MITSUBISHI CNC MELDAS AC servo MR-S10 sents (Re 1 ) MAINTENANCE MANUAL &MR-S12 MITSUBISHI El ELECTRICCONTENTS | AC SERVO MR-S11 SERIES MAINTENANCE MANUAL (SERVO AMPLIFIER FOR 1-AXIS) 1, OUTLINE OF S10 SERIES AC SERVO SYSTEM 1.1 FEATURES OF S10 SERIES SERVO SYSTE . ret 2.2 SLO SERIZS SERVO SYSTEM TABLE .... rez 2.3 MR-S11 SERVO SYSTEM FUNCTIONAL BLOCK DIAGRAM . +53 2. DAILY MAINTENANCE SENANCE TOOLS 1-4 2.2 REPLACING BATTERY ead 3. INSTALLATION AND ADJUSTMENT PROCEDURE 3.1 ENVIROMENTAL CONDITIONS . 16 3.2 INPUT POWER . 6 3.3 MAIN CIRCUIT CONNECTION . . 17 3.8 IZATION OF CONTACTOR FOR S2AxE . 23 3.5 SEPARATE TYPE REGENERATION RESISTOR . + ToL 3.8 PRECAUTIONS ON INSTALLING SERVO AMPLIFIER . + 120 3.7 PRECAUTIONS OM INSTALLATION OF SERVO MOTOR AND DETECTOR r-22 3.8 PRECAUTIONS FOR POWER ON AFTER INSTALLATION .. 1-26 4, TROUBLESHOOTING 4.1 7-SEGMENT DISPLAY 1-28 4,2 TROUBLESHOOTING + 130 5. UNIT REPLACEMENT METHODS 5.1 MOUNTING /DISMOUNTING CONTROL PRINTED CIRCUIT BOARD . + 163 $.2 DETECTOR MOUNTING METHOD .. + 165 6. HARDWARE CHECK METHODS 6.1 FUNCTIONS OF CARDS ... . 1-66 6.2 HARDWARE SETTING AND CHECK PINS . 1-67 7. DETAILS OF SERVO PARAMETERS 8. ABSOLUTE POSITION SYSTEM = (T20/T30 SYSTEM AND M300 SERIES) 8.1 ABSOLUTE POSITION SYSTZ¥ STRUCTURING PARAMETERS . - 194 8.2 DOG TYPE 2E20 POINT RETURN PARAMETERS - - 195 8.3 CATION PROCEDURE FOR ABSOLUTE POSITION DATA 1958.4 WEEN ay s¥sTEx NORMALITY OCCURS IN THE ABSOLUTE POSITION COORDINATE 1-96 1-96 1-99 Il AC SERVO MR-S12 SERIES MAINTENANCE MANUAL (2-AXIS INTEGRATED SERVO AMPLIFIER) 1. OUTLINE OF S10 SERIES AC SERVO SYSTEM 1.1 FEATURES OF $10 SERIES SERVO SYSTEX . . Een + T-2 1.3 MR-S12 SERVO SYSTEM FUNCTIONAL BLOCK DIAGRAM . m-3 2. DAILY MAINTENANCE 2.2 MAINTENANCE TOOLS ........0005 +4 2.2 REPLACING BATTERY ...... : + 6 3. INSTALLATION AND ADJUSTMENT PROCEDURE 3.1 ENVIRONMENTAL CONDITIONS .20.......eeeceeseeeeee + Ded 3.2 INPUT POWER ....... r-4 REGENERATIVE RESISTOR OF SEPARATE INSTALLATION TYPE 2.2.20... .00. (REGENERATIVE OPTION RESTSTOR) CAUTION FOR INSTALLATION OF SERVO AMPLIZTER . INSTALLATION OF SERVO MOTOR AND DETECTOR .. 3.8 PRECAUTIONS FOR POWER ON APTER INSTALLATION . 4, TROUBLESHOOTING 4.1 7-SEGMENT DISPLAY | 4,2 TROUBLESHOOTING ..... 5. UNIT REPLACEMENT METHODS 3.1 MOUNTING/DISMOUNTING CONTROL PRINTED CIRCUIT BOARD ..... 5.2 DETECTOR MOUNTING METHOD ...... 6. HARDWARE CHECK METHODS 6.1 FUNCTIONS OF caRDs . 6.2 SETTING AND CHECK PIN 2.2.0... 7. DETAILS OF SERVO PARAMETER 8, ABSOLUTE POSITION SYSTEM sees TelsAPPENDIX 1. CABLE CONNECTION . 2. CABLE SPECIFICATION ....... ses AL? 3. MAIN CIRCUIT STRUCTURE . susfesewesesne ASS 4. CHECKING MINIMUM ACCELERATION/DECELERATION TIME CONSTANT ......++. A-35 5. CHECKING POSITIONING REPEATABILITY . oe An37 Add 6. CALCULATING COASTING AMOUNT IN EXERGENCY STOP + Acé2. 7. SERVO MOTOR SPECIFICATIONS ei + ah @, DETECTOR SPECIFICATIONS ........22+000000+ oper) 9. SERVO AMPLIFIER SPECIFICATIONS (MB-S1L) . sees Bab| AC SERVO MR-S11 SERIES MAINTENANCE MANUAL (SERVO AMPLIFIER FOR 1-AXIS)2. OUTLINE OF $10 SERIES AC SERVO SYSTEY 2.2 FEATE: S10 SERIES SERVO SYSTEE 1. OUTLINE OF S10 SERIES AC SERVO SYSTEM 1.1 FEATURES OF S10 SERIES SERVO SYSTEM (1) Connection to MELDAS M300 series NC The $10 series AC sexvo systen c: NC to provide high speed comput: functions. Thus, a servo system enriched with high «: robust property can be set up. in additi which may occur in high response machiner. ced to a MELDAS M300 V series igh speed conmunication be coz: on and curacy control functions and @ sn, error due to tick motion Gan be compensated for. (2) Series of AC servo systems The HA series servo motor which provides high response and easy maintenance is used. A wide range of servo motors and servo amplifiers is Lined up, thereby covering g wider power range then e conventional series. In addition, 2 wide range of multiple axis-type anplifiers are also provided. (3) Performance enhancement by all-digital sexvo All-digital control system used in the conventional model S series systen ie enhanced. Using a high speed CPU, the systen provides high response, repeatability, and reliability for high speed as well as accuracy control operations (4) Intelligence Individual CPUs control individual axes to enhance mechining accuracy. Increasing the number of tuning parameters allovs the system to be adjusted securely. In addition, the AT diagnosis function is also improved, () Inprovenent of reliabitiey by utfltzing Lose parts and cabler- Using gate arzays for control card components ellows the number of parts to be Significantly reduced. In addition, the rein circuit components mounted on the power card contribute to reducing the number of cables. (6) High speed, highly accurate machining (0.1,0/pulse command) The mavinuh speed in submicron (0-1gm/puise comand) selection Specification is increased up £0 2400 rpa. (7) Absolute position detection system 4n absolute position detection system free from the zero point retum operations is provided. rea | EBSicetsen| | HFT | | Il2. Di LY MAINTENANCE 2.1 MAINTENANCE TOOLS 2. DAILY MAINTENANCE 2.1 MAINTENANCE TOOLS (2) Measuring instruments Tae following instruments ere used for checking that the power i: correctly supplied to the servo amplifier and that the servo amplifier cables are correctly connected. Table 2.1 Maintenance tools Tame Contlcios a ] — Fier cabies ase AT Galion Toed, for repeal mecmrvoe ta ae ssa ian ien 2 Se LEE Le ere SSPE Be valent eae Tarn Ge Be pom Valea ifenet TE aan Tage Ge pw allel we (2) Tools Screwdriver (Phillips: large, midiun Flat head: small) 2.2 REPLACING BATTERY The battery-operated absolute position detection system stores deta. The battery is mounted on the RF33 card. For the battery, use a high reliability button. Since the battery is screwed to the P.C. beard, an imperfect contact will not occur. Battery backup time ...:, 1 month Battery life .......11111 3 years (depending on the operation : temperature) Since the lige of the battery is approx. 3 years, replace it before it expires. (when the battery alarm occurs, the content of the absolute position may be destroyed.) Storage battery to be used: GB250-3F22 >y 8 © o) Lot No. ec IndSeates 19 LoT Ho. Undisatas February. Since this battery is made to special specification in order to ensure a higher reliability, it should be purchased from Mitsubishi Electric, it has been charged. aryCONTENTS | AC SERVO MR-Si1 SERIES MAINTENANCE MANUAL (SERVO AMPLIFIER FOR 1-AXIS) 1. OUTLINE OF S10 SERIES AC SERVO SYSTEM 1.1 FEATURES OF $10 SERIES SERVO SYSTE™ . 1,2 $10 SERIES SERVO SYSTEM TABLE .... 1,3 MR-S11 SERVO SYSTEM FUNCTIONAL BLOCK DIAGRAM . IeL 2. DAILY MAINTENANCE 2.1 MAINTENANCE TOOLS .. 2.2 REPLACING BATTERY .. 1-4 3. INSTALLATION AND ADJUSTMENT PROCEDURE 3.1 ENVIRONMENTAL CONDITIONS 3.2 INPUT POWER ...... 3.3 MAIN CIRCUIT CONNECTION 3.4 UTILIZATION OF CONTACTOR FOR BRAKE 3.5 "= REGENERATION RESISTOR . 3.8 3 3.7 PRECAUTIONS ON INSTALLATION OF SERVO MOTOR AND DETECTOR 3.8 AUTIONS FOR POWER ON AFTER INSTALLATION .. 4, TROUBLESHOOTING 4.1. 7-SEGMENT DISPLAY + Tze 4.2 TROUBLESEOOTING .. 1-30 8, UNIT REPLACEMENT METHODS 5.1 MOUNTING/DISMOUNTING CONTROL PRINTED CIRCUIT BOARD - . 1-63 5.2 DETECTOR MOUNTING METEOD . + 1-65 6. HARDWARE CHECK METHODS 6.1 FUNCTIONS OF CARDS ... + 186 6.2 EARDWARE SETTING AND CHECK PINS .. sees T6687 7. DETAILS OF SERVO PARAMETERS 8 ABSOLUTE POSITION SYSTEM “= (120/730 SYSTEM AND M300 SERIES) 8.1 ABSOLUTE POSITION SYSTEM STRUCTURING PARAMETERS . 1-94 8.2 Dos 2520 POINT RETURN PARAMETERS 1-98 IN PROCEDURE FOR ABSOLUTE POSITION DATA . ‘1-958.4 WEEN AN ASNORMALITY OCCURS IN THE ABSOLUTE POSITION COORDINATE SYSTEM cee 8.5 CHECKING ASSOLUTE POSITION DATA .. 8.6 ABSOLUTE POSITION DETECTION ALARMS . sees 1696 1-96 1-99 Il AC SERVO MR-S12 SERIES MAINTENANCE MANUAL (2-AXIS INTEGRATED SERVO AMPLIFIER) 1. OUTLINE OF S10 SERIES AC SERVO SYSTEM 1.21 FEATURES OF S10 SERIES SERVO SYSTEY 2.2 s10 SERVO SYSTEM TABLE 1,3 MR-S12 SERVO SYSTEM FUNCTIONAL BLOCK DIAGRAM . 2. DAILY MAINTENANCE 2.1 MAINTENANCE TOOLS .... 2.2 REPLACING BATTERY .... m2 m-3 +1 ENVIRONMENTAL CONDITIONS ... INPUT POWER ... (REGENERATIVE OPTION RESISTOR) +6 CAUTION FOR INSTALLATION OF SERVO AMPLTFTER +7 INSTALLATION OF SERVO MOTOR AND DETECTOR ....... 3.8 PRECAUTIONS FOR POWER ON AFTER INSTALLATION 2.0... 4, TROUBLESHOOTING 4.1 7-SEGMENT DISPLAY «0... 4.2 TROUBLESHOOTING . 5, UNIT REPLACEMENT METHODS 5.1 MOUNTING/DISMOUNTING CONTROL PRINTED CIRCUIT BOARD . 5.2 DETECTOR MOUNTING METHOD .. 6. HARDWARE CHECK METHODS 6.1 FUNCTIONS OF CaRDs .... 6.2 SETTING AND CHECK PIN . 7. DETAILS OF SERVO PARAMETER 8. ABSOLUTE POSITION SYSTEMAPPENDIX 1. CABLE CONNECTION ......... < Ack 2. CABLE SPECIFICATION ......... ALT 3. MAIN CIRCUIT STRUCTURE .........000-005 + Ae33 4. CHECKING MINTMIM ACCELERATION/DECELERATION TIME CONSTANT sees ABS 5. CHECKING POSITIONING REPEATABILITY . An37 6. CALCULATING COASTING AMOUNT IN EIERGENCY STOP . Anal 7. SERVO MOTOR SPECIFICATIONS ......22-e000005 Aan 4, DETECTOR SPECIFICATIONS .........0cseeeseeeeeceeeeeeeee Ants 9. SERVO AMPLIFIER SPECIFICATIONS (MR-S1L) . o Ase 4| AC SERVO MR-S11 SERIES MAINTENANCE MANUAL (SERVO AMPLIFIER FOR 1-AXIS)1. OUTLINE OF $10 SERIES AC SERVO SYSTEM ai FES OF S10 SERIES SERVO SYSTEA 1. OUTLINE OF S10 SERIES AC SERVO SYSTEM 1.1 FEATURES OF S10 SERIES SERVO SYSTEM (1) Connection to MELDAS M300 sezies NC The S10 series AC servo system can be comm HC to provide high speed computation and fonctions. Thus, ¢ servo system enriched with high accuracy control functions end a Tobust property can be set up. In addition, error due to tick motion which msy occur in high response machinery can be compensated for. ted to a MELDAS M300 V series nigh speed communication (2) Series of AC servo systens The HA series servo motor which provides high ressonse and easy maintenance is used. A wide range of sexo motors and servo amplifiers is Tined up, thereby covering s wider power range thea a conventions! series. Th addition, a wide range of gultiple ax{s-type enplifiers are also ovided. (3) Performance enhancenent by all-digital sexvo All-digitel control system used in the conventions! model § series system is enhanced. Using a high speed CPU, the systex provides high response, jd as well as accuracy control repeatability, and reliability for high s operations. (4) Intelligence Individual CPUs control indiyiduel axes to enhence machining accuracy. Increasing the number of tuning parameters allows the system to be adjusted securely. Im addition, the AI diegnosis function is also improved. (5) Improvenent of reliability by utilizing less parts and cables. Using gate arrays for control card components allows the number of parts to be significantly reduced. In addition, the main circuit components mounted on the power card contribute to reducing the number of cables. (6) High speed, highly accurate mac! The maximun speed in submicron(0.1 4m, specification is increased up to 2400 rpm. ing (0.1 ;u/pulse command) ipsiee command) selection (7) Absolute position detection system ‘dn absolute position detection system free from the zero point return operations is provided.1.2 S10 SERIES SERVO SYSTEM TABLE System structure ai eminomn0 eM veo | wom | comers 2 Sarg wa wes a1, OUTLINE OF S10 SERIES ac SERVO SYSTEX 1.3 MR-Sil SERVO SYSTEM FUNCTIONAL BLOCK DIAGRAM 1.3 MR-S11 SERVO SYSTEM FUNCTIONAL BLOCK DIAGRAM Re fostztes =| IF ms m0 series teov0 ! Position control saa = |_+ Detector FB coutrol Speed control Alam detection ' Current control, + |uep sebexton Main circuit Regeneration oped fesister2. DATLY MATNTENANCE 2.2 MAINTENANCE TOOLS 2. DAILY MAINTENANCE 2.1 MAINTENANCE TOOLS (2) Measuring instruments The following instruments are used for checking that the power is correctly supplied to the servo amplifier and that the servo amplifier cables are correctly connected. Table 2.1 Maintenance tools Centicion, ‘ppiteatiee. SEP dh Pat mae Tiieesope Tes ep gseteg! ee Te valnaetar 7S Se ae Ear, ‘Bye eee spree "ipleiasce afecid $215" ESPEGS* SEs ELBEPEE Toisase surrtés Bee tates BE veissecer wae 0 Taarare he DC power voltages #5 Pardee. i ae age Ge Ae pons vapline we (2) Tools Screwdriver (Phillips: large, midica Flat head: small) 2.2 REPLACING BATTERY The battery-operated absolute position detection system stores data. The battery is mounted on the RF33 card. For the battery, use a high reliability button. since the battery is screwed to the P.C. board, an imperfect contact will not occur. Battery backup time ...:, 1 month Battery life . Sitt 3 years (depending on the operation temperatare) the lige of the battery is approx. 3 years, replace it before s. (When the battery alarm occurs, the content of the absolute position may be destroyed.) Storage battery to be used: GB250-3532 8 8 _ w zor E—tadteaces 1987. Lot Ho. Indicates February. Since this battery is made to special specification in order to ensure a Aigher reliability, it should be purchased from Mitsubishi Electric, it has been charge: 1-42. DAILY MAINTENANCE 2.2 REPLACING BATTERY Replacing battery 1. Tern off the NC power and turn on KF of the input power 200/220 VAC (if the servo amplifier input power is turned on). Note: When the battery is replaced while the servo amplifier input power (200/220 VAC) has been turned off, the absolute value date is erased. 2. Remove the tvo battery mounting screws using the screwdriver. Make sure the position of the polarities of the battery are correct and ighten the mounting screws. Noter If the battery is replaced and the polarisies are wrong. {twill be damaged. Bo not touch other parts with the screwdriver Decause currents flows through if 4. Turn on the NC power and check for abnormalities.3. INSTALLATION AND ADJUSTMENT PROCEDURE 3.1 ENVIRONMENTAL CONDITIONS —. 3. INSTALLATION AND ADJUSTMENT PROCEDURE When installing the servo amplifier, consider the following factors. Ocherwige, the maximum performance of the servo amplifier cannot be obtained. 3.1 ENVIRONMENTAL CONDITIONS The following factors refer to the environmental conditions found where a Gebinet and pendant are mounted. To satisfy the following conditions, follow 3.5, ‘Precautions for Installing Servo amplifier." (1) Ambient temperature In operation: 0 to sec In storage : -55 to 70°C (2) Humidity In operation: Relative hunidity ... 90Z or less (no condensation) In storage : Relative humidity 11. 902 or less High humidity may damage the insulation or reduce the life of the part. Although special dehumidification is not required, do not install the servo amplifier ina moist place. (3) Vibration ‘50 to 10 Ez ..... Amplitude: 2.5 az 40 to 30 He 16 Shock: 5G, i0'to iz ms (4) Atmosphere Do not use the servo amplifier in an gas, or corrosive gas. ree exposed to dust, sprayed organic (5) Power phase balance: + 20 V or less 3.2 INPUT POWER (2) Input voltage 200/220 Vac : #10 2, -15 z (2) Frequency 50/60 Hz, +1 Hz, 3 phases (3) Power consumption 2 ‘Sflase power (oerre wepLeies GOST Seve sevlitier | Amiteanie secon [Tar ie Toor engee (HG) [leper & T0Or aaa TE TTT a, maT ee 2 BasII 40 mores ie a a-s1-80 aso /as ie se ia sii-100 Aloe a7 3.2 a-s1i-105 Bes ar i 1-$11-200 ae ar, 76 7-300 HA203/300 Be 20 -£13-700 00. = En =811-900 mus60 Ths 3 1-63. INSTALLATION aND ADJUSTMENT PROCEDURE 3.3 MAIN CIRCUIT CONNECTION eget! gbeome MS sractey of she soya my te stone t2() of ep hee catia, Eevee, if che spesr to sesede Sgter' 2 or 3 tines aby value of (1) se geccized. ‘Rierefote, aniacaia a voltage of 110'V cb 242°7 a2 che aecvo atplitier tersinais wich seal selusge Hlvenuaties. 2) Rep coreene capactsy of che pover supply should confors wish che valoe of (2) ts the above 2 Rus sy ge ris shld added for 41) che ane Gazepisd For ‘hi00,$ 2300, "10.2 v4, 30.5 kts requized. Pie Soe a a the Spesizteteion banal (4) Input transformer If'the power voltage described above cannot be used, mount @ power transformer on the power input. 3.3 MAIN CIRCUIT CONNECTION 9.3.1 CONNECTION DIAGRAM Me t eet) exstani00, ‘Gad. peer | eres ace Oaenty sorstuvw |S, weed en canaet (Pon? 1?3. INSTALLATION AND ADJUSTMENT PROCEDURE. 3.3 MAIN CIRCUIT cow —. spectdtension ts iECTION oes (1) The servo splitter te 200 ¥._ Az Loog as the power Power, fvacelornes a noe requized. “Gees s 400"V = Sigle Sisto alts cteeute does aot ase 2 Tae" above Figure does uot shov a srassforer with aS overseas specification. (2) Tue phase ondes of che pover teraisals 2, 5, and T of the serve scplisiec Le freely assigned. However, when many axee'are ned, dievertir apaber cables abosid sot be stseced.” (3) Precaucions for coasastiog aarro amplifier taminals Uy Y, sod 2. ‘a+ The relationship beruees the phase ovtez of che servo axplisier temisals Uy Vy and Vand $s EE Gesd raul Cait esha, cc she plate ecder ia fncorresty ee sear say Fibrese oF rotate abroycly. The coche cansst be foisted Ts favetue dp eligglor tis Slane aeae 77 SStry Sek acs by sorted so stg cere ceemaaae 0s and fin servo anptien. areas comet Elbles 15 sway stat sue ocepoe teruiaaie Uy Vy and ot" ohe gees SSplieley Coctdtbe sscanenty groutlad, Sacks sistas Say dtcage the aefoe aaplttiar® (2) The ceratants 3 and B plities axe comected with a shore wise, hes BS Fetesgency to0p) cables esre Gita short izes thes the DAT contacts are Speny the saree As accurately enespenay-tuppele (9) The coratnsls D sad © of the serve sept pnssinis oie Ge, Heise" (See pezageape 3.0). Sages. che regeneratice option generates test, azote exusiag 4 fice is the aed the conection eabiens ced wich a short wire. hen the ‘Sie aod comece it as ahem 2 the floring srreunting poreton (7) The gpa. cf Cannas counsctor to be ured depends oa the asters Het REET a7 (®) Th postctos of each egratual on she secre anplifier depends on the Lasse eapsctty ape aad Baal capac an a ee iy Sypes dor tan seruiaal positions, tee the Specisicteles Maselis hoy che peectetiens t= pessgcages 3.6 Ese (9) Tor the selection of che oucfuse breaker, see the Specification Messal. fhe eri Bo re ute Hp cee pp Bees Ge meg Epa aha Ra aan es SSS BP ee mom Roe See Oh PR Se Come arate Ekcdasde npn aes ce soe oye« INSTALLATION AND ADJUSTH2: PROCEDURE 3.3 MAIN CIRCUIT CONNECTION NT 3.3.2 MOTOR CONNECTION 1) Cannon plugs to be used vs210226-108 wsnionuis-e e wssiozuiosi—uP Gene mee "Ean wss102422-202 weuea-zs oe Sain oe ax00cs| Baz00cs 130003; sa10303 maoscs wsn10zi26-10P © wssiozazos-e? 2) Hie iy ret Eieetee"at easter fusspeee 1-93. INSTALLATION AND ADJUSTMENT PROCEDURE. 