notice
66. e unit could be affected by magnetic noise Install a line noise filter etc if there is a risk of magnetic noise Use the unit motor and regenerative resistor with the designated combination Failure to do so could lead to fires or trouble The brake magnetic brake of the servo motor are for holding and must not be used for normal braking There may be cases when holding is not possible due to the magnetic brake s life the machine construction when ball screw and servo motor are coupled via a timing belt etc or the magnetic brake s failure Install a stop device to ensure safety on the machine side After changing the programs parameters or after maintenance and inspection always test the operation before starting actual operation Do not enter the movable range of the machine during automatic operation Never place body parts near or touch the spindle during rotation Follow the power supply specification conditions given in each specification for the power input voltage input frequency tolerable sudden power failure time etc Set all bits to 0 if they are indicated as not used or empty in the explanation on the bits Do not use the dynamic brakes except during the emergency stop Continued use of the dynamic brakes could result in brake damage If a circuit protector for the main circuit power supply is shared by several units the circuit protector may not activate when a short circuit fault occurs in a small capacit
67. e wiring Especially fix the terminals or connectors of the power cables firmly enough Perform the wiring after installing the product to the machine and device If iron chips etc adhere to the product during installation completely remove them Do not install with wet hands Direct Drive Motor Specifications and Instruction Manual 6 2 The structure of direct drive motor 6 2 The structure of direct drive motor Laminated 1 Stator Motor coil core Frame Permanent magnet Mold The stator has laminated cores to which windings are applied The cores are protected by mold Compared with metal parts the mold is susceptible to breaking or cracking due to shock or stress which may deteriorate the product s quality Pay special attention in carrying and installing not to damage the mold Mold Core 2 Rotor Permanent magnets are on the core of the rotor and mold is applied to the surface of it As it has permanent magnets 1 Stator 2 Rotor magnetic attraction force is generated between it and magnetic material as iron The magnetic attraction force is generated mainly on the magnet side outer surface of rotor Almost no attraction force is generated on the inner surface Take safety measure in handling to avoid accidents due to the attraction force In addition the magnetic force is released into the air so do not make devices that are affected by the magnetic force such as pacemaker watch etc approach to the
68. ectronic thermal relay to protect the motor and servo drive unit from overloads The operation characteristics of the electronic thermal relay are shown below when standard parameters SV021 60 SV022 150 are set If overload operation over the electronic thermal relay protection curve shown below is carried out overload 1 alarm 50 will occur If the maximum torque is commanded continuously for one second or more due to a machine collision etc overload 2 alarm 51 will occur lt MDS D2 Series gt TM RBP012C20 10000 0 When stopped 4000 0 When rotating 100 0 o E 100 1 0 0 1 0 100 200 300 400 500 Motor current value rated current value ratio TM RBP048G20 10000 0 When stopped 1000 0 When rotating Y 100 0 o E 10 0 1 0 0 1 0 100 200 300 400 500 Motor current value rated current value ratio TM RBP105G20 10000 0 When stopped 1000 0 When rotating 100 0 o E E 100 1 0 0 1 0 100 200 300 400 500 Motor current value rated current value ratio TM RBP340J20 10000 0 When stopped 1000 0 When rotating amp 100 0 o E E 10 0 1 0 0 1 0 100 200 300 400 500 Motor current value rated current value ratio 10000 0 1000 0 100 0 Time s 10 0 1 0 0 1 10000 0 1000 0 100 0 Time s 10 0 1 0 0 1 10000 0 1000 0 100 0 Time s 10 0 1 0 0 1 10000 0 1000 0 100 0 Time s 10 0 1 0 0 1 TM RBPO36E20
69. edpur satellite office India Pune Service Center EMERALD HOUSE EL 3 J BLOCK MIDC BHOSARI PUNE 411 026 MAHARASHTRA INDIA TEL 91 20 2710 2000 FAX 91 20 2710 2100 Baroda satellite office Mumbai satellite office India Bangalore Service Center PRESTIGE EMERALD 6TH FLOOR MUNICIPAL NO 2 LAVELLE ROAD BANGALORE 560 043 KAMATAKA INDIA TEL 91 80 4020 1600 FAX 91 80 4020 1699 Chennai satellite office Coimbatore satellite office MITSUBISHI ELECTRIC AUSTRALIA LTD Australia Service Center 348 VICTORIA ROAD RYDALMERE N S W 2116 AUSTRALIA TEL 61 2 9684 7269 FAX 61 2 9684 7245 MITSUBISHI ELECTRIC AUTOMATION CHINA LTD CHINA FA CENTER China Shanghai Service Center 1 3 5 10 18 23 F NO 1386 HONG QIAO ROAD CHANG NING QU SHANGHAI 200336 CHINA TEL 86 21 2322 3030 FAX 86 21 2308 2830 China Ningbo Service Dealer China Wuxi Service Dealer China Jinan Service Dealer China Hangzhou Service Dealer China Wuhan Service Satellite China Beijing Service Center 9 F OFFICE TOWER 1 HENDERSON CENTER 18 JIANGUOMENNEI DAJIE DONGCHENG DISTRICT BEIJING 100005 CHINA TEL 86 10 6518 8830 FAX 86 10 6518 3907 China Beijing Service Dealer China Tianjin Service Center UNIT 2003 TIANJIN CITY TOWER NO 35 YOUYI ROAD HEXI DISTRICT TIANJIN 300061 CHINA TEL 86 22 2813 1015 FAX 86 22 2813 1017 China Shenyang Service Satellite China Changchun Service Satellite China Chengdu Ser
70. een will be ROTmotor 2 Direct drive motor TM RB Series MDS DJ V1 Direct Drive Motor Specifications and Instruction Manual 7 1 Setting the initial parameters for the direct drive motor otor irect drive motor TM eries Parameter 012C20 036E20 048G20 105G10 No Abbrev Details MDS DJ V1 40 80 80 100 SV001 PC1 Motor side gear ratio SV002 PC2 Machine side gear ratio 5 SV003 PGN1i Position loop gain 1 33 33 33 33 SV004 Position loop gain 2 0 0 0 0 SV005 VGNT Speed loop gain 1 100 100 100 100 SV006 VGN2 Speed loop gain 2 0 0 0 0 SV007 VIL Speed loop delay compensation 0 0 0 0 SV008 VIA Speed loop lead compensation 1364 1364 1364 1364 SV009 IQA Current loop q axis lead compensation 20480 20480 20480 20480 SV010 IDA Current loop d axis lead compensation 20480 20480 20480 20480 SV011 IGG Current loop q axis gain 3072 2560 4096 4096 SV012 IDG Current loop d axis gain 3072 2560 4096 4096 SV013 ILMT Current limit value 800 800 800 800 SV014 ILMTsp Current limit value in special control 800 800 800 800 SV015 FFC Acceleration rate feed forward gain 0 0 0 0 SV016 LMC1 Lost motion compensation 1 0 0 0 0 SV017 SPEC1 Servo specification 1 7000 7000 7000 7000 SV018 PIT Ball screw pitch Magnetic pole pitch 360 360 36
