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Maintenance Manual for MDS-A, MDS-B & MDS-C1 AC Servo Amplifier & Spindle Controller Publication # CMDSMA1100E
CAUTION

(Mitsubishi BNP-B2046C)

3/2001

This Manual is published to assist experienced personnel on the operation, maintenance and/or programming of Mazak machine tools. All Mazak machine tools are engineered with a number of safety devices to protect personnel and equipment from injury or damage. Operators should not, however, rely solely upon these safety devices, but should operate the machine only after fully understanding what special precautions to take by reading the following documentation thoroughly. Do not attempt to operate or perform maintenance / repair on the machine without a thorough understanding of the actions about to be taken. If any question exists, contact the nearest Mazak service center for assistance. Certain covers, doors or safety guards may be open or removed to more clearly show machine components. These items must be in place before operating the machine. Failure to comply with this instruction may result in serious personal injury or damage to the machine tool. This manual was considered complete and accurate at the time of publication, however, due to our desire to constantly improve the quality and specification of all Mazak products, it is subject to change or modification.

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Notes:

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SAFETY PRECAUTIONS
The machine is provided with a number of safety devices to protect personnel and equipment from injury and damage. Operators should not, however, rely solely upon these safety devices, but should operate the machine only after fully understanding what special precautions to take by reading the following documentation thoroughly. BASIC OPERATING PRACTICES DANGER: 1) Some control panels, transformers, motors, junction boxes and other parts have high voltage terminals. These should not be touched or a severe electric shock may be sustained. 2) Do not touch any switches with wet hands. This too, can produce an electric shock. WARNING: 1) The emergency stop pushbutton switch location should be well known, so that it can be operated at any time without having to look for it. 2) Before replacing a fuse, turn off the main incoming power switch to the machine. 3) Provide sufficient working space to avoid hazardous falls. 4) Water or oil can make floors slippery and hazardous. All floors should be clean and dry to prevent accidents 5) Do not operated any switch without a thorough understanding of the actions about to be taken. 6) Avoid accidental operation of switches. 7) Work benches near the machine must be strong enough to hold materials placed on them to prevent accidents. Articles should be prevented from slipping off the bench surface. 8) If a job is to be done by two or more persons, coordinating signals should be given at each step of the operation. The next step should not be taken unless a signal is given and acknowledged. CAUTION: 1) In the event of power failure, turn off the main circuit breaker immediately. 2) Use the recommended hydraulic oils, lubricants and grease or acceptable equivalents. 3) Replacement fuses should have the proper current ratings. 4) Protect the NC unit, operating panel, electric control panel, etc. from shocks, since this could cause a failure or malfunction. 5) Do not change parameters or electrical settings. If changes are unavoidable, record the values prior to the change so that they can be returned to their original settings, if necessary. 6) Do not deface, scratch or remove any caution plate. Should it become illegible or missing, order another caution plate from the supplier, specifying the part number shown at the lower right corner of the plate. BEFORE POWERING UP DANGER: Cables, cords or electric wires whose insulation is damaged can produce current leaks and electric shocks. Before using, check their condition. WARNING: 1) Be sure the instruction manual and the programming manual are fully understood before operating the machine. Every function and operating procedure should be completely clear. 2) Use approved oil resistant safety shoes, safety goggles with side covers, safe clothes, and other safety protection required. 3) Close all NC unit, operating panel, electric control panel doors and covers. CAUTION: 1) The power cable from the factory feeder switch to the machine main circuit breaker should have a sufficient sectional area to handle the electric power used. 2) Cables which must be laid on the floor must be protected from hot chips, by using rigid or other approved conduit, so that short-circuits will not occur. 3) Before first time operation of the machine after unpacking it or from being idle for a long period of time (several days or more), each sliding part must be sufficiently lubricated. To do so, push and release the pump button several times until the oil seeps out on the sliding parts. The pump button has a return spring, so do not force it to return. 4) Oil reservoirs should be filled to indicated levels. Check and add oil, if needed. 5) For lubrication points, oil specification and appropriate levels, see the various instruction plates. 6) Switches and levers should operate smoothly. Check that they do. 7) When powering the machine on, turn on the switches in the following order: first the factory feeder switch, then the machine main circuit breaker, and then the control power on switch located on the operating panel. 8) Check the coolant level, and add coolant, if needed.

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AFTER CONTROL POWER IS TURNED ON CAUTION: When the control power ON switch on the operating panel is on, the "READY" lamp on the operating panel should also be on (check to see that it is). ROUTINE INSPECTIONS WARNING: When checking belt tensions, do not get your fingers caught between the belt and pulley. CAUTION: 1) Check pressure gages for proper readings. 2) Check motors, gear boxes and other parts for abnormal noises. 3) Check the motor lubrication, and sliding parts for evidence of proper lubrication. 4) Check safety covers and safety devices for proper operation. 5) Check belt tensions. Replace any set of belts that have become stretched with a fresh matching set. WARM UP CAUTION: 1) Warm up the machine, especially the spindle and feed shaft, by running the machine for 10 to 20 minutes at about one-half or one-third the maximum speed in the automatic operation mode. 2) The automatic operation program should cause each machine component to operate. At the same time, check their operations. 3) Be particularly careful to warm up the spindle which can turn above 4000 rpm. If the machine is used for actual machining immediately after being started up following a long idle period, the sliding parts may be worn due to the lack of oil. Also, thermal expansion of the machine components can jeopardize machining accuracy. To prevent this condition, always make sure that the machine is warmed up. PREPARATIONS WARNING: 1) Tooling should conform to the machine specifications, dimensions and types. 2) Replace all seriously worn tools with new ones to prevent injuries. 3) The work area should be adequately lighted to facilitate safety checks.

4) Tools and other items around the machine or equipment should be stored to ensure good footing and clear aisles. 5) Do not place tools or any other items on the headstock, turret, covers and similar places (For T/M). CAUTION: 1) Tool lengths should be within specified tolerances to prevent interference. 2) After installing a tool, make a trial run. OPERATION WARNING: 1) Do not work with long hair that can be caught by the machine. Tie it back, out of the way. 2) Do not operate switches with gloves on. This could cause mis-operation. 3) Whenever a heavy workpiece must be moved, if there is any risk involved, two or more people should work together. 4) Only trained, qualified workers should operate forklift trucks, cranes or similar equipment and apply slings. 5) Whenever operating a forklift truck, crane or similar equipment, special care should be taken to prevent collisions and damage to the surroundings. 6) Wire ropes or slings should be strong enough to handle the loads to be lifted and should conform to the mandatory provisions. 7) Grip workpieces securely. 8) Stop the machine before adjusting the coolant nozzle at the tip. 9) Never touch a turning workpiece in the spindle with bare hands, or in any other way. 10) To remove a workpiece from the machine other than by a pallet changer, stop the tool and provide plenty of distance between the workpiece and the tool (for M/C). 11) While a workpiece or tool is turning, do not wipe it off or remove chips with a cloth or by hand. Always stop the machine first and then use a brush and a sweeper. 12) Do not operate the machine with the chuck and front safety covers removed (For T/M). 13) Use a brush to remove chips from the tool tip, do not use bare hands . 14) Stop the machine whenever installing or removing a tool. 15) Whenever machining magnesium alloy parts, wear a protective mask.

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CAUTION: 1) During automatic operation, never open the machine door. Machines equipped with the door interlock will set the program to single step. 2) When performing heavy-duty machining, carefully prevent chips from being accumulated since hot chips from certain materials can cause a fire. TO INTERRUPT MACHINING WARNING: When leaving the machine temporarily after completing a job, turn off the power switch on the operation panel, and also the main circuit breaker. COMPLETING A JOB CAUTION: 1) Always clean the machine or equipment. Remove and dispose of chips and clean cover windows, etc. 2) Make sure the machine has stopped running, before cleaning. 3) Return each machine component to its initial condition. 4) Check the wipers for breakage. Replace broken wipers. 5) Check the coolant, hydraulic oils and lubricants for contamination. Change them if they are seriously contaminated. 6) Check the coolant, hydraulic oil and lubricant levels. Add if necessary. 7) Clean the oil pan filter. 8) Before leaving the machine at the end of the shift, turn off the power switch on the operating panel, machine main circuit breaker and factory feeder switch in that order. SAFETY DEVICES 1) Front cover, rear cover and coolant cover. 2) Chuck barrier, tail barrier and tool barrier (NC software). 3) Stored stroke limit (NC software). 4) Emergency stop pushbutton switch. MAINTENANCE OPERATION PREPARATIONS 1) Do not proceed to do any maintenance operation unless instructed to do so by the foreman. 2) Replacement parts, consumables (packing, oil seals, O rings, bearing, oil and grease, etc.) Should be arranged in advance. 3) Prepare preventive maintenance and record maintenance programs.

CAUTION: 1) Thoroughly read and understand the safety precautions in the instruction manual. 2) Thoroughly read the whole maintenance manual and fully understand the principles, construction and precautions involved. MAINTENANCE OPERATION DANGER: 1) Those not engaged in the maintenance work should not operate the main circuit breaker or the control power "ON" switch on the operating panel. For this purpose, "Do not Touch the Switch, Maintenance Operation in Progress!" or similar warning should be indicated on such switches and at any other appropriate locations. Such indication should be secured by a semi-permanent means in the reading direction. 2) With the machine turned on, any maintenance operation can be dangerous. In principle, the main circuit breaker should be turned off throughout the maintenance operation. WARNING: 1) The electrical maintenance should be done by a qualified person or by others competent to do the job. Keep close contact with the responsible person. Do not proceed alone. 2) Overtravel limit and proximity switches and interlock mechanisms including functional parts should not be removed or modified. 3) When working at a height, use steps or ladders which are maintained and controlled daily for safety. 4) Fuses, cables, etc. made by qualified manufacturers should be employed. BEFORE OPERATION & MAINTENANCE BEGINS WARNING: 1) Arrange things in order around the section to receive the maintenance, including working environments. Wipe water and oil off parts and provide safe working environments. 2) All parts and waste oils should be removed by the operator and placed far enough away from the machine to be safe. CAUTION: 1) The maintenance person should check that the machine operates safely. 2) Maintenance and inspection data should be recorded and kept for reference.

000X717-KY 11/98

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WARNING

ALWAYS TURN THE MAIN CIRCUIT BREAKER TO THE OFF POSITION & USE AN APPROVED LOCKOUT DEVICE WHEN COMPLETING MAINTENANCE OR REPAIRS. THE LOCKOUT PROCEDURE THAT FOLLOWS IS INTENDED TO SAFEGUARD PERSONNEL & EQUIPMENT DURING MAINTENANCE OPERATIONS, AND, REPRESENTS THE MINIMUM REQUIREMENTS. ANY ACTION SHOULD BE PRECEDED BY A HAZARD ANALYSIS TO DETERMINE ANY ADDITIONAL SAFETY PRECAUTIONS THAT MAY BE NECESSARY TO ENSURE THE SAFETY OF PERSONNEL AND EQUIPMENT.

NOTE: USE OF THE FOLLOWING LOCKOUT PROCEDURE IS MANDATORY WHEN COMPLETING

MAINTENANCE OR REPAIRS.

LOCKOUT PROCEDURE
1) 2) THE LOCKOUT PROCESS MUST BE PERFORMED BY AUTHORIZED PERSONNEL ONLY. INFORM ALL EFFECTED PERSONNEL OF YOUR INTENT TO LOCKOUT AND SERVICE THE SPECIFIED MACHINE. 3) 4) SHUT OFF MACHINE POWER USING NORMAL SHUT DOWN PROCEDURES. TURN OFF THE MACHINE AND INDIVIDUAL BUILDING CIRCUIT BREAKERS. MAKE SURE ALL STORED ELECTRICAL ENERGY IS RELIEVED. (EG: SPINDLE & AXIS SERVO CONTROLLERS) 5) CONNECT THE LOCKOUT DEVICE AS SHOWN IN FIGURE 1, AND ATTACH THE APPROPRIATE TAG AT THE MACHINE CIRCUIT BREAKER. THE TAG MUST IDENTIFY THE PERSON RESPONSIBLE FOR THE LOCKOUT. THIS WILL ENSURE THAT POWER CANNOT BE RESTORED BY ANYONE ELSE. 6) TEST THE MACHINE TO VERIFY THAT MACHINE SYSTEMS DO NOT OPERATE IN ANY WAY. ONCE TESTING IS COMPLETE, MAKE SURE ALL SWITCHES ARE IN THE OFF POSITION. CONFIRM THAT THE LOCKOUT DEVICES REMAIN PROPERLY INSTALLED. 7) 8) 9) COMPLETE THE REQUIRED MAINTENANCE OPERATIONS. MAKE SURE ALL PERSONNEL ARE CLEAR OF THE MACHINE. REMOVE THE LOCKOUT DEVICE. MAKE SURE ALL PERSONNEL ARE AT A SAFE LOCATION BEFORE RESTORING MACHINE POWER.

PADLOCK FIGURE

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INSTALLATION PRECAUTIONS
The following subjects outline the items that directly affect the machine installation and startup. To ensure an efficient and timely installation, please follow these recommendations before calling to schedule a service engineer. ENVIRONMENTAL REQUIREMENTS Avoid the following places for installing the machine: 1) Avoid exposure to direct sunlight and/or near a heat source, etc. Ambient temperature during operation: 0 thru 45C (32F to 113F). 2) Avoid areas where the humidity fluctuates greatly and/or if high humidity is present; normally 75% and below in relative humidity. A higher humidity deteriorates insulation and might accelerate the deterioration of parts. 3) Avoid areas that are especially dusty and/or where acid fumes, corrosive gases and salt are present. 4) Avoid areas of high vibration. 5) Avoid soft or weak ground (minimum load bearing capacity of 1025 lbs./ft2) FOUNDATION REQUIREMENTS For high machining accuracy, the foundation must be firm and rigid. This is typically accomplished by securely fastening the machine to the foundation with anchor bolts. In addition, the depth of concrete should be as deep as possible (minimum 6 - 8 inches). Note the following: 1) There can be no cracks in the foundation concrete or surrounding area. 2) Vibration proofing material (such as asphalt) should be put all around the concrete pad. 3) Form a cone in the foundation for J-bolt anchors, or use expansion anchors. 4) With the foundation anchor bolt holes open pour the primary concrete at a minimum thickness of 6 - 8 inches. Typically, the concrete must have a minimum compression rating of 2500 lbs. @ 250 lbs. compression and strengthened with reinforcing rods. When the concrete has cured, rough level the machine, and install the J-bolts, leveling blocks, etc., and pour grout into foundation bolt holes. 5) Mix an anti-shrinkage agent such as Denka CSA with concrete, or use Embeco grout to fill the foundation bolt holes. 6) In pouring grout, fasten the leveling block base plates with the collar retaining screws to prevent the base plates from dropping. When the grout has completely hardened, level the machine properly, and tighten M24 nuts to secure the machine to the foundation.

Note: The machine must be anchored to the foundation with J-bolts, expansion bolts or other suitable method. The machine accuracy and alignment specifications quoted by Mazak can usually be obtained when the minimum foundation requirements are met. However, production of close tolerance parts requires the use of an appropriate certified foundation. Foundations that do not meet certified specifications may require more frequent machine re-leveling and re-alignment, which can not be provided under terms of warranty. If any of these conditions cannot be met, contact the nearest Mazak service office immediately.

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WIRING 1) Use only electrical conductors with performance ratings equivalent or superior. 2) Do not connect any power cables for devices which can cause line noise to the power distribution panel, such as arc welders and high frequency machinery. 3) Arrange for a qualified electrician to connect the power lines. 4) Incoming supply voltage should not deviate more than 10% of specified supply voltage. 5) Source frequency should be2 Hz of nominal frequency.

Desirable Independent Grounding:

NC Machine

Earth resistance: Less than 100 ohms

Common Grounds:

[ CAUTION ]

Resistance to ground = 100 the number of devices connected to the grounding (ohms) Note: Never ground equipment as shown below:

VERIFY THE ACTUAL MACHINE ELECTRICAL POWER REQUIREMENT AND THE MAIN TRANSFORMER RATING (IF APPLICABLE), AS WELL AS THE LOCAL ELECTRICAL CODE BEFORE SIZING AND INSTALLING THE INCOMING POWER WIRING. PLEASE SEE THE ADDITIONAL CAUTIONS ON THE FOLLOWING PAGE.

GROUNDING 1) An isolated earth ground with a resistance to ground of less than 100 ohms is required. Typically, a 5/8 copper rod, 8 feet long, and no more than 5 feet from the machine, is sufficient. Building grounds or multiple machines grounded to the same ground rod, are not acceptable. 2) The wire size should be greater than AWG (American Wire Gauge) No. 5 and SWG (British Legal Standard Wire Gauge) No. 6.

000X713-KY 11/98

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CAUTION

A step-down transformer is optional on some machine models. Be certain to verify the transformer Kva rating (where applicable), as well as local electrical code requirements before sizing and installing the incoming power wiring. Machines not equipped with a main transformer are wired for 230 VAC, 3 phase. The end user must supply a step-down transformer where factory electrical power varies more than 10% of the 230 VAC rating.

NOTE:
Step-down or voltage regulating transformers are external (peripheral) to the machine tool and are considered the primary input line (source) for the machine. Local electrical code or practice may require a circuit breaker or other switching device for the isolation of electrical power when this type of transformer is used. In such cases, the machine tool end user is required to supply the necessary circuit breaker or switching device.

FAILURE TO COMPLY CAN RESULT IN PERSONAL INJURY AND DAMAGE TO THE MACHINE. IF ANY QUESTION EXISTS, CONTACT THE NEAREST MAZAK SERVICE CENTER FOR ASSISTANCE.

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WARNING

MAZATROL CNC CONTROLLERS PROVIDE PARAMETER SETTINGS TO LIMIT SPINDLE RPM. THESE SETTINGS ARE BASED ON THE MAXIMUM SPEED SPECIFIED BY THE CHUCK/ACTUATOR MANUFACTURER. MAKE SURE TO SET THESE PARAMETERS ACCORDING TO CHUCK SPECIFICATION WHEN INSTALLING A CHUCKING PACKAGE. ALSO, STAMP THE MAXIMUM SPINDLE RPM ON THE CHUCK IDENTIFICATION PLATE LOCATED ON THE MACHINE TOOL COVERS. REFERENCE THE CNC PARAMETER MANUAL SUPPLIED WITH THE SPECIFIC MACHINE TOOL TO IDENTIFY THE REQUIRED PARAMETERS TO CHANGE. FAILURE TO COMPLY WITH THESE INSTRUCTIONS COULD RESULT IN DAMAGE TO THE MACHINE, SERIOUS INJURY OR DEATH. IF ANY QUESTIONS EXIST, CONTACT THE NEAREST MAZAK SERVICE CENTER FOR ASSISTANCE.

WARNING

MAZAK MACHINES ARE ENGINEERED WITH A NUMBER OF SAFETY DEVICES TO PROTECT PERSONNEL AND EQUIPMENT FROM INJURY AND DAMAGE. DO NOT REMOVE, DISCONNECT, BYPASS OR MODIFY ANY LIMIT SWITCH, INTERLOCK, COVER, OR OTHER SAFETY FEATURE IN ANY WAY, EITHER MECHANICALLY OR ELECTRICALLY. FAILURE TO COMPLY WITH THESE INSTRUCTIONS COULD RESULT IN DAMAGE TO THE MACHINE, SERIOUS INJURY OR DEATH. IF ANY QUESTIONS EXIST, CONTACT THE NEAREST MAZAK SERVICE CENTER FOR ASSISTANCE.

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WARNING

MAZAK MACHINES ARE ENGINEERED WITH A NUMBER OF SAFETY DEVICES TO PROTECT PERSONNEL AND EQUIPMENT FROM INJURY AND DAMAGE. MACHINE OPERATOR DOORS AND COVERS ARE DESIGNED TO WITHSTAND ACCIDENTAL IMPACT OF A BROKEN INSERT WHERE A MAXIMUM WEIGHT INSERT AT MAXIMUM TOOL DIAMETER IS RUNNING AT MAXIMUM SPINDLE RPM NEVER USE A CUTTING TOOL OR TOOL INSERT THAT EXCEEDS MACHINE SPECIFICATIONS OR THAT OF A SPECIFIC TOOL HOLDER ITSELF, WHICHEVER IS LESS. THIS RESTRICTION APPLIES TO DIAMETER, WEIGHT, MAXIMUM SPINDLE RPM, MAXIMUM CUTTING TOOL ROTATION SPEED, ETC. FOR COMPLETE SPECIFICATIONS, MAKE SURE TO REFERENCE OPERATION, MAINTENANCE AND DETAIL SPECIFICATION DOCUMENTATION SUPPLIED WITH THE MACHINE AND BY THE TOOLING MANUFACTURER. NOTE: THE MAXIMUM INSERT WEIGHT FOR MAZAK MACHINES IS 20 gf. (0.04 lbs.). FAILURE TO COMPLY WITH THESE INSTRUCTIONS COULD RESULT IN DAMAGE TO THE MACHINE, SERIOUS INJURY OR DEATH. IF ANY QUESTIONS EXIST, CONTACT THE NEAREST MAZAK SERVICE CENTER FOR ASSISTANCE.

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WARNING

BEFORE STARTING OPERATION, CHECK THAT THE WORKPIECE IS SECURELY MOUNTED IN A VISE OR A SUITABLE FIXTURE. BE CERTAIN THAT THE MOUNTING IS SUFFICIENT TO WITHSTAND CUTTING FORCES DURING WORKPIECE MACHINING. FAILURE TO COMPLY WITH THESE INSTRUCTIONS COULD RESULT IN DAMAGE TO THE MACHINE, SERIOUS INJURY OR DEATH. IF ANY QUESTIONS EXIST, CONTACT THE NEAREST MAZAK SERVICE CENTER FOR ASSISTANCE.

WARNING

CONFIRM PROPER WORKPIECE FIXTURING/CLAMPING, TOOL SETUP AND THAT THE MACHINE DOOR IS SECURELY CLOSED BEFORE THE START OF MACHINING. VERIFY ALL SAFETY PRECAUTIONS OUTLINED IN THIS MANUAL BEFORE USING THE FOLLOWING CUTTING CONDITIONS: CUTTING CONDITIONS THAT ARE THE RESULT OF THE MAZATROL FUSION 640 AUTOMATIC CUTTING DETERMINATION FUNCTION CUTTING CONDITIONS SUGGESTED BY THE MACHINING NAVAGATION FUNCTION CUTTING CONDITIONS FOR TOOLS THAT ARE SUGGESTED TO BE USED BY THE MACHINING NAVAGATION FUNCTION

FAILURE TO COMPLY WITH THESE INSTRUCTIONS COULD RESULT IN DAMAGE TO THE MACHINE, SERIOUS INJURY OR DEATH. IF ANY QUESTIONS EXIST, CONTACT THE NEAREST MAZAK SERVICE CENTER FOR ASSISTANCE.

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CENGDB0551E
DOOR INTERLOCK SAFTY SPEC.
MACHINING CENTER
DOOR OPEN MODE MANUAL Prohibit Prohibit Prohibit Prohibit Prohibit SET UP SWITCH O (OFF) to move axis. to start spindle running. to operate manual ATC. to operate manual Pallet Changer. to run chip spiral conveyor. I (ON) Limit the rapid override. Max is 12%. Prohibit to run chip spiral conveyor. Can run spindle JOG. Can run spindle Orient. Can operate manual ATC. Prohibit cycle start. Prohibit to run chip spiral conveyor.

Determined by YMW Eng. H.Q. 99/9/1 Revised by YMC Prod. Eng. 99.10.28

AUTO

Prohibit cycle start. Prohibit to run chip spiral conveyor.

CLOSE I V OPEN

MANUAL

Door is always locked. Door lock can be released by pushing DOOR UNLOCK SW on operator panel. But, it can not release in operating ATC/Pallet changer/Axis/Spindle. Prohibit Prohibit Prohibit Prohibit Prohibit to move axis. to start spindle running. to operate manual ATC. to operate manual Pallet Changer. to run chip spiral conveyor. Limit the rapid override. Max is 12%. Chip spiral conveyor would stop. Can run spindle JOG. Can run spindle Orient. Can operate manual ATC.

AUTO

Door is always locked. Door lock can be released by pushing DOOR UNLOCK SW on operator panel. But, it can not release in auto operation running except single block stop or feed hold stop or M00 program stop or M01 optional stop and spindle stop. If not, Alarm displayed Door open invalid. If release the lock by note(*1), Alarm will occur then stop the all motion. Chip spiral conveyor would stop. Prohibit cycle start. Chip spiral conveyor would stop.

CLOSE

MANUAL AUTO

No Limitation. No Limitation.

No Limitation. Can not run auto operation.

TURNING CENTER
SET UP SWITCH DOOR MODE O (OFF) Can operate CHUCK, TAILSLEEVE , STEADY REST for Loading workpiece. Can NOT operate Spindle, Axis, Turret, MANUAL Coolant, ToolEye, Partscatcher, Chip Conveyor. OPEN AUTO CLOSE -> OPEN CLOSE Can operate CHUCK, TAILSLEEVE , STEADY REST for Loading workpiece. Can not run Auto-operation. I (ON) Can operate CHUCK, TAILSLEEVE , STEADY REST for Loading workpiece. Can not operate Spindle running, but Can operate Spindle JOG and Spindle Orient. Limitation of speed for axis movement . (Override is 10% max.) 1 step index only for turret. Can operate CHUCK, TAILSLEEVE , STEADY REST for Loading workpiece. Can not run Auto-operation.

MANUAL Can not open the front door in Spindle running, Axis moving, Auto-running( Cycle start, Feed hold ) due to & Mechanical locking system. (Except Single Block Stop or M00 program stop or M01 optional stop) AUTO But, if release the lock by note(*1), Alarm will occur then stop the all motion. MANUAL No Limitation. AUTO No Limitation. No Limitation. Can not run Auto-operation.

*1 : Door lock mechanism can not be released in machine stop by NC power OFF. If it is necessary to release the lock such as emergencies, the lock can be released by operating the supplementary lock release mechanism of the main body of the safety door lock switch. *2 : Override Limitation of Rapid speed of AXIS Machining Center : 12%. Turning Center : 10%. *3 : Chip Conveyor and Coolant should stop in the door open.

PED-EDS-001

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CENGDB0551E APPENDIX SWITCH PANEL for M640M (Machining Center)

MACHINE SET UP SWITCH SWITCH PANEL for M640MT/T (Turning Center)

DOOR UNLOCK SWITCH

PED-EDS-001

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MACHINE DOCUMENTATION CUSTOMER EVALUATION

The Other Thoroughbred From Kentucky

Your opinion is important to enable us to issue documentation that will fit your needs. Thank you for taking the time to supply this information.
Date: Machine Type: Customer: Address: Manual Publication #: Machine Serial#: Reported By: Position: Telephone#:
Excellent Good Adequate Fair Poor

NC Type:

How well is the documentation suited to your needs? Were you able to find the necessary information easily? How well are the manuals organized? How easy are the manuals to understand? Are the illustrations helpful? Overall, how do you rate the documentation? What did you like about the documentation? How can it be improved?

RETURN TO:

MAZAK Corporation Technical Publication Dept. 8025 Production Drive Florence, Kentucky 41042

SF-202Xa

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Notes:

Introduction
Thank you for purchasing the Mitsubishi numericcontrol unit. This manual describes the handling and caution points for using AC this servo. Incorrect handling may lead tounforeseen accidents, so always read this instructionmanual thoroughly to ensure correct usage. Make sure that this instruction manual is delivered to the end user. Keep this manual in a safe place for future reference.

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 andprecautions before startingoperation. The safety precautions in this instruction manual areranked as "WARNING" and "CAUTION".

When a dangeroussituation may occur if handling is mistaken leadingtofatal or major injuries. When a dangerous situation may occur if handling is mistaken leading to medium or minor injuries, or physical damage.

may lead to major results depending on Note thatsome items described as the situation. In any case, important information that must be observedis described.

1-

The numeric control unit is configured of the control unit, operation board,servo amplifier, spindle amplifier, powersupply + servo drive or spindle drive, servomotor, and spindle motor, etc.

In this manual, the following items are generically called the "servomotor".
Servomotor Spindle motor

In this manual, the following items are generically called the "servo amplifier".
Servo amplifier Spindle amplifier Power supply + servo drive or spindle drive

Changes in terminal names The terminal names have been changed in two stages as shown below.
Prior to March 95 April 95 to March 96 R/L1 s / L2 T / L3 L+ 1 P L-/ N L11 / Ro L21 / s o
Following April 96 (MDS-B Series) Ll L2 L3 L+ LL11 L2 1

2 m
c .t-

R S
T P N

Ro

so

I
M6478-ES

For Safe Use

1. Electric shock prevention

/1\ WARNING
A A
Do not open the front cover whole 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 willbe 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 servo amplifier is charged, and can cause electric shocks.
Wait at least I O minutes after turning the power OFF before starting wiring or inspections. Failure to observe this could lead to electric shocks. Ground the servo amplifier and servomotor with Class 3 grounding or higher. Wiring and inspecbon work must be done by a qualified technician. Wire the servo amplifier 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 or engage the cable. to Failure observe this could lead to electric shocks.

A A
A A A

A
A

2. Fire prevention

I
A

CAUTION

Install the servo amplifier, servomotor 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 amplifier side if a fault occurs in the servo amplifier. Fires could be caused if a large current continues to flow. Shut off the power with an error signal when using the regenerative resistor. The regenerative resistor could abnormally overheat and cause a fire due to a fault in the regenerative transistor, etc.

A
A

. ................................................................................................................. I1.MDS-A-CV MDS-B-CV MDS-A-CR Power Supply Section

I Troubleshooting 1.1 Status display ..................................................................................................... 1.2 Troubleshooting per power supply alarm ........................................................... 1.3 Power supply warnings .......................................................................................

I Outline 1.1 Features ............................................................................................................. 1.2 System configuration .......................................................................................... 2 System Start Up 3 Addition and Replacement Methods of Units and Parts........................................ 3.1 Unit replacement ................................................................................................ 3.2 Servomotor encoder ............................................................................................ 3.2.1 OHUOHA typeencoder ............................................................................. 3.2.2 OSWOSA type encoder ............................................................................. 3.3 Battery unit ......................................................................................................... 3.4 Unit fan ............................................................................................................... 4 Daily Maintenance 4.1 Tools formaintenance ........................................................................................ 4.2 Periodic inspection .............................................................................................. 5 Maintenance Parts 6 Noise Filter

...................................................................................................................

I-?
I 1 1-3

.........................................................................................................

1-7 1-9
1-9 1-12 1-12 I-? 4 1-17 1-18

. . .

......................................................................................................
.....................................................................................................
*

1-20
1-20 1-20

1-22
1-25

.........................................................................................................

11-1
11-1 11-4 11-17

I11.MDS-A-Vx MDS-B-Vx

Servo System Section 1 MDS-CI-VlN2 Servo Drive Unit ................................................................................ 1.1 Points changed from B Series .............................................................................

111-1
111-1 1 1 1 1

1.1.1 1.1.2

2 Adjustment Procedure ..............................................................................................

Compatible detectors and compatible motors ............................................ 2-system compliance (standard amplifier (MDS-B-VlN2) mode and high-gain amplifier (MDS-9-Vl4N24) mode).............................................

111-2

111-3
111-3 111-3 1 1 1 4 111-6 111-8 111-9 111-11 111-11 111-1 2

3 Troubleshooting (MDS-A/B Series) ..........................................................................

3.1 3.2 3.3 Status display ..................................................................................................... Troubleshooting per servo alarm ........................................................................ Precautions.......................................................................................................... Servo warnings and servo alarms .......................................................................

2.1 Initial adjustment ................................................................................................. 2.1.1 Confirmation of parameters ....................................................................... 2.1 -2 Adjustment of optimum acceleration/deceleration time constant .............. 2.1.3 Adjustment of speed gain .......................................................................... 2.1.4 Zeropointreturn ........................................................................................ 2.1.5 Adjustment of absolute position detection ................................................. 2.2 Adjustmentdetails .............................................................................................. 2.2.1 Vibration or vibration sounds occur ........................................................... 2.2.2 The cutting surface precision is poor. The roundness is poor ................ 2.2.3 Overshooting occurs during positioning . A limit cycle occurs................. 2.2.4 Accumulated feed occurs with pulse feed ................................................. 2.3 Adjustment of special functions .......................................................................... 2.3.1 High precisioncontrol mode ......................................................................

111-13
111-14 111-1 5 111-1 5 111-1 7
1 1 1 -17 111-23 111-52 111-53 111-53 111-84 111-84 111-86

4.Troubleshooting (MDS-CI Series) ............................................................................

5 Appendix
5.1 5.2

4.1

...................................................................................................................
I

Changing from closed loop to semi-closed loop ................................................. Servo system configuration table .......................................................................

IV. MDS-A-SP MDS-B-SP

I.Adjustment Procedure 1.1Trialoperation ..................................................................................................... 1-2 Adjustment of orientation .................................................................................... 1.2.1 Operation .................................................................................................. 1-2.2 Operation sequence .................................................................................. 1.2.3 Encoderorientationstop positions ............................................................ 1.2.4 Parameter block diagram for orientation ................................................... 1-2.5 Preparation for adjustment of motor built-in encoder orientation .............. 1-2.6 Preparation for adjustment of encoder orientation .................................... 1.2.7 Preparation for adjustment of magsensor orientation ............................... 1-2.8Adjustment of orientation .......................................................................... 1-2.9 Adjustment of sew0 rigidity ....................................................................... 1-2.10 "Delay/advance control" and "PI control" application ................................ 1.2.11 Troubleshooting during orient error ........................................................... 1.3 Synchronous tap adjustment .............................................................................. 1-3.1 Synchronous tap operation adjustment ..................................................... 1.3.2 Troubleshooting for synchronous tap error ............................................... 2.Troubleshooting 2.1 Introduction ......................................................................................................... 2.2 First step of troubleshooting ............................................................................... 2.3 Second step of troubleshooting .......................................................................... 2.4 Alarm and warning table .............................................................................. :...... 2.5 Approach per phenomenon ................................................................................ 2.5.1 When alarm or warning is displayed on the 7-segment display ................ 2.5.2 When alarm or warning is not displayed on 7-segment unit ..................... 2.6 Periodic inspection .............................................................................................. 2.6.1 Inspection of controlunit ........................................................................... 2.6.2 Inspection of motor ....................................................................................

..............................................................................................

Spindle System Section

iv-1

Iv-1
rv-2

.........................................................................................................

1v-2 1v-3 1v4 1v4 1v-5 1v-6 1v-8 I V 0 I 1v-11 1v-11 I V 2 I 1v-15 I V 5 I 1v-18

N-19
I v 9 I I v 9 I
rv-21

3. Disassembly and Assembly of Motor

3.1 3.2

.............................................

.........................

1v-23 1v-24 1v-24 1v-38 1v-43 1v-43 1v-44 1v45

4. Installation of Orientation Position Detector 4 .I Magnesensor 1-point orientation ........................................................................ 4.1.1 Magnet and sensor ................................................................................... 4.1.2 Orientation of magnet and sensor head .................................................... 4.1.3 Caution on installation of magnet .............................................................. 4.1.4 Caution on installation of sensor head ...................................................... 4.1.5 Types and outside dimensions of magnesensor........................................ 4.2 Encoder orientation (4096 points) ...................................................................... 4.2.1 Configuration ............................................................................................. 4.2.2 Outside dimensions ................................................................................... 5. Contour Control (C-axis Control) Encoder 5.1Separate stand-type encoder ............................................................................. 5.1.1 Name: OSE9OK + 1024 BKO-NC6336HOl ............................................ 5.1 -2 Outside dimensions ................................................................................... 5.1.3 Connectors ................................................................................................ 5.1.4 Mechanical specifications .......................................................................... 5.1.5 Handling, installation and operation of encoder ........................................ 5.2 Built-in encoder ................................................................................................... 5.2.1 Model : MBE-9OK ...................................................................................... 5.2.2 Model : MHE-9OK ...................................................................................... 6.Appendix 6.1 Parameter list .....................................................................................................

Disassembly and assembly of SJ type AC spindle motor ................................... Disassembly and assembly of SJ-N type AC spindle motor ...............................

N-45
1v-53 1v-62 1v-62 1v-62 1v-63 1v-67 1v-67 1v-69 1v-71 1v-71 1v-72 1v-73
1v-73

.........................................

.................

..............................................................

...................................................................................................................
ii

1v-73 1v-73 1v-73 1v-74 1v-75 1v-76 1v-76 1v-76 1v-77 1v-77

3 . Injury prevention

A CAUTION
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 (0, 0). Failure to observe this item could lead to ruptures or damage, etc. Do not touch the servo amplifier fins, regenerative resistor or servomotor, etc., while the power is turned ON or immediately after turning the power OFF. Some parts are heated to high temperatures, and touching these could lead to bums.

4. Various precuations
Observe the following precautions. Incorrect handling of the unit could lead faults, to injuries and electric shocks, etc.

(1) Transportation and installation

/1\ CAUTION

correctly transport the product according its toweight.

Use the servomotor's suspension 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 holdthe connected power supplyor cables when transporting the servomotor.
Do not hold the front cover when transporting the servo amplifier. The unit could drop.
Follow this Instruction Manual and install the unit 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 betweenthe sew0 amplifier and control panel, or between the
servo amplifier and other devices.
Do not installor run a servo amplifieror servomotor that is damaged or missing parts.

Do not block the intake or exhaust portsof the servomotor provided with a cooling fan.
Do not let conductive objects such as screws o r metal chips, etc., or combustible materials such as oil enter the servo amplifier or servomotor.
The servo amplifier and servomotor are precision devices, so do not drop them or apply strong impacts to them.

Ill

A CAUTION
A
Store and use the units under the following environment conditions. Environment Ambient temperature Ambient humidity Storage temperature Storage humidity Atmosphere Altitude Vibration
'

Conditions
Servo amplifier Servomotor 0C to+55"C (with no freezing)
TO

follow separate specifications

To follow separate specifications

0C to +40"C (with no freezing) 8O%RH or less (with no dew condensation) -15C to +70C

To follow separate specifications

90% RH or less (with no dew condensation) Indoors (Where unit is not subject to direct sunlight) With no corrosive gas, combustible gas. oil mist or dust 1OOOm or less above sea level To follow separate specifications

A A A A A

Securely fix the servomotor to the machine. Insufficient fixing could lead to the servomotor slipping off during operation. Always install the servomotor with reduction gears in the designated direction. Failure to do so could lead to oil leaks. Never touch the rotary sections of the servomotor during operations. Install a cover, etc., on the shaft. When 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. When storing for a long time, please contact the Service Center or Service Station.

IV

(2) Wiring

CAUTION

A A A A A A A

Correctly and securely perform the wiring. Failure to so do 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 amplifier. 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. Doing so could lead to

faults. When using an inductive load such as a relay, always connect a diode as a noise measure parallel to that load. When using a capacitance load such as a lamp, ahways connect a protective resistor as a noise measure serial to that load.
When connecting a DC relay for the control output signals such as the brake signalor contactor, do not mistake the polarity of the diode. Failure to observe this could cause the signals not be to output due to a fault or the protective circuit to fail.
Servo amplifier VIN (24VDC)
Control output

2
A

A A A
I

Do not connect/disconnect the cables connected between the units while theis power ON. Securely tighten the cable connector fixing screw or fixing mechanism. An insecure fixing could cause the cable to f a l l off while the power is ON. When use of a shielded cable is instructed in the connection diagrams, 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.

so that the battery unit is not mistakenly wired. Check the cables sufficiently before wiring The battery in the battery unit could short circuit and be charged due to incorrect wiring, and could lead to battery ignition, heating, rupture or generation of toxic gas.

(3) Trial operation and adjustment

CAUTION

A A

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

CAUTION

A 0 A A A A A
A

Install an external emergency stop circuit so that the operation can be stopped and power shut off immediately. Turn the powerOFF immediately if smoke, abnormal noise or odors are generated from the spindle motor or spindle amplifier. 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 sew0 amplifier couldbe affected by magnetic noise. Use the spindle motor, spindle amplifier and regenerative resistor with the designated combination. Failure to do so could lead to fires or trouble. The brakes (magnetic brakes) assembled into the servomotor are for holding, and must be not used for normal braking. There may be cases when holding is not possible due to the magnetic brake's or the life 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 parameters or after maintenance and inspecbon, atways 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 power failure time, etc.).

(5) Troubleshooting

/1\ CAUTION

If a hazardous situation is predicted during power failure or product trouble,ause servomotor with magnetic brakes or install an external brake mechanism.

Use a double circuit configuration

Shut off with NC brake control PLC output.

signal.

Servomotor
I

RA1

E H G

Always turn the input power OFF when an alarm occurs. Never go near the machine after restoring the power after a failure, as the machine could start suddenly. (Design the machine so that personal safety can be ensured even if the machine starts suddenly.)

VI

(6) Maintenance, inspection and part replacement

A CAUTION
Always backup the servo amplifier programs and parameters before starting maintenance or inspections. The capacity of the electrolytic capacitor will drop due to deterioration. To prevent secondary damage dueto failures, replacing this part every five years when used under a normal environment is recommended. Contact the Service Center or Service Stationfor replacemet. Do not perform a megger test (insulation resistance measurement) during inspections. If the batterylow 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 or charge the battery unit connector terminals. Do not deform, heat or incinerator the battery unit or disassemble the internal battery. Failure to observe this could lead fires, to heating, ruptureor generation of toxic gases. When storing the battery unit, avoid places subject to direct sunlight, high temperatures or high humidities. Failure to observe this could lead to leaking or rupture of the internal battery.

A 1 CAUTION

A
/c\ A

Treat this unit as general industrial waste. If the heat radiating fins are protruding from the rear of the MDS Series, substitute Freon is used. Donot dispose of this typeof unit as general industrial waste. Always contact the Service Stationor Service Centerfor disposal. Do not disassemble the spindle motor or spindle amplifier. Plug thegaps on the battery unit with non-conductive material such as cellophane tape before disposing. Disposal in the original state allow other metal chips entering the internal battery, and lead to ruptures or fires. Dispose of the battery according to local laws.

(8) General precautions

The drawings givenin 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 thisIn manual.

VI I

I. MDS-A Series
MDS-B Series Servo/Spindle System Configuration Section
I

1. Outline

I Outline
The MDS-A Series is a drive system that corresponds to the MELDAS M500 Series NCthat has been developed to totally connected the servo drive and spindle drive sections. The MDS-B Series is the successor to the MDS-A Series, and has been developed to satisfy European Safety Standards. This Series has the following features. The MDS-C1 Series is a drive system compatible with the NC system. This high-performance, compact series is compatible with the MDS-B Series (some changes have been made).

1.I Features
Compact and lightweight The converters that were conventionally built in each servo and spindle drive have been integrated into one unit. The drive system volume, installation area and weight have been drastically reduced with the incorporation of high density mounted electronic parts IGBT-IPM (Intelligent Power Module) and the high performance heat radiating fin. Standardization of dimensions The outline has been standardized *to the book end type, and by unifying the height and depth dimensions, installation in cabinets has been made easy. Furthermore, by matching the shape with the NC unit, an integrated appearance with the NC has been realized.

