Mitsubishi | MR-260U | BNP-C3000

BNP-C3000
USA-E99981-151-C
Introduction
Thank you for selecting the Mitsubishi numerical control unit.
This instruction manual describes the handling and caution points for using this AC
servo/spindle.
Incorrect handling may lead to unforeseen accidents, so always read this instruction
manual thoroughly to ensure correct usage.
Make sure that this instruction manual is delivered to the end user.
Always store this manual in a safe place.
All specifications for the MDS-C1 Series are described in this manual. However, each
CNC may not be provided with all specifications, so refer to the specifications for the
CNC on hand before starting use.
Notes on Reading This Manual
(1) Since the description of this specification manual deals with NC in general, for the
specifications of individual machine tools, refer to the manuals issued by the
respective machine manufacturers. The "restrictions" and "available functions"
described in the manuals issued by the machine manufacturers have precedence
to those in this manual.
(2) This manual describes as many special operations as possible, but it should be
kept in mind that items not mentioned in this manual cannot be performed.
i
Precautions for safety
Please read this manual and auxiliary documents before starting installation, operation,
maintenance or inspection to ensure correct usage. Thoroughly understand the device, safety
information and precautions before starting operation.
The safety precautions in this instruction manual are ranked as "WARNING" and "CAUTION".
DANGER
WARNING
CAUTION
When there is a potential risk of fatal or serious injuries if
handling is mistaken.
When fatal or serious injuries may occur if handling is
mistaken.
When a dangerous situation may occur if handling is 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 numeric control unit is configured of the control unit, operation board, servo drive unit,
spindle drive unit, power supply + servo drive or spindle drive, servomotor, and spindle motor,
etc.
In this manual, the following items are generically called the "servomotor".
• Servomotor
• Spindle motor
In this manual, the following items are generically called the "servo drive unit".
• Servo drive unit
• Spindle drive unit
• Power supply + servo drive or spindle drive
ii
DANGER
There are no "DANGER" items in this manual.
WARNING
1. Electric shock prevention
Do not open the front cover while the power is ON or during operation. Failure to observe this
could lead to electric shocks.
Do not operate the unit with the front cover removed. The high voltage terminals and charged
sections will be exposed, and can cause electric shocks.
Do not remove the front cover even when the power is OFF unless carrying out wiring work or
periodic inspections. The inside of the servo drive unit is charged, and can cause electric
shocks.
Wait at least 15 minutes after turning the power OFF before starting wiring, maintenance, or
inspections. Failure to observe this could lead to electric shocks.
Ground the servo drive unit and servomotor with Class C (former class 3) grounding or higher.
Wiring, maintenance, and inspection work must be done by a qualified technician.
Wire the servo drive unit and servomotor after installation. Failure to observe this could lead to
electric shocks.
Do not touch the switches with wet hands. Failure to observe this could lead to electric shocks.
Do not damage, apply forcible stress, place heavy items on the cables or get them caught.
Failure to observe this could lead to electric shocks.
CAUTION
1. Fire prevention
Install the servo drive unit, servomotor and regenerative resistor on noncombustible material.
Direct installation on combustible material or near combustible materials could lead to fires.
Shut off the power on the servo drive unit side if a fault occurs in the servo drive unit. Fires
could be caused if a large current continues to flow.
Provide a sequence that shut off the power at the regenerative resister error signal-ON when
using the regenerative resistor. The regenerative resistor could abnormally overheat and cause
a fire due to a fault in the regenerative transistor, etc.
iii
CAUTION
2. Injury prevention
Do not apply a voltage other than that specified in Instruction Manual on each terminal. Failure
to observe this item could lead to ruptures or damage, etc.
Do not mistake the terminal connections. Failure to observe this item could lead to ruptures or
damage, etc.
Do not mistake the polarity ( + , – ). Failure to observe this item could lead to ruptures or
damage, etc.
Do not touch the fin on the servo drive unit, regenerative resister or servomotor, etc., while the
power is turned ON or immediately after turning the power OFF. These parts may reach high
temperatures, and can cause burns.
3. Various precautions
Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and
electric shocks, etc.
(1) Transportation and installation
Correctly transport the product according to its weight.
Use the servomotor's hanging bolts only when transporting the servomotor. Do not transport
the servomotor when it is installed on the machine.
Do not stack the products above the tolerable number.
Do not hold the cables, axis or detector when transporting the servomotor.
Do not hold the connected wires or cables when transporting the servo drive unit.
Do not hold the front cover when transporting the servo drive unit. The unit could drop.
Follow this Instruction Manual and install the unit in a place where the weight can be borne.
Do not get on top of or place heavy objects on the unit.
Always observe the installation directions.
Secure the specified distance between the servo drive unit and control panel, or between the
servo drive unit and other devices.
Do not install or run a servo drive unit or servomotor that is damaged or missing parts.
Do not block the intake or exhaust ports of the servomotor provided with a cooling fan.
Do not let foreign objects enter the servo drive unit or servomotor. In particular, if conductive
objects such as screws or metal chips, etc., or combustible materials such as oil enter,
rupture or breakage could occur.
The servo drive unit and servomotor are precision devices, so do not drop them or apply strong
impacts to them.
iv
CAUTION
Store and use the units under the following environment conditions.
Conditions
Environment
Servo drive unit
Servomotor
0°C to +55°C
(with no freezing)
0°C to +40°C
(with no freezing)
Ambient humidity
To follow separate specifications
80%RH or less
(with no dew condensation)
Storage temperature
To follow separate specifications
–15°C to +70°C
Storage humidity
To follow separate specifications
Ambient temperature
Atmosphere
90% RH or less
(with no dew condensation)
Indoors (Where unit is not subject to direct sunlight)
With no corrosive gas, combustible gas, oil mist or dust
Altitude
1000m or less above sea level
Vibration
To follow separate specifications
Securely fix the servomotor to the machine. Insufficient fixing could lead to the servomotor
slipping off during operation.
Always install the servomotor with reduction gear in the designated direction. Failure to do
so could lead to oil leaks.
Never touch the rotary sections of the servomotor during operations. Install a cover, etc.,
on the shaft.
When installing a coupling to a servomotor shaft end, do not apply an impact by
hammering, etc. The detector could be damaged.
Do not apply a load exceeding the tolerable load onto the servomotor shaft. The shaft
could break.
When storing for a long time, please contact the Service Center or Service Station.
v
CAUTION
(2) Wiring
Correctly and securely perform the wiring. Failure to do so could lead to runaway of the
servomotor.
Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of
the servo drive unit.
Correctly connect the output side (terminals U, V, W). Failure to do so could lead to abnormal
operation of the servomotor.
Do not directly connect a commercial power supply to the servomotor. Doing so could lead to
faults.
When using an inductive load such as a relay, always connect a diode as a noise measure
parallel to the load.
When using a capacitance load such as a lamp, always connect a protective resistor as a noise
measure serial to the load.
Do not reverse the direction of a diode which
connect to a DC relay for the control output
signals to suppress a surge.
Connecting it backwards could cause the drive
unit to malfunction so that signals are not output,
and emergency stop and other safety circuits are
inoperable.
Servo drive unit
COM
(24VDC)
Control output
sig nal
RA
Do not connect/disconnect the cables connected between the units while the power is ON.
Securely tighten the cable connector fixing screw or fixing mechanism. An insecure fixing could
cause the cable to fall off while the power is ON.
When using a shielded cable instructed in the connection manual, always ground the cable with
a cable clamp, etc.
Always separate the signals wires from the power supply line and power line.
Use wires and cables that have a wire diameter, heat resistance and flexibility that conforms to
the system.
(3) Trial operation and adjustment
Check and adjust each program and parameter before starting operation. Failure to do so could
lead to unforeseen operation of the machine.
Do not make remarkable adjustments and changes as the operation could become unstable.
vi
CAUTION
(4) Usage methods
Install an external emergency stop circuit so that the operation can be stopped and power
shut off immediately.
Turn the power OFF immediately if smoke, abnormal noise or odors are generated from the
servomotor or servo drive unit.
Unqualified persons must not disassemble or repair the unit.
Never make modifications.
Reduce magnetic damage by installing a noise filter, etc. The electronic devices used near the
servo drive unit could be affected by magnetic noise.
Use the servomotor, servo drive unit and regenerative resistor with the designated combination.
Failure to do so could lead to fires or trouble.
The brake (magnetic brake) assembled into the servomotor are for holding, and must not be
used for normal braking.
There may be cases when holding is not possible due to the magnetic brake's life or the
machine construction (when ball screw and servomotor are coupled via a timing belt, etc.).
Install a stop device to ensure safety on the machine side.
After changing the programs/parameters or after maintenance and inspection, always test the
operation before starting actual operation.
Do not enter the movable range of the machine during automatic operation. Never place body
parts near or touch the spindle during rotation.
Follow the power supply specification conditions given in the separate specifications manual for
the power (input voltage, input frequency, tolerable sudden power failure time, etc.).
In the following explanations on bits, set all bits not used, including blank bits, to "0".
When the breaker is shared for multiple power supply units, if a short-circuit fault occurs in the
unit with the smallest capacity, the breaker may not function. This is dangerous, so do not share
the breaker.
Please do not use a dynamic brake as a usual slowdown stop. When continuation operation is
carried out, the brake resistance for dynamic may be damaged.
(5) Troubleshooting
If a hazardous situation is predicted during power failure or product trouble, use a servomotor
with magnetic brakes or install an external brake mechanism.
Use a double circuit configuration
that allows the operation circuit for
the magnetic brakes to be operated
even by the external emergency
Shut off with the servomotor
brake control output.
Servomotor
stop signal.
!
Magnetic
brake
MBR
Shut off with NC brake
control PLC output.
EMG
24VDC
Always turn the input power OFF when an alarm occurs.
Never go near the machine after restoring the power after a power failure, as the machine
could start suddenly. (Design the machine so that personal safety can be ensured even if the
machine starts suddenly.)
vii
CAUTION
(6) Maintenance, inspection and part replacement
Always backup the servo drive unit programs and parameters before starting maintenance or
inspections.
The capacity of the electrolytic capacitor will drop due to deterioration. To prevent secondary
damage due to failures, replacing this part every five years when used under a normal
environment is recommended. Contact the Service Center or Service Station for
replacement.
Do not perform a megger test (insulation resistance measurement) during inspections.
If the battery low warning is issued, back up the machining programs, tool data and
parameters with an input/output unit, and then replace the battery.
Do not short circuit, charge, overheat, incinerate or disassemble the battery.
(7) Disposal
Treat this unit as general industrial waste.
If the heat radiating fins are protruding on the back face of the MDS Series, substitute Freon
is used. Do not dispose of this type of unit as general industrial waste. Always contact the
Service Station or Service Center for disposal.
Do not disassemble the servomotor or servo drive unit.
Dispose of the battery according to local laws.
(8) General precautions
The drawings given in this Specifications and Maintenance Instruction Manual show the covers and
safety partitions, etc., removed to provide a clearer explanation. Always return the covers or partitions to
their respective places before starting operation, and always follow the instructions given in this manual.
viii
Compliance to European EC Directives
1. European EC Directives
In the EU Community, the attachment of a CE mark (CE marking) is mandatory to indicate that the
basic safety conditions of the Machine Directives (issued Jan. 1995), EMC Directives (issued Jan.
1996) and the Low-voltage Directives (issued Jan. 1997) are satisfied. The machines and devices in
which the servo and spindle drive are assembled are the targets for CE marking.
(1) Compliance to EMC Directives
The servo and spindle drive are components designed to be used in combination with a machine
or device. These are not directly targeted by the Directives, but a CE mark must be attached to
machines and devices in which these components are assembled. "Appendix 2", which explains
the unit installation and control panel manufacturing method, etc., has been prepared to make
compliance to the EMC Directives easier.
(2) Compliance to Low-voltage Directives
The MDS -C1 Series units are targeted for the Low-voltage Directives. An excerpt of the
precautions given in this specification is given below. Please read this section thoroughly before
starting use.
A Self-Declaration Document has been prepared for the EMC Directives and Low-voltage
Directives. Contact Mitsubishi or your dealer when required.
2. Cautions for EC Directive compliance
Use the Low-voltage Directive compatible parts for the servo/spindle drive and servo/spindle motor. In
addition to the items described in this instruction manual, observe the items described below.
(1) Configuration
Control panel
Isolating
transformer
Circuit breaker
Servo/spindle drive
Electromagnetic
contactor
Motor
AC reactor
CB
MC
M
Use a type B breaker
(Note) Type A ... AC and pulse detection possible
Type B ... Both AC and DC detection possible
(2) Environment
Use the units within an Overvoltage Protection Category III and Pollution Class of 2 or less
environment as stipulated in IEC60664.
(a) To attain the Overvoltage Category II, insert an EN or IEC Standard compliant star-connection
insulated transformer in the power supply unit input.
(b) To attain a Pollution Class of 2, install the servo/spindle drive unit in a control panel having a
structure (IP54 or higher) in which water, oil, carbon or dust cannot enter.
Drive unit
Motor
During
operation
Storage
During
transportation
0°C to 55°C
–15°C to
70°C
–15°C to 70°C
Ambient
temperature
Humidity
90%RH or
less
90%RH or
less
90%RH or less
Altitude
1000m or
less
1000m or
less
10000m or less
Ambient
temperature
ix
During
operation
Storage
During
transportation
0°C to 40°C
–15°C to
70°C
–15°C to 70°C
Humidity
80%RH or
less
90%RH or
less
90%RH or less
Altitude
1000m or
less
1000m or
less
10000m or less
(3) Power supply
(a) Use the servo/spindle drive unit under the Overvoltage Category III conditions stipulated in
IEC60664.
(b) Do not omit the circuit breaker and electromagnetic contactor.
(4) Installation
(a) To prevent electric shocks, always connect the servo/spindle drive unit protective earth (PE)
terminal (terminal with
mark) to the protective earth (PE) on the control panel. (Always
ground even when using an earth leakage breaker.)
(b) When connecting the earthing wire to the protective earth (PE) terminal, do not tighten the wire
terminals together. Always connect one wire to one terminal.
PE terminal
PE terminal
(5) Wiring
Crimp terminal
(a) Always use crimp terminals with insulation tubes so that the wires
connected to the drive unit terminal block do not contact the
neighboring terminals.
(b) Use a tin-plated crimp terminal that does not contain zinc for
connecting the earthing wire. When tightening the screw, take care
not to crush the screw threads.
(c) Refer to EN60204-1 when selecting the wire size. (Refer to section
"8.5 Selection of wire size" for details.)
– Ambient temperature: 40°C max.
– Wire sheath: Cable installed on walls without ducts or conduits
– The control panel and duct wiring must be 3m or less.
If the conditions differ, refer to Table 5 in EN60204-1 Appendix C.
Insulation tube
Wire
(6) Peripheral devices and options
(a) Use EN/IEC Standards compliant parts for the circuit breaker and electromagnetic contactor.
(7) Miscellaneous
(a) Refer to "Appendix 2 EMC INSTALLATION GUIDELINES" for methods on complying with the
EMC Directives.
(b) When using in Europe, earth the device according to each country's requirements.
(c) The control circuit connector (¡) is safety separated from the main circuit ( ).
MDS-CH-CV-[
]
MDS-CH-V2-[
]
BT-[
]
Machine end
detector
External emergency
stop input
External brake
output contact
Machine end
detector
ElectroAC reactor magnetic
Circuit breaker B-AL[ ] [ ] K contactor
Motor end
detector
Motor end
detector
Main circuit
Control circuit
x
Instruction Manual for Compliance with UL/c-UL Standard
The instruction of UL/c-UL listed products is described in this manual.
The descriptions of this manual are conditions to meet the UL/c-UL standard for the UL/c-UL listed
products. To obtain the best performance, be sure to read this manual carefully before use.
To ensure proper use, be sure to read specification manual, connection manual and maintenance manual
carefully for each product before use.
1. UL/c-UL listed products
[CNC system]
Unit name
Unit part number
NC control unit
Display unit
Keyboard unit
FCU6-MU [*1]-[*2], FCU6-MA [*1]-[*2]
FCU6-DU [*39][*40], FCU6-YZ [*39][*40], FCUA-LD [*41], FCUA-CT [*41], FCUA-CR [*41],
FCU6-YZ [*39][*40], FCU6-TZ [*39][*40], FCU6-KB0 [*42], FCUA-KB [*42]
Base I/O unit
FCU6-DX [*3], HR377, HR378, HR353
Remote I/O unit
I/O module
FCUA-DX [*4]
HR357, HR371, QY231
[AC servo/spindle system]
Unit name
Unit part number
Power supply unit
MDS-B-CVE- [*5], MDS-C1-CV-[*5]
MDS-B-V1- [*6], MDS-B-V14- [*6], MDS-C1-V1- [*6], MDS-B-V2- [*7], MDS-B-V24- [*7],
MDS-C1-V2- [*7], MDS-B-SVJ2- [*8]
Servo drive unit
Spindle drive unit
Option unit
MDS-B-SP [*38]-[*9], MDS-C1-SP [*38]-[*9]
MDS-B-PJEX
Battery unit
FCU6-BT4D1
HA-FF [*10][*11][*12][*13][*14][*15][*16][*17][*18][*19]
HC-MF [*10][*11][*12][*13][*14][*15][*16][*17][*18][*19]
HC-SF [*10][*11][*12][*13][*14][*15][*16][*17][*18][*19]
HC-RF [*10][*11][*12][*13][*14][*15][*16][*17][*18][*19]
HC-MF [*10][*11][*12][*13][*14][*15][*16][*17][*18][*19]
HC-RF [*10][*11][*12][*13][*14][*15][*16][*17][*18][*19]
HC [*20][*11][*21][*14][*22]-[*23][*24]
Servo motor
Spindle Motor
SJ [*25][*26][*27]-[*28][*29][*30][*31]-[*32]
SJ [*33][*26][*28][*34][*35][*36][*37][*31]
Suffixes listed below may be attached to the above part numbers at portions marked with [*]. For details
regarding specifications, see the specification manuals.
[*1] 011, 013, 021, 031, 032, 515, 516, 517, 535, 536
[*2] 12, 23
[*3] 210, 211, 220, 221, 310, 311, 320, 321, 330, 331, 340, 341, 350, 351, 410, 411, 420, 421, 430, 431, 440,
441, 450, 451
[*4] 100, 101, 110, 111, 120, 121, 130, 131, 140, 141
[*5] 37, 55, 75, 110, 150, 185, 220, 260, 300, 370, (450, 550: Only B)
[*6] 01, 03, 05, 10, 20, 35, 45S, 45, 70, 90, 110, 150
[*7] 0101, 0301, 0303, 0501, 0503, 0505, 1003, 1005, 1010, 2010, 2020, 3510S, 3510, 3520S, 3520, 3535, 4520,
4535, 4545, 7035, 7045, 7070S, 7070
[*8] 01, 03, 04, 06, 07, 10, 20
[*9] 04, 075, 15, 22, 37, 55, 75, 110, 150, 185, 220, 260, 300, 370, (450,550:Only MDS-B Series)
[*10] 05, 1, 2, 3, 4, 5, 6, 7, 8, 10, 12, 15, 20, 30, 35
[*11] 1, 2, 3
[*12] None, C
[*13] None, P, N, I, E
[*14] None, B
[*15] None, Gn, GnH (n = serial number)
[*16] None, K, D, X, T
[*17] None, Wn (n = serial number)
[*18] None, UL, UE
[*19] None, Sn (n = serial number)
[*20] 5, 10, 15, 20, 35, 45, 70
[*21] None, R
[*22] S, T
[*23] E, A
[*24] 1, 2, 33, 42, 51
[*25] NL, PF, PL, V, VL
[*26] None, K
[*27] None, S
[*28] Two digits decimal two digits
[*29] 01 - 99
[*30] None, F, G, Y, Z
[*31] None, M
[*32] None, S01 - S99
[*33] None, N, P
[*34] A, B, L, M, N, X
[*35] None, 1 - 9, A - F
[*36] None, D, H, P, Z
[*37] None, B, C, F, G, R
[*38] None, H, M, X, HX, MX
[*39] T, C, N
[*40] 31, 32, 33, 34, 35, 36
[*41] 10, 100, 120
[*42] 05, 06, 10, 13, 14, 20, 30
xi
2. Operation surrounding air ambient temperature
The recognized operation ambient temperature of each units are as shown in the table below. The
recognized operation ambient temperatures are the same as an original product specification for all of
the units.
Classification
CNC system
AC servo/spindle
system
Unit name
NC control unit
Base I/O unit
Remote I/O unit
I/O module
Power supply unit
Servo drive unit
Spindle drive unit
Option unit, Battery unit
Servo motor, Spindle Motor
Operation ambient temperature
0~55°C
0~55°C
0~55°C
0~55°C
0~55°C
0~55°C
0~55°C
0~55°C
0~40°C
3. Notes for CNC system
3.1 Selection of external power supply unit
An UL recognized 24Vdc output power supply unit should be used to CNC system.
The "PD25" power supply unit provided by Mitsubishi will be changed to UL recognized product since
September 2000.
4. Notes for AC servo/spindle system
4.1 General Precaution
It takes 10 minutes to discharge the bus capacitor.
When starting wiring or inspection, shut the power off and wait for more than 15 minutes to avoid a
hazard of electrical shock.
4.2 Installation
MDS-B/C1 Series have been approved as the products, which have been installed in the electrical
enclosure. The minimum enclosure size is based on 150 percent of each MDS-B/C1 unit combination.
And also, design the enclosure so that the ambient temperature in the enclosure is 55°C (131°F) or less,
refer to the manual book (chapterⅠ-section3,7).
4.3 Short-circuit ratings
Suitable for use in a circuit capable of delivering, it is not more than 5kA rms symmetrical amperes.
4.4 Peripheral devices
To comply with UL/c-UL Standard, use the peripheral devices, which conform to the corresponding
standard.
- Circuit Breaker, Fuses, Magnetic Contactor and AC Reactor
Applicable power
supply unit
MDS-B-CVE-37
MDS-C1-CV-37
MDS-B-CVE-55
MDS-C1-CV-55
MDS-B-CVE-75
MDS-C1-CV-75
MDS-B-CVE-110
MDS-C1-CV-110
MDS-B-CVE-150
MDS-C1-CV-150
MDS-B-CVE-185
MDS-C1-CV-185
MDS-B-CVE-220
MDS-C1-CV-220
MDS-B-CVE-260
MDS-C1-CV-260
MDS-B-CVE-300
MDS-C1-CV-300
MDS-B-CVE-370
MDS-C1-CV-370
MDS-B-CVE-450
MDS-B-CVE-550
Fuse
Class K5
Magnetic contactor
(AC3)
NF50 40A
70A
S-N25
H11 (B-AL-7.5K)
NF50 40A
100A
S-N25
H11 (B-AL-7.5K)
NF50 40A
100A
S-N25
H11 (B-AL-7.5K)
NF50 50A
100A
S-N35
H12 (B-AL-11K)
NF100 100A
200A
S-N50
H13 (B-AL-18.5K)
NF100 100A
200A
S-N50
H13 (B-AL-18.5K)
NF225 150A
200A
S-N80
H14 (B-AL-30K)
NF225 150A
300A
S-N80
H14 (B-AL-30K)
NF225 150A
300A
S-N80
H14 (B-AL-30K)
NF225 175A
300A
S-N150
H15 (B-AL-37K)
S-N150
S-N180
H16 (B-AL-45K)
H17 (B-AL-55K)
Circuit Breaker
NF225 200A
NF400 300A
xii
AC Reactor
BKO-NC6851-
- Circuit Breaker for of spindle motor Fan
Select the Circuit Breaker by doubling the spindle motor fan rated.
A rush current that is approximately double the rated current will flow, when the fan is started
<Notice>
– For installation in United States, branch circuit protection must be provided, in accordance with the
National Electrical Code and any applicable local codes.
– For installation in Canada, branch circuit protection must be provided, in accordance with the
Canadian Electrical Code and any applicable provincial codes.
4.5 Flange of servomotor
Mount the servomotor on a flange, which has the following size or produces an equivalent or higher
heat dissipation effect:
Flange size
(mm)
HCo
----0.5~1.5 kW
--2.0~7.0 kW
150×150×6
250×250×6
250×250×12
300×300×12
300×300×20
HC-RFo
----1.0~2.0 kW
-----
Servo Motor
HC-MFo
Under 100 W
200 W
400 W
750 W
---
HA-FFo
Under 100 W
200,300 W
400,600 W
-----
HC-SFo
----0.5~1.5 kW
--2.0~7.0 kW
4.6 Motor Over Load Protection
Servo drive unit MDS-B -V1/2/14/24 Series and MDS -C1-V1/2 series and spindle drive unit MDS-B -SP
and MDS-C1-SP series have each solid-state motor over load protection.
When adjusting the level of motor over load, set the parameter as follows.
4.6.1 MDS-B-V1/2/14/24, MDS -C1-V1/2 Series
Parameter
No.
SV021
Parameter
Abbr.
OLT
SV022
OLL
Parameter
Name
Overload
Time constant
Overload
Detection level
Setting
Procedure
Set the time constant for overload
detection. (Unit: 1 second.)
Set the overload current detection level
with a percentage (%) of the stall
rating.
Standard
Setting Value
60s
Setting
Range
1~300s
150%
1~500%
Setting
Procedure
Set the time constant for overload
detection. (Unit: 1 second.)
Set the overload current detection level
with a percentage (%) of the rating.
Standard
Setting Value
60s
Setting
Range
0~1000s
110%
1~200%
4.6.2 MDS-B-SP, MDS-C1-SP Series
Parameter Parameter
No.
Abbr.
SP063
OLT
SP064
OLL
Parameter
Name
Overload
Time constant
Overload
Detection level
4.7 Field Wiring Reference Table for Input and Output
Use the UL-approved Round Crimping Terminals to wire the input and output terminals of MDS-B
Series.
Crimp the terminals with the crimping tool recommended by the terminal manufacturer.
Following described crimping terminals and tools type are examples of Japan Solderless Terminal Mfg.
Co., Ltd.
xiii
4.7.1 Power Supply Unit (MDS-B-CVE, MDS-C1-CV Series)
Capacity [kW]
P, N
(L+, L-)
Screw Torque
[lb in/ N m]
L11, L21, MC1
Terminal
(R0, S0)
Screw
Screw Torque
Size
[lb in/ N m]
3.7~7.5
11.0~18.5
22.0~37.0
45.0
55.0
M6
M6
M6
M6, M10
44.3/5.0
49.6/5.6
49.6/5.6
49.6/5.6, 177/20
M4
M4
M4
M4
M4
17.4/2.0
14.2/1.6
14.2/1.6
14.2/1.6
14.6/1.6
L1, L2, L3
M4
M5
M8
M8
M10
Screw Torque
[lb in/ N m]
14.6/1.6
29.8/3.37
117.2/13.2
117.2/13.2
177/20
3.7, 5.5
#10/60°C
#12/75°C
7.5
#8/60°C
#10/75°C
R8-6
R5.5-6
YHT-8S
YHT-2210
11.0
#4/60°C
#8/75°C
R22-6
R8-6
YPT-60
YHT-8S
15.0
#4/60°C
#4/75°C
18.5, 22.0
#3/60°C
#4/75°C
30.0
37.0
#1/75°C
#1/0/75°C
P, N (L+, L-)
Capacity [kW]
Wire Size (AWG)
/Temp Rating Note 1
Crimping Terminals Type
R5.5-6
Crimping Tools Type
YHT-2210
Capacity [kW]
Wire Size (AWG)
/Temp Rating Note 1
Crimping Terminals Type
26.0
#1/60°C
#3/75°C
38-S6
R22-6
Crimping Tools Type
R22-6
YPT-60
45.0
55.0
The bus bar is attached to
the product.
L330T
459-12
YET300
YF-1
38-S6
YPT-60
L11, L21 (R0, S0), MC1
Capacity [kW]
Wire Size (AWG)
/Temp Rating Note 1
3.7~55.0
#14/ 60°C
#14/ 75°C
V2-4
YNT-1614
Crimping Terminals Type
Crimping Tools Type
L1, L2, L3
Capacity [kW]
Wire Size (AWG)
/Temp Rating Note 1
Crimping Terminals Type
Crimping Tools Type
Earth Wire Size
(AWG)
Capacity [kW]
Wire Size (AWG)
/Temp Rating Note 1
3.7
#10/60°C
#12/75°C
#10/60°C
#10/75°C
22.0
#1/60°C
#2/75°C
Crimping Terminals Type
38-S8
Crimping Tools Type
YPT-60
Earth Wire Size
(AWG)
#3/60°C
#3/75°C
5.5
#10/60°C
#10/75°C
5.5-S4
YHT-2210
#10/60°C
#10/75°C
26.0
#1/0/60°C
#1/75°C
L330T
459-12
38-S8
YET300
YF-1
YPT-60
#1/60°C
#3/75°C
xiv
7.5
#10/75°C
#10/75°C
11.0
#4/60°C
#4/75°C
15.0
18.5
#3/60°C
#3/75°C
#4/75°C
L300T 459-23
YPT-60
#4/60°C
#3/60°C
#3/75°C
#4/75°C
#4/75°C
30.0
37.0
#1/75°C
1/0/75°C
38-S8
L330T
459-12
YPT-60
YET300
YF-1
#3/75°C
1/75°C
45.0
#2/0
/75°C
55.0
#3/0
/75°C
70-8
R80-10
YTP-150
#1/75°C
#1/0/75°C
4.7.2 Servo Drive Unit (MDS-B-V1/2/14/24, MDS-C1-V1/2 Series)
Axis
2-axes (V2, V24)
0.1∼3.5
4.5∼9.0
11.0,
15.0
M6
M6
M6
M6
44.3
/5.0
44.3
/5.0
44.3
/5.0
44.3
/5.0
M4
M4
M4
M4
17.4
/2.0
17.4
/2.0
17.4
/2.0
17.4
/2.0
U, V, W
M4
M5
M8
M4
Screw Torque
[lb in/ N m]
14.6
/1.6
28.6
/3.2
117.2
/13.2
14.6
/1.6
Capacity [kW]
Terminal
Screw
Size
1-axis (V1, V14)
P, N
(L+, L-)
Screw Torque
[lb in/ N m]
L11, L21
(R0, S0)
Screw Torque
[lb in/ N m]
0.1+0.1∼7.0+7.0
P, N (L+, L-)
Wire size depends on the Power Supply Unit (MDS -B-CVE, MDS-C1-CV Series).
L11, L21 (R0, S0)
Capacity [kW]
0.1∼15.0
Crimping Terminals Type
#14/ 60°C
#14/ 75°C
V2-4
Crimping Tools Type
YNT-1614
Wire Size (AWG)
/Temp Rating Note 1
U, V, W
Capacity [kW]
Wire Size (AWG)
/Temp Rating Note 1
Crimping Terminals Type
0.1∼1.0
#14/60°C
2.0
3.5
4.5
#10/60°C
#8/60°C
#8/60°C
#14/75°C
#14/75°C
#10/75°C
R5.5-4
8-4
T2-4
R5.5-4
#10/75°C
R8-5
(8-4)
R5.5-5
(R5.5-4)
R2-4
Crimping Tools Type
YHT-8S
YHT-2210
YHT-2210
Earth wire Size
(AWG)
#14/60°C
#14/75°C
#10/60°C
#12/75°C
#8/60°C
#10/75°C
#8/60°C
#10/75°C
Capacity [kW]
7.0
9.0
11.0
15.0
#8/60°C
#8/75°C
R8-5
(8-4)
#8/60°C
#8/75°C
#4/60°C
#4/75°C
#2/60°C
#3/75°C
R8-5
R22-8
R38-8
#8/60°C
#8/75°C
#4/60°C
#4/75°C
Wire Size (AWG)
/Temp Rating Note 1
Crimping Terminals Type
Crimping Tools Type
Earth Wire Size
(AWG)
YHT-8S
#8/60°C
#8/75°C
xv
YPT-60
#3/60°C
#3/75°C
4.7.3 Spindle Drive Unit (MDS-B-SP, MDS-C1-SP Series)
Capacity [kW]
P, N
(L+, L-)
Screw Torque
[lb in/ N m]
L11, L21
Terminal
(R0, S0)
Screw
Screw
Torque
Size
[lb in/ N m]
0.4~3.7
5.5~18.5
22.0~30.0
37.0
45.0/55.0
M6
M6
M6
M10
M10
44.3/5.0
44.3/5.0
44.3/5.0
234.3/26.5
177/20
M4
M4
M4
M4
M4
17.4/2.0
17.4/2.0
17.4/2.0
17.4/2.0
17.2/2.0
U, V, W
M4
M5
M8
M8
M10
Screw Torque
[lb in/ N m]
14.6/1.6
28.6/3.2
117.2/13.2
88.5/10.0
177/20
P, N (L+, L-)
Wire size depends on the Power Supply Unit (MDS-B -CVE, MDS-C1-CV Series).
L11, L21 (R0, S0)
Capacity [kW]
Wire Size (AWG)
/Temp Rating Note 1
Crimping Terminals Type
Crimping Tools Type
0.4~55.0
#14/60°C
#14/75°C
V2-4
YNT-1614
U, V, W
Capacity [kW]
Wire Size (AWG)
/Temp Rating Note 1
0.4, 0.75
#14 /60°C
#14 /75°C
Crimping Terminals
Type
R2-4
Crimping Tools Type
#14 /60°C
#14 /75°C
Capacity [kW]
Wire Size (AWG)
/Temp Rating Note 1
18.5
#3/60°C
#4/75°C
22-S6
L330T
459-23
Crimping Tools Type
Earth Wire Size
(AWG)
5.5
#10/60°C
#12/75°C
7.5
#8/60°C
#10/75°C
R8-5
R5.5-5
YHT-8S
YHT-2210
11.0
#8/60°C
#8/75°C
YHT-8S
YPT-60
#10/60°C
#10/75°C
#8/60°C
#10/75°C
#8/60°C
#8/75°C
#4 /60°C
#4 /75°C
30.0
37.0
#1/75°C
#1/0/75°C
45.0
#2/0
75°C
55.0
#4/0
/75°C
70-10
R100-10
R5.5-5
YHT-2210
Earth Wire Size
(AWG)
Crimping Terminals
Type
1.5
2.2, 3.7
#10/60°C
#14/75°C
5.5-S4
R5.5-4
R2-4
#11/60°C
#14/75°C
22.0
#2/60°C
#3/75°C
26.0
#1/60°C
#2/75°C
R38-8
R60-8
YET300
YF-1
YPT-60
#3/60°C
#4/75°C
R8-5
#3/60°C
#3/75°C
#3/75°C
#1/75°C
YPT-150
#1/75°C
Note 1: 60°C: Polyvinyl chloride insulated wires (IV)
75°C: Grade heat-resistant polyvinyl chloride insulated wires (HIV)
Use copper wire only.
Above listed wire are for use in the electric cabinet on machine or equipment.
xvi
15.0
#4/60°C
#4/75°C
L330T
459-23
#3/0
/75°C
4.8 Spindle Drive / Motor Combinations
Following combinations are the Standard combinations
Drive Unit Note: 1
MDS-B-SP []-04
MDS-C1-SP []-04
MDS-B-SP []-075
MDS-C1-SP []-075
MDS-B –SP []-15
MDS-C1-SP []-15
MDS-B –SP []-22
MDS-C1-SP []-22
MDS-B –SP []-37
MDS-C1-SP []-37
MDS-B-SP []-55
MDS-C1-SP []-55
MDS-B-SP []-75
MSD-C1-SP []-75
MDS-B-SP []-110
MDS-C1-SP []-110
MDS-B-SP []-150
MDS-C1-SP []-150
MDS-B-SP []-185
MDS-C1-SP []-185
MDS-B-SP []-220
MDS-C1-SP []-220
MDS-B-SP []-260
MDS-C1-SP []-260
MDS-B-SP []-300
MDS-C1-SP []-300
MDS-B-SP [] –370
MDS-B-SP [] -450
MDS-B-SP [] -550
Rating Output (kW)
Of Applicable Spindle Motor
SJ- ( ) Series
SJ-N Series
SJ-V/VL Series
SJ-NL Series
Note: 2
0.2
0.75
1.5
2.2
2.2
3.7
3.7
5.5
5.5
5.5
7.5
5.5
7.5
11
7.5
11
15
11
15
18.5
11
15
18.5
22
11
15
18.5
22
26
15
18.5
22
26
30
15
18.5
22
26
30
37
22
26
30
37
45
30
37
45
55
7.5
11
Note 1: [] can be H, M, X, HX, MX or none.
Note 1: Applicable unit depends on the range of power constant of motor.
Inquire of Mitsubishi about the detail of the combinations.
xvii
5. AC Servo/Spindle System Connection
MDS-C1-V1/V2 Series
MDS-B-V1/V2 Series
MDS-C1-SP[ H][M][X] Series MDS-C1-CV Series
MDS-B-V14/V24 Series MDS-B-SP(H)(M)[X] Series MDS-B-CVE Series
CN1A CN1B
CN1A CN1B
From NC
Regarding the connection of NC,
CN9
CN4
CN9
CN4
CN4
CN2L CN3L
CN5
CN6
CN9
CN2
M
CN7
CN8
see the NC manual book.
CN3
M
Battery Unit
or
Terminator A -TM
L+/LL11/L21
MC1
MU/MV/MW
U/V/W
CN23
L1/L2/L3
LU/LV/LW
MC
External Emergency Stop
Refer to specification manual
MC
Contactor
BNP-C3000
AC-L
3-phase
200/220VAC
AC reactor
Circuit Breaker
Enclosure Side
Machine Side
Servo Motor
Encoder
Spindle Motor
FAN
Encoder and
Thermal Protection
Servo Motor
Encoder
xviii
Fuse or
Breaker
CONTENTS
Chapter I MDS-C1 Series Servo/Spindle System Configuration Section
1. Outline
....................................................................................................................
2. Drive Section System Configuration ...............................................................................
3. Unit Installation ...............................................................................................................
4. Connection of Each Unit .................................................................................................
4.1 Layout of each unit .................................................................................................
4.2 Link bar specifications ............................................................................................
4.3 Unit separated layout .............................................................................................
4.4 Precautions for installing multiple power supply units ............................................
4.5 Precautions for installing only one power supply unit for the
2CH communication specifications with the NC (For 2-system control)..................
4.6 Connection of battery unit ......................................................................................
4.6.1 Battery unit ......................................................................................................
4.6.2 Connection......................................................................................................
5. Drive Section Connector and Cable Specifications ........................................................
5.1 Half pitch cable connection system ........................................................................
5.2 Cable details ..........................................................................................................
5.2.1 Communication cable SH21 (semi ordered product) .....................................
5.2.2 Terminator A-TM (ordered part) ....................................................................
5.2.3 Servo drive unit detector cable ......................................................................
5.2.4 Brake cable ....................................................................................................
5.2.5 Communication cable SH21 connector .........................................................
5.2.6 Cannon plug for servomotor detector ............................................................
5.2.7 Cable wire ......................................................................................................
5.2.8 Cable protection tube (noise countermeasure) .............................................
5.2.9 Oil-proof type servomotor cable connectors (Recommendation 1) ...............
5.2.10 Oil-proof type servomotor connectors (Recommendation 2) .........................
5.2.11 Cable clamp ...................................................................................................
5.2.12 Spindle control circuit cable list ......................................................................
5.2.13 Cable assembly procedure (Excluding SH21 cable).......................................
6. Outline Drawing ..............................................................................................................
6.1 Panel installation structure .....................................................................................
6.2 Power supply unit ...................................................................................................
6.3 1-axis servo drive unit/2-axis servo drive unit/spindle servo drive unit ...................
6.4 Battery unit...............................................................................................................
6.5 AC reactor................................................................................................................
6.6 Dynamic brake unit..................................................................................................
6.7 Contactor ................................................................................................................
6.8 Circuit Breaker (CB).................................................................................................
7. Heating Value .................................................................................................................
8. Selection of Capacity .......................................................................................................
8.1 Selection of the power supply unit capacity.............................................................
8.1.1 Selection with rated capacity (continuous rated capacity)...............................
8.1.2 Selection with maximum momentary rated capacity.......................................
8.1.3 Selection data..................................................................................................
8.1.4 Selection example...........................................................................................
8.2 Selection of leakage breaker ...................................................................................
8.3 Noise filter................................................................................................................
8.4 Selection of power supply capacity ........................................................................
8.5 Selection of wire size .............................................................................................
8.6 Selection of AC reactor, contactor and CB ............................................................
i
I-2
I-4
I-12
I-16
I-17
I-17
I-19
I-20
I-21
I-22
I-22
I-22
I-24
I-24
I-26
I-26
I-26
I-27
I-29
I-30
I-31
I-33
I-34
I-35
I-36
I-37
I-38
I-53
I-58
I-58
I-59
I-60
I-61
I-62
I-63
I-63
I-63
I-66
I-68
I-68
I-68
I-70
I-70
I-71
I-72
I-73
I-75
I-76
I-81
Chapter II MDS-C1-CV Power Regeneration Type Power Supply Section
1. Power Regeneration Type Power Supply........................................................................
1.1 C1-CV Outline ........................................................................................................
1.2 Model configuration .................................................................................................
1.3 List of unit models and outlines................................................................................
1.4 List of specifications ...............................................................................................
1.5 Hardware and parameter setting ............................................................................
1.6 Status display .........................................................................................................
1.6.1 7-segment LED display .................................................................................
1.6.2 Charge lamp ..................................................................................................
1.7 List of alarms and warnings ...................................................................................
1.8 Explanation of connectors and terminal block ........................................................
1.9 Power supply external emergency stop function .....................................................
1.10 Main circuit connection ...........................................................................................
II-2
II-2
II-2
II-3
II-7
II-9
II-10
II-10
II-10
II-11
II-13
II-14
II-17
Chapter III
MDS-C1-Vx Servo System Section
1. Outline
....................................................................................................................
2. Motor
....................................................................................................................
2.1 Outline ....................................................................................................................
2.2 Model configuration ................................................................................................
2.3 Main equipment list ................................................................................................
2.4 Specifications list ....................................................................................................
2.5 Torque characteristics..............................................................................................
2.6 Duty drive characteristics.........................................................................................
2.7 Outline dimension drawings ...................................................................................
2.8 Motor connection ....................................................................................................
2.9 Motors with electromagnetic brake ........................................................................
2.10 Motor vibration resistance ......................................................................................
2.11 Motor shaft strength ...............................................................................................
2.12 Environmental conditions.........................................................................................
3. Detectors ....................................................................................................................
3.1 List of detector specifications .................................................................................
3.2 Serial pulse encoder ..............................................................................................
3.2.1 Features ........................................................................................................
3.2.2 Types .............................................................................................................
3.2.3 Outline dimension drawings ..........................................................................
3.2.4 Cable connection diagram .............................................................................
3.2.5 Maintenance ..................................................................................................
3.3 Scale I/F unit............................................................................................................
3.3.1 Outline.............................................................................................................
3.3.2 Model configuration .........................................................................................
3.3.3 List of specifications ........................................................................................
3.3.4 Unit outline dimension drawing .......................................................................
3.3.5 Description of connector..................................................................................
3.3.6 Example of scale I/F unit connection .............................................................
3.3.7 Cables .............................................................................................................
4. Servomotor and Detector Installation .............................................................................
4.1 Installation ..............................................................................................................
4.2 Coupling with the load ............................................................................................
III-2
III-4
III-4
III-5
III-7
III-8
III-15
III-22
III-25
III-43
III-48
III-53
III-54
III-56
III-58
III-58
III-59
III-59
III-59
III-60
III-63
III-64
III-65
III-65
III-65
III-65
III-66
III-67
III-68
III-70
III-72
III-72
III-76
ii
5. MDS-C1-V1 Servo Drive ................................................................................................
5.1 Availability of 2-system
(standard drive unit mode and high-gain drive unit mode).....................................
5.2 Model configuration .................................................................................................
5.3 Specifications list ....................................................................................................
5.4 Connection of dynamic brake unit ........................................................................
5.5 Hardware setting ....................................................................................................
5.6 Parameter settings .................................................................................................
5.6.1 Standard Parameters (Standard Drive unit)....................................................
5.6.2 High-gain Parameters (High-gain Drive unit) ..................................................
5.7 Alarms and Warnings .............................................................................................
5.8 Explanation of connector and terminal block .........................................................
5.9 Main circuit and brake connection ..........................................................................
5.9.1 Main circuit ....................................................................................................
5.9.2 Brake .............................................................................................................
5.10 Wiring system diagrams for systems .....................................................................
5.11 D/A output function .................................................................................................
5.11.1 Outline ...........................................................................................................
5.11.2 Hardware specifications ................................................................................
5.11.3 Parameters ....................................................................................................
5.11.4 Output data No. .............................................................................................
5.11.5 Setting of output magnification ......................................................................
5.11.6 Others ............................................................................................................
6. MDS-C1-V2 Servo Drive ................................................................................................
6.1 Model configuration ................................................................................................
6.2 Servo drive unit specifications ................................................................................
6.3 Hardware setting ....................................................................................................
6.4 Status display .........................................................................................................
6.5 Explanation of terminal block and connectors ........................................................
6.6 Main circuit connection ...........................................................................................
7. Selection of Capacity ......................................................................................................
7.1 Selection of servo system ......................................................................................
7.1.1 Types of drive systems ..................................................................................
7.1.2 Selection of servomotor .................................................................................
7.2 Determining the coasting amount with emergency stop ........................................
III-80
III-80
III 81
III-82
III-85
III-87
III-88
III-89
III-113
III-138
III-147
III-148
III-148
III-150
III-151
III-154
III-154
III-154
III-154
III-155
III-155
III-156
III-158
III-158
III-159
III-163
III-164
III-166
III-167
III-170
III-170
III-170
III-171
III-182
Chapter IV MDS-C1-SP Spindle System Section
1. Outline
.................................................................................................................... IV-2
1.1 Features of the MDS-C1-SP spindle system ......................................................... IV-2
1.2 Precautions for use.................................................................................................. IV-2
1.3 Model configuration ................................................................................................ IV-3
1.4 Configuration .......................................................................................................... IV-4
1.4.1 Basic configuration (no added functions) ...................................................... IV-4
1.4.2 With orientation function ................................................................................ IV-4
1.4.3 High-speed synchronous tap/spindle synchronization/with
orientation function ........................................................................................ IV-6
1.4.4 OSE90K+1024 encoder C-axis control/with orientation function ................... IV-7
1.4.5 OSE90K+1024 encoder C-axis control and high-speed synchronous tap/
spindle synchronization/with orientation function .......................................... IV-8
1.4.6 MBE90K encoder C-axis control/with orientation function ............................. IV-9
1.4.7 MBE90K encoder C-axis control and high-speed synchronous tap/
spindle synchronization/with orientation function .......................................... IV-9
1.4.8 MHE90K encoder C-axis control/with orientation function ............................ IV-10
1.4.9 MHE90K encoder C-axis control and high-speed synchronous tap/
spindle synchronization/with orientation function .......................................... IV-10
1.5
Device-to-device connections .............................................................................. IV-11
iii
2. Specifications...................................................................................................................
2.1 AC spindle motor and controller specifications ......................................................
2.2 Output characteristics ............................................................................................
2.3 Outline dimension drawings .................................................................................
2.3.1 Motor .............................................................................................................
3. Status Display and Parameter Settings ...........................................................................
3.1 Status display with 7-segment LED .........................................................................
3.2 Spindle parameters..................................................................................................
3.3 Spindle specification parameters screen.................................................................
3.4 Spindle monitor screen............................................................................................
3.5 Control input signals ................................................................................................
3.6 Control output signals ..............................................................................................
3.7 Meter outputs ...........................................................................................................
3.8 Output interface.......................................................................................................
3.9 Spindle protection/warning functions .......................................................................
4. Optional Specifications and Parts ...................................................................................
4.1 Orientation specifications (optional)........................................................................
4.1.1 1-point orientation using magnetic sensor .....................................................
4.1.2 4096-point orientation using encoder .............................................................
4.1.3 4096-point orientation using motor built-in encoder.......................................
4.1.4 Operation of orientation ..................................................................................
4.2 Synchronous tap function (option) ..........................................................................
4.2.1 Closed type synchronous tap .........................................................................
4.2.2 Semi-closed type synchronous tap ................................................................
4.2.3 Operation of synchronous tap ........................................................................
4.3 C-axis control (optional) ..........................................................................................
4.3.1 When using encoder (OSE90K+1024 BKO-NC6336H01).............................
4.3.2 When using built-in encoder (MBE90K) .........................................................
4.3.3 When using built-in encoder (MHE90K).........................................................
4.4 Single parts (optionally supplied parts)...................................................................
4.4.1 Power step-down transformer ........................................................................
4.4.2 Noise filter .......................................................................................................
4.5 Other optional specifications ...................................................................................
4.6 Theoretical acceleration and deceleration times ....................................................
IV-14
IV-14
IV-19
IV-22
IV-22
IV-30
IV-30
IV-31
IV-60
IV-64
IV-68
IV-71
IV-74
IV-76
IV-77
IV-80
IV-80
IV-80
IV-88
IV-91
IV-91
IV-94
IV-94
IV-94
IV-94
IV-95
IV-95
IV-98
IV-98
IV-99
IV-99
IV-101
IV-103
IV-104
Chapter V IPM Spindle Drive System Section
1. Outline
....................................................................................................................
1.1 Outline ....................................................................................................................
1.2 Features of MDS-C1-SPM Series...........................................................................
1.3 Precautions for use ................................................................................................
2. Configuration of Drive System ........................................................................................
2.1 Basic system configuration drawing .......................................................................
2.2 Combination with power supply unit .......................................................................
2.3 List of IPM spindle drive units ...............................................................................
3. Setting the IPM Spindle Drive Unit Parameters..............................................................
3.1 Bit selection parameters..........................................................................................
3.2 Setting the unit type, motor and power supply unit ................................................
3.3 Spindle monitor screen ..........................................................................................
3.4 List of spindle protection functions and warning functions .....................................
V-2
V-2
V-2
V-2
V-4
V-4
V-4
V-5
V-8
V-8
V-10
V-11
V-15
iv
4. Setup Procedures ............................................................................................................
4.1 Wiring the drive unit ................................................................................................
4.2 Setting the parameters............................................................................................
4.3 PLG Z-phase automatic adjustment .....................................................................
4.4 PLG automatic adjustment of SPM unit..................................................................
4.5 Alarms ....................................................................................................................
4.6 Handling the motor ..................................................................................................
4.6.1 Storage .............................................................................................................
4.6.2 Assembly (built-in type)....................................................................................
5. IPM Spindle Motor Specifications ....................................................................................
5.1 IPM spindle motor specifications ............................................................................
5.2 Motor outline drawings ............................................................................................
V-18
V-18
V-18
V-18
V-19
V-19
V-19
V-19
V-19
V-22
V-22
V-23
Appendix 1 EN Standards Step-down Insulation T ransformer....................................
Appendix 2 EMC Installation Guidelines.......................................................................
1. Introduction...................................................................................................................
2. EMC Instructions ..........................................................................................................
3. EMC Measures.............................................................................................................
4. Measures for panel structure........................................................................................
4.1
Measures for control box unit..........................................................................
4.2
Measures for door...........................................................................................
4.3
Measures for operation board panel ...............................................................
4.4
Shielding of the power supply input section ....................................................
5. Measures for various cables.........................................................................................
5.1
Measures for wiring in box ..............................................................................
5.2
Measures for shield treatment.........................................................................
5.3
Servomotor power cable .................................................................................
5.4
Servomotor feedback cable.............................................................................
5.5
Spindle motor power cable..............................................................................
5.6
Spindle motor feedback cable.........................................................................
5.7
Cable between control box and operation board panel...................................
6. EMC Countermeasure Parts ........................................................................................
6.1
Shield clamp fitting ..........................................................................................
6.2
Ferrite core......................................................................................................
Appendix 3 Unit system..................................................................................................
Appendix 4 Classification of Servo/Spindle Drive Unit Circuits Based on
Higher Harmonic Suppression Countermeasures Guidelines..............
Appendix 5 Explanation of Large Capacity Spindle Unit Specifications..................
1. Outline
....................................................................................................................
2. List of units ...................................................................................................................
3. Selection of AC reactor (B-AL), contactor and CB ....................................................
4. Outline of units .............................................................................................................
5. Panel cut dimension drawing.......................................................................................
6. Detailed outline drawing ..............................................................................................
7. Heating value ...............................................................................................................
8. Selection of power capacity .........................................................................................
9. Selecting the wire size.................................................................................................
10. Drive unit connection screw size................................................................................
11. Connection of each unit ..............................................................................................
12. Restrictions .................................................................................................................
13. Parameters .................................................................................................................
14. Precautions .................................................................................................................
AI-2
AII-2
AII-2
AII-2
AII-3
AII-3
AII-3
AII-4
AII-4
AII-4
AII-5
AII-5
AII-5
AII-6
AII-6
AII-7
AII-7
AII-7
AII-8
AII-8
AII-9
AIII-2
v
AIV-2
AV-2
AV-2
AV-2
AV-2
AV-3
AV-4
AV-5
AV-8
AV-8
AV-8
AV-9
AV-9
AV-11
AV-12
AV-12
I. MDS-C1 Series
Servo/Spindle System Configuration
Section
1. Outline
1. Outline
....................................................................................................................
I-1
I-2
1. Outline
1. Outline
MDS-C1 Series servo and spindle system outline
The MDS-C1 Series is MELDAS drive system that has been developed totally connected the servo drive
and spindle drive sections.
The MDS-C1 Series is the successor to the MDS-B Series, and has been developed to satisfy European
Safety Standards. This Series has the following features.
(1) Compact and lightweight
The converters that were conventionally built in each servo and spindle drive have been integrated into
one unit. The drive system volume, installation area and weight have been drastically reduced with the
incorporation of high density mounted electronic parts IGBT-IPM (Intelligent Power Module) and the
high performance heat radiating fin.
(2) Standardization of dimensions
The outline has been standardized to the book end type, and by unifying the height and depth
dimensions, installation in control box has been made easy. Furthermore, by matching the shape with
the NC unit (M500 Series), an integrated appearance with the NC has been realized.
(3) Low heat generation
By incorporating the IPM and using power supply regeneration in the servo drive, the amount of heat
generated has been greatly reduced.
(4) High speed and precision processing
A high speed CPU has been mounted on the control PCB, and a 100,000 pulse/rotation sub micron
detector has been incorporated as a standard to allow faster and more precise interpolation.
By incorporating the stable position loop control (SHG control) method, having an outstanding
response, the positioning time and tracking have been improved and the machine vibration during
acceleration/deceleration has been reduced.
The cutting performance and cutting precision during position control have been improved by using the
high speed CPU also for the spindle drive.
(5) High speed spindle orientation
Smooth operations and minimum orientation times have been realized by using the high speed
orientation method while allows direct orientation from the high speed during the spindle drive.
(6) Features of the MDS-C1 Series
(a) European Safety Standards compliant
This Series complies with the European Safety Standards (LVD Directives). (Refer to the section
"Compliance to European EC Directives" for details.)
(Note that the C1 Series target units are limited to the CV (power regeneration power supply), SP
(spindle drive) and V1/V2 (1, 2-axis servo drive).)
(b) Addition of power supply emergency stop input line
With the C1 Series, the external contactor can be directly shut off from the power supply even
when the emergency stop hot line from the NC does not function for any reason.
(This function is validated with the rotary switch and connected drive parameter settings. Thus, the
functions do not change from the conventional functions when used in the same manner as the A
Series.)
I-2
2. Drive Section System Configuration
2. Drive Section System Configuration ..............................................................................
I-3
I-4
2. Drive Section System Configuration
2. Drive Section System Configuration
WARNING
1. Wiring and inspection work must be done by a qualified technician.
2. Wait at least 15 minutes after turning the power OFF before starting wiring or inspections. Failure
to observe this could lead to electric shocks.
3. Wire the servo drive unit and servomotor after installation. Failure to observe this could lead to
electric shocks.
4. Do not damage, apply forcible stress, place heavy items or engage the cable. Failure to observe
this could lead to electric shocks.
CAUTION
1. Correctly carry out the wiring. Failure to do so could lead to runaway of the servomotor, or to
injuries.
2. Do not mistake the terminal connections. Failure to observe this item could lead to ruptures or
damage, etc.
3. Do not mistake the polarity ( + , – ). Failure to observe this
item could lead to ruptures or damage, etc.
4. Do not reverse the direction of a diode which connect to a DC
relay for the control output signals to suppress a surge.
Connecting it backwards could cause the drive unit to
malfunction so that signals are not output, and emergency
stop and other safety circuits are inoperable.
Servo drive unit
COM
(24VDC)
Control output
signal
RA
5. Reduce magnetic damage by installing a noise filter,etc. The
electronic devices used near the servo drive unit could be
affected by magnetic noise.
6. Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of
the servo drive unit.
7. Provide a sequence that shut off the power at the regenerative resister error signal-ON when
using the regenerative resistor. The regenerative resistor could abnormally overheat and cause a
fire due to a fault in the regenerative transistor, etc.
8. Never make modifications.
9. Some parts are the MDS-C1 Series instead of the MDS-B Series. The basic specifications do
not differ, but if newly added functions or a newly added capacity is being used, always confirm
the changed points before starting use.
CAUTION
Cautions for using MDS-C1 Series
1. The power supply unit MDS-C1-CV-370 has a different rush sequence from the other power
supplies. Thus, always install an external contactor. Do not share the contactor with other power
supplies.
2. The servo drive unit MDS-C1-V1-110/150 does not have built-in dynamic brake. Thus, always use
an external dynamic brake unit.
I-4
2. Drive Section System Configuration
(1) Basic system configuration (Example: Spindle + 3-axis servo)
(c)
(c)
(c)
(c)
(b)
(a)
Servo
Servo
Spindle
Power
drive unit drive unit drive unit supply
(2-axis)
(1-axis)
unit
(Note 1)
Link bar
Control power supply
RS
Power supply RST
(Note 3)
Servomotor
Servomotor
Servomotor
Spindle
motor
Con-tac
tor
AC
reactor
CB1
200VAC
IN
B-AL
Servomotor fan
11kW, 15kW
Spindle motor fan ST
CB2
(Note 1) In systems which use a spindle drive unit, the spindle drive unit must be placed next to the
power supply unit as shown above. Also install the 11kW and higher servo drive unit next to
the power supply unit.
If also using spindle drive units, arrange the units next to the power supply in decreasing
order of drive capacity size.
(Note 2) Excluding MDS-C1-CV-370, the use of a contactor can be selected.
Excluding MDS-C1-CV-370, use is possible without a contactor, but use of a contactor is
recommended for safety purposes.
The rotary switch on the power supply unit must be set as follows according to whether the
contactor is installed.
Contactor installed ............ Rotary switch setting = 0
Contactor not installed....... Rotary switch setting = 1
I-5
2. Drive Section System Configuration
(2) List of units
(a) Power supply unit ..... DC power supply to drive unit/regenerative control
No.
Model
MDS-
Capacity
(kW)
Dimensions
(H∗ W∗ Dmm)
Type
1
C1-CV-37
3.7
380∗ 60∗ 200
2
C1-CV-55
5.5
380∗ 60∗ 200 A1
3
C1-CV-75
7.5
380∗ 60∗ 200
4
C1-CV-110
11.0
380∗ 90∗ 255 B1
5
C1-CV-150
15.0
380∗ 120∗ 255
6
C1-CV-185
18.5
380∗ 120∗ 255
7
C1-CV-220
22.0
380∗ 150∗ 255
8
C1-CV-260
26.0
380∗ 150∗ 255
9
C1-CV-300
30.0
380∗ 150∗ 255
10 C1-CV-370
37.0
380∗ 150∗ 255
11 A-CR-10
1.0
380∗ 60∗ 180
12 A-CR-15
1.5
380∗ 60∗ 180
13 A-CR-22
2.2
380∗ 60∗ 180
14 A-CR-37
3.7
380∗ 60∗ 180 A0
15 A-CR-55
5.5
380∗ 60∗ 180
16 A-CR-75
7.5
380∗ 60∗ 180
17 A-CR-90
9.0
380∗ 60∗ 180
Correspondence to drive unit capacity when single spindle is used (kW)
0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
C1
D1
I-6
15
18.5 22
26
30
37
45
55
2. Drive Section System Configuration
(b) Spindle drive unit ... Spindle motor control
No.
Model
Capacity
MDS-C1-
(kW)
Dimensions
Power supply unit
for single spindle
(H∗ W∗ Dm m )
Type
1
SP-04
0.4
380∗ 60∗ 180
2
SP-075
0.75
380∗ 60∗ 180
3
SP-15
1.5
380∗ 60∗ 180
4
SP-22
2.2
380∗ 60∗ 255
5
SP-37
3.7
380∗ 60∗ 255
6
SP-55
5.5
380∗ 90∗ 255
7
SP-75
7.5
380∗ 90∗ 255
8
SP-110
11.0
380∗ 90∗ 255
9
SP-150S
15.0
380∗ 90∗ 255
10 SP-150
15.0
380∗ 120∗ 255
11 SP-185
18.5
380∗ 120∗ 255
12 SP-220
22.0
380∗ 150∗ 255
13 SP-260
26.0
380∗ 150∗ 255
14 SP-300
30.0
380∗ 150∗ 255
CV-37
A0
CV-37
CV-37
CV-37
A1
CV-37
CV-55
CV-75
B1
CV-110
CV-150
CV-150
C1
CV-185
D1
CV-220
CV-260
D2
CV-300
I-7
Remarks
2. Drive Section System Configuration
(c) Servo drive unit
1-axis type
No.
of
axes
Model
Capacity
MDS(kW)
C1V1-01
0.1
V1-03
0.3
V1-05
0.5
V1-10
1.0
V1-20
2.0
V1-35
3.5
V1-45S
4.5
V1-45
4.5
V1-70S
7.0
V1-70
7.0
V1-90
9.0
V1-110
11.0
V1-150
15.0
Adaptable motor
Dimensions
Type
HCo o o
Axis
52
53 102 103
152 153 202 203 352 353 452 453 702 703 902
A0
A1
B1
C1
D2
(Note) Limits apply to continuous operation of V1-45S and V1-70S.
(c) Servo drive unit
No.
of
axes
Model
Capacity
MDS(kw)
C1V2-0101 0.1+0.1
V2-0301
0.3+0.1
V2-0303
0.3+0.3
V2-0501
0.5+0.1
V2-0503
0.5+0.3
V2-0505
0.5+0.5
V2-1005
1.0+0.5
V2-1010
1.0+1.0
V2-2010
2.0+1.0
V2-2020
2.0+2.0
V2-3510S
3.5+1.0
V2-3520S
3.5+2.0
V2-3510
3.5+1.0
V2-3520
3.5+2.0
V2-3535
3.5+3.5
V2-4520
4.5+2.0
V2-4535
4.5+3.5
V2-7070S
V2-4545
7.0+7.0
4.5+4.5
V2-7035
7.0+3.5
V2-7045
7.0+4.5
V2-7070
7.0+7.0
Adaptable motor
Dimensions
Type
2-axis type
A0
A1
B1
C1
D1
HCo o o
Axis
52
53
102 103 152 153 202 203 352 353 452 453 702 703 902
LM
L
M
LM
L
M
L
M
LM
L
M
LM
L
M
LM
L
M
L
M
L
M
L
M
LM
L
M
L
M
LM
LM
L
M
L
M
LM
(Note) Limits apply to continuous operation of V2-7070S.
I-8
2. Drive Section System Configuration
(3) List of unit dimensions
Outline dimensions
of each unit
Outline type
A0/A1
B1
W: 60
Fin section D: 75 W: 90
(Including wind
passage space of 15)
Fin section D: 75
(Including wind passage
space of 15)
D: 255
D: 255
C1
Fin section D: 75 W: 120
(Including wind
passage space of 15)
D: 255
180
Outline drawing
W: 150
Fin section D: 75
(Including wind passage spaces
of D1: 15, D2: 12)W:150
フィン部 D:75
(風路スペース 15 含)
D: 255
Fin
(mm)
D1/D2
H : 380
H: 380
H: 380
H: 380
The A0 type has no fin.
(Depth: 180)
Precautions
The depth of the fin section for the MDS-C1 Series is smaller than the MDS-A/B Series due to the high
efficiency radiation of heat structure.
Provide a wind passage space of 15mm or more behind the fins so that the cold air can pass through.
(Provide 12mm or more for the D2 type.)
Units with an "S" at the end of the model have a smaller unit width than the existing series.
Thus, when designing the control box with this unit's outline dimensions, there may be cases when the
existing drive unit cannot be installed.
I-9
3. Unit Installation
3. Unit Installation ................................................................................................................
I - 11
I-12
3. Unit Installation
3. Unit Installation
CAUTION
1. Correctly transport the product according to its weight.
2. Do not stack products past the limit.
3. Install servo drive unit, servomotor and regenerative resistor unit on noncombustible material.
Direct installation on combustible material or near combustible material could lead to fires.
4. Follow this Instruction Manual and install the unit in a place where the weight can be borne.
5. Do not get on top of or place heavy objects on the unit.
6. Store and use the units under the designated environmental conditions.
7. Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil
enter the servo drive unit or servomotor.
8. Do not block the intake or exhaust ports of the servomotor provided with a cooling fan.
9. The servo drive unit and servomotor are precision devices, so do not drop or apply strong impacts
on them.
10. Do not install or operate servo drive units or servomotors that are damaged or that have missing
parts.
11. When storing the unit for a long time, contact the Service Center or Service Station.
(1) Each unit is designed to be installed in a cabinet such as a power distribution box. Avoid installation in
direct sunlight, near heat generating objects or outdoors.
(2) The inner working environment (temperature, humidity, vibration, atmosphere) of the cabinet must be
within the limits given in the "Specifications for each unit". The cabinet for the cutting machine must be
a totally closed type cabinet.
(3) Make considerations so that inspections and replacement during maintenance is easy.
The required space around each unit is shown in the outline dimensions drawing.
(4) Each unit generates some heat, so leave a space on the top and bottom when installing other
equipment or parts.
Refer to the outline drawing for the square hole dimensions. In this case, insert packing between the
unit and power distribution box. Refer to the following installation examples for the installation of the
servo drive unit.
I - 12
3. Unit Installation
(5) Provide a structure that separates the intake and outtake. If the air behind the fin is not discharged
properly, causing heat to accumulate, always install the forced outtake fan.
