MITSUBISHI CNC

MDS-D/DH Series
Instruction Manual

IB-1500025(ENG)-A
MELDAS is a registered trademark of Mitsubishi Electric Corporation.
Other company and product names that appear in this manual are trademarks or registered
trademarks of their respective companies.
 Introduction

Thank you for selecting the Mitsubishi numerical control unit.

This instruction manual describes the handling and caution points for using this AC
servo/spindle.
Incorrect handling may lead to unforeseen accidents, so always read this instruction
manual thoroughly to ensure correct usage.
Make sure that this instruction manual is delivered to the end user.
Always store this manual in a safe place.
All specifications for the MDS-D/DH Series are described in this manual. However, each
CNC may not be provided with all specifications, so refer to the specifications for the
CNC on hand before starting use.

Notes on Reading This Manual

(1) Since the description of this specification manual deals with NC in general, for the
specifications of individual machine tools, refer to the manuals issued by the
respective machine manufacturers. The "restrictions" and "available functions"
described in the manuals issued by the machine manufacturers have precedence
to those in this manual.
(2) This manual describes as many special operations as possible, but it should be
kept in mind that items not mentioned in this manual cannot be performed.
 Precautions for safety

Please read this manual and auxiliary documents before starting installation, operation,
maintenance or inspection to ensure correct usage. Thoroughly understand the device, safety
information and precautions before starting operation.
The safety precautions in this instruction manual are ranked as "WARNING" and "CAUTION".

When there is a potential risk of fatal or serious injuries if

DANGER handling is mistaken.

When operator could be fatally or seriously injured if handling

WARNING
is mistaken.

When a dangerous situation may occur if handling is mistaken

CAUTION leading to medium or minor injuries, or physical damage.

Note that some items described as CAUTION may lead to major results depending on
the situation. In any case, important information that must be observed is described.

The numeric control unit is configured of the control unit, operation board, servo drive unit,
spindle drive unit, power supply unit, servomotor and spindle motor, etc.

In this section "Precautions for safety", the following items are generically called the
"servomotor".
• Servomotor
• Spindle motor
In this section "Precautions for safety", the following items are generically called the "servo
drive unit".
• Servo drive unit
• Spindle drive unit
• Power supply unit
 WARNING
1. Electric shock prevention
Do not open the front cover while the power is ON or during operation. Failure to observe this
could lead to electric shocks.

Do not operate the unit with the front cover removed. The high voltage terminals and charged
sections will be exposed, and can cause electric shocks.

Do not remove the front cover even when the power is OFF unless carrying out wiring work or
periodic inspections. The inside of the units is charged, and can cause electric shocks.

Wait at least 15 minutes after turning the power OFF before starting wiring, maintenance or
inspections. Failure to observe this could lead to electric shocks.

Ground the servo drive unit and servomotor with Class C (former class 3) grounding or higher.

Wiring, maintenance and inspection work must be done by a qualified technician.

Wire the servo drive unit and servomotor after installation. Failure to observe this could lead to
electric shocks.

Do not touch the switches with wet hands. Failure to observe this could lead to electric shocks.

Do not damage, apply forcible stress, place heavy items on the cables or get them caught.
Failure to observe this could lead to electric shocks.

CAUTION
1. Fire prevention
Install the servo drive units, servomotors and regenerative resistor on noncombustible
material. Direct installation on combustible material or near combustible materials could lead
to fires.
Shut off the power on the servo drive unit side if the servo drive unit fails. Fires could be
caused if a large current continues to flow.
When using a regenerative resistor, provide a sequence that shuts off the power with the
regenerative resistor's error signal. The regenerative resistor could abnormally overheat and
cause a fire due to a fault in the regenerative transistor, etc.
The battery unit could heat up, ignite or rupture if submerged in water, or if the poles are
incorrectly wired.

2. Injury prevention
Do not apply a voltage other than that specified in Instruction Manual on each terminal. Failure
to observe this item could lead to ruptures or damage, etc.
Do not mistake the terminal connections. Failure to observe this item could lead to ruptures or
damage, etc.
Do not mistake the polarity ( + , – ). Failure to observe this item could lead to ruptures or
damage, etc.
The servo drive unit's fins, regenerative resistor and servomotor, etc., may reach high
temperatures while the power is ON, and may remain hot for some time after the power is
turned OFF. Touching these parts could result in burns.
 CAUTION
3. Various precautions
Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and
electric shocks, etc.
(1) Transportation and installation
Correctly transport the product according to its weight.

Use the servomotor's hanging bolts only when transporting the servomotor. Do not transport
the servomotor when it is installed on the machine.

Do not stack the products above the tolerable number.

Do not hold the cables, axis or detector when transporting the servomotor.

Do not hold the connected wires or cables when transporting the servo drive units.

Do not hold the front cover when transporting the servo drive units. The unit could drop.

Follow this Instruction Manual and install in a place where the weight can be borne.

Do not get on top of or place heavy objects on the unit.

Always observe the installation directions.

Secure the specified distance between the servo drive unit and control panel's inner wall, and
between other devices.

Do not install or run a servo drive unit or servomotor that is damaged or missing parts.

Do not block the intake or exhaust ports of the servomotor provided with a cooling fan.

Do not let foreign objects enter the servo drive units or servomotors. In particular, if
conductive objects such as screws or metal chips, etc., or combustible materials such as oil
enter, rupture or breakage could occur.

The servo drive units and servomotors are precision devices, so do not drop them or apply
strong impacts to them.
 CAUTION

Store and use the units under the following environment conditions.

Conditions
Environment
Servo drive unit Servomotor
Ambient temperature 0°C to +55°C (with no freezing) 0°C to +40°C (with no freezing)
90%RH or less 80% RH or less
Ambient humidity
(with no dew condensation) (with no dew condensation)
Storage temperature -15°C to +70°C
Storage humidity 90%RH or less (with no dew condensation)
Indoors (where unit is not subject to direct sunlight),
Atmosphere with no corrosive gas, combustible gas, oil mist,
dust or conductive particles
Altitude 1,000m or less above sea level
To follow each unit and motor
Vibration 4.9m/s2 (0.5G) or less
specifications

Securely fix the servomotor to the machine. Insufficient fixing could lead to the servomotor
slipping off during operation.

Always install the servomotor with reduction gear in the designated direction. Failure to do
so could lead to oil leaks.

Structure the rotary sections of the motor so that it can never be touched during operation.
Install a cover, etc., on the shaft.

When installing a coupling to a servomotor shaft end, do not apply an impact by

hammering, etc. The detector could be damaged.

Do not apply a load exceeding the tolerable load onto the servomotor shaft. The shaft
could break.

Store the motor in the package box.

When inserting the shaft into the built-in IPM motor, do not heat the rotor higher than
130°C. The magnet could be demagnetized, and the specifications characteristics will not
be ensured.

If the unit has been stored for a long time, always check the operation before starting
actual operation. Please contact the Service Center or Service Station.
 CAUTION
(2) Wiring
Correctly and securely perform the wiring. Failure to do so could lead to runaway of the
servomotor.

Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of
the servo drive unit.

Correctly connect the output side (terminals U, V, W). Failure to do so could lead to abnormal
operation of the servomotor.

Do not directly connect a commercial

power supply to the servomotor. Failure Servodrive unit Servodrive unit

to observe this could result in a fault. COM COM

(24VDC) (24VDC)

When using an inductive load such as a

relay, always connect a diode as a noise Control output Control output
RA RA
measure parallel to the load. signal signal

When using a capacitance load such as a lamp, always connect a protective resistor as a
noise measure serial to the load.

Do not reverse the direction of a diode which connect to a DC relay for the control output
signals to suppress a surge. Connecting it backwards could cause the drive unit to malfunction
so that signals are not output, and emergency stop and other safety circuits are inoperable.

Do not connect/disconnect the cables connected between the units while the power is ON.

Securely tighten the cable connector fixing screw or fixing mechanism. An insecure fixing could
cause the cable to fall off while the power is ON.

When using a shielded cable instructed in the connection manual, always ground the cable with
a cable clamp, etc.

Always separate the signals wires from the drive wire and power line.

Use wires and cables that have a wire diameter, heat resistance and flexibility that conforms to
the system.
 CAUTION
(3) Trial operation and adjustment

Check and adjust each program and parameter before starting operation. Failure to do so could
lead to unforeseen operation of the machine.

Do not make remarkable adjustments and changes as the operation could become unstable.

(4) Usage methods

Install an external emergency stop circuit so that the operation can be stopped and power
shut off immediately.
Turn the power OFF immediately if smoke, abnormal noise or odors are generated from the
servo drive unit or servomotor.
Unqualified persons must not disassemble or repair the unit.
Never make modifications.
Reduce magnetic damage by installing a noise filter. The electronic devices used near the
servo drive unit could be affected by magnetic noise.
Use the servo drive unit, servomotor and regenerative resistor with the designated combination.
Failure to do so could lead to fires or trouble.
The brake (magnetic brake) assembled into the servomotor is for holding, and must not be used
for normal braking.
There may be cases when holding is not possible due to the magnetic brake's life or the
machine construction (when ball screw and servomotor are coupled via a timing belt, etc.).
Install a stop device to ensure safety on the machine side.
After changing the programs/parameters or after maintenance and inspection, always test the
operation before starting actual operation.
Do not enter the movable range of the machine during automatic operation. Never place body
parts near or touch the spindle during rotation.
Follow the power supply specification conditions given in the separate specifications manual for
the power (input voltage, input frequency, tolerable sudden power failure time, etc.).
Set all bits to "0" if they are indicated as not used or empty in the explanation on the bits.
Do not use the dynamic brakes except during the emergency stop. Continued use of the
dynamic brakes could result in brake damage.
If a breaker is shared by several power supply units, the breaker may not activate when a
short-circuit fault occurs in a small capacity unit. This is dangerous, so never share the
breakers.
 CAUTION
(5) Troubleshooting
If a hazardous situation is predicted during power failure or product trouble, use a servomotor
with magnetic brakes or install an external brake mechanism.
Use a double circuit configuration Shut off with the servomotor Shut off with NC brake
that allows the operation circuit for brake control output. control PLC output.

the magnetic brakes to be operated Servomotor

MBR EMG
even by the external emergency
stop signal. Magnetic 24VDC
brake

Always turn the input power OFF when an alarm occurs.

Never go near the machine after restoring the power after a power failure, as the machine
could start suddenly. (Design the machine so that personal safety can be ensured even if the
machine starts suddenly.)

(6) Maintenance, inspection and part replacement

Always carry out maintenance and inspection after backing up the servo drive unit's programs
or parameters.

The capacity of the electrolytic capacitor will drop over time. To prevent secondary disasters
due to failures, replacing this part every five years when used under a normal environment is
recommended. Contact the Service Center or Service Station for replacement.

Do not perform a megger test (insulation resistance measurement) during inspections.

If the battery low warning is issued, save the machining programs, tool data and parameters
with an input/output unit, and then replace the battery.

Do not short circuit, charge, overheat, incinerate or disassemble the battery.

(7) Disposal
Treat this unit as general industrial waste. Note that MDS Series unit with a heat dissipating
fin protruding from the back of the unit contains substitute Freon. Do not dispose of this type
of unit as general industrial waste. Always return to the Service Center or Service Station.

Do not disassemble the servo drive unit or servomotor parts.

Dispose of the battery according to local laws.

(8) General precautions

The drawings given in this Specifications and Maintenance Instruction Manual show the covers and
safety partitions, etc., removed to provide a clearer explanation. Always return the covers or partitions to
their respective places before starting operation, and always follow the instructions given in this manual.
 CONTENTS

1. Installation
1-1 Installation of servomotor..................................................................................................... 1-2
1-1-1 Environmental conditions .............................................................................................. 1-2
1-1-2 Quakeproof level............................................................................................................ 1-3
1-1-3 Cautions for mounting load (prevention of impact on shaft) ......................................... 1-4
1-1-4 Installation direction ....................................................................................................... 1-4
1-1-5 Shaft characteristics ...................................................................................................... 1-5
1-1-6 Oil/water standards........................................................................................................ 1-6
1-1-7 Cable stress ................................................................................................................... 1-8
1-2 Installation of spindle motor ................................................................................................. 1-9
1-2-1 Environmental conditions .............................................................................................. 1-9
1-2-2 Shaft characteristics .................................................................................................... 1-10
1-3 Installation of the control unit ............................................................................................. 1-11
1-3-1 Environmental conditions ............................................................................................ 1-11
1-3-2 Installation direction and clearance ............................................................................. 1-12
1-3-3 Prevention of entering of foreign matter...................................................................... 1-12
1-3-4 Panel installation hole work drawings (Panel cut drawings)....................................... 1-13
1-3-5 Heating value............................................................................................................... 1-14
1-3-6 Heat radiation countermeasures ................................................................................. 1-15
1-4 Noise measures ................................................................................................................. 1-17

2. Wiring and Connection

2-1 Part system connection diagram ......................................................................................... 2-3
2-2 Main circuit terminal block/control circuit connector............................................................ 2-4
2-2-1 Names and applications of main circuit terminal block signals and control circuit
connectors ..................................................................................................................... 2-4
2-2-2 Connector pin assignment............................................................................................. 2-5
2-3 NC and drive unit connection .............................................................................................. 2-8
2-4 Motor and detector connection .......................................................................................... 2-11
2-4-1 Connecting the servomotor ......................................................................................... 2-11
2-4-2 Connecting the full-closed loop system....................................................................... 2-14
2-4-3 Connection of the spindle motor.................................................................................. 2-17
2-5 Connection of power supply .............................................................................................. 2-18
2-5-1 Power supply input connection ...................................................................................... 2-19
2-5-2 Connecting the grounding cable.................................................................................. 2-22
2-6 Wiring of the motor brake .................................................................................................. 2-23
2-6-1 Wiring of the motor magnetic brake ............................................................................ 2-23
2-6-2 Dynamic brake unit wiring ........................................................................................... 2-25
2-7 Peripheral control wiring .................................................................................................... 2-26
2-7-1 Input/output circuit wiring............................................................................................. 2-26
2-7-2 Spindle coil changeover .............................................................................................. 2-27
2-7-3 Safety observation function ......................................................................................... 2-30
2-7-4 Wiring of an external emergency stop......................................................................... 2-33
3. Setup
3-1 Initial setup ........................................................................................................................... 3-2
3-1-1 Setting the rotary switch ................................................................................................ 3-2
3-1-2 Setting DIP switch.......................................................................................................... 3-3
3-1-3 Transition of LED display after power is turned ON...................................................... 3-3
3-2 Setting the initial parameters for the servo drive unit .......................................................... 3-4
3-2-1 Setting the standard parameters ................................................................................... 3-4
3-2-2 List of standard parameters for each servomotor ......................................................... 3-9
3-2-3 Servo parameter list..................................................................................................... 3-17
3-3 Setting the initial parameters for the spindle drive unit ..................................................... 3-34
3-3-1 Spindle specification parameters ................................................................................ 3-34
3-3-2 List of spindle parameters ........................................................................................... 3-41

4. Servo Adjustment
4-1 D/A output specifications for servo drive unit ...................................................................... 4-2
4-1-1 D/A output specifications ............................................................................................... 4-2
4-1-2 Output data settings....................................................................................................... 4-3
4-1-3 Setting the output magnification .................................................................................... 4-3
4-2 Servo adjustment procedure ............................................................................................... 4-4
4-3 Gain adjustment................................................................................................................... 4-5
4-3-1 Current loop gain ........................................................................................................... 4-5
4-3-2 Speed loop gain............................................................................................................. 4-5
4-3-3 Position loop gain .......................................................................................................... 4-9
4-4 Characteristics improvement ............................................................................................. 4-12
4-4-1 Optimal adjustment of cycle time ................................................................................ 4-12
4-4-2 Vibration suppression measures ................................................................................. 4-14
4-4-3 Improving the cutting surface precision....................................................................... 4-17
4-4-4 Improvement of characteristics during acceleration/deceleration .............................. 4-20
4-4-5 Improvement of protrusion at quadrant changeover................................................... 4-23
4-4-6 Improvement of overshooting...................................................................................... 4-31
4-4-7 Improvement of the interpolation control path............................................................. 4-33
4-5 Adjustment during full closed loop control......................................................................... 4-35
4-5-1 Outline.......................................................................................................................... 4-35
4-5-2 Speed loop delay compensation ................................................................................. 4-36
4-5-3 Dual feedback control (Optional function) ................................................................... 4-37
4-6 Settings for emergency stop.............................................................................................. 4-39
4-6-1 Deceleration control..................................................................................................... 4-39
4-6-2 Vertical axis drop prevention control ........................................................................... 4-41
4-7 Protective functions............................................................................................................ 4-47
4-7-1 Overload detection....................................................................................................... 4-47
4-7-2 Excessive error detection ............................................................................................ 4-47
4-8 Servo control signal ........................................................................................................... 4-48
4-8-1 Servo control input (NC to V1/V2) ............................................................................... 4-48
4-8-2 Servo control output (V1/V2 to NC)............................................................................. 4-51
5. Spindle Adjustment
5-1 D/A output specifications for spindle drive unit ................................................................... 5-2
5-1-1 D/A output specifications ............................................................................................... 5-2
5-1-2 Setting the output data .................................................................................................. 5-2
5-1-3 Setting the output magnification .................................................................................... 5-3
5-2 Adjustment procedures for each control ............................................................................. 5-4
5-2-1 Basic adjustments.......................................................................................................... 5-4
5-2-2 Gain adjustment............................................................................................................. 5-5
5-2-3 Adjusting the acceleration/deceleration operation ........................................................ 5-8
5-2-4 Orientation adjustment ................................................................................................ 5-14
5-2-5 Synchronous tapping adjustment (For machining system)......................................... 5-17
5-2-6 Spindle C axis adjustment (For lathe system) ............................................................ 5-20
5-2-7 Spindle synchronization adjustment (For lathe system) ............................................. 5-23
5-3 Spindle control signal......................................................................................................... 5-25
5-3-1 Spindle control input (NC to SP) ................................................................................. 5-25
5-3-2 Spindle control output (SP to NC) ............................................................................... 5-30

6. Troubleshooting
6-1 Points of caution and confirmation ................................................................................................. 6-2
6-1-1 LED display when alarm or warning occurs.................................................................. 6-3
6-2 Protective functions list of units ........................................................................................... 6-4
6-2-1 List of alarms.................................................................................................................. 6-4
6-2-2 List of warnings .............................................................................................................. 6-8
6-3 Troubleshooting ................................................................................................................. 6-11
6-3-1 Troubleshooting at power ON ..................................................................................... 6-11
6-3-2 Troubleshooting for each alarm No............................................................................. 6-12
6-3-3 Troubleshooting for each warning No. ........................................................................ 6-35
6-3-4 Parameter numbers during initial parameter error...................................................... 6-37
6-3-5 Troubleshooting the spindle system when there is no alarm or warning ................... 6-38

7. Maintenance
7-1 Inspections ........................................................................................................................... 7-2
7-2 Service parts ........................................................................................................................ 7-2
7-3 Adding and replacing units and parts .................................................................................. 7-3
7-3-1 Replacing the drive unit ................................................................................................. 7-3
7-3-2 Replacing the unit fan .................................................................................................... 7-4
7-3-3 Replacing the battery..................................................................................................... 7-5
7-3-4 Replacing the fuse ......................................................................................................... 7-7

Appendix 1. Cable and Connector Specifications

Appendix 1-1 Selection of cable .............................................................................................. A1-2
Appendix 1-2 Cable connection diagram................................................................................. A1-3
Appendix 1-3 Main circuit cable connection diagram............................................................ A1-10
Appendix 1-4 Connector outline dimension drawings ........................................................... A1-11

Appendix 2. Compliance to EC Directives

Appendix 2-1 Compliance to EC Directives ............................................................................ A2-2
Appendix 2-1-1 European EC Directives.............................................................................. A2-2
Appendix 2-1-2 Cautions for EC Directive compliance ........................................................ A2-2
Appendix 3. EMC Installation Guidelines
Appendix 3-1 Introduction ........................................................................................................ A3-2
Appendix 3-2 EMC instructions ............................................................................................... A3-2
Appendix 3-3 EMC measures.................................................................................................. A3-3
Appendix 3-4 Measures for panel structure............................................................................. A3-3
Appendix 3-4-1 Measures for control panel unit................................................................... A3-3
Appendix 3-4-2 Measures for door ....................................................................................... A3-4
Appendix 3-4-3 Measures for operation board panel ........................................................... A3-4
Appendix 3-4-4 Shielding of the power supply input section................................................ A3-4
Appendix 3-5 Measures for various cables ............................................................................. A3-5
Appendix 3-5-1 Measures for wiring in panel ....................................................................... A3-5
Appendix 3-5-2 Measures for shield treatment..................................................................... A3-5
Appendix 3-5-3 Servo/spindle motor power cable................................................................ A3-6
Appendix 3-5-4 Servo/spindle motor feedback cable........................................................... A3-7
Appendix 3-6 EMC countermeasure parts .............................................................................. A3-8
Appendix 3-6-1 Shield clamp fitting ...................................................................................... A3-8
Appendix 3-6-2 Ferrite core .................................................................................................. A3-9
Appendix 3-6-3 Power line filter .......................................................................................... A3-10
Appendix 3-6-4 Surge protector.......................................................................................... A3-17

Appendix 4. Higher Harmonic Suppression Measure Guidelines

Appendix 4-1 Higher harmonic suppression measure guidelines........................................... A4-2
Appendix 4-1-1 Calculating the equivalent capacity of the higher harmonic generator ...... A4-3
 Contents for MDS-D Series SPECIFICATIONS MANUAL (IB-1500011)

1. Introduction .....................................................................1-1 5. Selection of peripheral devices ..................................... 5-1

1-1 Servo/spindle drive system configuration............1-2 5-1 Selection of wire ................................................. 5-2
1-1-1 System configuration .................................................1-2 5-2 Selection of no-fuse breaker and contactor ........ 5-3
1-2 Explanation of type..............................................1-3 5-2-1 Selection of no-fuse breaker......................................5-3
1-2-1 Servomotor type ........................................................1-3 5-2-2 Selection of contactor ................................................5-4
1-2-2 Servo drive unit type ..................................................1-5 5-3 Selection of earth leakage breaker ..................... 5-5
1-2-3 Spindle motor type.....................................................1-6 5-4 Circuit protector .................................................. 5-6
1-2-4 Spindle drive unit type ...............................................1-8 5-5 Noise filter........................................................... 5-7
1-2-5 Power supply unit type...............................................1-9 5-6 Surge absorber ................................................... 5-8
1-2-6 AC reactor type..........................................................1-10 5-7 Relay................................................................... 5-9
2. Specifications .................................................................2-1 Appendix 1. Outline dimension drawings.......................... A1-1
2-1 Servomotor..........................................................2-2 Appendix 1-1 Outline dimension drawings of servomotor
2-1-1 Specifications list .......................................................2-2 ............................................................ A1-2
2-1-2 Torque characteristics ...............................................2-4 Appendix 1-1-1 HF motor ...................................................A1-2
2-2 Spindle motor ......................................................2-6 Appendix 1-1-2 HP motor ...................................................A1-11
2-2-1 Specifications ............................................................2-6 Appendix 1-2 Outline dimension drawings of spindle motor
2-2-2 Output characteristics ................................................2-10 ........................................................................... A1-17
2-3 Drive unit .............................................................2-14 Appendix 1-3 Outline dimension drawings of unit..... A1-30
2-3-1 Servo drive unit..........................................................2-14 Appendix 1-3-1 Servo drive unit..........................................A1-30
2-3-2 Spindle drive unit .......................................................2-16 Appendix 1-3-2 Spindle drive unit .......................................A1-36
2-3-3 Power supply unit ......................................................2-17 Appendix 1-3-3 Power supply unit ......................................A1-41
2-3-4 AC reactor .................................................................2-18 Appendix 1-3-4 AC reactor .................................................A1-44
2-3-5 D/A output specifications for servo drive unit .............2-19
Appendix 2. Cable/Connector specifications .................... A2-1
2-3-6 D/A output specifications for spindle drive unit...........2-20
Appendix 2-1 Cable material..................................... A2-2
2-3-7 Explanation of each part ............................................2-21
Appendix 2-2 Cable connection diagram .................. A2-3
3. Characteristics................................................................3-1 Appendix 2-3 Main circuit cable connection diagram A2-9
3-1 Servomotor..........................................................3-2 Appendix 2-4 Connector outline dimension drawing. A2-10
3-1-1 Environmental conditions...........................................3-2
Appendix 3. Unit selection ................................................. A3-1
3-1-2 Quakeproof level .......................................................3-2
Appendix 3-1 Selection of the servomotor series ..... A3-2
3-1-3 Shaft characteristics ..................................................3-3
Appendix 3-1-1 Motor series characteristics .......................A3-2
3-1-4 Oil / water standards..................................................3-4
Appendix 3-1-2 Servomotor precision.................................A3-2
3-1-5 Magnetic brake ..........................................................3-5
Appendix 3-1-3 Selection of servomotor capacity ...............A3-3
3-1-6 Dynamic brake characteristics ...................................3-8
Appendix 3-1-4 Motor shaft conversion load torque............A3-6
3-2 Spindle motor ......................................................3-10
Appendix 3-1-5 Expressions for load inertia calculation ......A3-7
3-2-1 Environmental conditions...........................................3-10
Appendix 3-2 Selection of the power supply unit ...... A3-8
3-2-2 Shaft characteristics ..................................................3-10
Appendix 3-2-1 Selection procedures of the power supply
3-3 Drive unit characteristics .....................................3-11
unit capacity .................................... A3-8
3-3-1 Environmental conditions...........................................3-11
Appendix 3-2-2 Selection according to the rated capacity
3-3-2 Heating value.............................................................3-12
(Continuous rated capacity)............. A3-8
3-3-3 Overload protection characteristics............................3-13
Appendix 3-2-3 Selection with maximum momentary rated
4. Dedicated options...........................................................4-1 capacity ........................................... A3-9
4-1 Servo options ......................................................4-2
Appendix 4. Transportation restrictions for lithium batteries
4-1-1 Dynamic brake unit (MDS-D-DBU) (mandatory selection for
....................................................................... A4-1
large capacity)...........................................................4-3
Appendix 4-1 Transportation restrictions for lithium batteries
4-1-2 Battery option
............................................................ A4-2
(MDS-A-BT, FCU6-BTBOX, ER6V-C119B)...............4-5
4-1-3 Ball screw end detector Appendix 5. Compliance to EC directives......................... A5-1
(OSA105-ET2, OSA166-ET2) ...................................4-8 Appendix 5-1 Compliance to EC directives............... A5-2
4-1-4 Machine end detector ................................................4-9 Appendix 5-1-1 European EC directives .............................A5-2
4-1-5 Detector conversion unit (MDS-B-HR) .......................4-11 Appendix 5-1-2 Cautions for EC directive compliance ........A5-2
4-1-6 Signal divider unit (MDS-B-SD) .................................4-13
Appendix 6. EMC installation guidelines ........................... A6-1
4-2 Spindle options....................................................4-15 Appendix 6-1 Introduction ......................................... A6-2
4-2-1 Spindle end detector (OSE-1024-3-15-68) ................4-16
Appendix 6-2 EMC directives.................................... A6-2
4-3 Cables and connectors .......................................4-18
Appendix 6-3 EMC measures ................................... A6-3
4-3-1 Cable connection diagram .........................................4-18
Appendix 6-4 Measures for panel structure .............. A6-3
4-3-2 List of cables and connectors ....................................4-19
Appendix 6-4-1 Measures for control panel unit..................A6-3
Appendix 6-4-2 Measures for door......................................A6-4
Appendix 6-4-3 Measures for operation board panel ..........A6-4
Appendix 6-4-4 Shielding of the power supply input section
..................................................................A6-4
(Note) This is the content for SPECIFICATION MANUAL version B. The structure of section and page number may be different
other than version D.
 Contents for MDS-D Series SPECIFICATIONS MANUAL (IB-1500011)

Appendix 6-5 Measures for various cables .................A6-5

Appendix 6-5-1 Measures for wiring in panel ......................A6-5
Appendix 6-5-2 Measures for shield treatment....................A6-5
Appendix 6-5-3 Servomotor power cable ............................A6-6
Appendix 6-5-4 Servo/Spindle motor feedback cable..........A6-6
Appendix 6-5-5 Spindle motor power cable.........................A6-7

Appendix 6-6 EMC countermeasure parts ..................A6-8

Appendix 6-6-1 Shield clamp fitting.....................................A6-8
Appendix 6-6-2 Ferrite core ................................................A6-9
Appendix 6-6-3 Power line filter ..........................................A6-10
Appendix 6-6-4 Surge protector ..........................................A6-17

Appendix 7. Compliance with China Compulsory Product

Certification (CCC Certification) System ......A7-1
Appendix 7-1 Outline of China Compulsory Product
Certification System ............................A7-2
Appendix 7-2 First Catalogue of Products subject to
Compulsory Product Certification........A7-2
Appendix 7-3 Precautions for Shipping Products......A7-3
Appendix 7-4 Application for Exemption ...................A7-4
Appendix 7-5 Mitsubishi NC Product Subject to/Not
Subject to CCC Certification ...............A7-5

(Note) This is the content for SPECIFICATION MANUAL version D. The structure of section and page number may be different
other than version D.
 Contents for MDS-DH Series SPECIFICATIONS MANUAL (IB-150003)

1. Introduction .....................................................................1-1 5. Selection of peripheral devices ..................................... 5-1

1-1 Servo/spindle drive system configuration............1-2 5-1 Selection of wire ................................................. 5-2
1-1-1 System configuration .................................................1-2 5-2 Selection of no-fuse breaker and contactor ........ 5-3
1-2 Explanation of type..............................................1-3 5-2-1 Selection of no-fuse breaker......................................5-3
1-2-1 Servomotor type ........................................................1-3 5-2-2 Selection of contactor ................................................5-4
1-2-2 Servo drive unit type ..................................................1-5 5-3 Selection of earth leakage breaker ..................... 5-5
1-2-3 Spindle motor type.....................................................1-6 5-4 Circuit protector .................................................. 5-6
1-2-4 Spindle drive unit type ...............................................1-7 5-5 Noise filter........................................................... 5-7
1-2-5 Power supply unit type...............................................1-8 5-6 Surge absorber ................................................... 5-8
1-2-6 AC reactor type..........................................................1-9 5-7 Relay................................................................... 5-9
2. Specifications .................................................................2-1 Appendix 1. Outline dimension drawings.......................... A1-2
2-1 Servomotor..........................................................2-2 Appendix 1-1 Outline dimension drawings of
2-1-1 Specifications list .......................................................2-2 servomotor.......................................... A1-2
2-1-2 Torque characteristics ...............................................2-4 Appendix 1-1-1 HF-H motor................................................A1-2
2-2 Spindle motor ......................................................2-6 Appendix 1-1-2 HP-H motor................................................A1-11
2-2-1 Specifications ............................................................2-6 Appendix 1-2 Outline dimension drawings of spindle motor
2-2-2 Output characteristics ................................................2-10 ............................................................ A1-16
2-3 Drive unit .............................................................2-14 Appendix 1-3 Outline dimension drawings of unit..... A1-28
2-3-1 Servo drive unit..........................................................2-14 Appendix 1-3-1 Servo drive unit..........................................A1-28
2-3-2 Spindle drive unit .......................................................2-16 Appendix 1-3-2 Spindle drive unit .......................................A1-34
2-3-3 Power supply unit ......................................................2-16 Appendix 1-3-3 Spindle drive unit .......................................A1-38
2-3-4 AC reactor .................................................................2-17 Appendix 1-3-4 AC reactor .................................................A1-40
2-3-5 D/A output specifications for servo drive unit .............2-18
Appendix 2. Cable/Connector specifications .................... A2-1
2-3-6 D/A output specifications for spindle drive unit...........2-19
Appendix 2-1 Cable material..................................... A2-2
2-3-7 Explanation of each part ............................................2-20
Appendix 2-2 Cable connection diagram .................. A2-3
3. Characteristics................................................................3-1 Appendix 2-3 Main circuit cable connection diagram A2-10
3-1 Servomotor..........................................................3-2 Appendix 2-4 Connector outline dimension drawing. A2-11
3-1-1 Environmental conditions...........................................3-2
Appendix 3. Unit selection ................................................. A3-1
3-1-2 Quakeproof level .......................................................3-2
Appendix 3-1 Selection of the servomotor series ..... A3-2
3-1-3 Shaft characteristics ..................................................3-3
Appendix 3-1-1 Motor series characteristics .......................A3-2
3-1-4 Oil / water standards..................................................3-4
Appendix 3-1-2 Servomotor precision.................................A3-2
3-1-5 Magnetic brake ..........................................................3-5
Appendix 3-1-3 Selection of servomotor capacity ...............A3-3
3-1-6 Dynamic brake characteristics ...................................3-8
Appendix 3-1-4 Motor shaft conversion load torque............A3-6
3-2 Spindle motor ......................................................3-10
Appendix 3-1-5 Expressions for load inertia calculation ......A3-7
3-2-1 Environmental conditions...........................................3-10
Appendix 3-2 Selection of the power supply unit ...... A3-8
3-2-2 Shaft characteristics ..................................................3-10
Appendix 3-2-1 Selection procedures of the power supply unit
3-3 Drive unit characteristics .....................................3-11
capacity.....................................................A3-8
3-3-1 Environmental conditions...........................................3-11
Appendix 3-2-2 Selection according to the rated capacity
3-3-2 Heating value.............................................................3-12
(continuous rated capacity) .......................A3-8
3-3-3 Overload protection characteristics............................3-13
Appendix 3-2-3 Selection with maximum momentary rated
4. Dedicated options...........................................................4-1 capacity.....................................................A3-9
4-1 Servo options ......................................................4-2
Appendix 4. Transportation restrictions for lithium batteries
4-1-1 Dynamic brake unit (MDS-D-DBU)
....................................................................... A4-1
(mandatory selection for large capacity) ....................4-3
Appendix 4-1 Transportation restrictions for lithium batteries
4-1-2 Battery option
................................................................... A4-2
(MDS-A-BT, FCU6-BTBOX, ER6V-C119B)...............4-5
4-1-3 Ball screw end detector Appendix 5. Compliance to EC directives......................... A5-1
(OSA105-ET2, OSA166-ET2) ...................................4-8 Appendix 5-1 Compliance to EC directives.................. A5-2
4-1-4 Machine end detector ................................................4-9 Appendix 5-1-1 European EC directives .............................A5-2
4-1-5 Detector conversion unit (MDS-B-HR) .......................4-11 Appendix 5-1-2 Cautions for EC directive compliance ........ A5-2
4-1-6 Signal divider unit (MDS-B-SD) .................................4-13
4-2 Spindle options....................................................4-15
4-2-1 Spindle end detector (OSE-1024-3-15-68) ................4-16
4-3 Cables and connectors .......................................4-18
4-3-1 Cable connection diagram .........................................4-18
4-3-2 List of cables and connectors ....................................4-19

(Note) This is the content for SPECIFICATION MANUAL version D. The structure of section and page number may be different
other than version D.
 Contents for MDS-DH Series SPECIFICATIONS MANUAL (IB-150003)

Appendix 6. EMC installation guidelines ...........................A6-1

Appendix 6-1 Introduction .........................................A6-2
Appendix 6-2 EMC directives ....................................A6-2
Appendix 6-3 EMC measures ...................................A6-3
Appendix 6-4 Measures for panel structure ..............A6-3
Appendix 6-4-1 Measures for control panel unit..................A6-3
Appendix 6-4-2 Measures for door......................................A6-4
Appendix 6-4-3 Measures for operation board panel ..........A6-4
Appendix 6-4-4 Shielding of the power supply input sectionA6-4
Appendix 6-5 Measures for various cables ...............A6-5
Appendix 6-5-1 Measures for wiring in panel ......................A6-5
Appendix 6-5-2 Measures for shield treatment....................A6-5
Appendix 6-5-3 Servomotor power cable ............................A6-6
Appendix 6-5-4 Servo/Spindle motor feedback cable ......... A6-7
Appendix 6-5-5 Spindle motor power cable............................ A6-7
Appendix 6-6 EMC countermeasure parts ...................A6-8
Appendix 6-6-1 Shield clamp fitting ........................................ A6-8
Appendix 6-6-2 Ferrite core .................................................... A6-9
Appendix 6-6-3 Power line filter .............................................. A6-10
Appendix 6-6-4 Surge protector.............................................. A6-17

Appendix 7. Compliance with China Compulsory Product

Certification (CCC Certification) System.....A7-1
Appendix 7-1 Outline of China Compulsory Product
Certification System ............................A7-2
Appendix 7-2 First Catalogue of Products subject to
Compulsory Product Certification .......A7-2
Appendix 7-3 Precautions for Shipping Products......A7-3
Appendix 7-4 Application for Exemption ...................A7-4
Appendix 7-5 Mitsubishi NC Product Subject to/
Not Subject to CCC Certification.........A7-5

(Note) This is the content for SPECIFICATION MANUAL version D. The structure of section and page number may be different
other than version D.
1. Installation

1-1 Installation of servomotor ................................................................................................................... 1-2

1-1-1 Environmental conditions ............................................................................................................ 1-2
1-1-2 Quakeproof level ......................................................................................................................... 1-3
1-1-3 Cautions for mounting load (prevention of impact on shaft) ....................................................... 1-4
1-1-4 Installation direction..................................................................................................................... 1-4
1-1-5 Shaft characteristics .................................................................................................................... 1-5
1-1-6 Oil/water standards ..................................................................................................................... 1-6
1-1-7 Cable stress ................................................................................................................................ 1-8
1-2 Installation of spindle motor ............................................................................................................... 1-9
1-2-1 Environmental conditions ............................................................................................................ 1-9
1-2-2 Shaft characteristics .................................................................................................................. 1-10
1-3 Installation of the control unit ........................................................................................................... 1-11
1-3-1 Environmental conditions .......................................................................................................... 1-11
1-3-2 Installation direction and clearance........................................................................................... 1-12
1-3-3 Prevention of entering of foreign matter.................................................................................... 1-12
1-3-4 Panel installation hole work drawings (Panel cut drawings) ..................................................... 1-13
1-3-5 Heating value ............................................................................................................................ 1-14
1-3-6 Heat radiation countermeasures ............................................................................................... 1-15
1-4 Noise measures ............................................................................................................................... 1-17
 1. Installation

1-1 Installation of servomotor

1. Do not hold the cables, axis or detector when transporting the motor. Failure to
observe this could lead to faults or injuries.
2. Securely fix the motor to the machine. Insufficient fixing could lead to the
motor deviating during operation. Failure to observe this could lead to
injuries.
3. When coupling to a servomotor shaft end, do not apply an impact by
CAUTION hammering, etc. The detector could be damaged.
4. Never touch the rotary sections of the motor during operations. Install a
cover, etc., on the shaft.
5. Do not apply a load exceeding the tolerable load onto the servomotor shaft.
The shaft could break. Failure to observe this could lead to injuries.
6. Do not connect or disconnect any of the connectors while the power is ON.

1-1-1 Environmental conditions

Environment Conditions
Ambient temperature 0°C to +40°C (with no freezing)
Ambient humidity 80% RH or less (with no dew condensation)
Storage temperature -15°C to +70°C (with no freezing)
Storage humidity 90% RH or less (with no dew condensation)
Indoors (no direct sunlight)
Atmosphere
No corrosive gas, inflammable gas, oil mist or dust
Operation / storage: 1000m or less above sea level
Altitude
Transportation: 10000m or less above sea level

1-2
 1. Installation

1-1-2 Quakeproof level

Acceleration direction
Motor type
Axis direction (X) Direction at right angle to axis (Y)
HF(-H)75, HF(-H)105
HF(-H)54, HF(-H)104, HF(-H)154 9.8m/s2 (1G) or less 24.5m/s2 (2.5G) or less
HP(-H)54, HP(-H)104, HP(-H)154
HF(-H)204, HF(-H)354
19.6m/s2 (2G) or less 49m/s2 (5G) or less
HP(-H)204, HP-H)354
HF(-H)453, HF(-H)703
11.7m/s2 (1.2G) or less
HP(-H)454, HP(-H)704
24.5m/s2 (2.5G) or less
HF(-H)903
9.8m/s2 (1G) or less
HP(-H)903, HP(-H)1103

The vibration conditions are as shown below.

200
Servomotor
(double-sway width) (µm)

100
80
Vibration amplitude

60 XX YY
50
40
30

20 Acceleration

0 1000 2000 3000

Speed (r/min)

1-3
 1. Installation

1-1-3 Cautions for mounting load (prevention of impact on shaft)

[1] When using the servomotor with key way, use

the screw hole at the end of the shaft to mount Servomotor Double-end stud
the pulley onto the shaft. To install, first place
the double-end stud into the shaft screw
holes, contact the coupling end surface
against the washer, and press in as if
tightening with a nut. When the shaft does not
Nut
have a key way, use a frictional coupling, etc.
[2] When removing the pulley, use a pulley Washer
Pulley
remover, and make sure not to apply an
impact on the shaft.
[3] Install a protective cover on the rotary sections such as the pulley installed on the shaft to ensure
safety.
[4] The direction of the detector installed on the servomotor cannot be changed.

Never hammer the end of the shaft

CAUTION during assembly.

1-1-4 Installation direction

[1] There are no restrictions on the installation direction. Installation Up

in any direction is possible, but as a standard the motor is
installed so that the motor power line and detector cable cannon
plugs (lead-in wires) face downward. Installation in the standard
direction is effective against dripping. Measure to prevent oil and
water must be taken when not installing in the standard direction. Down
When the motor is not installed in the standard direction, refer to
section "1-1-6 Oil/water standards" and take the appropriate
measures. Standard installation
direction
The brake plates may make a sliding sound when a servomotor
with magnetic brake is installed with the shaft facing upward, but
this is not a fault.

1-4
 1. Installation

1-1-5 Shaft characteristics

There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the
radial direction and thrust direction, when mounted on the machine, is below the tolerable values given
below. These loads may affect the motor output torque, so consider them when designing the machine.

Servomotor Tolerable radial load Tolerable thrust load

HF(-H)75T, 105T (Taper shaft) 245N (L=33 mm) 147N

HF(-H)75S, 105S (Straight shaft) 245N (L=33 mm) 147N
HF(-H)54T, 104T, 154T (Taper shaft) 392N (L=58 mm) 490N
HF(-H)54S, 104S, 154S (Straight shaft) 980N (L=55 mm) 490N
HF(-H)204S, 354S, 453S, 703S (Straight shaft) 2058N (L=79 mm) 980N
HF(-H)903S (Straight shaft) 2450N (L=85 mm) 980N
HP(-H)54T, 104T, 154T (Taper shaft) 392N (L=52.7 mm) 490N
HP(-H)54S, 104S, 154S (Straight shaft) 980N (L=52.7 mm) 490N
HP(-H)204S, 354S, 454S (Straight shaft) 1500N (L=52.7 mm) 490N
HP(-H)704S (Straight shaft) 1300N (L=52.7 mm) 590N
HP(-H)903S (Straight shaft) 2500N (L=52.7 mm) 1100N
HP(-H)1103S (Straight shaft) 2700N (L=52.7 mm) 1500N

Note: The symbol L in the table refers to the value of L below.

L
Radial load

Thrust load

L : Length from flange installation surface to center of load weight [mm]

1. Use a flexible coupling when connecting with a ball screw, etc., and keep the
shaft core deviation to below the tolerable radial load of the shaft.
2. When directly installing the gear on the motor shaft, the radial load increases
as the diameter of the gear decreases. This should be carefully considered
when designing the machine.
3. When directly installing the pulley on the motor shaft, carefully consider so
CAUTION that the radial load (double the tension) generated from the timing belt tension
is less than the values shown in the table above.
4. In machines where thrust loads such as a worm gear are applied, carefully
consider providing separate bearings, etc., on the machine side so that loads
exceeding the tolerable thrust loads are not applied to the motor.
5. Do not use a rigid coupling as an excessive bending load will be applied on
the shaft and could cause the shaft to break.

1-5
 1. Installation

1-1-6 Oil/water standards

[1] The motor protective format uses the IP type, which complies with IEC Oil or water
Standard. However, these Standards are short-term performance
specifications. They do not guarantee continuous environmental
protection characteristics. Measures such as covers, etc., must be
taken if there is any possibility that oil or water will fall on the motor,
and the motor will be constantly wet and permeated by water. Note
that the motor’s IP-type is not indicated as corrosion-resistant.
Servomotor
[2] When a gear box is installed on the servomotor, make sure that the oil
level height from the center of the shaft is higher than the values given below. Open a breathing
hole on the gear box so that the inner pressure does not rise.

Servomotor Oil level (mm)

HF(-H)75, HF(-H)105 15
Gear
HF(-H)54, HF(-H)104, HF(-H)154 22.5
Servomotor
HP(-H)54, HP(-H)104, HP(-H)154 20
HF(-H)204, HF(-H)354, HF(-H)453 30 Oil level
HP(-H)204, HP(-H)354, HP(-H)454,
25
HP(-H)704 Lip
HF(-H)703 30 V-ring
HF(-H)903 34
HF(-H)903, HP(-H)1103 30

[3] When installing the servomotor horizontally, set the power cable and detector cable to face
downward. When installing vertically or on an inclination, provide a cable trap.

Cable trap

1. The servomotors, including those having IP65 specifications, do not have a

completely waterproof (oil-proof) structure. Do not allow oil or water to
constantly contact the motor, enter the motor, or accumulate on the motor. Oil
can also enter the motor through cutting chip accumulation, so be careful of
CAUTION this also.
2. When the motor is installed facing upwards, take measures on the machine
side so that gear oil, etc., does not flow onto the motor shaft.
3. Do not remove the detector from the motor. (The detector installation screw is
treated for sealing.)

1-6
 1. Installation

[4] Do not use the unit with the cable submerged in oil or
water.
(Refer to right drawing.)
Cover
Servomotor

Oil water

<Fault> Capillary tube phenomenon

[5] Make sure that oil and water do not flow along the cable
into the motor or detector. (Refer to right drawing.)
Cover

Servomotor

<Fault> Respiration

[6] When installing on the top of the shaft end, make sure
that oil from the gear box, etc., does not enter the Gear
servomotor. The servomotor does not have a waterproof Lubricating oil
structure.

Servomotor

1-7
 1. Installation

1-1-7 Cable stress

[1] Sufficiently consider the cable clamping method so that bending stress and the stress from the
cable's own weight is not applied on the cable connection part.
[2] In applications where the servomotor moves, make sure that excessive stress is not applied on the
cable.
If the detector cable and servomotor wiring are stored in a cable bear and the servomotor moves,
make sure that the cable bending part is within the range of the optional detector cable.
Fix the detector cable and power cable enclosed with the servomotor.
[3] Make sure that the cable sheathes will not be cut by sharp cutting chips, worn by contacting the
machine corners, or stepped on by workers or vehicles.

The bending life of the detector cable is as shown below. Regard this with a slight allowance. If the
servomotor/spindle motor is installed on a machine that moves, make the bending radius as large as
possible.

8
x 108
11×10
7
x 107
55×10

7
22×10
x 107

7
x 107
11×10
6
x 106
55×10
No. of bends (times)

6
x 106
22×10
6
11×10
x 106
5
x 105
55×10

5
x 105
22×10
5
x 105
11×10
4
x 104
55×10
4
x 104
33×10
4 7 10
10 20
20 40 70 100
100 200
200

Bending radius (mm)

Detector cable bending life

(Material of Mitsubishi optional detector cable: A14B2343)
(Note) The values in this graph are calculated values and are not guaranteed.

1-8
 1. Installation

1-2 Installation of spindle motor

1. Do not hold the cables, axis or detector when transporting the motor. Failure to
observe this could lead to faults or injuries.
2. Securely fix the motor to the machine. Insufficient fixing could lead to the
motor deviating during operation. Failure to observe this could lead to
injuries.
3. When coupling to a servomotor shaft end, do not apply an impact by
CAUTION hammering, etc. The detector could be damaged.
4. Never touch the rotary sections of the motor during operations. Install a
cover, etc., on the shaft.
5. Do not apply a load exceeding the tolerable load onto the servomotor shaft.
The shaft could break. Failure to observe this could lead to injuries.
6. Do not connect or disconnect any of the connectors while the power is ON.

1-2-1 Environmental conditions

Environment Conditions
Ambient temperature 0°C to +40°C (with no freezing)
Ambient humidity 90%RH or less (with no dew condensation)
Storage temperature -20°C to +65°C (with no freezing)
Storage humidity 90%RH or less (with no dew condensation)
Indoors (Where unit is not subject to direct sunlight)
Atmosphere
No corrosive gases, flammable gases, oil mist or dust
Operation/storage: 1000m or less above sea level
Altitude
Transportation: 10000m or less above sea level

(Note) Refer to each spindle motor specifications for details on the spindle motor vibration
conditions.

1-9
 1. Installation

1-2-2 Shaft characteristics

There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the
radial direction, when mounted on the machine, is below the tolerable values given below. These loads
also affect the motor output torque, so consider them when designing the machine.

Spindle motor
Tolerable radial load
MDS-D Series MDS-DH Series
SJ-V3.7-02ZT SJ-4-V3.7-05ZT 490 N
SJ-V2.2-01T, SJ-V3.7-01T SJ-4-V2.2-03T, SJ-4-V3.7-03T
980 N
SJ-V7.5-03ZT, SJ-V11-06ZT SJ-4-V7.5-13ZT, SJ-4-V11-22ZT
SJ-V5.5-01T, SJ-V11-08ZT
SJ-4-V5.5-07T, SJ-4-V11-23ZT 1470 N
SJ-PMF01830T-00
SJ-V7.5-01T, SJ-V11-01T
SJ-4-V7.5-12T, SJ-4-V11-18T
SJ-V22-06ZT, SJ-V30-02ZT, 1960 N
SJ-4-V22-18ZT, SJ-4-V30-15ZT
SJ-PMF03530T-00
SJ-V11-09T, SJ-V15-01T, SJ-V15-03T, SJ-4-V11-21T, SJ-4-V15-18T, SJ-4-V15-20T,
SJ-V18.5-01T, SJ-V18.5-03T SJ-4-V18.5-14T, SJ-4-V18.5-17T 2940 N
SJ-V22-01T, SJ-V22-05T, SJ-V26-01T SJ-4-V22-15T, SJ-4-V22-16T, SJ-4-V26-08T
SJ-V37-01T, SJ-V45-01T, SJ-V22-09T SJ-4-V37-04T, SJ-4-V45-02T 3920 N
SJ-V55-01T SJ-4-V55-03T 5880 N

Radial load

(Note) The load point is at the one-half of the shaft length.

1 - 10
 1. Installation

1-3 Installation of the control unit

1. Install the unit on noncombustible material. Direct installation on

combustible material or near combustible materials may lead to fires.
2. Follow the instructions in this manual and install the unit while allowing for
the unit weight.
3. Do not get on top of the units or motor, or place heavy objects on the unit.
Failure to observe this could lead to injuries.
4. Always use the unit within the designated environment conditions.
5. Do not let conductive objects such as screws or metal chips, etc., or
combustible materials such as oil enter the units.
CAUTION 6. Do not block the units intake and outtake ports. Doing so could lead to
failure.
7. The units and servomotor are precision devices, so do not drop them or apply
strong impacts to them.
8. Do not install or run units or servomotor that is damaged or missing parts.
9. When storing for a long time, please contact your dealer.
10. Always observe the installation directions. Failure to observe this could lead to
faults.
11. Secure the specified distance between the units and panel, or between the
units and other devices. Failure to observe this could lead to faults.

1-3-1 Environmental conditions

Environment Conditions
Ambient temperature 0°C to +55°C (with no freezing)
Ambient humidity 90%RH or less (with no dew condensation)
Storage temperature -15°C to +70°C (with no freezing)
Storage humidity 90%RH or less (with no dew condensation)
Indoors (no direct sunlight);
Atmosphere
no corrosive gases, inflammable gases, oil mist, dust or conductive particles
Operation/storage: 1000m or less above sea level
Altitude
Transportation: 10000m or less above sea level
2
Operation/storage: 4.9m/s (0.5G) or less
Vibration 2
Transportation: 49m/s (5G) or less

(Note) When installing the machine at 1,000m or more above sea level, the heat dissipation
characteristics will drop as the altitude increases. The upper limit of the ambient
temperature drops 1°C with every 100m increase in altitude. (The ambient temperature at
an altitude of 2,000m is between 0 and 45°C.)

1 - 11
 1. Installation

1-3-2 Installation direction and clearance

Wire each unit in consideration of the maintainability and the heat dissipation, as well as secure
sufficient space for ventilation.

75mm or more 75mm or more

100mm or 100mm or 100mm or

more more more

10mm 10mm
or or
more more
60mm 60mm
or more or more

100mm or 100mm or 100mm or

more more more

The ambient temperature condition for the power supply unit or the drive units is
55°C or less. Because heat can easily accumulate in the upper portion of the
CAUTION units, give sufficient consideration to heat dissipation when designing the panel.
If required, install a fan in the panel to agitate the heat in the upper portion of the
units.

1-3-3 Prevention of entering of foreign matter

Treat the cabinet with the following items.

• Make sure that the cable inlet is dust and oil proof by using
packing, etc.
• Make sure that the external air does not enter inside by
using head radiating holes, etc.
• Close all clearances.
• Securely install door packing.
• If there is a rear cover, always apply packing.
• Oil will tend to accumulate on the top. Take special
measures such as oil-proofing to the top so that oil does
not enter the cabinet from the screw holds.
• After installing each unit, avoid machining in the periphery.
If cutting chips, etc., stick onto the electronic parts, trouble
may occur.
• When using the unit in an area with toxic gases or high
levels of dust, protect the unit with air purging (system to
blow clean air so that the panel's inner pressure is higher
than the outer pressure).

1 - 12
 1. Installation

1-3-4 Panel installation hole work drawings (Panel cut drawings)

Prepare a square hole to match the unit width.

[Unit: mm]

342
360

342
360
Square Square hole
hole
(Note 1)
(Note 1)

2-M5 screw 52 2-M5 screw 82

Unit width: 60mm Unit width: 90mm

60
342
360

342
360

Square hole Square hole

(Note 1) (Note 1)

2-M5 screw 112 4-M5 screw 142

Unit width: 120mm Unit width: 150mm

Attach packing around the square hole to provide a seal.

POINT

1 - 13
 1. Installation

1-3-5 Heating value

Each heating value is calculated with the following values.

The values for the servo drive unit are for a stall output, and the values for the spindle drive unit are for
a continuous rated output. The value for the power supply unit includes the AC reactor's heating value.

MDS-D Series
Servo drive unit Spindle drive unit Power supply unit
Heating value Heating value Heating value Heating value
Type [W] Type [W] Type [W] Type [W]
MDS-D- Inside Outside MDS-D- Inside Outside MDS-D- Inside Outside MDS-D- Inside Outside
panel panel panel panel panel panel panel panel
V1-20 18 22 V2-2020 28 54 SP-20 24 31 CV-37 20 34
V1-40 20 38 V2-4020 30 74 SP-40 29 65 CV-75 24 55
V1-80 25 71 V2-4040 33 93 SP-80 37 121 CV-110 25 99
V1-160 36 148 V2-8040 39 133 SP-160 54 236 CV-185 32 161
V1-160W 44 201 V2-8080 45 173 SP-200 78 404 CV-300 45 272
V1-320 59 307 V2-16080 57 262 SP-240 91 529 CV-370 53 343
V1-320W 72 399 V2-160160 70 350 SP-320 118 688 CV-450 104 392
SP-400 148 897 CV-550 164 432
SP-640 196 1231

MDS-DH Series
Servo drive unit Spindle drive unit Power supply unit
Heating value Heating value Heating value Heating value
Type [W] Type [W] Type [W] Type [W]
MDS-DH- Inside Outside MDS-DH- Inside Outside MDS-DH- Inside Outside MDS-DH- Inside Outside
panel panel panel panel panel panel panel panel
V1-10 19 27 V2-1010 28 54 SP-20 32 88 CV-37 20 34
V1-20 22 46 V2-2010 30 74 SP-40 42 158 CV-75 24 55
V1-40 27 87 V2-2020 33 93 SP-80 54 237 CV-110 25 99
V1-80 40 175 V2-4020 39 133 SP-100 73 369 CV-185 32 161
V1-80W 47 222 V2-4040 45 173 SP-160 110 639 CV-300 45 272
V1-160 62 328 V2-8040 57 262 SP-200 126 746 CV-370 53 343
V1-160W 81 461 V2-8080 70 350 SP-320 168 1034 CV-450 104 392
SP-480 232 1488 CV-550 164 432
CV-750 228 614

Design the panel's heating value taking the actual axis operation (load rate) into
consideration. With a general machine tool, the servo drive unit's load rate is
POINT approx. 50%, so the heating values inside the panel are half the values shown
above. (Excluding the power supply and spindle drive unit.)

(Example 1)

When using MDS-D-CV-300, MDS-C1-SP-160 and MDS-D-V2-8080

Total heating value = (45+272) + (54+236) + (45+173) = 825 [W]
Heating value in panel = (45) + (54) + (45 x 0.5) = 121.5 [W]

1 - 14
 1. Installation

1-3-6 Heat radiation countermeasures

In order to secure reliability and life, design the temperature in the panel so that the ambient
temperature of each unit is 55°C or less.
If heat accumulates at the top of the unit, etc., install a fan so that the temperature in the panel remains
constant.

(Note) Due to the structure, heat easily accumulates at the

(Inside panel)
top of the unit. Install a fan in the power distribution Wind speed 2m/s or more
panel to circulate the heat at the top of the unit. Fan

1 - 15
 1. Installation

Please refer to following method for heat radiation countermeasures.

Calculate total heat radiation of each <Hypothetical conditions>

mounted unit (W)
(1) Average temperature in cabinet : T ≤ 55°C
(2) Cabinet peripheral temperature : Ta ≤ 0°C to 45°C
Calculate cabinet’s cooling capacity (3) Internal temperature rise value : ∆T =T–Tamax= 10°C
(W1)

<Supplement>
W ≤ W1 1) Refer to Specifications Manual, etc. for the heat
Comparison of W and W1
generated by each unit.
W>W1
2) Enclosed cabinet (thin steel plate) cooling capacity
calculation equation
Selection of heat exchanger W1 = U × A × ∆T
U: 6W/m2 × °C (with internal agitating fan)
Mounting design 4W/m2 × °C (without internal agitating fan)
A: Effective heat radiation area (m2)
(Heat dissipation area in panel)
Collection of internal temperature rise Sections contacting other objects are excluded.
distribution data
∆T: Internal temperature rise value (10°C)
3) Points of caution for heat radiation countermeasures
when designing mounting state
∆T≤10°C • Layout of convection in panel
Evaluation
• Collect hot air at suction port in heat exchanger
cabinet.
∆T>10°C 4) Understanding the temperature rise distribution in the
Improvements panel
∆T (average value) ≤ 10°C
∆Tmax (maximum value) ≤ 15°C
Completion R (inconsistency) = (∆Tmax – ∆Tmin) ≤ 6°C
(Evaluate existence of heat spots)

Examples of mounting and temperature measurement positions (reference)

z Measurement position (example)

Relay, etc Flow of air

exchanger
Heat

Flow of air
Unit

1 - 16
 1. Installation

1-4 Noise measures

Noise includes "propagation noise" generated from the power supply or relay, etc., and propagated
along a cable causing the power supply unit or drive unit to malfunction, and "radiated noise"
propagated through air from a peripheral device, etc., and causing the power supply unit or drive unit to
malfunction.
Always implement these noise measures to prevent the peripheral devices and unit from malfunctioning.
The measures differ according to the noise propagation path, so refer to the following explanation and
take appropriate measures.

(1) General noise measures

• Avoid laying the drive unit's power line and signal wire in a parallel or bundled state. Always
separate these wires. Use a twisted pair shielded wire for the detector cable and signal wires
such as the communication cable connected with the NC, and accurately ground the devices.
• Use one-point grounding for the drive unit and motor.
• Accurately ground the AC reactor.

(2) Propagation noise measures

Take the following measures when noise generating devices are installed and the power supply
unit or drive unit could malfunction.
• Install a surge killer on devices (magnetic contacts, relays, etc.) which generate high levels of
noise.
• Install a power line filter in the stage before the power supply unit.
• Install a ferrite core on the signal wire.
• Ground the shield of the servo detector's cable with a cable clamp.
• Wire the spindle PLG detector cable away from other wires.

(3) Measures against radiated noise

The types of propagation paths of the noise and the noise measures for each propagation path are
shown below.

Noise generated from Airborne Noise directly radiated Path [1]

drive unit propagation noise from drive unit

Magnetic induction Path [4] Noise radiated from Path [2]

noise and [5] power line

Static induction Path [6] Noise radiated from Path [3]

noise servomotor/spindle motor

Cable propagation Noise propagated over Path [7]

noise power line

Noise lead in from Path [8]

grounding wire by
leakage current

1 - 17
 1. Installation

[5]

[7]

[7] [2]
[2]
[1]
Sensor
Instru- Drive
Receiver power
ment unit supply
[3] [6]

[4] [8]
Sensor
Servomotor
Spindle motor M

Generated noise of drive system

Noise propagation path Measures

When devices such as instrument, receiver or sensor, which handle minute signals and are easily
affected by noise, or the signal wire of these devices, are stored in the same panel as the drive
units and the wiring is close, the device could malfunction due to airborne propagation of the noise.
In this case, take the following measures.
(a) Install devices easily affected as far away from the drive units as possible.
[1] [2] [3]
(b) Lay devices easily affected as far away from the signal wire of the drive unit as possible.
(c) Avoid laying the signal wire and power line in a parallel or bundled state.
(d) Insert a line noise filter on the input/output wire or a radio filter on the input to suppress the
noise radiated from the wires.
(e) Use a shield wire for the signal wire and power line, or place in separate metal ducts.
If the signal wire is laid in parallel to the power line, or if it is bundled with the power line, the noise
could be propagated to the signal wire and cause malfunction because of the magnetic induction
noise or static induction noise. In this case, take the following measures.
[4] [5] [6] (a) Install devices easily affected as far away from the drive unit as possible.
(b) Lay devices easily affected as far away from the signal wire of the drive unit as possible.
(c) Avoid laying the signal wire and power line in a parallel or bundled state.
(d) Use a shield wire for the signal wire and power line, or place in separate metal ducts.
If the power supply for the peripheral devices is connected to the power supply in the same system
as the drive units, the noise generated from the power supply unit could back flow over the power
[7] line and cause the devices to malfunction. In this case, take the following measures.
(a) Install a radio filter on the power supply unit's power line.
(b) Install a power filter on the power supply unit's power line.
If a closed loop is created by the peripheral device and drive unit's grounding wire, a leakage
[8] current could flow and cause the device to malfunction.
In this case, change the device grounding methods and the grounding place.

1 - 18
2. Wiring and Connection

2-1 Part system connection diagram........................................................................................................ 2-3

2-2 Main circuit terminal block/control circuit connector .......................................................................... 2-4
2-2-1 Names and applications of main circuit terminal block signals and control circuit connectors .. 2-4
2-2-2 Connector pin assignment .......................................................................................................... 2-5
2-3 NC and drive unit connection ............................................................................................................. 2-8
2-4 Motor and detector connection ........................................................................................................ 2-11
2-4-1 Connecting the servomotor ....................................................................................................... 2-11
2-4-2 Connecting the full-closed loop system..................................................................................... 2-14
2-4-3 Connection of the spindle motor ............................................................................................... 2-17
2-5 Connection of power supply............................................................................................................. 2-18
2-5-1 Power supply input connection .................................................................................................. 2-19
2-5-2 Connecting the grounding cable ............................................................................................... 2-22
2-6 Wiring of the motor brake................................................................................................................. 2-23
2-6-1 Wiring of the motor magnetic brake .......................................................................................... 2-23
2-6-2 Dynamic brake unit wiring ......................................................................................................... 2-25
2-7 Peripheral control wiring................................................................................................................... 2-26
2-7-1 Input/output circuit wiring........................................................................................................... 2-26
2-7-2 Spindle coil changeover ............................................................................................................ 2-27
2-7-3 Safety observation function ....................................................................................................... 2-30
2-7-4 Wiring of an external emergency stop....................................................................................... 2-33
 2. Wiring and Connection

1. Wiring work must be done by a qualified technician.

2. Wait at least 15 minutes after turning the power OFF and check the voltage
with a tester, etc., before starting wiring. Failure to observe this could lead to
electric shocks.
3. Securely ground the drive units and servo/spindle motor.
4. Wire the drive units and servo/spindle motor after installation. Failure to
DANGER observe this could lead to electric shocks.
5. Do not damage, apply forcible stress, place heavy items on the cables or get
them caught. Failure to observe this could lead to electric shocks.
6. Always insulate the power terminal connection section. Failure to observe
this could lead to electric shocks.

1. Correctly and securely perform the wiring. Failure to do so could result in

runaway of the servo/spindle motor or injury.
2. Do not mistake the terminal connections.
Failure to observe this item could lead to ruptures or damage, etc.
3. Do not mistake the polarity ( + , - ). Failure to observe this item could lead to
ruptures or damage, etc.
4. Do not mistake the direction of the diodes for the surge absorption installed
on the DC relay for the motor brake and contactor (magnetic contactor)
control. The signal might not be output when a failure occurs.

Servo
Servodrive
driveunit
unit

COM
COM
(24VDC)
(24VDC)

Control output
outputsignal
CAUTION Control signal RA
RA

5. Electronic devices used near the drive units may receive magnetic
obstruction. Reduce the effect of magnetic obstacles by installing a noise
filter, etc.
6. Do not install a phase advancing capacitor, surge absorber or radio noise
filter on the power line (U, V, W) of the servo/spindle motor.
7. Do not modify this unit.
8. If the connectors are connected incorrectly, faults could occur. Make sure
that the connecting position and the connection are correct.
9. When grounding the motor, connect to the protective grounding terminal on
the drive units, and ground from the other protective grounding terminal.
(Use one-point grounding) Do not separately ground the connected motor
and drive unit as noise could be generated.