3.3 MAIN CTROUIT CONNECTION eRe (2) Terminal box type motors Model applicable: EA700-S2, HA7003-s EA900-SR, HA9003-SR HASO to HA3OO and EASOB to HASOOB special products Motor terminal box detail drawing * The direction of the oD hole of the terminal box can be changed eve: 90°. However, since the gD hole is positioned as shown in the external dimensional drawings, when the direstion is changed, remove the screw marked with the asterisk (*). + When replacement parts are required, order then from Mitsubishi Electric, and give the parts number listed in the table. Dimensions ‘Model [Mode alvafe[o[elrlfc Terminal | Terminal box cover | box seat Ha700, Ha7oos [131 | 144] 78| 35[ 37] 60] 76 |mossc771H01 | #9528407H20 A900, HASOOB Qther special | 60] 76/ 40] 22/ 20] se | 33.5 |mossceoouoi |usszcsssuz0 mode! T-103. INSTALLATION AND ADJUSTMENT PROCEDURE. 3.3 MAIN CIRCUIT CONNECTION ‘Types of terminal box lead cables Servo Boer [Serve amplifier Lead cable types | lead cable solder. | Terminal base Tess terminal terew diameter ‘Type Tadica- | HA700/900| Special |MR-S-o- [MR-S-c- [Indica tion model 700/900 | 13-300 ion Electromagnetic| Blue brake (when Blue Ma MA specified) I Motor Red Me Me a thermostat Red MS MS Note(6) | Note(s) a 2 7 v Motor winding cable Vv vs Ma ys ae ¥ Note(7) ¥ w Moter ground Note(2) MS MS | MS MG + Note (1) For the terminal box servo motors for special models, note the model anes. (2) Use one of the screws marked with an asterisk (*) in the terminal box detail drawing as the motor ground terminal. (3) When an electromagnetic brake is provided, the surge absorber (ECR- 100x221) can be housed in the motor terminal box. See the mounting drawing Ni0SD132. (4) The tersinals should be connected as shown in the folloving figure using the screws listed in the above table. Each connection portion should be insulated with insulation tape wound around several times so that it is securely insulated. When the connection portions are housed in the terming1 box, do not dasage the insulation. (5) For the cables to be used, see paragraph 1.1.4(3). (6) The outer diameter of the solderless terminals should be 8.0 mm or less. (7) The outer diameter of the solderless terminals should be 9.0 mm or less. D BH oH3. INSTALLATION AND ADJUSTMENT PROCEDURE. 3.3 MAIN CIRCUIT CONNECTION (3) Cables to be used Moee(2)___Norat3) Hata) Hose(S) Epi Gh @ | Gegraerstios | Flecropmagmcio at cited epee | Estes Joe ecsorcas) sultaion muss se |, 05 a size Gsm | of ire oss 2 Teeny or Ieee) wire 0.5 et tom, Bela es epee or oS oS = ‘2 Ieee tet 12-$12-808 2.5 =? — a of = pe) ee ost 2s a? rs nt = wa-612-1003 obat | se od =e E, Ieee) a Ieas) sat tt va-sit-100 2 ye = peeed aS ebat | se or ie) ees) eas) meadame 3st = Ty t= vee 305/500 at eset ales os a ot ines) ‘a Tee ae Teed A eset |, t= 8-811-700/500 = js 7 = Gest | aie oi St oe Te) 2 Teen) Rose (1) wud tap aetna gt ca) Tidtersis ‘tepulacion! ear" ulenediplag'the grea whee te described a feliowes MO-16 Gases estar dnstittention of grow wie sslak allow secipe poctatas [Dioce) thes cue eondsctor fg 4 cable, tough cubber sheathed cable or cord wish a multt efi gentuctars is seed ta°t grouad wise, sy other coodactsc cacepe Zor cow oll nou bei petpg Suace be tnd ays ead es 2g SaaS ae eed fa ale EE es arent Flew sey pasar os % "saaieats that che conasctoe is x growed Hise asing prem Hips Eef'che Bits ac Shs"SescISST S2a‘Pltpes penteuoes. (Bes sompecting eatige of Gi and G2 shold be existed. CG) HESS Septatcarlne sgeion causes che besteup, Lr Le necessary co use che Slane retardant seis gy te posses tak Thassos o Se SER EE, ow, we muag aiy BEE Ree REE Bor, mena tan tie a= ssudectves eeantnat = Sa ee we EER SIE RE Pee) EH = Fee, =e © Fe a «| ™ : wat rhe [pan Sa a A 1-123. INSTALLATION AND ADJUSTMENT PROCEDURE 3.4 UTILIZATION OF CONTACTOR FOR BRAKE 3.4 UTILIZATION OF CONTACTOR FOR BRAKE Contactor for brake is newly employed on the MR-S11/22 servo emplific Tais contactor can be used to magnetize the motor with brake. Connect electromagnetic braze cable with terminals EM, EM2. Specifications of external brake output contactor Model meme DSPia-DO26V (Matsushita Denko) Rated control capacity $A 250V AC/SA 30V DC (resistance loae) Wax, alloweble power of ‘2O00VA, 150WA contactor (resistance load) ax. allogable voitage/ 360V AC/@A current of contac: Example of breke contactor (2) "AC 01 0101/21 card ° So pl By tA fen vac 1 Be Ly e101/221 eat See the specification manual for details of specifications of the electrcaagnezic brake and usage methods. I-133. INSTALLATION AND ADJUSTMENT PROCEDURE. 3.5 SEPARATE TYPE RECENERATION RESISTOR nea EEIEEeenieeeeeeeee 3.5 SEPARATE TYPE REGENERATION RESISTOR 3.5.1 REGENERATION OPTION RESISTOR Since the motor generates energy in the deceleration state, the amplifier is structured so that the regeneratica resistor consumes the regenerated energy. Although the amplifier has 2 regeneration resistor (see note 1), when 2 lot of energy is regenerated at once or when the repetitive positioning frequency is high, the regenerated energy cannot be consumed by the built-in resistor. In this case, the regeneration option resistor is used. The method for checking the repetitive positioning frequency is Gescribed in paragraph 3.2.3, and can be used to determine the regeneration resisto: (1) Specification [-“Weaei_[Reting power | Resistance Renarke ¥R-RBI0 600 W 330 | With metal case end thersostet szsz00wss0nm | 200 390 [3 parallel conection Note (2) ¥B-§11-700 end ¥R-S13-800 do not coms with © regeneration See paragraph 3.2.2.3. INSTALLATION AND ADJUSTMENT PROCEDURE 3.5 SEPARATE TYPE REGENERATION RESISTOR (2) External dimensional drawing of regeneration option resistor (a) *R-RB30 2Ms sousctag secey Mounting metho The option resistor should be mounted in the direction A or B of the following figure. Boctee |_ ig. 3 (b) 62620073 s0RMK 94.32 : L 2\ 54 i i a Tae Note 1) Each amplifier requires three GZGZ000W3S0EMK’s. Note 2) When they are used in an adjacent area, they should be 70 mm or more/apart. 11s3. INSTALLATION AND ADJUSTMENT PROCEDURE 3.5 SEPARATE TYPE REGENERATION RESISTOR _(3) Connecting regeneration option reeistor (a) When MR-RB30 is used: Regenerasiog opcicn peflsar este a-i530 ml Ma od} CDP CDP celated ab abod ad ] eye . Sa me mile ae ae 9 28 UT LI meer AIF BA meter CS = bat Speier soe ‘Reeceratisn cotien ee Note 1. When the regeneration option resistor is used, the regeneration resistor in the amplifier is not used. Remove the short bar connected to the D.P, terminals used in the stendard type and connect the additional regeneration option resistor to the C.P. terminals. When the MR-R530 is used, connect the monitor and the thermostat of the regeneration unit in series. Note 2. Change the servo parameter ORT {regeneration constant). Ho. Standard |Presence of addi- tional option 20] on 4580 3010 constant Note 3. Each amplifier should use one resistor unit MR-RB30. The sectional area of the wiring material to be used should be 2.0 sa’ or more. Note 4. The cables to be connected to the regeneration option should be flame-resistant or finished with a flame-resistant coating. For the thickness of the cables, see paragraph 3.3(3). I-163. INSTALLATION AND ADJUSTHENT PROCEDURE 3.5 SEPARATE TYPE REGENERATION RESISTOR (s) ezezocrss0nm eGRaSonm Tan 5 pieces re Me 1 0} bo cor cor eae ma sents secs een se vote 2. wes the ropeneration option resistors age osed, he, regenecetion SerD ESE HSPERSTERSETSGRS‘WG SSE‘RSGE" “Egaste‘ et" ge EE ESERIEUGSZS'ELS BPs erases goed in, the stenenclt7pe and SCERCEE"E,S*sEutstatis Sogenernls opti co the Err Eecaisats, ote 2. change the data of the peremiter ORT (zegeneration constant). we Standard [Brerenee of at Hieatt“G,ehos 20 [oe eo zoe Sastant Note Hote Note 3. The regeneration option resistors should be used as a set of 3 pieces for one axis. The cable sectional area should be 2.0 mm! or more. 4. The regeneration option generates heat. Yihen the regeneration option is used frequently, it becomes hot. Thus, do not mount the option on a wall which is susceptible to heat, When two or more place them 70 mm or more 5. The cables for connecting the regener: art. istors are used in an adjacent area, ‘tion option should be flame- resistant or finished with a flame-resistant substance. For the thickness of the cables, see paragraph 3.3(3). 1-173. INSTALLATION AND ADJUSTMENT PROCEDURE 3.5 SEPARATE TYPE REGENERATION RESISTOR 3.5.2 SEPARATE TYPE REGENERATION RESISTORS FOR LARGE CAPACITY AMPLIFIER (HA700, 900) HR~$11-700 and MR-S11-900 do not come with regeneration discharge resistors. Thus, prepare a regeneration resistor. Two types of regeneration resistors are provided. Select one by r bebe (1) Specification Quantity |Maxinus Acceleration/ | Resistor Capacity| (#1) | regeneration| deceleration | type Make: capacity | frequency (#2) ¥R-S1-700, 2004 | 3 pieces | 350 | 10 cycles/min | czezoow | xippon Resis- 20.0 ¥R-51-300 200m | ter co., Lea. 8 cycles/min ¥E-S1-700, 300W | 3 pieces | s00W | 15 cyciesimin | czcsoow | Nippon Resis- 209 ¥R-51-900 200m | tor co., Led. 12 eyeles/min “1. 3 resistors should be connected parallel with each othe: The resistance ie 6.7 ohne~ *2, Load inertia 1.5 times + Time constant: 200 nsec + 2000 rpm, Regeneration capacity: 60 (2) External dimensional draving + 626200%/6263008 2.x g5.5K2 j Ci TI : 75 | al re ss ras3. INSTALLATION AND ADJUSTMENT PROCEDURE 3.5 SEPARATE TYPE REGENERATION RESISTOR (3) Connecting regeneration resistors for large capacity amplifier Prepare the three 200 W 20 chm or 300 W 20 chm regeneration resistors and connect then to the terminals C and P of the terminal block TE3 of the servo amplifier in parellel. cane sustonal 2a or nore Note (1) Change the data of the ORT parameter (regeneration constant). Bo. Standard | Presence of addi- tional option 20 [or 4688 3000 constant Note (2) The regeneration option resistors should be used as a set of 3 pieces for one axis. The cable sectional area should be 2.0 mt or Bore. Note (3) The regeneration option resistors generate heat. when the regeneration option resistors are used frequentiy, they become hot. Thus, do not mount the option registers on a wall which is susceptible to heat. When two or more resistors are used in a small area, place then 100 mm or more apart. Note (4) The cables for connecting the regeneration option resistors should be flame resistant or finished with a flame resistant substance. For the thiciness of the cables, see paragraph 3.3(3)- I-193. INSTALLATION AND ADJUSTMENT PROCEDURE 3.6 PRECAUTIONS ON INSTALLING SERVO AMPLIFIER 3.6 PRECAUTIONS ON INSTALLING SERVO AMPLIFIER (1) The servo anplifier is designed to be installed in a cabinet such as power control box. The servo amplifier should not be installed in a Place where it is exposed to direct sun light, heat, or open air. (2) The environmental conditions in the cabinet (such as temperature, humidity, vibration, | When the servo amplifier and atmosphere) should conform to paragraph is mounted on the wall: 1.2, "Servo Amplifier Specification.* The cutting machine cabinet should be sealed. Design the cabinet according to "MELDAS 300 Series Connection Manual, BNP-B3434". (3) Since the servo amplifier is a wall hanging my securely install it vertically (s9 thet }rinted clreult boards can be viewed From Eront) using screws or bolts (see the Fight bana Figete} (4) The servo amplifier should be inst n be easily inspected and replec ed space around the servo amplifier is shown in the external dimensional drawing. (5) Since ‘the seryo anplidier generates, sone best, 2 ig should be installed away from other devices and parts so that the generated heat does not affect the other devices and parts (see the earl right hand figure). (6) EnGlosed mount i The standard product delivered from Mitsubishi Electric comes with an adapter. if it is enclosed when it is mounted, remove the adapter. For the anguier hole dimensions, see the external drawing. In this case, place # packing between the power control box and the unit. When mounting the servo enplifier, refer to the following example Paves bs Sepeeal bee 7 10 w Yeeat ack oe ‘Ecanple 1. Fhen tbe caching recface {4 placad Example 2. then the outdoor air cooling section extends Sabina the poves seusral boxy prom ‘beyond the, pores control boty make sore Hie sar setetlaclon. Siibag ipas de nor ester the tert $n, poor encisonnensal (such 28,1 factory vbare the machine a hilar on the insaks section of she Sbic12 section Sitkad 1-20a) (8) 9) qo) 3. INSTALLATION AND ADJUSTMENT |“ procepuae 3.6 PRECAUTIONS FOR INSTALLING SERVO AMPLIFIER When MR-S11-700 or MR-S11-800 is enclosed and mounted: When the inside f the cabinet is agitated, do not blow air directly to the servo amplifier (to prevent dust from sticking). The regeneration option generates he When it is used frequently, it becomes very bot. Thus, the regeneration option should not be mounted on a wall which susceptible to heat. The regeneration option should be mounted avay from the wall surface (70 mm or more). For noise protection, see "MELDAS 300 SERTES CONNECTION MANUAL.* The bus connection cable (except for, AMP-AM® cable whose length is less than 1m) and the detector cable which are ed to the servo amplifier and the detector cable leading to the detector I/F box should ell be clamped as shown in the right hand figure. Since this clamp is used to support and shieié the cable and to stabilize the system to prevent malfunctions caused by noise, the clamp is very important. Thereby, the clamp should be securely mounted. For details, see *MELDAS 300 SERIES CONNECTION MANUAL.* 1-22 sere Ea piss CEaaeple case Suleld outer sheath Cable clamp drawingOW SERVO MOTOR AND DETECTOR 3.7 PRECAUTIONS ON INSTALLATION OF SERVO MOTOR AND DETECTOR (1) Precautions for oii and water a.Since the servo motor is not made in 2 strict vater (oil) resistence structure, do not splash cutting or lubrication oil on the servo moter, If cutting fluid, etc., enters the servo motor or the detector, the insulation of the motor coil may be damaged or = detector failure may occur. b.If cutting fluid, etc. splashes the motor, provide 2 protection cover om the moter. If this cover is necessary, note the joints, bends, shape, and dimensions of the protection cover. c.When the servo motor is exposed to cutting fluid and the protection cover, cannet prevent the servo motor from getting splashed, use the splash protection specification (P type), wiich has bigh water resistance, Alternatively, consider the use of the of!-procf type connector described in paragrash 5.4.10. 4.Do not use the servo motor if part of #2 is submerged in oil or water. The servo motor located near the floor should be provided with a water drain path on the floor to contain the flow.’ Do not clog the water drain peth with cutting chips. e.Check the drain path of oil and water on a moving table and check the slide cover. Take care of the following point: (e-1) When the table arrives at 2 cezsain position, the drain hole cones to the upper portion of the motor. Thus, of! end water splashes the motor. (e-2) Depending on the movement o: water which stays on the sl motor. (@-3) Depending on the shrinkige or expansion of the cover, oil or water which stays on the slide cover leaks from the wiper and érops on the motor. £.The servo motor should be installed in 2 well ventilated place where oil and water do not splash it, and where it can be easily mounted or dismounted. the slide cover and table, ofl or le cover or the table splaches the (2) Precautions against gear oil a.Although the servo motor can be mounted horizontally or at the upper or lower end of the axis, whea the servo motor ie mounted at the Upper end, protect ofl from the gear box from entering the motor on e sachine side. In this situation, the oil seal is not adequate protection. b.Oi1 level and pressure of gear box The ofl level of the gear box where the seryo motor is horizontally mounted should be lower than the of] seal rip of the servo motor shaft (both in the stop and rotation states). If the oil level is higher then the oil rip, the oil my enter the motor. Some servo motors are not provided with shaft end oil seals. Thus, when ordering the servo motor, check the servo motor type. fo prevent the dinner pressure of the gear bor from increasing, provide an intake- hole on the gear box. (Machine side fo |__ Jasco sacs ¢ 2 Mode /a0s3 | 8423 | zA43 |4200,24203| A900 preg Dreger ree [sere mee a |] mw} 2s | 20 1-22sROCEDURE, 3.7 PRECAUTIONS ON INSTALLATION ON SERVO MOTOR AND DETECTOR (3) Detector a.When transporting and installing the servo motor, avoid any shocks to the detector on the servo motor. To prevent the detector from coliiding with another object, being talked on, or being damaged by 2 tool or work which fells, provide @ protection cover around the detec: ‘Any design where a coupling should be struck to the motor shaft should be avoid Although other directions (3 direction, C direction ion) can be assigned, the setting change of the fer becomes complicated, reselting in incorrect combination, other directions should be avoided. Symbol of direction of detector connector (The "A" side is standard.) tennis bee o ¢.The relationship between the motor en the detector has been precisely adjusted (the magnetic polarities have been matched). If the detector is replaced or the direction of the detector connector is changed ignoring the relationship, the sezvo motor becomes out of control. The relationship between the di be changed after delivery fron Mitsub: (4) Connector and cable +The connector should be located so thst it faces downward: When the motor is installed vertically or on en incline provide « cable trap. a Connector b.The conventional cannon connectors are not water proof. 