160 or more
40 or more
Cover
40 or more
Power distribution
box
40 or more
Fin
Fin
Outtake
40 or more
Power distribution
box
Intake
Filter
Outtake
Front
Rear
[Unit: mm]
Example 1. Leave space for air flow when the
power distribution box is at the rear of
the machine.
If heat accumulates behind the fin,
install forced air cooling (FAN) to
discharge the heat.
Example 2. When the outdoor air cooling section is to
protrude from the power distribution box,
make sure that cutting chips, etc., do not
enter the outtake section.
If heat accumulates behind the fin, install
forced air cooling (FAN) to discharge the
heat outside the box.
CAUTION
1. Do not hold the front cover when transporting the servo drive unit. The unit could drop.
2. Always observe the installation directions.
3. Secure the specified distance between the servo drive unit and control panel, or between the
servo drive unit and other devices.
Note 1. When installing in a poor environment (factories with large quantities of oil mist), install a filter
on the intake section.
Note 2. When assembling the control box, make sure that drill cutting chips, etc., do not enter the
drive unit.
Note 3. Make sure that oil, water and cutting chips do not enter the drive unit from the control box
clearances or fan on top of the control box.
Note 4. When the unit is at the places having high levels of toxic gases or dust, protect the drive unit by
air purging (preventing the entry of toxic gases and dust by feeding clean air from an external
source, so that inner pressure of control panel is higher than the outside air).
I - 13
3. Unit Installation
(6) Installation of cooling fan
Each unit (excluding types without fin) are individually provided with cooling fans. If the area around the
fan becomes hot (if heat builds-up), install an agitating fan.
Refer to 1) or 2) below according to the panel structure, and install.
(a) Installing the fan below the heat radiation fins
When using the totally closed type unit
installation method and the box
structure in which cutting oil and dust,
etc., easily enters the unit's fan and fin
section (a structure where the fan may
stop easily due to the working
environment), the user should install a
fan at the position indicated as FAN.
Forced cooling should then be
performed with a velocity of 2m/s or
higher. Also consider the
maintainability in this case.
Inside box
Outside box
Wind
direction
FAN
(Additionally installed by user)
… Install a finger guard for safety.
(b) Installing the fan above the unit
Due to the structure, heat will tend to accumulate on the top of each unit. Thus, install a fan in the
power distribution box to mix the heat at the top of each unit.
Power supply unit
FAN
(Additionally installed by user)
Velocity 2m/s or higher
Spindle drive unit
Servo drive unit (1)
Servo drive unit (3)
Servo drive unit (2)
(Inside box)
Wind direction
Front view of units in power distribution box
I - 14
4. Connection of Each Unit
4. Connection of Each Unit .................................................................................................
4.1 Layout of each unit .................................................................................................
4.2 Link bar specifications ............................................................................................
4.3 Unit separated layout ..............................................................................................
4.4 Precautions for installing multiple power supply units ...........................................
4.5 Precautions for installing only one power supply unit for the
2CH communication specifications with the NC (For 2-system control) ...............
4.6 Connection of battery unit .......................................................................................
4.6.1 Battery unit ......................................................................................................
4.6.2 Connection......................................................................................................
I - 15
I-16
I-17
I-17
I-19
I-20
I-21
I-22
I-22
I-22
4. Connection of Each Unit
4. Connection of Each Unit
CAUTION
1. Shut off the power on the servo drive unit side if a fault occurs in the servo drive unit. Fires could
be caused if a large current continues to flow.
2. Provide a sequence that shut off the power at the regenerative resister error signal-ON when
using the regenerative resistor. The regenerative resistor could abnormally overheat and cause a
fire due to a fault in the regenerative transistor, etc.
3. Use a double circuit configuration that allows the operation circuit for the magnetic brakes to be
operated even by the external emergency stop signal.
4. MDS-C1-V1-110/150 does not have built-in dynamic brake. Always use an external dynamic
brake unit.
(CB2)
(CB1)
20-pin half pitch
10320-25F0-008
(3M)
20-pin half pitch
10320-3210-000
(3M)
CN2, CN3,
CN5 CN6,
CN7, CN8
CN1A
CN2A
Connector
name
24VDC
I - 16
M axis
B-AL
(AC reactor)
L axis
Contactor
(Note1) Ground
for C1-V2
C1-V2 (2-axis
servo drive unit)
C1-V1 (1-axis
servo drive unit)
NC control
section
Drive section wiring system diagram
C1-SP
C1-CV
A-BT
(Spindle drive unit) (Power supply unit) (Battery unit)
Standard connection
Note 2. Devices (contactor, magnetic brakes, relay) that
generate high levels of noise are installed near the
power supply unit and drive unit. If the unit may
malfunction, install a surge killer on the noise
generating device, so as to suppress the noise.
3ø
200VAC 50Hz
200-230VAC 60Hz
Wire the power supply and main circuit as shown below.
Always use a Circuit Breaker (CB) on the power supply input wire.
4. Connection of Each Unit
4.1 Layout of each unit
Layout the units according to the following reference as a principle.
(1) When total of spindle motor output and servomotor output is 38kW or less
Σ (Spindle motor output) +kΣ (servomotor output) ≤ 38kW
Servodrive
drive
Servo
units
Spindle drive
unit
(K = 1 with 1-axis servo)
(K = 0.7 with 2 or more axes servo)
Refer to "8. Selection of Capacity" for
details.
Power supply
unit
Link bar
(Front)
(2) When total of spindle motor output and servomotor output is larger than 38kW
Σ (Spindle motor output) +kΣ (servomotor output) > 38kW
Servo drive
units
Power
supply
unit
No.2
Spindle
drive
unit
Power
supply
unit
No.1
(K=1 with only 1-axis servo)
(K=0.7 with 2 or more axes servo)
Refer to "8. Selection of Capacity" for
details.
Link bar
(Front)
CAUTION
Always connect the power supply unit No. 1
and No. 2 L+ and L– link bars independently.
(Note) The clearance between each unit should generally be 3cm or less.
If the spindle drive unit and servo drive unit must be separated by more than 3cm, observe
the conditions listed in section "4.3".
4.2 Link bar specifications
The link bar is the following part, and must be manufactured by the user:
L+, L–
—— A connection wire used to supply the converter's DC voltage from the power supply unit
to each drive unit.
L11, L21
—— A connection wire used to supply the 200VAC control power to each unit.
This does not necessary need to be a bar (plate), but can be a wire.
Link bar specifications
—— The terminal block for link bar connection is the following regardless of
the capacity:
L+, L– .......... M6 screw
L11, L21 ....... M4 screw
An outline connection drawing is shown on the following page for
reference.
I - 17
4. Connection of Each Unit
(1) Outline connection drawing
(Note) Mount the terminal cover after wiring as
shown on the left. The terminal cover
differs for each unit width. Refer to
section "8.5" for selecting the wire size.
I - 18
4. Connection of Each Unit
4.3 Unit separated layout
When installing vertically, avoid separating the spindle drive unit (C1-SP) and power supply unit (C1-CV) as
shown in (Example 1) below. Do not separate the 11kW and higher servo drive units either.
When using both spindle drive units and 11kW and higher servo drive units, arrange them next to the power
supply unit in the following order of priority.
V1-150 > V1-110 > SP-300 > SP-260 > SP-185 > SP-150 ………
For example, when using a combination of SP-260 and V1-150, place the V1-150 next to the power supply
unit, and the SP-260 next to that.
The 9kW and below servo drive unit can be installed vertically as shown in (Example 2). Note that the relay
link bar length must be 50cm or less, and two bars must be bundled.
(Example 1) NG
(Example 2) OK
C1-CV
C1-SP
C1-CV
L+
L+
L−
L−
L11
L11
L21
C1-V1
Wire length 50cm or less
C1-SP
L21
C1-V2
C1-V1
C1-V2
L+
L+
L−
L−
L11
L11
L21
L21
(Note) The above details also apply when separating the units to the left and right and installing.
I - 19
4. Connection of Each Unit
4.4 Precautions for installing multiple power supply units
CAUTION
Always use this wiring when using MDS-C1-CV-370. (Refer to "8.1.1 (Note 4)".)
The rush circuit and contactor operation sequence of MDS-C1-CV-370 differs from the other power
supply units (C1-CV). Thus, always install an independent contactor. If the contactor is not used or if
shared with other power supply units, damage will occur.
A system in which a power supply unit (C1-CV (No. 1)) is installed for the spindle drive unit and one
(C1-CV (No. 2)) is installed for the servo drive unit is explained as a representative example of multiple
power supply unit installation. The same connections are used for other multiple installation systems.
CN4
(4)
(6)
A-BT
CN1A1
C1-CV (No. 1)
MCI
MCI
L+,LL11,L21
L11,L21
L+,L-
L1,L2,L3
CB2
CN1B
CN4
(5)
C1-SP
CN1A
(3)
CN4
CN1B
(2)
C1-CV (No. 2)
CN4
C1-V2
CN1A
(1)
CN1B
C1-V1
CN1A
CSH21
NC control section
L1,L2,L3
Contactor
MC
Contactor
MC
AC reactor
200VAC
CB1
AC reactor
Fig. 1
(a) Connection of NC communication cable
(i) When battery unit (A-BT) is required (when absolute position detection specifications are
used)
Connect with the lines (1) to (4) in Fig. 1.
(ii) When battery unit (A-BT) is not required (when absolute position detection specifications are
not used).
The (4) connection cable and battery unit will not be required so insert a terminator (A-TM)
into the terminating axis CN1B (C1-SP in Fig. 1).
I - 20
4. Connection of Each Unit
(b) Connection of communication cable between drive unit and power supply unit
Connect the (6) cable to C1-CV (No. 1) and the (5) cable to C1-CV (No. 2) as shown in Fig. 1.
(c) Connection of L+, L–, L11 and L21 link bars
As shown in Fig. 1, the link bar for C1-CV (No. 1) and for C1-CV (No. 2) are connected
independently. Make sure that neither of the link bars are short circuited and connected.
(d) Connection of AC reactor
Always use one AC reactor per power supply unit, and install the AC reactor for the C1-CV (No. 1)
and C1-CV (No. 2) separately as shown in Fig. 1.
4.5 Precautions for installing only one power supply unit for the 2CH
communication specifications with the NC (For 2-system control)
∗ Note that this method cannot be used with the A-CR.
The following systems will be explained in this section. The other 2CH systems also use the same
specifications.
• CH1 ......... C1-V1 + C1-V2
• CH2 ......... C1-V2 + C1-SP
(1)
NC control
section
(4)
(2)
(5)
(3)
(6)
200VAC
CB1
AC reactor
Contactor
Fig. 2
I - 21
4. Connection of Each Unit
(a) Connection of NC communication cable
(i)
CH1
Connect with the lines (1) to (2) shown in Fig. 2.
(ii) CH2
Connect with the lines (3) to (4) shown in Fig. 2.
(b) Connection of communication cable between drive unit and power supply unit
(i)
CH1
Connect from the CH1 terminating axis (C1-SP in Fig.2) with the line (5). The pin assignments for
cable (5) are the same as the standard specifications. (Refer to section "5.2.1".)
(ii) CH2
Connect from the CH2 terminating axis (C1-V2 in Fig. 2) with the line (6). The pin assignments for
cable (6) are the same as the standard specifications.
4.6 Connection of battery unit
4.6.1 Battery unit
A battery unit is required for the absolute position system that MDS-C1-V1/V2 Series have used. One
battery unit can backup the absolute position data for several axes' servo drive unit. Select the battery unit
corresponding to the number of absolute position detector axes from the following table.
Battery option specifications
Item
Battery unit
Model
MDS-A-BT-2
MDS-A-BT-4
Nominal voltage
MDS-A-BT-6
MDS-A-BT-8
3.6V
Nominal capacity
No. of possible connections
(total number of absolute
position detectors)
4000mAh
8000mAh
12000mAh
16000mAh
2 axes or less
4 axes or less
6 axes or less
7 axes or less
No. of backup axes
Max. 7 axes in one system (in same wiring)
Battery continuous back up time
Approx. 12,000 hours
Battery useful life
7 years from date of unit manufacture
Data save time during battery
replacement
HC Series: 20 hours at time of delivery, 10 hours after 5 years
Back up time from battery
warning to alarm occurrence
Approx. 100 hours
CAUTION
1. To protect the absolute position, do not shut off the drive unit control power
supply if the battery voltage becomes low (warning 9F).
2. 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 battery
is 25°C. If the ambient temperature rises, generally the back up time and useful
life will be shorter.
3. Contact the Service Center when replacing.
4.6.2 Connection
A terminal connector is built-in, so set as the final connection of the NC and communication cable.
MDS-C1-V1
MDS-C1-SP
CNC
SH21 cable
SH21 cable
SH21 cable
Battery unit
MDS-A-BT-2
MDS-A-BT-4
MDS-A-BT-6
I - 22
5. Drive Section Connector and Cable Specifications
5. Drive Section Connector and Cable Specifications .......................................................
5.1 Half pitch cable connection system .......................................................................
5.2 Cable details ...........................................................................................................
5.2.1 Communication cable SH21 (semi ordered product) ....................................
5.2.2 Terminator A-TM (ordered part) .....................................................................
5.2.3 Servo drive unit detector cable ......................................................................
5.2.4 Brake cable ....................................................................................................
5.2.5 Communication cable SH21 connector .........................................................
5.2.6 Cannon plug for servomotor detector ............................................................
5.2.7 Cable wire ......................................................................................................
5.2.8 Cable protection tube (noise countermeasure) .............................................
5.2.9 Oil-proof type servomotor cable connectors (Recommendation 1) ..............
5.2.10 Oil-proof type servomotor connectors (Recommendation 2) .......................
5.2.11 Cable clamp ...................................................................................................
5.2.12 Spindle control circuit cable list .....................................................................
5.2.13 Cable assembly procedure (Excluding SH21 cable)......................................
I - 23
I-24
I-24
I-26
I-26
I-26
I-27
I-29
I-30
I-31
I-33
I-34
I-35
I-36
I-37
I-38
I-53
5. Drive Section Connector and Cable Specifications
5. Drive Section Connector and Cable Specifications
5.1 Half pitch cable connection system
SH21 cable
CN1B
Spindle drive
CN1A
SH21 cable
CN1B
Servo drive
CN1A
NC control unit
R
Detector
Cable
name
Recommended connector name
on cable side (Maker)
Detector
Cable materials
(Maker)
SH21
cable
10220-52A2JL
20220-52A2JL
Shell (Crimp type):
10320-3210-000 (3M)
Plug (Crimp type):
10120-6000EL (3M)
UL2789 AWG28
(DDK)
10PVV-SB
AWG28X10P
(3M)
CNV12,
Same as above
(1) Controller side
Plug (soldered-type):
10120-3000VE (3M)
Shell (soldered-type):
10320-52F0-008(3M)
(2) Detector side
(a) (Straight) 2-type
Cannon connector:
MS3106B22-14S
(Japan Aviation Electronics)
Connector clamp:
MS3057-12A
(Japan Aviation Electronics)
(b) (Right angle) 3-type
Cannon connector:
MS3108B22-14S
(Japan Aviation Electronics)
Connector clamp:
MS3057-12A
(Japan Aviation Electronics)
(c) (Drive unit terminal) E-type
Drive unit terminal: V1.25-4
A14B2343
2PX0.3SQ+10PX0.2SQ
(DDK)
CNV13,
CNV12L,
CNV13L,
CNV12M,
CNV13M,
Each
cable
Servo drive
Connector
name
on controller
side (Maker)
R Terminator (ordered part)
CNP5, CNP6,
CNP7
CNV12, CNV13,
CNV12L, CNV 13L,
CNV12M, CNV13M
CSH21
I - 24
The HA053/13 motor
built-in encoder uses a
different cannon plug.
(Refer to section "5.2.3
(1)".)
Cable creation tool (Maker)
Press machine unit
(with gage block) : 3797-1000
Locator plate
: 3795-1A
Platen
: 3795-2A
Cutting unit
: 3795-3A
Fixture unit
: 3796-1A
Fixture unit
: 3796-2A
Fixture unit
: 3796-5A
Fixture unit
: 3796-1A
Fixture unit
: 3796-3A
Cable clamp
: 3796-4
5. Drive Section Connector and Cable Specifications
Half pitch cable connection system (continued)
Spindle drive
Cable
name
Connector name
on controller
side (Maker)
Recommended connector
name
on cable side (Maker)
Cable materials
(Maker)
CNP5
20220-52A2JL
(1) Controller side
Plug (soldered-type):
10120-3000VE (3M)
Shell (soldered-type):
10320-52F0-008(3M)
(2) Detector side
Connector:
AMP-350720-1
(Japan Amplifier)
Pin:
AMP-350689-1
(Japan Amplifier)
CNP6
Same as above
(1) Controller side
Same as above
(2) Detector side
(a) Magnetic sensor
TRC116-12A10-7F10.5
(Tajimi Musen)
(b) Encoder
MS3106A20-29S (Canon)
Same as above
CNP7
Same as above
(1) Controller side
Same as above
(2) Detector side
MS3106A20-29S (Canon)
Same as above
Cable creation tool (Maker)
A14B2343
2PX0.3SQ+10PX0.2SQ
(DDK)
Cable name system
CNoooo – oo – o – o
Connector fixed type
None : One-touch type lock
S
: Screw type lock
Connector type
E
2
3
: E-type (crimp terminal on lead end)
: 2-type (cannon plug straight type or designated connector)
: 3-type (cannon plug L type)
Axis No. (Axis 1 to 9)
0
1 to 9
None
2
↓
5
P
:
:
:
:
None
S
F
A
B
M
:
:
:
:
:
:
Servo standard detector or spindle PLG
Servo small capacity detector (HA053/HA13)
Servo special motor (HA-FH053C -Y )
Spindle shaft type encoder
Spindle built-in type encoder
Spindle magnetic sensor
Connection connector
No.
12
13
5
6
7
67
71
:
:
:
:
:
:
:
CN2L or CN2M (servo drive: semi-closed)
CN3L or CN3M (servo drive: closed)
CN5 (spindle drive: speed detection)
CN6 (spindle drive: orientation)
CN7 (spindle drive: C axis)
CN6 + CN7 (spindle drive: orientation + C axis)
CN7 (spindle drive: C axis) + CES11 (NC: threading)
Model
V
P
: For servo
: For spindle
System No.
Servo and spindle
detector type
I - 25
No display
Axis 1 to 9
1-axis system
2-axis system
: 5-axis system
: PLC axis
5. Drive Section Connector and Cable Specifications
5.2 Cable details
CAUTION
Do not mistake the connection when manufacturing the detector cable. Failure to observe this could
lead to runaway.
5.2.1 Communication cable SH21 (semi ordered product)
Application
NC ↔ drive unit
Drive unit ↔ drive unit
Drive unit ↔ power supply
Drive unit ↔ battery unit
Part No.
000
101
102
103
Connector 1
CSH21/22
CN1B
CN4
CN1B
Part name
Connector (plastic shell)
Cable
Connector (plug)
Connector 2
CN1A
CN1A
CN4
CN1A1
Model
10320-3210-000
10PVV-SB AWG28×10P (BK0-NC9072)
10120-6000EL
L
Standard:
Standard:
Standard:
Standard:
Maker
3M
3M
3M
Pin system
Fix shield onto
connector case
Fix shield onto
connector case
5.2.2 Terminator A-TM (ordered part)
Model
A-TM
I - 26
350mm
350mm
350mm
350mm
5. Drive Section Connector and Cable Specifications
5.2.3 Servo drive unit detector cable
(1) Detector cable for OSE104o /OSA104o /OSE105o /OSA105o
(a) CNV12, CNV13, CNV12L, CNV12M, CNV13L, CNV13M (cable length ≤ 20m)
Part
No.
101
102
103
104
105
106
107
108
Part name
Qty/type
2-typ 3-typ E-type
e
e
Model
Maker
Connector (shell)
Connector (plug)
10320-52F0-008
10120-3000VE
1
1
1
1
1
1
3M
3M
Cable
Cannon connector
Connector clamp
TS-91026 2P×0.3SQ+10P×0.2SQ
MS3108B22-14S
MS3057-12A
1
1
1
1
1
BANDO Electric Wire
DDK, Japan Aviation Electronics
DDK, Japan Aviation Electronics
Cannon connector
MS3106B22-14S
1
Drive unti connector
Pin
No.
1
Detector connector
Pin
No. Signal name
(Serial
signal)
(Request
signal)
DDK, Japan Aviation Electronics
Length L (L ≤ 20m)
3-type
(Battery)
Fix shield onto
connector case
Case
grounding
2-type
Key way
position
∗ Refer to "5.2.7 Cable wire" for
details on the cable wire material.
E-type
(Note)
The connector shell on the servo drive unit is the 3M "10320-52F0-008",
but this is a shell with a one-touch locking mechanism that does not
require screw locking.
When ordering the cables from Mitsubishi, the shell "10320-52F0-008"
with this one-touch lock mechanism will be used.
However, if the cable is to be manufactured by the user, the shell
"10320-52A0-008" (3M) with the screw locking mechanism can be
used instead of the above shell.
(b) CNV12, CNV13, CNV12L, CNV12M, CNV13L, CNV13M (20m < cable length ≤ 30m)
Drive unit connector
Pin
No.
Detector connector
Pin
No. Signal name
(Serial
signal)
(Request
signal)
Length L (20 < L ≤ 30m)
(Battery)
Fix shield onto
connector case
Case
grounding
2-type
3-type
(Note 1)
For the 11 , 20 pin connection on the drive
unit side connector, bundle the cable
wires, connect the wires by soldering, and
insulate with a heat contraction tube.
∗ Refer to "5.2.7 Cable wire" for
details on the cable wire material.
(Note) The cable length must be 30m or less.
I - 27
Key way
position
E-type
5. Drive Section Connector and Cable Specifications
(2) Detector cable for OHE25K-ET/OHA25K-ET
(a) CNV13, CNV13L, CNV13M (cable length ≤ 20m)
Part
No.
101
102
103
104
105
106
107
108
Part name
Qty/type
2-typ 3-typ E-type
e
e
Model
Maker
Connector (shell)
Connector (plug)
10320-52F0-008
10120-3000VE
1
1
1
1
1
1
3M
3M
Cable
Cannon connector
Connector clamp
TS-91026 2P×0.3SQ+10P×0.2SQ
MS3108B22-14S
MS3057-12A
1
1
1
1
1
BANDO Electric Wire
DDK, Japan Aviation Electronics
DDK, Japan Aviation Electronics
Cannon connector
MS3106B22-14S
1
Drive unit connector
Pin No.
DDK, Japan Aviation Electronics
Detector connector
Pin No.
Green
White
Red
White
Purple
White
Yellow
Brown
Green
Brown
Red
Brown
Blue
Brown
Purple
Brown
Blue
Black
Yellow
Black
Connect shield to
the connector case
1
Length L (L ≤ 20m)
A phase A phase
A phase A phase
B phase B phase
B phase B phase
Z phase Z phase
Z phase Z phase
phase
U phase
U phase
V phase
V phase
W phase
W phase
Thermal Thermal
Thermal
2-type
3-type
∗ Refer to "5.2.7 Cable wire "
for details on the cable wire
material.
Thermal
Key way
position
E-type
Battery
(Note)
The connector shell on the servo drive unit is the 3M "10320-52F0-008", but this
is a shell with a one-touch locking mechanism that does not require screw
locking.
When ordering the cables from Mitsubishi, the shell "10320-52F0-008" with this
one-touch lock mechanism will be used.
However, if the cable is to be manufactured by the user, the shell
"10320-52A0-008" (3M) with the screw lock mechanism can be used instead of
the above shell.
( ) not required for scale
(( )) not required for 5V
built-in type scale
(b) CNV13, CNV13L, CNV13M (20m < cable length ≤ 30m)
Drive unit connector
Pin No.
Fix the shield to the
connector case
Detector connector
Green
White
Red
White
Purple
White
Yellow
Brown
Green
Brown
Red
Brown
Blue
Brown
Purple
Brown
Blue
Black
Yellow
Black
Blue
White
Yellow
White
Length L (20 < L ≤ 30m)
Pin No.
A phase A phase
A phase A phase
B pha se B phase
2-type
3-type
B phase B phase
Z phase Z phase
Z phase Z phase
U phase
U phase
V phase
V phase
W phase
W phase
Thermal
Thermal
Thermal
Thermal
Battery
(Note 1)
For the 11 ,20 pin connection on the
drive unit side connector, bundle the
cable wires, connect the wires by
soldering, and insulate with a heat
contraction tube.
∗ Refer to "5.2.7 Cable wire" for details on the cable wire
material.
Case
Case
grounding grounding
( ) not required for scale
(( )) not required for 5V
built-in type scale
(Note) The cable length must be 30m or less.
I - 28
Key way
position
E-type
5. Drive Section Connector and Cable Specifications
5.2.4 Brake cable
(1) 9kW and below Mechanical brakes
Part No.
Part name
Model
Maker
101
Connector
1-178128-3
Japan Amplifier
102
Contact
1-175218-2
Japan Amplifier
Wire size : 0.5 to 1.25SQ
Drive unit side
(2) 11kW, 15kW Mechanical brakes and dynamic brakes
Part No.
Part name
Model
Maker
101
Connector
1-178128-3
Japan Amplifier
102
Contact
1-175218-2
Japan Amplifier
Wire size : 0.5 to 1.25SQ
Common
Dynamic brake
Mechanical brake
Drive unit side
I - 29
5. Drive Section Connector and Cable Specifications
5.2.5 Communication cable SH21 connector
(a) 10320-3210-000
nA
Logo, etc., indication
position
nB
nC
nD
nE
nF
29.7 20.9 33.0 ø6.7 23.8 27.45
nG
(–A00)
nG
(–B00)
nG
(–C00)
16.55
13.15
9.15
Designated dimension tolerance
Dimension
Tolerance
.0
± .3
.00
± .13
Unit : mm
Recommended panel cut dimensions drawing
When using mistaken
insertion prevention key
Reference drawing for combination
Type 1
Type 2
(b) 10320-52F0-008
nA
nB
nC
nD
nE
nF
22.0
33.3
14.0
12.0
10.0
27.4
Designated dimension tolerance
Dimension
Tolerance
.0
± .3
.00
± .13
Unit : mm
Reference drawing for combination
I - 30
5. Drive Section Connector and Cable Specifications
5.2.6 Cannon plug for servomotor detector
Standard plug
(1) Angle plug MS3108B22-14S (for OSE104o/OSA104o/OSE105o/OSA105o)
∗ Positioning key way
Ø 40.5
Safety hole
Ø 23.2
Effective thread length
∗ Key position of cannon connector: motor flange direction
Ø 23.2
(2) Straight plug MS3106B22-14S (for OSE104o/OSA104o/OSE105o/OSA105o)
Ø 40.5
1.
Effective thread length
Safety hole
The servo drive unit and the motor are not provided with connector and cables.
I - 31
5. Drive Section Connector and Cable Specifications
2.
JIS corresponding plugs (Hirose)
If the JIS B6015 standards must be followed, use the following connectors.
(JIS B6015 standards)
a. In accordance to MIL-C-5015 (US military standards)
b. Structure in which grounding is connected before other circuits are connected, and shut off
after other circuits are shut off.
c. Waterproof and oil-proof.
(1) Angle plug H/MS3108B22-14S-N (for OSE104o/OSA104o/OSE105o/OSA105o)
(2) Straight plug H/MS3106A22-14S-N (for OSE104o/OSA104o/OSE105o/OSA105o)
I - 32
5. Drive Section Connector and Cable Specifications
5.2.7 Cable wire
The following shows the specifications and processing of the wire used in each cable. Manufacture the
cable using the following recommended wire or equivalent parts.
Recommende d wire
model (Cannot be
directly
ordered from
Mitsubishi
Electric Corp.)
Wire characteristics
Finished
outside Sheath No. of
diamete material pairs
r
Configuration
Conducto
r
resistanc
e
222Ω/km
or less
AC350/
1min
105Ω/km
or less
AC500/
1min
UL20276 AWG28 10pair
6.1mm
PVC
10
7 strands/
0.13mm
A14B2343 (Note)
7.2mm
PVC
6
40
strands/
0.08mm
Withstand Insulation
voltage
resistance
1MΩ/km
or more
Application
NC unit
communication
cable
1500MΩ/km Detector
or more
cable
(Note) Junko Co. (Dealer: Toa Denki)
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 wi re
C ore wir e
Shield (exter nal conductor)
Shield
(exter nal conductor) Sheath
Sheath
Ground plate
I - 33
5. Drive Section Connector and Cable Specifications
5.2.8 Cable protection tube (noise countermeasure)
If influence from noise is unavoidable, or further noise resistance is required, selecting a flexible tube and
running the signal cable through this tube is effective. This is also an effective countermeasure for preventing
the cable sheath from being cut or becoming worn.
A cable clamp (MS3057) is not installed on the detector side, so be particularly careful of broken wires in
applications involving bending and vibration.
Supplier
Tube
Drive unit side
RBC-104 (straight)
FBA-4
Nippon Flex
RBC-204 (45°)
Control Corp.
(FePb wire braid sheath)
RBC-304 (90°)
PSG-104 (straight)
DAIWA DENGYO Hi-flex
PLG-17 (90°)
CO., LTD
PT #17 (FePb sheath)
PS-17 (straight)
Purika Tube
Sankei Works
BC-17 (straight)
PA-2 #17 (FePb sheath)
Connector
Installation screws
G16
G16
G16
Screw diameter ø26.4
Screw diameter ø26.4
PF1/2
Wire tube screws : 15
(Note) None of the parts in this table can be ordered from Mitsubishi Electric Corp.
I - 34
Motor detector side
RCC-104-CA2022
PDC20-17
PDC20-17
5. Drive Section Connector and Cable Specifications
5.2.9 Oil-proof type servomotor cable connectors (Recommendation 1)
When using the motor and cable in an environment where cutting fluids or lubricants may come in contact
a little, use the oil-proof specification cable connector (plug) shown below for the motor and encoder.
Flexible
conduit (3)
VF–
Cannon plug (1) H/MS
NIPOLEX Connector (2) RCC (with O-ring)
For motor connector
(1) Cannon plug (Plug unit)
Servomotor model
HA053NC
HA13NC
HA23NC
HA33NC
HC52 to HC102
HC53 to HC103
HA50LC to HA150LC
HA53LC to HA153LC
(HA40NC to
HA80NC)
(HA43NC to
HA83NC)
HC152 to HC452
HC203 to HC353
HA200LC to
HA500LC
HA203LC to
HA303LC
(HA100NC to
HA300NC)
(HA103NC to
HA203NC)
HC702 to HC902
HC453 to HC703
HA700 to HA900
HA303 to HA703
1) Hirose, 2) Japan Aviation Electronics,
3) DDK
90° angle type
Straight type
Standard
1) H/MS3108A18-12S-D
1) H/MS3106A18-12S-D
European
standard
part
2) JL04V-8A18-12SE-EB
3) CE05-8A18-12SD-BBAS
2) JL04V-6A18-12SE-EB
3) CE05-6A18-12SD-BBSS
Standard
1) H/MS3108A22-23S-D
1) H/MS3106A22-23S-D
European
standard
part
2) JL04V-8A22-23SE-EB
3) CE05-8A22-23SD-BBAS
2) JL04V-6A22-23SE-EB
3) CE05-6A22-23SD-BBSS
Standard
1) H/MS3108A24-10S-D
1) H/MS3106A24-10S-D
European
standard
part
2) JL04V-8A24-10SE-EB
3) CE05-8A24-10SD-B- BAS
Standard

European
standard
part
CE05-8A32-17SD-B-BAS
2) JL04V-6A24-10SE-EB
3) CE05-6A24-10SD-BBSS

CE05-6A32-17SD-B-BSS
(2) NIPOLEX
connector
Nippon Flex
(3) Flexible
conduit
Min.
Nippon
inner
Flex
dia.
RCC-103CA18
(with O-ring)
VF-03
10.6
RCC-104CA18
(with O-ring)
VF-04
14.0
RCC-106CA18
VF-06
(with O-ring)
RCC-104CA2022 VF-04
(with O-ring)
19.0
RCC-106CA2022 VF-06
(with O-ring)
19.0
RCC-108CA2022
VF-08
(with O-ring)
24.4
RCC-104CA2428 VF-04
(with O-ring)
14.0
RCC-106CA2428 VF-06
(with O-ring)
19.0
RCC-108CA2428
VF-08
(with O-ring)
24.4
14.0



RCC-108CA 32
(with O-ring)
RCC-110CA 32
(with O-ring)
VF-08
24.4
VF-10
33.0
RCC-102CA 12
(With O-ring)
VF-02
8.3
RCC-104CA2022
(With O-ring)
RCC-106CA2022
(With O-ring)
RCC-108CA2022
(With O-ring)
VF-04
14.0
VF-06
19.0
VF-08
24.4
For brake cable
HC202B to HC902B
HC203B to HC703B
(HA40NCB to HA300NCB)
(HA053NCB to HA203NCB)
H/MS 3108A
H/MS 3106A
10SL-4S
10SL-4S
For detector cable
OSE104o
OSA104o
OSE105o
OSA105o
H/MS 3108B
H/MS 3106A
22-14S-N
22-14S-N
I - 35
5. Drive Section Connector and Cable Specifications
5.2.10 Oil-proof type servomotor connectors (Recommendation 2)
When using the motor and cable in an environment where cutting fluids or lubricants may come in contact
a little, use the oil-proof specification connector (plug) shown below for the motor and encoder.
Daiwa Dengyo
Flexible conduit (3)
MPF-
Cannon plug (1)
H/MS, JA06A, MS3106A
Daiwa Dengyo connector (2) Angle type BOLDaiwa Dengyo connector (2) Straight type BOS-
For motor connector
(1) Cannon plug (Plug unit)
Servomotor
model
1) Hirose, 2) Japan Aviation Electronics,
3) DDK
Standard
European standard part
HA053NC
HA13NC
HA23NC
HA33NC
1) H/MS3106A18-12S-D (03)
2) JA06A-18-12S-J1
2) JL04V-6A18-12SE
3) MS3106A18-12S (D190) 3) CE05-6A18-12SD-B
HC52 to HC102
HC53 to HC103
HA50LC to HA150LC
HA53LC to HA153LC
(HA40NC to
HA80NC)
(HA43NC to
HA83NC)
HC152 to HC452
HC203 to HC353
HA200LC to
HA500LC
HA203LC to
HA303LC
1) H/MS3106A22-23S-D (03)
2) JA06A-22-23S-J1
2) JL04V-6A22-23SE
3) MS3106A22-23S (D190) 3) CE05-6A22-23SD-B
1) H/MS3106A24-10S-D (03)
2) JL04V-6A24-10SE
2) JA06A-24-10S-J1
3) CE05-6A24-10SD-B
3) MS3108B24-10S (D190)
(HA100NC to
HA300NC)
(HA103NC to
HA203NC)
(2) Daiwa Dengyo (3) Daiwa Dengyo
connector
flexible conduit
Min. inner
diameter
Model
Model
(guide
collar)
MSA 12-18
FCV-12
12.3
MAA 12-18
MSA 16-18
FCV-16
15.8
MAA 16-18
MSA 22-18
FCV-22
20.8
MAA 22-18
MSA 16-22
FCV-16
15.8
MAA 16-22
MSA 22-22
FCV-22
20.8
MAA 22-22
MSA 28-22
MAA 28-22
FCV-28
26.4
MSA 16-24
MAA 16-24
MSA 22-24
MAA 22-24
FCV-16
15.8
FCV-22
20.8
MSA 28-24
MAA 28-24
FCV-28
26.4
For brake cable
HC202B to HC902B
HC203B to HC703B
(HA40NCB to
HA300NCB)
(HA053NCB to
HA203NCB)
H/MS 3106A10SL-4S(03) (Hirose)
JA06A-10SL-4S-J1 (Japan Aviation Electronics)
MS3106A10SL-4S (D190) (DDK)
MSA 10-10
MAA 10-10
FCV-10
8.2
MSA 16-22
MAA 16-22
MPF-15
14.2
MSA 22-22
MAA 22-22
MPF-19
17.2
MSA 28-22
MAA 28-22
MPF-25
23.5
For detector cable
OSE104o
OSA104o
OSE105o
OSA105o
H/MS 3106A22-14S-N(03) (Hirose)
JA06A-22-14S-JI (Japan Aviation Electronics)
MS3106A22-14S (D190) (DDK)
I - 36
5. Drive Section Connector and Cable Specifications
5.2.11 Cable clamp
Mount the grounding plate near the servo drive unit, peel the cable sheath, and press the peeled shield
cable to the grounding plate using the cable clamp. If the cable is thin, clamp several cables.
Cable
Cable clamp
(Metal fitting A, B)
Grounding plate (D)
Shield outer sheath
Clamp section drawing
The grounding plate D and cable clamps A and B can be supplied by Mitsubishi.
Grounding plate (D) outline drawing
Cable clamp outline drawing
2-ø5 hole
installation hole
11
3
M4 screw ∗
7
L
• The grounding wire should be connected between the
grounding plate and the cabinet grounding plate.
• Two metal fittings A can be used.
∗ Screw hole for wiring to cabinet grounding plate
I - 37
Metal fitting A
70
Metal fitting B
45
5. Drive Section Connector and Cable Specifications
Maximum diameter 11mm
(Shell)
CNP6M 10320-52F0-008
cable (Plug)
10120-3000VE
Sumitomo 3M
Spindle drive unit
Encoder
(3)
Orientation
detection signal
CN6
CNP6A
cable
(Shell)
10320-52F0-008
(Plug)
10120-3000VE
Sumitomo 3M
Spindle drive unit
C-axis encoder
(4) C-axis detection
signal
(OSE90K+1024)
CN7
CNP7A
cable
(Shell)
10320-52F0-008
(Plug)
10120-3000VE
Sumitomo 3M
Spindle drive unit
C-axis built-in
encoder
(5)
C-axis detection
signal
(MBE90K)
CN7
CNP7B
cable
Sumitomo 3M
Spindle drive unit
C-axis built-in
encoder
(6)
C-axis detection
signal
(MHE90K)
(Shell)
10320-52F0-008
(Plug)
10120-3000VE
CN7
CNP7H
cable
(Shell)
10320-52F0-008
(Plug)
10120-3000VE
Maximum diameter 11mm
Twisted pair batch shield cable
0.2SQ
Twisted pair batch shield cable
0.2SQ
Twisted pair batch shield cable
0.2SQ
Maximum diameter 11mm
Encoder
(RFH-1024-)
MS3106A20-29S
Maximum diameter 11mm
Encoder
(OSE90K+1024)
MS3106A20-29S
DDK
Encoder
(MBE90K)
(Housing)
Maximum diameter 11mm 69176-020
(Pin)
48235-000
DuPont
Twisted pair batch shield cable
0.2SQ
Encoder
(MHE90K)
(Housing)
Maximum diameter 7mm JAC-15P
(Pin)
J-SP1140
Japan Solderless
Semi ordered part
Spindle drive unit
(Shell)
10320-52F0-008
CNP67A
CN6 + CN7
×2
cable
(Plug)
10120-3000VE
×2
Sumitomo 3M
TRC116-12A0-7F
10.5
DDK
Sumitomo 3M
C-axis encoder
C-axis detection
signal +
(7)
orientation
detection signal
(OSE90K+1024)
Magnetic sensor
drive unit
Tajimi Musen
Semi ordered part
Orientation
detection signal
CN6
Semi ordered part
(2)
Twisted pair batch shield cable
0.2SQ
Semi ordered part
Magnetic sensor
No ordered part
Spindle drive unit
Arranged
by
Japan Amplifier
Semi ordered part
Sumitomo 3M
(Connector)
AMP-350720-1
(Pin)
AMP-350689-1
Enclosed with motor
(Shell)
10320-52F0-008
(Plug)
10120-3000VE
Motor (connector)
Motor (lead wire
terminal)
I - 38
Twisted pair batch shield cable
0.2SQ
Encoder
(OSE90K+1024)
Maximum diameter 11mm
MS3106A20-29S
DDK
Enclosed with magnetic sensor drive unit
Motor temperature
switch signal
CNP5
cable
Maker
Twisted pair batch shield cable
0.2SQ
Enclosed with encoder
CN5
Parts name
Enclosed with encoder
Maker
Connected device
Applicable cable finished state
Enclosed with encoder
Parts name
Spindle drive unit
Motor speed
detection signal
(1)
Connected device
Cable
name
Enclosed with encoder
Drive unit
side
connection
connector
Enclosed with encoder
Application
Semi ordered part
No.
Arranged
by
5.2.12 Spindle control circuit cable list
Drive unit
side
connection
connector
Connected device
Cab le
name
Parts name
Maker
CN7 +
CES11
CNP71A
cable
Maximum diameter 11mm
Semi ordered part
(Shell)
10320-52F0-008
(Plug)
10120-3000VE
Sumitomo 3M
CNC
(Connector)
CDA-15P
(Contact)
CD-PC-111
(Case) HDA-CTF
Parts name
Maker
Twisted pair batch shield cable
0.2SQ
Spindle drive unit
C-axis encoder
C-axis detection
(8) signal + NC speed
indication signal
(OSE90K+1024)
Connected device
Applicable cable finished state
Arranged
by
Application
Encoder
(OSE90K+1024)
MS3106A20-29S
DDK
Enclosed with encoder
No.
Arranged
by
5. Drive Section Connector and Cable Specifications
Hirose
CN7 +
CES11
CNP71B
cable
Twisted pair batch shield cable
0.2SQ
Semi ordered part
C-axis built-in
encoder
C-axis detection
(9)
signal + NC speed
indication signal
(MBE90K)
(Shell)
10320-52F0-008
(Plug)
10120-3000VE
Sumitomo 3M
CNC
(Connector)
CDA-15P
(Contact)
CD-PC-111
(Case) HDA-CTF
Maximum diameter 11mm
Encoder (MBE90K)
(Housing)
69176-020
(Pin)
48235-000
DuPont
00
Enclosed with encoder
Spindle drive unit
Hirose
CNP71H
cable
Sumitomo 3M
CNC
(Connector)
CDA-15P
(Contact)
CD-PC-111
(Case) HDA-CTF
Maximum diameter 7mm
(Housing)
JAC -15P
(Pin)
J-SP1140
Japan Solderless
CN5
CNP5H
cable
Sumitomo 3M
Encoder (MHE90K)
No ordered part
Spindle drive unit
(Shell)
10320-52F0-008
(Plug)
10120-3000VE
CN8
CNP8
cable
Sumitomo 3M
Semi ordered part
(12 Speed detection
) signal
Twisted pair batch shield cable
(Housing)
0.2SQ
Maximum diameter 7mm JEC -9P
(Pin)
J-SP1140
Japan Solderless
Twisted pair batch shield cable
0.2SQ
Maximum diameter 11mm
Spindle drive unit
(Shell)
10320-52F0-008
(Plug)
10120-3000VE
(Housing)
JAC -15P
(Pin)
J-SP1140
Japan Solderless
Hirose
C-axis built-in
encoder
Motor speed
(11 detection signal
) + motor
temperature
switch signal
(MHE90K)
Encoder (MHE90K)
I - 39
(Note)
When the spindle has
two axes , a cable must be
added as shown in the
dotted line.
NC control unit
(QX522 card CES11)
(Connector)
CDA-15P
(Contact)
CD-PC-111
(Case) HDA-CTF
Hirose
Enclosed with
encoder
CN7 +
CES11
Twisted pair batch shield cable
0.2SQ
No ordered part
C-axis built-in
encoder
(10 C-axis detection
) signal + NC speed
indication signal
(MHE90K)
(Shell)
10320-52F0-008
(Plug)
10120-3000VE
Enclosed with encoder
Spindle drive unit
5. Drive Section Connector and Cable Specifications
(Note 1) The connector shell on the spindle drive unit is the 3M "10320-52F0-008", but this is a shell with
a one-touch locking mechanism that does not require screw locking.
When ordering the cables from Mitsubishi, the shell "10320-52F0-008" with this one-touch
locking mechanism will be used.
However, if the cable is to be manufactured by the user, the shell "10320-52A0-008" (3M) with the
screw lock mechanism can be used instead of the above shell.
(Note 2) Each cable length must be 30m or less.
The cable for the C-axis built-in encoder MHE90K must be 10m or less.
I - 40
Connector (plug)
102
Connector (housing)
Connector (pin)
105
106
Pin No.
I - 41
Black
Blue
Brown
Red
Brown
Yellow
White
Purple
White
Green
Drive unit connector
Cable
104
103
Connector (shell)
101
000
Part name
(1) CNP5 cable
Part No.
10120-3000VE
10320-52F0-008
Model
350689-1
350720-1
Pin No.
Detector connector
CON
CON
F-DPEVSB TS-91026
SEN (BANDO ELECTRIC WIRE )
CON
CON
Abbr.
1
1
1
8
1
1
1
1
E-type 2-type
Cable name
System No.
None : 1-axis system
2
: 2-axis system
P
: PLC axis
Connection connector No.
E-type
2-type
Connector type
E: E-type (crimp terminal on lead end)
2: 2-type (designated connector)
Axis No. (Axis 1 to 8)
1 to 8: Axis 1 to 8
(Note) Connect the shield of the cable securely to the connector shell.
Length L (L ≤ 30m)
Qty/type
5. Drive Section Connector and Cable Specifications
Connector
105
I - 42
Pin No.
Brown
Purple
Brown
Blue
White
Green
Drive unit connector
108
107
106
Cable
104
103
TRC116-12A10-7F10.5
Pin No.
Detector connector
CON
F-DPEVSB TS-91026
SEN (BANDO ELECTRIC WIRE)
10120-3000VE
1
1
Connector (plug)
102
CON
1
10320-52F0-008
E-type
CON
Model
Connector (shell)
Abbr.
101
Part name
000
Part No.
(2) CNP6M cable
1
1
1
1
2-type
Qty/type
Connection connector No.
System No.
None : 1-axis system
2
: 2-axis system
P
: PLC axis
Magnetic sensor signal
Connector type
E: E-type (crimp terminal on lead end)
2: 2-type (designated connector)
Axis No. (Axis 1 to 8)
1 to 8: Axis 1 to 8
E-type
2-type
(Note) Connect the shield of the cable securely to the connector shell.
Length L (L ≤ 30m)
Cable name
5. Drive Section Connector and Cable Specifications
108
107
106
105
104
I - 43
Pin No.
Black
Blue
Brown
Purple
Brown
Red
Brown
Yellow
White
Purple
White
Green
Drive unit connector
Cannon connector
(Straight)
Cannon connector
(angle)
Connector clamp
Cable
Connector (plug)
102
103
Connector (shell)
Part name
101
000
Part No.
(3) CNP6A cable
Model
CON
CON
CON
SEN
CON
Pin No.
Detector connector
MS3106B20-29S
MS3057-12A
MS3108B20-29S
F-DPEVSB TS-91026
(BANDO ELECTRIC WIRE)
10120-3000VE
CON 10320-52F0-008
Abbr.
1
1
1
1
1
1
1
1
E -type 2-type
Key way
position
Connection connector No.
E-type
3-type
2-type
Connector type
E: E-type (crimp terminal on lead end)
2: 2-type (cannon plug straight type)
3: 3-type (cannon plug L type)
Axis No. (Axis 1 to 8)
1 to 8: Axis 1 to 8
System No.
None : 1-axis system
2
: 2-axis system
P
: PLC axis
Encoder signal (1024P) RFH-1024-
(Note) Connect the shield of the cable securely to the connector shell.
Length L (L ≤ 30m)
1
1
1
1
1
3-type
Qty/type
Cable name
5. Drive Section Connector and Cable Specifications
Connector (plug)
102
Model
108
I - 44
Pin No.
Black
Blue
Brown
Purple
Brown
Red
Brown
Yellow
White
Purple
White
Green
Pin No.
Detector connector
CON MS3106B20-29S
Drive unit connector
Cannon connector
(Straight)
Connector clamp
106
CON MS3057-12A
CON MS3108B20-29S
Cannon connector
(angle)
105
107
SEN
Cable
F-DPEVSB TS-91026
(BANDO ELECTRIC WIRE)
CON 10120-3000VE
CON 10320-52F0-008
Abbr.
104
103
Connector (shell)
Part name
101
000
Part No.
(4) CNP7A cable
1
1
1
1
1
1
1
1
E-type 2-type
1
1
1
1
1
3-type
Qty/type
Connection connector No.
Key way
position
E-type
3-type
2-type
Connector type
E: E-type (crimp terminal on lead end)
2: 2-type (cannon plug straight type)
3: 3-type (cannon plug L type)
Axis No. (Axis 1 to 8)
1 to 8: Axis 1 to 8
System No.
None : 1-axis system
2
: 2-axis system
P
: PLC axis
Shaft type encoder signal (90,000P) OSE90K+1024
(Note) Connect the shield of the cable securely to the connector shell.
Length L (L ≤ 30m)
Cable name
5. Drive Section Connector and Cable Specifications
Connector (plug)
102
Connector (pin)
106
I - 45
Pin No.
108
Black
Blue
Brown
Purple
Brown
Red
Brown
Yellow
White
Purple
White
Green
Drive unit connector
Connector (housing)
105
107
Cable
104
103
Connector (shell)
Part name
101
000
Part No.
(5) CNP7B cable
CON
CON
SEN
CON
CON
Abbr.
Pin No.
Detector connector
48235-000
69176-D20
F-DPEVSB TS-91026
(BANDO ELECTRIC WIRE)
10120-3000VE
10320-52F0-008
Model
1
1
1
13
1
1
1
1
E-type 2-type
(Note)
Length L (L ≤ 30m)
Qty/type
Connection connector No.
E-type
2-type
Connector type
E: E-type (crimp terminal on lead end)
2: 2-type (connection connector)
Axis No. (Axis 1 to 8)
1 to 8: Axis 1 to 8
System No.
None : 1-axis system
2
: 2-axis system
P
: PLC axis
Built-in type encoder signal (90,000P) MBE90K
Connect the shield of the cable securely to the connector shell.
Cable name
5. Drive Section Connector and Cable Specifications
Connector (pin)
106
108
CON
CON
SEN
I - 46
Pin No.
Drive unit connector
Connector (housing)
105
107
Cable
104
103
J-SP1140
JAC-15P
Pin No.
Detector
connector
10120-3000VE
7
1
1
1
1
2-type
Length L (L ≤ 10m)
Qty/type
Cable name
Connection connector No.
E-type
2-type
Connector type
E: E-type (crimp terminal on lead end)
2: 2-type (designated connector)
Axis No. (Axis 1 to 8)
1 to 8: Axis 1 to 8
System No.
None : 1-axis system
2
: 2-axis system
P
: PLC axis
Built-in type encoder signal (90,000P) MHE90K
(Note 1) This cable is not available from Mitsubishi, and must be manufactured by the user.
(Note 2) Connect the shield of the cable securely to the connector shell.
1
1
Connector (plug)
102
CON
1
10320-52F0-008
E-type
CON
Model
Connector (shell)
Abbr.
101
Part name
000
Part No.
(6) CNP7H cable
5. Drive Section Connector and Cable Specifications
108
107
106
105
104
103
F-DPEVSB TS-91026
(BANDO ELECTRIC WIRE)
I - 47
Pin No.
Red
White
Blue
Brown
Green
Brown
Drive unit connector
White
Purple
White
Yellow
Brown
Red
Brown
Purple
Brown
Blue
Black
Green
Pin No.
Detector connector
CON MS3106B20-29S
CON MS3057-12A
CON MS3108B20-29S
SEN
Drive unit connector
Pin No.
Cannon connector
(Straight)
Cannon connector
(angle)
Connector clamp
Cable
1
2
Connector (plug)
102
CON 10120-3000VE
2
CON 10320-52F0-008
Connector (shell)
Model
101
Abbr.
E-type
Part name
000
Part No.
(7) CNP67A cable
1
1
1
2
2
2-type
Cable name
Key way
position
Connection connector No.
E-type
3-type
2-type
Connector type
E: E-type (crimp terminal on lead end)
2: 2 -type (cannon plug straight type)
3: 3 -type (cannon plug L type)
Axis No. (Axis 1 to 8)
1 to 8: Axis 1 to 8
System No.
None : 1-axis system
2
: 2-axis system
P
: PLC axis
Shaft type encoder signal (90,000P+1024P) OSE90K+1024
(Note) Connect the shield of the cable securely to the connector shell.
Length L (L ≤ 30m)
1
1
1
2
2
3-type
Qty/type
5. Drive Section Connector and Cable Specifications
CON MS3106B20-29S
SEN
CON MS3108B20-29S
Cannon connector
(Straight)
Cable
Cannon connector
(angle)
Connector clamp
Connector
Contact
Case
103
104
105
106
107
108
109
I - 48
Green
White
Purple
White
Yellow
Brown
Red
Brown
Purple
Brown
Blue
Black
Red
White
Blue
Brown
Green
Brown
Pin No.
NC connector
Pin No.
Drive unit connector
Pin No.
Detector connector
CON HDA-CTF
CON CD-PC-111
CON CDA-15P
CON MS3057-12A
F-DPEVSB TS-91026
(BANDO ELECTRIC WIRE)
CON 10120-3000VE
Connector (plug)
102
1
6
1
2
1
1
CON 10320-52F0-008
Connector (shell)
Model
101
Abbr.
E-type
Part name
000
Part No.
(8) CNP71A cable
1
6
1
1
2
1
1
1
2-type
Cable name
E-type
Key way
position
3-type
2-type
Connection connector No.
Shaft type encoder signal (90,000P+1024P) OSE90K+1024
Connector type
E: E-type (crimp terminal on lead end)
2: 2-type (cannon plug straight type)
3: 3-type (cannon plug L type)
Axis No. (Axis 1 to 8)
1 to 8: Axis 1 to 8
System No.
None : 1-axis system
2
: 2-axis system
P
: PLC axis
(Note) Connect the shield of the cable securely to the connector shell.
Length L2 (L2 ≤ 30m)
Length L1 (L1 ≤ 30m)
1
6
1
1
1
1
1
3-type
Qty/type
5. Drive Section Connector and Cable Specifications
Connector (housing)
Connector (pin)
Connector
Contact
Case
105
106
107
108
109
CON HDA-CTF
CON CD-PC-111
CON CDA-15P
CON 48235-000
CON 69176-020
I - 49
Green
White
Purple
White
Yellow
Brown
Red
Brown
Purple
Brown
Blue
Black
Pin No.
Red
White
Blue
Brown
Green
Brown
NC connector
Pin No.
Pin No.
Drive unit connector Detector connector
Cable
104
F-DPEVSB TS-91026
SEN
(BANDO ELECTRIC WIRE)
CON 10120-3000VE
1
6
1
2
1
Connector (plug)
102
103
1
CON 10320-52F0-008
Connector (shell)
Model
101
Abbr.
E-type
Part name
000
Part No.
(9) CNP71B cable
1
6
1
19
1
2
1
1
2-type
Qty/type
Connection connector No.
E-type
2-type
Built-in type encoder signal (90,000P+1024P) MBE90K
Connector type
E: E-type (crimp terminal on lead end)
2: 2-type (designated connector)
Axis No. (Axis 1 to 8)
1 to 8: Axis 1 to 8
System No.
None : 1-axis system
2
: 2-axis system
P
: PLC axis
(Note) Connect the shield of the cable securely to the connector shell.
Length L2 (L2 ≤ 30m)
Length L1 (L1 ≤ 30m)
Cable name
5. Drive Section Connector and Cable Specifications
Connector (housing)
Connector (pin)
Connector
Contact
Case
105
106
107
108
109
I - 50
Pin No.
NC connector
Pin No.
Drive unit connector
Cable
104
103
F-DPEVSB TS-91026
(BANDO ELECTRIC WIRE)
Pin No.
Detector connector
Pin No.
Detector connector
CON HDA-CTF
CON CD-PC-111
CON CDA-15P
CON J-SP1140
CON JAC-15P
SEN
1
6
1
13
2
2
1
1
2-type
Qty/type
Length L2 (L2 ≤ 10m)
Length L1 (L1 ≤ 10m)
Cable name
Connection connector No.
E-type
2-type
Built-in type encoder signal (90,000P+1024P) MHE90K
System No.
None : 1-axis system
2
: 2-axis system
P
: PLC axis
Connector type
E: E-type (crimp terminal on lead end)
2: 2-type (designated connector)
Axis No. (Axis 1 to 8)
1 to 8: Axis 1 to 8
(Note 1) This cable is not available from Mitsubishi, and must be manufactured by the user.
(Note 2) Connect the shield of the cable securely to the connector shell.
1
6
1
2
1
Connector (plug)
102
CON 10120-3000VE
1
CON 10320-52F0-008
Connector (shell)
Model
101
Abbr.
E-type
Part name
000
Part No.
(10) CNP71H cable
5. Drive Section Connector and Cable Specifications
Connector (housing)
Connector (pin)
105
106
Pin No.
(CN5)
Drive unit connector
Cable
104
103
Pin No.
(CN-6)
Detector connector
CON J-SP1140
1
7
1
1
1
1
2-type
Length 1 (L ≤ 10m)
Qty/type
Cable name
Connection connector No.
MHE90K
I - 51
E-type
2-type
System No.
None : 1-axis system
2
: 2-axis system
P
: PLC axis
Built-in type encoder signal (180 wave )
Connector type
E: E-type (crimp terminal on lead end)
2: 2-type (designated connector)
Axis No. (Axis 1 to 8)
1 to 8: Axis 1 to 8
(Note 1) This cable is not available from Mitsubishi, and must be manufactured by the user.
(Note 2) Connect the shield of the cable securely to the connector shell.
F-DPEVSB TS-91026
(BANDO ELECTRIC WIRE)
CON JEC-9P
SEN
1
Connector (plug)
102
CON 10120-3000VE
1
CON 10320-52F0-008
Connector (shell)
Model
101
Abbr.
E-type
Part name
000
Part No.
(11) CNP5H cable
5. Drive Section Connector and Cable Specifications
Connector (plug)
102
Connector
Contact
Case
105
106
107
Pin No.
Pin No.
Model
I - 52
Cable clamp
Cable clamp
CON HDA-CTF
CON CD-PC-111
Pin No.
NC connector
F-DPEVSB TS-91026
(BANDO ELECTRIC WIRE)
CON CDA-15P
SEN
CON 10120-3000VE
CON 10320-52F0 -008
Abbr.
Drive unit connector
Cable
104
103
Connector (shell)
Part name
101
000
Part No.
(12) CNP8 cable
1
14
1
1
1
1
Length L (L ≤ 50m)
Cable name
Connection connector No.
No. 101 to 104 on the left will be two.
(Note) When using the 2-axis spindle, the required quantity of part
(Note 1) This cable is not available from Mitsubishi, and must be manufactured by the user.
(Note 2) The area enclosed by broken line indicates the 2-axis spindle connection.
(Note 3) Connect the shield of the cable securely to the connector shell.
Qty/type
5. Drive Section Connector and Cable Specifications
5. Drive Section Connector and Cable Specifications
5.2.13 Cable assembly procedure (Excluding SH21 cable)
(1) Non-shield shell assembly procedure I
One-touch locking type
(a)
Peel the outer sheath so that the shield wires are
exposed.
Shield wire
(b)
Wrap copper tape or vinyl tape around part of the
shield wire section.
Copper tape
(c)
Fold the shield wire over the wrapped copper tape or
vinyl tape.
Folded shield wire
(d)
Cut off any excess sheath.
Folded shield wire
(e)
After connecting the connector and cable, mount the
cable clamp approx. 1 to 2mm from the cable end,
and tighten the screw until the cable clamp screw
section face contacts closely.
Cable clamp with
grounding plate
(Note) Adjust the No. of copper tape windings in
step (b) so that the shield wire and clamp
contact without looseness and so that the
clamp's screw section face is closely
contacted.
I - 53
5. Drive Section Connector and Cable Specifications
(f)
Latch
Store a connector and latch at the respective
positions on one end of the shell.
(The male of the shell is same shape as female's, so
store on either side.)
(Note) Make sure that the cable does not rise up or
exceed the shell's inner wall to prevent
breakage of the cable.
(g)
Set the other shell and tighten with a screw.
(Note) Recommended screw tightening torque:
3kgf·cm
(h)
Completion
Confirmation items :
• There is no clearance on the shell engaging
face.
• The latch can be correctly opened and closed
when moved with a finger.
I - 54
5. Drive Section Connector and Cable Specifications
(2) Non-shield shell assembly procedure II
Jack screw (screw locking) type
(a)
Peel the outer sheath so that the shield wires are
exposed.
Shield wire
(b)
Wrap copper tape or vinyl tape around part of the
shield wire section.
Copper tape
(c)
Fold the shield wire over the wrapped copper tape or
vinyl tape.
Folded shield wire
(d)
Cut off any excess sheath.
Folded shield wire
(e)
After connecting the connector and cable, mount the
cable clamp approx. 1 to 2mm from the cable end,
and tighten the screw until the cable clamp screw
section face contacts closely.
Cable clamp with
grounding plate
(Note) Adjust the No. of copper tape windings in
step (b) so that the shield wire and clamp
contact without looseness and so that the
clamp's screw section face is closely
contacted.
I - 55
5. Drive Section Connector and Cable Specifications
(f)
Jack screw
Store a connector and jack screw at the respective
positions on one end of the shell.
(The male of the shell is same shape as female's, so
store on either side.)
(Note) Make sure that the cable does not rise up or
exceed the shell's inner wall to prevent
breakage of the cable.
(g)
Set the other shell and tighten with a screw.
(Note) Recommended screw tightening torque:
3kgf·cm
(h)
Completion
Confirmation items :
• There is no clearance on the shell engaging
face.
I - 56
6. Outline Drawing
6. Outline Drawing ..............................................................................................................
6.1 Panel installation structure .....................................................................................
6.2 Power supply unit ...................................................................................................
6.3 1-axis servo drive unit/2-axis servo drive unit/spindle servo drive unit ..................
6.4 Battery unit ..............................................................................................................
6.5 AC reactor ...............................................................................................................
6.6 Dynamic brake unit .................................................................................................
6.7 Contactor ................................................................................................................
6.8 Circuit Breaker (CB)................................................................................................
I - 57
I-58
I-58
I-59
I-60
I-61
I-62
I-63
I-63
I-63
6. Outline Drawing
6. Outline Drawing
6.1 Panel installation structure
(1) Unit outline
[Power supply unit]
Inside box
Outside box
Fin and fan
Spindle/servo
drive unit
Outside box
Fin and fan
Power supply unit
Inside box
[Spindle drive, servo drive unit]
Maintenance
area
Maintenance
area
(Side)
Required wind
passage space
Required wind
passage space
(Side)
(Note) The type A0 unit noted in section "2.Drive Section System Configuration (2)
and (3)" do not have the fin and fan section.
(2) Panel installation hole work drawing
Prepare a square hole to match the unit width.
(Note 1) The A0 type unit described in section "2. Drive Section System Configuration (2) and (3)"
does not require to make a square hole.
(Note 2) Install packing around the square hole to provide a seal.
4-5 screw
2-5 screw
Square hole
Square hole
Square hole
2-5 screw
(Installation)
(Installation)
(Installation)
Unit width size
(Front)
Unit width size W
b
c
d
60
360
52
342
90
360
82
342
120
360
112
342
150
360
142
342
(Unit: mm)
I - 58
6. Outline Drawing
6.2 Power supply unit
∗1 The position of the CV-37 to 185 CN4 and CN9 is approx. 39mm lower than the MDS-B-CV Series. No
changes have been made to the CV-220 to 370.
∗2 The position of the ground
has been moved from the terminal block to the unit installation base.
The fin section includes 15mm required for the wind passage space.
C1-CV-37/55/75
C1-CV-110
C1-CV-150/185
フィン
Terminal cover
フィン
Fin
2-ø6 hole
2-ø6
hole
2-ø6
hole
600
660
275
275
Wiring
space
C1-CV-220/260/300/370
Terminal cover
Fin
4-ø6 hole
60
60
275 275
Wir ing
space
I - 59
15
15
15 1 5
15
6. Outline Drawing
6.3 1-axis servo drive unit/2-axis servo drive unit/spindle servo drive unit
The fin section includes 15mm required for the wind passage.
C1-V1-01/03/05/ C1-V1-45/70S C1-V1-70/90
10/20/35/45S V2-3535/
V2-4545/7035/7045
V2-0101 to
4520/4535/ SP-150/185
3520S
7070S
SP-04/075/15/ SP-55/75/
22/37
110/150S
Terminal cover
Fin
2-ø6 hole
2-ø6
hole
2-ø6
hole
60
60
275
∗ Note
C-V1-01
to 10 has no
fin.V1-01 to 10 have no fins.
Notethat
that
SP-04/075/15
and
275
Wiring
space
C1-V2-7070
SP-220
Terminal cover
Terminal
cover
フィン
Fin
4-ø6
4-ø6
hole
hole
60
60
275 275
Wiring
Wiring
space
space
I - 60
15
15
15
15
6. Outline Drawing
The fin section includes 12mm required for the wind passage space.
C1-V1-110/150
SP-260/300
Terminal cover
フ
ィン
Fin
4-ø6 hole
63
12
27 5
Wiring
space
6.4 Battery unit
MDS-A-BT-2
4
6
8
ø6 Use a M5 screw for installation
Battery unit outline drawing
I - 61
6. Outline Drawing
6.5 AC reactor
AC reactor outline drawing
(1) For 30kW or less
6-screw
FG connection
position
(with ground mark)
PE connection position
4-8 ×15 slot
Terminal cover
ACL model
Corresponding power supply unit
Ys
Y Weight Screw
B-AL-7.5K
C1-CV-37, C1-CV-55, C1-CV-75
82 130 3.6kg
M5
B-AL-11K
C1-CV-110
75 130 3.0kg
B-AL-18.5K C1-CV-150, C1-CV-185
105 140 5.2kg
M6
C1-CV-220, C1-CV-260,
B-AL-30K
110 150 6.0kg
C1-CV-300
AC reactor outline
drawing
(2) 37kW
6- M6 screw
FG connection
position
(with ground mark)
PE connection position
4-8×15 slot
Terminal cover
ACL model Corresponding power supply unit
B-AL-37K
C1-CV-370
Ys
Y Weight
110 150 10.0kg
I - 62
6. Outline Drawing
(Note 1) This AC reactor has a PE (protection grounding) terminal for electric shock prevention and an FG
(function grounding) terminal for noise measures. Observe the following cautions for treating each
terminal.