71. em options The option units are required depending on the detector system configuration Check the option units to be required referring the following items Refer to the Specifications manual of the drive unit to be used for details of the battery options 1 Detector system configuration The applicable absolute position detectors are as follows nterface unl Inimum detection Manufacturer Detector type Battery option Remarks type resolution Mitsubishi Electric 0 00009 Corporation MBA405W Series Provided 4 000 000p rev Required SE Magnescale Co Ltd RU77 Not required SL 00000107 Not required 33 554 432p rev 3 RCN223M Not required Not required 0 0000027 HEIDENHAIN RCN227M ot required 134 217 728p rev ot required RCN727M 0 0000027 Tolerable rotation speed RCN827M Not required 134 217 728p rev Not required 300r min MHI MACHINE TOOL 0 000043 ENGINEERING CO LTD MPRZ series ADB 20J71 8 388 608p rev Not required lt Contact information about other manufacturer s detector gt Magnescale Co Ltd http www mgscale com mgs language english HEIDENHAIN CORPORATION http www heidenhain com MHI MACHINE TOOL ENGINEERING CO LTD http www mme e co jp Contfirm the specifications of each detector manufacturer before using detectors made by CAUTION other manufacturers Direct Drive Motor Specifications and In
72. er as for the other absolute detectors to decide the magnetic pole shift amount Initial magnetic pole estimate function 1 Set the incremental control 2049 type to 0 2 Set the parameters related to the initial magnetic pole estimate function 2321 SV121 to 33 2322 SV122 to Standard VGN1 and 2323 SV123 to 1364 gt Standard VGN1 is set depending on the load inertia scale for 2322 SV122 Refer to 8 1 1 Speed loop gain 3 Turn the NC power ON again gt Confirm that the warning during initial setup for the absolute position A3 occurs gt Select the Servo diagn and Servo unit menus on the NC maintenance screen and confirm that Motor end detector displays MB 405W 4 Release the emergency stop 5 The LED on the drive unit changes to Cx and the direct drive motor moves by little and little for about five seconds start initial magnetic pole estimate 6 Confirm that the LED on the drive unit changes to dx and the motor stops terminate initial magnetic pole estimate MITSUBISHI CNC 7 Setup lt Confirmation of detector installation polarity gt 7 Drive the direct drive motor until the Z phase has been detected with handle feed select the minimum pulse magnification gt Switch to the Servo diagn menu on the NC maintenance screen select Servo unit and confirm Control output 2 bit0 ZCN Z phase passed is 1 8 Switch to the Servo diagn menu on the NC maintenance screen selec
73. er to this manual and select the correct circuit protector and contactor An incorrect selection could result in fire Shut off the power on the unit side if a fault occurs in the units Fires could be caused if a large current continues to flow When using a regenerative resistor provide a sequence that shuts off the power with the regenerative resistor s error signal The regenerative resistor could abnormally overheat and cause a fire due to a fault in the regenerative transistor etc The battery unit could heat up ignite or rupture if submerged in water or if the poles are incorrectly wired Cut off the main circuit power with the contactor when an alarm or emergency stop occurs 2 Injury prevention A A A A gt Do not apply a voltage other than that specified in this manual on each terminal Failure to observe this item could lead to ruptures or damage etc Do not mistake the terminal connections Failure to observe this item could lead to ruptures or damage etc Do not mistake the polarity Failure to observe this item could lead to ruptures or damage etc Do not touch the radiation fin on unit back face regenerative resistor or motor etc or place parts cables etc while the power is turned ON or immediately after turning the power OFF These parts may reach high temperatures and can cause burns or part damage Structure the cooling fan on the unit back face etc etc so that it cannot be touched afte
74. for direct drive motor Set the initial excitation time in DC excitation control Set 1000ms as standard Related parameters SV034 bit4 SV061 SV062 Setting range 32768 to 32767 1 100 fold When the DC excitation is running SV034 bit4 1 0 to 10000 ms 7 3 Initial setup for direct drive motor system when using MBA405W This section explains the initial setup procedures when using MBA405W 1 Perform the initial setup after the operation is enabled for NC system 2 The initial setup is required for each direct drive motor 3 Perform the initial setup again after replacing the detector N CAUTION 4 For the initial setup the main head of MBA405W is required to detect Z phase signal Z phase signal position mark needs to pass the main head If the structure does not allow the magnetic drum to turn move than one revolution reinstall it so that Z phase passes the main head within the shaft stroke 7 3 1 Adjustment procedure Although MBA405W is an absolute position detector it needs to pass Z phase at the initial power ON before the initial setup DC excitation is carried out Therefore when using it with a direct drive motor drive the motor until the detector passes the Z phase by initial magnetic pole estimate After the Z phase has been passed turn the NC power ON again to decide the absolute position within one revolution After deciding the absolute position execute the DC excitation function in the same mann
75. guaranteed 2 It is the degree of protection when fitted with a connector 3 Specifications of preamplifier tem 490m s 50G pecitied value Output communication style High speed serial communication I F Working ambient temperature 0 Cto 55 Working ambient humidity Atmosphere 90 RH or less with no dew condensation No toxic gases Horizontal direction to the axis 5G or less Vertical direction to the axis 5G or less 490m s 50G DC5V 10 0 33kg IP67 1 The values above are the specified values for the preamplifier provided with a twin head magnetic detector 2 It is the degree of protection when fitted with a connector Tolerable vibration Tolerable impact Tolerable power voltage Mass Degree of protection MITSUBISHI CNC 4 Dedicated Options 4 Outline dimension drawing lt MBA405W BE082 gt Unit mm Main head IP67 2 8 ES oci 21 5 5 8 63 4 hole Cable length 1200 ze evenly spaced around 90 circumference 20 28 Drum installation hok Vinos gehe ae Drum installation hole RM15WTPZ 12P 72 26 4 655 Installation ring IP67 in the fitting state 5 evenly spaced around 124 circumference Dimension from the bottom 85 Installation ring hole 5 of installation ring to the 3 9 5 0 2 bottom of magnetic drum TN Installation ring 1 N Magnetic drum M N a 3
76. he motor coil and detector differs among machines Be sure to set up according to the following procedures The motor may not work properly unless the initial setup for the magnetic pole DC excitation function is performed correctly DC excitation function detects the position relation magnetic pole shift amount between the motor coil and detector The magnetic pole shift amount can be seen at AFLT gain on the NC s servo diagnosis screen by moving the direct drive motor with DC excitation function The motor will be driven according to the magnetic pole shift amount from next time the NC power is turned ON With the DC excitation function once the servo parameter SV028 is set resetting is not required unless the detector is replaced DC excitation function 1 Turn ON the servo drive unit and NC Confirm that there is no error such as Initial parameter error 37 2 Set the servo parameter 2213 SV013 to 100 3 Set the parameters related to the DC excitation function 2261 SV061 to 10 2262 SV062 to 10 and 2263 SV063 to 1000 4 Setthe servo parameter 2234 bit4 SV034 bit4 to 1 to enable the DC excitation mode 5 Release the emergency stop Confirm that the direct drive motor carries out a reciprocation operation between about 10 and 20 once start DC excitation Confirm that the direct drive motor stops after the reciprocation operation Switch to the Servo diagn menu on the NC maintenance screen sele
