CNC

INTELLIGENT SERVOMOTOR
HS Series

SPECIFICATIONS AND INSTRUCTION MANUAL

BNP-B3981*(ENG)
 Introduction

Thank you for purchasing the Mitsubishi CNC.

This instruction manual describes the handling and caution points for using this CNC.
Incorrect handling may lead to unforeseen accidents, so always read this instruction
manual thoroughly to ensure correct usage.
Make sure that this instruction manual is delivered to the end user.

Precautions for safety

Please read this instruction manual and auxiliary documents before starting
installation, operation, maintenance or inspection to ensure correct usage. Thoroughly
understand the device, safety information and precautions before starting operation.
The safety precautions in this instruction manual are ranked as "DANGER" and
"CAUTION".
When a dangerous situation may occur if handling is
DANGER mistaken leading to fatal or major injuries.

When a dangerous situation may occur if handling is

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

Note that some items described as CAUTION may lead to major results
depending on the situation. In any case, important information that must be
observed is described.
The signs indicating prohibited and mandatory items are described below.

This sign indicates that the item is prohibited (must not be

carried out). For example, is used to indicate "Fire
Prohibited".

This sign indicates that the item is mandatory (must be carried

out). For example, is used to indicate grounding.

After reading this instruction manual, keep it in a safe place for future reference.

In this manual, this mark indicates important matters the operator

POINT should be aware of when using the CNC.

I
For Safe Use

1. Electric shock prevention

DANGER

Wait at least 10 minutes after turning the power OFF, check the voltage between L1-L2-L3
and L11-L12 terminals with a tester, etc., 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 inspection 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. Failure to
observe this could lead to electric shocks.

2. Fire prevention

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.

Following the instructions in this manual, always install no-fuse breakers and contactors on
the servo amplifier power input. Select the correct no-fuse breakers and contactors using this
manual as a reference. Incorrect selection could lead to fires.

Shut off the main circuit power at the contactors to emergency stop when an alarm occurs.

II
3. Injury prevention

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( + , – ) . 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 burns.

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

(1) Transportation and installation

CAUTION

Correctly transport the product according to its weight.

Do not stack the products above the tolerable number.

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

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.

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

Do not let conductive objects such as screws or 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.

III
 CAUTION

Store and use the units under the following environment conditions.

Conditions
Environment
Servomotor Interface unit
Ambient 0°C to +40°C 0°C to +55°C
temperature (with no freezing) (with no freezing)
80% RH or less 90%RH or less
Ambient humidity
(with no dew condensation) (with no dew condensation)
–15°C to +65°C –20°C to +65°C
Storage temperature
(with no freezing) (with no freezing)
Storage humidity 90% RH or less (with no dew condensation)
Indoors (Where unit is not subject to direct sunlight)
Atmosphere
With no corrosive gas, combustible gas, oil mist or dust.
Altitude 1000m or less above sea level
HS-RF X: 9.8m/sec2 (1G)
HS-SF Y: Y: 24.5m/sec2
(1kW or less) (2.5G) or less
HS-SF X: 19.6m/sec2 (2G)
Vibration (2.0kW or Y: 49m/sec2 (5G) or 5.9m/sec2 (0.6G) or less
less) less
X: 19.6m/sec2 (2G)
HS-MF Y: 19.6m/sec2 (2G)
or less

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

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 your dealer.

IV
(2) Wiring

CAUTION

Correctly and securely perform the wiring. Failure to do so could lead to runaway of the
servomotor.

(3) Trial operation and adjustment

CAUTION

Check and adjust each 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
Install an external emergency stop circuit so that the operation can be stopped and power
shut off immediately.

Unqualified persons must not disassemble or repair the unit.

Never make modifications.

Reduce magnetic interference by installing a noise filter. The electronic devices used near
the servo amplifier could be affected by magnetic noise. Install a line noise filter, etc., when
there is an influence from magnetic interference.

Always use the servomotor and servo amplifier with the designated combination.

The servomotor's magnetic brakes are for holding purposes. Do not use them for normal
braking.

There may be cases when holding is not possible due to the magnetic brake's life or the
machine construction (when ball screw and servomotor are coupled via a timing belt, etc.).
Install a stop device to ensure safety on the machine side.

V
(5) Troubleshooting

CAUTION

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

Use a double circuit configuration Shut off with CNC brake

that allows the operation circuit for Control in the intelligent control PLC output.
servomotor.
the magnetic brakes to be operated
Servomotor EMG
even by the external emergency
stop signal.
Magnetic
If an alarm occurs, remove the 24VDC
brake
cause and secure the safety before
resetting the alarm.
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.)

(6) Maintenance, inspection and part replacement

CAUTION

The capacity of the electrolytic capacitor will drop due to deterioration. To prevent secondary
damage due to failures, replacing this part every ten years when used under a normal
environment is recommended. Contact the nearest dealer for repair and replacement of
parts.

(7) Disposal

CAUTION

Treat this unit as general industrial waste.

(8) General precautions

CAUTION

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

VI
Compliance to European EC Directives

1. European EC Directives
The European EC Directives were issued to unify Standards within the EU Community and to smooth
the distribution of products of which the safety is guaranteed. In the EU Community, the attachment of
a CE mark (CE marking) to the product being sold is mandatory to indicate that the basic safety
conditions of the Machine Directives (issued Jan. 1995), EMC Directives (issued Jan. 1996) and the
Low-voltage Directives (issued Jan. 1997) are satisfied. The machines and devices in which the servo
is assembled are a target for CE marking.
The servo is a component designed not to function as a single unit but to be used with a combination
of machines and devices. Thus, it is not subject to the EMC Directives, and instead the machines and
devices in which the servo is assembled are targeted.
This servo complies with the Standards related to the Low-voltage Directives in order to make CE
marking of the assembled machines and devices easier. The EMC INSTALLATION GUIDELINES (IB
(NA) 67303) which explain the servo amplifier installation method and control panel manufacturing
method, etc., has been prepared to make compliance to the EMC Directives easier. Contact
Mitsubishi or your dealer for more information.

2. Cautions of compliance
Use the standard servo amplifier and EN Standards compliance part (some standard models are
compliant) for the servomotor. In addition to the items described in this instruction manual, observe
the items described below.

(1) Environment
The servo amplifier must be used within an environment having a Pollution Class of 2 or more as
stipulated in the IEC664. For this, install the servo amplifier in a control panel having a structure
(IP54) into which water, oil, carbon and dust cannot enter.
(2) Power supply
1) The servo amplifier must be used with the overvoltage category II conditions stipulated in
IEC664. For this, prepare a reinforced insulated transformer that is IEC or EN Standards
complying at the power input section.
2) When supplying the control signal input/output power supply from an external source, use a 24
VDC power supply of which the input and output have been reinforced insulated.
(3) Installation
1) To prevent electric shocks, always connect the servo amplifier protective earth (PE) terminal
(terminal with mark) to the protective earth (PE) on the control panel.
2) When connecting the earthing wire to the protective earth (PE) terminal, do not tighten the wire
terminals together. Always connect one wire to one terminal.

PE terminal PE terminal

(4) Wiring
1) Always use crimp terminals with insulation tubes so that the wires connected to the servo
amplifier terminal block do not contact the neighboring terminals.
Crimp terminal

Insulation tube

Wire

VII
(5) Peripheral devices
1) Use a no-fuse breaker and magnetic contactor that comply with the EN/IEC Standards
described in Chapter 7 Peripheral Devices.
2) The wires sizes must follow the conditions below. When using other conditions, follow Table 5
of EN60204 and the Appendix C.
• Ambient temperature: 40°C
• Sheath: PVC (polyvinyl chloride)
• Install on wall or open table tray

(6) Servomotor
Contact Mitsubishi for the outline dimensions, connector signal array and detector cable.

(7) Others
Refer to the EMC INSTALLATION GUIDELINES (IB (NA) 67303) for other EMC Directive
measures related to the servo amplifier.

VIII
 Contents

Chapter 1 Introduction
1-1 Intelligent servomotor outline ............................................................................... 1-2
1-2 Limits and special notes for intelligent servomotor ........................................... 1-2
1-2-2 Precautions for selecting the intelligent servomotor ....................................... 1-2
1-2-2 Precautions for use......................................................................................... 1-2
1-2-3 Miscellaneous ................................................................................................. 1-2
1-3 Inspection at purchase .......................................................................................... 1-3
1-3-1 Explanation of type ......................................................................................... 1-3

Chapter 2 Specifications
2-1 Standard specifications ......................................................................................... 2-2
2-2 Torque characteristics ........................................................................................... 2-3
2-3 Outline dimension drawings ................................................................................. 2-4
2-3-1 HS-MF23 ........................................................................................................ 2-4
2-3-2 HS-RF43/73.................................................................................................... 2-4
2-3-3 HS-SF52/53/102/103 ...................................................................................... 2-5
2-3-4 HS-SF202 ....................................................................................................... 2-5

Chapter 3 Characteristics
3-1 Overload protection characteristics ..................................................................... 3-2
3-2 Magnetic brake characteristics ............................................................................. 3-3
3-2-1 Motor with magnetic brakes ............................................................................ 3-3
3-2-2 Magnetic brake characteristics ....................................................................... 3-4
3-2-3 Magnetic brake power supply ......................................................................... 3-4
3-3 Dynamic brake characteristics.............................................................................. 3-5
3-3-1 Deceleration torque ........................................................................................ 3-5
3-3-2 Coasting amount............................................................................................. 3-6

Chapter 4 Peripheral Devices

4-1 Dedicated options .................................................................................................. 4-2
4-1-1 I/F unit............................................................................................................. 4-2
4-1-2 Battery option for absolute position system .................................................... 4-6
4-1-3 Cables and connectors ................................................................................... 4-7
4-1-4 Cable clamp fitting .......................................................................................... 4-11
4-2 Peripheral devices.................................................................................................. 4-12
4-2-1 Selection of wire ............................................................................................. 4-12
4-2-2 Selection of no-fuse breakers ......................................................................... 4-12
4-2-3 Selection of contactor ..................................................................................... 4-13
4-2-4 Circuit protector .............................................................................................. 4-14

Chapter 5 Installation
5-1 Installation of servomotor ..................................................................................... 5-3
5-1-1 Environmental conditions.............................................................................. 5-3
5-1-2 Cautions for mounting load (prevention of impact on shaft) ........................... 5-3
5-1-3 Installation direction ...................................................................................... 5-3
5-1-4 Tolerable load of axis...................................................................................... 5-4
5-1-5 Oil and waterproofing measures ..................................................................... 5-4
5-1-6 Cable stress .................................................................................................... 5-5

i
5-2 Installation of interface unit................................................................................... 5-6
5-2-1 Environmental conditions................................................................................ 5-6
5-2-2 Installation direction ........................................................................................ 5-6
5-2-3 Prevention of entering of foreign matter ......................................................... 5-6
5-3 Noise measures ...................................................................................................... 5-7

Chapter 6 Wiring
6-1 System connection diagram.................................................................................. 6-3
6-2 Connector................................................................................................................ 6-4
6-2-1 Connector signal layout .................................................................................. 6-4
6-2-2 Signal name.................................................................................................... 6-5
6-3 Connection of power supply ................................................................................. 6-6
6-3-1 Example of connection for controlling magnetic switch (MC)
with MDS-B-CV/CR......................................................................................... 6-6
6-3-2 Example of connection for controlling magnetic switch with
external sequence circuit ................................................................................ 6-8
6-3-3 Wiring of contactors (MC) ............................................................................... 6-8
6-3-4 Surge absorber ............................................................................................... 6-9
6-4 Wiring the motor with brakes ................................................................................ 6-9
6-4-1 Connection example ....................................................................................... 6-9
6-4-2 Manually releasing the magnetic brakes ........................................................ 6-10
6-5 Connection with the NC ......................................................................................... 6-11
6-5-1 Connection system ......................................................................................... 6-11

Chapter 7 Setup
7-1 Setting the initial parameters ................................................................................ 7-2
7-1-1 Servo specification parameters ...................................................................... 7-2
7-1-2 Limitations to electronic gear setting value..................................................... 7-2
7-1-3 Parameters set according to feedrate............................................................. 7-3
7-1-4 Parameters set according to machine load inertia.......................................... 7-3
7-1-5 Standard parameter list according to motor.................................................... 7-4

Chapter 8 Adjustment
8-1 Measurement of adjustment data ......................................................................... 8-2
8-1-1 D/A output specifications ................................................................................ 8-2
8-1-2 Setting the output data.................................................................................... 8-2
8-1-3 Setting the output scale .................................................................................. 8-3
8-1-4 Setting the offset amount................................................................................ 8-3
8-1-5 Clamp function................................................................................................ 8-3
8-1-6 Filter function .................................................................................................. 8-3
8-2 Gain adjustment ..................................................................................................... 8-4
8-2-1 Current loop gain ............................................................................................ 8-4
8-2-2 Speed loop gain.............................................................................................. 8-4
8-2-3 Position loop gain ........................................................................................... 8-6
8-3 Characteristics improvement ................................................................................ 8-8
8-3-1 Optimal adjustment of cycle time .................................................................... 8-8
8-3-2 Vibration suppression measures .................................................................... 8-10
8-3-3 Improving the cutting surface precision .......................................................... 8-12
8-3-4 Improvement of protrusion at quadrant changeover ....................................... 8-15
8-3-5 Improvement of overshooting ......................................................................... 8-19

ii
 8-3-6 Improvement of characteristics during acceleration/deceleration................... 8-21
8-4 Setting for emergency stop ................................................................................... 8-24
8-4-1 Deceleration control........................................................................................ 8-24
8-4-2 Vertical axis drop prevention control............................................................... 8-26
8-5 Collision detection ................................................................................................ 8-27
8-6 Parameter list.......................................................................................................... 8-30

Chapter 9 Inspections
9-1 Inspections.............................................................................................................. 9-2
9-2 Life parts ................................................................................................................. 9-2
9-3 Replacing the unit .................................................................................................. 9-3
9-3-1 HS-MF23** type .............................................................................................. 9-3
9-3-2 HS-FR43/73, HS-SF52/53/102/103 type ........................................................ 9-3
9-3-3 HS-SF202 type ............................................................................................... 9-4

Chapter 10 Troubleshooting
10-1 Points of caution and confirmation .................................................................... 10-2
10-2 Troubleshooting at start up................................................................................. 10-2
10-3 Protective functions list....................................................................................... 10-3
10-3-1 Alarm .............................................................................................................. 10-3
10-3-2 Warnings list ................................................................................................... 10-7
10-3-3 Alarm and warning deceleration method and reset method ........................... 10-8

Chapter 11 Selection
11-1 Outline ................................................................................................................... 11-2
11-1-1 Servomotor ..................................................................................................... 11-2
11-1-2 Regeneration methods ................................................................................... 11-3
11-2 Selection of servomotor series ........................................................................... 11-4
11-2-1 Motor series characteristics ............................................................................ 11-4
11-2-2 Servomotor precision...................................................................................... 11-4
11-3 Selection of servomotor capacity ....................................................................... 11-6
11-3-1 Load inertia ratio ............................................................................................. 11-6
11-3-2 Short time characteristics ............................................................................... 11-6
11-3-3 Continuous characteristics.............................................................................. 11-7
11-4 Selection of regenerative resistor....................................................................... 11-9
11-4-1 Limits for HS-MF23 ......................................................................................... 11-9
11-4-2 Approximate calculation of positioning frequency........................................... 11-9
11-4-3 Calculation of regenerative energy ................................................................. 11-9
11-4-4 Calculation of positioning frequency ............................................................... 11-11
11-5 Motor shaft conversion load torque ................................................................... 11-12
11-6 Expressions for load inertia calculation ............................................................ 11-13

iii
 Chapter 1 Introduction

1-1 Intelligent servomotor outline .................................................................... 1-2

1-2 Limits and special notes for intelligent servomotor................................. 1-2
1-2-2 Precautions for selecting the intelligent servomotor............................. 1-2
1-2-2 Precautions for use .............................................................................. 1-2
1-2-3 Miscellaneous ...................................................................................... 1-2
1-3 Inspection at purchase................................................................................ 1-3
1-3-1 Explanation of type .............................................................................. 1-3

1–1
 Chapter 1 Introduction

1-1 Intelligent servomotor outline

The Mitsubishi intelligent servomotor is an integrated motor, encoder and amplifier, and has the
following features.

• Space saving
The amplifier does not need to be stored in the power distribution panel, so the machine, power
distribution panel and heat exchanger can be downsized.
• Wire saving
Only one wire is used between the NC and motor. (The signal and 200VAC input are wired with
the same cable.)
• Flexible
As an option axis can be added without changing the power distribution panel, variations can be
easily added to the machine.
• High-speed
As the power distribution panel does not require space, the servo can easily be used for
hydraulic and pneumatic devices.

1-2 Limits and special notes for intelligent servomotor

1-2-1 Precautions for selecting the intelligent servomotor
(1) The intelligent servomotor does not have the regenerative resistor option (the regenerative
resistor capacity cannot be increased.). Make sure that the regenerative energy is less than the
tolerable regenerative capacity. Use the standalone HA/HC Series motor and
MDS-B-V1/V2/SVJ2 Series servo amplifier for applications having a high regenerative energy due
to a high positioning frequency or large load inertia, etc.

(2) The HS-MF23 type does not have a regenerative resistor. There may be limits to the working
rotation speed depending on the load inertia. Avoid using in applications generating continuous
regeneration, such as with a vertical axis.

1-2-2 Precautions for use

(1) IP65 is recommended for the engagement of the HS-RF∗∗/SF∗∗ type connector. Make sure that
water or oil, etc., does not come in contact in the disengaged state.

(2) Connect the HS-MF type relay connector in a relay box having a structure (IP54) that prevents the
entry of water, oil and dust, etc. Fix the enclosed cable to the motor.

(3) A contact that released the brakes when the servo turns ON is built-in. The brakes will not be
released just by inputting the 24V power from an external source. If the brakes need to be
released when assembling the machine, etc., refer to section 6-4. Wiring a motor with brakes.

1-2-3 Miscellaneous
(1) When the motor shaft is turned by hand, it may seem heavier than other servomotors, or may
seem tight. This is caused because of the dynamic brakes in the built-in amplifier, and is not a
fault.

1–2
 Chapter 1 Introduction

1-3 Inspection at purchase

Open the package, and read the rating nameplate to confirm that the servo amplifier and servomotor
are as ordered.

1-3-1 Explanation of type

(1) Amplifier + motor integrated type
HS - - S
Motor special symbol (Not provided with standard product)
Amplifier/encoder special symbol (Cable length, etc.)
Amplifier type EX: With amplifier/encoder for NC
Motor option B: Brakes provided
Blank: No brakes
: Short-time rated output (W/100) · : Rotation speed (rpm/1000)
103: 1kW·3000r/min 202: 2kW·2000r/min
73: 0.75kW·3000r/min 102: 1kW·2000r/min
53: 0.5kW·3000r/min 52: 0.5kW·2000r/min
43: 0.4kW·3000r/min
23: 200W·3000r/min
Motor Series RF : Medium capacity, low inertia
SF : Medium capacity, medium inertia
MF : Small capacity, ultra-low inertia
Intelligent servomotor

(2) Part types for separable amplifier and motor

1) Motor/encoder unit type
MDS - B - ISV
Amplifier/encoder special symbol (Cable length, etc.)
Amplifier type EX: With amplifier/encoder for NC
Short-time rated output (W/100)
20: 2kW 05: 0.5kW
10: 1kW 04: 0.4kW
07: 0.75kW
Intelligent servomotor amplifier/encoder

2) Motor only type

HS - - s
Motor special symbol (Not provided with standard product)
Motor option B: Brakes provided
Blank: No brakes
: Short-time rated output (W/100) · : Rotation speed (rpm/1000)
103: 1kW·3000r/min 202: 2kW·2000r/min
73: 0.75kW·3000r/min 102: 1kW·2000r/min
53: 0.5kW·3000r/min 52: 0.5kW·2000r/min
43: 0.4kW·3000r/min
Motor Series RF : Medium capacity, low inertia
SF : Medium capacity, medium inertia
Intelligent servomotor
Explanation of rating nameplate
MITSUBISHI INTELLIGENT SERVO
Type TYPE HS-SF202EX
Motor section type MOTOR HS-SF202
DRIVE UNIT MDS-B-ISV-20EX
Amplifier/encoder section type RATED INPUT
and rated input/output * 3AC 200-230V 50/60Hz 10.0A
RATED OUTPUT 3AC 11.0A
Current version Ｓ/Ｗ　ＢＮＤ５１６Ｗ０００Ａ７ Ｈ/Ｗ ＶＥＲ. *
SERIAL# XXXXXXXXXXX DATE 00/01
Serial No. MITSUBISHI ELECTRIC CORPORATION JAPAN

* Ｘ Ｘ Ｘ Ｘ Ｘ Ｘ Ｘ Ｘ Ｘ Ｘ Ｘ *

1–3
 Chapter 2 Specifications

2-1 Standard specifications ............................................................................ 2-2

2-2 Torque characteristics .............................................................................. 2-3
2-3 Outline dimension drawings..................................................................... 2-4
2-3-1 HS-MF23 ........................................................................................... 2-4
2-3-2 HS-RF43/73 ....................................................................................... 2-4
2-3-3 HS-SF52/53/102/103 ......................................................................... 2-5
2-3-4 HS-SF202 .......................................................................................... 2-5

2–1
 Chapter 2 Specifications

2-1 Standard specifications

(1) HS-MF, HS-RF Series (Low-inertia, small capacity/low-inertia, medium capacity)
Type HS-MF23 HS-RF43 HS-RF73
Short-time Rated output (kW) 0.2/15min 0.4/30min 0.75/30min
characteristics Rated torque (N·m) 0.64 1.27 2.39
Continuous Rated output (kW) 0.15 0.32 0.6
characteristics Rated torque (N·m) 0.48 1.02 1.91
Maximum torque (N·m) 1.92 3.18 5.97
Rated rotation speed (r/min) 3000
Maximum rotation speed (r/min) 3000
-4 2
Moment of inertia J (×10 kg·m ) 0.089 0.8 1.5
Detector resolution/method 8,000/absolute value 100,000/absolute value
Voltage/frequency 3-phase 200VAC to 230VAC 50/60Hz (HS-MF23 is single-phase)
Tolerable voltage fluctuation 170 to 253VAC
Power
supply Tolerable frequency
±5%
fluctuation
Power facility capacity (kVA) 0.5 0.9 1.3
Control method Sine wave PWM control, current control method
Dynamic brakes Built-in
Recommended load moment of inertia
4-fold or less when using cutting axis, 10-fold or less when using peripheral axis
rate
Environment conditions Follows section 3-1-1 Environment conditions
Fully closed self-cooling: Protective structure IP65 (Excluding MF23 connector. Protection
Structure
applies for all connectors when engaged to machine.)

(2) HS-SF Series (medium-inertia, medium-capacity)

Type HS-SF52 HS-SF53 HS-SF102 HS-SF103 HS-SF202
Short-time Rated output (kW) 0.5/30min 0.5/30min 1.0/30min 1.0/30min 2.0/30min
characteristics Rated torque (N·m) 2.39 1.59 4.78 3.18 9.55
Continuous Rated output (kW) 0.4 0.4 0.75 0.75 1.5
characteristics Rated torque (N·m) 1.91 1.27 3.58 2.39 7.16
Maximum torque (N·m) 11.8 8.82 21.6 16.7 41.7
Rated rotation speed (r/min) 2000 3000 2000 3000 2000
Maximum rotation speed (r/min) 2000 3000 2000 3000 2000
-4 2
Moment of inertia J (×10 kg·m ) 6.6 6.6 13.6 13.6 42.5
Detector resolution/method 100,000/absolute value
Voltage/frequency 3-phase 200VAC to 230VAC 50/60Hz
Tolerable voltage
170 to 253VAC 50/60Hz
fluctuation
Power
supply Tolerable frequency
±5%
fluctuation
Power facility capacity
1.0 1.0 1.7 1.7 3.5
(kVA)
Control method Sine wave PWM control, current control method
Dynamic brakes Built-in
Recommended load moment of inertia
4-fold or less when using cutting axis, 10-fold or less when using peripheral axis
rate
Environment conditions Follows section 3-1-1 Environment conditions
Fully closed self-cooling: Protective structure IP65
Structure
(Protection applies for connector section when engaged)

Note 1: The rated output and rated rotation speed are the guaranteed values in the 200 to 230VAC 50/60Hz range. The
torque-speed line diagram indicates the characteristics when 200VAC is input. Note that the high-speed characteristics will
drop when the power voltage drops.
Note 2: Make sure that the acceleration/deceleration torque is within 80% of the maximum output torque.
Note 3: Make sure that the continuous effective load torque is within 80% of the motor rated torque.
Note 4: With the HS-MF23, if the recommended load moment of inertia rate is exceeded, an overvoltage alarm may occur because
of the speed and deceleration torque. (Refer to Chapter 11.)
Note 5: Magnetic brakes are prepared for the 0.4KW and larger capacities. The HS-MF23 does not have brake specifications.

2–2
 Chapter 2 Specifications

2-2 Torque characteristics

3.0
[HS-MF23] 4.0
[HS-RF43] 8.0
[HS-RF73]

3.0 6.0
Torque［N･m］

Torque［N･m］

Torque［N･m］
2.0
Intermittent Intermittent
operation range operation range
Intermittent
operation range 2.0 4.0

1.0
Short-time operation range Short-time operation range
1.0 2.0
Short-time operation range
Continuous Continuous
Continuous operation range operation range
operation range
0 0 0
0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000
Motor speed［r/min］ Motor speed［r/min］ Motor speed［r/min］

[HS-SF52] [HS-SF53] [HS-SF102]

10 10 20
Torque［N･m］

Intermittent
Torque［N･m］

Torque［N･m］
operation range Intermittent Intermittent
operation range operation range

5 5 10

Short-time operation range Short-time operation range

Short-time operation range
Continuous Continuous operation Continuous
operation range range operation range
0 0 0
0 1000 2000 0 1000 2000 3000 0 1000 2000
Motor speed［r/min］ Motor speed［r/min］ Motor speed［r/min］

[HS-SF103] [HS-SF202]

20 40
Torque［N･m］

Torque［N･m］

Intermittent
Intermittent operation range
operation range
10 20

Short-time operation range

Short-time operation range
Continuous
Continuous operation
range operation range
0 0
0 1000 2000 3000 0 1000 2000
Motor speed［r/min］ Motor speed［r/min］

2–3
 Chapter 2 Specifications

2-3 Outline dimension drawings

2-3-1 HS-MF23

60±5
4
640±30

2.5
Φ11h6
178
56.5 108 Cross-section
18 A-A

30
Φ27

7 45°
3
16 4
101

A
82

Φ50h7
AA

With oil seal φ 70

2-3-2 HS-RF43/73
0
5 -0.03 23.3 100
118
4.3108.005

Cross-section
A-A
Connector
JL04V-2A28-11PE
93 L 3

10

With oil seal

25
φ95h7
173.5

φ16.000
75

φ
11
A 5
φ22

AA
Taper 5
13
1/10 φ
45ﾟ

LL 18 28 12 4-φ9
□100

Changed dimensions
Model L LL
HS-RF43 400W 86 204
HS-RF43B 400W with brakes In planning stages
HS-RF73 750W 104 222
HS-RF73B 750W with brakes In planning stages

2–4
 Chapter 2 Specifications

2-3-3 HS-SF52/53/102/103

145 L 23.3 130

0
-0.03
5

5
4.25
4.3
70 Cross section
A-A
12
3

φ 165

25
96

216

φ16.000
A

110h7
φ22
A
A

Taper
1/10

φ 145
18 28 12

LL □130 45°
58

Changed dimensions
Model L LL
HS-SF53/52 500W 87 232
HS-SF53/52B 500W with brakes 119 270
HS-SF103/102 1kW 112 257
HS-SF103/102B 1kW with brakes 144 295

2-3-4 HS-SF202

79

18 45°
70
3
φ35+0.010

75
0
119
264

φ114.3-0.025
0

φ 200

LL φ 230 □176

Changed dimensions
Model L LL
HS-SF202 2kW 116 270
HS-SF202B 2kW with brakes In planning stages

2–5
 Chapter 3 Characteristics

3-1 Overload protection characteristics........................................................... 3-2

3-2 Magnetic brake characteristics .................................................................. 3-3
3-2-1 Motor with magnetic brakes ................................................................. 3-3
3-2-2 Magnetic brake characteristics............................................................. 3-4
3-2-3 Magnetic brake power supply .............................................................. 3-4
3-3 Dynamic brake characteristics ................................................................... 3-5
3-3-1 Deceleration torque.............................................................................. 3-5
3-3-2 Coasting amount.................................................................................. 3-6

3–1
 Chapter 3 Characteristics

3-1 Overload protection characteristics

The servo amplifier has an electronic thermal relay to protect the servomotor and servo amplifier from
overloads. The operation characteristics of the electronic thermal relay when standard parameters
(SV021=60, SV022=150) are set shown below.
If overload operation over the electronic thermal relay protection curve shown below is carried out,
overload 1 (alarm 50) will occur. If the maximum current is commanded at 95% or higher continuously
for one second or more due to a machine collision, etc., overload 2 (alarm 51) will occur.