(1) PE terminal ( )
(a) When AC reactor installation side is PE
Install the AC reactor unit with screws (bolts) in all four installation holes.
Always insert a loosening-prevention washer and spring washer in the screw (bolt) used
for the
mark installation hole, and tighten the screw.
(b) When AC reactor installation side is not PE
Install the AC reactor unit with screws (bolts) in all four installation holes.
Always insert a loosening-prevention washer and spring washer and tighten the screw
together with the grounding wire (PE) crimp terminal at the
mark installation hole.
The grounding wire used is the same type as the grounding wire connected to the power
supply unit.
(2) FG terminal (FG)
Screw the function grounding wire crimp terminal at the terminal marked as "FG" on the top of
the AC reactor (terminal block).
(With this treatment, the built-in filter's grounding will be directly connected to the grounding,
and the noise withstand level will be improved.)
∗ Function grounding wire: This is a grounding wire not used for protection grounding. Thus,
do not use a green/yellow spiral wire.
(Note 2) The dimensions of the terminal cover are as
shown on the right.
When separately manufacturing a cover,
refer to the dimensions on the right.
35
130±0.7
153±0.4
6
2-ø4.6
165±0.7
6.6 Dynamic brake unit
(Unit: mm)
Model
A
B
C
D
MDS-B-DB
U-150
200
190
140
20
6.7 Contactor
Refer to the section "8.6 Selection of AC reactor, contactor and CB".
6.8 Circuit Breaker (CB)
Refer to the section "8.6 Selection of AC reactor, contactor and CB".
I - 63
E
5
F
200
G
193.8
Weight
2kg
Applicable
servo
drive unit
V1-110/150
7. Heating Value
7. Heating Value...................................................................................................................
I - 65
I-66
7. Heating Value
7. Heating Value
(1) Power supply unit
Model
CV- 37
CV- 55
CV- 75
CV-110
CV-150
CV-185
CV-220
CV-260
CV-300
CV-370
Outside
Total heat- Inside
ing value (W) unit (W) unit (W)
55
65
80
125
155
195
210
260
320
400
21
23
25
26
29
33
35
40
46
54
34
42
55
99
126
162
175
220
274
346
(2) Spindle drive unit
Model
SP- 04
SP-075
SP- 15
SP- 22
SP- 37
SP- 55
SP- 75
SP-110
SP-150
SP-185
SP-220
SP-260
SP-300
SP-150S
(3) 1-axis servo drive unit (4) 2-axis servo drive unit
Total heat- Inside Outside
ing value (W) unit (W) unit (W)
30
40
49
69
79
108
137
181
235
342
366
483
620
235
30
40
49
26
28
31
35
41
48
62
65
80
98
48
0
0
0
42
51
76
102
140
187
280
301
403
522
140
Model
V1- 01
V1- 03
V1- 05
V1- 10
V1- 20
V1- 35
V1- 45
V1- 70
V1- 90
V1-110
V1-150
V1-45S
V1-70S
Total heat- Inside
ing value (W) unit (W)
21
27
37
53
91
132
185
284
331
465
641
158
189
21
27
37
53
25
30
37
50
56
74
96
34
38
Outside
unit (W)
0
0
0
0
66
102
148
234
275
392
545
124
151
Model
Total heat- Inside
ing value (W) unit (W)
V2-0101
V2-0301
V2-0303
V2-0501
V2-0503
V2-0505
V2-1005
V2-1010
V2-2010
V2-2020
V2-3510
V2-3520
V2-3535
V2-4520
V2-4535
V2-4545
V2-7035
V2-7045
V2-7070
V2-3510S
V2-3520S
V2-7070S
38
41
43
46
52
62
78
96
155
178
190
213
260
266
307
359
406
459
558
190
213
365
38
41
43
46
52
62
78
96
37
41
42
45
51
52
57
64
70
77
90
44
48
65
Outside
unit (W)
0
0
0
0
0
0
0
0
117
137
148
168
209
214
249
295
336
382
468
146
165
300
(Note 1) The heating value for the spindle drive unit is for during continuous rated output and for the
servo drive unit is for during the rated output when operating in the high-gain mode.
If the servo drive unit is operated in the standard mode, the heating value will be less than the B
Series heating value. However, the new design is not supposed to operate in the standard
mode, so the data has been omitted.
(Note 2) The total heating value for the power supply includes the AC reactor heating value.
(Note 3) For the total heating value for the unit, add the heating value for the corresponding unit above
that is mounted on the actual machine.
Example) When mounted unit is CV-185, SP-110, V1-35, V2-2020
Total unit heating value (W) = 195 + 181 + 132 + 178 = 686 (W)
(Note 4) When designing the box for the fully closed installation, consider the actual load ratio as the
heating value inside the servo drive unit, and use the following equation.
Heating value inside servo drive unit (considering load ratio)
= heating value inside unit obtained with the above table × 0.5
(However, this excludes the power supply unit and spindle drive unit.)
If it is clear that the load ratio is larger than 0.5, substitute that load ratio for "× 0.5" in the above
equation.
I - 66
Power supply
Spindle drive
Servo drive
(Note 5) Due to the structure, heat will tend to accumulate that
the top of each unit. Thus, install a fan in the distribution
box to mix the heat at the top of each unit.
(Inside box)
Velocity 2m/s or more
Servo drive
If the mounted servo drive unit is V1-35:
Heating value inside unit (during rated output)
= 30 (W)
Thus,
Heating value inside unit (considering load ratio)
= 30 × 0.5 = 15 (W)
Servo drive
Example
8. Selection of Capacity
8. Selection of Capacity.......................................................................................................
8.1 Selection of the power supply unit capacity.............................................................
8.1.1 Selection with rated capacity (continuous rated capacity) ..............................
8.1.2 Selection with maximum momentary rated capacity.......................................
8.1.3 Selection data .................................................................................................
8.1.4 Selection example...........................................................................................
8.2 Selection of leakage breaker...................................................................................
8.3 Noise filter................................................................................................................
8.4 Selection of power supply capacity ........................................................................
8.5 Selection of wire size .............................................................................................
8.6 Selection of AC reactor, contactor and CB .............................................................
I - 67
I-68
I-68
I-68
I-70
I-70
I-71
I-72
I-73
I-75
I-76
I-81
8. Selection of Capacity
8. Selection of Capacity
8.1
Selection of the power supply unit capacity
In addition to "selection conditions following the rated capacity (continuous rated capacity)" with the
conventional method, select the power supply unit so that "selection conditions under the maximum
momentary rated capacity" are simultaneously satisfied.
Conventionally, the power supply unit capacity was selected based on the total rated capacity of the
motors connected to the power supply unit.
However, as the machines become faster and the increased torque occur during acceleration/
deceleration following that the acceleration/deceleration time constant become shorter, stricter
working conditions have been applied to the acceleration/deceleration for the power supply unit. Thus,
selection conditions have been set for the maximum momentary rated capacity to prevent use
exceeding the momentary power processing capacity.
8.1.1 Selection with rated capacity (continuous rated capacity)
(Note) In this section, "continuous rated capacity" will be indicated as "rated capacity".
(1) When using 1-axis servomotor
Power supply unit rated capacity
> Σ (Spindle motor output) + (Servomotor output)
.......
1)
.......
2)
(2) When using 2 or more axes servomotor
Power supply unit rated capacity
> Σ (Spindle motor output) + 0.7 × Σ (Servomotor output)
(Note 1) Σ (Spindle motor output) is the total of the spindle motor's short time rated output (kW).
Σ (Servomotor output) is the total of the servomotor rated output (kW).
Note that, the motor output and drive unit capacity will not always match (for example, servo
drive unit for servomotor HC203=2kW is V1-35=3.5kW). Thus, substitute the motor rated
output instead of the drive unit capacity in the "Spindle motor output" and "Servomotor output"
items in equations 1) and 2) above.
• In some cases , the spindle motor is used with different output for acceleration/deceleration
and constant operation. In this case, substitute the larger output in the "Spindle motor
output" item.
• When using in conditions limiting the spindle motor output, substitute the output obtained by
multiplying the limit rate in the "Spindle motor output" item.
(Note 2) The power supply unit capacity is selected the minimum line up capacity that establishes
equations 1) and 2).
Example 1) If the value obtained on the right side of equations 1) and 2) is 10kW, the power
supply unit capacity will be 11kW (CV/CVE-110).
Example 2) If the value obtained on the right side of equations 1) and 2) is 23kW, the power
supply unit capacity will be 26kW (CV/CVE-260).
I - 68
8. Selection of Capacity
(Note 3) If the value obtained on the right sides of equations 1) and 2) is suppressed to less than
0.5kW more than line up CVE unit capacity, the excessive amount can be ignored when
selecting the CVE unit capacity.
For capacities exceeding 22kW, if the excessive amount is 1kW or less, the amount can be
ignored when selecting the CVE unit capacity.
Example 1) If the value obtained on the right sides of equations 1) and 2) is 15.5kW, the
power supply unit capacity will be 15kW.
Example 2) If the value obtained on the right sides of equations 1) and 2) is 15.6kW, the
power supply unit capacity will be 18.5kW.
Example 3) If the value obtained on the right sides of equations 1) and 2) is 22.9kW, the
power supply unit capacity will be 22kW.
Example 4) If the value obtained on the right sides of equations 1) and 2) is 23.1kW, the
power supply unit capacity will be 26kW.
(Note 4) If the value obtained on the right sides of equations 1) and 2) is larger than 38kW, there is no
corresponding power supply unit. Thus,
(1)
When Σ (Spindle motor output) < 38kW
Power supply unit (No. 1) rated capacity > Σ (Spindle motor output)
Power supply unit (No. 2) rated capacity > k × Σ (Servomotor output)
∗ However, select a power supply unit so that coefficient k is k=1 when the servomotor has
one axis, and k=0.7 when the servomotor has two or more axes.
(2)
When Σ (Spindle motor output) > 38kW
Power supply unit (No.1) rated capacity > Σ (Spindle motor output 1)
∗ Where, Σ (Spindle motor output 1) is the total of the spindle motor output that is 38kW or
less.
Power supply unit (No. 2) rated capacity
> Σ (Spindle motor output 2) + K × Σ (Servomotor output)
∗ Where, Σ (Spindle motor output 2) is the total of the spindle motor output that is not added
to the power supply unit (No. 1).
However, select a power supply unit so that coefficient k is k=1 when the servomotor has one
axis, and k=0.7 when the servomotor has two or more axes.
(3)
If the value obtained on the right sides of equations 1) and 2) is larger than 76kW, three or
more power supply units will be required. However, even in this case, the same selection
method as (2) is used.
(Note 5) When the servomotor has two or more axes, the value is calculated as k = 0.7. However, if
the capacity of the power supply unit determined by the calculation is smaller than the
largest output of the servomotor being used, select a power supply unit that is the same
rated capacity as the largest servomotor output.
(Example 1) When using the power supply unit with two servomotors (servomotor output =
9.0kW and servomotor output = 1.0kW), if the equation 2) is used for
calculation, the power supply unit only needs rated capacity of 7kW or more
(CV/CVE-75 or above). However, in this case, a power supply unit with a rated
capacity of 9.0kW or more is required.
I - 69
8. Selection of Capacity
8.1.2 Selection with maximum momentary rated capacity
Select the capacity so that the total value of the two outputs "total sum of maximum momentary output
during spindle motor acceleration" and "total sum of maximum momentary output during acceleration
of servomotor that is accelerating and decelerating simultaneously" is not more than the maximum
momentary rated capacity of the power supply unit.
Maximum momentary rated capacity of power supply unit
≥ Σ (Maximum momentary output of spindle motor)
+ Σ (Maximum momentary output of servomotor accelerating/decelerating simultaneously)
If the total value of the right side exceeds 75kW, divide the capacity in two power supply units.
Maximum momentary output of spindle motor
Maximum momentary output of spindle motor
= Spindle motor acceleration/deceleration output × 1.2
Spindle motor acceleration/deceleration output means the maximum output (kW) specified in the
acceleration/deceleration output characteristics, or the maximum output (kW) of the short -time rated
output specified at a time of 30 minutes or less.
If there are no specifications other than the 30-minute rated output, the 30-minute rated output will be
the spindle motor acceleration/deceleration output.
8.1.3 Selection data
Servomotor rated output, maximum momentary output
Motor
Servo drive
unit
Rated output
(kW)
Maximum
momentary
output (kW)
HC52
B-V1-05
C1-V1-05
HC102
B-V1-10
C1-V1-10
HC152
B-V1-20
C1-V1-20
HC202
B-V1-20
C1-V1-20
HC352
B-V1-35
C1-V1-35
HC452
B-V1-45
C1-V1-45
HC702
B-V1-70
C1-V1-70
HC902
B-V1-90
C1-V1-90
0.5
1.0
1.5
2.0
3.5
4.5
7.0
9.0
1.5
2.7
4.5
5.3
7.4
10.6
15
19.5
Motor
Servo drive
unit
Rated output
(kW)
Maximum
momentary
output (kW)
HC53
B-V1-05
C1-V1-05
HC103
B-V1-10
C1-V1-10
HC153
B-V1-20
C1-V1-20
HC203
B-V1-35
C1-V1-35
HC353
B-V1-45
C1-V1-45
HC453
B-V1-70
C1-V1-70
HC703
B-V1-90
C1-V1-90
0.5
1.0
1.5
2.0
3.5
4.5
7.0
1.6
3.2
5.4
7.6
10.6
13.7
20.1
(Note 1) The maximum momentary output in this table is reference data for selecting the power
supply unit and does not guarantee the maximum output.
Power supply unit rated capacity, maximum momentary rated capacity
B-CVEC1-CVRated capacity
(kW)
Maximum
momentary
rated capacity
(kW)
37
55
75
110
150
185
220
260
300
370
3.7
5.5
7.5
11
15
18.5
22
26
30
37
14
19
21
28
41
42
53
54
55
75
I - 70
8. Selection of Capacity
8.1.4 Selection example
(Example 1) Spindle motor : 30-minute rated output 22kW × 1 unit
Servomotor : HC352 (V1-35) × 3 units
.... The three units are simultaneously accelerated/decelerated.
(1)
Selection with rated capacity
22kW + 0.7 × (3.5kW × 3) = 29.35kW
→ Rated capacity 30kW:
• MDS-B-CVE-300 or more is required.
• MDS-C1-CV-300 or more is required.
(2)
Selection with maximum momentary rated capacity
22kW × 1.2 + 7.4kW × 3 = 48.6kW
→ Maximum momentary rated capacity 53kW:
• MDS-B-CVE-220 or more is required.
• MDS-C1-CV-220 or more is required.
Power supply units that satisfy conditions (1) and (2):
• Select MDS-B-CVE-300.
• Select MDS-C1-CV-300.
(Example 2) Spindle motor : 30-minute rated output 22kW × 1 unit
Servomotor : HC353 (V1-45) × 1 units
HC453 (V1-70) × 2 units
.... The three units are simultaneously accelerated/decelerated.
(1)
Selection with rated capacity
22kW + 0.7 × (3.5kW + 4.5kW × 2) = 30.75kW
→ Rated capacity 30kW:
• MDS-B-CVE-300 or more is required.
• MDS-C1-CV-300 or more is required.
(2)
Selection with maximum momentary rated capacity
22kW × 1.2 + 10.6kW + 13.7kW × 2 = 64.4kW
→ Maximum momentary rated capacity 75kW:
• MDS-B-CVE-370 or more is required.
• MDS-C1-CV-370 or more is required.
Power supply units that satisfy conditions (1) and (2):
• Select MDS-B-CVE-370.
• Select MDS-C1-CV-370.
I - 71
8. Selection of Capacity
8.2 Selection of leakage breaker
As a PWM-controlled higher harmonic chopper current flows into the AC servo/spindle, the leakage
current is higher than a motor operated with commercial power. When installing a leakage breaker as
indicated below, make sure to ground both the drive unit and motor.
U,V,W
M
MDS spindle/servo
system
M
M
RST
200/230VAC
A
U2,V2,W2
Inverter device 1
Inverter device 2
M
Motor
U3,V3,W3
M
Machine power distribution box
The commercial frequency element of the leakage current in the MELDAS MDS Series spindle/servo
system is approx. 6mA per spindle and approx. 1mA per servo axis. However, when selecting the
leakage breaker, calculate this as max. 15mA per spindle and max. 2mA per servo axis in
consideration of the motor power cable length, distance from grounding and motor size, etc.
If other inverter devices are connected on the same power line, consider the leakage current for these
devices when selecting the leakage breaker, and install these at the section shown with A above.
Note that a leakage breaker (inverter compatible) that removes the higher harmonic elements with a
filter and detects only the leakage current in the commercial frequency range (approx. 50 to 60Hz)
must be selected.
Incorrect operations may take place if a breaker that is too sensitive to the higher harmonic elements
is used.
(Note) For the MDS Series, there is one spindle and three servo axes. Select a leakage breaker so
that when the total leakage current of the devices on the same power line is 7mA, the following
calculation value is within the rated non-operational sensitive current:
15mA + 2mA × 3 + 7mA = 28mA
When using a leakage tester to check faults such as malfunctioning of the leakage breaker, select a
tester that is not easily affected by the higher harmonics, and set the measurement range to 50 to
60Hz.
Example) SOUKOU Electric
LC-30F
(Note) For safety purposes, always ground the machine with Class C grounding (previously, Class 3).
I - 72
8. Selection of Capacity
8.3 Noise filter
(1) Selection
If the radio noise needs to be reduced, select a noise filter from the following table to match the
power supply unit model.
Noise filter model
(Tohoku Kinzoku)
LF-330
LF-340
LF-350
LF-360
LF-380K
Two LF-380K units in
parallel
MDS-C1-CV
37
55
75
110
150, 185
220, 260, 300, 370
(2) Noise filter installation position
Insert the noise filter at the unit input.
∗ If the power supply unit has a
transformer, connect the filter to
the transformer input.
Power distribution
box
CB
Power
supply
Noise filter
R
S
T
Power supply unit
MDS-C1-CV
(3) Specifications
Part
name
330
340
350
360
380K
Rated
voltage
AC
DC (V)
200V
200V
200V
200V
200V
Rated
current
AC
DC (V)
30A
40A
50A
60A
80A
Test voltage
VAC between
case terminals
for 1 minute
1500
1500
1500
1500
2000
I - 73
Insulation
resistance
(MΩ )
500VDC
>300
>300
>300
>300
>300
Leakage
current
(mA)
250V 60Hz
<1
<1
<1
<1
<5
Working
temperature
Ambient (°C)
-20 to +55
-20 to +45
-20 to +45
-20 to +45
-25 to +55
8. Selection of Capacity
(4) Filter dimensions
B
IN Nameplate
C
A
C
LF-300 Series
F
H
G
E
D
I
D
(mm)
Model
LF-330
LF-340
LF-350
LF-360
A
180
180
180
200
B
170
160
160
180
C
60
60
60
60
D
20
30
30
30
E
120
200
200
300
F
135
220
220
320
G
150
240
240
340
H
35
40
40
50
I
65
80
80
100
LF-K Series
H
D
B
G
F
E
C
A
Model
LF-380K
Terminal
plate
TE-K22 M6
A
B
C
D
E
F
G
H
I
J
670
400
560
380
500
170
9×6.5ø
6.5ø
00
00
I - 74
8. Selection of Capacity
8.4 Selection of power supply capacity
The actually required power supply capacity is calculated with the following equation based on this
power supply capacity reference values.
Power supply
capacity (kVA)
Right side value (kW) obtained
in equations 1) and 2) in section 8.1.1 Power supply capacity
= Power supply unit capacity (kW)
×
reference value (kVA)
selected from section 8.1.1
........ 3)
When using multiple power supply units, the total of the power supply capacity for each power supply
unit obtained in equation 3) will be the total power supply capacity.
Example) When the value obtained on the right sides of equations 1) and 2) in section 8.1.1 is 13.5kW,
the CV-150 power supply unit will be selected, so the power supply capacity reference value
(kVA) will be 23. Thus, from equation 3), the power supply capacity (kVA) will be (13.5/15) ×
23 = 20.7 (kVA).
The power supply capacity reference values for the power supply unit selected in section 8.1.1 are as
follow:
Power regeneration
type power supply
unit
Power supply capacity
reference values (KVA)
Power regeneration
type power supply
unit
Power supply capacity
reference values (KVA)
C1-CV-37
C1-CV-55
C1-CV-75
C1-CV-110
C1-CV-150
C1-CV-185
23
28
7
9
12
17
C1-CV-220
C1-CV-260
C1-CV-300
C1-CV-370
33
37
44
54
I - 75
8. Selection of Capacity
8.5 Selection of wire size
(1) Recommended power lead-in wire size
Select the wire size based on the power supply unit capacity as shown below regardless of the
motor type.
Power supply unit
Recommended power
lead-in wire size
Power supply unit
Recommended power
lead-in wire size
C1-CV-37
C1-CV-55
C1-CV-75
C1-CV-110
C1-CV-150
C1-CV-185
IV3.5SQ
or
HIV2SQ
IV3.5SQ
or
HIV3.5SQ
HIV5.5SQ
IV14SQ
or
HIV14SQ
IV22SQ
or
HIV14SQ
IV30SQ
or
HIV22SQ
C1-CV-260
C1-CV-300
C1-CV-370
IV50SQ
or
HIV38SQ
IV60SQ
or
HIV38SQ
HIV50SQ
C1-CV-220
IV38SQ
or
HIV30SQ
(2) Recommended wire size for spindle motor output wire
Select the wire size based on the spindle drive unit capacity as shown below regardless of the
motor type.
Spindle drive unit
capacity
Recommended wire
size for spindle motor
output wire
Spindle drive unit
capacity
Recommended wire
size for spindle motor
output wire
0.4K
0.75K
1.5K
2.2K
3.7K
5.5K
7.5K
IV2SQ
or
HIV2SQ
IV2SQ
or
HIV2SQ
IV3.5SQ
or
HIV2SQ
IV3.5SQ
or
HIV2SQ
IV3.5SQ
or
HIV2SQ
IV3.5SQ
or
HIV2SQ
IV5.5SQ
or
HIV35SQ
11K
15K
18.5K
22K
26K
30K
IV8SQ
or
HIV5.5SQ
IV14SQ
or
HIV14SQ
IV22SQ
or
HIV14SQ
IV30SQ
or
HIV22SQ
IV38SQ
or
HIV30SQ
IV60SQ
or
HIV38SQ
(3) Recommended wire size for servomotor output wire
Select the wire size based on the servo drive unit capacity as shown below regardless of the
motor type.
Servo drive unit
capacity
Recommended wire
size for servomotor
output wire
Servo drive unit
capacity
Recommended wire
size for servomotor
output wire
0.1K
0.3K
0.5K
1.0K
2.0K
3.5K
4.5K
IV1.25SQ
or
HIV1.25SQ
IV1.25SQ
or
HIV1.25SQ
IV2SQ
or
HIV2SQ
IV2SQ
or
HIV2SQ
IV3.5SQ
or
HIV2SQ
IV5.55SQ
or
HIV3.5SQ
IV5.5SQ
or
HIV3.5SQ
7.0K
9.0K
11K
15K
IV8SQ
or
HIV5.5SQ
IV8SQ
or
HIV8SQ
IV14SQ
or
HIV14SQ
IV30SQ
or
HIV22SQ
(Note) The wire sizes recommended in (1) to (3) above are selected with conditions of an ambient
temperature of 30°C and wiring three same tubes.
During actual use, select the wire based on the above reference while considering the ambient
temperature, wire material, and wiring state.
I - 76
8. Selection of Capacity
(4) Wire size for L11, L21 link bar
Regardless of the power supply unit and drive unit capacity, the wire size must be IV2SQ or more.
The wire between CB
L11 and L21 must also be IV2SQ or more.
(5) Wire size for L+, L– link bar
[Selection method 1]
To unify the L+ and L– link bar size:
To unify the L+ and L– link bar size, use the wire sizes given below or a larger wire size for the
L+ and L– link bar connected to the same power supply unit according to the power supply unit
capacity.
Power supply unit
C1-CV-37
C1-CV-55
C1-CV-75
C1-CV-110
C1-CV-150
L+ and L- link bar
wire size
IV3.5SQ
or
HIV2SQ
IV3.5SQ
or
HIV2SQ
IV5.5SQ
or
HIV3.5SQ
IV14SQ
or
HIV8SQ
Power supply unit
C1-CV-185
C1-CV-220
C1-CV-260
C1-CV-300
C1-CV-370
L+ and L- link bar
wire size
IV22SQ
or
HIV14SQ
IV22SQ
or
HIV14SQ
IV38SQ
or
HIV22SQ
IV60SQ
or
HIV38SQ
IV60SQ
or
HIV50SQ
IV14SQ
or
HIV14SQ
[Selection method 2]
To suppress the L+ and L– link bar size to the minimum required for each unit:
To suppress the L+ and L– link bar size to the minimum required for each unit, select the wire
size based on the current value that actually flows to the link bar.
The following drawing shows an example of a spindle and 3-axis servo system. The same
selection method is used for other systems.
C1-V2
C1-CV
C1-SP
C1-CV
L+, L- link bar
Bar1
I1 I2
Bar2
I3
Bar3
I4
(a) If the current that flows through the L+, L– bus bars of each drive unit is I1 to I4, the current
that flows through each link bar (Bar 1 to Bar 3) will be as follows:
I (Bar 1) = I1 + I2
I (Bar 2) = I1 + I2 + I3
I (Bar 3) = I1 + I2 + I3 + I4
....... 4)
Thus, the wire for each L+, L– link bar should tolerate the above current as a minimum.
I - 77
8. Selection of Capacity
(b) The I1 to I4 values are actually obtained with the following equation:
....... 5)
(I1 to I4) = Motor output current × 1.1
However, the motor output current in equation 5) is obtained with the following.
(i)
Spindle motor
Substitute the following according to the spindle drive unit capacity :
Spindle drive
0.4K 0.75K 1.5K 2.2K 3.7K 55K 7.5K
unit capacity
Motor output
4
6
10
17
25
30
40
current (A)
11K
60
15K 18.5K 22K
74
94
103
26K
30K
127
165
(ii) Servomotor
Substitute the following according to the servomotor model:
Motor model
Motor output
current (A)
HC52
Motor model
Motor output
current (A)
HC53
Motor model
Motor output
current (A)
Motor model
Motor output
current (A)
3.94
5.8
HA053
HA13
1.4
HC102 HC152 HC202 HC352 HC452 HC702 HC902
7.4
11.1
15.4
22.9
40.4
46.2
55.9
HC103 HC153 HC203 HC353 HC453 HC703
9.8
15.9
22.4
33.3
57.3
69.2
HA23
HA33
HA40
HA43
HA80
HA83
3.0
3.0
3.6
5.0
6.6
8.8
HA100 HA103 HA200 HA203 HA300 HA303
14.0
19.6
HA700 HA703 HA900 HA50L HA100L HA150L HA200L HA300L HA500L
49.0
68
56.0
4.0
8.0
11.5
18.2
25.0
44.0
22.0
34.5
37.0
55
HA-LH HA-LH
11K2
15K2
84.0
100.0
(c) Based on the I1 to I4 values obtained with equation 5), obtain I (Bar 1) to I (Bar 3) values
with equation 4). Match the obtained value with the values given below, and select the IV
wire size.
Wire size
Tolerable current (A)
IV wire (60°C)
HIV wire (75°C)
2SQ
27
33
3.5SQ
37
45
5.5SQ
49
60
8SQ
61
74
14SQ
88
107
22SQ
115
140
38SQ
162
198
60SQ
217
265
I - 78
(Ambient temperature 30°C or less)
8. Selection of Capacity
(d) A selection example is shown below.
Drive unit
C1-SP-75
C1-V1-20
C1-V2-1010
Motor
SJ-7.5A
HA100
HA80 × 2
Motor output current
Substitute 40A
Substitute 14A
Substitute 6.6A × 2
∗ The power supply unit capacity is as
follows according to equation 2) in section
8.1.1:
Power supply unit capacity >
7.5+0.7 × (2+1+1) = 10.3 → 11 (kW).
Thus, select CV-110.
For the above drive system, the following applies:
I1 = 6.6A × 1.1 = 7.3A
I2 = 6.6A × 1.1 = 7.3A
I3 = 14A × 1.1 = 15.4A
I4 = 40A × 1.1 = 44.0A
Thus,
I (Bar1) = I1 + I2 = 14.6A
I (Bar2) = I1 + I2 + I3 = 30.0A
I (Bar3) = I1 + I2 + I3 + I4 = 74.0A
Therefore, the following is selected according to the table in (c):
Bar1 ....... IV2SQ
Bar2 ....... IV3.5SQ
Bar3 ....... IV14SQ
(6) Drive unit connection screw size
The screw size for each unit is as follows.
Power supply unit
To 75
110
To 7.5
Unit width
1-axis
2-axis
150 to 220 to
185
370
To 37
55 to
110
150S
150 to 220 to
185
300
To 35
45S
45
70S
70 to
90
110 to
150
To
3510
2020
to
3510S 4535
3520S 7070S
4545
to
7045
7070
11
15 to
18.5
22 to
37
To 3.7
5.5 to
15
15 to
18.5
22 to
30
To 4.5
4.5
7
7 to 9
11 to
15
To 2+2 To 4.5
To 3.5 +3.5
+2
7+7
To 7
+4.5
7+7
150
Capacity
(Model)
Capacity
(kW)
Servo drive unit
Spindle drive unit
60
90
120
150
60
90
120
150
60
90
120
150
60
90
120
L1, L2, L3,
M4
M5
M5
M8
−
−
−
−
−
−
−
−
−
−
−
−
U, V, W,
−
−
−
−
M4
M5
M5
M8
M4
(Note)
M5
M5
M8
M4
M4
M4
M4
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
−
−
−
−
−
−
−
−
−
−
−
−
L+, LL11, L21
MC1
(Note) M5 screws, the same as V1-45 are used for U, V, W terminal screw sizes of the V1-45S. (Note that
the
screw is M4.)
I - 79
8. Selection of Capacity
2
(7) Select the wire size as follows for EC Directives compliance. (The sizes are all mm units.)
The wire types are as follows.
PVC : Polyvinyl chloride
EPR : Ethylene polypropylene
SIR : Silicone rubber
(a) MDS-C1-CV (L1, L2, L3, PE)
Unit
PVC
Wire
EPR
SIR
Terminal screw
size
37
2.5
1.5
1.0
55
2.5
2.5
1.5
75
4
4
2.5
110
6
6
4
M4
150
10
10
6
185
16
16
10
220
25
25
16
260
35
35
16
M5
300
50
35
25
370
70
50
25
M8
(b) MDS-C1-SP (U, V, W, PE)
Unit
PVC
Wire
EPR
SIR
Terminal screw
size
04
1.0
1.0
1.0
075
1.0
1.0
1.0
15
1.0
1.0
1.0
22
1.0
1.0
1.0
37
1.5
1.5
1.0
55
2.5
2.5
1.0
75
4
4
2.5
M4
110
6
6
4
150
10
10
6
185
16
16
10
220
25
25
10
260
35
35
16
M5
300
70
50
25
M8
(c) MDS-C1-V1, V2 (U, V, W, PE)
Unit
PVC
Wire
EPR
SIR
Terminal screw
size
01
1.0
1.0
1.0
03
1.0
1.0
1.0
05
1.0
1.0
1.0
10
1.0
1.0
1.0
20
1.5
1.0
1.0
35
2.5
1.5
1.0
45
4
4
2.5
70
6
6
2.5
M4
90
10
10
4
M5
110
25
16
10
150
35
25
16
M8
(d) Wire size for L11 and L21 link bar
Regardless of the power supply unit, spindle drive unit and servo drive unit capacity, the wire
2
size must be 1.5mm or more. (This also applies to the wire between CB-L11 and L21.)
(e) Wire size for L+ and L– link bar (for size unification)
Unit
PVC
Wire
EPR
SIR
Terminal screw
size
C 1- C V- 37 C 1- C V- 55
2.5
1.5
1.0
2.5
2.5
1.5
C 1- C V- 75
6
4
2.5
C 1- C V- 1 1 0 C 1- C V- 1 5 0 C 1- C V- 1 8 5 C 1- C V- 2 2 0 C 1- C V- 2 6 0 C 1- C V- 3 0 0 C 1- C V- 3 7 0
10
10
4
16
16
10
25
25
10
35
35
16
50
35
25
M6
∗ The above wire sizes follow EN60204 under the following conditions.
• Ambient temperature: 40°C
• Wire installed on wall or open cable tray
When using under other conditions, refer to table 5 of EN60204 and Appendix C.
I - 80
70
70
35
−
70
35
8. Selection of Capacity
8.6 Selection of AC reactor, contactor and CB
(a) Select the AC reactor, contactor and CB from the following table when using only one power
supply unit.
Power supply
unit capacity
AC reactor
(ordered part)
Recommended
contactor
(non-ordered
part)
Recommended
CB1
(non-ordered
part)
Recommended
CB2
(non-ordered
part)
To 7.5kW
11kW
15 to 18.5kW
22 to 30kW
37kW
B-AL-7.5K
B-AL-11K
B-AL-18.5K
B-AL-30K
B-AL-37K
(Mitsubishi Electric)
∗ Refer to section "6. Outline
Drawing" for the dimensions .
SN25-AC200V
SN35-AC200V
SN50-AC200V
SN80-AC200V
SN150-AC200V
(Mitsubishi Electric)
∗ Refer to section "6. Outline
Drawing" for the
dimensions.
NF50CS3P-40A05
NF50CS3P-50A
NF100CS3P-10
NF225CS3P-15
NF225CS3P-17
(Mitsubishi Electric)
05
0A05
0A05
5A05
∗ Refer to section "6. Outline
Drawing" for the
dimensions.
A CB or CP (circuit protector) can be used as the breaker for the motor fan.
Select the CB or CP by doubling the motor fan rated current value as a guideline. Contact the CB or CP maker for
the recommended wire size.
Spindle
motor frame
size
Motor fan
rated current
71
90
112
132
160
180
Servomotor
capacity
HA-LH1
1K2
HA-LH1
5K2
0.1A
0.2A
0.2A
0.2A
0.6A
0.6A
Motor fan
rated current
0.2A
0.2A
∗ A rush current that is approximately double the above rated current will flow when the fan is started.
(Note 1) The following applies to the above table:
• Ordered parts refer to parts ordered by the user and shipped from Mitsubishi.
• Non-ordered parts refer to parts not ordered, but arranged by the user.
(Note 2) Use the EN/IEC Standards compliant parts for the contactor and CB to comply with the EC
Directives.
CAUTION
When the breaker is shared for multiple power supply units, if a short-circuit fault occurs in the unit with
the smallest capacity, the breaker may not function. This is dangerous, so do not share the breaker.
I - 81
8. Selection of Capacity
(b) Select the batch contactor as follows when using two or more power supply units.
Contactor
Total input current (A) = CV (No.1) input current (A) + CV (No.2) input current (A).
Substitute the following for the above equation of right side and obtain the total input current (A):
Power supply
unit
Input current (A)
Power supply
unit
Input current (A)
C1-CV-37
C1-CV-55
C1-CV-75
C1-CV-110
C1-CV-150
20
30
40
50
70
C1-CV-185
C1-CV-220
C1-CV-260
C1-CV-300
C1-CV-370
80
100
120
135
160
Substitute the total input current (A) value in the following:
Contactor ............. Rated conductivity current (A) in recommended contactor table
Select the contactor having a rated current larger than the total input current.
(c) The AC reactor and CB cannot be shared between two and more power supply units. Always use
one AC reactor or CB for each power supply unit.
CN4
CN1B
MC1
MC1
L+,L–
L11,L21
L+,L–
L11,L21
L1,L2,L3
L1,L2,L3
200VAC for
control power
MC
CB2
AC reactor
200VAC
CB1
Contactor
AC reactor
I - 82
A-BT
CN1A1
C1-CV (No. 1)
CN4
CN1A
C1-SP
C1-SP
CN4
CN1B
C1-CV (No. 2)
CN4
CN1A
C1-V2
C1-V2
CN1B
C1-V1
C1-V1
CN1A
CSH21
NC control
section
8. Selection of Capacity
[Reference for contactor selection]
Mitsubishi Electric contactor
S-N11 type
AC operation AC electromagnetic contactor
Name
Open type
Non-reversible
type
Model
S-N10
S-N11
S-N12
S-N18
S-N20
S-N21
S-N25
S-N35
S-N50
S-N65
S-N80
S-N95
S-N125
S-N150
S-N180
S-N220
S-N300
S-N400
S-N600
S-N800
AC Class 3 rated
working current (A)
200 to
380 to
220V
440V
11
7
13
9
13
9
18
13
20
20
20
20
26
25
35
32
50
48
65
65
80
80
100
93
125
120
150
150
180
180
220
220
300
300
400
400
630
630
800
800
Support contact
Rated
conductivity
current (A) Standard Special
20
20
20
25
32
32
50
60
80
100
135
150
150
200
260
260
350
450
660
800
1a
1a
1a1b
–
1a1b
2a2b
2a2b
2a2b
2a2b
2a2b
2a2b
2a2b
2a2b
2a2b
2a2b
2a2b
2a2b
2a2b
2a2b
2a2b
1b
1b
2a
–
2a
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
Dimensions (mm)
A
B
C
43
43
53
43
63
63
75
75
88
88
100
100
100
120
138
138
163
163
290
290
78
78
78
79
81
81
89
89
106
106
124
124
150
160
204
204
243
243
310
310
78
78
78
81
81
81
91
91
106
106
127
127
136
145
174
174
195
195
234
234
(Note 1) Noise is generated when the contactor turns ON to OFF, so use of a type with built-in surge
absorber is recommended.
I - 83
8. Selection of Capacity
[Reference for CB selection]
• CB made by Mitsubishi Electric
30
50
60
100
225
400
600
800
NF-30CS
NF50-CP
NF60-CP
NF100-CP
NF225-CP
NF400-CS
NF600-CS
NF800-CS
Rated current (A)
Reference ambient temp.
40° C
(IEC: 30°C For ships: 45°C)
3 5 10
15 20 30
(3) (5) 10 15
20 30 40 50
(10) (15)
(20) (30)
(40) (50) 60
(50) 60
75 100
(Note 2) (100)
125 150 175
200 225
250 300
350 400
500 600
Adjustable
600 700 800
No. of poles
2
2
2
Frame A
Model
Appearance
Rated insulation
voltage V
(Note 1)
3
AC
500
DC
−
JIS C8370
Rated shut-off capacity (kA)
DC
IEC 947-2
(Icu/Ics)
AC
DC
3
250
−
(Note 3)
2
3
600
250
−
(Note 3)
3
600
250
−
(Note 3)
3
600
250
−
(Note 4)
250
−
(Note 4)
250
2.5
10
15
25
35
5
5
25
30
35
50
250V
−
690V
−
−
−
−
−
500V
−
2.5/1
2.5/1
7.5/4
10/5
440V
1.5/1.5
(415V)
2.5/1
2.5/1
10/5
15/8
400V
1.5/1.5
(380V)
−
2.5/2 (240V)
250V
−
500V
1.5 (460V)
250V
2.5
250V
−
45
15
18
18
35
2.5
5
50
50
60
(Note 5)
18
−
(Note 5)
18
(Note 5)
35 (415V)
(Note 5)
(Note 5)
(Note 5)
25 (380V)
35 (380V)
35 (380V)
35 (415V)
(Note 5)
(Note 5)
(Note 5)
35 (240V)
50 (240V)
50 (240V)
(Note 5)
(Note 5)
20
−
(Note5)
20
−
(Note5)
−
25
30
30
35
50
50
105
−
140
−
210
−
210
30
−
90
7.5
−
25 (415V)
15
25
−
75
2.5
50
−
20
−
(Note 5)
−
10/5
10
5
−
75
15
30/15
−
−
20
−
18/9
25/13
7.5/4
−
10
10/5
−
2.5/1
−
7.5
5/2
2.5
2.5
67.5
10
5/2
−
2.5/1
−
7.5
−
5/2
−
1.5
2.5
5/2
600
(Note 4)
2.5
2.5
3
600
2.5
a
Dimensions
(mm)
Connection method
2
220V
−
10
b
96
130
130
155
165
257
275
275
c
52
68
68
68
68
103
103
103
ca
67
90
90
90
92
132
155
155
Surface type product weight
(kg)
With accessory devices
3
600
−
1.5
230V
NK
2
460V
AC
DC
3
600
1.5
550V
AC
2
Surface type (F)
Page
Rear surface type
(B)
Inlaid type (FP)
0.25
0.35
For crimp
terminal
Round stud
(built-in)
100
0.45
0.45
0.65
0.7
1.0
1.3
1.5
5.0
5.8
8.8
9.5
10.9
For crimp
terminal
For crimp
terminal
For crimp
terminal
For crimp
terminal
With bar
terminal
With bar
terminal
With bar
terminal
¡
Round stud
¡
Round stud
¡ Bar stud
¡ Bar stud
¡ Bar stud
¡ Bar stud
¡ Bar stud
¡
¡
¡
−
Insertion type
(PM)
0.65
¡
¡
¡
Alarm switch (AL)
¡
(Note 6)
¡
(Note 7)
¡
(Note 7)
¡
(Note 7)
¡
(Note 7)
¡
¡
¡
Auxiliary switch
(AX)
¡
(Note 6)
¡
(Note 7)
¡
(Note 7)
¡
(Note 7)
¡
(Note 7)
¡
¡
¡
¡
(Note 7)
¡
(Note 7)
¡
(Note 7)
¡
(Note 7)
¡
¡
¡
Voltage trip device
(SHT)
110
Undervoltage trip
device (UVT)
Vertical lead
terminal block
(SLT)
−
¡
¡
−
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
−
−
−
−
¡
¡
¡
−
−
−
−
−
−
−
−
122
Horizontal lead
terminal block (LT)
Pre-alarm module
(PAL)
¡
−
124
Refer to the following page for the optional parts, etc. of Mitsubishi electric CB.
I - 84
8. Selection of Capacity
30
50
60
100
225
400
600
800
NF-30CS
NF50-CP
NF60-CP
NF100-CP
NF225-CP
NF400-CS
NF600-CS
NF800-CS
−
−
−
Frame A
Model
Appearance
Closed
type (S)
Dustproof
type (I)
Breaker
box
(in box)
−
134
Water proof
type (W)
Optional parts
Electric operation
device (NFM)
Machine
connector
(MI)
¡
−
−
Panel
installation
−
For inlaid
142
type
−
Direct
breaker
installation
−
¡
−
−
150
¡
−
−
−
(electric)
HL
−
−
F type
−
Terminal cover
(TC-L, TTC, BTC)
¡
¡
¡
¡
¡
¡
TC-L
TTC,
BTC
137
−
−
¡
(Note 8)
−
Electrical part type approval
( 〒 certified)
(TC-L)
(TTC, BTC)
−
−
¡
−
〒
〒
¡
〒
−
−
−
−
¡
¡
¡
¡
¡
〒
−
−
−
−
¶
¶
¶
Heat −
adjustable
electromagnetic
Electronic
Yes
Yes
Classification Society
approval
(¶ certified)
(NK,LR,AB,GL)
(TC-L)
(TTC, BTC)
−
Reverse connection
(Note 8)
(Note 9)
(Note 8)
−
102
IEC35mm rail
149
installation adaptor
With trip button
−
¡
−
Insert terminal
block (PM)
Overcurrent trip method
¡
(Note 8)
−
126
Rear surface stud
(B-ST)
Inlaid installation
frame (FP)
¡
−
140
HL-S
Operation
S type
handle
SS type
(Note 7)
(electric) (electric, spring (electric, spring (electric, spring
charge) (Note 8) charge) (Note 8) charge) (Note 8)
LC
Handle
lock
device
(Note 1)
(Note 2)
(Note 3)
(Note 4)
(Note 5)
(Note 6)
△
−
−
−
¡
¶
(NK, LR, AB)
¶
Heat − electromagnetic
Fully electromagnetic
(Note 9)
Yes
Yes
Yes
Yes
Yes
The 50A or less type has the same structure as NF50-CP.
When the rated voltage is 100A, NK is not displayed. The JIS C8370 220VAC rated breaker capacity is 25kA.
Designate when using for DC. If a 3-pole external part is required, designate Z2P.
Designate when using for DC.
IEC157-1 is displayed. (The breaking capacity value follows P-1 liabilities).
The lead wire horizontal lead-out method is the standard, but a load lead-out type can be manufactured when required.
(Only surface type)
This is a cassette type that can be installed by the user. As a standard, this is also compatible with breaker side seating
installation,
Order as a set with the breaker unit.
This is enclosed only when the alarm switch (AL) is provided
I - 85
II. MDS-C1-CV
Power Regeneration Type
Power Supply Section
1. Power Regeneration Type Power Supply
1. Power Regeneration Type Power Supply .......................................................................
1.1 C1-CV Outline ........................................................................................................
1.2 Model configuration..................................................................................................
1.3 List of unit models and outlines ...............................................................................
1.4 List of specifications ...............................................................................................
1.5 Hardware and parameter setting ............................................................................
1.6 Status display .........................................................................................................
1.6.1 7-segment LED display .................................................................................
1.6.2 Charge lamp ..................................................................................................
1.7 List of alarms and warnings ...................................................................................
1.8 Explanation of connectors and terminal block .......................................................
1.9 Power supply external emergency stop function ....................................................
1.10 Main circuit connection ...........................................................................................
II – 1
II-2
II-2
II-2
II-3
II-7
II-9
II-10
II-10
II-10
II-11
II-13
II-14
II-17
1. Power Regeneration Type Power Supply
1. Power Regeneration Type Power Supply
1.1 C1-CV Outline
The unit outline, excluding the fins, is same as the B-CV, so the installation is compatible with the B-CV.
However, the positions of the connectors (CN4, 9) and the ground (
) differ, so take care when wiring.
The C1-CV does not use a rush relay, so the alarms "65" and "6B" have been deleted.
The precautions related to conform to the European EC Directives, unit installation, applicable cables and
connection are same as the B-CV. (Refer to "MDS-B Series Specifications Manual BNP-B3759B" for
details.)
With the B-CV, a mechanical contact was used for the external contactor's drive circuit, but with the C1-CV,
a semiconductor element has been incorporated to eliminate the contact life. However, to protect the circuit,
a leakage current of 15mA or less will flow from the MC1 terminal, so do not use a contactor that can
function at a 15mA coil current. If the contactor has an electronic circuit inside, it could malfunction due to
the leakage current, so confirm that the contactor will not malfunction before using it.
(Refer to the external contactor listed in "1.4 List of specifications".)
With the C1-CV, the power voltage distortion can be monitored with the L11 and L21 terminals.
To prevent incorrect judgments during regeneration, always wire the L11 and L21 on the AC reactor
commercial power supply side and with the power supply for the same system as the L1, L2 and L3
terminals.
An external contactor was always required for the B-CV-370, but the C1-CV-370 can be used without the
external contactor. Thus, whether to use the external contactor can be selected.
1.2 Model configuration
MDS-C1-CV Series
MDS-C1-CV-¨

Power supply capacity class symbol
Symbol
Capacity
37
55
75
110
150
3.7 kW
5.5 kW
7.5 kW
11 kW
15 kW
185
220
260
300
370
18.5 kW
22 kW
26 kW
30 kW
37 kW
II – 2
1. Power Regeneration Type Power Supply
1.3 List of unit models and outlines
(1) List of units
No.
1
2
3
4
5
6
7
8
9
10
Model
Outline
Capacity
(kW)
Weight
(kg)
(H∗ W∗ D mm)
3.7
5.5
7.5
11
15
18.5
22
26
30
37
3.5
4.0
4.0
6.0
7.0
7.0
9.0
9.0
9.5
9.5
380∗ 60∗ 200
380∗ 60∗ 200
380∗ 60∗ 200
380∗ 90∗ 255
380∗ 120∗ 255
380∗ 120∗ 255
380∗ 150∗ 255
380∗ 150∗ 255
380∗ 150∗ 255
380∗ 150∗ 255
CV-37
CV-55
CV-75
CV-110
CV-150
CV-185
CV-220
CV-260
CV-300
CV-370
Type
A1
B1
C1
D1
(2) List of unit outline dimensions
Outline
type
H∗W∗D
mm
A1
B1
C1
D1
380∗60∗200
380∗90∗255
380∗120∗255
380∗150∗255
W: 90
W: 60
(Fin section: 20)
D: 200
!
Fin
180
Outline
drawing
(mm)
H: 380
CAUTIO
N
W: 150
W: 120
(Fin section: 75)
(Fin section: 75)
(Fin section: 75)
Including wind
passage space of 15
Including wind
passage space of 15
Including wind
passage space of 15
D: 255
D: 255
H: 380
H: 380
D: 255
H: 380
Never hold the case section when holding the unit as the unit could drop or the case
could be damaged. When holding the unit, always hold the installation sections
(aluminum) at the top and bottom of the unit with both hands. Note that the top and
bottom installation sections are made of aluminum, and the edges can be
dangerous. Carefully handle the unit and wear protective gloves if necessary.
II – 3
1. Power Regeneration Type Power Supply
(3) Unit detailed outline dimension drawing
C1-CV-37
-55
-75
360
342
9
Rectangular holes
9
∗1
Unit width - 8
2 - M5 screws
∗2
2 -ø6 holes
Installation hole dimension
C1-CV-110
C1-CV-150
-185
60
2-ø6
holes
2-ø6
holes
以上more
7575 or
II – 4
9
342
Rectangular holes
C1-CV-220
-260
-300
-370
360
9
1. Power Regeneration Type Power Supply
41 60
142
41
2 - M5 screws
Installation hole dimension
2-ø6 holes
60
*2
75
75 or more
II – 5
1. Power Regeneration Type Power Supply
(4) CN23 connector layout drawing
The position of the CN23 connector has been changed as shown below.
These drawings show the view from below the unit. (The cooling fins are not shown.)
7.5kW or less
MDS-B-CVE37∼75
MDS-B-CV/CVT37∼75
MDS-C1-CV37 to 75
Front
51.5
↑
↓
Fin
side
16
11kW to 18.5kW
MMDS-C1-CV110
D S - B - C V E 1 1 0 ∼ 1 to
85
185
Front
36
↑
↓
Fin
side
38.5
11kW:90/18.5kW:120
22kW to 37kW
MDS-C1-CV220 to 370
Front
↑
↓
Fin
side
II – 6
1. Power Regeneration Type Power Supply
1.4 List of specifications
Model
MDS-C1-CVRated output
[kW]
Rated
voltage [V]
Input Frequency [Hz]
37
3.7
Rated
current
Rated
voltage
Output
Rated
current
Control Voltage
16
[A]
75
7.5
370
37.0
200/200-230VAC
50/60Hz Frequency fluctuation within ±3%
20
26
35
49
66
81
95
107
121
95
115
144
164
270-311VDC
17
[V]
200/200-230VAC
50/60Hz
Max. 0.2A
Converter with power regeneration circuit (intelligent power module incorporated)
Fully enclosed, self-cooling (protection degree: IP65, IP67)
[°C]
20
Environment
Atmosphere
30
41
58
76
Operation: 0 to 55°C (non freezing), Storage/transportation: –15°C to 70°C (non
freezing)
Operation: 90%RH or less. (non condensing),
Storage/transportation: 90%RH or less. (non condensing)
Ambient
[%RH]
humidity
Indoors (no direct sunlight): no corrosive gas, inflammable gas, oil mist, or dust
Operation/storage: 1000 meters or less above sea level,
Transportation: 10000 meters or less above sea level
Elevation [m]
Vibration/
[m/s 2]
Impact
Required devices
300
30.0
[A]
Main circuit method
Structure
Cooling type
Weight
Maximum
heating value
Noise
Power supply unit MDS-C1-CV Series
110
150
185
220
260
11.0
15.0
18.5
22.0
26.0
[V]
Power Frequenc [Hz]
supply Current
y
[A]
Ambient
temperatur
e
55
5.5
4.9m/s 2 (0.5G) / 49m/s 2 (5G)
Self-cooling
3.4
[kg]
[W]
55
65
80
4.6
5.8
Forced air cooling
6.0
8.3
8.4
8.6
8.8
125
155
195
320
400
210
260
Less than 55dB
An AC reactor is required for each power supply unit.
(Use the AC reactor used with the existing B-CV.)
II – 7
1. Power Regeneration Type Power Supply
∗ The internal circuit configuration is shown below. (Reference drawing)
MDS-C1-CV
Protective surge killer
External contactor
The unit can be used without the contactor.
However, use of the contactor is recommended for safety purposes.
With the B-CV-370, a contactor was always required.
Note: A semiconductor element (TRIAC) is used for the contactor drive circuit, so a
leakage current of 15mA or less will flow with its protective surge killer.
Do not use a contactor that turns ON at 15mA or less or a contactor that cannot be
turned OFF at the leakage current 15mA.
When using a contactor with an electronic circuit inside, contact the contactor
maker and confirm that it will operate correctly at the 15mA leakage current.
Note that there are some contactors that will not turn OFF unless separated from
the mechanical contact.
The Mitsubishi S-N Series or S-K Series is recommended.
Before using a contactor other than the recommended type, confirm the operation
in respect to the leakage current.
TRIAC
L21
Contactor
MC1
MC
External contactor drive circuit
II – 8
1. Power Regeneration Type Power Supply
1.5 Hardware and parameter setting
(1) Hardware settings
Set the rotary switch (SW1) as shown below.
SW1 setting
0
1
2
3
Rotary switch
C1-CV specifications
During operation with
External
contactor (deposits are
emergency stop
detected)
During operation with no
When not used
contactor
Setting prohibited
(SW1)
During operation with
contactor (deposits are
detected)
During operation with no
contactor
4
5
6
7
8
9
10
11
12
13
14
External
emergency stop
When used
Setting prohibited
15
(2) Parameter settings
The following parameter is set only for the drive unit to which the power supply unit is connected.
ptyp Power supply type (Set the model as shown below.)
[Servo parameters/spindle parameters]
SV036/SP041 PTYP
FEDCBA9876543210
PTYP
Power supply unit
ptyp
Not connected
C1-CV-37
C1-CV-55
C1-CV-75
C1-CV-110
C1-CV-150
C1-CV-185
C1-CV-220
C1-CV-260
C1-CV-300
C1-CV-370
Note) If SP-370 or above is connected to
CV-220 or above, set the PTYP bit8 to
"1".
Correct operations will not take place if
this is not set.
II – 9
External
External
emergency
emergency
stop
stop
When not used
When used
00
00
04
44
06
46
08
48
11
51
15
55
19
59
22
62
26
66
30
70
37
77
1. Power Regeneration Type Power Supply
1.6 Status display
WARNING
1. Do not touch the switches with wet hands. Failure to observe this could lead to electric shocks.
2. Do not operate the unit with the front cover removed. The high voltage terminals and charged
sections will be exposed, and can cause electric shocks.
3. Do not open the front cover while the power is ON or during operation. Failure to observe this
could lead to electric shocks.
CAUTION
1. Check and adjust each program and parameter before starting operation. Failure to do so could
lead to unforeseen operation of the machine.
2. Do not touch the fin on the servo drive unit, regenerative resister or servomotor, etc., while the
power is turned ON or immediately after turning the power OFF. These parts may reach high
temperatures, and can cause burns.
1.6.1 7-segment LED display
(1) Power ON
↓
Initializing
↓
Ready OFF
↓
Ready ON, servo OFF
↓
Servo ON
(2) Display during alarm (example shows overvoltage alarm)
Alarm No.
Not lit
The alarm No. flickers
(3) Display during warning
Warning No.
Not lit
The warning No. flickers
(4) Watch dog alarm
1.6.2 Charge lamp
This lamp lights when the voltage between L+ and L− is charged over a set level. Always confirm that the
charge lamp is not lit, and using a tester, confirm that the voltage has been discharged before starting
maintenance work such as replacing the unit.
II – 10
1. Power Regeneration Type Power Supply
1.7 List of alarms and warnings
CAUTION
When an alarm occurs, remove the cause of the alarm, confirm that an operation signal is not being
input, and secure the safety. Then reset the alarm to resume operation.
When an alarm occurs in the power supply unit, the servo drive unit will carry out the base interception and
the motor will coast to a stop. In such case, turn the power OFF with an external sequence. (Refer to "1.10
Main circuit connection".)
To reset an alarm, remove the cause, and then turn the power ON.
(1) Alarms
[Alarm No.]
[LED display]
[Release]
Alarm
No.
61
62
67
68
69
6A
6C
6E
6F
71
73
75
76
77
LED
display
Alarm No. displayed on drive unit connected with power supply unit
LED display on power supply unit
AR : Release by turning power supply unit on again
PR : Release by turning the NC power supply on again
NR : Release with the NC RESET key
Name
Meaning
Power module
overcurrent
Release
An overcurrent (oc) was detected in the power module
PR
(IPM).
The input power frequency was not within the
Frequency error specifications range.
PR
Specifications: 50Hz ±3% 60Hz ±3%
Open phase
One of the input power phases (R,S,T) is open.
PR
The power supply software process did not complete
Watch dog
AR
within the set time.
There is a ground fault in the motor. This is detected
Ground fault
PR
only at READY ON.
External
The externally installed contactor turned on even during
PR
contactor melt
READY OFF.
The main circuit capacitor charging operation is not
Main circuit error
PR
normal.
Memory error
An error occurred in the memory circuit.
AR
AD converter
error
An AD converter error or power supply error was
AR
Power supply
detected.
error
Instantaneous
The external contactor turned off even during READY
stop
ON.
NR
External
An instantaneous power stop occurred for 55ms or
emergency stop more.
Over-regeneratio The regeneration performance limit of the power supply
PR
n
was exceeded.
(Note 1)
NR
Overvoltage
The voltage between L+ and L– exceeded 410V.
(Note 2)
External
The rotary switch setting and parameter (PTYP) setting
emergency stop
AR
do not match.
setting error
Power module
Overheating of the power module (IPM) was detected.
AR
overheat
II – 11
1. Power Regeneration Type Power Supply
(Note 1) With alarm "73", to prevent immediately resumption of operation from the over-regeneration
state, the alarm cannot be released unless the control power (L11, L12) continuity state
has continued for 15 minutes or more after the alarm has occurred. The alarm cannot be
released even if the NC power or control power is turned ON immediately after the alarm
occurs. If the power is turned ON immediately after the alarm occurred, wait 15 minutes or
more in the continuity state, and then turn the power ON again.
(Note 2) Immediately after alarm "75" occurs, the voltage between L+ and L− will be higher than the
power voltage, so if the alarm is reset in this state, another alarm could occur.
Wait at least five minutes before resetting alarm "75".
(2) Warning
Warning
No.
LED
display
E9
P
EA
q
EB
r
Name
Instantaneous
stop warning
Meaning
An instantaneous power stop occurred for 25ms or more. (As
the main circuit voltage has not dropped, an alarm has not
occurred.)
External
The external emergency stop input signal was input. (24V is
emergency stop
not applied on the CN23 connector.)
input
Over-regeneration
80% of the over-regeneration alarm level was reached.
warning
II – 12
1. Power Regeneration Type Power Supply
1.8 Explanation of connectors and terminal block
Name
CN4
CN9
CN23
Connector
TE2
Terminal
block
TE3
TE1
Unit installation
base
L+
L–
L11
L12
MC1
L1
L2
L3
Application
For connection of servo drive unit and spindle drive unit
(CH1)
For connection of servo drive unit and spindle drive unit
(CH2)
For connection of the external emergency stop
Converter voltage output (+)
Converter voltage output (–)
200VAC single phase input
For externally installed contactor relay control
3-phase input power 200/220VAC
Ground
CN23
View A
A
II – 13
Remarks
1. Power Regeneration Type Power Supply
1.9 Power supply external emergency stop function
(1) Outline
The external emergency stop signal that is input directly to the power supply has been added to the
emergency stop signal from the NC bus line, allowing double protection to be provided. Synchronize
the external emergency stop signal with the emergency stop signal from the NC.
(2) Details of detection
(a) Setting
When using the external emergency stop, the protection setting must be validated with the rotary
switch on the front of the MDS-C1-CV and the parameter (PTYP) of the connected drive unit.
Rotary switch
: External contactor valid ....... Set to 4
External contactor invalid..... Set to 5
Parameter (PTYP) : Add 0040 to the currently set value.
(Example)
Current
Setting value
0008
0048
0030
0070
Note) If either of the settings are not made, an "external emergency stop setting error" will occur.
(b) Detection details
If the external emergency stop input is detected continuously for 200ms or more, this function will
start.
If the contactor OFF command from the NC is not received within 30 seconds after the external
emergency stop input is detected, the CV itself will turn the contactor OFF.
(c) Alarm (Warning) list
CV display
(flicker)
Connected drive
unit display
Alarm/warning details
m
76
External emergency stop setting error
q
EA
Emergency stop state is applied from NC when external
emergency stop input is input.
q
6F
When emergency stop from NC is not applied even when
the external emergency stop is input
II – 14
1. Power Regeneration Type Power Supply
(3) Connection
C1-CV
C1-SP/V1/V2
NC
CN1A
CN4
Emergency stop input
CN4
The left drawing shows an
example of the emergency stop
input.
CN23
C1-CV
∗ The current that flows when the contact is ON is 15mA.
Make sure not to mistake the polarity.
24V
(This function will not work if the 24VDC polarity is mistaken.)
SW
CN23
3
1
RG
∗ The emergency stop operation is applied when the SW in the
diagram opens.
(4) Connector name
Part No.
Name
Type
Maker
101
Connector
2-178288-3
Japan AMP
102
Contact
1-175218-2
Japan AMP
Wire size: 0.5 to 1.25SQ
101
102
3
+
24VDC
1
CN23
Driver unit side
II – 15
1. Power Regeneration Type Power Supply
(5) Example of emergency stop circuit
(a) Outline of function
The power supply unit's external emergency stop can be validated by wiring to the CN23
connector, and setting the parameters and rotary switch. If the emergency stop cannot be
processed and the external contractor cannot be shut off (due to a fault) by the CNC unit, the
external contactor can be shut off by the power supply unit instead of the CNC. At this time, the
spindle motor will coast and the servomotor will stop with the dynamic brakes.
EN60204-1 Category 1 can be basically complied with by installing the external emergency stop
switch and contactor.
CAUTION
1. The power supply unit external emergency stop function is a function that
assists the NC emergency stop.
2. The emergency stop signal input to the CNC side cannot be used as a
substitute for the external emergency stop function (CN23).
3. It will take 30 seconds for the external contactor to function after the emergency
stop is input to CN23. (This time is fixed.)
(b) Example of emergency stop circuit
The emergency stop is a signal used to
stop the machine in an emergency. This
is connected to the CNC unit. Wire to
the power supply unit when necessary.
The
servo/spindle
unit
will
be
decelerated and controlled by the
software according to the deceleration
stop command issued from the CNC
unit.
The diagram on the right shows an
example of the emergency stop circuit
(EN60204-1 Category 0 stop) in which
an off delay timer (TM1) is installed as a
power shutoff method independent from
the NC emergency stop input. The
required safety category may be high depending on the machine and the Safety Standards may
not be met. Thus, always pay special attention when selecting the parts and designing the circuit.
Setting the off delay timer (TM1) time
Set the TM1 operation time so that it functions after it has been confirmed that all axes have
stopped.
If the set time is too short, the spindle motor will coast to a stop.
tm ≥ All axes stop time
Provide a mechanism that shuts off the power even if the CNC system fails.
POINT
Stop Categories in EN60204-1
• Category 0: The power is instantly shut off using machine parts.
• Category 1: The drive section is stopped with the control (hardware/software or
communication network), and then the power is instantly shut off
using machine parts.
(Caution) Refer to the Standards for details.
Refer to Section 9.2.5.4.2 in EN60204-1: Safety of Machinery
Electrical Equipment of Machines – Part 1.
II – 16
1. Power Regeneration Type Power Supply
1.10 Main circuit connection
WARNING
Ground the servo drive unit and servomotor with Class C (former class 3) grounding or higher.
CAUTION
1. Correctly connect the output side (terminals U, V, W). Failure to do so could lead to abnormal
operation of the servomotor.
2. 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.
3. Note that the power supply unit MDS-C1-CV protection ground is provided on the unit installation
base instead of the terminal block. Correctly connect this ground.
4. To prevent malfunctioning of the contactor, use a contactor that does not turn ON at an operation
coil current of 15mA or less and a relay, or a contactor that can be turned OFF at 15mA and a
relay.
(Refer to the external contactor in "1.4 List of specifications".)
5. As shown below, always wire the L11 and L21 terminals on the AC reactor commercial power
supply side and with same phase power supply as the L1, L2 and L3 terminals.
When inserting a power stabilization unit, such as a UPS, to the L11, L21 terminals, use unit for
which the UPS input/output voltage phases are the same.
Correct regeneration control will not be possible if the L11, L12 terminals and L1, L2, L3
terminals are wired from a separated power supply (not synchronized). Do not use this setup.
Servo drive unit
MDS-C1-V1
Power supply
MDS -C1-CV
L+
LL11
L21
MC1
U
V
W
L1 L2 L3
Cabinet grounding
Contactor
Cabinet grounding
MC
AC reactor
Motor
A
B
C
D
E
F
Commercial power
T
S
R
CB
3ø
200/220VAC
50/60Hz
II – 17
1. Power Regeneration Type Power Supply
Precautions for connections
(1) The wires and crimp terminals will differ according to the capacity.
(Refer to "8.5" in the Chapter I Servo/Spindle System Configuration Section.)
(2) A 200V class power supply is used.
The main circuit section does not have a transformer so always ground it.
(3) The phase order of the power supply terminals L1, L2, L3 is random.
(4) Refer to "8.4" in the Servo/Spindle System Configuration Section for the selection of the contactor, AC
reactor and Circuit Breaker connected to the power supply.
(5) The specified power supply must be connected to the drive unit power supply terminals (L1, L2 and L3).
Adjust voltage using a transformer when the power supply is not as specified.
(6) The power lines (R, S, T) must not be connected to the motor output terminals (U, V, W).
(7) The output terminal (U, V, W) and motor terminal (A, B, C) phases must match.
(8) Do not directly apply commercial power on the motor.