2-2
 2. Wiring and Connection

2-1 Part system connection diagram

Mitsubishi CNC Power supply unit Spindle drive unit Servo drive unit
Optical communication cable
OPT1,2

CN1A CN1B CN1A CN1B

Optical communication cable
CN4 CN4 CN3 CN4 CN3L
SH21 Tool end
External emergency detector
stop input cable
CN9 CN9 CN9 CN3M
EMG1 Tool end
detector
24VDC CN23A
EMG2 CN20 CN2L

CN2 CN2M

AC
No-fuse reactor Contactor
breaker U MU

R L1 TE1 V Spindle MV Servo

motor motor
S L2 TE1 W PLG MW Motor end
detector
TE1
T L3
L+ L+ TE2 L+
TE2
MC MC1 TE2 L-
Ground L- L- LU
CN23B
Breaker MC2
LV Servo
TE3 L11 motor
L11 L11 TE3
LW Motor end
TE3 L21 detector
L21 L21

: Main circuit

: Control circuit
Ground Ground Ground

(Note 1) The total length of the optical communication cable from the NC must be within 30m and the
minimum-bending radius within 80mm.
(Note 2) The connection method will differ according to the used motor.
(Note 3) Battery for the detector back up is built-in the drive unit. (An external battery is available as an
option.)
(Note 4) The main circuit ( ) and control circuit ({) are safely separated.

2-3
 2. Wiring and Connection

2-2 Main circuit terminal block/control circuit connector

2-2-1 Names and applications of main circuit terminal block signals and control circuit
connectors

The following table shows the details for each terminal block signal.

Name Signal name Description

Main circuit power supply input terminal
For MDS-D : Connect a 3-phase 200VAC (50Hz) or 200 to 230VAC (60Hz) power
Main circuit power
L1 . L2 . L3 supply.
supply
For MDS-DH : Connect a 3-phase 380 to 440VAC (50Hz) or AC380 to 480VAC (60Hz)
power supply.
Control circuit power supply input terminal
For MDS-D : Connect a single-phase 200VAC (50Hz) or 200 to 230VAC (60Hz) power
Control circuit power
L11 L21 supply
supply
For MDS-DH : Connect a single-phase 380 to 440VAC (50Hz) or 380 to 480VAC (60Hz)
power supply.
Contactor control terminal
MC1 Contactor control The MC1 terminal has the same phase as L21. Connect to a different phase than the
phase connected to L21.
Motor output Servo/spindle motor power output terminal
U.V.W
(Single-axis unit) The servo/spindle motor power terminal (U, V, W) is connected.
LU . LV . LW Motor output Servo motor power output terminal (L-axis/M-axis)
MU . MV . MW (Dual-axis unit) The servo/spindle motor power terminal (U, V, W) is connected.
Protective grounding Grounding terminal
(PE) The servomotor/spindle motor grounding terminal is connected and grounded.

1. Always use one AC reactor per power supply unit. Failure to observe this
could lead to unit damage.
2. When sharing a breaker for several power supply units, of a short-circuit
CAUTION fault occurs in a small capacity unit, the breaker could trip. This can be
hazardous, so do not share the breaker.
3. Be sure to use the breaker of proper capacity for each power supply unit.

2-4
 2. Wiring and Connection

2-2-2 Connector pin assignment

Do not apply a voltage other than that specified in Instruction Manual on each
CAUTION terminal. Failure to observe this item could lead to rupture or damage, etc.

(1) Main circuit terminal block

Power supply unit
Unit
MDS-D/DH-CV-110 to 185 MDS-D/DH-CV-300 to 450
Terminal

Terminal
position

[2] [2]

[3] [3]

[1]
[1]
[4] [4]

U V W
U V W
[1] TE1
Compatible unit CV-110 to 185 Compatible unit CV-300 to 450
Screw size M5 Screw size M8
Terminal specification/Pin assignment

Tightening torque 2.0Nm Tightening torque 6.0Nm

Compatible unit CV-110 to 450

L+
Screw size M6
[2] TE2
L- Tightening torque 4.0Nm

L11 Compatible unit CV-110 to 450

[3] TE3 L21 Screw size M4
Tightening torque 1.2Nm

Compatible unit CV-110 to 185 Compatible unit CV-300 to 450

[4] Screw size M5 Screw size M8
Tightening torque 2.0Nm Tightening torque 6.0Nm

2-5
 2. Wiring and Connection

Servo/spindle drive unit

MDS-D-V1-160 and
smaller
MDS-D-SP-80 and MDS-D-V1-160W and larger
Unit
smaller MDS-D-SP-160 and larger
MDS-D/DH-V2
Terminal MDS-DH-V1-80W and MDS-DH-V1-160 and larger
smaller MDS-DH-SP-100 and larger
MDS-DH-SP-80 and
smaller

Terminal
position

[2] [2] [2]

[3] [3] [3]

[1] [1] [1]

[4] [4] [4]

Bottom view Bottom view

front side U V W
front side

D-V1- 160W to 320 320W

[1] TE1 UVW
Compatible D-SP- 160 to 200 240 to 320
Terminal specification/Pin assignment

MU MV MW
unit DH-V1- 160 to 160W -
LU LV LW
DH-SP- 160 to 200 240 to 320
Screw size M5 M8
Tightening torque 2.0Nm 6.0Nm

Compatible unit All V1/V2/SP

[2] TE2 L+ Screw size M6
Tightening torque 4.0Nm
L-

Compatible unit All V1/V2/SP

L11
[3] TE3
L21 Screw size M4
Tightening torque 1.2Nm

Screw size: M5 Screw size: M4

[4] Tightening The PE screw size is the same as TE1. Tightening
torque: 2.0Nm torque: 1.2Nm

2-6
 2. Wiring and Connection

(2) Control circuit connector

Unit
MDS-D/DH-V1 MDS-D/DH-V2
Terminal

[1] [1]
[2] [2]
[3] [4] [3] [4]
[5] [9] [5] [9]
[6] [6]
[7]
Connector [8]

position

Optical communication connector

[1] CN1A
[2] CN1B

Pin No.

[3] CN9
No.20 No.10
[4] CN4
No.11 No.1
Connector specifications

[5] CN2L No.9 No.1

[6] CN3L
[7] CN2M
No.10 No.2
[8] CN2M

Pin No.
No.1
[9] CN20
No.2
No.3

(Note) The [5] and [6] connector names differ for the MDS-D/DH-V1 unit. (CN2L, CN3L → CN2, CN3)

2-7
 2. Wiring and Connection

2-3 NC and drive unit connection

Connect the optical communication cables from the NC to the each drive unit so that they run in a
straight line from the NC to the drive unit that is a final axis. And up to 16 axes can be connected per
system.
Note that the number of connected axes is limited by the NC.

Connect the NC and the drive units by the optical communication cables. The
CAUTION distance between the NC and the final drive unit must be within 30m and the
bending radius within 80mm.

Axis Nos. are determined by the rotary switch for setting the axis No. (Refer to
POINT section "3-1-1 Setting the rotary switch".) The axis No. has no relation to the
order for connecting to the NC.

(1) When using one power supply unit

Connect the largest-capacity spindle drive unit to the final axis of the NC communication bus in
order to control the power supply unit. The spindle drive unit must be installed adjacent to the power
supply unit. In the system with servo only, a servo drive unit for controlling unbalance axis must be
installed in the same manner in the same way.

< Connection >

CN1A : CN1B connector on NC or previous stage's drive unit
CN1B : CN1A connector on next stage's drive unit
CN4 : Connector for communication between power supply unit (master side) and drive unit

MDS-D/DH-V2 MDS-D/DH-V1 MDS-D/DH-SP MDS-D/DH-CV

1st/2nd axis 3rd axis 4th axis
(Final axis)

Connected
to the NC
Optical
communication CN4 CN4
Refer to the cable
instruction manual
of each NC for
details.

The optical communication cables from the NC to the

final drive unit must be within 30m.

Connection when using one power supply unit

2-8
 2. Wiring and Connection

(2) When using two or more power supply units within a single NC communication bus system
Two or more power supply units may be required within a single NC communication bus system if
the spindle drive unit capacity is large. The drive unit receiving power (L+, L-) from each power
supply unit must always have NC communication cable connection at the NC side of each power
supply unit. In the NC communication bus connection example below, power supply [1] cannot
supply power (L+, L-) to the 5th axis servo drive unit.
For basic connection information, refer to "(1) When using one power supply unit".

MDS-D/DH-V2 MDS-D/DH-V2 MDS-D/DH-CV MDS-D/DH-V1 MDS-D/DH-SP MDS-D/DH-CV

1st/2nd axis 3rd/4th axis [1] 5th axis 6th axis [2]
(CV control axis) (CV control axis)

Connected to the NC

Optical
communication CN4 CN4 CN4 CN4
cable

Power
cannot be
supplied

Connections when using two power supply units within a single NC communication bus system

The drive unit receiving power (L+, L-) from each power supply unit must always
CAUTION have NC communication bus connection at the NC side of each power supply
unit.

2-9
 2. Wiring and Connection

(3) When using one power supply shared unit by two NC communication bus systems
In systems employing a number of small-capacity drive units, a single power supply unit can be
shared by two NC communication bus systems. In this case, a power supply control axis must be
set for each axis of each NC communication bus.
For basic connection information, refer to "(1) When using one power supply unit".

MDS-D/DH-V2 MDS- D/DH -V2 MDS-D/DH-V2 MDS-D/DH-V1

1st/2nd axis 3rd/4th axis 5th/6th axis 7th axis
(CV control axis)
Connected to the NC
(1st part system)

Optical
communication CN4
cable

MDS-D/DH-V2 MDS-D/DH-V1 MDS-D/DH-SP MDS-D/DH-SP MDS-D/DH-CV

8th/9th axis 10th axis 11th axis 12th axis (Shared)
(CV control axis)
Connected to the NC
(2nd part system)

Optical
communication CN4 CN4
cable
CN9

Connections when using one power supply shared by two NC communication bus systems

If the two NC communication bus systems include a spindle drive unit, connect
the power supply unit's CN4 connector to the CN4 connector of the largest-
CAUTION capacity spindle drive unit. If there is no spindle drive unit, connect to the
unbalance-axis servo drive unit.

2 - 10
 2. Wiring and Connection

2-4 Motor and detector connection

2-4-1 Connecting the servomotor

(1) Connecting the HF75(B)/HF105(B)/HF54(B)/HF104(B)/HF154(B)

HP54(B)/HP104(B)/HP154(B)
HF-H75(B)/HF-H105(B)/HF-H54(B)/HF-H104(B)/HF-H154(B)
HP-H54(B)/HP-H104(B)/HP-H154(B)

MDS-D/DH-V1

Optional cable: CNV2E Detector connector : CN2

(Refer to Appendix 1 for details Pin No.
on the cable treatment.) No.9 No.1

CN2

No.10 No.2
Detector connector
Max. 30m
Pin Name Pin Name
CM10-R10P
1 P5(+5V) 2 LG
3 RQ 4 RQ*
3 2 1 5 6
7 SD 8 SD*
7 6 5 4
9 BT 10
10 9 8
Motor magnetic
brake wiring
Pin Name (Refer to section "2-6-1
1 RQ Wiring of the motor
2 RQ* magnetic brake" for
3 details.)
4 BAT
5 LG(GND) Power wire and grounding wire
6 SD (Refer to Specification manual for details
7 SD* on selecting the wire.)
UVW
8 P5(+5V)
9
10 SHD
Power connector
CE05-2A18-10PD-B

D A Pin Name
Brake connector A U
CM10-R2P C B B V
C W
Pin Name
1 D Ground
1 B1
2
2 B2
These are 24VDC, and have
no polarity.

2 - 11
 2. Wiring and Connection

(2) Connecting the HF204(B)/HF354(B)/HF453(B)

HP204(B)/HP354(B)/HP454(B)
HF-H204(B)/HF-H354(B)/HF-H453(B)/HF-H703(B)
HP-H204(B)/HP-H354(B)/HP-H454(B)/HF-H704(B)

MDS-D/DH-V1

Optional cable: CNV2E Detector connector : CN2

(Refer to Appendix 1 for details
on the cable treatment.) Pin No
No.9 No.1

CN2

No.10 No.2
Detector connector
Max. 30m
Pin Name Pin Name
CM10-R10P
1 P5(+5V) 2 LG
3 RQ 4 RQ*
3 2 1 5 6
7 SD 8 SD*
7 6 5 4
9 BT 10
10 9 8
Motor magnetic
brake wiring
Pin Name (Refer to section "2-6-1
1 RQ Wiring of the motor
2 RQ* magnetic brake" for
3 details.)
4 BAT
5 LG(GND) Power wire and grounding wire
6 SD (Refer to Specification manual for details
7 SD* on selecting the wire.)
UVW
8 P5(+5V)
9
10 SHD
Power connector
CE05-2A22-22PD-B

D A Pin Name
Brake connector A U
CM10-R2P C B B V
C W
Pin Name
1 D Ground
1 B1
2
2 B2
These are 24VDC, and have
no polarity.

2 - 12
 2. Wiring and Connection

(3) Connecting the HF703(B)/HF903(B)

HP704(B)/HP903(B)/HP1103(B)
HF-H903(B)
HP-H903(B)/HP-H1103(B)

MDS-D/DH-V1

Optional cable: CNV2E Detector connector : CN2

(Refer to Appendix 1 for details
on the cable treatment.) Pin No
No.9 No.1

CN2

No.10 No.2
Detector connector
Max. 30m
Pin Name Pin Name
CM10-R10P
1 P5(+5V) 2 LG
3 RQ 4 RQ*
3 2 1 5 6
7 SD 8 SD*
7 6 5 4
9 BT 10
10 9 8
Motor brake
magnetic wiring
Pin Name (Refer to section "2-6-1
1 RQ Wiring of the motor
2 RQ* magnetic brake" for
3 details.)
4 BAT
5 LG(GND) Power wire and grounding wire
6 SD (Refer to Specification manual for details
7 SD* on selecting the wire.)
UVW
8 P5(+5V)
9
10 SHD
Power connector
CE05-2A32-17PD-B

D A Pin Name
Brake connector A U
CM10-R2P C B B V
C W
Pin Name
1 D Ground
1 B1
2
2 B2
These are 24VDC, and have
no polarity.

2 - 13
 2. Wiring and Connection

2-4-2 Connecting the full-closed loop system

Refer to section "2-4-1 Connecting the servomotor" for details on connecting the each motor type.

(1) Connecting the ball screw end detector

Detector connector : CN3

Pin No.
No.9 No.1

MDS-D/DH-V1
No.10 No.2

Pin Name Pin Name

1 P5(+5V) 2 LG
3 RQ 4 RQ*
5 6
7 SD 8 SD*
9 BT 10
CNV2E CN2
CN3 CNV2E
Max. 30m
Max. 30m

UVW

Table

2 - 14
 2. Wiring and Connection

(2) Connecting the linear scale (for oblong wave data output)

Detector connector : CN3

Pin No.
No.9 No.1

MDS-D/DH-V1
No.10 No.2

Pin Name Pin Name

1 P5(+5V) 2 LG
3 A 4 A*
5 B 6 B*
7 Z 8 Z*
9 10 ABZSEL*
CNV2E CN2
CN3

Max. 30m

UVW

Table

Linear scale

2 - 15
 2. Wiring and Connection

(3) Connecting the linear scale (for serial data output)

Detector connector : CN3

Pin No.
No.9 No.1

MDS-D/DH-V1
No.10 No.2

Pin Name Pin Name

1 P5(+5V) 2 LG
3 RQ 4 RQ*
5 6
7 SD 8 SD*
9 10
CNV2E CN2
CN3

Max. 30m

UVW

Table

Linear scale

2 - 16
 2. Wiring and Connection

2-4-3 Connection of the spindle motor

Refer to each motor specifications for details on the motor side connection destination, specifications
and outline, and for the spindle PLG detector specifications.

(1) Connecting the motor built-in PLG

MDS-D/DH-SP

Detector connector : CN2L

Pin No.
No.9 No.1

CN2L
Option cable: CNP2E-1 No.10 No.2

Pin Name Pin Name

Max. 30m 1 P5(+5V) 2 LG
3 RQ 4 RQ*
5 MT1 6 MT2
7 SD 8 SD*
9 10

Power cable

UVW

BU BV BW UVW

Spindle motor Cooling fan terminal

block (BU,BV,BW)

Grounding terminal

Motor power terminal

block (U,V,W) Example for 3-phase cooling fan
power supply

(Note) Either a single-phase or 3-phase power supply is used for the cooling fan.
Refer to the Spindle Motor Specifications for details.

2 - 17
 2. Wiring and Connection

2-5 Connection of power supply

1. Make sure that the power supply voltage is within the specified range of each
unit. Failure to observe this could lead to damage or faults.
2. For safety purposes, always install a No-fuse breaker (NFB), and make sure
that the circuit is cut off when an error occurs or during inspections.
3. The wire size will differ according to each drive unit capacity.
4. For safety purposes, always install a magnetic contactor (contactor) on the
CAUTION main circuit power supply input. Large rush currents will flow when the power
is turned ON.
5. A semiconductor element is used in the power supply unit's magnetic contact
drive circuit, and a surge absorber is installed to protect the element.
Therefore, a leakage current of approx. 15mA is passed. Confirm that the
exciting coil in the magnetic contact will not function at 15mA or less.

2 - 18
 2. Wiring and Connection

2-5-1 Power supply input connection

(1) When using one power supply unit

Install the drive unit so that the DC power supply bus (L+, L-) is as near to the power supply unit as
possible. Large-capacity spindle drive units, in particular, should be installed adjacent to the power
supply unit which they control.

MDS-D/DH-CV MDS-D/DH-SP MDS-D/DH-V1/V2

CN4 CN4

AC
No-fuse reactor Contactor
breaker

R L1

S L2 TE1

T L3
L+ L+ TE2 L+
TE2 TE2
MC MC1 L-
Ground CN23B L- L-
Breaker MC2

L11 TE3 L11 TE3 L11

TE3
L21 L21 L21

: Main circuit

: Control circuit
Ground Ground Ground

1. The power supply unit is a power supply regenerative type converter; an AC

reactor is surely installed in the power supply line.
2. When connecting to the TE3 terminal, connect to the power supply side
(primary side) of the AC reactor.
3. Connect the power supply unit's CN4 connector with the spindle drive unit of
CAUTION the maximum capacity. If there is no spindle drive unit, connect to the servo
drive unit which is the unbalance axis.
4. When installing the units dispersed install the spindle drive unit adjacent to
the power supply unit, and connections for other drive units should be such
that the total TE2 wiring length is 50cm or less.

2 - 19
 2. Wiring and Connection

(2) When using two or more power supply units within a single NC communication bus system
Install a no-fuse breaker and a contactor for each of the power supply units.

MDS-D/DH-CV MDS-D/DH-SP MDS-D/DH-V1/V2

To NC
CN1A CN1A

CN1B CN1B

CN4 CN4

AC
No-fuse reactor Contactor
breaker

R L1

S L2 TE1

T L3
L+ L+ TE2 L+
MC MC1 TE2 TE2
Ground CN23B L- L- L-
Breaker MC2
TE3 TE3
L11 L11 L11
TE3
L21 L21 L21

Ground Ground Ground

MDS-D/DH-CV MDS-D/DH-SP MDS-D/DH-V1/V2

CN1A CN1A

CN1B

CN4 CN4

AC
No-fuse reactor Contactor
breaker

R L1

S L2 TE1

T L3
L+ L+ TE2 L+
TE2 TE2
MC MC1
Ground L- L- L-
CN23B
Breaker MC2
TE3 TE3
L11 L11 L11
TE3
L21 L21 L21

: Main circuit

: Control circuit
Ground Ground Ground

1. An AC reactor and breaker are required for each power supply unit.
2. When installing the units dispersed install the spindle drive unit adjacent to
CAUTION the power supply unit, and connections for other drive units should be such
that the total TE2 wiring length is 50cm or less.

2 - 20
 2. Wiring and Connection

(3) When using one power supply shared by two NC communication bus systems
The axis connected to the power supply unit's CN4 connector becomes the power supply unit
control axis.
MDS-D/DH-CV MDS-D/DH-SP MDS-D/DH-V1/V2

CN4 CN4

CN9

AC
No-fuse reactor Contactor
breaker

R L1

S L2 TE1

T L3
L+ L+ TE2 L+
MC MC1 TE2 TE2
Ground CN23B L- L- L-
Breaker MC2
TE3 TE3
L11 L11 L11
TE3
L21 L21 L21

Ground Ground Ground

MDS-D/DH-V1/V2 MDS-D/DH-V1/V2

CN4

L+ TE2 L+
TE2
L- L-

L11 TE3 L11

TE3
L21 L21

Ground Ground

1. If the two NC communication bus systems include a spindle drive unit,

connect the power supply unit's CN4 connector to the CN4 connector of the
largest-capacity spindle drive unit. If there is no spindle drive unit, connect to
CAUTION the unbalance-axis servo drive unit.
2. Install the spindle drive unit adjacent to the power supply unit, and
connections for other drive units should be such that the total TE2 wiring
length is 50cm or less.

2 - 21
 2. Wiring and Connection

2-5-2 Connecting the grounding cable

(1) Connecting the protective grounding (PE) and frame ground (FG)
Each unit has a terminal or mounting hole to connect PE ( ) or FG.
Please connect an earth wire to the main ground of a cabinet or a machine frame at one point.
Ground each device according to the grounding conditions set forth by each country. (Typically, a
Y-connection neutral point ground is used in Europe.)
PE: Grounding to provide protection from electric shock, etc.
FG: Grounding to stabilize the operation of the devices, etc. (Suppress noise)

MDS-D/DH-V1/V2/SP MDS-D/DH-CV

D/DH-AL

Grounding plate

Servo motor
Spindle motor

Unit
Do not connect the grounding cable
from each unit directly to the grounding
POINT plate. Noise from other units could Grounding
result in malfunctions. plate

(2) Grounding cable size

Earth wire size should follow the following table.

Type Grounding cable size (Required grounding)

MDS-D/DH-CV Unit Larger than thickness of wire connected to TE1 (L1/L2/L3). (PE)
Larger than thickness of wire connected to TE1 (U/V/W). (PE)
MDS-D/DH-V1/V2/SP[] Unit (For two axes, the thickness of wire which the total current can be
applied to.)
2
D/DH-AL (AC Reactor) 5.5 mm (AWG10) or more (FG)

2 - 22
 2. Wiring and Connection

2-6 Wiring of the motor brake

2-6-1 Wiring of the motor magnetic brake

The magnetic brake of servomotors with a magnetic brake is controlled by the motor brake control
connector (CN20) on the servo drive unit. The servo drive unit releases the brake when the motor is ON.
(Servo ON means when torque is generated in the motor.)

(1) Motor brake release sequence

The motor brake control connector (CN20: MBR) releases the magnetic brake in the sequences in
the following drawing when canceling the emergency stop. The brake is released after the start of
the power ON to the servomotor.
ON
Emergency stop (EMG) Cancel
Cancel
Dynamic brake ON

Motor brake control Cancel

ON
output (CN20)

ON
Servo ready signal (RDY) OFF Ready completion
ON
Servo ready completion OFF Command input enable
signal (SA)

0 500 1000 1500 Time (ms)

Motor brake control sequences when an emergency stop is canceled

(2) Control during the servo OFF command

When a servo OFF command is input by an NC sequence input, the motor brake turns ON
simultaneously when the motor ON is shut off. Note that the vertical axis drop prevention control is
not validated, so a drop due to the brake operation lag occurs. When the servo OFF is canceled, a
drop due to an uncontrolled state does not occur.
200ms
SERVO ON
Servo OFF command SERVO OFF
OFF
Dynamic brake ON
ON
Motor ON (GATE) OFF

Motor brake control output OFF

ON
CN20 connector (CN20)

Motor brake control sequences when a servo OFF command is output

1. The vertical axis drop prevention control only is performed during an

emergency stop (including alarms and power failures). It is not performed
CAUTION when a servo OFF command is input.
2. A servo OFF command is required at both axes in order to perform a motor
brake control output (MBR) at 2-axis drive unit.

2 - 23
 2. Wiring and Connection

(3) Operation sequences when an emergency stop occurs

The motor brake control output operation when an emergency stop occurs differs according to the
motor deceleration stop method. Refer to section "4-6 Setting for emergency stop" for details on the
operation sequences for each stop method.

(4) Motor brake control connector (CN20) output circuit

As shown in the illustration below, an external power supply circuit is controlled by the CN20
connector output. Dynamic brake unit is controlled simultaneously for large-capacity drive unit
(MDS-D-V1-320W or larger and MDS-DH-V1-160W or larger). Refer to "2-6-2 Dynamic brake unit
wiring" for details.

MDS-D/DH-V1/V2

Emergency
stop switch 24VDC
CN20
3 MBR2
2 DBU
1 MBR1 Surge Brake
absorber

（Unit internal relay specification: 5A 30Vdc/8A 250Vac）

1. Always install a surge absorber near the motor's brake terminal to eliminate
noise and protect the contacts.
CAUTION 2. The brakes cannot be released just by connecting the CN20 and motor brake
terminal. 24VDC must be supplied.

To ensure safety in an emergency, make sure that the magnetic brakes are
POINT applied in sequence with the emergency stop switch.

2 - 24
 2. Wiring and Connection

2-6-2 Dynamic brake unit wiring

The servo drive units of MDS-D-V1-320W or larger and MDS-DH-V1-160W or larger do not have built-in
dynamic brakes. Always install a dynamic brake unit.
The servo drive units of MDS-D-V1-320 or smaller or MDS-DH-V1-160 or smaller have built-in dynamic
brakes.

External
power supply
Brake connector 24VDC GND
(CN20) CNU20S(AWG14)
Pin Name
1 DC24V Control terminal
2 DBU block (M3)
3 MBR1 Terminal Name
1
2 NC
Twist wire
3 a
4 b
5 13
To a motor brake 6 14

U V W b
Dynamic brake unit
(MDS-D-DBU)

Power terminal
block (M3)
Terminal Name
1 U
2 V
Servomotor 3 W

Internal circuit diagram

V
Terminal

W
block

R (0.5Ω)
14
13

MC SK
a

Correct wire the dynamic brake unit to the servo drive unit.
CAUTION Do not use for applications other than emergencies (normal braking, etc.). The
internal resistor could heat up, and lead to fires or faults.

When you use a servomotor with a brake, please wire (between 1pin and 3pin)
POINT of CN20 connector.

2 - 25
 2. Wiring and Connection

2-7 Peripheral control wiring

2-7-1 Input/output circuit wiring

The input/output circuit to control the external signal such as external emergency stop input and relay
changeover signal output is wired.
The input/output circuit for each unit is as follows.

Input circuit Output circuit

CN9 connector CN9 connector

24V 24V

DICOM 13 10k

Relay, etc.
8 MPO1
D01
DI1 20

18 MPO2
D02

Servo/spindle
drive unit 16 MPO3
D03

CN23 connector
24V
10 24G
3 2k

Switch
Servo/spindle
drive unit
1

Power supply unit The part indicated by the " " must be
prepared
b th

Input condition Output condition

Output voltage 24VDC ±5%
18VDC to 25.2VDC
Switch ON Tolerable output
9mA or more 50mA or less
current Io
4VDC or less
Switch OFF
2mA or less

For a switch or relay to be wired, use a switch or relay that satisfies the input/output (voltage, current)
conditions.

Interface name Selection example

Use a minute signal switch which is stably contacted and operated even with low
For digital input signal (CN23,CN9) voltage or current
<Example> OMRON: G2A, G6B type, MY type, LY type
Use a compact relay operated with rating of 24VDC, 50mA or less.
For digital output signal (CN9)
<Example> OMROM: G6B type, MY type

2 - 26
 2. Wiring and Connection

2-7-2 Spindle coil changeover

There are spindle motors capable of coil changeover control, which enables favorable characteristics to
be attained from low speeds to high speeds by changing two types of coils.

(1) Coil changeover control

The speed at which to change the coils is detected by the spindle drive according to the value set
with spindle parameter SP028. This is conveyed to the NC with a speed detection (SD) signal. The
NC judges the other conditions (coil fixed, etc.), and issue a coil changeover command to the
spindle drive with the L coil selection command (LCS).
To prevent the contactor from varying, the hysteresis set with SP029 is applied on the speed when
changing from the low-speed coil to the high-speed coil and the high-speed coil to the low-speed
coil.

6000

4000
Spindle motor speed
SP028
(r/min)
2000
(SP028+SP029)
0
Time
Speed detection (SD1) [SP→NC]
L coil selection command (LCS) [NC→SP]
Changing coil (MKC) [SP→NC]

Contactor changeover Low-speed coil High-speed coil Low-speed coil

Spindle motor coil changeover control

No. Abbrev. Parameter name Description Setting range

SP028 SDTS Speed detection Set the motor speed for detecting the speed. If the actual motor 10 to 32767
set value speed is less than the set value, the speed detection will turn ON. (r/min)
Set a value 10% of the maximum motor speed as a standard.
SP029 SDTR Speed detection Set the hysteresis value at which the speed detection changes from 10 to 1000
reset width ON to OFF. If the setting value is small, the speed detection will (r/min)
chatter easily. Set to "30" as a standard.

2 - 27
 2. Wiring and Connection

(2) Protective functions

[1] Gate shutoff after a winding changeover
When the L-coil selection command (LCS) is used to perform low-speed winding → high-speed
winding switching, or vice-versa, the gate is shut off during contactor operation time in order to
protect the spindle drive unit's main circuit. The gate shutoff time is determined by the "Coil
changeover gate cutoff timer" (SP114) setting. The standard time setting should be used, as a
shorter time can cause contactor burn damage.
(Refer to 5-3-2 (5) "Spindle control output 5" Coil changing (bit 6) for details.)

No. Abbrev. Parameter name Description Setting range

SP114 MKT Coil changeover Set the time to cut off the gate when turning the coil changeover 0 to 3500
gate cutoff timer contactor OFF and ON. (ms)
Set a value longer than the coil changeover contactor's OFF/ON
time.
Set to "150" as a standard.

[2] Current limit after coil changeover

Following a coil changeover, the current is limited (SP116) for the period specified by the current
limit timer (SP115) in order to stabilize control. Because position loop control (synchronous tap,
C-axis control, etc.) that occurs immediately after a coil changeover will result in unstable control,
be sure that position commands specified by the sequence is input after the current limit is
cancelled.

No. Abbrev. Parameter name Description Setting range

SP115 MKT2 Coil changeover Set the time to limit the current immediately after the gate is turned 0 to 3500
current limit timer ON when the coil changeover contactor ON/OFF is completed. (ms)
Set to "25" as a standard.
SP116 MKIL Coil changeover Set the value to limit the current immediately after the gate is turned 0 to 999
current limit value ON when the coil changeover contactor ON/OFF is completed. (Short-time rated %)
Set to "120" as a standard.

2 - 28
 2. Wiring and Connection

(3) Wiring
The illustration below shows the 2 types of changeover that occur after a coil changeover, (a) Y
(star) – ∆ (delta) changeover, and (b) Y (star) – Y (star) changeover. As shown in (c), one of the
contactors (MC1 or MC2) is turned ON and the other is turned OFF at all of the coil changeover
control circuits.

U U
V V
W W

MC2
Spindle drive unit
terminal

MC1 X
Y
Z

MC1: Contactor to connect low-speed coil (Y-connection)

Spindle motor
MC2: Contactor to connect high-speed coil (∆-connection)

(a) Y (star) - ∆ (delta) changeover circuit

U MC1 U1
V V1
W W1

Spindle drive unit MC2 U2

terminal V2
W2

MC1: Contactor to connect low-speed coil (1st Y-connection)

MC2: Contactor to connect high-speed coil (2nd Y-connection) Spindle motor

(b) Y (star) - Y (star) changeover circuit

MDS-D/DH-SP
RA RA

CN9-8 MC2 MC1

RA S
MC1 SK MC2 SK
CN9-10 T

(c) Coil changeover control circuit (common)

Coil changeover relay control circuit

2 - 29
 2. Wiring and Connection

2-7-3 Safety observation function

By using the safety observation function, the safety door, etc. can be opened during operation without
shutting the power. This function contributes to reducing preparation time and improving operation. The
safety is observed in the control section (NC) and drive section (servo drive unit and spindle drive unit).
If safety conditions are not satisfied in either system, emergency stop operation is applied and the
power is shut to secure the safety. This safety observation function is a safety category 3 in EN954-1.

(1) Connection
The following three wirings are required for the safety observation.
[1] The state signal for the safety door of the machine is wired to both the NC unit side (DI) and drive
unit side (CN9 connector MPI1). The double-protection for the wiring must be provided by wiring
the signal to each of the NC side and drive unit side as the following figure.
[2] Add the wiring to control the contactor in the NC unit side in order to shut the power when an
error occurs.
[3] In addition to the emergency stop wiring for the NC unit, add the external emergency stop wiring
for the CN23A connector of the power supply unit.
Machine safety door

Open/close switch (sensor)

[1]
Door status signal
(MDS-D/DH-V1) (MDS-D/DH-V2) (MDS-D/DH-SP) (MDS-D/DH-CV)

NC unit CN9 connector

MPI1

[2]
L+
L-

NFB
CN23B (Note)
CN23A Prepared by
To 2nd and 3rd axis user
servo Contactor
(Note)
Prepared by
user
AC reactor

Servomotor Spindle motor NFB

(Note)
Prepared by
Emergency user
[3]
stop switch

3-phase AC
power supply

1. The safety observation function is NC option. Make sure the compatibility with
this function.
CAUTION 2. The door state signal uses the digital signal input (CN9 connector : MPI1).
This input wiring is required for each observed system.
3. For details on this function, refer to the manual of NC system.

2 - 30
 2. Wiring and Connection

(2) Parameter setting for servo drive unit

Starts the safe observation function.

No. Abbrev. Parameter name Description

F E D C B A 9 8 7 6 5 4 3 2 1 0
ssc
Servo function
SV113 SSF8
selection 8
bit Meaning when set to 0 Meaning when set to 1
F ssc Safe observation function stop Safe observation function start
(Note) Set to "0" for bits with no particular description.

The digital signal input selection is set to "1" for the drive unit connected with the door state signal.
The digital signal input selection is set to "0" for the other drive unit not connected with the signal.

No. Abbrev. Parameter name Description

F E D C B A 9 8 7 6 5 4 3 2 1 0
dis ccu lmc3 lmct

bit Meaning when set to 0 Meaning when set to 1

Servo function
SV082 SSF5 C Digital signal input selection
selection 5
D 0: No signal
dis
E 1: Safety observation function state door state signal
F 2 to F: Setting prohibited

(Note) Set to "0" for bits with no particular description.

Sets the safety speed of the machine tip and motor for which the safety observation is executed.
Setting range
No. Abbrev. Parameter name Description
(Unit)
Set safety speed of machine tip on the safety observation function.
Safety Set it within the following range: 0 to 18000
SSC
SV238 observation For linear axis: 2000mm/min or less (mm/min) or
FEED Safety speed For rotary axis 18000˚/min (50r/min) or less (°/min)
When not using, set to "0".
Safety Set safety speed of motor on the safety observation function.
SSC observation When not using, set to "0". 0 to 32767
SV239
RPM Safety motor (r/min)
speed

(Note) The value of the safety observation safety speed and safety observation safety motor speed
must satisfy the following relation.
If this relation is not satisfied, the parameter error (37or E4) will occur.(Error parameter No.
is 239.)
Checking this relation is executed when the drive unit is turned ON and parameter is
changed and speed observation mode (states when a speed observation command is
turned ON) is entered.

SV238 :SSCFEED SV002 :PC2

X = SV239 :SSCRPM
SV018 :PIT SV001 :PC1

Note that "1 (r/min)" is applied when the calculation result is "0 (r/min)"

2 - 31
 2. Wiring and Connection

(3) Parameter setting for spindle drive unit

Starts the safe observation function.

No. Abbrev. Parameter name Description

Select the spindle functions.

F E D C B A 9 8 7 6 5 4 3 2 1 0
ssc rps
Spindle function
SP229 SFNC9
9
bit Meaning when set to 0 Meaning when set to 1
F ssc Safety observation function stop Safety observation function start
(Note) Set to "0" for bits with no particular description.

The digital signal input selection is set to "1" for the drive unit connected with the door state signal.
The digital signal input selection is set to "0" for the other drive unit not connected with the signal.

No. Abbrev. Parameter name Description

Select the spindle functions.

F E D C B A 9 8 7 6 5 4 3 2 1 0
dis lmc3 lmct

Spindle function bit Meaning when set to 0 Meaning when set to 1

SP227 SFNC7
7 C Digital signal input selection
D 0: No signal
dis
E 1: Safety observation function state door state signal
F 2 to F: Setting prohibited

(Note) Set to "0" for bits with no particular description.

Sets the safety speed of the machine tip and motor for which the safety observation is executed.
Setting range
No. Abbrev. Parameter name Description
(Unit)
Safety When not using, set to "0".
SSC 0 to 18000
SP238 observation Set safety speed of spindle tip on the safety observation function.
FEED
safety speed (°/min)
Safety When not using, set to "0".
observation Set safety motor speed on the safety observation function. 0 to 32767
SP239 SSCRPM
safety motor (r/min)
speed

(Note) The value of the safety observation safety speed and safety observation safety motor speed
must satisfy the following relation.
If this relation is not satisfied, the parameter error (37or E4) will occur. (Error parameter No.
is 239.)
Checking this relation is executed when the drive unit is turned ON and parameter is
changed and speed observation mode (states when a speed observation command is
turned ON) is entered.

SP238 :SSCFEED SP057 :GRA1

X = SP239 :SSCRPM
360 SP061 :GRB1

Note that "1 (r/min)" is applied when the calculation result is "0 (r/min)"

2 - 32
 2. Wiring and Connection

2-7-4 Wiring of an external emergency stop

The external emergency stop function of the power supply unit controls the contactor and turns off the
power by directly receiving signals from the emergency stop switch.

(1) External emergency stop setting

Besides the emergency stop input from the NC communication cable (CN1A, CN1B),
double-protection when an emergency stop occurs can be provided by directly inputting an external
emergency stop to the CN23A connector on the power supply unit. Even if the emergency stop is
not input from CNC for some reason, the contactors will be shut off by the external emergency stop
input from CN23A connector on the power supply unit. When the external emergency stop input
and contactor are installed, compliance with “EN60204-1 category1” is basically possible.

[1] Connection
MDS-D/DH-V1/V2/SP MDS-D/DH-CV
Emergency
stop
Mitsubishi NC Emergency
Alarm stop
OPT1 CN1A
Optical Alarm
EMG communication CN4 CN4 CN23B
G391 cable SH21 cable
3 MC2
Contactor shutoff
2 (NC)
command
1 MC1

CN23A
External emergency stop input
3 EMG2
(24VDC) 2 (NC)
1 EMG1
External emergency
stop switch

[2] Setting
When using the external emergency stop, the rotary switch on the front of the power supply unit
must be set.

• Rotary switch setting: 4

1. The emergency stop signal input to the CNC side cannot be used as a
substitute for the external emergency stop function (CN23).
2. To provide double-protection when an emergency stop occurs, the
CAUTION emergency stop input of NC and the external emergency stop input of power
supply unit are always wired from same emergency stop switch.
3. The power supply unit external emergency stop function is a function which
helps the NC emergency stop.

Stop Categories in EN60204-1

Category 0: The power is instantly shut off using machine parts.
Category 1: The drive section is stopped with the control (hardware/software
or communication network), and then the power is instantly shut
POINT off using machine parts.

(Caution) Refer to the Standards for details.

Refer to Section 9.2.5.4.2 in EN60204-1: Safety of
Machinery Electrical Equipment of Machines - Part 1.

2 - 33
 2. Wiring and Connection

(2) Operation sequences of external emergency stop function

[1] When only the external emergency stop of CN23A is input first
If only external emergency stop is input when external emergency stop valid is set in the
parameters (the emergency stop is not input in NC), an "In external emergency stop" (warning EA)
will be detected. At this time, if the deceleration control setting is provided for the drive unit, the
deceleration stop process is executed and the emergency stop is notified to the NC. At the same
time, the contactor is shut off after set time of SV055 or SP055 of the drive unit connected with the
power supply.

NC OFF
Emergency stop input (EMG) ON
CN23A OFF
External emergency stop input ON
(EMGX) Deceleration control
Motor speed
0
Gate off delay time
SV055/SP055

CN23B ON
Contactor control output (MC) OFF

Servo drive unit status display dx EA E7 Cx→dx

Operation sequences when only the external emergency stop of CN23A is input first

[2] When the emergency stop of NC is input first

When an emergency stop from the NC is turned ON first, the drive unit status display changes to
“E7 (In NC emergency stop state)”. At this time, the drive unit executes the deceleration control
process if the deceleration control setting is provided, and then confirms the signal of all axes stop
from the NC and shuts off the contactor. If the signal of all axes is not received correctly, the
contactor is shut off after set time of SV055 or SP055 of the drive unit connected with the power
supply.
When the external emergency stop of CN23A is not input in the NC emergency stop status, the
power supply error (alarm 70) will occur after 30 minutes.

NC OFF
Emergency stop input (EMG) ON
CN23A OFF
External emergency stop input ON
(EMGX) Deceleration control
Motor speed
0
The contactor is shut off
after NC confirms all axes
stop, or after set time of
CN23B ON
SV055 or SP055.
Contactor control output (MC) OFF

Servo drive unit status display dx E7 Cx→dx

Operation sequence when the emergency stop of NC is input first

2 - 34
3. Setup

3-1 Initial setup........................................................................................................................................ 3-2

3-1-1 Setting the rotary switch ............................................................................................................ 3-2
3-1-2 Setting DIP switch...................................................................................................................... 3-3
3-1-3 Transition of LED display after power is turned ON................................................................... 3-3
3-2 Setting the initial parameters for the servo drive unit ....................................................................... 3-4
3-2-1 Setting the standard parameters ............................................................................................... 3-4
3-2-2 List of standard parameters for each servomotor ...................................................................... 3-9
3-2-3 Servo parameter list................................................................................................................. 3-17
3-3 Setting the initial parameters for the spindle drive unit................................................................... 3-34
3-3-1 Spindle specification parameters ............................................................................................. 3-34
3-3-2 List of spindle parameters........................................................................................................ 3-41
 3. Setup

3-1 Initial setup

3-1-1 Setting the rotary switch

Before turning on the power, the axis No. must be set with the rotary switch. The rotary switch settings
will be validated when the drive units are turned ON.
1st axis 2nd axis Spindle drive unit Power supply unit
Servo drive unit Servo drive unit (MDS-D/DH-SP†) (MDS-D/DH-CV)
(MDS-D/DH-V1) (MDS-D/DH-V2)

L axis M axis
67 8 9A 67 8 9A
5 B 5 B
4 C 67 8 9A 67 8 9A 4 C
3 D 5 B 5 B 3 D
21 FE 4 C 4 C 21 FE
0 3 D 3 D 0
21 FE 21 FE 67 8 9A
0 0 5 B
4 C
3 D
21 FE
0

Setting the Details

rotary switch Setting the MDS-D/DH-V1/V2/SP† Setting the MDS-D/DH-CV
0 1st axis Normal setting
1 2nd axis
2 3rd axis Setting prohibited
3 4th axis
External emergency stop
4 5th axis
valid (CN23 used)
5 6th axis
6 7th axis
7 8th axis
8 9th axis
9 10th axis
A 11th axis Setting prohibited
B 12th axis
C 13th axis
D 14th axis
E 15th axis
F 16th axis

3-2
 3. Setup

3-1-2 Setting DIP switch

Setting the DIP switches is necessary prior to turning ON the power. Setting of the DIP switches at the
time of turning ON the power is validated. The DIP switches shall be as the standard setting (all the
switches OFF).

The switches are OFF when facing bottom as illustrated.

M axis Setting unused axis Unused axis can be set by turning the switches ON.
When there is unused axis for the 2-axis drive unit,
L axis Setting unused axis set unused axis.

3-1-3 Transition of LED display after power is turned ON

When CNC, each drive unit and the power supply unit power have been turned ON, each unit will
automatically execute self-diagnosis and initial settings for operation, etc. The LEDs on the front of the
units will change as shown below according to the progression of these processes.
If an alarm occurs, the alarm No. will appear on the LEDs. Refer to section "6-1 LED display when
alarm or warning occurs" for details on the alarm displays.

Drive units Power supply unit

LED display LED display

Drive unit initialization complete
Waiting for NC power start up NC power
ON
Waiting for NC
power start up NC power ON
NC power ON In initializing

Executing initial Initializing completed

communication with NC

In ready ON

Emergency stop state

The LED will alternate between
F# → E7 → not lit. In servo ON
(# is the set axis No.)
Servo ON state Servo OFF sate Emergency stop state

NC power OFF
Repeats lighting and going out.
(1st axis in the display example)

CAUTION Always input emergency stop when starting the servo system.

3-3
 3. Setup

3-2 Setting the initial parameters for the servo drive unit
The servo parameters must be set before the servo system can be started up. The servo parameters
are input from the NC. The input method differs according to the NC being used, so refer to each NC
Instruction Manual.

3-2-1 Setting the standard parameters

When starting up the system, first set the standard parameters listed in section "3-2-2 List of standard
parameters for each servomotor". For the parameters shown below, check the machine and servo
system specifications and determine the setting value.
(1) Basic specification parameters
When performing absolute position control, set SV017, bit7=1. This may be automatically set by
NC system parameter setting, depending upon NC model. (Setting on the servo parameter screen
invalid.)
Setting basic specification parameters

No. Abbrev. Parameter name Explanation

F E D C B A 9 8 7 6 5 4 3 2 1 0
spm abs fdir vfb seqh dfbx
Servo specification
SV017 SPEC*
selection 1
bit Meaning when set to 0 Meaning when set to 1
7 abs Incremental control Absolute position control

Setting of absolute position control (SV017.bit7) may be set automatically by NC

POINT system parameter setting, depending on NC model. In this case, setting on the
servo parameter screen is not valid.

3-4
 3. Setup

(2) Electronic gear related parameters

The setting range of the following parameters, which configure the electronic gears, may be limited
according to the combination. Refer to section "3-4 Setting the initial parameters for the spindle
drive unit" for details.
Setting electronic gear related parameters

Setting
No. Abbrev. Parameter name Explanation
range (Unit)
Motor side gear Set the motor side and machine side gear ratio.
SV001 PC1* For the rotary axis, set the total deceleration (acceleration) ratio. 1 to 32767
ratio
Even if the gear ratio is within the setting range, the electronic gears may
Machine side gear overflow and causes initial parameter error (servo alarm No. 37).
SV002 PC2* 1 to 32767
ratio
1 to 32767
SV018 PIT* Ball screw pitch Set the ball screw pitch. Set to "360" for the rotary axis.
(mm/rev)

In the case of the semi-closed loop control

0 to 32767
Set the same value as SV020 (RNG2). (Refer to the explanation of
SV020.) (kp/rev)

In the case of the full-closed loop control

Set the number of pulses per ball screw pitch.

Detector model
Resolution SV019 setting
name

OSA105-ET2 1,000,000 (p/rev) 1000

OSA166-ET2 16,000,000 (p/rev) 16000

RCN723 (Heidenhain) 8,000,000 (p/rev) 8000

Position detector RCN223 (Heidenhain) 8,000,000 (p/rev) 8000

SV019 RNG1* 0 to 32767
resolution
Refer to detector (kp/PIT)
Relative position scale
specification manual.

AT343 (Mitsutoyo) 0.05 (µm/p)

AT543 (Mitsutoyo) 0.05 (µm/p)

SV018 (PIT)/
LC191M (Heidenhain) 0.1, 0.05 (µm/p)
Resolution (µm)
LC491M (Heidenhain) 0.05 (µm/p)

Futaba absolute position Refer to detector

scale (Futaba) specification manual.

MDS-B-HR Analog cycle/500

Set the number of pulses per one revolution of the motor end detector.
Detector model name SV020 setting
Speed detector 1 to 32767
SV020 RNG2* OSA105 1000
resolution (kp/rev)
OSA166 16000

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.

3-5
 3. Setup

(3) Detector type related parameters

(a) For semi-closed loop control
Set the following parameter as below when controlling by using only motor end detector.

Setting for semi-closed loop control

No. Abbrev. Parameter name Explanation

bit Explanation
8 Set the detector type.
Set the position detector type for "pen", and the speed detector type
9
for "ent".
ent
In the case of the semi-closed loop control, set the same value for
A
SV025 MTYP* Motor/detector type "pen" and "ent".
B Detector model name pen setting ent setting
C OSA105, OSA166 2 2
D
pen
E
F

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.

3-6
 3. Setup

(b) For full-closed loop control

Note that when using machine end detector, some parameters must be set depending upon
linear scale, ball screw end detector and installation conditions.
[1] Set SV025 bit8 to B(ent) by following the motor end detector specification as for the
semi-closed loop control.
[2] When polarities of the motor end detector and machine end detector do not match, set
SV017 bit4=1.

Setting for full-closed loop control

No. Abbrev. Parameter name Explanation

F E D C B A 9 8 7 6 5 4 3 2 1 0
spm abs fdir vfb seqh dfbx
Servo specification
SV017 SPEC*
selection 1
bit Meaning when set to 0 Meaning when set to 1
4 fdir Position feedback forward polarity Position feedback reverse polarity

bit Details
8 Set the detector type.
9 Set the position detector type for “pen”, and the speed detector type
ent for “ent”. In the case of the semi-closed loop control, set the same
A
B value for “pen” and “ent”.
pen
C Detector model name ent setting
setting
D pen
0 0
E 1 1
F OSA105, OSA166 2 (Note) 2
3 3
4 Setting impossible
5 Setting impossible
OSA105-ET2, OSA166-ET2
6 Setting impossible
SV025 MTYP* Motor/detector type RCN223, RCN723 (Heidenhain)
- 7 Setting impossible
Relative position scale 8 Setting impossible
- 9 Setting impossible
AT343, AT543 (Mitsutoyo)
LC191M, LC491M,(Heidenhain)
A Setting impossible
Futaba absolute position scale (Futaba)
MDS-B-HR
- B Setting impossible
- C Setting impossible
- D Setting impossible
- E Setting impossible
- F Setting impossible

(Note) Setting for semi-closed loop control.

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.

3-7
 3. Setup

(4) Setting the power supply type

Set the drive unit connected to the power supply unit with the CN4 connector. This does not need
to be set if the power supply for the axis is not connected with the CN4 connector. (Set "0000".)
If the power supply unit is connected with the spindle drive unit, the parameters do not need to be
set on the servo side. When connected to a 2-axis servo drive unit (MDS-D/DH-V2), set the power
supply type for one of the two target axes.

Setting the power supply type

No. Abbrev. Parameter name Explanation

F E D C B A 9 8 7 6 5 4 3 2 1 0
amp rtyp ptyp

bit Explanation
0 When the CN4 connector of the drive unit and the power supply are connected,
setting below is necessary.
1
2
3 MDS-D-CV MDS-DH-CV
ptyp
4 External External External External
5 emergency emergency emergency emergency
stop invalid stop valid stop invalid stop valid
6
CV-37 04 44 04 44
7
CV-75 08 48 08 48
CV-110 11 51 11 51
SV036 PTYP Power supply type CV-185 19 59 19 59
CV-300 30 70 30 70
CV-370 37 77 37 77
CV-450 45 85 45 85
CV-550 55 95 - -
CV-750 - - 75 B5

8 Set to "0".
9
rtyp
A
B
C Set to "0".
D
amp
E
F

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.

If alarm 7F occurs after setting the initial parameters, turn the drive unit power ON again. If the unit's
LEDs indicate the following emergency stop state, the unit has started up normally.

F1 E7 F1 E7 Not lit
F+axis No. Emergency F+axis No. Emergency
stop stop

Normal LED display when NC power is turned ON (1st axis)

3-8
 3. Setup

3-2-2 List of standard parameters for each servomotor

(1) 200V Standard motor HF Series
Motor 200V Standard motor HF Series
Parameter HF75 HF105 HF54 HF104 HF154 HF204 HF354 HF453 HF703 HF903
No. Abbrev. Details Unit capacity 20 20 40 40 80 80 160 160 160W 320
SV001 PC1 Motor side gear ratio - - - - - - - - - -
SV002 PC2 Machine side gear ratio - - - - - - - - - -
SV003 PGN1 Position loop gain 1 33 33 33 33 33 33 33 33 33 33
SV004 PGN2 Position loop gain 2 0 0 0 0 0 0 0 0 0 0
SV005 VGN1 Speed loop gain 1 100 100 100 100 100 100 100 100 100 100
SV006 VGN2 Speed loop gain 2 0 0 0 0 0 0 0 0 0 0
SV007 VIL Speed loop delay compensation 0 0 0 0 0 0 0 0 0 0
SV008 VIA Speed loop lead compensation 1364 1364 1364 1364 1364 1364 1364 1364 1364 1364
SV009 IQA Current loop q axis lead compensation 20480 10240 20480 10240 10240 8192 8192 6144 6144 4096
SV010 IDA Current loop d axis lead compensation 20480 10240 20480 10240 10240 8192 8192 6144 6144 4096
SV011 IQG Current loop q axis gain 768 512 3072 1280 1536 2048 2048 2048 2048 1536
SV012 IDG Current loop d axis gain 768 512 3072 1280 1536 2048 2048 2048 2048 1536
SV013 ILMT Current limit value 800 800 800 800 800 800 800 800 800 800
SV014 ILMTsp Current limit value in special control 800 800 800 800 800 800 800 800 800 800
SV015 FFC Acceleration rate feed forward gain 0 0 0 0 0 0 0 0 0 0
SV016 LMC1 Lost motion compensation 1 0 0 0 0 0 0 0 0 0 0
SV017 SPEC Servo specification selection 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV018 PIT Ball screw pitch - - - - - - - - - -
SV019 RNG1 Position detector resolution - - - - - - - - - -
SV020 RNG2 Speed detector resolution - - - - - - - - - -
SV021 OLT Overload detection time constant 60 60 60 60 60 60 60 60 60 60
SV022 OLL Overload detection level 150 150 150 150 150 150 150 150 150 150
SV023 OD1 Excessive error detection width during servo ON 6 6 6 6 6 6 6 6 6 6
SV024 INP In-position detection width 50 50 50 50 50 50 50 50 50 50
SV025 MTYP Motor/detector type xx01 xx02 xx03 xx04 xx05 xx07 xx08 xx09 xx0A xx0B
Excessive error detection width during servo 6 6 6 6 6 6 6 6 6 6
SV026 OD2
OFF
SV027 SSF1 Servo function selection 1 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000
SV028 0 0 0 0 0 0 0 0 0 0
SV029 VCS Speed at the change of speed loop gain 0 0 0 0 0 0 0 0 0 0
Voltage dead time compensation / 0 0 0 0 0 0 0 0 0 0
SV030 IVC
current bias 1
SV031 OVS1 Overshooting compensation 1 0 0 0 0 0 0 0 0 0 0
SV032 TOF Torque offset 0 0 0 0 0 0 0 0 0 0
SV033 SSF2 Servo function selection 2 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV034 SSF3 Servo function selection 3 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV035 SSF4 Servo function selection 4 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV036 PTYP Power supply type 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV037 JL Load inertia scale 0 0 0 0 0 0 0 0 0 0
SV038 FHz1 Notch filter frequency 1 0 0 0 0 0 0 0 0 0 0
SV039 LMCD Lost motion compensation timing 0 0 0 0 0 0 0 0 0 0
Lost motion compensation non-sensitive band 0 0 0 0 0 0 0 0 0 0
SV040 LMCT
/current bias 2
SV041 LMC2 Lost motion compensation 2 0 0 0 0 0 0 0 0 0 0
SV042 OVS2 Overshooting compensation 2 0 0 0 0 0 0 0 0 0 0
SV043 0 0 0 0 0 0 0 0 0 0
SV044 0 0 0 0 0 0 0 0 0 0
SV045 0 0 0 0 0 0 0 0 0 0
SV046 FHz2 Notch filter frequency 2 0 0 0 0 0 0 0 0 0 0
SV047 EC Inductive voltage compensation gain 100 100 100 100 100 100 100 100 100 100
SV048 EMGrt Vertical axis drop prevention time 0 0 0 0 0 0 0 0 0 0
Position loop gain 1 in spindle synchronous 15 15 15 15 15 15 15 15 15 15
SV049 PGN1sp
control
Position loop gain 2 in spindle synchronous 0 0 0 0 0 0 0 0 0 0
SV050 PGN2sp
control
SV051 DFBT Dual feedback control time constant 0 0 0 0 0 0 0 0 0 0
SV052 DFBN Dual feedback control non-sensitive band 0 0 0 0 0 0 0 0 0 0
Excessive error detection width in special 0 0 0 0 0 0 0 0 0 0
SV053 OD3
control
SV054 ORE Overrun detection width in closed loop control 0 0 0 0 0 0 0 0 0 0
SV055 EMGx Max. gate off delay time after emergency stop 0 0 0 0 0 0 0 0 0 0
SV056 EMGt Deceleration time constant at emergency stop 0 0 0 0 0 0 0 0 0 0
SV057 SHGC SHG control gain 0 0 0 0 0 0 0 0 0 0
SV058 SHGCsp SHG control gain in spindle synchronous control 0 0 0 0 0 0 0 0 0 0
SV059 0 0 0 0 0 0 0 0 0 0
SV060 0 0 0 0 0 0 0 0 0 0
SV061 DA1NO D/A output channel 1 data No. 0 0 0 0 0 0 0 0 0 0
SV062 DA2NO D/A output channel 2 data No. 0 0 0 0 0 0 0 0 0 0
SV063 DA1MPY D/A output channel 1 output scale 0 0 0 0 0 0 0 0 0 0
SV064 DA2MPY D/A output channel 2 output scale 0 0 0 0 0 0 0 0 0 0
SV065 TLC Tool end compensation spring constant 0 0 0 0 0 0 0 0 0 0

3-9
 3. Setup

Motor 200V Standard motor HF Series

Parameter HF75 HF105 HF54 HF104 HF154 HF204 HF354 HF453 HF703 HF903
No. Abbrev. Details Unit capacity 20 20 40 40 80 80 160 160 160W 320
(System parameter area)
SV081 SPEC2 Servo specification selction 2 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV082 SSF5 Servo function selection 5 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV083 SSF6 Servo function selection 6 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV084 SSF7 Servo function selection 7 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV085 LMCk Lost motion compensation 3 spring constant 0 0 0 0 0 0 0 0 0 0
SV086 LMCc Lost motion compensation 3 viscous coefficient 0 0 0 0 0 0 0 0 0 0
SV087 FHz4 Notch filter frequency 4 0 0 0 0 0 0 0 0 0 0
SV088 FHz5 Notch filter frequency 5 0 0 0 0 0 0 0 0 0 0
SV089 0 0 0 0 0 0 0 0 0 0
:
SV256

3 - 10
 3. Setup

(2) 200V Standard motor HP Series

Motor 200V Standard motor HP Series
Parameter HP54 HP104 HP154 HP204 HP354 HP454 HP704 HP903 HP1103
No. Abbrev. Details Unit capacity 40 40 80 80 160 160 160W 320 320W
SV001 PC1 Motor side gear ratio - - - - - - - - -
SV002 PC2 Machine side gear ratio - - - - - - - - -
SV003 PGN1 Position loop gain 1 33 33 33 33 33 33 33 33 33
SV004 PGN2 Position loop gain 2 0 0 0 0 0 0 0 0 0
SV005 VGN1 Speed loop gain 1 100 100 100 100 100 100 100 100 100
SV006 VGN2 Speed loop gain 2 0 0 0 0 0 0 0 0 0
SV007 VIL Speed loop delay compensation 0 0 0 0 0 0 0 0 0
SV008 VIA Speed loop lead compensation 1364 1364 1364 1364 1364 1364 1364 1364 1364
SV009 IQA Current loop q axis lead compensation 8192 4096 6144 3072 4096 3072 3072 2048 2048
SV010 IDA Current loop d axis lead compensation 8192 4096 6144 3072 4096 3072 3072 2048 2048
SV011 IQG Current loop q axis gain 1280 768 1536 1024 1280 1024 1024 1280 1280
SV012 IDG Current loop d axis gain 1280 768 1536 1024 1280 1024 1024 1280 1280
SV013 ILMT Current limit value 800 800 800 800 800 800 800 800 800
SV014 ILMTsp Current limit value in special control 800 800 800 800 800 800 800 800 800
SV015 FFC Acceleration rate feed forward gain 0 0 0 0 0 0 0 0 0
SV016 LMC1 Lost motion compensation 1 0 0 0 0 0 0 0 0 0
SV017 SPEC Servo specification selection 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV018 PIT Ball screw pitch - - - - - - - - -
SV019 RNG1 Position detector resolution - - - - - - - - -
SV020 RNG2 Speed detector resolution - - - - - - - - -
SV021 OLT Overload detection time constant 60 60 60 60 60 60 60 60 60
SV022 OLL Overload detection level 150 150 150 150 150 150 150 150 150
SV023 OD1 Excessive error detection width during servo ON 6 6 6 6 6 6 6 6 6
SV024 INP In-position detection width 50 50 50 50 50 50 50 50 50
SV025 MTYP Motor/detector type xx11 xx12 xx13 xx14 xx15 xx16 xx17 xx18 xx19
Excessive error detection width during servo 6 6 6 6 6 6 6 6 6
SV026 OD2
OFF
SV027 SSF1 Servo function selection 1 4000 4000 4000 4000 4000 4000 4000 4000 4000
SV028 0 0 0 0 0 0 0 0 0
SV029 VCS Speed at the change of speed loop gain 0 0 0 0 0 0 0 0 0
Voltage dead time compensation / 0 0 0 0 0 0 0 0 0
SV030 IVC
current bias 1
SV031 OVS1 Overshooting compensation 1 0 0 0 0 0 0 0 0 0
SV032 TOF Torque offset 0 0 0 0 0 0 0 0 0
SV033 SSF2 Servo function selection 2 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV034 SSF3 Servo function selection 3 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV035 SSF4 Servo function selection 4 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV036 PTYP Power supply type 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV037 JL Load inertia scale 0 0 0 0 0 0 0 0 0
SV038 FHz1 Notch filter frequency 1 0 0 0 0 0 0 0 0 0
SV039 LMCD Lost motion compensation timing 0 0 0 0 0 0 0 0 0
Lost motion compensation non-sensitive band 0 0 0 0 0 0 0 0 0
SV040 LMCT
/current bias 2
SV041 LMC2 Lost motion compensation 2 0 0 0 0 0 0 0 0 0
SV042 OVS2 Overshooting compensation 2 0 0 0 0 0 0 0 0 0
SV043 0 0 0 0 0 0 0 0 0
SV044 0 0 0 0 0 0 0 0 0
SV045 0 0 0 0 0 0 0 0 0
SV046 FHz2 Notch filter frequency 2 0 0 0 0 0 0 0 0 0
SV047 EC Inductive voltage compensation gain 100 100 100 100 100 100 100 100 100
SV048 EMGrt Vertical axis drop prevention time 0 0 0 0 0 0 0 0 0

3 - 11
 3. Setup

Motor 200V Standard motor HP Series

Parameter HP54 HP104 HP154 HP204 HP354 HP454 HP704 HP903 HP1103
No. Abbrev. Details Unit capacity 40 40 80 80 160 160 160W 320 320W
Position loop gain 1 in spindle synchronous 15 15 15 15 15 15 15 15 15
SV049 PGN1sp
control
Position loop gain 2 in spindle synchronous 0 0 0 0 0 0 0 0 0
SV050 PGN2sp
control
SV051 DFBT Dual feedback control time constant 0 0 0 0 0 0 0 0 0
SV052 DFBN Dual feedback control non-sensitive band 0 0 0 0 0 0 0 0 0
Excessive error detection width in special 0 0 0 0 0 0 0 0 0
SV053 OD3
control
SV054 ORE Overrun detection width in closed loop control 0 0 0 0 0 0 0 0 0
SV055 EMGx Max. gate off delay time after emergency stop 0 0 0 0 0 0 0 0 0
SV056 EMGt Deceleration time constant at emergency stop 0 0 0 0 0 0 0 0 0
SV057 SHGC SHG control gain 0 0 0 0 0 0 0 0 0
SV058 SHGCsp SHG control gain in spindle synchronous control 0 0 0 0 0 0 0 0 0
SV059 0 0 0 0 0 0 0 0 0
SV060 0 0 0 0 0 0 0 0 0
SV061 DA1NO D/A output channel 1 data No. 0 0 0 0 0 0 0 0 0
SV062 DA2NO D/A output channel 2 data No. 0 0 0 0 0 0 0 0 0
SV063 DA1MPY D/A output channel 1 output scale 0 0 0 0 0 0 0 0 0
SV064 DA2MPY D/A output channel 2 output scale 0 0 0 0 0 0 0 0 0
SV065 TLC Tool end compensation spring constant 0 0 0 0 0 0 0 0 0
(System parameter area)
SV081 SPEC2 Servo specification selction 2 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV082 SSF5 Servo function selection 5 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV083 SSF6 Servo function selection 6 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV084 SSF7 Servo function selection 7 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV085 LMCk Lost motion compensation 3 spring constant 0 0 0 0 0 0 0 0 0
SV086 LMCc Lost motion compensation 3 viscous coefficient 0 0 0 0 0 0 0 0 0
SV087 FHz4 Notch filter frequency 4 0 0 0 0 0 0 0 0 0
SV088 FHz5 Notch filter frequency 5 0 0 0 0 0 0 0 0 0
SV089 0 0 0 0 0 0 0 0 0
:
SV256