1000.0

100.0
Operation time [sec]

When rotating

10.0

When stopped

1.0

95% of amplifier or motor

maximum capacity
0.1
0 50 100 150 200 250 300 350 400
Motor load rate [%]

Fig. 3-1 Overload protection characteristics

3–2
 Chapter 3 Characteristics

3-2 Magnetic brake characteristics

1. The axis will not be mechanically held even when the dynamic brakes are
used. If the machine could drop when the power fails, use a servomotor with
magnetic brakes or provide an external brake mechanism as holding means
to prevent dropping.
2. The magnetic brakes are used for holding, and must not be used for normal
braking. There may be cases when holding is not possible due to the life or
machine structure (when ball screw and servomotor are coupled with a
CAUTION timing belt, etc.). Provide a stop device on the machine side to ensure
safety. When releasing the brakes, always confirm that the servo is ON first.
Sequence control considering this condition is possible if the amplifier motor
brake control signal (MBR) is used.
3. When operating the brakes, always turn the servo OFF (or ready OFF).
4. When the vertical axis drop prevention function is used, the drop of the
vertical axis during an emergency stop can be suppressed to the minimum.

3-2-1 Motor with magnetic brakes

(1) Types
The motor with magnetic brakes is set for each motor. The "B" following the standard motor type
indicates the motor with brakes.

(2) Applications
When this type of motor is used for the vertical feed axis in a machining center, etc., slipping and
dropping of the spindle head can be prevented even when the hydraulic balancer's hydraulic
pressure reaches zero when the power turns OFF. When used with a robot, deviation of the
posture when the power is turned OFF can be prevented.
When used for the feed axis of a grinding machine, a double safety measures is formed with the
deceleration stop (dynamic brake stop), and the risks of colliding with the grinding stone and
scattering can be prevented.
This motor cannot be used for purposes other than holding and braking during a power failure
(emergency stop). (This cannot be used for normal deceleration, etc.)

(3) Features
1) The magnetic brakes use a DC excitation method, thus:
• The brake mechanism is simple and the reliability is high.
• There is no need to change the brake tap between 50 Hz and 60 Hz.
• There is no rush current when the excitation occurs, and shock does not occur.
• The brake section is not larger than the motor section.
2) The magnetic brakes are built into the motor, and the installation dimensions are the same as
the motor without brakes.

3–3
 Chapter 3 Characteristics

3-2-2 Magnetic brake characteristics

HS-RF Series HA-SF Series

Item 43B 53B 52B
202B
73B 103B 102B
Type (Note 1) Spring braking type safety brakes
Rated voltage 24VDC
Rated current at 20°C (A) 0.41 0.8 0.8
Excitation coil resistance at 20°C (Ω) 58 30 30
Capacity (W) 9.9 19.2 19.2
Attraction current (A) 0.20 0.25 0.25
Dropping current (A) 0.12 0.085 0.08
Static friction torque (N·m) 2.4 6.8 8.5
–4 2
Moment of inertia (Note 2) J (×10 kg·m ) 0.26 0.35 2.0
Release delay time (sec) (Note 3) 0.03 0.03 0.03
Tolerable braking work Per braking 64 400 400
amount (J) Per hour 640 4000 4000
Brake play at motor axis (deg.) 0.1 to 0.9 0.2 to 0.6 0.2 to 0.6
20,000 times with 32 (J) 20,000 times with 200 (J) 20,000 times with 200 (J)
Brake life (Note 4) braking amount braking amount braking amount
per braking per braking per braking

Notes:
1. There is no manual release mechanism. Refer to section "6-4-2 Manually releasing the magnetic brakes".
2. These are the values added to the servomotor without brakes.
3. This is the value for 20°C at the initial attraction gap.
4. The brake gap will widen through brake lining wear caused by braking. However, the gap cannot be adjusted.
Thus, the brake life is reached when adjustments are required.
5. A leakage flux will be generated at the shaft end of the servomotor with magnetic brakes.
6. When operating in low speed regions, the sound of loose brake lining may be heard. However, this is not a
problem in terms of function.
7. The brake characteristics for the HS-RF Series and HS-SF202 are the planned values.

3-2-3 Magnetic brake power supply

(1) Brake excitation power supply
1) Prepare a brake excitation power supply that can accurately ensure the attraction current in
consideration of the voltage fluctuation and excitation coil temperature.
2) The brake terminal polarity is random. Make sure not to mistake the terminals with other
circuits.

(2) Brake excitation circuit

<Cautions>
• Provide sufficient DC cut off capacity at the contact.
• Always use a serge absorber.

3–4
 Chapter 3 Characteristics

3-3 Dynamic brake characteristics

When an emergency stop occurs such as that due to a servo alarm detection, the motor will stop with
the deceleration control at the standard setting. However, by setting the servo parameter (SV017:
SPEC), the dynamic brake stop can be selected. If a servo alarm that cannot control the motor occurs,
the dynamic brakes stop the servomotor regardless of the parameter setting.

3-3-1 Deceleration torque

The dynamic brakes use the motor as a generator, and obtains the deceleration torque by consuming
that energy with the dynamic brake resistance. The characteristics of this deceleration torque have a
maximum deceleration torque (Tdp) regarding the motor speed as shown in the following drawing.
The torque for each motor is shown in the following table.

Tdp

Deceleration
torque

0 Ndp
Motor speed

Fig. 3-2 Deceleration torque characteristics of a dynamic brake stop

Table 3-1 Max. deceleration torque of a dynamic brake stop

Rated torque Rated torque
Motor type Tdp (N•m) Ndp (r/min) Motor type Tdp (N•m) Ndp (r/min)
(N·m) (N·m)
HS-MF23 0.64 0.40 465 HS-SF52 2.39 2.40 496
HS-RF43 HS-SF53 1.59 2.54 472
HS-RF73 3.18 3.67 582 HS-SF102 4.78 11.19 884
HS-SF103 3.18 10.72 1045
HS-SF202 9.55 10.56 457

3–5
 Chapter 3 Characteristics

3-3-2 Coasting amount

The motor coasting amount when stopped by a dynamic brake can be approximated using the
following expression.
No JL
CMAX = · te + ( 1 + ) · (A · No3 + B · No)
60 JM
CMAX : Maximum motor coasting amount (turn)
No : Initial motor speed (r/min)
JM : Motor inertia (kg·cm2)
JL : Motor shaft conversion load inertia (kg·cm2)
te : Brake drive relay delay time (sec) (Normally, 0.03sec)
A : Coefficient A (Refer to the table below)
B : Coefficient B (Refer to the table below)

Emergency stop (EMG)

OFF
Motor brake control output
OFF

Motor brake actual operation

OFF

Motor speed

Initial speed: No
Coasting amount

Time
te

Fig. 3-3 Dynamic brake braking diagram

Table 3-2 Coasting amount calculation coefficients

Motor JM JM
2 A B Motor type 2 A B
type (kg·cm ) (kg·cm )
HS-MF23 0.088 1.38 × 10–11 0.90 × 10–5 HS-SF52 6.6 16.13 × 10–11 11.93 × 10–5
HS-RF43 0.8 2.04 × 10–11 2.07 × 10–5 HS-SF53 6.6 15.99 × 10–11 10.71 × 10–5
HS-RF73 1.5 2.04 × 10–11 2.07 × 10–5 HS-SF102 13.6 4.00 × 10–11 9.38 × 10–5
HS-SF103 13.6 3.53 × 10–11 11.58 × 10–5
HS-SF202 42.5 25.60 × 10–11 16.07 × 10–5

3–6
 Chapter 4 Peripheral Devices

4-1 Dedicated options........................................................................................ 4-2

4-1-1 I/F unit.................................................................................................. 4-2
4-1-2 Battery option for absolute position system ......................................... 4-6
4-1-3 Cables and connectors ........................................................................ 4-7
4-1-4 Cable clamp fitting ............................................................................... 4-11
4-2 Peripheral devices ....................................................................................... 4-12
4-2-1 Selection of wire................................................................................... 4-12
4-2-2 Selection of no-fuse breakers .............................................................. 4-12
4-2-3 Selection of contactor .......................................................................... 4-13
4-2-4 Circuit protector.................................................................................... 4-14

4–1
 Chapter 4 Peripheral Devices

Always wait at least 10 minutes after turning the power OFF, and check the
DANGER voltage with a tester, etc., before connecting the option or peripheral device.
Failure to observe this could lead to electric shocks.

Use the designated peripheral device and options. Failure to observe this could
CAUTION lead to faults or fires.

4-1 Dedicated options

4-1-1 I/F unit
Name Intelligent servomotor I/F unit
Type HS-IF-6
Maximum number of connected Maximum 6 intelligent servomotor axes
axes (The total number of connected axes follows the NC unit specifications)
Input power voltage AC200 to 230V 50/60Hz
Serial bus interface between NC and intelligent servomotor
Functions
200VAC branching to main circuit and control power circuit
Miscellaneous Surge absorber, radio noise filter, internal 5V power
Ambient temperature 0°C to +55°C (with no freezing)
Ambient humidity 90% RH or less (with no dew condensation)
Environ-m Storage temperature –20°C to +65°C (with no freezing)
ent Storage humidity 90% RH or less (with no dew condensation)
conditions Atmosphere Indoors (not subject to direct sunlight). No corrosive gases, flammable gases, oil mist or dust
Altitude 1000m or below sea level
2
Vibration 5.9m/sec or less
Outline dimensions H: 300 × W: 80 × D: 80 (refer to following drawings)

(1) Outline drawing

300

285

2-M3 screw
For grounding
plate installation

80 80

4–2
 Chapter 4 Peripheral Devices

(2) Explanation of each part

Alarm display LED

アラーム表示ＬＥＤ
CN1B 1st axis, 2nd axis, to 6th axis,
CN1B
Servo/spindle drive 左より第１軸、第２軸、・・・
CN1B connection axis from
サーボ・主軸ドライブ left.
第６軸、CN1B接続軸
CN1A SW7
SW7
CN1ANC
From Servo monitor D/A output
ＮＣより サーボモニタD/A出力
changeover switch
切替スイッチ
Always set to ON (left) when
starting up.
立ち上げ時は必ずON
CN11 CN11
Intelligent servomotor 1st axis （左）として下さい。
インテリジェントサーボモータ第１軸
SW1 to SW3
SW1～SW3
Usage/non-usage setting
各々CN11～CN13の
CN12 CN12 switch for CN11 to CN13.
Intelligent servomotor 2nd axis 使用/未使用設定スイッチ
Set switch to right for
インテリジェントサーボモータ第２軸
connected axis, and to left for
接続軸はスイッチを右へ未
disconnected axis.
接続軸は左として下さい。
CN13CN13
Intelligent servomotor 3rd axis
インテリジェントサーボモータ第３軸
SW4 to SW6
SW4～ＳＷ6
Usage/non-usage setting
CN14CN14 各々CN11～CN13の
Intelligent servomotor 4th axis switch for CN11 to CN13.
インテリジェントサーボモータ第４軸 使用/未使用設定スイッチ
Set switch to right for
connected axis, and to left for
接続軸はスイッチを右へ未
disconnected axis.
接続軸は左として下さい。
CN15
CN15
Intelligent servomotor 5th axis
インテリジェントサーボモータ第５軸

CN16
CN16
Intelligent servomotor 6th axis
インテリジェントサーボモータ第６軸

TE1 to TE6
TE1～TE6
Intelligent servomotor terminal
インテリジェントサーボ
block.
*モータ用端子台
The drawing shows the state
with the terminal block cover
*図は端子台カバーを
removed.
はずしたときのもので
す

L1 L2 L3 L11 L12 PE
TE7
TE7
200VAC
AC200V
Input terminal block
L1 L2 L3 L11 L12 PE 入力端子台

4–3
 Chapter 4 Peripheral Devices

(3) Signal wire connection and switch settings

1) Connector connection
Connect the cable from the NC unit to CN1A. The servo/spindle drive other than the intelligent
servomotor is connected to CN1B. If there is no servo/spindle drive, connect the battery unit
or terminator.
The intelligent servomotor axis No. is set according to the I/F unit connector connection site.
Connect to the correct connector.
2) Switch setting
Set the setting switches SW1 to SW6 according to whether CN11 to CN16 are used or not.
SW7 is the servo monitor D/A output changeover switch, so normally set it to the left position.
Set it to the right when using the D/A output function. Note that when the power is turned ON,
this switch must be set to the left or the "Amplifier Not Mounted" alarm will occur.

(4) Power supply connection

1) Explanation of terminal block
Connect the 200VAC power to TE7.
The intelligent servomotor's power wires are connected to TE1 to TE6. The TE1 to TE6
connection order is random, but connect from TE6 in order from the motor with the larger
capacity.
The connections are L1, L2, L3 (main power), L11, L12 (control circuit power), and PE from
the left on each terminal block.
2) Wire end treatment
Peeling length
Single wire : Peel the wire sheath and use the wire.
Stranded wire : Peel the wire sheath and twist the core wires before
using. Take care to prevent short-circuiting with the A

neighboring poles caused by fine wire strands.

Do not solder onto the core wires as a contact fault could occur.
(Wire size: 0.25 to 2.5mm2)

Wire size Peeling length

Single wire Stranded wire A (mm)
2
TE7 0.2 to 6mm 0.2 to 4mm2 8
2
TE1 to TE6 0.2 to 1.5mm 0.2 to 1.5mm2 10

3) Connection method
TEL7 (200VAC power supply) TE1 to 6 (intelligent servomotor)

Insert the wire, and tighten the terminal with a flat-tip Insert the wire while pressing the terminal block lever. The
screwdriver. The tightening torque is 0.5 to 0.6Nm. wire will be fixed when the lever is released.

4–4
 Chapter 4 Peripheral Devices

4) Total capacity of connected motors

The total capacity of the motors that can be HS-IF-6
connected to the HS-IF-6 main power terminal
block is 6kW or less. If the total motor capacity
exceeds 6kW, wire with a standalone terminal
block.

HS motor

Terminal block

(5) D/A output measurement methods

1) Remove the upper cover from the I/F unit.
2) Connect a measuring instrument to the I/F unit check pin.
Refer to the drawing on the right
#1 1st axis display
for the connection sections. #2 2nd axis display
3) When observing the waveform, #3 3rd axis display
turn the I/F unit's servo monitor #4 4th axis display
Alarm display LED
D/A output changeover switch to
OFF (right). #7 CN1B connection axis display
#6 6th axis display
4) Select the data to be measured
#5 5th axis display
with the parameters. (Refer to Servo monitor D/A output
changeover switch
section "8-1. Measuring the
adjustment data".)
D/A output grounding
terminal
Always turn the DIP switch
ON before turning the 1st axis D/A output
power ON. Do not connect terminal
a measuring instrument 2nd axis D/A output
terminal
having a low input
3rd axis D/A output
CAUTION impedance when turning terminal
the power ON.
The "Amplifier Not
Mounted" alarm will occur.

4th axis D/A output

terminal
5th axis D/A output
terminal
(6) Alarm display LED 6th axis D/A output
terminal
The alarm display LED holds the state
of each axis alarm when an alarm or
emergency stop occurs.
Use this to pinpoint the cause when an
emergency stop state occurs due to a
cable or amplifier fault.
The display of each LED will change as shown below.

#1 #2 #3 #4 #5 #6 #7
When 200VAC is turned ON Not set Not set Not set Not set Not set Not set Not set
After NC starts Not ON Not ON Not ON Not ON Not ON Not ON Not ON
Emergency stop occurrence from NC side Not ON Not ON Not ON Not ON Not ON Not ON Not ON
Emergency stop occurrence from intelligent servomotor 1st axis ON Not ON Not ON Not ON Not ON Not ON Not ON
Emergency stop occurrence from intelligent servomotor 2nd axis Not ON ON Not ON Not ON Not ON Not ON Not ON
Emergency stop occurrence from intelligent servomotor 3rd axis Not ON Not ON ON Not ON Not ON Not ON Not ON
Emergency stop occurrence from intelligent servomotor 4th axis Not ON Not ON Not ON ON Not ON Not ON Not ON
Emergency stop occurrence from intelligent servomotor 5th axis Not ON Not ON Not ON Not ON ON Not ON Not ON
Emergency stop occurrence from intelligent servomotor 6th axis Not ON Not ON Not ON Not ON Not ON ON Not ON
Emergency stop occurrence from servo/spindle connected to CN1B Not ON Not ON Not ON Not ON Not ON Not ON ON
4–5
 Chapter 4 Peripheral Devices

4-1-2 Battery option for absolute position system

A battery or battery unit must be provided for the absolute position system.

Battery option specifications

Item Battery unit
Type MDS-A-BT2 MDS-A-BT4 MDS-A-BT6 MDS-A-BT8
No. of backup axes 2 axes 4 axes 6 axes 7 axes
Battery continuous back up time Approx. 12,000 hours
Battery useful life 7 years from date of unit manufacture
Data save time during battery HS-MF : 2 hours at time of delivery, 1 hour after 5 years
replacement HS-RF, -SF : 20 hours at time of delivery, 10 hour after 5 years
Back up time from battery
Approx. 100 hours
warning to alarm occurrence

The battery life will be greatly affected by the ambient temperature. The above
data shows the theoretic values for when the ambient temperature of the
CAUTION battery is 25°C. If the ambient temperature rises, generally the back up time
and useful life will be shorter.

<Outline dimension drawing>

MDS-A-BT2
MDS-A-BT4
MDS-A-BT6
MDS-A-BT8

ø6 Use an M5 screw for the installation.

35
34
145

135

160

9 15

R30

100
15

30
Unit (mm)

<Connection>
Instead of the terminator, connect the battery unit to the final drive unit with the amplifier-amplifier
bus cable.

4–6
 Chapter 4 Peripheral Devices

4-1-3 Cables and connectors

(1) Cable list
Part name Type Descriptions
Communication cable for SH21 Servo amplifier side Servo amplifier side
CNC unit - Amplifier Length: connector (Sumitomo 3M) connector (Sumitomo 3M)
Amplifier - Amplifier 0.35, 0.5, 0.7, 1, 1.5, 2, 2.5, 10120-6000EL (Connector) 10120-6000EL (Connector)
3, 3.5, 4, 4.5, 5, 6, 7, 8, 9, 10320-3210-000 (Shell kit) 10320-3210-000 (Shell kit)
For I/F unit 10, 15, 20, 30m

Terminator connector A-TM

For HS-MF between HSMF-CABL-†-†M I/F unit side connector Servomotor side connector
intelligent servomotor and (Sumitomo 3M) (Japan AMP)
Length (m) 178289-3
I/F unit 10120-3000VE (Connector)
Axis No. (Housing for power supply)
Blank: No display 10320-52A0-008 (Shell kit) 178289-6 (Housing for signal)
1: 1st axis 1-917511-5
: (Contact for L1, L2, PE)
6: 6th axis 1-175217-5
(Contact for L11, L12, signal)

For
intelligent
servo-mot
For HS-RF and HS-SF HSSF†-CABL-†-†M I/F unit side connector Servomotor side connector
or
between intelligent (Sumitomo 3M) (Japan Aviation)
Length (m) JI04V-6A28-11SE-EB (Straight)
servomotor and I/F unit 10120-3000VE (Connector)
Axis No. or
Blank: No display 10320-52A0-008 (Shell kit) JI04V-8A28-11SE-EB (Angle)
1: 1st axis JL04-2428CK (Clamp)
:
6: 6th axis
Motor side connector
2: Straight
3: Right angle

(2) Cable wiring diagram

For MS-MF For HS-RF/SF
I/F unit (power I/F unit (power
distribution panel) Signal distribution panel) Motor side
Signal side Motor side side
name
name
TXD 2 A
TXD 2 A1
TXD* 12 E
TXD* 12 B1
RXD 4 B
RXD 4 A2
RXD* 14 F
RXD* 14 B2
ALM 3 D
ALM 3 A4
ALM* 13 H
ALM* 13 B4
EMG 7 C
EMG 7 A3 EMG* 17 G
EMG* 17 B3 MON 8 X
MON 8 A6 LG 5 T
LG 5 B5 BAT 9 I
BAT 9 A5
SD Plate
SD Plate B6

brown BR W
L1 A1
RG R
blue B1
L2 L1 brown J
green/yellow
PE B2 L2 blue K
gray
L11 A3 L3 black L
white
L12 B3 PE yellow/green M

L11
N

L12
U

4–7
 Chapter 4 Peripheral Devices

(3) Usage cables

The following cables are available as the compound cables for both signals and power supply.
(1) Part name: MIX20C(30/-SV,40/,7/36/0.08)-V
Maker: Oki Electric Cable Co., Ltd.
(2) Part name: MIX19C(19,30,150/0.08)-V
Maker: Oki Electric Cable Co., Ltd.
Use the (1) cable for a capacity of 1kW or more.

(4) Connector outline drawing

For IF unit
Maker: Sumitomo 3M (Ltd.) [Unit: mm]
<Type>
Connector: 10120-3000VE 12.0

Shell kit: 10320-52F0-008

10.0
22.0 14.0
39.0

23.8

33.3 12.7

Maker: Sumitomo 3M (Ltd.) [Unit: mm]

<Type>
Connector: 10120-6000EL
11.5

Shell kit: 10320-3210-000

This connector is not an 20.9

option. It is integrated with
the cable.
42.0

33.0

29.7

4–8
 Chapter 4 Peripheral Devices

For intelligent servomotor HS-RF/HS-SF

Single block [Unit: mm]
Maker: Japan Aviation Screw
Positioning key
Type: JL04V-6A28-11SE

Conduit installation 10 or
dimensions less

Straight plug [Unit: mm]

Maker: Japan Aviation Positioning key
Type: JL04V-6A28-11SE-EB (spanner catching width)

Screw
10 or more 1-7/46-18UNEF-2A
(Effective screw length)

Angle plug [Unit: mm]

Maker: Japan Aviation
Type: JL04V-8A28-11SE-EB Positioning key

(Spanner catching width)

Screw
1-7/16-18UNEF-2A
(Effective screw
length)

Cable clamp [Unit: mm]

Screw
Maker: Japan Aviation 1-7/16-18UNEF-2B
Type: JL04V-2428CK (17)

Applicable cable diameter:

ø15 to ø18

Bushing

(Clamp range)

4–9
 Chapter 4 Peripheral Devices

Connector for intelligent servomotor HS-MF

Maker: Japan AMP [Unit: mm]
<Type>
For power supply
6-pole receptacle/housing: 178289-3
Contact: 1-917511-5 (L1, L2, PE) Row A

5.08
1-175217-5 (L11, L12) Row B

For signal 3.81

12-pole receptacle/housing: 178289-6
Circuit number 1
Contact: 1-175217-5 A

No. of Dimension Row A

Type Row B
poles A B
6 178289-3 24.36 16.70

22.8
12 178289-6 35.09 28.35

16.3
B 11.63

(5) Communication cable assembly

Assemble the cable as shown in the following drawing, with the cable shield wire securely
connected to the ground plate of the connector.

Core wire Core wire

Shield
Shield (external conductor) (external conductor) Sheath
Sheath

Ground plate

When folding back the shield, fold back the shield over an area covered with vinyl tape or copper
tape, and seat onto the fitting surface of the plate screw section so that the shield wire and
grounding plate securely contact without play.

Take care not to mistake the connection when manufacturing the cable. Failure
CAUTION to observe this could lead to faults, runaway or fire.

4–10
 Chapter 4 Peripheral Devices

4-1-4 Cable clamp fitting

Use the following types of grounding plate and cable clamp fitting to strengthen the noise resistance of
the communication cable. The grounding plate can be installed onto the terminal block cover of the I/F
unit (HS-IF-6). Peel part of the cable sheath as shown in the drawing to expose the shield sheath, and
press that section against the grounding plate with the cable clamp fitting.

Grounding plate

Cable clamp
fitting A, B

Grounding bar

Shield sheath

Grounding plate (E) outline Cable clamp fitting outline

70
2-φ5 hole
24 6
Installation hole
30
17.5

22

MAX L 10
35

24
6

3 11
56 M4 screw　*
L
* Always wire the grounding wire from the grounding plate to the Fitting A 70
cabinet grounding plate. Fitting B 45

4–11
 Chapter 4 Peripheral Devices

4-2 Peripheral devices

4-2-1 Selection of wire
Select the interface unit L1, L2, L3 and grounding wires from the following wire sizes according to the
total capacity of the connected motors.
Total motor capacity 1kW or less 2.5kW or less 6kW or less 9kW or less 12kW or less
2
Wire size (mm ) IV1.25SQ IV2SQ IV3.5SQ IV5.5SQ IV8SQ

(Note) The total capacity of the motors connected to the interface unit must be 6kW or less. If the
total motor capacity exceeds 6kW, wire with a standalone terminal block.

4-2-2 Selection of no-fuse breakers

Use the following table to obtain the NFB (no-fuse breaker) rated current from the total rated capacity
(SVJ2 total output capacity) of the motor driving the SVJ2 servo amplifier to be connected to the NFB to
be selected, and select the no-fuse breaker.
When the MDS-B-SPJ2 spindle amplifier or converter unit will share no-fuse breakers, select from the
total NFB rated current of each SVJ2 total output capacity and SPJ2 spindle amplifier or convertor unit.
However, separate the SVJ2 servo amplifier no-fuse breaker from the others, and select the NF60 type
(60A) or smaller capacity dedicated for SVJ2 servo amplifiers if the total NFB rated current exceeds 60A.
NFB rated current table
Intelligent servomotor
1.5kW or less 3.5kW or less 7kW or less 10kW or less 13kW or less 16kW or less
SVJ2 total output capacity
NFB rated current 10A 20A 30A 40A 50A 60A

MDS-B-SPJ2-02
MDS-B-SPJ2-04 MDS-B-SPJ2-22
MDS-B-SPJ2 MDS-B-SPJ2-55 MDS-B-SPJ2-75 MDS-B-SPJ2-110
MDS-B-SPJ2-075 MDS-B-SPJ2-37
MDS-B-SPJ2-15
MDS-A/B-CV-37
MDS-A-CR-10 MDS-A/B-CV-55 MDS-A/B-CV-75 MDS-A-CR-90
Converter unit MDS-A-CR-22
MDS-A-CR-15 MDS-A-CR-55 MDS-A-CR-75 MDS-A/B-CV-110
MDS-A-CR-37
NFB rated current 10A 20A 30A 40A 50A

No-fuse breaker selection table

NFB rated current 10A 20A 30A 40A 50A 60A
Recommended NFB
NF30-CS3P1 NF30-CS3P2 NF30-CS3P3 NF50-CP3P4 NF50-CP3P5 NF60-CP3P6
(Mitsubishi Electric Corp.:
0A 0A 0A 0A 0A 0A
Option part)
Special order part: This part is not handled by the NC Dept. Marketing Section or dealer.