(9) Check once again that the wires are connected correctly as indicated in the connection diagram.
(10) As shown below, do not connect a general control relay to the contactor drive terminal MC1.
If a relay must be used, select one following the external contactor conditions given in "1.4 List of
specifications". If the relay does not operate correctly, install a surge absorber on the relay coil
terminal.
Recommended surge absorber: OKAYA ELECTRIC
XEB0475 (47Ω+0.5µF) VDE0565-1
When using a different surge absorber, select one that has a resistance value of 47 to 220Ω and a
capacitor that is 0.5µF or more.
Servo drive unit
MDS-C1-V1
Power supply
MDS-C1-CV
L+
LL11
L21
MC1
U
V W
L1 L2 L3
Cabinet grounding
Contactor
Cabinet grounding
MC
AC reactor
Motor
Surge absorber
Relay
A
B
C
D
E
F
T
S
R
CB
3ø
200/220VAC
50/60Hz
II – 18
Commercial
power
III. MDS-C1-Vx
Servo System Section
1. Outline
1. Outline
....................................................................................................................
III – 1
III-2
1. Outline
1. Outline
(1) High performance
High-performance servo control equivalent to the high gain drive unit (B-V14/V24) is mounted.
(2) Compact
The fin outline dimensions have been downsized with the high-efficiency fin and low-loss compact IPM,
and a thin drive unit has been realized.
(3) Reliability
The heating value has been reduced by incorporating a low-loss IPM, and the inner support structure
has been strengthened by integrating the terminal block and wiring conductors. Through these element
developments, the reliability has been improved from the existing B Series.
(4) Compatibility
This unit can be used in the same machine as the B Series without problem. The installation
dimensions and servo/spindle parameters are compatible with the B Series.
l Outline dimensions, installation dimensions, terminal connection
Compatible with current B Series.
∗ Some changes have been made to the PE terminal position and control terminal positions
(in some capacities).
(Refer to "Outline Manual BNP-B8361-403" for details.)
l Control functions (servo)
Replacement from the standard drive unit (B-V1/V2) or high-gain drive unit (B-V14/V24) is
automatically judged. The parameters are compatible. Refer to the following pages for details.
∗ There are some limits to the motor end encoder. Refer to the following pages.
∗ This unit is shipped with the high-gain specifications as the default. Refer to the following
pages.
l Control functions (spindle)
The control functions and parameters are compatible.
∗ This unit can be used in the same machine as the B Series without problem.
III – 2
2. Motor
2. Motor
....................................................................................................................
2.1 Outline ....................................................................................................................
2.2 Model configuration .................................................................................................
2.3 Main equipment list .................................................................................................
2.4 Specifications list ....................................................................................................
2.5 Torque characteristics ............................................................................................
2.6 Duty drive characteristics........................................................................................
2.7 Outline dimension drawings ...................................................................................
2.8 Motor connection ....................................................................................................
2.9 Motors with electromagnetic brake ........................................................................
2.10 Motor vibration resistance ......................................................................................
2.11 Motor shaft strength ................................................................................................
2.12 Environmental conditions ........................................................................................
III – 3
III-4
III-4
III-5
III-7
III-8
III-15
III-22
III-25
III-43
III-48
III-53
III-54
III-56
2. Motor
2. Motor
2.1 Outline
The following motor series are compatible with MDS-C1-Vx Series.
(1) HC Series
•
•
•
By incorporating a new neodymium magnet, the L dimensions have been shortened by approx.
40% compared with the existing HA Series servomotors, by that contributing to downsizing of the
machine.
The shaft shape and flange size are the same as the existing HA Series servomotors, so
replacement from the HA Series is possible.
A max. 1,000,000 pulse/rev absolute position detector is incorporated, allowing ultra-high-accuracy
control to be realized. A 100,000 pulse/rev detector is also available.
(2) HC∗ ∗ R Series
•
The low-inertia specification HC∗∗R Series servomotors have been prepared as a servomotor for
use in CNC machine peripheral axes. This Series is compact and has a high power rate, so it is
suitable for high-speed positioning of peripheral axes. This also contributes to shortening the cycle
time.
(3) HA Series
•
Existing HA Series servomotors can be used to allow replacement from the existing servo drive unit
MDS-A/B Series.
CAUTION
The detector is only compatible with the serial encoder (OSE104, OSA104, OSE105, OSA105).
III – 4
2. Motor
2.2 Model configuration
(1) HC Series
HC
(a)
(b) (c) (d)
(e)
(e) Detector
Symbol
E42
E51
A42
A51
Detection
method
Incremental
ABS
(Absolute
position)
Detector
Detector
type
resolution
100,000p/rev OSE104S2
1,000,000p/rev OSE105S2
100,000p/rev OSA104S2
1,000,000p/rev OSA105S2
(d) Protective structure
Symbol Protective structure
None
IP65
IP67
P
(c) Shaft end shape
Symbol
S
T
Shaft end shape
Straight
Taper
Motors of medium inertia 2kW or
larger and low inertia 3.5kW or
larger only have straight shafts.
(b) Magnetic brake
Symbol
None
B
Magnetic brake
None
With magnetic brake
(a) Rated output, rated rotation speed and motor series
HC∗∗ Series
Rating
Rating
2000r/min
3000r/min
HC∗∗R Series
Rating
3000r/min
Symbol Rated Symbol Rated Symbol Rated
output
output
output
52
102
152
202
352
452
702
902
0.5kW
1.0kW
1.5kW
2.0kW
3.5kW
4.5kW
7.0kW
9.0kW
53
103
153
203
353
453
703
0.5kW
1.0kW
1.5kW
2.0kW
3.5kW
4.5kW
7.0kW
III – 5
103R
153R
203R
353R
503R
1.0kW
1.5kW
2.0kW
3.5kW
5.0kW
2. Motor
(2) HA Series
HA
—
D5
: IP65
D7
: IP67
No symbol : IP54 (Note that the 11K2/15K2 is equivalent to IP44.)
R
: HA303, HA700, HA703, HA900 sealed type
terminal box
No symbol : Other
T
: Tapered shaft
(applicable only to HA23, 33)
No symbol : Straight shaft
(other than HA40, 43, 80, 83)
Motor
Symbol
HA23, 33
T
None
HA40, 80,
None
43, 83
S
Shaft
Tapered
Straight
Tapered
Straight
B
: With electromagnetic brake
No symbol : No electromagnetic brake
C
: Main circuit cannon connector type
No symbol : Main circuit terminal box type
N
NL
L
: Medium inertia motor
: Low inertia motor
: Conventional (M300 Series) low inertia
motor
(Already changed to the same specification NL type)
No symbol : Conventional (M300 Series) medium inertia
motor
Motor power class
N-type
N-type
L-type
L-type
2000r/min 3000r/min
2000r/min
3000r/min
Motor kW Motor kW
Motor
kW Motor kW
40
0.5 053 0.05
50
0.5
53
0.5
80
1.0
13
0.1
100
1.0 103 1.0
100 2.0
23
0.3
150
1.5 153 1.5
200 3.5
33
0.45
200
2.0 203 2.0
300 4.5
43
0.5
300
3.0 303 3.0
700 7.0
83
1.0
500
5.0 503 5.0
900 9.0 103
2.0 -LH11K2 11.0
203
3.5 -LH15K2 15.0
303
4.5
703
7.0
III – 6
2. Motor
2.3 Main equipment list
(1) HC motor main equipment
Maximum speed
Motor model HC52
HC102
Item
HC152
¡
Presence
Oil seal
Absence
×
¡
Straight shaft
Shaft end Tapered shaft
¡
Presence
¡
Electromagnetic Absence
×
brake
Cannon
¡
Connecto connector
r type
Terminal box
×
¡
IP65/67 compatible
2000r/min
HC202 HC702
HC352 HC902
HC452
¡
×
¡
×
¡
HC53
HC103
HC153
¡
×
¡
¡
¡
3000r/min
HC203
HC453
HC353
HC703
¡
×
¡
×
¡
×
×
×
¡
¡
¡
×
¡
×
¡
×
¡
(2) HA motor main equipment
Maximum speed
Motor model HA40N
HA80N
Item
¡
Presence
Oil seal
Absence
×
Straight shaft
Shaft end Tapered
¡
shaft
Presence
¡
Electromagnetic Absence
¡
brake
Cannon
¡
Connector connector
type
Terminal box
×
2000r/min
HA100N HA700N
HA200N HA900N
HA300N
¡
¡
×
×
¡
¡
¡ : Standard product
HA23N
HA33N
¡
×
¡
¡
×
¡
¡
×
¡
×
¡
¡
×
¡
×
×
×
¡
¡
×
×
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
×
×
×
×
×
×
¡
×
¡
¡
×
×
IP65/67 compatible
Maximum speed
Motor model HA50NL
HA100NL
Item
HA150NL
¡
Presence
Oil seal
Absence
×
¡
Straight shaft
Shaft end Tapered
¡
shaft
ElectroPresence
×
magnetic
¡
Absence
brake
Cannon
¡
Connecto
connector
r type
Terminal box
×
IP65/67 compatible
×
HA053
HA13
3000r/min
HA43N HA103N HA303N
HA83N HA203N HA703N
2000r/min
HA200NL HA-LH11K2
HA300NL HA-LH15K2
HA500NL
¡
¡
HA53NL
HA103NL
HA153NL
¡
3000r/min
HA203NL HA503NL
HA303NL
¡
¡
×
¡
×
¡
×
¡
×
¡
×
¡
×
×
¡
×
×
×
×
×
×
×
¡
¡
¡
¡
¡
¡
×
¡
¡
×
×
×
¡
×
×
×
×
¡
: Special product
×
× : No specification
III – 7
×
2. Motor
2.4 Specifications list
(1) HC Series
HC Series (2000r/min rating)
INC specifications: HC∗ ∗ -E51/-E42, ABS specifications:HC∗ ∗ -A51/-A42
Continuous
characteristics
Motor model
Rated output
Rated current
HC52
HC102
HC152
HC202
HC352
HC452
HC702
HC902
[kW]
[A]
0.5
3.2
1.0
6.0
1.5
9.0
2.0
10.7
3.5
16.9
4.5
23.3
7.0
32.8
9.0
40.8
Stall current
[A]
3.94
7.4
11.1
15.4
22.9
Rated torque (±10%)
[N·m]
2.39
4.78
7.16
9.55
16.7
Stall torque (±10%)
[N·m]
2.94
5.88
8.82
13.7
22.5
Rated rotation speed
[r/min]
Maximum rotation speed
[r/min]
Maximum current
Maximum torque (±10%)
Pow er rate at continuous rated
torque
Instantaneous angle acceleration
Motor inertia
Motor inertia with brake
[A]
[N·m]
[kW/s]
[rad/s 2]
[× 10-4 kg·m 2]
[× 10-4 kg·m 2]
40.4(31.5) 46.2(41.0)
21.5
33.4
37.2(29.0) 49.0(44.0)
55.9
43.0
58.8
2000
2000
17
28
47
47
64
85
113
141
11.8
21.6
35.3
41.7
59.8
87.5
120
153
8.7
16.7
25.6
21.5
34.0
38.2
69.7
82.5
21530
18599
15680
9859
7293
7233
7500
7518
6.6
13.7
20.0
42.5
82
121
160
204
8.6
15.7
22.0
51.1
92
131
170
214
High-speed, high-accuracy machine : 2 times or less of motor inertia
General machine tool
: 3 times or less of motor inertia
General machine
: 5 times or less of motor inertia
Recommended motor shaft conversion load
inertia rate
Armature resistance
(phase 20°C)
[Ω]
1.44
0.57
0.30
0.21
0.10
0.052
0.047
0.033
Armature inductance
(phase 20°C)
[mH]
6.9
2.9
1.8
3.7
2.0
0.87
0.76
0.62
[mV/r/min]
31.1
30.8
31.2
33.8
37.3
35.5
38.1
38.7
Inductive voltage constant
(phase 20°C, ±10%)
Torque constant (±10%)
[N·m/A]
0.89
0.88
0.89
0.97
1.07
1.02
1.09
1.11
Electrical time constant
[ms]
4.8
5.1
6.0
17.7
20.0
16.7
16.2
18.9
Mechanical time constant
[ms]
3.6
3.0
2.3
2.8
2.2
1.8
1.9
1.6
Thermal time constant
[min]
15
20
25
35
45
50
55
60
Static friction torque
[N·m]
0.13
0.18
0.20
0.16
0.21
0.40
0.50
0.59
Armature coil temperature upper
limit degree
[°C]
100
Motor end detector
Resolution per motor rotation
E51/A51: 1000000 pulse/rev, E42/A42: 100000 pulse/rev
Structure
Fully closed, self-cooling (protective degree: IP65, IP67)
Environment conditions
Weight Without/with brake
To follow section "2.12 Environment conditions"
[kg]
5.0/7.5
7.0/9.0
9.0/11
12/18
Armature insulation class
19/25
25/30
32/38
45/51
Class F
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the values
when combined with the drive unit.
(Note 2) The values in parentheses are for combination with the S type drive unit.
III – 8
2. Motor
HC Series (3000r/min rating)
INC specifications: HC∗ ∗ -E51/-E42, ABS specifications: HC∗ ∗ -A51/-A42
Continuous
characteristics
Motor model
HC53
HC103
HC153
HC203
HC353
HC453
HC703
[kW]
[A]
0.5
3.2
1.0
5.3
1.5
8.6
2.0
10.4
3.5
16.5
4.5
22.1
7.0
30.5
[A]
5.8
9.8
15.9
22.4
[N·m]
1.59
3.18
4.77
6.37
57.3
(41.0)
69.2
Rated torque (±10%)
33.3
(31.5)
14.3
22.3
Stall torque (±10%)
[N·m]
2.94
5.88
8.82
13.7
22.5
(21.2)
37.2
(30.4)
49.0
Rated output
Rated current
Stall current
Rated rotation speed
[r/min]
Maximum rotation speed
[r/min]
Maximum current
Maximum torque (±10%)
Power rate at continuous rated
torque
Instantaneous angle acceleration
Motor inertia
Motor inertia with brake
[A]
3000
11.1
3000
17
28
47
64
85
113
141
[N·m]
8.82
16.7
28.4
40.2
55.9
79.8
105
[kW/s]
3.8
7.4
11.4
9.5
15.0
16.9
29.3
7234
6970
14308
9459
6817
6593
6566
6.6
13.7
20.0
42.5
82
121
160
8.6
15.7
22.0
52.5
92
131
170
2
[rad/s ]
[× 10-4 kg·m 2]
[× 10-4 kg·m 2]
High-speed, high-accuracy machine : 2 times or less of motor inertia
General machine tool
: 3 times or less of motor inertia
General machine
: 5 times or less of motor inertia
Recommended motor shaft conversion load
inertia rate
Armature resistance
(phase 20°C)
[Ω]
0.55
0.33
0.20
0.11
0.06
0.030
0.026
Armature inductance
(phase 20°C)
[mH]
2.8
1.8
1.1
2.0
1.05
0.60
0.49
[mV/r/min]
20.4
24.4
23.5
24.0
26.4
26.7
27.4
[N·m/A]
0.58
0.70
0.67
0.69
0.76
0.76
0.79
Electrical time constant
[ms]
5.1
5.5
5.4
17.2
17.4
20.1
19.0
Mechanical time constant
[ms]
3.2
2.8
2.7
3.1
2.6
1.8
2.0
Thermal time constant
[min]
15
20
25
35
45
50
55
Static friction torque
[N·m]
0.13
0.18
0.20
0.16
0.21
0.40
0.50
Inductive voltage constant
(phase 20°C, ±10%)
Torque constant (±10%)
Armature coil temperature upper
limit degree
[°C]
100
Resolution per motor rotation
E51/A51: 1,000,000 pulse/rev, E42/A42: 100,000 pulse/rev
Motor end detector
Structure
Fully closed, self-cooling (protective degree: IP65, IP67)
Environment conditions
Weight Without/with brake
To follow section "2.12 Environment conditions"
[kg]
5.0/7.5
7.0/9.0
9.0/11
Armature insulation class
12/18
19/25
25/30
32/38
Class F
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the values
when combined with the drive unit.
(Note 2) The values in parentheses are for combination with the S type drive unit.
III – 9
2. Motor
HC∗ ∗ R Series (3000r/min rating)
INC specifications: HC∗ ∗ R-E51/-E42/-E33,
ABS specifications: HC∗ ∗ R-A51/-A42/-A33
Continuous
characteristics
Motor model
Rated output
Rated current
[kW]
[A]
Stall current
HC103R
HC153R
HC203R
HC353R
HC503R
1.0
6.1
1.5
8.8
2.0
14.0
3.5
22.5
5.0
28.0
[A]
6.1
8.8
14.0
22.5
28.0
Rated torque (±10%)
[N·m]
3.18
4.77
6.37
11.1
15.9
Stall torque (±10%)
[N·m]
3.18
4.77
6.37
11.1
15.9
Rated rotation speed
[r/min]
Maximum rotation speed
[r/min]
Maximum current
Maximum torque (±10%)
Power rate at continuous rated
torque
Instantaneous angle acceleration
Motor inertia
Motor inertia with brake
3000
3000
[A]
18.4
23.4
37.0
56.3
70.0
[N·m]
7.95
11.9
15.9
27.8
39.8
[kW/s]
67.4
120
176
150
211
[rad/s 2]
53000
62894
69239
33557
33157
1.5
1.9
2.3
8.3
12.0
1.9
2.3
2.7
11.8
15.5
2
[× 10-4 kg·m ]
2
[× 10-4 kg·m ]
Recommended motor shaft conversion load
inertia rate
5 times or less of motor inertia
Armature resistance
(phase 20°C)
[Ω]
0.43
0.28
0.15
0.057
0.044
Armature inductance
(phase 20°C)
[mH]
7.7
5.8
3.3
2.2
1.9
[mV/r/min]
35.1
36.5
31.6
31.3
35.6
[N·m/A]
5.9
6.2
5.3
5.3
6.0
[ms]
9.1
10.2
10.7
19.3
21.0
Mechanical time constant
[ms]
0.57
0.44
0.38
0.53
0.46
Thermal time constant
[min]
15
15
15
35
40
Static friction torque
[N·m]
0.07
0.09
0.09
0.12
0.16
Inductive voltage constant
(phase 20°C, ±10%)
Torque constant (±10%)
Electrical time constant
Armature coil temperature upper
limit degree
[°C]
100
Resolution per motor rotation
E51/A51: 1000000 pulse/rev, E42/A42: 100000 pulse/rev,
E33/A33: 25000 pulse/rev
Motor end detector
Structure
Fully closed, self-cooling (protective degree: IP65, IP67)
Environment conditions
Weight Without/with brake
To follow section "2.12 Environment conditions"
[kg]
3.9/6.0
Armature insulation class
5.0/7.0
6.2/8.3
12/15
17/21
Class F
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the values
when combined with the drive unit.
III – 10
2. Motor
(2) HA Series
Standard motor data sheet (2000 r/min)
Item
Instantaneous
characteristics
Continuous
characteristics
Nominal output
Rated
speed
Stall state
Maximum
character
-istics in
stall state
Symbo
l
Unit
HA40N
HA80N
HA100N
HA200N
HA300N
HA700N
HA900N
PR
kW
0.5
1.0
2.0
3.5
4.5
7.0
9.0
Output
torque
TR
N·m
2.39
4.78
9.55
16.7
21.5
33.4
43.0
Input
current
IR
A
3.0
5.5
10
16
22
33.5
42
Output
torque
TS
N·m
2.94
5.88
13.7
22.6
37.3
49.0
58.8
Input
current
LS
A
3.6
6.6
14
22
37
49
56
Instantaneous
torque
TPS
N·m
14.7
29.4
68.6
112.7
186
245
294
Instantaneous
current
IP
A
18
33
70
110
185
245
280
Instantaneous
power rate
QP
kW/s
220
440
686
967
1805
2364
2713
Instantaneous
angular
acceleration
aP
rad/s
15000
15000
10000
8582
9694
9652
9230
2
Rated speed
Nmax
Motor GD2
GD M
2
× 10-4kg·m 2
39.2
78.4
274
525
768
1015
1274
Motor inertia
JM
× 10-4kg·m 2
9.8
19.6
68.6
131.0
192.0
254.0
318.5
Armature resistance
(one phase, 20°C)
Ra
Ω
2.23
0.89
0.31
0.136
0.067
0.058
0.045
Armature inductance
(one phase)
La
mH
9.6
4.9
3.6
1.8
1.1
0.86
0.8
Induced voltage constant
(one phase, 20°C)
KE
mV/r/min
±10%
29.2
32
34.9
36.7
35.8
37
38
Torque constant
KT
N·m/A
0.83
0.91
1.00
1.05
1.03
1.06
1.09
Electrical time constant
te
ms
4.3
5.5
11.6
13
16
14.8
17.8
Mechanical time constant
tm
ms
9.4
6.2
6.4
4.9
3.7
4.0
3.3
Thermal time constant
tth
min
40
45
60
65
65
65
65
Static frictional torque
TF
N·m
0.108
0.157
0.137
0.216
0.294
0.373
0.686
θmax
°C
−
kg
42
55
79
Armature winding temperature
rise limit
Weight (motor only)
r/min
2000
130
7
Armature insulation class
11
20
31
Class F
III – 11
2. Motor
Standard motor data sheet (3000 r/min)
Item
Instantaneous
characteristics
Continuous
characteristics
Nominal output
Rated
speed
Stall state
Maximum
character
-istics in
stall state
Symbo
l
Unit
HA053N
HA13N
HA23N
HA33N
HA43N
HA83N
HA103N HA203N HA303N
HA703N
PR
kW
0.05
0.1
0.3
0.45
0.5
1.0
2.0
3.5
4.5
7.0
Output
torque
TR
N·m
0.16
0.32
0.95
1.43
1.60
3.19
6.37
11.2
14.3
22.3
Input
current
IR
A
0.95
0.95
2.9
2.2
2.8
4.9
9.2
18
21
31
Output
torque
TS
N·m
0.25
0.49
0.98
1.96
2.94
5.88
13.7
22.6
37.3
49.0
Input
current
LS
A
1.4
1.4
3.0
3.0
5
8.8
19.6
34.5
55
68
Instantaneous
torque
TPS
N·m
1.22
2.45
4.9
9.8
15.7
29.4
68.6
113
186
245
Instantaneous
current
IP
A
7.0
7.0
15
15
25
44
98
127.5
275
340
Instantaneous
power rate
QP
kW/s
81.4
167.0
24500
490
220
440
686
967
1805
2364
Instantaneous
angular
acceleration
aP
rad/s
66490
68490
50000
50000
15000
15000
10000
8582
9694
9652
2
Rated speed
Nmax
Motor GD2
GD M
2
× 10-4kg·m 2
0.74
1.43
3.92
7.84
39.2
78.4
274
525
768
1015
Motor inertia
JM
× 10-4kg·m 2
0.18
0.36
0.98
1.96
9.8
19.6
68.6
131.0
192.0
254.0
Armature resistance
(one phase, 20°C)
Ra
Ω
7.2
9.3
2.22
3.0
1.16
0.5
0.18
0.052
0.0316
0.0244
Armature inductance
(one phase)
La
mH
6.4
10.8
4.4
8.7
5
2.8
2.1
0.72
0.46
0.42
Induced voltage constant
(one phase, 20°C)
KE
mV/r/min
±10%
6.2
12.4
12.1
24.2
21
23.9
24.8
23
24.5
25.8
Torque constant
KT
N·m/A
0.18
0.35
0.34
0.69
0.60
0.69
0.71
0.66
0.71
0.75
Electrical time constant
te
ms
0.89
1.16
2.0
2.9
4.3
5.6
11.7
14
15
17
Mechanical time constant
tm
ms
12.8
8.0
5.5
3.7
9.5
6.3
7.4
4.6
3.7
3.4
Thermal time constant
tth
min
10
10
20
25
40
45
60
65
65
65
Static frictional torque
TF
N·m
0.005
0.007
0.039
0.059
0.108
0.157
0.137
0.216
0.294
0.373
θmax
°C
−
kg
20
31
42
55
Armature winding temperature
rise limit
Weight (motor only)
r/min
3000
130
1.1
1.5
Armature insulation class
2.0
3.0
7
11
Class F
III – 12
2. Motor
Low inertia AC servomotor data sheet (2000 r/min)
Item
Instantaneous
characteristics
Continuous
characteristics
Nominal output
Rated
speed
Stall state
Maximum
character
-istics in
stall state
Symbo
l
Unit
HA50LCS
HA50LCTS
HA100LC-S
HA100LC-TS
HA150LC-S
HA150LC-TS
HA200
LC-S
HA300
LC-S
HA500
LC-S
HA-LH11
K2-S1
HA-LH15
K2-S1
PR
kW
0.5
1.0
1.5
2.0
3.0
5.0
11.0
15.0
Output
torque
TR
N·m
2.39
4.78
7.16
9.55
14.3
23.8
52.5
71.6
Input
current
IR
A
3.4
6.8
9.5
13
16
28
68.0
78.0
Output
torque
TS
N·m
2.94
5.88
8.83
13.7
22.6
37.3
70.6
91.7
Input
current
LS
A
4
8
11.5
18.2
25
44
84.0
100.0
Instantaneous
torque
TPS
N·m
14.7
29.4
44.1
68.6
112.7
186
353
490
Instantaneous
current
IP
A
20
40
57.5
91
125
220
420
500
Instantaneous
power rate
QP
kW/s
788
1575
2362
2401
4320
3931
235
177
Instantaneous
angular
acceleration
aP
rad/s
53571
53571
53571
35000
38333
21111
30000
16892
2
Rated speed
Nmax
Motor GD2
GD M
2
× 10-4kg·m 2
11
22
33
78.4
117.6
352.8
470
1160
Motor inertia
JM
× 10-4kg·m 2
2.75
5.49
8.24
19.6
29.4
88.3
118.0
290.0
Armature resistance
(one phase, 20°C)
Ra
Ω
1.36
0.484
0.29
0.143
0.112
0.041
0.03
0.026
Armature inductance
(one phase)
La
mH
7.3
3.4
3.4
1.43
1.37
0.74
0.43
0.40
Induced voltage constant
(one phase, 20°C)
KE
mV/r/min
±10%
27
26
27
26.5
32
30
29.6
34.3
Torque constant
KT
N·m/A
0.76
0.75
0.77
0.76
0.91
0.85
0.84
0.98
Electrical time constant
te
ms
5.4
7.0
8.3
10
12.3
18
14.4
15.6
Mechanical time constant
tm
ms
1.9
1.4
1.2
1.5
1.2
1.5
1.6
2.32
Thermal time constant
tth
min
40
45
45
60
65
65
30
30
Static frictional torque
TF
N·m
0.108
0.157
0.206
0.294
0.392
0.490
0.412
0.539
θmax
°C
−
kg
35
70
108
Armature winding temperature
rise limit
Weight
r/min
2000
130
6.5
9.5
∗ The same characteristics apply to the HA ∗∗ NLC motor.
III – 13
12.5
16
22
2. Motor
Low inertia AC servomotor data sheet (3000 r/min)
Item
Instantaneous
characteristics
Continuous
characteristics
Nominal output
Rated
speed
Stall state
Maximum
character
-istics in
stall state
Symbo
l
Unit
HA53LC-S
HA53LC-TS
HA103LC-S
HA103LC-T
S
HA153LC-S
HA153LC-T
S
HA203LC-S
HA303LC-S
HA503LC-S
PR
kW
0.5
1.0
1.5
2.0
3.0
5.0
Output
torque
TR
N·m
1.60
3.19
4.77
6.36
9.55
16.0
Input
current
IR
A
3.5
6.5
9.6
11.0
15.2
26.0
Output
torque
TS
N·m
2.94
5.88
8.82
13.7
22.5
37.3
Input
current
LS
A
5.8
11.0
16.2
21
32
54
Instantaneous
torque
TPS
N·m
14.7
29.4
44.1
68.6
112.7
186
Instantaneous
current
IP
A
29
55
81
105
160
270
Instantaneous
power rate
QP
kW/s
788
1575
2362
2401
4320
3930
Instantaneous
angular
acceleration
aP
rad/s
53571
53571
53571
35000
38333
21111
Rated speed
Nmax
2
r/min
3000
2
GD M
× 10-4kg·m 2
11
22
33
78.4
117.6
352.8
Motor inertia
JM
× 10-4kg·m 2
2.7
5.5
8.2
19.6
29.4
88.3
Armature resistance
(one phase, 20°C)
Ra
Ω
0.6
0.25
0.142
0.11
0.066
0.0289
Armature inductance
(one phase)
La
mH
3.2
1.7
1.14
1.0
0.77
0.49
Induced voltage constant
(one phase, 20°C)
KE
mV/r/min
±10%
18.5
19.8
20.0
24.2
25.2
25.5
Torque constant
KT
N·m/A
0.53
0.57
0.57
0.69
0.72
0.73
Electrical time constant
te
ms
5.4
6.8
8.1
9.1
11.7
17.0
Mechanical time constant
tm
ms
1.8
1.3
1.1
1.4
1.1
1.5
Thermal time constant
tth
min
40
45
45
60
65
65
Static frictional torque
TF
N·m
0.108
0.157
0.206
0.294
0.392
0.490
θmax
°C
−
kg
16
22
35
2
Motor GD
Armature winding temperature
rise limit
Weight
130
6.5
∗ The same characteristics apply to the HA ∗∗ NLC motor.
III – 14
9.5
12.5
2. Motor
2.5 Torque characteristics
(1) HC Series
[ HC102 ]
15
30
30
10
Short time
operation range
20
Short time
operation range
10
0
1000
20
Continuous operation range
Continuous operation range
0
2000
0
Rotation speed [r/min]
1000
0
2000
[ HC352 ]
60
80
20
10
Short time
operation range
45
30
15
0
1000
Short time
operation range
60
40
20
Continuous operation range
Continuous operation range
Continuous operation range
0
2000
0
Rotation speed [r/min]
1000
2000
Rotation speed [r/min]
[ HC702 ]
0
0
1000
[ HC902 ]
120
200
90
Torque [N·m]
Short time
operation range
60
30
150
Short time
operation range
100
50
Continuous operation range
0
1000
Rotation speed [r/min]
2000
Continuous operation range
0
0
1000
2000
Rotation speed [r/min]
Note 1: The above graphs show the data for the input voltage of 200VAC.
When the input voltage is 200VAC or less, the short time operation range is limited.
Note 2: The broken line indicates the torque when connecting to S type drive unit.
III – 15
2000
Rotation speed [r/min]
250
150
0
Torque [N·m]
40
Torque [N·m]
100
Short time
operation range
2000
[ HC452 ]
75
0
1000
Rotation speed [r/min]
50
30
0
Rotation speed [r/min]
[ HC202 ]
Torque [N·m]
Short time
operation range
10
Continuous operation range
0
Torque [N·m]
40
5
Torque [N·m]
[ HC152 ]
40
Torque [N·m]
Torque [N·m]
[ HC52 ]
20
2. Motor
[ HC53 ]
[ HC103 ]
10
40
Short time
operation range
6
4
30
Torque [N ·m]
15
Torque [N ·m]
Short time
operation range
10
5
2
Continuous operation range
Continuous operation range
0
Continuous operation range
0
0
1000
2000
Short time
operation range
20
10
3000
0
0
Rotation speed [r/min]
1000
2000
3000
0
Rotation speed [r/min]
[ HC203 ]
1000
[ HC353 ]
60
45
45
Torque [N ·m]
60
30
Short time
operation range
15
2000
3000
Rotation speed [r/min ]
[ HC453 ]
100
75
Torque [N·m]
Torque [N ·m]
8
Torque [N·m]
[ HC153 ]
20
Short time
operation range
30
Short time
operation range
50
25
15
Continuous operation range
Continuous operation range
Continuous operation range
0
1000
2000
0
3000
0
Rotation speed [r/min]
[ HC703 ]
3000
Torque [N ·m]
Short time
operation range
60
30
15
15
10
Short time
operation range
1000
2000
0
1000
2000
3000
0
Rotation speed [r/min]
[ HC203R ]
Torque [N·m]
Torque [N·m]
Torque [N·m]
45
Short time
operation time
20
Continuous operation range
0
0
1000
2000
Short time
operation time
30
15
Continuous operation range
0
3000
Rotation speed [r/min]
3000
[ HC503R ]
10
5
2000
60
30
15
1000
Rotation speed [r/min ]
[ HC353R ]
40
10
Short time
operation range
0
20
Short time
operation time
10
Continuous operation range
Continuous operation range
3000
3000
5
0
Rotation speed [r/min]
2000
[ HC153R ]
20
Continuous operation range
1000
Rotation speed [r/min]
20
5
0
0
[ HC103R ]
90
Torque [N ·m]
2000
Rotation speed [r/min]
120
0
1000
0
Torque [N ·m]
0
Continuous operation range
0
0
1000
2000
3000
Rotation speed [r/min]
0
1000
2000
Note 1: The above graphs show the data for the input voltage of 200VAC.
When the input voltage is 200VAC or less, the short time operation range is limited.
Note 2: The broken line indicates the torque when correcting to S type drive unit.
III – 16
3000
Rotation speed [r/min]
2. Motor
(2) HA Series
Short time
operation range
Continuous operation range
Continuous operation range
Rotation speed [r/min]
Continuous operation range
Rotation speed [r/min]
Torque [N· m]
Torque [N ·m]
[HA900N]
Short time
operation range
Continuous operation range
Rotation speed [r/min]
[HA053N]
[HA13N]
Short time
operation range
Short time
operation range
Torque [N· m]
Rotation speed [r/min]
Rotation speed [r/min]
Short time
operation range
[HA700N]
Torque [N· m]
Torque [N· m]
Torque [N ·m]
Continuous operation range
Continuous operation range
Rotation speed [r/min]
[HA300N]
Short time
operation range
Short time
operation range
Continuous operation range
Rotation speed [r/min]
[HA200N]
Short time
operation range
Short time
operation range
[HA100N]
Torque [N· m]
[HA80N]
Torque [N· m]
Torque [N ·m]
[HA40N]
Continuous operation range
Continuous operation range
Rotation speed [r/min]
Rotation speed [r/min]
∗ The above graphs show the data for the input voltage of 200VAC.
III – 17
2. Motor
Continuous operation range
Torque [N· m]
Torque [N ·m]
Continuous operation range
Continuous operation range
Rotation speed [r/min]
Rotation speed [r/min]
Rotation speed [r/min]
[HA703N]
Torque [N· m]
Torque [N ·m]
[HA303N]
Continu ous operation range
Rotation speed [r/min]
[HA103N]
Short time
operation range
Short time
operation range
Continuous operation range
Rotation speed [r/min]
∗ The above graphs show the data for the input voltage of 200VAC.
III – 18
Short time
operation range
Continuous operation range
Rotation speed [r/min]
[HA83N]
Short time
operation range
Torque [N· m]
Continuous operation range
Rotation speed [r/min]
Short time
operation range
Short time
operation range
[HA43N]
[HA203N]
Torque [N· m]
Short time
operation range
[HA33N]
Torque [N· m]
Torque [N ·m]
[HA23N]
Short time
operation range
Continuous operation range
Rotation speed [r/min]
2. Motor
Continuous operation range
Short time
operation range
[HA150NL]
Torque [N· m]
Short time
operation range
[HA100NL]
Torque [N· m]
Torque [N ·m]
[HA50NL]
Continuous operation range
Rotation speed [r/min]
Continuous operation range
Rotation speed [r/min]
[HA200NL]
Short time
operation range
Rotation speed [r/min]
[HA300NL]
[HA500NL]
Short time
operation range
Torque [N· m]
Short time
operation range
Torque [N· m]
Torque [N ·m]
Short time
operation range
Continuous operation range
Continuous operation range
Rotation speed [r/min]
Continuous operation range
Rotation speed [ r/min]
∗ The above graphs show the data for the input voltage of 200VAC.
III – 19
Rotation speed [r/min]
2. Motor
Short time
operation range
[HA153NL]
Torque [N· m]
Short time
operation range
[HA103NL]
Torque [N· m]
Torque [N ·m]
[HA53NL]
Continuous operation range
Continuous operation range
Continuous operation range
Rotation speed [r/min]
Rotation speed [r/min]
[HA203NL]
Rotation speed [r/min]
[HA303NL]
[HA503NL]
Short time
operation range
Rotation speed [r/min]
Short time
operation range
Continuous operation range
Rotation speed [r/min]
∗ The above graphs show the data for the input voltage of 200VAC.
III – 20
Torque [N· m]
Torque [N ·m]
Torque [N· m]
Short time
operation range
Continuous operation range
Short time
operation range
Continuous operation range
Rotation speed [r/min]
2. Motor
[HA-LH11K2-S1]
Torque [N· m]
Short time operation range
Continuous operation range
Rotation speed [r/min]
[HA-LH15K2-S1]
0.1s
Short time operation range
Torque [N· m]
1s
Continuous operation range
Rotation speed [r/min]
When using a combination of the HA-LH15K2-S1 and V1-150, the short time operation range is further
subdivided by the operation time.
(Note) The above torque characteristics are for a 200V power voltage.
These characteristics are not guaranteed when the power voltage drops.
III – 21
2. Motor
2.6 Duty drive characteristics
The duty-drive characteristics are calculated from the motor's armature coil temperature upper limit
degree and the thermal constants. The output limit characteristics for the motor during rotation are
expressed. If this limit is exceeded, the motor's thermal protect will be activated and motor overheat
(ALM46) will be detected.
In the actual servo system, the electronic thermal protection control is carried out inside the servo
drive unit with software operation, so this characteristic may be limited by the servo drive unit.
Torque percent
t1
× 100 (%)
t0
Duty percent =
t1
t0
t1: ON time (min)
(1) HC Series, HC∗∗ R Series
HC52, HC53, HC103R, HC153R, HC203R
100
HC102,HC103
トTorque
ル ク パ ー セpercent
ン ト(電 流(Current
パ ー セ ン ト) percent)
105%
100
トTorque
ル ク パ ー セpercent
ン ト(電 流(Current
パ ー セ ン ト) percent)
105%
110%
Duty percent (%)
デューティーパーセント(%)
Duty percent (%)
デューティーパーセント(%)
110%
80
120%
60
130%
40
160%
140%
180%
200%
20
0
0.1
250%
300%
1
10
オン
時間
( min )
ON
time
(min)
100
80
120%
140%
180%
200%
20
250%
300%
1
100
Duty percent (%)
デューティーパーセント(%)
Duty percent (%)
デューティーパーセント(%)
110%
120%
40
160%
140%
180%
200%
20
0
0.1
250%
300%
1
1000
トTorque
ル ク パ ー セpercent
ン ト(電 流(Current
パ ー セ ン ト) percent)
105%
110%
80
130%
100
HC202,HC203,HC353R
トTorque
ル ク パ ー セpercent
ン ト(電 流(Current
パ ー セ ン ト) percent)
105%
60
10
オン
時間
( min )
ON
time
(min)
HC152,HC153
100
160%
40
0
0.1
1000
130%
60
10
100
1000
80
120%
130%
60
140%
160%
40
180%
200%
20
0
0.1
250%
300%
1
10
オン
時間
( min )
ON
time
(min)
ON
オン
time
時間
(min)
( min )
III – 22
100
1000
2. Motor
HC503R
HC352、HC353
100
100
トTorque
ル ク パ ー セpercent
ン ト(電 流(Current
パ ー セ ン ト) percent)
105%
Duty percent (%)
デューティーパーセント(%)
Duty percent (%)
デューティーパーセント(%)
110%
80
120%
130%
60
140%
160%
40
180%
200%
20
0
0.1
100
250%
300%
1
10
100
110%
80
120%
130%
60
140%
160%
40
180%
200%
20
0
0.1
1000
トTorque
ル ク パ ー セpercent
ン ト(電 流(Current
パ ー セ ン ト) percent)
105%
250%
300%
1
オン
時間
( min )
ON
time
(min)
HC452,HC453
HC702,HC703
100
トTorque
ル ク パ ー セpercent
ン ト(電 流(Current
パ ー セ ン ト) percent)
105%
Duty percent (%)
デューティーパーセント(%)
Duty percent (%)
デューティーパーセント(%)
130%
140%
160%
180%
200%
20
0
0.1
250%
300%
1
10
100
1000
オン
時間
( min )
ON
time
(min)
トTorque
ル ク パ ー セpercent
ン ト(電 流(Current
パ ー セ ン ト) percent)
105%
Duty percent (%)
デューティーパーセント(%)
110%
80
120%
60
130%
40
160%
140%
180%
200%
20
0
0.1
250%
300%
1
100
1000
10
80
120%
130%
60
140%
160%
40
180%
200%
20
0
0.1
250%
300%
1
10
オン
時間
( min )
ON
time
(min)
HC902
100
1000
110%
120%
40
100
トTorque
ル ク パ ー セpercent
ン ト(電 流(Current
パ ー セ ン ト) percent)
105%
110%
80
60
10
オン
時間
( min )
ON
time
(min)
100
1000
オン
時間
( min )
ON
time
(min)
III – 23
2. Motor
(2) HA Series
Torque percent (Current percent)
Duty percent (%)
Duty percent (%)
Torque percent (Current percent)
ON time (min)
ON time (min)
Torque percent (Current percent)
Duty percent (%)
Duty percent (%)
Torque percent (Current percent)
Torque percent (Current percent)
Torque percent (Current percent)
Duty percent (%)
ON time (min)
Duty percent (%)
ON time (min)
ON time (min)
ON time (min)
III – 24
2. Motor
2.7 Outline dimension drawings
(1) HC Series
• HC52(B)S
• HC102(B)S
• HC152(B)S
• HC52(B)T
• HC102(B)T
• HC152(B)T
• HC53(B)S
• HC103(B)S
• HC153(B)S
• HC53(B)T
• HC103(B)T
• HC153(B)T
[Unit:mm]
L
55
3
45°
φ
φ
5
14
165
111
8 1.5
φ24h6
50
φ11 0h7
12
44
□130
Oil seal
KL
S3 0457B
21.5
Detector connector
MS3102A22- 14P
Detector
connector
MS3102A22-14P
4-ø9
41
installation hole
Power connector
CE05-2A22-23P
Use hexagon socket head bolts.
L
N
L
S
58
44
R
12
E
25
Signal
45°
12
10
A
BT
SD
SD
RQ
RQ
SD
φ16.000
A
Tightening torque
23 to 30 N・m
U-nut M10×1.25
Plain washer 10
Taper 1/10
KL
21.5
Detector
Power connector
connector
MS3102A22-14P CE05-2A22-23P
Oil seal
S30457B
5
14
φ
165
0
5 -0.03
41
4-ø9
installation hole
Use hexagon socket head bolts.
5
5G
+5V
Cros s-sect ion
A-A
Power
connector
The detector connector is common for all HC Series.
Motor model
2000r/min
3000r/min
HC52(B)o
HC53(B)o
HC102(B)o
HC103(B)o
HC152(B)o
HC153(B)o
φ
4.3
A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T
U
V
18 28
81.5
Pin
□130
3
111
H
φ110h7
J
φ22
K
L (Note 1)
KL
125 (158)
150 (183)
175 (208)
51.5
76.5
101.5
Note 1. The dimensions given in parentheses are for when magnetic
brakes are provided.
Note 2. Use a friction coupling (Spun ring, etc.) to connect with the load.
III – 25
Pin
Signal
U
A
CE05-2A22- 23P
V
B
C
W
G
A
Ground
D
E
F
H
B
F
C
G
B1
E
D
H
B2
B1 and B2 are the brake terminals.
(Only for motor with brakes.)
There is no need for concern regarding
the polarity when supplying 24VDC.
2. Motor
• HC202S
• HC203S
• HC352S
• HC353S
• HC452S
[Unit:mm]
79
3
45 °
81.5
75
Detector
connector
Power connector
MS3102A22-14P CE05-2A24-10P
Motor model
2000r/min
3000r/min
HC202S
HC203S
HC352S
HC353S
−
HC452S
00
φ2
φ2
30
Oil seal
S40608B
KL
21.5
0
φ114.3 -0.025
18
φ35+0.010
0
44
□176
4-ø3.5
46
installation hole
Use hexagon socket head bolts.
L
KL
150
192
234
69
111
153
Power
connector
CE05-2A24- 10P
F
A
G
E
Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.
B
D
• HC202BS
• HC203BS
• HC352BS
• HC353BS
142
L
C
Pin
A
B
C
D
E
F
G
Signal
U
V
W
Ground
• HC452BS
[Unit:mm]
79
3
45 °
21.5
Brake
connector
MS3102A10SL-4P
A
B
Pin
A
B
φ
230
Oil seal
S40608B
KL
73.5
Detector
connector
MS3102A22-14P
00
φ2
0
φ114.3 -0.025
117
81.5
75
φ35 +0.010
0
18
44
□176
Power connector
CE05-2A24-10P
46
4-ø13.5
installation hole
Use hexagon socket bolts.
Brake connector
MS3102A10SL-4P
Signal
B1
B2
Power
connector
There is no need for concern
regarding the polarity when
supplying 24VDC.
CE05-2A24- 10P
F
Motor model
2000r/min
3000r/min
HC202BS
HC203BS
HC352BS
HC353BS
HC452BS
−
142
L
L
KL
198
240
282
69
111
153
Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.
III – 26
A
G
E
B
D
C
Pin
A
B
C
D
E
F
G
Signal
U
V
W
Ground
2. Motor
• HC702S
• HC453S
• HC703S
[Unit:mm]
L
□176
79
18
45°
3
Note 2
Note 2
81.5
注2
φ35 +0.010
0
75
00
φ2
0
φ114.3-0.025
44
φ
23
0
Note 2
Note 2
Oil seal
S40608B
4-ø13.5
installation hole
Detector
connector
Power connector
MS3102A22-14P
CE05-2A32-17P
Motor model
2000r/min
3000r/min
−
HC453S
HC702S
HC703S
150
KL
21.5
L
KL
234
297
148
211
Power
connector
CE05-2A32- 17P
Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.
Note 2. Only HC702S and HC703S have screw holes for hanging bolt (M8).
• HC702BS
• HC453BS
58
Use hexagon socket head bolts.
D
A
C
B
Pin
A
B
C
D
Signal
U
V
W
Ground
• HC703BS
[Unit:mm]
3
75
45°
200
φ
Note 2
Note 2
21.5
KL
φ
23
0
150
Note 2
117
81.5
注2 2
Note
□176
0
φ114.3-0.025
18
φ35 +0.010
0
79
L
44
Oil seal
S40608B
73.5
Detector
connector
Brake
connector
MS3102A10SL-4P
A
B
Pin
A
B
Power connector
MS3102A22-14P
CE05-2A32-17P
4-ø13.5
installation hole
58
Use hexagon socket head bolts.
Brake connector
MS3102A10SL-4P
Signal
B1
B2
Power connector
CE05-2A32-17P
There is no need for concern
regarding the polarity when
supplying 24VDC.
Motor model
2000r/min
3000r/min
−
HC453BS
HC702BS
HC703BS
L
KL
282
345
148
211
Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.
Note 2. Only HC702BS and HC703BS have screw holes for hanging bolt (M8).
III – 27
D
A
C
B
Pin
A
B
C
D
Signal
U
V
W
Ground
2. Motor
• HC902S
[Unit:mm]
364
□204
85
44
25
3
81.5
Note 2
Note 2
Oil seal
Note 2
φ2
50
15
φ2
S45629B
150
Note
注22
0
φ42 -0.016
80
45°
0
φ180 -0.040
20
278
21.5
Detector
connector
Power connector
MS3102A22-14P
CE05-2A32-17P
4-ø115
installation hole
60
Use hexagon socket head bolts.
Power connector
CE05-2A32-17P
Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.
Note 2. These are screw holes for hanging bolt (M8).
D
A
C
Pin
Signal
A
B
C
D
U
V
W
B
Ground
• HC902BS
[Unit:mm]
85
412
20
25 3
80
Note
注2 2
73.5
MS3102A22-14P
Pin
A
B
Power connector
CE05-2A32-17P
Oil seal
S45629B
4-15
installation hole
60
Use hexagon socket head bolts.
Brake connector
Brake
connector
MS3102A10SL-4P
B
Note 2
278
150
Note 2
Detector
connector
φ2
50
15
φ2
21.5
A
45°
81.5
Note 2
□204
0
φ42 -0.016
0
φ180 -0.040
44
MS3102A10SL-4P
Power connector
CE05-2A32-17P
Signal
B1
B2
D
A
There is no need for concern
regarding the polarity when
supplying 24VDC.
C
Note 1. Use a friction coupling (Spun ring, etc.) to connect with the load.
Note 2. These are screw holes for hanging bolt (M8).
III – 28
B
Pin
Signal
A
B
C
D
U
V
W
Ground
2. Motor
(2) HC∗ ∗ R Series
• HC103R(B)S
• HC153R(B)S
• HC203R(B)S
• HC103R(B)T
• HC153R(B)T
• HC203R(B)T
[Unit:mm]
L
□100
45
44
10
3
45°
4-ø9
installation hole
Use hexagon socket head bolts.
φ95h7
φ24h6
40
11
φ
5
13
5
96
81.5
φ
Oil seal
S30457B
21.5
41
KL
Detector connector Power connector
CE05-2A22-23P
MS3102A22-14P
25
10
A
45°
4-ø9
installation hole
Use hexagon socket head bolts.
φ
11
φ
5
13
5
96
φ22
A
φ16.000
□100
φ95h7
3
18 28 12
M10×1.25 screw
58
10
0
5-0.03
0
5 -0.03
Plain
was her
10
4. 3
Taper 1/10
Oil seal
41
Tightening torque 23 to 30 N・m
U-nut M10×1.25
Cross -sec tion S30457B
A-A
Motor model
HC103R(B)o
HC153R(B)o
HC203R(B)o
L (Note 1)
152 (189)
177 (214)
202 (239)
Power
connector
KL
71
96
121
Signal
A
U
B
V
W
C
G
A
Ground
D
F
H
B
E
F
C
B1
G
E
D
H
B2
B1 and B2 are the brake terminals.
(Only for motor with brakes.)
There is no need for concern regarding
the polarity when supplying 24VDC.
CE05-2A22- 23P
Note 1. The dimensions given in parentheses are for when magnetic brakes
are provided.
Note 2. Use a friction coupling (Spun ring, etc.) to connect with the load.
III – 29
Pin
2. Motor
• HC353R(B)S
• HC503R(B)S
[Unit:mm]
L
63
12
44
□130
3
58
Note 3
120
KL
21.5
Detector
connector
Power connector
MS3102A22-14P CE05-2A 24-10P
Oilse al
S30457B
4-ø9
installation hole
46
Use hexagon socket head bolts.
Power
connector
Pin
CE05-2A24- 10P
Motor model
HC353R(B)S
HC503R(B)S
φ
165
45
φ1
81.5
注3
φ110h7
φ28h6
Note 3
Note 3
45°
L (Note 1)
222 (258)
279 (315)
KL
148
205
F
A
G
E
Note 1. The dimensions given in parentheses are for when magnetic brakes
are provided.
Note 2. Use a friction coupling (Spun ring, etc.) to connect with the load.
Note 3. Only for models with electromagnetic brakes.
III – 30
B
D
C
A
B
C
D
E
F
G
H
Signal
U
V
W
Ground
B1
B2
B1 and B2 are the brake terminals.
(Only for motor with brakes.)
There is no need for concern regarding
the polarity when supplying 24VDC.
125
155
125
155
HA23NC-TS
HA33NC-TS
HA23NC-S
HA33NC-S
111
81
111
81
Dimensions B
4.5kg
3.5kg
4.5kg
3.5kg
Weight
25kg
Tolerable shaft
end radial load
Straight
shaft
Tapered
shaft
Shaft
shape
III – 31
Shaft end shape of
HA23NC-S, HA33NC-S
Oil seal
Encoder connector
Notes: 1. It is recommended that the cannon connector be mounted in a downward orientation
to improve its splash-proof performance.
2. The wiring side plug is optional. It is only provided when ordered.
Dimensions A
Motor model
Motor connector
ABS
INC
Spec.
U nut M6×1.0
Plain washer 6
Taper
1/10
Cross section AA
Oil seal
45
45
Dimensions C
Tightening torque 4.71 to
6.37N ·m
OSA104S/OSA105S
OSE104S/OSE105S
Model
Serial encoder
4-ø6.6
installation holes
(Use hexagon
socket bolts.)
2. Motor
(3) HA Series
192
162
192
HA33NCB-TS
HA23NCB-S
HA33NCB-S
111
81
111
81
5.5kg
4.5kg
5.5kg
4.5kg
Weight
25kg
Tolerable shaft
end radial load
Straight
shaft
Tapered
shaft
Shaft
shape
III – 32
Shaft end shape of
HA23NCB-S, HA33NCB-S
Oil seal
Encoder connector
Brake connector
Notes: 1. It is recommended that the cannon connector be mounted in a downward orientation
to improve its splash-proof performance.
2. The wiring side plug is optional. It is only provided when ordered.
162
Dimensions A Dimensions B
HA23NCB-TS
Motor model
Motor connector
ABS
INC
Spec.
Cross section AA
Oil seal
U nut M6×1.0
Plain washer 6
Taper
1/10
45
45
Dimensions C
Tightening torque 4.71 to
6.37N·m
OSA104S/OSA105S
OSE104S/OSE105S
Model
Serial encoder
4-ø6.6
installation holes
(Use hexagon
socket bolts.)
2. Motor
A
B
Dimensions
Weight
Tolerable shaft
end radial load
(kg)
ElectroShaft Electromagneti
magnetic
shape c brake
brake
Encoder connector
OSA104, OSA105
ABS
III – 33
Cross section AA
Oil seal
Taper 1/10
Plain washer 10
U nut M10×1.25
Tightening torque 22.6 to
30.4N· m
Tapered shaft
OSE104, OSE105
Encoder
INC
Motor connector
HA40NC-S·HA43NC-S
214
131
8kg
None
HA80NC-S·HA83NC-S
254
171
12kg
Tapered
40
shaft
HA40NCB-S·HA43NCB-S
270
131
10kg
5.88 N ·m
with 24VDC
HA80NCB-S·HA83NCB-S
310
171
14kg
HA40NC-SS·HA43NC-SS
214
131
8kg
None
HA80NC-SS·HA83NC-SS
254
171
12kg
Straight
100
shaft
HA40NCB-SS·HA43NCB-SS 270
131
10kg
5.88 N ·m
with 24VDC
HA80NCB-SS·HA83NCB-SS 310
171
14kg
Notes: 1. It is recommended that the cannon connector be mounted in a downward orientation
to improve its splash-proof performance.
2. The wiring side plug is optional. It is only provided when ordered.
Motor model
Oil seal
4-ø9 installation holes
(Use hexagon socket
bolts.)
No key
Straight shaft
2. Motor
260
328
396
336
404
472
A
179
247
315
179
247
315
B
21kg
32kg
42kg
27kg
38kg
47kg
210
Tolerable shaft
Weight end radial load
(kg)
None
Electromagnetic
brake
Straight
shaft
29.4 N·m
with
24VDC
Shaft
shape
Brake connector
Encoder connector
<With brake>
Notes: 1. It is recommended that the cannon connector be mounted in a downward orientation
to improve its splash-proof performance.
2. The wiring side plug is optional. It is only provided when ordered.
3. Holes marked with ∗ are screw holes for eyebolt M8 installation.
HA100NC-S·HA103NC-S
HA200NC-S·HA203NC-S
HA300NC-S
HA100NCB-S·HA103NCB-S
HA200NCB-S·HA203NCB-S
HA300NCB-S
Motor model
Dimensions
III – 34
∗
∗
Motor connector
OSA104, OSA105
ABS
<Without brake>
Encoder connector
OSE104, OSE105
INC
Encoder
Oil seal
4-ø13.5 installation
holes
(Use hexagon
socket bolts.)
2. Motor
∗
62kg
43kg
56kg
49kg
III – 35
Straight
shaft
Shaft
shape
29.4 N·m
with 24VDC
None
Electromagnetic
brake
The motor terminal box lead outlet direction can be changed forward/backward/right/left with a 90° angle.
A steel sealed type terminal box is used.
210
Tolerable shaft
Weight end radial load
(kg)
Encoder connector
556 364
HA700NB-SR·HA703NB-SR
B
395 280
479 364
472 280
A
Dimensions
HA303N-SR
HA700N-SR·HA703N-SR
HA303NB-SR
Motor model
ABS
INC
Oil seal
OSA104, OSA105
OSE104, OSE105
Encoder
4-ø13.5 installation
holes
Use hexagon
socket bolts.
2. Motor
III – 36
642
HA900NB-SR
450
450
B
85kg
79kg
Weight
Encoder connector
250
Tolerable shaft
end radial load
(kg)
Straight
shaft
Shaft
shape
29.4 N·m
with 24VDC
None
Electromagnetic
brake
The motor terminal box lead outlet direction can be changed forward/backward/right/left with a 90° angle.
A steel sealed type terminal box is used.
565
A
Dimensions
HA900N-SR
Motor model
ABS
INC
OSA104, OSA105
OSE104, OSE105
Encoder
Oil seal
4-ø15 installation
holes
Use hexagon
socket bolts.
2. Motor
278
328
–– ––
–– ––
–– ––
–– ––
–– ––
–– ––
253
303
213
253
303
213
253
303
OSE/OSA
type
213
253
303
213
Dimensions A
OHE/OHA
type
238
278
328
238
157
207
117
157
207
117
157
207
117
157
207
117
Dimensions B
9.5kg
12.5kg
6.5kg
9.5kg
12.5kg
6.5kg
9.5kg
12.5kg
6.5kg
9.5kg
12.5kg
6.5kg
Weight
Straight
shaft
Tapered
shaft
Straight
shaft
40kg
100kg
Encoder connector
Tapered
shaft
Shaft
shape
100kg
40kg
Tolerable shaft
end radial load
Notes: 1. It is recommended that the cannon connector be mounted in a downward orientation
to improve its splash-proof performance.
2. The wiring side plug is optional. It is only provided when ordered.
HA100LC-S·HA103LC-S
HA150LC-S·HA153LC-S
HA50NLC-TS·HA53NLC-TS
HA100NLC-TS·HA103NLC-TS
HA150NLC-TS·HA153NLC-TS
HA50NLC-S·HA53NLC-S
HA100NLC-S·HA103NLC-S
HA150NLC-S·HA153NLC-S
HA50LC-TS·HA53LC-TS
HA100LC-T S·HA103LC-TS
HA150LC-T S·HA153LC-TS
HA50LC-S·HA53LC-S
Motor model
Motor connector
INC
ABS
Spec.
III – 37
Cross section AA
Oil seal
Taper 1/10
Plain washer 10
Tightening torque
22.6 to 30.4N ·m
U nut M10×1.25
Tapered shaft
Oil seal
No key
Straight shaft
Serial encoder
Encoder Adaptor
Model
dim. D
dim. E
OSE104S/OSE105S
45
28
OSA104S/OSA105S
45
28
[Use hexagon
socket bolts.]
4-ø9 installation
holes
2. Motor
OHE/OHA
type
293
333
– –––
– –––
OSE/OSA
type
268
308
268
308
Dimensions A
171
211
171
211
Dimensions B
Tolerable shaft
end radial load
16kgStraight
shaft
22kg
210kg
16kg
22kg
Weight
Straight
shaft
Straight
shaft
Shaft
shape
Encoder connector
H/MS3102E22 -14P
Motor connector
CE05-2A24-10P
Notes: 1. It is recommended that the cannon connector be mounted in a downward orientation to improve its splash-proof performance.
2. The wiring side plug is optional. It is only provided when ordered.
HA200LC-S·HA203LC-S
HA300LC-S·HA303LC-S
HA200NLC-S·HA203NLC-S
HA300NLC-S·HA303NLC-S
Motor model
INC
ABS
Spec.
Oil seal
S35508B
Serial encoder
Encoder
Model
dim. D
OSE104S/OSE105S
45
OSA104S/OSA105S
45
Adaptor
dim. E
28
28
Use hexagon
socket bolts for
motor installation.
4-ø13.5
installation holes
2. Motor
III – 38
OSE/OSA
type
338
338
Dimensions A
OHE/OHA
type
363
––– –
249
249
Dimensions B
35kg
35kg
Weight
250kg
Straight shaft
Tolerable shaft
Straight shaft
end radial
load
Straight shaft
Straight shaft
Shaft shape
∗1
III – 39
Encoder connector
H/MS3102E22 -14P
∗2
Motor connector CE05-2A24-10P
∗3
Notes: 1. It is recommended that the cannon connector be mounted in a downward orientation to improve its splash-proof performance.
2. The wiring side plug is optional. It is only provided when ordered.
3. M8 screw holes for hanging bolt are machined in the positions marked ∗1 to ∗3.
HA500LC-S
HA500NLC-S
Motor model
Oil seal
S45629B
INC
ABS
Spec.
Serial encoder
Encoder
Model
dim. D
OSE104S/OSE105S
45
OSA104S/OSA105S
45
Adaptor
dim. E
28
28
Use hexagon socket bolts
for motor installation.
4-ø14
installation holes
2. Motor
HA503L-SR
HA503NL-SR
Motor model
OHE/OHA
type
363
– –––
DimenOSE/OSA sions B
type
338
245
338
245
Dimensions A
250kg
Straight shaft
Tolerable shaft
Straight shaft
end radial
load
Encoder connector
H/MS3102E22-14P
35kg
35kg
Weight
Straight shaft
Straight shaft
Shaft shape
Oil seal
S45629B
INC
ABS
Spec.
Serial encoder
Encoder
Model
dim. D
OSE104S/OSE105S
45
OSA104S/OSA105S
45
Adaptor
dim. E
28
28
Use hexagon socket bolts
for motor installation .
4-ø14
installation holes
2. Motor
III – 40
III – 41
254
HA-LH15K2-S1
688
614
L
265
215
LA
Cooling fan
1ø200V 50/60Hz
230
180
LB
300
250
LC
250
204
LD
25
20
LG
578
529
LL
Motor
Exhaust air
Hanging bolts (3 places)
、
365
316
LT
527
478
KL
φS
117
102
KH
180
152
IE
376
317
IF
Cross section AA
Oil seal
(Notes) 1. Leave 30mm or more between the cooling fan and wall.
2. Use a friction coupling (spun ring, etc.) for the coupling with the load.
3. When removing the hanging bolts and using the motor, plug the screw holes with
bolts.
4. This motor is equivalent to IP44, so take care to oil
208
F
HA-LH11K2-S1
Model
Intake air
Connector
H/M53102E22-14P
HA-LH11K2-S1, HA-LH15K2-S1
M12
M10
Hanging bolt
5
3
E
110
85
LR
100
80
Q
55m6
42h6
S
Shaft end
S60829B
S45629B
Oil seal
4-ø14.5
installation
holes
Use hexagon socket bolts
for motor installation.
108
70
(kg)
Weight
Unit: mm
2. Motor
III – 42
254
HA-LH15K2B-S2
265
215
LA
230
180
LB
300
250
LC
250
204
LD
25
20
LG
658
594
LL
442
379
LT
Motor
607
543
KL
117
102
KH
Exhaust air
Hanging bolts (3 places)
158
140
ID
180
152
IE
376
317
IF
Oil seal
M12
M10
Hanging bolt
5
3
E
Cross section AA
Brake connector
MS3102E10SL-4P
110
85
LR
(Notes) 1. Leave 50mm or more between the intake air side of the motor and wall.
2. When removing the hanging bolts and using the motor, plug the screw holes with the following bolts.
HA-LH11K2B-S2: M10×15 or less
HA-LH15K2B-S2: M12×18 or less
3. Use a friction coupling (spun ring, etc.) for the coupling with the load.
4. There are a total of 5 lead-out wires inside the terminal box: U, V and W wires and two fan wires.
208
F
HA-LH11K2B-S2
Model
Cooling fan
1ø200V 50/60Hz
Intake air
Connector
MS3102E22-14P
●HA-LH11K2B-S2, HA-LH15K2B-S2
100
80
Q
55m6
42h6
S
軸 端
Shaft
end
S60829B
S45629B
Oil
seal
オイルシール
128
80
(kg)
Weight
Unit: mm
4-ø14.5 installation holes
Use hexagon so cket bolts
for motor installation.
2. Motor
2. Motor
2.8 Motor connection
WARNING
Always insulate the connection section of the power supply terminal. Failure to do so could lead to
electric shocks.
CAUTION
Do not directly connect commercial power supply to the servomotor. Doing so could lead to faults.
(a) Always match the power lead phases (A, B, C) and the drive unit output terminal (U, V, W) phases.
(b) Application of commercial power supply to the motor terminals (U, V, W) could cause the motor to
demagnetize or burn.
The commercial power can be connected only to the servo drive unit output terminals (U, V, W).
(c) Always ground with the grounding terminal E. Connect to the grounding terminal of the servo drive
unit, and ground to the earth with the grounding plate in the control box. (Refer to "Servo and Spindle
System Configuration Section 4 Connection of each unit".)
(d) Supply 24VDC user-prepared (refer to "2.9 Motors with electromagnetic brake") to the brake lead of
the motor with magnetic brake.
The internal power supply VDD (24VDC) in the servo drive unit cannot be used.
(1) Cannon plugs to be used
∗ Cannon plugs for HC motor series are shown in "2.7 Outline dimension drawings".
Cannon plug to be used
Motor model Motor side connector
To drive unit
Pin No.
Lead side
Motor
winding
Ground
or
(Straight type)
To drive unit
Pin No.
Lead side
Motor
winding
Ground
or
(Straight type)
To drive unit
Pin No.
Lead side
Motor
winding
Ground
or
(Straight type)
To drive unit
Pin No.
Motor with brake
Motor
winding
Brake
exciter
power
supply
or
Lead side
Ground
(Straight type)
or
Pin No.
Lead side
Brake
(Straight type)
III – 43
2. Motor
Motor model Motor side connector
Cannon plug to be used
Indicates "DC OFF"
To drive unit
Pin No.
Lead side
Motor
winding
Motor with brake
Brake
exciter
power
supply
Ground
or
Brake
(Straight type)
To drive unit
Indicates "DC OFF"
Pin No.
Motor with brake
Motor
winding
Ground
Brake
exciter
power
supply
or
Lead side
(Straight type)
or
Pin No.
Brake
(Straight type)
Notes 1. The angle plug (MS3108), straight plug (MS3106),
cable clamp (MS3057), and wiring connector should
be selected by user.