77. he power OFF confirm that the CHARGE lamp has gone out and check the voltage between P and N terminals with a tester etc before starting wiring maintenance or inspections Failure to observe this could lead to electric shocks Ground the unit and motor For the motor ground it via the drive unit Wiring maintenance and inspection work must be done by a qualified technician Wire the servo drive unit and servo motor after installation Failure to observe this could lead to electric shocks Do not touch the switches with wet hands Failure to observe this could lead to electric shocks Do not damage apply forcible stress place heavy items on the cables or get them caught Failure to observe this could lead to electric shocks After assembling the built in IPM spindle motor if the rotor is rotated by hand etc voltage occurs between the terminals of lead Take care not to get electric shocks AX WARNING 2 Injury prevention A When handling a motor perform operations in safe clothing A 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 The light source of optical communication corresponds to class1 defined in JISC6802 or IEC60825 1 A The linear servo motor direct drive motor and built in IPM spindle motor uses permanent magne
78. he sensor head design the flange outer diameter so that it is equal to the magnetic drum outer diameter or less 2 Fix the magnetic drum with screw on the shaft Do not fix with shrink fitting AN CAUTION 3 Center the core with centering track Do not perform by striking on the magnetizing part as it may result in damages 4 Adherence of magnetic materials to the magnetizing part could lead to incorrect detections Perform an air blow when the core alignment is completed C i 7 R ded entering trac Magnetic drum installation hole Installation sonne Type outer diameter screw torque position mm screw mm N m MBA405W BE082 8 3 4 through evenly spaced M3 0 61 to 0 83 MBE405W BE082 98 around 90 circumference i MBA405W BF125 8 4 5 through evenly spaced 4 1 39 to 1 89 MBE405W BF125 1483 around 134 circumference E MBA405W BG160 8 4 5 through evenly spaced M5 2 75 to 3 63 MBE405W BG160 198 6 around 170 circumference 3 2 Installing a installation ring Direct Drive Motor Specifications and Instruction Manual 6 4 Installing twin head magnetic detector MBA405W Series Create a spigot joint on machine side and fit the installation ring on the inner diameter of the spigot joint to install the installation ring Ensure the accuracy for the dimension of machine side spigot joint as shown below so as not to degrade the detection accuracy Confirm the gap betwee
79. ic pole detection speed loop gain Set this parameter to adjust the motor magnetic pole position and detector s installation phase at initial setup when using MBA405W Set the speed loop gain in the magnetic polar detection loop at the initial magnetic polar detection The initial magnetic polar detection is performed for the direct drive motor which uses MBA405W as the motor side detector Related parameters SV121 SV123 SV124 Setting range 0 to 32767 42323 SV123 Kvi Magnetic pole detection speed loop lead compensation Set this parameter to adjust the motor magnetic pole position and detector s installation phase at initial setup when using MBA405W Set the speed loop lead compensation in the magnetic polar detection loop at the initial magnetic polar detection The initial magnetic polar detection is performed for the direct drive motor which uses MBA405W as the motor side detector Related parameters SV121 SV122 SV124 Setting range 0 to 32767 2324 SV124 ILMTmp Initial magnetic polar estimate current limit value Set this parameter to adjust the motor magnetic pole position and detector s installation phase at initial setup when using MBA405W Set the current torque limit value in the magnetic polar detection loop at the initial magnetic polar detection The initial magnetic polar detection is performed for the direct drive motor which uses MBA405W as the motor side detector When set to 0 us
80. is enabled 2 The motor carries out a reciprocation operation at about the magnetic pole pitch while DC A CAUTION excitation function is enabled 3 The magnetic pole shift amount cannot be calculated correctly with incorrect wiring in the motor power line or detector cable Direct Drive Motor Specifications and Instruction Manual 7 2 Initial setup for the direct drive motor system Initial setup procedures for direct drive motor DC excitation function Perform the initial setup for the direct drive motor by following the steps in the flow diagram below Start the initial setup 1 NC power ON 2 Set the current limit SVO13 ILMT 100 Perform under an emergency stop state 3 Set the DC excitation related parameters SV061 DA1NO 10 SV062 DA2NO 10 SV063 DA1MPY 1000 ms 4 Set DC excitation mode SV034 SSF3 bit4 ded 1 Do not leave the emergency stop state for a long time 5 Release the emergency stop Change the parameters Change the parameters start DC excitation mode SV061 DA1NO and SV062 DA2NO SV061 DA1NO and SV062 DA2NO after the emergency stop after the emergency stop SV061 DA1NO 10 If overshooting occurs during the first axis SV062 DA2NO 10 movement SVO061 DA1NO 5 6 The axis direct drive motor If overshooting occurs during the last axis reciprocates one time movement about 10 and 20 SV062 DA2NO 5
81. ive unit drive unit unit for servo drive unit 9 phase 200VAC power supply MDS D2 V1 MDS D2 V2 MDS D2 SP MDS D2 CV option battery f o B 2 Battery cable E lt Bulltincellbattey gt Y From NC SUM so pe 7 Circuit protector Optical Optical CN4 E battery built in 9 9 e Note Prepared i 1 rive unit H CN2 i m i able GND Sul ER6V C1198 by user Jensen ZEN ar lt Onten baten E CT SE TROST E AC reactor TT CN3 E i ee CAD 1 Ej MDS BTBOX 36 L C I AME Contactor Note Prepared Circuit protector or by user protection fuse EE Taal Note Prepared by user CN2 P Power connector To 2nd connector axis servo To 3rd axis servo Power cable Only connector is supplied TI Spindle detector cable Motor side PLG cable gt Servo o detector Spindle detector cable A cable lt Spindle side detector cable gt no Spindle motor cable gt MR sensor head twin head 11 Spindle side detector UVW Thermistor signal Power cable Direct drive motor Detector MBA405W Prepared by user Z CAUTION Keep the detection sensor cable away from the power cable Direct Drive Motor Specifications and Instruction Manual 1 1 Servo drive system configuration lt MDS DJ V1 Series gt 3 phase 200 to 230VAC