(Example 1)
The NFB is selected for the MDS-B-SVJ2-10 with three HS-SF102 axes and one
MDS-B-SPJ2-75 axis connected.
Because there are 1kW × 3 = 3kW on the intelligent servomotor side, 20A is selected
from the table for the NFB rated current.
40A is selected from the table for the SPJ2-75 rated current.
Therefore, the total rated current is 60A, and the NF60-CP3P60A is selected.

(Example 2)
The NFB is selected for the MDS-B-SVJ2-20 with two HS-SF202 axes and one
MDS-B-CR-90 connected.
Because there are 2kW × 2 = 4kW on the intelligent servomotor side, 30A is selected
from the table for the NFB rated current.
50A is selected from the table for the MDS-B-CV-90 rated current.
Therefore, the total rated current is 80A. The NFB is separated from converter unit, and
the NF30-CS3P30A is selected for the SVJ2. (Refer to the "MDS-A/B Series
Specifications Manual" for details on selecting the converter NFB.)

4–12
 Chapter 4 Peripheral Devices

Install independent no-fuse breakers and contactors as the SVJ2 main circuit
power supply if the total current capacity exceeds 60A when the power supply
is shared between the converter and a large capacity SPJ2 spindle amplifier.
DANGER No-fuse breakers may not operate for short-circuits in small capacity amplifiers
if they are shared with a large capacity unit, and this could cause fires. Select a
capacity of NF60 or less for the intelligent servomotor and SVJ2 servo
amplifier.

4-2-3 Selection of contactor

Select the contactor based on section "(1) Selection from rush current" when the system connected to
the contactor to be selected is intelligent servomotor, an MDS-B-SVJ2 servo amplifier and 3.7kW or
less MDS-B-SPJ2 spindle amplifier.
When a converter unit or 5.5kW or more MDS-B-SPJ2 spindle amplifier is included, calculate both the
capacities in sections "(1) Selection from rush current" and "(2) Selection from input current", and
select the larger of the two capacities.

(1) Selection from rush current

Use the following table to select the contactors so the total rush current for each unit does not
exceed the closed circuit current amount.

Rush current table

HS-MF23
HS-RF43, HS-RF73
Intelligent servomotor HS-SF102, HS-SF103
HS-SF52, HS-SF53
HS-SF202
Rush current 45A 100A

MDS-B-SVJ2-01
MDS-B-SVJ2-10
MDS-B-SVJ2 MDS-B-SVJ2-03 MDS-B-SVJ2-06 MDS-B-SVJ2-07
MDS-B-SVJ2-20
MDS-B-SVJ2-04
Rush current 45A 50A 70A 100A

MDS-B-SPJ2-15 MDS-B-SPJ2-55
MDS-B-SPJ2-02
MDS-B-SPJ2 MDS-B-SPJ2-075 MDS-B-SPJ2-22 MDS-B-SPJ2-75
MDS-B-SPJ2-04
MDS-B-SPJ2-37 MDS-B-SPJ2-110
Rush current 45A 50A 100A 15A

MDS-A-CR-10 to MDS-A-CR-90
Converter unit MDS-A/B-CV-110
MDS-A/B-CV-37 to MDS-A/B-CV-75
Rush current 15A 40A

Contactor selection table 1

Contactor closed current
capacity 110A 200A 220A 300A 400A 550A 650A 850A
(Total rush current)
Recommended contactor
S-N10 S-N18 S-N20 S-N25 S-N35 S-K50 S-K65 S-K80
(Mitsubishi Electric Corp.:
AC200V AC200V AC200V AC200V AC200V AC200V AC200V AC200V
Option part)
Special order part: This part is not handled by the NC Dept. Marketing Section or dealer.

(Example 1)
The contactor is selected for the MDS-B-SVJ2-10 with three HS-SF102 axes and one
MDS-B-SPJ2-37 axis connected.
< Selection only from rush current >
(HS-SF102 × 3 axes rush current) + (SPJ2-37 × 1 axis rush current)
= 3 × 100A + 1 × 100A = 400A
Therefore, S-N35 200VAC is selected.

4–13
 Chapter 4 Peripheral Devices

(2) Selection from input current

Use the following table to select the contactors so the total input current for each unit does not
exceed the rated continuity current.

Input current table

Intelligent servomotor
MDS-B-SVJ2 total output 1.5kW or less 3.5kW or less 7kW or less 10kW or less 13kW or less 16kW or less
capacity
Input current 10A 20A 30A 40A 50A 60A

MDS-B-SPJ2-02
MDS-B-SPJ2-04 MDS-B-SPJ2-22
MDS-B-SPJ2 MDS-B-SPJ2-55 MDS-B-SPJ2-75 MDS-B-SPJ2-110
MDS-B-SPJ2-075 MDS-B-SPJ2-37
MDS-B-SPJ2-15
Input current 10A 20A 30A 40A 50A

MDS-A/B-CV-37
MDS-A-CR-10 MDS-A/B-CV-55 MDS-A/B-CV-75 MDS-A-CR-90
Converter unit MDS-A-CR-22
MDS-A-CR-15 MDS-A-CR-55 MDS-A-CR-75 MDS-A/B-CV-110
MDS-A-CR-37
Input current 10A 20A 30A 40A 50A

Contactor selection table 2

Contactor rated continuity
current 20A 32A 50A 60A
(Total input current)
Recommended contactor
S-N10 S-N20 S-N25 S-N35
(Mitsubishi Electric Corp.:
AC200V AC200V AC200V AC200V
Option part)
Special order part: This part is not handled by the NC Dept. Marketing Section or dealer.

(Example 2)
The contactor is selected for the MDS-B-SVJ2-10 with four HS-SF102 axes and one
MDS-B-CV-55 connected.
< Selection from rush current >
(HS-SF102 × 4 axes rush current) + (MDS-B-CV-55 rush current) = 4 × 100A + 15A
= 415A
Therefore, S-K50 200VAC.
< Selection from input current >
(JS-SF102 × 4 axes input current) + (MDS-B-CV-55 input current) = 30A + 30A = 60A
Therefore, S-N35 200VAC.
From these, the S-K50 200VAC is selected as having the larger of the two capacities.

4-2-4 Circuit protector

When installing a circuit protector dedicated for the control power input, use a circuit protector with
inertial delay to prevent malfunctioning in respect to the rush current generated when the power is
turned ON. The size and conductivity time of the rush current fluctuate according to the power supply
impedance and potential.

Recommended circuit
Conductivity protector CP30-BA type with
Servo amplifier Rush current
time (Mitsubishi Electric medium-speed inertial delay
Corp.: Option part)
Intelligent servomotor 70 to 130A 0.5 to 1msec Rated current 0.2A per axis
Special order part: This part is not handled by the NC
Department Marketing Section or dealer.

4–14
 Chapter 5 Installation

5-1 Installation of servomotor........................................................................... 5-3

5-1-1 Environmental conditions ..................................................................... 5-3
5-1-2 Cautions for mounting load (prevention of impact on shaft)................. 5-3
5-1-3 Installation direction ........................................................................... 5-3
5-1-4 Tolerable load of axis........................................................................... 5-4
5-1-5 Oil and waterproofing measures .......................................................... 5-4
5-1-6 Cable stress ......................................................................................... 5-5
5-2 Installation of interface unit ........................................................................ 5-6
5-2-1 Environmental conditions ..................................................................... 5-6
5-2-2 Installation direction ............................................................................. 5-6
5-2-3 Prevention of entering of foreign matter............................................... 5-6
5-3 Noise measures ........................................................................................... 5-7

5–1
 Chapter 5 Installation

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

combustible material or near combustible materials could lead to fires.
2. Follow this Instruction Manual and install the unit in a place where the weight
can be borne.
3. Do not get on top of or place heavy objects on the unit.
Failure to observe this could lead to injuries.
4. Always use the unit within the designated environment conditions.
CAUTION 5. Do not let conductive objects such as screws or metal chips, etc., or
combustible materials such as oil enter the servo amplifier or servomotor.
6. Do not block the servo amplifier intake and outtake ports. Doing so could
lead to failure.
7. The servo amplifier and servomotor are precision devices, so do not drop
them or apply strong impacts to them.
8. Do not install or run a servo amplifier or servomotor that is damaged or
missing parts.
9. When storing for a long time, please contact your dealer.

5–2
 Chapter 5 Installation

5-1 Installation of servomotor

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

5-1-1 Environmental conditions

Environment Conditions Servomotor
Ambient temperature 0°C to +40°C (with no freezing)
Ambient humidity 80% RH or less (with no dew condensation)
Storage temperature –20°C to +65°C (with no freezing)
Storage humidity 90% RH or less (with no dew condensation)
• Indoors (Where unit is not subject to direct sunlight)
Atmosphere • With no corrosive gas or combustible gas. X
• With no oil mist or dust Y
Altitude 1000m or less above sea level
2
HS-MF X, Y: 19.6m/s (2G) or less
2
HS-RF X: 9.8m/s (1G) or less
2
Vibration HS-SF 1kW or less Y: 24.5m/s (2.5G) or less
2
X: 19.6m/s (2G) or less Acceleration
HS-SF 2kW 2
Y: 49m/s (5G) or less

5-1-2 Cautions for mounting load (prevention of impact on shaft)

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

Never hammer the end of the shaft

CAUTION during assembly.

5-1-3 Installation direction

There are no restrictions on the installation direction. Installation in any direction is possible, but as a
standard the servomotor is installed so that the motor power supply wire and detector cable cannon
plugs (lead-in wires) face downward. When the servomotor is not installed in the standard direction,
refer to section "5-1-5 Oil and waterproofing measures" and take the appropriate measures.
The brake plates may make a sliding sound when a servomotor with magnetic brake is installed with
the shaft facing upward, but this is not a fault.

5–3
 Chapter 5 Installation

5-1-4 Tolerable load of axis

(1) Using the flexible coupling, set the axis core deviation to less than the tolerable radial load of the
axis.
(2) When using a pulley, sprocket and timing belt, select so that the loads are within the tolerable
radial load.
(3) A rigid coupling must not be used as it will apply an excessive bending load on the axis to break.

Servomotor Tolerable radial load Tolerable thrust load

HS-MF23 88N L=25 59N
HS-RF43/73 392N L=58 196N
HS-SF52/53/102/103 392N L=58 196N
HS-SF202 2058N L=79 980N

Caution: The symbols in the table follow the drawing below.

L
Radial load

Thrust load

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

1. When coupling with a ball screw, etc., use a flexible coupling, and keep the
shaft core deviation to below the tolerable radial load.
2. When installing the pulleys or gears on the motor shaft, the radial load will
increase as the diameter of these parts decreases. Consider this when
designing the machine.
3. When using a timing belt, adjust so that the radial load (double the tension)
CAUTION generated from the tension is less than the values given above.
4. In a machine having a thrust load, such as a worm gear, provide a separate
bearing on the machine side so that the a load exceeding the tolerable
thrust load is not applied on the motor.
5. Do not use a rigid coupling as an excessive bending load will be applied on
the shaft and could cause the shaft to break.

5-1-5 Oil and waterproofing measures

(1) The servomotor does not have a precise water or oil-proof structure. The type (IP class) following
the IEC standards is indicated as the intelligent servomotor's protection type. These standards are
the short-time performance standards, so make sure that the motor surface is not subject to fluids
and that fluids do not accumulate. If cutting oil, etc., could enter, always provide a protective cover.
Always consider the cover seams, edges, shapes and dimensions. Note that the IP class does not
indicate the corrosion resistance level.

(2) When a gear box is installed on the servomotor, make sure that
the oil level height from the center of the shaft is higher than the Gear
Servomotor
values given below. Open a breathing hole on the gear box so that
the inner pressure does not rise. Oil level
Servomotor Oil level (mm)
HS-MF23 12 Lip
HS-RF43, 73, -SF103 20 Oil seal
HS-SF202 25

5–4
 Chapter 5 Installation

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

Cable trap

(4) Do not use the unit with the cable submerged in oil or water. (Refer to lower left drawing)
(5) When installing on the top of the shaft end, make sure that oil from the gear box, etc., does not
enter the servomotor.

Cover

Gear

Lubricating oil
Servo-
motor
Oil or water pool Servomotor

<Fault> Capillary tube phenomenon

(6) Connect the HS-MF23 relay connector in a relay box having a structure (IP54) that prevents water,
oil and dust, etc., from entering. Fix the enclosed cable to the motor, and also fix the enclosed
cable to the motor.

5-1-6 Cable stress

(1) Sufficiently consider the cable clamping method so that bending stress and the stress from the
cable's own weight is not applied on the cable connection.
(2) In applications where the servomotor moves, make sure that excessive stress is not applied on
the cable.
Select the cable bending radius from the required bending life and wire type.
Fix the detector cable and power cable enclosed with the servomotor.
(3) Make sure that the cable sheathes will not be cut by sharp cutting chips, worn by contacting the
machine corners, or stepped on by workers or vehicles.

5–5
 Chapter 5 Installation

5-2 Installation of interface unit

5-2-1 Environmental conditions

Environment Conditions
Ambient temperature 0°C to +55°C (with no freezing)
Ambient humidity 90% RH or less (with no dew condensation)
Storage temperature –20°C to +65°C (with no freezing)
Storage humidity 90% RH or less (with no dew condensation)
Atmosphere Indoors (Where unit is not subject to direct sunlight)
With no corrosive gas, combustible gas, oil mist or dust
Altitude 1000m or less above sea level
Vibration 5.9m/sec2 (0.6G) or less

5-2-2 Installation direction

Install so that the front of the interface unit is visible and the terminal block comes to the bottom.

5-2-3 Prevention of entering of foreign matter

Treat the cabinet with the following items.
• Make sure that the cable inlet is dust and oil proof by using packing, etc.
• Make sure that the external air does not enter inside by using head radiating holes, etc.
• Close all clearances.
• Securely install door packing.
• If there is a rear cover, always apply packing.
• Oil will tend to accumulate on the top. Take special measures such as oil-proofing the top so that
oil does not enter the cabinet from the screw holds.
• After installing each unit, avoid machining in the periphery. If cutting chips, etc., stick onto the
electronic parts, trouble may occur.

5–6
 Chapter 5 Installation

5-3 Noise measures

Noise includes that which enters the servo amplifier from an external source and causes the servo
amplifier to malfunction, and that which is radiated from the servo amplifier or motor and causes the
peripheral devices or amplifier itself to malfunction. The servo amplifier output is a source of noise as
the DC voltage is switched at a high frequency. If the peripheral devices or amplifier malfunction
because of the noise, measures must be taken to suppressed this noise. These measures differ
according to the propagation path of the noise.

(1) General measures for noise

Avoid wiring the servo amplifier's power supply wire and signal wires in parallel or in a bundled
state. Always use separate wiring. Use a twisted pair shield wire for the detector cable, the control
signal wires for the bus cable, etc., and for the control power supply wire. Securely ground the
shield.
Use one-point grounding for the servo amplifier and motor.

(2) Measures against noise entering from external source and causing servo amplifier to
malfunction
If a device generating noise is installed near the servo amplifier, and the servo amplifier could
malfunction, take the following measures.
Install a surge killer on devices (magnetic contactor, relay, etc.) that generate high levels of noise.
Install a data line filter on the control signal wire.
Ground the detector cable shield with a cable clamp.

(3) Measures against noise radiated from the servo amplifier and causing peripheral devices
to malfunction
The types of propagation paths of the noise generated from the servo amplifier and the noise
measures for each propagation path are shown below.

Noise generated Airborne Noise directly radiated Path ①

from servo amplifier propagation noise from servo amplifier

Magnetic Noise radiated from

Path ④ Path ②
induction noise power supply wire
and ⑤

Static induction Noise radiated from

Path ⑥ Path ③
noise servomotor

Cable propagation Noise propagated over Path ⑦

noise power supply wire

Noise lead in from Path ⑧

grounding wire by
leakage current

5–7
 Chapter 5 Installation

⑦
②
⑦
②

① Servo Sensor
Instru- amplifier power
ment Receiver supply
⑥
③
④ ⑧
Sensor

Servomotor SM

Noise
propaga-tion Measures
path
When devices such as instruments, receivers or sensors, which handle minute
signals and are easily affected by noise, or the signal wire of these devices, are
stored in the same panel as the servo amplifier and the wiring is close, the device
could malfunction due to airborne propagation of the noise. In this case, take the
following measures.
(1) Install devices easily affected as far away from the servo amplifier as
possible.
① ② ③
(2) Lay the signals wires easily affected as far away from the input wire with the
servo amplifier.
(3) Avoid parallel wiring or bundled wiring of the signal wire and power wire.
(4) Insert a line noise filter on the input/output wire or a radio noise filter on the
input to suppress noise radiated from the wires.
(5) Use a shield wire for the signal wire and power wire, or place in separate
metal ducts.
If the signal wire is laid in parallel to the power wire, or if it is bundled with the
power wire, the noise could be propagated to the signal wire and cause
malfunction because of the magnetic induction noise or static induction noise. In
this case, take the following measures.
(1) Install devices easily affected as far away from the servo amplifier as
④ ⑤ ⑥ possible.
(2) Lay the signals wires easily affected as far away from the input wire with the
servo amplifier.
(3) Avoid parallel wiring or bundled wiring of the signal wire and power wire.
(4) Use a shield wire for the signal wire and power wire, or place in separate
metal ducts.
If the power supply for the peripheral devices is connected to the power supply in
the same system as the servo amplifier, the noise generated from the servo
amplifier could back flow over the power supply wire and cause the devices to
⑦
malfunction. In this case, take the following measures.
(1) Install a radio noise filter on the servo amplifier's power wire.
(2) Install a line noise filter on the servo amplifier's power wire.
If a closed loop is structured by the peripheral device and servo amplifier's
grounding wires, the leakage current could penetrate and cause the devices to
⑧
malfunction. In this case, change the device grounding methods and the
grounding place.

5–8
 Chapter 6 Wiring

6-1 System connection diagram ........................................................................ 6-3

6-2 Connector...................................................................................................... 6-4
6-2-1 Connector signal layout ......................................................................... 6-4
6-2-2 Signal name........................................................................................... 6-5
6-3 Connection of power supply........................................................................ 6-6
6-3-1 Example of connection for controlling magnetic switch (MC)
with MDS-B-CV/CR................................................................................ 6-6
6-3-2 Example of connection for controlling magnetic switch with
external sequence circuit ....................................................................... 6-8
6-3-3 Wiring of contactors (MC) ...................................................................... 6-8
6-3-4 Surge absorber ...................................................................................... 6-9
6-4 Wiring the motor with brakes ...................................................................... 6-9
6-4-1 Connection example .............................................................................. 6-9
6-4-2 Manually releasing the magnetic brakes................................................ 6-10
6-5 Connection with the NC ............................................................................... 6-11
6-5-1 Connection system ................................................................................ 6-11

6–1
 Chapter 6 Wiring

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

2. Wait at least 10 minutes after turning the power OFF and check the voltage
with a tester, etc., before starting wiring. Failure to observe this could lead
to electric shocks.
DANGER 3. Securely ground the servo amplifier and servomotor with Class 3 grounding
or higher.
4. Wire the servo amplifier and servomotor after installation. Failure to observe
this could lead to electric shocks.
5. Do not damage, apply forcible stress, place heavy items or engage the cable.
Failure to observe this could lead to electric shocks.

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

runaway of the servomotor.
2. Do not mistake the terminal connections.
Failure to observe this item could lead to ruptures or damage, etc.
3. Do not mistake the polarity ( + , – ). Failure to observe this item could lead to
CAUTION ruptures or damage, etc.
4. Electronic devices used near the servo amplifier may receive magnetic
obstruction. Reduce the effect of magnetic obstacles by installing a noise
filter, etc.
5. Do not modify this unit.

6–2
 Chapter 6 Wiring

6-1 System connection diagram

I/F unit HS-IF-6
I/Fユニット　HS-IF-6
Battery unit
バッテリーユニット　
A-BT
A-BT
サーボ
Servo 主軸
Spindle ﾊﾟﾜｰｻ
Power
MDS-
MDS- MDS-
MDS- ﾌﾟﾗｲ
supply
B-
B- B-SP
B-SP MDS-
MDS-
V1,V2 B-CV
B-CV

MELDAS CNC

24VDC
DC24V

MC relay
ＭＣ用リレー
Brake circuit
ブレーキ回路 B-AL
ACリア
AC
クトル
reactor
ＭＣ

ＮＦ

3ø200VAC L1, L2,

主回路電源用
L3 for main circuit
power L1,L2,L3,
3φAC200V

200VAC L11, L12 for

制御回路電源用AC200V
control L11,L12
circuit power

インテリジェント
Intelligent
サーボモータ servomotor

Note)
1) Keep the cable length to within 30m.
2) This is a motor with magnetic brakes. The power connected to the magnetic brake does not
have a polarity.
3) Securely connect the shield wire to the plate (grounding plate) in the connector.
4) When using as an absolute connector, connect MDS-A-BT†.

6–3
 Chapter 6 Wiring

6-2 Connector
Never connect the power wire to the signal terminal or the signal wire to the
CAUTION power terminal. There is a risk of electric shock. Failure to observe this can
also cause damage or faults with the NC unit or devices connected to the NC.
Apply only the designated voltage to each terminal. Failure to observe this
DANGER could lead to damage or faults.

6-2-1 Connector signal layout

(1) HS-RFxxE, HS-SFxxE

Ｊ
Ｎ Ｌ１ Ｅ
Ｌ１１ ＴＸＤ*
Ｕ Ａ
Ｌ１２ ＴＸＤ
Ｐ Ｆ
Open Ｋ ＲＸＤ＊
Ｖ Ｌ２ Ｂ
Open ＲＸＤ
Ｒ Ｇ
ＲＧ ＥＭＧ＊
Ｗ Ｃ
ＢＲ Ｌ ＥＭＧ
Ｓ Ｌ３ Ｈ
Open ＡＬＭ＊
Ｘ Ｄ
ＭＯＮ ＡＬＭ
Ｔ Ｉ
ＧＮＤ Ｍ ＢＡＴ
ＰＥ

(Japan Aviation) Applicable connector: JL04V-28A28-11PE

(2) HS-MF23E

Ｂ１ Ｂ２ Ｂ３ Ｂ１ Ｂ４ Ｂ４ Ｂ４ Ｂ６ Ｂ６

Ｌ２ ＰＥ Ｌ１２ ＴＸＤ＊ ＲＸＤ＊ ＥＭＧ＊ ＡＬＭ＊ ＧＮＤ ＦＧ

Ａ１ Ａ２ Ａ３ Ａ１ Ａ２ Ａ３ Ａ４ Ａ５ Ａ６

Ｌ１ Open Ｌ１１ ＴＸＤ ＲＸＤ ＥＭＧ ＡＬＭ ＢＡＴ ＭＯＮ

Applicable connector:
Power connector : 178964-3 (AMP)
Signal connector : 178964-6 (AMP)

6–4
 Chapter 6 Wiring

6-2-2 Signal name

Name Signal name Details
Main circuit Main circuit power supply input terminal
L1·L2·L3
Power supply

power supply Connect 3-phase 200 to 230VAC, 50/60Hz.

Control circuit Control circuit power supply input terminal
L11·L12
power supply Connect 1-phase 200 to 230VAC, 50/60Hz.
Protective Grounding terminal
PE
ground Connect and ground with the servomotor grounding terminal.
NC transmission
TXD, TXD*
data
NC reception
RXD, RXD*
Control signal

data
MON Monitor output
FG Ground For NC connection
EMG, EMG* Emergency stop
ALM, ALM* Alarm
BAT Battery
GND Ground
RG Connect the 24VDC for the magnetic brakes. (Only when
Brake

Power supply for

brakes are provided.)
magnetic brakes
BR The power supply polarity is irrelevant.

6–5
 Chapter 6 Wiring

6-3 Connection of power supply

1. Keep the power voltage and capacity within the controller's specification
range. Failure to observe this could lead to damage or faults.
2. For safety purposes, always install a no-fuse breaker or earth leakage
breaker, and shut off when an error occurs or before inspecting. A large
rush current flows when the power is turned ON. Refer to Chapter 6 and
CAUTION select the no-fuse breaker or earth leakage breaker.
3. For safety purposes, install a magnetic switch that shuts off when an error
occurs. If the converter unit MDS-B-CV is provided in the system, use the
converter's magnetic switch control function. The magnetic switch can be
directly driven by the MDS-B-CV.

6-3-1 Example of connection for controlling magnetic switch (MC) with MDS-B-CV/CR
The following connection example applies when the power supply unit MDS-B-CV/CVE/CR is
provided in the system.
The magnetic switch can also be controlled by the MDS-B-SVJ2/SPJ2. Refer to the respective unit's
specification manual for details.

(1) When sharing a power supply unit and power supply

MC

NFB
3-phase
200VAC

Power supply Servo/spindle

unit drive unit
AC reactor B-AL MDS-B-CV/CR MDS-B-Vx/SP
ＰＥ ＰＥ ＰＥ
Ｌ１ Ｌ１
Intelligent
Ｌ２ Ｌ２
servomotor
Ｌ３ Ｌ３

Ｌ１１ Ｌ１１ Ｌ１１

Ｌ１２ Ｌ１２ Ｌ１２

ＭＣ１

Ｌ＋ Ｌ＋

Ｌ－ Ｌ－

24VDC
External
emergency I/F unit
Mitsubishi
stop CNC

Terminator

1. The MDS-B-CV is a power supply regenerative type converter; an AC

reactor is required in the power supply line.
Connect the intelligent servomotor main circuit power supply on the power
CAUTION supply side of the AC reactor.
2. A no-fuse breaker and contactor cannot be shared when the rated current of
the no-fuse breaker exceeds 60A.

6–6
 Chapter 6 Wiring

(2) When not sharing a converter and power supply

If the rated current exceeds 60A by the selection of the no-fuse breaker when the converter and
power supply are shared, install the no-fuse breakers and contactors separate from the converter
unit.

NFB1
3-phase
200VAC

Power supply Servo/spindle

unit drive unit
AC reactor B-AL MDS-B-CV/CR MDS-B-Vx/SP
ＰＥ ＰＥ
Ｌ１
MC1
Ｌ２

Ｌ３

Ｌ１１ Ｌ１１

Ｌ１２ Ｌ１２

ＭＣ１
MC2 Ｌ＋ Ｌ＋

Ｌ－ Ｌ－
NFB2
ＰＥ

Ｌ１
Intelligent
servomotor
Ｌ２

Ｌ３

Ｌ１１

Ｌ１２

Terminator

24VDC
External
emergency I/F unit
Mitsubishi
stop CNC

Install independent no-fuse breakers as the intelligent servomotor power

supply if the total current capacity exceeds 60A when the converter and power
supply are shared.
DANGER No-fuse breakers may not operate for short-circuits in small capacity amplifiers
if they are shared with a large capacity unit, and this could cause fires. For the
intelligent servomotor, use an NF60 type or lower capacity breaker.
(Refer to section 4.)

6–7
 Chapter 6 Wiring

6-3-2 Example of connection for controlling magnetic switch with external sequence circuit
Relay
Prepare a sequence that
cuts off with the alarm.