2. The key position of the cannon connector should be
in the direction of the motor flange.
3. Refer to the following table for the European
Standards compliant parts.
Cannon connector list
Compatible Cannon Standard connector
motor
Type Plug (with back shell)
Lead side
European Standards compliant connector
Plug (with back shell)
Cable clamp
Straight
Angle
Straight
Angle
Straight
Angle
Use the cannon plug single block together with a conduit, etc.
III – 44
Plug (single block)
2. Motor
(2) Terminal box type motors
Models applicable: HA700N-SR, HA900N-SR, HA303N-SR, HA703N-SR, HA700NB-SR,
HA900NB-SR, HA303NB-SR, HA703NB-SR, HA503NL-SR
Motor terminal box detailed drawing
Terminal box base
∗ P Pan head screw with SW M5×0.8×12 (4 pieces)
Terminal box cover
P Pan head screw M4×0.7×6 (2 pieces)
øD hole
Crimp terminal
Terminal packing
• The direction of the øD hole of the terminal box can be changed every 90°.
However, since the øD hole is positioned as shown in the outline dimension drawing when shipping,
remove the screw marked with ∗ when the direction should be changed.
• When a spare part is required due to damage, the part should be ordered from Mitsubishi Electric
along with the parts number listed in the drawing.
Dimensions
Model
A
B
HA700N, HA700NB
HA900N, HA900NB
HA303N, HA303NB 131 144
HA703N, HA703NB
HA503NL
C
D
E
F
G
78
35
37
60
76
III – 45
Model
Terminal box
Terminal box
cover
base
M953C771H01
M952B407H20
2. Motor
Types of terminal box lead wires
Servo drive unit
Servomotor
Lead wire crimp
terminal
Lead wire type
Item
Electromagnetic
brake
(when
specified)
Indication
HA700/90
0
HA503NL
HA303/70
3
Termin
al
HALH11K
HALH15K
L–
L11
L21
Blue
Blue
M4
V
V
W
M6
M6
M5
M5
–
M4
M6
M6
M6
M6
M6
M4
M4
M4
M4
M4
M4
M4
M5
M5
M8
U
–
U
Motor winding
L+
C1-V1-01 C1-V1-10 C1-V1-45 C1-V1-70 C1-V1-11
03
20
90
0
05
30
150
W
Motor ground
Motor fan
(Note 2)
BU
BU
Notes 1. For the terminal box type servomotors of special models, pay special attention to the model
names.
2. Use one of the screws marked with ∗ in the terminal box detailed drawings as the motor ground.
3. When an electromagnetic brake is provided, a surge absorber can be housed in the motor
terminal box. See the installation procedure drawing N109D132.
4. The terminals should be connected as shown in the following figure using the screws listed in the
above table.
Each connection section should be insulated by winding several turns of insulation tape around it
so that it is securely insulated. When housing the connection sections in the terminal box, take
care not to damage the insulation section.
Drive unit side
Motor side
Wind the insulation tape for several turns.
5. For the cables to be used, see the following section.
III – 46
2. Motor
(3) Wires to be used
Model
HA053
HA13
HA23N
HA33N
HA40N
HA43N
HA80N
HA83N
HA100N
HA103N
HA200N
HA203N
HA300N
HA700N
HA900N
HA303N
HA703N
HA50NLC
HA100NLC
HA53NLC
HA103NLC
HA150NLC
HA153NLC
HA200NLC
HA300NLC
HA203NLC
HA303NLC
HA500NLC
HA503NL
HA-LH11K2
HA-LH15K2
Notes 1.
2.
U.V.W
(Motor main circuit)
(Note 2)
Grounding wire
(Motor ground)
(Note 3)
Electromagnetic
brake for excitation
1.25mm 2
(1.25mm 2 or less)
1.25mm 2
(1.25mm 2 or less)
0.5mm 2 or more
(1.25mm 2 or less)
2mm 2 or more
(3.5mm 2 or less)
2mm 2 or more
(3.5mm 2 or less)
3.5mm 2 or more
(8mm 2 or less)
5.5mm 2 or more
(8mm 2 or less)
5.5mm 2 or more
(8mm 2 or less)
2mm 2 or more
(3.5mm 2 or less)
2mm 2 or more
(3.5mm 2 or less)
3.5mm 2 or more
(8mm 2 or less)
5.5mm 2 or more
(8mm 2 or less)
5.5mm 2 or more
(8mm 2 or less)
0.5mm 2 or more
(3.5mm 2 or less)
0.5mm 2 or more
(3.5mm 2 or less)
0.5mm 2 or more
(8mm 2 or less)
0.5mm 2 or more
(8mm 2 or less)
0.5mm 2 or more
(8mm 2 or less)
8mm 2 or more
8mm 2 or more
0.5mm 2 or more
(8mm 2 or less)
2mm 2 or more
(3.5mm 2 or less)
2mm 2 or more
(3.5mm 2 or less)
2mm 2 or more
(3.5mm 2 or less)
2mm 2 or more
(3.5mm 2 or less)
5.5mm 2 or more
(8mm 2 or less)
5.5mm 2 or more
(8mm 2 or less)
5.5mm 2 or more
(8mm 2 or less)
8mm 2 or more
14mm 2 or more
22mm 2 or more
5.5mm 2 or more
(8mm 2 or less)
8mm 2 or more
14mm 2 or more
22mm 2 or more
For reference, the wire size in parentheses above represents a restricted value from the soldered cup
dimensions of the cannon plug.
"Internal wire regulation" for identifying the grounding wire is described as follows:
140-14 Green color identification of grounding wire
1. A green identification sign shall be placed on any grounding wire for any grounding work except:
(1) when only the grounding wire is connected and it can be easily identified.
(2) when one conductor in a cable, tough rubber sheathed cable or cord with a multiple number of
conductors is used as a grounding wire and when the conductor is a bare wire or has a green
and yellow stripe pattern.
[Note] When one conductor in a cable, tough rubber sheathed cable or cord with a multiple number
of conductors is used as a grounding wire, any other conductor except for one which has a
green or greenish yellow stripe pattern cannot be used as a grounding wire.
2. If any other conductor except for one with a green or greenish yellow stripe pattern is used as a
grounding wire, it is necessary to indicate that the conductor is a ground wire using green tape and
the like at the terminal and proper positions.
3. When the electromagnetic brake works in "DC OFF", use shielded wires .
4. When the motor is used in an application where it travels, select wires with high flexibility.
5. For crimp terminals connected to the servo drive units, see section (2).
III – 47
2. Motor
2.9 Motors with electromagnetic brake
CAUTION
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 brake (magnetic brake) assembled into the servomotor, are for holding, and must not be used
for normal braking.
3. 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.
4. Use a double circuit configuration so that the magnetic brake operation circuit will activate even
with the external emergency stop signal.
Shut off with the s ervom otor
brake control output.
Servomotor
!
MBR
Magnetic
brake
Shut off with NC brake
control PLC output.
EMG
24VDC
When using the motor with electromagnetic brake for double dynamic safety to prevent dropping of the
vertical axis or during an emergency stop, note the following cautions.
(1) The brake is a safety brake. The brake is applied when the power (24VDC) is OFF.
(2) Always turn the servo OFF (SON signal) when applying the brakes.
(3) When using to prevent dropping of the vertical axis, create a sequence that considers the braking
delay time.
(1) Outline of motors with electromagnetic brake
(a) Types
Motors with electromagnetic brakes are a lineup of the HC Series. Their specifications are
described in the following paragraphs.
(b) Applications
When a motor with an electromagnetic brake is used for a vertical feed axis in a machining center,
and even if the hydraulic pressure of a hydraulic balancer becomes 0 due to power OFF, the brake
prevents the spindle head from dropping. In robots, even if the power is abruptly turned off, this
type of motor can prevent the robot body from falling down.
When this type of motor is used for the feed axis of a grinding machine, a dual safety system can
be structured along with an emergency stop dynamic brake, thereby preventing collisions and
spraying of ground materials.
This motor cannot be used for any other purposes than holding and braking at the time of power
failure (in emergency).
(c) Features
(i) Since the electromagnetic brake is a DC excitation type,
• The brake has a simple mechanism and high reliability.
• The brake tap selection is not necessary for frequencies of 50Hz and 60Hz.
• With excitation ON, no rush current and no shock occur.
• The brake portion is smaller than the motor section.
(ii) Since the electromagnetic brake is housed in the motor, the installation dimensions of this
motor type are the same as those of non-brake type motors.
(iii) For electromagnetic brake, no maintenance inspections are required.
(iv) This motor type can be safely and securely mounted in elevated locations (with eyebolt taps
holes for the HA100NB or larger models).
III – 48
2. Motor
(2) Characteristics of electromagnetic brake
Model
HC52B
HC102B
HC152B
Item
Type (Note 1)
HC53B
HC103B
HC153B
HC202B
HC352B
HC452B
HC702B
HC902B
Spring type safety brake
Rated voltage
HC203B
HC353B
HC453B
HC703B
24VDC
Rated current at 20°C
(A)
0.80
Excitation coil resistance at 20°C
1.43
(Ω))
29
16.8
Capacity
(W)
19
34
Attraction current
(A)
0.2
0.4
Drop current
(A)
0.08
0.2
Static frictional torque
(N·m)
8.3
43.1
Inertia moment (Note 2)
(× 10-4kg·m2)
2.0
10
Release delay time (Note 3)
(s)
0.04
0.1
Braking delay
time (Note 3)
AC OFF
(s)
0.12
0.12
DC OFF
(s)
0.03
0.03
Tolerable
braking w ork
amount
One braking
action
(J)
400
4500
One hour
(J)
Brake looseness at motor shaft
(degree)
4000
45000
0.2 to 0.6
0.2 to 0.6
20000
20000
200
1000
Times
Brake life
(Note 4)
Braking work
per braking
action
(J)
Model
HA053B
HA13B
HA23NB
HA33NB
HA40NB
HA80NB
HA43NB
HA83NB
Item
HA100NB
HA200NB
HA300NB
HA700NB
HA900NB
Type (Note 1)
Spring type safety brake
Rated voltage
24VDC
HA103NB
HA203NB
HA303NB
HA703NB
Rated current at 20°C
(A)
0.5
0.7
0.9
1.5
Excitation coil resistance at
20°C
(Ω)
111
49
38
23
Capacity
(W)
12
17
22
36
Attraction current
(A)
0.15
0.2
0.25
0.5
Drop current
(A)
0.06
0.06
0.12
0.18
Static frictional torque
(N·m)
0.39
1.96
5.88
29.42
Inertia moment (Note 2)
(× 10-4kg·m2)
0.02
0.20
0.68
4.25
Release delay time (Note 3)
(s)
0.03
0.05
0.07
0.10
Braking delay
time (Note 3)
AC OFF
(s)
0.10
0.20
0.24
0.27
DC OFF
(s)
0.02
0.03
0.04
0.04
Tolerable
braking work
amount
One braking
action
(J)
5.6
49.0
294.2
980.7
One hour
(J)
55.9
490.3
2942.0
9806.7
0.16 to 0.57
0.10 to 0.36
Brake looseness at motor
shaft
(degree)
Times
Brake life
(Note 4)
Braking work
per braking
action
(J)
0.25 to 2.5 0.2 to 1.5
30000
30000
30000
30000
5.6
49.0
294.2
980.7
III – 49
2. Motor
Note 1.
Note 2.
Note 3.
Note 4.
Note 5.
Note 6.
There is no manual open mechanism. When handling is required such as when centering the
machine, prepare a separate 24VDC power supply, and electrically open the brake.
This is the value added to servomotors without a break.
This is the value at 20ºC for the initial attraction gap.
The brake gap will widen as the brake lining wears from braking, but the gap cannot be adjusted.
Thus, when adjustments are required, the brakes have reached their lives.
The servomotor with a magnetic brake generates a leakage magnetic flux at the shaft end.
When operating at the low-speed regions, a clattering sound may be heard from the brake lining,
but this is not a problem in the functionality of the brakes.
(3) Using electromagnetic brake
CAUTION
Mount surge absorber to brake terminal in DC OFF.
Do not connect or disconnect while the brake power is energized. The pins of the cannon plug could
be damaged due to spark.
(a) Brake excitation power
(i) The brake excitation power should be determined by considering both the voltage fluctuation and
the excitation coil temperature so as to securely feed the flowing current.
(ii) There is no need for concern regarding the polarity of brake terminals. Do not mistake the brake
terminals for another circuit.
(b) Brake excitation circuit
The brake excitation power can be turned OFF (brakes applied) with (a) AC OFF or (b) DC OFF.
(i) AC OFF
The braking delay time increases, the excitation circuit will become simple, and the relay shut-off
capacity can be reduced.
(ii) DC OFF
The braking delay time can be shortened. However, in this case, a surge absorber will be required
and the relay shut-off capacity will increase.
<Precautions>
• The contact DC shut-off capacity should be properly provided.
• Use a surge absorber.
• In the cannon connector type, the surge absorber is located far from the switch, therefore
shield the cable between the switch and the surge absorber.
brake
PS
SW1
100VAC
or
200VAC
ZD1
PS
VAR1
ZD2
(a) Example of AC OFF
SW2
VAR2
(b) Example of DC OFF
PS
ZD1, ZD2
: 24VDC stabilized power
: Zener diode for power protection
(1W, 24V ;Mitsubishi MZ424-A)
VAR1, VAR2 : Surge absorber
(220V;Matsushita Electric Works
ERZ-C10DK221)
Electromagnetic brake circuit
III – 50
Electromagnetic brake 2
24VDC
Electromagnetic
100VAC
or
200VAC
24VDC
Electromagnetic
brake 1
SW
2. Motor
Refer to the following table for selecting the power supply.
Motor
Input voltage
AC (V)
Power supply
Output voltage
DC (V)
Output current
DC (A)
100 or 200
24
0.80
100 or 200
24
1.43
100 or 200
100 or 200
24
24
0.5A or more
0.7A or more
100 or 200
24
0.9A or more
100 or 200
24
1.5A or more
HC52B, HC102B, HC152B
HC53B, HC103B, HC153B
HC202B, HC352B, HC452B, HC702B,
HC902B
HC203B, HC353B, HC453B, HC703B
HA053NB, HA13NB
HA23NB, HA33NB
HA40NB, HA43NB
HA80NB, HA83NB
HA100NB, HA103NB, HA900NB
HA200NB, HA203NB
HA300NB, HA303NB
HA700NB, HA703NB
(c) Safety considerations
(i) Using timing belt
As shown below on the left, when the HC motor with electromagnetic brake is connected to a
load (such as a ball screw) with a timing belt, if the belt is broken, a dangerous situation occurs.
Even if the safety coefficient of the belt is increased, the belt may break due to over-tension or
cutting chips. In this case, use the method as shown below on the right to improve the safety.
Safe!
Dangerous!
Top
Top
Motor
Brake
Load
Load
Motor
Bottom
Bottom
(without
brake)
Ball screw
Ball screw
Timing belt
Brake
Timing belt
Mitsubishi Electric model UA, etc.
III – 51
2. Motor
(ii) Application for grinding machine feed axis
When NC is emergency-stopped, the dynamic brake is activated and the motor stops
suddenly, but even if the electromagnetic brake is used along with the dynamic brake, the
coasting distance cannot be remarkably shortened.
When considering a failsafe system for the grinding machine, test the coasting distance to
determine the limit of the dynamic brake, and then evaluate whether the system is safe or not.
In this case, the machine decelerates and stops in the pattern shown in the drawing. The
coasting distance in the rapid traverse state, LMAX, is the hatched area in the following drawing,
and is calculated by the following equation:
×
LMAX = FGO 10
60
3
(t 1 + t 2 +
t3
) (mm)
2
Braking using electromagnetic brake
FGO
t1
∗t2
Emergency stop
signal
2
: (GD 2M + GD L ) N GO
t3
Brake current
: Machine speed in rapid traverse state (m/min)
: Delay time in NC (0.05s)
: Electromagnetic braking delay time (s)
(s)
9.55 × 104 (TL + 0.8TB)
∗GD 2M
2
GD L
Rapid traverse
NGO
TL
Coasting
distance
∗TB
Machine
speed
: GD 2 of motor with brake (×10–4kg·m2)
: GD 2 on load side converted into motor shaft (×10–4kg·m2)
: Rapid traverse motor speed (r/min)
: Dynamic friction torque on motor speed conversion load
side (N ·m)
: Static friction torque of electromagnetic brake (N·m)
For the asterisk mark (∗), see the data in paragraph "2.9(2)".
(d) Precautions for sequence
Although the brake excitation power supply should be prepared by the user, exercise the following
precautions:
(i) When the brake is released (excitation power is ON), make sure that the servo ON state takes
place. The following sequence prevents the vertical axis from dropping.
Servo ON
Servo ON signal
Brake excitation
power
Brake
release
0.1s or less
0.1s or less
(ii) When the above sequence cannot be formed, use the "DC OFF" of the excitation power to
decrease the drop distance of the vertical axis.
Servo ON signal
Brake excitation
power
Servo ON
Brake
release
DC OFF
III – 52
(ON/OFF just before
brake excitation coil)
2. Motor
(iii) In the MDS Series, the external output contacts on the servo drive unit can be used.
(Example of external
contact use - DC OFF)
(External output
contact sequence)
MDS Series
servo drive unit
Servo ON
signal
Brake
Relay for brake
(Rating control
capacity, 8A 250VAC,
5A 30VDC)
Relay for brake
2.10 Motor vibration resistance
Direction of vibration
Axial (X)
Perpendicular to axis (Y)
Motor model
HC52, HC102, HC152, HC53, HC103, HC153
HA50L, HA100L, HA150L
HA053N, HA13N, HA23N, HA33N
(HA40N, HA80N, HA43N, HA83N)
HC202, HC352
HC203, HC353
HA200L, HA300L
(HA100N, HA200N, HA103N, HA203N)
HC452, HC702
HC453, HC703
HA500L
(HA300N, HA700N, HA303N, HA703N)
HC902
HA-LH11K2, HA-LH15K2
(HA900N)
9.8m/s 2(1G) or less
24.5m/s 2(2.5G) or less
19.6m/s 2(2G) or less
49.0m/s 2(5G) or less
11.7m/s 2(1.2G) or
less
29.4m/s 2(3G) or less
9.8m/s 2(1G) or less
24.5m/s 2(2.5G) or less
Conditions
1. In the motor stop state
2. In the installed state
3. No abnormalities occur when the above vibrations are applied
for 6 hours at 250Hz (check that there is no resonance point
at 250Hz or less).
Vibration unit
Note 1.
Even if the vibration value is within above values, for machines with excess vibrations, (turret
punch press, press, shearer, etc.), carefully check the looseness of the cannon plug, cable
condition, and cable clamps, etc. on the machine side.
III – 53
2. Motor
2.11 Motor shaft strength
When the AC servomotor is connected to a load, check that the load being applied to the motor shaft does
not exceed the values shown in the following table.
Motor shaft end tolerable load
Tolerable radial
load
Model
HA053NS, HA13NS
HA23NS, HA33NS
HC52T, HC102T, HC152T
HC53T, HC103T, HC153T
HA50LT, HA100LT, HA150LT
HA53LT, HA103LT, HA153LT
(HA40NT, HA80NT, HA43NT, HA83NT)
HC52S, HC102S, HC152S
HC53S, HC103S, HC153S
HA50LS, HA100LS, HA150LS
HA53LS, HA103LS, HA153LS
(HA40NS, HA80NS, HA43NS, HA83NS)
HC202S, HC352S, HC452S, HC702S
HC203S, HC353S, HC453S, HC703S
(HA100NS, HA200NS, HA300NS, HA700NS)
(HA103NS, HA203NS, HA303NS, HA703NS)
HC902S
HA500LS, HA503LS, HA-LH11K2S
(HA900NS)
HA-LH15K2S
Note 1.
Tolerable
thrust load
78.4N
245N
(L=26)
(L=30)
49N
147N
392N
(L=58)
490N
L
Radial load
980N
(L=55)
490N
Thrust load
L : Distance between flange installation surface and
center of load weight (mm)
2058N
(L=79)
980N
2450N
(L=85)
980N
2940N
(L=100)
980N
The tolerable thrust load indicates that no radial load is applied.
The above tolerable values are the maximum values and are not the continuous tolerable loads.
When the motor is connected to the load, the radial load applied to the motor shaft is calculated
as follows.
Direct connection:
Use flexible coupling, and align the core as much as possible. When using highly rigid
coupling, further precise core alignment will be required.
The radial load applied to the shaft on which the coupling is used is obtained by the
following equation.
P = KR × δ
P
KR
δ
: Radial load (kg)
: Spring constant in radial direction of coupling (kg/mm)
: Core deviation (mm)
Gear:
The radial load applied to the axis on which a gear is directly engaged to the motor shaft is
obtained by the following equation.
P=
Tmax
1
·
980
D cos α
2
P
Tmax
D
α
:
:
:
:
Radial load (kg)
Maximum motor torque (N·m)
Gear pitch circle (cm)
Gear pressure angle (degree)
When the timing belt is used, obtain the total of the initial tension of the belt and the force by the load
torque. For the calculation method, see the related document issued by the timing belt manufacturer.
III – 54
2. Motor
Note 2.
Cautions for mounting load (prevention of impact on shaft)
• When using the servomotor with keyway, use the screw hole at the end of the shaft to mount the
pulley onto the shaft. When installing, first insert both screw bolts into the screw holes on the
shaft, and press them in while tightening the nuts.
• When pulling out the pulley, use a pulley puller.
• When transporting the unit, do not put hands or ropes on the encoder cover.
• When assembling, do not tap the shaft end with a hammer, etc.
(The detector could be damaged.)
Encoder cover
• The direction that the detector is installed on the servomotor cannot be changed.
III – 55
2. Motor
2.12 Environmental conditions
Environment
Conditions
Ambient temperature
0°C to +40°C
Ambient humidity
80% RH or less (with no dew condensation)
Storage temperature
–15°C to +70°C (with no freezing)
Storage humidity
90% RH or less (with no dew condensation)
Atmosphere
• Indoors (Where unit is not subject to direct sunlight)
• No corrosive gases, flammable gases, oil mist or dust
Altitude
1000m or less above sea level
Vibration
(with no freezing)
HC52/102/152/53/103/153
HC103R/153R/203R/353R/503R
X: 9.8 m/s2 (1G) or less
Y: 24.5m/s2 (2.5G) or less
HC202/352
HC203/353
X: 19.6 m/s2 (2G) or less
Y: 49 m/s2 (5G) or less
HC452/702
HC453/ 703
X: 11.7 m/s2 (1.2G) or less
Y: 24.5 m/s2 (2.5G) or less
HC902
X: 9.8 m/s2 (1G) or less
Y: 24.5m/s2 (2.5G) or less
The vibration conditions are as shown below.
Vibration amplitude
(double-sway width)
200
100
80
60
50
40
30
(μm)
20
Servomotor
Y
X
0
1000
2000 3000
Rotation speed (r/min)
III – 56
Vibration
3. Detectors
3. Detectors
...................................................................................................................
3.1 List of detector specifications .................................................................................
3.2 Serial pulse encoder ..............................................................................................
3.2.1 Features ........................................................................................................
3.2.2 Types .............................................................................................................
3.2.3 Outline dimension drawings ..........................................................................
3.2.4 Cable connection diagram .............................................................................
3.2.5 Maintenance ..................................................................................................
3.3 Scale I/F unit............................................................................................................
3.3.1 Outline.............................................................................................................
3.3.2 Model configuration.........................................................................................
3.3.3 List of specifications ........................................................................................
3.3.4 Unit outline dimension drawing.......................................................................
3.3.5 Description of connector .................................................................................
3.3.6 Example of scale I/F unit connection .............................................................
3.3.7 Cables.............................................................................................................
III – 57
III-58
III-58
III-59
III-59
III-59
III-60
III-63
III-64
III-65
III-65
III-65
III-65
III-66
III-67
III-68
III-70
3. Detectors
3. Detectors
CAUTION
The MDS-C1 Series servo drive units use the serial encoders only as the motor end detectors.
The OHE/OHA type detectors cannot be used as the motor end detectors.
3.1 List of detector specifications
Class
Motor end
detector
Type
Relative
position
detector
Absolute
position
detector
Model name
Serial data
Motor position detection
100000p/rev
OSE105, OSE105S,
OSE105S1, OSE105S2
3000r/min
Serial data
Motor position detection
1000000p/rev
OSE104- ET
OHA25K-ET
Absolute
position
detector
OSA104- ET
OSA105- ET
Ball screw end position detection
100000p/rev after multiplying by four
Zero point indexing
Ball screw end position detection
3000r/min
Serial data
100000p/rev
Ball screw end position detection
3000r/min
Serial data
1000000p/rev
A, B-phase
Ball screw end position detection
3000r/min
25000p/rev
100000p/rev after multiplying by four
Z-phase 1p/rev
Zero point indexing
Ball screw end position detection
3000r/min
Serial data
100000p/rev
Ball screw end position detection
3000r/min
Serial data
1000000p/rev
(1) When linear scale I/F unit (MDS-B-HR) is not used
· Use a scale with an A/B phase difference and Z-phase width of 0.1µs or
more at the maximum feedrate.
· Use an A, B, Z-phase signal with differential output (RS-422 standard
product) f or the output signal.
3000r/min
A, B-phase
25000p/rev
Z-phase 1p/rev
Phase difference
Output circuit
A-phase
Relative
position
detector
Use an incremental scale for
the machine end that satisfies
the conditions on the right.
Machine end
detector
AT41
(Mitsutoyo product)
(Note)
Purchase from a
manufacturer.
FME, FML
(FUTABA product)
Absolute
position
detector
Output signal usage class
3000r/min
OSE105- ET
Ball screw end
detector
Detector output
OSE104, OSE104S,
OSE104S1, OSE104S2
OHE25K-ET
Relative
position
detector
Max. rotation
speed
MP scale
(Mitsubishi Heavy Industries
product)
∗ Motor end detector also
needs an absolute position
encoder.
AT342
(Mitsutoyo product)
*AT343
(Mitsutoyo product)
*LC191M
(HEIDENHAIN product)
B-phase
0.1µs or more
Z-phase
A, B,
Z- phase
A, B,
Z- phase
0.1µs or
more
Integer mm
For a scale having multiple Z phases, select
the one for which the distance between
neighboring Z phases is an integral mm.
(2) ∗ When linear scale I/F unit (MDS-B-HR) is used
(Output signal)
(a) 2.5V reference 1Vp-p analog A-phase, B-phase, Z-phase
differential output
(b) 2.5V reference 2Vp-p analog A-phase, B-phase, Z-phase
differential output
(Output signal frequency)
Max. 200kHz
Machine end position detection
A, B-phase
1µ m/p after multiplying by four
50m/min
Zero point indexing
Z-phase
10mm spacing
Serial data
Absolute position 1µ m/p
Machine end position detection
5.1 to 120m/min
A, B-phase
0.1 to 10µm/p after multiplying by
Differs according to the
four
resolution.
Differs according to the kinds of
Serial data
scales.
Machine end position detection
A, B-phase
1µ m/p after multiplying by four
30m/min
Z-phase
110m/min
Serial data
120m/min
Serial data
120m/min
Serial data
Zero point indexing
2mm spacing
Machine end position detection
0.5µ m/p
Machine end position detection
0.05µ m/p
Machine end position detection
0.1µ m/p
CAUTION
The connection to MDS-B-HR, AT343 and LC191M is limited to the control system with the servo
drive unit set to high-gain drive unit mode. It cannot be connected in standard drive unit mode.
III – 58
3. Detectors
3.2 Serial pulse encoder
3.2.1 Features
(1) With the serial pulse encoder, high resolution and high-speed rotation can be handled, allowing
high resolution position detection to be selected.
(2) The detector resolutions include the following two types.
(a) 1,000,000p/rev (ABS/INC)
(b) 100,000p/rev (ABS/INC)
Various detection units can now be handled according to the machine specifications.
(3) The signal wiring can be decreased compared to the conventional A, B, Z signals.
(4) The serial pulse encoder series is available for the standalone type encoder (ET Series).
However, there are restrictions to the combination with conventional parts.
(5) The L dimensions are approx. 25mm shorter than the conventional part for the small capacity
servomotor (200/300W).
(6) By achieving a smooth speed waveform, an improved effect of the new robust control
(disturbance observer, etc.) function that carries out estimation from the speed can be anticipated.
3.2.2 Types
(1) Motor end encoder
Absolute value detector
Incremental detector
Type
Resolution
OSA105
1,000,000p/rev
OSA104
100,000p/rev
OSE105
1,000,000p/rev
OSE104
100,000p/rev
(2) Standalone encoder (machine end detection)
Type
OHA25K-ET
OSA105ET
Absolute value detector
OSA105ET1
OSA104ET
OSA104ET1
OHE25K-ET
OSE105ET
Incremental detector
OSE105ET1
OSE104ET
OSE104ET1
The ET1 has notches. (Refer to "3.2.3
Outline drawing".)
III – 59
Resolution
25,000p/rev
1,000,000p/rev
100,000p/rev
25,000p/rev
1,000,000p/rev
100,000p/rev
3. Detectors
3.2.3 Outline dimension drawings
ø0.06 A
(1) Standalone encoder (OSAo ET/OSEo ET Series) outline drawing
ø
0
Ø 75
0
–0.02
PCD
100
ø 80
Notch for
ET1
Ø 9.52 –0.008
4-ø5.5hole
ø 110
Cross section A-A
0.12 A
Key
position
38
III – 60
MS3102A22-14 (19 pins)
3. Detectors
(2) Outline drawings of OHE/OHA type ball screw end detector
• OHE 25K-ET
4-ø5.5 slot
hole uniform
PCD 100
Blue
Blue
Caution
plate
Key
position
The designated outer dimension
Cross section B-B
tolerance is ± 0.5mm.
Weight
Moment
of inertia
Friction
torque
Thermal
relay
1.0kg or less
0.2 × 10–4kg·m 2 or less
Connector: 97F3102E22-14P (DDK)
Pin
Pin
Function
No.
No.
A
K
A-phase signal
Function
V-phase signal
B
A -phase signal
L
0.0196N·m or less
V -phase signal
C
B-phase signal
M
W-phase signal
Functions at 85 ± 5°C
D
Case grounding
B -phase signal
N
E
NC
P
NC
F
Z-phase signal
R
GND
G
Z -phase signal
S
+5VDC
H
U-phase signal
U
W-phase signal
J
U -phase signal
T
Thermal relay
V
Thermal relay
(Note 1) This is an incremental encoder for the ball screw end.
(Note 2) The outline dimensions are the same as for the absolute encoder, and only the nameplate
color differs.
III – 61
3. Detectors
• OHA 25K-ET
4-ø5.5 slot
hole uniform
PCD 100
Orange
Orange
Caution
plate
Key
position
The designated outer dimension
tolerance is ± 0.5mm.
Cross section B-B
Weight
Moment
of inertia
Friction
torque
Thermal
relay
1.0kg or less
0.2 × 10–4kg·m 2 or less
0.0196N·m or less
Functions at 85 ± 5°C
Connector: 97F3102E22-14P (DDK)
Pin
Pin
Function
No.
No.
Function
RQ signal
(Request signal)
A
A-phase signal
K
B
A -phase signal
L
C
B-phase signal
M
NC
D
B -phase signal
N
Case grounding
E
F
VB (Battery)
Z-phase signal
P
R
NC
GND
G
Z -phase signal
S
+5VDC
H
RX signal
(Serial absolute signal)
T
Thermal relay
J
RX signal
(Serial absolute signal)
U
V
NC
Thermal relay
RQ signal
(Request signal)
(Note 1) This is an incremental encoder for the ball screw end.
(Note 2) The outline dimensions are the same as for the absolute encoder, and only the nameplate
color differs.
III – 62
3. Detectors
3.2.4 Cable connection diagram
CAUTION
Do not mistake the connection when manufacturing the detector cable. Failure to observe this could lead
to runaway.
The conventional CNV2 and 3 can be used for the cable.
To reduce the amount of wiring, the following serial encoder dedicated cable can be used.
In this case, the conventional detector cannot be used.
(1) CNV12, CNV13 cable (L ≤ 20m)
Drive unit connector
Detector connector
Pin No.
Pin No.
Signal name
SD (Serial signal)
SD
RQ (Request signal)
RQ
BT (Battery)
+5V
5G
Case grounding
Shield to connector
(2) CNV12, CNV13 cable (20 < L ≤ 30m)
Drive unit connector
Detector connector
Pin No.
Pin No.
Signal name
SD (Serial signal)
SD
RQ (Request signal)
RQ
BT (Battery)
+5V
5G
Case grounding
Shield to connector
The connectors on the drive unit side and detector side are the same as the conventional CN2 and 3
connectors.)
III – 63
3. Detectors
3.2.5 Maintenance
WARNING
1.
2.
Wait at least 15 minutes after turning the power OFF before starting maintenance or inspections.
Failure to observe this could lead to electric shocks.
Only qualified persons must carry out the maintenance or inspections. Failure to observe this could
lead to electric shocks. Contact Service Center or Service Station for repairs or part replacements.
If any fault occurs in the configuration components, carry out service with the following procedures.
(1) Encoder
Always prepare the service parts for the conventional type and the serial encoder. As a rule,
replace the detector with the same type as the detector before exchanging it.
If changes are to be made, always confirm the compatibility and usable combination.
· Confirmation of encoder model
Confirm the encoder model on the nameplate attached to the motor cover, or displayed on the
Servo Monitor screen.
Servo Monitor (SERVO DIAGNOSIS) Screen
[SERVO DIAGNOSIS]
3/3
<X>
<Y>
<Z>
UNIT TYP
UNIT NO
S/W VER
CNTROL
MOT DT
MAC DT
MOTOR
WORK TIME
ALM HIST
Displays motor end detector model
Displays machine end detector model
If a fault occurs in the motor unit, replace the motor and encoder as a set.
III – 64
3. Detectors
3.3 Scale I/F unit
3.3.1 Outline
MDS-B-HR outline
(1) The unit interpolates the original wave of scale analog output to create high-resolution position
data.
Increasing the detector resolution is effective for obtaining high gain of the servo.
(2) 1-scale, 2-drive operation will be possible with the signal distribution function (model division
available).
3.3.2 Model configuration
MDS-B-HR model configuration
MDS-B-HR-oooo
Protective degree
No-mark: IP65
P: IP67
Availability of magnetic pole detection unit
No-mark: None
Used for linear servo system
M: Available
Signal distribution function
1: Output number 1
2: Output number 2 (Distribution available)
Scale output voltage
1: Scale output voltage 1Vp-p specifications
2: Scale output voltage 2Vp-p specifications
3.3.3 List of specifications
Unit
Corresponding scale
(Example)
Signal 2-distribution function
Analog signal input specification
Applicable frequency
Scale resolution
Input/output communication form
Availability of magnetic pole
detector
Tolerable ambient temperature
Tolerable ambient relative humidity
Atmosphere
Tolerable vibration
Tolerable impact (shock)
Tolerable power voltage
Maximum heat generation
Weight
Protective degree
Scale I/F unit model
MDS-B-HRMDS-B-HRMDS-B-HRMDS-B-HR11
12
11P
12P
21
22
21P
22P
LS186/LIDA181/LIF181
AT342 special
(HEIDENHAIN product)
(Mitsutoyo product)
×
×
×
×
¡
¡
¡
¡
A-phase, B-phase and Z-phase
A-phase, B-phase and Z-phase
2.5V reference
2.5V reference
Amplitude 1V p-p
Amplitude 2V p-p
Analog original waveform 200 kHz max.
Analog original waveform/512 div.
High-speed serial communication I/F, equivalent to RS485
None
°C
%
0 to 55°C
90% or less (no condensing)
With no poisonous gas
m/s 2
(G)
98.0m/s 2 (10G)
m/s 2
(G)
V
W
kg
294.0m/s 2 (30G)
IP65
IP67
III – 65
5VDC±5%
2W
0.5kg or less
IP65
IP67
3. Detectors
5
3.3.4 Unit outline dimension drawing
4-ø5 hole
III – 66
3. Detectors
3.3.5 Description of connector
Connector name
CON1
CON2
CON3
Application
For connection with servo drive unit (2nd system)
For connection with servo drive unit
For connection with scale
For connection with m agnetic pole detection unit
(MDS-B-MD)
CON4
Remarks
None for 1st system specifications
∗ When linear servo system is used
Assignment of connector pins
Pin No.
CON1
Function
Pin No.
CON2
Function
Pin No.
1
RQ+ signal
1
RQ+ signal
1
2
RQ− signal
2
RQ− signal
2
3
SD+ signal
3
SD+ signal
3
4
SD− signal
4
SD− signal
4
5
P5
5
P5
5
6
P5
6
P5
6
7
8
GND
GND
7
8
GND
GND
7
8
9
10
11
12
CON3
Function
A+ phase
signal
A− phase
signal
B+ phase
signal
B− phase
signal
Z+ phase
signal
Z− phas e
signal
RQ+ signal
RQ− signal
SD+ signal
SD− signal
P5
GND
Pin No.
CON4
Function
1
A-phas e signal
2
REF signal
3
B-phase signal
4
REF signal
5
P24
6
MOH signal
7
8
9
10
P5
P5
TH signal
GND
Connector: RM15WTR – 8P (Hirose Electric) ............ CON1, CON2
RM15WTR – 12S (Hirose Electric) .......... CON3 RM15WTR – 10S (Hirose Electric) ....... CON4
2
8
7
1
6
8
3
5
4
CON1
CON2
7
6
8
9 1
12
11
10
5
4
CON3
III – 67
2
7
3
6
1
9
2
10
5
3
4
CON4
3. Detectors
3.3.6 Example of scale I/F unit connection
MDS -CH-V1
MDS-CH-V1
Cable system
C N L 2 H2 – S – [Cable length]
CN2
Connector lock
None : One-touch type
S
: Screw lock type
CN2
MDS-B-HR side connector
Nne : None (direct connection)
H1 : CON1 connection H3 : CON3 connection
H2 : CON2 connection H4 : CON4 connection
Drive unit side connector
2
: CN2, CN2L, CN2M
3
: CN3, CN3L, CN3M
None : No drive unit connection
Absolute position linear scale
(2) CNL2H2
or CNL2H2-S
(1) CNL2 or CNL2-S
MDS-B-HR
CON2
Absolute position linear scale (AT342)
Incremental linear scale
CON3
(3) CNLH3-S
III – 68
3. Detectors
Cable list
For
CN2
CN3
Item
<1> Cable for
direct
connection
with scale
Model name
CNL2, CNL2-S
CNL3, CNL3-S
Cable length
max. 30m
Content
Servo drive unit side connector
(3M or the equivalent)
Connector : 10120-3000VE
Shell kit : 10320-52F0-008 (One-touch type)
: 10320-52A0-008 (Screw type)
This cable must be manufactured by the user.
<2> Cable
between drive
unit and HR
unit
CNL2H2, CNL2H2-S
CNL3H2, CNL3H2-S
CNL2H1, CNL2H1-S
CNL3H1, CNL3H1-S
Cable length
2, 5, 10, 20, 30m
For
<3> Cable
MDS-Bbetween HR
HR unit
unit and scale
CNLH3-S
Cable length
max. 30m
Servo drive unit side connector
(3M or the equivalent)
MDS-B-HR unit side
connector
(Hirose Electric)
Connector :
10120-3000VE
Shell kit:
10320-52F0-008 (One-touch
type)
10320-52A0-008 (Screw type)
Connector :
RM15WTP-8S
Clamp:
RM15WTP-CP (10)
MDS-B-HR unit side connector
(Hirose Electric)
Connector : RM15WTP-12S
Clamp
: RM15WTP-CP (10)
This cable must be manufactured by the user.
III – 69
3. Detectors
3.3.7 Cables
(1) Direct scale connection
(2) Between drive unit and HR unit
< CNL2,CNL2-S cable connection diagram>
Drive unit side
CN2, CN3
Scale side
6
16
7
17
<CNL2H1,CNL2H2,CNL2H1-S,CNL2H2-S cable connection diagram>
<CNL3H1,CNL3H2,CNL3H1-S,CNL3H2-S cable connection diagram>
Drive unit side
CN2, CN3
6
16
7
17
SD
SD*
RQ
RQ*
Scale
I/F unit side
CON1, CON2
3
4
1
2
SD
SD*
RQ
RQ*
5
P5
19
19
P5
10
10
20
P5
20
6
P5
1
LG
1
7
LG
11
LG
11
8
LG
FG
FG
FG
FG
FG
(3) Between HR unit and scale
<CNLH3-S cable connection diagram>
Scale
I/F unit side
CON3
Scale side
9
10
7
8
1
2
3
4
5
6
SD
SD*
RQ
RQ*
A+
AB+
BR+
R-
11
P5(+5V)
12
LG
FG
FG
Refer to Chapter I "5.2.7 Cable wire" in the "I. MDS-C1 Series Servo/Spindle System Configuration
Section" for details on the wire material.
Recommended wire type: A14B2343 (Junkosha)
III – 70
4. Servomotor and Detector Installation
4. Servomotor and Detector Installation ............................................................................. III-72
4.1 Installation .............................................................................................................. III-72
4.2 Coupling with the load ............................................................................................ III-76
III – 71
4. Servomotor and Detector Installation
4. Servomotor and Detector Installation
4.1 Installation
CAUTION
1.
2.
3.
4.
5.
6.
7.
Do not hold the cables, axis or detector when transporting the servomotor.
Use the suspension bolts on the servomotor only to transport the servomotor. Do not transport the
servomotor when it is installed on the machine.
Always install the servomotor with reduction gear in the designated direction. Failure to do so could
lead to oil leaks.
Securely fix the servomotor to the machine. Insufficient fixing could lead to the servomotor slipping off
during operation.
When connecting a coupling to the servomotor shaft end, do not apply an impact by using a hammer,
etc. Failure to observe this could lead to detector damage.
Install a cover, etc., on the shaft so that the rotating sections of the servomotor are not contacted
during operation.
Do not apply a load exceeding the tolerable load onto the servomotor shaft. The shaft could brake.
(1) Precautions for oil and water
a. Since the servomotor is not water/oil resistant do not splash cutting fluid or lubrication oil on
the servomotor. If cutting fluid, etc., enters the servomotor or the detector, the insulation of
the motor coil may be damaged or the detector failure may occur.
b. If cutting fluid, etc., splashes on the motor, put a protection cover on the motor. Check the
joints, bends, shape, and dimensions of the protection cover.
c. Use the oil-proof specifications wiring tube and oil-proof connector when using the
servomotor in an environment where it will be exposed to large amounts of cutting fluid or the
protection cover is not adequate.
d. Do not use the servomotor if part of the servomotor is submerged in oil or water. When the
servomotor is located near the floor, install a water drain path on the floor to direct the flow.
Do not clog the water drain path with cutting chips.
e. Check the drain path of oil and water on the moving table and the slide cover.
Be aware of the following conditions.
· When the table arrives at a specific position, the drain hole comes to the upper section of
the motor. Thus, oil or water splashes the motor.
· Depending on the movement of the slide cover and table, oil or water which stays on the
slide cover or table splashes the motor.
· Depending on the shrinkage or expansion of the cover, oil or water which stays on the
slide cover leaks from the wiper section and drops on the motor.
f. The servomotor should be installed in a well ventilated place where oil and water will not
splash it, and where it can be easily installed or removed.
(2) Precautions against gear oil
a. Although the servomotor can be installed horizontally or at the upper or lower end of the axis,
when the servomotor is installed at the upper end, take extra measures on the machine side
to avoid oil from the gear box, etc., from entering the motor. In this situation, the oil seal of the
motor is not sufficient protection.
b. Oil level and pressure in the gear box
The oil level in the gear box where the servomotor is horizontally mounted should be always
lower than the oil seal lip of the servomotor shaft (both in the stop and rotation states). If the
oil level is higher than the oil lip, oil may enter the motor. Some servomotors are not provided
with shaft end oil seals. To prevent the inner pressure of the gear box from increasing,
provide an intake-hole on the gear box.
III – 72
4. Servomotor and Detector Installation
[Machine side]
Gear
Servomotor
h
Oil level
Lip
Oil seal
HA053N
HA13N
HA23N
HA33N
Model
Height from
center of
motor shaft
h (mm)
8
10
HC52
HC53
HC102
HC103
HA50L
HA100NL
HA150NL
HA53NL
HA103NL
HA153NL
(HA40N)
(HA43N)
(HA80N)
(HA83N)
HC152, HC203
HC202, HC353
HC352, HC453
HC452, HC703
HC702
HA200NL, HA300NL
HA203NL, HA303NL
(HA100N), (HA103N)
(HA200N), (HA203N)
(HA300N), (HA303N)
(HA700N), (HA703N)
20
25
HC902
HA500NL,
HA503NL,
HA-LH15K2
HA-LH11K2
(HA900N)
30
40
(3) Detector
a. When transporting and installing the servomotor, avoid shocks to the detector on the servomotor. To prevent items from hitting the detector workers from getting on the detector and
tools or workpieces from dropping on the detector, install a protection cover around the
detector. Any design where a coupling should be struck to the motor shaft should be avoided
to prevent damage to the detector.
b. The detector cover for motors other than HA053N, HA13N, HA23N and 33N can be turned
90°, but design the machine so that it faces the "A" direction as a standard.
The parameter settings must be changed when the connector is faced in the B, C or D
directions for the HA23N and 33N motors. (The setting changes are complicated and the
combinations may be mistaken, so the connector direction should not be changed if
possible.)
Symbol of direction of
detector connector
(The "A" direction is
standard.)
Terminal box or motor connector
III – 73
4. Servomotor and Detector Installation
c.
The detectors for motors other than HA23N and 33N are fixed to the motor with pins. The
HA23N and 33N motor detectors are fixed to the motor with screws, but the polarity must be
matched correctly when installing. If this is ignored and the detector is replaced or the
detector connector direction is changed, the control will not be possible, and the motor may
run out of control. The relation of the detector and motor position should not be changed after
delivery from Mitsubishi.
The direction of the connector cannot be changed.
∗ When using the low inertia motor and IP67 compatible motor, do not remove the encoder
and encoder cover.
The magnetic pole position of the low inertia motor has been adjusted when the encoder
was installed.
The IP67 compatible motor has been tested in water with the encoder and cover
installed.
(4) Connector and cable
a. The connector should be located so that it faces downward.
When the motor is installed vertically or on an incline, provide a cable trap.
Cable trap
Top
Bottom
Top
Connector
Connector
Bottom
b. The standard cannon plugs are not waterproof.
c. The cables may lead oil and water to the motor and the detector, causing negative effects.
Avoid allowing the cables to lead oil and water to the motor and the detector, and do not
allow the cables to dip in oil and water (see the following figure).
Cover
Cover
Servomotor
Servomotor
Oil and
water puddle
<Poor> Respiration
<Poor> Capillary tube action
III – 74
4. Servomotor and Detector Installation
d. Adhere to the cable clamping method and avoid bending or stressing the cable connections
under the dead weight of the cable.
If the motor shifts, the cable bending radius should be determined according to the required
bending life and the cable type.
e. Prevent sharp chips from cutting the cable's outer sheath and from being abraded by contact
with any edge of the machine. In addition, prevent the cable from being trampled by people
and automobiles.
(5) Attaching/detaching connectors
a. While the machine is turned ON, do not connect or disconnect any connector to or from the
machine, otherwise, the motor may be damaged. Also, avoid dropping the machine and
abrupt motor start, or generation large arcs may occur.
It is recommended to tie each cannon plug with a wire.
b. Even when the power is turned OFF, the absolute value detector is backed up by a battery.
Thus, when the detector cable is disconnected, the absolute position is lost. It is
recommended to tie this plug with a wire and indicate a warning sign "do not disconnect this
plug even while power is turned OFF."
c. The cannon plugs are tightened manually. Provide enough space to correctly tighten each
cannon plug.
(6) Applications involving vibration
Tie the cannon plugs and cable clamps of the motor and detector with wires. Clamp carefully to
avoid vibration stress and the stress of the cable dead weight on the cable connections, both of
which may affect the relationship between the cable finish diameter and the clamp size. In
addition, check that the clamps are not loose.
Include the retightening of the cannon plugs and the clamps in the machine manual as a
periodical inspection item.
● Safety holes for protection against connector separation
If the coupling nut has safety holes, when the connector is exposed to
strong shock and vibration, pass a wire through the holes and fix the
connector to protect the connector from being disconnected. Under
normal conditions, this treatment is not required (extracted from a
catalog).
•
Since the cable clamp has two safety holes which are similar to
the connector, it can also be fixed.
•
The safety holes differ slightly in structure depending on the
manufacturer.
Fix with
a wire
3 safety
holes
● Fixing wire (0.813ø annealed stainless steel wire)
QQ-W-423 FORM-1 FS304 CD-A 0.032 (inches) is recommended
because of its mechanical strength and easy machining.
Safety hole
● Optimum tightening torque for coupling nuts
The connector is designed so that it can be easily tightened by turning the coupling nut manually without
using a special tool. When the connector is exposed to vibration, it should be fixed with a wire. There is
no regulation for the tightening torque in the MIL Standards.
When this connector is used for an airplane, the connector should be fixed with a wire by the user.
(7) Any design which requires modification, disassembling, or additional machining of the motor
should be avoided.
III – 75
4. Servomotor and Detector Installation
4.2 Coupling with the load
The motor shaft is coupled to the machine by one of the following methods:
The direct coupling method, in which the motor shaft is coupled directly to the machine by a flexible
joint.
The gear method, in which the motor speed is reduced when using a gear.
The timing belt method, in which the motor shaft is coupled to the machine using a timing belt.
This method is an important factor that affects the machine performance.
The following table outlines comparisons among the three methods.
Noise
No
Back- Rigidlubrilash
ity
cation
Direct
coupling
¡
¡
Gear
×
×
Timing
belt
¡
¡
¡
Degree of
Torque up
Life by speed freedom of
installing
reduction
motor
Reliability of
coupling
¡ Looseness of bolt
¡
Breakage of teeth
¡
×
× Breakage of belt
×
Cause of motor shaft
breakage
×
×
Misalignment of shaft
center
¡
¡
Too small backlash,
undersized pitch diameter
¡
¡
Excess belt tension,
undersized pitch diameter
(1) Direct coupling
When a load is directly coupled to the motor shaft, use a flexible joint. Although the flexible joint
can absorb misalignment, to maximize the durability of the machine, it is necessary to completely
match the load with the shaft center during the initial installation. In addition, it is necessary to
periodically adjust the misalignment. When the flexible joint is used, carefully select a joint
according to the environmental conditions and operate it according to the specification manual
issued by the manufacturer.
Although a coupling whose rigidity is low decreases the alignment accuracy, it is not preferable for
the servomotor. To use the submicron specification, skillfully align it, and use a high rigidity
coupling. When such conditions are not satisfied, the servo performance cannot be maximized,
(the gain cannot be increased) and the motor shaft may break.
Example of direct coupling with load
Load shaft
Spun ring
Motor shaft
Load shaft
Flexible joint
Motor shaft
Flexible joint
(a) In the case of tapered shaft
Spun ring
(b) In the case of straight shaft
III – 76
4. Servomotor and Detector Installation
(2) Gear coupling
To obtain a large torque by reducing speed, a gear is
used between the motor shaft and the load.
The accuracy of the gear and the amount of backlash
depend largely on the accuracy of the machine
positioning and the noise of the machine operation.
In the gear coupling method, it is necessary to
properly select the accuracy and the amount of the
backlash.
In the gear coupling method, take measures to
prevent oil from entering the motor. Refer to "4.1(2)"
for details.
Load shaft
Motor
shaft
Example of coupling with load using gear
(3) Spun ring
Since the output shaft of a servomotor of 2 kW or greater does not have a key groove, it is
necessary to use a frictional joint such as a spun ring for coupling with the load shaft.
For details of the usage of the spun ring, contact the manufacturer or dealer.
● Table of characteristics and dimensions RfN8006
Effective
Transmission
Tangent
Note 1 Note 2
Gap xmm Weight
contact area
torque
transmission force
Ft
PO
PA
Mt
Pax
Number of set
G
mm2
N
N
N
1 2 3 4
kg
N·m
d× D
L
λ
mm
mm
mm
11×14
4.5
3.7
128
7502
6933
8.43
1540
2
2
3
3
0.00198
24×28
6.3
5.3
400
8189
21182
56.88
4707
3
3
4
5
0.0068
35×40
7
6
659
9905
34912
135.33
7747
3
3
4
5
0.014
(Note 1) Axial pressure necessary for allowing the engagement clearance to be 0.
(Note 2) Net pressure force necessary for producing transmission force
Outline dimension drawing of RfN8006
Various manufacturers produce frictional joints as substitutes of spun ring.
The specifications, dimensions, etc., of the products may differ depending on the manufacturers.
When using them, carefully check the specifications.
III – 77
4. Servomotor and Detector Installation
(4) Taper gauge
The standard shaft end of a servomotor of 1 kW or less is a tapered shaft. When the taper should
be matched on the machine side, a copy gauge should be made in accordance with the master
gauge of Mitsubishi Electric.
The copy gauge should be directly ordered through the following manufacturer. Note the following
items.
1) Place order with:
Chubu Seiki Seisakusho
2) Requirement:
Taper gauge (copy): 16 × 28 × 1/10
Mitsubishi Nagoya Works should
have the master of the copy gauge.
( ヨ 7335)
Female
Male
(5) Other reference items
The shapes and dimensions of the servomotor mounting flange section and the shaft end conform
to the standards of Japan Machine Tool Industry Association MAS402.
The only available coupling methods for the servomotor for the MCI machine tool are the method
using the straight shaft without the key (spun ring) and the method using the taper shaft end.
The method of the straight shaft with the key cannot be practically used because of the wear
caused by the backlash of the key.
The method by which the motor shaft and the hub are simultaneously machined, and a taper pin
is used to couple them, should be avoided because a service motor is not provided. A motor
modified in such a manner cannot be repaired and the spare parts may not be supplied.
For the strength of the motor shaft, see section 2.11.
For the operation of the electromagnetic brake when a timing belt is coupled in the vertical axis,
see section 2.9 (3). Assuming that the diameter of ball screw is Dm (mm) and the speed is N
(r/min), the following relation is satisfied.
DmN < 70000.
This performance can be enhanced by controlling the lubrication and cooling methods.
As the standard for precision ball screws, JIS -B-1192 has been issued.
Tightening torque for tapered shaft end screw.
The screw shaft will be damaged if the tightening torque of the tapered shaft end screw is too
tight. Follow the values given below when tightening.
Model
HA23N
HA33N
HC52 HC53
HC102 HC103
(HA40N) (HA43N)
(HA80N) (HA83N)
Reference
Tightening torque
Tapered shaft end screw
tightening torque
Screw size
4.71 to 6.37N·m
M6 × 1.0
Approx. 300kg
22.56 to 30.40N·m
M10 × 1.25
Approx. 900kg
III – 78
5. MDS-C1-V1 Servo Drive
5. MDS-C1-V1 Servo Drive ................................................................................................
5.1 Availability of 2-system
(standard drive unit mode and high-gain drive unit mode).....................................
5.2 Model configuration .................................................................................................
5.3 Specifications list ....................................................................................................
5.4 Connection of dynamic brake unit ........................................................................
5.5 Hardware setting ....................................................................................................
5.6 Parameter settings .................................................................................................
5.6.1 Standard Parameters (Standard Drive unit) ....................................................
5.6.2 High-gain Parameters (High-gain Drive unit) ..................................................
5.7 Alarms and Warnings .............................................................................................
5.8 Explanation of connector and terminal block .........................................................
5.9 Main circuit and brake connection .........................................................................
5.9.1 Main circuit ....................................................................................................
5.9.2 Brake .............................................................................................................
5.10 Wiring system diagrams for systems .....................................................................
5.11 D/A output function ................................................................................................
5.11.1 Outline ...........................................................................................................
5.11.2 Hardware specific ations ................................................................................
5.11.3 Parameters ....................................................................................................
5.11.4 Output data No. .............................................................................................
5.11.5 Setting of output magnification ......................................................................
5.11.6 Others ............................................................................................................
III – 79
III-80
III-80
III 81
III-82
III-85
III-87
III-88
III-89
III-113
III-138
III-147
III-148
III-148
III-150
III-151
III-154
III-154
III-154
III-154
III-155
III-155
III-156
5. MDS-C1-V1 Servo Drive
5. MDS-C1-V1 Servo Drive
5.1 Availability of 2-system
(standard drive unit mode and high-gain drive unit mode)
(1) Outline
•
•
The C1 Series can be controlled in two modes: the mode equivalent to the standard drive unit
(MDS -B-V1/V2) and the mode equivalent to the high-gain drive unit (MDS-B-V14/V24).
Thus, reloading both from the standard drive unit (MDS-B-V1/V2) and high-gain drive unit
(MDS -V14/V24) with the same parameter becomes available.
Whether the reloading is from the standard drive unit or from the high-gain drive unit is
recognized automatically through the state of the servo parameter set in the machine.
CAUTION
If the control mode has to be changed to the high-gain drive unit (MDS-B-V14/V24) mode after reloading
from the standard drive unit (MDS-B-V1/V2), it is necessary to change the parameter again as the high-gain
drive unit and to adjust the servo parameter.
(2) Applicable software version
The software to be applied to 2-system is A1 Version (BND-582W000-A1) or later.
∗ The A0 Version cannot be applied to the standard drive unit mode and is used only in high-gain
drive unit mode.
(3) Control mode changeover discrimination
Whether the servo drive unit is started in standard drive unit mode or in high-gain drive unit mode
is recognized with the servo parameters SV009 to SV012, and SV033 set in the machine.
Servo parameter
Control mode
SV009 to
SV012
SV033
(SSF2) /bit8
SV033
(SSF2) /bit9
Standard
mode
SV009 = ∗
SV010 = ∗
SV011 = ∗
SV012 = ∗
High-gain
mode
SV009 = ∗
SV010 = ∗
SV011 = ∗
SV012 = ∗
High-gain
mode
SV009 = ∗
SV010 = ∗
SV011 = ∗
SV012 = ∗
0
1
0
1
0
0
1
1
High-gain mode
Standard mode
SV009 = 4096 or more,
SV010 = 4096 or more,
SV011 = 768 or more,
and
SV012 = 768 or more
The setting that does not
satisfy any of the
following conditions:
SV009 = 4096 or more
SV010 = 4096 or more,
SV011 = 768 or more,
SV012 = 768 or more
0
0
CAUTION
The changeover of standard drive unit mode and high-gain drive unit mode is actually carried out when the
200V power is turned ON. Thus, if the above servo parameters are changed, the alarm "7F" occurs,
requesting for the power to be tuned ON again. The alarm "7F" may also occur when the power is turned
ON for the first time after the machine has been installed. Therefore, when the alarm "7F" occurs, turn ON
the power again. Unless the above servo parameters are changed, the alarm "7F" will not occur after the
power is turned ON for the second time or later.
III – 80
5. MDS-C1-V1 Servo Drive
(4) Display of servo monitor type in high-gain mode and standard drive unit mode (Servo
Monitor screen)
Whether the system is set to high-gain mode or to standard drive unit mode can be confirmed
through the display of type on the Servo Monitor screen.
Unit type
MDS–C1–V1-ooo
MDS–C1–V2-oo¡¡
MDS–C1–V1-45S
MDS–C1–V2-7070S
MDS–C1–V2-3510S
MDS–C1–V2-3520S
At standard drive unit mode
C1V1sooo
C1V2soo¡¡
C1V1s4S
C1V2s7S7S
C1V2s3510
C1V2s3520
At high-gain mode
C1V1-ooo
C1V2-oo¡¡
C1V1-4S
C1V2-7S7S
C1V2-3510
C1V2-3520
CAUTION
Only the serial encoder (OSE/OSA type) is applicable to the motor end detector for both high-gain mode and
standard mode.
5.2 Model configuration
MDS-C1-V1 Servo drive capacity class symbol
Applicable motor
Standard
Low inertia
3000r/min
2000r/min
HA053
HA13
HA23N
HA33N
HC53
HA50NL
(HA43N)
HC103
HA100NL
(HA83N)
HC153
HA150NL
HA200NL
HC203
HA300NL
(HA103N)
HC353
HA500NL
(HA203N)
HC353
∗ Specifications
limit: 94% of the
motor stall rating
HC453
(HA303N)
HC453
∗ Specifications
limit: 82% of the
motor stall rating
HC703
(HA703N)
Symbol
Capacity
01
0.1 kW
03
0.3 kW
05
0.5 kW
10
1.0 kW
20
2.0 kW
35
3.5 kW
45
4.5 kW
45S
4.5 kW
(With specifications limit)
70
7.0 kW
70S
7.0 kW
(With specifications limit)
90
9.0 kW
110
11.0 kW
HA-LH11K2
150
15.0 kW
HA-LH15K2
Standard
2000r/min
HC52
(HA40N)
HC102
(HA80N)
HC152, HC202
(HA100N)
HC352
(HA200N)
HC452
(HA300N)
HC452
∗ Specifications
limit: 78% of the
motor stall rating
HC702
(HA700N)
HC702
∗ Specifications
limit: 90% of the
motor stall rating
HC902
(HA900N)
Low inertia
3000r/min
HA53NL
(HC103R) (HC153R)
HA103NL
HA153NL (HC203R)
HA203NL
(HC353R)
HA303NL
(HC503R)
HA503NL
∗ The V1-110/150 servo drive unit does not have built-in dynamic brakes, so always install an
external dynamic brake unit.
III – 81
5. MDS-C1-V1 Servo Drive
5.3 Specifications list
Model
MDS-C1-V1-
Rated output
Rated
Output voltage
Rated
current
Rated
voltage
Input
Rated
current
Voltage
Control
Frequenpower
cy
supply
Current
[kW]
01
03
05
10
0.1
0.3
0.5
1.0
1-axis servo drive unit MDS-C1-V1 Series
20
35
45S
45
70S
70
2.0
3.5
[V]
[A]
7.0
7.0
9.0
11.0
150
0.95
2.9
3.4
6.8
13.0
19.0
28.0
28.0
33.5
33.5
42.0
68.0
87.0
35
35
45
55
75
270-311VDC
1
3
4
7
14
17
30
30
200/200-230VAC
[Hz]
50/60Hz
[A]
Max. 0.2A
Control system
Braking
Dynamic brake
Sine-wave PWM control system/current control method
Regeneration braking and dynamic braking
Built-in
Structure
Ambient
tempera- [°C]
ture
Fully enclosed, self-cooling (Protective degree: IP65, IP67)
Operation: 0 to 55°C (non freezing), Storage/transportation: –15 to 70°C (non freezing)
Ambient
[%RH]
humidity
Operation: 90%RH or less (non condensing),
Storage/transportation: 90%RH or less (non condensing)
Environment
Atmosphere
[m ]
Vibration/
Impact
[m/s 2]
Cooling type
Weight
Indoors (no direct sunlight);
no corrosive gas, inflammable gas, oil mist, or dust.
Operation/storage: 1000 meters or less above sea level,
Transportation: 10000 meters or less above sea level
4.9m/s 2 (0.5G)/49m/s 2 (5G)
Self-cooling
2.1
[kg]
Maximum heating
[W]
value
150
4.5
[V]
Elevation
110
155VAC
[V]
[A]
4.5
90
21
27
37
Forced air cooling
4.5
4.9
5.8
3.8
53
91
Noise
132
158
185
189
284
6.4
331
465
641
Less than 55dB
(Note 1) The same capacity drive units with a smaller width are indicated with an "S" at the end of the type.
Note that limits will apply to continuous operation.
III – 82
5. MDS-C1-V1 Servo Drive
Spindle drive unit MDS-C1-SP [ ] Series
Model
MDS-C1-SP[ ]
Rated output
Rated
Output voltage
Rated
current
Rated
voltage
Input
Rated
current
Voltage
Control
Frequenpower
cy
supply
Current
[kW]
04
075
15
22
37
55
75
110
150S
150
185
220
260U
260
300U
300
0.1
0.3
0.5
1.0
2.0
3.5
4.5
4.5
7.0
7.0
9.0
11.0
150
26.0
30.0
30.0
63
79
97
130
76
95
115
144
[V]
[A]
155VAC
1.5
2.6
4.5
10.0
15.0
18
26
37
[V]
[A]
49
270-311VDC
1
4
7
13
17
20
30
41
58
[V]
200/200-230VAC
[Hz]
50/60Hz
[A]
Max. 0.2A
Control system
Braking
Dynamic brake
Sine-wave PWM control system/current control method
Power supply regeneration braking
Built-in
Structure
Ambient
tempera- [°C]
ture
Fully enclosed, self-cooling (Protective degree: IP65, IP67)
Operation: 0 to 55°C (non freezing), Storage/transportation: –15 to 70°C (non freezing)
Ambient
humidity [%RH]
Operation: 90%RH or less (non condensing),
Storage/transportation: 90%RH or less (non condensing)
Environment
Atmosphere
Indoors (no direct sunlight);
no corrosive gas, inflammable gas, oil mist, or dust.
Operation/storage: 1000 meters or less above sea level,
Transportation: 10000 meters or less above sea level
Elevation [m]
Vibration/
Impact
[m/s 2]
Cooling type
Weight
[kg]
Maximum
heating value
[W]
4.9m/s 2 (0.5G)/49m/s 2 (5G)
Self-cooling
Forced air cooling
2.1
30
40
3.8
49
69
4.4
79
108
Noise
137
4.7
181
5.7
235
6.5
342
366
8.4
6.3
483
8.4
6.3
620
Less than 55dB
(Note 1) The 15kW drive unit with smaller width is indicated with an "S" at the end of the type. Note that
limits will apply to continuous operation.
(Note 2) The heat radiation fin for the 26kW/30kW capacities is a straight type. The types with a spiral fin
are indicated with a "U" at the end of the type.