3 - 12
 3. Setup

(3) 400V Standard motor HF-H Series

Motor 400V Standard motor HF-H Series
Parameter HF- HF- HF- HF- HF- HF- HF- HF- HF- HF-
H75 H105 H54 H104 H154 H204 H354 H453 H703 H903
No. Abbrev. Details Unit capacity10 10 20 20 40 40 80 80 80W 160
SV001 PC1 Motor side gear ratio - - - - - - - - - -
SV002 PC2 Machine side gear ratio - - - - - - - - - -
SV003 PGN1 Position loop gain 1 33 33 33 33 33 33 33 33 33 33
SV004 PGN2 Position loop gain 2 0 0 0 0 0 0 0 0 0 0
SV005 VGN1 Speed loop gain 1 100 100 100 100 100 100 100 100 100 100
SV006 VGN2 Speed loop gain 2 0 0 0 0 0 0 0 0 0 0
SV007 VIL Speed loop delay compensation 0 0 0 0 0 0 0 0 0 0
SV008 VIA Speed loop lead compensation 1364 1364 1364 1364 1364 1364 1364 1364 1364 1364
SV009 IQA Current loop q axis lead compensation 20480 10240 20480 10240 15360 8192 8192 6144 6144 6144
SV010 IDA Current loop d axis lead compensation 20480 10240 20480 10240 15360 8192 8192 6144 6144 6144
SV011 IQG Current loop q axis gain 768 512 3072 1280 2048 2048 2048 2048 2048 2048
SV012 IDG Current loop d axis gain 768 512 3072 1280 2048 2048 2048 2048 2048 2048
SV013 ILMT Current limit value 800 800 800 800 800 800 800 800 800 800
SV014 ILMTsp Current limit value in special control 800 800 800 800 800 800 800 800 800 800
SV015 FFC Acceleration rate feed forward gain 0 0 0 0 0 0 0 0 0 0
SV016 LMC1 Lost motion compensation 1 0 0 0 0 0 0 0 0 0 0
SV017 SPEC Servo specification selection 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000
SV018 PIT Ball screw pitch - - - - - - - - - -
SV019 RNG1 Position detector resolution - - - - - - - - - -
SV020 RNG2 Speed detector resolution - - - - - - - - - -
SV021 OLT Overload detection time constant 60 60 60 60 60 60 60 60 60 60
SV022 OLL Overload detection level 150 150 150 150 150 150 150 150 150 150
SV023 OD1 Excessive error detection width during servo ON 6 6 6 6 6 6 6 6 6 6
SV024 INP In-position detection width 50 50 50 50 50 50 50 50 50 50
SV025 MTYP Motor/detector type xx01 xx02 xx03 xx04 xx05 xx07 xx08 xx09 xx0A xx0B
Excessive error detection width during servo 6 6 6 6 6 6 6 6 6 6
SV026 OD2
OFF
SV027 SSF1 Servo function selection 1 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000
SV028 0 0 0 0 0 0 0 0 0 0
SV029 VCS Speed at the change of speed loop gain 0 0 0 0 0 0 0 0 0 0
Voltage dead time compensation / 0 0 0 0 0 0 0 0 0 0
SV030 IVC
current bias 1

3 - 13
 3. Setup

Motor 400V Standard motor HF-H Series

Parameter HF- HF- HF- HF- HF- HF- HF- HF- HF- HF-
H75 H105 H54 H104 H154 H204 H354 H453 H703 H903
No. Abbrev. Details Unit capacity 10 10 20 20 40 40 80 80 80W 160
SV031 OVS1 Overshooting compensation 1 0 0 0 0 0 0 0 0 0 0
SV032 TOF Torque offset 0 0 0 0 0 0 0 0 0 0
SV033 SSF2 Servo function selection 2 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV034 SSF3 Servo function selection 3 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV035 SSF4 Servo function selection 4 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV036 PTYP Power supply type 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV037 JL Load inertia scale 0 0 0 0 0 0 0 0 0 0
SV038 FHz1 Notch filter frequency 1 0 0 0 0 0 0 0 0 0 0
SV039 LMCD Lost motion compensation timing 0 0 0 0 0 0 0 0 0 0
Lost motion compensation non-sensitive band 0 0 0 0 0 0 0 0 0 0
SV040 LMCT
/current bias 2
SV041 LMC2 Lost motion compensation 2 0 0 0 0 0 0 0 0 0 0
SV042 OVS2 Overshooting compensation 2 0 0 0 0 0 0 0 0 0 0
SV043 0 0 0 0 0 0 0 0 0 0
SV044 0 0 0 0 0 0 0 0 0 0
SV045 0 0 0 0 0 0 0 0 0 0
SV046 FHz2
Notch filter frequency 2 0 0 0 0 0 0 0 0 0 0
SV047 ECInductive voltage compensation gain 100 100 100 100 100 100 100 100 100 100
SV048 EMGrt
Vertical axis drop prevention time 0 0 0 0 0 0 0 0 0 0
Position loop gain 1 in spindle synchronous 15 15 15 15 15 15 15 15 15 15
SV049 PGN1sp
control
Position loop gain 2 in spindle synchronous 0 0 0 0 0 0 0 0 0 0
SV050 PGN2sp
control
SV051 DFBT Dual feedback control time constant 0 0 0 0 0 0 0 0 0 0
SV052 DFBN Dual feedback control non-sensitive band 0 0 0 0 0 0 0 0 0 0
Excessive error detection width in special 0 0 0 0 0 0 0 0 0 0
SV053 OD3
control
Overrun detection width in closed loop 0 0 0 0 0 0 0 0 0 0
SV054 ORE
control
Max. gate off delay time after emergency 0 0 0 0 0 0 0 0 0 0
SV055 EMGx
stop
Deceleration time constant at emergency 0 0 0 0 0 0 0 0 0 0
SV056 EMGt
stop
SV057 SHGC SHG control gain 0 0 0 0 0 0 0 0 0 0
SHG control gain in spindle synchronous 0 0 0 0 0 0 0 0 0 0
SV058 SHGCsp
control
SV059 0 0 0 0 0 0 0 0 0 0
SV060 0 0 0 0 0 0 0 0 0 0
SV061 DA1NO D/A output channel 1 data No. 0 0 0 0 0 0 0 0 0 0
SV062 DA2NO D/A output channel 2 data No. 0 0 0 0 0 0 0 0 0 0
SV063 DA1MPY D/A output channel 1 output scale 0 0 0 0 0 0 0 0 0 0
SV064 DA2MPY D/A output channel 2 output scale 0 0 0 0 0 0 0 0 0 0
SV065 TLC Tool end compensation spring constant 0 0 0 0 0 0 0 0 0 0
(System parameter area)
SV081 SPEC2 Servo specification selction 2 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV082 SSF5 Servo function selection 5 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV083 SSF6 Servo function selection 6 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV084 SSF7 Servo function selection 7 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV085 LMCk Lost motion compensation 3 spring constant 0 0 0 0 0 0 0 0 0 0
SV086 Lost motion compensation 3 viscous 0 0 0 0 0 0 0 0 0 0
LMCc
coefficient
SV087 FHz4 Notch filter frequency 4 0 0 0 0 0 0 0 0 0 0
SV088 FHz5 Notch filter frequency 5 0 0 0 0 0 0 0 0 0 0
SV089 0 0 0 0 0 0 0 0 0 0
:
SV256

3 - 14
 3. Setup

(4) 400V Standard motor HP-H Series

Motor 400V Standard motor HP-H Series
Parameter HP- HP- HP- HP- HP- HP- HP- HP- HP-
H54 H104 H154 H204 H354 H454 H704 H903 H1103
No. Abbrev. Details Unit capacity 20 20 40 40 80 80 80W 160 160W
SV001 PC1 Motor side gear ratio - - - - - - - - -
SV002 PC2 Machine side gear ratio - - - - - - - - -
SV003 PGN1 Position loop gain 1 33 33 33 33 33 33 33 33 33
SV004 PGN2 Position loop gain 2 0 0 0 0 0 0 0 0 0
SV005 VGN1 Speed loop gain 1 100 100 100 100 100 100 100 100 100
SV006 VGN2 Speed loop gain 2 0 0 0 0 0 0 0 0 0
SV007 VIL Speed loop delay compensation 0 0 0 0 0 0 0 0 0
SV008 VIA Speed loop lead compensation 1364 1364 1364 1364 1364 1364 1364 1364 1364
SV009 IQA Current loop q axis lead compensation 8192 4096 6144 3072 4096 3072 3072 2048 2048
SV010 IDA Current loop d axis lead compensation 8192 4096 6144 3072 4096 3072 3072 2048 2048
SV011 IQG Current loop q axis gain 1280 768 1536 1024 1280 1024 1024 1280 1280
SV012 IDG Current loop d axis gain 1280 768 1536 1024 1280 1024 1024 1280 1280
SV013 ILMT Current limit value 800 800 800 800 800 800 800 800 800
SV014 ILMTsp Current limit value in special control 800 800 800 800 800 800 800 800 800
SV015 FFC Acceleration rate feed forward gain 0 0 0 0 0 0 0 0 0
SV016 LMC1 Lost motion compensation 1 0 0 0 0 0 0 0 0 0
SV017 SPEC Servo specification selection 2000 2000 2000 2000 2000 2000 2000 2000 2000
SV018 PIT Ball screw pitch - - - - - - - - -
SV019 RNG1 Position detector resolution - - - - - - - - -
SV020 RNG2 Speed detector resolution - - - - - - - - -
SV021 OLT Overload detection time constant 60 60 60 60 60 60 60 60 60
SV022 OLL Overload detection level 150 150 150 150 150 150 150 150 150
SV023 OD1 Excessive error detection width during servo ON 6 6 6 6 6 6 6 6 6
SV024 INP In-position detection width 50 50 50 50 50 50 50 50 50
SV025 MTYP Motor/detector type xx11 xx12 xx13 xx14 xx15 xx16 xx17 xx18 xx19
Excessive error detection width during servo 6 6 6 6 6 6 6 6 6
SV026 OD2
OFF
SV027 SSF1 Servo function selection 1 4000 4000 4000 4000 4000 4000 4000 4000 4000
SV028 0 0 0 0 0 0 0 0 0
SV029 VCS Speed at the change of speed loop gain 0 0 0 0 0 0 0 0 0
Voltage dead time compensation / 0 0 0 0 0 0 0 0 0
SV030 IVC
current bias 1
SV031 OVS1 Overshooting compensation 1 0 0 0 0 0 0 0 0 0
SV032 TOF Torque offset 0 0 0 0 0 0 0 0 0
SV033 SSF2 Servo function selection 2 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV034 SSF3 Servo function selection 3 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV035 SSF4 Servo function selection 4 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV036 PTYP Power supply type 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV037 JL Load inertia scale 0 0 0 0 0 0 0 0 0
SV038 FHz1 Notch filter frequency 1 0 0 0 0 0 0 0 0 0
SV039 LMCD Lost motion compensation timing 0 0 0 0 0 0 0 0 0
Lost motion compensation non-sensitive band 0 0 0 0 0 0 0 0 0
SV040 LMCT
/current bias 2
SV041 LMC2 Lost motion compensation 2 0 0 0 0 0 0 0 0 0
SV042 OVS2 Overshooting compensation 2 0 0 0 0 0 0 0 0 0
SV043 0 0 0 0 0 0 0 0 0
SV044 0 0 0 0 0 0 0 0 0
SV045 0 0 0 0 0 0 0 0 0
SV046 FHz2 Notch filter frequency 2 0 0 0 0 0 0 0 0 0
SV047 EC Inductive voltage compensation gain 100 100 100 100 100 100 100 100 100
SV048 EMGrt Vertical axis drop prevention time 0 0 0 0 0 0 0 0 0
Position loop gain 1 in spindle synchronous 15 15 15 15 15 15 15 15 15
SV049 PGN1sp
control
Position loop gain 2 in spindle synchronous 0 0 0 0 0 0 0 0 0
SV050 PGN2sp
control
SV051 DFBT Dual feedback control time constant 0 0 0 0 0 0 0 0 0
SV052 DFBN Dual feedback control non-sensitive band 0 0 0 0 0 0 0 0 0
SV053 OD3 Excessive error detection width in special control 0 0 0 0 0 0 0 0 0
SV054 ORE Overrun detection width in closed loop control 0 0 0 0 0 0 0 0 0
SV055 EMGx Max. gate off delay time after emergency stop 0 0 0 0 0 0 0 0 0
SV056 EMGt Deceleration time constant at emergency stop 0 0 0 0 0 0 0 0 0
SV057 SHGC SHG control gain 0 0 0 0 0 0 0 0 0
SV058 SHGCsp SHG control gain in spindle synchronous control 0 0 0 0 0 0 0 0 0
SV059 0 0 0 0 0 0 0 0 0
SV060 0 0 0 0 0 0 0 0 0
SV061 DA1NO D/A output channel 1 data No. 0 0 0 0 0 0 0 0 0
SV062 DA2NO D/A output channel 2 data No. 0 0 0 0 0 0 0 0 0
SV063 DA1MPY D/A output channel 1 output scale 0 0 0 0 0 0 0 0 0
SV064 DA2MPY D/A output channel 2 output scale 0 0 0 0 0 0 0 0 0
SV065 TLC Tool end compensation spring constant 0 0 0 0 0 0 0 0 0

3 - 15
 3. Setup

Motor 400V Standard motor HP-H Series

Parameter HP- HP- HP- HP- HP- HP- HP- HP- HP-
H54 H104 H154 H204 H354 H454 H704 H903 H1103
No. Abbrev. Details Unit capacity 20 20 40 40 80 80 80W 160 160W
(System parameter area)
SV081 SPEC2 Servo specification selction 2 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV082 SSF5 Servo function selection 5 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV083 SSF6 Servo function selection 6 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV084 SSF7 Servo function selection 7 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV085 LMCk Lost motion compensation 3 spring constant 0 0 0 0 0 0 0 0 0
SV086 LMCc Lost motion compensation 3 viscous coefficient 0 0 0 0 0 0 0 0 0
SV087 FHz4 Notch filter frequency 4 0 0 0 0 0 0 0 0 0
SV088 FHz5 Notch filter frequency 5 0 0 0 0 0 0 0 0 0
SV089 0 0 0 0 0 0 0 0 0
:
SV256

3 - 16
 3. Setup

3-2-3 Servo parameter list

Setting
No. Abbrev. Parameter name Explanation
range (Unit)
Set the motor side and machine side gear ratio.
SV001 PC1* Motor side gear ratio 1 to 32767
For the rotary axis, set the total deceleration (acceleration) ratio.
Machine side gear Even if the gear ratio is within the setting range, the electronic gears may
SV002 PC2* 1 to 32767
ratio overflow and causes initial parameter error (servo alarm No. 37).

Set the position loop gain. The standard setting is "33".

The higher the setting value is, the more precisely the command can be
1 to 200
SV003 PGN1 Position loop gain 1 followed and the shorter the positioning time gets, however, note that a
(rad/s)
bigger shock is applied to the machine during acceleration/deceleration.
When using the SHG control, also set SV004 (PGN2) and SV057 (SHGC).

When using the SHG control, also set SV003 (PGN1) and SV057 (SHGC). 0 to 999
SV004 PGN2 Position loop gain 2
When not using the SHG control, set to "0". (rad/s)

Set the speed loop gain.

Set this according to the load inertia size.
The higher the setting value is, the more accurate the control will be;
SV005 VGN1 Speed loop gain 1 however, vibration tends to occur. 1 to 9999
If vibration occurs, adjust by lowering by 20 to 30%.
The value should be determined to be 70 to 80% of the value at the time
when the vibration stops.

If the noise is bothersome at high

speed during rapid traverse, etc,
lower the speed loop gain.
As shown in the right, set the speed VGN1

loop gain at the time of overspeed -1000 to

SV006 VGN2 Speed loop gain 2 VGN2
detection speed and use this with 9999
SV029 (VSC).
When not using, set to "0".
Refer to the motor specification for 0 VCS VLMT
（Overspeed detection speed）
the overspeed detection speed.

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.

3 - 17
 3. Setup

Setting
No. Abbrev. Parameter name Explanation
range (Unit)
Set this when the limit cycle occurs in the full-closed loop, or overshooting
occurs in positioning.
Select the control method with SV027 (SSF1).bit1, 0 (vcnt).
Normally, use "Changeover type 2".
When you set this parameter, make sure to set the torque offset (SV032
(TOF)). When not using, set to "0".
No changeover
When SV027 (SSF1).bit1, 0 (vcnt)=00
The delay compensation control is always valid.
Speed loop delay
SV007 VIL Changeover type 1 0 to 32767
compensation
When SV027 (SSF1).bit1, 0 (vcnt)=01
The delay compensation control works when the command from the NC is
"0".
Overshooting that occurs during pulse feeding can be suppressed.
Changeover type 2
When SV027 (SSF1).bit1, 0 (vcnt)=10
The delay compensation control works when the command from the NC is
"0" and the position droop is "0". Overshooting or the limit cycle that occurs
during pulse feeding or positioning can be suppressed.

Set the gain of the speed loop integration control.

The standard setting is "1364". During the SHG control, the standard
Speed loop lead setting is "1900". Adjust the value by increasing/decreasing it by about 100
SV008 VIA 1 to 9999
compensation at a time.
Raise this value to improve contour tracking precision in high-speed cutting.
Lower this value when the position droop vibrates (10 to 20Hz).

Current loop q axis Set the gain of current loop.

SV009 IQA
lead compensation As this setting is determined by the motor’s electrical characteristics, the
1 to 20480
setting is fixed for each type of motor.
Current loop d axis
SV010 IDA Set the standard values for all the parameters depending on each motor
lead compensation
type.
Current loop q axis
SV011 IQG
gain
1 to 8192
Current loop d axis
SV012 IDG
gain

Set the normal current (torque) limit value. (Limit values for both + and -
0 to 999
direction.)
SV013 ILMT Current limit value (Stall
When the value is "800" (a standard setting), the maximum torque is
current %)
determined by the specification of the motor.

Set the current (torque) limit value in a special control (initial absolute
0 to 999
Current limit value in position setting, stopper control, etc). (Limit values for both of the + and -
SV014 ILMTsp (Stall
special control directions.)
current %)
Set to "800" when not using.
When a relative error in the synchronous control is large, apply this
parameter to the axis that is delaying. The standard setting value is "0".
Acceleration rate 0 to 999
SV015 FFC For the SHG control, set to "100".
feed forward gain (%)
To adjust a relative error in acceleration/deceleration, increase the value by
50 to 100 at a time.

3 - 18
 3. Setup

Setting
No. Abbrev. Parameter name Explanation
range (Unit)
Set this when the protrusion (that occurs due to the non-sensitive band by
friction, torsion, backlash, etc) at quadrant change is too large.
This compensates the torque at quadrant change.
This is valid only when the lost motion compensation (SV027 (SSF1/bit9, 8))
is selected.
Type 2: When SV027 (SSF1).bit9, 8 (lmc)=10
Set the compensation amount based on the stall (rated) current of the
motor. -1 to 200
(Stall
The standard setting is double of the friction torque. Setting to "0" means current %)
the compensation amount is zero. Note that
Lost motion when
SV016 LMC1 SV082/bit2 is
compensation 1 Other than Type 2: When SV027 (SSF1)).bit9, 8 (lmc) ≠10
1, -1 to 20000
Lost motion compensation (type 2) is not performed. (Stall current
0.01%)
When you wish different compensation amount depending on the direction.
When SV041 (LMC2) is "0", compensate with the value of SV016 (LMC1)
in both of the + and -directions.
If you wish to change the compensation amount depending on the
command direction, set this and SV041 (LMC2). (SV016: + direction,
SV041: - direction. However, the directions may be opposite depending
on other settings.)
When "-1" is set, the compensation will not be performed in the direction
of the command.

F E D C B A 9 8 7 6 5 4 3 2 1 0
spm abs fdir vfb seqh dfbx

bit Meaning when set to 0 Meaning when set to 1

0
1 dfbx Dual feedback control stop Dual feedback control start
2 seqh Normal sequence High-speed sequence
3 spwv Speed feedback filter stop Speed feedback filter start (2250Hz)
4 fdir Position feedback forward polarity Position feedback reverse polarity
5
Servo specification
SV017 SPEC1* 6
selection 1
7 abs Incremental control Absolute position control
8
9
A
B
C
Select the motor series.
D
spm 0: HF, HP motor (200V specifications)
E 2: HF-H, HP-H motor (400V specifications)
F
(Note) Set to "0" for bits with no particular description.

Set the ball screw pitch. Set to "360" for the rotary axis. 1 to 32767
SV018 PIT* Ball screw pitch
(mm/rev)

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.

3 - 19
 3. Setup

Setting
No. Abbrev. Parameter name Explanation
range (Unit)

In the case of the semi-closed loop control

Set the same value as SV020 (RNG2). 0 to 32767
(kp/rev)
(Refer to the explanation of SV020.)

In the case of the full-closed loop control

Set the number of pulses per ball screw pitch.

Detector model
Resolution SV019 setting
name

OSA105-ET2 1,000,000 (p/rev) 1000

OSA166-ET2 16,000,000 (p/rev) 16000

RCN723 (Heidenhain) 8,000,000 (p/rev) 8000

Position detector RCN223 (Heidenhain) 8,000,000 (p/rev) 8000

SV019 RNG1* 0 to 32767
resolution
Refer to detector (kp/PIT)
Relative position scale
specification manual.

AT343 (Mitsutoyo) 0.05 (µm/p)

AT543 (Mitsutoyo) 0.05 (µm/p)

SV018 (PIT)/
LC191M (Heidenhain) 0.1, 0.05 (µm/p)
Rresolution (µm)
LC491M (Heidenhain) 0.05 (µm/p)

Futaba absolute position Refer to detector

scale (Futaba) specification manual.

MDS-B-HR Analog cycle/500

Set the number of pulses per one revolution of the motor end detector.
Detector model name SV020 setting
Speed detector 1 to 32767
SV020 RNG2* OSA105 1000
resolution (kp/rev)
OSA166 16000

Overload detection Set to "60" as a standard. 1 to 999

SV021 OLT
time constant (s)

Set the current detection level of Overload 1 (Alarm 50) in respect to the 110 to 500
Overload detection
SV022 OLL stall (rated) current. Set to "150" as a standard. (For machine tool (Stall
level
builder adjustment.) current %)

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.

3 - 20
 3. Setup

Setting
No. Abbrev. Parameter name Explanation
range (Unit)
Set the excessive error detection width when servo ON.
<Standard setting value>
Excessive error
Rapid traverse rate 0 to 32767
SV023 OD1 detection width
(mm/min) (mm)
during servo ON OD1=OD2= /2 (mm)
60×PGN1

When "0" is set, the excessive error detection will not be performed.

Set the in-position detection width. 0 to 32767

Set the accuracy required for the machine. (µm)
In-position detection
SV024 INP The lower the setting is, the higher the positioning accuracy gets; however,
width
the cycle time (setting time) becomes longer.
The standard setting value is "50".

F E D C B A 9 8 7 6 5 4 3 2 1 0
pen ent mtyp
bit Details
0 Set the motor type. Set according to SV017/bitC-F.
1 [1] For SV017/bitC-F(spm) = 0 (200V standard motor series)
2 mtyp 0x 1x 2x 3x 4x 5x 6x 7x
3 Mtyp x0
4 x1 HF75 HP54
5 x2 HF105 HP104
6 x3 HF54 HP154
7 x4 HF104 HP204
x5 HF154 HP354
x6 HP454
x7 HF204 HP704
x8 HF354 HP903
x9 HF453 HP1103
xA HF703
xB HF903
xC
xD
SV025 MTYP* Motor/Detector type xE
xF

[2] For SV017/spm = 2 (400V standard motor series)

mtyp 0x 1x 2x 3x 4x 5x 6x 7x
x0
x1 HF-H75 HP-H54
x2 HF-H105 HP-H104
x3 HF-H54 HP-H154
x4 HF-H104 HP-H204
x5 HF-H154 HP-H354
x6 HP-H454
x7 HF-H204 HP-H704
x8 HF-H354 HP-H903
x9 HF-H453 HP-H1103
xA HF-H703
xB HF-H903
xC
xD
xE
xF

(To be continued to the next page)

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.

3 - 21
 3. Setup

Setting
No. Abbrev. Parameter name Explanation
range (Unit)
(Continued from the previous page)
bit Details
8 Set the detector type.
9 Set the position detector type for “pen”, and the speed detector type for
ent “ent”. In the case of the semi-closed loop control, set the same value for
A
B “pen” and “ent”.
pen
C Detector model name ent setting
setting
pen
D 0 0
E 1 1
F OSA105, OSA166 2 (Note) 2
3 3
4 Setting impossible
5 Setting impossible

SV025 MTYP* Motor/Detector type OSA105-ET2, OSA166-ET2

6 Setting impossible
RCN223, RCN723 (Heidenhain)
7 Setting impossible
Relative position scale 8 Setting impossible
9 Setting impossible
AT343, AT543 (Mitsutoyo)
LC191M, LC491M,(Heidenhain)
A Setting impossible
Futaba absolute position scale (Futaba)
MDS-B-HR
B Setting impossible
C Setting impossible
D Setting impossible
E Setting impossible
F Setting impossible

(Note) Setting for semi-closed loop control.

Excessive error Set the excessive error detection width when servo ON.
0 to 32767
SV026 OD2 detection width For the standard setting, refer to the explanation of SV023 (OD1).
during servo OFF (mm)
When "0" is set, the excessive error detection will not be performed.

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.

3 - 22
 3. Setup

Setting
No. Abbrev. Parameter name Explanation
range (Unit)
Select the servo functions.
F E D C B A 9 8 7 6 5 4 3 2 1 0
zrn2 ovs lmc vfct vcnt

bit Meaning when set to 0 Meaning when set to 1

0 Set the execution changeover type of the speed loop delay compensation.
vcnt
1 00: Delay compensation changeover invalid 10: Delay compensation type 2
01: Delay compensation changeover type 1 11: Setting prohibited
2
3
4 Set the number of compensation pulses of the jitter compensation.
vfct
5 00: Jitter compensation invalid 10: Jitter compensation 2 pulses
01: Jitter compensation 1 pulse 11: Jitter compensation 3 pulses
Servo function 6
SV027 SSF1
selection 1 7
Set the compensation amount with SV016 (LMC1) and SV041 (LMC2).
8 Note that when SV082/lmc3 is set to "1", the lost motion compensation type 3 is
lmc selected regardless of the setting of this data.
9 00: Lost motion compensation stop 10: Lost motion compensation type 2
01: Setting prohibited 11: Setting prohibited
A Set the compensation amount with SV031 (OVS1) and SV042 (OVS2).
ovs
B 00: Overshoot compensation stop 10: Setting prohibited
01: Setting prohibited 11: Overshoot compensation type 3
C
D
E zrn2 Set to "1".
F
(Note) Set to "0" for bits with no particular description.
SV028 Not used. Set to "0". 0
If the noise is bothersome at high speed during rapid traverse, etc, lower the
speed loop gain.
Speed at the change 0 to 9999
SV029 VCS Set the speed at which the speed loop gain changes, and use this with
of speed loop gain (r/min)
SV006 (VGN2). (Refer to SV006.)
When not using, set to "0".
When 100% is set, the voltage equivalent to the logical non-energized time
Voltage will be compensated.
0 to 255
SV030 IVC non-sensitive band When "0" is set, a 100% compensation will be performed.
compensation Adjust in increments of 10% from the default value 100%. (%)
If increased too much, vibration or vibration noise may be generated.
Set this if overshooting occurs during positioning. This compensates the
motor torque during positioning.
This is valid only when the overshooting compensation SV027 (SSF1/ovs)
is selected.
Type 3: When SV027 (SSF1). bitB, A (ovs)=11 -1 to 100
Set the compensation amount based on the motor’s stall current. (Stall
Increase by 1% and determine the amount that overshooting doesn’t current %)
occur. Note that
when
Overshooting Other than type 3: When SV027 (SSF1). bitB, A (ovs) ≠ 11
SV031 OVS1 SV082/bit2 is
compensation 1 Overshooting compensation (Type 2) is not executed. 1, -1 to 10000
When you wish different compensation amount depending on the direction. （Stall current
When SV042 (OVS2) is "0", compensate with the value of SV031 (OVS1) 0.01%）
in both of the + and -directions.
If you wish to change the compensation amount depending on the
command direction, set this and SV042 (OVS2). (SV031: + direction,
SV042: - direction. However, the directions may be opposite depending
on other settings.)
When "-1" is set, the compensation will not be performed in the direction
of the command.

3 - 23
 3. Setup

Setting
No. Abbrev. Parameter name Explanation
range (Unit)
Set the unbalance torque of vertical axis and inclined axis. -100 to 100
SV032 TOF Torque offset 1 (Stall
current %)

F E D C B A 9 8 7 6 5 4 3 2 1 0
lmc2a rps nfd2 nf3 nfd1

bit Meaning when set to 0 Meaning when set to 1

0
1 Set the filter depth for Notch filter 1 (SV038).
2 nfd1 Deep ← → Shallow
3 000 001 010 011 100 101 110 111

Depth (dB) -∞ -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2

4 nf3 Notch filter 3 stop Notch filter 3 start (1125Hz)

5 nfd2 Set the filter depth for Notch filter 1 (SV046).
6 Deep ← → Shallow
Servo function
SV033 SSF2 7 000 001 010 011 100 101 110 111
selection 2
Depth (dB) -∞ -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2

8
9
A
B
C
Safety observation safety speed Safety observation safety speed
D rps
setting unit: mm/min setting unit: 100mm/min

Lost motion compensation 2 timing Lost motion compensation 2 timing

F lmc2a
normal change
(Note) Set to "0" for bits with no particular description.

3 - 24
 3. Setup

No. Abbrev. Parameter name Explanation

F E D C B A 9 8 7 6 5 4 3 2 1 0
ovsn

bit Meaning when set to 0 Meaning when set to 1

0
1
2
3
4
5
Servo function
SV034 SSF3 6
selection 3
7
8
9
A
B
C Set the non-sensitive band of the overshooting compensation type 3 in increments
D of 2µm at a time.
ovsn In the feed forward control, the non-sensitive band of the model position droop is
E set, and overshooting of the model is ignored. Set 2µm (0001) as a standard.
F
(Note) Set to "0" for bits with no particular description.

F E D C B A 9 8 7 6 5 4 3 2 1 0
ckab

bit Meaning when set to 0 Meaning when set to 1

0
1
2
3
4
5
Servo function
SV035 SSF4 6
selection 4
7 ckab No signal detection 2 invalid No signal detection 2 valid
8
9
A
B
C
D
E
F
(Note) Set to "0" for bits with no particular description.

3 - 25
 3. Setup

Setting
No. Abbrev. Parameter name Explanation
range (Unit)

F E D C B A 9 8 7 6 5 4 3 2 1 0
amp rtyp ptyp

bit Explanation
0 When the CN4 connector of the drive unit and the power supply are connected,
1 setting below is necessary.
2
3 MDS-D-CV MDS-DH-CV
ptyp
4 External External External External
5 emergency emergency emergency emergency
6 stop invalid stop valid stop invalid stop valid
7 CV-37 04 44 04 44
CV-75 08 48 08 48
CV-110 11 51 11 51
CV-185 19 59 19 59
SV036 PTYP Power supply type
CV-300 30 70 30 70
CV-370 37 77 37 77
CV-450 45 85 45 85
CV-550 55 95 - -
CV-750 - - 75 B5

8 Set to "0".
9
rtyp
A
B
C Set to "0".
D
amp
E
F

Set "the motor inertia + motor axis conversion load inertia" in respect to the
motor inertia.
Jm+Jl 0 to 5000
SV037 JL Load inertia scale SV037(JL)= Jm ×100
(%)
Jm : Motor inertia
Jl : Motor axis conversion load inertia
Notch filter frequency Set the vibration frequency to suppress if machine vibration occurs. 0 to 2250
SV038 FHz1 (Valid at 80 or more) When not using, set to "0".
1 (Hz)
Lost motion Set this when the lost motion compensation timing does not match. 0 to 2000
SV039 LMCD
compensation timing Adjust by increasing the value by 10 at a time. (ms)
Set the non-sensitive band of the lost motion compensation in the feed
Lost motion
forward control. 0 to 255
SV040 LMCT compensation
When "0" is set, the actual value that is set is 2µm. Adjust by increasing by (µm)
non-sensitive band
1µm at a time.
Set this with SV016 (LMC1) only when you wish to set the lost motion -1 to 200
compensation amount to be different depending on the command (stall
directions. current %)
Note that
Lost motion Set to "0" as a standard.
SV041 LMC2 when
compensation 2 SV082/bit2 is
1, -1 to 20000
(stall current
0.01%)
Set this with SV031 (OVS1) only when you wish to set the overshooting -1 to 100
compensation amount to be different depending on the command (stall
directions. current %)
Note that
Overshooting Set to "0" as a standard.
SV042 OVS2 when
compensation 2 SV082/bit2 is
1, -1 to 10000
(stall current
0.01%)

3 - 26
 3. Setup

Setting
No. Abbrev. Parameter name Explanation
range (Unit)
Set the disturbance observer filter band.
Disturbance observer Set to “100” as a standard. 0 to 1000
SV043 OBS1
filter frequency To use the disturbance observer, also set SV037 (JL) and SV044 (OBS2). (rad/s)
When not using, set to “0”.
Set the disturbance observer gain. The standard setting is “100” to “300”.
Disturbance observer 0 to 500
SV044 OBS2 To use the disturbance observer, also set SV037 (JL) and SV043 (OBS1).
gain (%)
When not using, set to “0”.
Not used.
SV045 Set to "0". 0

Notch filter frequency If the machine vibrates, set the vibration frequency to be suppressed. 0 to 2250
SV046 FHz2 2 (Valid when set to 80 or more.) When not using, set to "0". (Hz)
Inductive voltage Set the inductive voltage compensation gain. Set to "100" as a standard. 0 to 200
SV047 EC If the current FB peak exceeds the current command peak, lower the gain.
compensation gain (%)
Input a length of time to prevent the vertical axis from dropping by delaying
Vertical axis drop Ready OFF until the brake works when the emergency stop occurs. 0 to 20000
SV048 EMGrt
prevention time Increase the setting by 100ms at a time and set the value where the axis (ms)
does not drop.
Set the position loop gain during spindle synchronous control (synchronous
tap and synchronous control with spindle C-axis).
Position loop gain 1
Set the same value as the value of the spindle parameter, position loop gain 1 to 200
SV049 PGN1sp in spindle
in synchronous control. (rad/s)
synchronous control
When performing the SHG control, set this with SV050 (PGN2sp) and
SV058 (SHGCsp).
When using SHG control during spindle synchronous control (synchronous
Position loop gain 2
tap and synchronous control with spindle C-axis), set this with SV049 0 to 999
SV050 PGN2sp in spindle
(PGN1sp) and SV058 (SHGCsp). (rad/s)
synchronous control
When not performing the SHG control, set to "0".
Set the control time constant in dual feed back.
Dual feed back When "0" is set, the actual value that is set is 1ms. 0 to 9999
SV051 DFBT
control time constant The higher the time constant is, the closer it gets to the semi-closed control, (ms)
so the limit of the position loop gain is raised.
Dual feedback Set the non-sensitive band in the dual feedback control.
0 to 9999
SV052 DFBN control non-sensitive Set to "0" as a standard.
band (µm)
Set the excessive error detection width when servo ON in a special control
Excessive error
(initial absolute position setting, stopper control, etc.). 0 to 32767
SV053 OD3 detection width in
If "0" is set, excessive error detection won’t be performed when servo ON (mm)
special control
during a special control.
Set the overrun detection width in the full-closed loop control.
If the gap between the motor end detector and the linear scale (machine
Overrun detection
end detector) exceeds the value set by this parameter, it is judged to be -1 to 32767
SV054 ORE width in closed loop
overrun and Alarm 43 will be detected. (mm)
control
When "-1" is set, the alarm detection will not be performed. When "0" is
set, overrun is detected with a 2mm width.
Max. gate off delay Set a length of time from the point when the emergency stop is input to the
time after emergency point when READY OFF is compulsorily executed.
0 to 20000
SV055 EMGx stop Normally, set the same value as the absolute value of SV056.
In preventing the vertical axis from dropping, the gate off is delayed for the (ms)
length of time set by SV048 if SV055’s value is smaller than that of SV048.
In the vertical axis drop prevention control, set the time constant used for
the deceleration control at emergency stop. Set a length of time that takes
Deceleration time from rapid traverse rate (rapid) to stopping. -20000 to
SV056 EMGt constant at Normally, set the same value as the rapid traverse acceleration/deceleration 20000
emergency stop time constant. (ms)
When executing the synchronous operation, put the minus sign to the
settings of both of the master axis and slave axis.
When performing the SHG control, set this with S003 (PGN1) and SV004 0 to 1200
SV057 SHGC SHG control gain (PGN2). (rad/s)
When not performing the SHG control, set to "0".
When using SHG control during spindle synchronous control (synchronous
SHG control gain in
tap and synchronous control with spindle C-axis), set this with SV049 0 to 1200
SV058 SHGCsp spindle synchronous
(PGN1sp) and SV050 (PGN2sp). (rad/s)
control
When not performing the SHG control, set to "0".
Not used.
SV059 0
Set to "0".
Not used.
SV060 0
Set to "0".

3 - 27
 3. Setup

Setting
No. Abbrev. Parameter name Explanation
range (Unit)
D/A output channel 1 Input the data number you wish to output to D/A output channel.
SV061 DA1NO
data No. When using the 2-axis drive unit, set "-1" for the axis on the side to which
-1 to 127
D/A output channel 2 the data will not be output.
SV062 DA2NO
data No.
D/A output channel 1 Set the scale with a 1/100 unit. -32768 to
SV063 DA1MPY
output scale When "0" is set, the magnification is the same as when set to "100".
32767
D/A output channel 2
SV064 DA2MPY (1/100-fold)
output scale
Set the machine end compensation spring constant.
For semi-closed droop control, the machine end compensation amount can
Machine end be approximated with the following expression.
-32768 to
SV065 TLC compensation spring Compensation Command speed F(mm/min)2×SV065
constant = (µm) 32767
amount
Radius R(mm) × 109
Set to "0" when not using.
SV066 These parameters are set automatically by the NC system.
System setting
:
parameter
SV080

3 - 28
 3. Setup

No. Abbrev. Parameter name Explanation

F E D C B A 9 8 7 6 5 4 3 2 1 0

bit Meaning when set to 0 Meaning when set to 1

0
1
2
3
4
5
Servo specification
SV081 SPEC2* 6
selction 2
7
8
9
A
B
C
D
E
F
(Note) Set to "0" for bits with no particular description.

F E D C B A 9 8 7 6 5 4 3 2 1 0
dis ccu lmc3 lmct

bit Meaning when set to 0 Meaning when set to 1

Setting for normal use Lost motion compensation 3 adjustment
0 lmct
time measurement valid
1 lmc3 Lost motion compensation 3 stop Lost motion compensation 3 start
Lost motion overshoot compensation Lost motion overshoot compensation
2 ccu compensation setting unit: compensation setting unit:
Stall rated current % Stall rated current 0.01%
3

Servo function 4
SV082 SSF5
selection 5 5
6
7
8
9
A
B
C Digital signal input selection
D 0: No signal
dis 1: Safety observation function state door state signal
E
2 to F: Setting prohibited
E
(Note) Set to "0" for bits with no particular description.

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.

3 - 29
 3. Setup

No. Abbrev. Parameter name Explanation

F E D C B A 9 8 7 6 5 4 3 2 1 0
nfd5 nfd4

bit Meaning when set to 0 Meaning when set to 1

0
1 Set the filter depth for Notch filter 4 (SV087).
2 Setting value Deep ← → Shallow
nfd4
3 000 001 010 011 100 101 110 111

Depth (dB) -∞ -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2

4
5 Set the filter depth for Notch filter 5 (SV088).
Servo function
SV083 SSF6
selection 6 6 Setting value Deep ← → Shallow
7 nfd5 000 001 010 011 100 101 110 111

Depth (dB) -∞ -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2

8
9
A
B
C
D
E
F
(Note) Set to "0" for bits with no particular description.

F E D C B A 9 8 7 6 5 4 3 2 1 0
irms

bit Meaning when set to 0 Meaning when set to 1

0 irms Normal motor current display Effective motor current display
1
2
3
4
5
Servo function
SV084 SSF7 6
selection 7
7
8
9
A
B
C
D
E
F
(Note) Set to "0" for bits with no particular description.

3 - 30
 3. Setup

Setting
No. Abbrev. Parameter name Explanation
range (Unit)
Lost motion Set the machine system's spring constant when using lost motion
0 to 32767
SV085 LMCk compensation 3 compensation type 3. When not using, set to "0".
spring constant (0.01%/µm)
Lost motion Set the machine system's viscous coefficient when using lost motion
0 to 32767
SV086 LMCc compensation 3 compensation type 3. When not using, set to "0".
viscous coefficient (0.01%/µm)

Notch filter Set the vibration frequency to suppress if machine vibration occurs. (Valid at 0 to 2250
SV087 FHz4 80 or more) When not using, set to "0".
frequency 4 (Hz)
Notch filter 0 to 2250
SV088 FHz5
frequency 5 (Hz)
TQMAX Torque maximizing Normally set this to "0". (For machine tool builder adjustment) 0 to 32767
SV089
Kq control Kp (0.01%/µm)
TQMAX Torque maximizing Normally set this to "0". (For machine tool builder adjustment) 0 to 32767
SV090
Kd control Kd (0.01%/ • s/mm)
SV091 Not used.
: Set to "0". 0
SV112

F E D C B A 9 8 7 6 5 4 3 2 1 0
ssc

bit Meaning when set to 0 Meaning when set to 1

0
1
2
3
4
5
Servo function
SV113 SSF8 6
selection 8
7
8
9
A
B
C
D
E
F ssc Safety observation function stop Safety observation function start
(Note) Set to "0" for bits with no particular description.

3 - 31
 3. Setup

No. Abbrev. Parameter name Explanation

F E D C B A 9 8 7 6 5 4 3 2 1 0

bit Meaning when set to 0 Meaning when set to 1

0
1
2
3
4
5
Servo function
SV114 SSF9 6
selection 9
7
8
9
A
B
C
D
E
F
(Note) Set to "0" for bits with no particular description.

F E D C B A 9 8 7 6 5 4 3 2 1 0

bit Meaning when set to 0 Meaning when set to 1

0
1
2
3
4
5
Servo function
SV115 SSF10 6
selection 10
7
8
9
A
B
C
D
E
F
(Note) Set to "0" for bits with no particular description.

3 - 32
 3. Setup

Setting
No. Abbrev. Parameter name Explanation
range (Unit)

F E D C B A 9 8 7 6 5 4 3 2 1 0

bit Meaning when set to 0 Meaning when set to 1

0
1
2
3
4
5
Servo function
SV116 SSF11 6
selection 11
7
8
9
A
B
C
D
E
F
(Note) Set to "0" for bits with no particular description.
SV117 Not used.
: Set to "0". 0
SV237
Set safety speed of machine tip on the safety observation function.
Set it within the following range:
For linear axis: 2000mm/min or less 0 to 18000
SSC Safety observation
SV238 For rotary axis 18000˚/min (50r/min) or less (mm/min) or
FEED Safety speed (°/min)
When not using, set to "0".

SSC Safety observation Set safety speed of motor on the safety observation function. 0 to 32767
SV239
RPM Safety motor speed When not using, set to "0". (r/min)
SV240 Not used.
: Set to "0". 0
SV256

3 - 33
 3. Setup

3-3 Setting the initial parameters for the spindle drive unit
The spindle specification parameters and spindle parameters must be set before the spindle system
can be started up. The spindle related parameters are input from the NC. The input method differs
according to the NC being used, so refer to each NC Instruction Manual.

3-3-1 Spindle specification parameters

The configuration of these parameters depends on the NC, so refer to each NC Instruction Manual. The
following table shows the configuration of the M700 Series NC.

Setting range
No. Abbrev. Parameter name Details
(Unit)
3001 slimt 1
Set spindle rotation speed for maximum motor rotation speed with gears
3002 2 Limit rotation 0 to 99999
00, 01, 10, 11.
3003 3 speed (r/min)
(Set the spindle speed for the S analog output 10V.)
3004 4
3005 smax 1 Set maximum spindle rotation speed with gears 00, 01, 10, 11.
3006 2 Maximum rotation Set to slimt ≥ smax. 0 to 99999
3007 3 speed By comparing the S command value and the value of gear 1 to 4, a spindle (r/min)
3008 4 gear shift command will be output automatically.
3009 ssift 1
Set spindle speed for gear shifting with gears 00, 01, 10, 11. 0 to 32767
3010 2 Shift rotation
(Note) Setting too large value may cause a gear nicks when changing (r/min)
3011 3 speed
gears.
3012 4
3013 stap 1
3014 2 Set maximum spindle rotation speed during tap cycle with gears 00, 01, 0 to 99999
Tap rotation speed
3015 3 10, 11. (r/min)
3016 4
3017 stapt 1
3018 2 Set time constants for constant inclination synchronous tap cycles for
Tap time constant 1 to 5000 (ms)
3019 3 gears 00, 01, 10, 11 (linear acceleration/deceleration pattern).
3020 4

3 - 34
 3. Setup

<Relation of spindle limit rotation speed and spindle maximum rotation speed>
The spindle rotation speed which can be attained at the spindle motor's maximum rotation speed is
set for the limit rotation speed (slimt). This value is obtained by multiplying the gear ratio on the
spindle motor maximum rotation speed (SP017). Set the maximum rotation speed (smax) when
the rotation speed is to be limited according to the machine specifications, such as the spindle gear
specifications. Up to four value can be set for gear changeover.
Spindle motor rotation speed

SP017
(r/min)

0
smax1 slimt1 smax2 slimt2 smax(n) slimt(n)

Spindle rotation speed (r/min)

<Relation of tap time constant and actual acceleration/deceleration time constant>

(For constant inclination synchronous tap cycle)
Set the acceleration time up to the tap rotation speed (stap) in the tap time constant (stapt).
Acceleration/deceleration is carried out at the same inclination for all speed commands. Up to four
values can be set for gear changeover.

stap(n)
Spindle speed (r/min)

Actual
command

0
Actual time stapt(n)

Time (ms)

3 - 35
 3. Setup

Setting range
No. Abbrev. Parameter name Details
(Unit)
Set the spindle orientation rotation speed.
Orientation 0 to 32767
3021 sori Set the rotation speed for when the spindle rotates at the constant
rotation speed (r/min)
rotation speed.
Set the gear ratio of the spindle to the encoder. 0: 1/1
1: 1/2
3022 sgear Encoder gear ratio
2: 1/4
3: 1/8
Set the minimum rotation speed of the spindle.
Minimum rotation 0 to 32767
3023 smini If an S command instructs the rotation speed below this setting, the
speed (r/min)
spindle rotates at the minimum rotation speed set by this parameter.
Set the type of the spindle to be connected.
Spindle 0: No connection with the spindle
3024 sout* 0 to 5
connection 1: Serial connection (bus)
2 to 5: Analog output
Set connection information of the spindle encoder.
0: No connection
3025 enc-on Spindle encoder 1: Spindle connection (Spindle encoder connection check function 0 to 2
valid.)
2: Serial connection of encoder
Selection of 0: Perform orientation using the coil selected when the orientation
3026 cs_ori winding in command is issued. 0/1
orientation mode 1: Use winding L whenever the orientation command is issued.
0: The coil H/L is selected by the actual spindle motor rotation speed
(calculated from commanded rotation speed) when spindle
synchronous control starts. (The winding is not switched during
Selection of synchronous control. The control is carried out with the winding
winding in spindle selected at start.)
3027 cs_syn 0/1
synchronous If the actual spindle motor rotation speed is less than SP020, the
mode winding L is selected, and if more than the value, the winding H is
selected.
1: Use winding H whenever the spindle synchronous command is
issued.
L system tap cycle Set the M code of the spindle forward run/reverse run command.
spindle forward High-order three digits: The spindle forward run command's M code is
3028 sprcmm run/ set. 0 to 999999
reverse run M Low-order three digits: The spindle reverse run command's M code is
command set.
Specify whether to use the tap rotation speed or maximum rotation
speed for the gear that is selected when an asynchronous tap command
is issued.
Asynchro-nous
3029 tapusel 0: Tap rotation speed 0/1
tap gear selection
1: Maximum rotation speed
This parameter is valid only when the M-function synchronous tap cycle
enable parameter (#1272 ext08/bit1) is ON.
Not used.
3030 0
Set to "0".

Parameters with an asterisk * in the abbreviation, such as sout*, are validated with the NC power turned ON again.

3 - 36
 3. Setup

Setting range
No. Abbrev. Parameter name Details
(Unit)
Using a 4-digit number, set the drive unit interface channel No. and
which axis in that channel is to be used when connecting a spindle drive.
Drive unit I/F 0000
smcp_no High-order two digits : Drive unit interface channel No.
3031 channel No. 0101 to 0107
* Low-order two digits : Axis No.
(spindle) 0201 to 0207
When using the conventional fixed layout, set all axes to "0000".
Set "0000" when using an analog spindle.
Not used.
3032 0
Set to "0".
Specify the unit for communication data with the spindle drive unit.
The data communicated between the NC and spindle drive unit and the
spindle movement data unit follow this specification. Note that this
parameter is valid only for the D drive unit spindle. B: (1µm)
The spindle C axis relies on this parameter, and the C axis output unit C: (0.1µm)
3035 Spunit* Output unit
(servo) is ignored. D: (10nm)
Also set "#1003 ctrl_unit" when using the optical communication drive E: (1nm)
unit.
The input uint (B, C, D, E) is variable depending on the setteing of
system parameter "#1003 ctrl_unit".
3037 taps 21 Set the spindle rotation speed at which the step-2
Synchronous tap
3038 22 acceleration/deceleration time constant is to be switched at gear 00, 01, 0 to 99999
switching spindle
3039 23 10, or 11. (r/min)
speed 2
3040 24
3041 tapt 21 Set the time constant to reach synchronous tap switching spindle
Synchronous tap
3042 22 rotation speed 2 (taps 21 to 24) at gear 00, 01, 10, or 11.
switching time 1 to 5000 (ms)
3043 23
constant 2
3044 24
3045 tapt 31 Set the time constant to reach the maximum rotation speed (smax 1 to
Synchronous tap
3046 32 smax 4) at gear 00, 01, 10, or 11.
switching time 1 to 5000 (ms)
3047 33
constant 3
3048 34
Spindle Set the acceleration/deceleration time constant for when the spindle
synchroniza-tion synchronization command's rotation speed changes during spindle
3049 spt acceleration/ synchronous control. 0 to 9999 (ms)
deceleration time
constant
The spindle rotation speed synchronization complete signal will turn ON
Spindle synchro- 0 to 4095
when the difference of the reference spindle and synchronous spindle
nization rotation (pulse)
3050 sprlv actual rotation speeds is less than the level set for the synchronous
speed attainment (1 pulse =
spindle rotation speed command value during spindle synchronous
level 0.088°)
control.
The spindle phase synchronization complete signal will turn ON when 0 to 4095
Spindle phase
the phase difference of the reference spindle and synchronous spindle is (pulse)
3051 spplv synchroniza-tion
less than the set level during spindle phase synchronization control. (1 pulse =
attainment level
0.088°)
Set the spindle motor and spindle's relative polarity.
Spindle motor 0: Positive polarity
0000/0001
3052 spplr spindle relative Spindle CW rotation at motor CW rotation
(HEX)
polarity 1: Negative polarity
Spindle CCW rotation at motor CW rotation
Set the deviation amount from the spindle's reference position to the
Spindle encoder spindle encoder's Z phase. 0 to 359999
3053 sppst
Z -phase position The deviation amount is obtained using the clockwise direction looking (1/1000°)
from the front of the spindle as the positive direction.

Parameters with an asterisk * in the abbreviation, such as sout*, are validated with the NC power turned ON again.

3 - 37
 3. Setup

Setting range
No. Abbrev. Parameter name Details
(Unit)
Spindle synchroni- Set the spindle speed for changing the 1st step's
zation multi-step acceleration/deceleration time constant.
acceleration/ 0 to 99999
3054 sptc1
deceleration (r/min)
changeover
speed 1
Spindle synchroni- Set the spindle speed for changing the 2nd step's
zation multi-step acceleration/deceleration time constant.
acceleration/ 0 to 99999
3055 sptc2
deceleration (r/min)
changeover
speed 2
Spindle synchroni- Set the spindle speed for changing the 3rd step's
zation multi-step acceleration/deceleration time constant.
acceleration/ 0 to 99999
3056 sptc3
deceleration (r/min)
changeover
speed 3
Spindle synchroni- Set the spindle speed for changing the 4th step's
zation multi-step acceleration/deceleration time constant.
acceleration/ 0 to 99999
3057 sptc4
deceleration (r/min)
changeover
speed 4
Spindle synchroni- Set the spindle speed for changing the 5th step's
zation multi-step acceleration/deceleration time constant.
acceleration/ 0 to 99999
3058 sptc5
deceleration (r/min)
changeover
speed 5
Spindle synchro- Set the spindle speed for changing the 6th step's
nization multi-step acceleration/deceleration time constant.
acceleration/ 0 to 99999
3059 sptc6
deceleration (r/min)
changeover
speed 6
Spindle synchro- Set the spindle speed for changing the 7th step's
nization multi-step acceleration/deceleration time constant.
acceleration/ 0 to 99999
3060 sptc7
deceleration (r/min)
changeover
speed 7
Set the acceleration/deceleration time constant between the spindle
Magnification for synchronization multi-step acceleration/deceleration changeover speed
time constant 1 (sptc1) to the spindle synchronization multi-step acceleration/
3061 spdiv1 0 to 127
changeover deceleration changeover speed 2 (sptc2) as a magnification in respect to
speed 1 the spindle synchronization acceleration/deceleration time constant
(spt).
Set the acceleration/deceleration time constant between the spindle
Magnification for synchronization multi-step acceleration/deceleration changeover speed
time constant 2 (sptc2) to the spindle synchronization multi-step acceleration/
3062 spdiv2 0 to 127
changeover deceleration changeover speed 3 (sptc3) as a magnification in respect to
speed 2 the spindle synchronization acceleration/deceleration time constant
(spt).
Set the acceleration/deceleration time constant between the spindle
Magnification for synchronization multi-step acceleration/deceleration changeover speed
time constant 3 (sptc3) to the spindle synchronization multi-step acceleration/
3063 spdiv3 0 to 127
changeover deceleration changeover speed 4 (sptc4) as a magnification in respect to
speed 3 the spindle synchronization acceleration/deceleration time constant
(spt).

3 - 38
 3. Setup

Setting range
No. Abbrev. Parameter name Details
(Unit)
Set the acceleration/deceleration time constant between the spindle
Magnification for synchronization multi-step acceleration/deceleration changeover speed
time constant 4 (sptc4) to the spindle synchronization multi-step
3064 spdiv4 0 to 127
changeover acceleration/deceleration changeover speed 5 (sptc5) as a
speed 4 magnification in respect to the spindle synchronization
acceleration/deceleration time constant (spt).
Set the acceleration/deceleration time constant between the spindle
Magnification for synchronization multi-step acceleration/deceleration changeover speed
time constant 5 (sptc5) to the spindle synchronization multi-step
3065 spdiv5 0 to 127
changeover acceleration/deceleration changeover speed 6 (sptc6) as a
speed 5 magnification in respect to the spindle synchronization
acceleration/deceleration time constant (spt).
Set the acceleration/deceleration time constant between the spindle
Magnification for synchronization multi-step acceleration/deceleration changeover speed
time constant 6 (sptc6) to the spindle synchronization multi-step
3066 spdiv6 0 to 127
changeover acceleration/deceleration changeover speed 7 (sptc7) as a
speed 6 magnification in respect to the spindle synchronization
acceleration/deceleration time constant (spt).
Set the acceleration/deceleration time constant for the spindle
Magnification for
synchronization multi-step acceleration/
time constant
3067 spdiv7 deceleration changeover speed 7 (sptc7) and higher as a magnification 0 to 127
changeover
in respect to the spindle synchronization acceleration/deceleration time
speed 7
constant (spt).
Phase Set the time to confirm that synchronization is attained before phase
synchronization synchronization control is started.
3068 symtm1 0 to 9999 (ms)
start confirmation When "0" is set, the time will be 2 seconds. When "100" or less is set,
time the time will be 100ms.
Phase Set the time to wait for phase synchronization control to end as the time
synchronization for the rotation speed to reach the attainment range.
3069 symtm2 0 to 9999 (ms)
end confirmation When "0" is set, the time will be 2 seconds. When "100" or less is set,
time the time will be 100ms.
Set the fluctuation amount to change the synchronous spindle rotation
Phase
speed during phase synchronization control as the command speed and
3070 syprt synchronization 0 to 100 (%)
rate.
speed
When "0" is set, the amount will be 100%.
Select the spindle belongs to which door group of speed monitoring.
0000: Belongs to door 1 group.
0001: Belongs to door 1 group.
SscDrSe Speed monitor 0000 to 0003
3071 0002: Belongs to door 2 group.
lSp* door selection (HEX)
0003: Belongs to door 1 and 2 group.
(Note) The speed monitoring is not executed when SP229:SFNC9/bitF
is OFF.
Set the error detection time of command speed monitoring and feedback
Speed monitor
speed monitoring during servo OFF.
Ssc Svof error detection
3072 The alarm will occur if the time exceeding safe speed or safe rotation 0 to 9999 (ms)
Filter Sp* time during servo
speed exceeds the set error detection time.
OFF
If "0" is set, it will be handled as 200 (ms).
3101 sp_t 1 Set the acceleration/deceleration time constant for spindle rotation using
Time constant for
3102 2 the S command (spindle control mode = speed operation mode) at the
spindle rotation 1 to 5000 (ms)
3103 3 gears (00, 01, 10,11). (Linear acceleration/deceleration pattern.)
with S command
3104 4

Parameters with an asterisk * in the abbreviation, such as sout*, are validated with the NC power turned ON again.

3 - 39
 3. Setup

Setting range
No. Abbrev. Parameter name Details
(Unit)
Speed reach Set the speed deviation rate with respect to the commanded speed for
3105 sut 0 to 100 (%)
range output of the speed reach signal.

Setting range
bit Details
(Unit)
0 Z phase detection direction
1 Orientation direction
2 (00: Short-cut, 01: Forward run, 10: Reverse run)
3
Synchronous tapping zero point return/deceleration stop
4 designation
(0: Zero point return, 1: Deceleration stop)
5 Synchronous tapping zero point return direction
Zero point return 6 (00: Short-cut, 01: Forward run, 10: Reverse run)
3106 zrn_typ
specifications Synchronous tapping command polarity 0x0000 to 0xffff
7
(0: Forward direction, 1; Reverse direction) (Hex)
Spindle/C axis zero point return/deceleration stop designation
8
(0: Zero point return, 1: Deceleration stop)
9 Spindle C axis zero point return direction
A (00: Short-cut, 01: Forward run, 10: Reverse run)
B
C
D
E
F

Orientation Spindle speed during orientation command 1 to 99999

3107 ori_spd
command speed (r/min)
In-position shift Set the stop position for orientation.
0.00 to 35999
3108 ori_sft amount for
(0.01°)
orientation
Z phase detection Spindle rotation speed at initial Z phase detection 1 to 99999
3109 zdetspd
speed (r/min)
Synchronous Synchronous tapping zero point return speed
1 to 99999
3110 tap_spd tapping zero point
(r/min)
return speed
Synchronous Synchronous tapping zero point return shift amount
tapping zero point 0.00 to 35999
3111 tap_sft
return shift (0.01°)
amount
Spindle C axis Spindle C axis zero point return speed
1 to 99999
3112 cax_spd zero point return
(r/min)
speed
Spindle C axis Spindle C axis zero point return shift amount 0.00 to
3113 cax_sft zero point return 359999
shift amount (0.001°)

3 - 40
 3. Setup

3-3-2 List of spindle parameters

These parameters are sent to the spindle drive unit when the NC power is turned ON. The standard
parameters are designated with the "Spindle parameter setting list" enclosed when the spindle motor is
delivered. There may be cases when the machine specifications are unclear, so the parameters
determined by the machine specifications should be confirmed by the user.

Setting range
No. Abbr. Parameter name Details
(Unit)
Set the position loop gain. Set to "33" as a standard.
When the setting value is increased, the tracking in respect to
Position loop gain the command will increased, and the settling time during 1 to 200
SP001 PGV Non-interpolation positioning can be reduced. However, the impact applied on (1/s)
mode the machine during acceleration/deceleration will increase.
The position loop gain can be selected according to the
control mode selection command set with control input 4/ bit
2, 1, 0.

Position loop gain Control input 4 1 to 200

SP002 PGN Mode
interpolation mode bit2 bit1 bit0 (1/s)
0 0 0 Non-interpolation
0 0 1 Spindle interpolation
0 1 0 Interpolation
Position loop gain 1 0 0 Interpolation 1 to 200
SP003 PGS spindle
(1/s)
synchronization
When carrying out SHG control, set SP035 (SFNC3)/bitC
(shgn) or SP036 (SFNC4)/bit4 (shgs) to 1.
Not used.
SP004 0
Set to "0".
Set the speed loop gain.
Set this according to the load inertia size.
The higher the setting value is, the more accurate the control
SP005 VGN1 Speed loop gain 1 will be, however, vibration tends to occur. 1 to 9999
If vibration occurs, adjust by lowering by 20 to 30%.
The value should be determined to be 70 to 80% of the value
at the time when the vibration stops.
Set the gain of the speed loop integration control.
Set to "1900" as a standard. Adjust the value by
Speed loop lead increasing/decreasing it by about 100 at a time.
SP006 VIA1 1 to 9999
compensation 1 Raise this value to improve contour tracking precision in
high-speed cutting. Lower this value when the position droop
vibrates (10 to 20Hz).
Set this when the limit cycle occurs in the full-closed loop, or
overshooting occurs in positioning.
Select the control method with SP033 (SFNC1)/bit1, 0 (vcnt).
Speed loop delay
SP007 VIL1 Normally, use "Changeover type 2". 0 to 32767
compensation 1
When you set this parameter, make sure to set the torque
offset (SP050 (TOF)).
When not using, set to "0".
SP008 VGN2 Speed loop gain 2 Normally, SP005 (VGN1), SP006 (VIA1) and SP007 (VIL1) 1 to 9999
Speed loop lead are used.
SP009 VIA2 By setting SP035 (SFNC3)/bit1 (vgin), SP035 (SFNC3)/bit9 1 to 9999
compensation 2
(vgn) or SP036 (SFNC4)/bit1 (vgs) to 1, gain 2 can be used
according to the application.
Speed loop delay Gain 2 can also be used by setting the speed gain set 2
SP010 VIL2 changeover request (control input 5/bitC) to 1. 0 to 32767
compensation 2
Refer to SP005 (VGN1), SP006 (VIA1) and SP007 (VIL1) for
the procedures.
SP011 Not used.
: Set to "0". 0
SP013

3 - 41
 3. Setup

Setting range
No. Abbr. Parameter name Details
(Unit)
Set the minimum value for the variable excitation rate. Set to
"50" as a standard.
Set "0" when using the IPM spindle motor.
If the gear noise, etc., is large, select a small value. However,
a larger value is more effective for impact response.
Minimum • When setting a value "50 or more", check that there is no 0 to 100
SP014 PY1
excitation rate 1 gear noise or motor excitation noise, vibration during (%)
low-speed rotation, or vibration when the servo is locked
during orientation stop, etc.
• When setting a value "less than 50", check that there is no
problem with the impact load response or rigidity during
servo lock.
Normally, SP014 (PY1) is used.
Excitation rate 2 can be used according to the application by
setting SP035 (SFNC3)/bit2 (pyin), SP035 (SFNC3)/bitA
Minimum (pyn) or SP036 (SFNC4)/bit2 (psy) to 1. 0 to 100
SP015 PY2
excitation rate 2 Excitation rate 2 can also be used by setting the minimum (%)
excitation rate 2 changeover request (control input 5/bitB) to
1. Refer to SP014 (PY1) for the procedures.
Set "0" when using the IPM spindle motor.
Set the single rotation position alignment deceleration rate for
orientation stopping, phase alignment during rotation, and for
changing the mode from non-interpolation during rotation to
spindle synchronization.
If the load inertia is large, decrease the setting.
Phase alignment When the setting value is increased, the orient in-position and 1 to 32767
SP016 DDT
deceleration rate single rotation position alignment will end faster, but the (0.1 (r/mn)/ms)
impact applied on the machine will increase.
To change the deceleration rate only during the rotation
command (command F∆T =
/ 0), set this parameter together
with SP070 (KDDT).
Select the spindle specifications.
F E D C B A 9 8 7 6 5 4 3 2 1 0
spm fdir vfb seqh fdir2

bit Meaning when set to 0 Meaning when set to 1

0 fdir2 Speed feedback forward polarity Speed feedback reverse polarity
1
High-speed READY ON sequence High-speed READY ON sequence
2 seqh
valid invalid
3 vfb Speed feedback filter stop Speed feedback filter start (2250Hz)
4 fdir Position feedback forward polarity Position feedback reverse polarity
Spindle 5
SP017 SPEC1*
specifications 1 6
7
8
9
A
B
C Select the motor series.
0: 200V specification IM spindle 2: 400V specification IM spindle
D
spm motor motor
E 1: 200V specification IPM spindle 3: 400V specification IPM spindle
F motor motor

(Note) Set to "0" for bits with no particular description.

Parameters with an asterisk * in the abbreviation, such as sout*, are validated with the NC power turned ON again.

