Mitsubishi MDS-A-SVJ Series User manual

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MITSUBISHI
Mitsubishi AC Servo
MDS-A-SVJ Series
Servo Parameter Manual
BNP-B3882B-F.NG
I
I. -.,.a>-..
This manual pertains to the following system:
MDS-A-SVJ Series
BND-SllWOOO-Cl

corA!mNTs
1.
2.
3.
4,
_.. &.-. :%.:‘-
Page
Introduction . . . . . .._...__.........~....._................
1
Functions and Related Parameters . .._ _...._.__..._.___ 2
Servo
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
Servo
4.1
4.2
4.3
Parameters
........................................
3
Parameter Descriptions
..........................
5
Motor Types
.......................................
11
Detector Types
....................................
12
Regeneration Resistor Types
....................
12
D/A Output
Electronic
Channel
...............................
13
Gearing
...............................
14
Parameter Changes
................................
15
Command Polarity
.................................
15
Standard Parameters by Motor Type
.............
16
Alarms and Warnings
..............................
19
Alarm Descriptions
............................... 22
Warning Descriptions
............................
24
Initial Parameter Error Numbers
...............
25
4.4 100 Servo Amps . . . . . . . . . . . . ..__._.................. 26
BNP-B3882B

1, Introduction
This manual describes servo parameters and alarms pertaining to the MDS-
A-SVJ Series. Any parameter not covered in this manual must be set to
zero.
Any parameters added, changed, or deleted due to software revisions
are marked accordingly in this manual.
The following documents are also provided for reference and should be
used in conjunction with this manual:
Mitsubishi Personal Machine Controller
Servo Selection Manual BNP-B3783
Mitsubishi Personal Machine Controller
Servo Maintenance and Adjustment Manual BNP-B2057
BNP-B3882B

1 MDS-A-SVJ
I
2. Functions
Eunctions & Related Parameters
and Related Parameters
By software (hereafter abbreviated to "S/W") version, functions have been
added or revised as shown below.
S/W
Date of
Addition/revision Related parameter
ver- revision
sion
A0
'93-12-27 New
BO '94-
4-11 Absolute position control enabled
SVo17
Made compatible with HA93N-E30-,
HA-FH**-Y-, and SVOl9 SVO20 SVO25
HA-ME-series motors
HA**N-E33- and HA**N-A33- series (high-speed
serial detector-type) added
SVo25
New overload detection method utilized.
SVo21 SVo22
Servo monitor overload display now shows current
actual load level.
Alarm 1F detection added
Bl '94- 7-11 D/A output amplification rate settings changed
SVO63
Alarm 28 (absolute position overspeed) detection
deleted
B2 '94-10-24 Regeneration resistors (MR-RB064, MR-RB34) added SVO36
B3
'94-12-12 Made compatible with IOOV units.
lOOV and 200V units operable using same S/W.
Regeneration resistors (MI&~~3063, MR-RB064, two
SVO36
series) added
Alarm 10 (insufficient amp voltage) added
B4
'95- 2-27 HA**N-E33 and HA**N-E30 parameters made common
SVO25
co '95- 6-23 Acceleration feedforward control added
SVOl!i
Induced voltage correction added (compatible
SVo47
with HA**N motors only)
Emergency-stop ready maintenance control (thrust
svo4a
axis drop prevention control) added
Cl
'95- 7-26 None
-2-
BNP-B3882B

I
?
pE2zEEq
3, Servo Parameters
Servo parameter settings and display methods differ according to the con-
troller used. For details, please refer to the relevant instruction
manual.
Description
- 3 -
BNP-B3882B

Description
set- Typ-9
I I
ting
of
screen change
BNP-B3882B

“2 .,\._ . e,
1 MDS-A-SVJ
I
3.1
Parameter Descriptions
I
Parameter Descriptions
rester vibration
r type used (see Stan
Parameters
ates projections with low-spee
of zero gives no correction gain; a setting of 100 gives
is type is standard with the MDS-A-SVJ series.
use when type-l correction is insufficient, e.g., with high-speed,
high-precision interpolation.
a different value setting is
- to + (with clockwise command
+ to - (with clockwise command
carried out during command speed
-5-
BNP-B3882B