1-233. INSTALLATION AND ADJUSTMENT PROCEDURE, 3.7 PRECAUTIONS ON INSTALLATION GN SERVO MOTOR AND DETECTOR c.The cables may lead oil and water to the motor and the detector, causing bad Make sure that the cables do not drip or sit in ofl or water. ‘the following figure). 4 0 4 4 4 4 3b} cover Ye cover 4 J MoToR 7 J [Bag] Respiration [Bed] Capitary tube action ¢.Follow the cable clamping method carefully and avoid bending the cable. Do not allow the dead weight of the cable to stress the cable connections. In operations in which the motor moves, the cable bending radius should be determined fron the required bending life and the cable type e.Prevent the outer sheath of the cable from being cut by sharp cutting chips and from being abraded by an edge of the machine. In addition, prevent the cable from being welked on or run/over by automobiles. (5) Attaching/detaching connectors a.While the machine is on, do not attach or detach any connector to or from the machine, othervise, the motor may be damaged, In addition, dangerous situations such as abrupt motor start, drop, or generation large arcs may occur. ‘ie each Cannon connector with a wire. b.Bven if the power is turned off, the absolute value detector is ‘backed up by a battery. ‘Thus, when the detector cable is disconnected, the absolute po: is lost. Tie this connector with a wire and attach a warning: NOT DISCONNECT THIS CONNECTOR SVEN WHILE POWER IS OFF." c.The Cannon plugs are tightened mnually. Provide enough space to correctly tighten each Cannon plug. tion DOINSTALLATION AND ADJUSTMENT PROCEDURE. 3.7 PRECAUTIONS CN INSTALLATION ON SERVO MOTCR AND DETECTOR (6) Applications involving vibration nd cable clamps of the motor azd detector with wires. Clamp carefully to evoid vibration. Do not allow the dead weight of the cable to stress the cable comections. Check the clamp Carefully for the relationship between the cable finish diameter and the clamp size etc. Hake sure that the clamps are tight. Include the tightening of the Cannon plugs and the machine manual as a periodicsl inspection iten. Tie the Cannon plugs + Safety holes for protecting connector separation Ag the coupling nut hes safety holes and the connector is exposed to strong shock er vibration, pass a wire through the holes end fasten the connector to protect the connector from being disconnected. Under normal conditions, this treatment is not required (extracted froma ca: + Since the cable clamp is provided w: two safety holes which are similar to the connector, it cen also be tied. + The safety holes slightly ditter {3 structure depending on the manufacturer. + Fixing yire (0.813 6 amealing stainless steel wire) ‘The QQ-W-423 FORM-1 FS304 CD-A 0.032 (inches) is recommended for its mechanical strength and easy nachinixg. + Most suitable tightening torque of coupl- ing nuts ‘The connector is designed so that it can be easily tightened by turning the coupling nut rather than using a special tool. When the connector is exposed to vibration, it should be tied with a wire. There are no regulations foz the tighten- ing torque in MIL standard. When this connector is used for an a: plane, the connector should be tied a wire by the use: (7) Any design which requires modification, disassembling, or additional machining should be avoided.INSTALLATION ADJUSTMENT PROCEDURE, 3.8 PRECAUTIONS FOR POWER ON ABTER INSTALLATION Ss 3.8 PRECAUTIONS FOR POWER ON AFTER INSTALLATION (1) Before power on After the main circui: cables and required cables have been connected, but before turning on the power, check the following items. 1) Check that the 30 200/220 VAC has been connected to the terminals R, S, and T of the terminal block. 2) Check thet the moter power cable has been connected to the terminals U,V, and W of the terminal. 5) When a regeneration option resistor has not been used, check to see the terminals Cand P of the terminal block (upper section) have been short-circuited. When the regeneration option resistor hes been connected, check that it has been conneczed to the terminals C and P of the terminal block (upper, section). When the regeneration option resistor has been connected, check that the terminals D and P of the terminal block are not short-circuited (upper section). 4) Check that the cable from NC or from CHIB of another axis has been connected to CNIA. Check that the cable from CNA or the cable end (termination connector) has been connected to CNIS. 5) Check thet the cable from the detector has been connected to RG1OL gz RFS1/33. (For the correct connection method, see Appendix 2, “Cable Connection Drawing, 6) Check that the 26101 card has been correctly mounted on the unit. (Check that the projected parts from the snall holes of COMI and CON2 are aligned with their top planes, {For the correct ccanection method, see Appendix 2, “Cable Schenatic agran.*) 7) Check that os1 (1 correctly set. number setting) of the RG1O1 card has been the correct setting method, see Appendix 2, ic Disgram.*) 8) Check that the RGICi card and RFS1/33 cards have been correctly set. (or the correct sezting method, see Appendix 2, *Cable Schematic Diagram.*) 9) Check that the servo parameters have been correctly set on the NC m. (For the correct setting method, see Appendix 2, "Cable tic Diagram.*) 10) When using the moto: for the first tine end if an abnormality is suspected, before connecting NC and the servo amplifier, turn the NC d then decrease the values of IL? and TLN of the servo This limits the torque of the motor, thereby reducing of an atzormality. (Example) 13. LP 1230 = 500 24: ILN -1230 = -500 1-263, INSTALLATION ADJUSTMENT PROCEDURE 3.8 PRECAUTIONS FOR POWER ON AFTER INSTALLATION = power OW the power is turned on, the 7-segment display indicates data. ‘39 200/220 VAC oot BI] a] sate mast ste He power a hme = 4 Fe power ox. BS) ey oa i 4 j a i Hisse cccars Displays 22 wk codes } i i 1-274, TROUBLESHOOTING 4.1 7-SEGMENT DISPLAY 4. TROUBLESHOOTING 4.1 7-SEGMENT DISPLAY The state of the amplifier at the center of the amplifier, When an alarm occurs, the 7-segment display shows the re number. indi: ‘ted by the 7-segment display located ted alam Status display of MB-Si0 ampl: Display aA During initialization. Wait until the NC power is turned on (when the NG power is turned on and then turned off). aD During initialization. Wait until the NC power turned on (when the amplifier power is turned off and hen turned on while the NC power is turned off). ac During initialization. Starts transferring dat between NC and the amplifier. ad During initialization. The initial parameters have been received. aE The initialization has been completed. be Ready OFF oF ‘Servo OFF a Servo OW = Warning ae ‘Warning a ‘Alama "= ‘WD error # : Axis number * : Warning number (See the following table.) Alarm aumber (See the folloving table.) 1-28Servo alarms end warnings 4, TROUBLESHOOTING 4.1 7-SECMENT DISPLAY 3] asbreetncion Tees Bae 7 7 c 0 = 3 zr c a. © a a} Gascs Dog exe € 23 se, Besory Eever 7 x 1s o Berar ponies x 7, Beard Err x T T 7m os Higa ae bas m7 En 7ST He Sigesl? (aes oe Hoard Hee) ma a oI me ze —e [ae —e 26 te an_|__ te ie 30) T me as, ay a es 1 z x 33 [or T € sor Ht < FE z 3p me 37> = ap mT a p=] as as = = € 7s Bosse Over Sei = z i tr i er res end TaEST == 31 one ‘rez toad (C.L0GT 0.005) = [= 32 ‘oor = a az cs = ta) a = ¢ 35 = = < 3 cy = € 7 co Tania Oo egeseracion = = ee Tarsiny Over tant = ae ae Taiag clon Conner = zy WE Tarsieg Passoarer = x cy Tarsing WGsclate detect GE = ry wor Gassing Oves Travel, = = ce HC Beezgeeey_ € ar Tarsing Abeclate Hine Trmmiaaion = = mas: Tarsing Abeoloce Serial siemal = cs ay Garstang abecle Yeleae = z ar = 7 ma = = oo a x NSce 1) Weneel $B Bie fie BE power tp red off oe tees qperaien Gis Face. 2 Pevthove sventolage caster tans he eeree OF, Hote 2) Regandiog hnis/Gn As Abars cocors at each arts, €; Consos slave wishin acplitier, Hote 3) GES He! £2 bescuate indicates the suse which esievs only de MR-SI2. 1-294, TROUBLESHOOTING 4.2 TROUBLESHOOTING 4.2 TROUBLESHOOTING problem occurs, refer to the following items and take proper Precautions. When a servo alaza occurs: Whes an ‘amplifier not mounted" alarm occurs(NC side alemm): Whe= the motor vibrates or generates a vibration sound: When the cutting surface or circularity is poor: When an overshoot occurs during positioning: When a surge feed occurs ine pulse feed operation: Even if the power is turned on, the 7-segnent display dces not show any data or it shows EJ + 4.2.8 Even if the NO power is turned on, the 7-segnent display does not change from [I] BIA] or it momentarily shows GD]. (). RI snd then returns to HEE . Note 1) There are alarms which are limited to one axis only and alarms common to all axes. During troubleshooting, alarms which are Felsted to the axes are indicated with the mark of *. When this mark is shown, make sure of which axis to examine. Please reneabér thet the other exis alars occurs on the Note 2) In the subsequent explanatioa, the cards are assigned with the following code name. esr ea 40 te 100 | 103 ee 300 | 700/900 | 13h vo 50K | “OA vo 100K Raion 3eaor Bion zi wi_[ 310 ioe Bez azo Ses pisasiapee fort, Bo.dt™ 7" 1-304, TROUBLESHOOTING 4.2 TROUBLESHOOTING 4.2.1 WHEN A SERVO ALARM OCCURS: (2) Alarm No.[ 20 ]: Under voltage ‘The voltage drop of the 3¢ 200/220 VAC is detected (in pheses S and T). oy Verisietion washed Bessey = of 36 200/220 vac | Goeck the dyer volsage using | Check che pover apply factliry. over dzopa Suiow 160° (232). | che vole eter. 2 | Tas 36 200/220 vac power (Check Guay so daveascasecue Etciscanecasly etoh | powee datlure octars inthe im pot voltage vith the syechro- ‘Eespu for‘aopese. 25 auee a= sere ar 200 Fics (2) Alarm wo.[ 11 |: axis error (Exists only on MB-S12) It shows that an error is detected concerning the selection of the rotary switch in the amplifier. cae Veriiieaticn aed Bessey 1 | ay ee eee Goalies tie wouney Steen Correct the setting: 2 | See ese gals te welgcred | Goaticcacien of vomacy aetech eabads a Wai, (ie tie sacters depieatelt) (3) Alarm Wo. [22 |: Memory error 1 During the initialization, an EPROM check sum error, SRAM error, or 2-port RAM error is detected. ce Weritieation cathe Becety T | Agigek cum ecsor cours (=| Replace whe HGM eich « cers | Replace the AGH with a aww Butt SP'ake Gtatecner antes = 2 [A check erzee occurs ts SRAL | Replace He cain cqrd wiqh a | Replace the sais cards ‘or 2port Ba detest ope of nectar le. 1314. TROUBLESHOOTING 4.2 TROUBLESHOOTING (4) Alarm No.[ 13]: External clock error he clock sent from NC is abnormal. The software of the servo amplifier does not complete the process in the predetermined tine. Veritieaticn Visually check Ge cable Jeplace the sain cards 3 | ie, gables Soraees Be sod ae Be Replace the cablews (5) Alarm no.[ 25 |: Watch dog error Predetermined time, The software of the servo amplifier does not co: mplete the process in the oy Veritication mathe | Rag yet oe been comsecaly [Yimsiy check Ge OY ae [been ouases av tis Lecatioe cE ist he pics of ERG ‘ave aoe Been bent 2 | EPROM kas bees broken [Replace EPAGH wen exe from [asecher axis Bepiace ER 3 | Hae eats gacd or aldvon cand Baie Replace thy card wich ogee fisSehes Seles ie the Sises dt 2 secessary to change ene CSI faviecs posieice of ths, sain Ider aectitay ave Sal, [Servo daplittar coisiel ae ‘H Replace the defeccive 1-32(6) Alarm No. ': Memory error 2 4.2 TROUBLESHOOTING data is transferred with NC during the initialization, 2 or occurs in the 2-port RAH. ee = ] ea Te a tase Baplace the defective cables: (7) Alarm No. [26 position detect error ALL the out; (mounted on (2 motor non-load ide) become "E* 's of the phases U, V, and W of the OSESK-6-12-108 detector er *L Foridicatios eetbod eae Corvestly cowsece the coumecters ey Brees cf tees are SENSE (Soeu tue cate Foplage Soe cables bonmeen He Spiller of eee. se tee la tt oe [Goes the deceszor Bae wot bees sed to eee cate cast) the ees sec as the, Fexte were they are connected, SES San SE SE SERGE Me ston aes Ge wqandard encoder (OSE55 ES Tots ase Sees connected 1-334, TROUBLESHOOTING 4.2 TROUBLESEOOTING (8) Alarm wo.[ 27 |": Board error During the initialization, the A/D converter on the main card does not operate correctly. eae T | a the sain cand Us datecziver 9) No signal 2 ential signals of the encoder connected to the main card L. coe Weriticatin eetho 7 | iw connector of we devector [Visually check via connector, | Goumas tia cemeens Propels Ap tapertuctiy ecmsecteds |" Bada case C82 1 Desector side Conon eonneccor 2 | $e Se Sbbe emees he aaplt-| fase she cable ich « soraal ewe [Bepince Se cable win cow ae 22L2S Ra S ess iedaSet 2.2 3 | 1F whe dececcor ts sbeormalt Geplace the deteces Wiel = new become "EH" or Bessey (Goanece the ecanectar properly 2 | Hy She gate tervecs che ampli] Tere che cable vith & aoraal coe] Eaplnce Gin able wiGh © ev coe Benth EE ue 3 | BE he detascor is detectives eplace the Gerector with & bev4, TROUBLESHOOTING 4.2 TROUBLESHOOTING (22) Alarm No.[ 22 |": No signal 3 The output voltage of the resolver connected to the RF33/332 card becomes ov. Gan Ferisicacion wevbed ay T [if soe of che cables of te | (1) Vinsally check Correctly conser the cables Zecactor ds tepectecciy ecn- | s Ducector connector of add-on seeds one + Beeecuer aide Cannon ceaneee (2) Chast aetng 2 apnenroseope. B16 Gal ace | Gack pe a [en ons wz _[ei ws 08 (Seergecey stop state) Be cable Denman oe [Zest the cable viet « somal ce | eplace the cable with w aey exe, : athe ies smother sates Hae t/a at (Hy Gueck weing whe synchro. | Replace che BHS/S52 cand EER deaetivet srpe- Siero. Gaius | Get pe io we lant eis ne aessa pert e22 | | (2) sece as try eaey stop state) ‘Test, tha detector wich # sorcal |eplace the devector wal a mew She ties ssethes anise ee (22) Alarm No.[ 26 |: Phases grounded detect If one of phases U, V, or W of the amplifier output is grounded: case T |e che novor cable ds Gales vee | Ee bese case Ue aatecnive, [Bese she teen cond with = comm ? Bat an fete be oe ee f IgS12: eae card RO2St 1-354. TROUBLESHOOTING 4.2 TROUBLESHOOTING a (23) Alarm No.[ 25 ]: Battery alarm If the battery voltage of the RF33/232 card drops: I on 7 | iias ie bavsery wage Soop Teaedy Ie Has Sve ci, dafey tage He power so for fisaet Paays 2 [Fie bareecy Se defect fleplace we bacceny wie a na of opacation after he Feplacensac; see Boas as) 26 |: No control axis error (Exists only on MR-S12.) Rotary switch on the main card is set at ‘Ft and en overcurrent is conducted through the AC bus which ds not controlled. (oT Ga ‘Vertsisatios wethed Tenedy T | Secsing exvor of vom [Wiscal (Opper Lett eviehs Seralpeces Se sacs Biot 7 jot mtn exea) Tester fiir thls exror does aoe Stages oie tiaee wisbewe other 2 | Feouble concerning on the [fame aq tov couch eetiee of pepsin ies (dank 3 ectange wich Ge Bes see ee'tsee Sead epilfee rr ‘ cy fo exchange wich the maiz [Replace the mais card 3 [Detective base ant Replace the base card. © [Defective mais eand ‘otlasotaer normal sepiizies,| Taeceassty zo micah Ata ‘s (25) Alarm No.| 27 |: Internal clock error (Exists only on M-S12.) Alarm occurs wien the internal clock of the main cerd has stopped. = ‘Yerisication netied Bene Tier a ae ee ee aoe (Exes er 1-366) Alarm No.[ 30 4, TROUBLESHOOTING 4.2 TROUBLESHOOTING 1 Over Regeneration Overheating of the regeneration resistor is detected. (Because over- heating is detected by softeare, when the power of the servo amplifier ig turned on and then turned off, the value being computed is cleared. Therefore, after the alarm occurs, when the is repeatedly turned off and then’on, the re cof the servo amplifier tor may burn.) ¥ Hieation sethed Reedy [GRE = 4680 (abenaee of opcios | Corsectly ser the pera eststee) lear = S0fS°(Etesence of optics Segeascasion Pesteees) | (i) Decrease coe ypeatabliey stequeney. (2) Besdenae the capit cravezso (3) Hip option regeneration Eesisest ens poevided, soust Bepiage she pegeaeration power eibsttcae lth S"Sew eer Frplsce che eocire mae es4, TROUBLESHOOTING 4.2 TROUBLESHOOTING (27) Alarm No. [32 A speed exceeding the allowable value of the motor is detected. Over speed Gere 1 | Este serve permmener EY Eessteatiy sat (Gorrgctiy, oot ee papesecer For dezaliay eee 7y ‘becails of Serve. Fares (Correctly wer Soe Fareeers ae De 2 | Be che eepvo parson HEeasrettiy sect 3 | gfe sero peeameees FEE Eeessredeiy ot Escla, [Soe alsays Ectore eter aie seal Speed © | HE Sp apt creveree cate Gp [Oaeck winter re Deccesse the vapid travecoe eo Bight Pies Speea _ TAPE traverse raze a Sawer xzeeds che motor spucification ines ‘S| BE Eis sccelecaticn/ecelera- | Tnesqane oe aseeleravica/Jcssi- | ousider pos agcalecacioal Hep, feSy constane Sateso™ | Seceiec'ait Seunsts eceietectos Sinn consesse, 7 a sere eeOtaee Lape ee Ea SEM are SER | ee ease 4s changing the post ston Heep aaa, 7 Le"aeeas 7 | SE Sig cable Denwees the posi Tepatz whe cable. ‘Hos detectec. soi the servo Sepluiter fe atdective! 8 | Je Se povtston dacaccor te [(a) dese the position detector | Replace che dereciar Wins nev Eeeectrel @ ee ee, oe (Correctly sot the paranete 9 | 32 te wintem wevenecr le te bees ser to Orig avec Eiscend of Ip spaces 1-38(18) Alarm No. 4, TROUBLESHOOTING 4.2 TROUBLESHOOTING Over current ee Teaeay T |i che pases U, Vand Bd lagyasge she cables so sia they [eke secgo apzitdter cucpess [pili Sor shorsacfveatee [Beorcclzeal® ach omer? 2 Paso 0, a ot [acreage che cables 00 thar they acto agli: cutptte [are set prouades. 