External
emergency stop MC

NFB
3-phase
200VAC

ＰＥ
Class 3 grounding
ＰＥ
or higher
Ｌ１ Ｌ１
Intelligent Intelligent
Ｌ２ Ｌ２
servomotor servomotor
Ｌ３ Ｌ３
Ｌ１１ Ｌ１１

Ｌ１２ Ｌ１２

24VDC
External
Terminator
emergency I/F unit
stop Mitsubishi
CNC

6-3-3 Wiring of contactors (MC)

A contactor (magnetic contactor) is inserted in the main circuit power supply input (L1, L2, L3) of servo
amplifier, and the power supply input is shut off when an emergency stop or servo alarm occurs.
When an emergency stop or servo alarm occurs, the servo amplifier stops the motor using
deceleration control or a dynamic brake. The contactors cannot be shut off during deceleration control,
because the regeneration energy (MDS-B-CV Series) is returned to the power supply, and the power
supply for deceleration must be held. Therefore, the CNC controls the contactors. The CNC confirms
that all axes are stopped, or confirms the dynamic brake operation. Then it outputs a shutoff command
for amplifiers that drive contactors.
When actually driving the contactor, it is driven by the amplifier of the axis having the longest
deceleration time constant in consideration of the communication from the NC being cut off. Generally,
when a converter (MDS-B-CV/CVE/CR) is provided, the contact is driven by the converter. When a
spindle amplifier is provided, the contactor is driven by the spindle amplifier, and when the servo
amplifier (MDS-B-SVJ2) is provided, the contact is driven by the servo amplifier.
Give consideration to the above, and examine the contactor drive method in the following order of
priority.
(Order of priority of the contactor drive method)
1. Using the contactor control output (MC1) of the converter unit.
2. Driven by spindle amplifier (MDS-B-SPJ2 in this case).
3. Driving from the servo amplifier (MDS-B-SVJ2) of the vertical axis (unbalanced axis).
4. Driving from the servo amplifier (MDS-B-SVJ2) having the longest deceleration time constant.
5. Driven by external sequence (only for intelligent servomotor.)

Directly cut off the contact with an external sequence only when using the
intelligent servomotor. In this case, cut off the power supply with a delay longer
CAUTION than the servo's acceleration/deceleration time constant in respect to the
emergency stop signal. If the input power is cut off during deceleration control,
the undervoltage alarm could occur or the deceleration control may be prevented.
6–8
 Chapter 6 Wiring

6-3-4 Surge absorber

As protection against surge voltage caused by lightning, etc., the surge absorber and radio noise filter
shown below are built into the intelligent servomotor's I/F unit MDS-B-HSIF (refer to Chapter 6) and
the MDS-B-CV AC reactor B-ALxx. When not using these simultaneously, install a surge absorber and
filter on the input power supply as shown below. Refer to the following table and select the surge
absorber.

C4
L1
VAR1 C1 C5
L2
VAR2 VAR3 C2 C3 C6
L3
PE
VAR4

Symbol Type Maker Rating

VAR1 to MARCON ELECTRONICS
TNR23G471K Varistor voltage 423 to 517V
VAR3 CO., LTD.
DC discharge start voltage
VAR4 DSAZR2-302M Mitsubishi Materials Corp.
2400 to 3600V
SHIZUKI ELECTRONIC
C1 to C3 AL-U2E224K 250VAC 0.22µF
CO., INC.
Murata Manufacturing Co.,
C4 to C6 DE7120F332MVA-1KC 2500VAC 3300pF
Ltd.

6-4 Wiring the motor with brakes

1. No mechanical guarantee is provided even when the dynamic brakes are

used. If the machine could drop during a power failure, use a motor with
magnetic brakes or provide an external brake mechanism to prevent
dropping.
2. The magnetic brakes are used for holding, and must not be used for normal
braking. There may be cases when holding is not possible due to the life
CAUTION and machine structure (when ball screw and servomotor axis are connected
via a timing belt, etc.). Provide a stopping device to ensure safety on the
machine side.
3. The magnetic brakes of the motor with magnetic brakes are controlled in the
intelligent servomotor. However, provide a double circuit configuration so
that these brakes will operate even with the external emergency stop signal.

6-4-1 Connection example

Cut off with emergency stop signal. Amplifier

Servomotor
EMG
BR RA

24VDC RG
Magnetic brakes

1) The brakes are safety brakes, and will operate when the power (24VDC) is turned OFF.
2) Prepare a brake excitation power supply that ensures a secure attraction current.
3) The brake terminal polarity is random, but must not be mistaken with other circuits.
6–9
 Chapter 6 Wiring

6-4-2 Manually releasing the magnetic brakes

The intelligent servomotor has a relay for controlling the brakes in the amplifier, so the brakes cannot
be released even if power is supplied to the 24V power terminal (BR, RG) for the cannon plug brakes.
Release the brakes with the following method when the brakes need to be released for handling when
assembling, adjusting or servicing the machine.

(1) Method 1
Remove the amplifier section and input the 24V power to the motor brakes. There is no polarity.
Refer to section "9-3. Replacing the unit" for details on removing and installing the amplifier
section.
The amplifier terminal is a connector, so prepare the following connector beforehand.

Plug housing : SMP-02V-BC

Socket contact : BHF-001T-0.8BS (J.S.T. Mfg Co., Ltd.)

(2) Method 2
Enter the brake release mode by changing the MON signal, normally used for the axis No.
selection, several times.

1) Prepare the circuit operation box shown with the dotted line below, and connect with the
intelligent servomotor as shown in the drawing.
2) Open SW1 and SW2.
3) Input 200VAC to the LL1 and LL2 terminals. → The LED will turn ON.
4) Turn SW1 ON. → The LED will flicker.
5) Turn SW2 ON. → The LED will turn OFF.
6) Turn SW2 OFF. → The LED will turn ON, and the relay in the
amplifier will turn ON.
7) Input 24VDC to the BR and RG terminals. → The brakes will be released.
8) Thereafter, when SW2 is turned ON the brakes will be applied, and when turned OFF, the
brakes will be released.

Intelligent
servomotor
Operation box
L11
Control NFB
power 200VAC
L12

RA BR
24VDC
RG

ALM For OFF at

LED

330Ω emergency
ALM*
MON
Control SW2 SW1 For status
circuit indication

680Ω
LG

All other pins are open.

6–10
 Chapter 6 Wiring

6-5 Connection with the NC

6-5-1 Connection system

Terminator or battery unit when Terminator or battery

there is no other drive unit unit

I/F unit
CN1A CN1B
Mitsubishi
CNC

CON1 to CON4

MDS-B Series servo/spindle drive unit

Intelligent servomotor

(1) Refer to "Chapter 6 Peripheral devices" for details on connecting and setting the I/F unit.
(2) The I/F unit's CON1 to CON4 (intelligent servo connection connectors) can be connected to any
connector.
(3) If the MDS-B Series servo/spindle drive unit is connected as shown above, connect the I/F unit
between the CNC and servo spindle drive. Other drive units cannot be connected between the
CNC and I/F unit.

I/F unit

Mitsubishi An I/F unit cannot be connected

CNC behind the servo/spindle drive unit.

MDS-B Series servo/spindle drive unit

Intelligent servomotor

(4) There may be cases when the I/F unit (PCB) is manufactured by the machine maker. In this case,
contact the machine maker for details on connecting and setting the I/F unit.

6–11
 Chapter 7 Setup

7-1 Setting the initial parameters...................................................................... 7-2

7-1-1 Servo specification parameters............................................................ 7-2
7-1-2 Limitations to electronic gear setting value .......................................... 7-2
7-1-3 Parameters set according to feedrate .................................................. 7-3
7-1-4 Parameters set according to machine load inertia ............................... 7-3
7-1-5 Standard parameter list according to motor ......................................... 7-4

7–1
 Chapter 7 Setup

7-1 Setting the initial parameters

The servo parameters must be set to start up the servo drive system.
The servo parameters are input from the CNC. The input method will differ according to the CNC, so
refer to the Instruction Manual provided with each CNC.

7-1-1 Servo specification parameters

The servo specification parameters are determined according to the machine specifications and servo
system specifications.
No. Abbrev. Parameter name Explanation
SV017 SPEC Servo specifications This is a HEX setting parameter. Set this as follows according to the servo
specifications.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
abs dmk

bit Meaning when "0" is set. Meaning when "1" is set.

Deceleration control stop
0 dmk Dynamic brake stop selection
(Standard)
7 abs Incremental control Absolute position control
Set all bits other than those above to 0.

SV025 MTYP Motor type Set the motor type.

Refer to the standard parameter list for each motor for the settings.
SV036 PTYP Regenerative resistor type Set 1000 as a standard.
SV027 SSF1 Special servo function Set 4000 as a standard.
selection 1
SV033 SSF2 Special servo function Set 0000 as a standard.
selection 2
SV001 PC1 Motor side gear ratio Set the motor side gear ratio in PC1 and the machine side gear ratio in PC2.
SV002 PC2 Machine side gear ratio When using a rotary axis, set the total deceleration (acceleration) ratio.
SV018 PIT Ball screw pitch Set the ball screw pitch with an mm unit. Set 360 for a rotary axis.
SV019 RNG1 Position detector resolution Set the motor detector resolution with a kp/rev unit for both settings.
SV020 RNG2 Speed detector resolution Refer to the standard parameters for each motor for the settings.
SV003 PGN1 Position loop gain Set 33 as a standard.

7-1-2 Limitations to electronic gear setting value

The servo amplifier has internal electronic gears. The command value from the NC is converted into a
detector resolution unit to carry out position control. The electronic gears are single gear ratios
calculated from multiple parameters as shown below. However, each value (ELG1, ELG2) must be
less than 32767.
If the value overflows, the initial parameter error (alarm 37) or error parameter No. 101 (2301 with
M50/M64 Series NC) will be output.
If an alarm occurs, the mechanical specifications and electrical specifications must be revised so that
the electronic gears are within the specifications range.

Reduced fraction of
ELG1 PC2 × RANG
= (reduced fraction)
ELG2 PC1 × PIT × IUNIT

RANG = RNG1 = RNG2

IUNIT = 2/NC command unit (µm)
1µm : IUNIT = 2, 0.1µm: IUNIT = 20

When the above is calculated, the following conditions must be satisfied.

ELG1 ≤ 32767
ELG2 ≤ 32767

If the electronic gears in the amplifier overflow, the alarm 37 or error parameter
POINT No. 101 (2301 with M50/M64 series NC) will be output.

7–2
 Chapter 7 Setup

7-1-3 Parameters set according to feedrate

The following parameters are determined according to each axis' feedrate.
No. Abbrev. Parameter name Explanation
SV023 OD1 Excessive error detection A protective function will activate if the error between the position command and
width at servo ON position feedback is excessive. If the machine load is heavy and problems occur
SV026 OD2 Excessive error detection with the standard settings, gradually increase the setting value.
width at servo OFF <Calculation of standard setting value>
Rapid traverse rate (mm/min)
OD1 = OD2 = ÷ 2 (mm)
60 × PGN1

7-1-4 Parameters set according to machine load inertia

The following parameters are set according to the machine's inertia.
No. Abbrev. Parameter name Explanation
SV005 VGN1 Speed loop gain. Refer to the comparison graph with the load inertia scale for the standard setting
value.
SV008 VIA Speed loop leading Set 1364 as a standard. Set 1900 as a standard for the SHG control.
compensation If the load inertia is large and is in the standard VIA change region, set the value
in the comparison graph regardless of whether normal control or SHG control is
used.

Motor single unit Standard VIA change region

50 100
＜HS-MF＞ ＜HS-RF＞
40 80

30 60
Standard Standard VIA
HC-RF43
VGN1 VGN1 40 HC-RF73 1500
20

10 20 1000
VIA
0 0 500
1 3 5 7 9 11 1 3 5 7 9 11

Load inertia scale (total load inertia/motor inertia) Load inertia scale (total load inertia/motor inertia)

Standard VIA change region

600
＜HC-SF＞
500

400 HC-SF202
Standard
VGN1 300
VIA
HC-SF53, HC-SF103
200 1500
HC-SF52
100 HC-SF102 1000
VIA
0 500

Load inertia scale (total load inertia/motor inertia)

7–3
 Chapter 7 Setup

7-1-5 Standard parameter list according to motor

Set the parameters other than 7-2-1 to 7-2-4 to the standard parameters.

Motor type
MF23 RF43 RF73 SF52 SF53 SF102 SF103 SF202
No. Abbrev. Parameter name
SV001 PC1 Motor side gear ratio Set the motor side gear ratio in PC1 and the machine side gear ratio in
PC2.
SV002 PC2 Machine side gear ratio
When using a rotary axis, set the total deceleration (acceleration) ratio.
SV003 PGN1 Position loop gain 1 33
SV004 PGN2 Position loop gain 2 0
SV005 VGN1 Speed loop gain Refer to "7-1-4 Parameters set according to machine load inertia"
SV006 – – 0
SV007 – – 0
SV008 VIA Speed loop leading compensation 1364
Current loop Q axis leading
SV009 IQA 4096 8192 8192 8192 4096 8192 4096 4096
compensation
Current loop D axis leading
SV010 IDA 4096 8192 8192 8192 4096 8192 4096 4096
compensation
SV011 IQG Current loop Q axis gain 400 384 384 512 256 384 256 384
SV012 IDG Current loop D axis gain 400 384 384 512 256 384 256 384
SV013 ILMT Current limit value 400 300 300 700 700 600 700 500
Current limit value during special
SV014 ILMTsp 400 250 250 700 700 600 700 500
operation
SV015 FFC Acceleration feed forward gain 0
SV016 LMC1 Lost motion compensation 1 0
SV017 SPEC Servo specifications Refer to "7-1-1 Servo specification parameters"
Set the ball screw pitch with an mm unit.
SV018 PIT Ball screw pitch
Set 360 for a rotary axis.
SV019 RNG1 Position detector resolution 8 100
SV020 RNG2 Speed detector resolution 8 100
SV021 OLT Overload time constant 60
SV022 OLL Overload detection level 150
Excessive error detection width
SV023 OD1 Refer to "7-1-3 Parameters set according to feedrate"
during servo ON
SV024 INP In-position width 50
SV025 MTYP Motor type 229E 22E0 22E1 22B0 22C0 22B1 22C1 22B3
Excessive error detection width
SV026 OD2 Refer to "7-1-3 Parameters set according to feedrate"
during servo OFF
SV027 SSF1 Special servo function selection 1 4000
SV028 Compensation function for special
– 0
to 035 functions
SV036 PTYP Regenerative resistor type 1000
SV037 Compensation function for special
– 0
to 046 functions
SV047 EC Inductive voltage compensation gain 70
SV048 EMGrt Vertical axis drop prevention time 0
Position loop gain during spindle
SV049 PGN1sp 15
synchronization 1
SV050 Compensation function for special
– 0
to 064 functions

7–4
 Chapter 8 Adjustment

8-1 Measurement of adjustment data............................................................... 8-2

8-1-1 D/A output specifications ..................................................................... 8-2
8-1-2 Setting the output data......................................................................... 8-2
8-1-3 Setting the output scale ....................................................................... 8-3
8-1-4 Setting the offset amount ..................................................................... 8-3
8-1-5 Clamp function ..................................................................................... 8-3
8-1-6 Filter function ....................................................................................... 8-3
8-2 Gain adjustment........................................................................................... 8-4
8-2-1 Current loop gain ................................................................................. 8-4
8-2-2 Speed loop gain ................................................................................... 8-4
8-2-3 Position loop gain................................................................................. 8-6
8-3 Characteristics improvement ..................................................................... 8-8
8-3-1 Optimal adjustment of cycle time ......................................................... 8-8
8-3-2 Vibration suppression measures.......................................................... 8-10
8-3-3 Improving the cutting surface precision................................................ 8-12
8-3-4 Improvement of protrusion at quadrant changeover ............................ 8-15
8-3-5 Improvement of overshooting .............................................................. 8-19
8-3-6 Improvement of characteristics during acceleration/deceleration......... 8-21
8-4 Setting for emergency stop ........................................................................ 8-24
8-4-1 Deceleration control ............................................................................. 8-24
8-4-2 Vertical axis drop prevention control .................................................... 8-26
8-5 Collision detection ..................................................................................... 8-27
8-6 Parameter list ............................................................................................... 8-30

8–1
 Chapter 8 Adjustment

8-1 Measurement of adjustment data

The intelligent servomotor has a function to D/A output the various control data. To adjust the servo
and set the servo parameters that match the machine, it is necessary to use the D/A output and
measure the internal status of the servo. Measure using a hi-coder, synchroscope, etc.

8-1-1 D/A output specifications

<Output specifications>
No. of channels : 1ch.
Output cycle : 888µsec (min. value)
Output precision : 8bit
Output voltage range : 0V to 2.5V to 5V
Output pins : On intelligent servo I/F unit
Output scale setting : ±1/256 to ±128 times
Output resistance : 1kΩ

<Output function>
• Offset amount adjustment function
• Output clamp function
• Low path filter function

<Measurement method>
Connect the measuring instrument to the I/F unit check pin. When observing the waveform, turn the
I/F unit DIP switch OFF.
Note that the DIP switch must be turned ON when the power is turned ON. Do not connect a
measuring instrument having a low input impedance when turning the power ON.

8-1-2 Setting the output data

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

No. Output data Standard output unit Output cycle No. Output data Standard output unit Output cycle
0 0 V test output For offset amount adjustment
1 Speed feedback 2000rpm/1V 888 µsec 21 Motor load level 100%/1.25V 113.7 msec
2 Current feedback Rated current/0.5V 888 µsec 22 Amplifier load level 100%/1.25V 113.7 msec
3 Speed command 2000rpm/1V 888 µsec Regenerative load
23 100%/1.25V 910.2 msec
level
4 Current command Rated current/0.5V 888 µsec
24 PN bus wire voltage 200V/V (1/200) 888 µsec
5 V-phase current value 40A/V 888 µsec
Speed cumulative
W-phase current 25 – 888 µsec
6 40A/V 888 µsec item
value
26 Cycle counter 0–125V 888 µsec
Estimated disturbance
7 Rated current/0.5V 888 µsec 27 – 3.55 msec
torque
8 – 28 –
9 – 29 – 3.55 msec
10 – 30 – 3.55 msec
11 Position droop 4 mm/V 3.55 msec 31
12 Position droop(×10) 400 µm/V 3.55 msec to –
99
13 Position droop(×100) 40 µm/V 3.55 msec
100 5 V test output – –
14 Feedrate (F∆T) 40000 (mm/min)/V 888 µsec
Saw-tooth wave test 1.25 to 3.75V
15 Feedrate (F∆T×10) 4000 (mm/min)/V 888 µsec 101 output 888 µsec
Cycle 113.7 msec
16 – 3.55 msec 2.5 to 3.75V
Rectangular wave
17 – 3.55 msec 102 test output 888 µsec
Cycle 227.5 msec
18 – 3.55 msec
q axis current 103
19 – 888 µsec Setting prohibited
cumulative value
∼

d axis current
20 – 888 µsec
cumulative value

8–2
 Chapter 8 Adjustment

8-1-3 Setting the output scale

This is set when an output is to made with a unit other than the standard output unit.
(Example 1) When SV061= 5, SV063 = 2560
The V-phase current value will be output with 4A/V unit to D/A output ch. 1.
(Example 2) When SV063 = 11, SV064 = 128
The position droop will be output with a 8mm/V unit to the D/A output ch. 2.
No. Abbrev. Parameter name Explanation Setting range
SV063 DA1MPY D/A output channel 1 When "0" is set, the output will be made with the standard output unit. –32768 to 32767
output scale To change the output unit, set a value other than 0.
SV064 DA2MPY D/A output channel 2 The scale is set with a 1/256 unit. When 256 is set, the unit will be the
output scale same as the standard output unit.

8-1-4 Setting the offset amount

This is used when the zero level of the output voltage is to be finely adjusted. The output scale when
the data No. is 0 will be the offset amount. After setting the offset, set the data No. to a value other
than 0, and do not set it to 0 again. The offset value will be reset when the amplifier power is turned
OFF. (The value is not reset when the NC power is turned OFF.)
No. Abbrev. Parameter name Explanation Setting range
SV061 DA1NO D/A output channel 1 Set "0". 0 to 102
data No.
SV063 DA1MPY D/A output channel 1 The amount can be set with the output precision unit. Observe the –10 to 10
offset amount output value and set so that the output value is 0 V.

8-1-5 Clamp function

This is used when the output value such as the position droop exceeds the output range and over
flows.

5V 5V

Position
droop 0 0 D/A output
range

-10V -10V

Time Time
When overflow is set When clamp is set

8-1-6 Filter function

A low path filter with a cutoff frequency of 140 Hz can be set.
No. Abbrev. Parameter name Explanation
SV034 SSF3 Special servo function Set the clamp function and filter function with the following parameter.
selection 3
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
daf2 daf1 dac2 dac1 mon

bit Meaning when "0" is set. Meaning when "1" is set.

4 dac1 ch. 1 Overflow setting ch. 1 Clamp setting
5 dac2 ch. 2 Overflow setting ch. 2 Clamp setting
6 daf1 ch. 1 No filter ch. 1 Filter operation
7 daf2 ch. 2 No filter ch. 2 Filter operation

8–3
 Chapter 8 Adjustment

8-2 Gain adjustment

8-2-1 Current loop gain
No. Abbrev. Parameter name Explanation Setting range
SV009 IQA q axis leading compensation This setting is determined by the motor's electrical 1 to 20480
SV010 IDA d axis leading compensation characteristics. 1 to 20480
Set the standard parameters for all parameters.
SV011 IQG q axis gain 1 to 2560
(These are used for maker adjustments.)
SV012 IDG d axis gain 1 to 2560

8-2-2 Speed loop gain

(1) Setting the speed loop gain
The speed loop gain (SV005: VGN1) is an important parameter for determining the
responsiveness of the servo control. During servo adjustment, the highest extent that this value
can be set to becomes important. The setting value has a large influence on the machine cutting
precision and cycle time.
To adjust the VGN1 value, first obtain the standard VGN1 to judge how much VGN1 is required
for the machine load inertia.
The standard VGN1 is the value that corresponds to the size of the machine load inertia shown in
the graph in section 7-1-3. If the load inertia is not clear, estimate it using the following procedure.
1) Set the VGN1 of a level where acceleration/deceleration operation is possible. (Set a
slightly lower value so resonance does not occur.)
2) Set SV037 = 100, SV043 = 600, and SV044 = 0 in the servo parameters. Carry out a return
operation within the range where the axis can operate smoothly. At this time, set the
acceleration/deceleration time constant so the acceleration/deceleration torque equals or
exceeds (is 100% or higher than) the stall (rated) torque.
3) Observe the estimated disturbance using the D/A output, and increase the SV037 value until
the disturbance torque during acceleration/deceleration becomes smaller (cannot be observed).
(The unbalance torque is observed as an estimated disturbance torque in the vertical and
slanted axes, so ignore this amount or set the torque offset (SV032) and adjust. The friction
torque is also observed in the same way for axes having a large amount of friction, but this
should be ignored. Refer to section "8-3-3 (4) Disturbance observer" for details.)
4) The SV037 setting where the disturbance torque becomes the smallest during the
estimated acceleration/deceleration is the machine's total load inertia magnification
including the motor inertia. Obtain the standard VGN1 from the graph in section 7-1-3 based
on this value.
<When machine resonance does not occur at the standard VGN1>
Set the standard VGN1. Use the standard value if no problem (such as machine resonance)
occurs. If sufficient cutting precision cannot be obtained at the standard VGN1, do not raise the
VGN1 further above the standard value. Instead, use the disturbance observer and adjust.
Basically, there is no need to set a value higher than the standard value in VGN1.
<When machine resonance occurs at the standard VGN1>
Machine resonance is occurring if the shaft makes abnormal sounds when operating or stopping,
and a fine vibration can be felt when the machine is touched while stopped. Machine resonance
occurs because the servo control responsiveness includes the machine resonance points.
(Speed control resonance points occur, for example, at parts close to the motor such as ball
screws.) Machine resonance can be suppressed by lowering VGN1 and the servo control
responsiveness, but the cutting precision and cycle time are sacrificed. Thus, set a vibration
suppression filter and suppress the machine resonance (Refer to section "8-3-2 Vibration
suppression measures"), and set a value as close as possible to the standard VGN1. If the
machine resonance cannot be sufficiently eliminated even by using a vibration suppression filter,
then lower the VGN1.
No. Abbrev. Parameter name Explanation Setting range
SV005 VGN1 Speed loop gain Set this according to the motor inertia size. 1 to 999
If vibration occurs, adjust by lower the setting by 20% to 30% at a time.

The final VGN1 setting value should be 70 to 80% of the largest value at which
machine resonance does not occur.
POINT If the vibration suppression functions are used to suppress the resonance and
the VGN1 setting value is raised, the subsequent servo adjustment becomes
more favorable.
8–4
 Chapter 8 Adjustment

(2) Setting the speed loop leading compensation

The speed loop leading compensation (SV008: VIA) determines the characteristics of the speed
loop mainly at low frequency regions. 1364 is set as a standard, and 1900 is set as a standard
during SHG control. The standard value may drop as shown in the graph in section 7-1-3 in
respect to loads with a large inertia.
When the VGN1 is set lower than the standard value because the load inertia is large or because
machine resonance occurred, the speed loop control band is lowered. If the standard value is set
in the leading compensation in this status, the leading compensation control itself will induce
vibration. In concrete terms, a vibration of 10 to 20Hz could be caused during
acceleration/deceleration and stopping, and the position droop waveform could be disturbed
when accelerating to a constant speed and when stopped. (Refer to the following graphs.)
This vibration cannot be suppressed by the vibration suppression functions. Lower the VIA in
increments of 100 from the standard setting value. Set a value where vibration does not occur and
the position droop waveform converges smoothly. Because lowering the VIA causes a drop in the
position control's trackability, the vibration suppression is improved even when a disturbance
observer is used without lowering the VIA. (Be careful of machine resonance occurrence at this
time.)

Speed FB

0 0
Time Time

D/A output range

Position 0 0
droop Time Time

Vibration waveform with leading Adjusted position droop waveform

compensation control

If VIA is lowered, the position droop waveform becomes smooth and overshooting does not occur.
However, because the trackability regarding the position commands becomes worse, that amount
of positioning time and precision are sacrificed. VIA must be kept high (set the standard value) to
guarantee precision, especially in high-speed contour cutting (generally F = 1000 or higher). In
other words, a large enough value must be set in VGN1 so that the VIA does not need to be
lowered in machines aimed at high-speed precision. When adjusting, the cutting precision will be
better if adjustment is carried out to a degree where overshooting does not occur and a high VIA
is maintained, without pursuing position droop smoothness.
If there are no vibration or overshooting problems, the high-speed contour cutting precision can
be further improved by setting the VIA higher than the standard value. In this case, adjust by
raising the VIA in increments of 100 from the standard value.
Setting a higher VIA improves the trackability regarding position commands in machines for which
cycle time is important, and the time to when the position droop converges on the in-position
width is shortened.
It is easier to adjust the VIA to improve precision and cycle time if a large value (a value near the
standard value) can be set in VGN1, or if VGN1 can be raised equivalently using the disturbance
observer.
No. Abbrev. Parameter name Explanation Setting range
SV008 VIA Speed loop leading 1364 is set as a standard. 1900 is set as a standard during SHG 1 to 9999
compensation control. Adjust in increments of approx. 100.
Raise the VIA and adjust to improve the contour tracking precision in
high-speed cutting. If the position droop vibrates (10 to 20Hz), lower the
VIA and adjust.

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

POINT vibration. The position loop gain must be adjusted.
8–5
 Chapter 8 Adjustment

8-2-3 Position loop gain

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

No. Abbrev. Parameter name Explanation Setting range

SV003 PGN1 Position loop gain 1 Set 33 as a standard. If PGN1 is increased, the settling time will be 1 to 200
shortened, but a sufficient speed loop response will be required.
SV004 PGN2 Position loop gain 2 Set 0. (For SHG control) 0 to 999
SV057 SHGC SHG control gain Set 0. (For SHG control) 0 to 999

CAUTION Always set the same value3 for position loop gain between interpolation axes.