82. l cutting fluid or water is constantly splashed on the product it may cause a fault Make sure to provide measures against splash on the machine side as much as possible Connect the preamp to the ground Screw the preamp cabinet on the machine for grounding If the CN3 connector of the preamp is not used when using the product leave the cap on it to prevent water from entering This product has been adjusted as a set of magnetic drum installation ring with main head and sub head and preamp of the same serial No So use this product as a set of those components Make sure that it is not possible to mix a component of a different serial No in the set MITSUBISHI CNC _ 6 Assembly and Installation 1 Installing a magnetic drum Install a flange on the shaft side and fix with screw in the axial direction by using the magnetic drum installation hole Center the core with centering track so that the amplitude to the shaft rotation center is 15 or less to install the magnetic drum Unit mm Design the flange s outer diameter to have the clearance 0 1 mm from the magnetic drum s inner diameter that allows the run out of the shaft rotation center to be 15mm or less If the gap is large adjustment may take time and if it is too small the run out cannot be adjusted Magnetic drum installation hole Magnetizing part Centering track part magnet 1 To avoid the interference with t
83. le laws or has any function or structure considered to be indispensable in the light of common sense in the industry d a failure which may be regarded as avoidable if consumable parts designated in the instruction manual etc are duly maintained and replaced e any replacement of consumable parts including a battery relay and fuse f a failure caused by external factors such as inevitable accidents including without limitation fire and abnormal fluctuation of voltage and acts of God including without limitation earthquake lightning and natural disasters 9 a failure which is unforeseeable under technologies available at the time of shipment of this product from our company h any other failures which we are not responsible for or which the customer acknowledges we are not responsible for 2 Service in Overseas Countries If the customer installs the product purchased from us in his her machine or equipment and export it to any country other than where he she bought it the customer may sign a paid warranty contract with our local FA center For details please contact the distributor from which the customer purchased the product 3 Exclusion of Responsibility for Compensation against Loss of Opportunity Secondary Loss etc Whether during or after the term of warranty we assume no responsibility for any damages arising from causes for which we are not responsible any losses of opportunity and or profit incurred by the customer due
84. m parameter area SV081 SPEC2 Servo specification 2 0000 0000 0000 0000 SV082 SSF5 Servo function 5 0000 0000 0000 0000 SV083 SSF6 Servo function 6 0000 0000 0000 0000 SV084 SSF7 Servo function 7 0000 0000 0000 0000 SV085 LMCk Lost motion compensation spring constant 0 0 0 0 SV086 LMCc Lost motion compensation viscous coefficient 0 0 0 0 SV087 FHz4 Notch filter frequency 4 0 0 0 0 SV088 FHz5 Notch filter frequency 5 0 0 0 0 SV089 0 0 0 0 SV090 0 0 0 0 SV091 LMCAG Lost motion compensation 4 gain 0 0 0 0 SV092 0 0 0 0 SV093 0 0 0 0 SV094 MPV Magnetic pole position error detection speed 10 10 10 10 SV095 ZUPD Vertical axis pull up distance 0 0 0 0 SV096 0 0 0 0 SV097 0 0 0 0 SV098 0 0 0 0 SV099 0 0 0 0 SV100 0 0 0 0 NAT OO SV160 0 0 0 0 SV161 POLE Motor unique constants 20 0 30 30 SV162 IS Motor unique constants 6102 0 1211 2101 SV163 IP Motor unique constants 1831 0 3631 5201 SV164 NR Motor unique constants 5000 0 5000 2500 SV165 JM Motor unique constants 2201 0 2800 3950 SV166 RDQ Motor unique constants 3462 0 1032 9103 SV167 LQ Motor unique constants 5025 0 3875 3625 SV168 LD Motor unique constants 0 0 0 0 SV169 KE Motor unique constants 6864 0 1493 1813 SV170 KT Motor unique constants 1962 0 4282 6112 SV171 OLT3 Motor unique constants 4001 0 4001 4001 SV172 0 0 0 0 SV176 0 0 0 0 SV
85. n the magnetic drum and the sensor head is secured by 0 29mm or more with clearance gauge etc after the installation NCAUTION 3 oD Installation ring A 0 015 A Spigot joint Shaft az Flange o 02 A damages of magnetic drum or sensor head Sensor head Unit mm Do not contact to the magnetic drum when installing the installation ring as it may result in The sensor head is joined after adjusting the positional relationship with the installation ring beforehand so do not remove the sensor head fixing screw Create a spigot joint as close to the machine side and fit the installation ring on the spigot joint to install Do not center the core by striking on the installation ring outer diameter etc Adherence of foreign materials to the element part of the sensor head metallic thin film part could lead to incorrect detections Remove with an air blow when foreign materials are adhered so as not to damage them Unit mm er Height from installation ring T Installation ring z Spigot Joint Zeiger joint bottom surface to magnetic ype inner diameter height outer diameter drum bottom surface D E F MBA405W BE082 0 0 015 MBE405W BE082 140 0 015 140 0 3 0 to 5 5 9 5 0 2 MBA405W BF125 0 0 015 MBE405W BF125 190 0 015 190 0 3 0 to 7 5
86. netized Please note the magnetic attraction Note 2 Take special care for the magnet part not to hit against a thing A crack or chip may occur Note 3 Degree of protection is IPOO Use explosion proof oil etc as necessary Note 4 There is no problem on the functionality or performance even if the molded parts include sink marks or voids etc Unit mm Direct Drive Motor Specifications and Instruction Manual 2 1 Direct drive motor TM RBP036E20 Unit mm Power supply lead 3 AWG18 Finish outer diametere2 3 U V W Effective length Thermistor lead 2 AWG18 Finish outer diametero2 3 300 91 Lead out range MTA MT2 Recommended inlet outlet of lead wire Ground lead 1 AWG18 Finish outer diameter22 89 een Recommended inlet outlet position for cooling liquid 30 30 45 19 53 __19 5 8 M6 screw Wire mark Cooling 8 M6 screw Depth 14 A groove Depth 14 N L so d Wi k positi poc H Wire mark position 115 13 E 9 2 1 o 0 99 E SG Ss P Y S e lt A a S f H e I z a mn 8 S Sn A er IE et ST 6 3 2 N e Ae Note 1 Do
87. ntenance 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 NDANGER When there is a potential risk of fatal or serious injuries if handling is mistaken When a dangerous situation or fatal or serious injuries may occur if handling is AX WARNING mistaken When a dangerous situation may occur if handling is mistaken leading to medium or N CAUTION minor injuries or physical damage Note that some items described as ANCAUTION may lead to major results depending on the situation In any case important information that must be observed is described The signs indicating prohibited and mandatory matters are explained below O Indicates a prohibited matter For example Fire Prohibited is indicated as Indicates a mandatory matter For example grounding is indicated as O The meaning of each pictorial sign is as follows A A A A CAUTION CAUTION rotated CAUTION HOT Danger Electric shock Danger explosive object risk Prohibited Disassembly is KEEP FIRE AWAY General instruction Earth ground prohibited After reading this specifications and instructions manual store it where the user can access it easily for reference The numeric control unit is configured of the control unit opera