3 spged foeceios abla | Tage Se cable wish w cereal (Replace coe cable wien ew 7 2 Sa nie a. Ge es Ee Ezeccise of the set se Sfpetes, tor Getaiiey aut Sof the pacaoneecss Shecsite gf Servo Pacesecess, aie srt? Bie F [uemting divection ° ry 7 » A D 8 © [Ee she, speed decaceas to ‘est the detector with» sorssi [leplace the derector Web « oe aefectines ae ene © [Be che wai card ts defuctive fRepiace che S01 card wish & mes 7 [oeiectine mais cant EL quee dear pele Gan ant ese) ‘here thors ip as overcurceat caver, do ao Gun oe the servo belore tbe cause ip Glarifieds4, TROUBLESHOOTING 4.2 TROUBLESHOOTING If the over current alarm occurs, the transistor module may be defective Before restoring the operation of the motéi, check thet the transistor nodule is normal using the following procedure: Transistor module verification procedure Fe Desetpeton ] 3 | Riss off che 36, 200/220 TAC powes Sapa 2 | BERSRe she wale card aed eeqey all Ge screws ia fasten the poms God sad Ge Sola | wes tees Spee mar hae Eee 3 | Hageure She ceskstaace tetwees each two plas of che cransivear codale Gelng the cizeale Fis to pe wep Pansat” | sores tet | vores Sprekecass | Feststance |Atcormat cnstacance Htittaace| Snomat cestetance fees iske si 7 W| tetiatey ¥ a = = 3% tettstey Bl, =], 2 Sew = ui pereran Y tatintey | feel Eade [77 SES a ome = ¥ po Io mY 3 [¥_| tattatey as |e “le va 7 Serest | ggrescteoute oe seegrat | Stegeyeteants or vas | Sse | feiss v [oe] Sesieed | Sete om = ¥ [Ls ¥ [3s (Giseais eaters = 10 obs range) Mearere sha sane terminal for aach of the pluses U, Y, and ¥ ant check chat all vaines are $F°sp szaoranuicy 19 fond tn any portion, solace the craneLeror nodale with a nev ont Geapiace coe aapltflar wise 8 aev Gees} @ P (+) -@ | 2] E@ 2®| FO |__Bestore che Gransistor sodale is the oder of steps Dani I shows 1-404. TROUBLESHOOTING 4.2 TROUBLESHOOTING (19) Alem No. over voltage The De bus voltage in the unit exceeds the allowable value (around 400 ¥). faeces ed Reet ‘Convectiy connect he cables. clos wher she regeneration Speios castatss ie uses? Ressrerast, (i) danveaze, pie aqeateration! Prescresrecaienerrsea (2) Dectenae. the geeaieration! gecetecseioe (2) Beckenae eae FipL2 Eetveree | (3) Destesse be sapid Setver D | Hy sop acoalesspioa/eecelece 3 [Se ar tetel oe | (i) decceaze, gis aqealeratien! Belbeted, "Sie accalersctoal Eabsis GtiSieas. | seiiciele Gos ccseee. Gneaiesation cise conssact 42 (2) Dectense: the geosteratlon! ieelewation frequesey. (2) Desrense the apie sovterse * Eee B Shas! jpeseraticn reslacor S| Eas cogaemation power | Mearere che vesdaraace tm Ge Eaneletel' is brocen’ Eee cianer ar ists r-814. ‘TROUBLESHOOTING 4.2 TROUBLESHOOTING SS (20) Alarm wo.[ 34 If a parity error eccurs in data which is received from NC: Data parity Cause, Verification aethod Resedy ] 3 | Bye gessegters GUA asd GHB | Check char cay are pecfectiy | oprecthy comnect phe cocaectors] free sin cant are ‘nor per | censecteds asd tighten thes wits serews- Seesiy secaacted. 2 | Tg Sie cable tecween NC ag! | fest Ge cable ia comi |isjlae Ge alle i a Shelsecso aseliiier is defee- | Gass oa ES Se BSR apie EAS BE |? Bee EE ES enn es (2) Ghask vente’ the else a © [Hepa ged og, pie Be aide de | dest che card wish « aoraal cue. [Baplace Gs GN A ew Ge Aietetive Cicely exec) (21) Alarm wo.[ 35 ]*: Data error The amount of movement by the movement command from NC is excessive. Goa Verification method 7 2 | Hye goasaczors GWA and cas | check wigs shay are pesfectly | Corsectly ccazect the coxmecrory Cant azeaoe per= | consecteds 7 7 |Ssi"Sigates ches vist scserss Beeziy sossacted. 2 | 32 tae cable Sopvers BC and Belpre ea ati 2 | HE Soles seers Se eetls, ee] abs precestions apetnee | C0) Tale precmecicee agains Bete a dhe eee san delet Em: = (2) Hosts epask Reatar, anes Replace Che cable wah a maw S| Eee Get og She We aide te | Tose the cand vith « normal coe, |Beplace Ge and ih wow Ge Aeetetive (EcSIT, eeae) 1-424, TROUBLESHOOTING 4.2 TROUBLESHOOTING (22) Alarm No. Transfer error A periodical data transfer from NC is stopped. ease Verification oetbod Beneay T | Spe gomsestors GUA and GUS PSPSPS See pee taza perfectly | Gomrectiy connect fue eonmector® shar ace pectecciy | Co tigilac tes eit Stns: Eeplace Ge calle ah 5 cow |G) ake precautions egaizer —_|(1) Taka precautions agaiaee Boe os "3,5, "Precautions for 7 | Hea cand on eee Be side desaetive (Rosil, wees) eplace He card Wah « sew exes (23) Alarm wo.[ 37 A servo parameter transferred from NC during initielization is abnormal. ': Parameter error Coase = fg Se ape Se S54 Sara's pores of T | Tee dase sange is Encorece. Tig ipliceing cable euowe coe | Ser the paamecer cose pain 2 | $f che secve parasepes STE the Hasd-| Zelasionsasp becvesn Sit andthe | and Surn/ the powsr off ald ea dogs ot seaerd ot sate sensing? Esters sefcisg. = med Biol + Rea | meet es rootsam | Sot Be daddcates 117" as che toe cecrect parsneter suber. Sp epee sed ioosy => | Sey Se pesos Sep GEES Sslses of ektvasttion vtloces | asd tema'the pores off He Sadecacne St" as ee a 1-434, TROUBLESHOOTING 4.2 TROUBLESHOOTING Cease S| Bis comeqeore GHA and CHD 22 Se asia cand ae ase perfectly commeccads [Ze she cable between HC acd cho|Tear the cable wich w normal |feplace ue Gble ich a uew servo asplisier is defectives | et Es (D) Take proper proce ca» Sbtse's sgeth"eettee, on Resedy Peyfagely soeect soy eomastore SPURLS SSE SRN 7 | Wotee eacere whe abla beowes seas NOvate'eke servo smplisiser eae the casd with a orcal one. | Replace che cand wich a ew ': Feedback error 1 If the feedback velue of the motor suaft end detector is incorrec toa ‘erksicatios eatho leaey 3 [eg epbtg Decwees, sip serlisioc|Seac ce cable vice socal | Baplace Gs cable IMs aew s51 hel Gateccer 5 defeceive, [ace ‘von azorser axis, bebe Hb ielessives Sreesee) Sgr wish P'asrasi coe fon ane | da¥ector itt ser case Sac asta ‘3 [Ee Ge ssi card (or adios | fesy wie pete eel (ee aad-en | Replace the wi and (GE AU Geet) i dedactives [S552 eich a gorit gue feos ano] ox casi) wits # aor eae Ser aks “chic oie es (25) Alarm No.[ 43 |": Feed back error 2 The feed back value in the fully closed loop is invalid. Case ‘Verisicatie sathod ema T]HE Se gtte dees As agri Se atte ise wet | Replace Ge ante wim a aw Eathste shale sat is enfecctves 2 | EE pap mogor state ead cecector| Feat pie socor abate pd detec | Replace Ge ible de cer i dstetcin Hervieh a secant se Froe snes | ouee Bee eter ‘| EE She cashing state wai devec:| Test che machine chatt ead Gotacd feplace Ue wadline shade wal ter di daeccives eed soratt ote thes saoe'| doleceor wich s sev ones “4 | BE Gig setae state od decector| Test che woven shat ead Gates: | Beplace thy poco cial eal Ie detaciver Eorveith e socal one from'anss | deuectoc wish s Ses cue Baa S| Ee she add-on card to deiec [Test pie edfvn cand witha | eplave Gee coves Gnd ED ees JSccaE coe iow eureher axis, | Sev ose. 6 | TE She mais card da detecciver [Feet coe aan cand vith a nomasl| feplace Ge mls can GE Gye tion maoeher miss hange | see cee. St ae secs ciecl Peel. Hor decalis, see 3d staplacias Serve daplidser cacelol Gar Ta4a 4.2 TROUBLESHOOTING (26) Alarm no.[ 45 |: Fin over heat The fin thermal protector in the unit is activated. T easly \Sccw as Uefe tatd cola cae 1 [He See Spees cosress cece, Hil value of Ge sapiifiert Sane a left band cole fRepiace he wait wick « sew (27) Alam No.| 46 |": Motor over heat The thermal protector in the motor is act: (Corsectiy eounect tbe cables Check G1 and G2 ef che cotsr [Replace the mo jSelag the efocate cartes jeans Tain! Check sbecber or sot che repea- [Sew “Orer-repeneration.” [eeteion optise exis ts bots Tz {Stponniifa co socstder extee fo Sed the glass fed *Over= (Gpeck GG ad Gf of the regeaere Toe regeneration option Sipe ogee wt Seng SEIT [SEES SP Bote) G1, G2 cerainal application ‘sit a, @ wasiz | beh, ton, om, om 1-454. TROUBLESHOOTING 4.2 TROUBLESHOOTING (28) Alarm No.[ 50 |": overioad 1 The motor is operated in the hatched area of the following thermal characteristic: The motor rating current and the time represented by 0, 0, x, end Ain the figure depend on the motor type. Refer to the following table. Motor rating current ratio [%] Te 3 { z z Levei| Time Level | Time Level] Time | Level 4053/13 | OLL [oLT/20 sec] 250r |30 3207] 2 3557 23/33 OLL |OLT/10 250 |10 355/21 375 40 OLL /OLT/10 250 |10 500] 1 ‘SSS 43 OLL |OLT/10 250 |10 360] 1 400 80 OLL /OLT/10 250 |10 410} 2 455 83 OLL /OLT/10 250 |10 305/12 340 100 OLL |OLT/10 250 /10 290) 1 320 103 OLL |OLT/10 220 Ss 305} 2 340 20g | out joao | 200 | 3 | 350/32 | 339 203 OLL | OLT/10 190 5 265) 2 295 300/700 OLL /OLT/10 180 s 245) 1 270 $00 |. out fourio | io | 3 | da] i | 229 Ee fee pte eay ae Gb is too oee Bef Darna Ta ar ee Ee, Stated Sees, 1-464, TROUBLESHOOTING 4.2 TROUBLESHOOTING Veriton Teed ‘ie contiasces seelig site! TEE che mover operation ES ‘Geese wether Stier Decrease tie load axouas. reqeesey Deerense she sania souveree Beavy cutee tine) et Tie lead seout i decreased Ta pee oolidee = Baie Cock whether oy soz the wore Slits aS SSS Sey nase se'Gis te Cecerestiy Goeck dige Se peresneers aay Segre the elibedag seandaed lass. OLE: 150, cere 600 Te = Sascing ovcurs by see Fevtsee serio operant Ty Tee soror paver sable ecumecm Htar are [Scervecs. 2, Bae serve, paraneter STT is Eeterteces} sees 3, Hie aeeve garsuacer MIT ie Ecerrectty sees ye decection ystes Ss TE a pting covers fee 20 1-474, TROUBLESHOOTING 4.2 TROUBLESHOOTING (29) Alarm No.| 51 |°: Overload 2 The motor fs operated in the hatched area of the following thermal characteristic The motor rating current and the tine represented by 0, 5, x, and A in the figure depend on the motor type. Refer to the follor table. = gZ ini 4 oy peeves. so : fl x4 a a Motor rating current ratio [%] [— ° a x 4 Motor Level] Fine _|tevel | Time | Level | Time | Level 4053/13 | out lozr/z0 see 2502 }i0 zzz] | assz (23/33 OLL /OLT/10 250 | 10 355 | 2 375 40 OLL /OLT/10 250 |10 S500 | 1 555 ss | oct jour/io | 230 | io 3s0 | | 400 20 | oct jorr/zc | 250 | 70, aio [i | 3s 83 | ott jout/io | 350 | 10 gos {1 | 340 100 OLL /OLT/10 250 | 10 290 | i 320 ios | out fotzyzo | 220 |°s 30s |i | 340 200 OLL |OLT/10 200 | 5 270 | 2 300 203 OLL }OLT/10 190 5 265 | 1 295 300/700 OLL jOLT/10 180 5 245 | 1 270 900 OLL |OLT/10 180 s 270 | 1 300 ove 1: Beraneces stanlard satcing value: Gli i5er GL5/I0 ~ 60 oecy Hoes 21 ip tue case of (2i?'™ I0el, ILA = -1060), sors the paraceter tales are changed, ‘he Level of @ 1s correapeadiagiy changed. 1-484. TROUBLESHOOTING 4.2 TROUBLESHOOTING Feritieatios me Resedy [Sepazace the sovor fron the [ssEsize ‘Ghessve the cucvest on tha serve |Tncrgace phe acceleratica/decela SEED RISE ERIS [ecco si cesses? | Bye denaceion ayoren ta deiec-| 1 Tf che detector ts de ces Replace the detector wish © eee we. | ta beating coms dos w= ‘Estabie sefvs’oysvent Pebleecer 702 is e+ pitioeter BHD 42 s2-| [Replace che maiz with = new come Sioce Sige ep Cee) ee Gispiay Seseeieas ET] go. 1-494, TROUBLESHOOTING 4.2 TROUBLESHOOTING (30) aterm wo. [2]: over droop The real machine position deviates fron the ideal machine position according to the command position set By OD1. The machine position is in the hatched area of the following figure, I-50[ +. smomeszoorme | 4.2 TROUBLESHOOTING Cae Becedy Ty chs seveiaracion/Secsiors= op tise sonszaar ds 200 Boe ldscceans Gos acceieratioa/n lerseion ‘cise coasesat or \Seczense sie Sapla Ereveree Te che cmyens ip cee Siyeiy Listed (Gorcece che weno FESESEET wae Tee peter ect Bele (cease whether ae morer jcellides tite sen ssctioe. fepapace Se wocee Hoes Ge jsreices Ea tenting occas by she Fistene secte spesaeloat Ts be sotor gover cable ccnnec= (Consect the cable connections pe devecticn oye Up Gatece Ta tating eccucs dus to SSetable seive spaces! SISS TESS Sp Ge rstegeese se pg See (emo i. Contimegvely Exeresse che ‘Hever of ie serve pecssncer lia the wis of 20. 2. Geacisasesiy 2ecrease the4. TROUBLESHOOTING 4.2 TROUBLESHOOTING (31) Alam wo.[ 53 Actual mechenical position has been displaced during servo off beyond the distance set by OD2 from the ideal mechanical position for the com- manded position. Over-droop 2 on Yeifiatio mie 7 = 1 [Sieg cia ocr, fner Calin te goons of megan Sstlap teres cefiar toe | Scion dtelSy‘iacte off [ascaaged, tae aocor wae oP parsers oo Beadequase geeczion of (Goeck the weave of iaverelens Se oS 3 [ose szouble wish whe cabte | Tey to ceplace cle cables yee Be tel Sece'asptis | 7 ‘© |Relees eaiee ox whe cable, | (1) Aevange the slew preveae {Senweec NC al arto apis ieee a fiers = Eafe vo cautions foc Egeestiaclon of he agli flere =a (2) ESE sateed with she ciatag 22 Garbte ot Ey Sencnuecr is Ee‘power ome ‘Sei bess Mey | aye eee new tha cant (32) Alarm Wo.| 54 ]+ Amp. overload (Exists only on MS-S12.) ‘It was operated beyond a definite tine when the totel value of curzent of the motor which is connected with the motor, beyond the following level. The following table shows the current level end tine. [ene ie 7 a ea marta 2 mses marino ee 2 vasi2-1oon 1-524, TROUBLESHOOTING 4.2, TROUBLESHOOTING eee caee ericson sath ieoety, T [ie acplidier was operated [Tey go seduce che Load Deyont tee cating of P Fadia she ‘equesey of Seteisaed operations secelecacice sa! deceleca- + Blow down te capi eraverse of besey (ddjuse eocoetiaaly. Igoxrase_accopaingl ISead: bessiis of fosazecer. i ers fre 2, Eb gm ot cere pee 23. Fertig era of serve 4, Fersiag ecrer of servo pax 3. Heesbagleceee of sere pares (33) Alarm wo.[ 55 |: Emergency he terminals B and B of the terminal block, which were short-cizcuited, are open. (These terminals may be linked to the emergency stop depend- ing on the machine model Invche standard specification, the terninals ere short-circuited in the terminal block. cause TE che emergency stop coeur? [Pas 200/220 vas taper, volzage dsops (4m the phases 2 ad §). 3 [HE eke walt ia surueh by some | Wen a force erereding 30 [Renove the canoes thing? = To] deg concactor fe Gov Gale ie | Goack che comtinaiey berwens encb|Beplace che unit with = Sew oe, Bokass SSE SEAS Se eae ccoeacter Tree che sate cirenis serusceral, Sree.) 1-53(34) Alarm no.[ 56]: other axis alarm An alarm occurs in the unit connected to CNIB, (termination connector) is disconnected. Example) cave Telia aes 7 ienely Sith. comers fa see verve Sorcal operations Sa —- 2] te oe wed bo diaeommened "[Eorresiy moma Gin eats wal (28) Baratag Be. [EL]: Meraing ovecioad on 90 1 level of, che overload 1 slare is detactad. Because de 42 aot a2 elacay Secs, eee BSE, tee (Ei “Sorenazed Ts generation alasn say cesses Sor [Peecautlong dagertbel ta foam 2, (12), "Ones cegenerasion" be cakes. ratiee ingd cx She serve|senitér eczeen grssuniiy ineveases ‘uf the socor,{s operated fn this condisiony the overland faints G3) Barning Be, a goss if’ sie Sotor is operated is this locaitiony wea the HC power te sessed coy 20 i aguized eattes 12 ck the af enice operation ‘Tals wasting say cover Jose afcer’ phe motor is fnstailed er before tie sess Fenses pestoceed, ic plat thues,pecfors the gers rettes operate: Bisee posision Jetacter, eceadez, abl adivon ceed (B03/350) whece caties are conzectad. BE |? Werniog parameter erzor Alpavapever value whlch 4 not allowed bas bees (for, che, oeeting range; 2 cee Te Decals of serve Palen caoater is Igaoted aad he tate before te iavalid value wae eet vill haps STaise is sect hls sarcing llanppesser seve DFP wtses does sor ecesrs 1-544, TROUBLESHOOTING 4.2 TROUBLESHOOTING (39) Warning No.| £5 |": Warning absclute detect ezror ‘There is an error in the internal data for absolute position detection. Woes Ge alee of = poe etre rocltar screen is in she ieliseigg sasges the ana te 3 | Be gis sbectace cals compen fRapiaes che detaccor oxi oe secles Hoes Le sbsoras ‘este with ev ove Fer warsiage selatiag to Hie absolute position ayeteny sen 8; "Absolute Position Syeten.” (40) Warning No.[ 6 |": Warning over travel When the speed loop step type is set for over-travel by the limit SW, & warning occurs while the speed loop is controlled in the over-travel State. The speed loop control tine may be set by # parameter on the HC cae = fHersal operation T | erescecarel (41) Warning Wo.[ £7 |: NC energency Nc is in the energency stop state. Gee Yeritteacion swted ese, T | Be ip te eee ecarpeey wep oceat operation (42) Warning No.[ ao |": Warning absolute first transmission When the NC power is tumed on, the data received from the absolute position detector (OAERSEC) is’abuormsl. However, even if the motor is operated in this condition, the servo OFF state does not occur. ae Teridination sethed J T | HE gig, cable, Sepvess ae ere che cabig wich » socal |feplace the cable with = oer sepiiustiase Hie goeghgce | cue foes another axis. ones Ppeision devector Lo dedec- Boy 2 | 32 Gig add-ce card (REI7OD | Tose che add-ee cord with g [Replace the add-on cad IES a Bh debetuives ‘Seteal coe fren anoter acts, [nev ones 2 | Se the absoiate positon est the depector wish Replace che derector with « sev Aetetet is defebetver Seni ces foow aavchec ants. — [este4. TROUBLESHOOTING 4.2 TROUBLESHOOTING (43) Warning No.[ Al |": Warning absolute serial eign: In the normal operating state, the data received from the absolute position detector (OAERSKC) is abnormal. Even if the motor is operated in this condition, the servo OFF state does not occur. T Veritication sethod Rese 7 [Test che abi sich a orm _|Bapiace che cable with a caw She" elen sgocket axis. ects 3 a5 [ew Biasts aeemawen, (ES. 7 Eeteeeae= ee pereeees eee = ee deeactor is defetets [sorsal coe feos enstser exis. [este (44) Warning No.[ a2 |: Warning absolute battery voltage When the power is turned on, the voltage of the battery on the add-on card (RF370) drops. = Veriticacim sechod Remedy ly set the eetzing plage 1 | 3 she addwon card (0537 OD As | Yiswaiiy check we addcon eazé, |C Beene ae ateesy? ping. 2 | 2 whe batteny valtage dcoper |Goeck the voltage using thw cis~ [Gucge che batcacy fos Sow , jecle vestere east er saves 3 | Sf che Gaesecy fs defectiver | uarge che Saciecy gud queck tue |fuplace tbe Bacueny iE o nev Yoleage tatag sie elzeat, eee 4 | SE See cable te detecciver | foer che gable piou sora ous [Replace he calle with « ao 3 | ae he darector ts dadectiver |Teat tbe detect Gus feos soother wks sors [feplace coe Garsccor wisn ew eis ea 6 | He Bg ete at GO [ter Ge adm art GO |tepae we ie ont GTO i debetciver SSS P'Setesi cee feos scocser | [etih s wow coe, (45) Warning No.| a3 |*: warning absolute cable No. connection Fee power, voltage applied to the absolute position detector (OAFRSKC) dzops. (Normally detected.) Even ig the motor is operated in this condition, the servo OFF state does not occur. cours [ Wallintia mite 7 T | HE Se tessa voltae Goyer | pak he voltage wolng ce cis [Olgas he Bere oF Felace F | HF the cable Ge bros [ Fort She gable git = por oe [Repair or ceplawe Ge tle wa] {Esen anocher sais ee shack ths [a bev eas SES 3 | FE Gbg addwon card (REITED [Tear he adden cagd (ESTO) [eplace che aden ard GTO Stersiee toon azocier | |tah s aew ope, 1-564, TROUBLESHOOTING 4.2 TROUBLESHOOTING (46) Warning No.