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

No. Abbrev. Parameter name Explanation Setting range

SV049 PGN1sp Position loop gain 1 Set 15 as a standard. Set the same parameter as the 1 to 200
during spindle position loop gain for the spindle
synchronization synchronous control.
SV050 PGN2sp Position loop gain 2 Set 0 as a standard. 0 to 999
during spindle (For SHG control)
synchronization
SV058 SHGCsp SHG control gain Set 0 as a standard. 0 to 999
during spindle (For SHG control)
synchronization

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

8–6
 Chapter 8 Adjustment

(3) SHG control (option function)

If the position loop gain is increased or feed forward control (CNC function ) is used to shorten the
settling time or increase the precision, the machine system may vibrate easily.
SHG control changes the position loop to a high-gain by stably compensating the servo system
position loop through a delay. This allows the settling time to be reduced and a high precision to
be achieved.
(Feature 1) When the SHG control is set, even if PGN1 is set to the same value as the
conventional gain, the position loop gain will be doubled.
(Feature 2) The SHG control response is smoother than conventional position control during
acceleration/deceleration, so the gain can be increased further with SHG control
compared to the conventional position control.
(Feature 3) With SHG control, a high gain is achieved so a high precision can be obtained during
contour control.
The following drawing shows an example of the improvement in roundness
characteristics with SHG control.
50.0
1) : Commanded path
2) : SHG control (PGN1=47)
3) : Conventional control (PGN1=33)

<Effect>
0.0
Control
method Roundness error (µm)

SHG control 2.5

Conventional
control 22.5
-50.0
-50.0 0.0 50.0
（F=3000mm/min，ERROR=5.0µm／div）

Shape error characteristics

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

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

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

The SHG control is an optional function. If the option is not set in the CNC, the
CAUTION alarm 37 or warning E4, Error Parameter No. 104 (2304 for M50/M64 Series
CNC) will be output.

8–7
 Chapter 8 Adjustment

8-3 Characteristics improvement

8-3-1 Optimal adjustment of cycle time
The following items must be adjusted to adjust the cycle time. Refer to the Instruction Manuals
provided with each CNC for the acceleration/deceleration pattern.
1) Rapid traverse rate (rapid) : This will affect the maximum speed during positioning.
2) Clamp speed (clamp) : This will affect the maximum speed during cutting.
3) Acceleration/deceleration time : Set the time to reach the feedrate.
constant (G0t∗, G1t∗)
4) In-position width (SV024) : This will affect each block's movement command end time.
5) Position loop gain (SV003) : This will affect each block's movement command settling time.
(1) Adjusting the rapid traverse rate
To adjust the rapid traverse, the CNC axis specification parameter rapid traverse rate (rapid) and
acceleration/deceleration time constant (G0t∗) are adjusted. The rapid traverse rate is set so that
the motor speed matches the machine specifications in the range below the maximum speed in
the motor specifications. For the acceleration/deceleration time constants, carry out rapid traverse
reciprocation operation, and set so that the maximum current command value at
acceleration/deceleration is within the range shown below. (Only when the rapid traverse rate is
below the rated speed.) Set the same value as the adjusted acceleration/deceleration time
constant in the servo parameter's deceleration control time constant (SV056: EMGt). (When
deceleration control is set.)
For motors in which the maximum speed is greater than the rated speed, the output torque is
particularly restricted in the region at or above the rated speed. When adjusting, watch the current
FB waveform during acceleration/deceleration, and adjust so that the torque is within the
specified range. Be careful, as insufficient torque can easily occur when the amplifier input
voltage is low (170 to 190V), and an excessive error can easily occur during
acceleration/deceleration.

HS-MF Series HS-RF Series HS-SF Series

Max. current Max. current Max. current
Motor type Motor type Motor type
command value command value command value
HS-MF23 280 to 320% HS-RF43 200 to 240% HS-SF52 420 to 470%
HS-RF73 200 to 240% HS-SF53 420 to 470%
HS-SF102 440 to 500%
HS-SF103 500 to 560%
HS-SF202 420 to 470%

(2) Adjusting the cutting rate

To adjust the cutting rate, the CNC axis specification parameter clamp speed (clamp) and
acceleration/deceleration time constant (G1t∗) are adjusted. The in-position width at this time
must be set to the same value as actual cutting.
• Determining the clamp rate and adjusting the acceleration/deceleration time constant
(Features) The maximum cutting rate (clamp speed) can be determined freely.
(Adjustment) Carry out cutting feed reciprocation operation with no dwell at the maximum
cutting rate and adjust the acceleration/deceleration time constant so that the
maximum current command value during acceleration/deceleration is within the
range shown below.
• Setting the step acceleration/deceleration and adjusting the clamp speed
(Features) The acceleration/deceleration time constant is determined with the position loop
in the servo, so the acceleration/deceleration F⊿T can be reduced.
(Adjustment) Set 1 (step) for the acceleration/deceleration time constant and carry out cutting
feed reciprocation operation with no dwell. Adjust the cutting feed rate so that
the maximum current command value during acceleration/deceleration is within
the range shown below, and then set the value in the clamp speed.

8–8
 Chapter 8 Adjustment

<Maximum current command value>

For the maximum current command value during acceleration/deceleration, the maximum current
command value (MAXcmd) for one second is output to MAX current 1 and MAX current 2 on the
CNC servo monitor screen and observed.
The meaning of the display for MAX current 1 and MAX current 2 will differ according to the
parameter settings.
No. Abbrev. Parameter name Explanation
SV034 SSF3 Special servo function The display data for the maximum current value on the servo monitor is
selection 3 determined with the following parameter.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
daf2 daf1 dac2 dac1 mon

bit Monitor Meaning when 0 is set Meaning when 1 is set

Maximum current Maximum current
MAX
command value after command value for one
current 1
power is turned ON second
0 mon
Maximum current
MAX Maximum current FB value
com-mand value for one
current 2 for one second
second

(3) Adjusting the in-position width

Because there is a response delay in the servomotor drive due to position loop control, a "settling
time" is also required for the motor to actually stop after the command speed from the CNC reaches
0.
The movement command in the next block is generally started after it is confirmed that the
machine has entered the "in-position width" range set for the machine.
The in-position width is effective even when the standard servo parameters are set. However, it
may follow the CNC parameters, so refer to the CNC Instruction Manual for the setting.
No. Abbrev. Parameter name Unit Explanation Setting range
SV024 INP In-position detection µm Set 50 as a standard. 0 to 32767
width Set the precision required for the machine.

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

(4) Adjusting the settling time

The settling time is the time required for the F
position droop to enter the in-position width
F∆T Settling time
after the feed command (F ⊿T) from the CNC
reaches 0. 0
The settling time can be shortened by raising Time
G0tL
the position loop gain or using SHG control.
However, a sufficient response (sufficiently Position
droop In-position
large VNG1 setting) for the speed loop is
required to carry out stable control.
0
The settling time during normal control when
the CNC is set to linear acceleration/ In-position width
deceleration can be calculated using the
following equation. During SHG control,
estimate the settling time by multiplying
PGN1 by 2 .

Settling time (msec) = −

3
10
PGN1
× ln F × 10 ×
6
INP

1 − exp − PGN1 ×3 G0tL

2
60 × G0tL × PGN1 10
PGN1 : Position loop gain1 (SV003) (rad/sec)
F : Rapid traverse rate (mm/min)
G0tL : Rapid traverse linear acceleration/
deceleration time constant (msec)
INP : In-position width (SV024) (µm)
8–9
 Chapter 8 Adjustment

3000

Speed command
(r/min) 0
Time

-3000

200
Current command
(Stall %) 0
Time

-200

Example of speed/current command waveform during acceleration/deceleration

(Reference) The rapid traverse acceleration/deceleration time setting value G0tL for when linear
acceleration/deceleration is set is calculated with the following expression.
(JL + JM) × No 6000
G0tL = – 2
(msec)
95.5 × (0.8 × TMAX – TL) ( PGN1 × K)

NO : Motor reach speed (r/min)

JL : Motor shaft conversion load inertia (kg·cm2)
JM : Motor inertia (kg·cm2)
TMAX : Motor max. torque (N·m)
TL : Motor shaft conversion load (friction, unbalance) torque (N·m)
PGN1 : Position loop gain 1 (rad/sec)
K : "1" during normal control, "2" during SHG control

8-3-2 Vibration suppression measures

If vibration (machine resonance) occurs, it can be suppressed by lowering the speed loop gain
(VGN1). However, cutting precision and cycle time will be sacrificed. (Refer to "8-2-2 Speed loop
gain".) Thus, try to maintain the VGN1 as high as possible, and suppress the vibration using the
vibration suppression functions.
If the VGN1 is lowered and adjusted because vibration cannot be sufficiently suppressed with the
vibration suppression functions, adjust the entire gain (including the position loop gain) again.

<Examples of vibration occurrence>

• A fine vibration is felt when the machine is touched, or a groaning sound is heard.
• Vibration or noise occurs during rapid traverse.

No. Abbrev. Parameter name Explanation Setting range

SV005 VGN1 Speed loop gain Set according to the load inertia size. 1 to 999
If machine resonance occurs, adjust by lowering in increments of 20 to
30%.
The setting value is 70 to 80% of the value where resonance does not
occur.

Suppress the vibration using the vibration suppression functions, and maintain
POINT the speed loop gain (SV005: VGN1) as high as possible. (The standard value
is the upper limit.)

8–10
 Chapter 8 Adjustment

(1) Machine resonance suppression filter (Notch filter)

The resonance elimination filter will function at the set frequency. Use the D/A output function to
output the current feedback and measure the resonance frequency. Note that the resonance
frequency that can be measured is 0 to 500 Hz.

<Setting method>
1. Set the resonance frequency in the machine resonance suppression filter frequency (SV038:
FHz).
2. If the machine starts to vibrate at another frequency, raise (make shallower) the notch filter
depth compensation value (SV033: SSF2.nfd), and adjust to the optimum value at which the
resonance can be eliminated.
3. When the vibration cannot be completely eliminated, use another vibration suppression
control (jitter compensation).

No. Abbrev. Parameter name Explanation Setting range

SV038 FHz Notch filter frequency Set the resonance frequency to be suppressed. (Valid at 72 or 0 to 3000
more).
Set 0 when the filter is not to be used.
SV033 SSF2 Special servo function The notch filter depth compensation is set with the following parameters.
selection 2
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
nfd

bit Descriptions
Set the filter depth for the notch filter.

0~3 nfd Deeper ← → Shallower

Setting value 0 2 4 6 8 A C E
Depth (dB) ∞ −18.1 −12.0 −8.5 −6.0 −4.1 −2.5 −1.2

(2) Jitter compensation

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

No. Abbrev. Parameter name Explanation

SV027 SSF1 Special servo function Set the jitter compensation with the following parameter.
selection 1
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
aflt zrn2 ovs2 ovs1 lmc2 lmc1 vfct2 vfct1

No jitter One pulse Two pulse Three pulse

bit
compensation compensation compensation compensation
4 vfct1 0 1 0 1
5 vfct2 0 0 1 1

Jitter compensation vibration suppression is only effective when the motor is

POINT stopped.

8–11
 Chapter 8 Adjustment

8-3-3 Improving the cutting surface precision

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

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

(1) Adjusting the speed loop gain (VGN1)

If the speed loop gain is increased, the cutting surface precision will be improved but the machine
will resonate easily.
The final VGN1 setting should be approx. 70 to 80% of the maximum value where resonance
does not occur. (Refer to "8-2-2 (1) Setting the speed loop gain")

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

The VIA has a large influence on the position trackability, particularly during high-speed cutting
(generally F1000 or more). Raising the setting value improves the position trackability, and the
contour precision during cutting can be improved. For high-speed high-precision cutting machines,
adjust so that a value equal to or higher than the standard value can be set.
When VIA is set lower than the standard value and set to a value differing between interpolation
axes, the roundness may worsen (the circle may distort). This is due to differences occurring in
the position trackability between interpolation axes. The distortion can be improved by matching
the VIA with the smaller of the values. Note that because the position trackability is not improved,
the surface precision will not be improved. (Refer to "8-2-2 (2) Setting the speed loop leading
compensation")
No. Abbrev. Parameter name Explanation Setting range
SV005 VGN1 Speed loop gain Increase the value by 20 to 30% at a time. 1 to 999
If the machine starts resonating, lower the value by 20 to 30% at a time.
The setting value should be 70 to 80% of the value where resonance
does not occur.
SV008 VIA Speed loop leading 1364 is set as a standard. 1900 is set as a standard during SHG 1 to 9999
compensation control. Adjust in increments of approx. 100.
Raise the VIA and adjust to improve the contour tracking precision in
high-speed cutting. If the position droop vibrates (10 to 20Hz), lower the
VIA and adjust.

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

With the PWM control of the inverter, a dead time Cutting
(non-energized time) is set to prevent short-circuits Motor torque
direction
caused by simultaneous energizing of the P side and ≒ 0
N side transistors having the same phase. The dead Frictional
torque
time has a non-sensitive zone for particularly low
voltage commands. Thus, when feeding with a low
speed and a low torque, the control may be unstable. Balanced
When an unbalanced axis is lowering, the frictional
torque and unbalance torque, and the frictional
torque and deceleration torque before the quadrant Unbalance
changes during circle cutting, are balanced. The torque
Lowering
motor output torque will be approximately zero, and Deceleration torque =
the control accuracy may drop. In this case, the frictional torque
control accuracy can be improved by using the
For circle cutting For unbalance torque
voltage non-sensitive band compensation. Note that
this may cause vibration to increased while the motor
is running.
8–12
 Chapter 8 Adjustment

No. Abbrev. Parameter name Explanation Setting range

SV030 IVC Voltage Set the standard value 20. Note that the vibration could increase during 0 to 200
non-sensitive band motor operation.
compensation

(4) Fine torque compensation

There may be cases when not much torque is generated during low speed feed, or when the
wear torque and unbalance torque during lowering an unbalance axis or the wear torque and
deceleration torque before a quadrant torque changeover during circular cutting are unbalanced.
These can cause the motor output torque to be approximately zero and the control accuracy to
drop. In this case, the control accuracy can be improved by using fine torque compensation. Note
that this may cause vibration during motor operation to increase.

SV030 TDCG Voltage non-sensitive Set the fine torque compensation amount Cx in the –32768
band compensation/ high-order 8 bits. to
fine torque Normally, 0 is set. Set 255 to use this function. 32767
compensation Cx
SV040 LMCT Lost motion µm Set the fine torque compensation Cy in the high-order 8 –32768
compensation / bits. Normally, 0 is set. Set 255 to use this function. to
non-sensitive 32767
band/fine torque
compensation Cy
SV045 TRUB Collision detection Stall % To use fine torque compensation, set approx. 10 to 30 in –32768
function frictional (rated the high-order 8 bits. to
torque/fine torque current %) 32767
compensation B1 /

Current command
after compensation

Cy (sv040)
Current (rated %) for Cx, Cy, B1 setting
B1 (sv045)
value 256
MF23 22.5% SF53 24.9%
Cx
RF43 13.8% SF102 26.6%
Current command
(sv030) before compensation RF73 20.1% SF103 30.1%
SF52 24.9% SF202 24.8%

8–13
 Chapter 8 Adjustment

(4) Disturbance observer

The disturbance observer can reduce the effect caused by disturbance, frictional resistance or
torsion vibration during cutting by estimating the disturbance torque and compensating it. It also is
effective in suppressing the vibration caused by speed leading compensation control.
<Setting method>
1) Adjust VGN1 to the value where vibration does not occur, and then lower it 10 to 20%.
2) Set the load inertia scale (SV037:JL) with a percentage in respect to the motor inertia of the
total load inertia.
3) Set the observer filter band (observer pole) in the disturbance observer 1 (SV043:OBS1), and
estimate the high frequency disturbance to suppress the vibration. Set 600 as a standard.
4) Set the observer gain in disturbance observer 2 (SV044:OBS2). The disturbance observer will
function here for the first time. Set 100 first, and if vibration does not occur, increase the
setting by 50 at a time to increase the observer effect.
5) If vibration occurs, lower OBS1 by 50 at a time. The vibration can be eliminated by lowering
OBS2, but the effect of the disturbance observer can be maintained by keeping OBS2 set to a
high value.
<Adjustment method>
If the load inertia is not clearly known, estimate it with the following method.
1) With the unbalance axis, set the torque offset (SV032:TOF). (Refer to "8-3-4 (2) Unbalance
torque compensation")
2) Set JL = 100, OBS1 = 600, and OBS2 = 0, and carry out a return operation within the range
where the axis can operate smoothly. At this time, set the acceleration/deceleration time
constant so the acceleration/deceleration torque equals or exceeds (is 100% or higher than)
the stall (rated) torque.
3) Observe the estimated disturbance torque using the D/A output, and increase JL until the
disturbance torque during acceleration/deceleration becomes small (cannot be observed).
Even when the torque offset is set and JL is an appropriate value, the friction torque amount
remains in the estimated disturbance torque of axes having a large amount of friction. As
shown in the graphs below, judge the setting value for JL having only the friction torque
remaining as the machine load inertia magnification.

Speed
command 0 0 0

Estimated Friction torque

disturbance 0 0 0
Time Time Time
torque

JL : Too low JL : Optimum JL : Too high

No. Abbrev. Parameter name Unit Explanation Setting range

SV037 JL Load inertia scale % Set the load inertia that includes the motor in respect to the 0 to 5000
motor inertia. (When the motor is a single unit, set 100%)
Jl + Jm Jm : Motor inertia
JL =
Jm Jl : Machine inertia
SV043 OBS1 Disturbance rad/sec Set the observer filter band (observer pole). 0 to 1000
observer 1 Set 600 as a standard, and lower the setting by 50 at a time if
vibration occurs.
SV044 OBS2 Disturbance % Set the observer gain. 0 to 1000
observer 2 Set 100 to 300 as a standard, and lower the setting if
vibration occurs.

1. When the observer gain is set to zero (OBS2 = 0), the estimated
disturbance torque can be output to the D/A output even if the disturbance
observer is not functioning.
POINT 2. Parts of the machine that do not move smoothly can be presumed to be the
disturbance.
3. When the disturbance observer has been started, the lost motion
compensation must be readjusted.

8–14
 Chapter 8 Adjustment

8-3-4 Improvement of protrusion at quadrant changeover

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

Compensation

Cutting
direction

Circle cutting path before compensation Circle cutting path after compensation

(1) Lost motion compensation (LMC)

The lost motion compensation compensates the response delay during the reversal by adding the
torque command set with the parameters when the speed direction changes. There are two
methods for lost motion compensation. With the intelligent servomotor, type 2 is used as a standard.
(The explanation for type 1 method is omitted because it is interchangeable with the old method.)
<Setting method>
1) Set the special servo function selection 1 (SSF1) bit 9. (The LMC type 2 will start).
2) Set the compensation amount with a stall % (rated current % for the general-purpose motor) unit
in the lost motion compensation 1 (LMC1). The LMC1 setting value will be used for compensation
in the positive and negative directions when LMC2 is 0.
3) If the compensation amount is to be changed in the direction to be compensated, set LMC2. The
compensation direction setting will be as shown below with the CW/CCW setting. If only one
direction is to be compensated, set the side not to be compensated as –1.
The Y axis command direc-
+Y D tion changes from + to –.
Compensation
CW CCW
point
The X axis command direc-
A tion changes from + to –.
A X axis: LMC2 X axis: LMC1
B Y axis: LMC1 Y axis: LMC2
-X +X
C X axis: LMC1 X axis: LMC2
D Y axis: LMC2 Y axis: LMC1
The X axis command direc- The Y axis command direc-
C tion changes from – to +. -Y B tion changes from – to +.

No. Abbrev. Parameter name Explanation

SV027 SSF1 Special servo function The lost motion compensation starts with the following parameter.
selection 1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
aflt zrn2 ovs2 ovs1 lmc2 lmc1 vfct2 vfct1

Setting
bit No LMC LMC type 1 LMC type 2
prohibited.
8 lmc1 0 1 0 1
9 lmc2 0 0 1 1

No. Abbrev. Parameter Unit Explanation Setting range

name
SV016 LMC1 Lost motion Stall % (rated While measuring the quadrant protrusion amount, adjust with –1 to 200
compensation current %) a 5% unit.
1 The ± direction setting value will be applied when LMC2 is set
to 0.
SV041 LMC2 Lost motion Stall % (rated Set 0 as a standard. –1 to 200
compensation current %) Set this when the compensation amount is to be changed
2 according to the direction.

8–15
 Chapter 8 Adjustment

<Adjustment method>
First confirm whether the axis to be compensated is an unbalance axis (vertical axis, slant axis). If
it is an unbalance axis, carry out the adjustment after performing step "(2) Unbalance torque
compensation".
Next, measure the frictional torque. Carry out reciprocation operation (approx. F1000) with the
axis to be compensated and measure the load current % when fed at a constant speed on the
CNC servo monitor screen. The frictional torque of the machine at this time is expressed with the
following expression.
Frictional torque = (+ feed load current %) – (– feed load current %)
2
The standard setting value for the lost motion compensation 1 (LMC1) is double the frictional
torque above.
(Example)

Assume that the load current % was 25% in the + direction and –15% in the –
direction when JOG feed was carried out at approx. F1000. The frictional torque is as
shown below, so 20% × 2 = 40% is set for LMC1. (Compensated in both directions
with LMC2 set to 0.) With this setting, 40% compensation will be carried out when the
command reverses from the + direction to the – direction, and when the command
reverses from the – direction to the + direction.
25 – (–15) = 20%
2
LMC1 = 20% × 2 = 40%
(Compensated in both directions with LMC2 set to 0.)

For the final adjustment, measure the CNC sampling measurement (DBB measurement) or while
carrying out actual cutting. If the compensation amount is insufficient, increase LMC1 or LMC2 by
5% at a time. Note that if the setting is too high, biting may occur.

Compensation 0 Optimum Too high

1. When either parameter SV016: LMC1 or SV041: LMC2 is set to 0, the same
amount of compensation is carried out in both the positive and negative
direction with the setting value of the other parameter (the parameter not set to
0).
2. To compensate in only one direction, set -1 in the parameter (LMC1 or
LMC2) for the direction in which compensation is prohibited.
3. The value set based on the friction torque is the standard value for LMC
compensation. The optimum compensation value changes with the cutting
conditions (cutting speed, cutting radius, blade type, workpiece material,
POINT etc.). Be sure to ultimately make test cuts matching the target cutting and
determine the compensation amount.
4. When the disturbance observer has been started, the observer
compensation will also be effective on quadrant protrusions, so the optimum
compensation amount of the lost motion compensation will drop. Note that
the quadrant protrusions cannot be completely compensated with only the
disturbance observer.
5. Once LMC compensation type 1 is started, the overshooting compensation
and the adaptive filter cannot be simultaneously started. A parameter error
will occur.
8–16
 Chapter 8 Adjustment

(2) Unbalance torque compensation

If the load torque differs in the positive and negative directions such as with a vertical axis or slant
axis, the torque offset (TOF) is set to carry out accurate lost motion compensation.

<Setting method>
Measure the unbalance torque. Carry out reciprocation operation (approx. F1000) with the axis to
be compensated and measure the load current % when fed at a constant speed on the CNC
servo monitor screen. The unbalance torque at this time is expressed with the following
expression.
(+ feed load current %) – (– feed load current %)
Unbalance torque =
2
The unbalance torque value above is set for the torque offset (TOF).
If there is a difference in the protrusion amount according to the direction, make an adjustment
with LMC2. Do not adjust with TOF.
(Example)
Assume that the load current % was −40% in the + direction and −20% in the –
direction when JOG feed was carried out at approx. F1000. The unbalance torque is
as shown below, so −30% is set for TOF.
−40 + (−20) = −30%
2

No. Abbrev. Parameter Unit Explanation Setting range

name
SV032 TOF Torque offset Stall % (rated Set this when carrying out lost motion compensation. –100 to 100
current %) Set the unbalance torque amount.

Even when TOF is set, the torque output characteristics of the motor and load
POINT current display of the CNC servo monitor will not change. Both the LMC
compensation and collision detection function are affected.

(3) Adjusting the lost motion compensation timing

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

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

After
compensation

Cutting
direction

Before timing delay compensation After timing delay compensation

8–17
 Chapter 8 Adjustment

No. Abbrev. Parameter name Unit Explanation Setting range

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

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

Cutter diameter

Cutter center path

Actual cutting surface

Cutting direction Point of LMC compensation execution

(4) Adjusting for feed forward control

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

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

No. Abbrev. Parameter name Unit Explanation Setting range

SV040 LMCT Non-sensitive band µm This setting is valid only during feed forward control. 0 to 100
during feed forward 2 µm is set when this is set to 0. Adjust by increasing the
control value by 1 µm at a time.

Setting of the non-sensitive band (SV040: LMCT) during feed forward control is
POINT effective for improving overshooting compensation mis-operation during feed
forward control.

8–18
 Chapter 8 Adjustment

8-3-5 Improvement of overshooting

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

Speed Position
FB command
0 0

Position Position
0 0
droop droop

Overshoot Overshoot

Time Time

1. Overshooting during rapid traverse settling 2. Overshooting during pulse feed

(1) Overshooting compensation (OVS compensation)

In OVS compensation, the overshooting is suppressed by subtracting the torque command set in
the parameters when the motor stops.
OVS compensation has a compensation effect for the overshooting during either rapid traverse
settling or pulse feed. Note that there is no compensation if the next feed command has been
issued before the motor positioning (stop). (Therefore, there is no compensation during circle
cutting.) There is also no compensation when the CNC is carrying out feed forward control.

<Setting and adjustment methods>

1) Set the special servo function selection 1 (SV027:SSF1) bit 10. (OVS compensation will start.)
2) Observe the position droop waveform using the D/A output, and increase the overshoot
compensation 1 (SV031: OVS1) value 1% at a time. Set the smallest value where the
overshooting does not occur. If SV042:OVS2 is 0, the overshooting will be compensated in
both the forward/reverse directions with the OVS1 setting value.
3) If the compensation amount is to be changed in the direction to be compensated, set the +
direction compensation value in OVS1 and the – direction compensation value in OVS2. If only
one direction is to be compensated, set the side not to be compensated as –1. The
compensation direction setting will be as reversed with the CNC parameter CW/CCW setting.

In OVS compensation, there is no compensation in the following cases.

1. There is no compensation if the next feed command has been issued before
POINT the motor positioning (stop). (There is no compensation in circle cutting.)
2. There is no compensation when the CNC is carrying out feed forward (fwd)
control.

8–19
 Chapter 8 Adjustment

No. Abbrev. Parameter name Explanation

SV027 SSF1 Special servo function The overshooting compensation starts with the following parameter.
selection 1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
aft zrn2 ovs1 lmc2 lmc1 vfct2 vfct1

bit Meaning when "0" is set. Meaning when "1" is set.

Overshooting compensation Overshooting compensation type
10 ovs1
type 1 stop 1 start

Parameter
No. Abbrev. Unit Explanation Setting range
name
SV031 OVS1 Overshooting Stall % (rated Increase the value by 1% at a time, and find the value where –1 to 100
compensation 1 current %) overshooting does not occur. When OVS2 is set to 0, the
setting value will be applied in both the ± directions.
SV042 OVS2 Overshooting Stall % (rated Set 0 as a standard. –1 to 100
compensation 2 current %) Set this when the compensation amount is to be changed
according to the direction.