Low heat generation By incorporating the IPM and using power supply regeneration in the servo drive, the of amount heat generated has been greatly reduced.
High speed and precision processing A high speed CPU has been mounted on the control PCB, and 100,000 a pulse/rotation sub micron detector has been incorporated as a standard to allow faster and more precise interpolation. By incorporatingthestablepositionloopcontrol (SHG control)method,havinganoutstanding response, the positioning time and tracking have been improved and the machine vibration during acceleration/deceleration has been reduced. The cutting performance and cutting precision during position control have been improved by using the high speed CPU also for the spindle drive. High speed spindle orientation Smooth operations and minimum orientation times have been realized by using the high speed orientation method while allows direct orientation from the high speed during the spindle drive. Features of the MDS-B Series (a) European Safety Standards compliant Approval from a thirdpartyapprovalagency (TUV) hasbeenacquiredinrespecttothe European Safety Standards (LVD Directives). (Note that the B Series target models are limited to the CV (power regenerative power supply), SP (spindle drive) and V l N 2 (1/2-axis servo drive.) Addition of power supply emergency stop input line With theB Series, the external contactor can be directly shut off from the power supply even when the emergency stop hot line from the NC does not function for any reason. (This function is validated with the rotary switch and connected drive parameter settings. Thus, the functions doe not change from the conventional functions when used in the same manner as the A Series.)

1-1

1. Outline

(8) Features of the MDS-C1 Series

1) Highperformance

High-performance sew0 control, equivalent to the high gain amplifier (B-Vl4N24) is mounted.
2) Compact

The fin outline has been downsized by incorporating high-efficiency fins and a loss low compact IPM, and a thin type drive unit is realized.
3) Reliability

Heat generation has been reduced by incorporating a low loss IPM, and the strength of the inner support structure has been increased by integrating the terminal block with the wiring condu This has improved the reliability compared to the conventional B Series.

Outline dimensions, installation dimensions, terminal connections Compatible with the current B Series. * Some changes have been made to the PE terminal position and control terminal position (in some capacities). Control function (servo) Thesystemautomaticallyjudgeswhetherthestandardamplifier (B-VlN2) or highgain amplifier (B-V14/V24) is mounted. The parameters are compatible. Refer to the following pages for details. * Note that there are some restrictions to the motor end encoder. to the Refer following pages for details. * The system is shipped from the factory with the high-gain specifications. Refer to the following pages for details. Control function (spindle) The control functions and parameters are both compatible. * This series can be used without problem together with the B Series in the same machine.

1. Outline

I.2 System configuration

I
b

A
/1\

WARNING

Always ground the spindle driver and spindle motor with Class 3 or higher grounding.

CAUTION

1. Correctly connect the power phases (U, VI W) of the spindle amplifier and spindle motor. Failure to doso could cause the spindle motor to malfunction.

2. Do not apply a voltage other than that specified to each terminal. Failure to observe this could lead to ruptures or trouble.

The system is composed of the following units: (1) Power supply unit This unit converts the 3-phase AC power supply intoDC a power supply for inverter drive, and regenerates the energy into power or resistance when decelerating the motor. (2) Spindle drive unitThis is the inverter unit for spindle motor drive. (3) Servo drive unit This is the inverter unit for servomotor drive. (4) B a t t e r y u n i t = = - - - - - This unit is used to save the data in the absolute position detection system.

---

-- - 0

Drive section wiring system drawing

/I\

CAUTION

1. Shut off the power on the spindle amplifier side if a fault occurs in the spindle amplifier. Fires flow. could be caused if a large current continues to

2. Shut off the power with a fault signal. The regenerative resistor could abnormally overheat and a fault in the regenerative transistor, etc. cause a fire due to

1 3.

i
1

Configure the magnetic brake operation circuit as a double circuit so that tit will function with the emergency stop switch even when the power supply is OFF, and alarm has occurred or whentheservoONsignal is OFF.

Wire the power and main circuit as shown on the next page. Always use a no-fuse breaker for (NF) the power input wire.

1-3

I. Outline

Observe the following points for the MDS-C1-V1N2 servo drive unit.

A
<Control mode changeover>

CAUTION

(1) The 2-system compatible software is compatible from Version A1 (BND-582WOOO-Al). Version A0 is not compatible with the standard amplifier mode. It is compatible only with the high-gain amplifier mode.

(2) Whether to start the servo amplifier in the standard amplifier compatible mode or the highgain amplifier compatible mode is judged by the servo parameters SVOO9 to SV012 and SV033 setting values set in the machine.
(3) When the control mode has been changed to the high-gain amplifier (MDS-B-VI4N24) mode afterremountingfromthestandardamplifier(MDS-B-VlN2),theparametersmustbe changed for the high-gain amplifier and the servo parameters must be adjusted.

"111. Servo System, section 1.1.2 2-system compliance" for details. Refer to the section

'

CAUTION

<Servo alarm "7F">

The actual mode is changed between the standard amplifier mode and high-gain amplifier ON. Thus, if the above servo parameters are changed, mode when the 200V power is turned the alarm"7F" will occur, and the restarting of the power will be requested. Alarm "7F" is a status flag that occurs when the amplifier mode state changes. It does not indicate an amplifier fault like the other alarms. (Alarm "7F" is not counted as a fault.) The system is shipped from the factory with the high-gain amplifier mode. Thus, the amplifier state after the machine is installed will be as follows. Standard amplifier parameters + First time200V power is turnedON. Alarm "7F" +Second and subsequent time 200V power is turned ON. Normal connection is turnedON. High-gain amplifier parameters+First and subsequent time 200V power Normal connection When using the standard amplifier mode (using the standard amplifier parameters), the 20OV power must be turned ON again after the machine is installed. "7F" will appear in the alarm history, but as"7F"does not indicate an amplifier fault, clear the alarm history and erase the

"7F"record.
If alarm "7F" is detected even after the 200V power is turnedON again, an error will be detected in the internal memory circuit (EEPROM). The amplifier mustbe replaced in this case.

Refer to the section "III. Servo System, section I . I .2 2-system compliance" for details.

1-4

1. Outline

<MDS-AIB series>

Standard connection
B-V2

NC control
unit

B-v1 A-V1 (1st axis servo drive) (2nd

6-SP
BV2 A-SP axis servo drive) (Spindle drive)

6-CV A-CV

A-BT

-lz 60Hz

* Please readthe"MDS-A Series Specifications BNP-B3759" togetherwiththis servicing the MDS system.

manual when

For V1 and SP

For V2

For CV

Note 1. Starting from production in April 1995, a

grounding bar is enclosed with each unit when shipped. Connect the grounding wire as shown above, and make sure that
the grounding wiresare not tightened together. Note 2. Always install a surge killer on both ends of the contactor coils. Note 3. The terminal block names have been changed in two stages as shown in the table.

Prior to March 95 R

E c
t
I al

al

T P N

Ro

so
G

April 95 to March 96 L1 I R L2 I s L3 I T L+ I P L- I N L11 I R o L21 I so

GIC3

Following April 96

(MDS-B Series) L1 L2 L3 L+ LL11 L21

1-5

I. Outline

<MDS-Cl series>

Standard connection
NC control unit

c 1-vl (1st axis servo drive)

c 1-v2 (2nd axis servo drive)

ClSP (Spindle drive)

Cl-CV

A-BT

(Powersupply)

(Battery unit)

30 POOVAC 200-23OVAC 6OHz

=Hz

Please read the "MDS SeriesSpecifications servicing the MDS system.

For V1 and SP For V2

BNP-C3000" together with this manual when

For CV

I
Note 1. Starting from production in April 1995, a grounding coveris enclosed with each unit when shipped. Connect the grounding wire as shown above, and make sure that the grounding wires are not tightened together. Note 2. Always install a surge killer on both ends of the contactor coils. Note 3. The terminal block names have been changed intwo stages as shown in the table.

Prior to

I April 95 to I Following April 96

2. System Start Up

2. System Start Up

/1\

WARNING

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

2. 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.

3. Do not open the front cover whole the power ONis or during operation. Failure to observe this
could lead to electric shocks.

CAUTION

1. Always check the parameters before starting. Depending on the machine, unforeseen operation could take place.

2. Do not touch the servo amplifier fins, regenerative resistor or servomotor, , while etc. the power
is turned ON or immediately after turning the power OFF. Some parts are heated to high temperatures, and touching these could lead to burns.

. The procedure for starting up the entire system is explained in this chapter.

Refer to the section for each unit for the individual adjustment procedures.
(1) Connect the units according to the connection drawing. (Refer to 1.2 System configuration wiring

system drawing. Refer to the specifications for details.) Observe the cautions in the specifications when installing each unit, motor and detector. (2) Set the rotary switches on each unit. (Refer to the settings below. Refer to the specifications for details.) (3) Confirm the wiring and input voltage, etc., and turn ON the power while the NC emergency stop is applied. Confirm that the LED displays on each unit are normal. (Refer to following page.) (4) Confirm that the servo and spindle parameters are set as specified on the NC screen. (Refer to the specifications for the parameter definitions and setting methods.) ( 5 ) Release the NC emergency stop and confirm that the movement is normal. (6) Make adjustments according to each unit section.

*
*

If any instabilrty such as runaway of the sew0 axis is sensed with the first machine, lower the will be applied on the torque and the damage to the parameter SV013ILMTI value. The limiter machine can be reduced. Rotaryswitchsettings 1) Power regenerative
type power supply unit

[ Setting
unit Setting

0 : Contactor used I: Contactor notused

2) Resistance regenerative type power supply

3) Sewokpindle unit

0
0 : 1staxis

I
1-7

Setting

1 : 2nd axis
1

6 : No. 7 axis

2. System Start Up

Status display
MDS-A-VI (V2) MDS-B-V1 (V2) MDS-Cl-VI -CV MDS-C1 (V2) Servo drive unit 30 200/23OVAC ON MDS-B-SP MDS-CI -SP 30 200/23OVAC ON
In initialization

30 200/23OVACON

NC pbwer ON

rwer ON
I

NC power ON

Alarm is displayed when alarm occurs

Initial data communication with NC

i
'P
Reaby ON Alarm is displayed when alarm

Initial data communication with NC

Alarm code is displayed whenalarm

T]
1

I ReadyON

BS OFF
Emergency st0

I
Emergen Icy stop

I
I

RDY ON SV OFF

occurs

RDY ON SV OFF

W l
I

p p

SV ON ON
NO^& operation
NC power OFF or emergency

Normal operation

Normal operation

v
I

BS ON RDY ON

NC power OFF

NC p -r

OFF

I
NC p&er ON

stop

NC po&r ON

The right segment indicates the axis No. (The No. 1 axis is indicatedin this example.)

3. Addition and Replacement Methods of Units and Parts

3. Addition and Replacement Methods of Units and Parts

/i\

CAUTION

1. Correctly transport the product according to its weight. Doing so could lead to injuries. 2. Do not stack the products above the tolerable number. 3. Install the unit on non-combustible materials. Installation directly on combustible matters or near combustible objects could lead to fires. 4. Follow this Instruction Manual and install the unit in a place where the weight can be borne. 5. Do not get on top of or place heavy objects on the unit. Doingso could lead to injuries. 6 . Use within the designated environmental condition range. 7. Do not let conductive objects such as screws or metal chips, etc.,or combustible materials such as oil enter the servo amplifier or servomotor. 8. Do not block the intake or exhaust ports of the servomotor provided with a cooling fan. Doing so could lead to trouble. 9. The servo amplifier and servomotor are precision devices, so do not drop them or apply strong impacts to them. 10. Do not install or run a servo amplifier or servomotor that is damaged or missing parts. 11. When storing for a long time, please contact the Service Center or Service Station.
r

Before adding or replacing units or parts, always turn OFF the main power and confirm that the CHARGE lamp onthe power supply unit is not lit.

3 . 1 Unit replacement

CAUTION

1. Do not hold the front cover when transporting the servo amplifier. The unit could drop.

2. Always observe the installation directions. Failure to do so could lead to faults. 3. Secure the specified distance between the spindle amplifier and inner side of the control panel
and the other devices. Failure to do so could lead to faults.

Use the following procedure when replacing the units. (1) Power supply unit replacement 1) Disconnect the connectors connectedto CN4 and 9. 2) Disconnect the wires connected to L1, L2, L3, @, L+, L-, L l I, L21 and MCI on the terminal block. 3) Remove the two (four) screws fixingthe unit tothe control panel, and remove the unitfrom the control panel. 4) Install the new unit following the removal procedurein reverse.
(2) Drive unit replacement (Ex. spindle drive)
1) Disconnect the connectors connected toCNlA, lB,4, 5,6, 7, 8 and 9. 2) Disconnect the wires connected to U, V, W, 6, L+, L-, L11, L21 on the terminal block. 3) Remove thetwo (four) screws fixing the unit to the control panel, and remove the unit from the

4)

control panel. Install the new unit following the removal procedure in reverse.

1-9

3. Addition and Replacement Methodsof Units andParts

[Outline drawingfor MDS-A/B series]

(1) Power supply unit A-CV-37 to 185 B-CV-37 to 185 A-CV-220 to 300 B-CV-220 to 370

(2) Drive unit (for spindle drive) A-SP-220 to 300 A-SP-04 to 185 B-SP-220 to 300 B-SP-04 to 185

c ) c )

L 1 1

L21
N C l

%I %I
L1 21
L1 21

1 1 . _ 1 1 1
LlL2L30

c >

UIII L1 L2 L3 0

r 1 1 7 1 UVW@

1-10

3. Addition and Replacement Methods of Units and Parts

[Outline drawing forMDS-Cl series]

(1) Power supply unit
(2) Drive unit (for spindle drive)

c1-cv-37 to 185

C1-CV-220 to 300

C1-SP-O4 to 185

C 1-SP-220 to 300

L2 1
KI

:w
L1 21 1
1-11

Iw
L1 21 1

3. Addition and Replacement Methods of Units andParts

3.2 Servomotor encoder

A
(Only MDS-A/B Series)

CAUTION

The MDS-Cl Series is not compatible with the OHE/OHA encoder (motor end).

3.2.1 OHE/OHA type encoder

(I) OHE25K-85,OHA25K-85 (for HA23133 motor)

Installation method

1) Install theM4 screw on the coupling. Make sure that the screw does not protrude on the inside. 2) Remove one ortwo rubber bushings for the motor. 3) Install the O-ring on the encoder spigot section. 4) install the motor detector and insert the key in the shaft. Make sure that there is no dirt or burrs in the key hole at this time, and push the in key completely. 5) Install the encoder on the motor. Match the coupling keyway and shaft key position at this time before inserting. The encoder connector position must be fixed to the motor connector position or the designated position. 6) Fix the encoder with four M4 P screws. Align the encoder flange markings and the motor flange punch position. 7) Install the rubber bushing. Note) Prevent the coupling screw from loosening. * The current position will be lost after replacement in the OHA25K-85 type, and initializing will be required.

Installation procedure drawing

O-ring S75

(2) OHE25K-6,OHA25K4 Installation method 1) Remove the cover screws with a M5 hexagonal wrench and remove the cover. 2) Install the encoder on the motor. Align the motor shaft pin and encoder shaft groove, and the encoder flat spring's slotted hole and motor flange pin. 3) Fix the flat spring to the motor with the M5 screws. (Three positions)

1-12

3. Addition and Replacement Methodsof Units and Parts

4) Insert the M6 box screw through the hole on the encoder cover, and fix with six wrenches. Fix the motor shaft at this time, and tighten the screws so that the screws will not loosen. 5) Place the seal enclosed with the encoder onto the hole on the encoder cover. 6) Cut thetwo wires from the encoder and wires the form the motor to a length that is suitable, and

connect each with joint amplifiers. 7) Remove the cannon connector housing with a special tool, pass through the motor cover hole, and assemble the housing (including the rubber packing). Fix to the motor cover withM3 four screws. 8 ) Install the motor cover to the motor. Installation procedure drawing
M3 screw

M5 screw

M5 box screw

The current position will be lost after replacement in the OHA25K-4 type, and initializing will be required. A 0.5mm2joint amplifier and a cannon connector housing removal tool be will required at this time. Name Of 970-901table tool Shell Rear nut tightening spanner 97D-9011

Manufacturer

DDK Chicago Office 245 West Roosevelt Road, Bldg . 15 Unit 3,West Chicago, IL60185,U.S.A. Phone: 708-293-7335 Fax: 708-293-7337

Mountingldismounting of insert

Shell table

(97D-9012)
Rear nut tightening spanner (97D-9011)

1-13

3 . Addition and ReDlacement Methods of Units and Parts

(3) OHE25K-108,OHA25K-108 (for low inertia motor)

, a O-ring , S75

4445 X 0.8 X 15 screw

HA motor

Detector

(Note) If the detector installation direction is B, C, D, the detector connector must come to the B, c, D position shown above. Mounting method
I ) Install the O-ring (S75) on the detector flange.

2) Install aM4 hexagonal socket screw on the coupling. 3) Align and insert the motor shaft key in the detector bellow keyway.
4) Align the position mark on the detector and the motor markings. 5 ) Install the detector on the motor. (Use M5 x 0.8 screws.)

6) Tighten the screw on the keyway to fix the key. 7) Tighten the detector's rubber plug. (Note) The detector and bellow position is determined so do not remove the bellow from the detector.

3 . 2 . 2 OSEIOSA type encoder

Note 1. The pole position must be adjusted for the low-inertia motor, so do not replace the encoder. Note 2. The IP67 compliant motor is submerge-proof, so do not replace the motor. Note 3. For the IP65 compliant motor, replace the packing with new packing when replacing the motor. (1) OSEl04S/l05S, OSAl04S/105S (for HA23133 motor) Installation method

1) Install the O-ring on the encoder spigot section. 2) Install the encoder on the motor. At this time, align the motor's Oldham position (Oldham installation screw hole position) and encoder's Oldham mark position. Install the Oldham space between this. Fix the encoder's connector position to the motor connector position or designated position.

3) Fix the encoder with four M4 P screws. Align the encoder flange markings and the motor flange
punch position. * Thecurrentpositionwillbelostafterreplacement initializing will be required. in the OSAl04S/I 05s type,and

3. Addition and Replacement Methodsof Units and Parts

Installation procedure drawing

Align the motots Oldham position and encoder mark

MOtOf

Encoder mark position Mark

4-M4 X 14

O-ring S75 (When using IP65, replace with the new packing M769D009H01.)

(2) OSEl041105, OSAIW105 Installation method 1) Remove the cover screws with M5 a hexagonal wrench and remove the cover. 2) Install the encoder on the motor. At this time, align the motor shaft pin (Oldham installation screwholeposition)andtheencoder'sOldhammarkposition.InstalltheOldhamspacer between this. 3) Fix the motor with four M4 screws. 4) Connect the two connectors from the encoder with two the connectors from the motor. 5 ) Remove the cannon connector housing with a special tool, pass through the motor cover hole, and assemble the housing (including the rubber packing). Fix to the motor cover with four M3 screws. 6) Install the motor cover to the motor. Installation procedure drawing
Align the motor's Oldham position and encoder mark

Motor

1
Oldham spacer

Motor cover
Encoder
1

When using IP65,

replace with the new

--

packing.

4-M4X 18

4-M5 box screw

3. Addition and Replacement Methods of Units and Parts

~ ~~

The current position will be lost after replacement in the OHA25K-4 type, and initializing will be required. A 0.5mm2 joint amplifier and a cannon connector housing removal tool will be required at this time. Mounting/dismounting of insert

3. Addition and Replacement Methods of Units and Parts

3 . 3 Battery unit
The battery built in the battery unit MDS-A-BT is used to save data in the absolute position detection system.
o Applicable battery : Li battery o Battery back up time : 7 years (at 265 workdays, 100 holidays)

The back up time will be reduced if there are more holidays or if the ambient temperature is high.

The batteryis brazed onto the PCB in the battery unit, so the battery cannot be replaced by itself. Instead, the entire unit must be replaced.
.

Use a M5 screw for installation

166
__
~~

-~

p a t t e r y unit outline drawing

[Replacement procedure]
1. Turn OFF the NF for the input power supply 200/23OVAC, pull out the cable, and remove the battery unit. 2. Replace the battery unit, and connect the cable. 3. Turn ON the power and confirm the operation.

Note) The backup time of the built-in backup capacitor in the absolute value detector OHA25K-

4, -85 and -ET is 20 hours when delivered, and will decrease by half to ten hours after five
years of use. Complete the operation within that time.

3. Addition and Replacement Methods of Units and Parts

3.4 Unit 'fan

.

The life of the fan is approximately 5 years during normal use (the life will differ according to the usage state and environment). Follow the procedure below to replace the fan.
(1) MDS-A/B series

[Replacement procedure]
1. Turn OFF the NF for the input power supply 200/23OVAC, wait for the CHARGE lamp on the power supply unit to go out, and then remove the unit. 2. Remove thetwo fan installation screws on the bottom of the cooling fin. 3. Remove the connector from the rear of the unit, and replace the fan.

I
L

I
Remove theconnector from theunit.

Remove thetwo screws.

3. Addition and Replacement Methods of Units and Parts

(2) MDS-CI series [Replacement procedure]

I. Turn OFF the NF for the input power supply 200/23OVAC, wait for the CHARGE lamp on the

power supply unit to go out, and then remove the unit. 2. Remove the fan guard from the end of the unit, and remove two the screws installing the fan. 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.

7 1

/ I

Remove the two screws. Remove rubber bushing.

Pull out connection connector and disconnect connector.

1-19

4. Daily Maintenance

4. Daily Maintenance

WARNING

1. Always wait at least ten minutes after turning the power supply OFF before starting maintenance and inspection. Failure to doso could lead to electric shocks.
2. Maintenance and inspection must be done by a qualified technician. Failure to observe this could lead to electric shocks. Contact your nearest Service Center or Service Station for repairs and part replacement.

4.1 Tools for maintenance

NOTICE
Never perform a megger test (insulation resistance measurement) on the spindle amplifier control circuit.

(1) Measurement instruments . The following measurement instruments are required to confirm that the correct power supplied to the servo amplifier and that the servo amplifier wiring is correct.

is being

Equipment Tester

Application Conditions Confirm that the wiring to the servo amplifier is correct before turning ON the power. For general measurement and troubleshooting. Measure the AC power voltage. The Measure the AC power voltage being tolerable differenceis k2Y0 or less. supplied to the servo amplifier. Maximum reading lOV, 30V. The DC voltmeter Measure the DC power voltage. tolerable difference is +2% or less. Measure the alternate current being supplied to the motor.

Oscilloscope AC voltmeter

AC ammeter

(2) Tools Screwdrivers (Large and medium Phillips type, small flat head)

4.2 Periodic inspection

A still type drive unit is being used, but the fan built in the unit and the additional cooling fans must be inspected periodically. Theservomotorisbrush-lessandbasicallydoesnotrequiremaintenance,butmustbeinspected periodically for abnormal noise and vibration.

4. Daily Maintenance

Recommended periodic inspection items

Item

Inspection frequency Monthly

Inspection details

Remedies

Cooling fan (fhn built-in unit) and additional cooling fan (outside unit)

Terminal block screws Cables and connectors

~

As
necessary As necessary Every 7 years Monthly Monthly TwiceQear

Batter Jnit

Motor Sound, vibration Temperature Insulation

1. Can the fan be rotated easily by hand?Clean or replace the 2. Does the fan rotate properly when the fan power is ON? 3. Is the fan dirty with oil or dirt? 4. Do the bearings make abnormal sounds? Tighten and clean I . Are the screws loose? the screws 2. Are the screws dirty with oil or dirt? 1. Is there any damage or scratches, etc.7 Replace the cable 2. Are the connectors loose? Tighten the connectors 1. The battery life is 7 years under normal Replace the unit use. This will differ according to the usage environment (temperature, usage frequency, etc.). I s there any abnormal sound or vibration?
~

~ _ _

~~

Are the motor bearings or frame hot when touched by hand? Is the resistance1 M S 2 or higher when insulated with a 500V megger tester between the motor frame and motor terminals (U, V, W). (Remove the motor's cannon plug before measuring).

5. Maintenance Parts

5. Maintenance Parts
Part
I

Q'ty

qeplacement time
5 years

Remarks
h e fan life w i l l differ ccording to the sage conditions. m e additional cooling fans must be prepared by the machine maker. (Refer to the specifications)

an
luitt-in

nit)

'FA4018-BH20 IAB-CV- 37 55 iKO-NC6855H01 75 VB-v1- 35 VB-v2- 201 0 2020 VB-SP- 22 37 'FA-801 8-BH20 3-V1-45 LKO-NC6855H02 2/B-V2- 3510 3520 3535 3-V2- 4520 4535

Style Electro7 ics

w - S P - 55
75 110 9/B-cv-110 JS80D22-T 5KO-NC6855H21 9-v145 9-SP-110 [oldt y p e ) W C V - 150 592822-T 185 3KO-NC6855H22 W V 1 - 70

90
W S P - 150 185 JS12D22-T 3KO-NC6855H23

m-cv-220
260

300
B-CV-370 B-V1- 110 150 A/B-SP- 220

260
300 C1 -CV- 150 MMF-09C24TS185 3N4 3KO-NC5332H14 c 1-cv-220 260 300 MELCO TECHNOREX 1

370
C1-SP/H- 150 185
220

2605 3 0 0 : C1-V1- 70

90
110 150 C l -V2-7035 7045 7070

5. Maintenance Parts

No.
1

Part

Type

Applicable unit

Maker MELCO TECHNO-

Fan MMF-06F24ES- I C1-CV-110 (built-in RN5 unit) BKO-NC5332H12 110 150s c 1-SP/H- 260 300 c 1-v1-45 C1 -V2-3535 4520 4535 7070s 4545 MMF-04C24DSc 1-SP/H- 22 ROE 37 BKO-NC5332Hll c1-v1- 20 c1-Vl- 35 45s 70s c 1-v2-2010 2020 351OS 35208 Battery MDS-A-BT- 2 unit 4 6 8 1 9 C B-AL -7.5K reactor -1 1K -18.5K -30K -37K Zontac- kcording to tor power supply unit
~

Replacement Remarks time The fan life w 5 years i l l differ according to the usage conditions. * The additional cooling fans must be prepared by the machine maker. (Refer to the specifications)
2

2
The life will differ according to the sage conditions.

Mitsubishi 1 7 years Electric (only absolute position detection system) MitsubishiAccordingto When broken Electric the system configuration

YFB
power supply unit

MitsubishiAccordingto Electric the system configuration MitsubishiAccordingto Electric the system configuration

When broken

Nhen broken

1-23

5. Maintenance Parts

As a high frequency chopper current thatis PWM controlled flows to the AC servo/spindle, the leakage current will be larger than a motor run with a commercial power supply. Select the leakage breaker according to the following explanation and securely ground both the amplifier and motor.
I

I
MDS spindle system servo
t

u, v, w
1 1 1

111

111

111

I
/ I / 111

RST
200/230VAC + a

@
u3,

Motor

' I

v3,
I11 111

w3

Inverter 2
I I

I I

I I

I I

Machine power distribution box The commercial frequency compositionof the leakage current for theMELDAS MDS-A Series spindle and servo system is approximately 6mA for one spindle axis and 1mA for oneservo axis. However, when selecting the leakage breaker, differences in the motor power line length, distance with the grounding and motor size, etc., must be considered, and should be calculated as a max. of 15mA per spindle axis and 2mA per servo axis. Furthermore, if other inverter equipment is connected to the same power line, the leakage current for that so select and install the leakage breaker in the position marked equipment must also be considered, and @ above. Select a leakage breaker (for inverters) that removes the high frequency elements with a filter, and that detects only the leakage current within the commercial frequency range (approx. 50 to 60Hz). is used, the breaker may If a leakage breaker that is too sensitive towards the high frequency elements malfunction.
Note) There is one spindle axis and three servo axes in theMDS Series, and if the total of the leakage current from the equipment on the same power line is 7mA, select a leakage so breaker that the following calculated value is within the rated non-operative sensitivity current.

15mA + 2mA X 3 + 7mA = 28mA

When using a leakage tester to investigate the cause of leakage breaker malfunction, etc., selec one thatis not affected easily by the high frequency and which has a measurement of 50range to 60Hz. Example) LC-30F manufactured by Soko Denki Note) Always ground the machine with class3 grounding for safety purposes.

6. Noise Filter

6. Noise Filter
(1 ) Selection

If radio noise needs to be reduced, select one of the following noise filters according to the type of power supply unit being used.
~~~~ ~~ ~ ~~

I
I

MDS-A-CVMDS-B-CV37 55 77 110 150.185 220,260,300 MDS-B-CV-370

Noise filter type (Tohoku Kinzoku) LF-330 LF-340 I LF-350 I LF-360 I LF-380K parallel I in LF-380K filters Two
~~ ~

I I I I

1 parallel LF-380K in Twofilters

(2) Noise filter installation position Insert the noise filter at the unit's input. Power distribution panel

NFB

.
R
Power supply (MDS-A-CV)

1Power

supply

i i

1
!

*Connect to the transformer input for the power units used by the transformer.

!-i
(3) Specifications
~ ~

~~~

Part name

Rated voltage AC DC (V)

Rated current AC DC (A)

Test voltageAC (V) between case terminals for one minute

Insulation resistance (MW) SOOVDC

Leakage current (mA) 250V 6OHz

I I
I

330 340

200v

30A

350
360 380K

I I
I

200V 200V 200V 2OOV

40A

50A
60A

I I
I

1500 1500

Working temperature range ("C) -20 to +55

-20 to +45

1500
1500 2000

80A

1-25

6. Noise Filter

(4) Shape and dimensions

LF-300 Series
4-4.5

-~

LF-330

A 180

B 170

C 60

D
29

E 120 200 200

~

160

200

60

30

300

F 135 220 220 320

G 150 240 240

H 35 40
40

340

50

I 65 80 80 I00 (mm)

LF-K Series

H -

kFi

Name LF-380K

Terminal plate M6

400 670 TE-K22

380

560 500

170

6.50

9X6

1-26

11. MDS-A-CV
MDS-B-CV MDS-A-CR
Power Supply Section

1. Troubleshooting

1 Troubleshooting
1.I Status display

WARNING

1. Do not touch the switches with wet hands. Failure to observe this could lead to electric shocks. 2. 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. 3. Do not open the front cover whole the power ON isor during operation. Failure to observe this could lead to electric shocks.

/I\
operation could take place.

CAUTION

1. Always check the parameters before starting. Depending on the machine, unforeseen 2. Do not touch the sew0 amplifier fins, regenerative resistor or servomotor, etc., while the power is turnedON or immediately after turning the power OFF. Some parts are heated to high

temperatures, and touching these could lead to burns.

The power supply state is displayed on the 7-segmentLED on the top of the power supply. When an alarm occurs,the alarm No. will display on 7-segment LED on the servo/spindle drive connected with the communication cable(CN4) and on the NC diagnosis screen.
(1) Alarm display on NC diagnosis screen

Alarm displaywith 7-segment LED on drive unit If the sewo/spindle alarms #60 to #7F display on the diagnosis screen, a power supply alarm has occurred. The power supply alarm will display as the alarm for the axis connected to the power supply communication cable (CN4). At the same time, the same alarm No. will display on the spindle/sento drive unit's 7-segment LED. An example is shown below.
The power supply 1 alarm is displayed as the Z axis alarm

The power supply 2 alarm is displayed as the spindle alarm

[ALARM MESSAGE]

t N C ALARM> SERVO ALARM 6A Z SERVO ALARM 67 S

[SERVO MONITOR]

x
ALARM
E7

z
6A

[SPINDLE MONITOR]

ALARM

67

I1 - 1

1. Troubleshooting

NC

Power supply 1

Spindle

Power supply 2

E l
I
Pawer supply 1 alarm is displayed

Pawer supply 2 alarm

b
C

I ReadyOFFFrom2OOVAC(24VDC)ONtorelease

of emergencystop.

Servo OFF Displayed for approx. 1 see. after emergency stop is released and then changes to d display. Servo ON Indicates that emergency stop is released and operation Alarm or warning has occurred

d
: Flicker

is possible.

: Alarm display code uhis display code differs from the alarm No.)

I1 - 2

I. Troubleshootinn

E r Id r &
63

Alarm display model A-CV

B-CV ICl-CVl A-CR

Meaning

Detection timing is turned ON

is turned ON

nstantaneous stop (24VDC) Constantly after power 'over module overcurrent Constantly after power -requency error Constantly after power

PR PR PR PR

is turned ON

0
4

Auxiliary regeneration error Constantly after power turned is Jot used iushWhen error ready relay OFF Jot used

ON

6 4 1

ready PR ON

OFF ready When phase 3pen Constantly Natch dog power after OFF ready When 3round fault OFF ready During :ontactor melt

ready OFF

ready ON
ON

PR AR PR PR

tumed is ready ON

OFF readyDuring melt iush relay circuit dain error When 'arameter When error Vlemory Immediately error turned power after is OWconstantly error
VD converter error/power Immediately after power ;upply

PR

ready ON

PR

NC power is turned ON ON
is turned

PR
AR AR

Instantaneous stop/extemal emergency stop

During ready ON

NR

Over-regeneration Constantly turned power after is Regenerative resistor overheat Constantly after power

ON
is turned ON

PR PR NR

75
76

L
M

0
0

0
0 error
0

Overvoltage Constantly power after External emergency stop settina

is turned ON

When NC power is turned ON

AR

77
E8

n
0

Auxiliary regeneration

frequency over

Constantly after power is turned ON

I -

E9
E
E6

P
A q
r

0
0
0

0
0
0

ready During warning Instantaneous stop External emergency stop input When ready Over-regeneration During warning

ON
NC power is turned ON
ON

[Alarm No.] Alarm No. displayed on the drive unit connected to the power supply unit [LED display] LED displayed on power supply unit : Released whenpowersupplyunitpower is turned ON again. [Release]AR PR : Released when NC power is turned ON again. NR: Released with NC reset key.

I1 - 3

1. Troubleshooting

1.2 Troubleshooting per power supply alarm

CAUTION

When an alarm occurs, remove the cause of the alarm, confirm that an operation signal is not being input, and secure the safety. Then reset the alarm to resume operation. When an alarm occurs in the spindle amplifier, the base will be off shut and the motor will coast to a stop. Turn the powerOFF with an external sequence.
(I) Alarm No.

Instantaneous stop The 24VDC voltage connected to the CN22 connector has dropped. Constantly after power is turned ON

[Meaning] [Detection]

I. Troubleshooting

(2) Alarm No. [Meaning]

[Detection]

Oneration unit 1 -~~~~~ C1-CV A-CR B-CV This is a overcurrent in the power module in the power A-CV 0 0 0 supplyConstantly after power is turned ON module overcurrent Power

~~

~~

Investigation results Investigation item Remedy Zonfirm the operation state at Occurs each time servo turns ON Replace the unit. xxurrence and repeatability after turning2OOVAC ON. Occurs often during servo ON Perform investigation item3. Occurs when motor decelerates Occurs when continuous Perform investigation item2. operation for long time is performed. Unit is hot. Lower motor load and operation Investigate the load state, The total of all motors' loads frequency. of each exceeds power supply rated start/stop frequency motor. caDacitv. Perform investiaation item 3. ] Not exceeded. Investigate whether the power s pply is normal. 1) I s rated power supply Power capacity is insufficient. Increase the power supply capacity secured? caDacitv. 2) Confirm that the power is Power is less than 17OV. Increase the power supply 170V or more even during capacity. motor acceleration/ Power is higher than 17OV. Perform item 3). deceleration. 3) Observe the power voltage 1. Distortion in voltage waveform. Eliminate the waveform distortion. with a synchroscope. 1. Increase the power capacity or power cable size. ( A l s o during acceleration/ deceleration) 2. Improve the other semiconductor units where waveform distortion is occurring. (Add anAC reactor.) 2. When there is a partial drop.
~~~ ~ ~~ ~ ~~

3. Other waveform or frequency error.

Measure thevoltage be6&enp

R-S, S-T, T-R with a tester.
Investigate the installation environment. Is the grounding correct? Is there any noise generating equipment in the surrounding area?

The voltage difference between Improve the power phase

each wire is1OV or more. None of the above apply. Grounding is incomplete. Alarm occurs easily when a certain device operates. No problem found. balance. Perform investigation item 4. Correctly ground. Perform the noise measures for the device on the left. Replace the unit.

I1 - 5

I. Troubleshooting

(3) Alarm No.

Frequency error The power frequency is not within the specifications range. Constantly after power is turned ON

[Meaning] [Detection]

Remedy Investigation results lnvestiaation item is turned Perform investigation item2. Confirm the operation state at Occurs each time power Occurrence and repeatability ON. Occurs periodically regardless of operation state. Performjnvestigation item 3. Occurs only when motor accelerates/decelerates. Review the power facilities. Measure power voltage when The frequency is deviated from 50Ha3Y0 or 60Hzlt3Y0. operation is normal The frequency may deviate from 50H~i3% or 60H2&3% due to fluctuation in the frequency. There is a partial drop in the Take measures for the power unit voltage waveform. or device causing the problem. (Add an AC reactor, etc.) The frequency is 50H*3% or Replace the unit. 60Ha3%. 4. Perform investiaation item No problem found. The frequency fluctuation during Review the power facilities. Measure the power voltage acceleration/decelerationis while the motor is accelerating/decelerating. great. There is a partialdrop in the Take measures for the power unit or device causing the problem. voltage waveform during (Add an AC reactor, etc.) deceleration. Perform investiaation item 4. No problem found. The grounding is incomplete. Correctly ground. Investigate the installation environment. Perform the noise measures for Alarm occurs easily when a certain device operates. the device on the left. Replace the unit. No problem found.
~~~

1. Troubleshooting

(4) Alarm No. [Meaning] [Detection]

Auxiliary regeneration error The auxiliary regeneration transistor in the power supply is continuously ON. Constantly after power is turned ON

Operation unit A-CV I B-CV ICl-CVI A-CR

l o l o l

l o 1

Investigation item lnvestiqation results Remedy Dirt on the regenerative Take measures so that cutting oil Cutting oil or oil mist is adhered on resistance urrit on the unit rear. the regenerative resistance unit. or dust does not get on the fins on the unit rear, and perform investigation item2. Not dirty. Replace the unit. Confirm the conductivity of is a conductivity. Replace the unit. There the terminal block (P, N, R, S, Clean the resistor or fin and take Resistance T) and the resistor surface with measures so that oil and dust do a tester. not get on them. If the alarm occurs again, replace the unit.

(5) Alarm No.

[Meaning] [Detection]
1

Rush relay error

The rush resistance short circuit relay in the power ON. supply does not turn When ready OFF ready ON

Investigation item Investigate the repeatability Investigate the installation environment. I s the groundingcorrect? Is there any noise generating equipment in the surrounding area?

Investigation results Occurs every ready ON Occurs periodically Grounding is incomplete. Alarm occurs easily when a certain device operates. No problem found.

Remedy Replace the unit. Perform investigation item 2. Correctly ground. Perform the noise measures for the device on the left. Replace the unit.

(6) Alarm No.@

[Meaning] [Detection]

Openphase One phase of input 30AC2OOV is not connected. When ready OFF ready ON Investigation results
There is a phase with no voltage.

Oneration unit A-CV B-CV Cl-CV A-CR

~ ~

0
Remedy

Supply the correct power.

voltage with a tester.

All phases arenormal.

Perform investigation items 3 and

4 for alarm 71 Instantaneous stOD.

I1 - 7

I. Troubleshooting

(7) Alarm No. [Meaning] [Detection]

Watch dog The power supply software process did not end within the designated time. Constantly after power is turned ON Investigation results Occurs every ready ON Occurs periodically

IL

Oneration unit I I A-CV B-CV Cl-CV A-CR

~~~.
~

Investigation item Investigate the repeatability Investigate the installation environment. Is the grounding correct? Is there any noise generating area?

Remedy Replace the unit. Perform investigation item 2.

Grounding is incomplete. Correctly ground. Perform the noise measures for Alarm occurs easily when a the on the left. certain device operates. equipment indevice the surrounding Replace the unit. No problem found.

(8) Alarm No.

Ground fault Motor ground fault When ready OFF 4 ready ON

[Meaning] [Detection]
t

'

'

'

Investigation results Investigation item Measure the insulation 1OOkQ or less between theU W terminals of all motors and the grounding q o o k ~ or more with a megger tester. Is motor or cable covered with Oil is found. oil?

Remedy Motor defect or cable ground fault. Replace motor and cable. Perform investigation item 2. Take measuresso that oil does not come in contact. Clean the motor's cannon connector and inside the terminal box. If the error occurs again, perform investigation item3. Perform investigation item 3. Replace motor or cable. Replace the unit.

Perform the insulation measurement again.

Oil is not found. 1Mi2 or less 1Ma o r more

I. Troubleshooting

(9) Alarm No.

Contactor melt The externally connected contactor is on even during ready OFF. During ready OFF Investigation results Contactor is not externally installed. Connector is externally installted. Alarm 6A occurs. Alarm 6A does not occur. Remedy Set the power supply rotary switch (SWI 1 to 1. Perform investigation item2. Perform investigation item3. Perform investigation item4. Remove driver side error cause and then replace contactor. Replace contactor. Wire as shown below. Wiring is not correct.

[Meaning] [Detection]

Investigation item Is the contactor externally installed?

Has the contactor melted? Disconnect the contactor exciting wire and start up. Has an error occurred on theError has occurred. driver side (power module error, etc.) before alarm 6A Error has not occurred. Occurred? I s the contactor exciting wiring correctly passed though the MC1-RO terminal?
I

T
I

R
I I

I I

RO

1
I

EMG
Switch, etc.

Wiring is correct.

Replace the unit.

( I O ) Alarm No.

Rush relay melt The rush resistance short circuit relay in the power supply is ON. During ready OFF
~~ ~~

[Meaning] [Detection]
1

Oneration unit I A-CV B-CV Cl-CV A-CR

~~~ ~

investigation item Investigate the repeatability. Investigate the installation environment. I s the grounding correct?

Investigation results Remedy Perform investigation item3. Occurs each time power is turned

ON.
Occurs periodically.
2
Grounding is incomplete.

Perform investigation item 2.

Correctly ground.

Is there any noise generating

Alarm occurs easily when a

Perform the noisemeasures for

certain device operates. equipment in the surrounding area? No problem found. 3 Has an error occurred on the Error has occurred. driver side (power module error, etc.) before alarm 6B occurred?

the device o n the left.

Replace the unit. Remove driver side error cause and then replace power supply unit. Replace the unit. Error has not occurred.

I1 - 9

I. Troubleshooting

(1I) Alarm No.

Main circuit error Charging to the main circuit is not normal. When ready OFF ready ON

[Meaning] [Detection]

ODeration unit A-CV B-CV Cl-CV A-CR

Remedy lnvestiaation item Investigation results for Replace the unit. Observe the CHARGE lamp The CHARGE lamp remains lit lighting when the alarm occurs. a short time. Perform investigation item 2. The CHARGE lamp lights momentarily but soon the alarm occurs, and when the contactor turns OFF, it goes out immediately. Perform investigation item 2, and The CHARGE lamp does not light. then replace the unit. Disconnect thePN terminal (1) Error on the power supply Replace the unit. block wiring and confirm the side. following resistance values with(2) Error on the driver side Review thePN wiring and a tester. investigate the drive unit. Replace the unit. Both (1) and (2) are normal.
Driver Driver Power supply Defect Short circuit or infinite supply side Short circuit or several 1 0 0 0 Short circuit or infinite

Disconnect only the PN wiring on the power supply. (1) and Measure the positions (2) with a tester.

I I

Short circuit or several 1 OOR

11- 10

I. Troubleshootinn

(I 2) Alarm No.