88. o the section 1 Measuring unbalance torque and frictional torque of Improvement of protrusion at quadrant changeover in Instruction Manual of each drive unit 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 on the drive monitor screen Standard VGN1 graph direct drive motor TM RB Series lt MDS D2 Series gt TM RBP012C20 Isolated motor TM RBP036E20 Isolated motor 3000 3000 2500 2500 2000 2000 Standard 1500 standard 1500 VGN1 VGN1 1000 1000 500 500 0 0 100 600 1100 1600 2100 100 600 1100 1600 2100 Load inertia magnification Load inertia magnification TM RBP048G20 TM RBP105G10 Isolated motor Isolated motor 4000 3000 3500 2500 3000 2500 2000 2000 1500 Standard 500 Standard VGN1 VGN1 4000 1000 500 500 0 0 100 600 1100 1600 2100 100 600 1100 1600 2100 Load inertia magnification Load inertia magnification TM RBP105G20 TM RBP150G20 J Isolated motor J Isolated motor 3000 4000 3500 2500 3000 2000 2500
89. or motors In particular if conductive objects such as screws or metal chips etc or combustible materials such as oil enter rupture or breakage could occur Provide adequate protection using a material such as connector for conduit to prevent screws metallic detritus water and other conductive matter or oil and other combustible matter from entering the motor through the power line lead out port The units motors and detectors are precision devices so do not drop them or apply strong impacts to them Z CAUTION Store and use the units under the following environment conditions nvironmen ni otor Operation 0 to 55 C with no freezing Operation 0 to 40 C with no freezing Ambient temperature Storage Transportation 15 C to 70 C Storage 15 C to 70 C Note2 with no with no freezing freezing Operation 90 RH or less Operation 80 RH or less Ambient humidity with no dew condensation with no dew condensation Storage Transportation 90 RH or less Storage 90 RH or less with no dew condensation with no dew condensation Indoors no direct sunlight Atmosphere With no corrosive gas inflammable gas oil mist dust or conductive fine particles Operation Storage Operation Altitude 1000 meters or less above sea level 1000 meters or less above sea level Transportation Storage 13000 meters or less above sea level 10000 meters or less above sea level Vibration impact A
90. position error detection speed 10 10 10 10 10 10 10 10 SV095 ZUPD Vertical axis pull up distance 0 0 0 0 0 0 0 0 SV096 0 0 0 0 0 0 0 0 SV097 0 0 0 0 0 0 0 0 SV098 0 0 0 0 0 0 0 0 SV099 0 0 0 0 0 0 0 0 SV100 0 0 0 0 0 0 0 0 SV101 0 0 0 0 0 0 0 0 SV160 0 0 0 0 0 0 0 0 SV161 POLE Motor unique constants 20 0 30 30 30 0 40 40 SV162 IS Motor unique constants 6102 0 1211 2101 2671 0 5381 8211 SV163 IP Motor unique constants 1831 0 3631 5201 6671 0 1340 2100 SV164 NR Motor unique constants 5000 0 5000 2500 5000 0 4000 4000 SV165 JM Motor unique constants 2201 0 2800 3950 3930 0 2771 3531 SV166 RDQ Motor unique constants 3462 0 1032 9103 6243 0 2303 1653 SV167 LQ Motor unique constants 5025 0 3875 3625 2395 0 1195 8166 SV168 LD Motor unique constants 0 0 0 0 0 0 0 0 SV169 KE Motor unique constants 6864 0 1493 1813 1453 0 2463 2323 SV170 KT Motor unique constants 1962 0 4282 5112 4152 0 6912 6632 SV171 OLT3 Motor unique constants 4001 0 4001 4001 4001 0 4001 4001 SV172 0 0 0 0 0 0 0 0 SV176 0 0 0 0 0 0 0 0 SV177 ATYP Motor unique constants 400 0 800 1600 1600 0 3200 3201 SV178 0 0 0 0 0 0 0 0 SV179 0 0 0 0 0 0 0 0 SV180 0 0 0 0 0 0 0 0 SV181 0 0 0 0 0 0 0 0 SV182 0 0 0 0 0 0 0 0 SV183 0 0 0 0 0 0 0 0 SV184 0 0 0 0 0 0 0 0 SV256 0 0 0 0 0 0 0 0 Note When using a motor for which SV025 is set to 22FF the motor name displayed by selecting Servo unit on the drive monitor scr
91. product lt Example of direct drive motor structure gt Cooling jacket Prepared by user Bearing Prepared by user O ring Prepared by user Rotor Mitsubishi Stator Mitsubishi Bearing Prepared by user Shaft Prepared by user Detector Prepared by user Bearing housing opposite lead wire side Bearing housing lead wire side Prepared by user Prepared by user 1 O rings for the cooling jacket are required to carry out a forced liquid cooling of the motor O rings are not provided with this motor so the optimum ones should be prepared by users 2 The motor s lead wires are non movable cables Fix the lead wire section not to move The AN CAUTION bending radius of the lead wires should be five times or more than its own diameter 3 Make sure to take dust and water proof measures since this motor is rated IP00 The protection class of the motor assembling section should be IP54 or higher If foreign matters enter the gap between the stator and the rotor trouble may occur Additionally continuous exposure to oil or water may cause insulation degradation or rust MITSUBISHI CNC 6 Assembly and Installation 6 3 Direct drive motor assembly 1 As a magnetic attraction force is generated on the rotor of direct drive motor take measures such as using nonmagnetic tools at the time of assembly 2 A magnetic attraction force of about 200N stator outer diameter 130 to 1300N stator outer diameter 330
92. r installation Touching the cooling fan during operation could lead to injuries Take care not to suck hair clothes etc into the cooling fan Z CAUTION 3 Various precautions Observe the following precautions Incorrect handling of the unit could lead to faults injuries and electric shocks etc mb gt gt gt eb A gt PPP PPPP gt Transportation and installation Correctly transport the product according to its weight Use the motor s hanging bolts only when transporting the motor Do not transport the machine when the motor is installed on the machine Do not stack the products above the tolerable number Follow this manual and install the unit or motor in a place where the weight can be borne Do not get on top of or place heavy objects on the unit Do not hold the cables axis or detector when transporting the motor Do not hold the connected wires or cables when transporting the units Do not hold the front cover when transporting the unit The unit could drop Always observe the installation directions of the units or motors Secure the specified distance between the units and control panel or between the servo drive unit and other devices Do not install or run a unit or motor that is damaged or missing parts Do not block the intake or exhaust ports of the motor provided with a cooling fan Do not let foreign objects enter the units
93. r min TM RBP105G10 300 E 200 Z Short time operation range 2 o F 100 Continuous operation range 0 0 100 200 250 Rotation speed r min TM RBP340J20 900 E 600 Z g Short time operation range B o 300 Continuous operation range 0 0 200 400 Rotation speed r min Note Direct Drive Motor Specifications and Instruction Manual 2 1 Direct drive motor TM RBPO36E20 500 500 120 E 80 Z g Short time operation range 2 o F 40 Continuous Operation range 0 0 200 400 Rotation speed r min TM RBP105G20 300 E 200 Z Short time operation range E F 100 Continuous operation range 0 200 400 Rotation speed r min TM RBP500J20 1500 E 1000 Z a 3 Short time operation range 2 o F 500 Continuous operation range 0 0 200 Rotation speed r min 200VAC or less the short time operation range is limited 400 Torque N m TM RBP048G20 Short time operation range 4 Continuous operation range 0 200 400 500 Rotation speed r min TM RBP150G20 Torque N m N o o e 4 3 S 8 a 3 3 a 100 0 200 400 500 Rotation speed r min The above graphs show the data when applied the input voltage of 200VAC When the input voltage is MITSUBISHI CNC _ 2 Specifications 2 1 5 Outline dimension drawings lt TM RB Series gt