III – 83
5. MDS-C1-V1 Servo Drive
Unit
Servo drive model name
MDS-C1V1-01 V1-03
V1-05
V1-10
V1-20
V1-35
V1-45
V1-45S V1-70 V1-70S
V1-90
HA053HA23N
HC52
HC102
HC152
HC352
HC452
HC452 HC702 HC702
HC902 HA-LH11K2 HA-LH15K2
HA13 HA33N
HC53
HC103
HC202
HC203
HC353
HC353 HC453 HC453
HC703
HA50NL HA100NL HC153 HA300NL HA500NL
HA503NL
(HA900N)
(HA40N) HA53NL HA150NL HA203NL HA303NL
(HA700N)
(HA703N)
(HA43N) (HA80N) HA200NL (HA200N) (HA300N)
(HA303N)
Applicable motor
V1-110
V1-150
(HA83N) HA103NL (HA103N) (HA203N)
(HC103R) HA153NL (HC353R) (HC503R)
(HC153R) (HA100N)
(HC203R)
Output voltage
V
Rated output
current
A
0.95
2.9
3.4
6.8
13
16
28
28
33.5
33.5
42
68
87
Stall current
A
1.4
3.0
5.0
8.8
18.2
25
44
31.5
55
41
68
84
100
Maximum output
current
A
3.9
8.1
17
28
42
57
85
85
113
113
141
204
260
11.8
8.82
13.0
(14.2)
(10.2)
21.6
16.7
20.7
14.1
(25.5)
(19.2)
(7.95)
(11.9)
35.3
41.7
28.4
31
32
22.5
22.8
(42)
(15.9)
59.8
40.2
52
37
(60)
(40)
(27.8)
87.5
55.9
72
60
(87)
(56)
(39.8)
87.5
55.9
153
105
(153)
(105)
158
215
155
N·m 0.69 2.75
1.37 5.6
Maximum output
torque
(During combination
with motor)
Same order as
applicable motor
III – 84
120 120
79.8 79.8
78
(120)
(80)
5. MDS-C1-V1 Servo Drive
5.4 Connection of dynamic brake unit
The V1-110/150 servo drive unit does not have built-in dynamic brakes, so always install an external
dynamic brake unit.
Model name
Coil specification
MDS-B-DBU-150
24VDC
Compatible drive unit
160mA
V1-110/150
(1) When using only dynamic brake unit
Servo drive
MDS-C1-V1-110/150
Power supply
Cabinet
Contactor
grounding
Cabinet grounding
AC reactor
Motor
CB
200/230VAC
50/60Hz
24VDC
power
supply
Cabinet
grounding
(2) When using dynamic brake unit + magnetic brakes (combination use)
Servo drive
MDS-C1 -V1-110/150
Power supply
Cabinet
grounding
Contactor
Cabinet grounding
AC reactor
Motor
Magnetic brake
Sequence switch
CB
Brake coil
200/230VAC
50/60Hz
Cabinet
grounding
24VDC
power
supply
III – 85
5. MDS-C1-V1 Servo Drive
(3) The stop by the Dynamic brake
The dynamic brake is built in to MDS -B / C1-V 1-90.
MDS-B/C1-V1-110/150 use an external unit.
It is made to stop in a dynamic brake at the time of emergency stop generating, without performing
slowdown control.
A dynamic brake and a motor brake control output (CN20) also operate simultaneously immediately
after inputting an emergency stop signal.
IN
Emergency
Motor speed
time
Dynamic Brake
ON
Motor Brake Control
(CN20)
ON
CAUTION
Please do not use a dynamic brake as a usual slowdown stop. When continuation operation is
carried out, the brake resistance for dynamic may be damaged.
III – 86
5. MDS-C1-V1 Servo Drive
5.5 Hardware setting
Function
Setting
Meaning
0
1st axis
1
2nd axis
Axis No. setting
2
3
3rd axis
4th axis
CS
4
5th axis
5
6th axis
6
7th axis
7 to E
Not usable
Not used axis
selection
F
The servo drive unit axis No. can be set by opening the upper lid (next to LED status display window)
on the top of the MDS-C1-V1 servo drive unit, and turning the rotary switch. When the rotary switch is
set to "F" and the servo drive unit power is turned on, that axis will not be controlled. Thus, set axes
that are not being used to "F". (The communication with the NC will not take place during initialization,
and an alarm will not occur.)
In the above example, the 1st axis is set.
III – 87
5. MDS-C1-V1 Servo Drive
5.6 Parameter settings
CAUTION
Do not make remarkable adjustments and changes as the operation could become unstable.
(1) Parameter screens
The servo parameters are set on the NC [M_PARAM] screens.
Examples of the screen displays are shown for the 14" CRT screen.
There are a total of 64 servo parameters. Screen page 1 shows the parameters regarding the
specifications, and page 2 an excerpt of the parameters used for adjustment. Pages 3 and
following are all parameters for SV001 to SV064.
The parameters can be changed from any screen.
[SERVO PARAM]
M_PARAM 5.
#( 11)AXIS<X>DATA(
BASE1 BASE2
AXIS
1/6
33)
M_PARAM 5.
#( 11)AXIS<X>DATA(
ZP-RTN SERVO MC-ERR MACRO $-SELECT MENU
[SERVO PARAM]
[SERVO PARAM]
M_PARAM 5.
3/6
BASE1 BASE2
AXIS
25)
ZP-RTN SERVO MC-ERR MACRO $-SELECT MENU
[SERVO PARAM]
M_PARAM 5.
#( 14)AXIS<X>DATA( 500)
#( 25)AXIS<X>DATA( 0000)
BASE1 BASE2
BASE1 BASE2
AXIS
ZP-RTN SERVO MC-ERR MACRO $-SELECT MENU
[SERVO PARAM]
M_PARAM 5.
#( 48)AXIS<X>DATA(
BASE1 BASE2
AXIS
5/6
0)
AXIS
2/6
4/6
ZP-RTN SERVO MC-ERR MACRO $-SELECT MENU
[SERVO PARAM]
M_PARAM 5.
6/6
#( 64)AXIS<X>DATA( –128)
ZP-RTN SERVO MC-ERR MACRO $-SELECT MENU
BASE1 BASE2
III – 88
AXIS
ZP-RTN SERVO MC-ERR MACRO $-SELECT MENU
5. MDS-C1-V1 Servo Drive
5.6.1 Standard Parameters (Standard Drive unit)
There are a total of 64 servo parameters. The parameters can be changed on any screen.
(Note) In the following explanations on bits, set all bits not used, including blank bits, to "0".
Setting and display method of servo parameters vary with the CNC to be used. Refer to the
instruction manuals for each CNC.
Name
Abbr.
sv001
sv002
sv003
PC1
PC2
PGN1
sv004
sv005
sv006
PGN2
VGN1
VGN2
sv007
VIL
sv008
VIA
sv009
IQA
sv010
IDA
sv011
sv012
IQG
IDG
Motor gear ratio
Machine gear ratio
Position loop gain 1
Position loop gain 2
Speed loop gain 1
Speed loop gain 2
Speed loop delay
compensation
Speed loop advance
compensation
Current loop q-axis
advance compensation
Current loop d-axis
advance compensation
Current loop q-axis gain
Current loop d-axis gain
sv013
ILMT
Current limit value
sv014
ILMTsp
sv015
FFC
sv016
LMC1
sv017
SPEC
sv018
PIT
sv019
RNG1
sv020
RNG2
sv021
OLT
Current limit value
(special operation)
Acceleration feed forward
gain
Lost motion
compensation 1
Servo specifications
Ball screw pitch
Position detector
resolution
Speed detector
resolution
Overload time constant
sv022
OLL
Overload detection level
s v 023
OD1
sv024
sv025
INP
MTYP
sv026
OD2
sv027
SSF1
Details
Type
Spec
Spec
Spec
MDS-A/B Change
compatible method
Initial
¡
Initial
¡
Normal
¡
Setting unit
Min.
Max.
rad/s
1
1
1
32767
32767
200
0
1
-1000
999
999
1000
Type
Servo
Adjust
¡
Adjust
Adjust
¡
¡
¡
Normal
Normal
Normal
Adjust
¡
Normal
0
32767
¡
Adjust
¡
Normal
1
9999
¡
¡
Normal
1
20480
¡
¡
Normal
1
20480
¡
¡
¡
Normal
Normal
1
1
2560
2560
¡
¡
¡
Normal
stall rated
current %
0
999
¡
¡
Normal
stall rated
current %
0
999
¡
Adjust
¡
Normal
%
0
999
Adjust
¡
Normal
-1
200
*
*
¡
¡
Spec
rad/s
Machine
¡
¡
Initial
stall rated
current %
HEX setting
¡
¡
¡
¡
¡
¡
Spec
¡
Initial
mm
1
32767
Spec
¡
Initial
kp/rev,kp/PIT
1
9999
¡
Spec
¡
Initial
kp/rev
1
9999
¡
Normal
s
stall rated
current %
1
300
¡
1
500
¡
Normal
Excessive error detection
width (at SV ON)
In-position width
Spec
Motor/detector type
Excessive error
detection width (at SV
OFF)
Special servo function
Spec
selection 1
¡
¡
Normal
mm
0
32767
¡
¡
Normal
Initial
μm
HEX setting
0
*
32767
*
¡
Normal
mm
0
32767
¡
Normal
HEX setting
*
*
Normal
r/min
0
9999
¡
¡
¡
¡
¡
sv028
sv029
VCS
sv030
IVC
sv031
OVS1
sv032
TOF
sv033
SSF2
sv034
SSF3
sv035
SSF4
sv036
PTYP
sv037
JL
Speed loop gain change
starting speed
Voltage/current
compensation
Overshoot compensation 1 Adjust
Torque offset
Special servo function
selection 2
Special servo function
selection 3
Special servo function
selection 4
Power supply type
Load inertia ratio
(Jm+Jl)/Jm
¡
-32768
32767
¡
%
-1
100
¡
¡
Normal
¡
Normal
Adjust
¡
Normal
stall rated
current %
-100
100
Spec
/
Normal
HEX setting
*
*
¡
¡
Normal
HEX setting
*
*
¡
¡
Normal
HEX setting
*
*
¡
¡
Initial
HEX setting
*
*
¡
Normal
%
0
5000
Spec
Adjust
¡
III – 89
¡
5. MDS-C1-V1 Servo Drive
Name
Abbr.
sv038
FHz
sv039
LMCD
sv040
LMCT
sv041
LMC2
sv042
OVS2
sv043
OBS1
sv044
OBS2
sv045
TRUB
Details
Type
Frequency of machine
resonance suppression Adjust
filter
Lost motion
compensation timing
Current bias/lost motion Adjust
compensation dead zone
Lost motion
Adjust
compensation 2
MDS-A/B Change
compatible method
¡
/¡
Type
Servo
Setting unit
Min.
Max.
Normal
Hz
0
3000
Normal
ms
0
2000
¡
−/ µ m
-32768
32767
¡
-1
200
¡
-1
100
¡
0
1000
¡
Normal
Machine
Adjust
¡
¡
Normal
Overshoot compensation 2
¡
Normal
Observer 1
Observer 2
Current compensation/
Friction torque
¡
Normal
stall rated
current %
stall rated
current %
rad
¡
Normal
%
0
500
¡
/
Normal
−/stall rated
current %
-32768
32767
¡
¡
Normal
%
*
*
¡
Normal
ms
0
2000
¡
Normal
rad/s
1
200
¡
Normal
rad/s
0
999
¡
Normal
ms
0
9999
¡
Dual feedback control
dead band width
¡
Normal
µm
0
9999
¡
sv046
sv047
sv048
sv049
Inductive voltage
compensation
Drop prevention brake
EMGrt
operation delay time
Position loop gain 1
PGN1sp
(special operation)
EC1
Position loop gain 2
(special operation)
Dual feedback control
time constant
¡
¡
sv050
PGN2sp
sv051
DFBT
sv052
DFBN
sv053
OD3
Excessive error
detection width
(special operation)
¡
Normal
mm
0
32767
¡
sv054
ORE
Closed loop overrun
detection width
¡
Normal
mm
-1
32767
¡
sv055
EMGx
Emergency stop
maximum delay time
Normal
ms
0
2000
¡
sv056
EMGt
Emergency stop
deceleration time
constant
Normal
ms
-2000
2000
¡
sv057
SHGC
SHG control gain
¡
Normal
rad/s
0
999
¡
¡
Normal
rad/s
0
999
¡
0
32767
¡
0
500
¡
sv058
SHG control gain
SHGCsp
(special operation)
sv059
TCNV
Torque estimated gain
Normal
sv060
TLMT
G0 collision detection
level
Normal
sv061
DA1NO
D/A output channel-1
data No.
¡
Normal
*
*
sv062
DA2NO
D/A output channel-2
data No.
¡
Normal
*
*
sv063
DA1MPY
D/A output channel-1
magnification
¡
Normal
*
*
sv064
DA2MPY
D/A output channel-2
magnification
¡
Normal
*
*
Type
MDS-A/B
compatible
Change
method
stall rated
current %
Spec :Set in servo spec screen.
¡ : Same as MDS-A-Vx.
: Same setting as MDS-A-Vx even if the contents has
changed.
: New parameters of MDS-C1-Vx.
Adjust:Set in servo adjust screen.
Initial: Valid when NC power is turned ON.
Normal: Valid whenever setting.
III – 90
¡
: Includes new parameters of MDS-B-Vx.
: New parameters of MDS-B-Vx.
5. MDS-C1-V1 Servo Drive
(1) Parameters
CAUTION
In the following explanations on bits, set all bits not used, including blank bits, to "0".
Name
Abbr.
SV001 PC1
SV002 PC2
SV003 PGN1
SV004 PGN2
SV005 VGN1
SV006 VGN2
Details
Set the motor side gear ratio.
Set so that PC1 and PC2 have the smallest integer ratio.
(Refer to "(2) Limitations to electronic gear setting value".)
Set the machine side gear ratio.
Set so that PC1 and PC2 have the smallest integer ratio.
(Refer to "(2) Limitations to electronic gear setting value ".)
Set the position loop gain in increments of "1".
Set "33" for ordinary operation.
In case of SHG control, set this parameter with SV057 (SHGC).
Set "0" when it is not used.
Set the speed loop gain.
The standard value is 150.
When it is increased, response is improved but vibration and sound
become larger.
If it is desired to reduce noise generated at high-speed rotation for
rapid traverse, set a speed loop gain (smaller than VGN1) to be gain at
high-speed rotation (1.2 times higher than the rated rotating speed).
Set the start speed of speed gain decrease to the parameter
SV029(VCS).
Set "0" when this parameter function is not used.
Setting range (unit)
1 to 32767
1 to 32767
1 to 200 (rad/s)
0 to 999 (rad/s)
1 to 999
–1000 to 1000
VGN1
VGN2
0
SV007 VIL
SV008 VIA
SV009 IQA
SV010 IDA
SV011
IQG
SV012 IDG
VCS
r/min
VLMT (Rated rotating
speed of motor×1.2)
Set this parameter when the limit cycle occurs in a closed loop, or the
overshoot occurs during positioning.
Set "0" when this parameter function is not used.
Related parameter is vcnt1,vcnt2 in SV027 (SSF1).
Set the speed loop advance compensation.
Set the intra-current loop compensation.
The data to be set is predetermined for each motor employed.
Refer to section "(10) Standard Parameters for Each Motor".
Set the intra-current loop compensation
The data to be set is predetermined for each motor employed.
Refer to section "(10) Standard Parameters for Each Motor ".
Set the intra-current loop compensation.
The data to be set is predetermined for each motor employed.
Refer to section "(10) Standard Parameters for Each Motor ".
Set the intra-current loop compensation.
The data to be set is predetermined for each motor employed.
Refer to section "(10) Standard Parameters for Each Motor ".
III – 91
0 to 32767
1 to 9999
(0.0687 rad/s)
1 to 20480
1 to 20480
1 to 2560
1 to 2560
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV013 ILMT
Details
Set the current limit value by specifying the rate (%) in respect to the
stall rated current.
For making the maximum driver torque level available, assign "500".
Setting range (unit)
0 to 999
(Stall rated current %)
(This is the limit value for both + and – directions.)
SV014 ILMTsp
Set the rate (%) in respect to the stall rated current for special
operations (absolute position initialization, stopper operation, etc) to
set the current limit value for special operations .
For making the maximum driver torque level available, assign "500".
(This is the limit value for both the + and – direction.)
0 to 999
(Stall rated current %)
SV015 FFC
Set this parameter when an amount of overshoot caused in feed
0 to 999 (%)
forward control or a relative error caused in synchronous control is too
large.
Set "0" when this parameter is not used.
SV016 LMC1
Set this parameter if the protrusion is large when the arc quadrant is
changed.
(Caused by dead band from friction, torsion, backlash, etc.)
This is valid only when lost motion compensation SV027 (lmc1, lmc2)
is selected.
–1 to 200
Type 1 SV027 (SSF1) lmc1=1, lmc2=0
0 to 200 (%)
In low-speed interpolation mode, compensation of this type eliminates
bump.
Setting "0" to this parameter indicates interpolation gain 0.
Setting "100" indicates 100% compensation.
Type 2 SV027 (SSF1) lmc1=0, lmc2=1
This is the standard type of MDS series.
Use type 2 when type 1 is not enough for compensation such as in
high-speed, high-accuracy interpolation.
Set data in percentage to stall rated current.
To change the compensation gain (type 1) or compensation amount
(type 2) according to the direction.
To set a different value according to the command direction, set this
in addition to SV041 (LMC2).
Set the value for changing the command speed from the – to +
direction (during command direction CW) in SV016 (LMC1).
Set the value for changing the command speed from the + to –
direction (during command direction CW) in SV041 (LMC2).
When "–1" is set, compensation will not be carried out when the
command speed direction changes.
III – 92
0 to 100
(Stall rated current %)
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV017
SPEC
Details
Setting range (unit)
Set the servo system specifications in bit units.
F
E
D
C
5
vdir
4
fdir
B
A
spm
7
abs
6
HEX setting
9
8
mpt3 mp
3
2
1
0
spwv seqh dfbx vdir2
(Note) Always set to a "0" in a blank bit.
bit
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
SV018 PIT
Name
Meaning when set to 0
vdir2
Speed feedback forward polarity
dfbx
Dual feedback control invalid
seqh
Ready/servo ON time normal
mode
spwv Normal mode
fdir
Position feedback forward
polarity
vdir
Motor end detector installation
direction AC
Meaning when set to 1
Speed feedback reverse polarity
Dual feedback control valid
Ready/servo ON time reduced
mode
MDS-B-Vx4 Synchronous mode
Position feedback reverse
polarity
Motor end detector installation
direction BD
abs
mp
mpt3
Relative position detection
MP scale 360P (2mm pitch)
MP scale absolute position
detection type 1/2 selection
Absolute position detection
MP scale 720P (1mm pitch)
MP scale absolute position
detection type 3 selection
spm
Special motor selection
Normally set to "0".
Set the ball screw pitch.
Normally, set "360" for a rotation axis.
Refer to section "(2) Limitations to electronic gear setting value".
III – 93
1 to 32767 (mm)
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV019 RNG1
Details
Setting range (unit)
Set the number of pulses (k pulse) per rotation of the detector used for 1 to 9999
position control.
<Semi-closed loop>
Set the number of pulses (k pulse) per rotation of the motor. Set the
same value to SV020 (RNG2).
(kp/rev)
(kp/rev)
<Closed loop>
Set the number of pulses per ball screw pitch.
When using a linear scale, set the value obtained from the following
calculation expression:
Setting value =
Ball screw pitch (mm)
Linear scale resolution (mm)
× 10–3
SV020 RNG2
Set the number of pulses (k pulse) per rotation of the motor end
detector.
1 to 9999 (kp/rev)
SV021 OLT
Set the time constant for detection of overload 1 (OL1)
Set "60" for ordinary operation. When using a 15kW driver
(HA-A15KL), the upper limit value is 3 (s).
1 to 300 (s)
SV022 OLL
Set the current detection level of overload 1 (OL1) by specifying the
rate (%) in respect to the stall rated current (%).
Set "150" for ordinary operation.
1 to 500
(Stall rated current %)
SV023 OD1
Set the excessive detection error width at the time of servo ON.
<Setting equation>
F
OD1 = OD2 = OD3=
×0.5 (mm)
60×PGN1
0 to 32767 (mm)
OD1
F
: Max. rapid traverse rate (mm/min)
PGN1 : Position loop gain 1 (rad/s)
When "0" is set, the excessive error at servo ON will not be detected.
SV024 INP
Set the in-position detection width value.
Set "50" for ordinary operation.
III – 94
0 to 32767 (µm)
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV025 MTYP
Details
Set the motor and detector types.
Setting range (unit)
HEX setting
F E D C B A 9 8 7 6 5 4 3 2 1 0
pen
ent
mtyp
bit
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
SV026 OD2
Name
Details
mtyp Set the motor type.
(Refer to "(4) Motor type".)
ent
Set the speed detector type.
(Refer to "(5) Detector type".)
pen
Set the position detector type.
(Refer to "(5) Detector type".)
Set the excessive error detection width at the time of servo OFF.
0 to 32767 (mm)
Normally, set same value as SV023 (OD1).
When "0" is set, the excessive error at servo OFF will not be detected.
III – 95
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV027 SSF1
Details
Special servo functions selection 1
F
aflt
7
bit
0
1
2
6
5
4
zrn3 vfct2 vfct1
6
zrn3
C
D
E
F
3
2
1
0
upc vcnt2 vcnt1
Name
Meaning when set to 0
Meaning when set to 1
vcnt1 00: Delay compensation changeover invalid
vcnt2 01: Delay compensation changeover type 1
10: Delay compensation changeover type 2
11: Reserved
upc Starting torque compensation
Starting torque compensation
invalid
valid
vfct1
vfct2
A
B
0000 to FFFF
HEX setting
E
D
C
B
A
9
8
zrn2 afrg afse ovs2 ovs1 lmc2 lmc1
3
4
5
7
8
9
Setting range (unit)
00: Jitter compensation invalid
01: Jitter compensation 1 pulse
10: Jitter compensation 2 pulse
11: Jitter compensation 3 pulse
Set for normal use
Special reference point return
type
lmc1 Set the compensation gain with SV016 (LMC1) and SV041
lmc2 (LMC2).
00: Lost motion compensation invalid
01: Lost motion compensation type 1
10: Lost motion compensation type 2
11: Reserved
ovs1 00: Overshoot compensation invalid
ovs2 01: Overshoot compensation type 1
10: Overshoot compensation type 2
11: Overshoot compensation type 3
afse Set for normal use
Increases adaptive filter
sensitivity (Note)
afrg Set for normal use
Set this if the adaptive filter is
effective in the speed range.
zrn2 Reference point return type 1
Reference point return type 2
aflt Adaptive filter invalid
Adaptive filter valid
(Note) When setting "afrg" (bitD) to 1, also set "afse" (bitC) to 1.
SV028
Not used. Set "0".
0
SV029 VCS
If the noise is bothersome during high speeds, such as during rapid 0 to 9999 (r/min)
traverse, set the speed loop gain's drop start motor speed.
The speed loop gain drop target speed loop gain is set in SV006
(VGN2).
Set to "0" when not using this function.
SV030 IVC
n Voltage dead band compensation:
The low-order 8 bits are used.
n Current bias:
The high-order 8 bits are used. (Icx)
This is used in combination with the SV040
and SV045 high-order 8 bits.
III – 96
–32768 to 32767
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV031 OVS1
Details
Setting range (unit)
Set this parameter if overshooting occurs during deceleration/stop –1 to 100
using submicron or closed loop control.
(Stall rated current %)
The overshoot is improved more as the set value is larger.
Set 2 to 10 (%) for ordinary operation. (Ratio to stall rated current)
(Increase the set value in increments of 2% until a value which
suppresses overshoot is found.)
This is valid only when overshoot compensation SV027 (SSF1/ovs1,
ovs2) is selected.
SV032 TOF
Set the unbalance torque amount of an axis having an unbalanced –100 to 100
torque such as a vertical axis, as a percentage in respect to the stall
rated current (%).
This is used when SV027 SSF1 lmc1, lmc2 or SV027 SSF1 vcnt1,
vcnt2 is set.
SV033 SSF2
Special servo functions selection 2
F
E
0000 to FFFF
HEX setting
D
C
B
A
9
hvx
8
svx
5
4
3
2
nfd
1
0
zck
dos
7
6
fhz2
bit
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Name
Meaning when set to 0
Meaning when set to 1
Z phase check invalid
zck Z phase check valid
(part of alarm 42)
nfd Adjust the damping amount of the machine resonance
suppression filter.
When the setting value is increased, the effect of the machine
resonance suppression filter will drop, and the effect onto the
speed control will drop.
000: ∞
001: –18dB 010: –12dB 011: –9dB
100: –6dB
101: –4dB
110: –3dB
111: –1dB
fhz2 Select the main frequency of the 2nd machine resonance
suppression filter.
0000:Invalid 0010:1125Hz 0100:563Hz
0001:2250H z 0011:750Hz 0101:450Hz
0110:375HZ
0111:321Hz
Others:281Hz
svx
hvx
Control mode 00:Normal
10:High-gain mode
01:Standard mode
11:High-gain mode
dos
Digital signal output selection
0000: The MP scale absolute position detection system offset
request signal is output.
0001: The specified speed signal is output.
(Note) Set "0" in bits with no particular description.
III – 97
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV034 SSF3
Details
Setting range (unit)
Special servo functions selection 3
F
E
D
ovsn
5
zeg
0000 to FFFF
HEX setting
C
B
A
4
dcd
3
2
9
7
toff
6
os2
bit
0
Name
Meaning when set to 0
has1 Setting for normal use
1
has2 Setting for normal use
2
3
4
dcd
Setting for normal use
5
zeg
Setting for normal use
6
os2
Setting for normal use
7
toff
Setting for normal use
8
9
A
B
C
D
E
F
8
1
0
has2 has1
Meaning when set to 1
HAS control 1 valid, high-speed
compatible
HAS control 2 valid,
overshooting compatible
Do not set.
(For special applications.)
Z phase opposite edge
detection (Note 1)
Changes the overspeed
detection level. (Note 2)
Low -speed serial ABS scale
communication OFF (Note 3)
ovsn Set the overshoot compensation type 3 dead band.
(Note 1)
(Note 2)
(Note 3)
This is valid only when the special reference point return type is selected.
The following motors are the targets.
HA200, 300: 2400 → 3000r/min
HC53, 103, 153, 203, 353, 453, 153R, 203R: 3600 → 4200r/min
"toff" (Bit 7) is for testing purposes. When set to "1", the absolute position
cannot be initialized.
III – 98
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV035 SSF4
Details
Setting range (unit)
Special servo functions selection 4
F
clt
E
7
6
iup
bit
0
1
2
3
4
5
6
7
8
9
A
D
clG1
C
5
4
B
cl2n
A
clet
9
3
2
1
8
0000 to FFFF
HEX setting
cltq
0
tdt
Name
Meaning when set to 0
Meaning when set to 1
tdt
Td creation time setting (driver fixed)
Setting time (µs) = (tdt + 1) × 0.569
Setting time when "0" is set
Less than 7kW: 5.69µs
7kW or more: 8.52µs
When tdt<9, the setting is handled as tdt = 0.
Normally, set "0".
iup
Setting for normal use
cltq
Set the deceleration torque for when a collision is detected.
00: 100%
01: 90%
10: 80%
11: 70%
clet
Setting for normal use
B
cl2n
C
D
E
clG1
F
clt
Do not set.
(For special applications.)
The past two-second estimated
disturbance torque peak value is
displayed at MPOF on the
Servo Monitor screen in the
CNC side.
Setting for normal use
Collision detection method 2 is
invalidated.
Set the collision detection level for the collision detection method
1, G1 modal.
When 0 is set
: The method 1, G1 modal collision detection
will not be carried out.
When 1 to 7 is set : The method 1, G0 modal collision detection
level (SV060: TLMT) will be multiplied by the
set value, and the value is set as the level for
the method 1 G1 model.
Setting for normal use
The guide value for the SV059
(TCNV) setting value is
displayed at MPOF on the
Servo Monitor screen.
(Note) Set "0" in bits with no particular description.
III – 99
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV036 PTYP
Details
Setting range (unit)
Power supply type
F
7
E
0000 to FFFF
HEX setting
D
amp
C
5
4
6
B
A
9
8
1
0
rtyp
3
2
ptyp
bit
0
1
2
3
4
5
6
7
8
9
A
B
Name
Details for each bit
ptyp Set the power supply type.
(Refer to "(7) Power supply type" for details.)
rtyp
Set "0" if the power supply unit is a power supply regeneration
type.
If the power supply unit is a resistance regeneration type, set the
type of resistor being used.
(Refer to "(8) Regenerative resistance type" for details.)
C
D
E
F
amp
Set the driver model number.
0: MDS-C1-V1/V2/SP, MDS-B-V1/V2/SP, MDS-A-V1/V2/SP
1: MDS-A-SVJ
2: MDS-A-SPJ
SV037 JL
Set the load inertia that includes the motor in respect to the motor
inertia.
SV037 (JL) = (Jm + Jl)/Jm × 100
Jm : Motor inertia
Jl : Motor axis conversion load inertia
0 to 5000 (%)
SV038 FHz
If machine vibration occurs, set the vibration frequency to be
suppressed.
0 to 3000 (Hz)
Note that the value 70Hz or more should be set.
Take care when 100 to 140Hz is set for the versions up to Version AB.
Set "0" when not using this function.
SV039 LMCD
Set when the lost motion compensation timing is not suitable. Adjust
upwards in increments of "10 ms".
III – 100
0 to 2000 (ms)
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV040 LMCT
SV041 LMC2
Details
nSet the lost motion compensation dead band.
Set in the low-order 8 bits.
Normally set "0".
Set only when the lost motion compensation timing is not proper
during feed forward control.
nCurrent bias: Set in the high-order 8 bits. (Icy)
This is used in combination with SV030 and SV045 high-order 8 bits.
Normally set "0".
Set this with SV016 (LMC1) when setting the lost motion
compensation's gain (type 1) or compensation amount (type 2) to
different values according to the command direction.
• Set the value for changing the command speed from the – to +
direction (during command direction CW) in SV016 (LMC1).
• Set the value for changing the command speed from the + to –
direction (during command direction CW) in SV041 (LMC2).
• When "–1" is set, compensation will not be carried out when the
command speed direction changes.
This is valid only when lost motion compensation (SV027: lmc1, lmc2)
is selected.
Setting range (unit)
–32768 to 32767
(Note) The setting
range of the
low-order 8 bits
is 0 to 100
(µm).
–1 to 200
(Stall rated current %)
SV042 OVS2
Overshoot compensation 2
–1 to 100
Set the overshoot compensation amount for unidirectional movement (Stall rated current %)
(command direction CW).
When "0" is set, the value set for SV031 (OVS1) will be set.
When "–1" is set, compensation will not be carried out during
unidirectional movement.
This is valid only when overshoot compensation SV027 (SSF1/ovs1) is
selected.
SV043 OBS1
Observer1
0 to 1000 (rad)
Set the pole of the observer. Normally set approximately "628" (rad).
To operate the observer function, also set the SV037 (JL) and SV044
(OBS2).
Set to "0" when not used.
SV044 OBS2
Observer2
0 to 500 (%)
Set the execution gain of the observer. Normally set to "100".
To operate the observer function, also set the SV037 (JL) and SV043
(OBS1).
Set to "0" when not used.
SV045
SV046
TRUB
nWhen using the collision detection function, set the friction torque in
the low-order 8 bits with a rate (%) for the stall rated current.
Set "0" when not using the collision detection function.
–32768 to 32767
nCurrent bias : Set in the high-order 8 bits (Ib1). This is used in
combination with SV030 and SV040 high-order 8 bits.
(Note) The setting
range of the
low-order 8 bits
is 0 to 100
(Stall rated
current %).
Not used. Set "0".
0
III – 101
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV047 EC1
Details
Inductive voltage compensation
Setting range (unit)
–32768 to 32767 (%)
Set the execution gain of the inductive voltage compensation.
Normally, set "100".
SV048 EMGrt
Set the brake operation delay time when using the drop prevention
0 to 20000 (ms)
function.
Set a larger value than the actual brake operation time.
Set "0" when not using the drop prevention function.
SV055 (EMGx) and SV056 (EMGt) must also be set when this function
is used.
SV049 PGN1sp
Set the position loop gain for special operations (synchronous tap,
interpolation with spindle C axis, etc.).
Normally, set the spindle position loop gain.
1 to 200 (rad/s)
SV050 PGN2sp
Set this with SV058 (SHGCsp) when carrying out SHG control during
special operations (synchronous tap, interpolation with spindle C axis,
etc.).
When this parameter is not used, set "0".
0 to 999 (rad/s)
SV051 DFBT
Set the time constant for dual feedback control.
0 to 9999 (ms)
SV052 DFBN
Set the dead band for dual feedback control.
0 to 9999 (µm)
SV053 OD3
Set the excessive error detection width at servo ON for special
0 to 32767 (mm)
operations (absolute position initialization setting, stopper operation,
etc.).
When "0" is set, the excessive error will not be detected during special
operations and servo ON.
SV054 ORE
Set the overrun detection width for the closed loop.
For setting synchronous control slave axis, set the overrun detection
width for master/slave axis.
–1 to 32767 (mm)
When "–1" is set, the overrun will not be detected. When "0" is set, the
overrun will be detected with a 2 (mm) width.
SV055 EMGx
Set the emergency stop maximum delay time when using the drop
prevention function.
Normally, set it to the same value as the SV056 (EMGt).
Set "0" when not using the drop prevention function.
0 to 20000 (ms)
SV056 EMGt
Set the deceleration time constant from the maximum rapid traverse
speed when using the drop prevention function.
Normally, the same value as CNC G0 acceleration/deceleration time
constant is set.
Set "0" when not using the drop prevention function.
-20000 to 20000 (ms)
SV057 SHGC
Set this with SV004 (PGN2) when carrying out SGH control.
Set 0 when not using this function.
0 to 999 (rad/s)
SV058 SHGCsp
Set this with SV050 (PGN2sp) when carrying out SHG control during
special operations (synchronous tap, interpolation with spindle C axis,
etc.).
Set 0 when not using this function.
0 to 999 (rad/s)
III – 102
5. MDS-C1-V1 Servo Drive
Name
Abbr.
Details
Setting range (unit)
SV059 TCNV
When using the collision detection function, set the estimated torque
0 to 32767
gain.
When "1" is set in SV035 (SSF4/clt), the setting value guideline can be
displayed in MPOF on the Servo monitor screen.
Set "0" when not using the collision detection function.
SV060 TLMT
When using the collision detection function, set the collision detection
level for the method 1·G0 modal with a rate for the stall rated current.
Set "0" when not using the collision detection function.
0 to 100
(Stall rated current %)
SV061 DA1NO
Set the output data number for the D/A output channel 1.
When "−1" is set, the D/A output of that axis will not be carried out.
–32768 to 32767
SV062 DA2NO
Set the output data number for the D/A output channel 2.
When "−1" is set, the D/A output of that axis will not be carried out.
–32768 to 32767
SV063 DA1MPY Set the output magnification for the D/A output channel 1.
–32768 to 32767
The output magnification will be the setting value/256.
If "0" is set, the output magnification will be 1-fold, in the same manner
as when "256" is set.
SV064 DA2MPY Set the output magnification for the D/A output channel 2.
–32768 to 32767
The output magnification will be the setting value/256.
If "0" is set, the output magnification will be 1-fold, in the same manner
as when "256" is set.
III – 103
5. MDS-C1-V1 Servo Drive
(2) Limitations to electronic gear setting value
The servo drive unit has internal electronic gear. 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. However, each value (ELG1, ELG2) must be 32767 or
less.
If the value overflows, the initial parameter error (alarm 37) 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.
Parameters related to electronic gears
SV001 (PC1), SV002 (PC2), SV003 (PGN1) (SV049 (PGN1sp)), SV018 (PIT), SV019 (RNG1), SV020 (RNG2)
Reduced fraction of
ELG1 =
PC2 × RANG
(reduced fraction)
ELG2
PC1 × PIT × IUNIT
<Semi-closed loop>
RANG = RNG1
<Closed loop>
RANG = (RNG2 × PGN1sp)
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
Method of confirming maximum setting range for PC1 and PC2 (Example)
For semi-closed loop, 10mm ball screw lead, 1µm command unit and OSA104 motor end detector.
The following parameters can be determined with the above conditions.
SV018 (PIT) = 10, SV019 (RNG1) = 100, SV020 (RNG2) = 100, IUNIT = 2
According to the specifications, the maximum setting value for ELG1 and ELG2 is 32767.
ELG1
PC2 × 100
5 × PC2 Thus, the maxiPC2 < 6553
=
=
ELG2
PC1 × 10 × 2
1 × PC1 mum value is:
PC1 < 32767
Set the PC1 and PC2 gear ratio to within the above calculation results.
III – 104
5. MDS-C1-V1 Servo Drive
(3) Command polarity
When the motor is to rotate in the clockwise direction (looking from the load side) at the command
for the + direction, the command direction is CW. Conversely, when the motor is to rotate in the
counterclockwise direction, the command direction is CCW.
This rotation direction can be set with the CNC machine parameters. Note that the meaning of the
± will differ for some servo parameters according to this motor rotation direction. The servo
parameters affected by CW/CCW are shown below.
SV016 (LMC1), SV041 (LMC2)
SV031 (OVS1), SV042 (OVS2)
(When different values are set for SV016 and SV041)
(When different values are set for SV031 and SV042)
<Example> If the lost motion compensation amount is to be changed according to the direction,
the compensation amount at the quadrant changeover point of each arc where the
lost motion compensation is applied will be as shown below according to the
command polarity.
CW
CCW
A
X: SV041
X: SV016
B
Y: SV016
Y: SV041
C
X: SV016
X: SV041
D
Y: SV041
Y: SV016
C The X axis command
direction changes from
the – to + direction.
+Y
–X
D The Y axis command
direction changes from
the + to – direction.
+X
–Y
B The Y axis command
direction changes from
the – to + direction.
A The X axis command
direction changes from
the + to – direction.
(4) Motor type
Set "mtyp" of SV025 (MTYP) from the following table.
2000r/min 3000r/min
low
low
inertia
inertia
Motor 2000r/min
series standard
No.
0x
x0 HA40N
x1
HA80N
1x
2x
HA50L
3x
HA53L
HC
HC
2000r/min 3000r/min
medium medium
inertia
inertia
3000r/min
standard
4x
5x
6x
7x
8x
HA43N
9x
Ax
Bx
HC52
Cx
HC53
HC
3000r/min
ultra-low
inertia
Dx
Ex
HA100L HA103L
HA83N
HC102
HC103
HC103R
x2 HA100N
HA200L HA203L
HA103N
HC152
HC153
HC153R
x3 HA200N
HA300L HA303L
HA203N
HC202
HC203
HC203R
x4 HA300N
HA500L HA503L
HA303N
HC352
HC353
HC353R
HA703N
HC452
HC453
HC503R
HC702
HC703
x5 HA700N
x6 HA900N
x7
HA-A11KL
x8
HA-A15KL
HC902
x9
xA
HA150L HA153L
HA93N
xB
xC
HA053
xD
HA13
xE
HA23N
xF
HA33N
III – 105
Fx
5. MDS-C1-V1 Servo Drive
(5) Detector type
Set "pen" / "ent" of SV025 (MTYP) from the following table.
Detection
method
No.
0
1
2
3
4
5
6
7
8
Detector model name
High-speed serial
High-speed serial
High-speed serial
ABZ+UVW(No OHM)
ABZ
High-speed serial
ABZ+low -speed
serial
High-speed serial
High-speed serial
OSE104
OSA104
OSE105
HA053
OHE25K- ET
OSE104-ET
ABZ
ABZ+low -speed
serial
SCALE
ABS SCALE
(Note 1)
ABS SCALE
(Note 2)
9
A
High-speed serial
B
C
High-speed serial
D
High-speed serial
OSA105
HA13
Device
Remarks
Motor end
detector
HA-FH
OHA25K-ET
Ball screw end
detector
OSA104-ET
OSE105-ET
OSA105-ET
Cannot be set to
speed detector
type (ent).
Machine end
detector
OSE104
OSE104-ET
ABS SCALE
(Note 2)
OSE105
OSE105-ET
OSA104
OSA104-ET
OSA105
OSA105-ET
Synchronous
control
E
F
CAUTION
With MDS-C1 series, only the serial encoder is applied as the motor end detector.
Thus, OHE/OHA type detector cannot be used as the motor end detector.
(Note 1) ABS SCALE corresponds to the following absolute position detection scales.
Mitutoyo Corporation
AT41
FUTABA Corporation
FME type, FLE type
(Note 2) ABS SCALE corresponds to the following absolute position detection scale.
Mitutoyo Corporation
AT342
(Note 3) These are not used with the closed loop system.
(6) Detection system and MTYP
Set SV025 (MTYP) from the following table.
(a) Semi-closed loop
OHE25K
Motor end
detector
MTYP
00xx
OHA25K
OSE104
OSA104
OSE105
OSA105
HA-FH
Detect
Detect
Detect
Detect
Detect
Detect
Detect
MTYP
MTYP
MTYP
MTYP
MTYP
MTYP
system
system
system
system
system
system
system
INC
11xx
ABS
00xx
INC
11xx
ABS
22xx
INC
22xx
ABS
22xx
ABS
HA053/13
HA-FE
MTYP
Detect
system
33xx
INC
(b) Closed loop
Machine
end
detector
Motor
end
detector
OSE104
OSA104
OSE105
OSA105
HA053/13
HA-FE
OHE25K- ET OHA25K-ET OSE104-ET OSA104-ET OSE105-ET OSA105-ET
MTYP
40xx
41xx
42xx
42xx
43xx
43xx
SCALE
ABS SCALE
low-speed serial
ABS SCALE
high-speed serial
Detect
Detect
Detect
Detect
Detect
Detect
Detect
Detect
Detect
MTYP
MTYP
MTYP
MTYP
MTYP
MTYP
MTYP
MTYP
system
system
system
system
system
system
system
system
system
INC
INC
INC
INC
INC
INC
50xx
51xx
52xx
52xx
53xx
53xx
ABS
ABS
ABS
ABS
ABS
ABS
40xx
41xx
42xx
42xx
43xx
43xx
INC
INC
INC
INC
INC
INC
50xx
51xx
52xx
52xx
53xx
53xx
ABS
ABS
ABS
ABS
ABS
ABS
60xx
61xx
62xx
62xx
63xx
63xx
III – 106
INC
INC
INC
INC
INC
INC
60xx
61xx
62xx
62xx
63xx
63xx
ABS
ABS
ABS
ABS
ABS
ABS
80xx
INC
90xx
81xx MP ABS 91xx
82xx
INC
92xx
82xx MP ABS 92xx
83xx
INC
93xx
83xx
INC
93xx
ABS
ABS
ABS
ABS
ABS
ABS
A0xx
A1xx
A2xx
A2xx
A3xx
A3xx
ABS
ABS
ABS
ABS
ABS
ABS
5. MDS-C1-V1 Servo Drive
(c) Synchronous control semi-closed loop (set only the slave axis.)
Speed-command synchronous control
Current -command synchronous control
OSE104
OSA104
OSE105
OSA105
OSE104
OSA104
OSE105
OSA105
Motor end
Detect
Detect
Detect
Detect
Detect
Detect
Detect
Detect
detector MTYP system MTYP system MTYP system MTYP system MTYP sy stem MTYP system MTYP system MTYP system
C0xx
INC
C1xx
ABS
C2xx
INC
C2xx
ABS
CCxx
INC
CCxx
ABS
CCxx
(d) Synchronous control closed loop (set only the slave axis.)
Machine
end
detector
Motor
end
detector
OSE104
OSA104
OSE105
OSA105
Speed-command synchronous control
OSE104-ET
OSA104-ET
OSE105-ET
OSA105-ET
Detect
MTYP
system
D0xx
INC
D1xx
INC
Detect
MTYP
system
D0xx
ABS
D1xx
ABS
D0xx
D1xx
Detect
system
INC
INC
Detect
MTYP
system
D0xx
ABS
D1xx
ABS
D2xx
D2xx
D2xx
D2xx
D2xx
D2xx
INC
INC
INC
INC
MTYP
ABS
ABS
D2xx
D2xx
ABS
ABS
ABS SCALE
high-speed serial
D0xx
D1xx
Detect
system
ABS
ABS
D2xx
D2xx
ABS
ABS
MTYP
(7) Power supply type
Set "ptyp" of SV036 (PTYP) from the following table.
No.
0
0xkW
0x
PS
1xkW
1x
2xkW
2x
3xkW
3x
CV-300
4xkW
4x
5xkW
5x
6x
7x
0xkW
8x
non-connect
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
CV-110
CR-10
CR-15
CR-22
CR-37
CV-220
CV-37
CV-150
CV-55
CV-450
CV-550
CV-260
CR-55
CV-370
CV-75
CR-75
CR-90
CV-185
(8) Regenerative resistance type
Set "port" of SV036 (PTYP) from the following table.
No.
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Regenerative
register type
Resistance
value (Ω )
Watts (W)
GZG200W260HMJ
GZG300W130HMJ×2
MR-RB30
MR-RB50
GZG200W200HMJ×3
GZG300W200HMJ×3
R-UNIT-1
R-UNIT-2
R-UNIT-3
26
26
13
13
6.7
6.7
30
15
15
80
150
300
500
350
500
700
700
2100
III – 107
INC
CCxx
ABS
5. MDS-C1-V1 Servo Drive
(9) Current limit value
Motor
HA40N
HA80N
HA100N
HA200N
HA300N
HA700N
HA900N
HA053
HA13
HA23N
HA33N
HA43N
HA83N
HA103N
HA203N
HA303N
HA703N
HA50NL
HA100NL
HA150NL
HA200NL
HA300NL
HA500NL
HA53NL
HA103NL
HA153NL
HA203NL
HA303NL
HA503NL
HA-LH11K2
HA-LH15K2
Stall rated Maximum Maximum
current
current
torque
Torque
limit
A
A
N·m
%
3.6
6.6
14
22
37
49
56
1.4
1.4
3
3
5
8.8
19.6
34.5
55
68
4
8
11.5
18.2
25
44
5.8
11.0
16.2
21
32
54
84
100
17
28
42
57
85
113
141
3.9
3.9
8.1
8.1
17
28
57
85
113
141
17
28
42
42
57
85
28
42
42
57
85
113
204
260
14.2
25.5
42
60
87
120
153
0.69
1.37
2.75
5.6
10.2
19.2
40
56
80
105
13.0
20.9
31
32
52
72
14.1
22.5
22.8
37
60
78
158
215
472
424
300
260
230
231
252
279
279
270
270
340
318
291
246
205
207
425
350
365
231
228
193
482
381
259
271
265
209
242
260
Motor
HC52
HC102
HC152
HC202
HC352
HC452
HC702
HC902
HC53
HC103
HC153
HC203
HC353
HC453
HC703
HC103R
HC153R
HC203R
HC353R
HC503R
Stall rated Maximum Maximum
current
current
torque
Torque
limit
A
A
N·m
%
3.94
7.4
11.1
15.4
22.9
40.4
46.2
55.9
5.8
9.8
15.9
22.4
33.3
57.3
69.2
6.1
8.8
14.0
22.5
28.0
17
28
47
47
64
85
113
141
17
28
47
64
85
113
141
18.4
23.4
37.0
56.3
70.0
11.8
21.6
35.3
41.7
59.8
87.5
120
153
8.82
16.7
28.4
40.2
55.9
79.8
105
7.95
11.9
15.9
27.8
39.8
431
378
423
305
279
210
245
252
293
286
296
286
255
197
210
459
318
300
253
303
(Note) When "500%" for SV013 ILMT1 is set, the current limit value is maximum current
(torque) one shown in the table above.
Set a parameter at the rate (%) of the stall rated current to limit the current value
(torque) less than the maximum current value.
III – 108
5. MDS-C1-V1 Servo Drive
(10)Standard Parameters for Each Motor
Motor
Driver
sv001
sv002
sv003
sv004
sv005
sv006
sv007
sv008
sv009
sv010
sv011
sv012
sv013
sv014
sv015
sv016
sv017
sv018
sv019
sv020
sv021
sv022
sv023
sv024
sv025
sv026
sv027
sv028
sv029
sv030
sv031
sv032
sv033
sv034
sv035
sv036
sv037
sv038
sv039
sv040
sv041
sv042
sv043
sv044
sv045
sv046
sv047
sv048
sv049
sv050
sv051
sv052
sv053
sv054
sv055
sv056
sv057
sv058
sv059
sv060
sv061
sv062
sv063
sv064
HA
40N
05
HA
43N
05
HA
80N
10
HA
83N
10
HA
93N
20
33
0
150
0
0
1364
2048
2048
512
512
500
500
0
0
0000
60
150
6
50
xx00
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
150
0
0
1364
2048
2048
256
512
500
500
0
0
0000
60
150
6
50
xx80
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
150
0
0
1364
2048
2048
512
512
500
500
0
0
0000
60
150
6
50
xx01
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
150
0
0
1364
2048
2048
256
512
500
500
0
0
0000
60
150
6
50
xx81
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
150
0
0
1364
2048
2048
256
512
500
500
0
0
0000
60
150
6
50
xx8A
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HA
100N
20
33
0
150
0
0
1364
2048
2048
256
512
500
500
0
0
0000
60
150
6
50
xx02
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HA
103N
35
33
0
150
0
0
1364
2048
2048
256
512
500
500
0
0
0000
60
150
6
50
xx82
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HA
200N
35
33
0
150
0
0
1364
2048
2048
256
512
500
500
0
0
0000
60
150
6
50
xx03
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HA
203N
45
33
0
150
0
0
1364
2048
2048
256
512
500
500
0
0
0000
60
150
6
50
xx83
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Standard motor
HA
HA
HA
300N 303N 700N
45
70
70
33
33
25
0
0
0
150
150 250
0
0
0
0
0
0
1364 1364 1364
2048 2048 2048
2048 2048 2048
256
256 200
512
512 256
500
500 500
500
500 500
0
0
0
0
0
0
0000 0000 0000
60
60
60
150
150 150
6
6
6
50
50
50
xx04 xx84 xx05
6
6
6
4000 4000 4000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0000 0000 0000
0000 0000 0000
0000 0000 0000
0000 0000 0000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
100
100 100
0
0
0
15
15
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
III – 109
HA
703N
90
25
0
250
0
0
1364
2048
2048
200
256
500
500
0
0
0000
60
150
6
50
xx85
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HA
900N
90
25
0
250
0
0
1364
2048
2048
200
256
500
500
0
0
0000
60
150
6
50
xx06
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HA
053
01
HA
13
01
HA
23N
03
HA
33N
03
HAN23
03
HAN33
03
HAN43
05
33
0
70
0
0
1364
2048
2048
256
256
500
500
0
0
0000
10
10
60
150
6
50
338C
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
70
0
0
1364
2048
2048
256
256
500
500
0
0
0000
10
10
60
150
6
50
338D
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
100
0
0
1364
2048
2048
224
224
500
500
0
0
0000
60
150
6
50
xx8E
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
100
0
0
1364
2048
2048
224
224
500
500
0
0
0000
60
150
6
50
xx8F
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
70
0
0
1364
2048
2048
256
256
500
500
0
0
0000
60
150
6
50
xx6E
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
70
0
0
1364
2048
2048
256
256
500
500
0
0
0000
60
150
6
50
xx6F
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
35
0
0
1364
2048
2048
512
512
500
500
0
0
0000
60
150
6
50
xx60
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
5. MDS-C1-V1 Servo Drive
Motor
Driver
sv001
sv002
sv003
sv004
sv005
sv006
sv007
sv008
sv009
sv010
sv011
sv012
sv013
sv014
sv015
sv016
sv017
sv018
sv019
sv020
sv021
sv022
sv023
sv024
sv025
sv026
sv027
sv028
sv029
sv030
sv031
sv032
sv033
sv034
sv035
sv036
sv037
sv038
sv039
sv040
sv041
sv042
sv043
sv044
sv045
sv046
sv047
sv048
sv049
sv050
sv051
sv052
sv053
sv054
sv055
sv056
sv057
sv058
sv059
sv060
sv061
sv062
sv063
sv064
HA
50L
05
33
0
30
0
0
1364
2048
2048
512
512
500
500
0
0
0000
60
150
6
50
xx20
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2000r/min low-inertia motor
HA
HA
HA
HA
HA
HA100L 150L 200L 300L 500L A11KL
10
10
20
35
45
110
33
33
33
33
33
33
0
0
0
0
0
0
30
30
30
30
50
150
0
0
0
0
0
0
0
0
0
0
0
0
1364 1364 1364 1364 1364 1364
2048 2048 2048 2048 2048 2048
2048 2048 2048 2048 2048 2048
512
512
512 256
256
512
512
512
512 512
512
512
500
500
500 500
500
500
500
500
500 500
500
500
0
0
0
0
0
0
0
0
0
0
0
0
0000 0000 0000 0000 0000 0000
60
60
60
60
60
60
150
150
150 150
150
150
6
6
6
6
6
6
50
50
50
50
50
50
xx21 xx2A xx22 xx23 xx24 xx27
6
6
6
6
6
6
4000 4000 4000 4000 4000 4000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0000 0000 0000 0000 0000 0000
0000 0000 0000 0000 0000 0000
0000 0000 0000 0000 0000 0000
0000 0000 0000 0000 0000 0000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
100
100
100 100
100
100
0
0
0
0
0
0
15
15
15
15
15
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HAA15KL
150
33
0
150
0
0
1364
2048
2048
512
512
500
500
0
0
0000
3
150
6
50
xx28
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3000r/min low-inertia motor
HA
HA
HA
HA
HA
103L 153L 203L 303L 503L
20
20
35
45
70
33
33
33
33
33
33
0
0
0
0
0
0
30
30
30
30
30
50
0
0
0
0
0
0
0
0
0
0
0
0
1364 1364 1364 1364 1364 1364
2048 2048 2048 2048 2048 2048
2048 2048 2048 2048 2048 2048
512
512
512 512
256
256
512
512
512 512
512
512
500
500
500 500
500
500
500
500
500 500
500
500
0
0
0
0
0
0
0
0
0
0
0
0
0000 0000 0000 0000 0000 0000
60
60
60
60
60
60
150
150
150 150
150
150
6
6
6
6
6
6
50
50
50
50
50
50
xx30 xx31 xx3A xx32 xx33 xx34
6
6
6
6
6
6
4000 4000 4000 4000 4000 4000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0000 0000 0000 0000 0000 0000
0000 0000 0000 0000 0000 0000
0000 0000 0000 0000 0000 0000
0000 0000 0000 0000 0000 0000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
100
100
100 100
100
100
0
0
0
0
0
0
15
15
15
15
15
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HA
53L
10
III – 110
5. MDS-C1-V1 Servo Drive
Motor
Driver
HC
52
05
HC
53
05
HC
102
10
HC
103
10
HC
152
20
HC
153
20
sv001
sv002
sv003
sv004
sv005
sv006
sv007
sv008
sv009
sv010
sv011
sv012
sv013
sv014
sv015
sv016
sv017
sv018
sv019
sv020
sv021
sv022
sv023
sv024
sv025
sv026
sv027
sv028
sv029
sv030
sv031
sv032
sv033
sv034
sv035
sv036
sv037
sv038
sv039
sv040
sv041
sv042
sv043
sv044
sv045
sv046
sv047
sv048
sv049
sv050
sv051
sv052
sv053
sv054
sv055
s v 056
sv057
sv058
sv059
sv060
sv061
sv062
sv063
sv064
33
0
100
0
0
1364
2048
2048
512
512
500
500
0
0
0000
60
150
6
50
xxB0
6
4000
0
0
0
0
0
0000
0003
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
100
0
0
1364
2048
2048
256
512
500
500
0
0
0000
60
150
6
50
xxC0
6
4000
0
0
0
0
0
0000
0003
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
100
0
0
1364
2048
2048
512
512
500
500
0
0
0000
60
150
6
50
xxB1
6
4000
0
0
0
0
0
0000
0003
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
100
0
0
1364
2048
2048
256
512
500
500
0
0
0000
60
150
6
50
xxC1
6
4000
0
0
0
0
0
0000
0003
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
100
0
0
1364
2048
2048
512
512
500
500
0
0
0000
60
150
6
50
xxB2
6
4000
0
0
0
0
0
0000
0003
0040
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
100
0
0
1364
2048
2048
256
512
500
500
0
0
0000
60
150
6
50
xxC2
6
4000
0
0
0
0
0
0000
0003
0040
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HC standard motor
HC
HC
HC
HC
HC
HC
HC
HC
HC
202
203
352
353
452
453
702
703
902
20
35
35
45
45
70
70
90
90
33
33
33
33
33
33
33
33
33
0
0
0
0
0
0
0
0
0
100
100
100
100
100
100
150
100
150
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1364 1364 1364 1364 1364 1364 1364 1364 1364
2048 2048 2048 2048 2048 2048 2048 2048 2048
2048 2048 2048 2048 2048 2048 2048 2048 2048
256
256
256
256
256
256
200
256
200
512
512
512
512
512
512
256
512
256
500
500
500
500
500
500
500
500
500
500
500
500
500
500
500
500
500
500
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0000 0000 0000 0000 0000 0000 0000 0000 0000
60
60
60
60
60
60
60
60
60
150
150
150
150
150
150
150
150
150
6
6
6
6
6
6
6
6
6
50
50
50
50
50
50
50
50
50
xxB3 xxC3 xxB4 xxC4 xxB5 xxC5 xxB6 xxC6 xxB7
6
6
6
6
6
6
6
6
6
4000 4000 4000 4000 4000 4000 4000 4000 4000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0000 0000 0000 0000 0000 0000 0000 0000 0000
0003 0003 0003 0003 0003 0003 0003 0003 0003
0040 0040 0040 0040 0040 0040 0040 0040 0040
0000 0000 0000 0000 0000 0000 0000 0000 0000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
10240 10240 10240 10240 10240 10240 10240 10240 10240
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
100
100
100
100
100
100
100
100
100
0
0
0
0
0
0
0
0
0
15
15
15
15
15
15
15
15
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
III – 111
5. MDS-C1-V1 Servo Drive
Motor
Driver
sv001
sv002
sv003
sv004
sv005
sv006
sv007
sv008
sv009
sv010
sv011
sv012
sv013
sv014
sv015
sv016
sv017
sv018
sv019
sv020
sv021
sv022
sv023
sv024
sv025
sv026
sv027
sv028
sv029
sv030
sv031
sv032
sv033
sv034
sv035
sv036
sv037
sv038
sv039
sv040
sv041
sv042
sv043
sv044
sv045
sv046
sv047
sv048
sv049
sv050
sv051
sv052
sv053
sv054
sv055
sv056
sv057
sv058
sv059
sv060
sv061
sv062
sv063
sv064
HC
103R
10
33
0
15
0
0
1364
4096
4096
256
512
500
500
0
0
0000
60
150
6
50
xxE1
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HC**R
HC
153R
10
33
0
15
0
0
1364
4096
4096
256
512
500
500
0
0
0000
60
150
6
50
xxE2
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
motor
HC
203R
20
33
0
20
0
0
1364
4096
4096
256
512
500
500
0
0
0000
60
150
6
50
xxE3
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HC
353R
35
33
0
40
0
0
1364
4096
4096
256
512
500
500
0
0
0000
60
150
6
50
xxE4
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
III – 112
5. MDS-C1-V1 Servo Drive
5.6.2 High-gain Parameters (High-gain Drive unit)
There are a total of 65 servo parameters. The parameters can be changed on any screen.
(Note) In the following explanations on bits, set all bits not used, including blank bits, to "0".
Setting and display method of servo parameters vary with the CNC to be used. Refer to the instruction
manuals for each CNC.
B-Vx
Change
compatible method
Abbr.
Details
Type
sv001
PC1
Motor gear ratio
Machine gear ratio
Position loop gain 1
Position loop gain 2
Speed loop gain 1
Speed loop gain 2
Speed
loop
delay
compensation
Speed
loop
advance
compensation
Current loop q-axis advance
compensation
Current loop d-axis advance
compensation
Current loop q-axis gain
Current loop d-axis gain
Spec
¡
Spec
¡
Initial
Spec
¡
Normal
rad/s
Adjust
¡
Normal
rad/s
Adjust
¡
Normal
1
999
¡
¡
Normal
-1000
1000
¡
Adjust
¡
Normal
0
*
¡
Adjust
¡
Normal
1
9999
¡
¡
Normal
1
20480
¡
¡
Normal
1
20480
¡
¡
Normal
1
4096
¡
¡
Normal
1
4096
¡
0
999
¡
¡
sv002
PC2
sv003
PGN1
sv004
PGN2
sv005
VGN1
sv006
VGN2
sv007
VIL
sv008
VIA
sv009
IQA
sv010
IDA
sv011
IQG
sv012
IDG
sv013
ILMT
sv014
ILMTsp
sv015
FFC
s v 016
LMC1
sv017
SPEC
sv018
PIT
sv019
RNG1
sv020
RNG2
sv021
OLT
sv022
OLL
sv023
OD1
sv024
INP
sv025
MTYP
sv026
OD2
sv027
SSF1
Setting unit
Initial
Min.
Max.
1
*
Machine
¡
1
*
¡
1
200
0
999
Type
Servo
Name
¡
Normal
stall rated
current %
¡
Normal
stall rated
current %
0
999
Adjust
¡
Normal
%
0
999
Lost motion compensation 1
Adjust
¡
Normal
stall rated
current %
-1
200
Servo specifications
Ball screw pitch
Position detector resolution
Speed detector resolution
Overload time constant
Spec
Current limit value
Current
limit
value
(special operation)
Acceleration feed forward
gain
¡
¡
¡
¡
Initial
HEX setting
*
*
¡
Spec
¡
Initial
mm
1
*
¡
Spec
¡
Initial
kp/rev,kp/PIT
1
9999
¡
Spec
¡
Initial
kp/rev
1
9999
¡
¡
Normal
s
1
999
¡
¡
Normal
stall rated
current %
10
500
¡
¡
Normal
mm
0
*
¡
¡
Normal
µm
0
*
¡
Initial
HEX setting
*
*
Normal
mm
0
*
Normal
HEX setting
*
*
¡
Normal
r/min
0
9999
¡
¡
Normal
*
*
¡
Overload detection level
Excessive detection error
width (at SV ON)
In-position width
Motor/detector type
Excessive detection error
width (at SV OFF)
Special servo function 1
Adjust
Spec
¡
Spec
¡
¡
¡
¡
¡
¡
sv028
Speed loop gain change
starting speed
Voltage/current
compensation
Overshoot compensation 1
Adjust
¡
Normal
%
-1
100
¡
TOF
Torque offset
Adjust
¡
Normal
stall rated
current %
-100
100
¡
sv033
SSF2
/
Normal
HEX setting
*
*
¡
¡
SSF3
Normal
HEX setting
*
*
¡
¡
sv035
SSF4
¡
Normal
HEX setting
*
*
¡
¡
sv036
PTYP
Spec
¡
Initial
HEX setting
*
*
¡
sv037
JL
Special servo function 2
Special servo function 3
Special servo function 4
Power supply type
Load inertia ratio (Jm+Jl/Jm)
Spec
sv034
Adjust
¡
Normal
%
0
5000
sv029
VCS
sv030
IVC
sv031
OVS1
sv032
III – 113
¡
5. MDS-C1-V1 Servo Drive
Min.
Max.
Normal
Hz
0
9000
¡
Normal
ms
0
2000
¡
Adjust
¡
Normal
−/ µ m
*
*
¡
Adjust
¡
Normal
-1
200
¡
Overshoot compensation 2
¡
Normal
-1
100
¡
Observer 1
Observer 2
¡
Normal
rad
0
1000
¡
¡
Normal
%
0
500
¡
Normal
−/stall rated
current %
*
*
¡
Normal
Hz
0
9000
¡
Normal
%
*
*
¡
Normal
ms
0
20000
¡
Normal
rad/s
1
200
¡
Normal
rad/s
0
999
¡
Normal
ms
0
9999
¡
¡
Normal
µm
0
9999
¡
¡
Normal
mm
0
*
¡
¡
Normal
mm
-1
*
¡
¡
Normal
ms
0
20000
¡
¡
Normal
ms
-20000
20000
¡
¡
Normal
rad/s
0
1200
¡
¡
Normal
rad/s
0
1200
¡
¡
Normal
*
*
¡
0
999
¡
Normal
*
*
¡
Normal
*
*
¡
Normal
*
*
¡
Normal
*
*
¡
Normal
*
*
sv038
FHz1
sv039
LMCD
sv040
LMCT
sv041
LMC2
Lost motion compensation 2
sv042
OVS2
sv043
OBS1
sv044
OBS2
TRUB
sv046
FHz2
sv047
EC1
sv048
EMGrt
sv049 PGN1sp
sv050 PGN2sp
sv051
DFBT
sv052
DFBN
sv053
OD3
sv054
ORE
sv055
EMGx
sv056
EMGt
sv057
SHGC
sv058 SHGCsp
sv059
TCNV
sv060
TLMT
sv061
DA1NO
sv062
DA2NO
sv063 DA1MPY
sv064 DA2MPY
sv065
TLC
Type
MDS-B-Vx
compatible
Change
method
Type
Setting unit
Abbr.
sv045
B-Vx
Type compatibl
e
Change
method
Name
Details
Frequency 1 of machine
resonance suppression filter
Lost motion compensation
timing
Current bias/lost motion
compensation dead zone
Friction torque/Current bias
Frequency 2 of machine
resonance suppression filter
Inductive voltage
compensation
Drop prevention brake
operation delay time
Position loop gain 1
(special operation)
Position loop gain 2
(special operation)
Dual feedback control time
constant
Dual feedback control dead
zone width
Excessive error width
(special operation)
Closed loop overrun
detection width
Emergency stop maximum
delay time
Emergency stop deceleration
time constant
SHG control gain
SHG control gain
(special operation)
Torque estimated gain
G0 collision detection level
D/A output channel-1 data No.
D/A output channel-2 data No.
D/A output channel-1
magnification
D/A output channel-2
magnification
Machine end compensation
spring constant
Adjust
¡
¡
¡
Normal
stall rated
current %
stall rated
current %
stall rated
current %
Machine
Normal: Valid whenever setting.
III – 114
Adjust
¡
¡
¡
¡
¡
¡
¡
Spec :Set in servo spec screen.
Adjust:Set in servo adjust screen.
¡ : Same as MDS-B-Vx.
: Same setting as MDS-B-Vx even if the contents has
: Includes new parameters of MDS-B-Vx.4
changed.
: New parameters of MDS-B-Vx.4
: New parameters of MDS-C1-Vx.