[ as |": Warming absolute position error The feedback pulse from the absolute position detector is abnormal. Even if the motor is operated in this condition, the servo OFF state does not occurs, however, the position deviates. ay Verkgication sethed T taney \Gueck whether or or the cable [Sse Seca elaaeed. [correctly clasp the the cables from a Replace poe devecter Wich a sew ose (22 fo cecessucy eo pecfors of tan aics [Se Sopitdior and the devectors (47) Warning No.[ AS |": Warning absolute resolver ‘The feedback signal from the absolute position detector is sbnormal. Even {2 the soto: is operated in this Condition, the serve OFF state joes not occur. Gan Weiiawe eee iy [Gieck voeches oq not the cabin |Corveatiy clamp the cabins a [ses boos aiszped. (esk weather o soe ze |Sepacace che easier Soom ach 2 Sis Seuees Gp cable tesween [otters i [test che devecees vith « sort Replace pis devvecor ich 5 pew fae (at ia secesagey vo perfors Se iets Nea AP tes poise resume spesatson) 1-874. TROUBLESHOOTING 4.2 TROUBLESHOOTING 4.2.2 WHEN AN "AMPLIFIER NOT MOUNTED" ALARM OCCURS (NC SIDE ALARM): The NC unit issues the “emplifier not mounted" elarm. ics aahed [eit Bt SaaS: tiles pow [Biss ge Se pons of Genre (aspisfier aster sass of'Nes 3 (heck wigcher a aot soa sogeecs fadlcater indicates a. Bevaselasies, ase eulfless, © | Ee Sie gables tenjess GP acd [Tear ae Giles I Gorm ‘Steyoea' tse | soe Senuecese) se sethotive? ‘3 | Te she cable eo2 (cepsinacion [fest oie ele Gd Ee orsal sees a howling 4.2.3 WHEN THE MOTOR VIBRATES OR GENERATES A VIBRATION SOUND: (2) When touching the machine, if you feel small vibration or wien you hear ibration sound? Verification method and repair 1 | Adjust the servo parameters. Servo paramets Decrement 5. VGl by 50 (lower limit: 50) Decrement 11. 1Q¢ by 50 (lower limit: 128) Decrement 1: Tura on 47. STY FBC (bit 5. IDG by 50 (lower limit: 256) © Tum on 17. STY FBF 1 to 3 (bit 8 to A) in the following order. FBFS(bitA) FBF2(bit9) _ FBF1 (bite) 2 z r z z y 3 o 3 3 1 o 4 1 1 9 5 3 a 1 5 2 9 1 7 1 1 1 Note 5. VG1 is a parameter for response property of speed loop. When excessively detreasing the talue of Bais parameter, the response property is degraded, 1-884, TROUBLESHOOTING 4.2 TROUBLESHOOTING (2) When the motor vibrates or generates 2 vibration sound in the rapid traverse state: Verification method and repair 1] Adjust the servo parameters. Servo parameter @ | take the same countermeasures as (1). @ | Set a value which is the cutting feed speed + 100 rpm to SP2 and set the same value as V6l to VG2. Repeat the rapid traverse operation by decrementing VG2 by 10 (limit value: 0). 4.2.4 WHEN THE CUTTING SURFACE OR CIRCULARITY IS POOR: Verification method and repair 2| When the taper or the surface accuracy in the direction of 45° of an arc is poor: << O Servo parameter Increment 5. V6l by 20 (until a vibration or sound occurs in the stop state or in the rapid traverse state). 2| If there ere noticeable projections at each quadrant change (noticeable joins): Increment 5. VG1 by 20. ‘Turn on 17. STY suc (bit E). Increment is. TGN by 20 from 0. When the value of 16. IGN is excessively large, arcs get dented. O-O.@ ——Eeeesstvety Lege 1-394. TROUBLESHOOTING 4.2, TROUBLESHOOTING 4.2.5 WHEN AN OVERSHOOT OCCURS DURING POSITIONING: Verification method and repair 1| tm case of semi-closed leop: Servo parameter ® Increment 5. VGi by 50 (until a vibration or sound occurs in the stop state or in the rapid traverse state). @ Inczement 8. VIA by 200 (upper limit: 2000). Note 1:When the overshoot amount is exces: ely large (Su or more), check whether the droop on the servo monitor screen is overshot for the same amomnt, and when overshot for the same amount, take the above cosntérmessures. When the situation cannot be improved in the above manner, increase the valve of PGN for 20 or increase the acceleration/deceleration time constant in the axis specification. en the droop is not overshot, the overshoot occurs in the Bechanical systen rather than the notoz. At that time, chec! the mechanical system. 2| In case of 2 closed loop Servo parameter Increment 5. VG1 by 50 (util a vibration or sound occurs in the stop state or in the rapid traverse state). Increment 8. VIA by 200 (upper limit: 2000). Decrement 3. PGN by $ (Lover limit: approx. 20) Hovever, in the sim:ltaneous interpolation axis, the same value should be used. Turn on 27. SSF PID (bit 9). Decrement 7. VIL by 5 fron 10000 (lower limit: 9800). qo 78 © Turn all of 27. SSF PID (sit 0), DC (bit 1), and IDF (bie 2) and decrement VIL by 2) froa’10000 (lower limit: 9500). Note) Although the overshoot and limit cycle are renoved in step of @ above, if the response property is degraded, try ©). © When a 1g or 0.1p scale is used, if a deviation within Ip or 0.ip occurs in the stop state, turn on SSF CNC (bit 11),| Note 2: In case of a closed loop, the description of Note 1 is also applicable. When the droop on the servo monitor, screen is Rot overshot, it will not be overshot at the scale. It should be measured near the scale using the dial gauge, etc. When the droop is not overshot near the scale, check the mechanical systen.4, TROUELESHOOT: 4.2 TROUSLESHOOTING 4.2.6 WHEN A SURGE FEED OCCURS IN ONE PULSE FEED OPERATION: ve: ication method and repair sereen. 2 | When several pulses are input, if the motor is not operating, check whether er cof the cane amount of the droop occurs on the se:vo monitor, (2) When the droop occurs: Servo parameter @ | teereceat 5. voi by 50 O| Hea Ee & im the stop state or in the rapid traverse state). bration or sound occurs Hote) When SSF PID (biz 0) of the closed loop 27 is turned on. Servo parameter @ [take countermeasures 4.2.3 @©- ézcop does not occur: the moter or the ball screw end detector moves to the scale, che surge feed occ nechenicel system. Check the mechanical the closed loop somewhere else in the systex. 4.2.7 EVEN IF THE POWER IS TURNED ON, THE 7-SEGMENT DISPLAY DOES NOT SHOW ANY DATA OR IT SHOWS : Ferifiestion wethad 4 Discounect she detector cable 2eea che sale cad (is oe SSesgenty scop senced = ‘Beplace, cea decaczer ov detecrer erkie tise ter ose. 2 |e, she eqeeesl, pews of Be fSsuy casa in skbreresseaieed be the aadese east aleve the adden cad (the enarpeacy stop state) Geplace Se ids asd aS 2 [Eo me ee [fs Sot correctly mrcatade ‘Wenealiy check wiacher o, oot a ‘Consectiy Some the PRO 1-624. TROUBLESHOOTING 4.2 TROUBLESHOOTING se 4.2.8 EVEN IF THE NC POWER IS TURNED ON, THE 7-SEGMENT DISPLAY DOES NOT CHANGE FROM EIB) , BIE) OR IT MOMENTARILY SHOWS (0) , Hie] , HI), AND THEN RETURNS TO Hdl Ef Veridieacin cached Fiseatty clack wie following Cables comseczed to che mata Shi ice Wan Heb [Teese cabies say te Gafeccive. | Rie wis art Gs defective, [ie che codes of Oe tes Replace the cards wih uew conse Bie Tosepaess airplay some - | SREaSE Esti tin. . ae Es persiy sence! = ste Jz) Tare 0 SEE Scecncead vo | Hibs a new one (adil eas, Seiservo anplifier wich a | see. Serle 1-625. UNIT REPLACEMENT METHODS 5.1 MOUNTING /DISMOUNTING CONTROL PRINTED CIRCUIT BOARD 5. UNIT REPLACEMENT METHODS 5.1 MOUNTING/DISMOUNTING CONTROL PRINTED CIRCUIT BOARD 5.1.1 DISMOUNTING CONTROL PRINTED CIRCUIT BOARD 1 Dismounting add-on printed circuit board 1) Turn off the power end disconnect the connectors. Note) When the absolute position detection card is mounted on the control printed circuit board, do not disconnect the connectors. IE you do, the dog type zero point return operation is required. 2GLOL ease 2) Remove the four printed circuit board mounting screws. 3) Disconnect the associated connectors along with the printed cizcuit board. 2 Dismounting main card (RG101): 1) Turn off the power and disconnect ‘the comecto: 2) Waite disengaging the printed circuit board supports, {ift up the board. s—— th, 2 3) Disengage the supports in the order SG_ wie De of 1 f0°3. 2 N ° 1-635. UNIT REPLACEMENT METHODS ‘5.2 MOUNTING /DISMOUNTING CONTROL PRINTED CIRCUIT BOARD 5.1.2 MOUNTING CONTROL PRINTED CIRCUIT BOARD 1 Mounting main card (RG101) FS) 2) 3) 4) 5) Connect the connectors CON2 and CONZ on the printed circuit board in accordance with the guide portions of the main circ i ora oh Gilead coms After the comectors are connected, check whether the mate connector i3 positioned at the verification hold. positioned at, the veri#ication Le, forcefully push the copnéctor on the printed eiz- Check whether or not the six supports sve been engaged in position, tated ete have been engaged in posit: Py Connect the associated connectors. When the card is réplaced, check whether or not the settings are correct. nck, Be — tay 2) 2) 2 Mounting add-on card Mount the add-on cerd on the KG101 card so that the connectors on the add-on card accord with those on the RG101 card. Loosen the four mounting screvs. Connect the associated connectors. 1-645. UNIT .CE | _ foe see & | Eiteiy"cosection | coanectton| ot eqn- wen they Reseed” lore | orr | are used, s4 | aettery connection | connection) sot cen tina en Receed™ [ore | orr | there switch positions: Even if a switch is not used, set dt to the switch position as shown in the table. (Note) $3_and Si have been turned off at the factory. Before the power is turned on, they should be turned on (when they are set, use the spare setting pins). Unless §3 and $4 are set, the absolute position is not backed up. 1-53Check pins end waveforms Before the synchroscope is ccnnected to exy check pin, the machine should be in the emergency stop state (2) Rez02 Ee a types signe reat (Zor moasing the = oT 2b eet oy 1-706. HARDWARE CHECK METHODS 6.2 HARDWARE SETTING AND CHECK PINS ane See Tiga, tapas al ta Ese" | Se - zs maqarany Hil glo. | supdscens |e isa SE eters sp spt us tienes = wv wala pee met S| 2 Yao ioe] Bie: wd AST Liat te ae ‘the vies i ; : z a 7 Encodes! GSESE-6°8s100 (3000 pf) 9 t= ySiag tose eeedrads ateeodreds Toot-or I-716. HARDWARE CHECK METHODS 6.2 HARDWARE SETTING AND CEECE PINS wea foo aS] ws |e ga | es a 475 = 5.257 Ha | 2 | na Geena 3 | His or 14.35 = 15,757 mea | ms rd ANB 1 ay | a | os Ba | ie ms | om | ue ms | me | FF ve | ws | we fe | i ws | a | oe | a | testers 1-726. HARDWARE CHECK METHODS 6.2 HARDWARE SETTING AND CHECK PINS —_ (2)__ RFR Ferainat | Sige | Gromee Ea | ge" | Sama Bb |S ftw xem 2 ve in| tor = as | 2 736. HARDWARE CHECK METHODS 6.2 HARDWARE SETTING AND CEECK PINS SK (3) RES3 219 849 dO ecnrnm Le tees state amet 1-746. HARDWARE CHECK METHODS 6.2 HARDWARE SETTING AND CHECK PINS Comat Sei ‘Bigeal, descripeien, and wavetors gon K ens Rectangular wavetors fpr excising cesoiver ieee Sivetors of reselver 23) Cettet grost ‘Eeacpis of wavefors) R tests sour Lewes rietsl r= L a --0 20.57 2 Heper speed Lapa Eacodert GHEI-SECLE (S000 p/=) eee ae sogg Ford abe te- tear He on as Resolves PB Level, Bisple of savefore) PBL ov| tem mes 22 S23 ere ms Hs $157 concrol power 14.25 = 15.757 Gegerot promt Sv cecEe power 16.25 - -15.757 1-757. DETAILS OF SERVO PARAMETERS 7. DETAILS OF SERVO PARAMETERS There are 22 servo parameters. tion method Tae display method and setting/ opera of them depend ca the NC model. For details, see related instruction manual. The details of the parameters are described in the followingDescription o: parameter 7. DETAILS OF SERVO PARAMETERS = Desaription| Secting eange (ante) fee Secs che mater of sear teech ox she peter side. (BEL asd Poa stoaid Se ase to coe enallece races ob tse totegerse) ‘age, eee Nore Te rox Aro 30. fete geo yates Steels oe above ager Pox 1 t0 200 (zad/aee) tex Secs, the speed 71-7 control feedback gain. Seccing ts Bex. Seppe ccesSar ata, sets eB ere ror gers the speed loop gaia. 1 0 500 SSSDY Sie is platter be 250. te tapcove Se eepeataniiiny, EScrease this paceman ales feo 200 cp $003, EXveves, vibsation 21d sound also dncrease. voz Pebe perspec te spotty oe Wy restate -32768 to 32767 ‘Eesidlon fs seed, ‘Secs dhe speed loep Bia dp she notge tating. speed = Lea as tals action ss7ase sendy seca cits etmatter 2 0. va clo of the lag compensation of the 9000 2 10000 ‘wane tg set to 10000, the ecforsed Peraeeces valse- ‘sf tat pacanever SSF ts 0, ‘setting besomee invalid and this pacmaeter ‘alily setantiy ehte pare 1-777. DETAILS OF SERVO PARAMETERS Tas Deseripelen Sorting wae (SE a fra the teageeny of che lading ecapeneatien of 15 gp 16304 he speed. ~ (0.085 zad/sec) SeSbStre St sepeane propery, dscransas the FESS AE Ee pepceces oo Beit ce sesponse rroperdy tp spersted ty Tole ‘openly sets aLEs Glescatis vo 602 2 fim 1s 7680 10 fon : 1 se 22767 HSER core eech ere rte aset mane, the (aepese clvered) seuadecd setlings a Istergal conpensaticn of curse to ase 32767 in Horsally ‘his parameter £9. Sen the (anpacate cornea) auiseaed Seteitge a2 [pe Jeter compeseatten of curmunt oop. 100 te 5000 Hernaily secs this pacaneser to che 2% wales. Steeie (oeparate covered) suiseaed ssctiage a [me 1 se 2364 HERI the cotsect selas Genk vatee, 49 co be Hsield fy the sagttianciss "the Eelleeg tale ‘rcteding ti maziown current wales casset us fox ples sl to -1364 2a Hd as fre Yor naad. orally sets this parameter £0 0. as fe Secs Phe pein of the Leet sotden coupessations © t= 200 ¢2) Siss Bl hezaStce"ss tacts ty S's ais is 6." "toe site pecaancar'is bet 22 100) 1002 EE ceepentacise ts pesdereeds (loca) Bing she ants tn cmpemacedy check tha He Prsceter STP ia tet toll. Shen Bie Hs Oy che ecdpennetes eoes ave week” 1-78DETAILS OF SERVO PARAMETERS m= Desezipeies Setping sase i = tieh v7 |sr Sertiog {a Her est notion eospensation (eenally 0} FEC) Specs 1B esxpensstton (eraalty 0) (tot, 2o Be Be ‘Casson eexlasbor) me Position feedback polacisy (O: Bostsive potastey (nator reverse load eae eciive or sane direction) 1-797. DETAILS OF SERVO PARAMETERS farses 550 | sss0 ‘Setersal sepeseracion seslstor’ amie | 2000 W-$1i-33, 40, 80, 100, 200, 300 HSL, ‘90 tomadectiy, 200 200, Hear tee 2 = Berccipcio ae Tei] secve teep Seninctoned 12 Closed Soop {Seliadiag bad sesew ed) Poa [oi] restsioncetectr coeeezion card WE [TOI] sree avcactor omnecion cart ee 3g ¢ ° ant Bs 3 : eacple) The peemacarn valoes pend cn he serve ERIS gs. tela [pi wie wT] Br ¢ ee a fs Bi 33 sie BE $8 3 itt $3 8 ide mit i 8 ids 1 [rex face She batt sere pitch (land). 120m 1s ase Secs yb fottoying ply Se she following eae 1 0 1000 SRE Sas Position dence = Boonie (Geren baie i BOHTIDD | Io 2 isc ao8 2 70 Teas resolaion 20 [cer ecg che sharma ef ta reneceration 51 to 0000 SELES SEE SRESS a at Beaty 1-807. DETAILS OF SERVO PARAMETERS Sse Ts Secsing Hanae iss a lor Secs thn dezagzlon thos eouscsse of che noser evectond dacec-| 1,59 18000 StS Geni 888 SLAG sets Ute paruecar oo 60 see (sertng vals 600) a [ow Sets he dezaccicn Level of she nator oveissd catactisa | 1 to 500 (2) hls prcseces t6 1502. | 23 foot excginy error range desing tere Of SSE LST EPS Eo asec ‘sa Tet itty ae SEPEAEE 3 SS SEVERE “Sets thes peeaeece? o HBr ISSA Dag SSE coaveree suse ‘es she droop Hs tn she above hatched Lises, ax exces- Hiss SEESETEEEAS Ste Beate) 1s ants 3 ose 0,2 = 3030 = 3100 ipl eee | eee Saini | _t00 7 200 = 3100 @ [see Ey Lose mu |me secy eae inpostsion decarication vase. talene the to- | 0 to 32767 SosLEMs SEETESD SUITES peteaecer cameee'sa | Tages Sy SEES ece tte paramcer to 100- r-817. DETAILS OF SERVO PARAMETERS T= | Secping Sage ‘ 2s fier Seccizg to Bex e 1 ‘ ° Cas Ed ca CgEsR= 617-108 GsemmErO39.52-0 | 1 | Rerame AER 1n-3-4-108 2 3 OuaK- ET O39.s2-0| 9 | Nor weed Boers [mais |e A see es [Eero , : Egat Sore 11 Te the 2400 cps specification, 3 da ered SET] Seco che motor sdel mane ating the following table Se ed Be e Pr a ey ra aS 5 Eto oe Hi i200 3 pt 2309 i me avo os ass, i #900 os Eos x Bes 2s |onz Secs she excessive, erzor zange in ste servo off state. 9,22 32767 ‘Bist ssetitg valas tr che sone as Olt Gagerpelatton Shc GELS reactants tet ao Oy fhe excessive error to =i) 1-827. DETAILS OF SERVO PARAMETERS Fro Dosesipten = 7 her aan feneag tn ta SS Ti] trent inp tag enpearton tang 1 ‘Eealesed 2 tooo? aeciesy 0: Wowsat ayscen, IE REG speedy igh accuracy systea Be] Bigs speed, Beh a gee TaD] Fendback ercor dacection Smecisn De dorks. Yt Does tor work. ss whes she witch of phase 7 DD] Sere, chase parsees of the scale fewtieck Lo wide and woes the scale = >= | Zero poise rerum diveecion > ot ‘Zero point rerare dizecticn - ra 1-837. DETAILS OF SERVO PARAMETERS Te Desaripeion ae 27 |ssr Pot] 201, C2 aeesing range extension function SELES fre pestcton toop gute Par te en tn ‘Bee valnes Be'Pel age Pitan Se. tacceseed op 20 Li alld (han tp or .1p aula te asad, 16 2 emai Hse ef ja O.tg oe oes 25 Fees, fees Got] oo, 002 pacanecer atmays ceange oe Sstetag otf che NO pemecy sas OD) and O52 pare ‘berare con be changed) = 00] = 10 fenccion of OI and O:2 parameters Or Zaraise Li TTA Conte paramacar is 22 bs and Obf expaed S2700¢— hen Gets Sass Sacer {o valid, she seceisg valaes cf O01 eal GBF beccae the'cesl cocessfve ecvee sesge.) jet ven hp valoes7. DETAILS CF SERVO PARAMETERS Tee Secring tango co 2s [ser Norsally sete chis pacancter to 0. (Wot weed) 32768 22 Sa767 2s [sez Woes the machine sibctces is the rapid craverse szats -32788 so hla pasenecer ce eed. ‘S278 UGiorabiiy sets skte pecueecer x9 0.) 