94. ry Start the initial setup Perform under an emergency stop state 1 NC power ON 2 Set the incremental control Turn the drive unit and NC power ON NC system side parameter 2049 type 0 again if the alarm 25 occurs NC monitor displays MB 405W at initial setup 3 Set the parameters related to the initial magnetic pole estimate SV121 Kpp 33 SV122 Kvp Standard VGN1 SV123 Kvi 1364 SV 124 ILMTmp 100 4 NC power ON again Set the standard VGN1 in SV122 Kvp depending on the load inertia scale Refer to 8 1 1 Speed loop gain 5 Release the emergency stop Change the parameter setting value for start initial magnetic pole estimate SV122 Kvp to 300 and NC power ON again Alarm 16 is released Drive LED displays Cx during initial displays dx terminate initial magnetic pole estimate agnetic pole estimate Alarm 16 is detected Check the NC monitor display for detector type lt MB 405W display A Check whether Z phase is passed 7 Drive the direct drive motor with handle feed etc lt MBE405W display Check that the Z phase has been passed Control output2 bit0 changes from to 1 on NC monitor display Check whether the correct detector is used Check the setting for detector 8 Emergency stop installation polarity if an alarm 9 Set the parameter for enabling the absolute Occurs po
95. sion from the bottom of installation ring to the Installation ring 13 5 20 2 bottom of magnetic drum drum and sensor head Magnetic drum inner side non circular Installation ring part Distance between magnetic outer diameter 22 242 805 Connector 2 M5 pulling tap around 226 circumference Magnetic drum Z phase signal position mark Magnetic drum centering track Sub head IP67 lt Preamplifier common gt Direct Drive Motor Specifications and Instruction Manual 4 1 Detector system options Unit mm 100 Hirose Electric RM15WTRZBK 12S 72 78 4 3 4 hole IP67 in the fitting state 66 Hirose Electric HS RM15WTRZB 12P 72 Ref redi e IP67 in the fitting d hs GE ENCODER MEMOS ECT Hirose Electric Protective cap 11 M RM15TR C4 71 44 3 gti t y A re Hirose Electric RM15WTRZB 10P 72 Hirose Electric IP67 in the fitting state RM15WTRZBK 12S 72 IP67 in the fitting state 105 E 4 10 Preamplifier lt Explanation of connectors gt Connector name Application CN1 1 For connection with scale main head
96. sition control NC system side parameter 2049 type 0 SVO17 SPEC hitO mdir Release the parameters related to the initial 0 Forward polarity magnetic pole estimate 1 Reverse polarity SV121 Kpp to SV124 ILMTmp 0 10 NC power ON again Make sure that the control is under an emergency stop 11 Detector type is MBA405W and A3 on the drive LED is OFF Check the drive LED and detector type displayed on the following NC monitor Diagn Drv mon Drive unit display Diagn Drv mon Motor end detector No Yes 12 Set the current limit SVO13 ILMT 100 13 Set the magnetic pole adjustment DC excitation mode SV034 SSF3 bit4 ded 1 14 Set the DC excitation related parameters Change the parameter setting value of SV061 DA1NO 10 SV061 DA1NO and SV062 DA2NO by SV062 DA2NO 10 10 after the emergency stop SV063 DA1MPY 1000 ms Do not leave the emergency stop state for a long time 15 Release the emergency stop start DC excitation mode Drive LED displays Cx during DC excitation 16 Does the axis direct drive motor carry out a reciprocation operation once about 10 and 20 No Check the ALFT gain displayed on the Yes A following NC monitor iS Diagn Drv mon ALFT gain 17 Check the AFLT gain magnetic pole shift amount on the
97. stall an appropriate circuit protector or contactor for each unit Circuit protector or contactor cannot be shared by several units Always connect the motor to the drive unit s output terminals U V W Do not directly connect a commercial power supply to the servo motor Failure to observe this could result in a fault When using an inductive load such as a relay always connect a diode as a noise measure parallel to the load When using a capacitance load such as a lamp always connect a protective resistor as a noise measure serial to the load Do not reverse the direction of a diode which Servo drive unit Servo drive unit connect to a DC relay for the control output COM COM 24VDC 24VDC signals such as contractor and motor brake gt output etc to suppress a surge Connecting it i i Control output Control output backwards could cause the drive unit to sutp RA malfunction so that signals are not output and emergency stop and other safety circuits are inoperable Do not connect disconnect the cables connected between the units while the power is ON Securely tighten the cable connector fixing screw or fixing mechanism An insecure fixing could cause the cable to fall off while the power is ON When using a shielded cable instructed in the instruction manual always ground the cable with a cable clamp etc Always separate the signals wires from the drive
98. struction Manual 4 1 Detector system options 4 1 1 Twin head magnetic detector MBA Series 1 Type description 2 Specifications MBA405W B 1 1 Symbol Drum outer diameter de EEN E orom 5 0200 6 mm 2 5s Drum inner diameter 082 os2mm us or25mm Feo orom Detector type MBA405W BE082 MBA405W BF125 MBA405W BG160 Detector resolution 4 000 000p rev Detection method Absolute position method battery backup method Electrical Accuracy 1 4 seconds 3 seconds 2 seconds characteristics Wave number within one rotation 512 waves 768 waves 1024 waves Detector output data Serial data Power consumption 0 2A or less Mechanical Inertia 0 5 x 10 kg m 2 4 10 kg m 8 7 x 10 kg m characteristics for rotation Tolerable continuous rotation speed 3000r min 2000r min 1500r min Drum inner diameter 82mm 125mm 160mm Mechanical Drum outer diameter 100mm 150 3mm 200 6mm configuration Drum mass 0 2kg 0 46kg 1 0kg Degree of protection 2 IP67 Working environment Ambient temperature range 0 Cto 55 Storage temperature range 20 C to 85 C Humidity 95 RH Vibration resistance Horizontal direction to the axis 5G or less Vertical direction to the axis 5G or less Impact resistance 1 The values above are typical values and are not
99. t Servo unit and check Load current Also check if any alarm is occurring gt The detector installation polarity may be reverse if the current value reaches to the current limit or any alarm occurs Set the servo parameter 2217 bit0 SV017 bitO to 1 and perform 4 to 8 again after turning the NC power ON again 9 Turn ON the emergency stop 10 Set the parameter NC system side for enabling the absolute position control 2049 type the absolute position zero point alignment method to be used 11 Release the parameters related to the initial magnetic pole estimate function 2321 SV121 to 0 2322 SV122 to 0 and 2323 SV123 to 0 12 Turn the NC power ON again 13 Confirm that the warning during initial setup for the absolute position A3 is released and Motor end detector displays MBA405W lt DC excitation function gt 14 Set the servo parameter 2213 SV013 to 100 15 Set the parameters related to the DC excitation 2261 SV061 to 10 2262 SV062 to 10 and 2263 SV063 to 1000 16 Set the servo parameter 2234 bit4 SV034 bit4 to 1 to enable the DC excitation mode 17 Release the emergency stop 18 Confirm that the direct drive motor carries out a reciprocation operation between about 10 and 20 once start DC excitation Confirm that the direct drive motor stops after the reciprocation operation Switch to the Servo diagn menu on the NC maintenance screen select Servo unit an