Parameter error The power supply unit (CR) capacity and the regenerative resistance type (rtyp) set in the parameter PRYP are not set to an adequate combination. When NC power is turned ON lnvestiqation results
Remedy

[Meaning]

[Detection]

Investigation item
1 Confirm the parametersof the

drive unit connected to the power supply unit. Spindle : SPO41 (PlYP) Servo : SV036 (PTYP) Servo/spindle parameter :

Change the setting to the following combinations.

svo36 sP041 PlYP

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

5
External regenerative resistance type (Set type from following table)

w l

l p t y p l Power supply type

(Set type from following table)
Power supply type CR-10 CR- 5 1 CR-22 CR-37 CR-55 CR-75 CR-90

PtyP 81 82 83

89

External regenerative resistance and power supply (A-CR) compatibility table

11-11

1. Troubles hooting

(13) Alarm No.

Memory error Error in the memory circuit in the power supply Immediately after power is turned ON Investigation results Remedy Replace the the unit.repeatability. Occurs each time power is turned Investigate ON. Perform investigation item2. Occurs periodically. Grounding is incomplete. Alarm occurs easily when a certain device operates. No problem found. Correctly ground. Perform the noise measures for the device on the left. Replace the unit.

[Meaning] [Detection] 1

Investigation item

Investigate the installation environment. Is the grounding correct? Is there any noise generating equipment in the surrounding area?

(14) Alarm No.

16FJ

AID converter error/power supply error

[Meaning] [Detection]

Error in the N D converter in the power supply, or the driver detected an error in the power supply Immediately after power is turned ON ( N D converter error)/constantly (power supply error)
F is flickering.

Remedy results Investigation item lnvestigation Check power the supply 7segment LED display: -

Other alarm code is flickering. 0 is displayed. F is displayed. 8 is displayed.

b, c, d are displayed. Other display

A/D converter error. Perform same remedies as for alarm 6E memory error. Refer to each alarm section. Perform investigation item 2. Perform investigation item 2. Refer to alarm 68 watch dog alarm. Perform investigation item 3. Refer to alarm 68 watch dog alarm.

Investigate rotary the switch Setting setting. mistaken. wiring is driver Replace The Check cable. the the communicationcablewiring.There replacing Try driver the communication cable.
~

is Replace 0 1. orunit. the Setting is not 0 or Correctly 1. set the rotary switch. is no shield. wiring The is OK. OK replacement. after Cable defect. NG even after replacement. Replace the unit. Perform investigation item
4.

I. Troubleshooting

(15) Alarm No. weaning]

1711

Instantaneous stop/external emergency stop

[Detection]

Theexternallyinstalledcontactoris OFF. An instantaneous stop exceeding 25ms occurred. During ready ON Investigation results Contactor isOFF.

ODeration unit B-CV Cl-CV A-CV A-CR

~~ ~

, o

Investigation item Is the externally installed contactor OFF due to emergency stop, etc.? Check the sequence.

Occurrence state.

Contactor is not OFF. Occurs constantly during ready ON. Occurs with certain operation.

Remedy The power supply operates normally. Check the machine sequence. When directly turning OFF the contactor with the emergency stop button, etc., and the NC emergency stop is applied simultaneously with the contactor OFF, emergency stop will occur instead of alarm. Perform investigation item 2. Perform investigation item3. Perform investigation item1 again. If there is no error, perform investigation item3. Perform investigation item 4. Repair the items noted on the left. Perform investigation item 4. Review the power facilities. Replace the unit.

Occurs sometimes during operation (not-regulated). The wiring or sequence is Is the RST wiring correct? incorrect. Is the contactor wiring No error. sequence correct? Observe the power waveform Instantaneous power failure or voltage drop occur often. with a synchroscope. No error.

(16) Alarm No.

1731

Over-regeneration

weaning] [Detection]

Theregenerativeresistor'sloadexceededthe tolerable value. Constantly after power is turned ON

ODeration unit I A-CV B-CV C1-CV A-CR

1 What is the alarm Occurrence

operation eased.

I I I I

Investigation results Remedy Check for the effect of power The regeneration load display fluctuation, grounding connection increases when the power is state and the regenerative load and noise. If there is no turned ON and the motor is displayed onthe monitor abnormality, replace the unit. screen? Confirm by changing rotated. A-CR : Perform investigation the operation mode. The regeneration load display item 2. increases each time the motor B-CV . Perform investigation decelerates, and an alarm item 3. occurs. Theregenerationloaddisplay If thereisnoproblemafter increaseseachtimethemotorperforminginvestigationitem 2, decelerates, but an alarm does ease the operation mode. the when occur not is I mode 1 I Investigation item

I1 - 13

1. Troubleshooting

I I

Investigation results Investigation item Remedy The setting is incorrect. (Refer to Set to the correct setting, and Confirm that the external regenerative resistance type the parameter settings for alarm confirm again. "6D". OL set in the parameter (PTYP) of Perform investigation item3. the drive unit connected to the The setting is correct. z power supply unitis correct. 0 Confirm that the rotary switch cv is set to "0'. * This maybe set to "2" for - special specifications. 3 Confirm whether the operation is correct after performing investigation item3 for alarm "75*, and that the regenerative resistance value, etc., is correct. I I
) .

(17) Alarm No.

1741

Regenerative resistance overheat

I

[Meaning] -~ [Detection]

Theexternalregenerativeresistancethermalrelay has functioned. Constantly after power is turned ON

~~~

Investigation item Confirm whether the resistor has overheated. Note) Do not touch the resistor or case directly. It ishot and can cause burns. Confirm the alarm history. The over-regeneration warning or over-regeneration alarm has occurred. Is the resistor installation correct? Confirm theCN22 (B) connector pins 1 and 2. Confirm whether there is a short circuit caused by the
resistor's terminal or wire.

lnvestiaation results The unitis hot. The unitis not hot.

~~

srform investigation item

3.

The alarm has occurred. there is no abnormality, ease the The alarm has not occurred. regenerative resistor. Install in a well-ventilated place. Cool with a fan, etc. Replace with correct wiring. Replace the resistor. Replace the unit.

The wire is cut. There is no conductivity in the resistor's terminal relay. The wire is correct.

I1 - 14

I. Troubleshooting

(18) Alarm No.

[Meaning] [Detection]

Overvoltage The voltagebetweenPNexceeded410V Constantly after power is turned ON

ODeration unit I A-CV 6-CV C1-CV A-CR

0
~

Investigation item Investigation results Remedy What state did the alarm occur Perform investigation item 4. Occurs each time the motor in? decelerates. I Occurs always during a certain Perform investigation item3. deceleration mode. Perform investigation item 2. Occurs periodically. Look at the alarm history on the Perform investigation item3. EO is output right before the power supply diagnosis screen. overvoltage. (Over-regeneration warning) Perform investigation item3. Others Observe the regeneration load Decrease the simultaneous Regeneration load of the axis where the alarm when several axes decelerate deceleration frequency. occurred on the servo/spindle simultaneously. monitor screen. Perform investigation item 4. Other than the above. Investigate whether the power s DDIV is normal. I) I s rated p e r supply Power capacity is insufficient. Increase the power supplycapacity. capacity secured? Power isless than 17OV. Increase the power supply 2) Confirm that the power is capacity. 170V or more even during motor acceleration/ Perform item 3). Power is higher than 17OV. deceleration. 3) Observe the power voltage 1. Distorhon in voltage waveform. Eliminate the waveform distortion. with a synchroscope. I. Increase the power capacity or ( A l s o during acceleration/ power cable size. 2. Improve the other deceleration) semiconductor units where waveform distortion is occurring. 2. When there is a partial drop. (Add an AC reactor.)
~

3. Other waveform or frequency error. Measure the voltage between The voltage difference between R S . S-T. T-R with a tester. each wireis 1OV or more. None of the above amlv. Observe the power waveform Instantaneous power failure or with a synchroscope. voltage drops occur often. No error. Investigate the installation environment. I s the grounding correct? Grounding is incomplete. Is there any noise generating Alarm occurs easily when a equipment in the surrounding certain device operates. area? No problem found.

Improve the power phase

balance.

Perform investigation item5. Review the power facilities. Perform investiaation item 6. Correctly ground. Perform the noise measures for the device on the left. Replace the unit.

I1 - 15

1. Troubleshooting

(19) Alarm No. @ External emergency stop setting error

ODeration unit

[Meaning] [Detection]

Therotaryswitchsettingandparameter(PTYP) setting do not match. Constantly after power is turned ON Remedy

1. Set the rotary switch to 0 or 1. 2. Set the parameter (PTYP) to **oo to **39.

Investigation results Investiaation item Confirm the rotary switch When not using external setting and the parameter emergency stop 1. The rotary switch is set to 4 or (PTYP) of the drive unit connected to the power supply 5. unit. 2.The parameter (PTYP)is set to **40 to **79. When using external emergency stop 1. The rotary switch is set to 0 o r 1. 2. The parameter (PTYP)is set to **oo to **39. The combination is correct.

1. Set the rotary switch to 4 or 5.

2. Set the parameter (PTYP) to **40 to **79.

Replace the unit.

(20) Alarm No.

1771

Power module overheat

[Meaning] [Detection]

Overheating of the power module (IPM) in the power supply was detected. Constantly after power is turned ON
Remedy

Investigation results Investigation item Investigate the heat radiating environment 1) Rotation of fan on rear of The fanis not rotating correctly. unit 2) Contamination o f radiating Remarkable amounts of cutting fins on rear of unit oil or dust are adhered on the radiating fins. 3) Measurement of unit 55C is exceeded. ambient temperature None of the above apply. The groundingis incomplete. Investigate the installation environment. Alarms occur easily when a Is the grounding correct? certain device operates. Are there any noise generatingNo particular problem. devices in the periphery?

Replace the Take measures fan to prevent cutting Clean the fins oil or dust from contacting the fins. Consider ventilatingor cooling measures for the panel. Perform investigation item2. Correctly ground. Take noise measures for the device on the left. Replace the unit.

I1 - 16

1. Troubleshooting

1.3 Power supply warnings

The power supply warnings are not displayed on the servo/spindle monitor screen. The warning will be displayed on the power supply's 7-segment LED and in the alarm history on the power supply diagnosis screen. Operation can be continued after the warning, but it does indicate that there is a factor for an alarm.
(1) Alarm history display Auxiliary regeneration frequency
over LED display

E l

[Meaning]

[Detection] 1

Thisindicatesthattheinstantaneousregeneration energy is large, and regeneration was not possible only with the power supply regeneration. Due to this, regeneration at the auxiliary regeneration's performance limit occurred. When this warning occurs, the auxiliary regeneration will not function, so this could lead to an overvoltage alarm. During ready ON Investigation results Remedy

Investigation item Perform inspectionitems 3 and following in alarm 75 overvoltage.

(2) Alarm history display Instantaneous stop warning

LED display

[Meaning]

[Detection]
1

An abnormal instantaneous stop occurredfor 25ms or more. An alarm did not occur because the main circuit voltage did not drop. This may cause an instantaneous stop alarm, overvoltage alarm or power module error. During ready ON
Investigation results Remedy

Investigation item Perform inspection items 3 and following in alarm 71 instantaneous stop.

11-17

1. Troubleshooting

(3) Alarm history display External emergency stop input

LED display

[4j
I

[Meaning] [Detection]

The external emergency stop signal was input. 24V is not applied on the CN23 connector. Constantly after power is turned ON

Oneration unit

Investigation item When not using external the rotary switch and parameter (PTYP). When using external

Investigation results Remedy Set to invalid. Refer to The external emergency stop is investigation item 1 of alarm 76. set to valid. emergency stop Investigate

Replace the unit. 24V is applied on the CN23 connector. emergency stop Investigate the CN23 Perform investigation itemon the CN23 24V is not applied 1 connector voltage. connector. Correctly wire. 0Investigate whether the The wireis broken or breaks CN23 connectororcable is sometimes. broken. Replace the switch. The contact is defective or is @ Investigate the external emergency stop switch periodically defective. I contact. I I
~

3.

(4) Alarm history

display

Over-regeneration LED display

11-1
Remedy

[Meaning] [Detection]

80% of the over-regeneration alarm level was reached.

During ready ON Investigation results

Investigation item Perform the investigation items for alarm 73 overregeneration.

111. MDS-A-VX
MDS-B-VX Servo System Section

1. MDS-C1 -Vl/V2 Servo Drive Unit

1. MDS-ClmV1/V2 Servo Drive Unit

1.I Points changed from B Series
1. I -1 Compatible detectors and compatible motors
(1) Compatibledetectors

Note that some detectors are not compatible with the C1 Series.
0: Connectable, x: Not connectable

Detector type
ABZ (+ low-speed serial)

Detector model
OHE25K-6, OHE25K-85, OHA25K-6, OHA25K-85 OSEl04.OSE104S. OSEl04S1. OSE104S2 OSE105,OSE105S, OSElO5S1, OSA105S2 OBA13.OSAl4.OBA17 OHE2500 OHE-25K-ET, OHA-25K-ET

MDS-C1MDS-8MDS-BSeries V1N2 Series V1N2 Series _ _ V14N24 .~

~

Motor end detector

High-speed serial

Motor built-in encoder

I o l x
0

l x
0

detector

I High-speed serial
I

IABZ
Linear scale
High-speed serial

~~

OSE104-ET, OSAl04-ET OSA1054ET. OSElO5-ET Optical scale, magnetic scale, MP scale AT41(Mitsutoyo) FME type, FLE type (Futaba Denshi) AT342 (Mitsutotyo) Resolution O.*m LC191 M (Heidenhain) Resolution 0. l u m AT343 (Mitsutoyo) Resolution 0.05pm Heidenhain analog output scale (LF Series, LS Series) + MDS-B-HR (Scale interface unit)
~~

0
0

0
0 0 0
0
X

0 0

0 0
X X

0
0 0 0 0

(2) Compatiblemotors

: (INC specification) (ABS specification) : (INC specification) 2 ) HC R motor (ABS specification) : (INC specification) 3) HANmotor (ABS specification) : (INC specification) 4) HA L motor (ABS specification) : (INC specification) 5) HA-LH S1 motor (ABS specification) : (ABS specification) 6 ) HA-FF motor : (ABS specification) 7) HC-MFmotor 8 ) HA compact motor : (INC specification) HA-FE** (ABS specification) HA-FH**
1) HCmotor

HC***-E42/E51, HC***-A42/A51 HC***R-E42/E51f HC***R-A42/A51 HA***N/INC high-speed serial encoder, HA***N/ABS high-speed serial encoder HA***L/INC high-speed serial encoder, HA***L/ABS high-speed serial encoder HA-LH**Sl/INC high-speed serial encoder, HA-LH**Sl/ABS high-speedserial encoder HA-FF*** HC-MF*** HA053NC, 13NC/INC high-speed serial encoder, HA053NC, 13NC/ABS high-speed serial encoder,

INC high-speed serial encoder = OSE104/S/Sl, OSE105/S/S1 ABS high-speed serial encoder = OSA104/S/Sl, OSA105/S/Sl

1 1 1- 1

1. MDS-Cl-VlN2 Servo Drive Unit

1.1-2 2-system compliance (standard amplifier (MDS0B-V1/V2) mode and high-gain amplifier (MDS-B-V14/V24) mode)
'

(1) Outline

With the C1 Series, control can be carried out in the standard amplifier (MDS-B-V1N2) mode and high-gain amplifier (MDS-B-Vl4N24) mode. This allows the amplifier to be changed from the standard amplifier (MDS-B-V1N2) orfromthehigh-gainamplifier (MDS-B-Vl4N24) with the same parameters. When the standard amplifier is replaced with the high-gain amplifier, the amplifieris recognized automatically by the status of the servo parameters set with the machine.

A
(2) Compdtible software version

CAUTION

When the control mode has been changed to the high-gain amplifier (MDS-B-Vl4N24) mode after remounting from the standard amplifier (MDS-B-V1/V2), the parameters must be changed for the high-gain amplifier and the servo parameters must be adjusted.

The 2-system compatible software is compatible from Version A1 (BND-582W000-Al). * Version A0 is not compatible with the standard amplifier mode. It is compatible only with the high-gain amplifier mode.
(3) Judging changeover of control mode

Whether to start the servo amplifier in the standard amplifier compatible mode or the high-gain amplifier compatible modeis judged by the servo parameters SVOO9 to SVO12 and SV033 setting values set in the machine.
SVOO9 = 4096 or more, conditions is satisfied. SVOlO = 4 0 9 6 or more, s v o 1 1 = 768 or more, and S V m = 4096 or more* ~ ~ 0= 1768 2 or more. svol SV010 == 768 or mo18, or more, and SVOl2 = 768 or more 0 0
0
0

Setting in which not even one of the following

Servo
parameters

svm '0 Sv012

svoo9=*

svo1o=*

svo1o=*

svoo9=* svo11=* SVOl2=*

0 1

svoo9=*

svo1o=*
svol1=* svo12=*
1 1

svol1=* svo12=* 1
0

s v O 3 3 (SSF2)/bii8 s v O 3 3 (SSF2)bii
Control mode

High-gain mode

Standard mode

Standard

High-gain Highgain mode modemode

CAUTION

The actual mode is changed between the standard amplifier mode and high-gain amplifier mode when the 200V power is turned ON. Thus, if the above servo parameters are changed, the alarm "7F" will occur, and the resetting of the power w i l l be requested. Alarm"7F"may also occur when the poweris turned ON for the first time after the machine is installed. If alarm "7F"occurs, turn the power ON again. The alarm "7F" w i l l not occur after the second and subsequent power ON unless the above servo parameters are set. (Servo Monitor screen) Whether the system is running in the high-gain mode or standard amplifier mode can be confirmed with the type displayed on the Servo Monitor screen.
~~ ~~~~ ~ ~~

(4) Display of servo monitor type for highgain mode and standard amplifier mode

Unit type MDS-C1-VI -000

MDS-C1- V 2 - 0 0 0 0 MDS-C1-V145S MDS-C1 -V2-7070S MDS-C1 -V2-351 OS MDS-C1 -V2-3520S

For standard amplifier mode

For high gain mode

ClV1-000 ClV2-0000 c1v 1 4 s ClV2-7S7S ClV2-3510 C1 V2-3520

c1v1sooo
c1v2soooo c 1Vsl4S c1v2s7s7s C1 V2s3510 c1v2s3520

I11 - 2

2. Adjustment Procedure

2. Adjustment Procedure
2.1 Initial adjustment

/1\

CAUTION

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

2.1 .I Confirmation of parameters

Confirm thesew0 parameters once again after installing the machine and checking the wiring, etc. (1) Confirm that the sew0 specification parameter data (machine specifications, servo system specifications) are correct. Refer to the SERVO MONITOR screen (3/3) [SERVO DIAGNOSIS] for the servo system, and confirm that the amplifier type (UNIT TYP), control method(CONTROL), motor end detector (MOT DT), machine end detector (MAC DT) and motor(MOTOR) are correct. SERVO MONITOR (SERVO DIAGNOSIS) Screen DIAGNOSIS] [SERVO UNIT TYP UNIT NO S W VER CONTROL MOT DT MAC DT MOTOR WORK TIME ALM HlST

<x>

3/3

<Y>

<2>

(2) Confirm that the standard parameters for the specifications motor are set.
Refer to the specifications for the standard parameters for each motor type.

I11 - 3

2. Adjustment Procedure

2.1.2 Adjustment of optimum accelerationldeceleration time constant

The rapid traverse acceleration/deceleration time constants are adjusted according settings as theydiffer according to the load inertia, friction and motor capacity. to the following is shown

(1) Set the acceleration/deceleration time constant initial value. The basic setting equation below. Ts = 1000 (2nN/60) (J, + JL) / (0.8 Tm

- TF)

(ms)

Ts N J , JL ,, T TF

: : : :

Acceleration/deceleration time constant (rns) Motor speed duringraFidtraverse(rpm) Motor inertia (kg0crn.s ) Load inertia (kg*cms2) : Maximum output torque for amplifier (during motor combination) (kgocm) : Motor shaft conversion load torque during rapid traverse (kgocm)

(2) The rapid traverse acceleration/decelerationmode is selected and the time constants set in the NC device parameter axis specifications screen.

(3) After reciprocating with rapid traverse for about five times, adjustacceleration/deceleration the time (1/3) is within the optimum constant so that the MAX current 1 value on the servo monitor screen maximum current value range given in Table 3.1. Note) If the maximum current value exceeds the optimum maximum current value given in Table 3.1, the acce'leration/deceleration constant mustbe increased. The max. current1 indicates the maximum value (stall current conversionYO(absolute value)) from when the NC power is tumed ON, so the NC power mustbe turned OFF when repeating rapid traverse operation to confirm the current. The max. current 2 indicates the absolute valuethe of max. current in 2 sec.intervals, so the powerdoes not need to be turned OFF when adjusting while looking at this value.

Motor current
J

l I
t

Max. current 1

.
<
2 sec.

Max. current 2

>

2. Adjustment Procedure

Table 3.1 Max. output torque per motor and optimum max. current

Standard 2000rpm motor

I

Standard 3000rpm motor

1

Motor HA40N O O N HA200N HA700N HASOON

Optimum max. Tmax current to 400 14.2 325 to 365 25.5 HA80N 42.0 HA1 230 to 260 200 to 225 60.0 87.0 HA300N to 200 to 205 120.0 220 153.0

Motor

Tmax

HA053N 355 0.7 1.4 HA13N 2.8 HA23N 5.6 HA33N HA43N 180 HA83N 185 19.2 40.0 HA1 03N 195 to 56.0 HA203N 80.0 HA303N HA703N 180 to 105.0 160

Optimum max. current 210 to 240 210 to 240 205 to 230 205 to 230 260 to 295 10.2 245 to 275 220 to 245 185 to 210 160 to 180
i

243 to

9 HC52 21 8.8 HC52 366 to 323 11.8 21 HC103 16.7 321 to 283 HC102 21.6 317 HC152 35.3 251 to 222 HC153 28.4 to 359 228 HC202 41.7 214 HC203 40.2 to 259 20959.0 HC352 19155.9 HC353 to 237

to 249

to 243 to216

Tmax

Motor HA50NL HAlOONL HA150NL HA200NL HA300NL HA-LH11K2 1K5 13.0

20.9

31.,.0

32.0 52.0 72.0 158.0 215.0

Optimum max. current 320 to 365 265 to 300 to 315 175 to 195 175 to 195 145 to 165 HASOONL 180 to 205 195 to 220 HA-LH1

Optimum max. current HA53NL HA1 03NL HA1 53NL HA203NL HA303NL HA503NL
22.5

275 22.8
37.0

60.0 78.0

360 to 410 285 to 320 195 to 220 200 to 230 195 to 225 155 to 175

14.1

2. Adjustment Procedure

2 . 1 . 3 Adjustment of speed gain

(1) The speed related gain is adjusted on theservo adjustment parameter screen. The corresponding items are2.VGNI (SVOOS), 3.VIA (SV008) and 4. VIL (SV007). VIL (SV007) is used only for the closed loop, so the adjustment procedure will be explained later. The standard value for the VIA (SV008) speed integrated gain is 1364, andis set to 1900 when using the feed fonnrard control or SHG control in the high precision control mode. (If the machine system resonance frequency is low and the speed loop gainVGNI (SVOOS) does not increase, the VIA (SV008) may need to be lowered, but in this case, the other values above will be the standard values and do not need tobe adjusted.)

Servo adjustment parameter screen

[SERVO PARAMI

2/6

<x>
1 PGNZ ( l/SEC)
2 VGN 3 VIA 4 VIL

<Y>

<2>

cc>

5 FFC 6 JL
7 FHz(Ht)

8 TOP(%) 0 LYCl(X)

1 0 LUC2(%) 11 O V S l (%I 12 O V S Z ( W )
The VGNl (SVOOS) optimum value and maximum value will change according to the load so inertia refer to the following diagram and set the initial VGNl (SVOOS) value. The following diagram shows the values when the motor and load are linked, so the motor may vibrate even with a lower setting when gears are used, or due to the coupling method ball screw and twisting even if linking is used. In that case, lower the value to that which is SO lower than the value where vibration occurs, and reset.

Load inertiascale (load inertialmotor inertia)

Load inertia scale (load inertialmotor inertia)

2. Adjustment Procedure

unit single Motor

500
400
HC202 HC352 -H a 5 2 HC702 HC902
I

<HC**>

HC203 HC353 HC453 HC703

300
Standard VGNl
200
\ HC53
100
HClO2 HC152

0
1

Load inertia scale (all load inertidmotor inertia)

(2) Perform rapid traverse acceleration/decelerationand confirm the following. Has the load current on the servo monitor screen fluctuated after stopping? (Changed by * l o or more) Is vibration still felt in the table and cover? (Vibration may also occurto due the hydraulic pump, etc.)

If the above vibration or abnormal sound occurs, lower VGNl (SVOOS) by 50 at a time. Set the value as 0.7 times the gain when the abnormality stopped. The VGNl (SVOOS) is finely adjusted with the servo amplifier's DA output function. Check the current stability after outputting the current command and performing rapid traverse acceleratiorVdecelemtion. Set the VGNl (SVOOS) value as0.7times theVGNl (SVOOS) value when current vibration such as shown below stopped.
Command speed

current

The vibration may occur due to the machine resonance, and if the frequency is known may be eliminated by settingthe frequency in the machine resonance suppression frequency FHz (SV038)
without loweringVGNl (SVOOS). If the vibration is eliminated with this setting, raise VGNl (SV005) again, and confirm the limit. If the optional adaptive filter is mounted, turnON servo parameter"27. SSFl bit F"and the machine resonance will be eliminated automatically.

I11 - 7

2. Adjustment Procedure

2.1.4 Zero point return

(1) Parameter settings 1) Servo parameters The MDS-A/B Series servo does not require special parameter settings even when the 1 shot type scale is used in the closed loop.

2) NC parameters (zero point return parameters)

Basically, the settings are the same as the M300 Series. However, in the M500 Series, the 4. grspc (grid space) setting unit is mm, and there is no limit to the setting amount. (In the M300, the zero point position may deviate if the servo parameter RNG (equivalent to RNGl in the MDS-A/B Series) if it is not a divisor.) (2) Theory of zero point The basic configuration of zero point return is shown below.
I) The reference for the zero point position is the last Z phase passed before reaching the dog OFF stop, and the NC creates the hypothetical grid for each grspc from Z the phase. 2) The position stopped at after the distance (L) from the dog OFF position to the next grid+ the

grid shift amount(G28sft) is moved is the zero point.

7
0

Motor speed

Dog

Z phase

'I
c
I

I
I

NC hypothetical grid

Zero point reference 2 phase

G28sf t
3

(3) Confirmation of zero point return position Confirm that the zero point position is correct with the cycle (P) counter on the servo monitor screen. Repeat zero point return about five times, and confirm that the cycle counter isvalue the same after reaching the zero point.
(Note) After zero point return, the high speed zero point return mode (not usingZ phase) will be applied from the second return, so turn OFF the power before starting each zeropoint return.

(Dog-type zero point return can be performed without turning the power OFF each time by

turning ON the automatic dog method or manual dog method in the NC user parameter's
axis parameter.)

2. Adjustment Procedure

2.1.5 Adjustment of absolute position detection

TO confirm the absolute position detection with absolute position deviation, etc., investigation, confirm the data on the servo monitor's ABSOLUTE POSITION MONITOR screen. (1) Confirmation of ABSOLUTE POSITION MONITOR screen data ABSOLUTE POSITION MONITOR Screen
POSITION MONITOR]
(X)

DlAGN 2 . (C)

2/3

ABS SYS POF POS PON POS

MAC POS
0 0 0 0

0 0 0 0 0 0

0 0 0 0 0 0

Rn Pn

0 0
0

0 0
0

No. 1

Display item ABSSYS

2
3
4

7
8
9

10
11 12

Description The servo side absolute position detection system is displayed. ES : Semi-closed EC : Ball screw end detection LS : Absolute position linear scale The absolute position before the power was turned OFF last POF POS (command unit) is displayed. The absolute position when the power was turned ON this PON POS (command unit) time is displayed. (Absolute position detected when power is turned ON.) The coordinate value in the NC basic machine coordinate MAC POS (Command unit) system is displayed. The detector's multi-rotation counter value (motor . R O cumulated speed) registered when the reference point was set is displayed. The position in one detector rotation registered when the P O reference point was set is displayed. The absolute position error registered when the reference E O point was setis displayed. The current motor accumulated speed is displayed. Rn The current position in one motor rotationis displayed. Pn (x division) The absolute position error when the NC power is turned En OFF is displayed. ABSn (NC interpolation unit) The current absolute position displayed. The MP scale offset amount when the power is turned ON is MPOS displayed. Other displays may be used for special specifications.

111

-9

2. Adjustment Procedure

(2) Confirmation of absolute position detection

1)

Current monitor Turn the NC power and MDS Series input power OFF and ON several times in the emergency stop state and confirm the following: Check that the relationof the power OFF position and power ON position is not greatly deviated. (However, there may be a difference due to sequential axes or unbalanced axes.) Confirm that ABSn, Rn and Pn do not move greatly. (However, Pn will change as shown below, so 4094,4095 0, 1 movement can be considered.)

Encoder type OHA25K

X division

Rn N-

N+
c

1
b

N+ 2

rN+3

1 motor rotation

Write down the ABSn, Rn and Pn values displayed when the zero point position is set. The absolute position detection can be confirmed with the following equation when absolute position deviation occurs. (Substitute the noted ABSn, Rn and Pn values as ABSO,RO and PO.) The above values will be displayed on the monitor screen, so confirm that the left side equals the right side with the following equation. ABSn = (Rn - RO + (Pn - PO)/x} *PIT*PCl/PCZ/hterpolation unit Machine position= ABSn X Interpolation unit

2. Adjustment Procedure

2.2 Adjustment details

22.1 Vibration or vibration sounds occur
(1) A fine vibration is felt when the machine is touched, or the machine makes a groaning sound. I Lower 5. VGNl by 50 at a time. (Lower limit 50) Lower 11. IQG by 50 at a time. (Lower limit 128) Lower 12.IDG by 50 at a time. (Lower limit 256) Set 27. SSFl vfctl(bit 4), vfct2 (bit5) in the following order.

Set 27. SSFl aflt (bitF). Use both 4) and 5) above.

(2) Vibration and sounds occur during rapid traverse. Lower 5.VGNl by 50 at a time. (Lower limit 50) 1) Lower 11. IQG by 50 at atime. (Lower limit 128) 2) 3) Lower 12. IDG by 50 at a time. (Lower limit256) Set 27. SSFl v f c t l (bit 4), vfct2 (bit5) in the following order. 4) vfctl (bit4) vfct2 (bit5)

3)

5) 6) 7)
I

Set 27. SSFl aflt (bitF). Use both 4) and 5 ) above. Set a value that the is cutting feedspeed + 1OOrpm in 29. VCS and set the same value as 5. VGNl in 6. VGN2. Repeat rapid traverse, and lower 6. VGN2 by 10 at a time. (Lower limit 0)

I11 - 11

2. Adjustment Procedure

2.2.2 The cutting surface precision is poor. The roundness is poor.

(1) The taper and arc 45" direction surface precision is poor. Raise 5. VGNl by 20 at a time. (The limit is when vibration or sounds occur when stopping or during 1) rapid traverse.) Raise 8. VIA by 200 at a time. (Upper limit 2000) 2)

r;

Raise 5. VGNl by 20 at a time. (The limitis when vibration or sounds occur when stopping or during rapid traverse.) Raise 8. VIA by 200 at a time. (Uppeclimit 2000) When the axis load is unbalanced, perform unbalance torque compensation (32, TOF), and remove the electrical unbalance element. [YO] on the I/F diagnosis screen sew0 monitor, and feed the axis with manual Look at the power load pulse by 10 to20 pulses in the + and - directions. If the current load is positive, check the maximum value, and if negative check the minimum value. Set the average of value the + and - directions value inTOF. <Example> When + direction +50%, - direction -10% {(+50)+(-10)}/2 = +20 20 TOF When + direction -3o%o, - direction -10% {(-30)+(-10)}/2 = -20 -20 TOF Select the lost motion compensation type. (Set the 27. SSFl bit 8 or bit 9 to validate lost motion compensation.) In the MDS Series, the lost motion compensation type 2 is the standard, and is suitable for the following cases. High speed machining Closed loop Lost motion compensation type I Lost motion compensation type 2 Set 27. SSFl lmctl (bit 8). Set 27. SSFl Imct2 (bit 9). Gradually increase 16. LMCl from 0 by Look at the current load [%] on theI/F diagnoss screen 20. If this is set too high, the axis will eat sew0 monitor, and feed with manual feed etc. (the feed into the workpiece. rate is approx. 500 to lOOOmm/m). Check the current load value. I Double the checked value and set it in 16.LMCl . The 16. LMG1 optimum y a l ~ e is the maximum value where overshoot does not occur when one pulse is fed and the direction is reversed. If differing compensation amounts are required in the - + direction and+ direction, set the compensation gain for- + direction in 16. LMC1, and the + - direction compensation gain in 41. LMC2.

: . : .

--

- -

--

Too large

111 - 12

2. Adjustment Procedure

~~~ ~~~ ~~ ~~

(3) The load fluctuation is large during cutting and vibration or surface precision defects occur.
(Especially during heavy cutting) Raise 5. VGNI by 20 at a time. I) (The limit is when vibration or sounds occur when stopping or during rapid traverse.) Raise 8. VIA by 200 at a time. (Upper limit 2000) 2)

2.2.3 Overshooting occurs during positioning. A limit cycle occurs.

(I) For semi-closed loop Raise 5. VGNI by 50 at a time. 1) (The limitis when vibration or sounds occur when stopping or during rapid traverse.) Raise 8. VIA by 200 at a time. (Upper limit 2000) 2) Note 1. If the overshoot amount is large (5p or more), confirm the droop on servo the monitor screen, and if of overshooting occurs, take the above measures. the same amount If no improvements are seen after the above measures are taken, 3.PGN1 set to approx.20, or increase the axis specifications acceleration/deceleration time constant. If the droop does not overshoot, the motor is itself not overshooting and only the machine system is overshooting. Adjust the machine system.

(2) For f u l l closed loop

Raise 5. VGNI by 50 at a time. (The limitis when vibration or sounds occur when stopping or during rapid traverse.) Raise 8. VIA by200 at a time. (Upper limit 2000) 2) Lower 3.PGNI by 5 at a time. (Lower limit 20.) 3) However, set the interpolation between axes to the same value. Set 27.SSFI ovstl(bit A), and increase 31. OVSI by 2% at a time from 2. (Upper limit IO) 4) After settingOVSl, turn theNC power OFF and ON once. Set 27.SSFI vcntl(bit 0), and increase7. VIL by 15 at a time from 0. (Upper limit 656) 5) Return 27. SSFI vcntl (bit 0) to 0, set vcnt2 (bitl), and raise 7. VIL by 65 at a time from 0. 6) (Upper limit 1640) Try combining4) and 5 ) , or 4) and 6 ) . 7) Note 1. If the overshooting or limit cycle is improved with5 ) but the response is poor, perform the same measure as 6). Note 2. In case of full-closed loop as with Note 1 for the semi-closed loop, if the droop on the sew0 monitor screen is not overshooting, the overshooting is not occurring near the scale, and only the machine system is overshooting. Adjust the machine system.
1)

I11 - 13

2. Adjustment Procedure

2.2.4 Accumulated feed occurs with pulse feed

(1) Command several pulses, and confirm that the droop corresponding to the command pulse is occurring by checking the droop on the sew0 monitor screen. Droop is not occurring Droop is occurring Movement has been made to near the Raise 5 . VGNl by 50 at a time. 1) 1) (The limit is when vibration o r sounds position detector (scale, ball screw end detector) in the motoror full closed loop. occur when stoppingo r during rapid traverse.) The following machine system is accumulated feed. Raise 8. VIA by 200 at a time. 2) Adjust the machine system. (Upper limit2000) Perform the same measures as 1.2.3 (2) 5).

2. Adjustment Procedure

2.3 Adjustment of special functions

2.3.1 High precision control mode
When performing high precision control, the various parameters for performing acceleration/ deceleration before interpolation, feed forward control and SHG control, etc. must be set.

(1) Outline The delay caused by the NC side command time constants is removed with acceleration/ decelerationbeforeinterpolation.Thedelaycausedbytheposition loop ontheservosideis corrected only with feed forward control in the M300 Series, but the correction has been stabilized in the M500 Series by combining SHG control andfeed forward control. (2) Basic parameters for high precision control Servo parameter setting procedure to use SHG control

No. 1

No.
SV003 svoo4 SV008 SVOl5

2
4

I I
5

Details Parameter name Parameter PGNl When using SHG control in the position loop gain, PGN2 set these three parameters with the following combination. SHGC SV057 3 When performing SHG control with the speed integral VIA gain, set 1900. When performing SHG control with the acceleration FFC set aain. forward feed 100.

Class

Parameter name PGNl PGN2 SHGC VIA FFC

L

I
I

I I
1

Position control parameters Speed control parameters

Combination of parameters during SHG control Remarks No.? I No.2 N0.3 33 38 47 102 125 86 281 225 I a7 1900 I900 1900 Set 50 when using the 100 loo 100 low inertia motor.

I I

11
I

II
1
\

Always observe the above relation for the three parameters related to position control.
Setting the same value as PGNl and setting SHG control will double the conventional control's position loop gain and be effective. As the response during acceleration/deceleration in SHG control is smoother than the conventional position control, if PGNl = 33 (l/S) in the conventional position control, further gain up may be possible with SHG control.

I11 - 15

2. Adjustment Procedure

SHG control effect The SHG control is capable of compensating the position tracking error that occurs with the servo positionloop time constant as with the conventional feed forward control. The equivalent 1 to 3 are shown below. feed forward gains for the above No.
,

No. 1 2 3

PGNl 38
47

PGN2 86 33 102

SHGC 187 225 281 125

Equivalentfeed forward (%) 87 90

94

The equivalent feed forward comparison are all based on PGNl the = 33 conventional control. Combination with feed forward control If a compensation close to 100% is required, combine the use with feed forward control. In this case, the setting limit of the feed forward gain (fwd_g) is 40%. (Theoretically, 50% is equivalent to 1OOYO, but excessive overshooting will occur. If under 40%, the overshooting may occur due to the machine, so determine the value by adjusting.) Setting limits All axes must be matched for the SHG control parameters (PGNl , PGN2, SHGC) and feed forward gain (fwdg). (For interpolation axis)

YOduring SHG control. 1) Calculation of equivalent feed forward (The equivalent feed forward gain is compared to when PGN1=33.)
Equivalent FF (%) = 100

4 1~~

33 P G N l

)2

2) Calculation of equivalent feed forward YOduring SHG control+ feed forward control
~~ ~~

Equivalent FF (YO) = 100 Setting of feed forward gain

Nom

f w d L 50 )2'x(

33 2.PGN1

)2

SHG control

fwdJ
40
40

Equivalent feed fonuard gain (%)

~

No.1
No.2

95 97

Equivalent FFGis the comparison of when PGNl=33 SHG control is not being used.

3. Troubleshooting (MDS-A/B Series)

3. Troubleshooting (MDS-A/B Series)

3.1 Status display

/1\
could lead to electric shocks.

WARNING

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

2. 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.

3. Do not open the front cover whole the power ON is or during operation. Failure to observe this

A
could take place.

CAUTION

1. Always check the parameters before starting. Depending on the machine, unforeseen operation

2 . Do not touch the servo amplifier fins, regenerative resistor o r servomotor, etc. , while the power is
turned ON or immediately after turning the power OFF. Some parts are heated to high temperatures, and touching these could lead to bums. The state of the drive unit is displayed on the 7-segment display on the drive unit and the NC servo monitor screen. Confirm one of these displays before troubleshooting.

Caution: The machine's power distribution box door must be opened to confirm the drive unit's 7segment display. Take special care not to touch the conductive parts at this time. (1) 7-segmentdisplay The drive unit state is indicted with the 7-segment display on the drive unit. When an alarm occurs, the alarm No. will be displayed. If several alarms occur simultaneously for one axis, the latest alarm No. will be displayed.

Sento Drive Unit Status Display

Amplifier display AA
Ab

AC Ad A

Details Initializing. Standby for NC power start up (When NC power ON OFF) (No display) Initializing. Standby for NC power start up (When NC power has not been turned ON yet) Initializing. Requesting parameter transmission Initializing. Requesting parameter conversion servo main for tandby IT start
NC display

F# 9* F# . E* F# . **
#

Servo OFF Servo ON

9* E*

**

Warning (* is 0 to F. Note "E6","E7" and "EA" are status displays). Alarm occurrincr

* **

: Axis No. : Warning No. : Alarm No. (Refer to <Servo alarm> <Warning> Tables on following pages.)

I11 - 17

3. Troubleshooting (MDS-A/B Series)

The status display after initializing will repeat lighting and going out per axis and show the axes in order. An exampleis shown below. (Example 1) 1st axis in a single-axis drive unit. Display of servo ON state.

(Example 2)

With the above axis. Display of emergency stop signal input from NC.

(Example 3) L axis is 1st axis, M axis is 2nd axisin 2-axes integrated drive unit. Display of servo ON state.

( L i )

(Not lit)

L axis state

M axis state

(Example 4)

With the above axes. Display of motor overheat alarm (No. 46) in L axis. (Emergency stop is applied onM axis)

> - r n
(Not (Flicker) L axis state
l i )
d

(Flier)

E 7
(Flicker) Ma x i s state

' (Not lit) 7

(2) Servo monitor screen display(NC screen) The NC will display the servo alarm in No. the servo alarm column in the servo monitor screen when an alarm occursin the drive unit. The Nos. are the same as the drive unit's 7-segment display but, may differ depending on the alarm details. (Ex. When is there an obstacle in the communication with the drive unit.) Nothing will display when operations are normal.

The servo monitor screen

is displayed by pressing the NC

functionselectionkey

1the NC

(diagnosis), and then pressing menu key ISERVO MONITOR1 . The servo alarm Nos. may display on other screens depending on the NC type. Refer to instruction manual for details on this.

3 . Troubleshooting (MDS-A/B Series)

plry
11 12

13
16 17 18 1A

Abbr.
ASE
ME

Name sewion
Memory error
processing

Meaming

Release Class
AR
AR

Alarmtwaming check P e r i d
f l f 2 f 3 f 4

error

The axis setting rotary switch was set illegal in the 2-axes integrated drive unit.
The memoryIC (SRAM or FLROM) check sum was

c
c c
A

0 - - 0 - - -

illegal.
The software data processing was not completed within the normal time. Includes peripheral G/A errors. The differential inputof the U, V, or W phase of the pole position detectiin signal of the OHE type detector w r e both "H"or "L". The AD converterfor current detection did not function correctly during initialization. The absolute position or pole position data from the OHA type detector or serial pulse encoder was not corredly sent.
The initial communication with the serial encoder installed on the ball screw end was not possible.

SWE

error

PR

0 0

0 0

0 -

A9E VVAT

RDl

,de

mr

position detection

PR PR PR

converter error

o - o - 0
0 0 0 0 0 0

communication
r m
error
&rial detector

I; E l

mmunication
SUB)

PR

1B

;cpu
bled

> P U error (SUB)

ED error (SUB)

1c

An error was detected in the data stored in the EEROM of the serial pulse encoder installed on the PR ball screw end. (Alarm output by the detector.) Deteriorationof the LEDs in the serial pulse PR encoder installed on the ball screw end was detected. (Alarm output by the detector.) An error was detected in the per rotation position data of the serial pulse encoder installed on ball the screw end. (Alarm output by the detector.)