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

Cutting direction

8–20
 Chapter 8 Adjustment

8-3-6 Improvement of characteristics during acceleration/deceleration

(1) SHG control (option function)
Because SHG control has a smoother response than conventional position controls, the
acceleration/deceleration torque (current FB) has more ideal output characteristics (A constant
torque is output during acceleration/deceleration.) The peak torque is kept low by the same
acceleration/deceleration time constant, enabling the time constant to be shortened.
Refer to item "(3) SHG control" in section "8-2-3 Position loop gain" for details on setting SHG
control.

3000

Speed command
(r/min.) 0
Time

-3000

200

Current FB
(stall %) 0
Time

-200

Acceleration/deceleration characteristics during conventional control

3000

Speed command
0
(r/min.) Time

-3000

200

Current FB
(stall %) 0
Time

-200

Acceleration/deceleration characteristics during SHG control

Setting
No. Abbrev. Parameter name Setting example Explanation Setting range
ratio
SV003 PGN1
Position loop gain 1 1 23 26 33 38 47 1 to 200
(SV049) (PGN1sp)
Always set a
SV004 PGN2
Position loop gain 2 8/3 62 70 86 102 125 combination of 3 0 to 999
(SV050) (PGN2sp)
parameters.
SV057 SHGC
SHG control gain 6 140 160 187 225 281 0 to 999
(SV058) (SHGCsp)
Speed loop leading
SV008 VIA Set 1900 as a standard value during SHG control. 1 to 9999
compensation
Acceleration feed
SV015 FFC Set 100 as a standard value during SHG control. 0 to 999
forward gain

8–21
 Chapter 8 Adjustment

(2) Acceleration feed forward

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

200 200
Current
command 100 100
(Stall %)
0 0

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

No FFC setting With FFC setting

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

No. Abbrev. Parameter name Unit Explanation Setting range

SV015 FFC Acceleration feed % The standard setting value is 0. To improve the 1 to 999
forward gain acceleration/deceleration characteristics, increase the value
by approx. A given below. During SHG control, use the
standard setting values given below.
SF52/53/
Motor MF23 RF43/73 SF202
102/103
A 10 10 50 50
Standard value
10 10 100 100
for SHG control

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

8–22
 Chapter 8 Adjustment

(3) Inductive voltage compensation

The current loop response is improved by compensating the back electromotive force element
induced by the motor rotation. This improved the current command efficiency, and allows the
acceleration/deceleration time constant to the shortened.
<Adjustment method>
1) Set 1 in "mon" of the special servo function selection 3 (SV034: SSF3) bit 0, and output the
current command and current FB to the servo monitor.
2) While accelerating/decelerating at rapid traverse, adjust the inductive voltage compensation gain
(SV047:EC) so that the current FB peak is a few % smaller than the current command peak.

3000
Speed
command 0
(r/min) No inductive voltage Time
-3000 compensation
200

Current
command 0
(stall %) Time
With inductive
voltage
-200 compensation

Inductive voltage compensation

To adjust the inductive voltage compensation, output 1 second of the maximum current command
value and 1 second of the maximum current FB value to MAX current 1 and MAX current 2 on the
CNC servo monitor screen and observe.
Change over and display "mon" of the special servo function selection 3 (SV034: SSF3).

No. Abbrev. Parameter name Explanation

SV034 SSF3 Special servo function The display data for the maximum current value on the servo monitor is
selection 3 determined with the following parameter.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
daf1 dac1 mon

bit Monitor Meaning when 0 is set Meaning when 1 is set

Maximum current Maximum current
MAX
command value after command value for one
current 1
power is turned ON second
0 mon
Maximum current
MAX Maximum current FB value
com-mand value for one
current 2 for one second
second

No. Abbrev. Parameter name Unit Explanation Setting range

SV047 EC Inductive voltage % Set 100% as a standard. Lower the gain if the current FB peak 0 to 200
compensation gain exceeds the current command peak.

If the current FB peak is larger than the current command peak,

overcompensation or overcurrent (alarm 3A) could occur easily. Note that
POINT when using with a large load inertia, or when using over the rated rotation
speed with a motor set to rated rotation speed < maximum rotation speed,
overcompensation could occur easily.

8–23
 Chapter 8 Adjustment

8-4 Setting for emergency stop

The emergency stop referred to here indicates the following states.
1) When the external emergency stop was input (including other axis alarms)
2) When the CNC power down was detected
3) When a servo alarm was detected

8-4-1 Deceleration control

This intelligent servomotor servo amplifier decelerates the motor according to the set time constant in
the ready ON state even when an emergency stop occurs, and activates the dynamic brakes after
stopping and turning ready OFF. This series of controls is called deceleration control. In the intelligent
servomotor, deceleration control is the standard method of stopping during an emergency stop.
<Features>
1) When the load inertia is large, deceleration and stop are possible with a short time constant
using the dynamic brakes. (Stopping is possible with a basically normal acceleration/
deceleration time constant.)
2) When used in a transfer line, etc., stopping with little shock is possible by setting a long time
constant.
(1) Setting the deceleration control time constant
The time to stopping from the rapid traverse rate (rapid: axis specification parameter) is set in the
deceleration control time constant (SV056: EMGt). A position loop step stop is carried out when 0
is set.
When linear (straight line) acceleration/deceleration is selected for the rapid traverse, the same
value as the acceleration/deceleration time constant (G0tL) becomes the standard value. When
another acceleration/deceleration pattern is selected, set the rapid traverse to linear
acceleration/deceleration. Adjust to the optimum acceleration/deceleration time constant, and set
that value as the standard value.
<Operation>
When an emergency stop occurs, the motor will decelerate at the same inclination from each
speed, and will change to the dynamic brakes at 60 r/min or less. If the power fails, etc., the
dynamic brakes will be applied during the deceleration control. When the motor brakes are
controlled with amplifier output while using an unbalanced axis, the motor brake control output
operates simultaneously with the changeover to the dynamic brakes.
Emergency stop occurrence
RAPID
Constant inclination deceleration

Motor speed Dynamic brakes activate at 60 r/min or less

Time
EMGt
Dynamic brakes OFF
ON
Motor brake control output (MBR) OFF
ON

No. Abbrev. Parameter name Unit Explanation Setting range

SV056 EMGt Deceleration control msec Set the time to stop from rapid traverse rate (rapid). 0 to 5000
time constant Set the same value as the rapid traverse
acceleration/deceleration time constant (G0tL) as a standard.

1. The deceleration will not be controlled when a servo alarm that uses the
dynamic brake stopping method occurs. Stopping is by the dynamic brake
method regardless of the parameter setting.
POINT 2. When a power failure occurs, the stopping method may change over to a
dynamic brake stop during deceleration control if the deceleration time
constant is set comparatively long. This is because of low bus voltage in the
amplifier.

8–24
 Chapter 8 Adjustment

If the deceleration control time constant (EMGt) is set longer than the
acceleration/deceleration time constant, the overtravel point (stroke end point)
CAUTION may be exceeded.
A collision may be caused on the machine end, so be careful.

(2) Dynamic brake stop

When an emergency stop occurs, it is possible to have the machine stop from the beginning
using a dynamic brake without controlling the deceleration. Set bit 0 in the servo specifications
(SV017: SPEC) to select a dynamic brake stop.
In a dynamic brake stop, the dynamic brakes operate at the same time the emergency stop
occurs, and the motor brake output also operates at the same time.

Emergency stop occurrence

Motor speed

Time
Dynamic brakes OFF
ON
Motor brake control output (MBR) OFF
ON

No. Abbrev. Parameter name Explanation

SV017 SPEC Servo specifications Set the dynamic brake stop with the following parameter.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
abs vdir mc dmk

bit Meaning when "0" is set. Meaning when "1" is set.

0 dmk Deceleration control stop Dynamic brake stop

If a dynamic brake stop is selected, the software does not participate at all in
POINT the motor stop control after an emergency stop occurs.

When a dynamic brake stop is selected, in general the coasting distance during
CAUTION an emergency stop will be comparatively longer, so be careful.

(3) Deceleration control stop distance

If stopping with deceleration control during an emergency stop, the stop distance LDEC can be
approximately calculated with the following expression. However, the value will be higher than the
following expression if the current is limited during deceleration. Refer to section "3-3-2 Coasting
amount" for the stop distance using dynamic brakes.

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

F : Feedrate during emergency stopped (mm/min)

rapid : Rapid traverse rate (mm/min)
PGN1 : Position loop gain 1 (SV003) (rad/sec)
EMGt : Deceleration control time constant (SV056) (msec)

8–25
 Chapter 8 Adjustment

8-4-2 Vertical axis drop prevention control

The vertical axis drop prevention control is a function that prevents the vertical axis from dropping due
to a delay in the brake operation when an emergency stop occurs. The servo ready OFF will be
delayed by the time set in the parameter from when the emergency stop occurs. Thus, the no-control
time until the brakes activate can be eliminated.

<Setting and adjustment methods>

Set the time to delay the ready OFF in the vertical axis drop prevention time (SV048:EMGrt).
Read the current position on the CNC screen, and apply the emergency stop. Set the minimum
delay time where the axis does not drop.
Emergency stop occurrence

Deceleration control
Motor speed

Time
Dynamic brakes OFF
ON
Motor brake control output (MBR) OFF
ON
Motor brake actual operation OFF
ON

Brake activation delay

Servo ready (READY) ON
OFF

EMGrt

No. Abbrev. Parameter name Unit Explanation Setting range

SV048 EMGrt Vertical axis drop msec Input the time to delay the ready OFF when an emergency 0 to 2000
prevention time stop occurs.
Increase the setting by 100 msec at a time and set the
minimum value where the axis does not drop.

1. This control will not function if the dynamic brake stop is selected with the
servo specifications (SV017: SPEC).
2. This control will not function if an alarm for which the dynamic brakes are
POINT set as the stopping method occurs in an axis where vertical axis drop
prevention control is being carried out.
3. A drop amount of several µm to 10µm will remain due to the brake play.

1. Do not set a vertical axis drop prevention time longer than required. The
servo control and brakes could collide causing an overload alarm or
amplifier damage. There is no problem if the duplicate time is within
CAUTION 100msec.
2. During a power failure, vertical axis drop prevention control (including
deceleration control) exceeding 100msec cannot be guaranteed. The
control will change to the dynamic brakes.

8–26
 Chapter 8 Adjustment

8-5 Collision detection

The purpose of the collision detection function is to quickly detect a collision and decelerate to a stop.
This suppresses the excessive torque generated to the machine tool, and suppresses the occurrence
of an abnormality. Impact during a collision cannot be prevented even when the collision detection
function is used, so this function does not guarantee that the machine will not break and does not
guarantee the machine accuracy after a collision. Thus, the conventional caution is required to prevent
machine collisions from occurring.

(1) Collision detection method 1

The required torque is calculated from the position Collision
command issued from the NC. The disturbance detec-tion level Detection
torque is calculated from the difference with the setting alarm
actual torque. When this disturbance torque exceeds parameter
the collision detection level set with the parameters, For rapid traverse SV060 Alarm 58
the axis will decelerate to a stop with at 80% of the (for G0 feed)
motor's maximum torque. After decelerating to a stop, For cutting feed
(for G1 feed)
SV060×clG1
(SV035)
Alarm 59
the alarm 58 or 59 will occur, and the system will
stop.
The collision detection level for rapid traverse (G0) is set with TLMT: SVC060. The collision
detection level for cutting feed (G1) is set to 0 to 7-fold (SV053.clG1) based on the collision
detection level for rapid traverse. If 0 is set for clG1, the collision detection method 1 will not
function during cutting feed. If 0 is set for TLMT: SV060, all collision detections (method 1 and
method 2) will not function.
3000

Speed
command 0
(r/min)

-3000

Collision detection method Frictional torque

200 (SV045)
1 detection range
(Alarm 58/59)
100

Estimated torque 0
(stall %)
G0 collision
-100 detection level Unbalance torque
（SV060） G0 collision （SV032）
-200 detection level
（SV060×clG1）

G0 feed (rapid traverse) G1 feed (cutting feed)

Alarm detection range for collision detection method 1

(2) Collision detection method 2

When the current command reaches the motor's maximum current, the axis will decelerate to a
stop with at 80% of the motor's maximum torque. After decelerating to a stop, the alarm 5A will
occur, and the system will stop. If the acceleration/deceleration time constant is short and
incorrect detections are made easily during normal operation, increase the
acceleration/deceleration time constant and adjust so that the current during acceleration is not
saturated (so that the maximum current is not reached).
If the acceleration/deceleration time constant cannot be increased, set parameter SV035.bit11:
SSF4.cl2n to 1 to ignore the collision detection method 2.

The collision detection function does not guarantee safety or machine accuracy
CAUTION during a collision. Thus, the conventional caution is required to prevent
machine collisions from occurring.

8–27
 Chapter 8 Adjustment

<Setting and adjustment methods>

1. Validate the extended function. (Set sv035: SSF4, bit7 (eram) to 1.)
2. Confirm that SHG control is being used. The collision detection function is valid only during
SHG control.
3. Measure the unbalance torque, and set in the torque offset (SV03: TOF). Refer to the section
"8-3-4 (2) Unbalance torque compensation" for details on measuring the unbalance torque.
4. Measure the frictional torque, and set in the frictional torque (SV045: TRUB). Refer to the
section "8-3-4-(1) Lost motion compensation" for details on measuring the frictional torque.
5. Set the estimated torque gain (SV059: TCNV) with the following method.
Set sv035: SSF5, bit 15 (clt) for the axis to be adjusted to 1.
Repeatedly move the axis to be adjusted in both directions at the maximum rapid traverse rate.
Observe the MPOF display value on the NC unit's [I/F Diagnosis/Servo Monitor] screen, and
continue operation until the display value stabilizes.
Once the display value stabilizes, set that value as the estimated torque gain (SV059: TCNV).
6. If the acceleration/deceleration time is short and the current is easily saturated, set
SV035.bit15(cl2n) to 1, and ignore the collision detection method 2.
7. Set the collision detection level.

Feed Detection level setting Explanation

First set SV060: TLEV = 100, and carry out no-load operation at the
maximum rapid traverse feed rate. If an alarm does not occur, lower the
setting by 10, and if an alarm occurs, raise the setting by 20. Set a value
G0 SV060
that is 1.5 times the limit value where the alarm does not occur.
If SV034.mon is set to 7, the maximum disturbance torque will appear on
the NC servo monitor, so adjust using this value as a reference.
The detection level for G1 is set as an integer-fold of the G0 detection
level. Calculate the maximum cutting load, and adjust the SV035.clG1
G1 SV060×clG1 (SV035)
setting value so that the detection level is larger than the maximum cutting
load.

1. The SHG control must be validated to use the collision detection function or
to carry out load inertia measurement operation.
2. When measuring the estimated torque gain, if the unbalance torque
(SV032) and frictional torque (SV045) setting values are changed, the
POINT measurement results will change. The unbalance torque and frictional
torque must be set as accurately as possible to carry out accurate
measurement.
3. Set the detection level with an allowance to avoid incorrect detections.
4. When SV060 is set to 0, all collision detection functions will be invalidated.

8–28
 Chapter 8 Adjustment

No. Abbrev. Parameter name Explanation

SV035 SSF4 Special servo function The following parameters are used for the collision detection.
selection 4 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
clt clG1 cl2n clet eram

bit Meaning when "0" is set. Meaning when "1" is set.

7 eram Extended function invalid Extended function invalid
The latest two-second estimated
disturbance torque peak value
10 clet During normal use (3.5ms average value) is
displayed at MPOF on the Servo
Monitor screen.
Collision detection method 2 Collision detection method 2
11 cl2n
valid invalid
Set the collision detection level for collision detection method 1,
12 cutting (G1) feed.
to clG1 The G1 collision detection level is SV060 × clG1.
14 When clG1 is set to 0, the collision detection method 1 will not
function during cutting feed.
The value to be set in TCNV is
calculated and displayed at
15 clt During normal use
MPOF on the Servo Monitor
screen.

SV032 TOF Torque offset Stall % (rated Set the unbalance torque amount. –100 to 100
current %)
SV045 TRUB Frictional torque Stall % (rated Set the frictional torque for using the collision 0 to 100
current %) detection function.
SV059 TCNV Torque estimated gain (load Set the torque estimated gain for using the 0 to 5000
inertia rate) collision detection function.
If acceleration/deceleration operation is carried
out with SV035.clt set to 1 and SV060 set to 0,
the estimated torque gain will be displayed on the
NC Monitor screen.
SV060 TLMT G0 collision detection level Stall % (rated Set the collision detection level of method 1 G0 0 to 200
current %) feed when using the collision detection function.
When 0 is set, all collision detection functions will
not function.

8–29
 Chapter 8 Adjustment

8-6 Parameter list

Setting
No. Abbrev. Parameter name Unit Explanation
range

SV001 PC1 Motor side gear ratio Set the motor side and machine side gear ratio. 1 to 32767
For the rotary axis, set the total deceleration (acceleration) ratio.
Machine side gear Even if the gear ratio is within the setting range, the electronic
SV002 PC2 gears may overflow and cause an alarm. 1 to 32767
ratio
Set the position loop gain. Set 33 as a standard.
SV003 PGN1 Position loop gain 1 rad/sec 1 to 200
When using SHG control, also set PGN2 and SHGC.
Set 0 as a standard.
SV004 PGN2 Position loop gain 2 rad/sec 0 to 999
When using SHG control, also set PGN1 and SHGC.
Set this according to the motor inertia size.
If motor resonance occurs, lower the value by 20 to 30% at a
SV005 VGN1 Speed loop gain time. 1 to 999
The setting value should be 70 to 80% of the value where
resonance does not occur.
SV006 Set "0". 0
SV007 Set "0". 0
Set 1364 as a standard. During SHG control, set 1900 as a
standard.
Speed loop leading Raise this value to improve contour tracking precision in
SV008 VIA 1 to 9999
compensation high-speed cutting. Lower this value when the position droop
vibrates.
Adjust by 100 at a time.
q axis leading
SV009 IQA 1 to 20480
compensation This setting is determined by the motor's electrical
d axis leading characteristics.
SV010 IDA 1 to 20480
compensation Set the standard parameters for all parameters. (These are used
SV011 IQG q axis gain for maker adjustments.) 1 to 2560
SV012 IDG d axis gain 1 to 2560
Stall %
Set the standard parameter value. The maximum torque is
SV013 ILMT Current limit value (rated 0 to 500
determined by the motor specifications.
current %)
Current limit value Stall %
Set the standard parameter value.
SV014 ILMTsp during special (rated 0 to 500
Set the limit torque mainly for the stopper.
operation current %)
The standard setting value is 0. For SGH control, set 100.
Acceleration feed
SV015 FFC % To improve the acceleration/deceleration characteristics, 1 to 999
forward gain
increase the value by 50 to 100 at a time.
The protrusion amount during quadrant changeover is
Stall %
Lost motion suppressed. Adjust in 5% units.
SV016 LMC1 (rated –1 to 200
compensation 1 When LMC2 is set to 0, the setting value will apply in both the ±
current %)
directions.

bit Meaning when "0" is set Meaning when "1" is set

Deceleration controlo stop selection
0 dmk Dynamic brake stop selection
(SVJ2 standard)
1
2
3
4
5
6
SV017 SPEC Servo specifications 7 abs Incremental control Absolute position control
8
9
10
11
12 mtc
13 Motor table selection according to model
14 Set 0100 for the intelligent servomotor HS Series.
15
Set "0" in bits with no particular description.
Set the ball screw pitch. Set 360 for the rotary axis.
SV018 PIT Ball screw pitch mm 1 to 32767
Refer to the CNC Instruction Manual for the inch ball screw.
Position detector
SV019 RNG1 kp/rev 8 to 100
resolution Set the motor detector resolution for both settings.
Speed detector Refer to the Standard parameter list per motor for the settings.
SV020 RNG2 kp/rev 8 to 100
resolution

SV001 is a parameter validated when the NC power is turned ON again.

8–30
 Chapter 8 Adjustment

Setting
No. Abbrev. Parameter name Unit Explanation
range
Overload time
SV021 OLT sec Set 60 as a standard. (For maker adjustment) 1 to 300
constant
Stall %
Overload detection
SV022 OLL (rated Set 150 as a standard. (For maker adjustment) 50 to 500
level
current %)
When 0 is set, the excessive error alarm during servo ON will
Excessive error not be detected.
SV023 OD1 detection width during mm <Standard setting value> 0 to 32767
servo ON Rapid traverse rate (mm/min)
OD1 = OD2 = ÷ 2 (mm)
60 × PGN1
In-position detection Set 50 as a standard.
SV024 INP µm 0 to 32767
width Set the precision required by the machine.
Set the motor type.
SV025 MTYP Motor type HEX setting
Refer to the Standard parameter list per motor for the settings.
When 0 is set, the excessive error alarm during servo OFF will
Excessive error
not be detected.
SV026 OD2 detection width during mm 0 to 32767
Refer to the SV023 (OD1) column for the standard setting
servo OFF
values.

bit Meaning when "0" is set Meaning when "1" is set

0
1
2
3
4 vfct1
Set the jitter compensation No. of compensation pulses with a binary.
5 vfct2
Collision detection invalid during
6 cln Collision detection valid at all times
deceleration to stop
7
Special servo function Lost motion compensation type 1 Lost motion compensation type 1
SV027 SSF1 8 lmc1
selection 1 stop start
Lost motion compensation type 2 Lost motion compensation type 2
9 lmc2
stop start
Overshooting compensation type 1 Overshooting compensation type 1
10 ovs1
stop start
11
12
13
14 Set "1".
15
Set "0" in bits with no particular description.
SV028 Set "0". 0
SV029 Set "0". 0
Set the voltage non-sensitive band compensation amount in
the low-order 8 bits.
Normally set to 0. Set 20 to use this function.
Voltage non-sensitive Set the fine torque compensation amount Cx in the high-order
band compensation/ 8 bits.
SV030 TDCG 0
fine torque Normally set to 0. Set 255 to use this function.
compensation Cx The following will result if 20 is set as the voltage non-sensitive
compensation amount, and 255 is set as the fine torque
amount.
255 × 256 +20 =65300 65300 – 65536 = –236
Stall % The overshooting is suppressed. Set with a 1% unit.
Overshooting
SV031 OVS1 (rated When OVS2 is set to 0, the setting value will be applied in both –1 to 100
compensation 1
current %) the ± directions.
Set the unbalance torque for using the lost motion
Stall %
compensation and collision detection functions.
SV032 TOP Torque offset (rated –100 to 100
Refer to section "8-3-4(2) Unbalance torque compensation" for
current %)
details on measuring the unbalance torque.

SV001 is a parameter validated when the CNC power is turned ON again.

8–31
 Chapter 8 Adjustment

Setting
No. Abbrev. Parameter name Explanation
range

bit Meaning when "0" is set Meaning when "1" is set

0 Set the filter depth for the notch filter (SV038: FHz).
1 The control is stabilized by making the filter shallower.
nfd Setting value 0 2 4 6 8 A C E
2
3 Depth (dB) ∞ −18.1 −12.0 −8.5 −6.0 −4.1 −2.5 −1.2
4
5
6
Special servo 7
SV033 SSF2
function selection 2 8
9
10
11
12
13
14
15
Set "0" in bits with no particular description.

CNC servo monitor MAX current display data changeover

bit Meaning when "0" is set Meaning when "1" is set
0 mon Current command monitor value Current FB monitor value
1
2
3
4 dac1 D/A output ch.1 overflow setting D/A output ch.1 clamp setting
5
6 daf1 D/A output ch.1 no filter D/A output ch.1 filter setting
Special servo 7
SV034 SSF3
function selection 3 8
9
10
11
12
13
14
15
Set "0" in bits with no particular description.

8–32
 Chapter 8 Adjustment

Setting
No. Abbrev. Parameter name Explanation
range

bit Meaning when "0" is set Meaning when "1" is set

0
1
2
3
4
5
6
7 eram Extended function invalid Extended function invalid
8
9
Special servo The latest two-second estimated
SV035 SSF4
function selection 4 disturbance torque peak value
10 clet During normal use (3.5ms average value) is displayed
at MPOF on the Servo Monitor
screen.
11 cl2n Collision detection method 2 valid Collision detection method 2 invalid
12 Set the collision detection level for collision detection method 1, cutting
13 (G1) feed.
clG1 The G1 collision detection level is SV060 × clG1.
14 When clG1 is set to 0, the collision detection method 1 will not function
during cutting feed.
The value to be set in TCNV is
15 clt During normal use calculated and displayed at MPOF
on the Servo Monitor screen.
Set "0" in bits with no particular description.

Regenerative Set the regenerative resistor type.

SV036 PTYP 1000
resistor type Always set 1000.
Set the load inertia that includes the motor in respect to the
motor inertia. (When the motor is a single unit, set 100%)
SV037 JL Load inertia scale % 0 to 5000
JL = Jl + Jm Jm: Motor inertia
Jm Jl : Machine inertia
Machine resonance Set the resonance frequency to be suppressed. (Valid at 100 or
SV038 FHz suppression filter Hz more). 0 to 3000
frequency Set 0 when the filter is not to be used.
Lost motion Set this when the lost motion compensation timing does not
SV039 LMCD msec 0 to 2000
compensation timing match. Adjust while increasing the value by 10 at a time.
The lost motion compensation non-sensitive band can be set
only during feed forward control. Set in the low-order 8 bits.
The setting range is 0 to 100. When 0 is set, 2µm will be set.
Lost motion Adjust the value in increments of 1µm.
compensation
Set the fine torque compensation Cy in the high-order 8 bits. –32768 to
SV040 LMCT non-sensitive µm
Normally, set 0. Set 255 to use this function. 32767
band/fine torque
compensation Cy The following will result when 5 is set as the lost motion
compensation non-sensitive band, and 255 is set as the fine
torque compensation Cy.
255 × 265 + 5 = 65285 65285 – 65536 = –251
Stall % Set 0 as a standard. Set this when the lost motion
Lost motion
SV041 LMC2 (rated compensation amount is to be changed according to the –1 to 100
compensation 2
current %) direction.
Stall % Set 0 as a standard. Set this when the overshooting
Overshooting
SV042 OVS2 (rated compensation amount is to be changed according to the –1 to 100
compensation 2
current %) direction.
Set the observer filter band (observer pole).
Disturbance
SV043 OBS1 rad/sec Set 600 as a standard, and lower the setting by 50 at a time if 0 to 1000
observer 1
vibration occurs.
Set the observer gain
Disturbance
SV044 OBS2 % Set 100 to 300 as a standard, and lower the setting if vibration 0 to 1000
observer 2
occurs.

SV001 is a parameter validated when the CNC power is turned ON again.