MIX-A-SVJ
Parameter Descriptions
,: -..:ii:-. . . . . . . .
lame
Em-
V018
vo19
vo20
VO21
YO22
-_-
NO23
wo24
WO25
.
-
bl-•vi
tion
-
PEC
Setting
:ervo configuration
Description
range
Mini- Maxi-
mum mum
15 14 13 12
11 10 98 7 6 5
4 3 2
10
IIIII
I
abs
vdir
I I I I
I
bit (Name! Function when set to zero I
Function when set to 1
4
5 vdir Detector mounting direction
Detector mounting direction
AC BD
6
7
abs
Relative position detection
Absolute position detection
Q
9
10
11
12
13
-1
PIT
Sets ball screw lead. Normally set to 360 for rotating axis.
1 3276-
Setting is made in mm, so not compatible with imperial ball screws.
LNGl Sets number of pulses per one revolution of motor-end detector in units
1 999!
of 1,000 pulses.
Set SVO19:BNGl and SVO2O:PNGZ to same value
!NG2 Sets number of pulses per one revolution of motor-end detector in units
1 999!
of 1,000 pulses.
Set SVO19:PNGl and SVO2O:BNGZ to same value
OLT Sets overload detection time constant.
1 81
OLL Sets overload current detection level as a % of rated current.
32
18(
Determines the amp load. The motor load is determined by the motor/de-
tector type (SVO~S:MTYP). .The servo monitor load is displayed on the
basis that the amp load or motor load, whichever is greater, is the
rated continuous output level (alarm level), i.e., 100%.
001 Sets excessive error detec- range when sewo is ON. With a setting
0
7
3276
of zero,
excessive error detection does not take place.
Standard setting formula:
SV023:ODl = SV026:002 = SV053:003 = F / (60 X PGNl) X 0.5,
where
F = Maximum rapid traverse speed (mm/mm):
PGNl = Position loop gain 1 (l/set).
INP
Sets in-position detection range.
4TYP Motor/detector type
0
3276
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
I
em
I
mtYP
1
Description
Sets motor type (see Motor Types table).
Sets detector type (see Detector Types table).
-!
-6-
BNP-B3882B

MDS-A-SVJ
I
Parameter Descriptions
I
Setting
Description range
Mini- Maxi-
mum
mum
ets excessive error detection range when servo is OFF. With a setting
0
32767
f zero,
excessive error detection does not take place. Normally set to
ame value as SV023:ODl.
pecial servo function selection 1
15 14 13 12 11 10 9 8
I 6 5
4
3 2 10
I
zm2
I I I
)11x2 Jlmcl lI
bfct2 Pfctl]
III
1
01: Lost motion correction 11: Prohibited
lust be set to tero.
Iust be set to zero.
rust be set to zero.
Lust be set to zero.
:eto unbalance torque for vertical axes and other axes with unbalance
.orque as a % of rated current.
-100 1Of
lsed when SVO27:SSFl/lmcl, lmc2 are set.
;pecial servo function selection 2
15.
14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
I
I
I
I
I I II I
II
I I I
I
1
lOOOh must be set.
lame
vo26
vo27
VO28
vo29
N03C
w
N03i
:vo3:
BNP-B3882B
-7-

.’ . . ..i . .
1 MDS-A-SVJ
I
Parameter Descriptions
Setting
Name %rzc
Description
range
Mini- Maxi-
mum mum
iv034 SSF3 Special servo function selection 3
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
I
II I I I
I
I
I II I III I
OOOOh must be set.
NO35 SSF4 Special servo function selection 4
15 14 13 12 11 10 9 8 7 6 5 4 3 2 10
III I
I
III
II I I
I
imon
WO36 PTYP Regeneration resistor type
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
(see Regeneration Resistor
Types table)
BNP-B3882B
- 8 -