1D

aat
;OH

)ata error

(SUB)

PR -

0 0 0
0 0

0 0 0
0 0

0 0 -

1E 1F
20

The thermal protector built in the detector operated detector thermal in the serial pulse encoder installed on the ball wmr (SUB) screw end. (Alarm output by the detector.)
hrnmunication error SUB) Communication withthe detector in the serial pulse encoder installed on the ball screw end was cut off. The differential input of the A, B or 2 phase signal from the motor end installation detector were both "H" or "L". (Software detectionin B Series.)
PR

A
A
A

PR -

i t r e
JSl

rls2
W E

40 signal detected1
rlo signal detected 2
I\b6olute position lost
Not used axis error

PR

21

The differential inputof the A, B or Z phase signal from the machine end installation detector were both "H"or "L". (Software detection in B Series.) The absolute position datain the absolute position detector w a s lost. A powt3r module erroroccurred in theaxis that is not being controlled set as "F*' by theaxis setting rotary
switch in the 2-axes integrated drive unit.

PR AR PR

A A

25
26

NAE
SCCPC

o - 0 0 0 0 0 0

c
A

27

SOSP

Absolute position detection scale CPU

error
Absolute position overspeed

An error was detected in the CPU of the absolute

position linearscale. (Alarm output by the detector.) The scale moved at more than 45mdsec during initialization with the absolute position linear scale. (Alarm output from the linearscale.) A hardware error was detected in the absolute position detection circuit of the absolute position linear scale. (Alarm output by the linear scale.) A hardware error was detected in the relative position detection circuit of the absolute position linear scale. (Alarm output by the linear scale.) A CPU error was detected in the serial pulse encoder installed on the motor end. (Alarm output by the detector.)
PR

20

PR

o - o o c
0
0

29

SlNC
SCPU

SABS

Absolute position amiterror

Relativeposition circuit error Scale CPU error

PR

2A
26

PR

A -

O
0

C
0

PR

I11 - 19

3 . Troubleshooting (MDS-AlB Series)

Display

I
A b b r .
Name Meaming LEDs in the serial pulse Deterioration of the PR Scale LED error encoder installed on the motor end was detected. (Alarm output by the detector.) An error was detected in the per rotation position PR Scale data error data of the serial pulse encoder installed on the motor end. (Alarm output by the detector.) Communication withthe OHA type detector or communication PR serial pulse encoder installed on the motor end and error the detector was cut off.
OveFSpeed
~~ ~

lelease

Alann/waming

2c

SLED

2D

SDAT

2F

STRE

3 1
32

os
PMOC
DP

The motor speed reached 1.2 times the rated

~

speed.

PR PR PR PR PR PR PR PR PR
PR

Power module overcurrent CRC error Data error Transmission error Parameter error Protocol error1 Protocol error 2 Overcurrent An excessive current Power module Overheat

An overcurrentwas detected in the IPM used in the servo drive's circuit. main A CRC erroroccurred in the communication data from the NC. The movement command data from the NC is abnormally large. The cyclic data transmission from the NCwas terminated. There is error in the servo parameters transmitted from the NC duringservo drive initialization. There was an errorin the communication protocol with the NC. (Frame error) the communication protocol There was an error in with the NC. (Information error)

34

35
36

DE
TE

A C A C

37

PE TP1 TP2

38
39

3A
38

oc
PMOH

A A

flowed to the motor.

Overheating of the IPM used in theservo driver's main circuit w a s detected. (1) A skip of the detector feedback signal pulse . . occurred in the OHE type or OHA type detector used in the semi-closed loop system and ball screw end closed loop system. (2) A skip of the detector feedback signal pulse in the low-speed serial type absolute position linear scale. A deviationoccurred in the feedback amount from the motorenddetectorandmachineenddetectorin the closed loop system. The motor or detedor thermal protector operated. The motor current operated in the range set with overload detection level (parameter OLL) and overload time constant (parameter OLT). A current commandwith a maximum output current exceeding 95% continued for 1 secondor more.

42

FE 1

Feedback error 1

PR

43 46
50
51

FE2 OHM
OL 1

Feedbackerror 2 Motor oveheat Overload the 1 Overload 2

Excessive error 1

PR NR NR
NR

~ _ _ _ _ ~

- OL2
52 OD1

The actual position to the command exceeded the excessive error width 1 (parameter OD1) when the NR servo was turned ON.
_ _ ~
~

53
54

OD2

Excessive error 2

59
58

OD3 CLEO CLEl

Excessive error 3 Collision detection Collision detection

actual position to the command exceeded the excessiveerrorwidth 2 (parameter OD2) when the servo was turned OFF. ~The motor currentdid not flow when the excessive error1alarmwasdetected.(Addedwiththe B Series.) A collision detection type 1 error was detected O modal (rapid traverse). durina the G
~ ~~

NR

NR NR NR

A collision detection type 1 error was detected during the G1 modal (cutting feed).

3 . Troubleshooting (MDS-A/B Series)

Abbr.

Name

Meaming Acollisiondetection type 2 errorwasdetected.

Release Class

I
A

Alarmhuaming check Deriod f l f 2

NR

- -

An error occurred in the power supply unit. (Refer to

82 INSP

Power supply no signal supply or incorrect connection was detected. (Only A Series) Watch dog The servo amplifier software process was not executed within the designated time.
AR

<Sew0 warnings>
Displsr
90

-I
I I I

Name

Meaming Initial communication with the low-speed serial

Release Class

Alarmhvaming check period

type absolute position linear scale was not

possible. The absolute position serial data was not properly sent from the OHA type detector and low-speed serial type absolute position linear scale.

PR

I
I

91 92 93

I
wAM

II

A A

96

MPE

1'
I
I

97

9 WAN

9f

wAB

E l WOL
E3
E4
WAC

W E

The format of the serial data from the OHA type detector wasincorred. The absolute position counter cannot be set as the Absolute position absolute position data fluctuated when NC the power fluctuation tumed was ON. In the MP scale absolute detection system, an MP scale feedback excessive deviationin the motor end installation error detector and MP scale feedbadc amount was detected. In the MP scale absolute position detection PR MP scale offset error system, an error was detected in the offset data NC power was tumed ON. read when the An error was detected in the multi-rotation counter High-speed serial mu)tiin the serial pulse encoder installed on the motor rotation counter end or ball screw end. The voltage of the battery supplied to the absolute Battery vow position detector dropped. An 80% level of the overload 1 alarm was detected. Overload warning (If operation is continued, the overload1 alarm may occur.) Absolute position The absolute position counter value is illegal.The absolute position mustbe initialized. A parameter exceeding the setting range was set. Parameter error warningThe illegal parameter w i l l be ignored andthe previously set value will be held.

IPRIA
A A A A

ct

IC

111 - 21

3. Troubleshooting (RADS-A/B Series)

<Status displays other than alarms and warnings>

Dmplay
E6
E7

Alarmhnaming
A b b t .

Name Removing control axis

Meaming
The axis removal command is input from the NC. The emergency stop command is input from the NC. A warning was generated with the power supply
unit. details.) (Refer to the power supply unit item for

Release Class

check
f l f Z f 3 f 4

AXE
NCE

NC emergency stop

0 0 0

E8EB

[Release] AR : The alarm is released by turning the servo drive unit power OFF and ON. PR : The alarmis released by turning the NC power OFF and ON. NR : The alarmis released by NC reset. (However, overload alarm"50cannot be released until the load i s lowered passed the reset level (50% of the current value on the monitor screen.)) - Automatically restored when the warning state is eliminated.
[Class]

c
A

: Detects both axes even during the Z-axes integrated drive unit. : Detects each axis independently.

[Alarm/waming checkperiod] fl : When servo drive unit power is turned ON. f 2 : When NC power is turned ON (emergency stopON) f 3 : During normal operation (servo ON) f4 : During axis removal (ready ON, sew0 OFF)
(Note' : Warning "93" may occur after axis removal while installing the axis again.)

3. Troubleshooting (MDS-NB Series)

3 . 2 Troubleshooting per servo alarm

CAUTION

When an alarm occurs, remove the cause of the alarm, confirm that an operation signal is not being input, and secure the safety. Then reset the alarm to resume operation. When an alarm occurs in the spindle drive, the servo will O turn F F and the motor will coast to a stop. Turn the power OFF with an external sequence. To release the alarm, remove the cause and then turn the power ON. (1) Alarm No. [Meaning]
Axis selection error (only MDS-NB-V2)

Illegal setting of the axis setting rotary switch in the drive unit. Remedy Correctly set. (Set a No. that is the axis No. minus 1 .) The L axis and M axis are set to Same as above. the same No. Replace the drive unit. None of the above.

Investigation results Investigation item One setting is 7 E. Confirm the rotary switch setting.

(2) Alarm No.

[Meaning]

1121

error Memory

1
(SRAM or FLROM) and

Alarm period check

Error in the drive unit memory IC peripheral G/A

If1

f2

f3

I
I

f4

Check for abnormalities in the unit's peripheral environment. ( E x . ambient temperature, noise, grounding)

Investigation results Remedy Replace the drive unit. Always occurs. Perform investigation item 2. Returns to normal once, but recurs periodically. No special abnormalities were Replace the drive unit. found. An abnormalitywas found in the Take measures according to the ambient peripheral environment. cause. Ex. High temperature ..... confirm cooling fan Grounding not enforced..... add grounding measures.

111 - 23

3. Troubleshooting (MDS-A/B Series)

(3) Alarm No.

Software processing error The drive unit software data processing was not completed within the normal time or an illegal IT process was input.

[Meaning]

Investigation item Investigation results Remedy Try replacing with the drive unit Check whether the sew0 Changed with the original software version. software version was changed recently. Perform investigation item 2. Not changed. Replace the drive unit. Always occurs. Confirm the repeatability. Perform investigation item 3. Returns to normal once, but recurs periodically. Check for abnormalities in the No special abnormalities were Replace the drive unit. found. unit's peripheral environment. to the ~n abnormalrty was found in the Take measures according (Ex. ambient temperature, noise, grounding) ambient peripheral environment. cause. E x . High temperature ...._ confirm cooling fan ..... Grounding not enforced add grounding measures.

(4) Alarm No.

position Pole detection error

[Meaning]

Error in the output of the OHE type detector (motor end installation) phases U, VI W 1) When the "H" differential inputsfrom the U, V or W phases are both"L". 2) When the states of the U, V and W phases are all "H" or
"L".

, ,
0 0 0
'

: I q ~ ; h ~ ; ~ ~ r i ~

Investigation item Check theservo parameter (SV25) setting value.

2 Tug the connector by hand to

Investigation results Remedy or "3" is set in the parameter Correctly set. detector setting position even though the OHE type detector is not connected. Perform investigation item 2. The setting is correct. Correctly connect. Disconnected (loose).
" O n

check whether the detector connector (unit side and detector side) isnot loose. Not disconnected. OFF and. check A connection defect was found. 3 the detectorcable connection with a tester. Connection was normal. The alarm is on the unit. 4 Try connecting with another normal axis unit and check The alarm is on the detector. whether the defect is on the unit side or detector side. (Refer to section incautions the 2.3.) I

Perform investigation item3. Replace the detector cable. Turn the power Perform investigation item 4. Replace the drive unit. Replace the detector (motor).

3. Troubleshooting (MDS-A/B Series)

(5) Alarm No.

1171

AD converter error

Alarm check eriod

[Meaning] AD converter IC error in the drive unit Investigation item Confirm the repeatability.

for abnormalities in the unit's peripheral environment. (Ex. ambient temperature, noise, grounding)

Investigation results Remedy Replace the drive unit. Always occurs. Perform investigation item2. Returns to normal once, but recurs periodically. Replace the drive unit. No special abnormalities were Check found. An abnormalitv was found in the Take measures according to the ambient peripheral environment. cause. Ex. High temperature __... confirm cooling fan Grounding not enforced..... add grounding measures. Alarm check eriod

(6) Alarm No.

Initial communication error Initial communication with the detector was not possible in a system using the OHA type detector (motor end or ball screw end installation)or serial pulse encoder. Investigation results
"l", "5' or " 9 is set in the

[Meaning]

Investigation item
1

Check the servo parameter

Remedy Set correctly.

parameter detector setting position even though the OHA type detector is not connected. Perform investigation item 2. The setting is correct. Correctly connect. Tug the connector by hand to Disconnected (loose). check whether the detector Not disconnected. Perform investigation item3. connector (unit side and detector side) is not b s e . Turn the powerOFF and check A connection defect was found. Replace the detector cable. the detector cable connection with a tester. Perform investigation item 4. Connection was normal. Replace the drive unit. The alarm is on the unit. normal axis unit and check The alarm is on the detector. Replace the motor (detector). whether the defect is on the unit side or detector side. (Refer to

(7) Alarm No. @ Serial pulse encoder communication error (SUB)

[Meaning]

The initial communication with the serial encoder installed on the ball screw end was not possible. Investigation results Remedy

Investigation item Perform the items 2 and following for alarm No. "18".

I11 - 25

3 . Troubleshooting (MDS-A/B Series)

( 8 ) Alarm No.

Serial pulse encoder

CPU error (SUB)

Alarm check

eriod

[Meaning] An error was detected in the data stored in the EEROM of the serial pulse encoder installed on the ball screw end. (Alarm output by the detector.)
1
i

Investigation item Perform the items 2 and following f o r alarm No. "18 ' .

Investigation results

Remedy

(9) Alarm No.

Serial pulse encoder LED error (SUB)

[Meaning] Deterioration of the LEDs in the serial pulse encoder installed on the ball screw end was detected. (Alarm output by the detector.)
1

Investigation item Perfom the items 2 and following for alarmNo. "18'.

Investigation results

Remedy

(10) Alarm No.

Serial pulse encoder

data error (SUB)

Alarm check

eriod

[Meaning] An error was detected in the per rotation position data of the serial pulse encoder installed on the ball screw end. (Alarm outputby the detector.)
1

Investigation item Perform the items 2 and following for alarm No. "18.
~

Investigation results

(11) Alarm No.

Serial pulseencoderthermalerror

weaning] The thermal protector built in

the detector operated in the serial pulse encoder installed on the ball screw end. (Alarm output by the detector.)
Investigation results

Remedy

Aqn;hy;31ri;d,

Investigation item Perform the items 2 and following for alarm No. ''18".

Remedy

(12) Alarm No.

[Meaning]

Serial pulse encodercommunication error (SUB) Communication with the detector in the serial pulse encbder installed on the ball screw endwas cut off. Investigation resub Remedy

Investigation item Perform the items 2 and following for alarm No. "18.

I11 26

3. Troubleshooting (MDS-A/B Series)

(13) Alarm No.

[Meaning]

No detected signal

eriod check Alarm

Error in the OHE,OHA type detector (motor end installation) A, B or 2 phase

"0'or "3" is set

Investigation r e s u k in the parameter detector setting position even though the OHE or OHA type detector is not installed. The setting is correct. Tug the connector by hand to Disconnected (loose). check whether the detector Not disconnected. cOnnecfOr (unit side and detector side) is notloo~e. Turn the power OFF and check A connection defect was found. the detector cable connection Connection was normal. with a tester. The alarmis on the unit. Try connecting with another normal axis unit and check The alarmis on the detector. is on the unit whether the defect side or detector side. (Refer to the cautions in section 2.3.) No special abnormalities were Check f o r abnormalities in the found. 'unit's peripheral environment. An abnormality was found in the ( E x . ambient temperature, ambient peripheral environment. noise, grounding) Investigation item Check theservo parameter (SV25) setting value.

Remedy Correctly set.

Perform investigation item2. Correctly connect. Perform investigation item3. Replace the detector cable. Perform investigation item 4. Replace the drive unit. Perform investigation item5.

Replace the motor (detector). Take measures according to the cause. Ex. High temperature ..... confirm coolingfan Grounding not enforced ..... add grounding measures.

(14) Alarm No. weaning]

1211

No signal detected2

Error in the OHE-ET, OHA-ET type detector or each sale (machine end installation)A, B or 2 phase.
Investigation results
"4","5"," 8 ' or "9' is set in the

Investigation b m Check the servo parameter (-5) setting.

Remedy Correctly set.

parameter detector setting position even though the OHEET or OHA-ET type detector or each scale is not connected. __ Perform investigationitem 2. The valueis correct.-~ _ _

Perform the items foralarm "20".

111 - 27

3. Troubleshooting (MDS-A/B Series)

(15) Alarm No.

1251

Absolute check Alarm position lost

period

[Alleaning] When absolute position data is lost. This occurs when the power in the absolute position detector is lost, and will return to normal when the unit's 2OOVAC is reset and zero point return is performed again.
~~~ ~~ ~~

Investigation reSub Investigation item Was disconnected. Check whether the absolute position detector cable (including Guideline: battery connection cable) was left At delivery: 20 hours or more disconnected for a while. After 5 years: 10 hours or more Was not disconnected. Check whether a battery error Alarm occurred. alarm occurred recently. Did not occur. Tug the detector connector (unit Was disconnected(loose). and detector side) to see if it has Was not disconnected. disconnected. Also check the cable between the battery unit and drive unit. was found. OFF and check A. connection defect Turn the power the detector cable wnnedon with a tester. Connection was normal. Check the repeatability. Does not recur. Perform zero point return again. Always recurs. Returns to normal once, but recurs periodically. The alarm is on the unit. The alarm is on the detector.

Remedy Reset the amplifier's 2OOVAC power and perform zero point return again.

Perform investigation item 2. Check the battery voltage.

3. Perform investigation item Correctly connect. Perform investigation item 4.

Replace the detector cable. Perform investigation item 5. Perform investigation item 7 , and if thereis no error, continue to Use. Perform investigation item 6. Replace the drive unit. Perform investigation item 7.

Try connecting with another normal axis unit and check whether the defect is on the unit side or detector side. (Refer to the cautions in section 2.3.) Check for abnormalities in the unit's peripheral environment. (Ex. ambient temperature,

No special abnormalities were found. An abnormalitywas found in the ambient peripheral environment.

Replace the motor (detector). Take measures according to the cause. noise, grounding) Ex. High temperature ..... codfirm cooling fan Grounding not enforced. _. .. add grounding measures.

3. Troubleshooting (MDS-A/B Series)

(16) period check Alarm Alarm error No. axis usedNot

[Meaning] A IPM alarm is occurring in an axis that is set"F" asin the unit axis settingrotary switch and which is not being controlled. (Alarm only for 2-axes integrated drive unit)
~ ~~~~

Investigation results Investigation item Check whether a wire is Connected. connected to the motor output terminal block( U W ) for the Not connected. axis set as "F". Check the repeatabillty. Always recursor returns to normal but recurs Deriodicallv. Does not recur. Check for abnormalities in the unit's peripheral environment. (Ex. ambient temperature, noise, grounding)

Remedy Perform the items for alarm No.

"32".
Perform investigation item2. Perform investigation item3. Perform investigation item 3, and if there is no error, continue to use. Replace the drive unit.

No special abnormalities were found. An abnormality was found in the Take measures according to the ambient peripheral environment. cause. Ex. High temperature ..... confirm cooling fan Grounding not enforced.. ... add grounding measures.

(17) Alarm No.

Absolutepositiondetectionscale

CPU error

Alarm check Deriod

[Meaning]

The CPU in the absolute position linear scale did not operate correctly. (Alarm output by the linear scale.)

Investigation item Investigation results Remed Tug the detectorcable Is disconnected (orloose). connector (unit side and NC Not disconnected. side) tosee if it is disconnected. 2 Turn thepower OFF and check Connection is faultv. the detector cable connection Connection is connect. Perform investigation item3. with a tester. 3 Try connecting with another The alarm is on the unit. Replace the drive unit. normal axis unit and check The alarm is on the detector. Perform investigation item4. whether the defect is on the unit side or detector side. (Refer to the cautionsin section 2.3.) Check for abnormalities in the No special abnormalities were Replace the detector (linear unit's peripheral environment. found. scale.) (Ex. ambient temperature, An abnormality was found in the Take measures according to the noise, grounding.) ambient peripheral environment.cause. Ex. High temperature _.... confirm cooling fan
1
~~~~~ ~

Grounding not enforced.....

add grounding measures.

I11 - 29

3. Troubleshooting (MDS-A/B Series)

(18) Alarm No.

1281

Absolute position overspeed

Alarm check period

weaning] The scale moved at more than 45mm/sec during initialization when NC poweris turned ON with the absolute value linear: scale. (Alarm output from the linear scale.)
~~

Remedy Investigation kern Investigation resub Check the absolute value linear The specifications are not for the Set the SV025: MTYP parameter absolute value linear scale. scale specifications. correctly. The specifications are for the Perform investigation item 2 . absolute value linear scale. Is the machine moving during the I s moving. Check the motor mechanical alarm? brakes and machine system. Is not moving. Perform investigation item 3. Tug the detector connector (unit Was disconnected(loose). Correctly connect. and detector side) to see if it has disconnected. Was not disconnected. Perform investigation item 4. Turn the power OFF and check A connection defect was found. Replace the detector cable. the detector cable connection Connection was normal. 5. Perform investigation item with a tester. The alarm is on the unit. Try connecting with another Replace the drive unit. normal axis unit and check The alarm is on the detector. Perform investigation item 6. whether the defect is on the unit side or detector side. (Refer to the cautionsin Section 2.3.) Check for abnormalities in the No special abnormalities were Replace the detector (linear unit's peripheral environment. found. &le). (Ex. ambient temperature, An abnormalrty was found in the Take measures according to the noise, grounding) ambient peripheral environment. Ex. High temperature ..... confirm cooling fan Grounding not enforced.. ... add grounding measures.

(19) Alarm No.

Absolute position detection circuit error

[Meaning] An error O C C U K ~ in ~ the absolute position detection side circuit oftheabsolutepositionlinearscale.(Outputfromthelinear

Scale)

, ,
liia~;h~~3~ri;d

Investigation item Perform the items for alarm No.

Investigation results

Remedy

' I 2 8 l .

111

- 30

3. Troubleshooting (MDS-A/B Series)

(20) Alarm No. [Meaning]

Relative position detection circuit error

An error was detected in the linear scale side absolute position detection circuit. (Output from the linear scale)

Investigation results Investigation item Remedy Perform investigation item3. Is the machine moving during the Is not moving) Perform investigation item 2. alarm? Is moving Perform Is moving Check whether movement is investigation item3. normal at low speeds. Check the cautionary items Is not moving before turning the power ON. Check the wiring Check the parameters Correctly connect. Tug the detector cable (unit andWas disconnected (loose). detector side) to see if it has 4. Perform investigation item Was not disconnected. disconnected. Turn the power OFF and check A connection defect was found. Replace the detector cable. the dekstor cable connection Perform investigation item5 . Connection was normal. with a tester. Replace the drive unit. The alarm is on the unit. Try connecting with another Perform investigation item 6. normal axis unit and check The alarm is on the detector. whether the defect is on the unit side or detector side. (Refer to the cautions in section 2.3.) Check for abnormalities in the No special abnormalities were Replace the motor (detector). found. unit's peripheral environment. An abnormality was found in the Take measures according to the (Ex. ambient temperature, ambient peripheral environment. cause. noise, grounding) Ex. High temperature ..... confirm cooling fan Grounding not enforced.. ... add grounding measures.

(21) Alarm No. [Meaning]

Serial pulse encoder CPU error An error w a s detected in the data stored in the EEROM of the serial pulse encoder connected to the motor end. (Alarm output from the detector or the linear scale.)
Investigation results Remedy

lnvestiaation item Perform item3 and following of alarm No. "2A".

(2Z)Alann No.

Serial pulse encoder LED error

mning]

Deterioration of the LEDs in the serial pulse encoder connected tothe motor end was detected. (Alarm output from the detector or the linear scale.) Investigation results Remedy

1
c

Investigation item Perform item3 and following of alarm No. "X.

I11 - 31

3. Troubleshooting (MDS-A/B Series)

(23) Alarm No. (2D( Serial pulse encoder data error

weaning]

An error was detected in the per rotation position data of the serial pulse encoder connected the motor to end. (Alarm output from the detector) Investigation results

kimph~kqri;d,

Investigation item Perform item3 and following of alarm No. "2A".

Remedy

(24) Alarm No.

Detector communication error Communication with theOHA type detector or serial pulse encoder connected to the motor end and the detector was cut
Off.

[Meaning]

Investigation item Perform item 3 and following of alarm No. "2A".

Investigation results

Remedy

(25) Alarm No. weaning]

1311

Overspeed

The motor speed is exceeding the tolerable speed. Remedy Perform investigation item 5. Perform investigation item 2. Is moving Perform 3. Is moving Check whether movement is investigation item Check the cautionary items Is not moving before turning the power ON. Check the wiring Check the parameters The motor has 3000mm Correctly set. specifications, but is set for 2000rpm. Perform investigation item 4. The setting is correct. Correct to below the rated speed. Is too high. Perform investigation item 5. Is set to below the rated speed. Investigation results

Investigation item alarm?

2

Is not moving I Is the machine moving during the

normal at low speeds.

Check thesew0 parameter (MTYP) setting value:.

Is the rapid traverse rate too high? Motor speed= Rapid traverse rate(mm/min) x pc2
Ball screw lead (mm) PC1

is too low. Check the current value

0

I I
6

displayed . - on the servo

monitor screen.

Lower the rapid time 80% or moreo f the maximum Check whether the traverse time constant constant so that the current value value is displayed. during rapid traverse acceleration/decelertion is less than 80% of the maximum value. The setting is less than 80% of Perform investigation item 6. the maximum value.

Perform items 2 and followingin alarm No. "28'.

111 - 32

3. Troubleshooting (MDS-A/B Series)

(26) Alarm No.

1321

Power module overcurrent

peaning] An overcurrent was detected in the IPM used by the servo drive.
1

I
3

5
6

Investigation item Investigation results Remedy Are theUVW phases on the unitThere is a short circuit or Replace theUVW wires. output short circuited. conductivity. Disconnect theUVW wires from the terminal block and No conductivity. Perform investigation item 2. the motor cannon plug and check betweenUVW with a tester. Check theUVW wires for a There is a short circuit or Replace theU W wires. ground fault. conductivity. Check between the UVW No conductivlty. Perform investigation item3. wiresandgroundingwitha tester in the item Istate. Check for a motor ground fault. There is a short circuit or Replace the motor. Check betweenthe U W conductivity. wires and grounding with a No conductivity. Perform investigation item 4. megger testerin the item1 (Same level as other axes) state. Check the servo parameter The settings are incorrect. Correctly set. setting values. Refer to the adjustment procedures. The settings are correct. Perform investigation item5. Tug the detector connector (unit Correctly connect. Was disconnected (loose). and detector side) to see if it has Was not disconnected. Perform investigation item 6. disconnected. Turn the power OFF and check A connection defect was found. Replace the detector cable. the detector cable connection Connection was normal. Perform investigation item7. with a tester. Check the repeatability. Does not recur. Perform investigation item9. Perform investigation item9. Recurs periodically. Always recurs. Perform investigation item8 . Try connectingwith another The alarm is on the unit. Replace the drive unit. normal axis unit and check Replace the motor (detector). The alarm is whether the defect is on the unit side or detector side. (Refer to the cautionsin section 2.3.) Check for abnormalities in the No special abnormalities were Wait. unit's peripheral environment. found. (Ex. ambient temperature, An abnormality was found in the Take measures according to the noise, grounding) ambient peripheral environment. cause. Ex. High temperature ..... confirm cooling fan Grounding not enforced..... add grounding measures.

~~

I11 - 33

3. Troubleshooting (MDS-A/B Series)

(27) Alarm check No. Alarm CRC error

weaning]

A CRC error occurred in the communication data from the NC. f l

f2

period f4 f3

0
~~

Investigation item Investigation results Tug the connection connectors The connectors are between the NC and drive unit, disconnected (loose). battery unit and drive unit, and Not disconnected. between drive units to see ifthey are loose. Check that an excessive force is not being applied on the connector section. Turn the power OFF and check A connection defect was found. the connection of the communication cable in item 1 Connection is normal. with a tester. Try replacing with a normal cable. Check whether the NC and drive Was changed. unit software version was recently changed.

Remedy Correctly connect. Perform investigation item 2.

Replace the communication cable. Perform investigation item 3 . Try returning to the original software version.

If the problem is not solved, perform investigation item 4. Perform investigation item 4. Not changed. Replace with another normal The alarm is on the unit side. Replace the drive unit. unit, and check whether the error 5. The amplifier is not the cause. Perform investigation item is on the NC side or unit side. I Check for abnormalities in the No special abnormalities were I Replace the MCP card on the NC unit's peripheral environment. side. found. (Ex. ambient temperature, to the An abnormalitywas found in the Take measures according noise, grounding) ambient peripheral environment.cause. Ex. High temperature..... confirm cooling fan Grounding not enforced.. ... add grounding measures.

(28) Alarm No.

1351

Data error
is abnormally

Alarm. check period ( f l I f2 I f3 I f4

weaning] The movement command data from the NC large. 1 Investigation item Perform the items for alarm No.

~ - l o l o l - ~

Investigation results

(29) Alarm No.

Transmission error

[Meaning] The cyclic data transmission from the NC was terminated.

Investigation item 1 Perform the items for alarm No.
J

Remedy

k 4 z w p h ~ ~ 3 ~ r i ~ ,

Investigation results

Remedy

"34".

3. Troubleshooting (MDS-A/B Series)

Alarm (30) during

eriod No. check Alarm Parameter error weaning] There is error in the servo parameters transmitted from the NC Investigation results is incorrect. The setting is correct. The parameterNo. is other than 1 to64. Illegal or setting range is

1371

n.

0
~~ ~~~~

3
3

Investigation item The illegal parameter No. is displayed on the NC diagnosis Screen, so adjust the sento parameter with the parameter adjustment procedures. The servo parameter (PIT) (RNG) (PC?)(PC2) combination is illegal or the setting range is exceeded. Perform the items for alarm No.
"34"-

Remedy Set the correct parameter. The setting Perform investigation item3. Perform investigation item 2 when parameter No. is 101. Refer to the parameter settings and supplementary explanations in the specifications, and reset to the correct value. Perform investigation item3.

exceed

The settingis correct.

Note thatif an alarm 37 occurs in a system using the MDS-AVx Series servo software versionB and above and provided with an OHE 25 encoder, there may be no signal(V, W phase).

(31)Alarm No.

Protocol error

weaning] There was a protocol error in the communication with the NC. (Frame error)
1

Investigation item Perform the items for alarm No.

"34".

Investigation results

Remedy
A

(32)Alarm No. weaning]

Protocol error

There was a protocol error in the communication with the NC. (Information error) Investigation results Remedy

I I"34".
(33)

Investigation item Perform the items for alarm No.

arm NO.

Overcurrent

weaning] The motor drive current is excessive.

Investigationitem
1

Investigation results

Perform the items for alarm No.

Remedy

"32.

3. Troubleshooting (MDS-A/B Series)

(34) Alarm No.

Power module overheat

Alarm check period

[Meaning] Overheating of the IPM usedin the servo drive was detected. Investigation item
1 Investigate the heat radiating

&
Remedy

Investigation results

II I

Take measures fan is not rotating correctly. Replace the The fan to prevent cutting Remarkable amounts of cutting Clean the fins oil or dust from contacting the oil or dust are adhered on the fins. radiating fins. Consider ventilatingor cooling 3) Measurement of unit 55C is exceeded. measures for the panel. ambient temperature Perform investigationitem 2. None of the above apply. 2 The grounding is incomplete. Investigate the installation Correctly ground. Take noise measures for the Alarms occur easily when a environment. device on the left. certain device operates. I s the grounding correct? Are there any noise generatingNo particular problem. Replace the unit. periphery? I devices in the I I
I

environment 1) Rotation of fan on rear of unit 2) Contamination of radiating fins on rear of unit

(35) Alarm No.

1421

Feedback error 1

[Meaning]

1) A skip of the detector feedback signal pulse occurred in the OHE type or OHA type detector used in the semi-closed

loop system and ball screw end closed loop system. 2) A skip of the detector feedback'signal pulse in the lowspeed serial type absolute position linear scale. Investigation-item1

Investigation results

Remedy

Perform the item 3 and following

for alarm No. "20".

(36) Alarm No.

1431

Feedback error 2 motor end detector and machine end detector in the closed

[Meaning]

1) A deviation occurred in the feedback amount from the

2) The serial pulse encoder is detected in the semi-closed loop.

1

Investigation item Perform the items 3 and following for alarm No."2A".

Investigation results

Remedy

3. Troubleshooting (MDS-NB Series)

(37) Alarm No.overheat Motor

weaning] The thermal protector built in the motor (detector) operated. * In the MDS-B Series, this is connected by the serial communication with the detector.

Alarm eriod check

Investigation item Check the repeatability.

Check the motor temperature when the alarm occurs.

Investigation results Remedy Recurs within one minute of start Perform investigation item3. up. Perform investigation item 2. Recurs periodically after operating forsome time. The motor is hot. Lessen the operation pattern.

1
If the problem is not solved, perform investigation item3. Perform investigation item3. Correctly connect. The connectors are Perform investigation item 4.

The motor is not hot. Tug the detector cable connectors (unit side and motor disconnected (loose). side cannons) tosee if they are Not disconnected.
,

loose.

Turn thepower OFF and check A connection defect was found. Replace the detector cable. the detector cable connection Connection is normal. Perform investigation item5 . with a tester. Check the thermal relay terminal No conductivity or resistance is Perform investigation item 6. conductivity in the detector's high. cannon Wnnecfor with a tester. Normal (short circuit) Perform investigation item 7 (Excluding MDS-B Series) Between pin Nos. 'T' and 'V' If the thermal connection is as No conductivity or large Replace the motor or detector. shown belowfor OHE25K-6, resistance in the motor and OHA25K-4, OSE104/105 and detector thermal. OSAl04/105, so cut the wire Normal Perform investigation item 7. between the motor and detector with a joint amplifier, and check the thermal conductivityfor each.

For OHE25K-85,0HA25K-85, OHE25K-108 and OHA25K-108, the thermal is only on the detector side, so the detector is defective if there is no conductivity. Replace with another normal axis The alarmis on the unit side. unit, and check if the defect is on Occurs evenif unit is replaced.

Replace the unit. Perform investigation item 7.

the unit.

Check for abnormalities in the No special abnormalities were Replace the motor. found. unifs peripheral environment. Take measures according to the An abnorm (Ex. Ambient temperature, noise, grounding) ambient peripheral environment. cause. Ex. High temperature ..... confirm cooling fan Grounding not enforced.. ... add grounding measures.

I11 - 37

3. Troubleshooting (MDS-AIB Series)

(38) Alarm No.

Overload 1

[Meaning] The time that the motor drive current exceeded the overload detection level (parameter OLL) converted with stall conversion exceeded the overload time constant (parameter OLT). Investigation item Check the servo parameter (OLL) (OLT) setting values. Standard setting values OLL: 60 (unit: sec.)
n l
UL I .

T~ c n
I J W

Check the motor temperature when the alarm occurs.

r
I

Remedy Investigation results The setting is not the standard Correct to the standard setting value if special specifications are setting value. not being used. Perform investigation item 2. The value is the standard setting value. Ease the operation pattern.

I The motor is hot.

The motor is not hot. Hunting is occurring.

1
If the problem is not solved, perform investigation item 3. Perform investigation item 3. Refer to the adjustment procedures and readjust. Check the cable wiring and connector connections. Check for mistaken parameter settings. Adjust the gain.

Check whether the motor is hunting.

1
Hunting is not occurring. The alarm is on the unit. Replace with another normal axis unit and check whether the Problem still occurs even after defect is on the unit. (Refer to unit the is replaced. cautions in section 2.3.) Check the machine system. The value is abnormal. Check if the current value on the Perform investigation item 6. NC servo monitor screen is The value is correct. abnormally high when stopped and operating. Check for abnormalities in the No special abnormalities were Replace the motor (detector). found. unit's peripheral environment. An abnormality was found in the Take measures according to the (Ex. ambient temperature, ambient peripheral environment. cause. noise, grounding) E x . High temperature .__.. confirm cooling fan Grounding not enforced.. ... If the problem is not solved, perform investigationitem 4. Perform investigation item 4. Replace the unit. Perform investigation item 5.

add grounding measures.

111

- 38

3 . Troubleshooting (MDS-NB Series)

ISupplementary

explanation]

1) MDS-B Series The unit was run in the region of the thermal characteristics shown with 'slanted lines below. With the MDS-B Series, continuous protection characteristics were realized by changing the overload alarm detection process.
Note 1) The overload 1 detection region canbe changed with the parameters(SV021: )LT, SV022: OLL) in the same manner
as MDS-A. However, as long as there is no particular reason, use the standard parameters.

Note 2) With this alarm, as the overload detection method has been changed, the alarm occurrence time and the value
displayed at "Overload(YO)" on the servo monitor screen may differ from MDS-A the Series even when using the same operation pattern. Note 3) To prevent operation from being resumed immediately from the overload state, this alarm cannot be reset until the control power( L l l , L12) continuity stateis not continued for several minutes after the alarm occurs. The condition for resetting the alarm is that the "Overload (YO)'' display value must drop to 50% or less. The time to wait for this alarm to reset will differ accordingto the servo parameters (OLT and OLL), but is approximately five minutes with the standard parameters. If the control power is turned ON again immediately after the alarm has occurred, the alarm will not be reset due to the above operation.Wait at least 5 minutes in the continuity state, and then carry out NC reset or turn the power ON again.

@ Overload 1 detection rangefor other than HA-LHl5K2-Sl

Overload protection characteristics
1000

0.1 0

50

&LL-SO

t OLL 150

2 00

250

300

350

Motor current (YO to stall rating)

Overload 1 detection range for HA-LHSKZ-S?

Overload protection characteristics
1000

I00
W

10

0.1

1 0

I11 - 39

3. Trou bleshootinq (MDS-NB Series)

2)

MDS-A series
A

l o o -

50
h 0
Y

Operation nut possible range due to current

3
Q)

limit

E i=

10 -

5 .

I Fixed value

0.5

100

200

300

400

500

Note 1) Parameterstandardsettingvalue

OLL = 150% OLT = 60 sec. Note 2) The A level is for parameter SVOl3: ILMTl = 500. the parameteris changed. The A level will change proportionally when Note 3) The motor's rated current ratio and time shown with 0 ,0, x and A symbols in the diagram will differ according to the motor.

3. Troubleshooting (MDS-A/B Series)

(39) Alarm

No.