3 - 42
 3. Setup

Setting range
No. Abbr. Parameter name Details
(Unit)
Select the spindle specifications.
F E D C B A 9 8 7 6 5 4 3 2 1 0
spsu mkch oplp

bit Meaning when set to 0 Meaning when set to 1

0
1 oplp Open loop invalid Open loop valid
2
3
4
Spindle 5 mkch Coil changeover function invalid Coil changeover function valid
SP018 SPEC2*
specifications 2 6
7
8 spsu Speed setting unit [r/min] Speed setting unit [×4r/min]
9
A
B
C
D
E
F
(Note) Set to "0" for bits with no particular description.
Position detector Set the same value as SP020 (RNG2). 0 to 32767
SP019 RNG1*
resolution (Refer to the explanation for SP020.) (kp/rev)
Set the number of pulses per one revolution of the motor end
detector.
Detector model name SP020 setting value
128 teeth 2000
180 teeth 2880
TS5691 256 teeth 4000
Speed detector 384 teeth 6000 1 to 32767
SP020 RNG2*
resolution (kp/rev)
512 teeth 8000
64 teeth 2000
TS5690 128 teeth 4000
256 teeth 8000

(Note) The resolution is different according to each detector

even if the number of teeth is same.
Set the detection time constant of Overload 1 (Alarm 50).
Overload detection (For machine tool builder adjustment.) 1 to 15300
SP021 OLT*
time constant Set to "60" as a standard. (s)
Set "300" when using the IPM spindle motor.
Set the overload 1 (alarm 50) current detection level as a
percentage in respect to the motor short-time rated output
Overload detection current. 1 to 200
SP022 OLL
level (For machine tool builder adjustment.) (Short-time rated %)
Set to "120" as a standard.
Set "100" when using the IPM spindle motor.
Excessive error Set the excessive error detection width for the interpolation
detection width mode and spindle synchronization.
0 to 32767
SP023 OD1 (interpolation Set to "120" as a standard.
(°)
mode, spindle Excessive error detection is not executed, so do not set "0".
synchronization)
Set the in-position detection width.
Set the accuracy required for the machine.
0 to 32767
SP024 INP In-position width The lower the setting is, the higher the positioning accuracy
(1°/1000)
gets, however, the cycle time (setting time) becomes longer.
The standard setting is "875".

Parameters with an asterisk * in the abbreviation, such as sout*, are validated with the NC power turned ON again.

3 - 43
 3. Setup

Setting range
No. Abbr. Parameter name Details
(Unit)
Use this when detecting a different in-position from the
2nd in-position normal in-position detection, such as advancing the 0 32767
SP025 INP2
width in-position signal. The procedure is the same as SP024 (°/1000)
(INP). Set to "875" as a standard.
Set the maximum motor speed. If the actual motor speed
Maximum motor 1 to 32767
SP026 TSP* exceeds the set maximum speed, an overspeed alarm will
speed (r/min)
occur.
Set the motor speed for detecting zero speed. If the actual
1 to 1000
SP027 ZSP Motor zero speed motor speed is less than the set speed, the zero speed
(r/min)
detection will turn ON. Set to "50" as a standard.
Set the motor speed for detecting the speed. If the actual
Speed detection motor speed is less than the set value, the speed detection 10 to 32767
SP028 SDTS
set value will turn ON. Set a value 10% of the maximum motor speed (r/min)
as a standard.
Set the hysteresis value at which the speed detection
Speed detection 10 to 1000
SP029 SDTR changes from ON to OFF. If the setting value is small, the
reset width (r/min)
speed detection will chatter easily. Set to "30" as a standard.
Not used.
SP030 0
Set to "0".
Set the position detector type, speed detector type and motor type.
F E D C B A 9 8 7 6 5 4 3 2 1 0
SP031 MTYP* Motor type pen ent mtyp

ent: Set "2".

pen: Set "2"
mtyp: Set "00"

F E D C B A 9 8 7 6 5 4 3 2 1 0
amp rtyp ptyp

bit Meaning when set to 0 Meaning when set to 1

0 When the CN4 connector of the drive unit and the power supply are connected,
setting below is necessary.
1
2
3 MDS-D-CV MDS-DH-CV
ptyp External External External External
4
emergency emergency emergency emergency
5 stop invalid stop valid stop invalid stop valid
CV-37 04 44 04 44
6
CV-75 08 48 08 48
7 CV-110 11 51 11 51
SP032 PTYP* Power supply type CV-185 19 59 19 59
CV-300 30 70 30 70
CV-370 37 77 37 77
CV-450 45 85 45 85
CV-550 55 95 - -
CV-750 - - 75 B5
8 Set to "0".
9
rtyp
A
B
C Set to "0".
D
amp
E
F

Parameters with an asterisk * in the abbreviation, such as sout*, are validated with the NC power turned ON again.

3 - 44
 3. Setup

No. Abbr. Parameter name Details

Select the spindle function.
F E D C B A 9 8 7 6 5 4 3 2 1 0
ovs lmc lmc2a vfct vcnt

bit Meaning when set to 0 Meaning when set to 1

0 00: Delay compensation changeover 10: Delay compensation changeover
vcnt invalid type 2
1 01: Delay compensation changeover 11: Delay compensation changeover
type 1 type 2
2
3
4 00: Jitter compensation invalid 10: Jitter compensation 2 pulse
vfct 01: Jitter compensation 1 pulse 11: Jitter compensation 3 pulse
5
6
Lost motion compensation 2 timing
SP033 SFNC1 Spindle function 1 7 lmc2a Timing changed
normal
Set the compensation amount with SP048 (LMC1) and SP041 (LMC2).
8 Note that when SP227/lmc3 is set to "1", the lost motion compensation type 3 is
lmc selected regardless of the setting of this data.
9 00: Lost motion compensation stop 10: Lost motion compensation type 2
01: Setting prohibited 11: Setting prohibited

A Set the compensation amount with SP043 (OVS1) and SP042 (OVS2).
ovs
B 00: Overshoot compensation stop 10: Setting prohibited
01: Setting prohibited 11: Overshoot compensation type 3

C
D
E
F

(Note) Set to "0" for bits with no particular description.

3 - 45
 3. Setup

No. Abbr. Parameter name Details

Select the spindle functions.
F E D C B A 9 8 7 6 5 4 3 2 1 0
nfd5 nfd4 pwm nfd2 nfd3 nfd1 zck

bit Meaning when set to 0 Meaning when set to 1

0 zck Z phase check valid (ALM42) Z phase check invalid (ALM42)
1 Set the filter depth for Notch filter 1.
2 nfd1 Setting value Deep ← → Shallow
3 000 001 010 011 100 101 110 110
Depth (dB) -∞ -18 -12 -9 -6 -4 -3 -1
4 nfd3 Notch filter 3 stop Notch filter 3 start (1125Hz)
5 Set the filter depth for Notch filter 2.
6 nfd2 Setting value Deep ← → Shallow
SP034 SFNC2 Spindle function 2 7 000 001 010 011 100 101 110 110
Depth (dB) -∞ -18 -12 -9 -6 -4 -3 -1
8 pwm Standard current control High frequency current control
9 Set the filter depth for Notch filter 4
A nfd4 Setting value Deep ← → Shallow
B 000 001 010 011 100 101 110 110
Depth (dB) -∞ -18 -12 -9 -6 -4 -3 -1
C
D Set the filter depth for Notch filter 5.
E nfd5 Setting value Deep ← → Shallow
F 000 001 010 011 100 101 110 110
Depth (dB) -∞ -18 -12 -9 -6 -4 -3 -1

(Note) Set to "0" for bits with no particular description.

3 - 46
 3. Setup

No. Abbr. Parameter name Details

Select the spindle functions.
F E D C B A 9 8 7 6 5 4 3 2 1 0
shgn pyn vgn nopc pyin vgin

bit Meaning when set to 0 Meaning when set to 1 Mode

0
Speed loop gain set 1 selection Speed loop gain set 2 selection after
1 vgin
imposition
Excitation rate 1 selection Excitation rate 2 selection after
2 pyin
imposition Non-
3 inter-
polation
4
5
SP035 SFNC3* Spindle function 3 6
7 nopc Phase alignment start Phase alignment stop
8
9 vgn Speed loop gain set 1 selection Speed loop gain set 2 selection
A pyn Excitation rate 1 selection Excitation rate 2 selection
B Inter-
C shgn SHG control stop SHG control start polation
D
E
F

(Note) Set to "0" for bits with no particular description.

Select the spindle functions.

F E D C B A 9 8 7 6 5 4 3 2 1 0
mksl shgs pys vgs

bit Meaning when set to 0 Meaning when set to 1 Mode

0
1 vgs Speed loop gain set 1 selection Speed loop gain set 2 selection
2 pys Excitation rate 1 selection Excitation rate 2 selection
Spindle
3
syn-
4 shgs SHG control stop SHG control start chroni-
5 zation
6
SP036 SFNC4* Spindle function 4
Use command coil during spindle
7 mksl Use high-speed coil
synchronization
8
9
A
B
C
D
E
F

(Note) Set to "0" for bits with no particular description.

Parameters with an asterisk * in the abbreviation, such as sout*, are validated with the NC power turned ON again.

3 - 47
 3. Setup

Setting range
No. Abbr. Parameter name Details
(Unit)
Set "the motor inertia + motor axis conversion load inertia" in
respect to the motor inertia.
0 to 5000
SP037 JL Load inertia scale Jm+Jl Jm : Motor inertia
SP037(JL)= ×100 (%)
Jm Jl : Motor axis conversion
load inertia

Set the vibration frequency to suppress if machine vibration

Notch filter 0 to 2250
SP038 FHz1 occurs.
frequency 1 (Hz)
(Valid at 50 or more) When not using, set to "0".
Lost motion Set this when the lost motion compensation timing doest not
0 to 2000
SP039 LMCD compensation match.
(ms)
timing Adjust by increasing the value by 10 at a time.
Lost motion Set the non-sensitive band of the lost motion compensation in
compensation the feed forward control. –32768 to 32767
SP040 LMCT
non-sensitive band When "0" is set, the actual value that is set is 2°/1000. Adjust (1°/1000)
by increasing by 1°/1000 at a time.
Lost motion Set this with SP048 (LMC1) only when you wish to set the -1 to 200
compensation 2 lost motion compensation amount to be different depending (Short-time rated %)
on the command directions. Note that when
SP041 LMC2
Set to "0" as a standard. SP227/bit2 is 1,
-1 to 20000
(Short-time rated 0.01%)
-1 to 100
Set this with SP043 (OVS1) only when you wish to set the (Short-time rated %)
Overshooting overshooting compensation amount to be different depending Note that when
SP042 OVS2
compensation 2 on the command directions. SP227/bit2 is 1,
Set to "0" as a standard. -1 to 10000
(Short-time rated 0.01%)
Set this if overshooting occurs during positioning. This
compensates the motor torque during positioning.
This is valid only when the overshooting compensation
SP033 (SFNC1/ovs) is selected.
Type 3: When SP033 (SFNC1)/bitB, A (ovs) = 11
Set the compensation amount based on the motor short-time
rated current.
Increase in increments of 1%, and find the value where
overshooting does not occur. -1 to 100
(Short-time rated %)
Overshooting Other than Type 3: When SP033 (SFNC1)/bitB, A (ovs) =
/ 11 Note that when
SP043 OVS1 Overshooting compensation (Type 3) is not executed.
compensation 1 SP227/bit2 is 1,
When you wish different compensation amount depending on -1 to 10000
the direction (Short-time rated 0.01%)
When SP042 (OVS2) is "0", compensate with the value of
SP043 (OVS1) in both of the + and - directions.
If you wish to change the compensation amount depending
on the command direction, set this and SP042 (OVS2).
(SP043: + direction, SV042: - direction. However, the
directions may be opposite depending on other settings.)
When "-1" is set, the compensation won’t be performed in the
direction of the command.
Set the disturbance observer gain. The standard setting is
Disturbance 0 to 500
SP044 OBS2 "100". To use the disturbance observer, also set SP037 (JL)
observer gain (%)
and SP045 (OBS1). When not using, set to "0".
Set the disturbance observer filter band.
Disturbance
Set to "100" as a standard. 0 to 1000
SP045 OBS1 observer filter
To use the disturbance observer, also set SP037 (JL) and (rad/s)
frequency
SP044 (OBS2). When not using, set to "0".
Set the vibration frequency to suppress if machine vibration
Notch filter 0 to 2250
SP046 FHz2 occurs.
frequency 2 (Hz)
(Valid at 50 or more) When not using, set to "0".
Set the inductive voltage compensation gain. Set to "100" as
Inductive voltage a standard. 0 to 200
SP047 EC
compensation gain If the current FB peak exceeds the current command peak, (%)
lower the gain.

3 - 48
 3. Setup

Setting range
No. Abbr. Parameter name Details
(Unit)
Set this when the protrusion (that occurs due to the
non-sensitive band by friction, torsion, backlash, etc) at
quadrant change is too large.
This compensates the torque at quadrant change.
This is valid only when the lost motion compensation (SP033
(SFNC1/lmc)) is selected.
Type 2: When SP033 (SFNC1)/bit9, 8 (lmc) = 10
Set the compensation amount based on the motor
short-time rated current.
Set a value double the friction torque as a standard. The -1 to 200
compensation amount will be 0 if "0" is set. (Short-time rated %)
Lost motion Note that when
SP048 LMC1 =
/ 10
compensation 1 Other than type 2: When SP033 (SFNC1)/bit9, 8 (lmc) SP227/bit2 is 1,
Lost motion compensation (Type 2) is not executed. -1 to 20000
When you wish different compensation amount depending on (Short-time rated 0.01%)
the direction
When SP041 (LMC2) is "0", compensate with the value of
SP048 (LMC1) in both of the + and - directions.
If you wish to change the compensation amount depending
on the command direction, set this and SP041 (LMC2).
(SP048: + direction, SP041: - direction. However, the
directions may be opposite depending on other settings.)
When "-1" is set, the compensation won’t be performed in
the direction of the command.
When a relative error in the synchronous control is large,
apply this parameter to the axis that is delaying.
Acceleration rate The standard setting value is "0". For the SHG control, set to 0 to 999
SP049 FFC
feed forward gain "100". (%)
To adjust a relative error in acceleration/deceleration,
increase the value by 50 to 100 at a time.
Set the unbalance torque. -100 to 100
SP050 TOF Torque offset
(Short-time rated %)
Not used.
SP051 0
Set to "0".
Not used.
SP052 0
Set to "0".
Set the excessive error detection width for the
Excessive error non-interpolation mode.
detection width <Standard setting value> 0 to 32767
SP053 ODS
(non-interpola-tion ODS = Maximum motor speed [r/min]×60/PGV/2 (°)
mode)
Excessive error detection is not executed, so do not set "0".
Not used.
SP054 0
Set to "0".
Set a length of time from the point when the emergency stop
is input to the point when READY OFF is compulsorily
Max. gate off
executed. 0 to 20000
SP055 EMGx delay time after
Normally, set the same value as the absolute value of SP056. (ms)
emergency stop
When "0" is set, READY OFF is compulsorily executed with
7000ms.
Set the time constant used for deceleration control during
Deceleration time emergency stop. Set the time to stop from the maximum
-20000 to 20000
SP056 EMGt constant at motor speed (TSP).
(ms)
emergency stop When "0" is set, the deceleration control is executed with
7000ms.
Spindle side gear Set the number of teeth on the spindle side when the gear
SP057 GRA1* 1 to 32767
ratio 1 selection command (control input 4/bit6, 5) is set to 00.
SP058 Not used.
: Set to "0". 0
SP060
Motor side gear Set the number of teeth on the motor side when the gear
SP061 GRB1* 1 to 32767
ratio 1 selection command (control input 4/bit6, 5) is set to 00.

Parameters with an asterisk * in the abbreviation, such as sout*, are validated with the NC power turned ON again.

3 - 49
 3. Setup

Setting range
No. Abbr. Parameter name Details
(Unit)
SP062 Not used.
: Set to "0". 0
SP064
Set the torque limit value when the torque limit (control input 0 to 999
SP065 TLM1 Torque limit 1
1/bitA, 9, 8) is set to 001. (Short-time rated %)
Set the torque limit value when the torque limit (control input 0 to 999
SP066 TLM2 Torque limit 2
1/bitA, 9, 8) is set to 010. (Short-time rated %)
Set the torque limit value when the torque limit (control input 0 to 999
SP067 TLM3 Torque limit 3
1/bitA, 9, 8) is set to 011. (Short-time rated %)
Set the torque limit value when the torque limit (control input 0 to 999
SP068 TLM4 Torque limit 4
1/bitA, 9, 8) is set to 100. (Short-time rated %)
Set the width for completing phase alignment during rotation,
and for single rotation position alignment when changing the
mode from non-interpolation to spindle synchronization while
Phase alignment rotating. 0 to 32767
SP069 PCMP
completion width Set the rotation error required of the machine. (1°/1000)
The rotation error will decrease when the setting value is
decreased, but the cycle time (settling time) will increase. Set
to "875" as a standard.
Set the scale for SP016 (DDT) only when the deceleration
rate is to be changed during a rotation command (command
Phase alignment F∆T =/ 0). 0 to 255
SP070 KDDT deceleration rate The single rotation position alignment will be completed faster (1/16-fold)
scale when the setting value is increased, but the impact applied on
the machine will increase. Set to "0" when not using this
function.
The deceleration time can be
Variable current adjusted by changing the 100%
limit during current limit value during (TMLR) 0 to 999
SP071 DIQM deceleration according to the
deceleration, (%)
motor speed. DIQM
lower limit value
As shown on the right, set the
lower limit rate of the current
limit in SP071 (DIQM), and 0 DIQN Motor speed
Variable current use this with SP072 (DIQN).
limit during 1 to 32767
SP072 DIQN
deceleration, When DIQM is set to 100%, the current limit value for (r/min)
break point speed deceleration (TMRL) set in the motor constants will be
applied.
If noise is bothersome during
high-speed rotation, the state VGN1
Variable speed can be improved by lowering (VGN2) 0 to 100
SP073 VGVN
gain target value the speed loop gain at high (%)
VGVN
speeds.
As shown on the right, set the
speed loop gain rate for the 0 VGVS VLMT
overspeed detection speed in (VLMT= Maximum motor speed×1.15)
SP073 (VGVN), and use this
Variable speed with SP074 (VGVS).
0 to 32767
SP074 VGVS gain change start Set to "0" when not using this function. (r/min)
speed The overspeed detection speed (VLMT) is 115% of the
maximum motor speed (TSP).
This function can be used when either VGN1 or VGN2 is
selected.
Slip compensation Adjust the slip frequency scale for deceleration.
scale during Normally, set this to "0". 0 to 255
SP075 DWSH
regeneration (For machine tool builder adjustment) (1/16-fold)
High-speed coil
Slip compensation Adjust the slip frequency scale at deceleration when using the
scale during low-speed coil. 0 to 255
SP076 DWSL
regeneration Normally, set this to "0". (1/16-fold)
Low-speed coil (For machine tool builder adjustment)

3 - 50
 3. Setup

Setting range
No. Abbr. Parameter name Details
(Unit)
Q axis current Set the current loop gain.
SP077 IQA advance When changing the coils, set the current loop gain for when
compensation the high-speed coil is selected.
The setting value is determined by the electrical 1 to 20480
D axis current
SP078 IDA advance characteristics, so the setting value is fixed for the motor being
compensation used.
Set the value given in the spindle parameter list.
SP079 IQG Q axis current gain (For machine tool builder adjustment)
1 to 8192
SP080 IDG D axis current gain
Q axis current Set the current loop gain for when the coil is changed and the
advance low-speed coil is selected.
SP081 IQAL
compensation The setting value is determined by the electrical
Low-speed coil characteristics, so the setting value is fixed for the motor being
used. 1 to 20480
D axis current
advance Set the value given in the axis parameter list.
SP082 IDAL (For machine tool builder adjustment)
compensation
Low-speed coil
Q axis current gain
SP083 IQGL
Low-speed coil
1 to 8192
D axis current gain
SP084 IDGL
Low-speed coil
Not used.
SP085 0
Set to "0".
Not used.
SP086 0
Set to "0".
Set the vibration frequency to suppress if machine vibration
Notch filter 0 to 2250
SP087 FHz4 occurs. (Valid at 50 or more)
frequency 4 (Hz)
When not using, set to "0".
Set the vibration frequency to suppress if machine vibration
Notch filter 0 to 2250
SP088 FHz5 occurs. (Valid at 50 or more)
frequency 5 (Hz)
When not using, set to "0".
SP089 Not used.
: Set to "0". 0
SP112
Set the current command value for when open loop control is
valid.
Current command 0 to 999
A "0" setting is the same as a "50" setting.
SP113 OPLP value for open
Set "0" when not using this function. (Short-time rated %)
loop
Open loop control is valid when SP018 (SPEC2)/bit1 (oplp) is
set to 1.
Set the time to cut off the gate when turning the coil
changeover contactor OFF and ON.
Coil changeover 0 to 3500
SP114 MKT Set a value longer than the coil changeover contactor's
gate cutoff timer (ms)
OFF/ON time.
Set to "150" as a standard.
Set the time to limit the current immediately after the gate is
Coil changeover turned ON when the coil changeover contactor ON/OFF is 0 to 3500
SP115 MKT2
current limit timer completed. (ms)
Set to "25" as a standard.
Set the value to limit the current immediately after the gate is
Coil changeover turned ON when the coil changeover contactor ON/OFF is 0 to 999
SP116 MKIL
current limit value completed. (Short-time rated %)
Set to "120" as a standard.
Set the time to detect the speed excessive error alarm.
Excessive speed 0 to 60
SP117 SETM Set the time required of the machine.
deviation timer (s)
Set to "12" as a standard.
SP118 Not used.
: Set to "0". 0
SP120

3 - 51
 3. Setup

Setting range
No. Abbr. Parameter name Details
(Unit)
This is used for the initial magnetic pole detection when the
Magnetic pole
IPM spindle motor is turned ON.
SP121 MP Kpp detection position 0 to 32767
Set the position loop gain in the magnetic pole detection loop.
loop gain
Set "0" when using the IM spindle motor.
This is used for the initial magnetic pole detection when the
Magnetic pole
IPM spindle motor is turned ON.
SP122 MP Kvp detection speed 0 to 32767
Set the speed loop gain in the magnetic pole detection loop.
loop gain
Set "0" when using the IM spindle motor.
This is used for the initial magnetic pole detection when the
Magnetic pole
IPM spindle motor is turned ON.
detection speed
SP123 MP Kvi Set the speed loop advance compensation in the magnetic 0 to 32767
loop advance
pole detection loop.
compensation
Set "0" when using the IM spindle motor.
This is used for the initial magnetic pole detection when the
Magnetic pole
IPM spindle motor is turned ON. 0 to 999
SP124 ILMTsp detection current
Set the current limit value in the magnetic pole detection loop. (Short-time rated %)
limit value
Set "0" when using the IM spindle motor.
D/A output channel Input the data number you wish to output to D/A output
SP125 DA1NO
1 data No. channel.
-1 to 3, 50, 60, 127
D/A output channel
SP126 DA2NO
2 data No.
D/A output channel Set the output scale as a 1/100 unit.
SP127 DA1MPY
1 output scale The same scale as "100" is applied when "0" is set. -32768 to 32767
D/A output channel (1/100-fold)
SP128 DA2MPY
2 output scale
Set the unique constants for the spindle motor. (High-speed
SP129 coil)
: The setting value is determined by the motor's mechanical and
SP160 electrical characteristics and specifications, so normally set
the value given in the spindle parameter list.
Set the unique constants for the spindle motor. (Low-speed
SP161 coil)
: The setting value is determined by the motor's mechanical and
SP192 electrical characteristics and specifications, so normally set
the value given in the spindle parameter list.
SP193 Not used.
: Set to "0". 0
SP224
Select the spindle functions.
F E D C B A 9 8 7 6 5 4 3 2 1 0
ovsn

bit Meaning when set to 0 Meaning when set to 1

0
1
2
3
4
5

SP225 SFNC5 Spindle function 5 6

7
8
9
A
B
C Set the non-sensitive band for overshooting compensation type 3 with a 2°/1000
unit.
D
ovsn When using feed forward control, set the non-sensitive band for the model position
E loop to ignore the model overshooting. Set to 2°/1000 (0001) as a standard.
F
(Note) Set to "0" for bits with no particular description.

3 - 52
 3. Setup

Setting range
No. Abbr. Parameter name Details
(Unit)
Select the spindle functions.
F E D C B A 9 8 7 6 5 4 3 2 1 0

bit Meaning when set to 0 Meaning when set to 1

0
1
2
3
4
5
SP226 SFNC6 Spindle function 6 6
7
8
9
A
B
C
D
E
F
(Note) Set to "0" for bits with no particular description.

Select the spindle functions.

F E D C B A 9 8 7 6 5 4 3 2 1 0
dis ccu

bit Meaning when set to 0 Meaning when set to 1

0
1
Lost motion/ overshooting compensation Lost motion/ overshooting
Compensation amount setting unit: compensation
2 ccu
short-time rated % Compensation amount setting unit:
short-time rated 0.01%
3
4
SP227 SFNC7 Servo function 7 5
6
7
8
9
A
B
C Digital signal input selection
D 0: No signal
ovsn 1: Safety observation state door status signal
E
2 to F: Setting prohibited
F
(Note) Set to "0" for bits with no particular description.

3 - 53
 3. Setup

Setting range
No. Abbr. Parameter name Details
(Unit)
Select the spindle functions.
F E D C B A 9 8 7 6 5 4 3 2 1 0
irms

bit Meaning when set to 0 Meaning when set to 1

0 irms Normal load meter display Effective motor current display
1
2
3
4
5
SP228 SFNC8 Spindle function 8 6
7
8
9
A
B
C
D
E
F
(Note) Set to "0" for bits with no particular description.

Select the spindle functions.

F E D C B A 9 8 7 6 5 4 3 2 1 0
ssc rps

bit Meaning when set to 0 Meaning when set to 1

0
1
2
3
4
5
6
SP229 SFNC9 Spindle function 9 7
8
9
A
B
C
Safety observation safety speed Safety observation safety speed
D rps
setting unit: °/min setting unit: 100°/min
E
F ssc Safety observation function stop Safety observation function start
(Note) Set to "0" for bits with no particular description.

3 - 54
 3. Setup

Setting range
No. Abbr. Parameter name Details
(Unit)
Select the spindle functions.
F E D C B A 9 8 7 6 5 4 3 2 1 0

bit Meaning when set to 0 Meaning when set to 1

0
1
2
3
4
5
Spindle 6
SP230 SFNC10
function 10 7
8
9
A
B
C
D
E
F
(Note) Set to "0" for bits with no particular description.

Select the spindle functions.

F E D C B A 9 8 7 6 5 4 3 2 1 0

bit Meaning when set to 0 Meaning when set to 1

0
1
2
3
4
5
Spindle 6
SP231 SFNC11
function 11 7
8
9
A
B
C
D
E
F
(Note) Set to "0" for bits with no particular description.

3 - 55
 3. Setup

Setting range
No. Abbr. Parameter name Details
(Unit)
Select the spindle functions.
F E D C B A 9 8 7 6 5 4 3 2 1 0

bit Meaning when set to 0 Meaning when set to 1

0
1
2
3
4
5
Spindle 6
SP232 SFNC12
function 12 7
8
9
A
B
C
D
E
F
(Note) Set to "0" for bits with no particular description.

When 100% is set, the voltage equivalent to the logical

non-energized time will be compensated.
Voltage 0 to 255
When "0" is set, a 100% compensation will be performed.
SP233 IVC non-sensitive band
Adjust in increments of 10% from the default value 100%. (%)
compensation
If increased too much, vibration or vibration noise may be
generated.
SP234 Not used.
: Set to "0". 0
SP236
Set the filter for the torque command. Set to "0" when not
Torque command using this function. 0 to 4500
SP237 TCF*
filter The standard value is "500" when using the motor end (Hz)
detector TS5690 or TS5691.
When not using, set to "0".
Safety observation Set safety speed of spindle tip on the safety observation 0 to 18000
SP238 SSCFEED
safety speed function. (°/min)

When not using, set to "0".

Safety observation 0 to 32767
SP239 SSCRPM Set safety motor speed on the safety observation function.
safety motor speed (r/min)

Not used.
SP240 0
Set to "0".
SP241 These parameters are set automatically by the NC system.
System setting
: *
parameter
SP256

Parameters with an asterisk * in the abbreviation, such as sout*, are validated with the NC power turned ON again.

3 - 56
4. Servo Adjustment

4-1 D/A output specifications for servo drive unit ................................................................................... 4-2
4-1-1 D/A output specifications ........................................................................................................... 4-2
4-1-2 Output data settings................................................................................................................... 4-3
4-1-3 Setting the output magnification ................................................................................................ 4-3
4-2 Servo adjustment procedure ............................................................................................................ 4-4
4-3 Gain adjustment................................................................................................................................ 4-5
4-3-1 Current loop gain ....................................................................................................................... 4-5
4-3-2 Speed loop gain ......................................................................................................................... 4-5
4-3-3 Position loop gain....................................................................................................................... 4-9
4-4 Characteristics improvement .......................................................................................................... 4-12
4-4-1 Optimal adjustment of cycle time............................................................................................. 4-12
4-4-2 Vibration suppression measures ............................................................................................. 4-14
4-4-3 Improving the cutting surface precision ................................................................................... 4-17
4-4-4 Improvement of characteristics during acceleration/deceleration ........................................... 4-20
4-4-5 Improvement of protrusion at quadrant changeover................................................................ 4-23
4-4-6 Improvement of overshooting .................................................................................................. 4-31
4-4-7 Improvement of the interpolation control path ......................................................................... 4-33
4-5 Adjustment during full closed loop control...................................................................................... 4-35
4-5-1 Outline...................................................................................................................................... 4-35
4-5-2 Speed loop delay compensation.............................................................................................. 4-36
4-5-3 Dual feedback control (Optional function) ............................................................................... 4-37
4-6 Settings for emergency stop........................................................................................................... 4-39
4-6-1 Deceleration control ................................................................................................................. 4-39
4-6-2 Vertical axis drop prevention control........................................................................................ 4-41
4-7 Protective functions ........................................................................................................................ 4-47
4-7-1 Overload detection................................................................................................................... 4-47
4-7-2 Excessive error detection ........................................................................................................ 4-47
4-8 Servo control signal ........................................................................................................................ 4-48
4-8-1 Servo control input (NC to V1/V2) ........................................................................................... 4-48
4-8-2 Servo control output (V1/V2 to NC) ......................................................................................... 4-51
 4. Servo Adjustment

4-1 D/A output specifications for servo drive unit

The MDS-D/DH-V1/V2 servo drive unit has a function to D/A output the various control data.
The servo adjustment data required for setting the servo parameters to match the machine can be D/A
output. Measure using a hi-coder, oscilloscope, etc.

4-1-1 D/A output specifications

Item Explanation
No. of channels 2ch
Output cycle 888µs (min. value)
Output precision 12bit
Output voltage range 0V to 2.5V (zero) to +5V
CN9 connector
Output magnification Pin Name Pin Name
-32768% to +32767% (1% scale)
setting 1 LG 11 LG
2 12
CN9 connector 3 13
MO1 = Pin 9 4 14
Output pin
MO2 = Pin 19 5 15
GND = Pins 1, 11 6 16
The D/A output for the 2-axis unit 7 17
(MDS-D/DH-V2) is also 2ch. When 8 18
Others using the 2-axis unit, set -1 for the 9 MO1 19 MO2
output data (SV061, 62) of the axis 10 20
that is not to be measured.

MDS-D/DH-V2

With the MDS-D/DH Series, there is a 2.5V offset voltage (2.5V when data is 0), so the zero level position
must be adjusted on the hi-corder side.
Single
Memory shot
Scroll
+5 [V]

Speed FB
+2.5 [V]

0 [V]
+5 [V]

Current FB
+2.5 [V]

0 [V]
Example of D/A output waveform

4-2
 4. Servo Adjustment

4-1-2 Output data settings

No. Abbrev. Parameter name Explanation
SV061 DA1NO D/A output channel 1 data No. Input the No. of the data to be output to each D/A output channel.
SV062 DA2NO D/A output channel 2 data No.

No. Output data Standard output unit Output cycle

For 2-axis drive unit (MDS-D/DH-V2). Set the parameters to another axis in the drive unit that
-1 D/A output not selected is not D/A output.
Commanded rotation
0 1000(r/min)/V 888µs
speed
1 Motor rotation speed 1000(r/min)/V 888µs
2 Torque command 100%/V 888µs
3 Torque feedback 100%/V 888µs
Machine vibration
8 500Hz/V 888µs
frequency

50 Position droop 1µm/V 888µs

51 Position command 1µm/V 888µs
52 Position feedback 1µm/V 888µs
53 Position F⊿T 1µm/s/V 888µs

60 Position droop 1mm/V 888µs

61 Position command 1mm/V 888µs
62 Position feedback 1mm/V 888µs
63 Position F⊿T 1mm/s/V 888µs

70 Position droop 1m/V 888µs

71 Position command 1m/V 888µs
72 Position feedback 1m/V 888µs
73 Position F⊿T 1m/s/V 888µs

126 Saw tooth wave 0V to 5V 888µs

127 2.5V test data 2.5V 888µs

4-1-3 Setting the output magnification

Set when outputting other than the standard output unit. When "0" is set, the magnification will be the
same as "100".
(Example 1) When SV061=1 and SV063=1000
The current command is output to D/A output channel 1 with 10%/V unit.
(Example 1) When SV062=2 and SV064=50
The current feedback is output to D/A output channel 1 with 200%/V unit.

No. Abbrev. Parameter name Explanation Setting range

SV063 DA1MPY D/A output channel 1 output Set the scale with a 1/100 unit. -32768 to 32767
scale When "0" is set, the magnification is the same as when set to (1/100-fold)
SV064 DA2MPY D/A output channel 2 output "100".
scale

4-3
 4. Servo Adjustment

4-2 Servo adjustment procedure

Adjusting servo

Set standard parameter for each motor

Set current loop gain because setting values are determined
depending on motors used.

Look for the maximum value not causes

Measures against the vibration Set speed loop gain machine vibration. The final setting
• Notch filter value should be 70 to 80% of the
• Jitter compensation maximum value at which the machine
• Variable speed loop gain does not vibrate.
YES
Vibration occurs?

NO

Adjust cycle time to prevent vibration

Set position loop gain
and/or overshooting.

Improve protrusion at quadrant Perform lost motion compensation

Improve interpolation control path Perform machine end compensation

Set the functions of overload detection,

Set protective function deceleration control at emergency stop,
vertical axis drop prevention, etc.

Adjusting servo completed

Perform adjusting the servo in the factory configuration of the machine. When
the servo is adjusted without having an enough running-in or a cover, friction
CAUTION torque, machine resonance frequency or resonance gain may be different,
resulting in an incorrect adjustment.

4-4
 4. Servo Adjustment

4-3 Gain adjustment

4-3-1 Current loop gain
No. Abbrev. Parameter name Explanation Setting range
SV009 IQA Current loop q axis lead Set the gain of current loop. 1 to 20480
compensation As this setting is determined by the motor’s electrical
SV010 IDA Current loop d axis lead characteristics, the setting is fixed for each type of motor.
compensation Set the standard values for all the parameters depending on
each motor type.
SV011 IQG Current loop q axis gain 1 to 8192
SV012 IDG Current loop d axis gain

4-3-2 Speed loop gain

(1) Setting the speed loop gain
The speed loop gain 1 (SV005: VGN1) is an important parameter for determining the
responsiveness of the servo control. During servo adjustment, the highest extent that this value
can be set to becomes important. The setting value has a large influence on the machine cutting
precision and cycle time.
[1] Refer to the following standard VGN1 graphs and set the standard VGN1 according to the size
of the entire load inertia (motor and machine load inertia).
[2] If the standard VGN1 setting value is exceeded, the current command fluctuation will increase
even if the speed feedback fluctuates by one pulse. This can cause the machine to vibrate
easily, so set a lower value to increase the machine stability.
<When machine resonance does not occur at the standard VGN1>
Set the standard VGN1. Use the standard value if no problem (such as machine resonance)
occurs. If sufficient cutting precision cannot be obtained at the standard VGN1, VGN1 can be
raised above the standard value as long as a 70 percent margin in respect to the machine
resonance occurrence limit is maintained. The cutting accuracy can also be improved by adjusting
with the disturbance observer.
<When machine resonance occurs at the standard VGN1>
Machine resonance is occurring if the shaft makes abnormal sounds when operating or stopping,
and a fine vibration can be felt when the machine is touched while stopped. Machine resonance
occurs because the servo control responsiveness includes the machine resonance points. (Speed
control resonance points occur, for example, at parts close to the motor such as ball screws.)
Machine resonance can be suppressed by lowering VGN1 and the servo control responsiveness,
but the cutting precision and cycle time are sacrificed. Thus, set a vibration suppression filter and
suppress the machine resonance (Refer to section "4-4-2 Vibration suppression measures"), and
set a value as close as possible to the standard VGN1. If the machine resonance cannot be
sufficiently eliminated even by using a vibration suppression filter, then lower the VGN1.

No. Abbrev. Parameter name Explanation Setting range

SV005 VGN1 Speed loop gain 1 Set the speed loop gain. Set this according to the load inertia size. The 1 to 9999
higher the setting value is, the more accurate the control will be;
however, vibration tends to occur. If vibration occurs, adjust by lowering
by 20 to 30%. The value should be determined to be 70 to 80% of the
value at the time when the vibration stops.

Suppressing the resonance with the vibration suppression function and increasing
POINT the VGN1 setting is effective for adjusting the servo later.

4-5
 4. Servo Adjustment

• Standard VGN1 graph (servo motor HF, HF-H Series)

[ HF75, HF54 ] [ HF105, HF104, HF154 ]

[ HF-H75, HF-H54 ] [ HF-H105, HF-H104, HF-H154 ]
Isolated motor Isolated motor
600 600

500 500

400 400

300 300
Standard
VGN1
200 200

100 100

0 0
100 200 300 400 500 600 100 200 300 400 500 600
Load inertia magnification (%) Load inertia magnification (%)

[ HF204, HF354 ] [ HF453, HF703 ]

[ HF-H204, HF-H354 ] [ HF-H453, HF-H703 ]
Isolated motor Isolated motor
600 600

500 500

400 400

300 300
Standard
VGN1
200 200

100 When OSA166 used 100 When OSA166 used

When OSA 105 used When OSA105 used
0 0
100 200 300 400 500 600 100 200 300 400 500 600
Load inertia magnification (%) Load inertia magnification (%)

4-6
 4. Servo Adjustment

• Standard VGN1 graph (servo motor HP, HP-H Series)

[ HP54, HP154 ] [ HP104 ]

[ HP-H54, HP-H154 ] [ HP-H104 ]
Isolated motor Isolated motor
600 600

500 500

400 400

300 300
Standard
VGN1
200 200

100 100

0 0
100 200 300 400 500 600 100 200 300 400 500 600
Load inertia magnification (%) Load inertia magnification (%)

[ HP204, HP354, HP454 ] [ HP704, HP903, HP1103 ]

[ HP-H204, HP-H354, HP-H454 ] [ HP-H704, HP-H903, HP-H1103 ]
Isolated motor Isolated motor
600 600

500 500

400 400

300 300
Standard
VGN1
200 200

100 When OSA166 used 100 When OSA166 used

When OSA105 used When OSA105 used
0 0
100 200 300 400 500 600 100 200 300 400 500 600
Load inertia magnification (%) Load inertia magnification (%)

4-7
 4. Servo Adjustment

(2) Setting the speed loop lead compensation

The speed loop lead compensation (SV008: VIA) determines the characteristics of the speed loop
mainly at low frequency regions. 1364 is set as a standard, and 1900 is set as a standard during
SHG control. The standard value may drop in respect to loads with a large inertia.
When the VGN1 is set lower than the standard value because the load inertia is large or because
machine resonance occurred, the speed loop control band is lowered. If the standard value is set
in the leading compensation in this status, the leading compensation control itself will induce
vibration. In concrete terms, a vibration of 10 to 20Hz could be caused during acceleration/
deceleration or stopping, and the position droop waveform could be disturbed when accelerating to
a constant speed and when stopped. (Refer to lower left drawing)
This vibration cannot be suppressed by the vibration suppression functions. Lower the VIA in
increments of 100 from the standard setting value. Set a value where vibration does not occur and
the position droop waveform converges smoothly. Because lowering the VIA causes a drop in the
position control's trackability, the vibration suppression is improved even when a disturbance
observer is used without lowering the VIA. (Be careful of machine resonance occurrence at this
time.)

Speed FB
0 0
Time Time
D/A output range

0 0
Position Time Time
droop

Vibration waveform with lead compensation control Adjusted position droop waveform

If VIA is lowered, the position droop waveform becomes smooth and overshooting does not occur.
However, because the trackability in respect to the position commands becomes worse, the
positioning time and accuracy are sacrificed. VIA must be kept high (set the standard value) to
guarantee precision, especially in high-speed contour cutting (generally F = 1000 or higher). In
other words, in a machine aiming for high speed and high accuracy, a large enough value must be
set in VGN1 so that VIA does not need to be lowered. When adjusting, the cutting precision will be
better if adjustment is carried out to a degree where overshooting does not occur and a high VIA is
maintained, without pursuing position droop smoothness.
If there are no vibration or overshooting problems, the high-speed contour cutting precision can be
further improved by setting the VIA higher than the standard value. In this case, adjust by raising
the VIA in increments of 100 from the standard value.
Setting a higher VIA improves the trackability regarding position commands in machines for which
cycle time is important, and the time to when the position droop converges on the in-position width
is shortened.
It is easier to adjust the VIA to improve precision and cycle time if a large value (a value near the
standard value) can be set in VGN1, or if VGN1 can be raised equivalently using the disturbance
observer.

4-8
 4. Servo Adjustment

No. Abbrev. Parameter name Explanation Setting range

SV008 VIA Speed loop lead Set the gain of the speed loop integration control. 1 to 9999
compensation The standard setting is "1364". During the SHG control, the standard
setting is "1900". Adjust the value by increasing/decreasing it by about
100 at a time. Raise this value to improve contour tracking precision in
high-speed cutting. Lower this value when the position droop vibrates
(10 to 20Hz).

Position droop vibration of 10Hz or less is not leading compensation control

POINT vibration. The position loop gain must be adjusted.

4-3-3 Position loop gain

(1) Setting the position loop gain
The position loop gain 1 (SV003: PGN1) is a parameter that determines the trackability to the
command position. 33 is set as a standard. Set the same position loop gain value between
interpolation axes.
When PGN1 is raised, the trackability will be raised and the settling time will be shortened, but a
speed loop that has a responsiveness that can track the position loop gain with increased
response will be required. If the speed loop responsiveness is insufficient, several Hz of vibration
or overshooting will occur during acceleration/deceleration. Vibration or overshooting will also
occur when VGN1 is smaller than the standard value during VIA adjustment, but the vibration in
the position loop occurs generally 10Hz or less. (The VIA vibration occurs from 10 to 20Hz.) When
the position control includes machine resonance points (Position control machine resonance
points occur at the tool end parts, etc.) because of insufficient machine rigidity, the machine will
vibrate during positioning, etc. In either case, lower PGN1 and adjust so that vibration does not
occur.
If the machine also vibrates due to machine backlash when the motor stops, the vibration can be
suppressed by lowering the PGN1 and smoothly stopping.
If SHG control is used, an equivalently high position loop gain can be maintained while
suppressing these vibrations. Adjust SHG control by raising the gain gradually after setting PGN1
as 1/2 a value of PGN1 at which a vibration does not occur under the normal control. If the PGN1
setting value is more than 1/2 of the normal control PGN1 when SHG control is used, there is an
improvement effect in position control. (Note that for the settling time the improvement effect is at
1/ 2 or more.)

No. Abbrev. Parameter name Explanation Setting range

SV003 PGN1 Position loop gain 1 Set the position loop gain. The standard setting is "33". 1 to 200
The higher the setting value is, the more precisely the command can be (rad/s)
followed and the shorter the positioning time gets, however, note that a
bigger shock is applied to the machine during acceleration/deceleration.
When using the SHG control, also set SV004 (PGN2) and SV057
(SHGC).
SV004 PGN2 Position loop gain 2 Set 0 as a standard. (For SHG control) 0 to 999
(rad/s)
SV057 SHGC SHG control gain Set 0 as a standard. (For SHG control) 0 to 1200
(rad/s)

Always set the same value for the position loop gain between the interpolation
CAUTION axes.

4-9
 4. Servo Adjustment

(2) Setting the position loop gain for spindle synchronous control
During spindle synchronous control (synchronous tapping control, etc.), there are three sets of
position loop gain parameters besides the normal control.

No. Abbrev. Parameter name Explanation Setting range

SV049 PGN1sp Position loop gain 1 Set 33 as a standard. Set the position loop gain during 1 to 200
in spindle spindle synchronous control (rad/s)
synchronous control (synchronous tap and synchronous
SV050 PGN2sp Position loop gain 2 Set 0 as a standard. control with spindle C-axis). 0 to 999
in spindle (For SHG control) Set the same value as the value of (rad/s)
synchronous control the spindle parameter, position
loop gain in synchronous control.
SV058 SHGCsp SHG control gain in Set 0 as a standard. 0 to 1200
spindle synchronous (For SHG control) (rad/s)
control

Always set the same value for the position loop gain between the spindle and
CAUTION servo synchronous axes.

(3) SHG control (option function)

If the position loop gain is increased or feed forward control (NC function) is used to shorten the
settling time or increase the precision, the machine system may vibrate easily.
SHG control changes the position loop to a high-gain by stably compensating the servo system
position loop through a delay. This allows the settling time to be reduced and a high precision to be
achieved. (SHG: Smooth High-Gain)
(Feature 1) When the SHG control is set, even if PGN1 is set to the same value as the
conventional gain, the position loop gain will be doubled.
(Feature 2) The SHG control response is smoother than conventional position control during
acceleration/deceleration, so the gain can be increased further with SHG control
compared to the conventional position control.
(Feature 3) With SHG control, a high gain is achieved so a high precision can be obtained during
contour control.
The following drawing shows an example of the improvement in roundness
characteristics with SHG control.
50.0
[1] : Commanded path

[2] : SHG control (PGN1=47)

[3] : Conventional control (PGN1=33)

<Effect>
0.0 Control Roundness error (µm)
method

Conventional 22.5
control

SHG control 2.5

-50.0
-50.0 0.0 50.0
(F=3000mm/min, ERROR=5.0µm/div)

Shape error characteristics

During SHG control, PGN1, PGN2 and SHGC are set with the following ratio.
8
PGN1 : PGN2 : SHGC = 1 : :6
3

4 - 10
 4. Servo Adjustment

During SHG control even if the PGN1 setting value is the same, the actual position loop gain will be
higher, so the speed loop must have a sufficient response. If the speed loop response is low,
vibration or overshooting could occur during acceleration/deceleration in the same manner as
conventional control. If the speed loop gain has been lowered because machine resonance occurs,
lower the position loop gain and adjust.

Setting
No. Abbrev. Parameter name ratio
Setting example Explanation Setting range

SV003 PGN1 Position loop gain 1 Always set with a combination of 1 to 200
1 23 26 33 38 47
(SV049) (PGN1sp) these three parameters. (rad/s)
SV004 PGN2 Position loop gain 2 8 0 to 999
62 70 86 102 125
(SV050) (PGN2sp) 3 (rad/s)
SV057 SHGC SHG control gain 0 to 1200
6 140 160 187 225 281
(SV058) (SHGCsp) (rad/s)
SV008 VIA Speed loop lead During the SHG control, the standard setting is "1900". 1 to 9999
compensation
SV015 FFC Acceleration rate During the SHG control, the standard setting is "100". 0 to 999
feed forward gain (%)

The SHG control is an optional function. If the option is not set in the CNC, the
POINT alarm 37 (at power ON) or warning E4, Error Parameter No. 2196 (700 Series
NC for general) will be output.

4 - 11
 4. Servo Adjustment

4-4 Characteristics improvement

4-4-1 Optimal adjustment of cycle time
The following items must be adjusted to adjust the cycle time. Refer to the Instruction Manuals provided
with each CNC for the acceleration/deceleration pattern.
[1] Rapid traverse rate (rapid) : This will affect the maximum speed during positioning.
[2] Clamp speed (clamp) : This will affect the maximum speed during cutting.
[3] Acceleration/deceleration time : Set the time to reach the feedrate.
constant (G0t∗, G1t∗)
[4] In-position width (SV024) : This will affect each block's movement command end time.
[5] Position loop gain (SV003) : This will affect each block's movement command settling time.
(1) Adjusting the rapid traverse
To adjust the rapid traverse, the CNC axis specification parameter rapid traverse rate (rapid) and
acceleration/deceleration time constant (G0t∗) are adjusted. The rapid traverse rate is set so that
the motor speed matches the machine specifications in the range below the maximum speed in the
motor specifications. For the acceleration/deceleration time constants, carry out rapid traverse
reciprocation operation, and set so that the maximum current command value at acceleration/
deceleration is within the range shown below. The output torque is limited at areas near the
maximum speed, so monitor the current FB waveform during acceleration/deceleration and adjust
so that the torque is within the specified range.
If the drive unit's input voltage is less than the rated voltage, the torque will easily become
insufficient, and excessive errors will occur easily during acceleration/deceleration.
(2) Adjusting the cutting feed
To adjust the cutting rate, the NC axis specification parameter clamp speed (clamp) and
acceleration/deceleration time constant (G1t∗) are adjusted. The in-position width at this time must
be set to the same value as actual cutting.
• Determining the clamp rate and adjusting the acceleration/deceleration time constant
(Features) The maximum cutting rate (clamp speed) can be determined freely.
(Adjustment) Carry out cutting feed reciprocation operation with no dwell at the maximum
cutting rate and adjust the acceleration/deceleration time constant so that the
maximum current command value during acceleration/deceleration is within the
range shown below.
• Setting the step acceleration/deceleration and adjusting the clamp speed
(Features) The acceleration/deceleration time constant is determined with the position loop
in the servo, so the acceleration/deceleration F⊿T can be reduced.
(Adjustment) Set 1 (step) for the acceleration/deceleration time constant and carry out cutting
feed reciprocation operation with no dwell. Adjust the cutting feed rate so that the
maximum current command value during acceleration/deceleration is within the
range shown below, and then set the value in the clamp speed.

Maximum current command value when adjusting acceleration/deceleration time constant

MDS-D Series (200V) MDS-DH Series (400V)

Max. current Max. current Max. current Max. current
Motor Motor Motor Motor
command command command command
model model model model
value value value value
HF75 Within 350% HP54 306% HF-H75 350% HP-H54 306%
HF105 Within 270% HP104 262% HF-H105 270% HP-H104 262%
HF54 Within 420% HP154 434% HF-H54 420% HP-H154 434%
HF104 Within 504% HP204 312% HF-H104 504% HP-H204 312%
HF154 Within 378% HP354 320% HF-H154 378% HP-H354 320%
HF204 Within 340% HP454 311% HF-H204 312% HP-H454 311%
HF354 Within 331% HP704 216% HF-H354 331% HP-H704 216%
HF453 Within 298% HP903 215% HF-H453 298% HP-H903 215%
HF703 Within 238% HP1103 184% HF-H703 238% HP-H1103 184%
HF903 Within 291% HF-H903 291%
.

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 4. Servo Adjustment

(3) Adjusting the in-position width

Because there is a response delay in the servomotor drive due to position loop control, a "settling
time" is also required for the motor to actually stop after the command speed from the CNC reaches
0.
The movement command in the next block is generally started after it is confirmed that the
machine has entered the "in-position width" range set for the machine.
Set the precision required for the machine as the in-position width. If a high precision is set
needlessly, the cycle time will increase due to a delay in the settling time.
The in-position width is validated with the servo parameter settings, but there may be cases when
it is validated with the NC parameters. Refer to each NC Instruction Manual.

No. Abbrev. Parameter name Explanation Setting range

SV024 INP In-position detection Set the in-position detection width. 0 to 32767
width Set the accuracy required for the machine. (µm)
The lower the setting is, the higher the positioning accuracy gets;
however, the cycle time (setting time) becomes longer.
The standard setting value is "50".

The in-position width setting and confirmation availability depend on the CNC
POINT parameters.

(4) Adjusting the settling time

The settling time is the time required for
the position droop to enter the in-position F
width after the feed command (F⊿T) from
F⊿T Setting time
the CNC reaches 0.
The settling time can be shortened by 0
raising the position loop gain or using Time
G0tL
SHG control. However, a sufficient
response (sufficiently large VGN1 setting) Position In-position
for the speed loop is required to carry out droop
stable control.
0
The settling time during normal control
In-position width
when the CNC is set to linear acceleration/
deceleration can be calculated using the
following equation. During SHG control,
estimate the settling time by multiplying
PGN1 by 2 .
INP
103
Settling time (ms) = -
PGN1
• ln F × 106
× 1 - exp
PGN1×G0tL
60×G0tL×PGN12 103

PGN1 : Position loop gain1 (SV003) (rad/s)

F : Rapid traverse rate (mm/min)
G0tL : Rapid traverse linear acceleration/
deceleration time constant (ms)
INP : In-position width (SV024) (µm)

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 4. Servo Adjustment

4-4-2 Vibration suppression measures

If vibration (machine resonance) occurs, it can be suppressed by lowering the speed loop gain 1
(VGN1). However, cutting precision and cycle time will be sacrificed. (Refer to "4-3-2 Speed loop
gain".) Thus, try to maintain the VGN1 as high as possible, and suppress the vibration using the
vibration suppression functions.
If the VGN1 is lowered and adjusted because vibration cannot be sufficiently suppressed with the
vibration suppression functions, adjust the entire gain (including the position loop gain) again.
<Examples of vibration occurrence>
• A fine vibration is felt when the machine is touched, or a groaning sound is heard.
• Vibration or noise occurs during rapid traverse.

Suppress the vibration using the vibration suppression functions, and maintain
POINT the speed loop gain (SV005: VGN1) as high as possible.

(1) Notch filter

This servo drive unit mounts 5 notch filters. Measure the resonance frequency with the current
feedback analog output function, and set that frequency in parameter.
However, if the notch filter is set to a particularly low frequency, another resonance frequency that
did not vibrate initially may occur. If the notch filter's depth compensation (SV033, nfd1, nfd2) is
adjusted so that the filter does not operate unless necessary, the servo control will be stabilized.
Notch filter 3 is a filter with frequency fixed to 1125Hz, and has no depth compensation.
<Setting method>
[1] Set the resonance frequency in the notch filter frequency (1, 2, 4, 5).
[2] If the machine starts to vibrate at another frequency, raise (make shallower) the notch filter
depth compensation value, and adjust to the optimum value at which the resonance can be
eliminated.
[3] When the vibration cannot be completely eliminated, use also another notch filter for this
frequency.

4 - 14
 4. Servo Adjustment

No. Abbrev. Parameter name Explanation Setting range

SV033 SSF2 Servo function
selection 2 F E D C B A 9 8 7 6 5 4 3 2 1 0
lmc2a rps nfd2 nf3 nfd1

bit Meaning when set to 0 Meaning when set to 1

1 Set the filter depth for Notch filter 1 (SV038).
2 nfd1 Deep ← → Shallow
3 000 001 010 011 100 101 110 111

Depth (dB) -∞ -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2

4 nf3 Notch filter 3 stop Notch filter 3 start (1125Hz)

5 nfd2 Set the filter depth for Notch filter 1 (SV046).
6 Deep ← → Shallow
7 000 001 010 011 100 101 110 111

Depth (dB) -∞ -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2

SV038 FHz1 Notch filter Set the vibration frequency to suppress if machine vibration occurs. 0 to 2250
frequency 1 (Valid at 80 or more) When not using, set to "0". (Hz)
SV046 FHz2 Notch filter If the machine vibrates, set the vibration frequency to be suppressed. 0 to 2250
frequency 2 (Valid when set to 80 or more.) When not using, set to "0". (Hz)
SV083 SSF6 Servo function
selection 6
F E D C B A 9 8 7 6 5 4 3 2 1 0
nfd5 nfd4

bit Meaning when set to 0 Meaning when set to 1

1 Set the filter depth for Notch filter 4 (SV087).
2 Setting value Deep ← → Shallow
nfd4
3 000 001 010 011 100 101 110 111

Depth (dB) -∞ -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2

4
5 Set the filter depth for Notch filter 5 (SV088).
6 Setting value Deep ← → Shallow
7 nfd5 000 001 010 011 100 101 110 111

Depth (dB) -∞ -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2

SV087 FHz4 Notch filter Set the vibration frequency to suppress if machine vibration occurs. 0 to 2250
frequency 4 (Valid at 80 or more) When not using, set to "0". (Hz)
SV088 FHz5 Notch filter 0 to 2250
frequency 5 (Hz)

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 4. Servo Adjustment

(2) Jitter compensation (Vibration control when motor is stopped.)

The load inertia becomes much smaller than usual if the motor position enters the machine
backlash when the motor is stopped. Because this means that an extremely large VGN1 is set for
the load inertia, vibration may occur.
Jitter compensation can suppress the vibration that occurs at the motor stop by ignoring the
backlash amount of speed feedback pulses when the speed feedback polarity changes.
Increase the number of ignored pulses by one pulse at a time, and set a value at which the
vibration can be suppressed. (Because the position feedback is controlled normally, there is no
worry of positional deviation.)
When jitter compensation is set to an axis that is not vibrating is set, vibration could be induced, so
take care.

Jitter compensation vibration suppression is only effective when the motor is

POINT stopped.

(3) Variable speed loop gain control

If vibration occurs when the motor is rotating at a high speed, such during rapid traverse, or if
disturbing noise occurs, the state can be improved by lowering the speed loop gain during
high-speed rotation. The low-speed region speed loop gain used for cutting feed (G1 feed), etc., is
maintained at a high level, so the vibration can be improved without dropping the machining
accuracy.

No. Abbrev. Parameter name Explanation Setting range

SV005 VGN1 Speed loop gain 1 Set the speed loop gain. 1 to 9999
Set this according to the load inertia size.
The higher the setting value is, the more accurate the control will be;
however, vibration tends to occur.
If vibration occurs, adjust by lowering by 20 to 30%.
The value should be determined to be 70 to 80% of the value at the
time when the vibration stops.
SV006 VGN2 Speed loop gain 2 If the noise is bothersome at high -1000 to 9999
speed during rapid traverse, etc,
lower the speed loop gain. VGN1
As shown in the right, set the
speed loop gain at the time of VGN2
overspeed detection speed and
use this with SV029 (VSC).
When not using, set to "0".
Refer to the motor specification for
0 VCS VLMT
the overspeed detection speed. （Overspeed detection speed）

SV029 VCS Speed at the change If the noise is bothersome at high speed during rapid traverse, etc, 0 to 9999
of speed loop gain lower the speed loop gain. (r/min)
Set the speed at which the speed loop gain changes, and use this with
SV006 (VGN2). (Refer to SV006.)
When not using, set to "0".

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 4. Servo Adjustment

4-4-3 Improving the cutting surface precision

If the cutting surface precision or roundness is poor,
these can be improved by increasing the speed Y
loop gain (VGN1, VIA) or by using the disturbance
observer function.
<Examples of faults>
• The surface precision in the 45° direction of a
taper or arc is poor.
• The load fluctuation during cutting is large, X
causing vibration or surface precision defects
to occur.

Adjust by raising the speed loop gain equivalently to improve cutting surface
precision, even if the measures differ. In this case, it is important how much the
POINT machine resonance can be controlled, so adjust making sufficient use of
vibration suppression functions.

(1) Adjusting the speed loop gain (VGN1)

If the speed loop gain is increased, the cutting surface precision will be improved but the machine
will resonate easily.
The final VGN1 setting should be approx. 70 to 80% of the maximum value where resonance does
not occur. (Refer to "4-3-2 (1) Setting the speed loop gain")

(2) Adjusting the speed loop leading compensation (VIA)

The VIA has a large influence on the position trackability, particularly during high-speed cutting
(generally F1000 or more). Raising the setting value improves the position trackability, and the
contour precision during high-speed cutting can be improved. For high-speed high-precision
cutting machines, adjust so that a value equal to or higher than the standard value can be set.
When VIA is set lower than the standard value and set to a value differing between interpolation
axes, the roundness may worsen (the circle may distort). This is due to differences occurring in the
position trackability between interpolation axes. The distortion can be improved by matching the
VIA with the smaller of the values. Note that because the position trackability is not improved, the
surface precision will not be improved.
(Refer to "4-3-2 (2) Setting the speed loop leading compensation")

No. Abbrev. Parameter name Explanation Setting range

SV005 VGN1 Speed loop gain 1 Set the speed loop gain. 1 to 9999
Set this according to the load inertia size.
The higher the setting value is, the more accurate the control will be;
however, vibration tends to occur.
If vibration occurs, adjust by lowering by 20 to 30%.
The value should be determined to be 70 to 80% of the value at the time
when the vibration stops.
SV008 VIA Speed loop lead Set the gain of the speed loop integration control. 1 to 9999
compensation The standard setting is "1364". During the SHG control, the standard
setting is "1900". Adjust the value by increasing/decreasing it by about
100 at a time.
Raise this value to improve contour tracking precision in high-speed
cutting. Lower this value when the position droop vibrates (10 to
20Hz).

4 - 17
 4. Servo Adjustment

(3) Voltage non-sensitive zone (Td) compensation

With the PWM control of the inverter circuit, a dead time (non-energized time) is set to prevent
short-circuits caused by simultaneous energizing of the P side and N side transistors having the
same phase. The dead time has a non-sensitive zone for particularly low voltage commands. Thus,
when feeding with a low speed and a low torque, the control may be unstable.
When an unbalanced axis is lowering, the frictional torque and unbalance torque, and the frictional
torque and deceleration torque before the quadrant changes during circle cutting, are balanced.
The motor output torque will be approximately zero, and the control accuracy may drop. In this
case, the control accuracy can be improved by using the voltage non-sensitive band compensation.
Note that this may cause vibration to be increased while the motor is running.

Cutting direction .
Motor torque =. 0

Frictional torque

Balanced

Unbalance torque
Lowering
Deceleration torque = frictional torque

For circle cutting For unbalance torque

No. Abbrev. Parameter name Explanation Setting range

SV030 IVC Voltage When 100% is set, the voltage equivalent to the logical non-energized time 0 to 255
non-sensitive band will be compensated. (%)
compensation When "0" is set, a 100% compensation will be performed.
Adjust in increments of 10% from the default value 100%.
If increased too much, vibration or vibration noise may be generated.

4 - 18
 4. Servo Adjustment

(4) Disturbance observer

The disturbance observer can reduce the effect caused by disturbance, frictional resistance or
torsion vibration during cutting by estimating the disturbance torque and compensating it. It also is
effective in suppressing the vibration caused by speed leading compensation control.
<Setting method>
[1] Adjust VGN1 to the value where vibration does not occur, and then lower it 10 to 20%.
[2] Set the load inertia scale (SV037: JL) with a percentage in respect to the motor inertia of the
total load inertia.
[3] Set the observer filter band (observer pole) in the disturbance observer filter frequency
(SV043: OBS1), and suppress the high frequency disturbance estimate to suppress the
vibration. Set "100" as a standard.
[4] Set the observer gain in disturbance observer gain (SV044: OBS2). The disturbance observer
will function here for the first time. Set 100 first, and if vibration does not occur, increase the
setting by 50 at a time to increase the observer effect.

No. Abbrev. Parameter name Explanation Setting range

SV037 JL Load inertia scale Set "the motor inertia + motor axis conversion load inertia" in respect to the 0 to 5000
motor inertia. (%)
Jm+Jl
SV037(JL)= Jm ×100

Jm : Motor inertia
Jl : Motor axis conversion load inertia
SV043 OBS1 Disturbance Set the disturbance observer filter band. 0 to 1000
observer filter Set to “100” as a standard. (rad/s)
frequency To use the disturbance observer, also set SV037 (JL) and SV044 (OBS2).
When not using, set to “0”.
SV044 OBS2 Disturbance Set the disturbance observer gain. The standard setting is “100” to “300”. 0 to 500
observer gain To use the disturbance observer, also set SV037 (JL) and SV043 (OBS1). (%)
When not using, set to “0”.

The lost motion compensation must be readjusted when the disturbance

POINT observer is started.

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 4. Servo Adjustment

4-4-4 Improvement of characteristics during acceleration/deceleration

(1) SHG control (option function)
Because SHG control has a smoother response during acceleration/deceleration than
conventional position controls, the acceleration/deceleration torque (current FB) has more ideal
output characteristics (A constant torque is output during acceleration/deceleration.) The peak
torque is kept low by the same acceleration/deceleration time constant, enabling the time constant
to be shortened.
Refer to item "(3) SHG control" in section "4-2-3 Position loop gain" for details on setting SHG
control.

3000

Speed command
0
(r/min) Time

-3000

200

Current FB
(stall current%) 0
Time

-200

Acceleration/deceleration characteristics during conventional control

3000

Speed command
0
(r/min) Time

-3000

200

Current FB
0
(stall current %) Time

-200

Acceleration/deceleration characteristics during SHG control

No. Abbrev. Parameter name Setting ratio Setting example Explanation Setting range
SV003 PGN1 1 to 200
Position loop gain 1 1 23 26 33 38 47
(SV049) (PGN1sp) (rad/s)
Always set with a
SV004 PGN2 8 combination of 0 to 999
Position loop gain 2 62 70 86 102 125 these three
(SV050) (PGN2sp) 3 (rad/s)
parameters.
SV057 SHGC 0 to 1200
SHG control gain 6 140 160 187 225 281
(SV058) (SHGCsp) (rad/s)
Speed loop lead
SV008 VIA During the SHG control, the standard setting is "1900". 1 to 9999
compensation
Acceleration rate 0 to 999
SV015 FFC During the SHG control, the standard setting is "100".
feed forward gain (%)

SHG control is an option function. If the option is not set in the NC, alarm 37 (at
POINT power ON), or warning E4 and error parameter No. 2196 (700 Series NC for
general) will be output.