Initial: Valid when NC power is turned ON.
Servo
¡
5. MDS-C1-V1 Servo Drive
(1)
Parameters
CAUTION
In the following explanations on bits, set all bits not used, including blank bits, to "0".
Name
Abbr.
SV001 PC1
SV002 PC2
SV003 PGN1
SV004 PGN2
SV005 VGN1
SV006 VGN2
Details
Set the motor side gear ratio.
Set so that PC1 and PC2 have the smallest integer ratio.
(Refer to "(2) Limitations to electronic gear setting value".)
Set the machine side gear ratio.
Set so that PC1 and PC2 have the smallest integer ratio.
(Refer to "(2) Limitations to electronic gear setting value".)
Set the position loop gain in increments of "1".
Set "33" for ordinary operation.
In case of SHG control, set this parameter with SV057 (SHGC).
Set "0" when it is not used.
Set the speed loop gain.
The standard value is 150.
When it is increased, response is improved but vibration and sound
become larger.
If it is desired to reduce noise generated at high-speed rotation for
rapid traverse, set a speed loop gain (smaller than VGN1) to be gain at
high-speed rotation (1.2 times higher than the rated rotating speed).
Set the start speed of speed gain decrease to the parameter
SV029(VCS).
Set "0" when this parameter function is not used.
Setting range (unit)
1 to 32767
1 to 32767
1 to 200 (rad/s)
0 to 999 (rad/s)
1 to 999
–1000 to 1000
VGN1
VGN2
0
SV007 VIL
SV008 VIA
SV009
IQA
SV010 IDA
SV011 IQG
SV012 IDG
VCS
r/min
VLMT (Rated rotating speed
of motor×1.2)
Set this parameter when the limit cycle occurs in a closed loop, or the 0 to 32767
overshoot occurs during positioning.
Set "0" when this parameter function is not used.
Related parameter is SV027 SSF1 (vcnt1,vcnt2).
Set the speed loop integral gain.
1 to 9999
(0.0687 rad/s)
Set the current control gain.
1 to 20480
The data to be set is predetermined for each motor employed.
Refer to section "(10) Standard Parameters for Each Motor".
Set the current control gain.
1 to 20480
The data to be set is predetermined for each motor employed.
Refer to section "(10) Standard Parameters for Each Motor".
Set the current control gain.
1 to 4096
The data to be set is predetermined for each motor employed.
Refer to section "(10) Standard Parameters for Each Motor".
Set the current control gain.
1 to 4096
The data to be set is predetermined for each motor employed.
Refer to section "(10) Standard Parameters for Each Motor".
III – 115
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV013 ILMT
Details
Setting range (unit)
Set the rate (%) in respect to the stall rated current.
For making the maximum driver torque level available, assign "500".
0 to 999
(Stall rated current %)
(This is the limit value for both + and – directions.)
SV014 ILMTsp
Set the rate (%) in respect to the stall rated current for special
operations (absolute position initialization, stopper operation, etc).
For making the maximum driver torque level available, assign "500".
(This is the limit value for both the + and – direction.)
SV015 FFC
Set this parameter when an amount of overshoot caused in feed
0 to 999 (%)
forward control or a relative error caused in synchronous control is too
large.
Set "0" when this parameter is not used.
SV016 LMC1
Set this parameter if the protrusion is large when th e arc quadrant is –1 to 200
changed.
(Caused by non-sensitive band from friction, torsion, backlash, etc.)
This is valid only when lost motion compensation SV027 (lmc1, lmc2)
is selected.
Type 1 SV027 (SSF1) lmc1=1, lmc2=0
0 to 999
(Stall rated current %)
0 to 200 (%)
In low-speed interpolation m ode, compensation of this type eliminates
bump.
Setting "0" to this parameter indicates interpolation gain 0.
Setting "100" indicates 100% compensation.
Type 2 SV027 (SSF1) lmc1=0, lmc2=1
This is the standard type of MDS series.
Use type 2 when type 1 is not enough for compensation such as in
high-speed, high-accuracy interpolation.
Set data in percentage to stall rated current.
To change the compensation gain (type 1) or compensation amount
(type 2) according to the direction.
To set a different value according to the command direction, set this
in addition to SV041 (LMC2).
Set the value for changing the command speed from the – to +
direction (during command direction CW) in SV016 (LMC1).
Set the value for changing the command speed from the + to –
direction (during command direction CW) in SV041 (LMC2).
When "–1" is set, compensation will not be carried out when the
command speed direction changes.
III – 116
0 to 100
(Stall rated current %)
5. MDS-C1-V1 Servo Drive
Name
SV017
Abbr.
SPEC
Details
Setting range (unit)
Set the servo system specifications in bit units.
F
E
D
C
spm
7
6
abs
B
A
9
HEX setting
8
drvall drvup mpt3 mp
5
vmh vdir
4
3
fdir
vfb
2
1
0
seqh dfbx fdir2
(Note) Always set to a "0" in a blank bit.
bit Name
0
Meaning when set to 1
Speed feedback forward polarity Speed feedback reverse polarity
1
dfbx
Dual feedback control invalid
Dual feedback control valid
2
seqh
Ready/servo ON time normal
mode
Ready/servo ON time reduced
mode
3
vfb
Speed feedback filter invalid
Speed feedback filter valid
4
fdir
Position feedback forward
polarity
Position feedback reverse
polarity
5
vdir
Motor detector installation
direction AC
Motor end detector installation
direction BD
6
vmh
Normal performance mode
High-speed performance mode
7
abs
Relative position detection
Absolute position detection
8
mp
MP scale 360P (2mm pitch)
MP scale 720P (1mm pitch)
9
mpt3
MP scale absolute position
detection type 1/2 selection
MP scale absolute position
detection type 3 selection
A
drvup Uses with the motor standard
driver.
Uses with the driver which
capacity is 1 rank upper/lower
than the standard driver.
B
drvall Normal setting.
Uses the motor standard driver
and the driver of the other
capacity together.
C
spm
D
E
F
SV018 PIT
Meaning when set to 0
fdir2
Special motor selection.
Standard rotary motor : 0
Special rotary motor : 1 (For V2-0707s Amp)
Refer to "(4) Motor type".
Set the ball screw pitch.
Set "360" for a rotation axis.
Refer to section "(2) Limitations to electronic gear setting value".
III – 117
1 to 32767 (mm)
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV019 RNG1
Details
Setting range (unit)
Set the number of pulses (k pulse) per rotation of the detector used for 1 to 9999
position control.
<Semi-closed loop>
(kp/rev)
Set the number of pulses per rotation of the motor. Set the same value
to SV020 (RNG2).
<Closed loop>
Set the number of pulses per ball screw pitch.
When using a linear scale, set the value obtained from the following
calculation expression:
Setting value =
Ball screw pitch (mm)
Linear scale resolution (mm)
(kp/rev)
× 10–3
SV020 RNG2
Set the number of pulses (k pulse) per rotation of the motor end
detector.
SV021 OLT
Set the time constant for detection of overload 1 (OL1)
1 to 999 (s)
Normally, "60" is set. When using a 15kW driver (HA-A15KL), the upper
limit value is 3 (s).
SV022 OLL
Set the current detection level of overload 1 (OL1) with respect to the
stall rated current (%).
Set "150" for ordinary operation.
110 to 500
(Stall rated current %)
SV023 OD1
Set the excessive detection error width at the time of servo ON.
<Setting equation>
F
0 to 32767 (mm)
OD1 = OD2 = OD3 =
1 to 9999 (kp/rev)
60×PGN1×0.5 (mm)
OD1
F
: Max. rapid traverse rate (mm/min)
PGN1 : Position loop gain 1 (rad/s)
When "0" is set, the excessive error at servo ON will not be detected.
SV024 INP
Set the in-position detection width value.
Set "50" for ordinary operation.
III – 118
0 to 32767 (µm)
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV025 MTYP
Details
Set the motor/detector and detector types.
F E D C B A 9 8 7 6 5 4 3 2 1 0
pen
ent
mtyp
bit
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
SV026 OD2
Setting range (unit)
HEX setting
Name
Details
mtyp Set the motor type.
(Refer to "(4) Motor type".)
ent
Set the speed detector type.
(Refer to "(5) Detector type".)
pen
Set the position detector type.
(Refer to "(5) Detector type".)
Set the excessive detection error width at the time of servo OFF.
0 to 32767 (mm)
(Normally same data as for SV023(OD1).)
When "0" is set, the excessive error at servo OFF will not be detected.
III – 119
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV027 SSF1
Details
Setting range (unit)
Select the special servo functions 1.
F
aflt
7
E
D
C
B
A
0
1
2
8
zrn2 afrg afse ovs2 ovs1 lmc2 lmc1
6
5
4
3
2
omr zrn3 vfct2 vfct1
bit
9
0000 to FFFF
HEX setting
1
0
upc vcnt2 vcnt1
Name
Meaning when set to 0
Meaning when set to 1
vcnt1 00: Delay compensation changeover invalid
vcnt2 01: Delay compensation changeover type 1
10: Delay compensation changeover type 2
11: Reserved
upc
Starting torque compensation
invalid
Starting torque compensation
valid
3
4
5
vfct1 00:
vfct2 01:
10:
11:
6
zrn3
Set for normal use
Special reference point return
type
7
omr
Machine end compensation
invalid.
Machine end compensation
valid
8
lmc1 Set the compensation gain with SV016 (LMC1) and SV041 (LMC2).
lmc2 00: Lost motion compensation invalid
01: Lost motion compensation type 1
10: Lost motion compensation type 2
11: Reserved
9
A
Jitter compensation invalid
Jitter compensation 1 pulse
Jitter compensation 2 pulse
Jitter compensation 3 pulse
B
ovs1 00:
ovs2 01:
10:
11:
Overshoot compensation invalid
Overshoot compensation type 1
Overshoot compensation type 2
Overshoot compensation type 3
C
afse
Adaptive filter sensivity :5
D
afrg
Adaptive filter square wave:100 Adaptive filter square
wave:1000
E
zrn2
Reference point return type 1
Reference point return type 2
F
aflt
Adaptive filter invalid
Adaptive filter valid.
Adaptive filter sensitivity:16
SV028
Not used. Set "0"
0
SV029 VCS
If the noise is bothersome during high speeds, such as during rapid
0 to 9999 (r/min)
traverse, set the speed loop gain's drop start motor speed.
The speed loop gain drop target speed loop gain is set in SV006 (VGN2).
Set to "0" when not using this function.
SV030 IVC
n Voltage non-sensitive band compensation:
The low-order 8 bits are used.
Set to "1" when not used.
n Current bias:
The high-order 8 digits are used. (Icx)
This is used in combination with the SV040
and SV045 high-order 8 bits.
III – 120
–32768 to 32767
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV031 OVS1
Details
Setting range (unit)
Set this parameter if overshooting occurs during deceleration/stop
using submicron or closed loop control.
–1 to 100
(Stall rated current %)
The overshoot is improved more as the set value is larger.
Set 2 to 10 (%) for ordinary operation. (Ratio to stall rated current)
(Increase the set value in increments of 2% until a value which
suppresses overshoot is found.)
This is valid only when overshoot compensation SV027 (SSF1/ovs1,
ovs2) is selected.
SV032 TOF
Set the unbalance torque amount of an axis having an unbalanced
–100 to 100
torque such as a vertical axis, as a percentage in respect to the stall
rated current (%).
This is used when SV027 SSF1 lmc1, lmc2 or SV027 SSF1 vcnt1, vcnt2
is set.
SV033 SSF2
Select the special servo functions 2.
F
E
D
C
B
A
dos
7
6
nfd2
bit
0
1
2
3
4
5
4
nf3
3
9
8
hvx
svx
2
nfd1
1
0000 to FFFF
HEX setting
0
zck
Name
Meaning when set to 0
Meaning when set to 1
Z phase check invalid
zck Z phase check valid
(part of alarm 42)
nfd1 Adjust the damping amount of the machine resonance suppression
filter 1. (The frequency should be set with SV038.)
When the setting value is increased, the effect of the machine
resonance suppression filter will drop, and the effect of onto the
speed control will drop.
000: ∞
001: –18dB 010: –12dB 011: –9dB
100: –6dB
101: –4dB
110: –3dB
111: –1dB
nf3 Makes the machine resonance suppression filter 3 valid.
(Main frequency is fixed to 1125 Hz.
5
6
7
nfd2
8
9
A
B
C
D
E
F
svx
hvx
dos
Adjust the damping amount of the machine resonance suppression
filter 2. (The frequency should be set with SV046.)
When the setting value is increased, the effect of the machine
resonance suppression filter will drop, and the effect of onto the
speed control will drop.
000: ∞
001: –18dB 010: –12dB 011: –9dB
100: –6dB
101: –4dB
110: –3dB
111: –1dB
Control mode 00:Normal
01:Standard mode
10:High-gain mode 11:High-gain mode
Digital signal output selection
0000: The MP scale absolute position detection system offset
request signal is output.
0001: The specified speed signal is output.
(Note) Set "0" in bits with no particular description.
III – 121
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV034 SSF3
Details
Setting range (unit)
Select the special servo functions 3.
F
E
D
C
B
0000 to FFFF
HEX setting
A
ovsn
9
8
1
0
linN
7
6
5
4
toff
os2
zeg
dcd
bit
Name
3
2
test moh has2 (has1)
n
Meaning when set to 1
(HAS control 1 valid, high-speed
compatible)
1
Meaning when set to 0
Setting
for normal use
(has1
)
has2 Setting for normal use
2
mohn Setting for normal use
Ignores the motor thermal error
of MDS-B-HR
0
HAS control 2 valid,
overshooting compatible
3
test
Setting for normal use
Test at shipping (Errors are
detected more sensitively.)
4
dcd
Setting for normal use
Do not set.
(For special applications.)
5
zeg
Setting for normal use
Z phase opposite edge detection
(Note 1)
6
os2
Setting for normal use
Changes the overspeed
detection level. (Note 2)
7
toff
Setting for normal use
Low -speed serial ABS scale
communication OFF (Note 3)
8
linN
Not used.
9
A
B
C
ovsn Set the overshoot compensation type 3 non-sensitive band.
D
E
F
(Note 1) This is valid only when the special reference point return type is selected.
(Note 2) The changeable overspeed detection level depends on the motor.
Refer to "OS1" and "OS2" of "(10) Standard Parameters for Each Motor".
(Note 3) "toff " (Bit 7) is for testing purposes. When set to "1", the absolute position
cannot be initialized.
III – 122
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV035 SSF4
Details
Setting range (unit)
Select the special servo functions 4.
F
E
clt
7
D
C
clG1
6
iup
5
4
B
A
cl2n
clet
3
2
9
8
0000 to FFFF
HEX setting
cltq
1
0
tdt
bit
Name
0
tdt
Td creation time setting (driver fixed)
Setting time (µs) = (tdt + 1) × 0.569
Setting time when "0" is set
Less than 7kW: 5.69µs
7kW or more: 8.52µs
When tdt<9, the setting is handled as tdt = 0.
Normally, set "0".
iup
Setting for normal use
cltq
Set the deceleration torque for when a collision is detected.
00: 100% 01: 90% 10: 80% 11: 70%
A
clet
Setting for normal use
The past two-second estimated
disturbance torque peak value is
displayed at MPOF on the Servo
Monitor screen.
B
cl2n
Setting for normal use
Collision detection method 2 is
invalidated.
C
clG1
Set the collision detection level for the collision detection method 1,
G1 modal.
When 0 is set
: The method 1, G1 modal collision detection will
not be carried out.
When 1 to 7 is set : The method 1, G0 modal collision detection
level (SV060: TLMT) will be multiplied by the
set value.
1
2
3
4
Meaning when set to 0
Meaning when set to 1
5
6
Do not set.
(For special applications.)
7
8
9
D
E
F
clt
Setting for normal use
The guide value for the SV059
(TCNV) setting value is
displayed at MPOF on the Servo
Monitor screen.
(Note) Set "0" in bits with no particular description.
III – 123
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV036 PTYP
Details
Setting range (unit)
Power supply type
F
E
D
0000 to FFFF
HEX setting
C
B
A
amp
7
6
5
9
8
1
0
rtyp
4
3
2
ptyp
bit
Name
0
ptyp
1
Meaning when set to 0
Meaning when set to 1
Set the power supply type.
(Refer to "(7) Power supply type" for details.)
2
3
4
5
6
7
8
rtyp
9
A
B
C
D
E
F
Set "0" if the power supply unit is a current regeneration type.
If the power supply unit is a resistance regeneration type, set the type of resistor
being used.
(Refer to "(8) Regenerative resistance type" for details.)
amp
Set the driver model number.
0: MDS-C1-V1/V2/SP, MDS-B-V14/V24, MDS-B-V1/V2/SP,MDS-A-V1/V2/SP
1: MDS-A-SVJ
2: MDS-A-SPJ
SV037 JL
Set the load inertia that includes the motor in respect to the motor
inertia.
SV037 (JL) = (Jm + Jl)/Jm × 100
Jm : Motor inertia
Jl : Motor axis conversion load inertia
0 to 5000 (%)
SV038 FHz1
If machine vibration occurs, set the vibration frequency to be
suppressed.
0 to 9000 (Hz)
Note that the value 36Hz or more should be set.
Set "0" when not using this function.
Specially, set sv033 (SSF2/nfd1) together when setting the low
frequency 100 Hz or less.
SV039 LMCD
Set when the lost motion compensation timing is not suitable. Adjust 0 to 2000 (ms)
upwards in increments of "10 m s".
III – 124
5. MDS-C1-V1 Servo Drive
Name
Abbr.
Details
Setting range (unit)
SV040 LMCT
nSet the lost motion compensation dead zone.
–32768 to 32767
Set in the low-order 8 bits.
(Note) The setting
Normally set "0".
range of the
Set only when the lost motion compensation timing is not proper
low-order 8 bits
during feed forward control.
is 0 to 100 (µm).
nCurrent bias: Set in the high-order 8 bits. (Icy)
This is used in combination with SV030 and SV045 high-order 8 bits.
SV041 LMC2
Normally set this to "0".
–1 to 200
Set this with SV016 (LMC1) when setting the lost motion
(Stall rated current %)
compensation's gain (type 1) or compensation amount (type 2) to
different values according to the command direction.
• Set the value for changing the command speed from the – to +
direction (during command direction CW) in SV016 (LMC1).
• Set the value for changing the command speed from the + to –
direction (during command direction CW) in SV041 (LMC2).
• When "–1" is set, compensation will not be carried out when the
command speed direction changes.
This i s valid only when lost motion compensation (SV027: lmc1, lmc2)
is selected.
SV042 OVS2
Overshoot compensation 2
–1 to 100
Set the overshoot compensation amount for unidirectional movement (Stall rated current %)
(command direction CW).
When "0" is set, the value set for SV031 (OVS1) will be set.
When "–1" is set, compensation will not be carried out during
unidirectional movement.
This is valid only when overshoot compensation SV027 (SSF1/ovs1) is
selected.
SV043 OBS1
Observer1
0 to 1000 (rad)
Set the pole of the observer. Normally set approximately "628" (rad).
To operate the observer function, also set the SV037 (JL) and SV044
(OBS2).
Set to "0" when not used.
SV044 OBS2
Observer2
0 to 500 (%)
Set the execution gain of the observer. Normally set to "100".
To operate the observer function, also set the SV037 (JL) and SV043
(OBS1).
Set to "0" when not used.
SV045 TRUB
nWhen using the collision detection function, set the friction torque in –32768 to 32767
the low-order 8 bits with a rate (%) for the stall rated current.
(Note) The setting
Set to "0" when not using the collision detection function.
range of the
nCurrent bias : Set in the high-order 8 bits (Ib1). This is used in
low-order 8 bits
combination with SV030 and SV040 high-order 8 bits.
is 0 to 100
(Stall rated
current %).
SV046 FHz2
If machine vibration occurs, set the vibration frequency to be
suppressed.
Note that the value 36Hz or more should be set.
Set "0" when not using this function.
Specially, set sv033 (SSF2/nfd2) together when setting the low
frequency 100 Hz or less.
.
III – 125
0 to 9000 (Hz)
5. MDS-C1-V1 Servo Drive
Name
Abbr.
SV047 EC1
Details
Inductive voltage compensation
Setting range (unit)
–32768 to 32767 (%)
Set the execution gain of the inductive voltage compensation.
Normally, set to "100".
SV048 EMGrt
Set the brake operation delay time when using the drop prevention
0 to 20000 (ms)
function.
Set a larger value than the actual brake operation time.
Set a "0" when not using the drop prevention function.
SV055 (EMGx) and SV056 (EMGt) must also be set when this function
is used.
SV049 PGN1sp
Set the position loop gain for special operations (synchronous tap,
interpolation with spindle C axis, etc.).
Normally, set the spindle position loop gain.
SV050 PGN2sp
Set this with SV058 (SHGCsp) when carrying out SHG control during 0 to 999 (rad/s)
special operations (synchronous tap, interpolation with spindle C axis,
etc.).
When this parameter is not used, set "0".
SV051 DFBT
Set the compensation time constant for dual feedback control.
0 to 9999 (ms)
SV052 DFBN
Set the dead zone amount for dual feedback control.
0 to 9999 (µm)
SV053 OD3
Set the excessive error detection width at servo ON for special
0 to 32767 (mm)
operations (absolute position initialization setting, stopper operation,
etc.).
When "0" is set, the excessive error will not be detected during special
operations and servo ON.
SV054 ORE
Set the overrun detection width for the closed loop.
For setting synchronous control slave axis, set the overrun detection
width for master/slave axis.
1 to 200 (rad/s)
–1 to 32767 (mm)
When "–1" is set, the overrun will not be detected. When "0" is set, the
overrun will be detected with a 2 (mm) width.
SV055 EMGx
Set the emergency stop maximum delay time when using the drop
prevention function.
Normally, set it to the same value as the SV056 (EMGt).
Set to "0" when not using the drop prevention function.
0 to 20000 (ms)
SV056 EMGt
Set the deceleration time constant from the maximum rapid traverse
speed when using the drop prevention function.
Normally, the same value as the normal CNC G0
acceleration/deceleration time constant is set.
Set "0" when not using the drop prevention function.
–20000 to 20000 (ms)
SV057 SHGC
Set this with SV004 (PGN2) when carrying out SGH control.
Set 0 when not using this function.
0 to 1200 (rad/s)
SV058 SHGCsp Set this with SV050 (PGN2sp) when carrying out SHG control during 0 to 1200 (rad/s)
special operations (synchronous tap, interpolation with spindle C axis,
etc.).
Set 0 when not using this function.
III – 126
5. MDS-C1-V1 Servo Drive
Name
Abbr.
Details
Setting range (unit)
SV059 TCNV
When using the collision detection function, set the estimated torque –32767 to 32767
gain.
When "1" is set in SV035: SSF4/clt, the setting value guideline can be
displayed in MPOF on the Servo monitor screen.
Set to "0" when not using the collision detection function.
SV060 TLMT
When using the collision detection function, set the collision detection 0 to 999
level for the method 1·G0 modal with a rate for the stall rated current. (Stall rated current %)
Set to "0" when not using the collision detection function.
SV061 DA1NO
Set the output data number for channel 1 of the D/A output function.
When "−1" is set, the D/A output of that axis will not be carried out.
–32767 to 32767
SV062 DA2NO
Set the output data number for channel 2 of the D/A output function.
When "−1" is set, the D/A output of that axis will not be carried out.
–32767 to 32767
SV063 DA1MPY Set the output magnification for channel 1 of the D/A output function. –32768 to 32767
The output magnification will be the setting value/256.
If "0" is set, the output magnification will be 1-fold, in the same manner
as when "256" is set.
SV064 DA2MPY Set the output magnification for channel 2 of the D/A output function. –32768 to 32767
The output magnification will be the setting value/256.
If "0" is set, the output magnification will be 1-fold, in the same manner
as when "256" is set.
SV065 TLC
Set the spring constant of the machine end compensation.
When the semi-closed system is applied, the machine end
compensation amount is calculated with the following equation.
F×SV065
Compensation amount (µm)= R×109
F : Commanded speed (mm/min) 2
R : Radius (mm)
Set to "0" when not used.
III – 127
–32768 to 32767
5. MDS-C1-V1 Servo Drive
(2) Limitations to electronic gear setting value
Refer to Page 104.
(3) Command polarity
When the motor is to rotate in the clockwise direction (looking from the load side) at the command for
the + direction, the command direction is CW. Conversely, when the motor is to rotate in the
counterclockwise direction, the command direction is CCW.
This rotation direction can be set with the CNC machine parameters. Note that the meaning of the ± will
differ for some servo parameters according to this motor rotation direction. The servo parameters
affected by CW/CCW are shown below.
SV016 (LMC1), SV041 (LMC2)
SV031 (OVS1), SV042 (OVS2)
(When different values are set for SV016 and SV041)
(When different values are set for SV031 and SV042)
<Example> If the lost motion compensation amount is to be changed according to the direction, the
compensation amount at the quadrant changeover point of each arc where the lost
motion compensation is applied will be as shown below according to the command
polarity.
CW
CCW
A
X: SV041
X: SV016
B
Y: SV016
Y: SV041
C
X: SV016
X: SV041
D
Y: SV041
Y: SV016
C The X axis command
direction changes from
the – to + direction.
+Y
–X
B The Y axis command
direction changes from
the – to + direction.
III – 128
D The Y axis command
direction changes from
the + to – direction.
+X
–Y
A The X axis command
direction changes from
the + to – direction.
5. MDS-C1-V1 Servo Drive
(4) Motor type
Set "mtyp" of SV025 (MTYP) combined with "spm " of SV017 (SPEC).
(a) Standard rotary motor (SV017(SPEC)=0xxx).
Moto
2000r/min
r
standard
series
2000r/min 3000r/min
low
low
inertia
inertia
1x
HC
HC
2000r/min 3000r/min
medium medium
inertia
inertia
3000r/min
standard
No.
0x
2x
3x
Bx
Cx
x0
HA40N
HA50L
HA53L
4x
5x
6x
7x
HA43N
8x
9x
Ax
HC52
HC53
x1
x2
x3
x4
x5
x6
x7
x8
x9
xA
xB
xC
xD
xE
xF
HA80N
HA100N
HA200N
HA300N
HA700N
HA900N
HA100L
HA200L
HA300L
HA500L
HA103L
HA203L
HA303L
HA503L
HA83N
HA103N
HA203N
HA303N
HA703N
HC102
HC152
HC202
HC352
HC452
HC702
HC902
HC103
HC153
HC203
HC353
HC453
HC703
HA150L HA153L
HA93N
Bx
Cx
HA-A11KL
HA-A15KL
HC
3000r/min
ultra-low
inertia
Dx
Ex
Fx
HC103R
HC153R
HC203R
HC353R
HC503R
HA053
HA13
HA23N
HA33N
(b) Special rotary motor (SV017(SPEC)=1xxx).
HC 2000 HC 3000
r/min
r/min
S drive S drive
unit
unit
No.
0x
1x
2x
3x
4x
5x
6x
7x
8x
9x
Ax
x0
x1
x2
x3
x4
x5
x6
x7
x8
x9
xA
xB
xC
xD
xE
xF
HC452
HC702
III – 129
HC353
HC453
Dx
Ex
Fx
5. MDS-C1-V1 Servo Drive
(5) Detector type
Set "pen" / "ent" of SV025 (MTYP) from the following table.
No. Detection method
Detector model name
0
1
2
3
4
5
6
7
8
9
High-speed serial
High-speed serial
High-speed serial
OSE104
OSA104
OSE105
ABZ
High-speed serial
ABZ+low -speed
serial
High-speed serial
High-speed serial
OHE25K-ET
OSE104-ET
ABZ
ABZ+low -speed
serial
A
High-speed serial
B
C
High-speed serial
D
High-speed serial
Device
Motor end
detector
OSA105
OHA25K-ET
OSA104-ET
OSE105-ET
SCALE
ABS SCALE
(Note 1)
ABS SCALE
(Note 2)
OSE104
ABS SCALE
(Note 2)
Remarks
Ball screw end
detector
OSA105-ET
Cannot be set to
speed detector
type (ent).
Machine end
detector
MDS-B-HR
OSE105
OSA104
MDS-B-HR
OSA105
Synchronous
control
E
F
CAUTION
With MDS-C1 series, only the serial encoder is applied as the motor end detector.
Thus, OHE/OHA type detector cannot be used as the motor end detector.
(Note 1) ABS SCALE corresponds to the following absolute position detection scales.
Mitutoyo Corporation
AT41
FUTABA Corporation
FME type, FLE type
(Note 2) ABS SCALE corresponds to the following absolute position detection scale.
Mitutoyo Corporation
AT342
HEIDENHAIN
LC19/M
(Note 3) Only the high-speed serial detector can be used for the motor end detector.
(Note 4) With synchronized control, normal setting for the master axis, and synchronized control
setting for the slave axis.
Set "pen" / "ent" of SV025 (MTYP) as follows.
[ Synchronized about speed ]
C2xx : When the master axis is applied to semi-closed loop system.
Dxxx : When the master axis is applied to closed loop system.
[ Synchronized about current ]
CCxx : When the master axis is applied to semi-closed loop system.
III – 130
5. MDS-C1-V1 Servo Drive
(6) Detection system and MTYPSet SV025 (MTYP) from the following table.
(a) Semi-closed loop
OSE104
Motor end
detector
MTYP
00xx
OSA104
OSE105
OSA105
HA-FH
OBA13
OSA14
Detect
Detect
Detect
Detect
Detect
Detect
Detect
MTYP
MTYP
MTYP
MTYP
MTYP
MTYP
system
system
system
system
system
system
system
INC
11xx
ABS
22xx
INC
22xx
ABS
22xx
ABS
22xx
ABS
22xx
ABS
OBA17
MTYP
Detect
system
22xx
ABS
(b) Closed loop
Machine
end
detector
Motor
end
detector
OHE25K-ET OHA25K-ET OSE104-ET OSA104-ET OSE105-ET OSA105-ET
MTYP
OSE104
OSA104
OSE105
OSA105
HA-FH
OBA13
OSA14
OBA17
SCALE
40xx
41xx
42xx
42xx
42xx
42xx
42xx
42xx
INC
INC
INC
INC
INC
INC
INC
INC
50xx
51xx
52xx
52xx
52xx
52xx
52xx
52xx
ABS
ABS
ABS
ABS
ABS
ABS
ABS
ABS
40xx
41xx
42xx
42xx
42xx
42xx
42xx
42xx
INC
INC
INC
INC
INC
INC
INC
INC
50xx
51xx
52xx
52xx
52xx
52xx
52xx
52xx
ABS
ABS
ABS
ABS
ABS
ABS
ABS
ABS
60xx
61xx
62xx
62xx
62xx
62xx
62xx
62xx
INC
INC
INC
INC
INC
INC
INC
INC
60xx
61xx
62xx
62xx
62xx
62xx
62xx
62xx
ABS
ABS
ABS
ABS
ABS
ABS
ABS
ABS
80xx
81xx
82xx
82xx
82xx
82xx
82xx
82xx
INC
MP ABS
INC
MP ABS
MP ABS
MP ABS
MP ABS
MP ABS
Set "ptyp" of SV036 (PTYP) from the following table.
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
ABS SCALE
high-speed serial
Detect
Detect
Detect
Detect
Detect
Detect
Detect
Detect
Detect
MTYP
MTYP
MTYP
MTYP
MTYP
MTYP
MTYP
MTYP
system
system
system
system
system
system
system
system
system
(7) Power supply type
No.
ABS SCALE
low-speed serial
0xkW
0x
PS nonconnect
1xkW
1x
2xkW
2x
3xkW
3x
CV-300
4xkW
4x
5xkW
5x
CV-110
7x
0xkW
8x
CR-10
CR-15
CR-22
CR-37
CV-220
CV-37
CV-150
CV-55
6x
CV-450
CV-550
CV-260
CR-55
CV-370
CV-75
CR-75
CR-90
CV-185
III – 131
90xx
91xx
92xx
92xx
92xx
92xx
92xx
92xx
ABS
ABS
ABS
ABS
ABS
ABS
ABS
ABS
A0xx
A1xx
A2xx
A2xx
A2xx
A2xx
A2xx
A2xx
ABS
ABS
ABS
ABS
ABS
ABS
ABS
ABS
5. MDS-C1-V1 Servo Drive
(8) Regenerative resistance type
Set "port" of SV036 (PTYP) from the following table.
No.
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Regene rative
register type
Resistance
value(Ω )
Watts(W)
GZG200W260HMJ
GZG300W130HMJ×2
MR-RB30
MR-RB50
GZG200W200HMJ×3
GZG300W200HMJ×3
R-UNIT-1
R-UNIT-2
R-UNIT-3
26
26
13
13
6.7
6.7
30
15
15
80
150
300
500
350
500
700
700
2100
(9) Current limit value
Motor
Stall rated Maximum Maximum
current
current
torque
A
A
N·m
HA40N
3.6
17
14.2
HA80N
6.6
28
25.5
HA100N
14
42
42
HA200N
22
57
60
HA300N
37
85
87
HA700N
49
113
120
HA900N
56
141
153
HA053
1.4
3.9
0.69
HA13
1.4
3.9
1.37
HA23N
3
8.1
2.75
HA33N
3
8.1
5.6
HA43N
5
17
10.2
HA83N
8.8
28
19.2
HA103N
19.6
57
40
HA203N
34.5
85
56
HA303N
55
113
80
HA703N
68
141
105
HA50NL
4
17
13.0
HA100NL
8
28
20.9
HA150NL
11.5
42
31
HA200NL
18.2
42
32
HA300NL
25
57
52
HA500NL
44
85
72
HA53NL
5.8
28
14.1
HA103NL
11.0
42
22.5
HA153NL
16.2
42
22.8
HA203NL
21
57
37
HA303NL
32
85
60
HA503NL
54
113
78
HA-LH11K2
84
204
158
HA-LH15K2
100
260
215
Torque
limit
%
472
424
300
260
230
231
252
279
279
270
270
340
318
291
246
205
207
425
350
365
231
228
193
482
381
259
271
265
209
242
260
Motor
HC52
HC102
HC152
HC202
HC352
HC452
HC702
HC902
HC53
HC103
HC153
HC203
HC353
HC453
HC703
HC103R
HC153R
HC203R
HC353R
HC503R
Stall rated Maximum Maximum
current
current
torque
A
A
N·m
3.94
17
11.8
7.4
28
21.6
11.1
47
35.3
15.4
47
41.7
22.9
64
59.8
40.4
85
87.5
46.2
113
120
55.9
141
153
5.8
17
8.82
9.8
28
16.7
15.9
47
28.4
22.4
64
40.2
33.3
85
55.9
57.3
113
79.8
69.2
141
105
6.1
18.4
7.95
8.8
23.4
11.9
14.0
37.0
15.9
22.5
56.3
27.8
28.0
70.0
39.8
Torque
limit
%
431
378
423
305
279
210
245
252
293
286
296
286
255
197
210
459
318
300
253
303
(Note) When "500%" for SV013 ILMT1 is set, the current limit value is maximum current (torque) one
shown in the table above.
Set a parameter at the rate (%) of the stall rated current to limit the current value (torque) less than
the maximum current value.
III – 132
5. MDS-C1-V1 Servo Drive
(10) Standard Parameters for Each Motor
Motor
HA
40N
Driver 05
sv001
sv002
sv003
33
sv004
0
sv005
150
sv006
0
sv007
0
sv008 1364
sv009 4096
sv010 4096
sv011
768
sv012
768
sv013
500
sv014
500
sv015
0
sv016
0
sv017 0000
sv018
sv019
sv020
sv021
60
sv 022
150
sv023
6
sv024
50
sv025 xx00
sv026
6
sv027 4000
sv028
0
sv029
0
sv030
0
sv031
0
sv032
0
sv033 0000
sv034 0000
sv035 0000
sv036 0000
sv037
0
sv038
0
sv039
0
sv040
0
sv041
0
sv042
0
sv043
0
sv044
0
sv045
0
sv046
0
sv047
100
sv048
0
sv049
15
sv050
0
sv051
0
sv052
0
sv053
0
sv054
0
sv055
0
sv056
0
sv057
0
sv058
0
sv059
0
sv060
0
sv061
0
sv062
0
sv063
0
HA
43N
05
HA
80N
10
HA
83N
10
HA
93N
20
33
0
150
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xx80
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
150
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xx01
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
150
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xx81
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
150
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xx8A
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HA
100N
20
33
0
150
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xx02
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HA
103N
35
33
0
150
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xx82
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HA
200N
35
33
0
150
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xx03
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HA
203N
45
33
0
150
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xx83
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Standard motor
HA
HA
HA
300N 303N 700N
45
70
70
33
33
25
0
0
0
150
150 250
0
0
0
0
0
0
1364 1364 1364
4096 4096 4096
4096 4096 4096
768
768 768
768
768 768
500
500 500
500
500 500
0
0
0
0
0
0
0000 0000 0000
60
60
60
150
150 150
6
6
6
50
50
50
xx04 xx84 xx05
6
6
6
4000 4000 4000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0000 0000 0000
0000 0000 0000
0000 0000 0000
0000 0000 0000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
100
100 100
0
0
0
15
15
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
III – 133
HA
703N
90
25
0
250
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xx85
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HA
900N
90
25
0
250
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xx06
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HA
053
01
HA
13
01
HA
23N
03
HA
33N
03
HAN23
03
HAN33
03
HAN43
05
33
0
70
0
0
1364
4096
4096
768
768
500
500
0
0
0000
10
10
60
150
6
50
338C
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
70
0
0
1364
4096
4096
768
768
500
500
0
0
0000
10
10
60
150
6
50
338D
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
100
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xx8E
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
100
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xx8F
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
70
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xx6E
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
70
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xx6F
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
33
0
35
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xx60
6
4000
0
0
0
0
0
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
5. MDS-C1-V1 Servo Drive
Motor
HA
HA
HA
HA
40N 43N 80N 83N
sv064
0
0
0
0
sv065
0
0
0
0
OS1 2400 3600 2400 3600
OS2 2400 3600 2400 3600
HA
HA
HA
93N 100N 103N
0
0
0
0
0
0
3600 2400 3600
3600 2400 3600
Standard motor
HA
HA
HA
HA
HA
HA
HA
HA
HA
HA
HA
200N 203N 300N 303N 700N 703N 900N 053
13
23N 33N
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2400 3600 2400 3600 2400 3600 2400 3600 3600 3600 3600
3000 3600 3000 3600 2400 3600 2400 3600 3600 3600 3600
HAN23
0
0
3600
3600
HAN33
0
0
3600
3600
HAN43
0
0
3600
3600
OS1 indicates the rotation speed (r/min) of the motor to detect the overspeed.
OS2 indicates the rotation speed (r/min) of the motor to detect the overspeed when"os2" of SV034 (SSF3) is selected.
III – 134
5. MDS-C1-V1 Servo Drive
Motor
Driver
sv001
sv002
sv003
sv004
sv005
sv006
sv007
sv008
sv009
sv010
sv011
sv012
sv013
sv014
sv015
sv016
sv017
sv018
sv019
sv020
sv021
sv022
sv023
sv024
sv025
sv026
sv027
sv028
sv029
sv030
sv031
sv032
sv033
sv034
sv035
sv036
sv037
sv038
sv039
sv040
sv041
sv042
sv043
sv044
sv045
sv046
sv047
sv048
sv049
sv050
sv051
sv052
sv053
sv054
sv055
sv056
sv057
sv058
sv059
sv060
sv061
HC
52
05
HC
53
05
HC
102
10
HC
103
10
HC
152
20
47
0
200
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xxB0
6
4000
0
0
0
0
0
0000
0003
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
47
0
200
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xxC0
6
4000
0
0
0
0
0
0000
0003
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
47
0
200
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xxB1
6
4000
0
0
0
0
0
0000
0003
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
47
0
200
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xxC1
6
4000
0
0
0
0
0
0000
0003
0000
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
47
0
200
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xxB2
6
4000
0
0
0
0
0
0000
0003
0040
0000
0
0
0
0
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
HC standard
HC
HC
202 203
20
35
47
47
47
0
0
0
200
200 200
0
0
0
0
0
0
1364 1364 1364
4096 4096 4096
4096 4096 4096
768
768 768
768
768 768
500
500 500
500
500 500
0
0
0
0
0
0
0000 0000 0000
60
60
60
150
150 150
6
6
6
50
50
50
xxC2 xxB3 xxC3
6
6
6
4000 4000 4000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0000 0000 0000
0003 0003 0003
0040 0040 0040
0000 0000 0000
0
0
0
0
0
0
0
0
0
0 10240 10240
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
100
100 100
0
0
0
15
15
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HC
153
20
motor
HC
HC
352
353
35
45
47
47
0
0
200
200
0
0
0
0
1364 1364
4096 4096
4096 4096
768
768
768
768
500
500
500
500
0
0
0
0
0000 0000
60
60
150
150
6
6
50
50
xxB4 xxC4
6
6
4000 4000
0
0
0
0
0
0
0
0
0
0
0000 0000
0003 0003
0040 0040
0000 0000
0
0
0
0
0
0
10240 10240
0
0
0
0
0
0
0
0
0
0
0
0
100
100
0
0
15
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
HC
452
45
HC
453
70
HC
702
70
HC
703
90
HC
902
90
47
0
200
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xxB5
6
4000
0
0
0
0
0
0000
0003
0040
0000
0
0
0
10240
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
47
0
200
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xxC5
6
4000
0
0
0
0
0
0000
0003
0040
0000
0
0
0
10240
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
47
0
200
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xxB6
6
4000
0
0
0
0
0
0000
0003
0040
0000
0
0
0
10240
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
47
0
200
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xxC6
6
4000
0
0
0
0
0
0000
0003
0000
0000
0
0
0
10240
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
47
0
200
0
0
1364
4096
4096
768
768
500
500
0
0
0000
60
150
6
50
xxB7
6
4000
0
0
0
0
0
0000
0003
0000
0000
0
0
0
10240
0
0
0
0
0
0
100
0
15
0
0
0
0
0
0
0
0
0
0
0
0
III – 135
For S type drive unit
HC
HC
HC
HC
353
452
453
702
45S 45S 70S 70S
47
47
47
47
0
0
0
0
200
200
200
200
0
0
0
0
0
0
0
0
1364 1364 1364 1364
4096 4096 4096 4096
4096 4096 4096 4096
768
768
768
768
768
768
768
768
500
500
500
500
500
500
500
500
0
0
0
0
0
0
0
0
1000 1000 1000 1000
60
60
60
60
150
150
150
150
6
6
6
6
50
50
50
50
xxA4 Xx95 xxA5 Xx96
6
6
6
6
4000 4000 4000 4000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0000 0000 0000 0000
0003 0003 0003 0003
0040 0040 0040 0040
0000 0000 0000 0000
0
0
0
0
0
0
0
0
0
0
0
0
10240 10240 10240 10240
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
100
100
100
100
0
0
0
0
15
15
15
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
5. MDS-C1-V1 Servo Drive
Motor
HC
52
sv062
sv063
sv064
sv065
OS1
OS2
0
0
0
0
0
0
0
0
3600 3600
3600 4200
HC
53
HC
102
0
0
0
0
3600
3600
HC
103
0
0
0
0
3600
4200
HC
152
0
0
0
0
3600
3600
HC
153
0
0
0
0
3600
4200
HC standard
HC
HC
202 203
0
0
0
0
0
0
0
0
3000 3600
3000 4200
motor
HC
352
0
0
0
0
3000
3000
HC
353
0
0
0
0
3600
4200
HC
452
0
0
0
0
3000
3000
HC
453
0
0
0
0
3600
4200
HC
702
0
0
0
0
3000
3000
HC
703
0
0
0
0
3600
4200
HC
902
0
0
0
0
3000
3000
For S type
HC
HC
353
452
0
0
0
0
0
0
0
0
3600 3000
4200 3000
drive unit
HC
HC
453
702
0
0
0
0
0
0
0
0
3600 3000
4200 3000
OS1 indicates the rotation speed (r/min) of the motor to detect the overspeed.
OS2 indicates the rotation speed (r/min) of the motor to detect the overspeed when"os2" of SV034 (SSF3) is selected.
III – 136
5. MDS-C1-V1 Servo Drive
Motor
Driver
sv001
sv002
sv003
sv004
sv005
sv006
sv007
sv008
sv009
sv010
sv011
sv012
sv013
sv014
sv015
sv016
sv017
sv018
sv019
sv020
sv021
sv022
sv023
sv024
sv025
sv026
sv027
sv028
sv029
sv030
sv031
sv032
sv033
sv034
sv035
sv036
sv037
sv038
sv039
sv040
sv041
sv042
sv043
sv044
sv045
sv046
sv047
sv048
sv049
sv050
sv051
sv052
sv053
sv054
sv055
sv056
sv057
sv058
sv059
sv060
sv061
sv062
sv063
sv064
HC**R standard motor
HC
HC
HC
HC
103R 153R 203R 353R
10
10
20
35
33
33
33
33
0
0
0
0
15
15
20
40
0
0
0
0
0
0
0
0
1364 1364 1364 1364
4096 4096 4096 4096
4096 4096 4096 4096
256
256
256
256
512
512
512
512
500
500
500
500
500
500
500
500
0
0
0
0
0
0
0
0
0000 0000 0000 0000
60
60
60
60
150
150
150
150
6
6
6
6
50
50
50
50
xxE1 xxE2 xxE3 xxE4
6
6
6
6
4000 4000 4000 4000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0200 0200 0200 0200
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
100
100
100
100
0
0
0
0
15
15
15
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
III – 137
5. MDS-C1-V1 Servo Drive
5.7 Alarms and Warnings
CAUTION
When an alarm occurs, eliminate the cause and make sure that the operation signal is not input, secure
the safety and reset the alarm before starting the operation again.
When an alarm occurs in the servo drive unit, the servo drive unit will carry out the base interception and the
motor will coast to a stop. In such case, turn the power OFF with an external sequence. (Refer to "5.9 Main
circuit and brake connection".)
To reset an alarm, remove the cause, and then turn the power ON.
Important When an alarm related to overcurrent or overload occurs, do not repeat operation by turning
the power OFF to ON without eliminating the cause of an alarm, otherwise the element may
be damaged due to temperature rise.
The drive unit state is indicated by the code on the display of the servo drive unit, while the data is
transmitted to the NC side. When an alarm occurs, the alarm is also indicated on the NC screen. (The
alarm No. on the NC screen may differ from the alarm No. of the servo drive unit. For detail, refer to the
Instruction Manual for NC.)
Refer to "MDS SERIES MAINTENANCE MANUAL" (BNP-B2046) for the troubleshooting.
#
Status
Content
AA
INITIALIZE
Waiting for NC power start up (NC power ON → OFF).
Ab
INITIALIZE
Waiting for NC power start up
AC
INITIALIZE
Requesting parameter transfer
Ad
INITIALIZE
Waiting for parameter transfer
AE
INITIALIZE
Waiting for main servo IT start
b∗
READY OFF
Ready OFF
C∗
SERVO OFF
Servo OFF
d∗
SERVO ON
Servo ON
9∗
WARNING
Warning
E∗
WARNING
Warning (However, E6 and E7 indicate the status other
than the alarm or warning)
∗∗
ALARM
Alarm
Display example (When the concerned drive unit is set to 1st axis.)
(1) At servo ON
(2) When alarm occurs (Displays by flickering)
III – 138
5. MDS-C1-V1 Servo Drive
(1) Details of alarm
Note 1.
Note 2.
Note 3.
RS
PR : Turn the CNC power OFF to reset.
AR : Turn the servo driver power OFF to reset.
∗ : This indicates the warning and does not turn the servo OFF.
A/C
A : Alarm that occurs per axis.
C : Common alarm in the driver.
V : Power supply regenerative power supply alarm
R : Resistance regenerative power supply alarm
The servo alarms and servo warnings are also the same for the 2-axis servo drive unit.
<Servo Alarms>
Display
Abbr.
Name
Meaning
11
ASE
Spindle selection
error
In MDS-B-B24 driver, the rotary switches for both
axes are set to the same axis number when using
the 2-axis integrated drive unit.
Otherwise, the switches are set to an illegal value.
12
ME
Memory error
An error was detected in a memory IC or FB IC by
self-check to be made during driver power-on.
13
SWE
S/W process error
The S/W process did not end within the specified
time.
14
SWE2
S/W process error2 The processor of current does not work properly.
17
ADE
AD converter error
An error was detected in the A/D converter for
current detection by self-check during driver power
ON.
18
WAT
Initial
communication
error
Initial communication with the high-speed serial
detector connected with the motor end could not be
performed.
1A
Stei
Serial detector
communication
error (SUB)
Initial communication with the detector cannot be
performed in the system that uses OHA25K-ET or
high-speed serial detector as the machine end
detector.
1B
Scpu
CPU error (SUB)
In the high-speed serial detector connected with the
machine end, an error was detected in the data
stored in an EEPROM.
Refer to "(3)".
1C
Sled
EEPROM
LED abnormality
(SUB)
In the linear scale connected with the machine end,
an error in an EEPROM was detected.
Otherwise, in the high-speed serial detector
connected with the machine end, a deteriorated
LED was detected.
Refer to "(3)".
III – 139
5. MDS-C1-V1 Servo Drive
Display
Abbr.
Name
Meaning
1D
Sdat
Data error (SUB)
1E
Sohe
ROM, RAM/
In the linear scale connected with the machine end,
Thermal error (SUB) an error on ROM or RAM was detected.
Otherwise, in the high-speed serial detector
connected with the machine end, the built-in
thermal protector functioned.
Refer to "(3)".
1F
Stre
Serial detector
Communication
error (SUB)
In the high-speed serial detector connected with the
machine end, communication with the detector
stopped.
21
NS2
No signal 2
An error was detected in the ABZ phase in a
closed-loop system.
25
ABSE
Absolute position
data lost
The backup voltage in the absolute position detector
dropped. The absolute position cannot be
compensated.
26
NAE
Unusable axis error A power module error occurred in the axis set as "F"
in the rotary switch.
27
SCcpu
Scale CPU error
(SUB)
28
Sosp
Scale overspeed
(SUB)
In the high-speed serial detector connected with the
machine end, an error was detected in a position
within one rotation.
Refer to "(3)".
The CPU in the absolute position detection
connected with the machine end does not work
properly.
Refer to "(3)".
In the absolute position linear scale connected with
the machine end, the speed exceeding the
maximum movement speed was detected. Refer to
"(3)".
29
Sabs
Absolute position
In the absolute position linear scale connected with
detector circuit error the machine end, an error was detected in the scale
(SUB)
or in the absolute detection circuit of the scale.
Refer to "(3)".
2A
Sinc
Incremental
position detector
circuit error (SUB)
In the absolute position linear scale connected with
the machine end, an error was detected in the scale
or in the incremental detection circuit of the scale.
Refer to "(3)".
2B
SCPU
CPU error
Detector circuit error in the motor end high-speed
serial detector, an error was detected in the data
stored in an EEPROM.
Refer to "(3)".
2C
SLED
EEPROM/LED
error
In the linear scale connected with the motor end, an
error on an EEPROM was detected.
Otherwise, in the high-speed serial detector
connected with the motor end, a deteriorated LED
was detected.
Refer to "(3)".
2D
SDAT
Data error
In the high-speed serial detector connected with the
motor end, an error was detected in a position within
one rotation.
Refer to "(3)".
III – 140
5. MDS-C1-V1 Servo Drive
Display
Abbr.
Name
Meaning
2E
SRRE
ROM, RAM error
The linear scale connected with the motor end
detects an error on a ROM or RAM. Refer to "(3)".
2F
STRE
Serial detector
Communication
error
In the high-speed serial detector connected with the
motor end, communication with the detector
stopped.
31
OS
Overspeed
A speed exceeding the motor’s tolerable speed was
detected. (Motor maximum speed ∗ 1.2)
32
PMOC
Power module error An overcurrent error occurred in the IPM used for the
(Overcurrent)
inverter.
34
DP
CNC
communication
CRC error
An error was detected in the communication data
sent from the CNC to the driver.
35
DE
CNC
communication
Data error
An error was detected in the movement command
data from the CNC.
36
TE
CNC
communication
error
Communication from the CNC stopped.
37
PE
Initial parameter
error
An illegal parameter was detected among the
parameters sent from the CNC during initialization
by CNC power ON.
38
TP1
CNC
communication
Protocol error 1
(frame)
An error was detected in the communication frame
sent from the CNC.
39
TP2
CNC
communication
Protocol error 2
(information)
An error was detected in the axis information data
sent from the CNC.
3A
OC
Overcurrent
The motor drive current is too large.
3B
PMOH
Power module error An overheat was detected in the IPM used for the
(overheat)
inverter.
42
FE1
Feedback error 1
A feedback pulse skip or Z-phase error was
detected in the position detector.
43
FE2
Feedback error 2
Excessive difference was detected in the feedback
amount between the motor end detector and the
machine end detector during a closed loop.
Otherwise, a Feed back IC error was detected
during semi-closed loop.
III – 141
5. MDS-C1-V1 Servo Drive
Display
46
Abbr.
OHM
Name
Meaning
Motor overheat /
thermal error
An overheat error was detected in the driving motor.
Otherwise, a thermal protector functioned, which is
built in the high-speed serial detector connected
with the motor end.
50
OL1
Overload 1
The load level of the servomotor or servo driver can
be calculated from the motor current. This load level
has reached the overload level that is specified by
the overload detection level (sv022: OLL) and
overload-time constant (sv021: OLT).
51
OL2
Overload 2
A current command at least 95% of the maximum
driver capacity continued for 1.0 second or more.
52
OD1
Excessive error 1
The difference between the ideal and actual
positions has exceeded parameter setting value
SV023 (OD1) or SV053 (OD3) when the servo was
turned ON.
53
OD2
Excessive error 2
The difference between the ideal and actual
positions has exceeded parameter setting value
SV026 (OD2) when the servo was turned OFF.
54
OD3
Excessive error 3
When an excessive error 1 is detected, no motor
current flows. This error occurs when the power
cable is loose or disconnected or no voltage is
applied to the bus.
58
CLE0
Collision detection0 A collision detection method 1 error was detected in
G0 modal (rapid traverse feed) mode.
59
CLE1
Collision detection1 A collision detection method 1 error was detected in
G1 modal (cutting speed) mode.
5A
CLE2
Collision detection2 A collision detection method 2 error was detected.
6F
PSE
Power supply alarm The power supply unit is not connected.
Otherwise, an error was detected in the AD
converter of the power supply.
7F
Power turning ON
request alarm
The control mode (Standard drive unit / High-gain
drive unit) recognized by EEPROM is different from
that designated by a parameter.
The power need be turned ON again to change the
mode set with the parameter.
80
HCN
HR unit
Connection error
The errors such as illegal connection or
disconnected cable are detected in MDS-B-HR
which is connected with the motor end.
81
HHS
HR unit
HSS communication error
MDS-B-HR connected with the motor end detects a
communication error between the absolute position
detection scale.
83
HSC
HR unit
Scale recognition
error
MDS-B-HR connected with the motor end did not
recognize the analog-wave cycle of the connected
scale.
84
HCPU
HR unit
CPU error
The CPU of MDS-B-HR connected with the motor
end doesn’t operate properly.
III – 142
5. MDS-C1-V1 Servo Drive
Display
Abbr.
Name
Meaning
85
HDAT
HR unit
Data error
In MDS-B-HR connected with the motor end, an
error was detected in the analog data.
86
HMAG
HR unit
Magnetic polarity
error
In MDS-B-HR connected with the motor end, an
error was detected in the magnetic polarity data.
88
WD
Watch dog
Servo system operation is abnormal.
89
Hcn
HR unit
Connection error
(SUB)
The errors such as illegal connection or disconnected cable are detected in MDS-B-HR which
is connected with the machine end.
8A
Hhs
HR unit
HSS
communication
error (SUB)
MDS-B-HR connected with the machine end
detects a communication error between the
absolute position detection scale.
8C
Hsc
HR unit
Scale recognition
error (SUB)
MDS-B-HR connected with the machine end did not
recognize the analog-wave cycle of the connected
scale.
8D
Hcpu
HR unit
CPU error (SUB)
The CPU of MDS-B-HR connected with the machine
end doesn’t operate properly.
8E
Hdat
HR unit
Data error (SUB)
In MDS-B-HR connected with the machine end, an
error was detected in the analog data.
8F
Hmag
HR unit
Magnetic polarity
error (SUB)
In MDS-B-HR connected with the machine end, an
error was detected in the magnetic polarity data.
III – 143
5. MDS-C1-V1 Servo Drive
<Servo Warnings>
Display
Abbr.
Name
Meaning
90
WST
Initial communication error in lowspeed serial format
Initial communication with the absolute position
linear scale cannot be performed.
91
WAS
Communication
error in low-speed
serial format
An error was detected in communication with the
detector in the absolute position detection system
using OHA 25K/OHA 25K-ET/Absolute position
linear scale.
92
WAF
Protocol error in
low-speed serial
format
An error was detected in the data from the detector
in the absolute position detection system using
OHA 25K/OHA 25K-ET/Absolute position linear
scale.
93
WAM
Absolute position
fluctuation
The absolute position to be detected at CNC power
ON moves more than the tolerable amount.
96
MPE
MP scale feedback There is an excessive difference in the feedback
error
amount between the motor end detector and the MP
scale in the absolute position detector.
97
MPO
MP scale offset
error
9E
WAn
High-speed serial
An error was detected in the rotation counter in
detector
OSE104/OSA104/OSE105/OSA105/OSE104-ET/
Rotation count error OSA104-ET/OSE105-ET/OSA105-ET. The
absolute position cannot be corrected.
9F
WAB
Battery voltage drop The voltage of the battery to be supplied to the
absolute position detector dropped.
E1
WOL
Overload warning
An 80% level of the overload 1 alarm was detected.
E3
WAC
Absolute position
counter warning
There is a difference between absolute and relative
position data.
E4
WPE
Parameter warning
The parameter out of the setting range was set.
E6
AXE
Control axis
removal
A control axis removal command has been issued.
E7
NCE
CNC emergency
stop
CNC is in emergency stop state.
An error was detected in the offset data to be read
during initialization by CNC power ON in the
absolute position detector of the MP scale.
III – 144
5. MDS-C1-V1 Servo Drive
(2) Error parameter No. at initial parameter error
When the initial parameter error (alarm 37) occurs, the Diagnosis screen of CNC displays which
parameter has caused an error. The display method differs according to the CNC type. Thus, refer to
the instruction manuals for each CNC to be used.
The displayed No. at this time is normally indicated the parameter No. (svXXX).
In addition to this, there is a special 3-digit No. (Refer to the table below.)
In this case, the error occurrence is attributed to several parameters. Therefore, the related parameters
must be properly set.
Display
Details
Related Parameters
69
The maximum rapid traverse feedrate set with CNC axis parameter "rapid".
CNC is illegal.
Normally, this error does not occur.
An error related to the CNC system S/W is
considered.
71
The maximum cutting feedrate set with CNC CNC axis parameter "clamp".
is illegal.
Normally, this error does not occur.
An error related to the CNC system S/W is
considered.
101
The number of constants to be used in the
following functions is large:
• Electronic gears
• Position loop gain
• Speed feedback conversion
sv001:PC1, sv002:PC2, sv003:PGN1
sv018:PIT, sv019:RNG1, sv020:RNG2
sv049:PGN1sp
Check that all the related parameters are
specified correctly.
102
Parameters for absolute position detection
are set to ON during the high-speed serial
incremental detector OSE104 or OSE105 is
connected.
Set the parameters for absolute position
detection to OFF.
To detect an absolute position, replace the
incremental specification detector with an
absolute position detector.
sv017:SPEC, sv025:MTYP
103
The servo option is not found.
The closed loop (including the ball screw-end
detector) or dual feedback control function is
an optional function.
sv025:MTYP/pen
sv017:SPEC/dfbx
104
The servo option is not found.
The SHG control function is an optional
function.
sv057:SHGC
sv058:SHGCsp
105
The servo option is not found.
The adaptive filtering function is an optional
function.
sv027:SSF1/aflt
106
The servo option is not found.
The absolute position detection system
using MP scale is an optional function.
sv017:SPEC/mp, mpt3
107
2-axis control is running. The high-speed
processing mode is exclusive for 1-axis
control.
sv017:SPEC/vmh
III – 145
5. MDS-C1-V1 Servo Drive
(3) Detector alarm
As the following alarms are detected by each detector, the details vary with the detector connected.
Check the alarm details conforming to the detector being used.
Mitutoyo
AT41
Mitutoyo
AT342
HEIDENHAIN
LC191M
Connection to CN3 Connection to CN3
Initialization error Initialization error
Connection to CN3 Connection to CN3
EEPROM error
EEPROM error
Connection to CN3 Connection to CN3
Unconformity of
Unconformity of
INC and ABS data incremental and
absolute data
Connection to CN3 Connection to CN3
ROM/RAM error
ROM/RAM error
1E Connection to CN3
Encoder thermal
error
27
Connection to CN3 Connection to CN3 Connection to CN3 Connection to CN3
Memory error
CPU error
CPU error
CPU error
28
Connection to CN3 Connection to CN3
Photoelectric over Over speed
speed
29
Connection to CN3 Connection to CN3 Connection to CN3 Connection to CN3
Absolute position Absolute position Capacitance error Absolute data error
detection circuit
detection circuit
error
error
2A
Connection to CN3 Connection to CN3 Connection to CN3 Connection to CN3
Relative position Relative position Photoelectric error Incremental data
detection circuit
detection circuit
error
error
error
2B Connection to CN2
Connection to CN2 Connection to CN2
CPU error
Initialization error Initialization error
2C Connection to CN2
Connection to CN2 Connection to CN2
LED error
EEPROM error
EEPROM error
2D Connection to CN2
Connection to CN2 Connection to CN2
Data error
Unconformity of
Unconformity of
photoelectric and incremental and
electrostatic data absolute data
2E
Connection to CN2 Connection to CN2
ROM/RAM error
ROM/RAM error
48
Connection to CN2 Connection to CN2
CPU error
CPU error
49
Connection to CN2 Connection to CN2
Photoelectric over Over speed
speed
4A
Connection to CN2 Connection to CN2
Capacitance error Absolute data error
4B
Connection to CN2 Connection to CN2
Photoelectric error Incremental data
error
III – 146
Remark
s
Error in the detector connected to CN3 (SUB)
FUTABA
Linear scale
FME/FLE type
Error in the detector connected to CN2 (MAIN)
OSE104(-ET)/
OSA104(-ET)
No.
OSE105(-ET)/
OSA105(-ET)
1B Connection to CN3
CPU error
1C Connection to CN3
LED error
1D Connection to CN3
Data error
5. MDS-C1-V1 Servo Drive
5.8 Explanation of connector and terminal block
Name
Connector
TE2
Terminal
block
TE3
TE1
Application
CN1A
For connection with NC and high-order axis
CN1B
For connection with battery unit and low-order axis
CN9
For maintenance (not used normally)
CN4
For connection with power supply
CN2
For connection with motor end detector
CN3
For connection with machine end detector
CN20
External brake output contact point
L+
Converter voltage input (+)
L–
Converter voltage input (–)
L11
L21
200VAC single-phase input
U
U-phase output for motor drive
V
V-phase output for motor drive
W
W-phase output for motor drive
Ground
III - 147
Remarks
For combination of
V1-110/150 dynamic
brake contact output
5. MDS-C1-V1 Servo Drive
5.9 Main circuit and brake connection
WARNING
Ground the servo drive unit and servomotor with Class C(former class 3) grounding or higher.
CAUTION
1. Correctly connect the output side (terminals U, V, W). Failure to do so could lead to abnormal
operation of the servomotor.
2. 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.
5.9.1
Main circuit
Servo drive unit
MDS-C1-V1
Power supply
MDS-C1-CV
L+
L−
L11
L21
MC1
U
V
W
L1
Cabinet grounding
Contactor
L2
L3
Cabinet grounding
MC
AC reactor
Motor
Commercial
power supply
A
B
C
D
E
F
T
S
R
CB
3ø
200/230VAC
50/60Hz
III - 148
5. MDS-C1-V1 Servo Drive
Precautions for connections
(1) The wires and crimp terminals will differ according to the capacity.
(Refer to "8.5 Selection of wire size in the Chapter I Servo/Spindle System Configuration Section".)
(2) Always ground (
) the power supply.
(3) The phase order of the power supply terminals L1, L2, L3 is random.
(4) Precautions for connecting servo drive terminals U, V, W
a. Always observe the phase order for the servo drive unit terminals U, V, W and motor side pins A,
B, C. The motor may vibrate and rotate suddenly if the phase order is mistaken. The phases
cannot be reversed for reverse rotation.
b. Never perform connections that might apply the power on the servo drive output terminals U, V, W.
Never ground the servo drive output terminals U, V, W or connect so that grounding may occur as
this may destroy the servo drive.
(5) The Cannon plug used will differ according to the motor. Refer to section "2.9 (3)" for the connection
drawing of the brake exciter circuit for motor with electromagnetic brake. Refer to section "2.8 (2)" for
the terminal box type motor.
(6) Refer to the "I. Servo/Spindle System Configuration Section" for the selection of the contactor, AC
reactor and Circuit Breaker connected to the power supply.
(7) Make sure that the specified power is supplied to the servo drive power terminals (L1, L2, L3). If the
power does not have the specified voltage, use a transformer.
(8) Do not directly apply commercial power on the motor.
(9) Check once again that the wires are connected correctly as indicated in the wiring diagram.
III - 149
5. MDS-C1-V1 Servo Drive
5.9.2
Brake
Contact connection terminals for brake (EM1, EM2)
A contact for the brake has been newly installed on the MDS-C1-V1 servo drive unit. This contact can be
used for exciting the motor with brake. Connect the electromagnetic brake cable to connector CN20.
Contact for brake specifications
Type
Rated control capacity (resistance load)
Contact max. tolerable electricity (resistance load)
Contact max. tolerable voltage/current
Specifications
8A 250V AC/ 5A 30V DC
2000VA 150WA
380V AC /8A
Examples of connection with contact for brake
(1) For AC OFF
Rectifier
Brake excitation
(2) For DC OFF
Rectifier
Brake excitation
Refer to "2.9
application.