8–33
 Chapter 8 Adjustment

Setting
No. Abbrev. Parameter name Unit Explanation
range
Set 0 as the standard.
To use the collision detection function, set the frictional torque
as a percentage of the stall rated current in the low-order 8 bits.
Collision detection
Stall % (0 to 100)
function frictional –32768 to
SV045 TRUB (Rated To use fine torque compensation, set approx. 10 to 30 in the
torque/fine torque 32767
current %) high-order 8 bits.
compensation
The following will result when 30 is set as the frictional torque,
and 20 is set as the fine torque compensation.
30 + 20 × 256 = 5150
SV046 Set "0". 0
Inductive voltage Set 70% as a standard. Lower the gain if the current FB peak
SV047 EC % 0 to 200
compensation gain exceeds the current command peak.
Input the time to delay the ready OFF when an emergency stop
Vertical axis drop occurs.
SV048 EMGrt msec 0 to 2000
prevention type Increase the setting by 100 msec at a time and set the value
where the axis does not drop.
Position loop gain 1
Set 15 as a standard. Set the same value as the position loop
SV049 PGN1sp during spindle rad/sec 1 to 200
gain for the spindle synchronous control.
synchronization
Position loop gain 2
Set 0 as a standard. Set the same value as the position loop
SV050 PGN2sp during spindle rad/sec 0 to 999
gain for the spindle synchronous control.
synchronization
SV051 Set "0". 0
SV052 Set "0". 0
Excessive error
detection width
SV053 OD3 mm Set 0 as a standard. 0
during special
operation
SV054 Set "0". 0
SV055 Set "0". 0
Set the time to stop from rapid traverse rate (rapid).
Deceleration control
SV056 EMGt msec Set the same value as the rapid traverse 0 to 5000
time constant
acceleration/deceleration time constant.
Set 0 as a standard.
SV057 SHGC SHG control gain rad/sec When using SHG control, also set PGN1 and SHG2. (For SHG 0 to 999
control)
SHG control gain
Set 0 as a standard. Set the same value as the position loop
SV058 SHGCsp during spindle rad/sec 0 to 999
gain for spindle synchronous control. (For SHG control)
synchronization
Collision detection Set this to use the collision detection function. After setting
function Sv035:SSF4/clt to 1 and carrying out acceleration/deceleration,
SV059 TCNV % 0 to 5000
Estimated torque set the value that appears at MPOF on the Servo Monitor
gain screen.
Collision detection
Stall % When using the collision detection function, set the collision
function
SV060 TLMT (Rated detection level for method 1 Go feed. 0 to 200
G0 collision
current %) When 0 is set, all collision detection function will not activate.
detection level
D/A output channel 1
SV061 DA1NO The data No. to be output to each D/A output channel is output. 0 to 102
data No.
SV062 Set 0. 0
When “0” is set, the output will be made with the standard
output unit.
D/A output channel 1 To change the output unit, set a value other than 0. –32768
SV063 DA1MPY 1/256 The scale is set with a 1/256 unit. When 256 is set, the unit will
output scale to 32767
be the same as the standard output unit.

SV064 Set 0. 0

SV001 is a parameter validated when the CNC power is turned ON again.

8–34
 Chapter 9 Inspections

9-1 Inspections................................................................................................... 9-2

9-2 Life parts....................................................................................................... 9-2
9-3 Replacing the unit........................................................................................ 9-3
9-3-1 HS-MF23** type ................................................................................... 9-3
9-3-2 HS-FR43/73, HS-SF52/53/102/103 type.............................................. 9-3
9-3-3 HS-SF202 type .................................................................................... 9-4

9–1
 Chapter 9 Inspections

1. Wait at least 10 minutes after turning the power OFF and check that the
input/output and voltage are zero with a tester, etc., before starting wiring or
inspections. Failure to observe this could lead to electric shocks.
DANGER 2. Only qualified persons must carry out the inspections. Failure to observe
this could lead to electric shocks. Contact your dealer for repairs or part
replacements.

3. Do not perform a megger test (insulation resistance measurement) on the

CAUTION servo amplifier. Failure to observe this could lead to faults.
4. Never disassemble or modify the unit.

9-1 Inspections
Periodically inspecting the following points is recommended.
(1) Are any screws on the terminal block loose? Tighten if loose.
(2) Is the connector loose?
(3) Is there any abnormal noise from the servomotor bearings or the brakes?
(4) Are any of the cables damaged or cracked? If the cable moves with the machine, carry out a
periodic inspection according to the usage conditions.
(5) Is the axis at the load coupling section misaligned?

9-2 Life parts

The guidelines for the part replacement interval are as shown below. These will differ according to the
usage methods and environmental conditions, of if an abnormality is found, the part must be replaced.

Part name Standard replacement time Remarks

Battery unit Seven years The standard replacement time is
MDS-A-BT-2 a reference time. If an abnormality
MDS-A-BT-4 is found before the standard
MDS-A-BT-6 replacement time is reached, the
MDS-A-BT-8 part must be replaced.
Servomotor Bearings 20,000 to 30,000 hours
Oil seal 5,000 hours

(1) Servomotor bearings : When used at the rated speed and rated load, replace the bearings
after about 20,000 to 30,000 hours. This will differ according to the
operation state, but if abnormal noise or vibration is found during the
inspection, the bearings must be replaced.
(2) Servomotor oil seal, V-ring : These parts must be replaced after about 5,000 hours of operation at
the rated speed. This will differ according to the operation state, but
these parts must be replaced if oil leaks, etc., are found during the
inspection.

9–2
 Chapter 9 Inspections

9-3 Replacing the unit

9-3-1 HS-MF23** type
With the HS-MF2** type, the amplifier/encoder section and motor section cannot be separated. The
motor and amplifier must be replaced together.

9-3-2 HS-FR43/73, HS-SF52/53/102/103 type

With the HS-FR43/73, HS-SF52/53/102/103 types, the amplifier and encoder section can be
separated from the motor section. The procedures for replacing the amplifier and encoder section are
shown below.

(1) Removing the amplifier and encoder

unit.
1) Wait at least 10 minutes after turning
the power OFF, and then remove the
connector.
2) Remove the four hexagon socket
bolts installing the amplifier and
encoder unit.
3) Pull the amplifier and encoder unit
out from the back.
4) Disconnect the connector connecting
the motor and amplifier. If brakes are
provided, also disconnect the brake
connector.

(2) Installing the amplifier and encoder

unit
5) Replace the O-ring. (If the motor has
been used, the O-ring may be
expanded because of oil, etc. Thus,
always replace the O-ring when
replacing the amplifier.)
6) The motor leads are curled when
delivered. If they are uncurled, curl
them again.
7) Connect the connector connecting
the motor and amplifier. If brakes are
provided, also connect the brake
connector.
8) Align the Oldham's coupling on the
encoder side with the hub on the
motor side.
9) Assemble the motor with the
amplifier and encoder unit while
taking care to not catch the leads.
10) Fix with four hexagon socket bolts.

9–3
 Chapter 9 Inspections

9-3-3 HS-SF202 type

With the HS-SF202 type, the amplifier section, encoder section and motor can be separated. The
procedures for replacing the amplifier section and encoder section are shown below.

(1) Removing the amplifier unit

1) Wait at least 10 minutes after turning Encoder lead
the power OFF, and then remove the
connector.
2) Remove the four hexagon socket bolts
installing the amplifier and encoder unit.
3) Pull the amplifier unit out from the back.
4) Disconnect the connector connecting
the encoder and amplifier.
5) Disconnect the connector connecting
the motor and amplifier.

(2) Removing the encoder Motor lead

6) Remove the four pan-head screws, and
remove the encoder. Encoder connector

(3) Installing the encoder.

7) Align the Oldham's coupling on the
encoder side with the hub on the motor
side.
8) Install the encoder onto the motor, and
tighten the four screws. Set the encoder
installation angle as shown in the upper
right photograph.
Motor connector
(4) Installing the amplifier unit.
9) Replace the O-ring. (If the motor has
been used, the O-ring may be
expanded because of oil, etc. Thus,
always replace the O-ring when Motor lead
replacing the amplifier.)
10) The motor leads are curled when
delivered. If they are uncurled, curl
them again.
11) Connect the connector between the
encoder and amplifier. Encoder lead
12) Connect the connector between the
motor and amplifier.
13) Assemble the motor and amplifier unit
so that the motor lead wraps half way
around the encoder periphery and the
encoder lead fits in at a position
opposite the motor lead. (Refer to lower
right photograph.) Take special care to
prevent the wires from catching.
14) Fix with the four hexagon socket bolts.

9–4
 Chapter 10 Troubleshooting

10-1 Points of caution and confirmation.......................................................... 10-2

10-2 Troubleshooting at start up ...................................................................... 10-2
10-3 Protective functions list ............................................................................ 10-3
10-3-1 Alarm ................................................................................................. 10-3
10-3-2 Warnings list ...................................................................................... 10-7
10-3-3 Alarm and warning deceleration method and reset method ............... 10-8

10–1
 Chapter 10 Troubleshooting

10-1 Points of caution and confirmation

A servo warning or servo alarm occurs if there is an abnormal state in the servo system or if an error
occurs. When a servo warning or alarm occurs, check the state while observing the following points,
and inspect or remedy the unit according to the details given in this section.

<Points of confirmation>
1. What is the alarm code display?
2. Can the error or trouble be repeated? (Check alarm history)
3. Is the motor and servo amplifier temperature and ambient temperature normal?
4. Are the servo driver, control unit and motor grounded?
5. Was the unit accelerating, decelerating or running at a set speed? What was the speed?
6. Is there any difference during forward and backward run?
7. Was there a momentary power failure?
8. Did the trouble occur during a specific operation or command?
9. At what frequency does the trouble occur?
10. Is a load applied or removed?
11. Has the amplifier unit been replaced, parts replaced or emergency measures taken?
12. How many years has the unit been operating?
13. Is the power voltage normal? Does the state change greatly according to the time band?

1. This servo amplifier uses a large capacity electrolytic capacitor. When the
CHARGE lamp on the front of the driver is lit, there is still a voltage in the
unit. Take care to prevent electric shocks and short circuits. (The voltage
CAUTION will remain for several minutes after the power is turned OFF.)
2. The conductivity in the amplifier cannot be checked due to the structure.
3. Do not carry out a megger test as the amplifier could be damaged.

10-2 Troubleshooting at start up

If the CNC system does not start up correctly and a system error occurs when the CNC power is
turned ON, the servo amplifier may not have been started up correctly.

Cause of occurrence Investigation method Remedy

The amplifier axis No. setting is incorrect. Is there another amplifier (servo/spindle) Set correctly.
set to the same axis No.? Check the rotary
switch setting.

Is the connection to the I/F unit correct? Connect correctly.

Is the I/F unit DIP switch OFF (D/A output Turn ON.
state for adjustment)?

The CNC setting is incorrect. Is the No. of CNC controlled axes correct? Set correctly.

Communication with CNC is incorrect. Is the I/F unit connector disconnected? Connect correctly.
Is the cable broken? Replace the cable.
Check the conductivity with a tester.
The I/F unit does not operate Is the I/F unit power being supplied? Connect correctly.

I/F unit trouble Check the repeatability. Replace the I/F unit

NC trouble Check the repeatability. Replace the NC

The amplifier does not operate Is the 200VAC power being supplied Connect correctly.
correctly?
Amplifier fault Check the repeatability. Replace the amplifier.

10–2
 Chapter 10 Troubleshooting

10-3 Protective functions list

10-3-1 Alarm
When an alarm occurs, the motor will stop by the deceleration control or dynamic brakes. At the same
time, the alarm No. will appear on the CNC monitor screen. Check the alarm No., and remove the
cause of the alarm by following this list.

No. Name Details Cause of occurrence Investigation method Remedy

10 Undervoltage The PN bus wire Contactor operation, Check the contactor operation, check the Replace the
voltage is 200 V or conductivity defect conductivity. contactor.
less. Check the output from the amplifier.
• Is connector (CN3) disconnected? Connect correctly.
• Is the cable broken? Replace the cable.
Check the contactor drive relay operation, Replace the relay.
and for conductivity defects.
Power supply wire Check the input voltage. Input 3-phase 200 V.
breakage of • Is a single-phase 200 V or 100 V input?
undervoltage
• Is there an open phase?
Check the power capacity. Review the power
supply.
13 Software Software operation CPU peripheral circuit Check the repeatability. Replace the amplifier.
processing error sequence error or error Check the grounding state and ambient Improve the ambient
operation timing temperature. environment.
error
17 A/D converter The A/D converter CPU peripheral circuit Check the repeatability. Replace the amplifier.
error conversion value error Check the grounding state and ambient Improve the ambient
is incorrect. temperature. environment.
18 Detector, initial Initial Detector peripheral Check the repeatability. Replace the detector
communication communication circuit fault (amplifier).
error with the detector Check the grounding state and ambient Improve the ambient
was not possible. temperature. environment.
The connection Remove the amplifier section, and check Reconnect. (Refer to
between the detector the connector (CN2) connection. section 9-3-3 for the
and amplifier is method.)
disconnected. (SF202)
22 LSI error LSI operation error LSI operation error Check the repeatability. Replace the amplifier.
Check the grounding state and ambient Improve the ambient
temperature. environment.
24 Ground fault A motor cable Motor drive cable Check whether the motor cable is caught. Replace the motor.
ground fault was ground fault Check the motor insulation.
detected. Motor fault
(Detected only at Amplifier fault Replace the amplifier.
instant of ready
ON.) Motor fault Replace the motor.
25 Absolute The absolute Battery voltage drop Check the battery voltage with a test. Replace the battery
position data lost position in the (Occurs at 3 V or less)
detector was lost. Battery line in Check the conductivity with a tester. Replace the cable.
communication cable is
broken.
The cable was After alarm 18 occurred, correctly connect Turn the power ON
disconnected when the the cable and turn the power ON again. again.
power was turned OFF.
2B Detector, CPU Detector internal Detector fault Check the repeatability. Replace the detector
error circuit error (amplifier).
Check the ambient environment. Review the ambient
environment.
2C Detector, LED The LED in the Detector fault (life) Check the repeatability. Replace the detector
error detector has (amplifier).
deteriorated. Check the ambient environment. Review the ambient
environment.
2D Detector, data Detector position Detector fault Check the repeatability. Replace the detector
error data error (amplifier).
Check the ambient environment. Review the ambient
environment.

10–3
 Chapter 10 Troubleshooting

No. Name Details Cause of occurrence Investigation method Remedy

2F Detector, Communication Detector peripheral Check the repeatability. Replace the detector
communication with the detector circuit fault (amplifier).
error was cut off or there Check the grounding state and ambient Improve the ambient
was an error in the temperature. environment.
received data.
The connection Remove the amplifier section, and check Reconnect. (Refer to
between the detector the connector (CN2) connection. section 9-3-3 for the
and amplifier is method.)
disconnected. (SF202)
30 Over-regenerati Overheating of the The regeneration Check the regeneration capacity. Lower the
on regenerative frequency is too high. regeneration
resistor was frequency.
detected. The power voltage is Occurs at ready OFF. Review the power
high. (253V or more) Check the power voltage with a tester. supply.
31 Overspeed The motor speed The axis specification Check the machine specifications. Set correctly.
exceeded the parameter (rapid)
tolerable value. setting is incorrect.
The servo parameter Check SV001 (PC1), SV002 (PC2), Set correctly.
setting is incorrect. SV018 (PIT), SV025 (MTYP).
The speed is Is the speed loop gain too low? Adjust the gain.
overshooting. Is the current limit value too low? Adjust the limit value.
Detector fault Does the alarm occur when the power is Replace the detector
turned ON? (amplifier).
Change with another axis and check the
repeatability.
32 Power module The power module Amplifier fault Replace the amplifier with one for another Replace the amplifier.
overcurrent overcurrent Motor fault axis, and check the repeatability. Replace the motor.
protection function
activated.
33 Overvoltage The PN bus wire The power voltage is Occurs at ready ON. Review the power
voltage exceeded high. (280V or more) Check the power voltage with a tester. supply.
400 V.
Broken wire in the Replace the amplifier.
regenerative resistor.
The regeneration Check the load inertia. Lower the speed.
capacity is large for the Refer to section 11-4-1. Change to another
HS-MF23. amplifier or motor
series.
34 CNC There was an error The communication Check the conductivity with a tester. Replace the cable.
communication, in the cable is broken.
CRC error communication The communication Are the communication pair cables
data from the cable connection is connected in reverse?
CNC. incorrect.
The communication Check the continuity. Remedy correctly.
cable shield is Open the cable connector section, and
disconnected or visually check.
dislocated.
The terminator is faulty. Is the terminator dislocated? Check the
connection.
Replace the terminator. Replace the
connector.
Battery unit fault Is the battery unit dislocated? Check the
connection.
Try replacing the battery unit. Replace the battery
unit.
The grounding is Check the grounding state. Correctly ground.
incomplete.
Noise Check the ambient environment. Improve the noise
source.
Clamp the shield.
Amplifier fault Change the connection with that for Replace the amplifier.
I/F unit fault another amplifier and find the cause. Replace the I/F unit.
CNC unit fault Replace the CNC unit.
35 CNC The movement Not within amplifier Is this a sub-micron system? Consult with
communication, command data specifications. Is the axis a rotary axis? Mitsubishi.
data error sent from the CNC
was excessive.

10–4
 Chapter 10 Troubleshooting

No. Name Details Cause of occurrence Investigation method Remedy

36 CNC The The communication Check the connector (CN1A, CN1B). Set correctly.
communication, communication cable is disconnected. (Including the other axes)
transmission from the CNC was The communication Check the conductivity with a tester. Replace the cable.
error cut off. cable is broken.
37 Initial parameter The servo The parameter is not Check the setting range of the parameter Set correctly.
error parameter setting within the setting having the error NO.
is incorrect. range.
Check the error The HEX setting SV025: A non-entered motor type was Set correctly.
parameter No. If parameter setting is selected.
there are several incorrect. SV027: lmc 1 and 2 were set.
error parameters,
the most recent The electronic gears' The error No. is 101 (2301). If the settings are OK,
No. is output. constant is Check parameters SV001, SV002 and consult with
overflowing. SV018. Mitsubishi.
The SHG control The error No. is 104 (2304). Set correctly.
option setting is not Check parameters SV057 and SV058.
provided.
38 CNC There was an error The communication Check the conductivity with a tester. Replace the cable.
communication, in the cable is broken.
protocol error 1 communication The communication Are the communication pair cables
data from the cable connection is connected in reverse?
CNC. incorrect.
The grounding is Check the grounding state. Correctly ground.
incomplete.
Amplifier fault Change the connection with that for Replace the amplifier.
CNC unit fault another amplifier and find the cause. Replace the CNC unit.
39 CNC There was an error The communication Check the conductivity with a tester. Replace the cable
communication, in the cable is broken.
protocol error 2 communication The communication Are the communication pair cables
data from the cable connection is connected in reverse?
CNC. incorrect.
The grounding is Check the grounding state. Correctly ground.
incomplete.
Amplifier fault. Change the connection with that for Replace the amplifier.
CNC unit fault. another amplifier and find the cause. Replace the CNC unit.
3A Overcurrent The motor drive The speed loop gain Is VGN1 higher than the standard value in Lower VGN1.
current is (VGN1) is excessive. respect to the load inertia?
excessive. Is vibration occurring?
The current loop gain Check the current loop gain. Set the standard
setting is incorrect. value.
Amplifier and detector Check the repeatability. Replace the amplifier
fault and the detector.
3C Regenerative An error was Regenerative resistor Check the repeatability Replace the amplifier.
circuit error detected in the error
regenerative The regenerative
transistor or transistor is damaged
resistor. by a short circuit.
46 Motor overheat Overheating of the The ambient Check the ambient temperature. Improve the ambient
motor was temperature is high. environment.
detected. The motor load is Has the overload alarm (50) cut off the Review the operation
large. amplifier power and caused a forced pattern.
reset?
Is the load too large?
4F Instantaneous The power was cut The power supply Is the connector or connection Connect correctly.
stop off for 50 msec or connection is poor. disconnected?
more. The power supply state Is the weather OK? (Has lightning Review the power
is poor. occurred?) supply.
When using overseas, there are cases
when the power supply is poor.
50 Overload 1 An excessive load The motor capacity is Review the motor capacity selection. Change the motor or
was applied for insufficient. amplifier capacity.
longer than the set The brakes cannot be Check the brake operation. Repair the faulty
time. released. section.
• Check the brake relay.
An excessive force is Check the load current on the CNC servo Replace the faulty
being applied from the monitor and find the machine load. section in the
machine. Is the ball screw bent? machine.
Is there interference with the positioning Do not use
pin? positioning pins.
The parameter setting Are SV021 and SV022 set to the standard Set the standard
is incorrect. values? values.

10–5
 Chapter 10 Troubleshooting

No. Name Details Cause of occurrence Investigation method Remedy

51 Overload 2 An excessive load The machine was Visually check whether there was a Check the cause of
was applied for collided with. collision with the machine. the collision.
longer than the set Is there interference with the positioning Do not use
time. pin? positioning pins.
Amplifier detector fault. Check the repeatability. Replace the amplifier
detector.
52 Excessive error The actual motor The speed loop gain Is the motor speed fluctuating? Adjust the gain.
1 position and model (VGN1) is small.
position difference The motor load is too Is the acceleration/deceleration time Adjust the
was excessive at large. constant too short? parameters.
servo ON.
The current limit value is too low and a
sufficient torque is not output.
The motor brakes cannot be released? Repair the brake
circuit.
The excessive error Check the SV023 (SV053) setting value. Adjust the
detection width is too parameters.
small.
The input voltage is Is the input voltage 170V or less, or near Check the power
low. 170V? supply.
Is the input voltage unstable? Increase the
acceleration/decelera
tion time constant.
Detector and amplifier Change with another axis and check the Replace the detector
fault repeatability. and the amplifier.
53 Excessive error The actual motor The excessive error Check the VS026 setting value. Adjust the parameter.
2 position and model detection width is too
position difference small.
was excessive at The CNC has stopped Check the CNC parameters.
servo OFF. the follow up function.
54 Excessive error At servo ON, the Refer to AL52.
3 difference of the
actual motor
position and the
model position
was excessive.
58 Collision The collision The machine collided. Is there any collision or interference at the Remove the cause of
detection 1: G0 detection function machine end? the collision.
activated during The machine load is Check the relation of the parameters and Reset the
rapid traverse. heavy. machine load. parameters, or
sv032: Torque offset correct the abnormal
sv045: Frictional torque machine state.
sv059: Estimated torque gain
The collision detection Is the value set in consideration of the Adjust the parameter.
level is small. machine and motor variation? sv060
59 Collision The collision Refer to section AL58.
detection 1: G2 detection function The cutting load is Check whether cutting is being carried out Repair the abnormal
activated during heavy. correctly, and whether the byte is chipped. section.
cutting feed.
The cutting load is Raise the collision detection level for Adjust the parameter.
heavy. cutting feed. sv035.
5A Collision The current The machine collided. Is there any collision or interference at the Remove the cause of
detection 2 command reached machine end? the collision.
the maximum The machine load is Is there any abnormal section in the Repair the abnormal
capacity of the heavy. machine? section.
driver.
The acceleration/ Check the acceleration/deceleration Adjust the parameter.
deceleration time torque. If there is no allowance to the
constant is short. acceleration/deceleration torque in
respect to the motor torque:
1. Lengthen the acceleration/deceleration
time constant.
2. Set sv035:cl2n to 1.
88 Watch dog The amplifier Amplifier fault Check the repeatability. Replace the amplifier.
system did not The grounding is Check the grounding state. Ground correctly.
operate correctly. incomplete.

10–6
 Chapter 10 Troubleshooting

10-3-2 Warnings list

When a warning occurs, a warning No. will appear on the CNC monitor screen and with the LEDs on
the front of the amplifier. Check the warning No., and remove the cause of the warning by following
this list.

No. Name Details Cause of occurrence Investigation method Remedy

93 Initial absolute The position data The vertical axis or slant axis Check the state of the axis Repair the fault
value fluctuation fluctuated when dropped when the CNC power when the CNC power was section.
creating the initial was turned ON. turned ON.
absolute position.
The axis moved due to an
external force when the CNC
power was turned ON.
9E Detector, There was an error in Detector fault Check the repeatability. Replace the
multi-rotation the data of the detector (amplifier).
counter error multi-rotation counter
in the detector.
9F Battery voltage The battery voltage Battery life The battery life is approx. 5 Replace the battery.
drop dropped. years. (This will change
according to the usage state.)
The battery connector (in the Open the panel at the top of the Connect correctly.
amplifier) is disconnected. amplifier and check.
The battery line in the detector Check the conductivity with a Replace the cable.
cable is broken. tester.
E0 Over-regeneratio The regeneration level Refer to the over-regeneration (30) column.
n warning reached 80% or more.
E1 Overload The load level Refer to the overload (50) column.
warning reached 80% or more.
E3 Absolute A deviation was There is an error in the Check the movement of the Replace the
position counter detected in the detector's multi-rotation data multi-rotation data (Rn) from the detector (amplifier).
warning absolute position data CNC monitor screen.
and relative position
data
E4 Parameter error A parameter The parameter setting range is Check the parameter setting Set correctly.
warning exceeding the setting not within the range. conditions.
range was set.
E7 CNC emergency Emergency stop was The CNC emergency stop has The CNC emergency stop has been input correctly.
stop input from the NC been input.
(Status display)
An alarm is occurring with Has an alarm occurred with Reset the alarm in
another axis. another axis? the other axis to
cancel this warning.
The terminator or battery unit Check the connection of the Set correctly.
connector is disconnected. CNC communication line cable
(CN1A, CN1B).
E9 Instantaneous The power was cut off Refer to the instantaneous stop (4F) column.
stop warning for 25 msec or more
but 50 msec or less.

10–7
 Chapter 10 Troubleshooting

10-3-3 Alarm and warning deceleration method and reset method

No. Name Deceleration method Reset method Explanation
When the power is cut off, the dynamic brakes may be
10 Undervoltage Deceleration control PR
switched to.
13 Software processing error Dynamic PR
17 A/D converter error Dynamic PR
Detector, initial
18 Initial error PR
communication error
22 LSI error Dynamic AR
24 Ground fault Dynamic PR
Absolute position data
25 Initial error AR
lost
2B Detector, CPU error Initial error AR
2C Detector, LED error Deceleration control PR
2D Detector, data error Dynamic PR
Detector, communication
2F Dynamic PR
error
PR reset is not possible when the regeneration level is
50% or more.
30 Over-regeneration Deceleration control PR Do not reset (AR) forcibly by turning off the amplifier.
If AR is carried out at 50% or more, 80% will be set the
next time the power is turned ON.
31 Overspeed Deceleration control PR
Power module
32 Dynamic PR
overcurrent
33 Overvoltage Dynamic PR
CNC communication,
34 Deceleration control PR
CRC error
CNC communication,
35 Deceleration control PR
data error
CNC communication,
36 Deceleration control PR
transmission error
37 Initial parameter error Initial error PR
CNC communication,
38 Deceleration control PR
protocol error 1
CNC communication,
39 Deceleration control PR
protocol error 2
3A Overcurrent Dynamic PR
3C Regeneration circuit error Dynamic AR
NR and PR reset cannot be carried out when the motor
46 Motor overheat Deceleration control NR
is overheated.
4F Instantaneous stop Deceleration control NR
NR and PR reset is not possible when the load level is
50% or more. Do not reset (AR) forcibly by turning off the
50 Overload 1 Deceleration control NR
amplifier. If AR is carried out at 50% or more, 80% will be
set the next time the power is turned ON.
51 Overload 2 Dynamic NR
A step stop is carried out in deceleration control. The
deceleration control time constant is meaningless. (C1
52 Excessive error 1 Deceleration control NR
and subsequent versions. The dynamic method is fixed
in the C0 version.)
53 Excessive error 2 Dynamic NR
54 Excessive error 3 Dynamic NR
Collision detection
58 Deceleration control NR
method 1, G0
After the collision is detected, the machine will
Collision detection
59 Deceleration control NR decelerate to a stop at 80% of the motor's maximum
method 1, G1
torque.
Collision detection
5A Deceleration control NR
method 2
88 Watch dog Dynamic AR

10–8
 Chapter 10 Troubleshooting

No. Name Deceleration method Reset method Explanation

Initial absolute position
93 PR
fluctuation
Detector, multi-rotation
9E ∗
counter error
9F Battery voltage drop ∗
Over-regeneration The motor will not stop.
E0 ∗
warning
E1 Overload warning ∗
Absolute position counter
E3 ∗
warning
E4 Parameter error warning ∗
E7 CNC emergency stop Deceleration control ∗
Instantaneous stop When the instantaneous warning occur, use NR reset.
E9 The motor will not stop. NR
warning The state will also be reset automatically after 5 minutes.