Overload 2

Alarm check Deriod

[Meaning] A current command that is 95% or more of the amplifier's maximum output current value continued for Isecond or more.
~~~ ~~ ~

Investigation item Investigation results The voltageis supplied. Check if the PN voltage is being supplied to the amplifier. The voltage is not supplied. Check the axis where the alarm occurred, and the axis farthest from the power supply. Confirm that the power supply There is no voltage at the PN unit CHARGE lamp is lit and terminal. (The lamp is not lit.) check the PN terminal voltage. There is a voltage at the PN I terminal. Is an abnormally large current The maximum value exceeds value displayed on the NC servo monitor screen during table on the previous page. acceleration/deceleration? A correct value is displayed. Perform the items 3 and following for alarm No. "50".

Remedy Perform investigation item3. Perform investigation item 2.

Check the power supply unit. . .

I units.

Check the PN wiring between the

Lengthen the the acceleration/decelerationtime level indicated constant, and lower to 80% of the limit value. Perform investigation item 4.

I11 - 41

3. Troubleshooting (MDS-A/B Series)

[supplementary explanation1

1) MDS-B Series The unit was run in the region of the thermal characteristics shown with slanted lines below.

Overload 2 detection rangefor other thanHA-LHlSKZ-SI

Overload protection characteristics
t 000

100
h 0
Q)
v

u)

10

i=

0.1
IO

@ Overload 2 detection rangefor HA-LHSKZ-SI

characteristics protection Overload
1000

When rotating When stopped

100

0.1
0

50

100

1 OLL-

so

150

OLL

200

250

300

350

Motor current (YO to stall rating)

111 42

3 . Troubleshootina (MDS-A/B Series)

2)

MDS-A series

100

overload 1
Overload 2

50

Continuous operation range Operation not possible range due to current limit

h
v

i=

10

1
0.5
I

100

200

300

400

500

= 150% OLT = 60 sec. Note 2) The A level is for parameter SVOl3: ILMTl = 500. changed. The A level will change proportionally when the parameter is Note 3) The motor's rated current ratio and time shown with 0 ,0 , x and A symbols in the diagram will differ according to the motor.
Note 1) Parameter standardsettingvalueOLL

I11 - 43

3. Troubleshooting (MDS-A/B Series)

Motor
HA 40N

r
Level OLL OLL OLL OLL OLL OLL OLL OLL OLL OLL OLL OLL OLL OLL OLL OLL OLL OLL OLL OLL OLL OLL OLL

0
Time OLT OLT OLT OLT OLT OLT OLT OLT OLT OLT OLT OLT OLT OLT OLT OLT OLT OLT OLT OLT OLT OLT OLT

r
Level 250 250 250

0
Time
IO

r
Level 450% 400 285 250 220 220 240 265 265 255 255 320 300 275 235 195 195 400 330 10 10 5 5 5
5

A
Time
1 sec.
1

Level 472% 424 300 260 230 231 252 279 279 270 270

80N
1O O N

1
1

200N 300N 700N 900N 053 13 23N 33N 43N 83N 103N 203N 303N 703N 50NL 1O O N L 150NL 200NL 300NL 500NL LH11K2-SI LH15K2-Sl

200
180 180 180 250 250 250 250 250 250 220 190 180 180 250 250 250 200 200 180

1
I
1
1

10 10 10 10 10 10 5
5

1
1

340
318 291 246 205 207 425 350 365 231 228 193 204

1 1 1
I
1

5 5
10

1
1 1

10 10
10

345
220 215 180 193 247

1
1
1

5
5

1 1

260

3. Troubleshooting (MDS-A/B Series)

(40)Alarm No.

Excessive error

[Meaning] The actual position to the command exceeded the value set in OD1 (excessive error width during parameter setting value servo ON) when the servo was turned ON. The actual machine position deviated an amount exceeding the value set in OD1 from the ideal machine position for the command position. This will occur if the actual machine position enters the shaded area shown below.

Position

1I

Ideal machine position

servo OFF

Time

Servo ON

Investigation item Check if the PN voltage is being supplied to the amplifier. Check the axis where the alarm occurred, and the axis farthest from the power supply. Confirm that the power supply unit CHARGE lamp is lit and check the PN terminal voltage.
Check the servo parameter (OD1) setting value. OD1 = 002 =
Rapid traverse rate (rndrnin.1 60 x PGNl
x

Investigation results The voltageis supplied. The voltageis not supplied.

Remedy Perform investigation item3.

2. Perform investigation item

There is no voltage at the PN terminal. (The lamp is not lit.) PN There is a voltage at the terminal. units. The setting is not the standard setting value. The setting is the standard setting value.

Check the power supply unit. Check the PN wiring between the Correct to the standard setting value if special specifications are not being used. Perform investigation item4.

Os (mm)

Perform the items 3 and following for alarm No. "50".

I11 - 45

3. Troubleshooting (RADS-NB Series)

(41) Alarm No.

1531

Excessive error

weaning)

The actual position to the command exceeded the value set in parameter setting value OD2 (excessive error width during servo OFF) during sew0 OFF.

li~rph~~3~ri;d,

Investigation item Check the servo parameter (OD2) setting value. OD1 = OD2 =
Rapid traverse rate
(mrWrnin.1 60 x PGN1
X

0.5 (mm)

Investigation results Remedy The settingis not the standard Correct to the standard setting value if special specifications are setting value. not being used. Perform investigation item 2. The setting is the standard setting value.

Check if the machineis moving during servo OFF.

Is moving. -

Tug the communication cable connector from the NC to the Normal. terminator (unit side and NC side) tosee if it is disconnected. was found. Turn the power OFF, and check A connection defect the communication cable Normal. connection with a tester. Try changing with a normal cable. Replacewith another normal axisThe alarmis on the unit. unk and check whether the Problem still occurs even after defect is on the unit. (Refer to unit the is replaced. cautions in section 2.3.)

I s not moving. I s disconnected (loose).

Check the machine and mechanical brakes. Perform investigation item 3. Correctly connect. Perform investigation item 4. Replace the communication cable. 5. Perform investigation item Replace the unit. Replace the NC side MCP card.

1
If the problemis not solved, perform investigation item 6. Correctly connect. Perform investigation item 7.

Tug the detector cable connector Is disconnected (loose). Normal. (unit side and motor side cannon) to checkif it is disconnected. A connection defect w a s found. Replace the detector cable. Tum the power OFF, and check Perform investigation item 8. Normal. the detector cable connection with a tester. Check for abnormalities in the No special abnormalities were Replace the motor. found. unit's peripheral environment. to the An abnormality was found in the Take measures according (Ex. ambient temperature, noise, grounding) ambient peripheral environment.cause. Ex. High temperature ..... confirm cooling fan Grounding not enforced.. ... add grounding measures.

3. Troubleshooting (MDS-A/B Series)

(42) Alarm No.

[Illleaning] was

1541

Excessive error

eriod check Alarm

The motor current did not flow when the excessive error 1 alarm

Investigation results Investigation item Remedy 3. if the PN voltage is being The voltage is supplied. Check Perform investigation item supplied to the drive unit. Perform investigation item 2. The voltage is not supplied. is no voltage at the PN Check the power supply unit. There Confirm that the power supply unit CHARGElamp is lit and terminal. (The lamp is not lit.) check thePN terminal voltage. There is a voltage at the Check the PN wiring between PN the units. terminal. The power wire is not connected Correctly connect the power Check whether the motor power wire is connected to the motor. or the power wire is broken. wire. Disconnect the power wire The power wire is correctly Perform investigation item4. from the terminal block, and connected. check between the UVW wires with a tester. Replace the drive unit. The alarm is on the unit. Try connecting with another normal axis unit and check Replace the motor. The alarm is on the motor. whether the defect is on the unit side or detector side. (Refer to the cautions in section 2.3.)

(43) Alarm No.

Collision detection 0 (CLEO)

eriod check Alarm

[Meaning] A collision detection type 1 error was detected during the G O modal (rapid traverse). A disturbance torque that exceeds the external disturbance torque was detected. [Detecting] During servo ON

Investigation item

Investigation results

Remedy

Is the collision detection functionThe collision detection function Perform investigation item2.

is not used. being used? Check whether the machine has Modify so that the machine does The machine has collided. not collide. collided. The collision detection function Perform investigation item3. is used, but the machine has not collided. Change sv060 (TLMT) to "0". The setting is incorrect. 2 Check the parameters. Is sv060 (TLMT) set to "O"? Increase the time constant, and 90% or more of 3 Check whether the current has The current is perform investigation item4. reached the current limit value the current limit value. or 90% of the limit value .during The current is less than 90% of Perform investigation item4. normal rapid traverse the current limit value.

acceleration/deceleration.
4

Adjust the collision detection The alarm does not occur. function again, and try The alarm occurs. operation. (Refer to the separate collision detection function specifications.) Is vibrating. Does the machine or current vibrate?

Perform investigation item5.

Try increasing the detection level.

Is not vibrating. The alarm does not occur. The alarm occurs.
I11 - 47

Eliminate the vibration by adjusting the gain, etc., and then perform investigation item4. Perform investigation item 6. If the problem is not solved by replacing the unit, try increasing the level. , Replace the unit.

3. Troubleshooting (MDS-A/B Series)

(44) Alarm No.

Collision detection

1 (CLEI)

eriod check Alarm

[Meaning]

A collision detection type 1 error was detected during the G1

modal (cutting feed). A disturbance torque that exceeds the external disturbance torque was detected. [Detecting] During servo ON

II

Investigation results Investigation item Remedy 1 Is the collision detection function The collision detection function Perform investigationitem 2. is not used. being used? Check whether the machine has Modify so that the machine does The machine has collided. collided. not collide. The collision detection function Perform investigation item 3. is used, but the machine has not collided. Change sv060 (TLMT)to "0". The setting 2 Check the parameters. - is incorrect. IS sv060 (TLMT) set to "o~'? Increase the time constant, and 90% or more of 3 Check whether the current has The current is perform investigation item 4. the current limit value. reached the currentlimit value or 90% of the limit value during Perform investigation item 4. The current is less than 90% of normal cutting feed the current limit value. acceleration/deceleration. 4 The alarm does not occur. Adjust the collision detection function again, and try Perform investigationitem 5. The alarm occurs. operation. (Refer to the separate collision detection function specifications.) Is vibrating. Eliminate the vibration by 5 Does the machine or current adjusting the gain, etc., and then vibrate? perform investigationitem 4. Perform investigationitem 6. Is not vibrating. If the problemis not solvedby The alarm does not occur. 6 Try increasing the detection replacing the unit, try increasing the level. level* The alarm occurs. Redace the unit:

(45) Alarm No.

detection Collision

eriod check Alarm

[Meaning] A collision detectiontype 2 error was detected. Acurrentcommandatthemaximumperformanceofthedrive unit was detected. [Detecting] During servo ON Investigation item Perform the investigation items for alarm 58. Investigationresults
*

Remedy

(46) Alarm No.

to

[Meaning] An error occurred in the power supply unit. Investigation item Refer to11. MDS-NB-CV power supply Investigation results

Remedy

section.

1 I

I
I11 - 48

3. Troubleshootina (MDS-A/B Series)

(47) Alarm No. weaning]

r

Power supply no signal

The cable connected to the power supply is broken or the connection is mistaken. Investigation results Is disconnected (loose). Is not disconnected. Remedy Correctly connect. Perform investigation item 2. Replace the communication cable. Perform investigation item 3.

i
~

3
~

Investigation item Check if the connector for the communication cablewith the power supplyis disconnected. Turn thepower OFF and check the cable connection with a tester. Try changing the cable with a normal cable. Connect with another normal axis unit, and check if the defect is on the drive unit side or power supply side.

A broken wire or incorrect connection was found. The connection is normal.

The aiarmis on the drive unit Replace the drive unit. side. The alarmis on the power supplyReplace the power supply unit. side. Alarm check period I f 1 I f Z l f 3 1 f 4 1

(48)Alarm No. weaning]

Watch dog The servo drive software process wasnotexecutedwithinthe designated time.

I0

I
~

0
~~

0
~-

Investigation item Check whether the sew0 software version was changed

recently.

Check for abnormalities in the unit's peripheral environment. (Ex. ambient temperature, noise, grounding)

(49) Alarm No. [Illleaning]

Low speed serialinitialcommunicationerror The initial communication with the low speed serial type absolute position linear scale was not possible. Investigation results

Remedy Try returning to the original software version. Not changed. Perform investigation item 2. No special abnormalities were Replace the drive unit. found. the Take measures according to the An abnorm ambient peripheral environment.cause. Ex. High temperature ..... confirm cooling fan Grounding not enforced.. ... add grounding measures. I Alarm check period f l I f2 I f3 I f4

Investigation results It was changed.

- ~

1
O ~ -

Investigation item Perform investigation items of alarm No.58.

Remedy

(50) Warning No.

Communication error

weaning]

The absolute position serial data was not properly sent during normal operation. Investigation results Remedy

Investigation item Perform the items 3 and following for alarm No. "25"

111 - 49

3 . Troubleshooting (MDS-A/B Series)

(51) Warning NO. [Meaning]

Serial format error

The format of the serial data from the absolute position detector was incorrect. Investigation results
I

Investigation item Perform the items 3 and following for alarmNo. "25@

Remedy

(52) Warning No.

1931

Absolute position fluctuation Alarm check

f1 f2

period
f3 f4

[Meaning] The absolute position counter cannot be set as the absolute position data fluctuated when the NC power was turned ON.
1

Investigation item Perform the items 3 and following for alarmNo. "25"

Investigation results

(53) Alarm MP No.

scale feedback error In the MP scale absolute detection system, an excessive deviationinthemotorendinstallationdetectorand MP scale feedback amountwas detected. Investigation results

weaning]

Remedy

li~~;h~kqri;d,

0
1

Investigation item Perform the items 3 and following for alarm No. ' 2 5 "

Remedy

( 5 4 ) Alarm No.

Alarm check period f2 f3 f4 [Meaning] In the MP scale absolute position detection system, an error f1 was detected in the offset dataread when the NC power was 0

1971 MP offset scale

turned ON.

error

1
1

Investigation item Perform the items 3 and following for alarmNo. "25"

Investigation results

Remedy

(55)Alarm No. @ High-speed serial multi-rotation counter error Alann check eriod [Meaning] An error was detectedin the multi-rotation counter in the serial pulse encoder connected to the motor end or ball screw end. Investigation results

Investigation item

Remedy

Perform the items 3 and following for alarm No. '25"

111 - 50

3. Troubleshooting (MDS-A/B Series)

( 5 6 ) Warning eriod No. check Alarm drop voltage Battery

pped. 1

[meaning] The voltage of the battery supplied to the absolute position detector

0
1

Investigation item Investigation results Remedy Check the battery unit voltage. The battery voltage has dropped. Replace the battery. There is no error in the battery Perform investigation item2. voltage. Perform the items 3 and following for alarm No. "25'

(57) Warning period No. check Alarm warning Overload

[Meaning] An 80% level of the overload 1 alarm was detected. As this is not an alarm, continued use is possible, but the overload 1 alarm may occur.
Investigation item Check whether the motor is hot. Check if there is an e r r o r when acceleration/ decelerationis
perfomred.

Investigation results The motoris not hot. The motoris hot. Operation is possible without error

w & n u
uu

Remedy Perform the items for alarm No.

.

Operation is abnormal.

Perform investigation item 2. 1. If the operation pattern can be eased, ease it. 2. If operation is possible without an alarm occurring, continue use. Perform the items 3 and following for alarm No. "50".

( 5 8 ) Warning No.

Absolute position counter warning Alarm check eriod

[Meaning]

The absolute position counter valueis illegal. If thepower is being turned ON for the first time, perform zero point return, turn the power OFF and ON once to restore the value.

Investigation item Investigation results Remedy Investigate the state where the Occurs when NC power is turned Check the battery voltage, warning occurred. ON. perform zero point return, and then turn DowerOFF and ON. Perform the items for alarm "25". Occurs during operation. Check the battery voltage. An alarm occurred. Check the detector and cable. Did not occur.

I11 - 51

3. Troubleshooting (MDS-A/B Series)

(59) Warning NO.

Parameter error warning

Alarm check Period

[Meaning] A parameter exceeding the setting range was set. I The illegal parameter will be ignored and the previously set value will be held.
1

- l o l o l - l
Remedy

Investigation item Set the correct value according to the parameter adjustment procedure.

Investigation results

(60) Warning No.

NC emergency stop

[Meaning] An emergency stop signal is being sent from the NC or an alarm occurred in another axis.
I Check if the NC side emergency Emergency stopis activated.

2
3

Remedy Perform investigation item 2. stop switch is activated. Perform investigation item3. Emergency stopis released. Release the emergency stop. The machinestarts up normally. Normal Perform investigation item3. "E7" is still displayed. Check if a terminator or batteryAbnormal place found Correct the abnormality. unit is connected or if Perform the items for alarm "34". Normal disconnected.

Investigation item

lnvestiqation results

3 . 3 Precautions
(1) When changing the motor and amplifier combination due to troubleshooting, avoid running the

motor with an amplifier that has a capacity larger than the designated amplifier. The motor may be demagnetized. However, checkingin the emergency stop stateis no problem. Running the motor with an amplifier having a capacity smaller than that designated is no problem.

4. Troubleshooting (MDS-C1 Series)

4. Troubleshooting (MDS-C1 Series)

4.1 Servo warnings and servo alarms
(1) Precautions and matters to confirm

If an error occurs in the servo system, a servo warning or servo alarm will sew0 occur. warning If a or servo alarm occurs, pay attention to the following points and check the state of the system. Then, carry out the inspections and repairs described in this section.

CAUTION

1. This servo system uses a large capacity electrolytic capacitor. When the CHARGE lamp on -CV) in the system is lit, there is still a voltage in the the front of the power supply (MDS-C1 unit unit. Take care to prevent electric shocks and short circuits. (The voltage will remain for several minutes after the power is turned OFF.)
2. The continuity inside the driver cannot be checked due to the structure.

3. Do not carry out a megger test as the driver could be damaged. <Matters to confirm> 1. What alarm No. is displayed? 2. Can the error or fault be repeated? (Investigate alarm history) 3. Is the motor and servo driver temperature and ambient temperature correct? 4. Are the servo driver, control unit and motor grounded? 5. Did the problem occur during acceleration, deceleration or constant speed operation? speed? What was the 6. Is there any difference in the state during forward run and reverse run operation? 7 . Was there a instantaneous power failure? 8. Did theproblem occur when a certain operation or command was carried out? 9. How often does the problem occur? 10. Does the problem occur when the load is applied or removed? 11. Has the driver unit been replaced, any part been replaced, or any remedial measure been taken? 12. How many years have passed since operation was started? 13. Is the power voltage normal? I s there any great fluctuation according to the time zone?

11

F1 (flicker) F +axisNo.

37 (flicker)
Alarm No.

(flicker) F1

F + axis No.

37 lit (flicker) Not

Alarm No.

LED display during servo alarm

F1 F + axis No.

9F Warning No.

F1 F + axis No.

lit 9F Warning No.

Not

LED display during servo warning

I11 - 53

4. Troubleshooting (MDS-CI Series)

~~~~ ~~~ ~~

(2) Troubleshooting at start up If the NC system does not start up correctly and a system error occurs when NCthe power is turned ON,the servo driver may not have been started up correctly. Confirm theLED display on the driver, and take measures according to this section.
~~

LED display AA

Symptom Initial communication with the NC was not completed correctly.

Cause of occurrence The driver axisNrsetting is incorrect. The NC setting is incorrect. Communication withNC is incorrect.

Ab

Initial communication with the NC was not carried out.

~~

Investigation method I Remedy I Set correctly. Is there any other driver set to the same axis No.? Set correctly. Is the number of NC controlled axes correct? Is the connector (CNlA, CN1 B) Connect correctly. disconnected? Replace the cable. Is the cable disconnected? Check the continuity with a tester. Set correctly. The axis is not used, or is Is the axis setting rotary switch set set to disabled. I between 7 and F'? I I Connect correctly. Communication with NC is Is the connector (CNlA, CNlB) disconnected? incorrect. Replace the cable. Is the cable disconnected? Check the continuity with a tester.
~

I11 - 54

4. Troubleshooting (MDS-Cl Series)

(3) List of servo alarms and warnings

No. 10
11 12

Abbr.
ASE

Name

RS

AIC
C C C

ME
SWE SWE2

Axis selection error Memoryerror

Software processing error Software processing error2

13 14 15 17 18 19 1A 1B 1C 1D 1E

AR AR PR PR PR

No. 40 41
43
44

Abbr. Name KE3 A-TK unit changeover error una communication error KE2 A-TK FE1 42 C 1 Feedbackerror FE2 Feedbackerror2 CAXC C axis changeover a l a m

1 PR I SP

RS

I AIC
A A

PR PR PR

SP

NR
NR

SP
A

16r R o l PdeposiWndetedkmemrrl
ADE WAT

AD converter m r
Initial communication error Serial detector initial communication PR error (SUB) CPU error (SUB)
PR

stei
Scpu S M Sdat Sohe

45 BV 46 OHM Motor overheat A PR 47 A PR 48 SCGPU IScaleCPU error 49 SOSP Scaleoverspeeb M u t e position dtztedion circuit A 4A

PR VL fPRfVC

sABs

r n f

4B

s,Nc

Relative position detection circuit

error

1F
20 21

stre
hlst
NS2

PR EEPROM/LED error(SUB) PR Data error (SUB) PR ROM--hemal error (SUB) Serial detector communication error PR (SUB) PR . w m t ! $ p d 3 PR No signal 2

A A A
A

4C 4D 4E
4F

BV A

50

OLl OL2

22
23 24 25

OS
ABSE NAE

~Spemdde#Wtimrrwwarhm
Absdutepositionlost

PR
AR PR PR PR PR

SP
A C A A A A A A A A
54 55 56 57

Overload detection 1 51 Overload detection 2 Excessive error 1 (at servo Excessiveerror2 (at servo

OD3

NR A NR A NR 52 A ON) OD1 NR A OFF) OD2 53 NR A Excessive error3 (no power)

26 27
28 29

Natusedaxiserror

SCcpu Scale CPU error (SUB) Sosp Scaleoverspeted (SUB)

NR 58 A Collision detection method1.GO CLGO 59

5A 5B

Sabs

detectbn arcuit
error (SUB)

GLGl CLT2

Collision detection method 1.Gl Collision detection method 2

.

NR NR

A A

28

SCPU

Relative position detection circuit error PR (SUB) PR ScaleCPUerror

2C 20
2E
2F

SLED
SDAT
STRE

EEPROM/LEDerror
Scaledataerror

PR
PR

5C
50 5E 5F 60 61 62

ORFE f0riQntatiaWfeedbadrenor

NR

SP

SRRER0"cmw

PR

30
31 32 33

34
35

36
37

38
39

A 1Contadormeltiq [PRI V 6B , 8 /Rush mlayrnetting PR [V/R 3c Main circuit m o r PR ]V/R 6C C 3D 6D D 3E AR vm 6E [ E lNlemoryemr 3F AR 1 V/R 6F f fAoenor (PS error) Note 1) For RS, PR: Reset by turning NC power OFF, AR: Reset by turning servo driver power OFF. *: This is a warning display, and the servo will not turn OFF. Note 2) For N C , A: Alarm occurring for each axis, C: Common alarm in driver, SP: Spindle alarm, SVJ: MDS-A-SVJ alarm, AV: MDS-A-Vx alarm, BV: MDS-B-Vx alarm, VL: MDS-B-Vx4L alarm, V: Power regeneration power supply alarm. R: Resistor regeneration power supply alarm
38

3A

Serial detector communication error PR OR 3 PR 3 U e r PR OS Overspeed PMOC Overcurrent ( I P M error) PR w ovrrrrdcogb PR DP PR NC communication CRC error DE NC communication Data error NC comrnunicationComrnunicationemr PR TE PR PE Initial parameter error TP1 NC communication Protocol error 1 PR TP2 NC communication Protocol error 2 PR OC PR Overcurrent PMOH Overheat (IPM error) PR

SVJ A A SVJ 63 C A PR 65 C 66 A 67 C dog 68

0 1

flnstantaneowp o w e r failure

f ~ o u r r t module t overcurrent

PR R [PR] V

1 641

2 3 4 5 6

1
\Auxiliary regeneration error

[PRI V

f
relay Rush

I
error

A
A A

1 1
1
1

1 PR 1V/R 1 i
[PRf V

7 8

69 6A

/Gourd fauft

Open phase Watch

] A R

1 PR v
1 1

vm

I11 - 55

4. Troubleshooting (MDS-C1 Series)

No.
70
71

Abbr.

Name

I RS I

AIC

No.
A0 A1

Abbr.

Name

RS

AIC

emergr#rcystap
~~

l~~~~

72

73
75

1.
1

74/

J K

/ovler-.regeneration
/Regerrerative&storover)leat

I
I
I

L - 1
M
N

PR PR NR

t 1 R,
R I V/R

A2
A3 A4 A5

76 77

I F - w a w m m
~Powlermadule Or)/fin (R) overheat
I

ARI
PR

A6 V

1 V/R
I

A7
I

In READY OFF (n is control axis No.) (In servo ON (nis control axis No.) Dn In SERVO OFF (n is control axis No.) lcontrol axis No. display (n is control axis No.) Fn Note 1) For R S , PR: Reset by turningNC power OFF, AR: Reset by turning servo driver power OFF. *: This is a warning display, and the servo w i l l not turnOFF. Note 2) For A/C, A: Alarm occurring for each axis, C: Common alarm in driver, SP: Spindle alarm, SVJ: MDS-A-SVJ alarm, AV: MDS-A-Vx alarm, BV: MDS-B-Vx alarm, VL: MDS-B-Vx4L alarm, V: Power regeneration p o w e r supply alarm, R: Resistor regeneration power supply alarm Bn Cn

111 - 56

4. Troubleshooting (MDS-CI Series)

(4) Alarm details Servo alarms Abbr. I

error

Details I RS I N C During the seF-check when the driver power was turned ON, an error ME Memoryerror was detected the In memory IC/FB IC. (Refer the to section ( 5 ) LED AR C display No. at memory error.) SWE Software processing error The software data process did not end within the specified time. PR C error The 2 current processing processor is not operating correctly. PR C SWE2 Sofhware processing During the self-check when the driver power was turned ON, an ADE AD converter error PRerror A was detectedin the N D converter for current detection. Initial communication with the high-speed serial detector connected PR A wAT lnitiil communication error to the motor end was not possible. In the system using the OHA25K-ET or high-speed serial detector as initial stei Serial detector the machine end detector, initial communication with the detector PR A communication error (SUB) was not possible. An errorwas detected in the data storedin the EEPROM of the Scpu CPU PR A high-speed serial detector connected to the machine end. Name

The linear scale connected to the machine end detected an EEPROMED error (SUB) EEPROM error. Or, deterioration of the LEDs was detected in the PR A high-speed serial detector connected to the machine end. An error was detected at a position within one rotation of the highSdat Data error (SUB) PR speed serial detector connected to the machine end. The linear scale connected to the machine end detected an error in error sohe ROM-RAM/thermal the.RO". Or, the thermal protector built in the high-speed PR A (SUB) senal detector connected to the machine end activated. detector Communication with the high-speed serial detector connected to the PR stre Serial communication error (SUB) machine end was disconnected. NS2 No signal 2 An A, B or Z phase error was detected the in closed loop system. PR A The backup vottage in the absolute position detector dropped. last ABSE A b s o l u t e position be guaranteed. The absolute position cannot A power module error occurred in the axis for which the axis NAE Not used axis error PR selection rotary switch is set to [Fl. position detection The CPU in the absolute position linear scale connectedto the A PR sccpu Absolute scale CPU error (SUB) machine end is not operating correctly. The absolute position linear scale connected to the machine end Absolute position detectedaspeedof45m/sec. or more when the NC power was PR (SUB) turned ON. The absolute position linear scale connected the tomachine end detection Sabs qbsqlute position PR a r w R error (SUB) detected an error in the scale or scale circuit. The absolute position linear scale connected the to machine end Rebtive position detected a speed exceeding the scale's maximum movement circuit error (SUB) SDeed. Sled

A
A

- r - - -

error

SCPU Scale CPU SLED EEPROMED error

error

SDAT Scale data STRE Serial detector communication error

os

Overspeed

An errorwas detected in the data storedin the EEPROMotthe high-speed serial detector connected to the motor end. Deterioration of the LEDs in the high-speed serial detector connected to the motor end was detected. An error was detected at a position within one rotation of the highspeed serial detector connected to the motor end. Communication with the high-speed serial detector connected to the motor endwas disconnected. A speed exceeding the motor's tolerable speed was detected. (Maximum motor speed x 1.2)

PR

PR
PR PR

A
A
A

PR

A
A

'
i

module error The IPM used the by inverter detected overcurrent. an PR PMOC Power (overcurrent) NC communication CRC Anerrorwasdetected in thedatasentfromtheNC to the driver.PRC DP error DE NC communication Data error An error was detected in the movement command data from the NC. PR NC communication Communication from disconnected. the was C NC PR Communication error An illegal parameter detected was parameters in the when sent PE Initial parameter error NC power was turned ON. (Refer to section (6) Error parameter No. PR A at initial parameter error)
TP1

~~o~mmunication Overcurrent Power module error

(averheat)

An error was detected excessive An current was detected

in the communication frame sent from the inmotor the drive current. A PR

NC. PR

TP2 OC

NC c o m m u n i c a t i Protoc01 erro~ 2 An error was detected in the axis information data sent from the NC. PR A

PMO"

The IPM used byinverter the detected overheating. A PR

FE1

IFeedbackerror 1

FE2

Feedback error 2

The feedback pulse was skipped or a Z phase error wasdetected in the Dosition detector. Excessive deviation was detected in the feedback amount of the motor end detector and machine end detector within the closed loop. PR A An FB IC error was detected the in semi-closed 1000.

I I

I11 - 57

4. Troubieshootina (MDS-C1 Series)

No.
46

Abbr.

Name
Motor overheat Overload 1 Overload 2 Excessive error1 Excessiveerror 2

Details

RS

NC
A A A A

OHM
OLl OL2 OD1 OD2

50

51 52

53

An error was detected in the temperature of the motor being driven. NR Or, the thermal protector built in the high-speed serial detector connected to the motorend activated. The servomotor or servo driver load level obtained from the motor NR current reached the overload level set with the overload detection level (svO22: OU). A current command95% or more of the driver's maximum NR performance continuedfor 1 sec. or more. The differenceof the i d e a l position and actual position exceeded parameter SVO23: OD1 (or SVO53: 0 0 3 ) when the servo was turned NR ON. The differenceof the ideal position and actual position exceeded NR parameter SV026: OD2 when the servo was turned OFF. The motor current was not flowing whenthe excessive error alarm 1

Servo warnings
No.
9o
91
92

Abbr.

Name
Low-speed serial initial communication error L0W-S-d serial communication error

wsT
WAS
WAF

Low-speed serial protocol error

93
9 6
97

WAM MPE
MPO

Absolute
MP scale feedback error
MP scale offset error

Details RS Initial communication with the absolute position linear was scale not PR possible. An error was detected in the communication with the detector in the * absolute position detection system using the OHA25K-ET/absolute position linear scale. An error was detected in the data from the detector in the absolute * position detection system using the OHA25K-ET/absolute position linear scale. Fluctuation exceeding the tolerable valuewas detected in the PR absolute position detected when the NC power was turned ON. Excessive deviationwas detected-inthe feedback amount of the. * motor end detector and MP scale In the MP scale absolute posltlon detection system. An error was detected in the offset data read in when the NC power was tu& ON within the MP scale absolute position detection PR system.

NC

A
A
A

A
A

A
A A

9E
9F El E3 E4 E6 E7 WAB WOL WAC WPE

High-speed serial multirotation counter error Batteryvoitage drop

An error was detected in the multi-rotation counter of

AXE
NCE

Overload warning -lute position counter Deviation of the absolute position and relative position was detected. warning Parameter error warning A parameter exceeding the setting range was set. Control axis removal warning The controla x i s is removed. N C emergency stop The NC is in the emergency stop state.

* guaranteed. The voltage of the battery supplying to the absolute position detector * has dropped. A level 80% of the overloadalarm 1 was detected. *

OSElO4/OSA104/OSE105/OSA105/OSE1 W-F/OSA104ET/OSE105-ET/OSA105-ET. The absolute posltlon cannot be

A A A A

*
* *

4. Troubleshooting (MDS-C1 Series)

(5) LED display No. at memory error

When a memory error (alarm 12) occurs, in most cases, a connection is not established with the NC. If the connection is not established even when normally connected with the NC, check the servo driver's LED display to see whether a memory error (alarm 12) has occurred. The faulty section can be pinpointed according to the No. on displayed the LED at this time. (Refer to the following table.)
Alarm display Same display as other alarms

At servo driver powerON

Only 12 and No. flicker on the LED (Not connected withLED)

At NC power ON

(6) Error parameter No. at initial parameter error

When an initial parameter error (alarm 37) occurs, the erroneous parameter is displayed on the NC
Diagnosis screen. The display method differs according to each NC, so refer to the respectiveNC Instruction Manual.

Normally the parameter No. (SVOOxx) is displayed at this time. There is also a special 3-digitNo. (Refer to the following table.) In this case, an erroris occurring for several parameters,so correctly set the related parameters.
No.
Details The maximum rapid traverse rate value set with the NC is incorrect. 69 T h i s normally does not occur, but could be caused by the NC system software. the NC is incorrect. 71 The maximum cutting feedrate value set by This normally does not occur, but could be caused by the NC system software. The constants used by the following functionsare overflowing. Electronic gears Position loop gain lol Speed feedback conversion
Related parameter NC axis parameter rapid NC axis parameter clamp svoo1 :PCl, SV002:PC2 SV003:PGNl, SVO18:PIT SVO19:RNG1, SV020:RNG2 SV049:PGNl sp

Confirm thateach related parameteris correctly set. Turn the absolute position detection parameter OFF. connected detector is an incremental specification detector, so to carry out absolute svol 7:SPEC, SV025:MTYP 02 The position detection, exchange the detector with an absolute position specification

detector.

~.

~~~~

103 The optlon IS requlred for closed loop (including ball screw end detection) or dual

The sety option i s not provided.

feedback control function. servo option is not provided. o4 The The SHG control functionis an option. 105 The servo option is not provided. The adaptive filter function is an option. 106 The servo option is not provided. The MP scale absolute position detection function is an option.

SV057:SHGC SV058:SHGCsp SVO27:SSFl/aflt SVOl7:SPEC/mp, mpt3

I11 - 59

4. Troubleshooting (MDS-Cl Series)

(7) Troubleshooting according to each servo alarm

[Alannlwarning checkperioq f l : At servo driver power ON f2: At NC power ON there after (emergency stop ON) f3: During normal operation (servo ON) f4: During axis removal (READY ON, sew0 OFF)

(Note) Warning "93"could occur wheninstalling the axis again after removing it once.
Alarm No. 12 Memory error: Error in the drive unit memory IC (SRAM or FLROM) Alarm check period fl f2 f3 f4

Investigation item
1

Investigation resub

Confirm the repeatability.

Always occurs.
Returns to normal once, but recurs periodically.

Remedy Replace the drive unit. Perform investigation item 2 .

Check for abnormalities in the No special abnormalities were Replace the drive unit. found. unit's peripheral environment. (Ex. ambient temperature, to the An abnormality was found in the Take measures according noise, grounding) ambient peripheral environment. cause. Ex. High temperature..... confirm cooling fan Grounding not enforced ..... add grounding measures. I
I

Alarm No. 13
I

Software processing error: The drive unit software data processing was not completed within the normal time or an illegal IT process was input.
I

Alarm check period fl 92 f3 f4 0 0 0I I

Investigation resutts Investigation item Check whether the sew0 Changed software version was changed recently. Not changed. Confirm the repeatability. Atways occurs. Returns to normal once, but recurs periodically. Check for abnormalities in the unit's peripheral environment. (Ex. ambient temperature, noise, grounding)

Remedy Try replacing with the drive unit with the original software version. Perform investigation item 2. Replace the drive unit. Perform investigation item 3.

No special abnormalities were Replace the drive unit. found. An abnormality was found in the Take measures according to the ambient peripheral environment. cause. E x . High temperature ...._ confirm cooling fan ..... Grounding not enforced add grounding measures.

4. Troubleshooting (MDS-CI Series)

~larm NO. 14

I Software processing error

2: Of the driver softwareprocessing times, the current loop process was not completed within the set time.

1
I

Alarm check period

Investigation item Check whether the servo software version was changed recently. Confirm the repeatabillty.

Investigation results Changed Not changed. Always occurs. Returns to normal once, but recurs periodically.

Remedy Try replacing with the drive unit with the original software version. Perform investigation item 2. Replace the drive unit. Perform investigation item3. Replace the drive unit.

Check for abnormalities in the unit's peripheral environment. (Ex. ambient temperature, noise, grounding)

No special abnormalities were found.

An abnormality was found in the Take measures according to the ambient peripheral environment. cause. Ex. High temperature ..... confirm cooling fan Grounding not enforced ..... add grounding measures.

Alarm N o .
17

N D converter error:
Anerroroccurred in thedriveunit's A/D converter.

Alarm check period

s
I
1

Investigation item Confirm the repeatability.

I Investigation results 1Always occurs.

Remedy Replace the drive unit. Perform investigation item 2.

~~~~ ~

Check for abnormalities in the unit's peripheral environment. (EX. ambient temperature, noise,grounding) ambient peripheral environment.

I I

Returns to normal once, but recurs periodically. No specialabnormalitieswere found.

Replace the drive unit.

Take measures according to the cause. E x . High temperature ..... confirm cooling fan Grounding not enforced ..... add grounding measures.

I11 - 61

4. Troubleshooting (MDS-Cl Series)

Alarm No. 18

3
4

Initial communication error: Alarm check period f4 Initial communication with the detector was not possible in a fl f3 f2 system using a high-speed serial detector at the motor end. 0 results Investigation Investigation item Remedy Correctly setSV025. The valueis not correct. Check thesew0 parameter Perform investigation item 2 . The setting is correct. (SV025) setting value. Correctly connect. Tug the connector to check if the Disconnected (loose). Perform investigation item 3. detector connector (driver side Not disconnected. and detector side) is disconnected. Replace the detector cable. Turn the power OFF and check Connection is defective. the detector cable connection Connection is normal. Perform investigation item 4. with a tester Replace the drive unit. The alarmis on the unit. Interchange with another normal Perform investigation item 5. axis drive, and check whether The alarmis on the detector. the faultis located in the driver side or detector side. No special abnormalities were Replace the detector. Check for abnormalities in tke found. unit's peripheral environment. to the (Ex. ambient temperature, An abnormallty was found in the Take measures according cause. noise, grounding) ambient peripheral environment. Ex. High temperature ..... confirm cooling fan Grounding not enforced ..... add grounding measures.
I

Alarm No. 1A

Serial detector initial communication error (SUB): Alarm check,period f4 Initial communication with the detector was not possible in the f2 fl f3 system usingOHA25K-ET or a high-speed serial detector at the 0 machine end. Investigation results Investigation item Remedy Investigate the items for alarm No. 'I18".

Alarm No. 1B

2
3

Alarm check period CPU error (SUB): An error was detected in the data stored in the EEPROM of the fl f2 f3 f4 high-speed serial detector connected to the motor end. 0 0 0 Remedy . Investigation resub Investigation item Correctly connect. Tug the connector to check if Disconnected the (loose). Perform investigation item 2. absolute position linear scale Not disconnected. connector (driver sideand scale side) is disconnected. OFF and check Connection is defective. Turn the Replace power the detector cable. the detector cable connection Perform investigation item 3. Connection is normal. with a tester. The alarm is on the unit. Interchange with another normal axis drive, and check whether The alarm occurs with the Perform investigation item 4. the fault is located in the driver absolute position linear scale. side or scale side. Check for abnormalities in the No special abnormalities were Replace the absolute position linear scale. found. unit's peripheral environment. in the Take measures according to the An abno (Ex. ambient temperature, noise, grounding) ambient peripheral environment.cause. Ex. High temperature ..... confirm cooling fan Grounding not enforced ..... add grounding measures.

4. Troubleshooting (MDS-C1 Series)

AIarm No.

1c

Alarm check period EEPROWLED error (SUB): The linear scale connected to the machine end detected an f l f4 f2 f3 EEPROM error. Or, deteriorationof the LEDs was detected in the high-speed 0 0 0 serial detector connected to the machine end. Investigation results Remedy

Investigation item
1

Investigate the items for alarm No. "1B . Alarm No. 1D Alarm check period Data error(SUB): An error was detected at a position within one rotation of the f l f4 f 2 f3 high-speed serial detector connected to the machine end.
0 0 0

Investigation item
1

Investigation results

Remedy

Investigate the items for alarm No. "1B . Alarm No. 1E

The linear scale connected to the machine end detected an error in the ROWRAM. Or, the thermal protector built in the high-speed serial detector connected to the machine end activated. ROM-RAMI (SUB): error thermal ;arihy;kfe[%

Investigate the items for alarm NO.Y B .

I
'

Alarm No. 1F

(SUB): Serial detector communication error Alarm check period Communication with the high-speed serial detector connected to f l f4 f3 the machine end was disconnected.
0 0 0

Investigation item
1

Investigation results

Remedy

Investigate the items 2 and following for the alarm No. "18".

I11 - 63

4. Troubleshooting (MDS-Cl Series)

Alarm No. 21

Alarm check period No signal 2: An A, B or Z phase error was detected in the closed loop system.

Investigation item :heck the servo parameter :SV025)setting value.

"4", "5",

Remedy Investigation results or is set for the Correctly set. parameter detector setting even though the OHE-ET, OHA-ET detector or various scale is not connected.
" 8 1

" 9 t

The settina is correct. Tug the connector by hand to Disconnected (loose). check whether the detector Not disconnected. connector (unit side and detector side) is not loose.
~~ ~

Perform investigation item 2. Correctlv connect. Perform investigation item 3.

Turn the powerOFF and check Connection is defective. Replace the detector cable. the detector cable connection Connection is normal. Perform investigation item 4. with a tester. Try connecting with another The alarm is on the unit. Redace the drive unit. normal axis unit and check The alarm is on the detector. Perform investigation item 5. whether the defect is on the unit side or detector side. No special abnormalities were Replace the motor (detector). Check for abnormalities in the unit's peripheral environment. found. (Ex. ambient temperature, to the An abnormalltywas found in the Take measures according noise, grounding) ambient peripheral environment.Cause. E x . High temperature ..... confirm cooling fan Grounding not enforced ..... add grounding measures.
~~

4. Troubleshooting (MDS-Cl Series)

Alarm No.

lost: position Absolute ! a j & ; h r ! e r ! This occurs when the power in the absolute position detector is lost, and will return to normal when the unit's 2OOVAC is reset and zero mint return is Derformed aaain.

, I

1
I

Investigationitem
~~~~

I
~~ ~~~ ~

Investigation resuns
~ ~

Remedv Reset the drive unit's 2OOVAC power and perform zero point return again.

Check whether the absolute Was disconnected. position detector cable (including Guideline: At delivery: battery connection cable) was left disconnected for a while. 20 hours or more After 5 years: 10 hours or more

I Was not disconnected.

Check whether a battery error alarm occurred recently. Alarm occurred.

Perform investigation item 2. Check the batten, voltaae. Perform investigation item3.

Did not occur. Tug the detector connector (unit Was disconnected (loose). Correctlv connect. and detector side) to see if it has was not disconnect& Perform investigation item 4. disconnected. Also check the cable between t h e battery unitanddriveunit. Turn the power OFF and check A connection defect was found.

I1

Perform investigation item 5. Check the repeatability. Does not recur. Perform zero point return again.
~~

Perform investigation item7, and if there is no error, continue to use. Perform investigation item 6.

Try connecting with another noml axis unit and check The alarm is on the detector. whether the defect is on the unit detector or side side. I No special abnormalities were Check for abnormalities in the found. unit's peripheral environment. (Ex. ambient temperature, noise, grounding) ambient peripheral environment.

Always recurs. Returns to normal once, but recurs periodically. I Thealarmisontheunit.

ReDlace the drive unit. Perform investigation item 7.

~~~ ~~~

Replace the motor (detector). Take measures according to the cause. Ex. High temperature ..... confirin cooling fan Grounding not enforced.. ~.
~

add grounding measures.

, .

4. Troubleshooting (MDS-Cl Series)

Alarm No.

27

Investigation item 1 Tug the connector to check if the absolute position linear scale connector (unit side and scale side) is disconnected. 2 OFF and check the detector cable connection with a tester. 3 Try connecting with another normal axis unit and check I whether the defectis on the unit I - side or scale side. 4 Check for abnormalities in the unit's peripheral environment. (Ex. ambient temperature, noise, grounding.)

I
I

Scale CPU error: ;arihjcTT;{ The CPU in the absolute position linear scale connected to the machine end operating correctly. is not Investigation results Is disconnected (or loose). Not disconnected. Remedy Correctly connected. Perform investigation item2.

1
I

Replace the detector cable. Connection is faulty. Turn the power Perform investigation item 3. Connection is connectThe alarm is on the unit. The alarm occurs with the absolute Dosition linear scale. Replace the drive unit. Perform investigation item 4.
I

No special abnormalities were Replace the absolute position linear scale. found. to the An abnormality was found in theTake measures according ambient peripheral environment.cause. E x . High temperature ..... confirm cooling fan Grounding not enforced.. ... add aroundina measures.

Alarm No. 28

Alarm check period Scale overspeed(SUB): The absolute position linear scale detected a speed of 45m/sec. fl f2 f4 f3 or more when the NC power was turned ON. 0 -

Investigation results Investigation item Remedy Set the SV025: MTYP parameter Check the absolute value linear The specifications are not for the scale specifications. absolute value linear scale. Correctly. 2. The specifications are for the Perform investigation item absolute value linear scale. Check the motor mechanical Is moving. Check whether the machine was brakes and machine system. operating when the alarm occurred. Perform investigation item 3. Is not moving. Correctly connect. Tug the connector to check if the Was disconnected (loose). absolute position linear Scale Perform investigation item 4. Was notdisconneed. connector (unit side and scale side) is disconnected. Turn the power OFF and check A connection defect was found. Replace the detector cable. the detector cable connection Connection was normal. Perform investigation item 5. with a tester. Replace the drive unit. The alarm is on the unit. Try connecting with another normal axis unit and check Perform investigation item 6. The alarm occurs with the whether *e defect is on the unit absolute position linear scale. side or detector side. Check for abnormalities in the No special abnormalities were Replace the absolute position found. linear scale. unit's peripheral environment. (Ex. ambient temperature, An abnormality was found in the Take measures according to the noise, grounding) ambient peripheral environment. cause. Ex. High temperature ._... confirm cooling fan Grounding not enforced.. ... add grounding measures.

I11 - 66

4. Troubleshooting (MDS-Cl Series)

Alarm N o .

2 9

Absolute position detection circuit error (SUB): Alarm check period The absolute position linear scale connected to the machinefl end p2 f4 f3 detected an error in the scale or scale circuit. 0 0 0 Investigation results Remedy

Investigationstem Investigate the items for alarm No."28". Alarm No. 2A

I1 !
2

II II
4

I5

Relative position detection circuit error (SUB): Alarm check period The absolute position linear scale connected to the machinefl end p2 f4 f3 detected aspeed exceeding the absolute position linear scale's 0 0 0 maximum movement speed. Remedy Investigation results Investigation item I Perform investigation item 3. The machine was operating. Check whether the machine was operating when the alarm 2. The machine was not operating. Perform investigation item O C C U T T e d . Perform investigation item 3. Check whether movement is I s moving low speeds. normal at Check the cautionary items Is not moving before turning the power ON. Check the wiring Check the parameters Correctly I Tug the connector tocheck if the Was disconnected(loose). connect. absolute position linear scale Perform investigation item 4. Was not disconnected. connector (unit side and scale side)is disconnected. I A connection defect was found. Replace the-detector cable. Turn the p o w e r OFF and check the detector cable connection Perform investigation item5. Connection was normal. with a tester. Replace drive unit. the I I Tw c o n n a n a with another I Thealarmisontheunit. normal axis u h and check Perform investigation item 6. The alarm occurs with the whether the defect is on the unit absolute position linear scale. side o r dewor side. No special abnormalities were Replace the-motor (absolute Check for abnormalities inthe position linear scale). found. unifs peripheral environment. (Ex. ambient temperature, An abnormality was found in the Take measures according to the noise, grounding) ambient peripheral environment. cause. Ex. High temperature ..... . confirm cooling fan Grounding not enforced.. ... add grounding measures.
~ ~~~~ ~ ~ ~~

eck

Alarm No. 2B
~~

CPU error: An error was detected in the data stored in the EEPROM of the high-speed serial detector connected to the motor end.
~-

Inveitigation item Investigate the items 3 and followina for the alarm No. "2A'. Alarm No.

Investigation results

Remedy

EEPROMILED error: An error was detected in the EEPROM of the high-speed serial detector connected to the motor end. Investigation results Investigation item Investigate the items 3 and following for the alarm No. "2A".