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 4. Servo Adjustment

(2) Acceleration feed forward

Vibration may occur at 10 to 20 Hz during acceleration/deceleration when a short time constant of
30 ms or less is applied, and a position loop gain (PGN1) higher than the general standard value or
SHG control is used. This is because the torque is insufficient when starting or when starting
deceleration, and can be resolved by setting the acceleration rate feed forward gain (SV015: FFC).
This is also effective in reducing the peak current (torque).
While measuring the current command waveform, increase FFC by 50 to 100 at a time and set the
value where vibration does not occur.

200 200
Current
command 100 100
(%)

0 0

0 20 40 60 80 100 0 20 40 60 80 100
Time (ms) Time (ms)

No FFC setting With FFC setting

Acceleration rate feed forward gain means that the speed loop gain during
acceleration/deceleration is raised equivalently. Thus, the torque (current command) required
during acceleration/deceleration starts sooner. The synchronization precision will improve if the
FFC of the delayed side axis is raised between axes for which high-precision synchronous control
(such as synchronous tapping control and superimposition control).

No. Abbrev. Parameter name Explanation Setting range

SV015 FFC Acceleration rate When a relative error in the synchronous control is large, apply this 0 to 999
feed forward gain parameter to the axis that is delaying. The standard setting value is "0". (%)
For the SHG control, set to "100".
To adjust a relative error in acceleration/deceleration, increase the value
by 50 to 100 at a time.

Overshooting occurs easily when a value above the standard value is set during
POINT SHG control.

4 - 21
 4. Servo Adjustment

(3) Inductive voltage compensation

The current loop response is improved by compensating the back electromotive force element
induced by the motor rotation. This improved the current command efficiency, and allows the
acceleration/deceleration time constant to the shortened.
<Adjustment method>
1. While accelerating/decelerating at rapid traverse, adjust the inductive voltage compensation
gain (SV047: EC) so that the current FB peak is a few % smaller than the current command
peak.

3000
Speed command
(r/min) 0
Time
-3000 No inductive voltage
compensation
200
Current
command
(Rated current %) 0
Time
With inductive
voltage
-200 compensation

Inductive voltage compensation

No. Abbrev. Parameter name Explanation Setting range

SV047 EC Inductive voltage Set the inductive voltage compensation gain. Set to "100" as a standard. 0 to 200
compensation gain If the current FB peak exceeds the current command peak, lower the gain. (%)

If the current FB peak becomes larger than the current command peak (over
POINT compensation), an overcurrent (alarm 3A) will occur easily. Note that over
compensation will occur easily if the load inertia is large.

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 4. Servo Adjustment

4-4-5 Improvement of protrusion at quadrant changeover

The response delay (caused by dead band from friction, torsion, expansion/contraction, backlash, etc.)
caused when the machine advance direction reverses is compensated with the lost motion compensation
(LMC compensation) function.
With this, the protrusions that occur at the quadrant changeover in the DBB measurement method, or
the streaks that occur when the quadrant changes during circular cutting can be improved.

Compensation

Cutting
direction

Circle cutting path before compensation Circle cutting path after compensation
DBB: Double Ball Bar

[1] LMC compensation type 2

Performs servo internal PI control response delay compensation for the frictional torque reversing
condition that occurs during servo reverse travel. Reverse response delay is compensated with
adding the torque command set by parameter when a speed and direction change occurs.
LMC compensation type 2 adjustments should be performed with reference to the following items.
(1) Unbalance torque and frictional torque
(2) LMC compensation type 2 setting and adjustment
(3) Lost motion compensation timing adjustment
(4) Adjustment at feed forward control
[2] LMC compensation type 3
In addition to frictional torque influence, this type compensates torsion and expansion/contraction
influences in the machine system in which compensation amount is changed by travel speed. A
mechanical system viscosity coefficient setting further enhances the compensation accuracy even
if the travel speed is changed. Adjustment requires a machine end roundness measurement.
LMC compensation type 3 adjustments should be performed with reference to the following items.
(1) Unbalance torque and frictional torque
(2) LMC compensation type 3 setting and adjustment

4 - 23
 4. Servo Adjustment

(1) Unbalance torque and frictional torque

Machine unbalance torque and frictional torque measurements are required before the LMC
compensation can be set. However, the horizontal axis unbalance torque is necessarily "0".
Carry out the reciprocating operation (approx. F1000) with the measured axis, and the load
current % value during constant-speed feed is measured at the NC servo monitor screen. The
unbalance torque and frictional torque at that time are expressed by the following formulas.

Unbalance torque (%) = (+ feed load current %) + (- feed load current %)

2

Frictional torque (%) = (+ feed load current %) - (- feed load current %)

2

(Example)
Assume that the load current % was -55% in the + direction and -25% in the - direction
when JOG feed was carried out at approx. F1000. The unbalance torque and frictional
torque are as shown below.

(-55) + (-25) = -40%

Unbalance torque (%) = 2

(-55) - (-25) = 15%

Friction torque (%) = 2

4 - 24
 4. Servo Adjustment

(2) Setting and adjusting LMC compensation type 2

<Setting method>
[1] Set the servo function selection 1 (SV027)/bit 9. (The LMC compensation type 2 will start).
[2] Set unbalance torque to the torque offset (SV032).
[3] Set a value double the friction torque to the lost motion compensation 1 (SV016). The SV016
setting value will be used for compensation in the positive and negative directions when the lost
motion compensation 2 (SV041) is 0.
[4] Set SV041, when changing the compensation amount in the direction for compensation. The
setting of the compensation direction is shown below with the setting of CW/CCW in the NC
parameter. If compensating only one direction, set -1 to the side not to be compensated.

The Y axis command direction

Compensation D changes from + to -.
CW CCW +Y
point
X axis: SV041 X axis: SV016 The X axis command direction
A A changes from + to -.
B Y axis: SV016 Y axis: SV041
C X axis: SV016 X axis: SV041
D Y axis: SV041 Y axis: SV016
-X +X

The X axis command direction

C changes from - to +. -Y The Y axis command direction
B changes from - to +.

<Adjustment method>
Perform the final adjustment, carrying out the NC sampling measurement (DBB measurement) or
actual cutting. If the compensation amount is insufficient, increase SV016 or SV041 by 5% at a
time. Note that if the setting is too high, biting may occur.

Compensation 0 Optimum Too high

4 - 25
 4. Servo Adjustment

No. Abbrev. Parameter name Explanation Setting range

SV016 LMC1 Lost motion Set the compensation amount based on the stall (rated) current of the -1 to 200
compensation 1 motor. (Stall current %)
The standard setting is double of the friction torque. Setting to "0" means Note that when
SV082/bit2 is 1,
the compensation amount is zero. -1 to 20000
SV041 LMC2 Lost motion Set this with SV016 (LMC1) only when you wish to set the lost motion (Stall current
compensation 2 compensation amount to be different depending on the command 0.01%)
directions.
Set to "0" as a standard.
SV032 TOF Torque offset 1 This setting is specified when using lost motion compensation type 2. -100 to 100
Set the unbalance torque of vertical axis and inclined axis. (Stall current %)
SV027 SSF1 Servo function
selection 1 F E D C B A 9 8 7 6 5 4 3 2 1 0
zrn2 ovs lmc vfct vcnt

bit Meaning when set to 0 Meaning when set to 1

Set the compensation amount with SV016 (LMC1) and SV041 (LMC2).
8 Note that when SV082/lmc3 is set to "1", the lost motion compensation type
lmc
3 is selected regardless of the setting of this data.
9 00: Lost motion compensation stop 10: Lost motion compensation type 2
01: Setting prohibited 11: Setting prohibited

SV082 SSF5 Servo function

selection5 F E D C B A 9 8 7 6 5 4 3 2 1 0
dis ccu lmc3 lmct

bit Meaning when set to 0 Meaning when set to 1

Lost motion overshoot Lost motion overshoot
compensation compensation
2 ccu compensation setting unit: compensation setting unit:
Stall rated current % Stall rated current 0.01%

1. Set SV082/bit1=0 when using LMC compensation type 2.

2. When either parameter SV016: LMC1 or SV041: LMC2 is set to 0, the same
amount of compensation is carried out in both the positive and negative direction
with the setting value of the other parameter (the parameter not set to 0).
3. When the protrusion amount varies according to direction, use LMC2 to adjust it.
For compensation in one direction only, set "-1" at the parameter (LMC1 or LMC2)
for the direction in which compensation is prohibited.
POINT 4. Even if a TOF is set, the motor's torque output characteristics and the load current
displayed at the NC servo monitor will remain unchanged. Only the LMC
compensation is affected.
5. The value set based on the friction torque is the standard value for LMC
compensation. The optimum compensation value changes with the cutting
conditions (cutting speed, cutting radius, blade type, workpiece material, etc.). Be
sure to ultimately make test cuts matching the target cutting and determine the
compensation amount.

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 4. Servo Adjustment

(3) Adjusting the lost motion compensation timing

If the speed loop gain has been lowered from the standard setting value because the machine
rigidity is low or because machine resonance occurs easily, or when cutting at high speeds, the
quadrant protrusion may appear later than the quadrant changeover point on the servo control. In
this case, suppress the quadrant protrusion by setting the lost motion compensation timing
(SV039: LMCD) to delay the LMC compensation.

<Adjustment method>
If a delay occurs in the quadrant protrusion in the circle or arc cutting as shown below in respect to
the cutting direction when CNC sampling measurement (DBB measurement) or actual cutting is
carried out, and the compensation appears before the protrusion position, set the lost motion
compensation timing (SV039: LMCD).
While measuring the arc path, increase LMCD by 10 ms at a time, to find the timing that the
protrusion and compensation position match.

After
compensation

Cutting
direction

Before timing delay compensation After timing delay compensation

No. Abbrev. Parameter name Explanation Setting range

SV039 LMCD Lost motion Set this when the lost motion compensation timing does not match. 0 to 2000
compensation timing Adjust by increasing the value by 10 at a time. (ms)

When the LMCD is gradually raised, a two-peaked contour may occur at the motor FB position
DBB measurement. However, due to the influence of the cutter diameter in cutting such as end
milling, the actual cutting surface becomes smooth.
Because satisfactory cutting can be achieved even if this two-peaked contour occurs, consider the
point where the protrusion becomes the smallest and finest possible without over compensating
(bite-in) as the optimum setting.
Quadrant changeover point

Cutter diameter

Cutter center path

Actual cutting surface

Cutting direction Point of LMC compensation execution

4 - 27
 4. Servo Adjustment

(4) Adjusting for feed forward control

In LMC compensation, a model position considering the position loop gain is calculated based on
the position command sent from the CNC, and compensation is carried out when the feed changes
to that direction. When the CNC carries out feed forward (fwd) control, overshooting equivalent to
the operation fraction unit occurs in the position commands, and the timing of the model position
direction change may be mistaken. As a result, the LMC compensation timing may deviate, or
compensation may be carried out twice or more.
If feed forward control is carried out and the compensation does not operate correctly, adjust with
the non-sensitive band (SV040 (LMCT)) during feed forward control. In this non-sensitive band
control, the overshooting set with LMCT is ignored during feed forward control. Instead the model
position direction change point is correctly recognized to correctly compensate LMC.
This parameter is meaningless when feed forward control is not being carried out.

<Adjustment method>
If the compensation timing deviates during feed forward control, increase the LMCT setting by 1µm
at a time.
Note that 2µm are set even when the LMCT is set to 0.

No. Abbrev. Parameter name Explanation Setting range

SV040 LMCT Lost motion Set the non-sensitive band of the lost motion compensation in the feed 0 to 255
compensation forward control. (µm)
non-sensitive band When "0" is set, the actual value that is set is 2µm. Adjust by increasing
by 1µm at a time.

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 4. Servo Adjustment

(5) Setting and adjusting LMC compensation type 3

LCM compensation type 3 can be used to accommodate quadrant projection changes that
accompany feed rate and circular radius changes which could not be accommodated by LCM
compensation type 2. In this case, on a machine model where the travel direction is reversed, the
viscosity component is also considered in addition to the friction, with compensation occurring in
accordance with the changes in the cutting conditions.
Adjust Compensation parameter (SV016, SV041), a basis of compensation, while measuring
roundness at low speed. Then adjust viscous coefficient (SV086) while measuring roundness at
high speed.
LMC compensation type 3 parameter adjustments should be made while performing a machine
end roundness measurement such as a DDB measurement, etc.
<Adjustment method>
[1] Set the bit1=1 to servo function selection 5 (SV082). (The LMC compensation type 3 will start).
[2] Set a value double the friction torque to the lost motion compensation 1 (SV016). The SV016
setting value will be used for compensation in the positive and negative directions when the lost
motion compensation 2 (SV041) is 0.
[3] Set the initial value, SV016 x 200 to the lost motion compensation viscous coefficient (SV086).
[4] Perform a roundness measurement at such speed as radius R=100mm and feedrate
F=1000mm/min and adjust SV016 value.
[5] Set SV041, when changing the compensation amount in the direction for compensation. The
setting of the compensation direction is shown below with the setting of CW/CCW in the NC
parameter. If compensating only one direction, set –1 to the side not to be compensated.

The Y axis command direction

Compensation
CW CCW
D changes from + to -.
point +Y

X axis: SV041 X axis: SV016 The X axis command direction

A A changes from + to -.
B Y axis: SV016 Y axis: SV041
C X axis: SV016 X axis: SV041
D Y axis: SV041 Y axis: SV016
-X +X

The X axis command direction

C changes from - to +. -Y The Y axis command direction
B changes from - to +.

[6] Perform a roundness measurement at such speed as radius, R=100mm and feedrate,
F=5000mm/min. (Select a condition to be used for the actual cutting according to the machine's
specification.) Adjust viscous coefficient (SV086) by increasing and reducing it approx. ±500
gradually to have minimum quadrant protrusion.
[7] After adjusting SV086, verify its accuracy by performing roundness measurement at low speed
again.

1. As the acceleration of circular feed increases, the quadrant protrusion tends to

get larger. Therefore, the quadrant protrusion gets larger as the circular feedrate
increases for the same radius and as radius gets smaller for the same feedrate.
POINT 2. Torque offset (SV032) does not work for LMC compensation type 3.
3. Always set 0 to the lost motion compensation timing (SV039:LMCD).

4 - 29
 4. Servo Adjustment

No. Abbrev. Parameter name Explanation Setting range

SV027 SSF1 Servo function
selection 1
F E D C B A 9 8 7 6 5 4 3 2 1 0
zrn2 ovs lmc vfct vcnt

bit Meaning when set to 0 Meaning when set to 1

Set the compensation amount with SV016 (LMC1) and SV041 (LMC2).
8 Note that when SV082/lmc3 is set to "1", the lost motion compensation type 3
lmc is selected regardless of the setting of this data.
9 00: Lost motion compensation stop 10: Lost motion compensation type 2
01: Setting prohibited 11: Setting prohibited

SV016 LMC1 Lost motion Set the compensation amount based on the stall (rated) current of the motor. -1 to 200
compensation 1 The standard setting is double of the friction torque. (Stall
SV041 LMC2 Lost motion Set this with SV016 (LMC1) only when you wish to set the lost motion current %)
Note that when
compensation 2 compensation amount to be different depending on the command directions. SV082/bit2 is
Set to "0" as a standard. 1, -1 to 20000
(Stall current
0.01%)
SV082 SSF5 Servo function
selection5 F E D C B A 9 8 7 6 5 4 3 2 1 0
dis ccu lmc3 lmct

bit Meaning when set to 0 Meaning when set to 1

1 lmc3 Lost motion compensation 3 stop Lost motion compensation 3 start
Lost motion overshoot Lost motion overshoot
compensation compensation
2 ccu compensation setting unit: compensation setting unit:
Stall rated current % Stall rated current 0.01%

SV086 LMCc Lost motion Set the machine system's viscous coefficient when using lost motion 0 to 32767
compensation 3 compensation type 3. When not using, set to "0". (0.01%
viscous coefficient
s/mm)

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 4. Servo Adjustment

4-4-6 Improvement of overshooting

The phenomenon when the machine position goes past or exceeds the command during feed
stopping is called overshooting. Overshooting is compensated by overshooting compensation
(OVS compensation).
Overshooting occurs due to the following two causes.
[1] Machine system torsion: Overshooting will occur mainly during rapid traverse settling
[2] Machine system friction: Overshooting will occur mainly during one pulse feed
Either phenomenon can be confirmed by measuring the position droop.

Speed Position
FB command
0 0

Position Position
droop 0 droop 0

Overshoot Overshoot

Time Time
[1] Overshooting during rapid traverse settling [2] Overshooting during pulse feed

(1) Overshooting compensation (OVS compensation)

In OVS compensation, the overshooting is suppressed by subtracting the torque command set in
the parameters when the motor stops.
OVS compensation type 3 has a compensation effect for the overshooting during either rapid
traverse settling or pulse feed. To compensate overshooting during feed forward control, refer to
the following section "(2) Adjusting for feed forward control".
<Setting and adjustment methods>
[1] Set the servo function selection 1 (SV027: SSF1)/bit A, B. (OVS compensation type 3 will start.)
[2] Observe the position droop waveform using the D/A output, and increase the overshooting
compensation 1 (SV031: OVS1) value 1% at a time. Set the smallest value where the overshooting
does not occur. If SV042 (OVS2) is 0, the overshooting will be compensated in both the
forward/reverse directions with the OVS1 setting value.
[3] If the compensation amount is to be changed in the direction to be compensated, set the + direction
compensation value in OVS1 and the - direction compensation value in OVS2. If only one direction is
to be compensated, set the side not to be compensated as -1. The compensation direction setting will
be as reversed with the NC parameter CW/CCW setting.

1. When either parameter SV031: OVS1 or SV042: OVS2 is set to 0, the same
amount of compensation is carried out in both the positive and negative
direction, using the setting value of the other parameter (the parameter not
set to 0).
2. To compensate in only one direction, set -1 in the parameter (OVS1 or
OVS2) for the direction in which compensation is prohibited.
3. For contour cutting, the projection at the arc end point is compensated with
POINT OVS compensation. LMC compensation is carried out at the arc starting
point.
OVS compensation LMC compensation

Cutting direction

4 - 31
 4. Servo Adjustment

(2) Adjusting for feed forward control

When using feed forward control (high-speed high-accuracy control), the feed forward control must
be stopped (fwd_g =0) before adjusting the overshooting compensation. After adjusting the
overshooting compensation with normal control, set the overshooting compensation non-sensitive
zone (SV034 (SSF3)/bitC to F (ovsn) to 1 (2µm) and start up feed forward control.
If overshooting compensation is used during feed forward control, the overshooting will increase,
or protrusions could appear during arc cutting. This is because, when the NC is carrying out feed
forward (fwd) control, overshooting equivalent to the operation fraction unit occurs in the position
command, and the OVS compensation is recognized as a change in the command direction,
resulting in compensation in the reverse direction. This can be improved by setting the
overshooting compensation non-sensitive zone width.
If overshooting does not occur during normal control, and occurs only during feed forward control,
adjust the feed forward gain (fwd_g).

No. Abbrev. Parameter name Explanation Setting range

SV031 OVS1 Overshooting Increase by 1% and determine the amount that overshooting doesn’t -1 to 100
compensation 1 occur. (Stall current %)
When SV042 (OVS2) is "0", compensate with the value of SV031 (OVS1) Note that when
SV082/bit2 is 1, -1
in both of the + and -directions. to 10000
SV042 OVS2 Overshooting Set this with SV031 (OVS1) only when you wish to set the overshooting （Stall current
compensation 2 compensation amount to be different depending on the command 0.01%）
directions.
Set to "0" as a standard.
SV027 SSF1 Servo function
selection 1 F E D C B A 9 8 7 6 5 4 3 2 1 0
zrn2 ovs lmc vfct vcnt

bit Meaning when set to 0 Meaning when set to 1

A Set the compensation amount with SV031 (OVS1) and SV042 (OVS2).
ovs
B 00: Overshoot compensation stop 10: Setting prohibited
01: Setting prohibited 11: Overshoot compensation type 3

SV034 SSF3 Servo function

selection 3 F E D C B A 9 8 7 6 5 4 3 2 1 0
ovsn

bit Explanation
C Set the non-sensitive band of the overshooting compensation type 3 in
D increments of 2µm at a time.
ovsn In the feed forward control, the non-sensitive band of the model position
E
droop is set, and overshooting of the model is ignored. Set 2µm (0001)
F as a standard.

SV082 SSF5 Servo function

selection5 F E D C B A 9 8 7 6 5 4 3 2 1 0
dis ccu lmc3 lmct

bit Meaning when set to 0 Meaning when set to 1

Lost motion overshoot Lost motion overshoot
compensation compensation
2 ccu compensation setting unit: compensation setting unit:
Stall rated current % Stall rated current 0.01%

When using feed forward control (high-speed high-accuracy control), stop the
feed forward control (fwd_g=0) before adjusting the overshooting
POINT compensation. If overshooting occurs during subsequent feed forward control,
adjust the feed forward gain (fwd_g).

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 4. Servo Adjustment

4-4-7 Improvement of the interpolation control path

(1) Tool end compensation
The tool end compensation function compensates the shape of the tool end during high-speed and
high-speed acceleration/deceleration. The spring effect from the tool (spindle) end to the motor
(scale) end is compensated. If the machine has a large spring effect, the shape may be fine during
low-speed operation. However, at high speeds (specially when using a small radius), the section
from the tool (shaft) end to the outer sides of the motor (scale) end could swell, and cause the
shape to become elliptical during measurement of the roundness. The tool end compensation
function compensates the motor end position according to the acceleration size, so the tool end
position is always controlled to the commanded position.
The inner side is driven by the amount
that the end section swells due to the
spring effect.

During high acceleration,

the end section swells
outward due to the spring
effect.

Tool end path Tool end path

(machining surface) (machining surface)

Tool end roundness

Tool end roundness
(machining surface)
(machining surface)
Elliptical shape is
Elliptical shape fault
improved

High speed
(high acceleration):
Example: Both low speed and
Command path Low speed: R25mm high speed are on
(ideal path) F10000mm/min
Example:
Command path the same path.
R25mm
F1000mm/min (ideal path)

Without tool end compensation With tool end compensation

1. Always evaluate the roundness accuracy at the tool end.

POINT 2. Adjust the parameter after adjusting the roundness accuracy at the motor
end.

4 - 33
 4. Servo Adjustment

<Adjustment methods>
[1] Confirm that the motor end circle accuracy measured with the NC sampling function is
appropriate.
[2] In this state, measure the tool end low-speed and high-speed circle path without tool end
compensation. The difference of the high-speed circle path and low-speed circle path is the
amount that path has swelled due to the spring effect of the machine system. Calculate the
SV065 setting value with the following expression using this amount as the compensation
amount.
9
Compensation amount [µm] × radius R [mm] ×10
SV065 = (command speed F [mm/min])
2

[3] Input the value calculated in step [2] into SV065. Measure the high-speed circle path. If the
shape is still elliptical, adjust by increasing/decreasing the SV065 value in 1/10 units.
[4] Confirm that there is no problem with the low-speed circle path.

Example of low-speed and high-speed roundness measurement for adjusting tool end compensation

When using grid encoder When using DBB measurement Acceleration

Low speed
R=25 [mm], F=500 [mm/min] R=100 [mm], F=1000 [mm/min] 0.00028G
(reference circle)
High-speed
(when adjusting R=25 [mm], F=10000 [mm/min] R=100 [mm], F=20000 [mm/min] 0.11G
compensation amount)

No. Abbrev. Parameter name Explanation Setting range

SV065 TLC Machine end Set the machine end compensation spring constant. -32768 to
compensation spring For semi-closed droop control, the machine end compensation amount 32767
constant can be approximated with the following expression.
2
Compensation Command speed F(mm/min) ×SV065
= (µm)
amount
Radius R(mm) × 109
When not using, set to "0".

1. To confirm the machine's spring element, adjust the electrical end

roundness, and then tool end roundness while changing the cutting speed.
Confirm that the error increases with the speed.
POINT
2. The electrical end roundness will have an error on the inner side when tool
end compensation is used.

If an excessive value is set in the tool end compensation spring constant

CAUTION (SV065), the machine could vibrate when stopping, resulting in a dangerous
state.

4 - 34
 4. Servo Adjustment

4-5 Adjustment during full closed loop control

4-5-1 Outline
(1) Full closed loop control
The servo control is all closed loop control using the detector's feedback. "Full closed loop control"
is the system that directly detects the machine position using a linear scale, whereas the general
"semi-closed loop" is the one that detects the motor end position.
In a machine that drives a table with a ball screw, the following factors exist between the motor and
table end:

[1] Coupling or ball screw table bracket's backlash

[2] Ball screw pitch error

These can adversely affect the accuracy. If the table position, which is the tool end, is directly
detected with a linear scale, high-accuracy position control which is not affected by backlash or
pitch error is possible. However, with the full closed loop system, the machine system is also
directly included in the position loop control. Thus, if the machine's rigidity is not high, the gain
cannot be increased, and the required high accuracy cannot be attained.
The procedures for adjusting the servo with the full closed loop system are the same as the
semi-closed loop system. Vibration or overshooting will occur easily, so the position loop gain is
generally lower than the semi-closed loop.

(2) Overrun detection

With the full closed system, the tool end position feedback (FB) detected with the linear scale is
used for the position control. However, the motor end position FB is detected at the same time, and
the error of both FB is observed. If this FB error exceeds the servo parameter SV054 setting value,
alarm 43 will be detected and the system will stop to prevent overrunning due to a scale FB error
from occurring.
Table
Position droop Speed command
Servo-
Position PGN motor
command +
- Linear scale
ENC
Motor end position FB
FB error
+
- Machine end position FB

Overrun detection control

No. Abbrev. Parameter name Explanation Setting range

SV054 ORE Overrun detection Set the overrun detection width in the full-closed loop control. -1 to 32767
width in closed loop If the gap between the motor end detector and the linear scale (machine (mm)
control end detector) exceeds the value set by this parameter, it is judged to be
overrun and Alarm 43 will be detected.
When "-1" is set, the alarm detection will not be performed. When "0" is
set, overrun is detected with a 2mm width.

4 - 35
 4. Servo Adjustment

4-5-2 Speed loop delay compensation

Generally, the tool end position follows the operation later than the motor end position. With full closed
loop position loop control, the tool end position is used for position feedback, so the motor end position
could advance too far and cause the tool end position to overshoot easily. Speed loop delay
compensation suppresses overshooting by weakening the speed loop PI control (weakening advance
compensation = delaying). If the compensation is too large and PI control is weakened too far, the
positioning time could increase, or the position droop will remain when the motor is stopped.

<Adjustment method>
[1] Set the servo function selection 1 (SV027: SSF1)/bit1, bit0 to 10. (Select delay compensation
changeover type 2)
[2] Set the axis unbalance torque to the torque offset (SV032: TOF). (Refer to "4-3-5 (1) Unbalance
torque and frictional torque" for details on measuring the unbalance torque.)
[3] Observe the position droop waveform, and confirm the overshooting. Increase SV007 (VIL) in
increments of 5, and adjust so that the overshooting is improved. If set too high, the position
droop will remain when the axis is stopped.

No. Abbrev. Parameter name Explanation Setting range

SV007 VIL Speed loop delay Set this when the limit cycle occurs in the full-closed loop, or overshooting 0 to 32767
compensation occurs in positioning.
Select the control method with SV027 (SSF1).bit1, 0 (vcnt).
Normally, use "Changeover type 2".
When you set this parameter, make sure to set the torque offset (SV032
(TOF)). When not using, set to "0".
Changeover type 2
When SV027 (SSF1).bit1, 0 (vcnt)=10
The delay compensation control works when the command from the NC is
"0" and the position droop is "0". Overshooting or the limit cycle that
occurs during pulse feeding or positioning can be suppressed.
SV032 TOF Torque offset 1 Set the unbalance torque of vertical axis and inclined axis. -100 to 100
(Stall current %)
SV027 SSF1 Servo function
selection 1 F E D C B A 9 8 7 6 5 4 3 2 1 0
zrn2 ovs lmc vfct vcnt

bit Meaning when set to 0 Meaning when set to 1

Set the execution changeover type of the speed loop delay
0
compensation.
vcnt
00: Delay compensation changeover 10: Delay compensation type 2
1
invalid
01: Delay compensation changeover 11: Setting prohibited
type 1

CAUTION The position droop will remain if SV007 is set too high.

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 4. Servo Adjustment

4-5-3 Dual feedback control (Optional function)

If the motor and machine coupling or machine system's rigidity is low (ex. large machine, etc.) when
using a closed loop system, the response during acceleration/deceleration will vibrate and cause
overshooting. This can cause the position loop gain from increasing. The dual feedback function is
effective in this case.
To validate the dual feedback function, use position feedback with a motor end detector in ranges with
high acceleration to enable stable control. In ranges with low acceleration, use position feedback with
the tool end detector (scale). This will make it possible to increase the position loop gain.

Speed Table
Position Position droop command Servo-
command + Position control motor
- Linear scale
High frequency
Motor end position FB ENC
FB element
Low frequency dead band
FB element
- +
SV052
+
Primary
delay filter - Tool end position FB
SV051

Dual feedback control

The state will approach the semi-closed loop system as the primary delay filter's time constant
increases, so the position loop gain limit will increase. Note that the limit of the position loop gain
increased with the dual feedback function is the same as the position loop gain limit for a semi-closed
system that does not use a tool end detector(scale, etc.). In addition, the positioning time will increase
as the primary delay filter time constant increases.

1. Dual feedback control is a function that compensates symptoms resulting

from insufficient machine rigidity. If there are items that can be improved on
the machine (improvement of scale installation position, etc.) improve those
first.
POINT 2. The position loop gain limit will not increase compared to the semi-closed
loop system even when using dual feedback control.
3. Dual feedback control is an optional function. If the option is not set in the
NC, alarm 37 (at power ON), or warning E4 and error parameter No. 2197
(700Series NC for general) will be output.

4 - 37
 4. Servo Adjustment

<Adjustment method>
[1] Set the servo specifications (SV017: SPEC)/bit1 to 1, and turn the NC power ON again.
[2] Measure the position droop overshooting while increasing the dual feedback control time
constant (SV051: DFBT) in increments of 5ms. Adjust to the time constant where overshooting
does not occur.
[3] For the final setting value, set a value 1.5 to 2-fold the value adjusted in 3.

No. Abbrev. Parameter name Explanation Setting range

SV017 SPEC* Servo specification
selection 1 F E D C B A 9 8 7 6 5 4 3 2 1 0
spm abs fdir vfb seqh dfbx

bit Meaning when set to 0 Meaning when set to 1

1 dfbx Dual feedback control stop Dual feedback control start

SV051 DFBT Dual feed back Set the control time constant in dual feed back. 0 to 9999
control time constant When "0" is set, the actual value that is set is 1ms. (ms)
The higher the time constant is, the closer it gets to the semi-closed
control, so the limit of the position loop gain is raised.
SV052 DFBN Dual feedback Set the non-sensitive band in the dual feedback control. 0 to 9999
control non-sensitive Set to "0" as a standard. (µm)
band

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 4. Servo Adjustment

4-6 Settings for emergency stop

Emergency stop in this section refers to the following states.
[1] Emergency stop was input (including other axis alarms)
[2] NC power down was detected
[3] A servo alarm was detected

4-6-1 Deceleration control

With the MDS-D/DH-V1/V2 servo drive unit, if the deceleration stop function is validated, the motor will
decelerate following the set time constant while maintaining the READY ON state. READY will turn
OFF and the dynamic brakes will function after stopping.
If an alarm, for which dynamic brakes are designated as the stopping method, occurs, the motor will
stop with the dynamic brakes.

<Features>
When the load inertia is large, deceleration stop can be executed at a shorter time than the
dynamic brakes.
(The stop time for the normal acceleration/deceleration time constants will be achieved.)

(1) Setting the deceleration control time constant

Set the time for stopping from the rapid traverse rate (rapid: axis specification parameter) in the
deceleration time constant for emergency stop (SV056: EMGt). The operation stops with the
position loop step when 0 is set.
If linear acceleration/deceleration is selected for rapid traverse, the same value as the
acceleration/deceleration time constant (G0tL) will be the standard value. If another
acceleration/deceleration pattern is selected, set rapid traverse to linear acceleration/deceleration
and adjust to a suitable acceleration/deceleration time constant. Use that value as the standard
value.

<Operation>
When an emergency stop occurs, the motor will decelerate at the same inclination from each
speed.
SV056

SV055 Forced READY OFF range

RAPID

Constant inclination
Motor speed deceleration

Time
Emergency stop (EMG) ON
OFF
In-position (INP) ON
OFF
Servo READY (READY) ON READY OFF after in-position
OFF
Motor brake control output (CN20) OFF
ON

Deceleration control sequence

4 - 39
 4. Servo Adjustment

No. Abbrev. Parameter name Explanation Setting range

SV055 EMGx Max. gate off delay Set a length of time from the point when the emergency stop is input to 0 to 20000
time after the point when READY OFF is compulsorily executed. (ms)
emergency stop Normally, set the same value as the absolute value of SV056.
In preventing the vertical axis from dropping, the gate off is delayed for the
length of time set by SV048 if SV055’s value is smaller than that of
SV048.
SV056 EMGt Deceleration time In the vertical axis drop prevention control, set the time constant used for -20000 to
constant at the deceleration control at emergency stop. Set a length of time that takes 20000
emergency stop from rapid traverse rate (rapid) to stopping. (ms)
Normally, set the same value as the rapid traverse
acceleration/deceleration time constant.
When executing the synchronous operation, put the minus sign to the
settings of both of the master axis and slave axis.

(2) Deceleration control stop distance

The stopping distance LEMG when the motor is stopped with deceleration control during an
emergency stop can be approximated with the following expression. Note that the value will be
higher than this if the current is limited during deceleration.

F 1 F F × EMGt
LEMG = PGN1 × 60 + × × (mm)
2 60 rapid × 1000

F : Feedrate during emergency stop (mm/min)

rapid : Rapid traverse rate (mm/min)
PGN1 : Position loop gain 1 (SV003) (rad/s)
EMGt : Deceleration time constant for emergency stop (SV056) (ms)

1. Deceleration control will not take place when a servo alarm, for which the
stopping method is dynamic, occurs. The motor will stop with dynamic
braking regardless of the parameter setting.
POINT 2. If the power fails and the deceleration time constant is set to a relatively long
time, the braking method may change from deceleration control to dynamic
braking due to a drop in the bus voltage in the drive unit.

If the deceleration control time constant (EMGt) is set to a value longer than the
acceleration/deceleration time constant, the overtravel point (stroke end point)
CAUTION may be exceeded.
Take care as the axis could collide with the tool end.

4 - 40
 4. Servo Adjustment

4-6-2 Vertical axis drop prevention control

(1) Vertical axis drop prevention control
The vertical axis drop prevention control is a function that prevents the vertical axis from dropping due
to a delay in the brake operation when an emergency stop occurs. The no-control time until the brakes
activate can be eliminated by delaying the servo READY OFF state by the time set in the parameters
when an emergency stop occurs.
Always use this function together with deceleration control.

<Setting procedures>
[1] Apply emergency stop while viewing the current position on the NC screen. Adjust the vertical
axis drop prevention time (SV048), and set the 1.5-fold minimum delay time at which the axis
does not drop.
[2] Set the same value as the acceleration/deceleration time constant of the vertical axis for the
max. gate off delay time after emergency stop (SV055).
[3] For the axis for which the vertical drop is to be controlled, set the same value as the
acceleration/deceleration time constant for the deceleration control time constant at emergency
stop (SV056).
[4] If the vertical axis is MDS-D/DH-V2 (2-axis drive unit), set the servo parameters for the other
axis in the same unit.
SV048 = Same value as adjusted vertical axis SV048
SV055 = Same value as adjusted vertical axis SV055
SV056 = Same value as that axis' rapid traverse acceleration/deceleration time constant
[5] If the power supply unit that supplies PN power to the vertical axis is controlled by a spindle
drive unit, set the time for the spindle to stop from the maximum speed to the parameters
SP055 and SP056.
[6] If the power supply unit that supplies PN power to the vertical axis is controlled by a different
servo drive unit, set the servo parameter setting for that axis as well. (Same as item [4] above).
[7] If the CN9 connector of the power supply unit that supplies PN power is connected with the
vertical axis, also set the parameter for the drive unit connected with the CN4 connector of the
same power supply unit.

ON
Emergency stop (EMG) OFF
OFF
Motor brake control output (CN20) ON
OFF
Motor brake actual operation (BRK) ON
ON
Servo READY (READY) OFF
SV048

Vertical axis drop prevention control sequence

1. Always set deceleration control when using the vertical axis drop
prevention control setting.
2. Configure so that the power supply unit is controlled directly by the servo
drive unit which controls the spindle drive unit or the vertical axis drop
prevention control.
3. In the 2nd part system of the power supply, if the axis for vertical axis drop
CAUTION prevention is connected with the CN9 connector of the power supply unit,
provide the vertical axis drop prevention control setting also for the drive
unit connected with CN4 connector of the same power supply unit.
4. If an alarm, for which dynamic brake stopping is designated, occurs with
the axis for which vertical axis drop prevention control is active, the function
will not activate. To prevent axis dropping under all conditions, provide
measures on the machine side by installing a balance unit, etc.

4 - 41
 4. Servo Adjustment

Servo parameter

No. Abbrev. Parameter name Explanation Setting range

SV048 EMGrt Vertical axis drop Input a length of time to prevent the vertical axis from dropping by 0 to 20000
prevention time delaying Ready OFF until the brake works when the emergency stop (ms)
occurs.
Increase the setting by 100ms at a time and set the value where the axis
does not drop.
SV055 EMGx Max. gate off delay Set a length of time from the point when the emergency stop is input to 0 to 20000
time after the point when READY OFF is compulsorily executed. (ms)
emergency stop Normally, set the same value as the absolute value of SV056.
In preventing the vertical axis from dropping, the gate off is delayed for the
length of time set by SV048 if SV055’s value is smaller than that of
SV048.
SV056 EMGt Deceleration time In the vertical axis drop prevention control, set the time constant used for -20000 to
constant at the deceleration control at emergency stop. Set a length of time that takes 20000
emergency stop from rapid traverse rate (rapid) to stopping. (ms)
Normally, set the same value as the rapid traverse
acceleration/deceleration time constant.
When executing the synchronous operation, put the minus sign to the
settings of both of the master axis and slave axis.

1. SV048 and SV055 are set for each axis, but when using MDS-D/DH-V2
(2-axis drive unit), the two axes are simultaneously controlled with the larger
setting value for the two axes.
POINT 2. If an alarm, for which dynamic brake stopping is designated, occurs with the
axis for which vertical axis drop prevention control is active, the function will
not activate.
3. A drop amount of several µm to several 10µm will remain due to brake play.

1. Do not set the vertical axis drop prevention time longer than required. The
servo control and brakes could collide, resulting in an overload alarm or
drive unit damage. There is no problem if the overlapping time is within
100ms.
CAUTION 2. Vertical axis drop prevention control (including deceleration control) longer
than 100ms will not be guaranteed during a power failure. The operation
will change to dynamic brakes.
3. If only SV048 and SV055 are set, and SV056 is set to 0, the deceleration
stop will be a stepped stop and could result in collision with the machine.

4 - 42
 4. Servo Adjustment

<Outline of system configurations and corresponding parameter settings>

[1] Spindle drive unit controls power supply unit. Vertical axis is a 1-axis unit (vertical axis: Z axis).

MDS-D/DH-V2 MDS-D/DH-V1 MDS-D/DH-SP MDS-D/DH-CV

X axis, Y axis *Z axis Spindle Power supply

NC

Axis X axis Y axis Z axis (Vertical axis) Spindle

Parameter MDS-D/DH-V2 MDS-D/DH-V1 MDS-D/DH-SP
SV048 - - Set by adjustment
Same value as Z axis Set the time for
SV055 - - rapid traverse time spindle to stop from
constant maximum speed to
Same value as Z axis SP055 and SP056.
SV056 - - rapid traverse time
constant
(Note) When “0” is set in SP055 and SP056, 7000ms is applied.

[2] Spindle drive unit controls power supply unit. Vertical axis is a 2-axis unit (vertical axis: Z axis).

MDS-D/DH-V1 MDS-D/DH-V2 MDS-D/DH-SP MDS-D/DH-CV

X axis Y axis, *Z axis Spindle Power supply

NC

Axis X axis Y axis Z axis (Vertical axis) Spindle

Parameter MDS-D/DH-V1 MDS-D/DH-V2 MDS-D/DH-SP
Same value
SV048 - Set by adjustment
as Z axis →
Same value as Z axis Set the time for
Same value spindle to stop from
SV055 - rapid traverse time
as Z axis → maximum speed to
constant
Same value as Y axis Same value as Z axis SP055 and SP056.
SV056 - rapid traverse time rapid traverse time
constant constant
(Note) When “0” is set in SP055 and SP056, 7000ms is applied.

4 - 43
 4. Servo Adjustment

[3] Servo drive unit controls power supply unit. Vertical axis is a 1-axis unit (vertical axis: Z axis).

MDS-D/DH-V2 MDS-D/DH-V1 MDS-D/DH-CV MDS-D/DH-SP MDS-D/DH-CV

X axis, Y axis *Z axis Power supply Spindle Power supply

NC

Axis X axis Y axis Z axis (Vertical axis) Spindle

Parameter MDS-D/DH-V2 MDS-D/DH-V1 MDS-D/DH-SP
SV048 - - Set by adjustment
Same value as Z axis
SV055 - - rapid traverse time Spindle parameter
constant settings are not
Same value as Z axis required.
SV056 - - rapid traverse time
constant

[4] Servo drive unit controls power supply unit. Vertical axis is a 2-axis unit (vertical axis: Z axis).

MDS-D/DH-V1 MDS-D/DH-V2 MDS-D/DH-CV MDS-D/DH-SP MDS-D/DH-CV

X axis Y axis, *Z axis Power supply Spindle Power supply

NC

Axis X axis Y axis Z axis (Vertical axis) Spindle

Parameter MDS-D/DH-V1 MDS-D/DH-V2 MDS-D/DH-SP
Same value
SV048 - Set by adjustment
as Z axis →
Same value as Z axis Spindle parameter
Same value
SV055 - rapid traverse time settings are not
as Z axis →
constant required.
Same value as Y axis Same value as Z axis
SV056 - rapid traverse time rapid traverse time
constant constant

4 - 44
 4. Servo Adjustment

[5] Spindle drive unit in the 2nd part system controls power supply unit.
Vertical axis is a 1-axis unit in the 1st part system (vertical axis: Z axis).

MDS-D/DH-V2 MDS-D/DH-V2 MDS-D/DH-V1

*Z axis

NC
(1st part system)

・・・

MDS-D/DH-V2 MDS-D/DH-SP MDS-D/DH-CV

Spindle Power supply

NC
(2nd part system)

・・・

Axis other than the

Axis Z axis (Vertical axis) Spindle
right
Parameter
MDS-D/DH-V2 MDS-D/DH-V1 MDS-D/DH-SP
SV048 - Set by adjustment
Same value as Z axis
Set the time for
SV055 - rapid traverse time
spindle to stop from
constant maximum speed to
Same value as Z axis SP055 and SP056.
SV056 - rapid traverse time
constant
(Note) When “0” is set in SP055 and SP056, 7000ms is applied.

In the 2nd part system of the power supply, if the axis for vertical axis drop
prevention is connected with the CN9 connector of the power supply unit,
CAUTION provide the vertical axis drop prevention control setting also for the drive unit
connected with CN4 connector of the same power supply unit.

4 - 45
 4. Servo Adjustment

[6] Spindle drive unit in the 2nd part system controls power supply unit.
Vertical axis is a 2-axis unit in the 1st part system (vertical axis: Z axis).

MDS-D/DH-V1 MDS-D/DH-V2 MDS-D/DH-V2

Y axis, *Z axis

NC
(1st part system)

・・・

MDS-D/DH-V2 MDS-D/DH-SP MDS-D/DH-CV

Spindle Power supply

NC
(2nd part system)

・・・

Axis other than the

Axis Y axis Z axis (Vertical axis) Spindle
right
Parameter
MDS-D/DH-V1,V2 MDS-D/DH-V2 MDS-D/DH-SP
Same value
SV048 - Set by adjustment
as Z axis →
Same value as Z axis Set the time for
Same value
SV055 - rapid traverse time spindle to stop from
as Z axis →
constant maximum speed to
SP055 and SP056.
Same value as Y axis Same value as Z axis
SV056 - rapid traverse time rapid traverse time
constant constant
(Note) When “0” is set in SP055 and SP056, 7000ms is applied.

In the 2nd part system of the power supply, if the axis for vertical axis drop
prevention is connected with the CN9 connector of the power supply unit,
CAUTION provide the vertical axis drop prevention control setting also for the drive unit
connected with CN4 connector of the same power supply unit.

4 - 46
 4. Servo Adjustment

4-7 Protective functions

4-7-1 Overload detection
The servo drive unit is equipped with an electronic thermal that protects the servomotor and servo drive
unit from overload conditions. The overload 1 alarm (alarm 50) is detected if an overload condition
occurs, and the overload 2 alarm (alarm 51) is detected if 95% or more of the maximum current is
commanded continuously for 1 second or longer due to a machine collision, etc. The parameters
shown below are for machine tool builder adjustment purposes only, and should be kept at their
standard settings (SV021=60, SV022=150).
For details concerning the overload protection characteristics, refer to the MDS-D Series Specifications
Manual (IB-1500010)/MDS-DH Series Specification Manual (IB-1500002).

No. Abbrev. Parameter name Explanation Setting range

SV021 OLT Overload detection Set to "60" as a standard. 1 to 999
time constant (s)
SV022 OLL Overload detection Set the current detection level of Overload 1 (Alarm 50) in respect to the 110 to 500
level stall (rated) current. (Stall [rated]
Set to "150" as a standard. (For machine tool builder adjustment.)
current %)

4-7-2 Excessive error detection

An excessive error (alarms 52, 53, 54) is detected when the difference between the servo's
commanded position and the FB position exceeds the value set by parameter. Separate excessive
error detection width can be set for servo ON (SV023) and servo OFF (SV026) statuses. When a wider
excessive error detection width than that used for standard control is required in stopper control, etc.,
the detection width setting can be changed to the SV053 setting value by NC command.
Follow-up control (NC commanded position tracks servo FB position) is used during emergency stop
and during a servo OFF command, and so there is no excessive error detection at those times,
although the follow-up control during a servo OFF status can be disabled by an NC system parameter
setting.

No. Abbrev. Parameter name Explanation Setting range

SV023 OD1 Excessive error Set the excessive error detection width when servo ON. 0 to 32767
detection width <Standard Rapid traverse rate (mm)
during servo ON setting value> OD1=OD2= (mm/min) ÷ 2 (mm)
60 × PGN1
When "0" is set, the excessive error detection will not be performed.
SV026 OD2 Excessive error Set the excessive error detection width when servo ON.
0 to 32767
detection width For the standard setting, refer to the explanation of SV023 (OD1).
during servo OFF When "0" is set, the excessive error detection will not be performed. (mm)
SV053 OD3 Excessive error Set the excessive error detection width when servo ON in a special control
0 to 32767
detection width in (initial absolute position setting, stopper control, etc.).
special control If "0" is set, excessive error detection won’t be performed. (mm)

4 - 47
 4. Servo Adjustment

4-8 Servo control signal

The sequence input/output signals exchanged between the NC and servo drive unit are explained in
this section. The status of each signal is displayed on the NC SERVO MONITOR screen.

4-8-1 Servo control input (NC to V1/V2)

(1) Servo control input 1
Name Details
Servo control input 1
F E D C B A 9 8 7 6 5 4 3 2 1 0
ALMR SRV RDY

bit Details
0 RDY READY ON command
1 SRV Servo ON command
2 - (For maintenance)
3 - (For maintenance)

4 - (For maintenance)

5 - (For maintenance)

6 - (For maintenance)

7 ALMR Alarm reset command

8 - (For maintenance)
9 - (For maintenance)
A - (For maintenance)
B - (For maintenance)

C - (For maintenance)

D - (For maintenance)

E - (For maintenance)

F - (For maintenance)

bit0. READY ON command (RDY)

Status turns to ready ON at RDY=1.

bit1. Servo ON command (SRV)

[1] Drive unit turns ON at SRV=1 (servo ON status).
[2] Drive unit turns OFF at SRV=0 (servo OFF status).

bit7. Alarm reset command (ALMR)

NR alarm is reset at ALMR=1.

(Note) The bits other than those above are used for maintenance. Do not use them.

4 - 48
 4. Servo Adjustment

(2) Servo control input 2

Name Details
Servo control input 2
F E D C B A 9 8 7 6 5 4 3 2 1 0
SRVDC NCDC SSW

bit Details
0 - (For maintenance)
1 - (For maintenance)
2 - (For maintenance)
3 - (For maintenance)
4 - (For maintenance)
5 - (For maintenance)
6 - (For maintenance)
7 - (For maintenance)
8 - (For maintenance)
9 SSW Speed monitor command valid
A NCDC In door closed (controller)
B SRVDC In door closed (all drive units)
C - (For maintenance)
D - (For maintenance)
E - (For maintenance)
F - (For maintenance)

bit9. Speed monitor command valid (SSW)

When speed monitor command is valid, SSW=1 (valid) is set.

bitA. In door closed (controller) (NCDC)

When “In door closed” signal for controller is valid, NCDC =1 (valid) is set.

bitB. In door closed (all drive units) (SRVDC)

When the theoretical sum of “In door closed” signals for all drive units is valid, SRVDC =1 (valid) is
set.

(Note) The bits other than those above are used for maintenance. Do not use them.

4 - 49
 4. Servo Adjustment

(3) Servo control input 3

Name Details
Servo control input 3
F E D C B A 9 8 7 6 5 4 3 2 1 0
AXF

bit Details
0 AXF Control axis detachment command
1 - (For maintenance)
2 - (For maintenance)
3 - (For maintenance)
4 - (For maintenance)
5 - (For maintenance)
6 - (For maintenance)
7 - (For maintenance)
8 - (For maintenance)
9 - (For maintenance)
A - (For maintenance)
B - (For maintenance)
C - (For maintenance)
D - (For maintenance)
E - (For maintenance)
F - (For maintenance)

bit0. Control axis detachment command (AXF)

The control axis is detached at AXF=1.

(Note) The bits other than those above are used for maintenance. Do not use them.

(4) Servo control output 4

This is used for maintenance. Do not use this.

(5) Servo control output 5

This is used for maintenance. Do not use this.

(6) Servo control output 6

This is used for maintenance. Do not use this.

4 - 50
 4. Servo Adjustment

4-8-2 Servo control output (V1/V2 to NC)

(1) Servo control output 1
Name Details
Servo control output 1
F E D C B A 9 8 7 6 5 4 3 2 1 0
WRN AER LMT INP ALMR SRV RDY

bit Details
0 RDY In READY ON
1 SRV In servo ON
2 - (For maintenance)
3 - (For maintenance)
4 - (For maintenance)
5 - (For maintenance)
6 - (For maintenance)
7 ALMR In alarm
8 - (For maintenance)
9 - (For maintenance)
A - (For maintenance)
B - (For maintenance)
C INP In in-position
D LMT In current limit
E AER In absolute position data loss
F WRN In warning

bit0. In ready ON (RDY)

It indicates that the status is in ready ON at RDN=1.

bit1. In servo ON (SRV)

It indicates that the drive unit turns ON (servo ON) at SRV=1.

bit7. In alarm (ALMR)

It indicates that drive unit is in some alarm state at ALM=1.

bitC. In in-position (INP)

The status changes to INP=1 when position droop exists within the in-position area set by
parameter SP024 (INP) regardless of serve ON or OFF.

bitD. In current limit (LMT)

It indicates that the drive unit is in current limit at LMT=1.

bitE. In absolute position data loss (AER)

It indicates that the drive unit is in absolute position data loss at AER=1.

bitF. In warning (WRN)

It indicates that drive unit is in some warning state at WRN=1.

(Note) The bits other than those above are used for maintenance. Do not use them.

4 - 51
 4. Servo Adjustment

(2) Servo control output 2

Name Details
Servo control output 2
F E D C B A 9 8 7 6 5 4 3 2 1 0
SRVDC NCDC SSW EXEMG ZS ZCN

bit Details
0 ZCN Z phase passed
1 - (For maintenance)
2 - (For maintenance)
3 ZS In zero speed
4 - (For maintenance)
5 - (For maintenance)
6 - (For maintenance)
7 EXEMG In external emergency stop
8 - (For maintenance)
9 SSW In speed monitor
A NCDC In door closed (controller)
B SRVDC In door closed (self drive unit)
C - (For maintenance)
D - (For maintenance)
E - (For maintenance)
F - (For maintenance)

bit0. Z phase passed (ZCN)

ZCN is set to “1” after passing the Z phase at ZCN=0.

bit3. In zero speed (ZS)

It indicates that the servomotor is stopping at ZS=1.

bit7. In external emergency stop

It indicates that an external stop input to the power supply is being input.

bit9. In speed monitor

It indicates that a signal in speed monitor command is being received.

bitA. In door closed (controller)

It indicates that “In door closed” signal for controller is being received.

bitB. In door closed (self drive unit)

It indicates the status of “In door closed” signal for self drive unit.

(Note) The bits other than those above are used for maintenance. Do not use them.

4 - 52
 4. Servo Adjustment

(3) Servo control output 3

Name Details
Servo control output 3
F E D C B A 9 8 7 6 5 4 3 2 1 0
AXF

bit Details
0 AXF In control axis detachment
1 - (For maintenance)
2 - (For maintenance)
3 - (For maintenance)
4 - (For maintenance)
5 - (For maintenance)
6 - (For maintenance)
7 - (For maintenance)
8 - (For maintenance)
9 - (For maintenance)
A - (For maintenance)
B - (For maintenance)
C - (For maintenance)
D - (For maintenance)
E - (For maintenance)
F - (For maintenance)

bit0. In control axis detachment (AXF)

The control axis is being detached at AXF=1.

(Note) The bits other than those above are used for maintenance. Do not use them.

(4) Servo control output 4

This is used for maintenance. Do not use this.

(5) Servo control output 5

This is used for maintenance. Do not use this.

(6) Servo control output 6

This is used for maintenance. Do not use this.

4 - 53
5. Spindle Adjustment

5-1 D/A output specifications for spindle drive unit................................................................................. 5-2

5-1-1 D/A output specifications ........................................................................................................... 5-2
5-1-2 Setting the output data............................................................................................................... 5-2
5-1-3 Setting the output magnification ................................................................................................ 5-3
5-2 Adjustment procedures for each control........................................................................................... 5-4
5-2-1 Basic adjustments...................................................................................................................... 5-4
5-2-2 Gain adjustment......................................................................................................................... 5-5
5-2-3 Adjusting the acceleration/deceleration operation..................................................................... 5-8
5-2-4 Orientation adjustment............................................................................................................. 5-14
5-2-5 Synchronous tapping adjustment (For machining system)...................................................... 5-17
5-2-6 Spindle C axis adjustment (For lathe system) ......................................................................... 5-20
5-2-7 Spindle synchronization adjustment (For lathe system) .......................................................... 5-23
5-3 Spindle control signal...................................................................................................................... 5-25
5-3-1 Spindle control input (NC to SP) .............................................................................................. 5-25
5-3-2 Spindle control output (SP to NC)............................................................................................ 5-30
 5. Spindle Adjustment

5-1 D/A output specifications for spindle drive unit

The MDS-D/DH-SP spindle drive unit has a function to D/A output each control data. The spindle
adjustment data required to set the spindle parameters matching the machine can be D/A output. The
data can be measured with a hi-corder or oscilloscope, etc.

5-1-1 D/A output specifications

Item Explanation
No. of channels 2ch
Output cycle 888µs (min. value)
Output precision 12bit
Output voltage range 0V to 2.5V (zero) to +5V
Output magnification
±32768 CN9 connector
setting
Pin Name Pin Name
MO1 = Pin 9
Output pin 1 LG 11 LG
MO2 = Pin 19
(CN9 connector) 2 12
LG = Pin 1, 11
3 13
4 14
5 15
6 16
7 17
8 18
9 MO1 19 MO2
10 20

MDS-D/DH-SP

5-1-2 Setting the output data

No. Abbrev. Parameter name Explanation
SP125 DA1NO D/A output channel 1 data No. Input the No. of the data to be output to each D/A output channel.
SP126 DA2NO D/A output channel 2 data No.

Output unit
No. Output data Output cycle
for standard setting
-1 D/A output stop -
0 Commanded motor rotation speed 1000(r/min)/V 888µs
1 Motor rotation speed 1000(r/min)/V 888µs
2 q axis current command 100%/V 888µs
3 q axis current feedback 100%/V 888µs

50 Position droop 1/1000°/V 888µs

60 Position droop 1°/V 888µs

127 2.5V test data output 2.5V 888µs

5-2
 5. Spindle Adjustment

5-1-3 Setting the output magnification

(1) Internal data output (Data No. -1 to 3, 50, 60, 127)

Set when outputting data other than in standard output increments. When "0" is set, the
magnification will be the same as when "100" is set.

(Example 1)
When SP125=0, SP127=1000:
Commanded motor rotation speed is output to D/A output channel 1 in increments of
100r/min/V.

(Example 2)
When SP126=2, SP128=50:
q-axis current command is output to D/A output channel 1 in increments of 200%/V.

No. Abbr. Parameter name Details Setting range Standard

SP127 DA1MPY D/A output channel 1 Set the output scale with -32768 to 100
output scale 32767
100
Output magnification ＝ (-fold) (1/100-fold) 100
SP128 DA2MPY D/A output channel 2 SP127(SP128)
output scale .
The same scale as "100" is applied when "0" is set.

5-3
 5. Spindle Adjustment

5-2 Adjustment procedures for each control

1. Do not adjust when possible risks associated with adjustment

procedures are not thoroughly taken into consideration.
! CAUTION 2. Be careful when touching rotating section, or your hand may be
caught in or cut.
3. Changing of parameters has to be done carefully.

5-2-1 Basic adjustments

(1) Items to check during trial operation
[1] Directly couple the motor and machine, and check the control status during machine run-in.
[2] Check that the command speed and actual speed match.
If the speeds do not match, check spindle parameters again.
(Especially check SP026, SP031, SP034 and SP129 to SP256.)
[3] Check the NC parameters slimit1 to 4, smax 1 to 4, and smini.
[4] Is the rotation smooth?
[5] Is there any abnormal noise?
[6] Are there any abnormal odors?
[7] Has the bearing temperature risen abnormally?

(2) Adjusting the spindle rotation speed

The rotation speed is received as digital signals from the NC; thus, it does not need to be adjusted.
If the spindle rotation speed does not match the commanded value due to a dimensional error,
such as the pulley diameter, adjust the parameters with the following method.
[1] Set the spindle specification parameter slimit.
slimit = SP026 × (deceleration rate between motor and spindle)
[2] Set the S command to half of the maximum spindle rotation speed, and then measure the
spindle rotation speed.
If the speeds do not match, change the slimit value in small increments until the speed
matches.
[3] Set the S command to the maximum spindle rotation speed, and check whether the spindle
rotation speed matches.
[4] In machines involving gear changeover, etc., change the gears, and then adjust by following
steps [1] to [3] above.

5-4
 5. Spindle Adjustment

5-2-2 Gain adjustment

(1) Checking the current loop gain
Check to see if the setting is a standard setting as shown below.
Basically, parameters for current loop gain do not need to be changed.
No. Abbr. Parameter name Details Setting range Standard
SP077 IQA Q axis current advance Set the current loop gain. 1 to 20480 4096
compensation When changing the coils, set the current loop gain for
SP078 IDA D axis current advance when the high-speed coil is selected. 4096
compensation The setting value is determined by the electrical
characteristics, so the adjustment is not required
SP079 IQG Q axis current gain basically. 1 to 8192 1024
SP080 IDG D axis current gain Set the value given in the spindle parameter list. 1024
SP081 IQAL Q axis current advance Set the current loop gain for when the coil is changed and 1 to 20480 4096
compensation the low-speed coil is selected.
Low-speed coil The setting value is determined by the electrical
SP082 IDAL D axis current advance characteristics, so the adjustment is not required 4096
compensation basically.
Low-speed coil Set the value given in the axis parameter list.

SP083 IQGL Q axis current gain 1 to 8192 1024

Low-speed coil
SP084 IDGL D axis current gain 1024
Low-speed coil

(Note)
Low-speed coil setting SP081, SP082, SP083 and SP084 are set to "0" when coil changeover
specification is not available.

(2) Adjusting the gain parameter

Adjust the gain parameters as usual or by application in accordance with the chart below.

Control item Regular adjustment By-application adjustment

Gain Synchronous Spindle
Acceleration/deceleration or Spindle C axis
tapping synchronization
orientation adjustment adjustment
adjustment adjustment
Position loop gain SP001 SP002 SP003
Speed loop gain SP005, SP006, SP007 SP008, SP009, SP010

5-5
 5. Spindle Adjustment

(3) Adjusting the speed loop parameter

Adjust speed loop gain

Set SP001=15

Stops at servo ON status

Command M19 (orientation stop)

Increase the value up to where

Set SP005 (standard setting 150)
resonance occurs.

NO
Resonance occurs?

YES

Increase SP005 by +20 Increase SP005 by -20

Emergency stop

Command M19 (orientation stop)

Acceleration/deceleration Executes acceleration/deceleration

operation operation in phases (in approx.
1000r/min increments) up to
maximum rotation speed from 0.
YES
Resonance
(abnormal noise) or abnormal
operation occurs?

NO
Subtract 20 from SP005 Command M19 (orientation stop)

Set D/A output as shown Position droop:

CH1 SP125=60 SP127=4000
on the right.
output (0.025°/V)
Current command:
CH2
SP126=2 SP128=1000
output (10%/V)

NO
Is droop oscillation
0.045°p-p or less?

YES Note that the maximum setting value is as

follows:
Subtract 3 from SP005 Multiply SP005 by 0.9 Max.SP005 <= 150 x inertia ratio
(Inertia ratio : total inertia/motor inertia)

(Example)
When inertia rate is double and the
Waveform Position droop determined limit gain is 350, maximum
for Ref. setting value figured from inertia rate is
0
150x2=300, and 90% of the determined
0.045°or less limit gain 350 is 315. Thus, setting value
0 Adjustment completed for SP005 is 300.
q axis current command

5-6
 5. Spindle Adjustment

No. Abbr. Parameter name Details Setting range Standard

SP005 VGN1 Speed loop gain 1 Set the speed loop gain. 1 to 9999 150
Set this according to the load inertia size.
The higher the setting value is, the more accurate the
control will be, however, vibration tends to occur.

(4) Adjusting the position loop gain (SP001: PGV non-interpolation mode position loop gain)
After setting the speed gain, in order to perform acceleration/deceleration operation, set the
position loop gain (SP001) by increasing its setting value from 15. When overshooting occurs at
the time of acceleration/deceleration completion, or when oscillation of the q axis current command
gets bigger during a set rotation, the position loop gain is in limit state. Note that standard position
loop gain below is set for the setting gain.

Method for measuring the limitation of speed loop gain

Speed waveform (Set Ch1: SP125=1)

The gain when overshooting

occurs is the limit.
0

q axis current command waveform

(Set Ch2: SP126=2)

0
When oscillation gets
bigger is the limit.

(Example) As the closest value should be selected from the standard setting range shown below, set 47 to
SP001 when the limit gain is 55.

Standard
15 18 21 23 26 33 38 47 60 70
position loop gain

No. Abbr. Parameter name Details Setting range Standard

SP001 PGV Position loop gain Set the position loop gain. Set to "33" as a standard. 1 to 200 33
Non-interpolation mode When the setting value is increased, the tracking in (1/s)
respect to the command will increase, and the settling
time during positioning can be reduced. However, the
impact applied on the machine during
acceleration/deceleration will increase.

5-7
 5. Spindle Adjustment

5-2-3 Adjusting the acceleration/deceleration operation

(1) Calculating the theoretical acceleration/deceleration time
The theoretical acceleration/deceleration time is Constant torque range
calculated for each output range based on the spindle
motor output characteristics as shown on the right. Note Constant Deceleration
output range range
that the load torque (mainly frictional torque) is assumed

Output [W]
to be 0 in this theoretical expression, so the time tends to Po
be shorter than the acceleration time with the actual
machine. Short-time rating x 1.2

0
(a) Maximum motor output during 0 N1 N2 N3
acceleration/deceleration: Po Rotation speed [r/min]
During acceleration/deceleration, the motor can output
Output characteristics for
120% of the short-time rating. Thus, the motor output
acceleration/deceleration
Po in the constant output range during
acceleration/deceleration follows the expression below.
Po = (Short-time rated output) x 1.2 [W]
(b) Total load GD2: GD2
GD2 for the total load which is accelerated/decelerated follows the expression below.
GD2 = (Motor GD2) + (motor shaft conversion load GD2) [kg•m2]
The acceleration/deceleration time for each output range is calculated as shown below, using
the values obtained in (a) and (b).
(c) Acceleration/deceleration time for constant torque range: t1
1.03 x GD2 x N1 x n
t1 = [s]
375 x Po
(d) Acceleration/deceleration time for constant output range: t2 … N1->N[r/min] (N1≤N≤N2)
1.03 x GD2 x (N22 - N12)
t2 = [s]
2 x 375 x Po
(e) Acceleration/deceleration time in deceleration output range: t3 … N2->N[r/min] (N2≤N≤N3)
1.03 x GD2 x (N33 - N23)
t3 = [s]
3 x 375 x Po x N2
Based on the above expressions, the acceleration/deceleration time from 0 to N3 [r/min] : t is:
t = t1 + t2 + t3 [s]

[Calculation example]
Calculate the acceleration/deceleration time from 0 to 10000[r/min] for an SJ-V5.5-01T motor
having the output characteristics shown on the right when the motor axis conversion load GD2 is
0.2[kg•m2]. 8.0
Po = (Short-time rated output) × 1.2 = 5500 × 1.2 = 6600 [W]
2 2 2 2
GD = (Motor GD ) + (load GD ) = 0.059 + 0.2 = 0.259 [kg•m ] 6.0
1.03 × GD2 × N12 1.03 × 0.2592 × 15002 5.5
Output [kW]

t1 = = = 0.063[s] 15-minute 4.1

375 × Po 375 × 6600 rating
2 2 2 2 2 2
4.0
t2 = 1.03 × GD × (N2 - N1 ) = 1.03 × 0.259 × (6000 - 1500 ) = 0.471[s] 3.7 2.8
2 × 375 × Po 2 × 375 × 6600
2 3 3 2 3 3 2.0
t3 = 1.03 × GD × (N3 - N2 ) = 1.03 × 0.259 × (10000 - 6000 ) = 1.216[s]
3 × 375 × Po × N2 3 × 375 × 6600 × 6000 Continuous
rating
0
Thus, 0 1500 6000 10000
t = t1 + t2 + t3 = 0.063 + 0.471 + 1.216 = 1.75 [s]
Rotation speed [r/min]

SJ-V5.5-01T output characteristics

5-8
 5. Spindle Adjustment

(2) Measuring the acceleration/deceleration waveforms

Outputs the motor rotation speed by using the spindle drive unit's D/A output function and check if
theoretical acceleration/deceleration time is within ±15%. Refer to "5-1 D/A output specifications
for spindle drive unit" for details on D/A output functions.
Phase current FB output can be measured by the waveform for either U or V phase FB.