.
,
1 MDS-A-SVJ
1
I
Parameter Descriptions
1
Name Abbrevi-
Description Setting range
ation
Minimum Maximum
svo37 Must be set to zero.
SV038 FHz
Sets mechanical vibration suppression frequency if mechanical
0
3000
vibration suppression is required. Must be set over 100Hz. Set to
zero when not in use.
svo39 Must be set to zero.
svo40 LMCT Sets lost motion correction dead zone. 0
100
Normally set to zero.
Set only if lost motion correction timing is incorrect when feed-
forward control is used.
svo41 LMC2 Normally set to zero.
-1
200
Set together with SV016:LMCl only when different setting values are
desired for lost motion correction gain (type 11 or correction
amount (type 21 according to the command direction.
To change the command speed from - to + (with clockwise command
direction), set value to SV016:LMCl.
To change the command speed from + to - (with clockwise command
direction),
set value to SV041:LMC2.
If -1 is set, correction is not carried out during command speed
direction changes.
Only effective when lost motion correction (SV027:lmcl. lmc21 is
selected.
SV042 Must be set to zero.
svo43 Must be set to zero.
svo44 Must be set to zero.
svo45 Must be set to zero.
SVO46 Must be set to zero.
svo47
EC
Sets effective gain for induced voltage correction. Compatible only
0 200
with HA**N HAo53,
Using this and HA13 motors. function, the feedback current's ability to follow the
command current can be increased and the deceleration torque
increased.
The standard setting is 100, but the following adjustments must
be made:
Set bit 0 of SVO35:SSF4 to 1 and thus display the command cur-
rent peak in the MAX current 1 display on the servo monitor
and the feedback current peak in the MAX current 2 display.
Next, carry out acceleration/deceleration and set adjust the
setting such that the feedback current peak is S-10% smaller,
than the command current peak.
SV048
EMGrt
Sets time between an emergency stop (caused by an external emer- 0
1000
gency stop input, insufficient voltage, or alarm) and ready ON.
Used to prevent vertical axes from dropping after an emergency
stop.
Note that the time set by this parameter becomes ready-ON even if
a deceleration-controllable alarm occurs. Generally, this parame-
ter should be set to the minimum value that enables the electro-
magnetic brake to operate for the required time. This parameter's
time setting must be smaller than that of SV055:EMGdt.
-9-
BNP-B3882B

MDS-A-SVJ
Parameter Descriptions
N.SlllCZ
svo49
svoso
svo51
SV052
svo53
svo54
svo55
SVO56
SVO57
SVO50
SW059
SVO60
SV061
SVO62
SV063
SV064
bbrevi-
ation
FGM1sp
ffiN2sp
OD3
EHCdt
EMGt
-i%E-
-EiiiK
DAlMPY
Description
Sets position loop gain during special operation, e.g., with syn-
chronous tap,
main axis C-axis interpolation.
Normally sets main axis position loop gain.
Set toaether with SVOS~:SHGCSD if SHG control is carried out during
special operation, e.g.. with synchronous tap, main axis C-axis
interpolation.
Set to zero when not in use.
Must be set to zero.
Must be set to zero.
Sets excessive error detection range for special operation. e.g.,
absolute position initial setting or at machine end stopper method.
flith a setting of zero, excessive error detection does not take
place when the servo is ON during special operation.
Must be set to zero.
Sets time in ms from start of deceleration control to application
of dynamic braking.
Normally set to same value as SV056:EMGt.
A setting of zero is taken as an input of 2,000 ms.
Set to 1 if dynamic braking is selected without deceleration con-
trol.
Dynamic braking selection takes precedence over position loop step
stopping.
For axes with brakes, select position loop step stopping or dynamic
braking.
This parameter's time setting must be larger than that of
SV048:EMGrt.
Sets time taken to stop from maximum rapid traversing speed (RAPID:
axis configuration parameter) following an emergency stop (caused
by an external emergency stop input, insufficient voltage, or
alarm).
From other speeds, deceleration control takes place in direct pro-
portion to the parameter setting.
Normally set to same value as rapid traverse time constant.
A setting of zero sets position loop step stopping.
Reset NC power SUDD~Y after changing RAPID (axis configuration
parameteri.
__ _
Set together with SVOO4:PGNZ when SHG control is used.
Set to zero when not in use.
Set together with SVOSO:PGN2sp if SHG control is used during spe-
cial operation, e.g., with synchronous tap, main axis C-axis inter-
wlation.
Must be set to zero.
Must be set to zero.
Sets output data number of D/A output channel.
Must be set to zero.
Sets output amplification rate of D/A output channel.
Output amplification rate = setting value / 256.
A setting of zero is taken as a setting value of 256 (output ampli-
fication rate = 1).
Must be set to zero.
range
aximum
200
999
32767
0
0
0
5000
5ooo
999
07
-32768
32767
BNP-B3882B

3.2 Motor Types
MDS-A-SVJ
Motor Types
Set the rntm value for SVO25:MTYP in accordance with the following tables.
Motor
NC motor General-
series
3,000 rpnl purpose,
(standard) low-capac-
ity,
extra-low-
inertia
BNP-B3882B
- 11 -