PC

Alarm check period f4 f3 fl f2 0 0 0 Remedy

I11 - 67

4. Troubleshooting (MDS-Cl Series)

Alarm No. error: I Data check Alarm An error was detected at a position within one rotation of the high-speed serial detector connected to the motor end. 2D I I I

I
I

period

Investigation item 1 Investigatethe items 3 and following for the alarm No. "2A". Alarm No. 2F

Investigation results

Remedy

I Serial detector communication

Investigation item 1

error: Alarm check Communication with the high-speed serial detector connected to the motor end was disconnected.
I
I I

period

Investigation results

Remedy

2 and Investigate the items following for the alarm No. 11181'.
Alarm No. 31 Alarm check period Overspeed: A speed exceeding the motor's tolerable speed was detected. fl f3 f4 (Maximum motor speedx 1.2) 0 0 0 Investigation results Remedy Perform investigation item 4. Perform investigation item 2. Perform investigation item 3.

Investigation item 1

Is the machine moving during theIs not moving alarm? Is moving

Check whether movement is normal at low speeds.

Is moving Is not moving

Check the cautionary items before turning the power ON.

Check the wiring Check the parameters Correct tobelow the rated speed. Perform investigation item 4. Lower the rapid traverse time constant so that the current value during rapid traverse acceleration/decelerationis less than 8 O Y o of the maximum value. Perform investigation item 5.

Check whether the rapid traverse rateis too fast.

4

Is too high.

Is set to below the rated speed. 80% or more of the maximum Check whether the time constant value is displayed. is too low. Check the current value displayed on the servo monitor Screen. The setting is less than 80% of the maximum value.
Investigate the items 2 and following for the alarm No. "18.

I11

- 68

4. Troubleshooting (MDS-C1 Series)

Alarm No.

32

Power module error (overcurrent): The IPM used by the inverter detected an overcurrent.

Alarm check period fl f2 f4 f3

0 0 0

Investigation item
1

Investigation results

U, V, W phases on the Short-circuited, or not Are the unit output short circuited. energized. Disconnect theU, V, W wires . from the terminal block and Normal. the motor cannon plug and check betweenU, V, W with a tester.

Remedy Replace the U, VI W wires. Perform investigation item2.

h : e c kthe U, V, W wires

for a Short-circuited, or not p u n d fault. energized. Check between theU, V, W Normal. wires and grounding with a tester in the item Istate.

Replace theU, V, W wires. Perform investigation item3. Replace the motor. Short-circuited, Perform investigation item 4. Correctly set. Perform investigation item5. Correctly connect. Perform investigation item 6. Replace the detector cable. Perform investigation item 7. Perform investigation item 9. Perform investigation item 9. Perform investigation item8. Replace the drive unit. Replace the motor (detector).

or not :heck for a motor ground fault. Check between theU, V, W energized. wires and grounding with a Normal. mqger tester in the (Same level as other axes)
State.
~ ~~~~

>heck the servo parameter The settings are incorrect. setting values. The settings are correct. Refer to the adjustment procedures. Tug the detector connector (unitWas disconnected (loose). 3nd detector side) to see if it has not disconnected. lisconnected. rum the powerOFF and check A connection defect was found. e ' detector cab' mnnecfjon ' Connection was normal. with a tester. Does not recur. Check the repeatability. Recurs Deriodicallv. Always recurs.

Try connecting with another normal axis unit and check whether the defect is on the unit side or detector side. Check for abnormalities in the unit's peripheral environment. (Ex. ambient temperature, noise, grounding)

The alarm is on the unit. The alarm is on the detector.

No special abnormalities were Wait. found. An abnormality was found in the Take measures according to the ambient peripheral environment. cause. Ex. High temperature .....

confirm cooling fan

Grounding not enforced.. ... add grounding measures.

I11 - 69

4. Troubleshooting (MDS-Cl Series)

Alarm No.

34

NC communication CRC error: Alarm check period An error was detected in the data sent from the NC to the driver. fl I 42 I f3 1 f4 0 0 1 0
I

Investigation item

Investigation results

Tug the connection connectors The connectors are between the NC and drive unit, disconnected (loose). battery unit and drive unit, and Not disconnected. between drive units to see if they are loose. Check that an excessive force is not being applied on the connector section.

Remedy Correctly connect. Perform investigation item 2.

Turn the powerOFF and check A connection defect was found. Replace the communication cable. the connection of the communication cable in item1 Perform investigation item 3. Connection is normal. with a tester. Try replacing with a normal cable. Try returning to the original C h k k whether the NC and drive Was changed. software version. unit software version was recently changed. Perform investigation item 4. Not changed. The alarm is on the unit side. Replace the drive unit. Replace with another normal unit, and check whether the error 5. The driver is not the cause. Perform investigation item is on the NC side or unit side. Check for abnormalities in the No special abnormalities were Replace the MCP card on the NC found. side. unit's peripheral environment. (Ex. ambient temperature, to the An abnormality was found in the Take measures according noise, grounding) ambient peripheral environment. Cause. E x . High temperature ..... confirm cooling fan Grounding not enforced.. ... add grounding measures.
~~

Alarm No. An in the movement command data from the 35 communication NC error was detected Data error: yr;hryT;: NC.

~~

~~

Investigation item Investigate the items for alarm No. "34". Alarm No.

Investigation results

Remedy

36

NC communication Communication error: Communication from the NC was disconnected.

Alarm check period f 2 f4 f3 fl

Investigation item

Remedy Investigation results

Investigate the items for alarm No. "34".

4. Troubleshooting (MDS-C1 Series)

Alarm No.

Initial parameter error: Alarm check period An illegal parameter was detectedin the parameters sent when fl f2 f4 f3 the NC power was turnedON. 0 0 Investigation item Investigation results Remedy i l l e g a l parameter No. is The settingis incorrect. The Set the correct parameter. displayed on the NC diagnosis The setting is correct. Perform investigation item 3. screen, so adjust the servo The DarameterNo. is other than Perform investiaation item2 parameter with the parameter 11 to&. when paramet& No. is 101. adjustment procedures. Check whetherthe servo Illegal or setting range is Refer to the parameter settings parameter (PIT) (RNG1) (RNG2) exceeded. and supplementary explanations (PC1) (PC2) combination is in the specifications, and reset to illegal, or whether the setting the correct value. The settingis correct. Perform investigation item 3. range hasbeen exceeded. Check the items for alarm No.

37

Alarm No.

NC communicationprotocolerror 1: Alarm check period An error was detected in the communication frame sent from the fl f2 f3 f4 NC. Investigation item investigation results Remedy Investigate theitems for alarm No. "34". NC communication protocol error 2: Alarm check period An error was detected in the axis information data sent from the f2 f4 f3 fl NC. - ' O 0 0 Investigation item investigation results Remedy Investigate the items for alarm No. "34*.

Alarm N o .

39

1
L

Alarm No.

3A
1

Overcurrent: An excessive current was detected in the motor drive current. Investigation results

Investigation item Investigate the items for alarm Alarm No.

Alarm check period f2 fl f 3 f4 0 0 0 Remedy

1 Power module loverheat): error

The IPM used byi&erter the deiected overheating.

Alarm check Deriod

fl -

1
f3 0

36

f 2
0

f4
0

Investigation Item Investigation results Investigate the heat radiating environment 1) Rotation of fan on rear of The fan is not rotating correctly.

Remedy

unit

fan

Replace the

I Take measures

2) Contamination of radiating fins on rear of unit

3 ) Measurement of unit
ambient temperature

Remarkable amounts of cutting oil or dust are adhered on the radiating fins. 55C is exceeded.

None of the above apply. Check for abnormalities in the The grounding is incomplete. unit's peripheral environment. (Ex. ambient temperature, noise, grounding) No particular problem.

to prevent cutting Clean the fins oil or dust from contacting the fins. Consider ventilatingor cooling measures for the panel. Perform investigation item2. Correctly ground. Take noise measures for the Alarms occur e device on theleft. certain device operates. Replace the drive unit.

111 - 71

4. Troubleshooting (MDS-CI Series)

Alarm No. 42

Feedback error1: The feedback pulse was skipped or Zaphase error was detected in the position detector. Investigation results Investigation item Investigate items 3 and following for alarm No. "21".

Alarm check period fl 42 f4 f3

Remedy

Alam No.

Feedback error2: Alarm check period Excessive deviation was detected in the feedback amount of f4 f l the f 2 f3 motor end detector and machine end detector within the closed 0 0 loop. An FB IC error was detected in the semi-closed loop. Investigation results Investigation item Remedy Investigate items 3 and following for alarm No. "2A".

43

46 NoA'ann

Motor overheat: Alarm check period An errorwasdetectedinthetemperatureofthemotorbeing f l I 42 I f3 I f4 driven. Or,thethermalprotectorbuilt in thehigh-speedserialdetector 0 0 I connected to thema 3r end activated. Investigation item lnvestiaation results Remedy Check the repeatability. Recurs within one minute start of Perform investigation item 3. UPRecurs periodically after 2. Perform investigation item operating for some time. The motoris hot. Check the motor temperature Lessen the operation pattern. when the alarm occurs. 1 If the problemis not solved, perform investigation item 3. The motoris not hot. Perform investigation item3. The connectors are Tug the detector cable Correctly connect. connectors (unit side and motor disconnected (loose). side cannons) to see if they are Not disconnected. Perform investiggtion item 4. loose. Turn the power OFF and check Connection is defective. Replace the detector cable. the detector cable connection Connection is normal. Perform investigation item 5. with a tester. If the thermal connection is as No conductivity or large Replace the motor or detector. shown below for OSEl04/105 resistance in the motor and and OSA104/105,so cut the wire detector thermal. between the motor and detector Perform investigation item7. with a joint amplifier, and check the thermal conductivity for each.

I-I I I
~

~~~

Replace with another normal axis The alarmis on the unit side. Replace the unit. unit, and checkif the defect is on Occurs evenif unit is replaced. Perform investigation item 7. the unit. Check for abnormalities in the No special abnormalities were Replace the motor. unit's peripheral environment. found. (Ex. Ambient temperature, An abnormallty was found in theTake measures according to the noise, grounding) ambient peripheral environment. cause. Ex. High temperature ..._. confirm cooling fan Grounding not enforced.. ... add grounding measures.

I11 - 72

4. Troubleshooting (MDS-C1 Series)

Alarm No.

I Overload 1:
I

1-

Alarm check period The servomotoror servo driver load level obtained from the motor current reached the overload level set with the overload I detection level (SV022: OLL).
~~~~~ ~

Investigation item Investigation results Remedy Check the servo parameter The setting is not the standardCorrect to the standard setting (OU) (OLT) setting values. setting value. value if special specifications are Standard setting values OLL: 150 not being used. The value is the standard setting Perform investigation item 2. value.
~ ~~

Check the motor temperature when the alarm occurs.

The motor is hot.

Ease the operation pattern.

If the problem is not solved, perform investigation item 3. The motor is not hot. Check whether the motor is hunting. Hunting is occurring. Perform investigation item 3 . Refer to the adjustment procedures and readjust. Check the cable wiring and connector connections. Check for mistaken parameter settings. Adjust the gain.

L
If the problem is not solved, perform investigation item 4.

Hunting is not occurrina. Replace with another normal axisThe alarmis on the unit. unit and check whether the Problem still occurs even after defect is on the unit. unit is replaced. Check whether the current value The value is abnormal. displayed on the NC Servo The value is correct. Monitor screenis abnormally large when stoppedor during operation. Check for abnormalities in the unirs peripheral environment. (Ex- ambient temperature, noise, grounding)
No special abnormalities were found.

Perform investigation item 4. Replace the drive unit. Perform investigation item 5. Check the machine system.
6. Perform investigation item

Replace the motor (detector).

An abnormality was found in theTake measures according to the ambient peripheral environment. cause. Ex. High temperature .....
Grounding not enforced.. ... add grounding measures.
confirm cooling fan

I11 - 73

4. Troubleshooting (MDS-C1 Series)

Alarm No. 51
~~ ~

A current command 95% or more of the driver's maximum performance continued for1 sec. or more. Overload 2:
~~

Investigation results Investigation item Check whether the PN power is The voltage is supplied. being supplied to the driver. The voltage is not supplied. Check the axis for which the alarm is occurring and the axis farthest from the power supplythe PN is no voltage at Confirm that the power supply terminal. (The lamp is not lit.) unit CHARGE lamp is lit and check the PN terminal voltage. There is a voltage at the PN

Remedy 3. Perform investigation item Perform investigation item 2.

1 yy;hy;ejri;: 1
-

Check the power supply unit. There

Check the PN wiring between the terminal. units. The maximum value exceeds the Lengthen the acceleration/ Check whether the current value deceleration time constant, and level indicatedwith an x in the displayed on the NC Servo lower to80% of the limit value. Monitor screen is abnormally table on the previous page. large during acceleration/ Perform investigation item 4. A correct value is displayed. deceleration. Perform the items 3 and following for alarmNo. "50.
~~~ ~~ ~~ ~

Alarm No. 52

. Alarm check period Excessive error I: Thedifferenceoftheidealpositionandactualpositionexceeded f3 f4 ' parameter SV023: OD1 (or SV053: 0 0 3 ) when the servo was 0 turned ON. Investigation results Investigation item Remedy is supplied. Perform investigation item 3. The voltage Check whether the PN power is being suppliedto the driver. Check the axis for which the PerForm investigation item2. The voltageis not SUPPlidalarm is occurring and the axis farthest from the power supplyThere is no vottage at the unit. PN Confirm that the power supply Check the power suppljr is not lit.) unit CHARGE lamp is lit and terminal. (The lamp check the PN terminal voltageCheck the PN wiring between the There is a voltage at the PN terminal. units. The setting is not the standard Correct to the standard Checktheservoparameter specification valueif special setting value. (OD1) setting value. specifications are not being used. The setting is the standard Perform investigation item 4. setting value.
f l
I

I11 - 74

4. Troubleshooting (MDS-Cl Series)

lsupplementary explanation I The actual machine position deviated an amount exceeding the value set in OD1 from the ideal machine position for the command position. This will occur if the actual machine position enters the shaded area shown below.

Command positic

\
Position

OD 1

OD 1
servo OFF

>
Time

Servo ON

I11 - 75

4. Troubleshooting (MDS-Cl Series)

Alarm No. 53 error

I

The difference of Excessive 2: the ideal position and actual position exceeded rajrn;hT;3pr;: parameter SV026: OD2when the servo was turned OFF.
I

Investigation item :heck the servo parameter lOD2) setting value.

Remedy Investigation results The setting is not the standard Zorrect to the standard setting lalue if special specifications are setting value. lot being used. The setting is the standard setting value. 'erform investigation item2. :heck the machine and nechanical brakes. >erform investigation item 3.

:heck if the machine is moving Is moving. juring sew0 OFF. Tug the communication cable zonnector from the NC to the terminator (unit side and NC side) to see if it is disconnected.

Is not moving. Is disconnected (loose). Not disconnected.

Zorrectly connect. 3erform investigation item 4.

Replace the communication =able. Perform investigation item 5. Replace the drive unit. Replace the NC side MCP card.

w a s found. Turn the powerOFF, and check A connection defect the communication cable connection with a tester. Connection is normal. Try changing with a normal cable. Replace with another normal axisThe alarm is on the unit. unit and check whether the Problem still occurs even after defect is on the unit. unit is replaced.
____

1
If the problem is not solved, perform investigation item 6. C o r r e c t l y connect.

Is disconnected ( l o o s e ) . Tug the detector cable connector (unit side and motor side cannon) Not disconnected. to check if it is disconnected.

7. Perform investigation item Replace the detector cable. Perform investigation item 8.

Turn the power OFF, and check the detector cable connection with a tester. Check for abnormalities in the unit's peripheral environment. (Ex. ambient temperature, noise, grounding)

A connection defect was found.

Not disconnected.

No special abnormalities were Replace the motor. found. An abnormallty was found in the Take measures according to the ambient peripheral environment. cause. E x . High temperature ..... confirm cooling fan Grounding not enforced.. ... add grounding measures.

4. Troubleshooting (MDS-C1 Series)

Alarm No. 54

Excessive error 3: Alarm check period The motor current was not flowing when the excessive error f l f4 f2 f3 alarm 1 was detected. 0 0 Investigation results Investigation item Remedy Perform investigation item 3. The voltage is supplied. Check whether the PN power is being supplied to the driver. Perform investigation item2. The voltage is not supplied. Check the axis for which the alarm is occurring and the axis farthest from the power supply. Check the power supply unit. There is no Confirm that the power supply terminal. (The lamp is not lit.) unit CHARGE lamp is lit and check the PN terminal voltage. There is a voltage at the PN Check the PN wiring between the units. terminal. Increase the acceleration/ The power wire is not connected Check whether the motor power deceleration time constant, and wire is connected to the motor. or the power wire is broken. lower to approx.80% of the limit Disconnect the power wire value. from the terminal block, and Perform investigation item4. check between the UVW The power wire is correctly wires with a tester. connected. Replace the drive unit. The alarm is on the unit. Try connecting with another normal axis unit and check Replace the motor. The alarm is on the motor. whether the defect is on the unit side or detector side.
I

f3 f4 1 error was detected during the G O fl f2 A collision detection type modal (rapid traverse). 0 (A disturbance torque that exceeds the external disturbance torque was detected.) Investigation Investigation item results Remedy Is the collision detection function The collision detection function Perform investigation item2. is not used. being used? Check whether the machine has Modify so that the machine does The machine has collided. not collide. collided. The collision detection function Perform investigation item 3. not machine has the I isbut used, I I collided. Change SV060 (TLMT) to"0". The setting is incorrect. Check the parameters. Is SV060 (TLMT) set to "O"? Increase the time constant, and 90% or moreof Check whether the current has The current is perform investigation item4. reached the current limit value the current limit value. or 90% of the limit value during The current is less than 90% of Perform investigation item4. normal rapid traverse the current limit value.
acceleration/deceleration.

Adjust the collision detection

The alarm does not occur.

Perform investigation item5.

function again, and try The alarm occurs. operation. (Refer to the separate collision detection function specifications.) Does the machine or current Is vibrating. vibrate?

Try increasing the detection

level.

Is not vibrating. The alarm does not occur.

The alarm occurs.

Eliminate the vibration by adjusting the gain, etc., and then perform investigation item4. Perform investigation item6. If the problem is not solved by replacing the unit, try increasing the level. Replace the drive unit.

I11 - 77

4. Troubieshootina (MDS-C1 Series)

Alarm No.
59

Collision detection1: Alarm check period A collision detection type 1 error was detected during the G1 f3 f4 f2 fl modal (cutting feed). (A disturbance torque that exceeds the external disturbance 0 torque was detected.) Investigation results

I I

Remedy 2. The collision detection function Perform investigation item is not used. Check whetherthe machine has The machine has collided. Modify so that the machine does collided. not collide. 3. The collision detection Gnction Perform investigation item is used, butthe machine has not collided.
~~ ~ ~~~~

Investigation item

I I
2

Checktheparameters. Is SV060 (TLMT) set to"OH?

3 Check whether the current has The currentis 90h or more of

Increase the time constant, and reached the current limit value the current limit value. perform investigation item 4. or 90% of the limit value during The current is less than 90h of Perform investigation item 4. normal cutting feed the current limit value. acceleration/deceleration. ~occur. not does The alarm I I Adjust the collision detection function again, and try The alarm occurs. Perform investigation item 5. operation. (Refer to the separate collision detection function specifications.) Eliminate the vibration by Is vibrating. 5 Does the machine or current adjusting the gain, etc., and then vibrate? perform investigation item 4.
~~

I'

The setting is incorrect.

1 I

Change SV060 (TLMT) to "0".

I I

~~

~~~

11
1

Is not vibrating. Perform investigation item 6.

6 Try increasing the detection level.

t
SA

The alarm does not occur. If the problem is not solved by replacing the unit, try increasing the level. The alarm occurs. Replace the drive unit.

Alarm No.

Collision detection2: A collision detection type 2 error was detected.

Investigation item Investigate the items for alarm No. "58".

Alarm No. 60 to 7E

Investigation resutts

Remedy

Power supply alarm: An alarm is occurring in the power supply unit.

Alarm check period

fl f2 f3
f4

investigation item
1

Investigation results

Remedy

MDS-C1 -CV Refer to the power supply sDecifications.

4. Troubleshooting (MDS-C1 Series)

A I 7F

N o .

Amplifier power reset request: Alarm check period An error was detected when the control mode (high gain mode, f4 standard mode) was selected. Or, an error was detected in EEPROM the if this error is detected again after the power is reset.
fl

-1

investigation item Confirm the repeatabillty.

Investigation results Always occurs. Returns to normal once, but recurs periodically.

Remedy

Replace the drive unit. Perform investigation item 2. Replace the drive unit.

2 Check for abnormalities inthe

unit's peripheral environment. (Ex. ambient temperature, noise, grounding)

No special abnormalities were found.

An abnormality was found in the Take measures according to the ambient peripheral environment.cause. Ex. High temperature ..... confirm cooling fan ..... Grounding not enforced add grounding measures. period

Alarm N o .

I Watch don:
I

check I Alarm The servodrive software process was not executed within the designated time.

Investigation item

Check whether the servo : software version was changed IrecenttyIunit's

I Investigation results I It was changed.

Not changed.
~

I Remedy I Try returning the original to

software version.

Perform investigation item 2.

Check for abnormalities in the peripheral environment. (Ex. ambient temperature, noise, grounding)

No special abnormalities were Replace the drive unit. found. An abnormality was found in the Take measures according to the ambient peripheral environment. cause. Ex. High temperature..... confirm cooling fan Grounding not enforc e d . . . . . add grounding measures.

I11 - 79

4. Troubleshootina (MDS-C1 Series)

Alarm No.

HR unit connection error: Alarm check period f4 f2 f 3 Incorrect connection or disconnection of the MDS-B-HR fl connected the machine end was detected. 0 0 0 Investigation resutts Investigation item Remedy Correctly connect. Tug the connector to check the if Is disconnected (loose). MDS-B-HR connector (unit side, 1 Perform investigation item 2. s not disconnected. HR side and linear scale side) is disconnected. - 1 Turn the power OFF and checkThe connection is defective. the connectionOf the detector Connection is normal. cable (between driver and I/F I I I unit, and and between I/F unit scale) with a tester. Replace the drive unit. Alarm occurs in unit. Interchange with another correct axis unit (Or MDS-B-HR), and Perform investigation item 4. Alarm occurs in MDS-B-HR check whether the faulty section (linear scale). is in the unitor MDS-B-HR (linear scale). Check for abnormalities in the No special abnormalities were Replace MDS-B-HR (linear found. unit's peripheral environment. scale). (Ex. ambient temperature, to the An abnormality was found in the Take measures according noise, grounding) ambient peripheral environment.cause. E x . High temperature ..... confirm cooling fan Grounding not enforced.. ... add grounding measures.

~~

~~

~~

HR unit HSS communication error: Alarm check period The MDS-B-HR connected to the machine end detected an ferror l f2 f 3 f4 in the communication with the absolute position linear scale. 0 0 0 Investigation results Investigation item Remedy 1 Investigate the items for alarm I No. "89. I I
Alarm No. 8A

8C Ala-No-

HR unit scale judgment error: The MDS-B-HR connected to the machine end could the connectedscale's analog wave cycle. Remedy investiaation results lnvestiaation item Correctlv connect. I s c o n n e c t e d (Ioose). MDS-B-HR connector (unit side, Is not disconnected. HR side and linear scale side) is disconnected. Replace the detector cable. Turn the power OFF and check The connectionis defective. the connection of the detector Perform investigation item 3. Connection is normal. cable (between driver and I/F unit, and between I/F unit and scale) with a tester. Replace the drive unit. Alarm occurs in unit. Interchange with another correct axis unit (or MDS-B-HR), and Perform investigation item 4. Alarm occurs in MDS-6-HR check whether the faulty section (linear scale). is in the unitor MDS-B-HR (linear scale). No special abnormalities were Replace MDS-B-HR (linear Check for abnormalities in the unit's peripheral environment. found. scale). (Ex. ambient temperature, An abnormality was found in the Take measures according to the noise, grounding) ambient peripheral environment. cause. Ex. High temperature..... confirm cooling fan Grounding not enforced.. ... add aroundina measures.

II

111 - 80

4. Troubleshooting (MDS-C1 Series)

A a l n No.
80

Investigation item I Investigation results Remedy Tug the connector to check if the Is disconnected (loose). Correctly connect. MDS-B-HR connector (unit side Is not disconnected. Perform investigation item 2. and HR side) is disconnected. Turn the power OFF and check The connection is defective. Replace the detector cable. the connection of the detector Connection is normal. Perform investigation item3. cable (between driver and I/F unit) with a tester. Interchange with another correct Alarm occurs in unit. Replace the drive unit. axis unit, and check whether theAlarm occurs inMDS-B-HR. Perform investigation item 4. faulty section isin the unitor MDS-B-HR. Check for abnormalities in the No special abnormalities were Replace MDS-B-HR. found. unit's peripheral environment. An abnormality was found in the Take measures according to the ( E x . ambient temperature, noise, grounding) ambient peripheral environment. cause. Ex. High temperature ..... confirm cooling fan Grounding not enforced.. ... add grounding measures.

I The CPU forthe MDS-B-HR connectedtothemachineendis I not operating correctly.

I HR unit CPU error:

Deriod check 1 Alarm

' fl
1

1
f2
I

f i

0
-

f4
1

Alarm No.
8E

HR unit data error: Alarm check period An errorwas detected in the analog interpolation data for the f l f4 f 2 f3 MDS-B-HR connected to the main side. 0 0 0 Investigation item Investigation resub Remedy Investigate the items for alarm No- "89.

Ahrm No. 90
1

Low+peed serial initial communication error: Initial communication with the absolute position linear scale was not possible. Investigation item Investigation results Investigate the items for alarm No. " 5 8 .
Low4speed serial communicationerror: An error was detected in the data from the detector in the absolute position detection system using the OHA25K-ETI absolute position linear scale. lnvestiaation item I lnvestiaation results I

Alarm check period f4 fl p2 f3

0 Remedy

Alarm No. 91

Alarm check period f4 fl f2 f3

0 0 0

I
1

Remedv

Investigate the items-3and

foliowing for alarm No."251
Alann No. 92
Low-speed serial protocol error: An error was detected in the data from the detector in the absolute position detection system using the OHA25K-ET/ absolute position linear scale. Investigation results Investigation item Inveswate the items 3 and following for alarm No. "25"

Alarm check period fl f4 f 2 f3

0 0 0

Remedy

I11 - 81

4. Troubleshooting (MDS-C1 Series)

rive

and

I I

Alarm check period Absolute position fluctuation: f4 f 3 Fluctuation exceeding the tolerable value was detected in the fl f2 - 0 absolute position detected when the NC power was turned ON. Investigation results Investigation item Remedy Correctly connect. 1 Tug the connector to check if The the connectors are detector connector (unit side disconnected (loose). and detector side) is Perform investigation item 2. Not disconnected. disconnected. Check the cable between the unit battery same time. Replace the detector cable. 2 Turn the power OFF and check Connection is defective. the detector cable connection Perform investigation item 3. Connection is normal. with a tester. 5, Perform investigation item The erroris not repeatable. 3 Check the repeatability. and connect and use if there is Carry out zero point return no abnormality. again. The error is always repeated, orPerform investigation item 4. the state is recovered once, but the error is repeated. The alarm is on the unit side. Replace the unit. 4 Replace with another normal axis 5. if the defect is onOccurs evenif unit is replaced. Perform investigation item unit, and check the unit. 5 Check for abnormalities in the No special abnormalities were Replace the motor. unit's peripheral environment. found. An abnormality was found in the Take measures according (Ex. Ambient temperature, - to the cause. ambient peripheral environment. noise, grounding) Ex. High temperature..... confirm cooling fan ... Grounding not enforced.. add grounding measures.

Alarm No.

93

Alarm No. 96

MP scale feedback error: Alarm check period Excessive deviation was detected in the feedback amount of f4 f3 f l the f2 motor end detector and MP scale in theMP scale absolute 0 0 0 position detection system. Investigation results Investigation item Remedy Investigatethe items 3 and following for alarm No. "25' IMP scale offset error: Alarm check period Excessive deviation was detected in the feedback amount of the f2 f4 f3 fl motor end detector and MP scale in the MP scale absolute 0 position detection system. Investigation results Investigation item Remedy Investigate the items3 and following for alarm No. "25"

Alarm No. 97

1
b

Alarm No. 9E

An error was detected in the multi-rotation counter with the high-speed serial detector connected to the motor end and ball 0 0 High-speed screw end. serial multi-rotation counter error: Fr;hrF3pT;f Investigation results Investigation item Remedy Investigate the items 3 and following for alarm No. "25'

4. Troubleshooting (MDS-Cl Series)

Alarm No. SF
1

Battery voltage drop: Alarm check period f2 f4 f3 The voltage of the battery supplied to the absolute position f l detector dropped. 0 0 0 Investigation item Investigation results Remedy Check the battery unit voltage. Replace the battery. The battery voltage ha 2. There is no error in the battery Perform investigation item voltage. Investigate the items 3 and following for alarm No. "25l Overload warning: An 80% level of the overload 1 alarm was detected. Alarm check period fl f2 f4 f3
0 0 0

Alarm No. El

Investigation item Investigation results Check whether the motor is hot. The motor is not hot. if there is an error when acceleration/ deceleration is

Remedy Perform the items for alarm No.

"50".

performed.

Perform investigation item 2. The motor is hot. 1. If the operation pattern canbe Operation is possible without Check eased, ease it. error. 2. If operation is possible without an alarm occurring, continue use. Perform the items 3 and following Operation is abnormal. for alarm No."50'.

Alarm No.

Absolute position counter warning: Alarm check period f2 f4 f3 fl Deviation of the absolute position and relative position was detected. 0 0 Investigation results Investigation item Remedy Check the battery voltage, Occurs whenNC power is turned Investigate the state where the ON. warning occurred. perform zero point return, and then turn powerOFF and ON. Perform the items for alarm "25'. Occurs during operation. Check the batterywoltage. An alarm occurre Check whether a battery error alarm occurred recently. Check the detector and cable. Did not occur.

E3

Alarm No. E4

Parameter error warning:

A parameter exceeding the setting range was set.

Alarm check period fl f2 f4 f3

0 0 -

Investigation results Investigation item Set the correct value according to the parameter adjustment procedure.

Remedy

Alarm No.
E7

1 2

An emergency stop occurred in another Investigation item Check if the NC side emergency stop switch is activated. Release the emergency stop.

NC emergency stop: Alarm check period f3 f4 f2 signal is being sentfrom the NC or an alarm fl axis. 0 0 0 Investigation results Remedy Perform investigation item 2. Emergency stop is activated. Perform investigation item 3. Emergency stop is released. The machinestarts up normally. Normal "E7" is still displayed. Perform investigation item3. Check if a terminator or battery Correct the abnormality. Abnormal place found unit is connected or if Normal Perform the items for alarm "34". disconnected.
I11 - 83

5. Appendix

5. Appendix
5.1 Changing from closed loop to semi-closed loop
To move the axis with the semi-closed loop for troubleshooting due to a defect in the closed toop or for temporary operation, changeover with the following procedure.
1. Leave the parameter SVOI 7 SPEC bit 5 setting as it is, and change the other bits to 0.

2. Set parameter SVOl9RNGI according to the motor shaft end detector type.
HA053/13 For 10 For other motors 100 (Motor end detector : OHA25K, OHE25K, OSAl04,OSEl04) 1000 (Motor end detector : OSAlO5, OSElO5) 3. Set parameter SV020 RNG2 to the same value as SVO19 RNGl .
4.

Leave the lower 8-bit of parameter SV025 MTYP as is, and change the upper 8-bit as shown below.

For HA053/13 33xx For othermotors

(xx is the same setting as the lower 8-bit) OOxx (xx is thesamesettingasthelower8-bit)

Motor end detector: OHE, OSE type 1l x x (xx is the same setting as the lower 8-bit) Motor end detector: OHA, OSA type

5. Turn the NC power OFF andON and confirm the axis movement.
6. Confirm the backlash amount, 1 pulse response, and overshooting during acceleration/deceleration, and change the compensation amounts if necessary.

Note 1) Write down the parameter data before changing so it can be applied when returning to closed loop. Note 2) Always perform set the reference point again when returning to the closed loop in the absolute position detection system.

I11 - 84

5. Appendix

Parameters p e r servo system

Relative position detection
Para Absolute position detection
Closed loop

I
loop

Closed loop

B a l l screw end detection

detection

bit7=l

Detector

bit7=l

~~

~~~

10 (HAOW1 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I
100 Ball screw pitch (OHE25WOSE104) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . o l t o o (OSE105)
100

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
o l t 0 0(OSEIoa

100 (OHA25WOSA104) ......................................

1OOO (OSA105)

O0

~~~~&~

Scale resolution

/OR 1OOO (OSA105)

Ball screw pitch ....................................

Scale resolution

10 (HA053/13) 10 (HA053/13) ..................................... .....................................

svo20 Samesettingas RNG2 mol 9

100 Same settingas (OHE25WOSE104) (OHE25WOSE104) svol9 .................................... ..................................... lo00 (OSE1050) lo00 (OSE1050)

10 (HA053/13) 10 (HA053/13) ............................................................................ 100 100 (OHE25WOSE104) (OHE25WOSE104) ............................................................................ lo00 (OSE105) lo00 (OSE105)

h l myp I
m 2 5
I

93WA3xx l x x (HA053/13) (HA053/13) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...... ..................................... ............................................................................ ( 0 ~ 5 ~ 0 ~ ~ 1 0 4 ) ooxx 4 o w 6 o x x 8oXX 50W60XX SO>ovAOXX ...................................... (oHE~~WOSEI 04) (OSE25WOSE104) (OHE25WOSE104) (OHE25WOSE104) (OHE25WOSE104) ............................................................................ h.... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I..................................... 22xx (OsA105) 52>Ov6= 92>OvA2>0< (OSE105) (OSE105) (OSE105)

5 3 w 6 3 x x

Is2xx

The l v , 0.lp.m changeover is performed with the NC parameters. (When using HA053/13,0.1pmcannot be used.)

111 - a5

~~

System

Confi guration

Capacity

E l

Motor shaft enddetector Max. tracking capacity: 5MPPS Min. resolution : 0.0036' speed Max. : 3000rpm

Detector Motor end detector Servo amplifier Type Motor or OHE25K-6 HA40N OSE 10410SE 105 more MDS-AB-V1- HA23N 'OHE25K-85 OSEl04SIOSE105S HA33N Low inertia OHE25K-108 OSEl04S/OSEl05S motor MDS-NB-V2-0 HA053 Built-in encoder
r

Amplifier

lMachine end detector

FIB cable 1 Motor Machine end end

CN2

1
I

lml

I OHE25K-6
Motor shaft end detector Max. tracking capacity: 5MPPS Min. resolution : 0.0036' Max. speed : 3000rpm MDS-AB-VI-0

IHA40N

1
OHE25K-ET OSEl04ET OSAl04ET CN2 CN3 CN3

uU

MDS-AIB-V2-0

I OHE25K-6

I
Q 0 0
1

Max. tracking capacity (according to maker) Min. resolution (according to maker)

Motor shaft detector end Max. tracking capacity: 5MPPS Min. resolution : 0.0036" : 3000rpm Max. speed

scales with a 1p specification, 0 . 5 ~ OSEl04S/OSElO5S HA33N specification pulse FIB CN2 OHE25K-108 inertia possible. Low (Ex. MP scale OSEl04S/OSE105S motor MDS-AIB-V2-0 (Mitsubishi HA053 Heavy Built-in encoder Industries)) orOHA25K-4 HA40N MDS-NB-V1-0 OSAl04/0SA105 Imore HA23N OHA25K-85 OSAl04S/OSAlO5S HA33N CN2

/061104/0SE105 MDS-AB-VI-0 OHE25K-85

1 1
HA053

or

I Connection of various

mz3N

MDS-NB-V2-0 OHA25K-108 inertia Low

U
1

Motor shaftdetector end Max. tracking capacity: 5MPPS Min. resolution : 0.0036' : 3000rpm speed Max.

IHA40N or I OSEl0410SE105 mG3N MDS-NB-V1-0 OHE25K-85 OSEl04SIOSEl05S HA33N OHE25K-108 Low inertia

1
I

I OHE25K-6

1 I
. .. ..IHA40Nor
HA23N Absolute linear value

OHA25K-ET OSAl04ET OSAl05ET

CN2

CN3

I OHE25K-6
Max. tracking capacity: 0.83MPPS Min. resolution : l p Max. speed : 50mlmin. MDS-AB-VI-0 OSE10410SE105 more OHE25K-85 OHE25K-108 MDS-A/B-V2-0

CN2 (Mitsutoyo) CN3

Tv. MDS-A-SP
MDS-B-SP Spindle System Section

1. Adjustment Procedure

1 Adjustment Procedure
1.I Trial operation

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

Link the motor and machine, and check the control status while breaking in the machine. (1) Do the command speed andactual speed match. When they do not match, confirm the following ; 1) Are the spindle parameters (SPOOO to SP384) correctly set? Especially check that the following parameters are correctly: set 1) SP017 (TSP) 2) SPO34 (SFNC2) 3) SPO40 (MTYP) 4) SP257 to SP384

2) Confirm that the following spindle NC parameters are correctly set :

I) Slimitl to 4

2) Smaxl to4
3) Smini

(2) Is the rotation smooth?

(3) Are there any abnormal noises?
(4) Are there any unusual odors? (5)

I s the bearing temperature abnormal?

Next, run the motor with an actual load, and confirm that there are no errors.

IV - I

1. Adjustment Procedure

1.2 Adjustment of orientation

1.2.1 Operation
There are three types of orientation stop that can be selected by setting parameter . 1. PRE ........____............ (a)Spindleapproachesthestoppositionintherotationdirectionwhich is same as that of ongoing rotation. 2. Fonward run ..........._ (b) Spindle always approaches the stop position in the forward run direction. 3. Reverse run ............ ( c ) Spindle always approaches the stop position in the reverse run direction.

1-

OHC

IV-2

1. Adjustment Procedure

Operation sequence
When orient command signal ORC turns O N , motor speed changes from steady run speed to position loop changeover speed and at the same time "stop position command" (multipoint orientation) is read. Whenmotorspeedreachesthepositionloopchangeoverspeed,controlmodechangesfrom "speed control" mode to "position control" mode (position loop gain parameter (Note 1)). (Position loop changeover speed is automatically set in accordance with position loop gain setting.) When control mode changes to position control mode, the distance to the stop is position calculated and spindle speed is decelerated in accordance with the deceleration pattern set by parameter to stop. , orientedcompletesignal When the spindleentersthe"in-position"rangesetbyparameter ORCF turns ON. The zeropoint can be shifted by setting parameter . When orient command signal (ORC) is turned OFF, motor speed returns to the previously set reference speed.

1-1

= I]

Motor speed

d
I
I

ORC

stop position
command

12b i

GRl. CR2, GR3

QRCF

b1-1
for

Note)

1-1

is used for magnesensor/motor built-ine n d e r type orientation, and encoder type orientation.

IV-3

1. Adjustment Procedure

1.2.3 Encoder orientation stop positions

The stop positions willbe asshown below depending on the direction that the encoder is installed.

Case 1
Encoder

Case 2

Installation direction

Motor

p &
Arrow A
Looking from arrow A Forward run 0

Looking from arrow A Forward run Reverse run

Normal
orientation

ci$til

%j
(180' 1

Reverse run

(270"

COOH
)

800H

8obH 080' 1

1.2.4 Parameter block diagram for orientation

block Position control

Speed c o n t r o l blodc

r I

I
1 : Parameter name

I
>
From CNC
+

1
Power amplifier
&

I
Position feedback Spindle
Speed feedback

'
J

- .
motor

GRB 1

CRA 1

6 6

Bit5 or Bit6

p[ x -

0-

Encoder

IV-4

1. Adjustment Procedure

1.2.5 Preparation for adjustment of motor built-in encoder orientation

[Related Parameters]

I I

Parameter No. SPOOl SP004 SP005 SPO06 SP007 SP025 SP027

I I

Abbrev.