Motor rotation speed

U(V) phase current FB

0

Acceleration time: ta Deceleration time: td

Acceleration/deceleration waveforms of spindle motor

When acceleration/deceleration time does not match the theoretical value (an error rate 15% or
more), check the following items.
[1] There may be an error in calculating load GD2 for the motor axis conversion used when
calculating the theoretical acceleration/deceleration time. Check the load GD2 again.
[2] When acceleration time is long and deceleration time is short, friction torque is thought to be
large. Check load meter value at the maximum speed (spindle monitor screen). If the load is
10% or more, friction torque is thought to be relatively large. Mechanical friction, such as
bearing friction or timing belt friction, is assumed to be large. Measure the
acceleration/deceleration time again following trial run.
[3] Even if the problems above are not found, when acceleration/deceleration time does not match,
there may be a possibility of using spindle motor and spindle drive unit that are not specified, or
using wrong parameters. Check the spindle motor type and spindle drive unit type again, as
well as the spindle parameter settings.

There are cases where acceleration/deceleration waveforms change depending on

POINT the spindle temperature. Check the waveforms when the spindle temperature is high
(after continuous operation) and when it is low.

5-9
 5. Spindle Adjustment

(3) Adjustment when the load inertia is large

When the load inertia is large and acceleration time is 10s or more, excessive speed deviation
alarm (ALM23) may occur because the time in which deviation between speed command and
speed FB, which is the actual spindle motor rotation speed, exists is prolonged. In this case,
increase the time constant (3101 to 3104) during spindle rotation by S command. When the
acceleration time is 10s or less, use the standard value 300 (300ms).
Alarm can be avoided by adjusting excessive speed deviation timer (SP117). However, in this case,
alarm detection will be delayed during constant speed operation.
In order to improve current ripple waveforms during acceleration/deceleration, adjust by using
speed command dual cushion explained later.

No. Abbr. Parameter name Details Setting range Standard

SP117 SETM Excessive speed Set the time to detect the speed excessive error alarm. 0 to 60 12
deviation timer Set the time required of the machine. (s)
Set to "12" as a standard.

No. Abbr. Parameter name Details Setting range Standard

3101 sp_t 1 Time constant for Set the acceleration/deceleration time constant for spindle 1 to 5000 (ms) 300
3102 2 spindle rotation with S rotation using the S command (spindle control mode =
3103 3 command speed operation mode) at the gears (00, 01, 10, 11).
3104 4 (Linear acceleration/deceleration pattern.)

5 - 10
 5. Spindle Adjustment

(4) Acceleration/deceleration adjustment

Checks acceleration waveform and adjusts deceleration time.
(a) Checking acceleration waveform

Check acceleration waveform

Output
waveform: SP127: Set so that the
Set D/A output as shown Ch1 Motor SP125:1 maximum rotation
on the right rotation speed is displayed.
speed
Set the measuring device so that U phase current can be
measured by a clamp meter.

Acceleration/deceleration Perform acceleration/deceleration operation from the

operation maximum rotation speed in 1000 rotations increments.

Motor rotation Speed waveform (Ch1: SP125=0)

speed
Acceleration time

Phase current
waveform
(clamp meter)
0

Acceleration waveform
check completed

5 - 11
 5. Spindle Adjustment

(b) Adjusting deceleration time

Adjusts deceleration time in the same manner as acceleration time by using SP071 (variable
current limit during deceleration, lower limit value) and SP072 (variable current limit during
deceleration, break point speed).

Adjust deceleration time

Output
Set D/A output waveform: SP127: Set so that the
as shown on the right Ch1 Motor SP125:1 maximum rotation
rotation speed is displayed.
speed

Set the measuring device so that U phase current can be

measured by a clamp meter.

When SP071=100 is set, current limit during deceleration is

Set SP071 and SP072
constant regardless of the speed. When setting SP071 to
100 or less and SP072 to maximum rotation speed or less,
deceleration time will be longer as current limit during
deceleration may be variable depending on the speed.
* Although a value more than 100 can be set to SP071,
basically, 100 or less should be set.

Acceleration/deceleration Execute M5 stop operation from the maximum rotation speed.

operation
Speed waveform (Ch1: SP125=0) Motor rotation speed
Adjust SP071 and SP072 so that deceleration
time is within ±10% of acceleration time.

Phase current waveform (clamp meter)

Deceleration time
adjustment completed

5 - 12
 5. Spindle Adjustment

Relation between SP071 (variable current limit during deceleration, lower limit value) and
SP072 (variable current limit during deceleration, break point speed)

(1) Rotation speed – Decreasing current value curve

(2) Rotation speed/current command FB waveform
Decreasing current value
100% is the setting value for the current limit Motor rotation speed
during regeneration (SP152 (high-speed coil),
SP184 (low speed coil)).
SP072
Deceleration time

0
100
q axis command/FB

<1>
SP071
<2>
Time(s)
0
SP072 SP026 Motor rotation speed <1> SP152(SP184) x SP071/100 <2> SP152(SP184)
(Max. rotation speed)

No. Abbr. Parameter name Details Setting range Standard

SP071 DIQM Variable current limit The deceleration time can 0 to 999 100
during deceleration, be adjusted by changing the 100% (%)
lower limit value current limit value during (TMLR)
deceleration according to
the motor speed. DIQM

SP072 DIQN Variable current limit As shown on the right, set 1 to 32767 3000
during deceleration, the lower limit rate of the (r/min)
break point speed current limit in SP071 0 DIQN Motor speed
(DIQM), and use this with
SP072 (DIQN).
DIQM=100% is the current
limit value during
deceleration (TMLR) set to
the motor constant.

5 - 13
 5. Spindle Adjustment

5-2-4 Orientation adjustment

Adjusts orientation time by adjusting SP016.

Orientation characteristics for MDS-D/DH

When decelerating to stop is executed with orientation, the remaining distance to the orientation
stop position is compensated within one rotation. Thus, as shown in Case 1 below, when the
remaining distance in deceleration is about "0", orientation time would be the shortest (time
required to decelerate and stop + 0s), and as shown in Case 2 below, when the remaining distance
in deceleration is about as much as one rotation amount, orientation time would be the longest.

Case1: Remaining distance at deceleration 0 rotation Case2: Remaining distance at deceleration 1 rotation

Motor rotation speed Motor rotation speed

Current edge [1]

0 0
q axis command/FB
q axis command/FB
Current limit range at deceleration
(SP152 or SP184)
0 0
Time(s)
Time(s)

q axis current command (SP126: 1 SP128: 100)

Current edge [2]

No. Abbr. Parameter name Details Setting range Standard

SP016 DDT Phase alignment Set the single rotation position alignment deceleration rate 1 to 32767 30
deceleration rate for orientation stopping, phase alignment during rotation, (0.1 (r/mn)/ms)
and for changing the mode from non-interpolation during
rotation to spindle synchronization.
If the load inertia is large, decrease the setting.
When the setting value is increased, the orient in-position
and single rotation position alignment will end faster, but
the impact applied on the machine will increase.
To change the deceleration rate only during the rotation
command (command F∆T = / 0), set this parameter
together with SP070 (KDDT).

5 - 14
 5. Spindle Adjustment

(1) Orientation time adjustment method

(a) Orientation adjustment from maximum rotation speed
Adjust orientation time

Set D/A output Ouput

as shown on the right waveform: SP127:
Ch1 Motor SP125:1 Set so that the maximum
rotation rotation speed is displayed.
speed
Ouput
Rotate spindle at the maximum waveform:
Ch2 SP126:2 SP128:100(100%/V)
rotation speed q axis current
command

Command M19 (orientation stop)

Motor rotation speed Current edge [1]

NO Compen. amount
One rotation?
(Current edge?) 0 q axis Current limit range
command/ at deceleration SP152
FB
(SP152 or SP184) Current edge [2]
YES 0
Time(s)

-(SP152)
NO
Current edge <
Current control value ?

YES

Set to SP016 as recovery time constant.

Increase SP016 by +5 Multiply SP016 setting value by 1/2

Set D/A output Ouput

as shown on the right waveform: SP127:
Ch1 Motor SP125:1 Set so that the maximum
rotation rotation speed is displayed.
speed
Ouput
Rotate spindle at the maximum waveform:
Ch2 SP126:2 SP128:100(100%/V)
rotation speed q axis current
command

Command M19 (orientation stop)

Motor rotation speed

NO (Orientation stop time) -
(deceleration time) < 0.4s 0
4.00s (deceleration time=3.70s) orientation time 0.30s < 0.4s OK
YES

0
In-position signal (SP126: 16492 SP128:100)
Increase SP016 by +5 Orientation time
adjustment completed

5 - 15
 5. Spindle Adjustment

(b) Orientation adjustment from stop mode

Adjust orientation time Output SP127:
waveform: Set so that the
Ch1 Motor SP125：1 maximum
rotation rotation speed is
speed displayed.
Set D/A output Output
as shown on the right waveform:
SP128:
Ch2 q axis SP126：2
100(100%/V)
current
command
Stop with 180° deviated Screen operation
(Refer to the right ) [1] Press the NC function key DIAGN .
[2] Press the NC menu key I/F diagn .
[3] Press the NC menu key 1-shot output .
[4] Input “R7009/4650” with the NC key.
[5] Command M19 (orientation stop).
<-Stop at the side opposite to the orientation stop
position (with 180° deviated).
[6] Press the NC menu key 1-shot output .
[7] Input “R7009/0”with the NC key.

Orientation position Orientation position

180° rotation
Spindle Spindle
end end

Command M19 (orientation stop)

Ch1: Motor
rotation speed
0
Ch2: q axis Current limit at acceleration
NO current command (SP153 or SP185)
Current edge <
Current control value? Current limit at regeneration
0 (SP152 or SP184)
YES
Output
Set D/A output waveform:
Increase SP016 by +5 Ch1 Motor SP125: 1
SP127:
as shown on the right 200(500r/min/V)
rotation
speed
Output
waveform: SP126:
Ch2 SP128:100
Emergency stop In-position 16492
signal

Stop with manually 180° deviated

Cancel emergency stop

Command M19 (orientation stop)

Ch1: Motor
rotation speed
NO 0
Orientation stop time < 0.4s Confirm that orientation
stop time is 0.4s or less
Ch2: In-position
signal
YES 0

Increase SP016 by +5 Orientation time

adjustment completed

5 - 16
 5. Spindle Adjustment

5-2-5 Synchronous tapping adjustment (For machining system)

(1) Gain setting and time constant determination
[1] For speed loop gain during synchronous tapping, speed loop gain set 2, which consists of
SP008 (speed loop gain 2), SP009 (speed loop lead compensation 2), and SP010 (speed loop
delay compensation 2), is used. Thus, SP035 has to be set as follows. For position loop gain,
set standard 33 to SP002 (position loop gain interpolation mode).

Parameter Setting value

SP002 33
SP008 Value in SP005 set at "5-3-2" (Initial setting value: 150)
SP009 1900
SP010 0
SP035 0200: Speed loop gain set 2 selection (Validate bit9)

[2] Create a NC program so that the synchronous tapping operation program has 3000r/min of
spindle speed, 1mm (equivalent of M6 screw) of screw pitch size, and depths at which the
following two different operation patterns are generated. (Note that the operation conditions,
such as spindle speed and screw pitch, may be specified by the machine manufacturer.)

Operation pattern 1
Spindle rotation speed (r/min)
Spindle rotation speed (r/min)

Constant speed area

Time (sec)
Adjust depth so that motor rotation speed waveform shapes trapezoids
Operation pattern 2
Spindle rotation speed (r/min)
Spindle rotation speed (r/min)

No constant speed area

Time (sec)
Adjust depth so that motor rotation speed waveform shapes mountain-valley

[3] Execute D/A output to Ch1 and Ch2, and perform synchronous tapping operations with the
operation pattern 2 above.

Ch1 Output waveform: Motor rotation speed SP125: 1 SP127: 50 (2000r/min/V)

Ch2 Output waveform: q axis current command SP126: 2 SP128: 100 (100%/V)

5 - 17
 5. Spindle Adjustment

[4] Check the waveform and adjust the synchronous tapping time constant so that the current is
50% or more.

Motor rotation speed

3000r/min
0

Margin for current limit at

q axis
acceleration/deceleration
has to be 50% or more. current
command

Current limit level Current limit level

Current limit at acceleration/deceleration

has to be 50% or more.

(2) Accuracy test using synchronous tapping accuracy test tool

[1] Perform synchronous tapping operations using the time constant determined in (1) above.
[2] Check the synchronous tapping accuracy (for both operation pattern 1 and 2) by using the
synchronous tapping accuracy check tool.
[3] If the number of error pulse is 100 (p-p) or less, satisfactory accuracy is secured, and the check
is completed.
[4] If the number of error pulse exceeds 100, increase SP008 (VGN2) by 10 increments, and adjust
so that the error pulse is 100 or less. Note that the maximum setting value is 150 x [inertia ratio].

5 - 18
 5. Spindle Adjustment

No. Abbr. Parameter name Details Setting range Standard

SP002 PGN Position loop gain Set the position loop gain. Set to "33" as a standard. 1 to 200 33
interpolation mode When the setting value is increased, the tracking in respect to (1/s)
the command will increase, and the settling time during
positioning can be reduced. However, the impact applied on
the machine during acceleration/deceleration will increase.
SP008 VGN2 Speed loop gain 2 Normally, SP005 (VGN1), SP006 (VIA1) and SP007 (VIL1) are 1 to 9999 150
SP009 VIA2 Speed loop lead used. 1 to 9999 1900
compensation 2 By setting SP035 (SFNC3)/bit1 (vgin), SP035 (SFNC3)/bit9
(vgn) or SP035 (SFNC4)/bit1 (vgs) to 1, gain 2 can be used
SP010 VIL2 Speed loop delay according to the application. 0 to 32767 0
compensation 2 Gain 2 can also be used by setting the speed gain set 2
changeover request (control input 5/bitC) to 1.
Refer to SP005 (VGN1), SP006 (VIA1) and SP007 (VIL1) for
the procedures.
SP035 SFNC3* Spindle function 3 Select the spindle functions.
F E D C B A 9 8 7 6 5 4 3 2 1 0
shgn pyn vgn nopc pyin vgin

bit Meaning when set to 0 Meaning when set to 1 Mode

0
Speed loop gain set 1 selection Speed loop gain set 2 selection after
1 vgin
imposition
Excitation rate 1 selection Excitation rate 2 selection after
2 pyin
imposition Non-
3 inter-
polation
4
5
6
7 nopc Phase alignment start Phase alignment stop
8
9 vgn Speed loop gain set 1 selection Speed loop gain set 2 selection
A pyn Excitation rate 1 selection Excitation rate 2 selection
B Inter-
C shgn SHG control stop SHG control start polation
D
E
F

(Note) Set to "0" for bits with no particular description.

5 - 19
 5. Spindle Adjustment

5-2-6 Spindle C axis adjustment (For lathe system)

(1) Setting the gain

For spindle C axis speed loop gain, SP008 (speed loop gain 2), speed loop gain set 2, which
consists of SP009 (speed loop lead compensation 2), and SP010 (speed loop delay compensation
2), is used. Thus, SP035 has to be set as follows. For position loop gain, set standard 33 to SP002
(position loop gain, interpolation mode).

Parameter Setting value

SP002 33
SP008 SP005 setting value set in "5-2-1" (Initial setting value: 150)
SP009 1900
SP010 0
SP035 0200: Speed loop gain set 2 selection (validate bit9)

(2) Gain adjustment and accuracy test during C axis operation

[1] Set the D/A output as follows during stopped in C axis mode (servo ON status) or when
executing cutting feed with G01 F20. Then check the droop fluctuation is within 10°/1000.

CH1 output Position droop: SP125＝60 SP127 = 10000（0.01°/V）

CH2 output Current command: SP126＝2 SP128 = 1000（10%/V）

* Waveform during stopped in C axis (Reference)

0 Ch1: Position droop

0.010° or less
0 Ch2: q axis current command

* Waveform when executing cutting feed with G01 F20 (Reference)

0 Ch1: Position droop

0.010° or less
0 Ch2: q axis current command

[2] When satisfactory accuracy is not secured, increase SP008 (VGN2) by 10 increments and adjust
so that the accuracy level meets the standard. Note that the maximum setting value is 150 x
[inertia ratio].

5 - 20
 5. Spindle Adjustment

(3) Setting the notch filter

During spindle C axis operation, there are times where motor is rotated while brake is applied,
resulting in resonance occurred. In this case, measure resonance frequency from q axis current
command waveform and set the value to SP038 (notch filter 1). Also, depending on the set
frequency, filter depth must be set to SP034. When notch filter is set, perform
acceleration/deceleration operation at the maximum speed and confirm that no abnormal
oscillation or noise is found.

Notch filter's set frequency and standard depth setting

SP034 bit3=0 bit2=0 bit1=0 bit3=0 bit2=1 bit1=0 bit3=1 bit2=0 bit1=0
Notch filter 1 Depth setting Setting value: XXX0 Setting value: XXX4 Setting value: XXX8
SP038
2000(Hz) to 400(Hz) 399(Hz) to 200(Hz) 190(Hz) or lower
Notch filter 1 Setting frequency

Setting example: When there are 16 wavelengths within 0.02 sec.

0 Ch1: Position droop

0 Ch2: q axis current command

16 wavelengths within 0.02sec = 800Hz

Set 800 to SP038 and XXX0 to SP034. Measure position droop and current command at this time,
and adjust notch filter's frequency and depth so that the position droop is within standard range.

No. Abbr. Parameter name Details Setting range Standard

SP008 VGN2 Speed loop gain 2 Normally, SP005 (VGN1), SP006 (VIA1) and SP007 (VIL1) are 1 to 9999 150
Speed loop lead used.
SP009 VIA2 By setting SP035 (SFNC3)/bit1 (vgin), SP035 (SFNC3)/bit9 1 to 9999 1900
compensation 2
(vgn) or SP035 (SFNC4)/bit1 (vgs) to 1, gain 2 can be used
according to the application.
Speed loop delay Gain 2 can also be used by setting the speed gain set 2
SP010 VIL2 changeover request (control input 5/bitC) to 1. 0 to 32767 0
compensation 2
Refer to SP005 (VGN1), SP006 (VIA1) and SP007 (VIL1) for
the procedures.

5 - 21
 5. Spindle Adjustment

No. Abbr. Parameter name Details Setting range Standard

SP034 SFNC2 Spindle function 2 Select the spindle functions.
F E D C B A 9 8 7 6 5 4 3 2 1 0
nfd5 nfd4 pwm nfd2 nfd3 nfd1 zck

bit Meaning when set to 0 Meaning when set to 1

0 zck Z phase check valid (ALM42) Z phase check invalid (ALM42)
1 Set the filter depth for Notch filter 1.
2 nfd1 Setting value Deep ← → Shallow
3 000 001 010 011 100 101 110 110
Depth (dB) -∞ -18 -12 -9 -6 -4 -3 -1
4 nfd3 Notch filter 3 stop Notch filter 3 start (1125Hz)
5 Set the filter depth for Notch filter 2.
6 nfd2 Setting value Deep ← → Shallow
7 000 001 010 011 100 101 110 110
Depth (dB) -∞ -18 -12 -9 -6 -4 -3 -1
8 pwm Standard current control High frequency current control
9 Set the filter depth for Notch filter 4
A nfd4 Setting value Deep ← → Shallow
B 000 001 010 011 100 101 110 110
Depth (dB) -∞ -18 -12 -9 -6 -4 -3 -1
C
D Set the filter depth for Notch filter 5.
E nfd5 Setting value Deep ← → Shallow
F 000 001 010 011 100 101 110 110
Depth (dB) -∞ -18 -12 -9 -6 -4 -3 -1

(Note) Set to "0" for bits with no particular description.

SP035 SFNC3* Spindle function 3 Select the spindle functions.
F E D C B A 9 8 7 6 5 4 3 2 1 0
shgn pyn vgn nopc pyin vgin

bit Meaning when set to 0 Meaning when set to 1 Mode

0
Speed loop gain set 1 selection Speed loop gain set 2 selection after
1 vgin
imposition
Excitation rate 1 selection Excitation rate 2 selection after
2 pyin
imposition Non-
3 inter-
polation
4
5
6
7 nopc Phase alignment start Phase alignment stop
8
9 vgn Speed loop gain set 1 selection Speed loop gain set 2 selection
A pyn Excitation rate 1 selection Excitation rate 2 selection
B Inter-
C shgn SHG control stop SHG control start polation
D
E
F

(Note) Set to "0" for bits with no particular description.

SP038 FHz1 Notch filter Set the vibration frequency to suppress if machine vibration 0 to 2250 0
frequency 1 occurs. (Hz)
(Valid at 50 or more) When not using, set to "0".

5 - 22
 5. Spindle Adjustment

5-2-7 Spindle synchronization adjustment (For lathe system)

(1) Setting the gain, changeover rotation speed and time constant
[1] For speed loop gain during spindle synchronization, SP005 (speed loop gain 1), SP006 (speed loop
progress compensation 1), and SP007 (speed loop delay compensation 2) are used. For position loop
gain, set standard 15 to SP003 (position loop gain spindle synchronization).

Parameter Setting value

SP003 15
SP036 0000

[2] Set rotation speed and time constant during acceleration/deceleration figured by theoretical
calculations.

[3] Set D/A output as follows and output motor rotation speed and q axis current command.

Output waveform:
Ch1 SP125: 1 SP127: Set so that the maximum motor speed is displayed
Motor rotation speed
Output waveform:
Ch2 SP126: 2 SP128: 100 (100%/V)
q axis current command

(2) Confirming the current margin

Perform acceleration/deceleration up to the maximum current speed in spindle synchronization
mode. At this time, confirm that the current value for both acceleration side and deceleration side
secure 30% or more of margin in respect to the current limit value. Also, confirm that no oscillation,
etc. are found in the current waveforms.
(Note) If a margin is 30% or less, extend the acceleration/deceleration time constant so that the
margin is adjusted to 30% or more.

Motor rotation speed

Current margin has Current limit at accelaration

to be 30% or more. SP153 or SP185

q axis current command

0

Current margin has to

be 30% or more. Current limit at regeneration
SP152 or SP186

5 - 23
 5. Spindle Adjustment

No. Abbr. Parameter name Details Setting range Standard

SP003 PGS Position loop gain Set the position loop gain. Set to "33" as a standard. 1 to 200 33
spindle When the setting value is increased, the tracking in respect to (1/s)
synchronization the command will increase, and the settling time during
positioning can be reduced. However, the impact applied on
the machine during acceleration/deceleration will increase.
SP035 SFNC3* Spindle function 3 Select the spindle functions.
F E D C B A 9 8 7 6 5 4 3 2 1 0
shgn pyn vgn nopc pyin vgin

bit Meaning when set to 0 Meaning when set to 1 Mode

0
Speed loop gain set 1 selection Speed loop gain set 2 selection after
1 vgin
imposition
Excitation rate 1 selection Excitation rate 2 selection after
2 pyin
imposition Non-
3 inter-
polation
4
5
6
7 nopc Phase alignment start Phase alignment stop
8
9 vgn Speed loop gain set 1 selection Speed loop gain set 2 selection
A pyn Excitation rate 1 selection Excitation rate 2 selection
B Inter-
C shgn SHG control stop SHG control start polation
D
E
F

(Note) Set to "0" for bits with no particular description.

5 - 24
 5. Spindle Adjustment

5-3 Spindle control signal

The sequence input/output signals exchanged between the NC and spindle drive unit are explained in
this section. The status of each signal is displayed on the NC SPINDLE MONITOR screen.

5-3-1 Spindle control input (NC to SP)

(1) Spindle control input 1
Name Details
Spindle control input 1
F E D C B A 9 8 7 6 5 4 3 2 1 0
TL3 TL2 TL1 ALMR SRV RDY

bit Details
0 RDY READY ON command
1 SRV Servo ON command
2 - (For maintenance)
3 - (For maintenance)
4 - (For maintenance)
5 - (For maintenance)
6 - (For maintenance)
7 ALMR Alarm reset command
8 TL1 Torque limit 1 selection command
9 TL2 Torque limit 2 selection command
A TL3 Torque limit 3 selection command
B - (For maintenance)
C - (For maintenance)
D - (For maintenance)
E - (For maintenance)
F - (For maintenance)

bit0. READY ON command (RDY)

Status turns to ready ON at RDY=1.

bit1. Servo ON command (SRV)

[1] Drive unit turns ON at SRV=1 (gate ON status), and rotation control starts.
Plus or minus of the rotation direction is determined depending on +/- of the NC command F∆T.
[2] Servo immediately turns OFF (SON=0) at SRV=0 during rotation control. Drive unit also turns
OFF (gate OFF status) at this time.
bit7. Alarm reset command (ALMR)
NR alarm is reset at ALMR=1.

bit8. Torque limit 1 selection command (TL1)

bit9. Torque limit 2 selection command (TL2)
bitA. Torque limit 3 selection command (TL3)
The following 4 types of torque limit are available depending on TL1, TL2 and TL3 bit
combinations.
TL3 TL2 TL1 Torque limit value
0 0 1 Torque limit value (%) set with parameter SP065
0 1 0 Torque limit value (%) set with parameter SP066
0 1 1 Torque limit value (%) set with parameter SP067
1 0 0 Torque limit value (%) set with parameter SP068
(Note) The ratio to motor short time rated torque (load meter 100%) is indicated in %.

(Note) The bits other than those above are used for maintenance. Do not use them.

5 - 25
 5. Spindle Adjustment

(2) Spindle control input 2

Name Details
Spindle control input 2
F E D C B A 9 8 7 6 5 4 3 2 1 0
SRVDC NCDC SSW

bit Details
0 - (For maintenance)
1 - (For maintenance)
2 - (For maintenance)
3 - (For maintenance)
4 - (For maintenance)
5 - (For maintenance)
6 - (For maintenance)
7 - (For maintenance)
8 - (For maintenance)
9 SSW Speed monitor command valid
A NCDC In door closed (controller)
B SRVDC In door closed (all drive units)
C - (For maintenance)
D - (For maintenance)
E - (For maintenance)
F - (For maintenance)

bit9. Speed monitor command valid (SSW)

When speed monitor command is valid, SSW=1 (valid) is set.

bitA. In door closed (controller) (NCDC)

When “In door closed” signal for controller is valid, NCDC =1 (valid) is set.

bitB. In door closed (all drive units) (SRVDC)

When the theoretical sum of “In door closed” signals for all drive units is valid, SRVDC =1 (valid) is
set.

(Note) The bits other than those above are used for maintenance. Do not use them.

(3) Spindle control input 3

This is used for maintenance. Do not use this.

5 - 26
 5. Spindle Adjustment

(4) Spindle control input 4

Name Details
Spindle control input 4
F E D C B A 9 8 7 6 5 4 3 2 1 0
MS LCS MCS GR2 GR1 SC3 SC2 SC1

bit Details
0 SC1 Spindle control mode selection command 1
1 SC2 Spindle control mode selection command 2
2 SC3 Spindle control mode selection command 3
3 - (For maintenance)
4 - (For maintenance)
5 GR1 Gear selection command 1
6 GR2 Gear selection command 2
7 - (For maintenance)
8 - (For maintenance)
9 - (For maintenance)
A - (For maintenance)
B - (For maintenance)
C MCS M coil selection command
D LCS L coil selection command
E MS Sub-motor selection command
F - (For maintenance)

bit0. Spindle control mode selection command 1 (SC1)

bit1. Spindle control mode selection command 2 (SC2)
bit2. Spindle control mode selection command 3 (SC3)
[1] Drive unit operation mode can be selected with the bit correspondences below.

[2] Mode changeover is valid during in-position (INP=1) or other than during droop cancel / phase
compensation (DCSL=PCMP=0).

Operation mode
SC3 SC2 SC1
Conventional method New method
0 0 0 Speed/orientation control Non interpolation control
0 0 1 Spindle synchronization Spindle synchronization
0 1 0 C-axis control
Interpolation control
1 0 0 Synchronous tapping control
(Note) When selecting bits other than above, control mode error (4E) occurs.

[3] Continuity cannot be guaranteed for the value of position FB in non-interpolation mode. (Position
may be skipped for multiple rotations due to droop cancel or phase compensation.)

bit5. Gear selection command 1 (GR1)

bit6. Gear selection command 2 (GR2)
[1] The following 4 types of gear ratio are available depending on GR1 and GR2 2-bit input
combinations.
[2] Gear specifications in semi-closed position control do not secure a position within one rotation of
the spindle end.

GR2 GR1 Parameters requiring gear ratio setting

0 0 SP057 (GRA1), SP061 (GRB1)
0 1 SP058 (GRA2), SP062 (GRB2)
1 0 SP059 (GRA3), SP063 (GRB3)
1 1 SP060 (GRA4), SP064 (GRB4)

5 - 27
 5. Spindle Adjustment

bitC. M coil selection command (MCS) (IPM spindle motor only)

[1] M coil is selected at MCS=1 when 3-step coil changeover is valid.
[2] Signal change is invalid during interpolation mode, but coil changeover is valid if control mode
changeover is applied together.

bitD. L coil selection command (LCS)

[1] L coil is selected at LCS=1 when coil changeover is valid.
[2] Signal change is invalid during interpolation mode, but coil changeover is valid if control mode
changeover is applied together.

bitE. Sub-motor selection command (MS)

When 1 drive unit 2 motor function is valid, a main motor is selected at MS=0 and a sub-motor is
selected at MS=1. An input cannot be changed during motor changeover.

(Note) The bits other than those above are used for maintenance. Do not use them.

5 - 28
 5. Spindle Adjustment

(5) Spindle control input 5

Name Details
Spindle control input 5
F E D C B A 9 8 7 6 5 4 3 2 1 0
TLUP

bit Details
0 - (For maintenance)
1 - (For maintenance)
2 - (For maintenance)
3 - (For maintenance)
4 - (For maintenance)
5 - (For maintenance)
6 - (For maintenance)
7 - (For maintenance)
8 - (For maintenance)
9 - (For maintenance)
A - (For maintenance)
B - (For maintenance)
C - (For maintenance)
D - (For maintenance)
E TLUP Spindle holding force up
F - (For maintenance)

bitE. Spindle holding force up (TLUP)

Spindle holding force up (disturbance observer) starts at TLUP=1 and that state is retained during
TLUP=1.

(Note) The bits other than those above are used for maintenance. Do not use them.

(6) Spindle control input 6

This is used for maintenance. Do not use this.

5 - 29
 5. Spindle Adjustment

5-3-2 Spindle control output (SP to NC)

(1) Spindle control output 1
Name Details
Spindle control output 1
F E D C B A 9 8 7 6 5 4 3 2 1 0
WRN LMT INP TL3 TL2 TL1 ALMR SRV RDY

bit Details
0 RDY In ready ON
1 SRV In servo ON
2 - (For maintenance)
3 - (For maintenance)
4 - (For maintenance)
5 - (For maintenance)
6 - (For maintenance)
7 ALMR In alarm
8 TL1 In torque limit 1 selection
9 TL2 In torque limit 2 selection
A TL3 In torque limit 3 selection
B - (For maintenance)
C INP In in-position
D LMT In torque limit
E - (For maintenance)
F WRN In warning

bit0. In ready ON (RDY)

It indicates that the status is in ready ON at RDY=1.

bit1. In servo ON (SRV)

[1] It indicates that the status is in servo ON at SRV=1.
[2] NC position command executes a followed up during SRV=0.

bit7. In alarm (ALMR)

It indicates that drive unit is in some alarm state at ALMR=1.

bit8. In torque limit 1 selection (TL1)

bit9. In torque limit 2 selection (TL2)
bitA. In torque limit 3 selection (TL3)
These are the answer outputs for torque limit 1, 2 and 3 (TL1, TL2 and TL3).

bitC. In in-position (INP)

The status changes to INP=1 when position droop exists within the in-position area set by
parameter SP024 (INP) regardless of serve ON or OFF.

bitD. In torque limit (LMT)

It indicates that current command value is limited with motor maximum output current value or
torque limit 1, 2 or 3 at LMT=1.

bitF. In warning (WRN)

It indicates that drive unit is in some warning state at WRN=1.

(Note) The bits other than those above are used for maintenance. Do not use them.

5 - 30
 5. Spindle Adjustment

(2) Spindle control output 2

Name Details
Spindle control output 2
F E D C B A 9 8 7 6 5 4 3 2 1 0
SRVDC NCDC SSW EXEMG ZS ZCN

bit Details
0 ZCN Z phase passed
1 - (For maintenance)
2 - (For maintenance)
3 ZS In zero speed
4 - (For maintenance)
5 - (For maintenance)
6 - (For maintenance)
7 EXEMG In external emergency stop
8 - (For maintenance)
9 SSW In speed monitor
A NCDC In door closed (controller)
B SRVDC In door closed (self drive unit)
C - (For maintenance)
D - (For maintenance)
E - (For maintenance)
F - (For maintenance)

bit0. Z phase passed (ZCN)

[1] When Z phase is passed, ZCN=0 is turned to ZCN=1.
[2] Grid amount (within one rotation) is transmitted when ZCN =0 is changed to ZCN =1.

bit3. In zero speed (ZS)

[1] Approximately 200ms after the motor speed reaches parameter SP027 (ZSP) + 15r/min, ZS=0
is set.
[2] When the motor speed becomes slower than the speed set by parameter SP027 (ZSP), ZS=1
is set. ZS signal is detected by the motor speed absolute value regardless of the rotation
direction.

＋15r/min
Motor speed

Motor zero speed: SP027(Standard 50r/min Sub-standard 25r/min)

Output signal Zero speed detection OFF Zero speed detection ON

200ms

bit7. In external emergency stop

It indicates that an external stop input to the power supply is being input.

5 - 31
 5. Spindle Adjustment

bit9. In speed monitor

It indicates that a signal in speed monitor command is being received.

bitA. In door closed (controller)

It indicates that “In door closed” signal for controller is being received.

bitB. In door closed (self drive unit)

It indicates the status of “In door closed” signal for self drive unit.

(Note) The bits other than those above are used for maintenance. Do not use them.

(3) Spindle control output 3

This is used for maintenance. Do not use this.

5 - 32
 5. Spindle Adjustment

(4) Spindle control output 4

Name Details
Spindle control output 4
F E D C B A 9 8 7 6 5 4 3 2 1 0
MS LCS MCS GR2 GR1 SC3 SC2 SC1

bit Details
0 SC1 In spindle control mode selection 1
1 SC2 In spindle control mode selection 2
2 SC3 In spindle control mode selection 3
3 - (For maintenance)
4 - (For maintenance)
5 GR1 In gear selection 1
6 GR2 In gear selection 2
7 - (For maintenance)
8 - (For maintenance)
9 - (For maintenance)
A - (For maintenance)
B - (For maintenance)
C MCS In M coil selection
D LCS In L coil selection
E MS In sub-motor selection
F - (For maintenance)

bit0. In spindle control mode selection 1 (SC1)

bit1. In spindle control mode selection 2 (SC2)
bit2. In spindle control mode selection 3 (SC3)
These are the answer outputs for control mode selection command 1, 2, 3 (SC1, SC2, SC3).

bit5. In gear selection 1 (GR1)

bit6. In gear selection 2 (GR2)
These are the answer outputs for gear selection command 1 and 2 (GR1 and GR2).

bitC. In M coil selection (MCS) (IPM spindle motor only)

It indicates that M coil is being selected at MCSA=1.

bitD. In L coil selection (LCS)

It indicates that L coil is being selected at LCSA=1.

bitE. In sub-motor selection (MS)

It indicates that sub-motor is being selected at MSA=1.

(Note) The bits other than those above are used for maintenance. Do not use them.

5 - 33
 5. Spindle Adjustment

(5) Spindle control output 5

Name Details
Spindle control output 5
F E D C B A 9 8 7 6 5 4 3 2 1 0
INP2 TLUP SD2 MTC MKC MD CD

bit Details
0 CD Current detection
1 MD Speed detection
2 - (For maintenance)
3 - (For maintenance)
4 - (For maintenance)
5 - (For maintenance)
6 MKC In coil changeover
7 - (For maintenance)
8 MTC In 1 drive unit 2 motor changeover
9 SD2 2nd speed detection
A - (For maintenance)
B - (For maintenance)
C - (For maintenance)
D - (For maintenance)
E TLUP In spindle holding force up
F INP2 In 2nd in-position

bit0. Current detection (CD)

It indicates that current command value is over 110% of the motor short time rating at CD=1.

bit1. Speed detection (MD)

[1] When motor speed exceeds the speed set by parameter SP028 (SDTS) + SP029 (SDTR),
SD=0 is set.
[2] When motor speed becomes slower than the speed set by parameter SP028 (SDTS), SD=1 is
set. SD signal is detected by the motor speed absolute value regardless of rotation direction.

Speed detection reset width

: SP029

Speed detection set

Motor speed value: SP028

Speed Speed
SD signal detection detection
OFF ON

bit6. In coil changeover (MKC)

MKC=1 is set for the amount of time set by parameter SP114 (MKT) during coil changeover
operation.

bit8. In 1 drive unit 2 motor changeover (MTC)

It indicates that motor is in changeover at MTC=1 with 2 motors per one drive unit function.

bit9. 2nd speed detection (SD2) (IPM spindle motor)

[1] The status changes to SD2=0 when motor speed exceeds the speed set by parameter SP030
(SDT2) + SP029 (SDTR).
[2] The status changes to SD2=1 when motor speed becomes slower than the speed set by
parameter SP030 (SDT2).
[3] It is used as M coil changeover speed. (IPM spindle motor only)

5 - 34
 5. Spindle Adjustment

bitE. In spindle holding force up (TLUP)

It indicates that spindle holding force up (disturbance observer) is in running at TLUA=1.

bitF. In 2nd in-position (INP2)

The status changes to INP2=1 when position droop exists within the in-position area set by
parameter SP025 (INP2) regardless of serve ON or OFF.

(Note) The bits other than those above are used for maintenance. Do not use them.

(6) Spindle control output 6

This is used for maintenance. Do not use this.

5 - 35
6. Troubleshooting

6-1 Points of caution and confirmation ................................................................................................... 6-2

6-1-1 LED display when alarm or warning occurs .............................................................................. 6-3
6-2 Protective functions list of units ........................................................................................................ 6-4
6-2-1 List of alarms.............................................................................................................................. 6-4
6-2-2 List of warnings .......................................................................................................................... 6-8
6-3 Troubleshooting .............................................................................................................................. 6-11
6-3-1 Troubleshooting at power ON .................................................................................................. 6-11
6-3-2 Troubleshooting for each alarm No. ........................................................................................ 6-12
6-3-3 Troubleshooting for each warning No...................................................................................... 6-35
6-3-4 Parameter numbers during initial parameter error................................................................... 6-37
6-3-5 Troubleshooting the spindle system when there is no alarm or warning................................. 6-38
 6. Troubleshooting

6-1 Points of caution and confirmation

If an error occurs in the servo drive unit or spindle drive unit, the warning or alarm will occur. When a
warning or alarm occurs, check the state while observing the following points, and inspect or remedy
the unit according to the details given in this section.

<Points of confirmation>
[1] What is the alarm code display?
[2] Can the error or trouble be repeated? (Check alarm history)
[3] Is the motor and servo drive unit temperature and ambient temperature normal?
[4] Are the servo drive unit, control unit and motor grounded?
[5] Was the unit accelerating, decelerating or running at a set speed? What was the speed?
[6] Is there any difference during forward and backward run?
[7] Was there a momentary power failure?
[8] Did the trouble occur during a specific operation or command?
[9] At what frequency does the trouble occur?
[10] Is a load applied or removed?
[11] Has the drive unit been replaced, parts replaced or emergency measures taken?
[12] How many years has the unit been operating?
[13] Is the power supply voltage normal? Does the state change greatly according to the time band?

1. This power supply unit uses a large capacity electrolytic capacitor. When the
CHARGE lamp on the front of the power supply unit is lit, voltage is still
present at the PN terminal (TE2). Do not touch the terminal block in this
state.
2. Before replacing the unit, etc., always confirm that there is no voltage at the
CAUTION PN terminal (TE2) with a tester or wait at least 15 minutes after turning the
main power OFF.
3. The conductivity in the unit cannot be checked.
4. Never carry out a megger test on the drive unit or power supply unit as the
unit could be damaged.

6-2
 6. Troubleshooting

6-1-1 LED display when alarm or warning occurs

(1) Servo and spindle drive unit
The axis No. and alarm/warning No. alternate on the display. The display flickers when an alarm
occurs.

F1 (flicker) 25 (flicker) F2 (flicker) 37 (flicker) Not lit

F+axis No. Alarm No. F+axis No. Alarm No.

LED display during servo alarm or spindle alarm

F1 E7 F2 9F Not lit
F+axis No. Warning No. F+axis No. Warning No.

LED display during servo warning or spindle warning

Numbers displayed on LED

No. 0 1 2 3 4 5 6 7 8 9 A B C D E F
LED
display

(2) Power supply unit

The alarm/warning No. is converted into a symbol and displayed. Refer to section "6-2-1 List of
alarms” and "6-2-2 List of warnings" for details. The display flickers when an alarm occurs.

Alarm 71 (flicker) Warning E9

LED display LED display

during power supply alarm during power supply warning

6-3
 6. Troubleshooting

6-2 Protective functions list of units

6-2-1 List of alarms
When an alarm occurs, the servo drive unit will make the motor stop by the deceleration control or
dynamic brake. The spindle drive unit will coast to a stop or will decelerate to a stop. At the same time,
the alarm No. will appear on the NC monitor screen and with the LEDs on the front of the drive unit.
Check the alarm No., and remove the cause of the alarm by following this list.

Drive unit alarm

No. Alarm name SV SP Alarm details Reset
11 Axis selection error „ „ Setting of the axis No. selection switch is incorrect. AR
12 Memory error 1 A CPU error or an internal memory error was detected during the power AR
„ „
ON self-check.
13 Software processing error 1 § § Software processing has not finished within the specified time. PR
16 Magnetic pole position detection An error was detected in the magnetic pole detection for controlling the PR
§ §
error motor.
17 A/D converter error § § An error was detected in the A/D converter for detecting current FB. PR
18 Motor side detector: Initial Initial communication with the motor end detector failed. PR
„ „
communication error
1A Machine side detector: Initial Initial communication with the linear scale or the ball screw end detector PR
„
communication error failed.
1B Machine side detector: Error 1 § The machine side detector detected an error. As details defer from PR
1C Machine side detector: Error 2 § detector to detector, refer to the separate table (1). PR
1D Machine side detector: Error 3 § PR
1E Machine side detector: Error 4 § PR
1F Machine side detector: An error was detected in communication data with the linear scale or PR
§
Communication error the ball screw end detector. Or the communication was interrupted.

(Note 1) Motor stopping method applied when self-axis drive unit alarm occurs is indicated in SV for servo and in SP for spindle.
(Note 2) Servo (SV) alarm stopping method …{: Deceleration control (when SV048, SV055 or SV056 is set), §: Dynamic brake
stop, „: Initial error (while motor is stopped)
(Note 3) Spindle (SP) alarm stopping method…{: Deceleration control (when SP038/bit0=1 is set), §: Coast to a stop, „: Initial
error (while motor is stopped)

Resetting methods
NR : Reset with the NC RESET button. This alarm can also be reset with the PR and AR resetting conditions.
PR : Reset by turning the NC power ON again. This alarm can also be reset with the AR resetting conditions.
When the control axis is removed, this alarm can be reset with the NC RESET button. (Excluding alarms 32 and 37.)
AR : Reset by turning the servo drive unit power ON again.

6-4
 6. Troubleshooting

Drive unit alarm

No. Alarm name SV SP Alarm details Reset
21 Machine side detector: No signal When an excessive error alarm occurred, no signal from the machine PR
§
side detector was detected.
23 Excessive speed error A difference between the speed command and speed feedback was NR
§
continuously exceeding 50 r/min for longer than the setting time.
24 Grounding „ „ The motor power cable is in contact with FG (Frame Ground). PR
25 Absolute position data lost The absolute position was lost, as the backup battery voltage dropped AR
„
in the absolute position detector.
26 Unused axis error A power module error occurred in the axis whose axis No. selection PR
§ §
switch was set to "F"(free axis).
27 Machine side detector: Error 5 § The machine side detector detected an error. As details defer from PR
28 Machine side detector: Error 6 § detector to detector, refer to the separate table (1). PR
29 Machine side detector: Error 7 § PR
2A Machine side detector: Error 8 § PR
2B Motor side detector: Error 1 § § The motor side detector (linear scale in the case of linear motor) PR
2C Motor side detector: Error 2 § § detected an error. PR
2D Motor side detector: Error 3 § § As details defer from detector to detector, refer to the separate table (1). PR
2E Motor side detector: Error 4 § § PR
2F Motor side detector: An error was detected in communication data with the motor end PR
Communication error § § detector or with the linear scale of a linear servo system. Or the
communication was interrupted.
31 Overspeed The motor was detected to rotate at a speed exceeding the allowable PR
{ { speed. (In the case of linear motor, it was detected to move at a speed
exceeding the allowable speed.)
32 Power module overcurrent Overcurrent protection function in the power module has started its PR
§ §
operation.
34 NC-DRV communication: CRC error { { An error was detected in the data received from the CNC. PR
35 NC command error The travel command data that was received from the CNC was PR
{ {
excessive.
36 NC-DRV communication: The communication with the CNC was interrupted. PR
{ {
Communication error
37 Initial parameter error An incorrect parameter was detected among the parameters received PR
„ „
from the CNC at the power ON.
38 NC-DRV communication: Protocol An error was detected in the communication frames received from the PR
{ {
error 1 CNC.
39 NC-DRV communication: Protocol An error was detected in the axis information data received from the PR
{ {
error 2 CNC.
3A Overcurrent § § Excessive current was detected in the motor drive current. PR
3B Power module overheat Thermal protection function in the power module has started its PR
§ §
operation.

(Note 1) Motor stopping method applied when self-axis drive unit alarm occurs is indicated in SV for servo and in SP for spindle.
(Note 2) Servo (SV) alarm stopping method
{: Deceleration control (when SV048, SV055 or SV056 is set)
§: Dynamic brake stop
„: Initial error (while motor is stopped)
(Note 3) Spindle (SP) alarm stopping method
{: Deceleration control (when SP055 or SP056 is set)
§: Coast to a stop
„: Initial error (while motor is stopped)

6-5
 6. Troubleshooting

Drive unit alarm

No. Alarm name SV SP Alarm details Reset
42 Feedback error 1 An error was detected in the feedback signals of the position detector in PR
§ §
a servo system, or in PLG's feedback signals in a spindle system.
43 Feedback error 2 Excessive difference was detected in position data between the motor PR
§ end detector and the machine end detector in a servo system. In a
spindle system, an error was detected in the encoder feedback signals.
45 Fan stop A cooling fan built in the drive unit stopped, and the loads on the unit PR
{ {
exceeded the specified value.
46 Motor overheat Thermal protection function of the motor or in the detector, has started NR
{ {
its operation.
48 Motor side detector: Error 5 § § The motor side detector (linear scale in the case of linear motor) PR
49 Motor side detector: Error 6 § § detected an error. PR
4A Motor side detector: Error 7 § § As details defer from detector to detector, refer to the separate table (1). PR
4B Motor side detector: Error 8 § § PR
4E NC command mode error The mode outside the specification was input in spindle control mode NR
{
selection.
50 Overload 1 Overload detection level became over 100%. The motor or the drive NR
{ {
unit is overloaded.
51 Overload 2 Current command of more than 95% of the unit's max. current was NR
being continuously given for longer than 1 second in a servo system.
{ {
In a spindle system, current command of more than 95% of the motor's
max. current was being continuously given for longer than 1 second.
52 Excessive error 1 A difference between the actual and theoretical motor positions during NR
{ {
servo ON exceeded the setting value.
53 Excessive error 2 A difference between the actual and theoretical motor positions during NR
§
servo OFF exceeded the setting value.
54 Excessive error 3 When an excessive error 1 occurred, detection of the motor current NR
§ §
failed.
58 Collision detection 1: G0 When collision detection function was valid, the disturbance torque in NR
{
rapid traverse (G0) exceeded the collision detection level.
59 Collision detection 1: G1 When collision detection function was valid, the disturbance torque in NR
{
cutting feed (G1) exceeded the collision detection level.
5A Collision detection 2 When collision detection function was valid, the command torque NR
{
reached the max. motor torque.
5B Safety observation: Commanded In safety monitoring mode, the commanded speed was detected to PR
{ {
speed error exceed the safe speed.
5D Safety observation: Door state error In safety monitoring mode, the door state signal from the NC and the PR
{ { same signal from the drive unit don't match. Otherwise, door open
state was detected in normal mode.
5E Safety observation: Feedback In safety monitoring mode, the motor speed was detected to exceed the PR
{ {
speed error safe speed.

(Note 1) Motor stopping method applied when self-axis drive unit alarm occurs is indicated in SV for servo and in SP for spindle.
(Note 2) Servo (SV) alarm stopping method
{: Deceleration control (when SV048, SV055 or SV056 is set)
§: Dynamic brake stop
„: Initial error (while motor is stopped)
(Note 3) Spindle (SP) alarm stopping method
{: Deceleration control (when SP055 or SP056 is set)
§: Coast to a stop
„: Initial error (while motor is stopped)

6-6
 6. Troubleshooting

Power supply alarm

LED
No. display Alarm name CV CR Alarm details Reset
61 Power supply: Power Overcurrent protection function in the power module has started its PR
§ §
module overcurrent operation.
62 Power supply: Frequency The input power supply frequency increased above the specification PR
§ §
error range.
67 Power supply: Phase An open-phase condition was detected in input power supply circuit. PR
§ §
interruption
68 Power supply: Watchdog The system does not operate correctly. AR
§ §

69 Power supply: Grounding The motor power cable is in contact with FG (Frame Ground). PR
§ §

6A Power supply: External A contact of the external contactor is welding. PR

§ §
contactor welding
6B Power supply: Rush relay A resistor relay for rush short circuit fails to be OFF. PR
§ §
welding
6C Power supply: Main circuit An error was detected in charging operation of the main circuit PR
§ §
error capacitor.
6E Power supply: Memory An error was detected in the internal memory or A/D converter. AR
§ §
error/AD error
6F Power supply error No power supply is connected to the drive unit, or a communication AR
§ §
error was detected.
70 Power supply: External A mismatch of the external emergency stop input and CNC emergency PR
§ §
emergency stop error stop input continued for 30 seconds.
71 Power supply: The power was momentarily interrupted. NR
Instantaneous power § §
interruption
72 Power supply: Fan stop A cooling fan built in the power supply unit stopped, and overheat PR
§ §
occurred in the power module.
73 Power supply: Over Over-regeneration detection level became over 100%. The NR
regeneration regenerative resistor is overloaded. This alarm cannot be reset for 15
§ §
min from the occurrence. Leave the drive system energized for more
than 15 min, then turn the power ON to reset the alarm.
75 Power supply: Overvoltage L+ and L- bus voltage in main circuit exceeded the allowable value. As NR
the voltage between L+ and L- is high immediately after this alarm,
§ §
another alarm may occur if this alarm is reset in a short time. Wait
more than 5 min before resetting so that the voltage drops.
76 Power supply: External The rotary switch setting of external emergency stop is not correct, or a AR
emergency stop setting § § wrong external emergency stop signal is input.
error
77 Power supply: Power Thermal protection function in the power module has started its PR
§ §
module overheat operation.

(Note 1) If a power supply alarm (60 to 77) occurs, all servos will stop with the dynamic brakes, and all spindles will coast to a stop.
(Note 2) "b", "C" and "d" displayed on the power supply unit's LED as a solid light (not flickering) do not indicate an alarm.

Drive unit alarm

No. Alarm name SV SP Alarm details Reset
88 Watchdog § § The system does not operate correctly. AR

(Note 1) Motor stopping method applied when self-axis drive unit alarm occurs is indicated in SV for servo and in SP for spindle.
(Note 2) Servo (SV) alarm stopping method
{: Deceleration control (when SV048, SV055 or SV056 is set)
§: Dynamic brake stop
„: Initial error (while motor is stopped)
(Note 3) Spindle (SP) alarm stopping method
{: Deceleration control (when SP055 or SP056 is set)
§: Coast to a stop
„: Initial error (while motor is stopped)

6-7
 6. Troubleshooting

6-2-2 List of warnings

When a warning occurs, a warning No. will appear on the NC monitor screen and with the LEDs on the
front of the drive unit. Check the warning No., and remove the cause of the warning by following this
list.

Drive unit warnings

No. Alarm name Warning details Reset
9E Absolute position detector: An error was detected in the revolution counter of the absolute position detector. *
Revolution counter error The absolute position data cannot be compensated.
9F Battery voltage drop The battery voltage that is supplied to the absolute position detector dropped. *
The absolute position data is retained.
A6 Fan stop warning A cooling fan built in the drive unit stopped. *
E1 Overload warning Overload detection level exceeded 80%. *
E4 Set parameter warning An incorrect parameter was detected among the parameters received from the *
CNC.
E6 Control axis detachment warning Control axis detachment was commanded. *
E7 In NC emergency stop state Emergency stop was input from the CNC. *

(Note 1) Servo and spindle motor do not stop when the warning occurs.
(Note 2) When an emergency stop is input, servo and spindle motor decelerate to a stop.
(When SV048, SV055 or SV056 is set for servo and when SP055 or SP056 is set for spindle.)

Power supply warnings

LED
No. display Alarm name Warning details Reset

E9 Instantaneous power The power was momentarily interrupted. NR

interruption warning
EA In external emergency stop External emergency stop signal was input. *
state
EB Power supply: Over Over-regeneration detection level exceeded 80%. *
regeneration warning
EE Power supply: Fan stop A cooling fan built in the power supply unit stopped. *
warning

(Note) Servo and spindle motor do not stop when the warning occurs.

Resetting methods
* : Automatically reset once the cause of the warning is removed.
NR : Reset with the NC RESET button. This warning can also be reset with the PR and AR resetting conditions.
PR : Reset by turning the NC power ON again. This warning can also be reset with the AR resetting conditions.
When the control axis is removed, this warning can be reset with the NC RESET button. (Excluding warning 93.)

6-8
 6. Troubleshooting

Separate table (1)

Alarm number when motor
2B 2C 2D 2E 48 49 4A 4B
end is connected
Alarm number when
1B 1C 1D 1E 27 28 29 2A
machine end is connected
OSA105 CPU error LED error Data error － － － － －
Detector
OSA166 CPU error LED error Data error － － － － －
type
Connection － － Magnetic
MDS-B-HR CPU error － Data error －
error error
A CPU initial Deterioration An error was An error was An error was
error was of the LED detected in detected in detected in
detected. was the data. the the magnetic
Meaning of data detected. connection data for the
with the linear servo
analog output system.
linear scale.

Alarm number when motor

2B 2C 2D 2E 48 49 4A 4B
end is connected
Alarm number when
1B 1C 1D 1E 27 28 29 2A
machine end is connected
Relative
Initialization Waveform
TS5690 － － － Overspeed － position
error error
Detector data error
type Relative
Initialization Waveform
TS5691 － － － Overspeed － position
error error
data error
An An error was The tolerable An error was
initialization detected in rotation detected in
error was the A, B, Z speed was the relative
Meaning of data detected analog signal exceeded. position data.
when the waveform.
power was
turned ON.

6-9
 6. Troubleshooting

Alarm number when motor

2B 2C 2D 2E 48 49 4A 4B
end is connected
Alarm number when
1B 1C 1D 1E 27 28 29 2A
machine end is connected
Detector Manufacturer
type name
Photo-
electric
Photo- Static Photo-
Initialization EEPROM type, static ROM/RAM
AT342 Mitsutoyo CPU error electric type capacity electric type
error error capacity error
overspeed type error error
data
mismatch
Photo-
electric
Photo- Static Photo-
Initialization EEPROM type, static ROM/RAM
AT343 Mitsutoyo CPU error electric type capacity electric type
error error capacity error
overspeed type error error
data
mismatch
Photo-
electric
Photo- Static Photo-
Initialization EEPROM type, static ROM/RAM
AT543 Mitsutoyo CPU error electric type capacity electric type
error error capacity error
overspeed type error error
data
mismatch
Relative/
absolute Absolute Relative
Initialization EEPROM ROM/RAM
LC191M Heidenhain position CPU error Overspeed position position
error error error
data data error data error
mismatch
Relative/
absolute Absolute Relative
Initialization EEPROM ROM/RAM
LC491M Heidenhain position CPU error Overspeed position position
error error error
data data error data error
mismatch
Relative/
absolute Absolute Relative
Initialization EEPROM ROM/RAM
RCN723 Heidenhain position CPU error Overspeed position position
error error error
data data error data error
mismatch
Relative/
absolute Absolute Relative
Initialization EEPROM ROM/RAM
RCN223 Heidenhain position CPU error Overspeed position position
error error error
data data error data error
mismatch
Encoder
MJ831 Sony － － － － － － －
error
Mitsubishi Installation Detection
Scale
ADB-20J60 Heavy accuracy － position － － Gain fault Phase fault
breaking
Industries fault deviance
Overspeed
or phase
Futaba Denshi Waveform division
FMD － － － － － －
Kogyo error signal
decision
error
Relative
Initialization EEPROM
ERM280 Heidenhain － － CPU error Overspeed － position
error error
data error

6 - 10
 6. Troubleshooting

6-3 Troubleshooting
Follow this section to troubleshoot the alarms that occur during start up or while the machine is
operating. If the state is not improved with the following investigations, the drive unit may be faulty.
Exchange the unit with another unit of the same capacity, and check whether the state is improved.

6-3-1 Troubleshooting at power ON

If the NC system does not start up correctly and a system error occurs when the NC power is turned
ON, the drive unit may not have been started up properly. Check the LED display on the drive unit, and
take measures according to this section.

LED
Symptom Cause of occurrence Investigation method Remedy
display
AA Initial communication with The drive unit axis No. Is there any other drive unit that has the Set correctly.
the CNC was not setting is incorrect. same axis No. set?
completed correctly. The CNC setting is incorrect. Is the No. of CNC controlled axes Set correctly.
correct?
Communication with CNC is Is the connector (CN1A, CN1B) Connect correctly.
incorrect. connected?
Is the cable broken? Replace the cable.
Ab Initial communication with The axis is not used, the Is the DIP switch set correctly? Set correctly.
the CNC was not carried setting is for use inhibiting.
out. Communication with CNC is Is the connector (CN1A, CN1B) Connect correctly.
incorrect. connected?
Is the cable broken? Replace the cable.
12 An error was detected in The CPU peripheral circuit is Check the repeatability. Replace the unit.
the unit's memory and IC abnormal. Check whether there is any abnormality Improve the
during the self-diagnosis with the unit's surrounding environment, surrounding
at power ON. etc. environment.

The drive unit has started up normally if the following type of emergency stop (E7) is displayed on the
display unit's LED display.

F1 E7 F2 E7 Not lit
F+axis No. Emergency stop F+axis No. Emergency stop

Normal drive unit LED display at NC power ON (for 1st axis)

6 - 11
 6. Troubleshooting

6-3-2 Troubleshooting for each alarm No.

Alarm No. Axis selection error

Setting of the axis No. selection switch is incorrect.
11
Investigation details Investigation results Remedies SV SP
1 Check the setting of the axis The same axis No. is set for the L and Correctly set the axis No.
selection switch (rotary switch) on the M axes. 0 = No. 1 axis, 1 = No. 2 axis, ...
top of the unit. The value is duplicated with other Correctly set the axis No. { {
axis. 0 = No. 1 axis, 1 = No. 2 axis, ...
No abnormality is found in particular. Replace the drive unit.