100. t your machine structure to be able to avoid chips water oil cutting fluid etc from entering in the motor lt Cooling gt Construct the liquid cooling oil cooling structure around the primary side stator according to your conditions for example put a cooling jacket around the primary side stator MITSUBISHI CNC _ 2 Specifications 2 1 3 Specifications list lt TM RB Series gt Direct drive motor type for primary side PBP TM RBP TM RBP TM RBP TM RBP TM RBP TM RBP TM RBP 012C20 036E20 048G20 105G10 105G20 150G20 340J20 500J20 MDS D2 V1 40 80 80 160 160 160 320 320W Compatible 4020 L 8040 L 8040 L servo drive MDS D2 V2 4040 L M 8080 L M 8080 L M Bes hate Mis u 160160 L M unit type 8040 M 16080 M 16080 M MDS DJ V1 40 80 80 100 E Rated output W 252 754 1005 1100 2199 3141 7120 10471 Continuous Rated current A 6 1 12 12 21 25 33 54 82 characteristics Rated torque N m 12 36 48 105 105 150 340 500 Power facility capacity kVA 1 07 2 08 2 01 3 86 5 00 7 20 14 03 20 82 Rated rotation speed r min 200 200 200 100 200 200 200 200 Maximum rotation speed r min 500 500 500 250 500 500 400 400 Maximum current A 18 36 36 52 63 83 135 210 Maximum torque N m 36 108 144 260 260 375 850 1280 O AS rateditorqus 65 4 102 0 82 2 279 1 279 1 441 1 416 1 706 6 kW s Rotor inertia kg cm 22 127 280 395 395 510 2778 3
101. ted even by using a vibration suppression filter then lower the VGN1 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 The value differs depending on servo motors Aim at the standard value determined by the servo motor type and load inertia ratio to adjust Setting range 1 to 30000 1 Suppressing the resonance with the vibration suppression function and increasing the VGN1 setting is effective for adjusting the servo later 2 When performing Velocity loop gain adjustment automatically with NC Analyzer for direct drive motor system select Linear DD motor normal for Velocity loop gain adjustment level gt Upper limit in the Selection of adjustment item screen If the adjusted VGN1 reaches the upper limit 21000 select Linear DD motor special and adjust it again XJ POINT 3 If Gain Margin or Cross Frequency the result of Frequency response measurement with NC Analyzer displays N A for the direct drive motor system the setting for VGN1 may be too small Raise the setting value until the N A display switches to a numerical value MITSUBISHI CNC _ 8 Servo Adjustment Load inertia ratio display Perform the measurement referring t
102. tion board servo drive unit spindle drive unit power supply servo motor and spindle motor etc In this section Precautions for safety the following items are generically called the motor Servo motor Linear servo motor Spindle motor Direct drive motor In this section Precautions for safety the following items are generically called the unit Servo drive unit Spindle drive unit Power supply unit Scale interface unit Magnetic pole detection unit Important matters that should be understood for operation of this machine are indicated as a V POINT POINT in this manual AX WARNING 1 Electric shock prevention A bb gt gt gt PP Do not open the front cover while the power is ON or during operation Failure to observe this could lead to electric shocks Do not operate the unit with the front cover removed The high voltage terminals and charged sections will be exposed and can cause electric shocks Do not remove the front cover and connector even when the power is OFF unless carrying out wiring work or periodic inspections The inside of the units is charged and can cause electric shocks Since the high voltage is supplied to the main circuit connector while the power is ON or during operation do not touch the main circuit connector with an adjustment screwdriver or the pen tip Failure to observe this could lead to electric shocks Wait at least 15 minutes after turning t
103. tion direction of the motor and plus direction of the detector do not match set the detector installation polarity with the A CAUTION following parameter at the initial setup 2217 bit0 SV017 bitO 0 Forward polarity 1 Reverse polarity Refer to the section 7 2 Initial setup for the direct drive motor system for details Direct Drive Motor Specifications and Instruction Manual 6 4 Installing twin head magnetic detector MBA405W Series 6 4 Installing twin head magnetic detector MBA405W Series N CAUTION Handle with care as this is a precision component Especially do not apply external force on the sensor head component thin metal film section and the magnetized section magnet of the magnetic drum Pay attention not to apply excessive external force on the product by hauling the sensor head cable strongly or by hanging the installation ring with holding the cable Applying such force will cause a fault The magnetic drum has magnets in it Pay attention so that any magnetic dust will not adhere on the drum If any dust adheres on it remove it using air blow Do not make magnetic screw drivers or tools touched the magnetized section of the magnetic drum during installation Use iron screws carbon steel chromium molybdenum steel for fixing the magnetic drum This product is equivalent of IP67 IP67 is realized when cables are connected to all connectors Note that however if the liquid such as oi
104. tion non sensitive band 0 0 0 0 0 0 0 0 SV041 LMC2 Lost motion compensation 2 0 0 0 0 0 0 0 0 SV042 OVS2 Overshooting compensation 2 0 0 0 0 0 0 0 0 SV043 OBSi Disturbance observer filter frequency 0 0 0 0 0 0 0 0 SV044 OBS2 Disturbance observer gain 0 0 0 0 0 0 0 0 SV045 TRUB Friction torque 0 0 0 0 0 0 0 0 SV046 FHz2 Notch filter frequency 2 0 0 0 0 0 0 0 0 SV047 EC Inductive voltage compensation gain 100 100 100 100 100 100 100 100 SV048 EMGrt Vertical axis drop prevention time 0 0 0 0 0 0 0 0 SV049 PGNisp Position loop gain 1 in spindle synchronous control 15 15 15 15 15 15 15 15 SV050 PGN2sp Position loop gain 2 in spindle synchronous control 0 0 0 0 0 0 0 0 SV051 DFBT Dual feedback control time constant 0 0 0 0 0 0 0 0 SV052 DFBN Dual feedback control non sensitive band 0 0 0 0 0 0 0 0 SV053 OD3 Excessive error detection width in special control 0 0 0 0 0 0 0 0 SV054 ORE Overrun detection width in closed loop control 0 0 0 0 0 0 0 0 SV055 EMGx Max gate off delay time after emergency stop 0 0 0 0 0 0 0 0 SV056 EMGt Deceleration time constant at emergency stop 0 0 0 0 0 0 0 0 SV057 SHGC SHG control gain 0 0 0 0 0 0 0 0 SV058 SHGCsp SHG control gain in spindle synchronous control 0 0 0 0 0 0 0 0 SV059 TCNV Collision detection torque estimated gain 0 0 0 0 0 0 0 0 SV060 TLMT Collision detection level 0 0 0 0 0 0 0 0 SV061 DAINO D A output ch1 data No for initial DC excitation level 0 0 0 0 0 0 0 0 SV062