30 |sea Sete obs agfevare biced gene conpezeecion sorcse 32788, se es Was (SEG ee sae LS neey aha pasecerer te vats. ‘sare? Evthe, yalia ezacey aoraniip sgts Hatt pevacever to de Gas wale peccneted fe aoe deed, sete okie pisacese> 9 31 [see Corcene, loop conpengcion paracests, 52788, se SE Thas pocsoecer is seedy cers Sits prcasezer to 10, 32767 32 |ses epatance 37788 50 ‘S208 Sta‘ths cacreat iaal te gepasive, checks soe ‘sets the trerage of see'vaioas fo see © ‘Eeeoion and - dicecsioa to 363,” When the svesage ts Sepesive, adds 6556 co she paraueser vale Easels 1) ‘Woez the current Load i 450 Z ia the 4 direszise Sfie Daa 2 che paracerer 525 22 20. Since the vaine i 557 ST EF. Seca sits pacscect 1-857. DETAILS OF SERVO PARAMETERS Parameter standard setting list for each moter model 3000 rpm standard motor Parameter |HA053| #413 [HA23 [HA33 |Has3 [EAa8S [HAl03|EA203 1 a 2 Pea 3 Pon | 33,00] 33.00] 32.00] 33.00] 33.00] 53.00] 53.00] 38.00 ~ ie] of of of of of of of 0 3 ver_| 70] 70| a00| 00] 350] 50] a0] _as0 6 vez | of of of of of | of 0 7_¥Ez_| 19000] 10000] 29000] s0000] 20000] 30000] 20000] 10000 vin | 682] 602] cea] ea] ea] 0a] _ea2| 0a 3 aga | 1026] 2028] 2040] 20a] ozs] aoza| 024] a0z 302A | 2024| 2024[ 2006| 2006] ove) aoe] ova] 2008 ni igs | 256| 256] 224] _az4| _a56| _256| 56] 256 32 ae | 256] 256] 220] 220] sual saz] sua] sia 13 Eup | 1250] 3230] i290] aoz0| i220] 2s0[ i230] 230 ZEN | -1256| 2230] -2230| -2080| -aa30| -2230| 2280) 1230 as Fe | of of of of af of of 0 as tow | of of of of of of 0] 0 a7 str I : ae et | 13 ane | 20 oat | 4680] 600] 4680] sce0] see) ease] asea| seo 21 our | 600] 600] 600] 600] 600] 600] 600] 600 22 oz | 250] 150] 150] aso] aso] aso] 50] _as0 23 ob2 24 zrz | 100] 100/ 200] 109] 100/100] 100] 100 25 Mry | <<8¢| 2x80] sx8E| x81] 2x32) =x33, 26 ona 27887 | 0000] 0000] 0000] 0000] 0008] 000] 0000] wooo zs} of of of of of of 0] 0 zo _se2 | of of of af of 0] 0] o 30 se | of of of of a 0] a] o uses {of of of of a] a] of o 32 ses | of of of of of of af 0 + Blank colums are set depending on the machine specification. 1-867. DETAILS OF SERVO PARAMETERS | 2000 rpm standard actor Parameter |#as0 [Haso [Hat0o|#a200|Has00 fza70o|zasoo | “™=s*# 7 Pot 2 poz | 3 Paw |55.00|53,00]35.00[35,00|53,00 28 00|25.00 tee |e} of 0] of of oo 3 we) iso) iso] iso) aso] aso) 230] 250 vez | oo} of of | of] 0 7 WEE | 0000) 10000 | T0000] 000 0000 0000) 70000 @ via | 02] 682) 02] e02| esa] _e22| _e82 3 tan | 2048[ 2048) 020] aoza| a02e| aoze] 026 Zo za | 7048] 2008) 2046] 2000 2040] zona] 204s za tgs [| s12{ siz] 286] 256[ 2s6| 200{ 200 2 siz] _siz| siz] _si2| _st2| 256] 256 3 3230] 1230] 2230] 1230] 2230] 1230] 3230 ry =3230| -1230|-1250| -1250 |-1230 |-1230| -1230 i Co of} of =f ~—St St 16 Tow of of 0} of of of o v7 SY 18 PIT 1s ENG 20 GR? | 4680| 4880] 4680] 4680] 4680| 4688] 4688 | ORT: When the regeneration 2i our | 600|. 600] 600] 600| 600) 600| 600 | option resistor is 22 out | 150/ 150] 150] 150| 150/ 150] 150| used, 3020 should be 23 ODL set. However, 24 zaz | 100/ 200] 100] 100/ 100| 100] 100| when BAvoo/ EAsGo is 25 mry | xx00| x01] xx02| xx03| xxos| x05] =xo6 | used, 3000 should be 25 Ob2 ser. 27 SSF | 0000] 0000] 0000] 0000| 0000{ 0000/ ooco 28 SPL Ce) a) A) ° 29. SP2 Ca) a) 30 SPS o] of oj of of of 0 31 SP4 o} of oj of of of 0 32 SPS o| of of of of a 0 * Blank columns are set depending on the machine specificaticn. 1-877. DETAILS OF SERVO PARAMETERS SS. Parameter setting list for each servo type Hg Saacy et tale cess st bear arse Serve eee Ineremescal decaetion sectocas F fiw |S = sat tose ox ee |SSee ser etter] 1 atanes | atne] sinters | ater [seen [yr nase sere... [e. 8. | ees | es Fetes beet Blac | | "Sh os | Melos | “tin [les [ein — tt | — ——— |__| vos | ool os | sy | sx | sy | =e | me | oe Bi | git] si | st =e Ee Reena] weet] oe 3 ng. ge | me | 2 a ~ | 2 Bes! 8, am ie =. Bo = ta Ss ml as] we | ee | oe] we | oe | ome | ote Fes] Ga] BS ist ove 1s By ops Sp eemtaee tao peesce acemstg op US/ID coer She EAEN:D Str SaaS aah br details, covsact Hitibisst Hiscrsies ‘2e Yor PIT, the vaine of the paranecer Ho.1B shocld be weed. 3s Bike fer the 2000 rps apecttication r-387. DETAILS OF SERVO PARAMETERS ows (1) Rasteiestons of POL and P02 22 vange fron 1 to 30+. Eowaser, when the followicy od, gehor calves eqeept for 1 go 30 eau be sete zoe 1't0 30, she following venteiccioes sbouié be societted. 1. Senk-eiosed aysten (a) Fe = 2150 / ears xc) 2, Closed aystes (Jscluding ball sczer end) @) mols 270 / curs Be (2) ez S150 / box e"aetagpotacion sate SehecLeacy ste above seuscion fgu_she PIT value were FIT snd 150 are seduced to the lover cam ud inocll'ne"s vaise besare Fedued to the Lower cers Euisple Ie the case of s full closed Loop there FIT = 10, BIG = 20, U + 0.5, Pa = 33, PIT = (2) Pet = Seg07c1 = 20) 273 (ea 5 S20e71 (20 2 0.8) 4 3276 G) pen = se0/3s = 2s POL 273, POD s 208 ‘een [POE] of S57 bee A Le valid, she sesctenione are chassed. 1) Seaizelosed aysces (2) Bei = 00307 (9tr = Pac @) cz = serarvtase = 2) Closed sysces (a) Bel © 105207 2TT = 3m) G2) ea = sarccrpon Mote (2) Tacarpotatien ante (0) vais 1, a ins dea cs tate-tet seme [San ge [Em Sesser, a sane perras asian tees [Es ease | i0-5e | 05s B1nl6.05a) 0.05 Yess (3) 1-89DETAILS OF SERVO PARAMETERS Meta (4) Eesopie of sevsing P01, 702) aod PUP zea. aay [ise T / Sercing comple (2) en she dacaccor fa fe the aocor reverse Loed side: sisclag the gear ratte of dhe noter elie and she sachina side into the lover dea, sete che. possuazsrs to the resuisase valueas Resspe) Res che SPS. “Stee 3i3 Eo these parsaece © Rozary state Heducts'ce gear razto of tha motor side and the machine aide toto the lover fara and sacs tie jorauveers to the seselease welaes Beasple) Whee she rotation angle is 260%. 0 0) (2) Woes che darecsor ta oo the machine ade (Jnclading belt serev acd): 2 alt sccey Bise te disear seats (2) Poss Paid 1s che eecetton sry sts She guar sate of th motor and chu detector. x wr CH BH Bectpticn) Rees Gn gees eccucane Le special. ol wena a> ‘ene He 2 rd 3 Lo anne 1-807. DETAILS OF SERVO PARAMETERS ‘Serting exasplle \ a | I Rosary abate rer ie 1, GIT + a0 ho Becoptton) Mien che gear structure Le epacialt Sire mY bt tes 1H Bald sere Bits the dececeor ts on che sotor reverse load sider Sete tke passoacer to tue Sali sccew pusche See wwe TH ett scree pteen ens) 10 = PIT 10 ees the detector to on the machine sides Sets She pactnecer fo she ball sore pLech converted inte the detecter. a Bia cH mrs 10 Esception) Wes the gear structure Ln epectate 1s Few] ® alts = CH wii ntis 1-817. DETAILS OF SERVO PARAMETERS te Secciog exanple ar © When the desector is eo ste machine aide (Linear scale): Scasinaed ° ots Sus bali screw pinch aie iss ctor ts oa, tha soter reverse load side Ets fio pasenecer fo che rovasion eagle cf sae furs of the machine. Moraaliy sete this poriseter to 360" =e Ba whine side (cocary tnfuetoarm, Sie of ose cas of ie Dainsas, PIT: 260, © Wen the detector is os he ‘Seta ‘she pocmter co the reumtisn eagle mor Pir : 36 ecaption) Rhea che guar etrectare is special: Shee 1 ‘oH = 1-922 « hel Set fer (en a “ ‘os*oot wt (220K |*9*5t01 07 [5 "0107 [edewa3+y | auqod ox0z a ° me % a+ ie eo freeman 4 Stee 060 z E sweet : ‘oom | ore a < cow | oo | ooo | oor | onoo | tonto | thane | ooo] ooo | o0wo | ae -e cao poe | see [mw | Sow fo | mer | me | mn] me | me fame ce or oe « o_| "ha | on [ra] oe | a | ae] oe | oe loa re vo vm wee | vee ee | om) ee om | com [TRE | come |e] Se || LS foo fase covery 23 cone strain ae vores ps ‘aia a raise | xrasi | arse ‘Heo ae io a ea Se econ ee sron2e20p pe sayen 30 serdmexe Sup3305 (5) ex 1-938. ABSOLUTE POSITION sySTEX 8.1 ABSOLUTE POSITION sysTEH STRUCTURING PARAMETERS 8. ABSOLUTE POSITION SYSTEM (T20/T30 SYSTEM AND M300 SERIES) 8.1 ABSOLUTE POSITION SYSTEM STRUCTURING PARAMETERS (1) Absolute position function valid parameter [Nc'basic specification] Each axis abson 1. (2) Zero point return parameter: 120/730 ) aD 0 OR 20 (3) Absolute position detection type parameter: [Servo parameter] i) Motor end detection (e) ofr om repcpasersssstie am TT TLELE sss Taare.) #17 1) salt cccew end detection (3s) ays renconserssastre 4, LITE 1 we ‘120/730 a7 (4) Absolute position detection pereseters: [Servo pereseters] £) Motor end detection Cs) se PR RE MADE TE st az sy aS : 1 39168" 2) nett sexes end detection (Ce) sey Epc passa seca 210 sy 1 i 2 1 37120" ‘720/730 ) #25 1-948. ABSOLUTE POSITION sysTEY | 8.2 Doc TYPE ZERO POINT RETURN PARAMETERS 8.2 DOG TYPE ZERO POINT RETURN PARAMETERS Se Era es Geld tacervad, Moveseat snot of feseoler ronszicn Sulfe snout of sero point Setting absolute position [ Lead SW counter value reference values N NC backup data (fixed value) Resolver zero point position 1X (Note 1) Unless the dog type zero point return operation is performed, the absolute position reference values N and 1X are kept to the reference values of the former dog type sero point return (iote 2) Date of N and 1X is displayed on the servo monitor screen in the M3 system: on the I/F diagnosis screen in the 120/730 system. 8.3 Ye CATION PROCEDURE FOR ABSOLUTE POSITION (2) Set _the zero point shift amount to 0. (2) Perform the high speed zero point return operation (stops at the absolute value reference point) + Note: Wher the dog type zero point return operation is Nand 1X which are backed up in NC are set again. (3) Check whether ni which is the current value of the lead svitch and TEE of the 1X data are same as those of the reference values on the diagnosis screen. (4) As a verification of the grid, check whether the value of the cyclic counter is near 0 or 20000 on the diagnosis screen. jerformed, 1-958. ABSOLUTE POSITION SYSTEM 8.4 WHEN AN ABNORMALITY OCCURS 8.4 WHEN AN ABNORMALITY OCCURS IN THE ABSOLUTE POSITION COORDINATE SYSTEM: (1) Check the current reference values N and 1X. (2) Perform the dog type zero point return operation (alarm release). (3) Check the reference values N and 1X of the current dog type zero point Fetura operation. 8.5 CHECKING ABSOLUTE POSITION DATA (The addresses may differ depending on the ROM versions.) (C28) anstandard vatues 3 (Displays all ax (2)Serve window: i) Address assignment 1X: Servo monitor screen terface diagnosis screen Axis 1 (Ai0009) (Address 1) (3) (420008) (Address E) (3) axis 2 (a10109) (address L) (3) (420108) (Address £) (3) Axis 3 (10209) (Address L) (3) + (410208) (Address E) (3) ii) Data . azis 1 1000s fxis 2 aroi0s 3 3 ‘a[ Data 2 ‘A[ pete a B[ Data 2 3| dete 2 c[ pata 5 c| data 3 p| pata s p[ data 4 (3)Servo window addresses Addzess | Address L | Data L/E Qurrent lead switch value ni 30 70 | Data 2,4 Current resolver value 1X! 50 nm | pata 26 Cyclic counter value 50 m2 | data 316 Axis 1 Axis 2 N+ 10B102 (Date (Data 3 ax: 1CB04 (Date (Data Ns 105112 (Data (Data 2%: 108114 (Data $ (Date L) #) L) 3) Ly #) 1) F) (1)Standard values N, 1X: Diagnosis screena. 8.5 CHECKING ABSOLUTE. ABSOLUTE POSITION SySTEH POSITION DATA (2)Servo data window: Diagnosis screen i) Radeess assignment isizr2 03 Axis 1 181700 (Address L) FO (Address H) Axis 2 (Address L) + Fil (addzess #) INPUT (Address assignment valid) Axis 2 baa sane [had Date 2 as [eee oe [bates x [peta 3 os [bata @ as [Dates (s)8eqvo window addzestes Bizess § [aierewe © [Date UTE] Garrent ted evleca vate at | 30 Te [base ba GaEERE Wega eei hare tke so Ro (BSE Ed Gyalte'cosnter vale 3 re __ (pee 32 | (A) Standard values N, 1X: Servo monitor screen (Bispl (2ySeeve ‘Ty kadress sesignmene eis 1 (5388 all axes} 2 gies} Aes (S388) ndow: Interface diagnosis screen (Address L) (3688) (Address 3) axis 2 (9988) (Address L) (3388) (Aseress #) axis 3 (9089) (Address L) 3688) (Address E) 9500 When the bit 7 is set tol, the monitoring starts. When the bit 7 is set to 0, the monitoring stops. ) Date Axig 19688 axig 2_9988 ‘A [ Data 2 ‘a [ Data 2 B| Data 2 | Data 2 c[ Data 3 c| Data 3 p[ Data & p[ Data 4 (3)Servo window addresses Barons B [Address b Gurrent lead switch value ni Current resolver value 1Xi Gyelic counter value 50 70 30 na 50 72 1-978. ABSOLUTE POSITION SYSTEM 8.5 CHECKING ABSOLUTE POSITION DaTa —————— ¥B-S empl wi function in M310L/4 (1) Set the address of the amplifier to the window address (W). (2) When monitoring the data of the address being set in (1) the window monitor start b: When the bit is set, the amplifier data is sampled to the vindow data every 3.5 ms and monitored. When the monitor start bit is reset (set to 0), the monitoring of the amplifier data is stopped. Address axis] 2 [3 [4 Address to A soc |esoc | 9300 | sz0c be set Window monitor start [Window adéress 688 |9see | sces | ores Address of | [- data to be| [Window data nonitored | [= q sea |oosa | scea | oon 1-988. ABSOLUTE POSITION SYSTEM 8.8 ABSOLUTE POSITION DETECTION ‘ALARMS 8.6 ABSOLUTE POSITION DETECTION ALARMS Errors relating to the absolute position detection are listed in the following table. No. | Abbre- Name Description ‘viation | [2s [2a Battery |The voltage of the battery for backing up the Alarm | absolute position detection circuit on the BF33 card drops. Replace the battery with a new one or charge The absolute position may be lost. oe] WAC ‘Absolute position counter is wrong. _ Error is Suspected with the absolute position detector, encoder, cable or add-on card. Initial setting my not be made. zs | WAB | Warning |The reference value of the resolver 1x backed absolute |up in NC or the encoder/resolver error is detector | abnormal (20° < 1X < 360° and 365° < 1X or error ERE > 50). warning |The absolute position may be lost. ao*| wat | Warning |¥nen NC power is turned On, the data received | absolute |form the absolute value detector are first alarm incorrect. trensmis- sion ait| was | Werning | Under normal operations, the data received absolute | from the absolute value detector are 1 | incorrect. signal az | wav | Warning | Voltage drop on the battery which is absolute | installed on RF37X. battery voltage ast] Wan | Warning [Drop of power voltage to the absolute value absolute | detector. cable No. | connectisa| us| war | Warning | There is some error with the detector’s absolute |A or B phase position error as*| WAR | Warning | There is some error on resolver or feedback absolute | signal. resolverll AC SERVO MR-S12 SERIES MAINTENANCE MANUAL (2-AXIS INTEGRATED SERVO AMPLIFIER)diy1. OUTLINE OF $10 SERIES AC SERVO SYSTEM 1.1 FEATURES OF 510 SERIES SERVO SYSTEM 1. 11 ay @) a) co) 5) (6) 7) OUTLINE OF S10 SERIES AC SERVO SYSTEM FEATURES OF S10 SERIES SERVO SYSTEM Connection to MELDAS #300 series NC The S10 series AC servo system can be connected to 2 MELDAS M300 V series XC to provide high speed conputatica and high speed communication functions. Thus, a servo system enri robust property can be se! which may occur in high response mechii with high accuracy control functions end a up. In addition, error due to tick motion ry can be compensated for. Series of AC servo systens The HA series servo motor which provides high response end easy maintenance is used. A wide range of servo motors and servo amplifiers is Lined up, thereby covering a wider power range then 2 conventionsl series. Tn addition, a wide range of multicle axis-type amplifiers are also provided, Performance enhancement by all-digital servo All-digital control system used in the conventional model $ series system is enhanced. Using a high speed CPU, the system provides high response, repeatability, and reliability for high speed as well as accuracy control operazions. Intelligence Individual CPUs control individual axes to enhance machining accuracy. reesing the number of tuning parameters allove the system to be gejusted securely. In addition, ‘the AI diagnosis function is also improved. Inproveaent of reliability by utilizing less parts and cables. Using gate arrays for control card components allows the number of parts to be significantly reduced. Ta addition, the main circuit components mounted on the power card contribute to reducing the number of cables. High speed, highly accurate machining(0.1 sm/pulse command) ‘The maximum speed in submicron(0.1,=/pulse command) selection specification is increased up to 2600 rpm. Absolute position detection systen 4n absolute position detection system free from the zero point return operations is provided.1. OUTLINE OF S10 SERIES Ac SERVO SYST 1.2 510 SERIES SERVO SYSTEM TABLE 1.2 S10 SERIES SERVO SYSTEM TABLE System structure como e100 & i one ae aa is | = a) wae (aa1. OUTLINE OF $10 SERIES AC SERVO SYSTEM 1.3 MR-S12 SERVO SYSTEM FUNCTIONAL BLOCK DIAGRAM 1.3 MR-S12 SERVO SYSTEM FUNCTIONAL BLOCK DIAGRAM A I e ceases sence a 8) Hal 3) 3] pets correae | | = bcs k r-32. DATLY MAINTENANCE 2:1 MAINTENANCE TOOLS 2. DAILY MAINTENANCE 2.1 MAINTENANCE TOOLS See the Maintenance Msnual of 4R-S11. 2.2 REPLACING BATTERY With the absolute position detection system, data are retained using the battery. Battery is installed ca the 2F332 card. Method of replacement is explained in the Maintenance Manual of MR-S11. 3. INSTALLATION AND ADJUSTMENT PROCEDURE 3.1 ENVIRONMENTAL CONDITIONS See the Maintenance Meaual of MR-S11. 3.2 INPUT POWER (2) Ing: voltage 4c200/2200 “+102 (2) Erequenc: (3) Power consumption <153 50/60 Serve asplitier ae, sib eatee | Tab Ta [wade D mani) maser) moar wa ae mare | aa ha ae uae | anes 22 ro muons | ans Be ea mare | ores Be a mica | aera aa = wari | mace) ene Be 2 Bere) 9 Tae above ata (g) ttt gactagy she chereal HA capacity a¢ ste power supply. Hovovery “aface tha 2 eo 3 tinas abueatary pownr is refuired curing fesslersiies of the peter ic" aen:d Se of s anlt power fszoltion, whic can wnnerd 195V' a0 2687 62 Set Eermtels of fe age sopadte. GGevent capach=y of pour ropply must be dn conpltence wich vhe above table (2). SS SASpie CSET Spe add'ehe pour Suppiy capactay per cach aadiSdeat PEstpuey_steteangous 3 ep of so + us00 + soo, = 10.2074 34.68 Tiss of so-fote Seeaker, refer to che axplaaatica of apeciticntions, fact seer the shove specifications, use the power3. mm PORSEDURE 3.3 MAIN CIRCUIT LATION ADJUSTMENT DIAGRAM 3.3 MAIN CIRCUIT DIAGRAM 3.3.1 EXTERNAL CONNECTION TERMINALS TEL Terainal eyabol_| application a 3 External emergency stop | Hgemay 2-R shore z 5 Input ac200/220v S0/é0ii= t i Lasis motor wiring (U phase) 7 Taxis motor wiring (V phase) i Lazis motor wiring (W phase) xo Waste motor wiring (U phase) WwW W axis motor wiring (¥ phase) “a Manis motor wiring (W phase) 6 d is for grounding of the housing. om (@) ground ds for grounding % Terainal syabol Worsal Wits regeneration unit c Wo connection Regeneration unit connected. D shaetejgguit on the | No connection P SHORE Regeneration unit connected. Application Remarks Foy connection of L axis éfixon" thermal ferminat “2 for external brake 262 For connection of L axis soto Cfixén thermal terminal 2 GL top of Maxje motor EGESOPRESESST C6ct2E1*1 62 Foy, commection of Marie notor Ef:Se"Ekeeael ferminal 2 Ba Gontactor connection terminal For Sterna: ee : SEER Serio Ga. Be Contactor connection tersinal = RF] |__ Beast ase cesd 221)3.3.2 CONNECTION DIAGRAM.3. INSTALLATION ADJUSTMENT FoRCEDURS. 