Alarm No. Memory error 1

A CPU error or an internal memory error was detected during the power ON self-check.
12
Investigation details Investigation results Remedies SV SP
1 Check whether the servo or spindle The version was changed. There is a possibility that the spindle
software version was changed software was downloaded into servo,
recently. or the servo software was
{ {
downloaded into spindle. Download
servo/spindle software again.
The version was not changed. Check the investigation item No. 2.
2 Check the repeatability. The error is always repeated. Replace the drive unit.
The state returns to normal once, but Check the investigation item No. 3. { {
occurs sometimes thereafter.
3 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the unit's ambient environment. environment.
{ {
(Ex. Ambient temperature, noise,
grounding)

Alarm No. Software processing error 1

Software processing has not finished within the specified time.
13
Investigation details Investigation results Remedies SV SP
1 Check whether the servo or spindle The version was changed. Change software version back to the
software version was changed original. { {
recently. The version was not changed. Check the investigation item No. 2.
2 Check the repeatability. The error is always repeated. Replace the drive unit.
The state returns to normal once, but Check the investigation item No. 3. { {
occurs sometimes thereafter.
3 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the unit's ambient environment. environment.
{ {
(Ex. Ambient temperature, noise,
grounding)

6 - 12
 6. Troubleshooting

Alarm No. Magnetic pole position detection error

An error was detected in the magnetic pole detection for controlling the motor.
16
Investigation details Investigation results Remedies SV SP
1 Check the parameters. The parameters specified with the Replace the drive unit.
adjustment are not set. {
Correct parameters are set. Check the investigation item No. 2.
2 Check the repeatability. The error is always repeated. Replace the drive unit.
The state returns to normal once, but Check the investigation item No. 3. {
occurs sometimes thereafter.
3 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the unit's ambient environment. environment.
{
(Ex. Ambient temperature, noise,
grounding)

Alarm No. A/D converter error

An error was detected in the A/D converter for detecting current FB.
17
Investigation details Investigation results Remedies SV SP
1 Check the repeatability. The error is always repeated. Replace the drive unit.
The state returns to normal once, but Check the investigation item No. 2. { {
occurs sometimes thereafter.
2 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the unit's ambient environment. environment.
{ {
(Ex. Ambient temperature, noise,
grounding)

Alarm No. Motor side detector: Initial communication error

Initial communication with the motor end detector failed.
18
Investigation details Investigation results Remedies SV SP
1 Check the servo parameter The value is not set correctly. Correctly set SV025.
(SV025.ent) setting value. The value is set correctly. Check the investigation item No. 2.
OSE104: 0, OSA104: 1 {
Are all others set to 2?
(Excluding slave axis for
synchronous control)
2 Jiggle the detector connectors (drive The connector is disconnected (or Correctly install.
unit side and detector side) and loose). { {
check if they are disconnected. The connector is not disconnected. Check the investigation item No. 3.
3 Turn the power OFF, and check the The connection is faulty. Replace the detector cable.
detector cable connection with a The connection is normal. Check the investigation item No. 4. { {
tester.
4 Replace with another unit, and check The alarm is on the drive unit side. Replace the drive unit.
whether the fault is on the unit side or The alarm is on the detector side. Check the investigation item No. 5. { {
detector side.
5 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the detector's ambient environment. environment.
{ {
(Ex. Ambient temperature, noise,
grounding)

6 - 13
 6. Troubleshooting

Alarm No. Machine side detector: Initial communication error

Initial communication with the linear scale or the ball screw end detector failed.
1A
Investigation details Investigation results Remedies SV SP
1 Check the servo parameter The value is not set correctly. Correctly set SV025.
(SV025.pen) setting value. The value is set correctly. Check the investigation item No. 2.
Are the serial communication type {
detector parameters set for the pulse
type detector?
2 Jiggle the detector connectors (drive The connector is disconnected (or Correctly install.
unit side and detector side) and loose). {
check if they are disconnected. The connector is not disconnected. Check the investigation item No. 3.
3 Turn the power OFF, and check the The connection is faulty. Replace the detector cable.
detector cable connection with a The connection is normal. Check the investigation item No. 4. {
tester.
4 Replace with another unit, and check The alarm is on the drive unit side. Replace the drive unit.
whether the fault is on the unit side or The alarm is on the detector side. Check the investigation item No. 5. {
detector side.
5 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the detector's ambient environment. environment.
{
(Ex. Ambient temperature, noise,
grounding)

Machine side detector: Error 1

Alarm No.
The machine side detector detected an error. As details defer from detector to detector, refer to the
1B separate table (1).
Investigation details Investigation results Remedies SV SP
1 Check whether the servo axis has The axis has operated. Check the investigation item No. 3.
moved and the spindle has rotated The axis has not operated. Check the investigation item No. 2. { {
when an alarm occurred.
2 Check whether the operation at low The operation is normal. Check the investigation item No. 3.
speed is normal. The operation is not normal. Check the cautions at power ON. { {
• Wiring check
• Parameter check
3 Jiggle the detector connectors (drive The connector is disconnected (or Correctly install.
unit side and detector side) and loose). { {
check if they are disconnected. The connector is not disconnected. Check the investigation item No. 4.
4 Turn the power OFF, and check the The connection is faulty. Replace the detector cable.
detector cable connection with a The connection is normal. Check the investigation item No. 5. { {
tester.
5 Replace with another unit, and check The alarm is on the drive unit side. Replace the drive unit.
whether the fault is on the unit side or The alarm is on the detector side. Check the investigation item No. 6. { {
detector side.
6 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the detector's ambient environment. environment.
{ {
(Ex. Ambient temperature, noise,
grounding)

Machine side detector: Error 2

Alarm No.
The machine side detector detected an error. As details defer from detector to detector, refer to the
1C separate table (1).
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "1B" items. {

Machine side detector: Error 3

Alarm No.
The machine side detector detected an error. As details defer from detector to detector, refer to the
1D separate table (1).
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "1B" items. {

Machine side detector: Error 4

Alarm No.
The machine side detector detected an error. As details defer from detector to detector, refer to the
1E separate table (1).
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "1B" items. {

6 - 14
 6. Troubleshooting

Machine side detector: Communication error

Alarm No.
An error was detected in communication data with the linear scale or the ball screw end detector. Or
1F the communication was interrupted.
Investigation details Investigation results Remedies SV SP
1 Jiggle the detector connectors (drive The connector is disconnected (or Correctly install.
unit side and detector side) and loose). {
check if they are disconnected. The connector is not disconnected. Check the investigation item No. 2.
2 Is the detector cable wired in the The cables are wired near each Improve the cable wiring.
same conduit as the motor's power other. (Noise is entering from the
{
cable, or are the two cables laid in power cable.)
parallel near each other? The wires are sufficiently separated. Check the investigation item No. 3.
3 Is the motor FG wire connected only The motor FG wire is grounded on Ground the motor to one point,
to the drive unit which drives it? the motor side. connecting the wires together on the
{
(Is the motor grounded to one point?) drive unit side.
The motor is grounded to one point. Check the investigation item No. 4.
4 Turn the power OFF, and check the The connection is faulty. Replace the detector cable.
detector cable connection with a The connection is normal. Check the investigation item No. 5. {
tester. (Is the cable shielded?)
5 Replace with another unit, and check The alarm is on the drive unit side. Replace the drive unit.
whether the fault is on the unit side or The alarm is on the detector side. Check the investigation item No. 6. {
detector side.
6 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the detector's ambient environment. environment.
{
(Ex. Ambient temperature, noise,
grounding)

Alarm No. Machine side detector: No signal

When an excessive error alarm occurred, no signal from the machine side detector was detected.
21
Investigation details Investigation results Remedies SV SP
1 Check the servo parameter (SV025. The value is not set correctly. Correctly set SV025.
pen) setting value. The value is set correctly. Check the investigation item No. 3.
Are the pulse type detector {
parameters set for a serial
communication type detector?
2 Jiggle the detector connectors (drive The connector is disconnected (or Correctly install.
unit side and detector side) and loose). {
check if they are disconnected. The connector is not disconnected. Check the investigation item No. 4.
3 Turn the power OFF, and check the The connection is faulty. Replace the detector cable.
detector cable connection with a The connection is normal. Check the investigation item No. 5. {
tester.
4 Replace with another unit, and check The alarm is on the drive unit side. Replace the drive unit.
whether the fault is on the unit side or The alarm is on the detector side. Check the investigation item No. 6. {
detector side.
5 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the detector's ambient environment. environment.
{
(Ex. Ambient temperature, noise,
grounding)

6 - 15
 6. Troubleshooting

Excessive speed error

Alarm No.
A difference between the speed command and speed feedback was continuously exceeding 50 r/min
23 for longer than the setting time.
Investigation details Investigation results Remedies SV SP
1 Check the U, V and W wiring The wires are not correctly Correctly connect.
between the spindle drive unit and connected. {
spindle motor. The wires are correctly connected. Check the investigation item No. 2.
2 Check the spindle parameter (SP017, The correct values are not set. Correctly set.
SP018, SP019, SP020, SP117 and The correct values are set. Check the investigation item No. 3. {
SP129 or later) setting value.
3 Measure the acceleration/ 12sec or more. Increase the spindle
deceleration time up to the point acceleration/deceleration time
where the spindle speed reaches its constant setting value.
maximum. Less than 12sec. Check the investigation item No. 4.
If the alarm occurs when forward run {
is changed to reverse run, measure
the acceleration/ deceleration time
from the forward run's maximum
speed to reverse run's maximum
speed.
4 Check the load amount when the Load amount is 120% or more. Reduce the load.
{
alarm occurred during cutting. Load amount is less than 120%. Check the investigation item No. 5.
5 Check the fluctuation of the input Voltage drop during acceleration Review the power supply capacity.
voltage into the power supply unit. does not satisfy the motor voltage.
{
Voltage drop during acceleration Check the investigation item No.6.
satisfies the motor voltage.
6 Check the capacity of the drive unit. The capacity does not satisfy the Increase the capacity.
motor output.
{
The capacity satisfies the motor Replace the unit.
output.

Alarm No. Grounding

The motor power cable is in contact with FG (Frame Ground).
24
Investigation details Investigation results Remedies SV SP
1 Measure the insulation across the Less than 100kΩ. The motor or power cable may be
power cables (U,V,W) for connected ground faulted. { {
motors and the ground. (Carry out a 100kΩ or more. Check the investigation item No. 2.
megger test.)
2 Has oil come in contact with the Oil has come in contact. Take measures so that oil does not
motor or power cable? come in contact. Check the motor's
cannon connector and the inside of
{ {
the terminal box, and clean as
necessary.
Oil has not come in contact. Check the investigation item No. 3.
3 Measure the insulation again. Less than 1MΩ. Replace the motor or cable.
{ {
1MΩ or more. Check the investigation item No. 2.
4 Measure the resistance across the U, Less than 100kΩ. Replace the drive unit.
V, W phase terminals of the 100kΩ or more. Replace the power supply unit.
servo/spindle drive unit and the { {
ground.
(Do not measure the insulation as the
unit could be damaged.)

6 - 16
 6. Troubleshooting

Alarm No. Absolute position data lost

The absolute position was lost, as the backup battery voltage dropped in the absolute position detector.
25
Investigation details Investigation results Remedies SV SP
1 Is warning 9F occurring at the same The warning is occurring. Check the investigation item No. 2.
{
time? The warning is not occurring. Check the investigation item No. 3.
2 Measure the battery voltage with a Less than 3V. Replace the battery, and establish the
tester. zero point. {
3V or more. Check the NC bus cable connection.
3 Did alarm No.18 occur when the Alarm No.18 occurred. Turn the drive unit control power ON
power was turned ON the last time? again, and establish the zero point. {
Alarm No.18 did not occur. Check the investigation item No. 4.
4 Was the detector cable or battery The unit was left disconnected for a Turn the drive unit control power ON
cable left disconnected from the unit long time. again, and establish the zero point.
for a long time? Guide at delivery : 20 hours or more
{
After 5 years : 10 hours or more
The cables were not left Check the investigation item No. 5.
disconnected.
5 Check the detector cable or battery The connection is faulty. Replace the cable.
{
cable connection with a tester. The connection is normal. Replace the drive unit.

Alarm No. Unused axis error

A power module error occurred in the axis whose axis No. selection switch was set to "F"(free axis).
26
Investigation details Investigation results Remedies SV SP
1 Check the repeatability. The error is always repeated. Replace the drive unit.
The state returns to normal once, but Check the investigation item No. 2. { {
occurs sometimes thereafter.
2 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the unit's ambient environment. environment.
{ {
(Ex. Ambient temperature, noise,
grounding)

Machine side detector: Error 5

Alarm No.
The machine side detector detected an error. As details defer from detector to detector, refer to the
27 separate table (1).
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "1B" items. {

Machine side detector: Error 6

Alarm No.
The machine side detector detected an error. As details defer from detector to detector, refer to the
28 separate table (1).
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "1B" items. {

Machine side detector: Error 7

Alarm No.
The machine side detector detected an error. As details defer from detector to detector, refer to the
29 separate table (1).
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "1B" items. {

Machine side detector: Error 8

Alarm No.
The machine side detector detected an error. As details defer from detector to detector, refer to the
2A separate table (1).
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "1B" items. {

6 - 17
 6. Troubleshooting

Motor side detector: Error 1

Alarm No.
The motor side detector (linear scale in the case of linear motor) detected an error.
2B As details defer from detector to detector, refer to the separate table (1).
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "1B" items. { {

Motor side detector: Error 2

Alarm No.
The motor side detector (linear scale in the case of linear motor) detected an error.
2C As details defer from detector to detector, refer to the separate table (1).
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "1B" items. { {

Motor side detector: Error 3

Alarm No.
The motor side detector (linear scale in the case of linear motor) detected an error.
2D As details defer from detector to detector, refer to the separate table (1).
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "1B" items. { {

Motor side detector: Error 4

Alarm No.
The motor side detector (linear scale in the case of linear motor) detected an error.
2E As details defer from detector to detector, refer to the separate table (1).
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "1B" items. { {

Motor side detector: Communication error

Alarm No.
An error was detected in communication data with the motor end detector or with the linear scale of a
2F linear servo system. Or the communication was interrupted.
Investigation details Investigation results Remedies SV SP
1 Jiggle the detector connectors (drive The connector is disconnected (or Correctly install.
unit side and detector side) and loose). { {
check if they are disconnected. The connector is not disconnected. Check the investigation item No. 2.
2 Is the detector cable wired in the The cables are wired near each Improve the cable wiring.
same conduit as the motor's power other. (Noise is entering from the
{ {
cable, or are the two cables laid in power cable.)
parallel near each other? The wires are sufficiently separated. Check the investigation item No. 3.
3 Is the motor FG wire connected only The motor FG wire is grounded on Ground the motor to one point,
to the drive unit which drives it? the motor side. connecting the wires together on the
{ {
(Is the motor grounded to one point?) drive unit side.
The motor is grounded to one point. Check the investigation item No. 4.
4 Turn the power OFF, and check the The connection is faulty. Replace the detector cable.
detector cable connection with a The connection is normal. Check the investigation item No. 5. { {
tester. (Is the cable shielded?)
5 Replace with another unit, and check The alarm is on the drive unit side. Replace the drive unit.
whether the fault is on the unit side or The alarm is on the detector side. Check the investigation item No. 6. { {
detector side.
6 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the detector's ambient environment. environment.
{ {
(Ex. Ambient temperature, noise,
grounding)

6 - 18
 6. Troubleshooting

Overspeed
Alarm No.
The motor was detected to rotate at a speed exceeding the allowable speed. (In the case of linear
31 motor, it was detected to move at a speed exceeding the allowable speed.)
Investigation details Investigation results Remedies SV SP
1 Check if the unit in which the alarm The alarm was detected in servo. Check the investigation item No. 2.
{ {
was detected is servo or spindle. The alarm was detected in spindle. Check the investigation item No. 3.
2 Check the servo parameters SV001 The settings are incorrect. Correctly set.
(PC1), SV002 (PC2), SV018 (PIT) Correctly set. Check the investigation item No. 5. {
and SV025 (MTYP) settings.
3 Check the spindle parameter SP017 The setting is incorrect. Correctly set.
(TSP) setting. The alarm is detected at 115% of
{
SP017.
Correctly set. Check the investigation item No. 4.
4 Check the PLG output waveform. There is a problem. Adjust the PLG output waveform.
{ {
Normal. Check the investigation item No. 5.
5 Check whether the speed waveform The waveform is overshooting. Increase the acceleration/
is overshooting. deceleration time constant.
The waveform is not overshooting. Check if there is any abnormality in
the unit's ambient environment. { {
(Ex.: Ambient temperature, noise,
grounding)
Check the investigation item No. 6.
6 Check the repeatability. The alarm occurs when the motor is Replace the detector or detector
stopped. cable. { {
The alarm occurs at all time. Check the investigation item No. 7.

Alarm No. Power module overcurrent

Overcurrent protection function in the power module has started its operation.
32
Investigation details Investigation results Remedies SV SP
1 Disconnect the power cable (U, V, W) Short-circuited or not conducted. Replace the power cables (U, V, W).
from the unit’s terminal block and There is no problem. Check the investigation item No. 2.
motor, and check whether a { {
short-circuit between the power cable
or whether conduction at both end of
wiring occurs with a tester.
2 Check the motor insulation with a Less than 1MΩ. (Grounding) Replace the motor.
(megger) tester under the condition 1MΩ or more. (Normal) Check the investigation item No. 3.
of the investigation item No. 1. { {
(between motor power and ground
earth)
3 Check the parameter setting values. The value is not set correctly. Correctly set.
• Refer to the adjustment The value is set correctly. Check the investigation item No. 4. { {
procedure.
4 Jiggle the detector connectors (drive The connector is disconnected (or Correctly install.
unit side and detector side) and loose). { {
check if they are disconnected. The connector is not disconnected. Check the investigation item No. 5.
5 Turn the power OFF, and check the Connection is faulty. Replace the detector cable.
detector cable connection with a Connection is normal. Check the investigation item No. 6. { {
tester.
6 Check the repeatability. The state returns to normal once, but Check the investigation item No. 8.
occurs sometimes thereafter. { {
The error is always repeated. Check the investigation item No. 7.
7 Replace with another unit, and check The alarm is on the drive unit side. Replace the drive unit.
whether the fault is on the drive unit The alarm is on the detector side. Replace the detector. { {
side or detector side.
8 Check for any abnormalities in the Take remedies according to the causes of the abnormality in the ambient
unit's ambient environment. environment.
{ {
(Ex.: Ambient temperature, noise,
grounding)

6 - 19
 6. Troubleshooting

Alarm No. NC-DRV communication: CRC error

An error was detected in the data received from the CNC.
34
Investigation details Investigation results Remedies SV SP
1 Manually shake the connection The connector is disconnected (or Correctly install.
connectors between NC and drive loose).
unit, battery unit and drive unit, or The connector is not disconnected. Check the investigation item No. 2.
among multiple drive units to check if { {
they are disconnected.
Also, check if an excessive force is
not applied on them.
2 Turn the power OFF, and check the The connection is faulty. Replace the communication cable.
connection of the communication The connection is normal. Check the investigation item No. 3.
cables indicated in item 1 with a { {
tester. Or, replace with a correct
cable.
3 Check whether the NC or drive unit The version was changed. Change software version back to the
software version was changed original. { {
recently. The version was not changed. Check the investigation item No. 4.
4 Replace with another drive unit, and The alarm is on the drive unit side. Replace the drive unit.
check whether the fault is on the NC The alarm is on the unit connections. Check the investigation item No. 5. { {
side or drive unit side.
5 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the unit's ambient environment. environment.
{ {
(Ex. Ambient temperature, noise,
grounding)

Alarm No. NC command error

The travel command data that was received from the CNC was excessive.
35
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "34" items. { {

Alarm No. NC-DRV communication: Communication error

The communication with the CNC was interrupted.
36
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "34" items. { {

Alarm No. Initial parameter error

An incorrect parameter was detected among the parameters received from the CNC at the power ON.
37
Investigation details Investigation results Remedies SV SP
1 Check if the unit in which the alarm The alarm was detected in servo. Check the investigation item No. 2.
{ {
was detected is servo or spindle. The alarm was detected in spindle. Check the investigation item No. 3.
2 An error parameter No. is displayed Wrong parameters were set. Correct the parameter.
on the NC diagnosis screen. Check SV001 to SV005 Set the value within the designated
the servo parameter with the setting range.
parameter adjustment procedure. -1 Check SV001, SV002 and SV018.
The electronic gears are overflowing.
-2 In order to use the absolute position {
The absolute position detection control function, an absolute position
parameter is valid when OSE104 and option is required.
OSE105 are connected. (Absolute
position control cannot be used.)
Correct parameters were set. Check the investigation item No. 4.
3 An error parameter No. is displayed SP001 to SP384 Set the value within the designated
on the NC diagnosis screen. Check setting range.
{
the servo parameter with the
parameter adjustment procedure.
4 Check the alarm No. "34" items. { {

6 - 20
 6. Troubleshooting

Alarm No. NC-DRV communication: Protocol error 1

An error was detected in the communication frames received from the CNC.
38
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "34" items. { {

Alarm No. NC-DRV communication: Protocol error 2

An error was detected in the axis information data received from the CNC.
39
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "34" items. { {

Alarm No. Overcurrent

Excessive current was detected in the motor drive current.
3A
Investigation details Investigation results Remedies SV SP
1 Check whether vibration is occurring. Vibration is occurring. • Set a filter.
• Lower the speed loop gain
{ {
(SV005/SP005).
There is no vibration. Check the investigation item No. 2.
2 The speed loop gain setting is larger The setting is too large. Set an appropriate value.
than the standard value. The setting is approximately the Check the investigation item No. 3. { {
Servo: SV005 / Spindle: SP005 same as the standard value.
3 Check the current loop gain. The setting is incorrect. Set the standard value.
Servo: SV009,SV010,SV011,SV012 The standard value is set. Check the investigation item No. 4. { {
Spindle: SP081,SP082,SP083,SP084
4 Disconnect the power cable (U,V,W) The power cable is short-circuited. Replace the motor power cable.
from the terminal block and the There is no problem. Check the investigation item No. 5. { {
cannon plug from the motor. Check
the insulation with a tester.
5 Check the insulation between the There is a ground fault at the power Replace the motor power cable.
motor power cable and FG. cable. { {
There is no problem. Check the investigation item No. 6.
6 Connect the cannon plug, and check There is a ground fault in the motor.Replace the motor.
the insulation between the power (With the absolute position system,
{ {
cable and FG. the zero point must be established.)
There is no problem. Check the investigation item No. 7.
7 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the motor's ambient environment. environment.
{ {
(Ex. Ambient temperature, cutting
water)

Alarm No. Power module overheat

Thermal protection function in the power module has started its operation.
3B
Investigation details Investigation results Remedies SV SP
1 Check that the fan is rotating Large amounts of cutting oil or cutting Clean or replace the fan.
correctly. chips, etc., are adhered, or the
{ {
rotation is slow.
The fan is rotating properly. Check the investigation item No. 2.
2 Check whether the heat dissipating Cutting oil or cutting chips, etc., are Clean the fins.
fins are dirty. adhered, and the fins are clogged. { {
The fins are normal. Check the investigation item No. 3.
3 Measure the drive unit's ambient 55°C or more. Improve the ventilation and cooling
temperature. for the power distribution panel. { {
Less than 55°C. Check the investigation item No. 4.
4 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the unit's ambient environment. environment.
{ {
(Ex. Ambient temperature, noise,
grounding)

6 - 21
 6. Troubleshooting

Feedback error 1
Alarm No.
An error was detected in the feedback signals of the position detector in a servo system, or in PLG's
42 feedback signals in a spindle system.
Investigation details Investigation results Remedies SV SP
1 Check SP019 and SP020. Parameter is set incorrectly. Correctly set.
{
Parameter is set correctly. Check the investigation item No. 2.
2 Check the alarm No. "2C" items. {

Feedback error 2
Alarm No. Excessive difference was detected in position data between the motor end detector and the machine
43 end detector in a servo system. In a spindle system, an error was detected in the encoder feedback
signals.
Investigation details Investigation results Remedies SV SP
1 Jiggle the detector connectors (drive The connector is disconnected (or Correctly install.
unit side and detector side) and loose). {
check if they are disconnected. The connector is not disconnected. Check the investigation item No. 2.
2 Is the detector cable wired in the The cables are wired near each Improve the cable wiring.
same conduit as the motor's power other. (Noise is entering from the
{
cable, or are the two cables laid in power cable.)
parallel near each other? The wires are sufficiently separated. Check the investigation item No. 3.
3 Is the motor FG wire connected only The motor FG wire is grounded on Ground the motor to one point,
to the drive unit which drives it? the motor side. connecting the wires together on the
{
(Is the motor grounded to one point?) drive unit side.
The motor is grounded to one point. Check the investigation item No. 4.
4 Turn the power OFF, and check the The connection is faulty. Replace the detector cable.
detector cable connection with a The connection is normal. Check the investigation item No. 5. {
tester. (Is the cable shielded?)
5 Replace with another unit, and check The alarm is on the drive unit side. Replace the drive unit.
whether the fault is on the unit side or The alarm is on the detector side. Check the investigation item No. 6. {
detector side.
6 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the detector's ambient environment. environment.
{
(Ex. Ambient temperature, noise,
grounding)
7 Check SP019 and SP020. Parameter is set incorrectly. Correctly set.
{
Parameter is set correctly. Check the investigation item No. 8.
8 Check the alarm No. "1B" items. {

Alarm No. Fan stop

A cooling fan built in the drive unit stopped, and the loads on the unit exceeded the specified value.
45
Investigation details Investigation results Remedies SV SP
1 Check if the connector connected to The connector is disconnected. Correctly connect the connector.
a fan is disconnected. The connector is not disconnected. Check the investigation item No. 2. { {

2 Check if oil or cutting chips are Oil or cutting chips are adhered. Improve the use environment and
adhered to the fan. replace the drive unit.
{ {
Oil or cutting chips are not adhered. Replace the drive unit.
The cable may be broken.

6 - 22
 6. Troubleshooting

Alarm No. Motor overheat

Thermal protection function of the motor or in the detector, has started its operation.
46
Investigation details Investigation results Remedies SV SP
1 Check the repeatability. The alarm occurs before operation. Check the investigation item No. 2.
The alarm occurs occasionally after Check the investigation item No. 5. { {
operation is started.
2 Jiggle the detector connectors (drive The connector is disconnected (or Correctly install.
unit side and detector side) and loose). { {
check if they are disconnected. The connector is not disconnected. Check the investigation item No. 3.
3 Turn the power OFF, and check the The connection is faulty. Replace the cable.
detector cable connection with a The connection is normal. Check the investigation item No. 4. { {
tester. (Is the cable shielded?)
4 When using MDS-B-HR, check if the SV034/bit2 = 0 Set SP034/bit2 to 1.
motor is validated even if a motor SV034/bit2 = 1 Check the investigation item No. 5. {
thermal is not provided?
5 Check the overload % (servo) or load The load is large. Servo : Check the investigation
meter (spindle). item No. 6.
Spindle : Check the investigation { {
item No. 8.
The load is not large. Check the investigation item No. 9.
6 Is the unbalance torque high? The constant load torque (friction + Select the motor so that the constant
unbalance) is 60% or more. load torque is 60% or less.
{
The constant load torque is less than Check the investigation item No. 7.
60%.
7 Was the overload alarm (50) forcibly The alarm was forcibly reset. Do not turn the drive unit's power
reset by turning the drive unit power OFF when an overload alarm occurs.
{ {
OFF? (The NC power can be turned OFF.)
The alarm was not forcibly reset. Check the investigation item No. 9.
8 Check the parameter settings. The parameter is not set correctly. Correctly set.
{
The parameter is set correctly. Check the investigation item No. 9.
9 Measure the motor temperature The motor is hot. Check the investigation item No. 10.
{ {
when the alarm occurs. The motor is not hot. Check the investigation item No. 12.
10 When using a motor with fan, check The motor fan was stopped. Check the investigation item No. 11.
whether the fan is stopped, or it is The motor fan wind flow is poor. Clean the fan. { {
clogged with dust, etc.
11 Check the fan wiring. There is no problem. Check the investigation item No. 12.
The cable is broken. Replace the cable. { {
The cable is not broken. Replace the fan.
12 Replace the drive unit or motor with The alarm is on the drive unit side. Replace the drive unit.
another drive unit or motor, and The alarm is on the motor side. Replace the motor. { {
check whether the fault is on the
drive unit side or motor side
13 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the unit's ambient environment. environment.
{ {
(Ex. Ambient temperature, noise,
grounding)

Motor side detector: Error 5

Alarm No.
The motor side detector (linear scale in the case of linear motor) detected an error.
48 As details defer from detector to detector, refer to the separate table (1).
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "1B" items. { {

Motor side detector: Error 6

Alarm No.
The motor side detector (linear scale in the case of linear motor) detected an error.
49 As details defer from detector to detector, refer to the separate table (1).
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "1B" items. {

6 - 23
 6. Troubleshooting

Motor side detector: Error 7

Alarm No.
The motor side detector (linear scale in the case of linear motor) detected an error.
4A As details defer from detector to detector, refer to the separate table (1).
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "1B" items. { {

Motor side detector: Error 8

Alarm No.
The motor side detector (linear scale in the case of linear motor) detected an error.
4B As details defer from detector to detector, refer to the separate table (1).
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "1B" items. { {

Alarm No. NC command mode error

The mode outside the specification was input in spindle control mode selection.
4E
Investigation details Investigation results Remedies SV SP
1 Check the wiring and setting 1) The grounding is incomplete. Correctly ground.
environment. 2) The alarm occurs easily when a Use noise measures on the device
1) Correctly grounded? specific device operates. described on the left.
2) Any noise generating devices {
3) The cable is not correctly shielded. Correctly shield the cable.
around the unit?
3) Are the speed/position detector No abnormality is found in particular. Replace the drive unit.
cables correctly shielded?

Alarm No. Overload 1

Overload detection level became over 100%. The motor or the drive unit is overloaded.
50
Investigation details Investigation results Remedies SV SP
1 Check the overload parameters. The standard values (below) are not Set the standard values.
Servo : SV021, SV022 set.
Spindle : SP063, SP064 Servo : SV021 = 60, SV022 = 150 { {
Spindle : SV063 = 60, SP064 = 110
The standard values are set. Investigate item 2.
2 Check the overload % (servo) or load The load is large. Servo : Investigate item 3.
meter (spindle). Spindle : Investigate item 7. { {
The load is not large. Investigate item 9.
3 Check whether machine resonance is Resonance is occurring. Adjust the parameters.
occurring. • Set the notch filter.
{
• Lower VGN1 (SV005).
Resonance is not occurring. Investigate item 4.
4 Check whether the shaft sways when The motor is hunting. Adjust the parameters.
the motor is stopped. (Hunting) • Increase VGN1 (SV005).
{
• Lower VIA (SV008).
The motor is not hunting. Investigate item 5.
5 Check the brake operation. The motor brakes are not released. Correct the faulty section.
• Check the brake relay. The motor brake operation is normal. Investigate item 6. {
• Check the connector (CN20)
connection.
6 Check the load current with the NC The cutting load is large. Lower the cutting load.
Servo Monitor, and investigate the There is interference with the When using the positioning pin, turn
machine load. positioning pin. the servo OFF when stopped.
An excessive force is applied from Check whether the ball screw is bent, {
the machine. or whether there is a fault in the
guide.
The machine load is not large. Investigate item 8.
7 Check the PLG output waveform. There is a problem. Adjust the PLG output waveform.
{
Normal Investigate item 8.
8 Confirm the motor capacity selection The motor performance is Lower the acceleration/deceleration
again. insufficient. rate or cutting load. { {
The motor performance is sufficient. Investigate item 9.
9 Try replacing the drive unit. Improved. Replace the drive unit.
{ {
Not improved. Replace the motor.
(Note) NR and PR resetting are not possible when the overload level is 50% or more. Do not forcibly reset (AR) by turning the unit
power OFF. If AR resetting is used at 50% or higher, the level is set to 80% when the power is turned ON next. (Servo)

6 - 24
 6. Troubleshooting

Overload 2
Alarm No. Current command of more than 95% of the unit's max. current was being continuously given for longer
51 than 1 second in a servo system. In a spindle system, current command of more than 95% of the
motor's max. current was being continuously given for longer than 1 second.
Investigation details Investigation results Remedies SV SP
1 Did the alarm occur immediately after The alarm occurred after ready ON Investigate item 2.
READY ON? before operation starts.
{
The alarm occurred after normal Investigate item 5.
operation.
2 Check that the PN voltage is supplied The voltage is not supplied. Correctly supply the PN voltage.
to the drive unit. Approx. 300V is correctly supplied. Investigate item 3. {
• Is the CHARGE lamp ON?
3 Check the motor power cable (U, V, The connections are incorrect. Connect correctly.
W phases).
• The power cable is not connected. {
The connections are correct. Investigate item 4.
• Is the cable connected to the motor
for another axis?
4 Check the detector cable connection. The connections are incorrect. Connect correctly.
• Is the cable connected to the motor The connections are correct. Investigate item 5. {
for another axis?
5 Check whether the machine has The machine has collided. Check the machining program and
collided. soft limit settings. {
The machine has not collided. Investigate item 6.
6 Check whether the current value on The current is saturated during Increase the acceleration/
the NC Servo Monitor screen is acceleration/deceleration. deceleration time constant.
saturated during The current value during Investigate item 7. {
acceleration/deceleration. acceleration/deceleration is
appropriate.
7 Check the detector FB. The FB signal is abnormal. Replace the detector.
(With the absolute position system,
{
the zero point must be established.)
The FB signal is normal. Replace the drive unit.
8 Check the load meter value. The load is large. Lower the load.
{
The load is not large. Investigate item 9.
9 Check the PLG output waveform. There is a problem. Adjust the PLG output waveform.
{
Normal Replace the drive unit.

Excessive error 1
Alarm No.
A difference between the actual and theoretical motor positions during servo ON exceeded the setting
52 value.
Investigation details Investigation results Remedies SV SP
1 Check the excessive error detection The excessive error detection width is Set appropriate values.
width. too small.
SV023 (Servo) Servo standard value:
SP102 (Orientation control) RAPID
SV023 = 60 × PGN1 ÷ 2
SP154, SP155 (C-axis control)
SP177/bitD, SP186 For the spindle, a value larger than { {
(Spindle synchronous control) the droop amount:
SP193/bitD, SP218 Droop amount =
(Synchronous tap) Spindle rotation speed × No. of pulses
60 × position loop gain
Appropriate values are set. Investigate item 2.
2 Check the position detector polarity. The polarity is reversed. Correctly set the parameters.
SV017/bit4 (Servo) Normal. Investigate item 3.
SP097/bit5 (Orientation control)
SP129/bit5 (C-axis control) { {
SP177/bit5
(Spindle synchronous control)
SP193/bit5
(Synchronous tap control)
3 Check the alarm No. "51" items. { {

6 - 25
 6. Troubleshooting

Excessive error 2
Alarm No.
A difference between the actual and theoretical motor positions during servo OFF exceeded the setting
53 value.
Investigation details Investigation results Remedies SV SP
1 Check the follow-up function while The axis detachment function (NC Check the investigation item No. 2.
the NC is in the servo OFF state. parameter) is invalid.
(Note) For the axis detachment
function, refer to the NC
manual.
{
The axis detachment function (NC Check the investigation item No. 3.
parameter) is valid.
(Note) For the axis detachment
function, refer to the NC
manual.
2 Check whether the axis has moved The axis has moved. Adjust the brakes, etc. so that the
during servo OFF, and check the axis does not move. {
motor brake operation. The axis has not moved. Check the investigation item No. 3.
3 Check the excessive error detection The excessive error detection width is Set an appropriate value.
width. too small.
SV026 (Servo) RAPID
SV026 = 60 × PGN1 ÷ 2
{
An appropriate value is set. Check for problems on the NC side,
such as the position FB follow-up
control.

Alarm No. Excessive error 3

When an excessive error 1 occurred, detection of the motor current failed.
54
Investigation details Investigation results Remedies SV SP
1 Check that the PN voltage is supplied The voltage is not supplied. Correctly supply the PN voltage.
to the drive unit. Approx. 300V is correctly supplied. Investigate item 2. {
• Is the CHARGE lamp ON?
2 Check the motor power cable (U, V, The connections are incorrect. Connect correctly.
W phases).
The connections are correct. Replace the drive unit. {
• The power cable is not connected.
• Is the cable connected to the motor
for another axis?

Supplement (servo)
Depending on the ideal machine position in respect to the command position, the actual machine
position could enter the actual shaded section shown below, which is separated more than the
distance set in OD1.

Position
Command position

OD1
Ideal machine position

OD2

OD2

OD1

Time
Servo OFF Servo ON

6 - 26
 6. Troubleshooting

Collision detection 1: G0
Alarm No.
When collision detection function was valid, the disturbance torque in rapid traverse (G0) exceeded the
58 collision detection level.
Investigation details Investigation results Remedies SV SP
1 Check whether the machine has The machine has collided. Check the machining program and
collided. soft limit settings.
The machine has not collided. Increase the detection level (SV060). {
(The detection level should be set as
1.5-times the maximum torque or
more.)

Collision detection 1: G1
Alarm No.
When collision detection function was valid, the disturbance torque in cutting feed (G1) exceeded the
59 collision detection level.
Investigation details Investigation results Remedies SV SP
1 Check whether the machine has The machine has collided. Check the machining program and
collided. soft limit settings.
The machine has not collided. Increase the detection level (SV035. {
clG1).
(Set the detection level larger than
the maximum cutting load.)

Alarm No. Collision detection 2

When collision detection function was valid, the command torque reached the max. motor torque.
5A
Investigation details Investigation results Remedies SV SP
1 Check whether the machine has The machine has collided. Check the machining program and
collided. soft limit settings. {
The machine has not collided. Check the investigation item No. 2.
2 Check whether the current value on The current is saturated during Check the investigation item No. 3.
the NC Servo Monitor screen is acceleration/deceleration.
saturated during The current value during Investigate the cause of the load {
acceleration/deceleration. acceleration/deceleration is fluctuation.
appropriate.
3 Can the acceleration/deceleration The constant can be changed. Increase the acceleration/
time constant be changed? deceleration time constant.
{
The constant cannot be changed. Set to ignore collision detection
method 2.

Alarm No. Safety observation: Commanded speed error

In safety monitoring mode, the commanded speed was detected to exceed the safe speed.
5B
Investigation details Investigation results Remedies SV SP
1 Check the commanded speed on the The commanded speed and safe Reduce the commanded speed on
NC side. speed limit value are the same. the NC side or increase the safe
speed limit value. { {
The commanded speed is slower Replace the drive unit.
than the safe speed.

Safety observation: Door state error

Alarm No.
In safety monitoring mode, the door state signal from the NC and the same signal from the drive unit
5D don't match. Otherwise, door open state was detected in normal mode.
Investigation details Investigation results Remedies SV SP
1 Check the DI input timing. Both NC side and drive unit side input Review the DI input sequence.
timings match one another within Check if the cable for the DI input
500ms. signal is broken. { {
NC side and drive unit side inputs do Investigate the wiring and connection
not match one another within 500ms. environment.

6 - 27
 6. Troubleshooting

Alarm No. Safety observation: Feedback speed error

In safety monitoring mode, the motor speed was detected to exceed the safe speed.
5E
Investigation details Investigation results Remedies SV SP
1 Check the DI input timing. The feedback speed and safe speed Reduce the commanded speed on
limit value are the same. the NC side or increase the safe
speed limit value. { {
The feedback speed is slower than Replace the drive unit.
the safe speed.
2 Check the wiring and setting 1) The grounding is incomplete. Correctly ground.
environment. 2) The alarm occurs easily when a Use noise measures on the device
1) Correctly grounded? specific device operates. described on the left.
2) Any noise generating devices { {
3) The cable is not correctly shielded. Correctly shield the cable.
around the unit?
3) Are the speed/position detector No abnormality is found in particular. Replace the drive unit.
cables correctly shielded?

Alarm No. Power supply: Power module overcurrent

Overcurrent protection function in the power module has started its operation.
61
Investigation details Investigation results Remedies CV
1 Check the state of the operation The alarm occurs each time Replace the unit.
when the alarm occurs, and check immediately after 200VAC is supplied
the repeatability. or after READY is turned ON.
The alarm occurs frequently during Check the investigation item No. 3. {
READY ON.
The alarm occurs after continuous Check the investigation item No. 2.
operation for a long time.
The unit is hot.
2 Check the load state of all motors, The total load of all motors exceeds Lower the motor load and operation
and the starting/stopping frequency. the rated capacity of the power frequency.
supply unit. {
The total does not exceed the Check the investigation item No. 3.
capacity.
3 Check the power capacity. The power capacity is insufficient. Increase the power capacity.
The specified power capacity is Check the investigation item No. 4. {
secured.
4 Measure the voltage across wires. The voltage drops to 170V or less Increase the power capacity.
• Is the voltage 170V or more even occasionally.
when the motor is accelerating? The difference of the voltage across Improve the power phase balance. {
wires is 10V or more.
The difference of the voltage across Check the investigation item No. 5.
wires is less than 10V.
5 Measure the power voltage with a The power voltage is distorted. Improve the source of the distortion.
synchroscope, and check whether Install an AC reactor.
there is any distortion. The power voltage waveform is not Check the investigation item No. 6. {
• Are there any other devices abnormal.
causing the power distortion?
6 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the unit's ambient environment. environment. {
(Ex. Noise, grounding, etc.)

6 - 28
 6. Troubleshooting

Alarm No. Power supply: Frequency error

The input power supply frequency increased above the specification range.
62
Investigation details Investigation results Remedies CV
1 Check the state of the operation The alarm occurs each time Check the investigation item No. 2.
when the alarm occurs, and check immediately after the power is turned
the repeatability. ON. Or, the alarm occurs
occasionally regardless of the {
operation state.
The alarm occurs only while the Check the investigation item No. 3.
motor is accelerating/decelerating.
2 Measure the power voltage waveform The frequency is deviated from Review the power facilities.
during normal operation. 50Hz±3% or 60Hz±3%.
The voltage waveform dips at some Improve the source of the distortion. {
sections. Install an AC reactor.
There is no problem. Check the investigation item No. 4.
3 Measure the power voltage when the The frequency greatly fluctuates Review the power facilities.
motor is accelerating/decelerating. during acceleration/deceleration.
The voltage waveform during Improve the source of the distortion. {
deceleration dips in some sections. Install an AC reactor.
There is no problem. Check the investigation item No. 4.
4 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the unit's ambient environment. environment. {
(Ex. Noise, grounding, etc.)

Alarm No. Power supply: Phase interruption

An open-phase condition was detected in input power supply circuit.
67
Investigation details Investigation results Remedies CV
1 Check the voltage for each input There are phases with no voltage. Correct the power supply.
{
phase. There is no problem. Check the investigation item No. 2.
2 Check the alarm No. "71" items. {

Alarm No. Power supply: Watchdog

The system does not operate correctly.
68
Investigation details Investigation results Remedies CV
1 Check the repeatability. The alarm occurs each time READY Replace the unit.
is turned ON. {
The alarm occurs occasionally. Check the investigation item No. 2.
2 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the unit's ambient environment. environment. {
(Ex. Noise, grounding, etc.)

6 - 29
 6. Troubleshooting

Alarm No. Power supply: Grounding

The motor power cable is in contact with FG (Frame Ground).
69
Investigation details Investigation results Remedies SV SP
1 Measure the insulation across the Less than 100kΩ. (Grounding) The motor or power cable may be
power cables (U,V,W) for all motors ground faulted. { {
and the ground. (Carry out a megger 100kΩ or more. (Normal) Check the investigation item No. 2.
test.)
2 Has oil come in contact with the Oil has come in contact. Take measures so that oil does not
motor or power cable? come in contact. Check the motor's
cannon connector and the inside of
{ {
the terminal box, and clean as
necessary.
Oil has not come in contact. Check the investigation item No. 3.
3 Measure the insulation again. Less than 1MΩ. (Grounding) Replace the motor or cable.
{ {
1MΩ or more. (Normal) Check the investigation item No. 2.
4 Measure the resistance across the U, Less than 100kΩ. Replace the drive unit.
V, W phase terminals of the 100kΩ or more. Replace the power supply unit.
servo/spindle drive unit and the { {
ground.
(Do not measure the insulation as the
unit could be damaged.)
5 Check whether there is any axis in There is an axis in which alarm has Check the alarm No. "24" items.
which alarm has occurred. occurred.
{ {
There is no axis in which alarm has Check the investigation item No. 2.
occurred.

Alarm No. Power supply: External contactor welding

A contact of the external contactor is welding.
6A
Investigation details Investigation results Remedies CV
1 Check whether any alarm has An alarm has occurred. Remove the cause of the alarm on
occurred on the drive unit side. the drive side, and check the
{
investigation item No. 2.
An alarm has not occurred. Check the investigation item No. 2.
2 Check whether the contactor's The contactor has melted. Replace the contactor.
{
contact has melted. The contactor has not melted. Check the investigation item No. 3.
3 Check that the contactor excitation The connection is correct. Correctly connect.
wiring is correctly connected from the The connection is incorrect. Replace the power supply unit. {
power supply unit's MC1 terminal.

Alarm No. Power supply: Rush relay welding

A resistor relay for rush short circuit fails to be OFF.
6B
Investigation details Investigation results Remedies CV
1 Check whether any alarm has An alarm has occurred. Remove the cause of the alarm on
occurred on the drive unit side. the drive side, and then carry out the
{
investigation details 2.
An alarm has not occurred. Check the investigation item No. 2.
2 Check the repeatability. The alarm occurs each time READY Replace the unit.
is turned ON. {
The alarm occurs occasionally. Check the investigation item No. 3.
3 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the unit's ambient environment. environment. {
(Ex. Noise, grounding, etc.)

6 - 30
 6. Troubleshooting

Alarm No. Power supply: Main circuit error

An error was detected in charging operation of the main circuit capacitor.
6C
Investigation details Investigation results Remedies CV
1 Check the CHARGE lamp state when The CHARGE lamp remains ON for Replace the power supply unit.
the alarm occurs. some time.
The lamp turns ON instantly, but Check the investigation item No. 2.
when the alarm occurs and the {
contactor turns OFF, the lamp turns
OFF immediately.
The lamp never turns ON. Check the investigation item No. 2.
Then replace the unit.
2 Disconnect the power supply unit's 1) The power supply unit side is Replace the power supply unit.
PN terminal block wiring, and abnormal.
measure the resistance value at 1) 2) The drive unit side is abnormal. Disconnect the PN wiring, and then
and 2) shown below. check the drive unit side.
Power supply 1) and 2) are both normal. Replace the power supply unit.
Drive unit unit
Tester Polarity {
measure- Normal Abnormal
2)
ment point + -
P N Several 100Ω Short-circuit/∞Ω
1) 1)
P N P ∞Ω Several 100Ω
N P N Several 100Ω Short-circuit/∞Ω
2)
N P ∞Ω Several 100Ω

Alarm No. Power supply: Memory error/AD error

An error was detected in the internal memory or A/D converter.
6E
Investigation details Investigation results Remedies CV
1 Check the repeatability. The alarm occurs each time READY Replace the unit.
is turned ON. {
The alarm occurs occasionally. Check the investigation item No. 2.
2 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the unit's ambient environment. environment. {
(Ex. Noise, grounding, etc.)

Alarm No. Power supply error

No power supply is connected to the drive unit, or a communication error was detected.
6F
Investigation details Investigation results Remedies CV
1 Check the LED display on the power "F" is flickering. An A/D converter error has occurred.
supply unit. Check the alarm No. "6E" items.
Another alarm code is flickering. Check items of each alarm No.
"0" is displayed. Check the investigation item No. 2.
{
"F" is displayed. Check the investigation item No. 2.
"8" is displayed. Check the alarm No. "68" items.
"b", "C", "d" is displayed. Check the investigation item No. 3.
Something else is displayed. Check the alarm No. "68" items.
2 Check the rotary switch setting. 0 or 4 is set. Check the investigation item No. 3.
{
A value other than the above is set. Correctly set the rotary switch.
3 Check the communication cable There is a problem with the wiring or Replace the cable.
(CN4) connected with the drive unit. shield. {
There is no problem. Replace the unit.
(Note) Alarm 6F is detected at the same time other power supply alarms occur.

6 - 31
 6. Troubleshooting

Power supply: External emergency stop error

Alarm No.
A mismatch of the external emergency stop input and CNC emergency stop input continued for 30
70 seconds.
Investigation details Investigation results Remedies CV
1 Check the connection between Not wired. Correctly wire the external
external emergency stop and NC emergency stop and NC emergency {
emergency stop. stop.
2 Check if there is any abnormality in No abnormality is found in particular. Replace the drive unit.
the unit's ambient environment. The grounding is incomplete. Take remedies according to the {
causes of the abnormality.
Additionally ground and review.

Alarm No. Power supply: Instantaneous power interruption

The power was momentarily interrupted.
71
Investigation details Investigation results Remedies CV
1 Investigate the sequence to check The contactor has been turned OFF Review the machine sequence.
whether the contactor has been externally. When turning the contactor OFF with
turned OFF with an emergency stop external means, such as an
button, etc. emergency stop button, this alarm
{
can be avoided by inputting NC
emergency stop at the same time.
The contactor has not been turned Check the investigation item No. 2.
OFF.
2 Check the repeatability. The alarm occurs each time READY Check the investigation item No. 3.
is turned ON.
The alarm occurs at a certain Check the investigation item No. 1.
operation. If there is no problem, check the {
investigation item No. 3.
The alarm occurs occasionally during Check the investigation item No. 4.
operation.
3 Check whether the power input wire The wiring is incorrect. Correctly connect.
{
and contactor are correctly wired. There is no problem. Check the investigation item No. 4.
4 Check the power voltage waveform An instantaneous power failure or Correct the power facility.
with a synchroscope. voltage drop occurs frequently. {
There is no problem. Replace the unit.

Alarm No. Power supply: Fan stop

A cooling fan built in the power supply unit stopped, and overheat occurred in the power module.
72
Investigation details Investigation results Remedies CV
1 Check if the connector connected to The connector is disconnected. Correctly connect the connector.
a fan is disconnected. The connector is not disconnected. Check the investigation item No. 2. {

2 Check if oil or cutting chips are Oil or cutting chips are adhered. Improve the use environment and
adhered to the fan. replace the drive unit.
{
Oil or cutting chips are not adhered. Replace the drive unit.
The cable may be broken.

6 - 32
 6. Troubleshooting

Power supply: Over regeneration

Alarm No. Over-regeneration detection level became over 100%. The regenerative resistor is overloaded. This
73 alarm cannot be reset for 15 min from the occurrence. Leave the drive system energized for more
than 15 min, then turn the power ON to reset the alarm.
Investigation details Investigation results Remedies CV
1 Check the alarm occurrence state The regenerative load value Check whether the state is affected
and regenerative load displayed on increases when the power is turned by power fluctuation, grounding or
the NC Monitor screen while ON and the motor is not rotated. noise. If there is no problem, replace
changing the operation mode. the unit.
The regenerative load value A-CR : Check the investigation
increases each time the motor item No. 2.
decelerates, and the alarm occurs. C1-CV : Check the investigation {
item No. 4.
The regenerative load value A-CR : Check the investigation
increases each time the motor item No. 2.
decelerates, but the alarm does not C1-CV : Ease the operation mode.
occur when the operation mode is
eased.
2 Check whether the parameter The setting is incorrect. Correctly set. (Check the alarm No.
(regenerative resistor type) of the "6D" items.) {
drive unit controlling the power The setting is correct. Check the investigation item No. 3.
supply unit is correct.
3 Check the regenerative resistor's The regenerative resistor is Replace the regenerative resistor.
state. abnormal.
{
• Is oil adhered? There is no problem. Check the investigation item No. 4.
• Measure the resistance value.
4 Check the alarm No. "75" items. {

Power supply: Overvoltage

Alarm No. L+ and L- bus voltage in main circuit exceeded the allowable value. As the voltage between L+ and L- is
75 high immediately after this alarm, another alarm may occur if this alarm is reset in a short time. Wait
more than 5 min before resetting so that the voltage drops.
Investigation details Investigation results Remedies CV
1 Check the repeatability. The alarm occurs each time the Check the investigation item No. 3.
motor decelerates. {
The alarm occurs occasionally. Check the investigation item No. 2.
2 Check the power supply's alarm Auxiliary regeneration frequency over Limit the occurrence of the excessive
history. (E8) occurs just before the instantaneous regeneration by not
over-voltage occurs. decelerating multiple axes at the {
same time.
Others. Check the investigation item No. 3.
3 Check the power capacity. The power capacity is insufficient. Increase the power capacity.
The specified power capacity is Check the investigation item No. 4. {
secured.
4 Measure the voltage across wires. The voltage drops to 170V or less Increase the power capacity.
• Is the voltage 170V or more even occasionally.
when the motor is accelerating? The difference of the voltage across Improve the power phase balance. {
wires is 10V or more.
The difference of the voltage across Check the investigation item No. 5.
wires is less than 10V.
5 Measure the power voltage with a The power voltage is distorted. Improve the source of the distortion.
synchroscope, and check whether Install an AC reactor.
there is any distortion. The power voltage waveform is not Check the investigation item No. 6. {
• Are there any other devices abnormal.
causing the power distortion?
6 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the unit's ambient environment. environment. {
(Ex. Noise, grounding, etc.)

6 - 33
 6. Troubleshooting

Power supply: External emergency stop setting error

Alarm No.
The rotary switch setting of external emergency stop is not correct, or a wrong external emergency stop
76 signal is input.
Investigation details Investigation results Remedies CV
1 Check the rotary switch setting. When using external emergency Set the rotary switch to "4".
{
stop, rotary switch is not set to "4".
2 Check if there is any abnormality in No abnormality is found in particular. Replace the drive unit.
the unit's ambient environment. The grounding is incomplete. Take remedies according to the {
causes of the abnormality.
Additionally ground and review.

Alarm No. Power supply: Power module overheat

Thermal protection function in the power module has started its operation.
77
Investigation details Investigation results Remedies CV
1 Confirm that the fan is properly Large amounts of cutting oil or cutting Clean or replace the fan.
rotating. chips, etc., are adhered, or the
{
rotation is slow.
The fan is properly rotating. Check the investigation item No. 2.
2 Check whether the heat dissipating Cutting oil or cutting chips, etc., are Clean the fins.
fins are dirty. adhered, and the fins are clogged. {
The fins are normal. Check the investigation item No. 3.
3 Measure the power supply unit's 55°C or more Improve the ventilation and cooling
ambient temperature. for the power distribution panel. {
Less than 55°C. Check the investigation item No. 4.
4 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the unit's ambient environment. environment.
{
(Ex. Ambient temperature, noise,
grounding)

Alarm No. Watchdog

The system does not operate correctly.
88
Investigation details Investigation results Remedies SV SP
1 Check whether the servo or spindle The version was changed. Change software version back to the
software version was changed original. { {
recently. The version was not changed. Check the investigation item No. 2.
2 Check the repeatability. The error is always repeated. Replace the drive unit.
The state returns to normal once, but Check the investigation item No. 3. { {
occurs sometimes thereafter.
3 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the unit's ambient environment. environment.
{ {
(Ex. Ambient temperature, noise,
grounding)

6 - 34
 6. Troubleshooting

6-3-3 Troubleshooting for each warning No.

Absolute position detector: Revolution counter error

Warning No.
An error was detected in the revolution counter of the absolute position detector. The absolute
9E position data cannot be compensated.
Investigation details Investigation results Remedies SV SP
1 Check if there is any abnormality in Take remedies according to the causes of the abnormality in the ambient
the detector's ambient environment. environment.
{
(Ex. Ambient temperature, noise,
grounding)
2 Check the repeatability. Occurs frequently. Replace the detector.
{ {
Is not repeated. Check the investigation item No. 1.

Battery voltage drop

Warning No.
The battery voltage that is supplied to the absolute position detector dropped. The absolute position
9F data is retained.
Investigation details Investigation results Remedies SV SP
1 Measure the battery (MDS-A-BT) Less than 3V. Replace the battery unit.
{
voltage. 3V or more. Check the investigation item No. 2.
2 Check whether the NC bus cable is The cable is disconnected. Correctly connect.
{
disconnected. The cable is not disconnected. Check the investigation item No. 3.
3 Check whether the battery wire in the The cable is broken. Replace the cable.
{
detector cable is broken. The cable is not broken. Check the investigation item No. 4.
4 Replace the drive unit. Improved. Replace the drive unit.
Not improved. Replace the detector. {
(With the absolute position system,
the zero point must be established.)
(Note) When warning 9F occurs, do not turn the drive unit power OFF to ensure that the absolute position data is held.
Replace the battery with the drive unit power ON.

Warning No. Fan stop warning

A cooling fan built in the drive unit stopped.
A6
Investigation details Investigation results Remedies SV SP
1 Check the alarm No. "45" items. { {

Warning No. Overload warning

Overload detection level exceeded 80%.
E1
Investigation details Investigation results Remedies SV SP
1 Check if the motor is hot. Motor is hot. Check the alarm No. "50" items.
{
Motor is not hot. Check the investigation item No. 2.
2 Check if an error occurs when Error is not found in operation. Thus, Ease the operation patter, if possible.
executing acceleration/deceleration operation is possible. If no alarm occurs, operation can be
operation. continued as it is. {
Error is found in operation. Check the investigation item 3 or later
of Alarm No. 50.
3 Check the alarm No. "50" items. { {

Warning No. Set parameter warning

An incorrect parameter was detected among the parameters received from the CNC.
E4
Investigation details Investigation results Remedies SV SP
1 Check the error parameter No. SV001 to SV256 Set the value within the designated
{ {
SP001 to SP256 setting range.
2 Check the spindle control input 4/bit 0 Selected other than 000, 001, 010 Correctly select.
{
to 2. and 100 when the alarm occurred.

Warning No. Control axis detachment warning

Control axis detachment was commanded.
E6
Investigation details Investigation results Remedies SV SP
1 The status in which removal of the control axis was commanded from the NC is indicated. {

6 - 35
 6. Troubleshooting

Warning No. In NC emergency stop state

Emergency stop was input from the CNC.
E7
Investigation details Investigation results Remedies SV SP
1 Check if the emergency stop is The emergency stop is applied. Check the investigation item No. 2.
{ {
applied on the NC side. The emergency stop is cancelled. Check the investigation item No. 3.
2 Cancel the emergency stop. Normally starts up. Normal.
{ {
"E7" remains displayed. Check the investigation item No. 3.
3 Check whether an alarm is occurring An alarm is occurring in another drive Reset the alarm in the other drive
in another drive unit. unit. unit. { {
An alarm is not occurring. Check the investigation item No. 4.
4 Turn the power of NC and 200VAC (400V) ON again { {

Warning No. Instantaneous power interruption warning

The power was momentarily interrupted.
E9
Investigation details Investigation results Remedies CV
1 Check the alarm No. "71" items. {

Warning No. In external emergency stop state

External emergency stop signal was input.
EA
Investigation details Investigation results Remedies CV
1 Check whether the specifications Use is not allowed. Invalidate the external emergency
allow use of the external emergency stop. {
stop. Use is allowed. Check the investigation item No. 2.
2 Measure the input voltage of the 24V is input. Replace the power supply unit.
CN23 connector. (While emergency 24V is not input. Check whether the external {
stop is cancelled.) emergency stop cable is broken, or
check the external contact operation.

Warning No. Power supply: Over regeneration warning

Over-regeneration detection level exceeded 80%.
EB
Investigation details Investigation results Remedies CV
1 Check the alarm No. "73" items. {

Warning No. Power supply: Fan stop warning

A cooling fan built in the power supply unit stopped.
EE
Investigation details Investigation results Remedies CV
1 Check the alarm No. "72" items. {

6 - 36
 6. Troubleshooting

6-3-4 Parameter numbers during initial parameter error

If an initial parameter error (alarm 37) occurs, the alarm and the No. of the parameter set exceeding the
setting range will appear on the NC Diagnosis screen as shown below.

S02 Initial parameter error {{{{ †

{{{{ : Error parameter No.
† : Axis name

If an error No. larger than the servo parameter No. is displayed for the servo drive unit
(MDS-D/DH-V1/V2), the alarm is occurring for several related parameters. Refer to the following table,
and correctly set the parameters.

Error parameter No. Details Related parameters

2301 The following settings are overflowing. SV001, SV002 SV003,
• Electronic gears SV018
• Position loop gain SV019, SV020
• Speed feedback SV049
2302 The absolute position parameter is valid when OSE104 and SV017, SV025
OSE105 are connected.

6 - 37
 6. Troubleshooting

6-3-5 Troubleshooting the spindle system when there is no alarm or warning

If an abnormality is observed in the spindle system but no alarm or warning has occurred, refer to the
following table and check the state.

[1] The rotation speed command and actual rotation speed do not match.
Investigation item Investigation results Remedies
1 Check the speed command. The speed command is not input Input the correct speed command.
correctly.
The speed command is correct. Check the investigation item No. 2.
2 Check whether there is slipping There is slipping. Repair the machine side.
between the motor and spindle. No particular problems found. Check the investigation item No. 3.
(When connected with a belt or
clutch.)
3 Check the spindle parameters The correct values are not set. Set the correct values.
(SP026, SP129 and following). The correct values are set. Replace the spindle drive unit.

[2] The starting time is long or has increased in length.

Investigation item Investigation results Remedies
1 Check whether the friction torque The friction torque has increased. Repair the machine side.
has increased. No particular problems found. Check the investigation item No. 2.
2 Manually rotate the motor bearings The bearings do not rotate Replace the spindle motor.
and check the movement. smoothly.
The bearings rotate smoothly. Check the investigation item No. 3.
3 Check whether the torque limit The signal has been input. Do not input this signal.
signal has been input. The signal is not input. Replace the drive unit.

[3] The motor stops during cutting.

Investigation item Investigation results Remedies
1 Check the load rate during cutting. The load meter sways over 120% Reduce the load.
during cutting.
No particular problems found. Check the investigation item No. 2.
2 Carry out the same investigations and remedies as section (4).

[4] The vibration and noise (gear noise), etc., are large.
Investigation item Investigation results Remedies
1 Check the machine's dynamic The same noise is heard during Repair the machine side.
balance. (Coast from the maximum coasting.
speed.) No particular problems found. Check the investigation item No. 2.
2 Check whether there is a resonance Vibration and noise increase at a Repair the machine side.
point in the machine. (Coast from set rotation speed during coasting.
the maximum speed.) No particular problems found. Check the investigation item No. 3.
3 Check the machine's backlash. The backlash is great. Repair the machine side.
No particular problems found. Check the investigation item No. 4.
4 Check the spindle parameter The vibration and noise levels will
Change the setting value.
settings. increase when the setting value isNote that the impact response will
(SP005:VGN1, SP006:VIA1, set to approx. half. drop.
SP007:VIL1, SP008:VGN2, The symptoms do not change Return the setting values to the
SP009:VIA2, SP010:VIL2, even if the above value is set. original values.
SP014:PY1) Check the investigation item No. 5.
5 Jiggle the detector connectors (drive The connector is disconnected (or Correctly connect the connector.
unit side and detector side) and loose).
check if they are disconnected. The connector is not disconnected Check the investigation item No. 6.
(or loose).
6 Turn the power OFF, and check the The connection is faulty or Replace the detector cable.
connection of the speed detector disconnected. Correct the connection.
cable with a tester. The connection is normal. Replace the drive unit.

6 - 38
 6. Troubleshooting

[5] The spindle coasts during deceleration.

Investigation item Investigation results Remedies
1 Check whether there is slipping There is slipping. Repair the machine side.
between the motor and spindle. No particular problems found. Replace the drive unit.
(When connected with a belt or
clutch.)

[6] The rotation does not stabilize.

Investigation item Investigation results Remedies
1 Check the spindle parameter SP005 The rotation stabilizes when the Change the setting value.
(SP008) settings. settings values are both set to Note that the gear noise may
approx. double. increase.
The symptoms do not change Return the setting values to the
even when the above value is set. original values.
Check the investigation item No. 2.
2 Manually shake the speed detector The connector is disconnected (or Correctly connect the connector.
connectors (spindle drive unit side loose).
and speed detector side) to check if The connector is not disconnected Check the investigation item No. 3.
they are disconnected. (or loose).
3 Turn the power OFF, and check the The connection is faulty or Replace the detector cable.
connection of the speed detector disconnected. Correct the connection.
cable with a tester. The connection is normal. Check the investigation item No. 4.
(Especially check the shield wiring.)
4 Investigate the wiring and 1) The grounding is incomplete. Correctly ground.
installation environment. 2) The alarm occurs easily when a Use noise measures on the device
1) Is the ground correctly specific device operates. described on the left.
connected? No particular problems found. Replace the spindle drive unit.
2) Are there any noise-generating
devices near the drive unit?

[7] The speed does not rise above a set level.

Investigation item Investigation results Remedies
1 Check the speed command. The speed command is not input Input the correct speed command.
Check whether the override input is correctly.
input from the machine operation The speed command is input Check the investigation item No. 2.
panel. correctly.
2 Check whether the load has The load has become heavier. Repair the machine side.
suddenly become heavier. No particular problems found. Check the investigation item No. 3.
3 Manually rotate the motor bearings The bearings do not rotate Replace the spindle motor.
and check the movement. smoothly.
The bearings rotate smoothly. Check the investigation item No. 4.
4 Manually shake the speed detector The connector is disconnected (or Correctly connect the connector.
connectors (spindle drive unit side loose).
and speed detector side) to check if The connector is not disconnected Check the investigation item No. 5.
they are disconnected. (or loose).
5 Turn the power OFF, and check the The connection is faulty or Replace the detector cable.
connection of the speed detector disconnected. Correct the connection.
cable with a tester. The waveform is normal. Replace the spindle drive unit.
(Especially check the shield wiring.)

6 - 39
7. Maintenance

7-1 Inspections........................................................................................................................................ 7-2

7-2 Service parts ..................................................................................................................................... 7-2
7-3 Adding and replacing units and parts ............................................................................................... 7-3
7-3-1 Replacing the drive unit ............................................................................................................. 7-3
7-3-2 Replacing the unit fan ................................................................................................................ 7-4
7-3-3 Replacing the battery................................................................................................................. 7-5
7-3-4 Replacing the fuse ..................................................................................................................... 7-7
 7. Maintenance

1. Before starting maintenance or inspections, turn the main circuit power and
control power both OFF. Wait at least fifteen minutes for the CHARGE lamp
to turn OFF, and then using a tester, confirm that the input and output
WARNING voltage are zero. Failure to observe this could lead to electric shocks.
2. Inspections must be carried out by a qualified technician. Failure to observe
this could lead to electric shocks. Contact your nearest Mitsubishi branch or
dealer for repairs and part replacement.

1. Never perform a megger test (measure the insulation resistance) of the

CAUTION servo drive unit. Failure to observe this could lead to faults.
2. The user must never disassemble or modify this product.

7-1 Inspections
Periodic inspection of the following items is recommended.
[1] Are any of the screws on the terminal block loose? If loose, tighten them.
[2] Is any abnormal noise heard from the servomotor bearings or brake section?
[3] Are any of the cables damaged or cracked? If the cables move with the machine, periodically
inspect the cables according to the working conditions.
[4] Is the core of the load coupling shaft deviated?

7-2 Service parts

A guide to the part replacement cycle is shown below. Note that these will differ according to the
working conditions or environmental conditions, so replace the parts if any abnormality is found.
Contact Mitsubishi branch or your dealer for repairs or part replacements.

Part name Standard replacement time Remarks

Smoothing capacitor 10 years The standard replacement time is a
10,000 to 30,000 hours reference. Even if the standard
Cooling fan
Servo drive unit (2 to 3 years) replacement time is not reached, the
6,000 hours (for FCU6-BTBOX) part must be replaced if any
Battery
10,000 hours (for ER6V-C119B) abnormality is found.
Bearings 20,000 to 30,000 hours
Servomotor Detector 20,000 to 30,000 hours
Oil seal, V-ring 5,000 hours

[1] Power smoothing capacitor : The characteristics of the power smoothing capacitor will deteriorate
due to the effect of ripple currents, etc. The capacitor life is greatly
affected by the ambient temperature and working conditions.
However, when used continuously in a normal air-conditioned
environment, the service life will be ten years.
[2] Relays : Contact faults will occur due to contact wear caused by the
switching current. The service life will be reached after 100,000
cumulative switches (switching life) although this will differ according
to the power capacity.
[3] Servomotor bearings : The motor bearings should be replaced after 20,000 to 30,000 hours
of rated load operation at the rated speed. This will be affected by
the operation state, but the bearings must be replaced when any
abnormal noise or vibration is found in the inspections.
[4] Servomotor oil seal, V-ring : These parts should be replaced after 5,000 hours of operation at the
rated speed. This will be affected by the operation state, but these
parts must be replaced if oil leaks, etc., are found in the inspections.

7-2
 7. Maintenance

7-3 Adding and replacing units and parts

1. Correctly transport the product according to its weight. Failure to do so could

result in injury.
2. Do not stack the product above the indicated limit.
3. Installation directly on or near combustible materials could result in fires.
4. Install the unit as indicated at a place which can withstand the weight.
5. Do not get on or place heavy objects on the unit. Failure to observe this could
result in injury.
6. Always use the unit within the designated environment condition range.
7. Do not allow conductive foreign matter such as screws or metal chips, or
CAUTION combustible foreign matter such as oil enter the servo drive or servomotor.
8. Do not block the intake or exhaust ports of the servo drive of servomotor.
Failure to observe this could result in faults.
9. The servo drive and servomotor are precision devices. Do not drop them or
apply strong impacts.
10. Do not install or operate a servo drive or servomotor which is damaged or
missing parts.
11. When the unit has been stored for a long time, contact the Service Center or
Service Station.

7-3-1 Replacing the drive unit

(1) Arrangement of replacing parts

Contact Mitsubishi branch or your dealer for an order or a replacement of the drive unit.
Place an order for the same type of a drive unit as the one to be replaced.

(2) Replacement procedure

Replace the drive unit with the following procedures.

Procedures
[1] Turn the breaker for the input power OFF. Make sure the CHARGE lamp of the power supply
unit is turned OFF.
[2] Disconnect all the connecters and the wires connected to the drive unit.
[3] Remove the two (four) screws fixing the drive unit onto the control panel. Remove the drive unit
from the control panel.
[4] Make a same setting for the rotary switch and the dip switch of the new drive unit as those of
the uninstalled drive unit.
[5] Install a new drive unit by following the removal procedure in reverse.