,
.
MDS-A-SVJ
Detector Types/Regeneration Resistors
3.3 Detector Types
Set the etyp value for sVO~S:MTYP in accordance with the following table.
:, .e.. w ,.., )..’
Number
Detector system
Motor type Detector RNGl/Z Remarks
(detector type) resolution setting
I I
00
11
22
33
ABZ + WW (with OHM)
HA"N-E30
25000
25
High-speed serial
HA"N-E33
25000 25
No setting
High-speed serial
HA"N-E33
25000
25
HA"N-A33
25000 25
HA-FH
8000
8
ABZ + ww (without
HAO53/13-E3O
10000
10
OHM)
HA-FE
4000
4
HA-ME
4000
4
3.4 Regeneration Resistors Types
Connectable regeneration resistor combinations depend on the servo amp
capacity, as shown in the following table. Set SV036:PTYP to the number
corresponding to the regeneration resistor combination that is connected.
Regenera-
tion
resistor
type
Vo resis-
tor
!4R-RB013
MR-RB033
MR-RB064
MR-RB34
C
e
MR-RB063
2x 13 n 600 W 1400
paral-
0
lel
1 52 il 72 w 1500 00 0
2x 26 fi 144 w 1500
paral-
0 0
lel
4x 13 n 288 w 1500
paral-
0
lel
(NOTE) @
: Standard resistor selection;
0 : Possible resistor selection.
* Resistor selection: If the servo is used on a vertical axis, select
resistors of one or two grades higher than the
standard selection.
- 12 -
BNP-B3882B

3.5 DiA Output Channel
The servo amp has one monitor output channel for servo adjustment pur-
poses.
This output is provided via a special connector at the top of the
amp's front panel.
D/A output specifications are as follows:
Number of channels
:1
Resolution
: 7 bits (full-scale 128 resolution)
Output voltage range
: 0 to 10 v
Sampling cycle :3.55 ms
Set SV061:DAlNO in accordance with the following table.
Number (
Description Unit Number Description Unit
0
Speed feedback rpm
4 Speed feedback
rpm
1
Current command % of 5
0 output
(torque command) rating
2 Current command % of
6
Position droop (lower) inter-
(torque command) rating polation
unit
3
Current feedback % of
I Position droop (upper)
(actual torque)
rating
The output voltage is determined according to the formula below. To alter
the output voltage, adjust the output amplification rate. Note that if
SV063 is zero, the output is determined on the assumption that this
parameter is set to 256.
Data
sVO63
X- X
256
--&-+ 5.00 = output voltage WI
Example: With settings of SV061 = 0 and SV063 = 8 and a motor
speed of 3,000 rpm, the output voltage is as follows:
8 10
3000
x -
x -
+
5.00
= 8.66
[VI
256 256
- 13 -
BNP-B3882B

3.6 Electronic Gearing
By correctly setting the ball screw lead, step-down ratio, step-up ratio, and
detector resolution, it is possible to make amounts of machine movement consis-
tent with those
ment is termed
Parameters
SVOOl :
svoo2 :
required by commands.
The matching of these two amounts of move-
electronic gearing and determined by the following parameters:
Related to Electronic Gearing:
PC1
SVOl.8 : PIT
PC2
svo19
: RNGl
svo20 : RNG2
Set the machine constant such that the reduced numerator and denominator
are less than 32767.
If this condition is not satisfied, an alarm 37,
abnormal parameter number 2301 (101 with M500-type NCs) will be output.
ELGl < 32767, ELG2 < 32767
ELGl
is a reduction of
PC2 X RANG
ELG2 PC1 X PIT X IUNIT -
Note that RANG = RNGl = RNG2.
IUNIT is related to the interpolation unit as follows:
0.5 w : IUNIT = 2, 0.05 pm :
IUNIT = 20
. . _.‘.>-..‘$,
BNP-B3882B

3.7 Parameter Changes
For safety, parameters
MDS-A-SVJ
Parameter Changes/Command Polarity
must be changed with the system in an emergency
stop condition. The time at which parameter changes become effective
depends on the parameter. For details, refer to the Servo Parameters
table. Changes to parameters marked "Initial" in the Servo Parameters
table are effective the next time the controller power is switched ON.
Changes to parameters with no "Initial" entry are effective immediately.
3.8 Command Polarity
With commands executed in the + direction, the motor direction (and thus
the command direction) is termed
CW if the motor turns clockwise and
CCW if the motor turns counter-clockwise,
as seen from the load side.
The direction of rotation can be changed using the controller parameters.
Note that with some parameters, the +/- motor direction relationship is
reversed. Servo parameters that are affected by the CW/CCW direction are
as follows:
SVO16:LMCl SVO4i:LMC2
(assuming different values other than zero are set for SV016 and
SVO41)
- 15 -
BNP-B3882B

i MDS-A-SVJ
I
Standard Parameters
3.9 Standard Parameters by Motor Type
(NOTE) Parameters marked "-*
are determined according to the machine configuration.
- 16 -
BNP-B3882B

- (NOTE) Parameters marked *-"
are determined according to the machine configuration.
BNP-B3882B
- 17 -