3.3 MAIN CIRCUIT DIAGRAM Soc 1) Dy seve ptt e208 eg aoe apntesin Un matey she POSSE MIB SE titi, Since the sain clreuit does sot vs ESnS Besar eee ‘Too phase order of the power certnsts By S and T of ene servo soplt Eonever, wes aasy Sues'are soos; aiffertne’ayabol cables ao! (2) Feacsustons for consacting ssrve amplifier reminaie U, Vy and 7. s+ Te rolazicnshtp betwen the phate onder of the servo anplitier cemateals Uy Vy and W and Ee Geter plas, 3) apd © abbuld’ be aaincatned. He" che plate ordtc fe docsctect, che aoror gay jitrate or rotate abriptly. ‘aa Stele stance se Sozated is evetas bp ebadgisg the paase onde? bs Rewer shat sot bp applied fo she cusps seatnals U) Vp tn Wot she tere angie ‘Ascld Semsacting che eabloa in a way qint che ovepet teraiaace Uy Ty al Wet the gevo SELLE IGN ie ScGesksciy grounded. ‘suet ©slerake may Giange the servo applifie (4) The corstente 8 ant § of the serve suplisier are connected with 2 short size. thes BG [Tebeipency atop) cables ave connected; reacve fais auort wires Shes to Bil coneacte are Spon, Sie’ acied aS" tecacsseiy euespencyseoppeds comected vist + shore wire. fies che ar‘ and connect fv ap aioe: if the feliowing tm the sscroeading po (5) The ceratoals D an © of the servo sopltsier Fpscesrasics option Laayeds remove she ERSS TRS shageapt sci Sikce" che segeseration option generates beac, avotd causlog (Eel tap sonntezion cabled . (6) 280811-700 and 22-811-900 ace not provided wich teraisai D. Tie regeneration re ‘Gowieed fepessvely, cabeet’ he Segegerstion restszor beryeen the terniaais € and P._orthe specteiension of she EEESG ths cefsounding porcios aad the ecmneseion cables * cor should the soters (8) The position of each cerniaal on the servo anplifter depends oo she Large capacity type and ‘epacicy sype. for the carsisal positions, sce she Spenidieneien basusls oy whe pesckutlons 42 peregeepes Su fae Suse ‘the non-fuse Breaker, soe the Spacifieation Mascal. (9) For the seleczion Ween cercinal 3 of the servo amplifier is connected ro the BR contact, the ecergency stop ‘het Eebtent voice Flore doting ele Set Segtnce Ge appeons 90 Gi per axie at 200 7, 60 ds. Hote Ti tis Bet contacts are Spec gets, eee be ergescy stop sakes place, ealeas the Seber opozasice is sestarsea Sion AE, tha euargency aeGp caansr'be rezet,3. INSTALLATION ADJUSTMENT PORCEDURE, 3.3 MAIN CIRCUIT DIAGRAM 3.3.3 CONNECTING MOTOR wa8i2 is classified into the folloving 5 types depending on the capacity and motors have some limitatios respective ly for L and M axes. ‘Type of amplifier Laxis drive motor | M axis drive motor ¥R-S12-154- 0 4053/13, 4053/13 wa-s12-334- 0 1#a23/33 423/33 wR-S12-40k- 0 EA4O/43 FAG0/43 | ¥R-S12-808- 0 AB0/83 AO /43 ¥R-S12-80A- 0 aso/83 ago /83 | ¥R-S12-1008- 0 Ea100 as0/83 ¥R-S12-100A- 0 A100 EAI00 @ (2) (3) « The L axis motor always has a larger capacity than the M aris motor. For example, MR-S12-80B- 0 means the amplifier for L axis corresponding to HA8O ani *3* suffixed to 80 indicates the amplifier having M axis is 1 rank below L axis, i.e. corresponding to EA40. Tn the same manner, MR-S12-80A- 0 having suffix "A" means that the amplifier corresponds to HA80, the same as the L axis. mmsiz- og Alphabet A, B Indicates the capacity of the M aris. A: The same capacity as the L aris B: 1 rank below the L axis ‘Arabic numeral .. Indicates the capacity of the L axis. Corresponds to HAH. When MR-S12-80B- 0 is used, if HAsO motor is used on L axis and EASO on M axis by mistake, there is the danger that HAsO on L axis is demagnetized. Feedback connector of the L axis motor is LON2 (semi-closed) and MCN2 (semi-closed) for the M axis motor. ‘Typical examples of wrong wiring are shown on the next page.Examples of wrong wiring 3. INSTALLATION ADJUSTMENT PORCEDURE. 3.3 MAIN CIRCUIT DIAGRAM (2) Do not connect a motor of smaller capacity to the L axis. wa-si2-0-0 (2) Do not misconnect UVW phases terminals and L, M of detector cables. Sy eT Ma-si2-0-O RG201 CARD m83. INSTALLATION ADJUSTENT 201 3.3 MAIN CIRCUIT DIAGRAM 3.3.4 MOTOR WIRE CONNECTION (B fotor wlth teminal bor (3) ites and cables 3.4 UTILIZATION OF BRAKE CONTACTOR 3.5 REGENERATIVE RESISTOR OF SEPARATE INSTALLATION TYPE (REGENERATIVE OPTION RESISTOR) 3.6 CAUTION FOR INSTALLATION OF SERVO AMPLIFIER 3.7 INSTALLATION OF SERVO MOTOR AND DETECTOR Concerning the above, refer tc the Maintenance Manus! of MR-Si1 servo amplifier.3. INSTALLATION ADJUSTER? PROCEDURE 3.8 PRECAUTIONS FOR POW=3 ON AFTER INSTALLATION, SSS 3.8 PRECAUTIONS FOR POWER ON AFTER INSTALLATION circuit cables and required cables have been connected, ning en the power, check the following itens. 1) Gheck that the 30 200/220 VAC has been connected to the terminals R, 5, and T of the terminal block. % the motor pover cable has been connected to the terminals W of the terminal. regeneration option resistor has not been used, check to see terminals C end P of the terminal block (upper section) have short-circuited. regeneration option resistor has been connected, check that been connected to the terminals C and P of the termiaal block (upper section). sn the regeneration option resistor has been connected, check that che terminals D and P of the terminal block are not short-circuited (upper section). 4) Sheek that the cable from NC or from CN13 of another axis hes been connected to CNIA. Check that the cable from CNIA or the cable end (termination connector) has been connected to CNIB. 5) check thet the cable from the detector hes been connected zo RG1OL 9 RF31/33. (Zor the correct connection method, see appendix 2, *Cable Connection Drawing." 5) Check thet the RGl01 card hes been correctly mounted oa the unit. {Check that the projected parts from the small holes of Cos! and GON2 are aligned with their top planes. (For the corzect connection method, seo Appendix 2, "Cable Schematic Diagram.) 7) Sheck that CS1 (axis number setting) of the RG101 card has been correctly set. (For the correct setting method, see appendix 2, “Cable Schematic Diagram.*) 8) Check that the RG101 card and RF31/33 cards have been cor: {For the correct setting method, see appendix 2, “Cable Si Siagran.*) tly set. matic 5) Check that the servo parameters have been correctly set_oa the NC screen. (For the correct setting method, see Appendix 2, "Cable Schematic Diagran.") 10) when using the motor for the first time and if an abnormality is suspected, before connecting NC and the servo amplifier, the Ne power on and then decrease the values of ILP and ILN of the servo jerameters. This limits the torque of the motor, thereby reducing the degree of an abnormality. (Example) 13. IP 1230 = 500 24. IN -1230 = -500 (2) Cevzion at the interruption of power supply 1) The main braker, which supplies the power of 3-phase the amplifier, gust be shutdown more than 1 second a: of NC bower. ‘With the specifications of absolute value, +0 reduce the battery power consumption is conducted at (3F3328 card excluded) Ac 209/220V to m1| 3. Instazarton apsusment PROCEDURE 3.8 PRECAUTIONS FOR POWER oN AFTER INSTALLATION (3) Check points after the “power ON? Normal display at 7-segment after the “power on‘ is shown below. (on RG201 card) 32 200/220 vac ox (lp) stassc Be ar IE Fig] geerenia sh A I Ee Castantaneous display). the case of rie a Oe sae i 7 i | 1 aay OFF, servo OFF Flt | ble] ET | ” aid on erpsecestzy FI | eli i Revty Oty Seve oT ee | Z eae | me 1 erewereseedd LT] nay oF, sere oF ale Aer aprtion ve pane o7 Fn epee ot m-124. TROUBLESHOOTING 4.1 7-SEGMENT DISPLAY 4, TROUBLESHOOTING 4.1 7-SEGMENT DISPLAY The amplifier's state is indicated by 7-segment upper left corner of the amplifier. Whea there is any alarm, alarm number is also displayed on the display. ay located at the State display of MR-S amplifier (Bieptay [_seate Description aT Bg £05, he ggg|eH uP OF NC power cupsly E L* ‘Cans i2Es 22" pSbEs SEF "Ba dal we pone! EST THITIALIZE | Parameter transfer is denanded. TNETIALTZS | Parameter change is demanded. INITIALIZE | Waiting for main servo IT start. READY OFF ‘Bt Ready OFF SERVO OFF At servo Off SERVO OW ‘At servo Oa WARNING Warning fs given. ‘WARNING Warning ie given. ALARM ‘Alam is given. WADCH DOG AIM| Watch dog alarm NO CONTROL L | L axis off-control (Note 1) NO CONTROL M_| Maxis off-control (Note 2) Se Lae oe eh Be ais ple eit BE ‘SESme beleey whe E AucG°ESGees abfeaBobea! OS sare gives.) [axes sevection 0 Ofc ‘see serve alare snd wasning.) m-134. TROUBLESHOOTING 4.1 7-SEGMENT DISPLAY State display after INITIALIZE is indicated orderly as the lighting and extinguishing are repeated for each exis. Some examples are shown below. (Example 1) When the L axis is assigned to the No.1 axis (X axis) end the M axis to the No.2 axis (¥ axis), it is servo On with both exes. = ali thc} State of the L ants State of the H acts (Example 2) With the above axes designation, he abe the emergency stop signal is input from NC. (Beemple 3) With the above axes designation, when the motor overheat alam (io.46) is given on the L axis (X exis), the following display will be indicated, (On the M azis (¥ atis), the error on the other axis alarm is given. fey at Te E CETL Fi te Lae ee Seate of the Lats Stace of the H acts (Example 4) When the AXES SELECTION switch is set to 'F" because the L axis is not used, and pover is turned on. There is an emergency stop signal Snput to the Maxis fron NC. fETS eT FUR Fle elt scate of the Lasts face of he H ante Servo alarm and caution 4.2 TROUBLESHOOTING Refter to Maintenance Manual of MR-Si1 servo emplifier. me165. UNIT REPLACEMENT METHODS 5.1 MOUNTING/DISMOUNTING CONTROL PRINTED CIRCUIT BOARD __ 5. UNIT REPLACEMENT METHODS 5.1 BOUNTINGIOISMOUNTING CONTROL PRINTED CIRCUIT BOARI 5.1.1 DISMOUNTING CONTROL PRINTED CIRCUIT BOARD 7] Dissounting adécon printed circuit beard 1), Turn Of2 the power and disconnect the attached connector. Note: When the absolute value detec- tion card is instelled, do not disconnect the connecter. | IZ this is neglected, the dog type zero return becomes necessary. 10201 eas 2) Remove screws securing the printed circuit board (4 pes.)- 3) Renove the combined connector together with the printed circuit ard. 4 Dismounting the main card (RG201) 2) Turn Of the power and disconnect the ateached Connector. apo de t 2) Hold up the printed cizeuit board to thie side shile removing the Support which holds the printed : eizeuit board. 4 3) Henove the suppost in the order ites. Nae, 3 Dismounting the base amplifier card (R621) 2) You will find RG221 after main card RG201 is removed. 2) This card can be removed in the same manner as 2. 2 is omitted and only 3 is conducted, the main card and se card can be removed as a set. m-15| 5. UNIT REPLACEMENT METHODS | 5.2 MouwriNe/prsMouNrING conTROL | PRINTED CIRCUIT BOARD 5.1.2 MOUNTING THE CONTROL PRINTED CIRCUIT BOARD 1 Mounting the base amplifier card (36221) 1) Insert connectors on the printed circuit board slong the guide the connector on the main circuit 2) If the connector is inserted, ‘through the check hole to see lower connector is set close to the hole. Note: If the lower connector is not ceeck tate — SZ coming to the check hole, press the connector on the printed circuit board hard. 3) Confirm that the supports are securely fixed at 6 poiats. 2b Cemosctor ee cae cae / Priaced efreate boast ontse 7 | 4 2 Mounting the maia card (RG201) 1) Mount CON1 (rear face of card) on RG221 in the manner of ment. 2) When the card is installed, confirm that CONl is mounted securely. 3) Check that the 6 supports are fixed firmly. 4) Mount the attached connector. 5) Check the setting when the card is replaced. engage- 3 Mounting the add-on card (RF312/332) (IL) of the RG201 card. 2) Fasten the 4 mounting screws. 3) Mount the attached connector. 1) Align and mount the add-on card connector on the connector 5.2 DETECTOR MOUNTING METHOD Refer to Maintenance Manual of MR-S11 for the detector mounting method. m-166. HARDWARE CHECK METHODS 6.1 FUNCTION OF CARDS 6. HARDWARE CHECK METHODS 6.1 FUNCTION OF CARDS (2) R6201 (fain a ze 2/332 Escoder UF cua Fega NC = other ass sas al To octer ante or | Siefstese | Gee eSetaat cane uex2 Peon devecter | Moye 5 ¢ dace detection Coasre, pocee supply m-17 ese eelisier card scot| 6. HARDWARE CHECK METHODS 6.1 FUNCTION oF CARDS (2) RG221 (Base amplifier card) onset poss mupaiy: cons ‘Te pover eave caeder3) Tae Splitter ste, con 1k Eta) cons To sate card Gen Te power card eecby3iy deteces ios coN2 teehoraiy oh Note) RG221 and RG201 alvays fulfill the function as a pair. (3) RF312/332 (Add-on card) PL Lewa/33 Eecoter Fee iF ih detector MCNSL/33 Resctver {L__] UF 1 Moe provided on RFEDI2. m-186. HARDWARE CHECK METHODS 6.2 SETTING AND CHECK PIN 6.2 SETTING AND CHECK PIN Fasecica ame) D | bags for amie Sather selectics Boek axtere.o food Ss | | seagte tor ante ieid saa RES12 setting method Raia Eee eel Setting is not at all necessary with this card. m-196. HARDWARE CHECK METHODS 6.2 SETTING AND CHECK PIN BE232 syoj secting Of aed ae ‘gece thoes the scandard setting. RPS | 1VEI2VR1 — Setting stand-| Name Function ard Remarks ON OFF RSYD [Absolute value | Invalid valid on counter reset BaCz | Battery connected | Connected | Discomected| OFF |,Turn On dur. OFF |” ing operation Bacz | Battery connected | Connected | Disconnected (Nore) ivRi | Resolver phase adjust L axis 2vRi | Resolver phase adjust M axis, Do not change Decause it is adjusted at shipment from the factory. Conduct the setting based on the above table even if it is (Wote) BACL, 2 are set to Off at the shipment. Set them to On before pever is applied. If this is neglected, the absolute value cannot be with the battery. m-20 not used. backed up6. HARDWARE CHECK METHODS 6.2 SETTING AND CHECK PIN Gheck pin and wavefo Select the energency stop before a synchro-probe is attached to the check pin. (2) Re202, T ve | | Sigaal, Ceseription, wavefors ‘Eecoder A plas => 1 axis ecooies feedback sigeal) Eicoier 3 Et. 522 G4 Sais Siecass feedback slgmel) Recolor Z pase lead side oo 24 co 0 t0 0.57 elas per each, sis'of ERS Steeaer. —e Leste! SELETNBhoves te «Soom a ail adedtade 7” Ea E-216. HARDWARE CHECK METHODS 6.2 SETTING AND CHECK PIN Tem] eat | Get Tiga Geigy wrt See | SE" | Sra ae] « a HEL] 9 [ages oon] EGE Fatt satater wee |e renee ¥ pate nals of wnnfom) Heh ON septation ste fen te Lond side co oe Serois ie Ro u f ~ 2-0 eek ik ~ On al.By' | \ TTT « as pj ee 2 A fae z : z Mores | Corvest value per iv] ‘eelesation Decelecaticn Begg] Ppa | Ser eee pte Bes 6.1 ‘en the load. * Be) eet tn a pe f2) 2 of | H ne | Blas | ete E/E Er EB ews, # | 8 Bia be 226. HARDWARE CHECK METHODS 6.2 SETTING AND CHECK PIN (2) RESI2 m-236. HARDWARE CHECK METHODS 6.2 SETTING AND CHECK PIN Terstal | Siguat | Grou Sigeal, deeccipeion, wavelors Sime | sate | Semisan - oer 2 ‘Becoder & pase 2 3 | nigncy bocce: | Eecoder 8 Piase nile oe aes P= 2 Becoder 2 phase Exasple of wavefors) With CCF cevolstics sees fron the shaft side Of the derecees ect Ets Far r = 0~0.57 ao: Encoder! a ae Wz 5000 saedreder we-teeat fe ‘sobEer 2 Yerer Saas m-26EARDWARE CHECK METHODS 6.2 SETTING AND CHECK PIN (3) BF332 m-256. HARDWARE CHECK METHODS 6.2 SETTING AND CHECK PIN = ETE a = ts Sie ee ste gh : = abe dy ali 8 J l a . ws wate bo) SSCS soeeedrade a Sa P22 sags = fe = zg JS LS Lise aes ee = = wee eee —_ BE 267. DETAILS OF SERVO PARAMETER 7. DETAILS OF SERVO PARAMETER are 32 servo parameters and the display and setting methods are ferent For respective NCs. Refer to respective instruction manuals for the details. For the contents of the parameter, see Maintenence Menual of servo amplifier MR-Sil. 8. ABSOLUTE POSITION SYSTEM Concering the absolute position system, refer to Maintenance Manual of MR- S11 servo amplifier The:APPENDIXAPPENDIX 1 CABLE CONNECTION APPENDIX 1.1 CABLE DIAGRAM APPENDIX 1 CABLE CONNECTION APPENDIX 1.1 CABLE DIAGRAM Gable diagrams between NC controller, servo amplifier and detector are as illustrated below. Refer to paragraph 2.2 for the details of cable specificazions and to Chapter 3 for the wiring connectin of the main circuit. (2) Standard type (1 micron, motor shaft end detection) va-si1-[C)-201 cable diagram CABLE CLAM (ej on( sh ibe sent we sents Biss. a aeter zo paregzazh Glapter Wy paragraph 1-144) Part| Cable | Application | Q’ty | Standard | Max. Reference paragraph No. | name length | length | for specifications 2 | cama | mcrae or 1 Sm SIF-AMP CABLE 2 | cami [awa castz| x1 | 0.5m | length Appendix 2 3 | Ress [caBLE END Fy = > 4 | cnzx [ave-zne caste] Ne Sm Som Note (1) W: Total axes number N <6. (or N < 4 with M310 NC) (2) Example of calculation of overall length of parts No. ©, @ cables: With standard length and 6 axes we Lx Sx 5x0.5 = 7.5m AdAPPENDIX 2. CABLE CONNECTION APPENDIX 1.1. CABLE DIAGRAM (2) High accuracy type (submicron, motor shaft end detection) Mm-si1-[[]-233 Cable diagram Gase of high accuracy type No.1 axis ie chow. CABLE CLAMP CABLE CLAMP igh soversey datecter OaBaa sevose [L, SERA Tho Part | Gable] application |Qvty [Standard | Mar. Reference paragraph Wo. | name Jength | iengeh | for specifications 1 | cama) mcp-am caste | 2 se | 30m overall 2 | cana] am-ame caste | ya] o.sn | Lengen 3 | aes4 | caBLE END z = - Appendix 2 4 | cx | oe-enc cae [ na] sa 50m 3 | cuzax] aep-znc casts | a = Som Mote (2) Hr Total sage number Ha 6, Resber of axes of high accuracy type (2) Eianpie of calealetion of overall lereth of parts vo. ©, © cables: “with standard lenges and 3 aes oOEE Ss OSs 2 = 70 a2APPENDIX 1 CABLE CONNECTION APPENDIX 1.2 GABLE DIAGRAM (3) Ball screw end detection type (1 micron) mm-sit-[([]-831 cable diagran Case of ball screw end detection type No.1 exis is shown. CABLE CLAMP CABLE CLAMP sae (RASH IJou aeant tein ii Ue tog sate sare Pasties Ball sever and deteccor OSESRNET Part] Cable] Application | Q'ty] Standard] Max. Reference paragraph No. | name length | length | for specifications a | cami] ucp-ae caste] 2 sm | 30m overall, 2 [cami] wee caste] Nei] 0.5m | length 3 | ars4 | casLE END iT e : Appendix 2 4 | cwax | ae-enc caste NA2 sm 50m 6 | cnaux| aw-ane caste] on sm ‘son Note (2) Ni otal axes number Ns 6. ni Number of axes of ball screw end detection type. (2) Example of calculation of overall length of parts No. @, @ cables: With standard length and 6 axes seedx Sz 0535 = 7.50 a3APPENDIX 1 ‘CABLE CONNECTION APPENDIX 1.1 CABLE DIAGRAM (4) Scale F/B type (1 micron) wm-si1-[[]-E31 Cable aren Case of 1 micron scale F/B No.l axis is shown. canis clam, (CABLE CLAMP [teem gun ome oo | sasooxc: - — w | =o [ ORSICEMD | low [= on | os[|} patel mes, Rene aE The Part] Cable] Application ] Q'ty |standaré] vax. Reference paragraph ier | Same ieee) ae | beceeeses verepees 7 | cama [craw caste] a] sm] som otcant 7 | cama pawcae casts] wa] ose] Senate 3 [gees [caste sim ; = appendix 2 + fear [aoe cate] we [ae] som 7 (CN31H | AMP-I/F UNIT n |Manufac- | Manufac- specifi-| specifi- wie | spees Note (1) N: Total axes number NS 6. (2) cables: ni Number of axes of scale F/B type. Example of calculation of overall iength of parts io. ©, © With standard length and 3 axes Anh xS¢2x20.5 = onAPPENDIX 1. CABLE CONNECTION APPENDIX 1.1 CABLE DIAGRAM (5) High accuracy scale F/B type (Submicron) wa-sii-[()-£33 Cable diagram Case of high accuracy scale F/B No.1 exis is shown. CNIA Moet ante awewe Ch? seplttier oIRSUOES Part] Cable] Application | Qrty| standard | ax. | Reference paragraph No. | name length | length | for specifications 2 | cana | wcp-ame caste | 2 Sa | 30m overall 2 | Guai| Mea caBtE| Nal osm | fengeh 3. | RESG | CABLE END 2 ~ ~ 4 | cwax | we-exc caste] wil sm 50m Appendix 2 5 | cxsak! ap-enc caste] on Sa 20a 7 | onsig| aw-z/r unzt | n [Manufac-| Manufac- CABLE turer's specifi- cations | Note @) Wi foal axes number Ns 6. n: Number of axes of high accuracy scale F/B type. (2) Example of calculation $f overall lengtn of paste so. ©, @ cables: “With standard length and 3 efes PET 205 = on a AS(6) Inductosyn F/B type (1 micron) wR-sli-[[]-E31 Cable diagram Case of Inductosyn F/B type No.1 axis is shown. CABLE CLAM caste CLAMP cant OMIA test acts enero sade oRstCED (aster te pecageash 3 aot Gspter Hy ecesaph 1ul.4) . ® Seesaw 2 Ge | ome | one A'D BOKIMHLOQOIAm/PI ONE Na cual I . SONI hnseisse e _O—a maesissa ie rast On i= users application Coat [oer COLE ‘cui [aoa CABS [ WHT | oom] fang eae a T oar [ene coo i |] + 3] ® cra | a-a/D CBE |e Te To [aro pom came [a 20: | _Ap sie cate |e 20m, | _ ao ome cau = 7205 3) pascate ame [= Bese Wore (2); Total anes amber FE Tere ae 0 ee er te mae. 0, Sn Gand Rat ee 0. 