7-3
 7. Maintenance

7-3-2 Replacing the unit fan

(1) Replacing parts

Unit fan type

Type Size
109P0424H3D13 †40mm (For MDS-D-CV)
MMF-04C24DS-RCA †40mm (Other than MDS-D-CV)
MMF-06F24ES-RM5 †60mm
MMF-09D24TS-RM5 †90mm
MMF-12D24PS-RM5 †120mm

(2) Replacement procedure

Replace the unit fan with the following procedures.

Procedures
[1] Turn the breaker for the input power OFF, and wait for the CHARGE lamp on the power supply
unit to turn OFF before removing the unit.
[2] Remove the fan guard from the back of the drive unit, and remove the two fan mounting
screws.
[3] Remove the rubber bushing for the fan power cable, and pull out the connection connector.
[4] Disconnect the connection connector, and replace the fan.

Remove the two screws

Pull out the connection

Remove the rubber bushing connector and disconnect
the connector

7-4
 7. Maintenance

7-3-3 Replacing the battery

(1) Replacing parts

<Replacing a battery equipped with the spindle/servo drive unit or the battery unit,
FCU6-BTBOX>
When the battery voltage is low (warning F9), place an order for the same type of a battery as the
one currently equipped with the unit.
Battery type 2CR5 is commercially available as a lithium battery 2CR5. The battery may be
purchased and replaced by the user.

Battery type

Type Battery equipped unit

ER6V-C119B Spindle/servo drive unit
2CR5 Battery unit, FCU6-BTBOX

(Note) Two 2CR5 batteries are needed for per battery unit, FCU6-BTBOX.

<Replacing the battery unit MDS-A-BT>

The battery unit itself must be replaced because the battery is built into the unit.
When the battery voltage is low (warning F9), place an order for the same type of the battery unit
as the one to be replaced.

1. When the battery voltage is low (warning 9F), do not shut OFF the power of
the drive unit until replacement of the battery to protect the data
CAUTION 2. Replace the FCU6-BTBOX battery with new batteries (2CR5) that is within the
recommended service period.

7-5
 7. Maintenance

(2) Replacement procedure

Replace the battery with the following procedures.

1. The power of the drive unit must be turned ON for 30min. or longer before
CAUTION replacing the battery.
2. Replace the battery within one hour.

<Replacement procedure for the cell battery ER6V-C119B>

[1] Turn the breaker for the input power OFF. Make sure the power of the replacing drive unit is
turned OFF.
[2] Open the battery holder cover located at the upper front of the drive unit.
[3] Pull out the battery connector connected with the drive unit. Remove the battery.
[4] Connect a new battery connector to the connector position where the old battery connector
was pulled out from in step [2].
[5] Store a new battery into the battery holder and close the cover.

Connect the battery

connector to the connector
position where pulled out
Pull out the battery from.
connector.

Pull the cover open while

holding down the tab of the
battery holder.

Store a new battery into the

battery holder.

<Replacement procedure for the battery unit FCU6-BTBOX>

[1] Replace the battery unit while the power of the drive unit is turned ON.
[2] Remove the two mounting screws fixed on the cover of FCU6-BTBOX. Open the cover and
remove the old batteries.
[3] Insert new batteries, facing the terminal parts to the back of FCU6-BTBOX.
(Two 2CR5 lithium batteries must be inserted.)
[4] Close and screw the cover of FCU6-BTBOX with the two mounting screws.

Insert new batteries, facing

the terminal parts to the
back.

Battery terminals
－ ＋
Remove the two Dents of the batteries
screws and open the must fit with protrusions
cover. of the cases.

<Replacement procedure for the battery unit MDS-A-BT>

[1] Turn the breaker for the input power OFF. Make sure the power of the replacing drive unit is
turned OFF.
[2] Disconnect the connector, and remove the battery unit from the control panel.
[3] Install a new battery unit by following the removal procedure in reverse.

7-6
 7. Maintenance

7-3-4 Replacing the fuse

(1) Replacing parts

Fuse type

Type Fuse equipped unit

HM32 MDS-D series
HM16 MDS-DH series

(2) Replacement procedure

Replace the fuse with the following procedures.

Procedures
[1] Turn the breaker for the input power OFF. Make sure the power of the replacing drive unit is
turned OFF.
[2] Open the terminal block cover located at the front of the drive unit.
[3] Pull out the fuse and replace it by a new fuse.

Pull out the fuse using forceps.

Open the
terminal block
cover.

7-7
Appendix 1. Cable and Connector Specifications

Appendix 1-1 Selection of cable.............................................................................................................A1-2

Appendix 1-2 Cable connection diagram ...............................................................................................A1-3
Appendix 1-3 Main circuit cable connection diagram...........................................................................A1-10
Appendix 1-4 Connector outline dimension drawings..........................................................................A1-11
 Appendix 1. Cable and Connector Specifications

Appendix 1-1 Selection of cable

The specifications of the wire used for each cable, and the machining methods are shown in this section.
When manufacturing the detector cable, use the recommended wires shown below or equivalent
products.

(a) Heat resistant specifications cable

Wire characteristics
Wire type Finish
Sheath No. of Heat
(special order outer Configura- Conductive Withstand Insulation
material pairs resistance Flexibility
part) diameter tion resistor voltage resistance
temperature
BD20288 2 100 strands/ 40.7Ω/km
Compound 6-pair Heat (0.5mm2) 0.08mm or less 70×104 times
shielded cable 500VAC/ 1000MΩ/km
8.7mm resistant 105°C or more at
Specification No. 1min or more
PVC 4 40 strands/ 103Ω/km R200
Bangishi-17145
(0.2mm2) 0.08mm or less
(Note 1)

(b) General-purpose heat resistant specifications cable

Wire characteristics
Wire type Finish
Sheath No. of Heat
(special order outer Configura- Conductive Withstand Insulation
material pairs resistance Flexibility
part) diameter tion resistor voltage resistance
temperature
BD20032
Compound 6-pair 2 100 strands/ 40.7Ω/km
shielded cable (0.5mm2) 0.08mm or less 100×104 times
500VAC/ 1000MΩ/km
Specification No. 8.7mm PVC 60°C or more at
1min or more
Bangishi-16903 R200
4 40 strands/ 103Ω/km
Revision No. 3 (0.2mm2) 0.08mm or less
(Note 2)

(Note 1) Bando Electric Wire (Contact: 81+48-461-0561 http://www.bew.co.jp)

(Note 2) The Mitsubishi standard cable is the (a) Heat resistant specifications table. For MDS-C1/CH
series, (b) or equivalent was used as the standard cable.

Core identification

Insulator color
Pair No.
L1 L2
2
A1 Sheath A1 (0.5mm ) Red White
2
A2 (0.5mm ) Black White
B4 B1 Mesh shield 2
B1 (0.2mm ) Brown Orange
2
Intervening wire B2 (0.2mm ) Blue Green
2
B3 B2 B3 (0.2mm ) Purple White
2
Cable core
A2 Tape B4 (0.2mm ) Yellow White
L1
L2
Conductor
Insulator

Compound 6-pair cable structure drawing

A1 - 2
 Appendix 1. Cable and Connector Specifications

Appendix 1-2 Cable connection diagram

1. Take care not to mistake the connection when manufacturing the detector
cable. Failure to observe this could lead to faults, runaway or fire.
CAUTION 2. When manufacturing the cable, do not connect anything to pins which have
no description.

(1) Battery cable

<DG21 cable connection diagram>

Drive unit side connector Battery unit side connector

Connector: DF1B-2S-2.5R Connector: 10120-3000VE
Contact: DF1B-2428SCA Shell kit: 10320-52F0-008

BT 1 9 BT
2
LG 0.5mm LG
2 1

<DG22 cable connection diagram>

Battery unit side connector Battery unit side connector

Connector: DF1B-2S-2.5R Connector: DF1B-2S-2.5R
Contact: DF1B-2428SCA Contact: DF1B-2428SCA

BT 1 0.5mm2 1 BT
LG 2 2 LG

A1 - 3
 Appendix 1. Cable and Connector Specifications

(2) Power supply communication cable and connector

<SH21 cable connection diagram>

Drive unit side connector Power supply unit side connector

Connector: 10120-3000VE Connector: 10120-3000VE
Shell kit: 10320-52F0-008 Shell kit: 10320-52F0-008

1 1
11 11
2 2
12 12
3 3
13 13
4 4
14 14
5 5
15 15
6 6
16 16
7 7
17 17
8 8
18 18
9 9
19 19
10 10
20 20
PE PE Plate

<CNU23S connector connection diagram>

Power supply unit side connector

Connector: DK-3200M-06RXY
Contact: DK-3REC2LLP1-100

External emergency
3 EMG2
stop input
2
24G 1 EMG1
CN23A

MC2 3 Contactor
2 breaker output
MC1 1
CN23B

A1 - 4
 Appendix 1. Cable and Connector Specifications

(3) Servo detector cable

<CNV2E-6P, CNV2E-7P cable connection diagram>

Servo drive unit side connector Servomotor detector/

Receptacle: 36210-0100JL Ball screw end detector side connecto
Shell kit: 36310-3200-008 Plug: CM10-SP10S-M (Straight)
CM10-AP10S-M (Angle)
Contact: CM10-#22SC

P5(+5V) 1 8 P5(+5V)
0.5mm2
LG 2 5 LG
3 -
0.2mm2
BT 9 4 BT
SD 7 6 SD
0.2mm2
SD* 8 7 SD*
RQ 3 1 RQ
0.2mm2
RQ* 4 2 RQ*

Case PE 10 SHD
grounding

<For 15m or less>

2
0.5mm

P5(+5V) 1 2 8 P5(+5V)
0.5mm
LG 2 5 LG
2
3 -
0.2mm
BT 9 4 BT
SD 7 2
6 SD
0.2mm
SD* 8 7 SD*
RQ 3 2 1 RQ
0.2mm
RQ* 4 2 RQ*

Case PE 10 SHD
grounding

<For 16m to 30m>

A1 - 5
 Appendix 1. Cable and Connector Specifications

<Oblong wave communication detector (linear scale, etc.) cable connection diagram >

Servo drive unit side connector

Receptacle: 36210-0100JL
Shell kit: 36310-3200-008

2
0.5mm
Contact the detector
P5(+5V) 1 P5(+5V) manufacture about whether
2
0.5mm to perform the P5V wiring or
LG 2 LG
not.
ABZSEL* 10
A 3 A
A* 4 A*
B 5 B
B* 6 B*
Z 7 2 Z
0.2mm
Z* 8 Z*
9

Case PE SHD
grounding
Contact the detector manufacture
for the drtails.
(Note) This cable must be prepared by the user.

< Serial communication detector (linear scale, etc.) cable connection diagram >

Servo drive unit side connector

Receptacle: 36210-0100JL
Shell kit: 36310-3200-008

2
0.5mm
Contact the detector
P5(+5V) 1 P5(+5V) manufacture about whether
2
0.5mm to perform the P5V wiring or
LG 2 LG
not.
9
10
RQ 3 2 RQ
0.2mm
RQ* 4 RQ*
5
6
SD 7 2 SD
0.2mm
SD* 8 SD*

Case PE SHD
grounding
Contact the detector manufacture
for the drtails.
(Note) This cable must be prepared by the user.

A1 - 6
 Appendix 1. Cable and Connector Specifications

<CNV2E-HP cable connection diagram>

Servo drive unit side connector MDS-B-HR unit side connector

Receptacle: 36210-0100JL Plug: RM15WTP-8S
Shell kit: 36310-3200-008 Clamp: RM15WTP-CP (10)

2
0.5mm
5 P5(+5V)
7 LG
2
P5(+5V) 1 0.5 mm 6 P5(+5V)
LG 2 8 LG

10
2
RQ 3 0.2 mm 1 RQ
RQ* 4 2 RQ*
5
6
2
SD 7 0.2 mm 3 SD
SD* 8 4 SD*

Case PE PE Case
grounding grounding

<CNV2E-D cable connection diagram>

Servo drive unit side connector MDS-B-SD unit side connector

Receptacle: 36210-0100JL Connector: 10120-3000VE
Shell kit: 36310-3200-008 Shell kit: 10320-52F0-008

2
0.5mm
20 P5(+5V)
2
11 LG
0.5mm
P5(+5V) 1 10 P5(+5V)
LG 2 1 LG
9 9 BAT
10
2
RQ 3 0.2mm 7 RQ
RQ* 4 17 RQ*
5
6 2
0.2mm
SD 7 6 SD
SD* 8 16 SD*

Case PE PE Case
grounding grounding

A1 - 7
 Appendix 1. Cable and Connector Specifications

(4) Brake connecter

<CNU20S connector connection diagram>

• For MDS-D-V1-320 or smaller and MDS-DH-V1-160 or smaller

Servo drive unit side connector

Connector: DK-3200S-03R
Contact: DK-3REC2LLP1-100

MBR2 3 External power 24VDC

DBR 2
MBR1 1 Motor brake

CN20

• For MDS-D-V1-320W or larger and MDS-DH-V1-160W or larger

Servo drive unit side connector

Connector: DK-3200S-03R
Contact: DK-3REC2LLP1-100

DC24V 1 External power 24VDC

DBU 2 Dynamic brake
Motor 3 Motor brake
CN20

A1 - 8
 Appendix 1. Cable and Connector Specifications

(5) Spindle detector cable

<CNP2E-1 cable connection diagram>

Spindle drive unit side connector Spindle motor side connector

Receptacle: 36210-0100JL Connector: AMP-172169-1
Shell kit: 36310-3200-008 Contact: AMP-170363-1
AMP-170364-1

(Note)

P5(+5V) 1 7 P5(+5V)
2
2 0.5mm
LG 8 LG

MT1 5 2 2 MT1
6 0.2mm
MT2 1 MT2

SD 7 2 5 SD
0.2mm
SD* 8 6 SD*
RQ 3 2 3 RQ
0.2mm
RQ* 4 4 RQ*

Case PE 9 SHD
grounding

(Note) For the pin “7” or “8”, use the contact “170364-1”.
For the other pins, use the contact “170363-1”.

<For 15m or less>

Spindle drive unit side connector Spindle motor side connector

Receptacle: 36210-0100JL Connector: AMP-172169-1
Shell kit: 36310-3200-008 Contact: AMP-170363-1
AMP-170364-1

(Note)

P5(+5V) 1 7 P5(+5V)
2
2 0.5mm
LG 8 LG

MT1 5 2 2 MT1
0.2mm
MT2 6 1 MT2

SD 7 2
5 SD
8 0.2mm
SD* 6 SD*
RQ 3 2 3 RQ
0.2mm
RQ* 4 4 RQ*

Case PE 9 SHD
grounding

(Note) For the pin “7” or “8”, use the contact “170364-1”.
For the other pins, use the contact “170363-1”.

<For 16m to 30m>

A1 - 9
 Appendix 1. Cable and Connector Specifications

Appendix 1-3 Main circuit cable connection diagram

The methods for wiring to the main circuit are shown below.

(1) DRSV1 cable, DRSV2 cable

These cables are used to connect the servo drive unit's TE1 terminal and HF-H / HP-H motor.
• DRSV1 cable : This is the power line for the single-axis unit (MDS-DH-V1-) and dual-axis
integrated unit (MDS-DH-V2-) L axis.
• DRSV2 cable : This is the power line for the dual-axis integrated unit (MDS-DH-V2-) M axis.

<DRSV1/DRSV2 cable connection diagram>

Drive unit side Motor side

1: U A
2: V B
3: W C
4: D

1. The main circuit cable must be manufactured by the user.

2. Refer to Chapter 5 " Selection of peripheral devices" when selecting the
wire material.
CAUTION 3. Lay out the terminal block on the drive unit side as shown in "Appendix 1
Outline dimension drawing".
4. Refer to "Appendix 1-1 Servomotor outline dimension drawings for
details on the servomotor's connectors and terminal block.

A1 - 10
 Appendix 1. Cable and Connector Specifications

Appendix 1-4 Connector outline dimension drawings

(1) NC communication cable
NC communication connector (NC optical communication connector)
Manufacturer: Japan Aviation Electronics Industry
<Type>
Connector: PF-2D101
[Unit: mm]

20.3
8.5
22.7

Manufacturer: Tyco Electronics AMP

<Type>
Connector: 1123445-1
Optical fiber: ESKA Premium
(MITSUBISHI RAYON) [Unit: mm]
‘ L<=150

‘ L>150

(Note 1) The POF fiber's light amount will drop depending on how the fibers are wound. So, try to avoid
wiring the fibers. (Communication will be cut off if the cable is wound 10 times or more within
ø10mm.)
(Note 2) Do not wire the optical fiber cable to moving sections.

A1 - 11
 Appendix 1. Cable and Connector Specifications

(2) Battery connector

Battery connector for drive unit
Manufacturer: Hirose Electric
<Type> [Unit: mm]
Connector: DF1B-2S-2.5R 5.0

2.5

1.6
1.9
11.5
4.4

Battery connector for battery unit

Manufacturer: 3M
<Type> [Unit: mm]
Connector: 10120-3000VE 12.0
Shell kit: 10320-52F0-008

10.0
22.0 14.0
39.0

23.8

33.3 12.7

A1 - 12
 Appendix 1. Cable and Connector Specifications

(3) Power supply communication connector

Power supply unit connector for CN4/9
Manufacturer: 3M
<Type>
Connector: 10120-3000VE [Unit: mm]
12.0
Shell kit: 10320-52F0-008

10.0
22.0 14.0

39.0

23.8
33.3 12.7

Manufacturer: 3M
<Type>
Connector: 10120-6000EL [Unit: mm]
Shell kit: 10320-3210-000
11.5

This connector is integrated with the

20.9
cable, and is not available as a connector
set option.
42.0

33.0

29.7

Power supply unit connector for CN23 (Connector for contactor control output / external emergency stop)
Manufacturer: DDK
<Type> [Unit: mm]
Connector: DK-3200M-06RXY 19.24
22.8

1 2 3
27.30
7.62

14.77

5.08

A1 - 13
 Appendix 1. Cable and Connector Specifications

(4) Servo detector connector

Motor side detector connector / Ball screw end detector for connector
Manufacturer: DDK
<Type> [Unit: mm]
Plug: CM10-SP10S-M

ø18.9
ø21
(51.4)

Manufacturer: DDK
<Type> [Unit: mm]
Plug: CM10-AP10S-M

or less
ø18.9
34

ø21

32.5

A1 - 14
 Appendix 1. Cable and Connector Specifications

MDS-B-HR connector
Manufacturer: Hirose Electric
<Type> [Unit: mm]
Plug: RM15WTP-8S
M19×1 M16×0.75

15.2
23
36.8

Manufacturer: Hirose Electric

<Type> [Unit: mm]
Clamp: RM15WTP-CP (10)

M16×0.75
8.5 20

10.5
19

MDS-B-SD connector (Two-piece set)

Manufacturer: 3M
<Type>
Connector: 10120-3000VE [Unit: mm]
12.0
Shell kit: 10320-52F0-008
10.0

22.0 14.0
39.0

23.8

33.3 12.7

A1 - 15
 Appendix 1. Cable and Connector Specifications

Servo drive unit connector for CN2/3

Manufacturer: 3M
<Type> [Unit: mm]
Receptacle: 36210-0100JL 22.7 11
Shell kit: 36310-3200-008

Manufacturer: MOLEX
<Type>
Connector housing: 54593-1011
Plug cover A: 54594-1015

33.9
Plug cover B: 54595-1005
Shell cover: 58935-1000
Shell body: 58934-1000
Cable clamp: 58937-0000

22.4

10

A1 - 16
 Appendix 1. Cable and Connector Specifications

(5) Brake connector

Brake connector for HF, HP
Manufacturer: DDK
<Type> [Unit: mm]
Plug: CM10-SP2S-S

ø18.9
ø21
(51.4)

Manufacturer: DDK
<Type> [Unit: mm]
Plug: CM10-AP2S-S

or less
ø18.9
34

ø21

32.5

Brake connector for motor brake control output

Manufacturer: DDK
<Type> [Unit: mm]
Connector: DK-3200S-03R 19.24
22.8

1 2 3

29.70
7.15

6.55

１ ２ ３ Ａ

5.08

A1 - 17
 Appendix 1. Cable and Connector Specifications

(6) Power connector

Motor power connector
Manufacturer: DDK
D or less
W A
7.85 or more

øC±0.8

øB +0-0.38
Plug: [Unit: mm]
Type A B +0
-0.38 C±0.8 D or less W
1
CE05-6A18-10SD-C-BSS 1 /8-18UNEF-2B 34.13 32.1 57 1-20UNEF-2A
3 3
CE05-6A22-22SD-C-BSS 1 /8-18UNEF-2B 40.48 38.3 61 1 /16-18UNEF-2A
3
CE05-6A32-17SD-C-BSS 2-18UNS-2B 56.33 54.2 79 1 /4-18UNS-2A

Manufacturer: DDK
D or less
A
R±0.7

øB +0-0.38
(S) ±1

more
Y or
U±0.7

W
Plug: [Unit: mm]
Type A B +0
-0.38
D or less W R±0.7 U±0.7 (S) ±1 Y or more
1
CE05-8A18-10SD-C-BAS 1 /8-18UNEF-2B 34.13 69.5 1-20UNEF-2A 13.2 30.2 43.4 7.5
3 3
CE05-8A22-22SD-C-BAS 1 /8-18UNEF-2B 40.48 75.5 1 /16-18UNEF-2A 16.3 33.3 49.6 7.5
3
CE05-8A32-17SD-C-BAS 2-18UNS-2B 56.33 93.5 1 /4-18UNS-2A 24.6 44.5 61.9 8.5

Manufacturer: DDK
(D)
A
C
1.6
V screw
G±0.7
B±0.7
øF
(Bushing inner
diameter)

øE
(Inner diameter of cable clamp）
H
(Movable range of one side)

Clamp: [Unit: mm]

Avail.
Total Outer
Shell length dia. screw Fitting screw Applicable
Type length Bushing
size cable
A B C D E F G H V
CE3057-10A-1(D240) 18 23.8 30.1 10.3 41.3 15.9 14.1 31.7 3.2 1-20UNEF-2B CE3420-10-1 φ10.5～φ14.1
3
CE3057-12A-1(D240) 20 23.8 35 10.3 41.3 19 16.0 37.3 4 1 /16-18UNEF-2B CE3420-12-1 φ12.5～φ16.0
3
CE3057-20A-1(D240) 32 27.8 51.6 11.9 43 31.7 23.8 51.6 6.3 1 /4-18UNS-2B CE3420-20-1 φ22.0～φ23.8

A1 - 18
 Appendix 1. Cable and Connector Specifications

Power connector for drive unit TE1

Manufacturer: DDK
<Type> [Unit: mm]
Housing: DK-5200S-04R 44.08

30.5
1 2 3 4

56.08

48.48

10.5

9.1
10.16

A1 - 19
 Appendix 1. Cable and Connector Specifications

(7) Spindle detector connector

Motor end PLG connector / Spindle end PLG connector
Manufacturer: Tyco Electronics AMP
<Type> [Unit: mm]
Plug: AMP-172169-1 23.7 ± 0.4
9.3 16 ± 0.4

4.2

8.4
14
2.8 4.2

2.8
8.4
14

Spindle drive unit Connector for CN2/3

Manufacturer: 3M
<Type> [Unit: mm]
Receptacle: 36210-0100JL 22.7 11
Shell kit: 36310-3200-008

Manufacturer: MOLEX
<Type>
Connector housing: 54593-1011
Plug cover A: 54594-1015
33.9

Plug cover B: 54595-1005

Shell cover: 58935-1000
Shell body: 58934-1000
Cable clamp: 58937-0000

22.4
8

10

A1 - 20
Appendix 2. Compliance to EC Directives

Appendix 2-1 Compliance to EC Directives ...........................................................................................A2-2

Appendix 2-1-1 European EC Directives............................................................................................A2-2
Appendix 2-1-2 Cautions for EC Directive compliance ......................................................................A2-2
 Appendix 2. Compliance to EC Directives

Appendix 2-1 Compliance to EC Directives

Appendix 2-1-1 European EC Directives

In the EU Community, the attachment of a CE mark (CE marking) is mandatory to indicate that the basic
safety conditions of the Machine Directives (issued Jan. 1995), EMC Directives (issued Jan. 1996) and
the Low-voltage Directives (issued Jan. 1997) are satisfied. The machines and devices in which the
servo and spindle drive are assembled are the targets for CE marking.

(1) Compliance to EMC Directives

The servo and spindle drive are components designed to be used in combination with a machine or
device. These are not directly targeted by the Directives, but a CE mark must be attached to
machines and devices in which these components are assembled. The next section "EMC
Installation Guidelines", which explains the unit installation and control panel manufacturing
method, etc., has been prepared to make compliance to the EMC Directives easier.

(2) Compliance to Low-voltage Directives

The MDS-D/DH Series units are targeted for the Low-voltage Directives. An excerpt of the
precautions given in this specification is given below. Please read this section thoroughly before
starting use.
A Self-Declaration Document has been prepared for the EMC Directives and Low-voltage
Directives. Contact Mitsubishi or your dealer when required.

Appendix 2-1-2 Cautions for EC Directive compliance

Use the Low-voltage Directive compatible parts for the servo/spindle drive and servo/spindle motor. In
addition to the items described in this instruction manual, observe the items described below.

(1) Configuration

Drive unit
Electromagnetic
Isolating Circuit breaker
contactor
transformer
AC reactor
CB MC M

Use a type B (AC/DC detectable type) breaker

(2) Environment
Use the units under an Overvoltage Protection Category III and Pollution Class of 2 or less
environment as stipulated in IEC60664.
Install the servo/spindle drive unit in a control panel having a structure (IP54 or higher) in which
water, oil, carbon or dust cannot enter.

Drive unit Motor

During During During During
Storage Storage
operation transportation operation transportation
Ambient -15°C to Ambient
0°C to 55°C -15°C to 70°C 0°C to 40°C -15°C to 70°C -15°C to 70°C
temperature 70°C temperature
90%RH or 90%RH or 80%RH or 90%RH or 90%RH or
Humidity 90%RH or less Humidity
less less less less less
1000m or 1000m or 10000m or 1000m or 1000m or 10000m or
Altitude Altitude
less less less less less less

A2 - 2
 Appendix 2. Compliance to EC Directives

(3) Power supply

[1] If a control power supply of the drive unit is 200V, use the power supply under an Overvoltage
Protection Category II as stipulated in IEC60664. In that case, insert a star-connection
isolation transformer that is compliant with EN or IEC Standard into the primary input power
supply of the drive unit.
[2] Do not omit the circuit breaker and electromagnetic contactor.

(4) Earthing
[1] To prevent electric shocks, always connect the servo/spindle drive unit protective earth (PE)
terminal (terminal with mark) to the protective earth (PE) on the control panel.
[2] When connecting the earthing wire to the protective earth (PE) terminal, do not tighten the
wire terminals together. Always connect one wire to one terminal.

PE terminal PE terminal

(5) Wiring
[1] Always use crimp terminals with insulation tubes so that the connected wire does not contact
the neighboring terminals.
Crimp terminal

Insulation tube

Wire

[2] Do not connect the wires directly.

A2 - 3
 Appendix 2. Compliance to EC Directives

(6) Peripheral devices

[1] Use EN/IEC Standards compliant parts for the no-fuse breaker and contactor.

(7) Miscellaneous
[1] Refer to the next section "EMC Installation Guidelines" for methods on complying with the
EMC Directives.
[2] Ground the facility according to each country's requirements.
[3] The control circuit connector ({) is safely separated from the main circuit ( ).
[4] Inspect the appearance before installing the unit. Carry out a performance inspection of the
final unit, and save the inspection records.

Mitsubishi CNC Power supply unit Spindle drive unit Servo drive unit
Optical communication cable
OPT1,2

CN1A CN1B CN1A CN1B

Optical communication cable
CN4 CN4 CN3 CN4 CN3L
SH21 Tool end
External emergency detector
stop input cable
CN9 CN9 CN9 CN3M
EMG1 Tool end
detector
24VDC CN23A
EMG2 CN20 CN2L

CN2 CN2M

AC
No-fuse reactor Contactor
breaker U MU

R L1 TE1 V Spindle MV Servo

motor motor
S L2 TE1 W PLG MW Motor end
detector
TE1
T L3
L+ L+ TE2 L+
TE2
MC MC1 TE2 L-
Ground L- L- LU
CN23B
Breaker MC2
LV Servo
TE3 L11 motor
L11 L11 TE3
LW Motor end
TE3 L21 detector
L21 L21

: Main circuit

: Control circuit
Ground Ground Ground

A2 - 4
Appendix 3. EMC Installation Guidelines

Appendix 3-1 Introduction ......................................................................................................................A3-2

Appendix 3-2 EMC instructions ..............................................................................................................A3-2
Appendix 3-3 EMC measures ................................................................................................................A3-3
Appendix 3-4 Measures for panel structure ...........................................................................................A3-3
Appendix 3-4-1 Measures for control panel unit.................................................................................A3-3
Appendix 3-4-2 Measures for door .....................................................................................................A3-4
Appendix 3-4-3 Measures for operation board panel .........................................................................A3-4
Appendix 3-4-4 Shielding of the power supply input section..............................................................A3-4
Appendix 3-5 Measures for various cables ............................................................................................A3-5
Appendix 3-5-1 Measures for wiring in panel .....................................................................................A3-5
Appendix 3-5-2 Measures for shield treatment...................................................................................A3-5
Appendix 3-5-3 Servo/spindle motor power cable..............................................................................A3-6
Appendix 3-5-4 Servo/spindle motor feedback cable.........................................................................A3-7
Appendix 3-6 EMC countermeasure parts .............................................................................................A3-8
Appendix 3-6-1 Shield clamp fitting ....................................................................................................A3-8
Appendix 3-6-2 Ferrite core ................................................................................................................A3-9
Appendix 3-6-3 Power line filter........................................................................................................A3-10
Appendix 3-6-4 Surge protector........................................................................................................A3-17
 Appendix 3. EMC Installation Guidelines

Appendix 3-1 Introduction

EMC Instructions became mandatory as of January 1, 1996. The subject products must have a CE mark
attached indicating that the product complies with the Instructions.
As the NC unit is a component designed to control machine tools, it is believed to be out of the direct
EMC Instruction subject. However, we would like to introduce the following measure plans to backup
EMC Instruction compliance of the machine tool as the NC unit is a major component of the machine
tools.

[1] Methods for installation in control/operation panel

[2] Methods of wiring cable outside of panel
[3] Introduction of countermeasure parts

Mitsubishi is carrying out tests to confirm the compliance to the EMC Standards under the environment
described in this manual. However, the level of the noise will differ according to the equipment type and
layout, control panel structure and wiring lead-in, etc. Thus, we ask that the final noise level be
confirmed by the machine manufacturer.
These contents are the same as the EMC INSTALLATION GUIDELINES (BNP-B8582-45).
For measures for CNC, refer to "EMC INSTALLATION GUIDELINES" (BNP-B2230).

Appendix 3-2 EMC instructions

The EMC Instructions regulate mainly the following two withstand levels.
Emission ..... Capacity to prevent output of obstructive noise that adversely affects external
sources.
Immunity ..... Capacity not to malfunction due to obstructive noise from external sources.
The details of each level are classified as Table 1. It is assumed that the Standards and test details
required for a machine are about the same as these.

Table 1
Standards for
Generic
Class Name Details determining test
Standard
and measurement
Radiated noise Electromagnetic noise radiated through the air EN61000-6-4
Emission EN61800-3 EN55011
Conductive noise Electromagnetic noise discharged from power line (Industrial
environment)
Static electricity Example) Withstand level of discharge of
IEC61000-4-2
electrical discharge electricity charged in a human body.
Radiated magnetic Example) Simulation of immunity from digital
IEC61000-4-3
field wireless transmitters
Example) Withstand level of noise from relays or
Burst immunity IEC61000-4-4
connecting/disconnecting live wires EN61000-6-2
Conductive Example) Withstand level of noise entering EN61800-3
Immunity
(Industrial IEC61000-4-6
immunity through power line, etc.
Power supply Example) 50/60Hz power frequency noise environment)
IEC61000-4-8
frequency field
Power dip Example) Power voltage drop withstand level
IEC61000-4-11
(fluctuation)
Example) Withstand level of noise caused by
Surge IEC61000-4-5
lightning

A3 - 2
 Appendix 3. EMC Installation Guidelines

Appendix 3-3 EMC measures

The main items relating to EMC measures include the following.
[1] Store the device in an electrically sealed metal panel.
[2] Earth all conductors that are floating electrically. (Lower the impedance.)
[3] Wire the power line away from the signal wire.
[4] Use shielded wires for the cables wired outside of the panel.
[5] Install a noise filter.

Ensure the following items to suppress noise radiated outside of the panel.
[1] Securely install the devices.
[2] Use shielded wires.
[3] Increase the panel's electrical seal. Reduce the gap and hole size.
Note that the electromagnetic noise radiated in the air is greatly affected by the clearance of the panel
and the quality of the cable shield.

Appendix 3-4 Measures for panel structure

The design of the panel is a very important factor for the EMC measures, so take the following
measures into consideration.
Operation board panel

Door

Control panel

Appendix 3-4-1 Measures for control panel unit

[1] Use metal for all materials configuring the panel.

[2] For the joining of the top plate and side plates, etc., mask the contact surface with paint, and fix with
welding or screws.
In either case, keep the joining clearance to a max. of 20cm for a better effect.
[3] Note that if the plate warps due to the screw fixing, etc., creating a clearance, noise could leak from
that place.
[4] Plate the metal plate surface (with nickel, tin) at the earthing section, such as the earthing plate.
[5] The max. tolerable hole diameter of the openings on the panel surface, such as the ventilation
holes, must be 3cm to 5cm. If the opening exceeds this size, use a measure to cover it. Note that
even when the clearance is less than 3cm to 5cm, noise may still leak if the clearance is long.

Example)
Painting mask

Max. joining
Hole exceeding clearance 20cm
3cm to 5cm Painting mask

∗ Provide electrical conductance

A3 - 3
 Appendix 3. EMC Installation Guidelines

Appendix 3-4-2 Measures for door

[1] Use metal for all materials configuring the door.

[2] Use an EMI gasket or conductive packing for the contact between the door and control panel unit.
[3] The EMI gasket or conductive packing must contact at a uniform and correct position of the metal
surface of the control panel unit.
[4] The surface of the control panel unit contacted with the EMI gasket or conductive packing must
have conductance treatment.
Example) Weld (or screw) a plate that is plated (with nickel, tin).

Control panel
EMI gasket

Packing

Door

Carry out conductance treatment on

sections that the EMI gasket contacts.

[5] As a method other than the above, the control panel unit and door can be connected with a plain
braided wire. In this case, the panel and door should be contacted at as many points as possible.

Appendix 3-4-3 Measures for operation board panel

[1] Always connect the operation board and indicator with an earthing wire.
[2] If the operation board panel has a door, use an EMI gasket or conductive packing between the door
and panel to provide electrical conductance in the same manner as the control panel.
[3] Connect the operation board panel and control panel with a sufficiently thick and short earthing
wire.

Refer to the "EMC INSTALLATION GUIDELINES" BNP-B2230 for the NC for more details.

Appendix 3-4-4 Shielding of the power supply input section

[1] Separate the input power supply section from other parts in the control panel so that the input
power supply cable will not be contaminated by radiated noise.
[2] Do not lead the power line through the panel without passing it through a filter.
Control panel Control panel

Drive unit Drive unit

Radiated
noise
Radiated
noise Shielding
plate

Power Power
Breaker AC input line filter Breaker AC input
line filter

The power supply line noise is eliminated Use a metal plate, etc., for the shielding
by the filter, but cable contains noise again partition. Make sure not to create a
because of the noise radiated in the control clearance.
panel.

A3 - 4
 Appendix 3. EMC Installation Guidelines

Appendix 3-5 Measures for various cables

The various cables act as antennas for the noise and discharge the noise externally. Thus appropriate
treatment is required to avoid the noise.
The wiring between the drive unit and motor act as an extremely powerful noise source, so apply the
following measures.

Appendix 3-5-1 Measures for wiring in panel

[1] If the cables are led unnecessarily in the panel, they will easily pick up the radiated noise. Thus,
keep the wiring length as short as possible.

Noise Noise

Device Device Device Device Device Device

[2] The noise from other devices will enter the cable and be discharged externally, so avoid internal
wiring near the openings.
Control panel Control panel

Device Device Device Device

Noise

[3] Connect the control device earthing terminal and earthing plate with a thick wire. Take care to the
leading of the wire.

Appendix 3-5-2 Measures for shield treatment

Common items
Use of shield clamp fittings is recommended for treating the shields. The fittings are available as options,
so order as required. (Refer to section "Appendix 7-6-1 Shield clamp fitting".)
Clamp the shield at a position within 10cm from the panel lead out port.

1. When leading the cables, including the grounding wire (FG), outside of the
panel, clamp the cables near the panel outlet (recommendation: within
10cm).
2. When using a metal duct or conduit, the cables do not need to be clamped
POINT near the panel outlet.
3. When leading cables not having shields outside the panel, follow the
instructions given for each cable. (Installation of a ferrite core, etc., may be
required.)

A3 - 5
 Appendix 3. EMC Installation Guidelines

Appendix 3-5-3 Servo/spindle motor power cable

Control panel Earth with paint mask

Control panel

Conduit connector
Earth with P or U clip Cannon
Cannon connector To drive unit connector
To drive unit
Servomotor
Servomotor Conduit

Shield cable Cabtyre cable

Using shield cable Using conduit

Power cable for servo motor

Control panel Control panel Earth with paint mask

Conduit connector
Earth with P or U clip Terminal box
Terminal box
To drive unit
To drive unit

Servo motor Conduit

Shield cable
Cabtyre cable

Using shield cable Using conduit

Power cable for spindle motor

[1] Use four wires (3-phase + earthing) for the power cable that are completely shielded and free from
breaks.
[2] Earth the shield on both the control panel side and motor chassis side.
[3] Earth the shield with a metal P clip or U clip.
(A cable clamp fitting can be used depending on the wire size.)
[4] Directly earth the shield. Do not solder the braided shield onto a wire and earth the end of the wire.

Solder

[5] When not using a shield cable for the power cable, use a conventional cabtyre cable. Use a metal
conduit outside the cable.
[6] Earth the power cable on the control panel side at the contact surface of the conduit connector and
control panel. (Mask the side wall of the control panel with paint.)
[7] Follow the treatment shown in the example for the conduit connector to earth the power cable on
the motor side. (Example: Use a clamp fitting, etc.)
Clamp fitting

To earthing

Conduit
Conduit connector Cannon connector

A3 - 6
 Appendix 3. EMC Installation Guidelines

Appendix 3-5-4 Servo/spindle motor feedback cable

Use a shield pair cable for feed back cable of the servo motor to earth on NC side (inside the control
panel.) Mounting a ferrite core directly behind the unit connector is also effective in suppressing noise.

Control panel

Cannon connector
To drive unit

Batch shield pair cable

Feed back cable for servomotor

A3 - 7
 Appendix 3. EMC Installation Guidelines

Appendix 3-6 EMC countermeasure parts

Appendix 3-6-1 Shield clamp fitting

The effect can be enhanced by connecting the cable directly to the earthing plate.
Install an earthing plate near each panel's outlet (within 10cm), and press the cable against the earthing
plate with the clamp fitting.
If the cables are thin, several can be bundled and clamped together.
Securely earth the earthing plate with the frame ground. Install directly on the cabinet or connect with an
earthing wire.
Contact Mitsubishi if the earthing plate and clamp fitting set (AERSBAN- SET) is required.

Peel the cable sheath at the clamp section.

Cable

Earthing plate
Cable
Clamp fitting
(Fitting A, B)

Shield sheath

View of clamp section

• Outline drawing

Earthing plate 2-Ø5 hole

Installation hole

Clamp fitting

Note 1
M4 screw

[Unit: mm]

(Note 1) Screw hole for wiring to earthing plate in cabinet.

(Note 2) The earthing plate thickness is 1.6mm.
A B C Enclosed fittings L
AERSBAN-DSET 100 86 30 Clamp fitting A × 2 Clamp fitting A 70
AERSBAN-ESET 70 56 - Clamp fitting B × 1 Clamp fitting B 45

Shield of spindle detector cable is not connected to FG (earth). Do not earth the cable
! Caution
shield with cable clamp, etc.

A3 - 8
 Appendix 3. EMC Installation Guidelines

Appendix 3-6-2 Ferrite core

A ferrite core is integrated and mounted on the plastic case.

Quick installation is possible without cutting the interface cable or power cable.
This ferrite core is effective against common mode noise, allowing measures against noise to be taken
without affecting the signal quality.

Recommended ferrite core

TDK ZCAT Series
Shape and dimensions
ZCAT type A φD
ZCAT-A type A E

B φC B φC

D
Fig.1 Fig.2

ZCAT-B type ZCAT-C type

A E A

φC
φD
B
φD

φC

Fig.3 Fig.4

[Unit: mm]
Applicable Recommended
Part name Fig. A B C D E Weight
cable outline ferrite core
1
ZCAT3035-1330 (-BK)* 1 39 34 13 30 --- 13 max. 63 ○
ZCAT2035-0930-M (-BK) 2 35 29 13 23.5 22 10 to 13 29
ZCAT2017-0930-M (-BK) 3 21 17 9 20 28.5 9 max. 12
ZCAT2749-0430-M (-BK) 4 49 27 4.5 19.5 --- 4.5 max. 26

*1 A fixing band is enclosed when shipped.

ZCAT-B type: Cabinet fixed type, installation hole ø4.8 to 4.9mm, plate thickness 0.5 to 2mm
ZCAT-C type: Structured so that it cannot be opened easily by hand once closed.

A3 - 9
 Appendix 3. EMC Installation Guidelines

Appendix 3-6-3 Power line filter

(1) Power line filter for 200V

HF3000A-TM Series for 200V
Features
• 3-phase 3-wire type (250V series, 500V series)
• Compliant with noise standards German Official Notice Vfg243, EU Standards EN55011 (Class B)
• Effective for use with IGBT inverter and MOS-FET inverter.
• Easy mounting with terminal block structure, and outstanding reliability.

Application
• Products which must clear noise standards German Official Notice Vfg243 and EU Standards
EN55011 (Class B).
• For input of power converter using advanced high-speed power device such as IGBT MOS-FET.

Specifications (250V series)

HF3005A HF3010A HF3015A HF3020A HF3030A HF3040A HF3050A HF3060A HF3080A HF3100A HF3150A
Part name
-TM -TM -TM -TM -TM -TM -TM -TM -TM -TM -TM
Rated voltage 250VAC
Rated current 5A 10A 15A 20A 30A 40A 50A 60A 80A 100A 150A
Leakage current 1.5mA MAX 250VAC 60Hz

<Example of measuring voltage at noise terminal> ... Measured with IGBT inverter

German Official Notice Vfg243 measurement data EU Standards EN55011 (Class B) measurement data

A3 - 10
 Appendix 3. EMC Installation Guidelines

<Typical characteristics>

40A item

<Circuit diagram>
(250V Series) (500V Series)

<Outline dimensions>

[Unit: mm]
Dimension
Model
A B C
HF3005A-TM
HF3010A-TM
180 170 130
HF3015A-TM
HF3020A-TM
HF3030A-TM
260 155 140
HF3040A-TM
HF3050A-TM 170
290 190
HF3060A-TM 230
HF3080A-TM
405 220
HF3100A-TM 210
HF3150A-TM 570 230

A3 - 11
 Appendix 3. EMC Installation Guidelines

MX13 Series 3-phase high attenuation noise filter for 200V

Features
• Perfect for mounting inside control panel:
New shape with uniform height and depth
dimensions
• Easy mounting and maintenance work:
Terminals are centrally located on the
front
• Complaint with NC servo and AC servo
noise:
High attenuation of 40dB at 150KHz
• Safety Standards:
UL1283, CSA22.2 No.8, EN133200
• Patent and design registration pending

Specifications
Type
MX13030 MX13050 MX13100 MX13150
Item
1 Rated voltage (AC) 3-phase 250VAC (50/60Hz)
2 Rated current (AC) 30A 50A 100A 150A
Test voltage (AC for one minute across
3 2500VAC (100mA) at 25°C, 70% RH
terminal and case)
Insulation resistance (500VDC across
4 100MΩ min. at 25°C, 70% RH
terminal and case)
5 Leakage current (250V, 60Hz) 3.5 mA max. 8 mA max.
6 DC resistance 30 mΩ max. 11 mΩ max. 5.5 mΩ max. 3.5 mΩ max.
7 Temperature rise 30°C max
8 Working ambient temperature –25°C to +85°C
9 Working ambient humidity 30% to 95% RH (non condensing)
10 Storage ambient temperature –40°C to +85°C
11 Storage ambient humidity 10% to 95% RH (non condensing)
12 Weight (typ) 2.8kg 3.9kg 11.5kg 16kg

(Note) This is the value at Ta≤50°C.

Refer to the following output derating for Ta>50°C.

Contact: Densei-lambda Co., Ltd. Telephone: 03-3447-4411 (+81-3-3447-4411)

Fax: 03-3447-7784 (+81-3-3447-7784)
http://www.densei-lambda.com

A3 - 12
 Appendix 3. EMC Installation Guidelines

Example of using MX13 Series

This is a noise filter with the same dimensions as the MDS-D/DH series drive unit depth (200mm) and
height (380mm).
This unit can be laid out easily in the device by arraigning it in a row with the servo unit.
As with the servo unit, the terminals are arranged on the front enabling ideal wire lead-out.
Refer to the following figure for details.

Wire to 3-phase power supply

Noise filter input terminal

200

380 Noise filter (MX13 Series)

Noise filter output terminal

Servo unit

Servo input terminal Wire from noise filter to servo

Example of noise terminal voltage attenuation

Noise terminal voltage
Noise terminal voltage

[dBuV]
[dBuV]

EMI data for independent control panel EMI data for control panel + noise filter
(with six-axis servo unit mounted) (MX13030)

Output derating
Current (%)

Ambient temperature Ta (°C)

A3 - 13
 Appendix 3. EMC Installation Guidelines

Outline dimension drawings

MX13030, MX13050

[Unit: mm]

(Installation hole)

Model MX13030 MX13050

A 66 81
B 45 55
C 10.5 13
D 50 67
E 13 16
F 10 13
G 177 179
H M4 screw M6 screw
I 70 85
J M4 screw M6 screw
K 195 200

MX13100, MX13150

[Unit: mm]
(Installation hole) (Installation hole)

Model MX13100 MX13150

A 130 165
B 90 110
C 20 27.5
D 115 150.5
E 37.5 57.5
F 18 23
G 174 176
H M6 screw M8 screw
I 21 27
J 37.5 56.5
K 115 149.5
L 276 284

A3 - 14
 Appendix 3. EMC Installation Guidelines

(2) 400V power line filter (for MDS-DH Series)

400V 3SUP-HL-ER-6B Series
Features
• 3-phase, 3-wire type high attenuation characteristics
• CE marking compatible
• Rated current value 30A to 200A
• For EN55011 Class A, B measures
• Application: Primary side of inverter power supply,
UPS, CNC machine tool, etc.

Specifications
Type 3SUP-HL30-ER-68 3SUP-HL50-ER-6B 3SUP-HL75-ER-6B 3SUP-HL100-ER-6B 3SUP-HL150-ER-6B
Rated current 30A (50°C) 50A (50°C) 75A (50°C) 100A (50°C) 150A (50°C)
Maximum operation
500Vrms (50°C)
voltage
Operation frequency 50/60Hz
Leakage current 8mA (at 500Vrms 60Hz)
[A leakage current will not flow if there is no phase failure in a power supply grounded at a neutral point.]
Connection terminal M4 M6 M6 M6 M8
Weight 5.2 kg 6.5 kg 12.0 kg 12.5 kg 23.5 kg
Nominal inductance 6 × 1.4mH 6 × 1.4mH 6 × 1.0mH 6 × 0.56mH 6 × 0.6mH
Safety standards EN133200 (compatible)

These specifications are for reference. Contact the filter manufacturer for detailed data.
Other matters
– If the leakage current is limited, use 3SUP-HL -ER-6B-4 (leakage current 4mA product).
– When using with the peripheral device and a higher attenuation characteristics are required,
use the 3SUP-HL -ER-6.
Contact : Okaya Electric Industries Co., Ltd. Telephone : 03-3424-8120 (+81-3-3424-2110)
http://www.okayaelec.co.jp

A+1.5/-1.5
B
I C+1.5/-1.5
2-ΦJ D 2-ΦK
L
L

Label (H) E+4.0/-4.0 F

(G)

A B C D E F G H I J K L
3SUP-HL30-ER-6B 246 230 215 200 100 85 13 18 140 4.5 × 7 4.5 M4
3SUP-HL50-ER-6B 286 270 255 240 120 90 13 18 150 5.5 × 7 5.5 M6
3SUP-HL75-ER-6B 396 370 350 330 170 140 18 23 155 6.5 × 8 6.5 M6
3SUP-HL100-ER-6B 396 370 350 330 170 140 18 23 155 6.5 × 8 6.5 M6
3SUP-HL150-ER-6B 484 440 420 400 200 170 30 25 200 6.5 × 8 6.5 M8
3SUP-HL200-ER-6B 484 440 420 400 200 170 30 25 200 6.5 × 8 6.5 M8

[ Unit: mm ]
General tolerance: ± 1.5mm

A3 - 15
 Appendix 3. EMC Installation Guidelines

400V HF3000C-TMA Series

Features
• 3-phase, 3-wire type high attenuation characteristics

Specifications
Type HF3030C-TMA HF3050C-TMA HF3060C-TMA HF3080C-TMA HF3100C-TMA HF3150C-TMA HF3200C-TMA
Rated current 30A 50A 60A 80A 100A 150A 200A
Rated voltage 460VAC (50°C)
Operation frequency 50/60Hz
Leakage current 5.3mA (at 460Vrms 60Hz)
[A leakage current will not flow if there is no phase failure in a power supply grounded at a neutral point.]
Overload current Rated current × 150% for 1 minute
Connection terminal M5/M4 (E) M6/M4 (E) M6/M4 (E) M8/M6 (E) M8/M6 (E) M10/M8 (E) M10/M8 (E)
Weight 3.2 kg 6.7 kg 10.0 kg 13.0 kg 14.5 kg 23.0 kg 23.5 kg
Safety standards EN133200 (compatible)
These specifications are for reference. Contact the filter manufacturer for detailed data.
Contact : Soshin Electric Co., Ltd. Telephone : 03-3775-9112 (+81-3-3775-9112) http://www.soshin.co.jp

Outline dimensions

30A to 60A 80A, 100A

150A, 200A

A B C D E F G H J K L M N
HF3030C-TMA 260 210 85 155 140 125 44 140 70 R3.25 / L8 M5 M4 ---
HF3050C-TMA 290 240 100 190 175 160 44 170 100 R3.25 / L8 M6 M4 ---
HF3060C-TMA 290 240 100 190 175 160 44 230 160 R3.25 / L8 M6 M4 ---
HF3080C-TMA 405 350 100 220 200 180 56 210 135 R4.25 / L12 M8 M6 ---
HF3100C-TMA 405 350 100 220 200 180 56 210 135 R4.25 / L12 M8 M6 ---
HF3150C-TMA 570 550 530 230 190 100 15 210 140 100 M10 M8 33
HF3200C-TMA 570 550 530 230 190 100 15 210 140 100 M10 M8 33

[ Unit: mm ]
General tolerance : ±1.5mm

A3 - 16
 Appendix 3. EMC Installation Guidelines

Appendix 3-6-4 Surge protector

Insert a surge protector in the power input section to prevent damage to the control panel or power
supply unit, etc. caused by the surge (lightning or sparks, etc.) applied on the AC power line.
Use a surge protector that satisfies the following electrical specifications.

(1) Surge protector for 200V

200V R･A･V BYZ Series
Circuit Maximum Surge Surge
Part name voltage tolerable Clamp withstand withstand Electrostatic Service
50/60Hz circuit voltage voltage level voltage capacity temperature
8/20 µS 1.2/50 µS
RAV-781BYZ-2 3AC 250V 300V 783V±10% 2500A 20kV 75pF -20 to 70°C

(Note) Refer to the manufacturer's catalog for details on the surge protector's characteristics and specifications.

Outline dimension drawings Circuit diagram

11±1
11±1

(1) Black (2) Black (3) Black

5.5±1
5.5±1

28.5±1
28.5±1

UL-1015 AWG16
30
200±0300
200±

4.5±0.5
4.5±0.5
28±1
28±1

41±1
41±1

[Unit: mm]

200V R･A･V BXZ Series

Circuit Maximum Surge Surge
Part name voltage tolerable Clamp withstand withstand Electrostatic Service
50/60Hz circuit voltage voltage level voltage capacity temperature
8/20 µS 1.2/50 µS
RAV-781BXZ-4 3AC 250V 300V 1700V±10% 2500A 2kV 75pF -20 to 70°C

(Note) Refer to the manufacturer's catalog for details on the surge protector's characteristics and specifications.
Outline dimension drawings Circuit diagram
11±1
11±1

(1) Black (2) Black (3) Black U

Green
5.5±1
5.5±1

28.5±1
28.5±1

UL-1015 AWG16
30
200±30
200±00

4.5±0.5
4.5±0.5
28±1
28±1

41±1
41±1
[Unit: mm]

A3 - 17
 Appendix 3. EMC Installation Guidelines

(2) Surge protector for 400V (for MDS-DH series)

R•A•V BYZ series for 400V
Maximum Surge Surge
Circuit voltage tolerable Clamp voltage withstand withstand Electrostatic Service
Part name
50/60Hz circuit level voltage capacity temperature
voltage 8/20µs 1.2/50µs
RAV-152BYZ-2A 3AC 430V 500V 1476V±10% 2500A 20kV 35pF -20 to 70°C

(Note) Refer to the manufacturer's catalog for details on the surge protector's characteristics and specifications, etc.
Outline dimension drawings Circuit diagram
11 1

(1)Black (2)Black (3)Black

5.5 1

28.5 1

UL-1015 AWG16
30
0
200

4.5 0.5
28 1

41 1
unit: mm

RCM Seires for 400V

AC discharge Surge Surge withstand
Part name Rated voltage start voltage withstand level voltage
(V) ±20% 8/20µs (A) 1.2/50µs (V)
RCM-781BUZ-4 3AC 250/430V AC700V 2500A 2kV
RCM-801BUZ-4 3AC 290/500V AC800V 2500A 2.32kV

(Note) Refer to the manufacturer's catalog for details on the surge protector's characteristics and specifications, etc.
Outline dimension drawings Circuit diagram
11 1

(1)Black (2)Black (3)Black

U Green
5.5 1

28.5 1

For neutral-point grounding

UL-1015 AWG16
30
0
200

4.5 0.5
28 1

41 1

The voltage between the 3 phases is

unit: mm 500Vrms or less
Contact : Okaya Electric Industries Co., Ltd. Telephone : 03-3424-8120 (+81-3-3424-2110) http://www.okayaelec.co.jp

A3 - 18
 Appendix 3. EMC Installation Guidelines

(3) Example of surge protector installation

An example of installing the surge protector in the machine control panel is shown below.
A short-circuit fault will occur in the surge protector if a surge exceeding the tolerance is applied.
Thus, install a circuit protection breaker in the stage before the surge protector. Note that almost no
current flows to the surge protector during normal use, so a breaker installed as the circuit
protection for another device can be used for the surge protector.

Transformer Breaker

NC unit

Other device
(panel power
supply, etc.)
Contactor
Control panel
Panel earth (relay panel,
Factory leakage MC etc.)
power breaker Breaker AC reactor Power supply
unit
Input and
power drive unit

Other device
(panel power
supply, etc.)

Breaker

(1) Surge protector

B (2) Surge protector

Grounding
Grounding plate

Installing the surge absorber

1. The wires from the surge protector should be connected without extensions.
2. If the surge protector cannot be installed just with the enclosed wires, keep
the wiring length of A and B to 2m or less. If the wires are long, the surge
CAUTION protector's performance may drop and inhibit protection of the devices in the
panel.
3. Surge protector to be selected varies depending on input power voltage.

A3 - 19
Appendix 4. Higher Harmonic Suppression Measure
Guidelines

Appendix 4-1 Higher harmonic suppression measure guidelines ..........................................................A4-2

Appendix 4-1-1 Calculating the equivalent capacity of the higher harmonic generator.........................A4-3
 Appendix 4. Higher Harmonic Suppression Measure Guidelines

Appendix 4-1 Higher harmonic suppression measure guidelines

These guidelines apply to users for which the 6-pulse equivalent capacity total of the installed higher
harmonic generator exceeds the reference in the following table. (Note that household appliances and
general-purpose products having a rated current of 20A/phase or less connected to a 300V or less
commercial power supply are excluded from the generators.)
Use the following flow chart to confirm whether the total exceeds the reference.

New installation, expansion or upgrading of facility

Calculation of total equivalent capacity

Reference capacity or less

Total equivalent capacity
Step 1
Reference capacity exceeded

Calculation of higher harmonic current flow

Upper limit value exceeded

Higher harmonic current
Step 2
Higher harmonic
suppression measures
Upper limit required

Higher harmonic suppression measures not required

Higher Harmonic Suppression Guidelines were set in September 1994 by the Ministry of International
Trade and Industry's Agency of Natural Resources and Energy.
• Higher Harmonic Suppression Measure Guidelines for Household Appliances and General-purpose
Products
• Higher Harmonic Suppression Measure Guidelines for Consumers Receiving High Voltage or
Special High Voltage Power

A4 - 2
 Appendix 4. Higher Harmonic Suppression Measure Guidelines

Appendix 4-1-1 Calculating the equivalent capacity of the higher harmonic

generator
As a principle, the higher harmonic suppression measure guidelines must be followed by the customer.

(1) Calculating the total equivalent capacity (Step 1)

Calculate the total equivalent capacity with the following expression.
Total equivalent circuit: Po = Σ • Ki • Pi
Ki : Conversion coefficient (Refer to following table)
Pi : Rated input capacity of each device

(Table 1) Rated capacity of each unit

Rated input Rated input Rated input

Unit type
capacity Unit type capacity Unit type capacity
MDS-
Pi [KVA] Pi [KVA] Pi [KVA]
D-SP-40 DH-SP-20 4.61 D-V1-20 DH-V1-10 1.0 D-V2-2020 DH-V2-1010 2.0
D-SP-80 DH-SP-40 9.07 D-V1-40 DH-V1-20 1.6 D-V2-4020 DH-V2-2010 2.6
D-SP-160 DH-SP-80 13.1 D-V1-80 DH-V1-40 2.7 D-V2-4040 DH-V2-2020 3.2
D-SP-200 DH-SP-100 21.8 D-V1-160 DH-V1-80 5.9 D-V2-8040 DH-V2-4020 4.3
D-SP-320 DH-SP-160 34.7 D-V1-160W DH-V1-80W 9.0 D-V2-8080 DH-V2-4040 5.4
D-SP-400 DH-SP-200 42.8 D-V1-320 DH-V1-160 11.5 D-V2-16080 DH-V2-8040 8.6
D-SP-640 DH-SP-320 63.7 D-V2-160160 DH-V2-8080 11.8
DH-SP-480 86.8
(Caution) The rated capacity Pi above, is the value used to calculate whether the product corresponds to the higher
harmonic guidelines. Thus, the value will differ from the actual power facility's capacity.
(The power supply unit is not included.)

(Table 2) Circuit class and conversion coefficient for each unit

Conversion
Circuit
Name Model Circuit type coefficient
class Ki
3-phase bridge (with smoothing capacitor)
Servo drive unit MDS-D/DH-V1/V2 Series 3 Note 1 K32=1.8
With AC reactor
3-phase bridge (with smoothing capacitor)
Spindle drive unit MDS-D/DH-SP Series 3 Note 1 K32=1.8
With AC reactor
(Note 1) This applies when an AC reactor is installed on the power supply unit.

(Table 3) Limit values for total equivalent capacity

Incoming voltage Total of 6-pulse equivalent capacity

6.6kV 50kVA
22/33kV 300kVA
66kV 2,000kVA

If the total equivalent capacity Po exceeds the limit value given in (Table 3), proceed to "1.2 Calculating
the higher harmonic current flow" below.
Measures are not required if the value is not exceeded.

A4 - 3
 Appendix 4. Higher Harmonic Suppression Measure Guidelines

(2) Calculating the higher harmonic current flow (Step 2)

To calculate the higher harmonic current flow, calculate the rated current for the incoming power
voltage conversion.
Rated current for incoming power voltage conversion (mA) = a • Pi

(Table 4)
Incoming power voltage
conversion coefficient a (Table 5) Upper limit of higher harmonic current flow (mA/kW)

Incoming Coefficient Conversion 5th- 7th- 11th- 13th- 17th- 19th- 23rd- 25th-
power voltage a coefficient order order order order order order order order
6.6kV 87.5 6.6kV 3.5 2.5 1.6 1.3 1.0 0.9 0.76 0.70
22 kV 26.2 22kV 1.8 1.3 0.82 0.69 0.53 0.47 0.39 0.36
33 kV 17.5 33kV 1.2 0.86 0.55 0.46 0.35 0.32 0.26 0.24
66 kV 8.75 66kV 0.59 0.42 0.27 0.23 0.17 0.16 0.13 0.12
77 kV 7.5 77kV 0.50 0.36 0.23 0.19 0.15 0.13 0.11 0.10

Obtain the upper limit of the higher harmonic current flow (judgment value) for each order.
(The contracted electricity must be known for this.)
Upper limit of higher harmonic current flow (mA) = Contracted electricity, flow upper limit value
Flow upper limit value : Insert a value from Table 5 according to the higher harmonic order to
be calculated.

Obtain the higher harmonic current flow for each order using the following expression.
Higher harmonic current flow (mA) = (a • Pi), Device's maximum operation rate, target order
Device's maximum operation rate : The user must set the operation rate.
Target order : Insert a value from Table 6 according to the higher
harmonic order to be calculated.

(Table 6) Higher harmonic current generation rate %

Conversion 5th- 7th- 11th- 13th- 17th- 19th- 23rd- 25th-

coefficient order order order order order order order order
K32 = 1.8 38.0 14.5 7.4 3.4 3.2 1.9 1.7 1.3
K31 = 3.4 65.0 41.0 8.5 7.7 4.3 3.1 2.6 1.8
Values when basic wave current is 100%.

Check whether the calculated results exceed the limit value.

If the limit value for the higher harmonic current flow is exceeded, consider the higher harmonic
measures shown below.
Examples of higher harmonic measures
Item Details

Power-factor improving Higher harmonics are suppressed by adding a leading

capacitor capacitor for improving the power factor.
A reactor and capacitor are combined to reduce the
Installation of AC line filter
impedance for specific frequencies.

A4 - 4
 <Form 1>
Higher harmonic generating device's higher harmonic current flow calculation form (Part 1)
Date of application
Incoming Application No.
User Contracted
Industry power kV kW
name electricity Date of acceptance
voltage

Step 1: Details of higher harmonic generating device Step 2: Calculation of higher harmonic current flow rate
Higher harmonic generating Rated current Higher harmonic current flow per order
device Circuit 6-pulse 6-pulse value for Device's
Rated Total
Qty. of type clas- calculation equivalent incoming maximum
capacity capacity
No. devices sification coefficient capacity power voltage operation 5th- 7th- 11th- 13th- 17th- 19th- 23rd- 25th-
Device name Maker Type (kVA) Pi (kVA)
No. Ki [Ki×Pi](kVA) conversion rate (%) order order order order order order order order
[a×Pi] (mA)
1
2
3
4
5
6
7
8

A4 - 5
9
(3) Higher harmonic current flow calculation form

10
11
12
13
14
15

<Instructions for completing form> 6-pulse equivalent capacity total P. Total

Step 1 Necessity of measures
† Indicate the details of the higher harmonic generating device. Higher harmonic current flow upper limit value (Higher harmonic current flow upper
A higher harmonic current flow calculation form is shown below for reference.

Refer to the reference and indicate the circuit type classification No., etc. limit per contracted kW x contracted electricity)
Appendix 4. Higher Harmonic Suppression Measure Guidelines

† If the device's circuit type classification No. is 10, complete the application shown in
5th- 7th- 11th- 13th- 17th- 19th- 23rd- 25th-
<Format 3>. Order order order order order order order order order
† If P, > 50kVA (6kV incoming power), 300kVA (22, 33kV incoming power), 2000kVA
Current upper limit value (mA)
(66kV or higher incoming power), proceed to Step 2. (Step 2 does not need to be
completed in all other cases.)
Step 2
† If the current flow > current flow upper limit value at each order, then
{ If there is a facility that lowers the higher harmonics in the factory, or when
suppression measures are implemented, proceed to Calculation Form (Part 2)
{ In all other cases, separate measures must be taken
 Revision History

Date of revision Manual No. Revision details

March. 2005 IB(NA)1500025-A First edition created.

Notice

Every effort has been made to keep up with software and hardware revisions in the
contents described in this manual. However, please understand that in some
unavoidable cases simultaneous revision is not possible.
Please contact your Mitsubishi Electric dealer with any questions or comments
regarding the use of this product.

Duplication Prohibited

This manual may not be reproduced in any form, in part or in whole, without written
permission from Mitsubishi Electric Corporation.

© 2005 Mitsubishi Electric Corporation

ALL RIGHTS RESERVED
MITSUBISHI CNC

MITSUBISHI ELECTRIC CORPORATION

HEAD OFFICE : MITSUBISHI DENKI BLDG., 2-2-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

MODEL MDS-D/DH Series

MODEL
CODE 008-360

Manual No. IB-1500025 (ENG)

Specifications subject to change without notice.
IB(NA)1500025(ENG)-A(0503)MEE Printed in Japan on recycled paper.