105. ts in the rotor so observe the following precautions 1 Handling The linear servo motor direct drive motor and built in IPM spindle motor could adversely affect medical electronics such as pacemakers etc therefore do not approach the rotor Do not place magnetic materials as iron When a magnetic material as iron is placed take safety measure not to pinch fingers or hands due to the magnetic attraction force Remove metal items such as watch piercing jewelry necklace etc Do not place portable items that could malfunction or fail due to the influence of the magnetic force When the rotor is not securely fixed to the machine or device do not leave it unattended but store it in the package properly 2 Transportation and storage Correctly store the rotor in the package to transport and store During transportation and storage draw people s attention by applying a notice saying Strong magnet Handle with care to the package or storage shelf Do not use a damaged package 3 Installation Take special care not to pinch fingers etc when installing and unpacking the linear servo motor Z 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 Ref
106. ty or performance even if the molded parts include sink marks or voids etc 2 11 MITSUBISHI CNC _ 2 Specifications TM RBP340J20 Power supply lead 3 AWG8 Finish outer diameter 5 8 U V W Thermistor lead 2 AWG18 Finish outer diametere2 3 330h8 0 089 MT1 MT2 Ground lead 1 AWG8 Finish outer diameter26 55 Effective length Lead out range Recommended inlet outlet 300 154 of lead wire position for cooling liquid Recommended inlet outlet position for cooling liquid 250 38_ 98 Cooling _ 38 Wire mark position 28 groove 12 M8 screw Wire mark Depth 18 y T E Nn MM A gt E GH y 5 x ES CIMA 5 o S i 2 S r i c 5 2 E A y a 7 D A ES Rotor E N TM RBS340J20 Note 1 Do not move the stator by holding the lead wire Note 2 Degree of protection is IP00 Use explosion proof oil etc as necessary Note 3 Continuous rated torque is assured only when the required cooling capacity is satisfied Note 4 There is no problem on the functionality or performance even if the molded parts include sink marks or voids etc TM RBS340J20 12 M8 screw Depth 18 Note 1 Note 2 Note 3 Note 4 2 12 1 gap
107. utput used for adjustment Note however that these parameters are enabled as the DC excitation function parameters when the servo parameter 2234 bit4 SV034 bit4 is set to 1 2217 PR SV017 SPEC1 Servo specification 1 bit 0 mdir Main side detector feedback for direct drive motor Set the detector installation polarity in the direct drive motor control 0 Forward polarity 1 Reverse polarity 2228 PR SV028 MSFT Magnetic pole shift amount for direct drive motor Set this parameter to adjust the motor magnetic pole position and detector s installation phase when using direct drive motors During the DC excitation of the initial setup SV034 bit4 1 set the same value displayed in AFLT gain on the NC monitor screen Related parameters SV034 bit4 SV061 SV062 SV063 Setting range 18000 to 18000 Mechanical angle 0 01 2234 SV034 SSF3 Servo function 3 bit 4 dcd direct drive motor 0 Normal setting 1 DC excitation mode Related parameters SV061 SV062 SV063 42261 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 multi 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 setup when measuring the magnetic pole shift amount for direct
108. value of SV019 is different from that of SV020 Set them 2219 to the same value SV019 SV019 is set to a value outside the setting range The resolution of the motor side detector actually connected is not consistent with the setting value for 2220 SV020 SV020 SV020 is set to a value outside the setting range 2225 Incompatible motor type is selected The machine side detector type or the motor side detector type is SV017 SV025 incorrectly set 2228 The magnetic pole shift amount SV028 is set for a general servo motor not a built in motor SV028 The DC excitation mode SV034 bit4 is set in the following conditions 2234 when the NC is powered ON SV034 when a general servo motor not a built in motor is used 2261 When the DC excitation mode SV034 bit4 is set the initial DC excitation level SV061 is set to a value SV034 SV061 outside the setting range 2262 When the DC excitation mode SV034 bit4 is set the final DC excitation level SV062 is set to a value SV034 SV062 outside the setting range 2263 When the DC excitation mode SV034 bit4 is set the initial DC excitation time SV063 is set to a value SV034 SV063 outside the setting range The expansion sub side detector resolution SV117 is set to 0 for a detector that requires the resolution expansion setting 2317 If the upper 16 bits for the detector resolution are 0 this should be set to 1 SV019 5V025 5V117 The expansion sub side detector resolution SV117
109. ve voltage compensation gain 100 100 100 100 SV048 EMGrt Vertical axis drop prevention time 0 0 0 0 SV049 PGNisp Position loop gain 1 in spindle synchronous control 15 15 15 15 SV050 PGN2sp Position loop gain 2 in spindle synchronous control 0 0 0 0 SV051 DFBT Dual feedback control time constant 0 0 0 0 SV052 DFBN Dual feedback control non sensitive band 0 0 0 0 SV053 OD3 Excessive error detection width in special control 0 0 0 0 SV054 ORE Overrun detection width in closed loop control 0 0 0 0 SV055 EMGx Max gate off delay time after emergency stop 0 0 0 0 SV056 EMGt Deceleration time constant at emergency stop 0 0 0 0 SV057 SHGC SHG control gain 0 0 0 0 V058 SHGCsp SHG control gain in spindle synchronous control 0 0 0 0 SV059 TCNV Collision detection torque estimated gain 0 0 0 0 SV060 TLMT Collision detection level 0 0 0 0 SV061 DAINO D A output ch1 data No for initial DC excitation level 0 0 0 0 SV062 DA2NO D A output ch2 data No for final DC excitation level 0 0 0 0 SV063 DA1MPY AME ch1 output scale for initial DC excitation 0 0 0 0 SV064 DA2MPY D A output ch2 output scale 0 0 0 0 SV065 TLC Machine end compensation gain 0 0 0 0 MITSUBISHI CNC 7 Setup ml otor irect drive motor TM eries Parameter 012C20 036E20 048G20 105G10 No Abbrev Details MDS DJ V1 40 80 80 100 System parameter area SV073 FEEDout Specified speed output speed 0 0 0 0 Syste
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111. y unit This is dangerous so never share the circuit protector Mitsubishi spindle motor is dedicated to machine tools Do not use for other purposes Troubleshooting If a hazardous situation is predicted during power failure or product trouble use a servo motor with magnetic brakes or install an external brake mechanism Use a double circuit configuration that allows the Shut off with NC brake Shut off with the servo motor control PLC output operation circuit for the magnetic brakes to be operated brake control output even by the external emergency stop signal 2 EMG 1 Servo motor Always turn the main circuit power of the motor OFF MBR when an alarm occurs Magnetic brake If an alarm occurs remove the cause and secure the amp safety before resetting the alarm Z CAUTION 6 A A gt bb eb 7 gt PPP P 8 gt e 9 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 Contact the Service Center Service Station Sales Office or delayer for repairs or part replacement Do not perform a megger test insulation resistance measurement during inspections

Direct Drive Motor Specifications and Instruction

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