PGM
OINP OSP CSP OPST GRAl GRA2 GRA3 GRA4 I GRBl I GRB2 GRB3 GRB4 SPEC0 VGOP
VGOl

SP029 SP030 SP031 SP097 SP098 SP099 SP100 SP105 SP106 SP107 SP108

VGoD
IQGO IDGO CSPZ CSP3 CSP4
MPGH

SP109
SP119 SP120

MPGL

I
I

SP121 SP122

MPCSH MPCSL

Name Ivalue Default Position loop gain for magnesensor or motor 100 built-in encoder orientation I Orientation in-Dosition width I 16 0 Orientation changeover speed limit value 20 Deceleration rate during orientation 0 Orientation position shift amount 1 No. of gear teeth on spindle side 1 1 SP026 No. of gear teeth on spindle side 2 1 No. of gear teeth on spindle side 3 1 SP028 No. of gear teeth on spindle side 4 I No. motor side ofon teeth aear 1 I 1 I No. motor side of on teeth clear 2 I 1 1 No. of gear teeth on motor side 3 1 SP032 No. of gear teeth on motor side 4 0000 Orientation specifications Speed loop gain proportional item during 63 orientation 60 Speed loop gain integral item during orientation Speed loop gain delayladvance item during 15 orientation 100 Current loop gain magnification during orientation 1 100 Current loop gain magnification during orientation 2 0 Orientation deceleration rate2 0 Orientation deceleration rate3 0 Orientation deceleration rate 4 Orientation position loop gainH coil 0 compensation magnification Orientation position loop gain L coil 0 compensation magnification Deceleration rate H coil magnificatiduring orientation Deceleration rate L coil magnification during 0 orientation

I
I

~~

~~~

[Preparation]

1) Confirm that the parameters are set to the values given above.

IV-5

1. Adjustment Procedure

1.2.6 Preparation for adjustment of encoder orientation

[Related Parameters] Parameter No. SPO02 SPO04 SP005 SP006 SP007 SP025 SP026 SP027 SP028 SP029 SP030 SP031 SP032 SP096 SP097 SP098 SPO99 SPIOO SP105 SP106 SP107 SP108 SP109 SP119 SP120 SP121 Abbrev.

PGE
OSP CSP GRAl

G W
GRA3 GRA4 GRBI P GRB2 GRB3 GRB4 EGRA SPEC0
1

VGoP
VGOI

VGoD
IQGO IDGO
CSP2

CSP3 CSP4
MPGH
MPGL
MPCSH

Default value Name 100 Position loop gain during encoder orientation 16 Orientation in-position width OlNP 0 Orientation changeover speed limit value 20 Deceleration rate during orientation 0 Orientation position shift amount OPST Ito 32767 No. of gear teeth on spindle side 1 1 to 32767 No. of gear teeth on spindle side 2 1 to 32767 No. of gear teeth on spindle side 3 Ito 32767 No. of gear teeth on spindle side 4 1 to 32767 No. of gear teeth on motor side 1 I to 32767 No. of gear teeth on motor side 2 1 to 32767 No. of gear teeth on motor side 3 1 to 32767 No. of gear teeth on motor side 4 0 Encoder clear ratio 0000 Orientation specifications Speed loop gain proportional item during 63 orientation 60 Speed loop gain integral item during orientation Speed loop gain delay/advance item during 15 orientation 100 Current loop gain magnification during orientation 1 Current loop gain magnification during orientation 2 . 100 0 Orientation deceleration rate 2 0 Orientation deceleration rate 3 0 Orientation deceleration rate4 Orientation positionloop gain H coil 0 compensation magnification Orientation position loop gain L coil 0 compensation magnification Deceleration rateH coil magnification during 0

SP122

MPCSL

orientation

Deceleration rate L coil magnification during

orientation

IV-6

1. Adjustment Procedure

[Preparation]
1)

ISP032 (GRBI) 1. . ISP025 (GRA1) I to I SP028 (GRA4) I = A

IsPo25 (GRA1) Ito I SPO32 (GRB4)

The accurate gear ratio (or pulley ratio) from the motor shaft required. Confirm that the correct No. of gear teeth is set in

to the encoder rotation axis

1-

is

to

cxE

Note)

may be set by the user, so make sure that these are set accurately to correspond to the machine.

2) Confirm that the parameters are set to the values given above.

IV-7

I. Adjustment Procedure

1.2.7 Preparationfor adjustment of magnesensor orientation

[Related Parameters]

I
I

Pat.eter
SPOOl

I
I

Abbrev.
PGM

.
Name

Default value
100

Position loop gain for magnesensor or motor I built-in encoder orientation Orientation in-position width 16 Orientation changeover speed limit value Deceleration rate during orientation Orientation position shift amount No. of gear teeth on spindle side 1 No. of gear teeth on spindle side 2 No. of gear teeth on spindle side 3 No. of gear teeth on spindle side 4 No. of gear teeth on motor side 1 No. of gear teeth on motor side 2 No. of gear teeth on motor side 3 No. of gear teeth on motor side 4 Orientation specifications Speed loop gain proportional item during orientation Speed loop gain integral item during orientation Speed loop gain delay/advance item during orientation Current loop gain magnification during orientation 1 Current loop gain magnification during orientation 2 Orientation deceleration rate 2 Orientation deceleration rate 3 Orientation deceleration rate 4 Orientation position loop gain H coil compensation magnification Orientation position loop gain L coil compensation magnification Deceleration rateH coil magnification during orientation Deceleration rate L coil magnification during orientation Magnesensor output peak value Magnesensor linear zone width Magnesensor changeover point

0 20

0
1 to 32767 1 to 32767 1 to 32767 1 to 32767 1 to 32767 1 to 32767 1 to 32767 1 to 32767

I I
I

SP026 SP027

1 I
I

GRA2 GRA3

SP030 SP031 SP032 SP098

GRB2 GRB3 GRB4

0000
63 60 15 100 100
0

1 1 1
SP099 SP100

SP106 SP108 SP109 SP119

IDGO CSP3
CSP4

_ _ _ ~

0
0

MPGH MPGL MPCSH MPCSL MGDO MGDl MGD2

SP120
SP121 SP122 SP123 SP124 SP125

0
0

Standard magnet= 542

Compact magnet = 500 Standard magnet= 768 Compact magnet= 440 Standard magnet = 384 Compact magnet = 220

IV-8

1. Adjustment Procedure

[Preparation]
1)

. 1-

The accurate gear ratio (or pulley ratio)from the motor shaft to the magnesensor rotation isaxis required. Confirm that the correct No. of gear teeth is set in to

1-

Note)

1-

may be set by theuser, so make sure that these are set accurately to correspond to the machine.

1to -1

2) Confirm that the parameters are set to the values given above.

Spindle

(A-F: No. o f gear teeth)

T T -

IV-9

I. Adjustment Procedure

1.2.8 Adjustment of orientation

<Adjustment>
( { } for encoder orientation )

Orient positionshift adjustment There is no volume or rotary switch for the osition shift. . position parameter with the shift Set After setting achieved. Orientation
Normal speed

1-

, perform orientation, and adjust so that the target stop point is

Point a t which speed changes to oriented speed

Refer to the following table and set the corresponding orientation set.
~ ~~

Adjustment Phenomena

m p s o o s 1

Overrun at stop Long orientation time Hunting at stop alarm Excessive error Note 1)

I
!

I
~

I
: Decreasesettingvalue.

1, .

/ : increase setting value.

: Do not change setting value.

s Note 2)

The excessive error alarm will also occur when the detector direction SP097 (SPECO) is incorrectly set.

Adjust

1-1

1{ -

} first and then adjust

1in the same manner. To set the shortest orientation time coil perwhen using the coil changeover motor, adjust , 1,1ISP121 (MPSCH) Iand 1 SP122 (MPCSL) 1 in the Same manner.

To execute the shortest orientation time per gear setting, adjust

1-1

1-

and

If the gear ratio is excessive error alarm occurs and cannot be remedied with the above adjustments, Ifthe spindle rotates slowl in the forward/reverse run direction and does not stop during magnesensor orientation, change the detector installation direction bit.

ISP0970]

IV- 10

1. Adjustment Procedure

1.2.9 Adjustment of servo rigidity

Carry out adjustments with the following procedures to raise the servo rigidity. to the extent that overrun does not occur during orientation. Raise the position loop gain For motor built-in encoder orientation and ma nesensor orientation: Raise the value.

1-

For encoder orientation : Raise the

SPOO2 (PGE)

1 value.
to 80.

Raise the and values with the same proportion the degree to that vibration does not occur during orientation sto is set to 80, set For example, if

1-

1I

1 - f

The value of SPlOO (VGOD) can be increased to raise the impact response during stopping. However, if this value istoolarge,thetorque for thepositiondeflectionwilldrop.Thus,the movement couldbe adversely affected such as the orientation stop position being inconsistent, etc. PI control will be applied if this value is set to 0.

1.2.10 "Delay/advance control" and"PI control" application

Normally, "delay/advance control" is selected. (

1-

In the case described below, select the"PI control" function. ( # 0) Frictional torqueof spindle is large and particularly accurate stop is required. When "PI control" is used, sew0 rigidity will be somewhat inferior than that in "delay/advance" control.

1 -

# 0)

IV- 11

1. Adjustment Procedure

1 . 2 . 1 1 Troubleshooting during orient error

(1) Does not orient (Keeps rotating)

Cause The parameter setting valueis inappropriate.

1-

Remedy Check items The parameters with the orient Set SP037 (SFNC5) correctly. detector do not match.

Remarks

Motor buitt-in encoder orient ............. 4 Encoder orient

............. 1

Magnesensor orient ............. 2 Specifications are Motor built-in encoder not correct. orientation is being carriedout with a standard motor not provided with the Z phase. The connector pin No. is incorrect, or the connector No. where the wire is connected is incorrect. The wireis broken. . Change to the motor with the with Zmotor built-in encoder phase. Change the wiring. For motor built-in encoder orientation.

Change the wire.

(2) Stops after exceeding stopping point.

~~~~

Cause The parameter setting valueis inappropriate.

Check items

Remarks

ISPOO6 (CSP) I is halved.

Improves when the orientationReadjust deceleration ratio parameter

. 1-

The same applies to the followin

ISP108 (CSP3) I ISP109 (CSP4) I

Improves when the position eters SPOO1 (PGM) and ,loop gain paray

Readjust SPOO1 (PGM) and

The same applies

to the followin

ISP002 (PGE) Iare halved.

The orient stop direction is in one direction (CCW or CW). Set 1 to 0 h e ) .

1-1

bit 0 and

Iv- 12

1. Adjustment Procedure

The stop isOFF. - position -

Cause
Machine factor

Remarks Remedy The stop position is notOFF on There is backlash or slippage For encoder the encoder axis. between the spindle and orientation encoder. The gear ratio between the spindle and encoderis not 1 :1 or 1:2. There is backlashor slippage between the spindle and motor. The gear ratio between the spindle and motor is not 1: 1.
~ ~~~~ ~~~~~

Check items

For motor built-in encoder orientation.

~~

The position detection cable is Do not junction the cable. junctioned with a terminal block (connector), etc. The position detector cable Correctly treat the shield. shield treatmentis not correct. The signal wire is peeled too Keep the peeled section to much at the position detector 3cm or less when possible. cable connector section. Keep the peeled section as far (The section not having a shield away from the drive line as is long). possible. (4) The stop position does not change even when the position shift parameter is changed. Check items The parameter setting valueis inappropriate Remedy Remarks The gear ratio between the If the gear ratio on the left is spindle and encoder is 1:2 used between the spindle and (encoder rotates once per two encoder, the position shift spindle rotations), andthe amount per spindle rotation is 4096. position shift was changed to 2048 and not 2048.

IV- 13

1. Adiustment Procedure

(5) Vibrates when stopping.

CaUSe The parameter setting value is nappropriate

items Check

Remarks

Decrease the position loop several Hz.

loop gain Increase the current

The vibration frequency is 1OHz or higher.

Decrease the speed loop gain arameter for orientation

Decrease the current loop gain

(6) The oriented complete signal is not output.

Cause items Check Remedy Refer to(1) Does not orient. The machine load The in-position is too small is heavy. (parameter Change the orientation stop Review the values set in the control from delay/advance to PI control.

Remarks

I-].)

IV- 14

1. Adjustment Procedure

1.3 Synchronous tap adjustment

1.3.1 Synchronous tap operation adjustment
<Preparation>

Before adjusting the synchronous tap, carry out operation with thespeedcommand adjustment, and then follow the steps below.
<Parameter> (1) Setting the spindle controller #
:PO37

or orient

Parameter
lalU0S.

Description
>ossibilities of orient type and synchronous taptype combinations and setting Closed type Semi-closed

SFNCS spindle unction

3

type
No orient
I

I I

IOrient type

II
I

Motor built-in encoder I Encoder orient Magnesensor orient

X

lI 0 x lI x0 l I o l o
I I

l x l x l o l o

0..... Possible,

..... Not possible

Setting value

4 1

IV- 15

1. Adjustment Procedure

(2) NC screen settings

Description :User parameter>

Setting value

Synchronous tapis validated. When not valid, the conventional tap Valid zycle will run. :Machine parameter> 3asic speci- )it3 of ications nparl mrameters a p t1 Set whether the synchronous tap uses the time constant set method orslope set method. 0:Time constant set 1:Slope set Sets the position command time constant for the time constant 1to set 1500 synchronous tap. (m-1 Standard: If the start up timefall ortime to rotate to the considerable tap max. 1000 s p e e d with theS command is t, set the following: When tap precision is priority : tap-tl = t x 2 (ms) When tap cycle time is prionty: tap-tl = t X 1.2 (ms) Sets the position loop gain during synchronous tap. Always set.the 1 to 200 same value as for the spindle parameter PGT. Standard: 10

Servo mrameter [Z axis) Spindle NC Darameters

'GNlSP :svo49) ;gear

Spindle parameters

;tap 1 ;tap 2 ;tap 3 ;tap 4 stap 1 ;tap 2 ;tap 3 ;tap 4 PGT

SPECT

Sets the gear ratio between the spindle and spindle encoder. 0 Always set to 0 (1: I when ) not using the spindle encoder (semi- Standard: 0 closed type). Sets the max. spindle speed during the slope set tap cycle at gears 0 to 99999 00, 01, 10, 11. (wm) Sets the time constant to the max. tap speed during the slope set 0 to 5000 tap cycle at gears 00, 01, 10, 11. The setting method is the same (msec) as taptl above. to 100 Sets the position loop gain during synchronous tap. Always set 1 the Standard: 10 same value for(Z axis) parameter PGNlSP. bit 5 . ....... Sets the detector (spindle encoder) rotation direction during synchronous tap. Set 0 for semi-closed. bit 3. -...... Set to1 for a strong excitation during synchronous tap. The response to impact loads w i l increase. Normally0. bit 0 ........ 0: Closed (when there is an encoder on the spindle) 1: Semi-closed (when there is no encoder on the spindle) bit 4 ..... ... Decides the motor command direction (spindle rotation direction at G84) during synchronous tap. bitE=O .... Performs zero point return at the beginning of the synchronous tap mode. bitE= 1 .... Enters the position loop immediately after deceleration and stopping without performing zero point return. The gear ratio of each gear step must set be correctly with the no. of teeth.
Motor Motor shaft side

GRAlGRA4, GRBl-

No. of teeth (GRB1-GR64)

GRB4
EGEAR

speed x

Spindleside No. of teeth (GRA1-GRA4)

= speed

Spindle

Sets the gear ratio between the spindle and spindle encoder. 0 Always set 0 (1:1) when not using the spindle encoder (semi- Standard: 0 closed type).

1. Adjustment Procedure

<Points of caution> 1) When the spindle is driven with belt the or the timing belt in the semi-closed method (with no spindle encoder) thebelt may slipor stretch and make precise synchronized tapping difficult. belt, use the spindle encoder, and carry out synchronized tapping in the closed When driving with the method. In this case, use the encoder type orient for orientation. 2) When the spindle and encoder are connected with a speedof ratio 2:l in the closed method (with the spindle encoder), set the spindle parameter to 1. Set the spindleNC parameter

E ] to 1.

<Confirmation and adjustment of the operations Normal operation Items to check during abnormal operation Reverse bit 4 when the rotation direction goes in the reverse tap direction. When the rotation numbers differ, recheck whether the parameter and machine specifications match. Others: Refer to troubleshooting for synchronous tap error.

1-1

S p i s p e e d

Spindle

10 rotations in

Refer to troubleshooting for Carry out the cutting test with the floating tap chuck installed. synchronous tap error. 1) Is there any stretching or shrinking of the tapper? 2) Is precisetap machining carried out? Refer to troubleshooting for Carry out the cutting test without the floating tap chuck synchronous tap error. installed. 1) Is precise tap machining carried out?

1. Adjustment Procedure

1.3.2 Troubleshooting for synchronous tap error

Cause I mmedy
~

1 Excessivedifferencealarm(alarm

52)

I) The spindle parameter bit 5 synchronous tap detector direction is set in reverse. 2) The spindle motor cannot follow the command as the tap time constantis too short. Multiply the longer of the S command's rising time or falling time by 1.2 or more, and set.
1) The spindle motor cannot follow the command as the tap

1-1

time constant is too short. Multiply the longer of the S command's rising time or falling time by 1.2 or more, and set.
3

The spindle rotation movement amount 1) The spindle parameter bit 0 close/semi-close does not match the command value. setting is wrong. 2) The spindle parameter gear ratio to

1-

1-1

1 ,-

to gear ratio.

[=I

settings do not match the machine

-

I 1)

The tap breaks. The tap precision is poor.

1) The (Z axis) parameter

1-

and spindle parameter

1 x 1 values are not the same.

2) The tap time constant is too short. 3)The programscrew pitch F and the actual tap pitch are different. 4) The tap slips at the chuck. Change to a larger chuck with a looser tightening toque. 5 ) The prepared hole is shallow and the cut powder is not removed well. 6) A tap with poor removal of the chip is used. (A spiral tap is desirous.) 7 ) The tap depth too is deep for the tap diameter. (Normally 2 to 3 times.) 8) A large noise interrupts the position feedback signal, and the synchronized precision is poor. In the closed method, check the spindle encoder cable and in the semi-closed method check the shield treatment of the feedback speed cable from the motor. Check whether a normal shield wire is used if or it is disconnected. 9) Redace with a new tap.

The spindle stops or the precision 1) Set the spindle parameter bit 3 to 1, and select is poor during tappingas the load the strong excitation. is too heavy. 2) Increase speed loop gain during tapping. 3) Use tapping paste. At low-speed rotations (under 1000 1) The position loop gain is slightly OFF. rpm) there are no problems, and at (Example) high speeds: At close, the pulley ratio when V belt connection is carried 1) The tap breaks. out between the motor and spindle does not match the 2) The tap precision is poor. theoretical gear ratio (a).

1-1

IV- 18

2. Troubleshooting

2. Troubleshooting

1. Always wait at least ten minutes after turning the power supply OFF before starting maintenance

and inspection. Failure to do so could lead to electric shocks. 2. Maintenance and inspection must be done by a qualified technician. Failure to observe this could lead to electric shocks. Contact your nearest Service Center or Service Station for repairs and part replacement.

2.1 Introduction
If any trouble occurs with the control unit, perform the preliminary checks described below and then proceed to the troubleshooting described later. The following preliminary checks are very important when you consult with service engineer. Preliminary check

NOTICE

1. Which alarm is displayed on the unit alarm display? Confirm the past alarms on the unit's 7segment displayor on the NC diagnosis screen. (Refer to the alarm and warning in list 2.4.) 2. Is the troubleor failure repeatable?

3. Are ambient and inner-panel temperatures normal?

4. When did the trouble occur (during acceleration, or deceleration, or steady-speed operation)?

What was the speed? 5. Is rotation direction correct? 6. Did instantaneous power failure occur? 7. Does the same trouble occur in a specific operation, or when a specific command is given? 8. How frequently does the trouble occur? 9. Does the trouble occur when load is applied, or when load is removed? 10. Were emergency procedures performed? 11. How many years has the control system been used? 12. Is supply voltage normal? Does it change from time to time?

2.2 First step of troubleshooting

Perform the following check: (1) Power supply voltage: 200V(+10%-15%0) 50Hz, 200 230V (+10%-15%) 60Hz In any case, it should not drop below -1 5% of 200V. (Ex.) Check if the supply voltage drops at a specific time everyday. Check if the supply voltage drops at start of a specific machine. (2) Is the peripheral control unit or functions in good condition? (Ex.) Are the NC, sequence circuit, etc., proper? Visually check the condition of cables and other components. (3) Is temperature inside and outside the control unit below 55"C? (4) Visually check the control unit appearance. (Ex.) Looseness in the connector, damage or entering of foreign matter, etc.

IV- 19

2. Troubleshooting

If the above status confirmation is carried out sufficiently, the faulty section should be apparent. The most likely troubles or failures of MDS-A-CV, SP can be largely divided into the following two groups:

Trouble A

Control unit does not work satisfactorily when is turned it on for the first time (I). Controlunitcomesintoastandstillabruptly (11). Control unit fails from time to time, or error occurs in orientation stop position, or "alarm" lamp lights(111). Unit trouble Trouble in power supply unit Trouble in spindle drive unit Failure inspeed detect encoder Trouble in 1024P/rev encoder Trouble in9OOOOP/rev encoder Trouble in magnesensor

Trouble B

Trouble with detector

Trouble in parameter, transfer data from NC Trouble with power supply Trouble with motor Other troubles (mismatching input sig,nal conditions, cable disconnection, etc.)

2. Troubleshooting

2.3 Second step of troubleshooting

Trouble I Unit does not work satisfactorily when it is turned ON for the first time
Check items
Remedy

As long as the control unit is handled carefully, this type of trouble is quite unlikely to occur. The most possible cause is, (1) Mechanical shock or impact was (A) given to the unit during shipment, installationor handling. (2) External wiring or sequence is (2) incorrect, or disconnected. Check aroundina wire. (It is not required to consider power phase sequence.)

Visually check if any part of the equipment is damaged. Confirm that the 7-segment LED in the unit is lit. Check the external wiring and sequence. (Note 1) The inputloutput signals to the unit can be checked on the NC spindle monitor screen. Checkthespindleparameters. Check that the motor wires are correctly connected toU W . When using the built-in motor, make sure that the waveform output from the speed detector is correct. Checktheloadcondition. Adjusttheorientation. Adjust and check the waveform from each detector. Refer to 2.5.

(3)

(4)

Check for mistakes in the parameter settings. Motor speed cannot be increased.

(3)
(4)

(5)

No-load operation is in good condition.

(5)

Only orientation stop function is not in good condition (overrun, etc.) (7) The C axis, synchronous tap, and spindle synchronous are not operating normally.

(6)

(6)
(7)

(8)

An alarm is displayed on the unit's 7-segment display.

(8)

Note 1) "Start signal CW, CCW' should be turned ON after "ready' signal and speed command been have input.

IV - 21

2. Troubleshooting

Check items Trouble I1 Control unit comes ( I ) Check the input power voltage. into a standstill AC200V + I 0% -1 5% 5OHZ abruptly AC200 to230V + I 0% -1 5% 60Hz

Remedy (1) Restore to normal if abnormal. Secure a power capacity that can maintain the voltages on the left during operations (during acceleration/deceleration, cutting).

(2) Analarmisdisplayedontheunit's
7-segment.

I (2) Referto 2.5.

(3) Check on the NC spindle monitor
screen.
(4) Check the waveform with a synchroscope, and readjust or replace.

(3) Is the signal input fromNC correct'?

(4) Is the waveform output from each

detector normal? Built-in speed detector 1024P/rev encoder 9OOOOP/rev encoder Magnesensor
~~ ~ ~

Check iteins Remedy Operation is not In this case, the comprehensive analysis correct sometimes. must be accomplished to determine the The orientation cause (load condition, operation mode, stop position etc.). deviates. Refer to the causes below. An alarm displays, ( I ) The input power stopped ( I ) Perform a detailed investigation of but after turning the instantaneously or dropped, and the the inwt Dower fluctuation, etc. . . power OFF and instantaneous stop alarm displayed. I ON or resetting, (2) Check if malfunction occurred in (2) Find the noise source, and install a the operationis control circuit, due to large noise. surge killer, etc. restored. The unit is capable of withstanding Review the unit's grounding, noise (in power supply) of detector shields and grounding, etc. 1600V/1ps. (3) The orientation is incorrect. (3) Readjust the parameters for orientation. (Change the SPOOI, The orientation stop position is 002, and 006 setting values.) When deviated. using the 1024P/rev encoder, The orientation time is long. inspect the backlash between the spindle and encoder.
~~ ~~ ~~ ~~

Trouble I11

IV - 22

2. Troubleshooting

2.4 Alarm and warning table

Name

12 13 AD 17
L I

ME1

Memoryerror 1 'Oftware pr-ss error AD error PR

M L;1I t Z -

3UI I I UI M I V I GI

t S I IU I UclcIUlI CU II I L I IC

3 p 1 1 IUIG UI I V G

control card ROM. The software data process did not end within the set time. PR

PR

SWE

c ) . l

L3

31

32

34

AD converter did not function correctly The current detection during initialization. No signal (spindle The signal was not input from the spindle encoder (for 1 - 3 4 encoder) I orientation, C axis), or was not at the normal level. Excessive speed The speed command and motor speed deflection exceeded U Q L f o r a specified time. the specified value and the state continued deflection OS Overspeed The motorspeed exceeded 115% of the set max. speed. PR A currentexceedingthesetvalueflowedintotheIPMusedby Power module PMOC the spindle drive's main circuit. overcurrent DP CRC error 1 A CRCerroroccurredinthecommunicationdatafromtheNC. , Themovementcommand from the NC was excessively large
. ____
~~~

D E >
I

E\

PR
DR
I I .

PR
DD

39
3B

Tp2

Protocol error2

PMOH Powermodule overheat

KEl

the NC. There was a protocol error in the communication with (Information error) Overheating of the IPM used by the spindle drive's main circuit was
detected.

PR PR

40
41
44

TK unit change error

KE2

The changeover signal procedure was mistaken when using the TK unit. TK unit The communication with the TK unit was not correct when communication error using the TK unit.
C axis changeover
When usingthecoilchangeovermotor,

PR
PR
NR

CAXE

C axis control was carried out

Note) If the above protective functions activate, the alarmNo.w i l l be displayed on the 7-segment LED built into the
spindle drive, and the following will occur.
i l l be shut off, the external contactor w i l l turn OFF, Operation PR : The base currentof the spindle drive w w i l l coast to a stop. and the spindle motor Operation NR : The spindle motorwill decelerate and stop with the regenerative motor, and then the base current w i l be shut off. Operation AR : Only a warning w i l display, and operation canbe continued.

I V - 23

2. Troubleshooting

2.5 Approach per phenomenon

.2.5.1 When alarm or warning is displayed on the 7-segment display
(1) Alarm No.

: Memory error

[Meaning]

A check sum or RAM check error occurred in the spindle drive control unit ROM.

Investigation item
1

Investigate the repeatability.

Remedy Occurs each time the power is Replace the spindle drive unit. turned ON. Perform investgation item 2, Occurs periodically. and remedy.

Investigation results

Investigate the wiring and installation environment. 1) Is the unit correctly grounded?

1) The grounding is incomplete. Correctly ground.

2) Is there any equipment generating noise near the unit?

2)The alarm occurs easily

when certain equipment operates.
No special problem.

Take noise prevention measures for the left equipment. Replace the spindle drive unit.

(2) Alarm No. [Meaning]

: Software process error The spindle drive unit data process did not end within the set time. Investigation resub Occurs each time the power is turned ON. Occurs periodically. Remedy Replace the spindle drive unit.
2, Perform investigation item and remedy.

Investigation item
1

Investigate the repeatability.

Investigate the wiring and installation environment. 1) Is the unit correctly grounded?
2) Is there any equipment generating noise near the unit?

1) The groundingis incomplete.

Correctly ground. Take noise prevention measures for the left equipment. Replace the spindle drive unit.

2) The alarm occurs easily when certain equipment operates.

No special problem.

2. Troubleshooting

(3) Alarm No.

: AD converter error

[Meaning]

The current detection AD converter circuit did not function correctly during initialization. Investigation results Remedy Replace the spindle drive unit. Perform investigation item 2, and remedy.

Investigation item Investigate the repeatability.

Occurs each time the power is turned ON.

Occurs periodically.

2
Investigate the wiring and installation environment. 1) Is the unit correctly grounded? 2) Is there any equipment generating noise near the unit?

1) The grounding is incomplete.Correctly ground.

2) The alarm occurs easily when certain equipment operates. No special problem.

Take noise prevention measures for the left equipment. Replace the spindle drive unit.

(4) Alarm No.

.

1211 : No signal detected

Error in the 1024Plrev encoder for orientation 90,000 or pulse encoder for C axisA, B, Z phase signals. Remedy "1*'is set to Bit 0 even though Correctly set. encoder orientationis not used. No special problem. Perform investigation item 2, and remedy. Correctly connect. Perform investigation item 3, and remedy. Replace the detector cable. Correctly connect.' When usingMBE-9OK for the C Connection axis detector, peiform investigationitem 4, and remedy. In other cases, replace the spindle drive unit or detector. Readjust. Replace the detector. Replace the spindle drive unit. Investigation results

[Meaning]

Investigation item
~ ~~~~~

Check the spindle parameter (SP037: SFNCS) setting value.

Tug the connector to check if Is disconnected (loose). the detector connector (spindleIs not disconnected (loose). drive unit side and detector side) is disconnected. Turn the power OFF and check A connection defect or broken the detector cable connection wire is found. with a tester.

When using the C axis built-in detector MBE-SOK, check the output waveform.

The waveformis not correct. The waveform is correct.

IV - 25

2. Troubleshooting

( 5 ) Alarm No. [Meaning]

: Excessive speed deflection

The speed command and current motorspeed difference exceeded 50wm or more for 12 seconds. Investigation item Investigation resub Remedy is not correct. Correctly wire. The wiring Check theU W wiring between the spindle drive unit and motor. The wiring is correct. Perform investigation item 2, and remedy.
'

Check the spindle parameters (spo34, spo40, sp055vsp257 The correct values are set. and following) setting values.
'

Correctly set. The values are not correct Perform investigation item 3, and remedy. the spindle parameter (SP055) setting value. Perform investigation item 4, and remedy.

Takes 12sec. or more. Increase Measure the acceleration/ deceleration time to the max. spindle speed. If the alarm Takes 12 sec. or less. occurs when changing from forward run (reverse run) to reverse run (forward run), measure the time from the foward run (reverse run) max. speed to the reverse run (forward run)max. speed. The load amount is 120% or If the alarmoccurs during cutting, check the load amount. higher. The load amount is 119% or lower. Tug the connector to check if the detector connector (spindle drive unit side and speed detector side)is disconnected.
Is disconnected ( l o o s e ) . Is not disconnected (loose).

Decrease the load. Perform investigation item 5, and remedy. Correctly connect. Perform investigation item 6, and remedy.

Turn the power OFF and check A connection defect or broken Replace the detector cable. Correctly connect. wire is found. the speed detector cable connection with a tester. Perform investigation item 7, Connection is normal. and remedy. Adjust so that itis correct. The waveformis not correct. Check thespeed detector Replace the detector. waveform. The waveform is correct. Replace the spindle drive unit.

2. Troubleshooting

(6) Alarm No.

1311 : Overspeed
The motor speed exceeded 115% of the value set in spindle parameter (SPO17:TSP). Investigation results Remedy Perform investigation item 2, Occurs only during speed loop and remedy. operation. Perform investigation item 3, Occurs only during position loop. and remedy. Perform investigation item 4, Occurs constantly. and remedy. Increase the setting value. The setting value is 2000' or less. Perform investigation item 4, The setting value is 2001' or and remedy. more. Correctly set.

[Meaning]

Investigation item
1

Investigate the repeatability

Check the spindle parameter (SPO17: TSP) setting value.

1) If the alarm occurs during

1) The SP193 bit5 (position synchronous tap, check the detector polarity) setting is incorrect or the tap time spindle parameter constant setting is too low. (SP193:SPECT) setting value and the tap time constant. 2) If the alarm occurs during 2) The SP177 bit 5 (position detector polarity) settingis spindle synchronization, check the spindle parameter incorrect or the spindle synchronization time (SP177: SPECS) setting constant setting is too low. value and the spindle synchronization time constant. 3)If the alarm occurs during 3)The SP129 bit5 (position the C axis, check the spindle detector polarity) setting is incorrect or each feed time parameter (SP129: SPECC) constant setting during C setting value, and C axis axis is too low. rapid traverse and cutting feed time constants. The set values are correct. Investigate the wiring and installation environment. 1) Is the unit correctly grounded? 2) I s there any equipment generating noise near the

Correctly set.

Correctly set.

4, Perform investigation item and remedy.

1) The grounding is incomplete. Correctly ground. 2) The alarm occurs easily when certain equipment Take noise prevention measures for the left equipment.

unit?

operates.

3 )Are the speed and position 3)The shields are not correct. Correctly shield the cables. detector cables correctly shielded? Perform investigation item 5, No special problem. and remedy. Adjust so that it is correct. Check the speed detector The waveformis not correct. Replace the detector. waveform. Replace the spindle drive unit. The waveform is correct.

I V - 27

2. Troubleshooting

(7) Alarm No.

1921 : Power module overcurrent

A current exceeding the specified value flowed into the IPM used by the spindle drive unit.
1

[Meaning]

Investigation item Check when the phenomenon occurred.

Investigation results Occurs before ready ON.

Remedy Replace the spindle drive unit.

Perform investigation item 2, and remedy.servo Correctly set. Perform investigation item 3, and remedv. Decrease the load.
~

Check the spindle parameters (SPO34, SP040, SP055, SP257 and following) setting values.

i
Occurs ON. after The values are not correct.
~~

The correct values are set.

The load amount is 120% or If the alarm occurs during cutting, check the load amount. higher. The load amount is 119% or lower. Check the UVW wiring between the spindle drive unit and motor. 1) Are the terminal screws loose? 2) Do the wires short-circuit between phases? 3) Is there a ground fault in one of the phases? Open both ends of the cable when checking2 )and 3 ) . Check the motor insulation. Check between each motor and ground with a megger tester. Check the power voltage.

Perform investigation item 4, and remedy.

1) The screws are loose.

2) There is a short-circuit.

Correctly tighten. Replace the cable. Replace the cable. Perform investigation item 5, and remedy. Replace the motor. Perform investigation item 6, and remedy. Review the power capacity.

3 )There is a ground fault.

There is no special problem. The resistance value is M S 1 Z or less. The resistance value 1 is MQ or more. The powervobge drops below 170V during acceleration/ deceleration and cutting.

7, The power voltage is constantly Perform investigation item and remedv. 171V or more.
~~ ~~~~~~ ~

Investigate the wiring and installation environment. 1) Is the unit correctly grounded?
1) The grounding is incomplete. Correctly ground.

2 ) Is there any equipment

generating noise near the unit?

2 )The alarm occurs easily

~~~~

when certain equipment operates. No special problem.

~

Take noise prevention measures for the left equipment.

~

~~

Replace the spindle drive unit.

2. Troubleshooting

(8) Alarm No.

1341 : CRC error

A CRC error occurred in the communication data from the NC.
lnvestiaation results Remedy Correctly connect. Perform investigation item 2, and remedy.

[Meaning]

Investigation item

Tug the connection connectorsI s disconnected (loose). or terminating connectors Force was applied. between the NC and spindle No special problem. drive units, battery unit and spindle drive unit, and spindle drive unit and servo drive unit to check if they are disconnected. Also check if an excessive force is being applied on the connectors. Disconnect each cable in item A connection defect was found. 1, and check the connection with a tester.
No connection defect was found.

Replace the cable.

Perform investigation item 3, and remedy.

and Investigate the wiring installation environment. 1) Is the unit correctly grounded?
2) Is there any equipment generating noise near the unit?

1) The grounding is incomplete.

Correctly ground. Take noise prevention measures for the left equipment. Replace the spindle drive unit or the MCP card on the NC side.

2) The alarm occurs easily when certain equipment operates. No special problem.

(9) Alarm No.

[Meaning]

1351 : Data error

The movement command data from the NC was excessively large during position

control.
Investigation item Perform the same investigations items and remediesas for alarm NO. .

1341

(10) Alarm No. j361 : Transmission error weaning] The periodic data transmission fromthe NC was terminated.
~~~ ~

Investigation item Perform the Same investigations items and remedies as for alarm No. .

Investigation results

Remedy

1341

2. Troubleshooting

(11) warm NO.

: Parameter error

[Meaning]
~ ~ ~~~

The spindle parameter sent from the NC during initialization was illegal.
~ ~

Investigation item Investigation results The setting is incorrect. Check the spindle parameter setting Values. The No. O f the N~ special problem. parameter with an abnormal setting w i l l display on the NC spindle diagnosis screen. Perform the same investigations items and remedies as for alarm NO. .
~ ~ ~ ~~ ~ ~~~~ ~

Remedy Correctly set. Perform investigation item 2, and remedy.

(12) Alarm NO.

: Protocol error 1

[MeaninglTherewas a protocol error in the communication with the NC.(Frame error)

1

Investigation item Perform the same investigations items and remedies as for alarm No. .

Investigation results

Remedy

1341

(13)~lann NO.

1391 : Protocol error 2

There was a protocol error in the communication with the NC. (Information error) Investigation results Remedy

[Meaning]
1

esas and

items

Investigation item Perform the same investigations

(14) Alarm No. (381 : Power module overheat

[Meaning]
1

Overheating of the IPM used in the main circuit of the spindle drive was detected. Investigation results Remedy

Take measures Replace the The fan is not rotating correc fan to prevent cutting Remarkable amounts of cutting Clean the finsoil or dust from 2) Contamination of radiating contacting the oil or dust are adhered on the fins on rear of unit fins. radiatinG fins. Consider ventilatingor cooling 3) Measurement of unit 55C is exceeded. measures for the panel. ambient temperature None of the above apply. Perform investigation item 2. 2 Investigate the installation The grounding is incomplete. Correctly ground. Take noise measures for the environment. Alarms occur easily when a device onthe left. certain device operates. I s the grounding correct? Are there any noise generating Replace the unit. No particular problem. devices in the periphery?

Investigation item Investigate the heat radiating environment 1) Rotation of fan on rear of

unit

IV-30

2. Troubleshooting

(15) AlarmNo. 140): TK unit change error [MeaningJ The changeover signal procedurewas mistaken when using the TK unit. Investigation results Remedy

Investigation item
1

Refer to the separate 1 amplifier 2 motor specifications (BNP-A-

2993-22).

(10)Alarm No. [Meaning]

1411 : TK unit communication error

The communication between theTK unit and spindle drive unit was not correct when using the TK unit.
Investigation results Remedy

Investigation item
1

Refer to the separate 1 amplifier

2 motor specifications (BNP-A2993-22).

(17)Alann No. waning]

1441 : C axis changeover alarm

When using the coil changeover motor, C axis control wascarried out with the H coil.

item I Investigation results I 1 I CheckInvemtigation 0 is displayed. the sequence for C axis

changeover. Check the 3H bit ~D display for the control input Iis displayed. on the NC spindle monitor.

remedv.

II II
2

Remedy Issue the correct command. (Check sequence.) the Perform investigation item 2, and
.
.

Check the 3H bit D display for control output when the C axis servo is ON.

0 is displayed.
~~ ~~~~~

Replace the amplifier.

Valid. Check the parameters. is to1.) I s the coil changeover valid for (The SPO34 [mkch] bit set sPecial motor specifications?

Invalidate. (Set the SP034 [mkch] bit to 0.)

IV - 31

2. Troubleshooting

(18) Alarm No.

: Motor overheat The motor overheated and the thermal protector built-in the motor activated.

[Meaning]

When this alarm occurs, it cannot be released until the motor has stopped and the motor cooling fan has run for 10 or more minutes.

Investigation item Investigate the repeatability.

~ ~ ~ ~~~~

Investigation results Occurs immediately after turning power ON. Occurs several minutes after operation starts.
~~~ ~

Remedy Perform investigation item 2, and remedy.

Occurs after operating for a while. 2

Perform investigation item 5, and remedy. Perform investigation item 3, and remedy.

I Tug the

speed detector cable I s disconnected ( l o o s e ) . connector on the spindle drive ' No special problem. unit tosee if it is disconnected.
Check thespeed detector cable A connectiondefect is found. connection. Connection is normal. Check betweenOHSl and OHS2 on the motor thermal protector with tester. The resistance value is several 1O O n or higher. The resistance value is several 1OSZ or lower.

I correctly connect.
I Correctlyconnect.

Perform investigation item 4, and remedy. Replace the motor. Replace the spindle drive unit.

Check the spindle load amount.The unit is started and stopped Decrease the starting stopping frequently, or the cutting load is frequency or lower the load. large. 6, Perform investigation item No special problem. and remedy. Check the motor cooling fan The motor cooling fan wiring is Correctly wire. wiring and rotation. incorrect. Replace the motor. The wiring is correct but the fan does not rotate. Perform investigation item 7, No special problem. and remedy. motor cooling fan section.
No special problem.

Clean. The guard is clogged. Check the Replace the spindle drive unit.

2. Troubleshooting

(19) Alarm No.

[Meaning]

1501 : Overload
The current flowed to the spindle motor exceeded the overload detection level (spindle parameter SPO64: OLL) and continued longer than the overload detection time (spindle parameter SP063: OLT). Investigation results
Remedy Correctly set.

Investigation item

Check the spindle parameters The values are not correct. (spo34,spo40, sp055, sp257 The correct values are set. and following) setting values.

Perform investigation item 2, and remedy.

Check the spindle parameters Set the standard value. is notThe set. standard value (sp063,spo64) setting values. Perform investigation item3, The standard value is set. and remedv.
'

Check theUVW wiring between the spindle drive unit and motor. 1) The screws are loose. 1) Are the terminal screws loose? 2) There is a short circuit. 2) Do the wires short-circuit between phases? is a ground fault. 3)Is there a ground fault in one of the phases? Open both ends of the cable There is no special problem. when checking2)and 3). and remedy. Tug the connector to check if Is disconnected (loose). the detector connector I s not disconnected(loose). (spindle drive unit side and speed detector side)is disconnected. Turn thep o w e r OFF and check A connection defect or broken wire is found. the speed detector cable connection with a tester. Connection is normal. Check thespeed detector waveform. The waveformis not correct.

Correctly tighten. Replace the cable. Replace the cable. 3) There Perform investigation item 4, Correctly connect. Perform investigation item 5, and remedy. Replace the detector cable. Correctly connect. Perform investigation item6 , and remedy.
~ ~~~

Adjust so that it is correct. (Refer to Page IV-38) Replace the detector.

Perform investigation item 7, and remedy. Check the motor load amount. The load amount exceeds the Decrease the load to within the motor rating. motor rating. Perform investigation item 8, No special problem. and remedy. The waveform is correct.

Check the motor rotation.

The motor is locked.

No special problem.

Review the machine side. Replace the spindle drive unit.

2. Troubleshooting

(20) Alarm No. [Meaning]

: Excessive error The position tracking errorwas over the specified value (excessive error width setting value) in the orientation or position loop operation. Excessive error width setting value During orientation (SP102:OODR) : Standard value 32767 (32767 pulses) During C axis (SP154:CODRL, SP155:CODRH) : Standard value SP154:MCO, SP155: 1 (120000 pulses) Duringspindlesynchronization(SP186:SODR) : Standardvalue32767 (32767 pulses) During synchronous tap (SP218:TODR) : Standard value 32767 (32767 pulses) Investigation results

Remedy Perform investigation item 2, Investigate the repeatability. and remedy. Perform investigation item 7, Occurs duringC axis. and remedy. Perform investigation item 12, Occuis during spindie and remedy. synchronization. Occurs during synchronous tap.Perform investigation item16, and remedy. 1 Change thebit 5 setting value. OK if the bit 5 setting value is If the alarm occurs during encoder orientation, check the changed. spindle parameter (SP097: Return thebit 5 setting value to NG even if the bit5 setting i t 5 setting value. SPECO) b the original value, perform value is changed. investigation item3,and remedy.
Occurs during orientation. Check the spindle parameter (SPOOI:PGM, SP002:PGE, POO6: CSP) setting values. OK if PGM and PGE are doubled orif CSP is decreased to half. NG even with the above settings. Tug the connector to check if Is disconnected (loose). the detector connector (spindle 1 s not disconneed (loose). drive unit side and positionkpeed detector sides) is disconnected. Turn the power OFF and check A connection defect or broken wire is found. the positionlspeed detector cable connections with a tester. Connection, is
'

Investigation item

Change the setting values. Perform investigation item 4, and remedy. Correctly connect. Perform investigation item 5, and remedy. Replace the detector cable. Correctly connect. Perform investigationitem 6, and remedy. Adjust so that it is correct. (Refer to Page IV-35) Replace the detector. Replace the spindle drive unit or position detector.

Check thespeed detector waveform.

The waveform is not correct.

The waveformis correct.

Iv-34

2. Troubleshooting

Investigation item Check the spindle parameter (SP129: SPECC)bit 5 setting.

Investigation results OK if the bit 5 setting value is changed. NG evenif the bit5 setting value is changed.

Remedy Change the bit 5 setting value. Return the bit 5 setting value to the original value, perform investigation item8 , and remedy. Change the setting value. Return the setting value to the original value, perform investigation item9, and remedy.

OK if settina value is lowered. Check the axis specifications parameter rapid traverse and NG evenif the setting value is cutting feed rate setting values. lowered.

Change the setting value. Check the axis specifications parameter time constant setting value. NG evenif the setting value is Return the setting value to the original value, perform increased. investigation item 10, and remedy. Check parameter spindle the value. setting the Change (sPoo3:FGco, SP130 SP133: PGCI PGC4, SP165: NG evenif the setting value is Return the setting value to the p G 2 c , SP166:PG3C) setting increased. original value, perform values. investigation item1 1 , and

I
~

I
is not set. Check the other spindle parameters sp166s No special problem. SP257 and following)

remedy. Correctly set. The correct value Replace the spindle drive unit or readjust or replace the position detector. Change the bit 5 setting value. Return the bit 5 setting value to the original value, perform investigation item 13, and remedy. Change the setting value. Return the setting value to the original value, perform investigation item 14, and remedy. Change the setting value. Return the setting value to the original value, perform investigation item 15, and remedv.

Check the spindle parameter (SP177: SPECS) bit 5 setting.

OK if the bit 5 setting value is changed.

NG evenif the bit 5 setting value is changed.

is Check the spindle parameter's OK if the setting value increased. spindle synchronous time constant. NG evenif the setting value is increased.

OK if the setting value is Check the spindle parameter increased. (SP010: PGS, SP189: PG2S, sp190:PG3S) setting values- NG even if the setting value is increased.