0 es fmag ewe nln oy oe ERA REAPPENDIX 1 CABLE CONNECTION APPENDIX 1.1 CABLE DIAGRAM (7) absolute position detection type (1 micron, motor end detection) va-sia-(1}-233 cable diagram Case of absolute position detection type No.1 axis is shown. seam _f) some Ro he Yost sate servo ssplitler ors.) Chater co paragzay Gapter 2 peek Phe) ie Appiisation | Q'ty |fctaeh | Tengen | for"spocteteatlend™ z McP-au@ CABLE] 2 | 3m | 30m 2 ‘PPE Cable] wa | 05a | Tongth” 3 CABLE END | = Appendix 2 @ Se 5m 5 meee cass] a | = 50a Note (1) W; Tovel axes number ¥ = 6, Ae? Gateulation of overall length of parts No. @, @_cabtes: BSS wav osmAPPENDIX 1 CABLE CONNECTION APPENDIX 1.1 CABLE DIAGRAM (8) Absolute position, ball screw end detection type (1 micron) mm-sit{}233 cable diagran Case of absolute position, ball screw end detection type No.1 axis is shown. CABLE CLAMP CABLE CLAMP, SABLE CLAM / ae. ier oaRsn.o735 [* mge me ts sawxc rile BALL scaew Sonssie Abeolure vale devector teas Cable | Appilcation | Q'ty [Standard | vax. | Eeference paragraph Bane Genges | lengen | for epecisleatfons 1 | eauaa [Mop-aur caste] 2 | Sm | som 2 | emai [aw-aw capte| wa | os | length’ 3 | Rese | caBLE END 7[_- z Appendix 2 «| eax [awe-mic caste| w | sa 30m 3 | cwsax | awr-anc caLE) a | Sm 50m Note (1) MN: Total axes nusber Ws 6. nr Number of axes of absolute position, ball screw end detection type (2) Calculation of overall length of parts No. @, @) cables: ix 5+ QT)’ Os (a) AeAPPENDIX 1 CABLE CONNECTION APPENDIX 1.1. CABLE DIAGRAM (9) Standard type (1 micron, motor shaft end detection) me-siz{}801 cable diagran Case of high accuracy type No.1 exis is shown. : Loe owt (PH ews NBOONC 4 MR-se-o- | WR=S2-O-E01 cuts {fess wees a CAP 4 remteee 102 [[ faz ane | 2 CSE Eee over 7 Ci segs eeetin. ce ain SLE he 1.0 { + MR-so ie ORI Part| Cable| Application [Q'ty |Standard| Mex. Reference paragraph Bot" | Sane face | bsen | EeePipeetebesefoad 1 [cuni| wena fa | ae SME Glaus sea eiaceit 2 [cami | wo-me cass [xa | oan | fete sppendix 2 > [ae fas fap . + [ew [weave cats | w [se | sem Note (1) Ns Total axes number N < 6. (or M$ 4 with MS10 NC) K: Units of servo amplifiers (2) Example of calculation of overall length of parts tio. @, @ cables: With standard length see Lx 5 + (Kel) x 0.5 (m) . (3) Following relation must be established: L axis motor capacity = Maxis motor capacity.APPENDIX 1 CABLE CONNECTION APPENDIX 1.1 CABLE DIAGRAM ——— (20) High accuracy type (submicron, motor ‘shaft end detection) mm-si2{_} 833 Cable diagram Case of total axes high accuracy type is shown. [igh accoraey deteccor caBR25K 1x came cae See | x Gout fogs Maxsucones | / 7 wsoose UT u ova [| SZ Ose y } lop noes wtp comesiee wows ht Get REESE SS 1 pesst eace Pe Gierter E"bossemape 1.1.0) [Jone High accuracy detector axle come LN? eaot eact | OAERDSK-1x Sree TT] om pocccnen a Gow ton | 7 fo weesa | t eer lion or moter wise commecstes, r ys 1 Gee peng ae 1 ral A SESE Raeap 1.1.0 I | 1 o— 1 2h LOM _ thous i wo" Reso I i 1 fon "| Oars. _ al Part] Cable] Application |Q°ty |Standerd| Max. | Reference paragraph No. | name Tengeh | length | Zor specigications 2 | cami | Moe-aMe or 1 sa | STE-AMP CABLE son 2 | cans | awe-ae caste | x-1 | 0.5n | Tengen 3_| apse | CABLE END 2 : ~ Appendix 2 4 | one | we-enc caste | we [om 50m 5_| oussx[ ame caste | a sa 0m Note (1) Nr Total axes number NS 6. (or NS 4 with M310 NC) a: Number of axes of high accuracy type. Ki Units of servo amplifier (2) Example of calculeticn of overall length of parts No. @, gables: With standard length ... 1 = 5 + (K-1) x 0.5 (am) (3) The following relation must be established: L axis motor capacity 2M axis motor capacity. A-10APPENDIX 1 CABLE CONNECTION APPENDIX 1.1. CABLE DIAGRAM -.). (11) Ball screw end detection type (1 micron) wR-S12{_]}531 Cable diagram Case of ball screw end detection type No.1, 2 axes is shown. Me toate oon CABLE CLUE 4 OUR (Ustrestactons waar ae texte) cable| Application [Q*ty |Standard | Max. Reference paragraph rane length | length | for specifications 1 | cai) Mcp-aw or 1 ‘sm SIF-AMP CABLE 30m overall, 2 | cavai| amp-amp casts | x1] 0.5m | length 3. | RFS« | CABLE END 2 = - Appendix 2 4 | cwax | amp-znc caste |W Sm ‘50m 6 | cnawx| ame-enc casts | a ‘Sm 50m Note @) Ws Gotal axes aunber W 4 6, Bi flumber of axse of ball screw end detection type. EL Unies of servo amplifiers (2) Example of calculation of overall length of parts No. @, Gables: ties scandaré length... 2 ¢5 ¢ (Kel) x 005 a) (3) fhe following re PM ands mover capacity. Au ‘tion must be established: L axis motor capacity| APPENDIX 2 CABLE CONNECTION APPENDIX 1.1. ‘CABLE DIAGRAM (12) Seale F/B type (1 micron) vg-si2}-#31 Cable diagran Case of scale F/B type No.1, 2 axes is shown. 1 dadleaees she extte | toe] xe Cow wa- giz-D- 31 = Jon seo a Last carer | Fart| Cable] Application |Q’ty| Standard] Mex. | Reference paragraph No. | name Tenges | length | for specifications 2 | cua) wor-me oF 1 Sa STF-AMP CABLE 30m overall 2 | cama[ ae-ae casts [K-12] 0.5m | lengen Appendix 2 3 | RFS4 | CABLE EXD 1 z = 4 | owex | aren caste | © Sa 30m 7 | cwsau) avp-r/e unit | a | Manufac- | Manufac- caBLe: turer's | turer's Option specigi- | specifi- is cations | cations Note (1) Nr Total axes number N< 6. ni Number of axes of scale £/3 type. E: Units of servo amplifiers (2) Example of calculation of overall length of parts No. ©, @ cables: With standard length ... 1 x 5 + (K-1) x 0.5 (a) (3) The following relation must be establiched: L axic motor capacity 2M axis motor capacity. Ae12APPENDIX 1. ‘CABLE CONNECTION APPENDIX 1.1 CABLE DIAGRAM (23) High accuracy scale F/B type (sulmicron) M-si2{_1E33 Cable diagran Case of high accuracy scale F/B type No.1 exis is shown. igh accersey detector HERSEK acts motor Lo {| wz Gown ff), Rasen es 8...(5 woe WF | go ons A Te wazase_| Part] Cable | Application |Qrty| Standard] Max. Reference paragraph No. | name Tengeh | length | for specifications 2 | cana | mca o= 2 Sa STFAM? CABLE 30m overall 2 | cama | ap-amp caste | K-1| o.sm | lengen Appendix 2 3__| ares | caBLE END 1 7 ~ | cuax | aw-anc caste | wal sm 50m S| onssx| anp-zuc case | 2 Sm 20m 7 CN318 | AMP-1/F UNIT a | Manufac- | Manufac- CABLE turer’s | turer's option specifi- | specifi- cations | cations Note (1) N: Total axes number N< 6. n: Number of axes of high accuracy scale F/B type. K: Units of servo amplifier (2) Example of calculation of overall length for parts No. @), cables: With standard length Lz 5 + (K-1) x 0.5 Gi) (3) The following relation must be established: L axis motor capacity 2x axis motor capacity. ansAPPENDIX 1 CABLE CONNECTION APPENDIX 1.1 CABLE DIAGRAM ee (24) Inductosyn F/B type (1 mitron) me-sii{7}#31 Cable diagran Case of Inductosyn F/B type of micron/P with No. 1, 2 axes is shown. CLE CLM Low ik Dewar {fo weos12-D~ 3 soon 1033 { voll 35312 art cme Ae 1k + JNSP21-28¥ 007 cea TB TCC .|A/0 BOK(GHT=0.cot—a/P Xe NL loaa_cxai + s0N8! + JuSP13.5F ® + JysP13.-5i See eects [eo [Rae] ea [EP aRLEEE fe |e oe] 2 [emai] menue caste] Ei | O38 | Seseee Suse peste Tf] tpn 2 [er [ara aos} “y] ata [epi aay wes] =] a} ie] a Ream S| = —= ici sse sues 2 ems oe 12 | _A/D oa caBLE: = 20a _| Yelustosy, Sovesber 3 TPA-SCALE CABLE: = oa Wore (1) Wr focal ange amber Ba 6, Bi Bapber of anes of Endetionrs 20 expe. Eneaple of eistatits e€ overall tapch for parts ter ©, © @ ioe of overs ce o ggblesr (Wish seandard Lengeh ... Tr ¢ 0.5'5 Gil) = gy Ete ea Teste aan aeeseary of Edatzoiys eee G2) TheFecifoviog setacion suse be cecblisted, L axis Soier capacity PM axis aouer capacity. AelsAPPENDIX 2 ‘CABLE CONNECTION APPENDIX 1.1 GABLE DIAGRAM eK (15) Absolute position detection type (1 micron, motor shaft end detection) me-si2{™}-233 cable diagram Case of absolute position detection type No. 1, 2 axis is shown. Abscluce waive deceecor tacts em be i Cs case cue | ~ | Eber | ~~ Dou {I = ous t 7 veoore 4 vena SLL O23 7] toy ae igs emacs, a sete ets eee wen. Os, SESPESSTIO {fons seas wean dsnetor CABLE CLAP ‘RG201 card (CHERET 1 an * cs seectis sccnce, rm ESRF Ea an Part] cable | Application [Qty [standard | waz. Beference paragraph Bor’ | name iengeh | length | for specitteateons cons [ercne emis [a | a | aoa 2 | ani | ap-ae case | m2 [osm | Senees 3 ‘RFS4 | CABLE END 1 - - Appendix 2 od ee 50a 5 | cin] apc caus [a |= soe Note (1): Total exes number Ns 6. (or HS with MSI0 NO) Nusber of axes of absolite position detection type. Er Unite of servo angiitier (2) Exempie ‘of calculation of cverail length of parts Yo. ©, © cables: 2x 5 ¢ (Kei) x Os (a) (3) The following elation mist be established: 1 axis motor capecity 2M axis motor capacity. ALSAPPENDIX 1. CABLE CONNECTION APPENDIX 1.1. CABLE DIAGRAM (16) Absolute position, ball screw end detection type (1 micron) wm-si2{—}233 Cable diagram Case of absolute position, ball screw end detection type No.1, 2 axes are shown. Loe| 008 pare [cable | application [@'ey |seandard | vex. peregrer® io. [name ength a _feamaa |mcp-ave castz | 2 Sa 2 [emma | ap-awe casts | x-1| 0.50 3 [RFsé | caBLE ED 1 = = Appendix 2 4 [ewex [amp-anc cate | Sa ‘som 3 [ows |amp-anc case | Sa ‘Som Tota] Gy We gotal exes mocber WS 6 n: Number of axes of absolute position, ball screw end detection ee 2) Hanpie'of celzcletion of overall length of ©. (2) Elampts'of cb izsietlon of sverell length of parts No. cables: 1x 5 + (N-1) x 0.5 (m) s 7 fy ae Eodicdad Polatlas let Be Bhatia 2 ania ear capaci Py ee A-16APPENDIX 2 CABLE SPECIFICATION ss APPENDIX 2 CABLE SPECIFICATION Name cama Continued MCP-AMP CABLE caMaa of MoP is connected to GNIA of AMP. AMP-AMP CABLE CNIB of the AMP is con- nected to CNA of the NEXT Ae. Mw BEL eels tobe d Be tek Beaerenane ALT| aPpenDrx 2. CABLE SPECIFICATION Name Cable specification caMaa Continued beget ° Note (1) Fo: the standard length end the maximum length, see the cable system diagram. (2) The shape of the left portion of the CAMi1 Cable is the same as that of the right portion ESS CABLE END This connector is inserted into GyaB of the last AP.Detector cable x 2 CABLE SPECIFICATION AMP-ENC CABLE (OSESK/OSE5K-ET) Wane Gable specification | Wes she cable Ieaguh sages Sm ViSa eo depligier side Decector side CHEE Mi MS (on2Ri - 6) nel i (onsiRa - 6) 4 AMP-ENC CABLE 3 M4 15 16 ire ee 19 10 us 5 care ROS Bosstng — MPRIOMOL consace— MRPAMIOZ (Boats) ‘Beeeezesien| Gasp MSMOE7-I2A oeaie pe DPEVSB 12P%0.250 (Gstkeht Desks) mas Signal name (reference) 7 [= 1 [ OS aes pet fas [eee 3pm, 16 [20 epee POL yee ES s]as 16 [Fr 12] 2 6 [as 13 [Pre Ble 7 [os FE + BFOI card GN2 ~ OSE-5K A-19AMP-ENC CABLE APPENDIX 2 CABLE SPECIFICATION wea Gale specification onase ume. - —" ~y foo (ons3R1 - 6) tity 2 ci + t sone cant me 3{—-H us mutt ir : 1 « t , u : ‘ , : 2 Comseceoz ¥SSI00B22-145(Japen Aviation Glese essosraiza | AESoniee) ESSE expe FeDrvVsassor7ex0.259 Goatieet Deakod. ope Ey treo Standard L = $2, Mextman b= 20 = Nsticsis 4-20APPENDIX 2 CABLE SPECIFICATION AMP-ENC CABLE (OSESKN/OSESKN-ET[_ONLY) Name Cable specification evan Ta] mente ae (onan = 6) B hemi é conawea = 6) 5 | ee mans F | ansing MRP2ONO! 18 ccataet = MRP-M102 Va | eas 2-880 CABLE x E lpasiclocwae x 1A | ean srs P| me MSoIrI2A Gages Aviazion Bice cate) scabie sree FDPEVSB 12°02SQ (Dattekt Desko} Signal name (reference) + RGLOL card CN2 = OSE SKN Tyee eT zfs oS tal 3 [ee 2 [eR a [rom et 3 ]R5 apy PIES 6 [Ps re IE 7 fox 20] $6 scncs7i A-21APPENDIX 2 CABLE SPECIFICATION ‘AMP-I/F UNIT CABLE Name ons2z (cwsigi - cNs1H6) AMP-1/F UNIT CABLE| ns |e pase) Ue ot ae ce pease 5 | pease cz posse Jz pases oo eye 2 = a+ 12 +5V/(45¥) T Case — MR-20L5 Housing MRP-20MoL Contact MRP-MLOZ Signal name (rei T [a aE aps zfs} Tis ee 3 [ram 16 2 ma 7 ry 3 8 2 é 2 fae 7 ko 20 [eo sss) For details of the mate plug, contact the scale maker. ote) The output aapactsy of PS te 250 at, max.AMP-A/D CABLE Name APPENDIX 2 CABLE SPECIFICATION Cable specification corsa, consna, - cnsams) AMB-A/D CABLE PAR 13. : PAR 4 Py Pee 5 Pee 2 wot ” ris PR oxo. oxo ao sc mot Note 1) The above wiring is an example of the use of AID converter. Case MB-20L5 (Honda) Housing MaP-20¥01 Contact MaP-Mi0z cable type FLDPEVSB 12Px0.28Q re (Daiichi Denko} were) 9 Qe Ls < OF} tempest Since the mate plug JMSP21-16 is attached to the inductsyn Signal name (reference) system, the plug is not + RL ere CL wo cy % a os 3 = 2 ry 7 Ty 7 7 a5, 7 % w a Pa 20 Provided. (2 of Anductaye 4/0 ae Ph Ge 4) (nee (6) PE me (0) st 22) TA C13) 788 cas) oa (6) 082 Standard b= 5 Maxine = 205 Aa23APPENDIX. 2 CABLE SPECIFICATION 20-pin Square Connector (Honda) (2) Connector case MR20L5 ro ‘Migheesed by band. 0 60) ss (2) Connector case MR-20L 28 sation space for he / Sireeisines Es seguased. (3) Soldering type connector wR-20" MR-20F joldering type/male connecto- Soldering type/fenale connector ‘2— 28— 2o2.8¢ (——4) oJ) % D An24APPENDIX 2 CABLE SPECIFICATION (4) Soldertess type connector MRP-20M01 MRP-20FO1 Bolderiess type/male tnsulater [Solderless type/female insulator He 2-2.8$ 22.88 { su | =a J = wep vio2, wap-F1l2 Female contact * The special solderless tool is required. ‘The sexvo amplifier and motor are not provided with the connectors and cables. A-25FICATION Connector for Detector (Japan Avia (2) angular plug H53108320-285 %* Key position of Cannon connector: motor flange direction (2) Streight plug Ms310sB20-295 aavessuner-26 183 431.3. Salety bole m3 4.9 The servo amplifier and the motor are not provided with the connectors and the cables. A-26APPENDIX 2 CABLE SPECIFICATION Connector for Detector (Japan Aviation Electronics) (4) Angular plug MS3108522-145 1-3/8-1SUNEF-28 18.3 [J sesery none * Key position of Cannon connector: motor flange direction (2) Straight plug MS3106822-148 syssuer2s 183 1-/16-18UNEE-24 $40.5 Sefecy bole ‘The servo amplifier and the motor are not provided with the connectors and the cables.APPENDIX 2 CABLE SPECIFICATION Cable Protection Tube When the effects of noise cannot be prevented or the noise-proof property is improved, the following metel tube should be selected and the signal cable should be passed to the tube. This tube is also used when the cable sheath ic cut or abraded by a cutting chip. In addition, on the detector side, the cable clamp MS3057 cannot be mounted. When the cables are exposed to bending and vibration, the cable may be broken. As the cable type 0.2 SQ cannot be used, a cable type whose conductor area is large should be used. The shield cable or the twist cable should be selected according to the instructions of Mitsubishi. Tlie Tasgis of eee @ over danector a 5 ® = eytesauner-c8 Table 5-4 Exemple of selection Cececter © nm varateccerer @) teplifies side | Wemting serew [ @ oer tecuor rut rass30e (seraigns) cue Gabe wise sate | eease (OS) ae eoetoe-as022 epee Flex WE ated Belo Gey ae Petea mabe coats aa sou emt | EEGs sczo-i7 sestet 5/8 het slaawy 20-17 cSersists) | tired atameser mae rar |e Geo Bei] moczoat7 Batwa Desayo RE GOST BS Blea | meen euasmnes ai Ga A-28,APPENDIX 2 CABLE SPECIFICATION Cable Clamps Mount the eart! plate near the servo amplifier, peel the cable sheath, and ss the peeled shield cable to the earth plate using the cable clamp. When the cable is thin, clamp several cables. For details about precautions ageinst noise, see 4-1 (5). ico os Saselé outer beach Clamping area view The earth plate D and cable clamps A and B are supplied by Mitsubishi. Barth plate (D) ex Gable clamp external drawing al drawing = z R 240.3) le 2 srold be connecrad berwean cablaer east pistes z A css be used. Ysa fleeing 4) TO © Screw tole for vising to 3 Yrs Hesing 3] A-29