• Deceleration method
Deceleration control : The motor will be decelerated and controlled with the time constant set in the parameter
(EMGt).
If dynamic brake stop is selected with the parameter (SPEC), the motor will stop with the
dynamic brakes.
Dynamic : The motor will stop with the dynamic brakes.

• Reset method ∗ : The unit will be automatically reset when the state in which the warning occurred is canceled.
NR : Reset with the CNC reset button. Resetting is also possible with the PR, AR resetting conditions.
PR : Reset by turning the CNC power ON again. Resetting is also possible with the AR resetting
conditions.
AR : Reset by turning the servo amplifier power ON again.

10–9
 Chapter 11 Selection

11-1 Outline ...................................................................................................... 11-2

11-1-1 Servomotor ...................................................................................... 11-2
11-1-2 Regeneration methods..................................................................... 11-3
11-2 Selection of servomotor series .............................................................. 11-4
11-2-1 Motor series characteristics ............................................................. 11-4
11-2-2 Servomotor precision ....................................................................... 11-4
11-3 Selection of servomotor capacity........................................................... 11-6
11-3-1 Load inertia ratio .............................................................................. 11-6
11-3-2 Short time characteristics................................................................. 11-6
11-3-3 Continuous characteristics ............................................................... 11-7
11-4 Selection of regenerative resistor .......................................................... 11-9
11-4-1 Limits for HS-MF23 .......................................................................... 11-9
11-4-2 Approximate calculation of positioning frequency ............................ 11-9
11-4-3 Calculation of regenerative energy .................................................. 11-9
11-4-4 Calculation of positioning frequency ................................................ 11-11
11-5 Motor shaft conversion load torque....................................................... 11-12
11-6 Expressions for load inertia calculation ................................................ 11-13

11–1
 Chapter 11 Selection

11-1 Outline
11-1-1 Servomotor
There are limits to the lineup of the intelligent servomotor. As the regenerative resistor is fixed to the
built-in type, the repeated positioning frequency is limited.
If the servomotor does not comply with the following items, use the MDS-B-V1/V2/SVJ2 servo drive
unit and HA/HC Series servomotor.

(1) Motor inertia

The servomotor series is mainly categorized according to the motor inertia size. The features in
Table 11-1 are provided according to the motor inertia size.
Table 11-1 Motor inertia
Motor model Medium inertia motor Low inertia motor
Motor type HS-SF HS-RF, HS-MF
Inertia The flange size is large. The flange size is small.
The inertia is comparatively large. The inertia is small.
Acceleration/deceleration The acceleration/deceleration time Acceleration/deceleration is
constant does not change much possible with a short time constant
even for a low inertia load. in respect to low inertia loads.
The effect of the motor inertia is The effect of the motor inertia is
large. small.
Installation The motor size in respect to the The motor size in respect to the
output capacity is large, and the output capacity is small, and the
installation space is large. installation space is smaller.
Disturbance The effect of disturbance is small. The effect of disturbance is large.
characteristics
Speed fluctuation The effect of the torque ripple is The effect of the torque ripple is
small, and speed fluctuation does large, and speed fluctuation occurs
not occur easily. easily.
Suitability Suitable for high precision Suitable for high speed positioning
interpolation control

Select a medium inertia motor when interpolation precision is required, or for machines having a
large load inertia. Select a low inertia motor when a shorter positioning time is required by
machines having a small amount of inertia. Normally use the HS-SF motor for the machine tool
feed axis. Consult with Mitsubishi when using a low-inertia motor for the feed axis.
The servomotor has an optimum load inertia scale. If the load inertia exceeds the optimum range,
the control becomes unstable and the servo parameters become difficult to adjust. When the load
inertia is too large, decelerate with the gears (The motor axis conversion load inertia is
proportional to the square of the deceleration ratio.), or change to a motor with a large inertia.

(2) Rated speed

Even with motors having the same capacity, the rated speed will differ according to the motor.
The motor's rated output is designed to be generated at the rated speed, and the output P (W) is
expressed with expression (11-1). Thus, even when the motors have the same capacity, the rated
torque will differ according to the rated speed.

P = 2π N τ (W) .................................................. (11-1)

60
N : Motor speed (r/min)
T : Output torque (N⋅m)

In other words, even with motors having the same capacities, the one with the lower rated speed will
generate a larger torque. When actually mounted on the machine, if the positioning distance is short
and the motor cannot reach the maximum speed, the motor with the lower rated speed will have a
shorter positioning time. When selecting the motor, consider the axis stroke and usage methods, and
select the motor with the optimum rated speed.

11–2
 Chapter 11 Selection

11-1-2 Regeneration methods

When the servomotor decelerates, rotating load inertia or the operation energy of the moving object is
returned to the servo amplifier through the servomotor as electrical power. This is called
"regeneration". The three general methods of processing regeneration energy are shown below.

Table 11-2 Servo amplifier regeneration methods

Regeneration method Explanation
1. Condenser regeneration This is a regeneration method for small-capacity amplifiers. The
method regeneration energy is charged to the condenser in the amplifier,
and this energy is used during the next acceleration.
The regeneration capacity decreases as the power supply voltage
becomes higher.
2. Resistance regeneration If the condenser voltage rises too high when regenerating with the
method condenser only, the regenerative electrical power is consumed
using the resistance. If the regeneration energy is small, it will only
be charged to the condenser. Because regeneration energy
becomes heat due to resistance, heat radiation must be considered.
In large capacity servo amplifiers the regenerative resistance
becomes large and this is not practical.
3. Power supply This is a method to return the regeneration energy to the power
regeneration method supply. The regeneration energy does not become heat as in
regenerative resistance. (Heat is generated due to regeneration
efficiency problems.)
The circuit becomes complicated, but in large capacity servo
amplifiers having large regeneration capacity this method is more
advantageous than resistance regeneration.

The intelligent servomotor uses the capacity regeneration method and resistor regeneration method.
The motors other than the HS-F23 are provided with the regenerative resistor. With the normal
amplifier, if the regenerative capacity increases, the optional regenerative resistor is connected
outside of the amplifier. However, with the intelligent servomotor, the optional regenerative resistor
cannot be connected.
If the regeneration frequency exceeds the specifications, consider using the MDS-B-SVJ2, or the
power regeneration type MDS-B-V1/V2 + MDS-B-CV Series.

The HS-MF23EX uses capacitor regeneration. The regenerative resistor is not

POINT provided.

11–3
 Chapter 11 Selection

11-2 Selection of servomotor series

11-2-1 Motor series characteristics
The servomotor series is categorized according to purpose, motor inertia size, and detector resolution.
Select the motor series that matches the purpose of the machine to be installed.

Table 11-3 Motor series characteristics

Motor Capacity Detector
Characteristics
series (rated speed) resolution
0.5 to 2.0kW
This is a motor for NC unit machine tool feed axes. It has smooth
(2000r/min)
HS-SF 100000p/rev torque characteristics and is compatible to high resolution
0.5 to 1.0kW
detectors.
(3000r/min)
0.4kW and This is a low-inertia motor. It is compactly designed with a high
HS-RF 0.75kW 100000p/rev output, and is suitable for light load high-speed drive such as for
(3000r/min) a loader.
This is a motor for ultra-low inertia machine tool peripheral axes.
It is suitable for ultra-high speed positioning of light loads such as
high speed arms and machine end sections. A molded structure
using high heat conducting resin is utilized to realize a high
0.2kW
HS-MF 8000p/rev output motor with a compact design. The motor characteristics
(3000r/min)
can be realized even further and the positioning time shortened
by making the load inertia ratio smaller.
This motor can also be used with the servo amplifier MR-J2-CT
for miscellaneous axes.

11-2-2 Servomotor precision

The control precision of the servomotor is determined by the detector resolution, motor characteristics
and parameter adjustment. This section examines the following four types of servomotor control
precision when the servo parameters are adjusted. When selecting a servo, confirm that these types
of precision satisfy the machine specifications before determining the servomotor series.

(1) Theoretic precision: ∆ε

This value is determined by the motor detector precision, and is the value obtained by dividing the
movement amount (∆S) per motor rotation by the detector resolution (RNG).
(2) Positioning precision : ∆εp
This is the precision outline that affects the machine targeted for positioning, and expresses the
machine's positioning precision.
When the motor is a single unit, this is determined by the detector resolution and matches with
the theoretic precision ∆εp. When the motor is actually installed on a machine, the positioning
precision ∆εp becomes 1 to 2 times the theoretic precision ∆ε. This is due to the effect on the
motor control by the machine rigidity, etc. Furthermore, the value to which the error from the
motor shaft to the machine end is added becomes the actual machine end positioning precision.
For machines requiring accurate positioning precision at the machine end, use the MDS-B-V1/V2
Series servo amplifier capable of scale feedback input.
(3) Surface precision during machining : ∆εv
This is the precision outline that affects the machine tools, etc., which are important factors in the
machine operation path and interpolation functions. It also affects the surface roughness of the
machining surface. The machining surface roughness is affected by elements caused by the
motor's electrical characteristics (torque ripple, etc.) and mechanical characteristics (cogging
torque, etc.). In the NC unit feed axis motor, those torque characteristics are excellent, and higher
precision machining is possible than that of other motors. Because the effects of torque ripple and
cogging torque are relatively smaller in motors with large amounts of inertia, the motor with the
larger inertia of two identical capacity motors will be more advantageous for surface precision.
Due to the effects of differences in characteristics of the motor itself, the surface precision during
machining will differ greatly according to the motor series.

11–4
 Chapter 11 Selection

(4) Absolute position repeatability : ∆εa

This is the precision outline that affects the absolute position system machine, and expresses the
repeatability of the position before the power was shut off and the position when the power is
turned on again.
With the single motor unit, the precision is 1 to 2 times the theoretic precision ∆ε. Note that the
absolute position repeatability ∆εa is the difference from when the power was turned off last and
returned on. This error is not cumulated.

Table 11-4 shows the approximate precision at the motor end of each motor series. Obtain the
precision at the motor end during actual machining by adding the machine precision to the value in the
table.

Table 11-4 Precision by motor series

Control Theoretic Positioning Absolute position
Surface precision
Motor series resolution RNG precision precision repeatability
(pulse/rev) ∆εv
∆ε ∆εp ∆εa
HS-SF 100000 10∆ε to 20∆ε
∆S
HS-RF 100000 ∆ε to 2∆ε 10∆ε to 20∆ε ∆ε to 2∆ε
RNG
HS-MF 8000 30∆ε to 40∆ε
(Note) The expressions in the table indicate the approximate accuracy at the motor end. The accuracy at the machine end
during actual machining is obtained by adding this to the machine accuracy.

11–5
 Chapter 11 Selection

11-3 Selection of servomotor capacity

The following three elements are used to determine the servomotor capacity.
1. Load inertia ratio
2. Short time characteristics (acceleration/deceleration torque)
3. Continuous characteristics (continuous effective load torque)

Carry out appropriate measures, such as increasing the motor capacity, if any of the above conditions
is not fulfilled.

11-3-1 Load inertia ratio

Each servomotor has an appropriate load inertia ratio (load inertia/motor inertia). The control becomes
unstable when the load inertia ratio is too large, and parameter adjustment becomes difficult. It
becomes difficult to improve the surface precision in the feed axis, and the positioning time cannot be
shortened in the position axis because the settling time is longer.
If the load inertia ratio exceeds the recommended value in the servomotor list of specifications,
increase the motor capacity or change to a motor series with a large inertia. Note that the
recommended value for the load inertia ratio is strictly one guideline. This does not mean that
controlling a load with inertia exceeding the recommended value is impossible.

When selecting feed axis servomotors for NC unit machine tools, place
importance on the surface precision during machining. To do this, always
POINT select a servomotor with a load inertia ratio within the recommended value.
Select the lowest value possible within that range.

11-3-2 Short time characteristics

In addition to the rated output, the servomotor has an output range that can only be used for short
times such as acceleration/deceleration. This range is expressed at the maximum torque. The
maximum torque differs for each motor even at the same capacity, so confirm the torque in section
"2-2 Servomotor".
The maximum torque affects the acceleration/deceleration time constant that can be driven. The linear
acceleration/deceleration time constant ta can be approximated from the machine specifications using
expression (11-2). Determine the maximum motor torque required from this expression, and select the
motor capacity.

(JL + JM) × N
ta = (msec) .................................................. (11-2)
95.5 × (0.8 × TMAX − TL)

N : Motor reach speed (r/min)

JL : Motor shaft conversion load inertia (× 10–4kg·cm2)
JM : Motor inertia (× 10–4kg·cm2)
TMAX : Maximum motor torque (N·m)
TL : Motor shaft conversion load (friction, unbalance) torque (N·m)

11–6
 Chapter 11 Selection

11-3-3 Continuous characteristics

A typical operation pattern is assumed, and the motor's continuous effective load torque (Trms) is
calculated from the motor shaft conversion and load torque. If numbers ① to ⑧ in the following
drawing were considered a one cycle operation pattern, the continuous effective load torque is
obtained from the root mean square of the torque during each operation, as shown in the expression
(11-3).

① ② ③ ④ ⑤ ⑥ ⑦ ⑧

Motor
speed 0

T1
T7
T2 T4
Motor
torque 0
Time
T3 T6 T8
T5

t1 t2 t3 t4 t5 t6 t7 t8

t0

Fig. 11-1 Continuous operation pattern

2 2 2 2 2 2 2 2
Trms = T1 ·t1 + T2 ·t2 + T3 ·t3 + T4 ·t4 + T5 ·t5 + T6 ·t6 + T7 ·t7 + T8 ·t8 .................. (11-3)
t0

Select a motor so that the continuous effective load torque (Trms) is 80% or less of the motor rated
torque (Tra) (stall torque (Tst) in the HC, HAN Series).

Trms ≤ 0.8 • Tra (or 0.8 • Tst) .................................................. (11-4)

The amount of acceleration torque (Ta) shown in tables 11-6 and 11-7 is the torque to accelerate the
load inertia in a frictionless state. It can be calculated by the expression (11-5). (For linear
acceleration/deceleration)

(JL + JM) × N
Ta = (N•m) .................................................. (11-5)
95.5 × ta

N : Motor reach speed (r/min)

JL : Motor shaft conversion load inertia (× 10–4kg·cm2)
JM : Motor inertia (× 10–4kg·cm2)
ta : Linear acceleration/deceleration time constant (msec)

11–7
 Chapter 11 Selection

(1) Horizontal axis load torque

When operations ① to ⑧ are for a horizontal axis, calculate so that the following torques are
required in each period.

Table 11-6 Load torques of horizontal axes

Period Load torque calculation method Explanation
Normally the acceleration/deceleration time constant is
(Amount of acceleration torque) +
① calculated so this torque is 80% of the maximum torque of the
(Kinetic friction torque)
motor.
② (Kinetic friction torque)
The signs for the amount of acceleration torque and amount of
(Amount of deceleration torque) +
③ deceleration torque are reversed when the absolute value is
(Kinetic friction torque)
the same value.
Calculate so that the static friction torque is always required
④ (Static friction torque)
during a stop.
− (Amount of acceleration torque) − The signs are reversed with period ① when the kinetic friction
⑤
(Kinetic friction torque) does not change according to movement direction.
The signs are reversed with period ② when the kinetic friction
⑥ − (Kinetic friction torque)
does not change according to movement direction.
− (Amount of deceleration torque) − The signs are reversed with period ③ when the kinetic friction
⑦
(Kinetic friction torque) does not change according to movement direction.
Calculate so that the static friction torque is always required
⑧ − (Static friction torque)
during a stop.

(2) Unbalance axis load torque

When operations ① to ⑧ are for an unbalance axis, calculate so that the following torques are
required in each period. Note that the forward speed shall be an upward movement.

Table 11-7 Load torques of unbalance axes

Period Load torque calculation method Explanation
(Amount of acceleration torque) + Normally the acceleration/deceleration time constant is
① (Kinetic friction torque) + (Unbalance calculated so this torque is 80% of the maximum torque of the
torque) motor.
(Kinetic friction torque) + (Unbalance
②
torque)
(Amount of deceleration torque) + The signs for the amount of acceleration torque and amount of
③ (Kinetic friction torque) + (Unbalance deceleration torque are reversed when the absolute value is
torque) the same value.
(Static friction torque) + (Unbalance The holding torque during a stop becomes fairly large.
④
torque) (Upward stop)
− (Amount of acceleration torque) −
⑤ (Kinetic friction torque) + (Unbalance
torque)
− (Kinetic friction torque) + The generated torque may be in the reverse of the movement
⑥
(Unbalance torque) direction, depending on the size of the unbalance torque.
− (Amount of deceleration torque) −
⑦ (Kinetic friction torque) + (Unbalance
torque)
− (Static friction torque) + (Unbalance The holding torque becomes smaller than the upward stop.
⑧
torque) (Downward stop)

During a stop, the static friction torque may constantly be applied. The static
friction torque and unbalance torque may particularly become larger during an
POINT unbalance upward stop, and the torque during a stop may become extremely
large. Therefore, caution is advised.

11–8
 Chapter 11 Selection

11-4 Selection of regenerative resistor

The intelligent servomotor series does not have the optional regenerative resistor. (Only the standard
built-in resistor is provided.) Thus, when selecting the motor, make sure that the regenerative energy
does not exceed the capacity of the built-in regenerative resistor.

11-4-1 Limits for HS-MF23

The HS-MF23 does not have a built-in 300
regenerative resistor. Thus, there are limits

Deceleration torque
to the instantaneous regeneration capacity.
Avoid use in which the regeneration occurs
continuously, such as with a vertical axis. 200
When using the motor in the left range of the
graph on the right, there are no limits to the
regeneration frequency. When used in the [%]
right range, an overvoltage alarm could
occur, so avoid using in this range.
100
Input power voltage
－－ 200VAC
－－ 230VAC

10 20 30 40
Load moment of inertia rate GDL2/GDm2

11-4-2 Approximate calculation of positioning frequency

The tolerable positioning frequency for the HS-FR/HS-SF type can be approximately calculated with
expression (11-5).
To obtain the detailed value, refer to section "11-4-3 Calculating the regenerative energy" and section
"11-4-4 Calculating the positioning frequency", and calculate.
2
Tolerable frequency for independent motor Rated rotation speed
Tolerable frequency = ×
(m + 1) Continuous rotation speed
m = JL/JM .............................................................................. (11-5)

Type RF43 RF73 SF52 SF53 SF102 SF103 SF202

Tolerable frequency for
360 195 220 100 110 50 50
independent motor

11-4-3 Calculation of regenerative energy

(1) For horizontal axis
For the horizontal axis, the regenerative energy ER consumed by the regenerative resistor can be
calculated with the expression (11-6). If the ER value is negative, all of the regenerative energy is
absorbed by the capacitor on the amplifier, and the energy consumption is zero (ER = 0).
ER = 5.48 × 10–7 · η · (JL + JM) · N2 – Ec (J) .................................................. (11-6)
η : Motor reverse effect
JL : Motor inertia (× 10–4kg·cm2)
JM : Load inertia (× 10–4kg·cm2)
N : Motor speed (r/min)
Ec : Amplifier charging energy (J)

11–9
 Chapter 11 Selection

Example

The regeneration energy is obtained for when the axis stops from the rated speed while a
load with the same inertia as the motor is connected to the HC52 motor.
Regeneration energy ER is calculated using expression (11-6) below.
ER = 5.48 × 10−7 × 0.85 × (6.6 + 6.6) × 20002 − 11 = 13.6 (J)

Servomotor reverse effect and amplifier charging energy

Motor reverse Charging energy Motor reverse Charging energy
Servomotor Servomotor
effect η Ec (J) effect η Ec (J)
HS-MF23 0.70 9 HS-SF52 0.85 12
HS-RF43 0.85 16 HS-SF53 0.85 12
HS-RF73 0.85 16 HS-SF102 0.85 22
HS-SF103 0.85 22
HS-SF202 0.85 40

The regenerative energy is the value for when the amplifier input power voltage
is 220 V.
POINT If the input voltage is higher than this, the charging energy will decrease and
the regeneration energy will increase.

(2) For an unbalance axis

The regenerative energy differs in the upward stop and downward stop for an unbalance axis. A
constant regeneration state results during downward movement if the unbalance torque is the
same as or larger than the friction torque.

Regeneration energy
A regeneration state only occurs when deceleration torque (downward torque) is generated.
ERU = 5.24 × 10−5 · η · Tdu · N · td − Ec (J)................................................................. (11-7)
Upward stop

η : Motor reverse efficiency

Tdu : Upward stop deceleration torque (N m)
N : Motor speed (r/min)
td : Deceleration time (time constant) (msec)
Ec : Amplifier charging energy (J)
A regeneration state occurs even during constant rate feed when the upward torque Ts
during dropping is generated.
Calculated so that Ts = 0 when Ts is downward.
2π · η · Ts · L
ERD = + 5.24 × 10−5 · η · Tdd · N · td − Ec (J) ................................ (11-8)
Downward stop

∆S
η : Motor reverse efficiency
Ts : Upward torque during dropping (N·m)
L : Constant rate travel (mm)
∆S : Travel per motor rotation (mm)
Tdd : Downward stop deceleration torque (N·m)
N : Motor speed (r/min)
td : Deceleration time (time constant) (msec)
Ec : Amplifier charging energy (J)
One return is assumed to be one cycle, and the regeneration energy per cycle (ER) is obtained
using expression (11-9).
ER = ERU + ERD (J) ............................................ (11-9)

11–10
 Chapter 11 Selection

(Example)
A return operation is executed for a time constant of 50msec for 200mm. The operation is
executed at F20000 in a machine tool vertical axis driven by an HS-SF52 motor. The
regenerative energy per return operation is obtained at this time.
Note the following :
Travel per upward motor rotation : 10mm
Upward stop deceleration torque : 5N·m
Downward stop deceleration torque : 8N·m
Upward torque during downward movement : 0.5N·m
Using expression (11-7), the upward stop regeneration energy ERU is as follows :
ERU = 5.24 × 10−5 × 0.85 × 5 × 2000 × 50 − 11 = 11.3 (J)
The acceleration/deceleration distance required to accelerate at the 50msec acceleration/
deceleration time constant to 20000mm/min. is as follows:
20000 × 50
= 8.3 (mm)
2 × 60 × 1000

Therefore, the constant speed travel is 183.4mm.

The downward stop regeneration energy ERD is obtained using the following expression (11-8).
2π × 0.85 × 0.5 × 183.4
ERD = + 5.24 × 10−5 × 0.85 × 8 × 2000 × 50 − 11 = 73.6 (J)
10

Thus, the regeneration energy per return operation ER is as follows :

ER = 11.3 + 73.6 = 84.9 (J)

11-4-4 Calculation of positioning frequency

Select the regenerative resistor so that the positioning frequency DP (times/minute) calculated by the
regenerative resistor capacity PR (W) and the regenerative energy ER (J) consumed by the
regenerative resistor is within the range shown in expression (11-10). With the unbalance axis, the
number of times for one cycle to raise and lower the axis is judged as DP.

PR
DP < 48 · (times/minute) .................................................. (11-10)
ER

Regenerative resistor specifications for each motor

Motor type Capacity PR (W)
HS-RF43/73 33
HS-SF52/53/102/103 60
HS-SF202 80

11–11
 Chapter 11 Selection

11-5 Motor shaft conversion load torque

The main load torque calculation expressions are shown below.

Type Mechanism Calculation expression

F V F·△S
3 ·( N )=
TL = 2×10 πη 2×103πη
TL : Load torque (N·m)
F : Force in axial direction of linear motion
machine (N)
η : Drive system efficiency (%)
V : Speed of linear operation object (mm/min)
η F0 N : Motor speed (r/min)
FC ∆S: Object movement amount per motor rotation (mm)
Z2 Z1, Z2: Deceleration ratio
Linear Servo-
movement motor W
F in the above expression is obtained from the lower expression
when the table is moved as shown on the left.
Z1
F = Fc + µ (W · g · F0)
Fc : Force applied on axial direction of moving section (N)
F0 : Tightening force on inner surface of table guide (N)
W : Total weight of moving section (kg)
g : Gravitational acceleration (m/sec2)
µ : Friction coefficient

Z1 1 1 1
TLO TL = Z2 · η · TLO + TF = n · η · TLO + TF
TL : Load torque (N·m)
TLO : Load torque on load shaft (N)
Rotary TF : Motor shaft conversion load friction torque (N·m)
movement Z1 Z2 η : Drive system efficiency
Z1 , Z2 : Deceleration ratio
Servomotor
n : Deceleration rate

When rising
TL = TU + TF

When lowering
TL = –TU · η2 + TF
TL : Load torque (N·m)
TU : Unbalanced torque (N·m)
Servomotor TF : Friction torque on moving section (N·m)

(W1 − W2) · g V (W1 – W2) · g · △S

·( )= 3
3
TU = 2 × 10 πη N 2 × 10 πη
1/n µ · (W1 + W2) · g · △S
Vertical Counter- TF = 2 × 103πη
weight
movement
W1 : Load weight (kg)
W2 W2 : Counterweight weight (kg)
Guide η : Drive system efficiency
Load
g : Gravitational acceleration = 9.8 (m/sec2)
V : Speed of linear operation object (mm/min)
W1 N : Motor speed (r/min)
△S: Object movement speed per motor rotation (mm)
µ : Friction coefficient

11–12
 Chapter 11 Selection

11-6 Expressions for load inertia calculation

The calculation method for a representative load inertia is shown.
Type Mechanism Calculation expression
φ D 1.
Rotary π · ρ ·L W
shaft is φ D 2. JL = (D14 – D24) = 8 (D12 – D22)
32
cylinder Reference data
JL : Load inertia [kg·m2]
center 3 Material densities Iron
ρ : Density of cylinder material[kg·m ] 3 3
..... 7.80×10 [kg/m ]
L : Length of cylinder [m] Aluminum
D1 : Outer diameter of cylinder [m] 3 3
..... 2.70×10 [kg/m ]
D2 : Inner diameter of cylinder [m] Copper
3 3
W : Weight of cylinder [kg] ..... 8.96×10 [kg/m ]
Rotary shaft

Cylinder When rotary shaft and cylinder W

JL = 8 (D2 + 8R2)
shaft are deviated
R
JL : Load inertia [kg·m2]
W : Weight of cylinder [kg]
D : Outer diameter of cylinder [m]
R : Distance between rotary axis and
cylinder axis [m]
D
Rotary shaft

a2 + b2
R
JL = W ( 8 + R2 )

JL : Load inertia [kg·m2]

b
a b W : Weight of cylinder [kg]
Column
a a.b.R : Left diagram [m]

Rotary shaft

1 V 2
V JL = W ( · ) = W ( △S )2
2πN 10 20π
Object that JL : Load inertia [kg·m2]
moves Servomotor W : Weight of object that moves linearly [kg]
linearly N : Motor speed [r/min]
W V : Speed of object that moves linearly [mm/min]
△S : Stroke of object that moves linearly per motor rotation [mm]
N

D
JL = W ( )2 + JP
D 2
JL : Load inertia [kg·m2]
Suspended W : Weighty of object [kg]
object D : Diameter of pulley [m]
JP : Inertia of pulley [kg·m2]

Load B N2 N3
N3 JB J31 JL = J11 + (J21 + J22 + JA) · ( N )2 + (J31 + JB) · ( N )2
1 1
JL : Load inertia [kg·m2]
J21 JA,JB : Inertia of load A, B [kg·m2]
Converted J11~J31 : Inertia [kg·m2]
load Servomotor J22 N1~N3 : Each shaft’s speed [r/min]
Load A N2
N1 JA

N1
J11

11–13
 MITSUBISHI ELECTRIC CORPORATION
HEAD OFFICE : MITSUBISHI DENKI BLDG., 2-2-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

MODEL HS Series
MODEL
CODE 008-152

Manual No. BNP-B3981*(ENG)

Specifications subject to change without notice.
(0109)MEE Printed in Japan on recycled paper.