Iv-35

2. Troubleshooting

II
16

17

18

I
I

19

Remedy The correct value is not set. Correctly set. Check the other spindle 15 parameter (SP1 T7 to sP190, Replace the spindle drive unit or No special problem. SP257 and following) setting readjust or replace the position values. detector. Check the spindle parameter OK if the bit 5 setting value is Change thebit 5 setting value. (SP193: SPECT) bit 5 setting. changed. Return the bit 5 setting value to NG evenif the bit 5 setting the original value, perform value is changed. investigation item17, and remedy. Change the setting value. Check the spindle parameter's OK if the setting value is increased. spindle synchronous time constant. Return the setting value to the NG evenif the setting value is original value, perform increased. investigation item 18, and remedy. Change the setting value. is Check the spindle parameter OK if the setting value increased. (SPOO9: PGT, SP221: PG2T, sp222: PG3T) setting values. ' NG even if the setting value is Return the setting value to the increased. original value, perform investigation item 19, and remedy. Correctly set. 1 Check theotherspindle I Thecorrectvalueisnotset. Replace the spindle drive unit or readjust or replace the position values. detector. I
Investigation Rem Investigation results

The tracking error amount (droop amount) be can calculated with the following equation. If this value exceeds each excessive error width setting, this alarm w i l occur.

The No. of pulses per rotation is as follows: During C axis :360000 Other than the above : 4096 (*2) The spindlespeed during C axis is calculatedwith the following equation.
(4)

Spindle speed (rpm) =

C axis feed rate ("/min) 360"

2. Troubleshooting

(21)Alann No. [Meaning]

m l
The pulse miss value was higher than the parameter set value (SPI 14: OPER) when orientation positioning was completed. Investigation results The shield is correct. The shieldis correct. It is junctioned. It is not junctioned. The wire broken. The wire is not broken. The waveformis deviated.

lnvestiaation item Is the speed detector cable shield correctly treated? Is the encoder cable junctioned?

Stretch and contract the encoder or speed detector . cable, and use a tester to check for wire breakage. 4 Are theA, B and Z phase waveforms of the speed detector correctly adjusted?

Remedy Correctly treat the shield. Perform investigation item2, and remedy. Use one encoder cable. Perform investigation item3, and remedy. Replace the cable. Perform investigation item4, and remedy.

Correctly adjust. Refer to the adjustment procedures (BNF14052-01). The waveformis correct. Perform investigation item 4, and remedy.

(22) Alann No.

[Meaning]

to

: Power supply error

An error occurred in the power supply.

Investigation item Refer to the power supply troubleshooting section.

Investigation results

Remedy

(23) Warning No.

[Meaning]

: Overload warning The current flowed to the spindle motor exceeded the overload detection level (spindle parameter SPO64: OLL) and the time exceeded 80% of the overload detection time (spindle parameter SP063: OLT). Investigation results Remedy

I 11501-

Investigation item Perform the same investigation and remedies as for alarm No.

(24) Warning No.

weaning]

: NC emergency stop The emergency stop command was input from theNC or an alarm occurred in another servo axis or in the spindle. Investigation results Switch is ON. Switch is OFF. Remedy Turn OFF the emergency stop switch. Perform investigation item 2, and remedv.

Investigation item

Check whether the emergency stop switchis ON.

Performthesameinvestigation and remedies as for alarm No.

IV - 37

2. Troubleshootins

2.5.2 When alarm or warning is not displayed on 7-segment unit

(1) Motor does not rotate even when an alarm is not displayed.

Investigation Rem
1

Investigation results

The wiring is incorrect. Loose Check the wiring around the power supply unit and spindle screws or broken wires are found. drive unit. Also check for looseness in the No special problem. terminal screws and for broken wires, etc. The voltage exceeds the Check the input vottage. specified value. The voltageis within the specified value. is not set. Confirm all spindle parameters. The correct value The correct value is set.

Remedy Correctly wire. Tighten the screws. Replace the wires.

2, Perform investigation item and remedy.

Restore the power to the specified value. Perform investigation item 3, and remedy. Correctly set. Perform investigation item 4, and remedy.

Confirm the input signals. (Confirm on the spindle diagnosis screen.) Are the ready, forward run, reverse run signals input? The forward and reverse run signals mustbe input at least one second after ready ON. The forward run and reverse run signals may be turned ON simultaneousty. Confirm thespeed command. (Confirm on the spindle diagnosis screen.)

The signal is not input or the Correct the input signals. sequence is incorrect. The orientation commandis input.

No special problem.

Perform investigation item 5, and remedy.

The speed command is not correctly input.

Correctly input the speed command. The speed command is correctly Replace the spindle drive unit. input.

(2) An alarm is not displayed but the motor only rotates slowly. The sound from the motor is loud.

Investigation resutts Check theUVW wiring between The wiring is not correct. the spindle drive unit and motor. ' The wiring is correct.
Investigationitem

Remedy Correctly wire. Perform' investigation item 2, and remedy.

Confirm the input voltage.

to the One of the three phases is not Restore the power specified value. the specified value. Perform investigation item 3, No special problem. and remedy.
Correctly speed The speed command is not Confirm the input the correctly input. command.
4, The speed command is correctly Perform investigation item and remedy. input.

speed command. (Confirm on the spindle diagnosis screen.)

2. Troubles hooting

~~

~~

Investigation item
~~ ~~~~ ~

Investigation results connect. Correctlv

Remedy Perform investigation item 5, and remedy. Replace the detector cable. connect. Correctlv Perform investigation item 6, and remedy. Adjust so that it is correct. (Refer to PageIV-38) Replace the detector. Replacethespindledriveunit.

I
I

Tug the connector to check if *"peed detector connector (spindle drive unit side and speed detector side)is disconnected.

I Is disconnected (loose).
Is not disconnected (loose).

I
The waveform is not correct.

Turn the power OFF and check the speed detector cable connection with a tester. Connection is normal. Check thespeed detector waveform.

I
I

I The waveform is correct.

(3) The commandedspeed and actual speed do not match.
Investigation item 1 Confirm the speed command. (Confirm on the spindle diagnosis screen.) Check for slips between the motor and spindle. (If the belt or d u t c h are connected.) Investigation results The speed command is not correctly input. The speed command is correctly input. Slipping is found.
No special problem.

Remedy Correctly input the speed command. Perform investigation item 2, and remedy. Repair the machine side. Perform investigation item 3, and remedy. Correctly set. The correct value Replace the spindle drive unit.

is not set. Check the spindle parameters (spas, spwo, spo17, sp257 The correct value is set. and following).
(4) The start up time is long or has become longer.

Investigation item

Investigation results The torque has increased.

Check if the frictiontoque has increased.

Remedy Repairthemachineside.

No special problem.
Rotate the motor bearings by hand to see that theyare normal. The bearings do not rotate smoothly. The bearings rotate smoothly.

Perform investigation item 2, and remedy. Replace the spindle motor. Perform investigation item 3, and remedy. Do not input the signal. Replace the spindle drive unit.

Check if the torque limit signal is The signal is input. being input. (Check on the The signal is not input. spindle diagnosis screen.)

I V - 39

2. Troubleshooting

( 5 ) The motor stops during cutting.

Remedy Check the load amount during The load meter indicates a value Decrease the load. cutting. higher than 120% during cutting. No special problem. Perform investigation item 2, and remedy.

Investigation item

Investigation results

Perform the Same investigation and remedies as for item (4).

(6) The vibration and noise (gear noise) is large.

Investigation item Check the machines movement balance. (Free run from the max. speed.)

Investigation results

Remedy

The same sound is heard duringRepair the machine side. free run. No special problem.
~ ~~ ~~ ~~~~~

Perform investigation item 2, and remedy.

~ ~ _ _ _ _

Check for a resonance point on The vibration and sound the machine. speed increases at a certain (Free run from the max. during free run. speed.) No special problem. Check the machine backlash. Backlash is large.

Repair the machine side.

Perform investigation item 3, and remedy. Repair the machine side. Perform investigation item 4, and remedy. Change the setting. Note that the impact response w i l l decrease. Return the setting value to the original value, perform investigation item5, and remedy. Correctly connect. Perform investigation item 6, and remedy.

No special problem.
Confirm the spindle parameter The phenomenon decreases (SP022: VGNPl, SP023: when the setting value is VGNll, SPO56: PYVR) settings. lowered to half. No change even with the above settings.

Tug the connector to check if the speed detector connector (spindle drive unit side and speed detector side) is disconnected.

Is disconnected (loose).

Turn the powerOFF and check A connection defect or broken Replace the 'detector cable. the speed detector cable wire is found. Correctly connect. connection with a tester. Connection is normal. Perform investigation item 7, . . and remedy. Check thespeed detector The waveform is not correct. Adjust so that it is correct. waveform. (Refer to Page IV-38) Replace the detector. The waveform is correct. Replace the spindle drive unit.

2. Troubleshooting

(7) The spindle coasts during deceleration.

Investigation item 1 Check for slips between the motor and spindle. (If the belt or clutch are connected.)

Investigation results Slipping is found.

No special problem.

Remedy Repair the machine side. Replace the spindle drive unit.

(8) The rotation is not stable.

Remedy Confirm the spindle parameter The stabilizes when the setting Change the setting. Note that (SPO22: VGNP1, SP023: values are doubled. the gear noise may increase. VGNI1) settings. No change even with the above Return the setting value to the original value, perform settings. investigation item 2, and remedy.

Investigation item

Investigation results

Tug the connector to check if I s disconnected (loose). the speed detector connector Is not disconnected(loose). (spindle drive unit side and speed detector side) is disconnected. Turn thepower OFF and check A connection defect or broken the speed detector cable wire is found. connection with a tester. Connection is normal.
Check the speeddetector waveform. The waveform is not correct.

Correctly connect. Perform investigation item 3, and remedy. Replace the detector cable. Correctly connect. Perform investigation item 4, and remedy. Adjust so that it is correct. (Refer to PageIV-38) Replace the detector. Perform investigation item 5, and remedy. Correctly ground. Replace the spindle drive unit.

The waveform is correct. Investigate the wiring and installation environment. Is grounding properly performed? Grounding is incomplete. No special problem.

I V - 41

2. Troubleshooting

(9) The motor speed does not rise above a certain speed.

Remedy Correctly input the speed The speed command is not Check the speed command. command. correctly input. [Confirm on the spindle diagnosis screen.) 2, The speed command is correctly Perform investigation item Confirm whether the override and remedy. input. input on the machine operation Dane1 is beina inwt. Repair the machine side. The load has increased. Check whether the load has increased suddenly. Perform investigation item 3, No special problem. and remedy. Replace the spindle motor. Check that the motor bearings The bearings do not rotate smoothly. can be rotated normally by hand. 4, The bearings rotate smoothly. Perform investigation item and remedy. Correctly connect. Tug the connector to check if Is disconnected (loose). the speed detector connector Perform investigation item 5, Is not disconnected (loose). (spindle drive unit side and and remedy. speed detector side) is disconnected. Turn the power OFF and check A connection defect or broken Replace the detector cableCorrectly connect. wire is found. the speed detector cable connection with a tester. Perform investigation item 6, Connection is normal. (Especially check the shield and remedy. wirina.) Adjust so that it is correct. The waveformis not correct. Check the speed detector (Refer to Page IV-35) waveform. Replace the detector. Replace the spindle drive unit. The waveform is correct.
Investigation item
~ ~~ ~

Investigation results

2. Troubleshooting

2.6 Periodic Inspection

1. Always wait at least ten minutes after turning the power supply OFF before starting maintenance and inspection. Failure to do so could lead to electric shocks. 2. Maintenance and inspectron must be done by a qualified technician. Failure to observe this could lead to electric shocks. Contact your nearest Service Center or Service Station for repairs and part replacement.

The periodic inspection is particularly important to ensure high-performance operation of equipment, and trouble-free long use of equipment.

I
I

To prevent major accidents, make sure the power is interrupted completely before starting the inspection. Make sure that the CHARGE lamp on the power supplyisunit OFF.

2.6.1 Inspection of control unit

NOTICE

Never perform a megger test (insulation resistance measurement) on the spindle amplifier control circuit.

Check item
1. Cooling fan

Frequency

Check

Monthly

2.Dirt and terminal

screw looseness

Appropriate interval

3.Wiring

Appropriate interval

Replace the fan. (1) Rotate the fan shaft manually to check. (2) Turn ON the fan to check that the fan runs powerfully. (3) Check if abnormal sound occurs in bearing. Periodically clean the areas around the amplifier, especially the cooling fan, and tighten the inputloutput terminals and connections. Check that the wires are not contacting the conductive parts and that they are not caught.

I V - 43

2. Troubleshooting

2.6.2 Inspection of motor

Frequency
1. Noise and

Check

Monthly

vibration

OCheck if abnormal sound or intense vibration occurs. If abnormal sound or intense vibration occurs, perform the following check: (1) Check foundation and installation. (2) Check shaft alignment. (3) Check if vibration is transmitted through shaft coupling. (4) Check if bearing is damaged or abnormal noise occurs. (5)Check if noise or vibration is caused by reduction gear or belt. (6)Check control unit for condition. (7)Check cooling fan for condition. (8)Check belt tension.

Remedy Clean

2 .Temperature
rise

Monthly

3. Insulation resistance

Every 6 months

(Normal amb. temp. + 10 to 40C) motor frame temperature. If temperature is high excessively, perform the following check: (1) Check cooling fan operation. (2) Check cooling air passage (between frame and cover). (3) Check load condition. .--------------------------Refer to 2.5. (4) Check control unit. 0Check if insulation resistance is excessively low. Disconnect the wiring with the spindle drive unit, and measure the resistance between the entire circuit and ground. (There is no problem if the value is 1M S L or more with a 500V megger tester.) If the insulation resistance is less than 1Ma, clean the inside of the motor and dry it out. To dry, disassemble the motor and heat it in a dryer at a temperature less than 90C.

0 Check bearing temperature.

0Check

Weekly, monthly

0Check

cooling fan for operation, abnormal noise and vibration.

3. Disassembly and Assembly of Motor

3. Disassembly and Assembly of Motor

3.1 Disassembly and assembly of SJ type AC spindle motor
Cablesand PCB
(1) _ _ Remove the coverof terminal box on the fan case.
Terminal box cover
/

(2) Disconnect the cables coming from thepower panel. a) 3 motor main leads (U, V and W). b) 2 cooling fanleads (BU and BV). c) 2 thermal protector leads (OHS1 and OHS2). d) Mate plug of PCB 's external connector.

. _,(.

Fan case'

(3) Remove the external connector from the mnnector

bracket. Disengage the internal connector. (4) Remove thePCB fixing pan head screws to remove the PCB. ( 5 ) To assemble, perform the steps inreverse [ (4) to (1) 1.

PCB fixing pan head screw

PCB

External connectorbracket

~~~~~l connector

i
\ '

Internal connector

'\

Leadprotectionpacking
L.

. .

IV - 45

3. Disassembly and Assembly of Motor

Cooling fan
For typessmaller than frame No.132 (1) Remove the hexagon socket head bolts fixing the finger guard.

(2) Remove the pan-head screws at the center of the cooling fan to remove the fan.

(3) Cut the four fan leads. Remove the pan-head screws and drawout the fan motor from the fancase.
'

3. Disassembly and Assembly of Motor

To assemble, perform the steps in reverse [ (3) to (1) 1.

Fan motor
--

Fan

For types larger than frame No. 160

(1) Remove 3 fan case mounting hexagon socket head bolts. Pull back the fancase to remove the fan case together with fan.

(2) Remove the hexagon socket head bolts fixing the finger guard.

IV - 47

3. Disassembly and Assembly of Motor

(3) Cut the three cooling fan leads. Remove the pan-head screws fixing the cooling fan and draw out the fan from the fancase.

(4) To assemble again, perform

the steps in reverse [ (3) to (1) I.

Cooling fan .
~

- , . - ......

Finger guard

--\\

Sensor and sensor gear

( I ) Disengage the sensor

connector (internal) from the PCB in the terminal box.

(2) Remove the three fan mounting hexagon socket head bolts. Pull back the fan case to remove the fan case together with fan.

I V - 48

3. Disassembly and Assemblyof Motor

Remove thetwo pan-head screws fixing the sensor bracket to remove the sensor bracket together with sensor. (Take care to prevent hitting the sensor against the sensor gear.) To adjust sensor position, loosen the sensor fixing screw with the sensor bracket held in position and insert a thickness gauge into the gap between the Sensor and the Sensor gear. Adjust the gap to 0.15i0.01. After making sure that the Sensor marking lines are aligned with each other, tighten the Sensor fixing screw to secure the Sensor in position. (Refer to the figure on the right)

Sensor bracket Sensor

\
\.

\\

Sensor bracket mounting screw

"\\

Apply lock paint to the sensor fixing screw and the sensor bracket mounting screws. When the Sensor is put into the fan c a s e , arrange the sensor leads properly to prevent Sensor lead from being wedged.

\\
Sensor gear
I

(7) To remove the Sensor gear, screw eye bolts (M8) into the screw holes and using a screw bolt removing tool, rotate the with a wrench, etc. Then, remove. (8) To install the Sensor gear again, it must be shrinkage-fit at a temperature within 100C to 150C. Note that an excessively high temperature may cause distortion to the gear.

Match marking lines

IV - 49

3. Disassembly and Assembly of Motor

Bearinns
Apply sealing compound.

Bracket fixing bolt

Remove the bearing case cover fixing screws and the bracket fixing hexagon socket head bolts and remove the bracket on the opposite drive side. When the bracket on the opposite drive side is installed again, apply sealing compound to the fittingsurface.

Bearing case cover fixingscrew

(3) To remove the bearing on the

opposite drive side, remove the shaft stop ring and apply a bearing remover. The bearing can be removed together with the shaft case cover.

I ^ \

---

1
I

i
/
Shaft stop ring

(4) To remove the bearing on the drive side, apply a bearing remover to the innerring of bearing andturn the handle of bearing remover.

IV - 50

3. Disassembly and Assembly of Motor

( 5 ) To install bearing onto shaft, all fitting surfaces should be thoroughly cleaned and smoothed.
(6) Apply grease to bearing bore surface and shaft. Put a pipe on the bearing inner ring and carefully depress the bearing with a press machine.

Press here.

pipe Bearing

Installation with press machine (7) If press machine is not available, lightly hammer the to pipe drive. Use care not to hammer the outer ring of bearing.

Pipe

Bearing

Installation with hammer

IV - 51

3. Disassembly and Assembly of Motor

<Confirmation of motor built-in encoder (speed detector) waveform> The waveform must be confirmed and adjusted before running the motor after disassembly and reassembly.
Z phase. Refer to the separate ADJUSTMENT Theexplanationhere is forthemotorwithoutthe PROCEDURES (BFN-14052-01) when using the Z phase.
1.

PCB volumelayoutdrawing Check PA PB AGA terminals : A phase signal : B phase signal : Ground

Volume VRI : A phase 0 position adjustment vR2 : A phase gain adjustment VR3 : B phase 0 position adjustment VR4 : B phase gain adjustment

2.

Confirmation method (1) Set the spindle parameter SP038 (SFNC6) F bit to "1" and turn the NC power OFF and ON. (Enter the open loop.) ( 2 ) Input the forward run command, and gradually raise the motor speed to 1800rpm. (3) Measure theA and B phase waveforms with a synchroscope. (4) Confirm that the waveform is as shown below.If not as shown below, adjust with VRI to VR4. ( 5 ) If the waveform cannot be adjusted with VRI to 4, readjust the gap between the sensor and gear teeth. 1) If voltage level does not decrease below i1.6V: Increase the gap 2 ) If voltage level does not increase above & .4V: I Decrease the gap (6) Next, reverse run the motor and measure the waveform at 1800rpm. ( 7 ) Set the SP038 (SFNCG) bit toF "0"after completing the confirmation and adjustments, and turn the NC power OFF andON.
A phase

B phase

Voltage M

B phase A phase

-1.55

-1.63

A phase/B phase output signal waveform during forward run

A phase/B phase output signal waveform during reverse run

3. Disassemblv and Assembly of Motor

3.2 Disassembly and assembly of SJ-N type AC spindle motor

Cables and PCB

terminal the Remove (1)

box cover on the top of the fancase. (2) Disconnect the cables and leads coming from the power control box. 3 motor main leads (U, V and W). 2 cooling fan leads (BU and BV). 2 thermal protector leads (OHSl and OHS2). Mating plug to external connector of PCB.

Terminal box cover

Fan case

(3) Remove the external

connector from the connector bracket. Disengage the internal connector from the socket. (4) Remove the PCB mounting pan- headscrews to remove the PCB. ( 5 ) To assemble, perform the steps in reverse [ (1) to (4) 1. For details, see (6).

PCB fixing pan head screw

t

PCB
I

! Lead protection, - -. packing

IV - 53

3. Disassembly and Assembly of Motor

(6) Mounting of the PCB

Method: Fix with two bolts together with the case. Connect the sensor connector. Connect the output cable Do not Caution:totheamplifier. allow the motor power cable to contact the bottom of the amplifier. J

The motor cableis under the amplifier.

The motor cable protrudes from the amplifier.

3. Disassemblv and Assemblyof Motor

For frameNo. 90 (1) Remove two hexagonsocket head bolts used to secure the cooling fan. The cooling fan can be removed fromthe fan case assembledwith finger guard.
-/--

(2) To reassemble, perform step (1) in the reverse order.

IV - 55

3. Disassembly and Assembly of Motor

For frame No.112

(1) Remove the hexagon socket head bolts used to secure the finger guard.

(2) Remove the pan-head screws

at the center of the cooling fan to removethe fan.

Cut the four fan leads of the cooling fan which are connected inside the terminal box. Remove the pan-head screws used to mount the fan motor assembly and draw out the fan motor from the fan case.

3. Disassembly and Assembly of Motor

(4) To reassemble, perform steps (1) to (3) in the reverse order.

Fan -motor

..

Sensor and detection drum

(1) Disengage the Sensor connector (internal) fromthe PCB in the terminal box. (2) Remove the threefan case fixing hexagon socket head
screws.

Pull back the fan case to remove the fan case together with the coding fan.

(3) Remove two pan-head screws used to fix the sensor bracket and the Sensor bracketcan be removed together with sensor. (Take care to prevent hitting

Fixing screw for installation

the sensor against the detection drum),

IV - 57

3. Disassembly and Assembly of Motor

(4) Mounting the sensor

Conditions: Position with the SensorV-type base side and the motor base positioning ring protrusion. Preparation: Clean (air blow) the sensor block mounting face (motor base) and the sensor V-type base side. Method: Lightly fix the Sensor block with bolts (so that the block can be moved.) Tighten the bolt so that the Sensor block is pressed against the mounting face andso that theV-type base side contacts the motor base positioning ring as shown in the figure. Caution: Take careso that the sensor base does not slip from the tightening of the bolts. Do not apply strength to the flexible plate.

( 5 ) Apply lock paint to the sensor fixing screw and the sensor bracket fixing screws.
(6) When the sensoris put into the fan c a s e , arrange the Sensor leads properly inside the terminal box to prevent sensor lead from being wedged.

3 . Disassembly and Assembly of Motor

(7) Removal of the drum

removal jig. Caution: The removed drum

To remove the detection drum, an eye bolt is screwed into the screw hole (M8 screw), and the removing bott is removed using a remover while tuming with a spanner, etc.

(8) Installation of the drum

Condition: Heat fitting (heated temperature: below 150C) M e t h o d : Confirm that the drum is at the specified temperature. Hold the drumwith leather gloved hands and quickly insert it. Caution:There mustnot be a magneticfield of over 50G insidetheheatingdevice. Cotton gloveswill slip. Confirmation: Is thedrumcompletelyinserted?

IV - 59

3. Disassembly and Assembly of Motor

Bearings
(1) Remove the bearing case cover fixing screws and the bracket fixing hexagon socket head bolts and remove the bracket on the opposite drive side. (2) When the bracket on the opposite drive side is installed again, apply a sealing compound to the fitting

Apply sealing compound. Bracket fixing

bolt

surfaces.

opposite drive side, remove the C type shaftstopringandapply a bearing remover. Turn the removing bolt with spanner and the bearing can be removed together with the shaft case cover.

Bearing case cover fixing screw

(4) To remove the bearing on the

drive side, apply a bearing remover to the inner ring of bearing and turn the handle of bearing remover.

Shaft stop ring

IV - 60

3. Disassembly and Assemblyof Motor

( 5 ) To install the bearing onto the shaft, all fitting surfaces

should be thoroughly cleaned and smoothed.

(6) Apply grease to bearing bore surface and shaft. Put a pipe on the bearing inner ring and carefully depress the bearing with a press machine.

Press here.

&

pipe

Bearing

Installation with press machine ( 7 ) If press machineis not available, lightly hammer the pipe to drive the bearing in. the bearing. Use care not to hammer the outer of ring

Bearing

Pipe

Installation with hammer

IV - 61

4. Installation of Orientation Position Detector

4. Installation of Orientation Position Detector

4.1 Magnesensor I-point orientation
4.1.1 Magnet and sensor
The sensor generatestwo types of voltage signals as shown in Fig. 6.1.

Direction o f Rotating disk rotation

plate

Amplifier

output

1-1

+8-

+sv ;

Between CN6 (7)to (17 )

Fig. 6.1 Sensor Output Voltage MS signal : Signal voltage output is O V when the centerof magnet comes to the sensor head, and maximum at both ends of the magnet. Spindle is stopped with this signal OV. at (Note that the target voltage will fluctuate a max. of & 2.5V depending on the position shift setting.) LS signal : Signal voltage is constant within the magnet zone (width). This signal is used to verify that spindle remains stopped within the magnet zone.

IV - 62

4. Installation of Orientation Position Detector

4.1.2 Orientation of magnet and sensor head

The magnet and sensor head should be installed in the specified orientation. Standard type High speed standard type ............. The center reference hole of magnet and the reference notch of sensor head should come to the same side. Refer to and [UNACCEPTABLE EXAMPLE 11. High speed miniature type .._..........The reference notch of sensor head should be positioned in reference with polarity S)(N. of magnet. Refer to and [UNACCEPTABLE EXAMPLE21. High speed ring type ............. The reference notch of sensor head should be positioned in reference with(N. polarity S)of magnet. Refer to and [UNACCEPTABLE EXAMPLE 31.

m, m, 111-

,14-1

I ,

1-1

Magnet is installed on the circumferential surface of rotating disk. (Circumferential mounting) The center reference hole of magnet and the reference notch of sensor head should come to the opposite drive side of the spindle, as shown below.
n
Reference hde

d'-l

Reference notch

' 1 1 1
View from "A'

Magnet is installed on circumferential surface of rotating disk.

IV - 63

4. Installation of Orientation Position Detector

Magnet is installed on the front or back flat surface of rotating disk. (Flat mounting)
(1)

When the magnet is installed on the (2) When the magnet is installed on the drive opposite drive side of spindle, the reference side of spindle, the reference hole of magnet hole of magnet and reference notch of and reference notch of sensor head should sensor head should face inward, as shown face outward, as shown below. below.
Reference notch Reference hole

n
Reference

View from "B"

Reference hole

Yp-c
notch

Reference Reference hole notch View from "C"

Magnet is installed on the opposite drive Magnet is installed on the drive side. side.

13 - 1

In regard to , the magnet and sensor head can be changed to the following position as long as the reference hole and reference notch are aligned. With this, normal orientation canbe carried out. (However, the parameter SP097 SPEC0 magnesensor detection polarity bit mustbe changed in this case.)

1-1

Reference hole Reference natch

[UNACCEPTABLE EXAMPLE1

If the magnet reference hole and sensor head reference notch are not aligned; intense vibratio will occur when the sensor head is at end of magnet (orientation is impossible.)

Reference hole Ref&ence notch

4. Installation of Orientation Position Detector

Magnet is installed on the circumferential surface of rotating disk. (Circumferential mounting) The sensor head reference notch should be on the opposite drive side and the magnet should be installed in the polarity shown below.

Drive side Opposite drive side notch View from ,,A,

Magnet is installed on the circumferential surfaceof rotating disk.

15 - 1

As long as the relation between location of the sensor head reference notch and the polarity of the magnet are aligned, the sensor head and the magnet can be installed as shown below in , and normal orientation can be carried out. (However, the parameter SP097 SPEC0 magnesensor detection polarity bit must be changed in this case.)

Opposite drive side notch View from A

Drive side

notch

IUNACCEPTABLE EXAMPLE 2 1
If the sensor head reference notch is not alianed DroDerlv in reference to o Dolarity f the maanet, intense vibration occurs when the sensor head is at the end of the magnet, and orientation is imoossible.
+

Opposite drive side

Drive side

Reference notch

T
A

Drive side
notch
View from A

In this example, polarity (N, S)of magnet is inverse to that in

1-1

IV - 65

4. Installation of Orientation Position Detector

1-1

The sensor head reference notch is on the opposite drive side of spindle and the polarity of the magnetis as shown below.

n
Drive Opposite drive side

Opposite drive side Referen

Drive side

Reference

T
notch

notch

View from A

(CASE1

1,-

As long as the relation between location of sensor head reference notch and the polarity o f the magnet are aligned, the sensor head and the magnet can be installed below as shown in and normal orientation can be carried out. (However, the parameterSP097 SPEC0 magnesensor detection polarity bit must be changed in this case.)

Opposite drive side

b
A

li
V

Reference

notch

i from A

Reference notch

\UNACCEPTABLE EXAMPLE3 1

W
V i from A

In this example, polarity (N, S)of magnet is inverse to that in

1-

4. Installation of Orientation Position Detector

4.1.3 Caution on installation of magnet

When the magnet is installed to the spindle, pay attention to the following: Do not place a strong magnetic source near the magnet. Carefully handle the magnet, avoiding mechanical shock to the magnet. Secure the magnet to the spindle with appropriate screws. For appropriate screws, refer to the drawing showing the outside view of magnet in the Page IV-69. After the magnet is installed, balance the entire spindle. Align the center of the magnet (between N and S) with the center line of the rotating disk and make sure the orientation of the magnet and sensor head is as indicated 4.1.2 in to (Page IV-60 to IV-63). Keep the magnet clean and keep the peripherals free of iron particles and cut chips (iron particles may cause malfunction). Apply lock paint etc. to prevent mounting screw from becoming loose. If the magnetis installed on a ground rotation disk, demagnetize the disk. Diameter of rotating disk on which the magnet (other than ring is type) installed should be within the range from 80mm to 120mm. (10) If speed of the spindle exceeds 6000rpm, use a high speed type, high speed miniature or high type speed ring type magnet. (11) For details of high speed ring type magnet, refer to the relevant description in IV-69. the Page

1-1

1-1

4.1.4 Caution on installation of sensor head

When the sensor is installed, pay attentionto the following: Install the sensor head in accordance with 4.1.2 to (Page IV-60 to IV-63). Align the center line of the sensor head with the center of magnet. The gap between the magnet and the sensor head are listed in1 Table to Table3. When a standard type magnet is installed in accordance with or refer to Table 1. When a high speed standard magnetis installed in accordance with or refer

1-

1-

1-1

1 -,

1-

,1-1

to Table 1.

When a standard magnet is installed in accordance with

,1-

refer to Table 2. refer to Table 2. or ,1refer

,1When a high speed miniature magnet is installed in accordance 1 -with 1

When a high speed standard magnetis installed in accordance with
to Table 3.

For highspeed ring type magnet, refer to the outside view in the Page IV-69. * When magnets are mass-produced, it is recommended to prepare jigs for production. For connector used in the amplifier, BKO-C1810 type is oil-proof, but BKO-C1730 is not. It is recommended to place the connector in an oil-free location. The cable between the amplifier and the controller should be laid down away from high voltage cables. Check the connector wiring, securely engage the receptacle and tighten connector lock screws.

IV - 67

4. Installation of Orientation Position Detector

T
Magnet

Direction f rotation

p
I
MO 3

MO 3

FaceA

\
I

f i

permis!

Table 1 BKO-Cl810H03 Standard Radius (R)mm

Max. gap

BKO-Cl730H06 High speed standard Max. gap mm Min. gap mm

mm

Min. gap

40 50 60 70

11.5f 0.5 9.5f 0.5 8.5f 0.5 8.0k 0.5

mm 2.7f 0.5 2.8f 0.5 3.0f 0.5 3.4f 0.5

10 f 0.5 8 f 0.5 7 f 0.5 7 f 0.5

1.22f 0.5 1.31 f 0.5 1.5f 0.5 2.38f 0.5

Table 2 BKO-Cl810H03 Standard Gap mm 6 k 0.5 6 k 0.5 BKO-Cl730H06 High speed standard Gap mm
5 f 0.5 5 f 0.5

Radius (R)mm

40 50
60

6 f 0.5
Table 3

5 & 0.5

BKO-CI730H09 Radius (R)mm Max. gap mm

High speed miniature Min. gap mm 3 . 3f 0.5 3.7f 0.5

40 50 60 70

6.25f 0.5 6.0f 0.5 5.75f 0.5 5.5f 0.5

3.85f 0.5 3.87 0.5

IV - 68

4. Installation of Orientation Position Detector

4.1.5 Types and outside dimensions of magnesensor

For oriented spindle stop, the following combinations of amplifier, sensor and magnet are available. Type
Standard High-speed standard High-speed miniature High-speed ring High-speed ring High-speed ring High-speed ring

Permissible

I I
I

speed [RPMI 0 to 6000 MAGSENSOR BKO-C1810H01-3

0 to 12000 0 to 12000

Model

Combination
Amplifier Sensor Magnet

I I
I

MAGSENSOR BKO-C1730H01.2.6 MAGSENSOR BKO-C1730H01.2.9 MAGSENSOR BKO-C1730H01.2.11 MAGSENSOR BKO-C1730H01.2.12 MAGSENSORBKO-C1730H01.2.13 MAGSENSOR BKO-C1730H01.2.14

1 I
I

H01 H01 H01 H01 H01 H01

0 to 25000 0 to 25000 0 to 30000 0 to 30000

I
1

I I
I

H02

H02 H02 H02 H02 H02 H02

I I
I
I
I

H03 H06 H09

I I
1

H41 H42 H01 H43 H44

Note: Combination of amplifier, sensor and magnetis possible within the same modelgroup (C1810 or C 1730).
Outside dimensions:
0 Amplifier HOI

-+

(sensor Connector side) For BKO-Cl810H01, RWR-8F is used. For BKO-Cl730HO1, TRC116-21A10-7F is used.

onnedor (controllercable side) Sensor : TRCl16-21A10-7M Cable : TRC116-12Al O-7F10.5

Sensor HO2
Reference

Connector For MKO-C1810H02, R04-P-8M is used. For BKO-C1730H02, TRCl16-12A10-7M is used.

IV - 69

4. Installation of Orientation Position Detector

Magnet Pennissible speed [RPMI 0 to 6000

Outline drawing

0 to 12000

p2+a.3
peference hole
2.

Weight: 4W 1. ! 3 g

7.5

Mounting screw: M4 screw

0 to 12000

Weight: 14.8k 0.79

Mounting screw: M4 screw

0 to 25000

Spun ring
RI-

4-F screw

0 to 25000
Sen Reference notch

/-

Polarity (N,S) is indicate ontheside w a l l ofcase. Sensor head should be installed so that the reference ' notch of sensor head comesthe oncase side. Refer to page 82 and following for details.

Magnet
Type

Unit: mm

0 to 30000

BKO-C1730Hll
BKO-C 1 730H 12

BKO-C1730H13
BKO-C1730H14

0 to 30000
Installation of magnet

Caution on installation of H41-44 1. Tolerance to shaft dimension should be "h6'. 2. 2-0Gholes can be used for positioning of spindle and magnet. 3. Magnet shall be installed as shown to the left. 4. Misalignment between sensor head and magnet center line shall be within Qmm. 5. NS is indicated on the cover sides. Assembleso that the sensor head's reference groove comes to the case side.

IV - 70

4. Installation of Orientation Position Detector

4.2 Encoder orientation (4096 points)

4.2.1 Configuration

N/C

Spindle

IV- 71

4. Installation of Orientation Position Detector

4.2.2 Outside dimensions

Encoder model RFH-1024-22-1 M-68 RFH-1024-22-1 M-68-8 Tolerable rotation 6000 rpm 8000 rpm

Encoder (1024P/rev)

Name plate

1.153

+
Key dimensions
x

Connector Encoder: Controller cable: MS3106A20-29S

135

Unit: mm

1chB C

5. Contour Control (C-axis Control) Encoder

5. Contour Control (C-axisControl) Encoder

5.1 Separate stand-type encoder
5.1.I Name : OSE90K+1024BKO-NC6336H01 5.1.2 Outside dimensions
109=

4-M4,6mm deep

*
I

Ti-

Caution label

onnector Encoder: MS3102A20-29P Controller cable:MS3106A20-29S (user should prepare this connector)

Note 1. The max. encoder speed must be set to 6,000rpm or less. Note 2. The dimensional tolerances that are not indicated are +0.5mm.

Detailed view of shaft end

5.1.3Connectors
(1) Connectorside: MS3102A20-29P Controller cable side: MS3106A20-29S

(2) Connection(Notsupplied)

1ch 2ch 3ch 4ch

Signal output 1024 CTT 1 Crr

90000 Crr

Remarks A B phase
Z phase C D phase Y phase

B phase

phase D phase phase

1 Crr

IV - 73

5. Contour Control (C-axis Control) Encoder

C D E
G

Function Ich A phase 2ch Z phase l c h B phase

~~

I
I

I
I

CaseGND 3ch D phase

I
I
I

I
I

I
I

4 c h

phase

ov

Admitted electrical speed is 166 rpm for signal in 3 channel (C, D phases,

, b phases)

5.1.4 Mechanical specifications

(1) Rotationalcharacteristics a. Inertia b. Shaft frictional torque c. Shaft angular acceleration d. Permissible max. speed
(2) Mechanicalconstruction

: : : :

Max. 100 gcm2 Max. Ikpcm Max. 10 rad/sec2 7,030 rpm

a. Bearing
b. c.

Weight d.

e.
f.

: Reoiling not is required for 100,000 hr of operation at 2,000 rpm, and 20,000 hr of operation at 6,000 rpm. Shaft runout : Max. 0.02mm at 15mm from shaft end Permissible load : 10 kg (5 kg during operation) in thrust direction 20 kg (10 kg during operation) in radial direction : Max. 2 kg Error in perpendicularity of flangesurfaceagainst shaft 1 Max. 0.05 mm Eccentricity flange engagement in : Max. 0.05 mm

(3) Environment

a. Operating temperature range b. Storage temperature range c. Humidity d. Vibration e. Mechanicalimpact

: -5C +55"C : -20C +85"C : 95%PH (at4 5 ' C ) for 8 hours : 5 to 50 Hz, 1.5 mm full amplitude,30 min. for eachaxis : 30G,1Imsec., I O times for each axis

5. Contour Control(C-axis Control) Encoder

5.1.5 Handling, installation and operation of encoder

1.

Installation of encoder It is recommended that flexible coupling be used to connect the encoder to the spindle shaft to secure the encoder life and performance.
(1) Installation accuracy

Runout and misalignment in encoder connection should be within the following accuracy.

(2) Recommendedcoupling
Example I TOKUSHU SEIKO Model M1 1,374 Hz 0.8
X

Manufacturer Model Resonance frequency Error in position detection Permissible speed Misalignment

Example 2 EAGLE FCS38A

deg.

I Eccentricity
Angular displacement Max. length M=. diameter

20,000rpm
0.7 mm 1.5 deg. 74.5 mm 057 mm

3,515 Hz 1.2 X deg. 10,000 rpm 0.16 mm

1.5deg.
33 mm 038 mm

Outside dimensions

For details, refer to the relevant catalog.

2.

Cable

CAUTION

When manufacturing the detector cable, do not mistake the connection. Failure to observe this

could lead to runaway of the encoder, andto injuries.

In order to assure the maximum performance of encoder, note the following:

IV - 75

5. Contour Control (C-axis Control) Encoder

(1) Power supplyof encoder should be more than 14.5V1 .

1) Use larger wiresfor +5V and O V lines. 2) Use two or more wires for +5V and O V lines. 3) Use a cable as short as possible.

(2) In the connector (MS3106A20-29S) on the encoder side, short-circuit between pins @ and @, or @ . (Use a short wire of 0.75 sq. 1.25sq.)

3.

Others (1) The encoder is a precision device, so take care not to apply strong shocks it. to (2) Mistaken wiring may cause trouble. Confirm the connector name and pin Nos., etc., before wiring.

5.2 Built-in encoder

5.2.1 Model: MBE-9OK
Refer to the MBE-9OK (built-in C axis encoder) SPECIFICATIONS MANUAL [BNP-A299341].

5.2.2 Model: MHE-9OK

Refer to the MHE-9OK (built-in C axis encoder) SPECIFICATIONS MANUAL [BNP-A2993-44].

IMDS-NB-SP (HI parameters I

User (
)I

Note:Theparameterswithnosettingarehandledasstandardsettings. motor ), Spindle (SJ)

4

Type (

)I

Spindle amplifier (-SPStandard

Standard

Class

Standard

Setting

01 01

I I

.-

5
E

SP038 SFNC6
SP039 SP041 PTYP SP042 CRNG SP043 TRNG TRANS SPO44 ATYP

I
I

.-

SP068 VIGWB SP069 VlGN SP070 I FHz SP071 I SP072 SP073 SP074 SP075 SP076 SP077 SP078
FONS

I
I

0 0 01

I
I

01

0
0

I SP012 I
w

c I

4 4

I 1 6i 11
SPOl5

TDSL

0 0 14 0

I
20

01

I SP017 I TSP
S618

6000 I

SPO19 SP020 SP021 SP022

ZSP CSNl SDTS TLMl VGNPl

63 12 SP057

SPO84 SP085 SP086

01

I-Sx[ 1 i I 1
SP031 SP032 GRB2 GRB3 GRB4

SP090 SPO91 SP093 SP062

110

VGHl

OFSN

60 0

Class Name

Abbr.

Standard Abbr. Name Setting setting

Class .c

d NBL
Y

5
E

1 I 1 0 01 I
SP323 NPL SP324 SP322 SP325 SP326 NRL NFL
OOOO

I SP321 I RPML

Standard Setting setting

Name

Abbr.

Standard Setting setting

0000

SP356 VPWML SP357 SP358 SP359 1 SP360 SP361 SP363

0000

Y ,

PML

OOOO
~~

~~

O O O o l
0000 0000

SP297 SP298 SP299 SP300 SP302 I NICNT SP303 NlCT NCSN 0000 SP305 NWR1 0000 NWR2 SP307 NWR3 SP308 SP309

0000 0000

0000
0000

ooool

0000 I

0000

0000

SP335 SP336 SP337 SP338 SP339

KDlL KQPL KQlL IDSML IQSML

OOOO
0000

SP367

O O O O I
0000

I SP310 I SP311 I SP312 I SP313 I SP314 SPO I~ ~ 3 1 I% SBS

I
SP316 SP317 SP318

~1

0000

SP370 SP371

NEVO NEVl

0000
0000

/spy2/
SP343 SP344

I SP341 I KVQSL I
TMLRL TMLDL TMLSL

I ooi 1
OOOOl

SP372 SP373 SP374 I sp375 1 SP377 SP378 SP379 SP380 SP381 SP382 SP383 SP384 EDOL SPOL SBSL SlQL DPOL DBSL

I I

O O O o l
OOOol
0000

0000

I
I

ooool
ooool
00o0

I
I

SIQ DPO DBS

oo00

oooo oooo oooo oooo oooo

OOOO OOOO

k P 3 E 1DIQ

I SP320 I BSD

ooool
OOOol

DlQL BSDL