Motors with electromagnetic brake" for the electromagnetic brake specifications and
III - 150
Ball screw end
Relative position detection
Absolute position detector
Semi-closed loop
System
Closed loop
Closed loop
III - 151
Semi-closed loop
Scale
Ball screw end
Drive
unit
Drive
unit
Drive
unit
Drive
unit
Drive
unit
Drive
unit
Interface
Unit
Motor axis end detector
Motor axis end detector
Gear linkage or
belt interlock
Motor axis end detector
Interface
Unit
Motor axis end detector
Motor axis end detector
Gear linkage or
belt interlock
Motor axis end detector
Configuration
• Max. speed: 50m/min
• Min. resolution: 1µm
• Max. tracking
performance: 0.83MPPS
• Max. speed: 3000r/min
• Min. resolution: 0.0036°
• Max. tracking
performance: 5MPPS
• Max. speed: 3000r/min
• Min. resolution: 0.0036°
• Max. tracking
performance: 5MPPS
• Min. resolution:
(according to manufacturer)
• Max. tracking
performance:
(according to manufacturer)
• Max. speed: 3000r/min
• Min. resolution: 0.0036°
• Max. tracking
performance: 5MPPS
• Max. speed: 3000r/min
• Min. resolution: 0.0036°
• Max. tracking
performance: 5MPPS
Performance
2
1
2
1
2
1
2
1
2
1
2
1
No.
of
axes
MDS-C1-V2-o
MDS-C1-V1-o
MDS-C1-V2-o
MDS-C1-V1-o
MDS-C1-V2-o
MDS-C1-V1-o
MDS-C1-V2-o
MDS-C1-V1-o
MDS-C1-V2-o
MDS-C1-V1-o
MDS-C1-V2-o
MDS-C1-V1-o
Model
Built-in encoder
OSE104S
OSE104S
OSE104
Built-in encoder
OSE104S
OSE104S
OSE104
OSA104S
OSA104S
OSA104
Built-in encoder
OSE104S
OSE104S
OSE104
Built-in encoder
OSE104S
OSE104S
OSE104
Built-in encoder
OSE104S
OSE104S
OSE104
Motor end
detector
Absolute value
linear scale AT-41
(Mitsutoyo)
OSA104ET
OHA25K-ET
Various scales of pulse
F/B outputs of 1µ and
0.5µ specifications can
be connected.
Example: MP scale
(Mitsubishi Heavy
Industries)
OSE104ET
Machine end
detector
Detector
CN2
CN2
CN2
CN2
CN2
CN2
Motor
end
CN3
CN3

CN3
CN3

Machine
end
F/B cable connecting
connector
5.10
Scale
Servo drive unit
5. MDS-C1-V1 Servo Drive
Wiring system diagrams for systems
(1) Servo system configuration table
5. MDS-C1-V1 Servo Drive
(2) Cable system drawings for each specification
n
Semi-closed loop position detection system
(a) 1-axis servo drive unit
MDS-C1 Servo
Power supply unit
To other drive unit's CN1A connector
(If there is no other drive unit or spindle, etc., connect
terminating resistance A-TM. When using the absolute
value system, connect battery MDS-A-BT.)
Single-phase 200VAC
CNV2 cable
Connect to the contactor coil when turning ON/OFF
the 3-phase 200VAC with the contactor.
3-phase 200VAC
HC motor
(b) 2-axis servo drive unit
MDS-C1 Servo
Power supply unit
To other drive unit's CN1A connector
(If there is no other drive unit or spindle, etc., connect
terminating resistance A-TM. When using the absolute
value system, connect battery MDS-A-BT.)
Single-phase 200VAC
CNV2 cable
Connect to the contactor coil when turning
ON/OFF the 3-phase 200VAC with the contactor.
3-phase 200VAC
CNV2 cable
L-axis
HC motor
M-axis
HC motor
III - 152
5. MDS-C1-V1 Servo Drive
n
Ball screw end position detection system
MDS-C1 Servo
Power supply unit
To other drive unit's CN1A connector
(If there is no other drive unit or spindle, etc., connect terminating resistance
A-TM. When using the absolute value system, connect battery MDS-A-BT.)
CN3 cable
CNV2 cable
200VAC
To 2nd axis
Machine table
Ball screw
Ball screw end encoder
Absolute value: OHA 25K-ET/OSA104ET/OSA105ET
Note) Connect the battery to the terminating axis CN1B.
Relative value: OHE 25K-ET/OSE104ET/OSE105ET
HC motor
Machine end detection system
MDS-C1 Servo
Power supply unit
To other drive unit's CN1A connector
(If there is no other drive unit or spindle, etc., connect
terminating resistance A-TM. When using the absolute value
system, connect battery MDS-A-BT.)
Connect the following items installed
onto the machine end and used:
• Linear scale
• Magnetic scale
• MP scale
• Various rotary detectors
200VAC
CNV2 cable
n
To 2nd axis
HC motor
III - 153
5. MDS-C1-V1 Servo Drive
n
Absolute position linear scale detection system
MDS-C1 Servo
Power supply
unit
Features
1. An interface for the scale is mounted as a standard, so the
scale can be connected directly.
2. A battery is not required for the absolute value detection.
3. Both the absolute value and relative value signals are detected,
so a high precision absolute position detection is possible and
high-speed and high response control is possible.
CNV2 cable
To other amplifier's CN1A connector (If there is no other amplifier or spindle, etc.,
connect terminating resistance A-TM.) Max. cable length: 30m (enclosed with scale)
200VAC
Absolute value linear scale
To 2nd
axis
HC Motor
Absolute value linear scale specifications (Contact the maker for details.)
(Note) Refer to "3.1 List of detector specifications".
5.11
D/A output function
5.11.1
Outline
The D/A output function is mounted in the standard system of the MDS Series. Thus, the PCB for analog
monitoring required in the conventional digital servo system is not longer required.
5.11.2
Hardware specifications
MDS-C1-VX
8-bit 0 ~ 5V
2 channels
Output pins
CH1 : CN9-9 pin
CH2 : CN9-19 pin
GND : CN9-1 pin
∗ The 0 level (center) of the data is 2.5V.
5.11.3 Parameters
The data No. and output magnification for each channel is set with the following parameters.
Name
SV061
SV062
SV063
SV064
Description
D/A channel 1 data No.
D/A channel 2 data No.
D/A channel 1 output magnification
D/A channel 2 output magnification
III - 154
5. MDS-C1-V1 Servo Drive
5.11.4
Output data No.
The data to be output to SV061 and SV062 is set. When –1 is set for the output data No., D/A output will
not take place at that channel.
No.
CH1
CH2
Output data
– 1 D/A output not selected
0 Speed feedback
Unit
Output data
Unit
r/min
D/A output not selected
Current command
Stall rated current %
1 Current command
Stall rated current %
Current command
Stall rated current %
2 Current command
Stall rated current %
Current command
Stall rated current %
3 Current feedback
Stall rated current %
Current feedback
Stall rated current %
4
5
6
7
8
r/min
r/min
Interpolation unit
Interpolation unit
Interpolation unit/
NC communication cycle
Interpolation unit/
NC communication cycle
Interpolation unit
Interpolation unit
Interpolation unit
Interpolation unit
Speed feedback low -order
Speed feedback high-order
Position droop low -order
Position droop high-order
Position F△T low -order
r/min
r/min
Interpolation unit
Interpolation unit
Interpolation unit/
NC communication cycle
Interpolation unit/
NC communication cycle
Interpolation unit
Interpolation unit
Interpolation unit
Interpolation unit
Speed feedback low -order
Speed feedback high-order
Position droop low -order
Position droop high-order
Position F△T low -order
9 Position F△T high-order
10
11
12
13
Position command low -order
Position command high-order
Feedback position low -order
Feedback position high-order
125 Test output saw -tooth wave ± 5V
126 Test output rectangular
± 5V
wave
127 Test output 0V
± 5V
Position F△T high-order
Position command low -order
Position command high-order
Feedback position low -order
Feedback position high-order
Test output saw -tooth wave ± 5V
Test output rectangular
± 5V
wave
Test output 0V
± 5V
5.11.5 Setting of output magnification
The output magnification is set in SV063 and SV064. When "256" is set, the magnification will be 1-fold.
When the parameter is set to "A", A/256 will be the magnification.
Since the D/A converter input is 7bit excluding the sign bit, fix the magnification parameter A as (Input data)
∗ A/256 ≤ 127. The output polarity will be reversed if a negative value is set.
DATA∗
A
256
→
D/A
128 division
Analog output voltage (V) =
→ Analog output
A : Parameter setting value
A
Output max.
∗ voltage
256
+ Offset voltage
DATA ∗
D/A output
max. voltage
2.5 (V)
III - 155
-------- Set the value in { } to the
value less than the D/A
output max. voltage in
the table below.
Offset voltage
2.5 (V)
5. MDS-C1-V1 Servo Drive
(Example) Speed feedback
The output value is r/min. Thus, 2000 will be output at a speed of 2000r/min. When the parameter is set
to 256 (magnification 1), the D/A output voltage will be 39.06V as shown below, exceeding the D/A
output voltage 2.5V.
2000 / 128 ∗ 2.5 (V) = 39.06 (V)
In this case, set the parameter to 16 (magnification 1/16) to obtain the D/A output voltage as shown
below.
2000 ∗ 2.5 / (128 ∗ 16) = 2.44 (V)
Thus, the analog output voltage will be 2.94V.
2.44 (V) + 2.5 (V) = 2.94 (V)
Analog output voltage
(Data)
5.11.6 Others
The D/A output channel has two channels even in the 2-axis servo drive. Thus, set the output No. for the
axis not to be observed in the 2-axis servo drive to –1. If the D/A output of each channel is set for both axes,
the L-axis data will be output. If –1 is set in the D/A output No. for both axes, the output will be 2.5V.
III - 156
6. MDS-C1-V2 Servo Drive
6. MDS-C1-V2 Servo Drive .................................................................................................
6.1 Model configuration .................................................................................................
6.2 Servo drive unit specifications ................................................................................
6.3 Hardware setting ....................................................................................................
6.4 Status display .........................................................................................................
6.5 Explanation of terminal block and connectors .......................................................
6.6 Main circuit connection ...........................................................................................
III – 157
III-158
III-158
III-159
III-163
III-164
III-166
III-167
6. MDS-C1-V2 Servo Drive
6.
MDS-C1-V2 Servo Drive
6.1 Model configuration
2-axis servo drive unit model designation
MDS – C1 – V2 –
M-axis servo drive capacity class signal
L-axis servo drive capacity class signal
The power class symbols are the same as for the MDS-C1-V1 servo drive.
Applicable motor
Low inertia
Standard
L-type
3000r/min
2000r/min
HA053
HA13
HA23N
HA33N
HC53
HA50NL
(HA43N)
Symbol
Capacity
01
0.1 kW
03
0.3 kW
05
0.5 kW
HC52
(HA40N)
10
1.0 kW
HC102
(HA80N)
HC103
(HA83N)
HA100NL
20
2.0 kW
HC152, HC202
(HA100N)
HC153
HA150NL
HA200NL
35
3.5 kW
45
4.5 kW
HC352
(HA200N)
HC452
(HA300N)
HC452
∗ Specification
limit: 78% of the
motor stall rating
HC702
∗ Specification
limit: 90% of the
motor stall rating
HC203
(HA103N)
HC353
(HA203N)
HC353
∗ Specification
limit: 94% of the
motor stall rating
HC453
∗ Specification
limit: 82% of the
motor stall rating
45S
(With specifications limit)
4.5 kW
70S
(With specifications limit)
7.0 kW
Standard
2000r/min
III – 158
HA300NL
HA500NL
Low inertia
L-type
3000r/min
HA53NL
(HC103R)
(HC153R)
HA103NL
HA153NL
(HC203R)
HA203NL
(HC353R)
HA303NL
(HC503R)
6. MDS-C1-V2 Servo Drive
6.2 Servo drive unit specifications
2-axis integrated servo drive unit MDS -C1-V2 Series
Model
MDS-C1-V2-
Rated output
Outpu
t
Input
[kW]
0101
0301
0303
0501
0503
0505
0.95+0.95
2.9+0.95
2.9+29
3.4+0.95
3.4+2.9
3.4+3.4
2010
2020
3510S
3510
6.8+2.9
6.8+3.4
6.8+6.8
13.0+6.8
13.0+13.0
16.0+6.8
16.0+6.8
14
21
28
24
24
270-311VDC
2
4
6
5
7
8
Voltage [V]
10
11
200/200-230VAC
Control Frequen
power [Hz]
supply cy
50/60Hz
Curren [A]
Max. 0.2A
Control tsystem
Sine-wave PWM control system/current control system
Braking
Regeneration braking and dynamic braking
Built-in
Dynamic
Structure
Environment
1010
155VAC
Rated
[V]
voltage
Rated
[A]
current
1005
0.1+0.1 0.3+0.1 0.3+0.3 0.5+0.1 0.5+0.3 0.5+0.5 1.0+0.3 1.0+0.5 1.0+1.0 2.0+1.0 2.0+2.0 3.5+1.0 3.5+1.0
Rated
[V]
voltage
Rated
[A]
current
1003
Fully enclosed, self-cooling ( Protective degree: IP65, IP67 )
Ambien
[°C]
t
temper
Ambient
[%RH]
humidity
Operation: 0 to 55°C (non freezing), Storage/transportation: –15 to 70°C (non freezing)
Operation: 90%RH or less (non condensing),
Storage/transportation: 90%RH or less (non condensing)
Indoors (no direct sunlight);
no corrosive gas, inflammable gas, oil mist, or dust
Operation/storage: 1000 meters or less above sea level,
Transportation: 10000 meters or less above sea level
Atmosphere
Elevation
[m]
Vibration/
Impact
[m/s 2
]
Cooling type
Weight
Maximum
heating value
4.9m/s 2 (0.5G)/49m/s 2 (5G)
[kg]
[W]
Forced air cooling
Self-cooling
2.3
38
41
43
46
52
4.5
62
Noise
68
78
96
155
178
5.2
190
Less than 55dB
(Note 1) The same capacity drive units with a smaller width are indicated with an "S" at the end of the type.
Note that limits will apply to continuous operation.
III – 159
6. MDS-C1-V2 Servo Drive
2-axis integrated servo drive unit MDS -C1-V2 Series
Model
MDS-C1-V2-
Rated output
Outpu
t
[kW]
3520S
3520
3535
4520
4535
4545
7035
7045
7070S
7070
3.5+2.0
3.5+2.0
3.5+3.5
4.5+2.0
4.5+3.5
4.5+4.5
7.0+3.5
7.0+4.5
7.0+7.0
7.0+7.0
Rated
[V]
voltage
Rated [A]
curren
Rated
[V]
voltage
Input Rated
curren [A]
t
Contro Voltag [V]
e
l
Frequen
[Hz]
power -cy
supply Curren
[A]
Control tsystem
155VAC
16.0+13.0 16.0+13.0 16.0+16.0 28.0+16.0 28.0+16.0 28.0+28.0 33.5+16.0
31
31
34
44
47
60
52
64
70
70
200/200-230VAC
50/60Hz
Max. 0.2A
Sine-wave PWM control system/current control system
Regeneration braking and dynamic braking
Built-in
Dynamic
Structure
Fully enclosed, self-cooling ( Protective degree: IP65, IP67 )
Ambient
tempera [°C]
-ture
Ambien
t
[%RH]
humidit
Environy
ment
Atmosphere
Operation: 0 to 55°C (non freezing),
Storage/transportation: –15 to 70°C (non freezing)
Operation: 90%RH or less (non condensing),
Storage/transportation: 90%RH or less (non condensing)
Indoors (no direct sunlight);
no corrosive gas, inflammable gas, oil mist, or dust
Operation/storage: 1000 meters or less above sea level,
Transportation: 10000 meters or less above sea level
[m]
Vibration/
[m/s2]
Impact
Cooling type
Weight
Maximum
heating value
Noise
33.5+33.5 33.5+33.5
270-311VDC
Braking
Elevation
33.5+28
4.9m/s 2 (0.5G)/49m/s 2 (5G)
Forced air cooling
[kg]
[W]
4.5
5.2
213
260
6.0
266
307
359
6.7
406
459
5.9
7.3
365
558
Less than 55dB
(Note 1) The same capacity drive units with a smaller width are indicated with an "S" at the end of the type.
Note that limits will apply to continuous operation.
III – 160
Maximum output
current
Maximum output
torque
(During
combination with
motor)
Refer to "5.3
Servo drive
specifications" for
the applicable
motor.
Continuous output
current
Output voltage
Rated output
current
Applicable
motor
N·m
A
A
A
V
Unit
8.1
2.74
5.59
0.68
1.37
3.0
2.9
3.9
1.4
0.95
HA23N
HA33N
HA053N
HA13N
0.68
1.37
3.9
1.4
0.95
HA053
HA13
M
V2-0301
L
L/M
V2-0101
2.74
5.59
8.1
3.0
2.9
HA23N
HA33N
L/M
V2-0303
11.8
8.82
13.0
(14.2)
(10.2)
17
5.0
3.4
0.68
1.37
3.9
1.4
0.95
HC52
HA053
HC53
HA13
HA50NL
(HA40N)
(HA43N)
M
V2-0501
L
11.8
8.82
13.0
(14.2)
(10.2)
17
5.0
3.4
2.74
5.59
8.1
3.0
2.9
HC52
HA23N
HC53
HA33N
HA50NL
(HA40N)
(HA43N)
M
V2-0503
L
11.8
8.82
13.0
(14.2)
(10.2)
17
5.0
3.4
HC52
HC53
HA50NL
(HA40N)
(HA43N)
L/M
V2-0505
21.6
16.7
20.8
14.2
(25.4)
(19.2)
(7.95)
(11.9)
28
8.8
6.8
HC102
HC103
HA100NL
HA53NL
(HA80N)
(HA83N)
(HC103R)
(HC153R)
11.8
8.82
13.0
(14.2)
(10.2)
17
5.0
3.4
HC52
HC53
HA50NL
(HA40N)
(HA43N)
M
V2-1005
L
M
V2-2010
L
L/M
V2-2020
M
V2-3510
L
M
V2-3510S
L
M
V2-3520
L
M
V2-3520S
L
L/M
V2-3535
13
35.3
41.7
28.4
31.3
31.6
22.4
22.8
(41.9)
(15.9)
42
18.2
155V
21.6
16.7
20.8
14.2
(25.4)
(19.2)
(7.95)
(11.9)
28
8.8
6.8
21.6
16.7
20.8
14.1
(25.4)
(19.2)
(7.95)
(11.9)
28
8.8
6.8
35.3
41.7
28.4
31.3
31.6
22.4
22.8
(41.9)
42
18.2
13
59.8
40.2
51.9
37.0
(59.8)
(40.2)
(27.8)
57
25
16
21.6
16.7
20.8
14.1
(25.4)
(19.2)
(7.95)
(11.9)
28
8.8
6.8
59.8
40.2
51.9
37.0
(59.8)
(40.2)
(27.8)
57
25
16
21.6
16.7
20.8
14.1
(25.4)
(19.2)
(7.95)
(11.9)
28
8.8
6.8
59.8
40.2
51.9
37.0
(59.8)
(40.2)
(27.8)
57
25
16
35.3
41.7
28.4
31.3
31.6
22.4
22.8
(41.9)
(15.9)
42
18.2
13
59.8
40.2
51.9
37.0
(59.8)
(40.2)
(27.8)
57
25
16
35.3
41.7
28.4
31.3
31.6
22.4
22.8
(41.9)
(15.9)
42
18.2
13
59.8
40.2
51.9
37.0
(59.8)
(40.2)
(27.8)
57
25
16
HC102 HC152 HC102 HC152 HC352 HC102 HC352 HC102 HC352 HC152 HC352 HC152 HC352
HC103 HC202 HC103 HC202 HC203 HC103 HC203 HC103 HC203 HC202 HC203 HC202 HC203
HA100NL HC153 HA100NL HC153 HA300NL HA100NL HA300NL HA100NL HA300NL HC153 HA300NL HC153 HA300NL
HA53NL HA150NL HA53NL HA150NL HA203NL HA53NL HA203NL HA53NL HA203NL HA150NL HA203NL HA150NL HA203NL
(HA80N) HA200NL (HA80N) HA200NL (HA200N) (HA80N) (HA200N) (HA80N) (HA200N) HA200NL (HA200N) HA200NL (HA200N)
(HA83N) HA103NL (HA83N) HA103NL (HA103N) (HA83N) (HA103N) (HA83N) (HA103N) HA103NL (HA103N) HA103NL (HA103N)
(HC103R) HA153NL (HC103R) HA153NL (HC353R) (HC103R) (HC353R) (HC103R) (HC353R) HA153NL (HC353R) HA153NL (HC353R)
(HC153R) (HA100N) (HC153R) (HA100N)
(HC153R)
(HC153R)
(HA100N)
(HA100N)
(HC203R)
(HC203R)
(HC203R)
L/M
V2-1010
MDS-C1-
2-axis drive unit model name
6. MDS-C1-V2 Servo Drive
III – 161
Maximum output
torque
(During combination
with motor)
Refer to "5.3 Servo
drive specifications"
for the applicable
motor.
35.3
41.7
28.4
31.3
31.6
22.4
22.8
(41.9)
(15.9)
85
87.5
55.9
72.5
60.0
(87.5)
(55.8)
(39.8)
A
N·m
42
44
18.2
13
HC152
HC202
HC153
HA150NL
HA200NL
HA103NL
HA153NL
(HA100N)
(HC203R)
HC452
HC353
HA500NL
HA303NL
(HA300N)
(HA203N)
(HC503R)
28
M
V2-4520
L
A
A
Rated output current
Continuous output
current
Maximum output
current
V
Output voltage
Applicable
motor
Unit
87.5
55.9
72.5
60.0
(87.5)
(55.8)
(39.8)
85
44
28
M
59.8
40.2
51.9
37.0
(59.8)
(40.2)
(27.8)
57
25
16
HC352
HC203
HA300NL
HA203NL
(HA200N)
(HA103N)
(HC353R)
V2-4535
HC452
HC353
HA500NL
HA303NL
(HA300N)
(HA203N)
(HC503R)
L
87.5
55.9
72.5
60.0
(87.5)
(55.8)
(39.8)
85
44
28
HC452
HC353
HA500NL
HA303NL
(HA300N)
(HA203N)
(HC503R)
L/M
V2-4545
120
79.8
78
(120)
(80)
113
55
33.5
M
59.8
40.2
51.9
37.0
(59.8)
(40.2)
(27.8)
57
25
16
HC352
HC203
HA300NL
HA203NL
(HA200N)
(HA103N)
(HC353R)
V2-7035
HC702
HC453
HA503NL
(HA700N)
(HA303N)
L
120
79.8
78
(120)
(80)
113
55
33.5
L/M
V2-7070
87.5
55.9
72.5
60.0
(87.5)
(55.8)
(39.8)
85
44
28
120
79.8
78
(120)
(80)
113
55
33.5
155V
HC452
HC702
HC353
HC453
HA500NL HA503NL
HA303NL (HA700N)
(HA300N) (HA303N)
(HA203N)
(HC503R)
M
V2-7045
HC702
HC453
HA503NL
(HA700N)
(HA303N)
L
MDS-C1-
120
79.8
113
41
33.5
HC702
HC453
L/M
V2-7070S
2-axis drive unit model name
6. MDS-C1-V2 Servo Drive
III – 162
6. MDS-C1-V2 Servo Drive
6.3 Hardware setting
L-axis
M-axis
Function
Setting
Meaning
0
1st axis
1
2
2
3
Axis No. setting
3
4
CS
4
5
5
6
6
7
7~E
Not usable
F
Not used axis
selection
The servo drive axis No. can be set by opening the upper lid (at the right of the LED status display window)
on the top of the MDS-C1-V2 servo drive unit, and turning the rotary switch. When the rotary switch is set
to "F" and the servo drive power is turned on, that axis will not be controlled. Thus, set axes that are not
being used to "F". (The communication with the NC will not take place during initialization, and an alarm will
not occur.)
III – 163
6. MDS-C1-V2 Servo Drive
6.4 Status display
WARNING
1. Do not operate the switches with wet hands. Failure to observe this could lead to electric
shocks.
2. Do not operate the unit with the front cover removed. The high voltage terminals and charged
sections will be exposed, and could lead to electric shocks.
3. Do not open the front cover while the power is ON or during operation. Failure to observe this
could lead to electric shocks.
CAUTION
1. Check and adjust each program and parameter before starting operation. Failure to do so could
lead to unforeseen operation of the machine.
2. Do not touch the fin on the servo drive unit, regenerative resistor or servomotor, etc., while the
power is turned ON or immediately after turning the power OFF. These parts may reach high
temperatures, and can cause burns.
The state is displayed on the servo drive display with codes and the data is transferred to the NC side.
Display
Status
Description
AA
INITIALIZE
Waiting for NC power start up (NC power ON → OFF).
Ab
INITIALIZE
Waiting for NC power start up
(When the drive unit power is turned OFF and ON and the NC power is
OFF)
AC
INITIALIZE
Requesting parameter transfer
Ad
INITIALIZE
Waiting for parameter transfer
AE
INITIALIZE
Waiting for main servo IT start
b#
READY OFF
Ready OFF
c#
SERVO OFF
Servo OFF
d#
SERVO ON
Servo ON
F# → 9∗
WARNING
Warning being generated
F# → E∗
WARNING
Warning being generated
F# → ∗∗
ALARM
Alarm being generated
# : Axis number
∗ : Warning number
∗∗ : Alarm number (Refer to servo alarm and warning)
III – 164
6. MDS-C1-V2 Servo Drive
Examples of MDS-C1-V2 drive unit status displays
We will assume that the L-axis is the 1st axis and the M-axis is the 2nd axis.
(Example 1) Display when both L-axis and M-axis are in servo ON state.
(Example 2) Display when both L-axis and M-axis are in emergency stop state.
(Example 3) Display when the MOTOR OVERHEAT ALARM (46) occurred in the L-axis.
The alarm flickers.
(Example 4) State when the M-axis changeover rotary switch is set to "F" and the MOTOR
OVERHEAT ALARM (46) occurred in the L-axis.
The alarm flickers.
(Example 5) Display when M-axis is set to "F" and the L-axis is in the servo ON state.
III – 165
6. MDS-C1-V2 Servo Drive
6.5 Explanation of terminal block and connectors
Name
Application
CN1A
CN1B
CN9
CN4
CN2L
CN3L
CN2M
CN3M
CN20
For connection with NC and high-order axis
For connection with battery unit and low-order axis
For maintenance (not used normally)
For connection with power supply unit
For connection with L-axis motor end detector
For connection with L-axis machine end detector
For connection with M-axis motor end detector
For connection with M-axis machine end detector
External brake output contact point
TE2
L+
L–
Converter voltage input (+)
Converter voltage input (–)
TE3
L11
L21
200VAC single-phase input
Connector
Terminal block
TE1
MU
MV
MW
LU
LV
LW
U-phase output for M-axis motor drive
V-phase output for M-axis motor drive
W-phase output for M-axis motor drive
U-phase output for L-axis motor drive
V-phase output for L-axis motor drive
W-phase output for L-axis motor drive
Ground
III – 166
Remarks
6. MDS-C1-V2 Servo Drive
6.6 Main circuit connection
WARNING
Ground the servo drive unit and servomotor with Class C(former class 3) grounding or higher.
CAUTION
1. Correctly connect the output side (terminals U, V, W). Failure to do so could lead to abnormal
operation of the servomotor.
2. 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.
Servo drive unit
MDS-C1-V2
Power supply
MDS-C1-CV
L+
L−
L11
L21
MC1
MU
LU
MV
LV
MW
LW
L1
L2
L3
Cabinet grounding
Cabinet grounding
Contactor
MC
Motor
AC reactor
A
B
C
D
E
F
Commercial
power supply
T
S
R
CB
Motor
3ø
200/230VAC
50/60MHz
A
B
C
D
E
F
III – 167
6. MDS-C1-V2 Servo Drive
Precautions for connections
(1) The wires and crimp terminals will differ according to the capacity.
(Refer to "8.5 Selection of wire size in the Chapter I Servo/Spindle System Configuration Section".)
(2) Always ground the power supply.
(3) The phase order of the power supply unit's power supply terminals L1, L2, L3 is random.
(4) Precautions for connecting servo drive terminals U, V, W
a. Always observe the phase order for the servo drive terminals U, V, W and motor side pins A, B, C.
The motor may vibrate and rotate suddenly if the phase order is mistaken. The phases cannot be
reversed for reverse rotation.
b. Never perform connections that might apply the power on the servo drive output terminals U, V, W.
The servo drive may be damaged.
c. Never ground the servo drive output terminals U, V, W or connect so that grounding may occur.
The servo drive may be damaged.
d. Do not reverse the connections for the servo drive output terminals L-axis (LU, LV, LW) and M-axis
(MU, MV, MW). Make sure that the following is established: L-axis motor capacity ≥ M-axis motor
capacity.
(5) The Cannon plug used will differ according to the motor. Refer to section "2.9 (3)" for the connection
drawing of the brake exciter circuit for motor with electromagnetic brake. Refer to section "2.8 (2)" for
the terminal box type motor.
(6) Refer to the "I. Servo/Spindle System Configuration Section" for the selection of the contactor, AC
reactor and Circuit Breaker connected to the power supply.
(7) Make sure that the specified power is supplied to the servo drive power terminals (L1, L2, L3). If the
power does not have the specified voltage, use a transformer.
(8) Do not directly apply commercial power on the motor.
(9) Check once again that the wires are connected correctly as indicated in the wiring diagram.
III – 168
7. Selection of Capacity
7. Selection of Capacity ......................................................................................................
7.1 Selection of servo system ......................................................................................
7.1.1 Types of drive systems ..................................................................................
7.1.2 Selection of servomotor .................................................................................
7.2 Determining the coasting amount with emergency stop .......................................
III – 169
III-170
III-170
III-170
III-171
III-182
7. Selection of Capacity
7.
Selection of Capacity
7.1 Selection of servo system
7.1.1
Types of drive systems
Examples of the drive system format are shown below.
Types of motion directions
Linear
1. Horizontal
3. Rotating
2. Vertical
Table
Circular table
Worm gear
Speed reduction
gear
Ball screw
Counter
weight
Electromagnetic
brake
Type of drive systems
1. Ball screw
(direct connection)
2. Ball screw
(gear linkage)
3. Rack and pinion
Drive systems
Moving amount
per motor
rotation
S = PB
Z1
S = PB • Z
2
1
= PB • n
4. Roll feed
5. Chain drive
(direct connection)
1
S = π• D • n
1
S = Pc • Z • n
1
S = PL • Z • n
6. Chain and timing belt
drive
Drive systems
Moving amount
per motor
rotation
III – 170
Z1
1
S = Pr•Z• Z = Pr•Z• n
2
7. Selection of Capacity
7.1.2
Selection of servomotor
Select a motor that satisfies the following five items so that the performance of the AC servo system can be
brought out to the fullest.
(1) Maximum speed
The motor speed during rapid traverse must be within the motor's maximum speed.
Nmax ≥ N
Nmax : Motor maximum speed
If the drive system is the gear linkage ball screw, calculate the motor speed with the following equation,
and confirm that the calculated value is less than the motor's maximum speed. Note that the maximum
speed may be restricted by the detector.
Configuration on machine side
Calculation equation
FGO
N = P × n ≤ N max
B
Nmax :
N
:
FGO :
PB
:
n
:
Z1
:
Table
Motor
Z2
n
III – 171
Motor maximum speed (r/min)
Motor speed (r/min)
Rapid traverse rate (mm/min)
Feed screw pitch (mm/rev)
Drive gear ratio
Number of gear teeth on motor
shaft
: Number of gear teeth on feed
screw shaft
Motor speed
:
= Z2
Feed screw speed
Z1
7. Selection of Capacity
(2) Motor shaft conversion load inertia
The load inertia should be within 2.5 times the motor inertia. Use is possible if it exceeds 2.5 times, but
the servo adjustment range will be reduced, and the time constants must be increased.
JM × 2.5 ≥ JL
JL
JM
JM
JL
Item
Load inertia of
substance
linearly moved
(Motor shaft
conversion)
: Maximum load inertia (motor shaft conversion) [×10–4kg·m2]
: Motor inertia [×10–4kg·m2]
: Find the motor inertia from the motor data sheet. When using the brakes, add the brake
inertia.
: Obtain the maximum load inertia with the following equation. The example shows the ball
screw drive system.
Configuration on machine side
Calculation equation
JL = W ·
=W·
2
10V
60ω
=W·
P
2π×10
10V
2πN
2
2
where
JL : Load inertia (×10–4kg·m2)
V : Speed of substance linearly
moved (mm/min)
ω : Angular speed of motor (rad/s)
N : Motor speed (r/min)
P : Moving amount of substance
linearly moved per motor rotation
(mm)
W : Mass of substance linearly moved
(kg)
Example of
calculating load
inertia
Number of teeth Z2
JL = J1 +
Z1
Z2
= J1 +
Z1
Z2
Table mass W
2
( J2 + JB + JW )
2
J2 + JB +
W·
PB
2π×10
2
where
Ball screw pitch
Number of teeth Z1
JL
J1
J2
JB
JW
:
:
:
:
:
PB :
W :
Z1 :
Z2 :
III – 172
Load inertia (×10–4kg·m2)
Pinion inertia (×10–4kg·m2)
Gear inertia (×10–4kg·m2)
Ball screw inertial (×10–4kg·m2)
Inertia adjacent to ball screw on
table (×10–4kg·m2)
Ball screw pitch (mm)
Table mass (kg)
Number of gear teeth on motor
shaft
Number of gear teeth on feed
screw shaft
7. Selection of Capacity
(3) Acceleration/deceleration torque
The acceleration/deceleration torque should be within 80% of the driver unit's maximum output torque.
The following calculation equation is used for the acceleration/deceleration torque regardless of the
index acceleration or linear acceleration.
π
TAmax × 0.8 ≥ 2 N (J L + JM)×10
60Ts
N
TS
TF
TAmax
TAmax
:
:
:
:
:
−4
+ TF
Motor speed during rapid traverse [r/min]
Acceleration/deceleration time constant during rapid traverse [s]
Motor conversion load torque during rapid traverse [N·m]
Driver unit maximum output torque (when used in combination with motor) [N·m]
Find the driver unit maximum output torque from the servo drive unit specifications.
(4) Continuous effective load torque
The continuous effective load torque should be within 80% of the motor rated torque (during normal
stall).
TMS × 0.8 ≥ Trms
TMS
Trms
: Motor rated torque [N·m]
: Continuous effective load torque [N·m]
The continuous effective load torque is calculated as shown below from the machine's operation
pattern.
Operation pattern
Calculation equation
Trms =
Motor
speed
X
to
X = (Ta + Tf)2t1 + Tf2t2 + (Td – Tf)2t3
+ To 2t4 + (Tac + Tf)2t5
+ (Tc + Tf)2t6 + Tf2t7
+ (Tdc –Tf)2t8 + To 2t9
where
Trms
Ta
Td
Tf
To
Tac
Tdc
Tc
III – 173
: Continuous effective load torque [N·m]
: Acceleration torque [N·m]
: Deceleration torque [N·m]
: Frictional load torque [N·m]
: Load torque in stop state [N·m]
: Acceleration torque in cutting state
[N·m]
: Deceleration torque in cutting state
[N·m]
: Cutting torque [N·m]
7. Selection of Capacity
However, if the cutting maximum torque and maximum duty (%) are known, the selection conditions
can be found easily with the following equation.
TMS × 0.8 ≥ Trms = Tc
TMS
Trms
Tc
D
:
:
:
:
D
100
Motor rated torque [N·m]
Continuous effective torque [N·m]
Operational maximum torque [N·m]
Maximum duty [%]
(5) Duty ON time
The maximum duty ON time should be within the tolerable time listed in the motor data sheet. However,
this does not need to be checked if the cutting maximum torque is less than the rated torque of 100%.
TLOn ≤ TMOn
TLOn
TMOn
: ON time of maximum duty [min] (machine manufacturer specification)
: ON time of motor tolerable duty [min] (data sheet)
Example)
In HA23N, when the maximum cutting torque Tc is 1.37 [N·m] and the duty D is 40 [%], the ON
time of the tolerable duty becomes:
Torque percent = 1.37 = 1.4 → 140%
0.98
From the chart, TMOn = 5 [min]
Duty percent = t1
t0
t1 : ON time (min)
th = 20.25min
Torque percent (current percent)TcMS
D duty percent (%)
HA23/t
TMOn ON time (min)
III – 174
× 100%
7. Selection of Capacity
(6) Unbalance load torque
The unbalance load torque must be kept to within 50% of the motor rated torque (at normal stall).
TMS × 0.5 ≥ To
TMS
To
: Motor rated torque [kg•cm]
: Unbalance load torque when stopped
(7) Example of selection
Number of teeth Z2
Table mass W
Ball screw pitch
Number of teeth Z1
When the following data is known for the above drive system:
Gear ratio
Ball screw pitch
Rapid traverse rate
Table mass
Ball screw inertia
Gear inertia
Pinion inertia
Motor shaft conversion torque during rapid traverse
Motor shaft conversion torque during maximum cutting
Maximum cutting duty
N = 3/5
P = 10mm
F = 12000mm/min
W = 170kg
JB = 7.45×10–4kg·m2
J2 = 45.11×10–4kg·m2
J1 = 6.28×10–4kg·m2
TF = 2.94N·m
TC = 31.58N·m
D = 20%
The motor maximum speed is :
1
5
12000 ×
×
= 2000 r/min
10
3
The motor shaft conversion load inertia is:
JL = J1 + N2 •
J2 + JB + W
P
2π×10
2
= 180.22×10–4kg·m2
Thus, the motor inertia JM must satisfy the following:
JM ≥ J L = 72.09×10–4kg·m2
2.5
III – 175
7. Selection of Capacity
From this, HA200N (inertia = 131.0×10–4kg·m2) can be selected.
The maximum torque Tmax during acceleration/deceleration is :
−4
Tmax =
=
2 πN (JL + JM) × 10
60T s
+ TF
6.52 + 2.94
Ts
The drive unit that corresponds to HA200N is A-V1-35, and the drive unit's maximum output torque is
59.820N·m (TAmax) as found in the drive unit specifications.
From TAmax × 0.8 ≥ Tmax :
47.86 ≥
6.52 + 2.94
Ts
Therefore, Ts ≥ 145ms
Thus, the rapid traverse acceleration/deceleration time constant is 150ms:
The continuous effective load torque Trms is :
Trms = Tc
D
100
= 31.58
20
100
= 14.12
The rated torque TMS for HA200N is 22.6N·m.
So the TMS × 0.8 ≥ Trms conditions are satisfied.
The maximum cutting torque Tc (31.58N·m) is 140% of the rated torque (22.6N·m), so the duty cycle ON
time is 40 minutes or longer from the HA200N characteristic graph.
Thus, it can be seen that the V1-35 and motor HA200N are compatible.
III – 176
7. Selection of Capacity
(8) Reference
1. Calculation of load inertia
Item
Cylinder load
inertia
Configuration on machine side
Calculation equation
π· ρ· L
32
JL =
(D14 – D24)
W (D 2 + D 2)
1
2
8
=
where
JL
ρ
L
D1
D2
W
:
:
:
:
:
:
Load inertia (×10–4kg·m2)
Specific gravity (kg/m3)
Length of cylinder (cm)
Outer diameter of cylinder (cm)
Inner diameter of cylinder (cm)
Mass (kg)
Specific gravities of materials
Steel
: 7.8×10–3kg/cm3
Aluminum : 2.7×10–3kg/cm3
Copper
: 8.96×10–3kg/cm3
Although the inertia is expressed by inertia moment, or GD2, their concept is the same. In this chapter, the
relation of the moment of inertia and GD2 is as follows for convenience.
Inertia moment (J kg·m2) = (mass kg) × (rotation radius m)2
GD2 (GD2 kg·m2) = (mass kg) × (rotation diameter m)2
2
Conversion equation of J and GD2 J = GD
4
III – 177
7. Selection of Capacity
Item
Load inertia of
substance
linearly moved
(Motor shaft
conversion)
Configuration on machine side
Calculation equation
JL = W ·
=W·
10V
60ω
2
=W·
P
2π×10
10V
2πN
2
2
where
JL : Load inertia (×10–4kg·m2)
V : Speed of substance linearly moved
(mm/min)
ω : Angular speed of motor (rad/s)
N : Motor speed (r/min)
P : Moving amount of substance linearly
moved per motor rotation (mm)
W : Mass of substance linearly moved
(kg)
Load inertia of
substance
lifted up
JL = W·R2 + JP
where
JL
JP
R
W
Load inertia
JLO is
decelerated
(accelerated)
and
connected to
motor shaft
:
:
:
:
JL =
Load inertia (×10–4kg·m2)
Inertia of pulley (×10–4kg·m2)
Radius of pulley (mm)
Mass of substance linearly moved
(kg)
Z1
Z2
2
× JLO
where
JL : Load inertia (×10–4kg·m2)
(Motor shaft conversion)
JLO : Load inertia at rotation center of
rotating substance (×10–4kg·m2)
Z1 : Number of gear teeth on motor shaft
side
Z2 : Number of gear teeth on deceleration
(acceleration) side
III – 178
7. Selection of Capacity
Item
Example of
calculating
load inertia
Configuration on machine side
Calculation equation
JL = J1 +
Z1
Z2
2
(J2 + JB + JW)
= J1 +
Z1
Z2
2
J2 + JB +
Number of teeth Z 2
Table mass W
W·
PB
2π×10
2
where
Ball screw
pitch
Number of teeth Z1
III – 179
JL
J1
J2
JB
JW
:
:
:
:
:
PB
W
Z1
Z2
:
:
:
:
Load inertia (×10–4kg·m2)
Pinion inertia (×10–4kg·m2)
Gear inertia (×10–4kg·m2)
Ball screw inertial (×10–4kg·m2)
Inertia adjacent to ball screw on table
(×10–4kg·m2)
Ball screw pitch (mm)
Table mass (kg)
Number of gear teeth on motor shaft
Number of gear teeth on feed screw
shaft
7. Selection of Capacity
2. Example of load torque calculation
Item
Load torque of
machine
linearly
moved (motor
shaft
conversion)
Configuration on machine side
Calculation equation
TL =
F·P
2×103·πη
+ TF
Frictional coefficient µ
where
TL : Motor shaft conversion load torque
(N·m)
F : Axial force of machine linearly moved
(N)
P : Movement of machine per motor
rotation (mm/rev)
η : Ball screw efficiency
TF : Motor shaft conversion frictional load
torque (N·m)
TL =
• When a drive gear is used:
Z
F·PB
· 1 + TF
3
2×10 πη Z2
where
TL
F
PB
η
Z1,Z2
TF
: Load torque converted into motor
shaft (N·m)
: Axial force of machine linearly
moved (N)
: Ball screw pitch (mm/rev)
: Efficiency of ball screw and drive
gear
: Number of drive gear teeth
: Load torque converted into motor
shaft (N·m)
F = Fc + µ (W + Ng + Fcf)
where
Fc : Axial component force in cutting
state (N)
W : Full mass of table (kg)
Ng : Gib tightening force on table guide
surface (kg)
Fcf : Component force perpendicular to
shaft in cutting state (back
component) (kg)
µ : Dynamic friction coefficient
III – 180
7. Selection of Capacity
Item
Load torque of
rotating
machine
(motor shaft
conversion)
Configuration on machine side
Calculation equation
TL = F ·
λ · Z1
3
Z2
10
· 1 + TF
η
where
Workpiece
Motor
Table
TL : Motor shaft conversion load torque
(N·m)
F : Tangential direction force of rotating
machine (N)
λ : Distance from rotation center to
working point of F (mm)
Z1 : Number of gear teeth on motor side
Z2 : Number of gear teeth on table side
η : Efficiency of drive system
TF : Motor shaft conversion frictional load
torque (N·m)
Precautions for calculating load torque
(1) The maximum value of the load torque should be selected in the actual machine operation state.
When the selected load torque is actually smaller than that used, an overload may occur.
(2) When the machine table is separated from the cutting position, the frictional load torque may be
momentarily varied by the cutting force on the table guide surface.
III – 181
7. Selection of Capacity
7.2 Determining the coasting amount with emergency stop
When the system detects an abnormality, the machine's motor is stopped by a dynamic brake. The
coasting amount of the machine can be obtained by the following equation.
×
Lmax = F GO 10
60
where
Lmax
FGO
N
A
B
JL
JM
:
:
:
:
:
:
:
3
0.03 + (AN2 + B) (1 + JL ) × 1.1
JM
Coasting amount of machine (mm)
Feedrate (rapid traverse) (m/min)
Motor speed (maximum speed) (r/min)
Coefficient (see the following table)
Coefficient (see the following table)
Motor shaft conversion load inertia (×10–4kg·m2)
Motor shaft rotor inertia (×10–4kg·m2)
Note : Lmax deviates for ±10% depending on the induced voltage constant.
Motor model
Motor inertia
JM ×10–4kg·m 2
HA053
0.18
0.13 × 10
HA13
0.36
0.15 × 10
HA23N
0.98
Coefficients
A
B
-9
13.18 × 10
-9
8.39 × 10
-9
6.66 × 10
-9
4.28 × 10
-9
11.47 × 10
-9
13.48 × 10
-9
9.73 × 10
-9
12.54 × 10
-9
16.68 × 10
-9
27.72 × 10
-9
22.61 × 10
-9
49.97 × 10
-9
31.05 × 10
-9
37.84 × 10
-9
44.01 × 10
-9
62.16 × 10
-9
73.15 × 10
-9
2.56 × 10
-9
2.92 × 10
-9
3.26 × 10
-9
6.56 × 10
-9
6.42 × 10
-9
19.40 × 10
0.25 × 10
HA33N
1.96
0.39 × 10
HA40N
9.8
2.07 × 10
HA43N
9.8
1.79 × 10
HA80N
19.6
1.77 × 10
HA83N
19.6
1.44 × 10
HA100N
68.6
4.82 × 10
HA103N
68.6
3.87 × 10
HA200N
131.0
2.65 × 10
HA203N
131.0
1.24 × 10
HA300N
192.0
1.71 × 10
HA700N
254.0
1.31 × 10
HA900N
319.0
1.39 × 10
HA303N
192.0
0.68 × 10
HA703N
254.0
0.69 × 10
HA50NL
2.75
2.31 × 10
HA100NL
5.49
2.04 × 10
HA150NL
8.24
3.54 × 10
HA200NL
19.6
1.90 × 10
HA300NL
29.4
1.88 × 10
HA500NL
88.3
2.12 × 10
-3
-3
-3
-3
-3
-3
-3
-3
-3
-3
-3
-3
-3
-3
-3
-3
-3
-3
-3
-3
3.17 × 10
3.85 × 10
-9
4.81 × 10
-9
7.46 × 10
-9
9.58 × 10
-9
26.25 × 10
-9
11.32 × 10
-9
20.36 × 10
2.7
1.57 × 10
5.5
1.16 × 10
HA153NL
8.2
0.89 × 10
1.17 × 10
HA303NL
29.4
1.04 × 10
HA503NL
88.3
1.32 × 10
HA-LH11K2-S1
118.0
2.31 × 10
HA-LH15K2-S1
290.0
3.73 × 10
III – 182
-3
-9
HA53NL
19.6
-3
-9
HA103NL
HA203NL
-3
-3
-3
-3
-3
-3
-3
-3
-3
IV. MDS-C1-SP
Spindle System Section
1. Outline
1. Outline
.................................................................................................................... IV-2
1.1 Features of the MDS-C1-SP spindle system ......................................................... IV-2
1.2 Precautions for use................................................................................................. IV-2
1.3 Model configuration ................................................................................................. IV-3
1.4 Configuration .......................................................................................................... IV-4
1.4.1 Basic configuration (no added functions) ...................................................... IV-4
1.4.2 With orientation function ................................................................................ IV-4
1.4.3 High-speed synchronous tap/spindle synchronization/with
orientation function ......................................................................................... IV-6
1.4.4 OSE90K+1024 encoder C-axis control/with orientation function .................. IV-7
1.4.5 OSE90K+1024 encoder C-axis control and high-speed synchronous tap/
spindle synchronization/with orientation function .......................................... IV-8
1.4.6 MBE90K encoder C-axis control/with orientation function ............................ IV-9
1.4.7 MBE90K encoder C-axis control and high-speed synchronous tap/
spindle synchronization/with orientation function .......................................... IV-9
1.4.8 MHE90K encoder C-axis control/with orientation function ............................ IV-10
1.4.9 MHE90K encoder C-axis control and high-speed synchronous tap/
spindle synchronization/with orientation function .......................................... IV-10
1.5 Device-to-device connections ............................................................................... IV-11
IV – 1
1. Outline
1. Outline
1.1 Features of the MDS-C1-SP spindle system
(1) The converter that was conventionally built into the spindle controller has been installed in the unit
(MDS-C1-SP), and can be used commonly with the other axis drive units.
This allows great reductions in size and weight.
(2) The speed response has been improved by using a high-speed CPU, and the cutting performance and
cutting precision during positioning control has been improved.
(3) A high-speed orientation method that allows direct orientation from high-speeds has been incorporated
allowing smooth operations and minimum orientation times.
(4) All spindle parameters can be set from the NC CRT screen thus enhancing the operability.
1.2 Precautions for use
(1) The motor rated output is guaranteed with the controller rated input voltage (200/220/230VAC). The
rated output may not be achieved if the input voltage fluctuates and drops to 200VAC or less.
(2) A harmonic chopper voltage that is PWM controlled is applied on the motor so a harmonic leakage
current will flow during motor operation.
If a general-purpose leakage breaker is used, the operation may malfunction due to this harmonic, so
use a leakage breaker for inverters. (Refer to the Maintenance Manual BNP-B2046 for details.)
(3) A harmonic leakage current will also flow to the grounding wire between the motor and controller, and
if this grounding wire is placed near the NC CRT screen, the CRT screen may malfunction due to the
magnetic field of the leakage current.
Separate the grounding wire and NC CRT screen as far as possible.
(4) Noise may occur in AM radio broadcasts due to the electromagnetic wave noise generated from the
motor and controller.
Separate radios and the motor and controller as far as possible.
A filter for radio noise measures is available as an option, so use one if necessary.
IV – 2
1. Outline
1.3 Model configuration
Name for
AC spindle
motor
series
Motor
A
5.5
SJ
Motor type
None:
Mid-large
capacity
N : Small
capacity
V : Small sized
mid-large
capacity
Basic speed
Special specification
A : 1500r/min H : High-speed type
B : 1150r/min Z : Special max.
L : 5000r/min speed
X : Special
W : Wide range
speed
constant output
M : With
Z-phas
e
15 min. (or 30 min.) rated output
capacity (kW)
(Note) Refer to the separate Built-in Motor Standard Specifications (BFN-14118-04) for details on the
built-in motor models.
MDS-C1-SP (H)
Name for AC
spindle inverter
(Spindle drive unit)
None
S
Output capacity
: Standard type
: Slim type
(1) When between 0.1kW or more and less than
1kW
0
Control-l
er
Motor max. speed
When 1000r/min
or more
0.01kW will be 1.
(Leave blank when 0.)
0.1kW will be 1.
(Example)
For 0.4kW
For 0.75kW
(2) When 1kW or more
0.1kW will be 1.
(Example)
IV – 3
For 3.7kW
For 30kW
37
300
04
075
1. Outline
1.4 Configuration
1.4.1
Basic configuration (no added functions)
Motor built-in encoder
Motor thermoswitch
1.4.2
With orientation function
(1) Magnetic sensor orientation (1-point) specifications
Magnet
Detector
Sensor
Magnetic sensor
Spindle
(2) Encoder orientation (4096-point) specifications/with index function
Encoder for
orientation
1024p/rev
NC QX522 card
To CES11 connector
IV – 4
1. Outline
(3) Z-phase motor built-in encoder orientation (4096-point) specifications/with index function
Z-phase motor
built-in encoder
NC QX522 card
To CES11 connector
(Note) Multipoint orientation using the Z-phase motor built-in encoder is applicable only when spindle
to motor shaft speed ratio is 1:1.
(4) Magnetic sensor orientation (1-point) specifications + motor speed feedback output
(for spindle speed indication and synchronous speed signal)
SP
Detector
Magnet
Sensor
NC QX522 card
To CES11 connector
Spindle
(Note)
Magnetic sensor
(Note) The No. of pulses output to NC will differ according to the speed ratio between the spindle and
motor shaft.
IV – 5
1. Outline
1.4.3
High-speed synchronous tap/spindle synchronization/with orientation function
(1) Motor built-in encoder high-speed synchronous tap/spindle synchronization and magnetic
sensor orientation (1-point) specifications
Detector Magnet
Sensor
NC QX522 card
To CES11 connector
Spindle
(Note)
Magnetic sensor
(Note) The No. of pulses output to NC will differ
according to the speed ratio between the
spindle and motor shaft.
(2) Encoder high-speed synchronous tap/spindle synchronization and orientation (4096-point)
specifications/with index function
Encoder for
orientation
1024p/rev
NC QX522 card
To CES11 connector
(3) Z-phase motor built-in encoder high-speed synchronous tap/spindle synchronization and
orientation (4096-point) specifications/with index function
Z-phase motor
built-in encoder
NC QX522 card
To CES11 connector
(Note) Multipoint orientation using the Z-phase motor built-in
encoder is applicable only when spindle to motor speed ratio
is 1:1.
IV – 6
1. Outline
1.4.4
OSE90K+1024 encoder C-axis control/with orientation function
(1) OSE90K+1024 encoder C-axis control and magnetic sensor orientation (1-point) specifications
Magnet
Spindle
1024p/rev
NC QX522 card
To CES11 connector
Detector
Sensor
Magnetic
sensor
90000p/rev
Encoder for
C-axis control
90000p/rev +
1024p/rev
(2) OSE90K+1024 encoder C-axis control and orientation (4096-point) specifications/with index
function
1024p/rev
Spindle
NC QX522 card
To CES11 connector
90000p/rev
Encoder for
C-axis control
90000p/rev +
1024p/rev
(3) OSE90K+1024 encoder C-axis control and Z-phase motor built-in encoder orientation
(4096-point) specifications/with index function
Z-phase motor
built-in encoder
Spindle
NC QX522 card
To CES11 connector
90000p/rev
(Note)
1024p/rev
Encoder for
C-axis control
90000p/rev +
1024p/rev
Multipoint orientation using the Z-phase motor built-in
encoder is applicable only when spindle to motor speed ratio
IV – 7
1. Outline
1.4.5 OSE90K+1024 encoder C-axis control and high-speed synchronous tap/spindle
synchronization/with orientation function
(1) OSE90K+1024 encoder C-axis control and high-speed synchronous tap/spindle
synchronization and magnetic sensor orientation (1-point) specifications
Magnet
Spindle
NC QX522 card
To CES11 connector
Detector Sensor
1024p/rev
Magnetic
sensor
90000p/rev
Encoder for
C-axis control
90000p/rev +
1024p/rev
(2) OSE90K+1024 encoder C-axis control and high-speed synchronous tap/spindle synchronization
and magnetic sensor orientation (4096-point) specifications/with index function
1024p/rev
Spindle
NC QX522 card
To CES11 connector
90000p/rev
Encoder for
C-axis control
90000p/rev +
1024p/rev
(3) OSE90K+1024 encoder C-axis control and high-speed synchronous tap/spindle
synchronization and Z-phase motor built-in encoder orientation (4096-point)
specifications/with index function
Z-phase motor
built-in encoder
Spindle
NC QX522 card
To CES11 connector
90000p/rev
1024p/rev
Encoder for
C-axis control
90000p/rev +
1024p/rev
(Note) Multipoint orientation using the Z-phase motor built-in encoder is
applicable only when spindle to motor speed ratio is 1:1.
IV - 8
1. Outline
1.4.6 MBE90K encoder C-axis control/with orientation function
(1) MBE90K encoder C-axis control and orientation (4096-point) specifications/with index
function
Built-in motor
MBE90K encoder
1024p/rev
NC QX522 card
To CES11 connector
90000p/rev
1.4.7 MBE90K encoder C-axis control and high-speed synchronous tap/
spindle synchronization/with orientation function
(1) MBE90K encoder C-axis control and high-speed synchronous tap/spindle synchronization
and orientation (4096-point) specifications/with index function
Built-in motor
MBE90K encoder
NC QX522 card
To CES11 connector
1024p/rev
90000p/rev
(Note) Refer to the MBE90K (built-in C-axis encoder) Specifications and Instruction Manual
[BNP-A2993-41] for details on the MBE90K wiring.
IV - 9
1. Outline
1.4.8 MHE90K encoder C-axis control/with orientation function
(1) MHE90K encoder C-axis control and orientation (4096-point) specifications/with index function
Built-in motor
MHE90K encoder
1024p/rev
NC QX522 card
To CES11 connector
90000p/rev
1.4.9 MHE90K encoder C-axis control and high-speed synchronous tap/
spindle synchronization/with orientation function
(1) MHE90K encoder C-axis control and high-speed synchronous tap/spindle synchronization
and orientation (4096-point) specifications/with index function
Built-in motor
MHE90K encoder
1024p/rev
NC QX522 card
To CES11 connector
90000p/rev
(Note) Refer to the MHE90K (built-in C-axis encoder) Specifications and Instruction Manual
[BNP-A2993-44] for details on the MHE90K wiring.
∗ The cable for outputting signals from CN8 to NC and the cable for directly connecting the
detector and NC are not necessarily required for "1.4.1" to "1.4.9".
Connect only when required due to the applications. (Spindle speed indication and synchronous
speed signal)
IV - 10
1. Outline
1.5
Device-to-device connections
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.
CB1
Connecter wiring
CB1
Contactor
Connector
case
Connector
case
to
to
Previous axis
drive unit
to
Connector
case
to
Use the same
wiring for the types
with and without
the Z phase.
Connector
case
Next axis drive
unit/battery unit
to
Connector
case
Terminator
(A-TM)
Connector case
to
Connector
case
Connector case
to
D/A output 1/speedometer
10V max. speed
D/A output 2/load meter
10V 120% torque
Coil changeover
output signal
Spindle/C-axis
changeover signal
Connector case
NC QX522 card
To CES11 connector
Connector case
IV - 11
2. Specifications
2. Specifications...................................................................................................................
2.1 AC spindle motor and controller specifications ......................................................
2.2 Output characteristics ............................................................................................
2.3 Outline dimension drawings .................................................................................
2.3.1 Motor .............................................................................................................
IV - 13
IV-14
IV-14
IV-19
IV-22
IV-22
2. Specifications
2. Specifications
2.1 AC spindle motor and controller specifications
Series
Base speed 1500r/min Series
Item
SJ-
Speed
Output
capacity
Model
5.5A
7.5A
11AP
11A
15A
18.5A
22AP
22A
26A
30A
Cont. rating (HP)/(kW)
5/3.7
7/5.5
9/7
10/7.5
15/11
20/15
20/15
25/18.5
30/22
30/22
30 min. rating (HP)/(kW)
50% ED rating
7/5.5
10/7.5
15/11
15/11
20/15
25/18.5
30/22
30/22
35/26
40/30
Basic speed
Max. speed
Frame No.
AC spindle motor
Cont. rated torque
GD2
1500
[r/min]
[r/min]
8000
6000
A112
B112
B132
C132
A160
N·m
[kg·m]
23.5/
2.40
35.0/
3.57
44.5/
4.54
47.7/
4.87
70.1/
7.15
95.5/
9.74
95.5/
9.74
[kg·m2]
118/
12.0
B160
140/
14.3
0.08
0.10
0.12
0.17
0.21
0.27
0.32
0.55
0.69
Weight
[kg]
60
70
75
100
110
130
150
175
200
Tolerable radial load
[kg]
150
Cooling fan
[W]
200
Vibration
Noise
[dB]
Installation
Ambient temperature
300
35
130
V5
V10
75
80
Horizontal or vertical (output shaft down)
Overload withstand level
120% of 30 min. rated output, 1 min.
(°C)
0 to 40
Insulation class
F class
Paint color
Munsell 5.27G 2.46/0.21
Accessories
Pulse generator and overheat detector
Lubrication of bearings
Grease
Output characteristic
Fig.1
Fig.2
Series
Item
Model
55
75
110
150
185
220
260
Pulse generator speed feedback, digital closed-loop control, vector control
Braking
Power regenerative braking
[r/min]
Speed fluctuation rate
Speed command
35 to 8000
35 to 6000
35 to 4500
Max. 0.2% of maximum speed (under load varying from 10% to 100%)
Serial connection with M500/M50 and above CNC
Ambient temperature/humidity
0°C to 55°C / 90%RH or less (with no dew condensation)
Storage temperature/humidity
–15°C to 70°C / 90%RH or less (with no dew condensation)
To be free from detrimental gas and dust
(to conform with "grade C" environmental resistance specified by JEM1103)
Atmosphere
300
IGBT IPM sinusoidal wave PWM inverter
Control circuit
Speed control range
Fig.3
MDS-C1-SP-
Main circuit
Controller (drive unit)
4500
4.90m/s 2 (0.5G) or less
Vibration
Noise
Less than 55dB
(Note 1) The motor rated output is guaranteed with the power supply unit rated input voltage (200/220/230VAC). The rated output
may not be achieved if the input voltage fluctuates and drops to 200VAC or less.
(Note 2) Contact Mitsubishi when a rated output range other than 1:8, or 1:12 is required.
(Note 3) The 50% ED rating is ON for five minutes and OFF for five minutes in the 10 minute cycle time.
IV - 14
2. Specifications
Series
Base speed 1500r/min Series
Item
Speed
Output
capacity
Model
15-01
18.5-01
22-01
7/5.5
10/7.5
15/11
20/15
25/18.5
10/7.5
15/11
20/15
25/18.5
30/22
3.7-01
5.5-01
7.5-01
Cont. rating (HP)/(kW)
2/1.5
3/2.2
5/3.7
30 min. rating (HP)/(kW)
50% ED rating
3/2.2
5/3.7
7/5.5
Basic speed
Max. speed
Cont. rated torque
GD2
1500
[r/min]
[r/min]
Frame No.
AC spindle motor
SJ-V
11-01
2.2-01
10000
8000
6000
A90
B90
D90
A112
B112
A160
A160
B160
N·m
[kg·m]
9.5/
0.97
14.0/
1.43
23.5/
2.40
35.0/
3.57
47.7/
4.87
70.0/
7.14
95.5/
9.74
118/
12.0
[kg·m2]
0.027
0.035
0.059
0.098
0.12
0.23
0.23
0.32
25
30
49
60
70
110
110
140
Weight
[kg]
Tolerable radial load
[kg]
Cooling fan
[W]
100
150
42
200
300
3Ø 40
3Ø 63
Vibration
V5
Noise
[dB]
75
Installation
Horizontal or vertical (output shaft down)
Overload withstand level
Ambient temperature
120% of 30 min. rated output, 1 min.
(°C)
0 to 40
Insulation class
F class
Paint color
Munsell 5.27G 2.46/0.21
Accessories
Pulse generator and overheat detector
Lubrication of bearings
Grease
Output characteristic
Fig.4
Fig.5
Fig.6
Series
Item
Model
MDS-C1-
SPH-22
SPH-37
Main circuit
SP-110
SP-150
SP-185
Power regenerative braking
[r/min]
Speed fluctuation rate
Speed command
35 to 10000
35 to 8000
35 to 6000
Max. 0.2% of maximum speed (under load varying from 10% to 100%)
Serial connection with M500/M50 and above CNC
Ambient temperature/humidity
0°C to 55°C / 90%RH or less (with no dew condensation)
Storage temperature/humidity
–15°C to 70°C / 90%RH or less (with no dew condensation)
To be free from detrimental gas and dust
(to conform with "grade C" environmental resistance specified by JEM1103)
Atmosphere
SP-220
Pulse generator speed feedback, digital closed-loop control, vector control
Braking
Speed control range
SP-75
IGBT IPM sinusoidal wave PWM inverter
Control circuit
Controller (drive unit)
SP-55
4.90m/s 2 (0.5G) or less
Vibration
Noise
Less than 55dB
(Note 1) The motor rated output is guaranteed with the power supply unit rated input voltage (200/220/230VAC). The rated output
may not be achieved if the input voltage fluctuates and drops to 200VAC or less.
(Note 2) Contact Mitsubishi when a rated output range other than 1:8, or 1:12 is required.
(Note 3) The 50% ED rating is ON for five minutes and OFF for five minutes in the 10 minute cycle time.
IV - 15
2. Specifications
Series
Item
Output
capacity
Cont. rating
Speed
Model
Basic speed
Max. speed
(HP)/(kW)
30 min. rating
(HP)/(kW)
50% ED rating
Wide rated output
Series
SJ-V
SJ-
11-01
11-09
5/3.7
7/5.5
10/7.5
7/5.5
10/7.5
12/9
15-03
22-05
22XW5
22XW8
12/9
15/11
20/15
25/18.5
15/11
20/15
25/18.5
30/22
500(600)
6000
4500
4000
B112
A160
A160
B160
B160
B180
A200
Cont. rated torque
N·m
(kg·m)
47.1/
4.81
70.0/
7.14
95.5/
9.74
115/
11.7
140/
14.3
239/
24.4
294/
30.0
GD2
[kg·m2]
0.12
0.23
0.23
0.32
0.32
1.36
2.19
Weight
[kg]
70
125
125
155
155
300
390
Tolerable radial load
[kg]
200
300
400
600
Cooling fan
[W]
3Ø 40
3Ø 63
180
Vibration
V5
Noise
[dB]
80
85
Fig.8
Fig.9
SP-300
SP-300
Horizontal or vertical (output shaft down)
Overload withstand level
Ambient temperature
120% of 30 min. rated output, 1 min.
(°C)
0 to 40
Insulation class
F class
Paint color
Munsell 5.27G 2.46/0.21
Accessories
Pulse generator and overheat detector
Lubrication of bearings
Grease
Output characteristic
Fig.7
Series
MDS-C1-
Item
Model
SP-110
Main circuit
SP-185
SP-220
SP-260
IGBT IPM sinusoidal wave PWM inverter
Control circuit
Pulse generator speed feedback, digital closed-loop control, vector control
Braking
Power regenerative braking
Speed control range
[r/min]
Speed fluctuation rate
Speed command
35 to 6000
35 to 4500 35 to 4000
Max. 0.2% of maximum speed (under load varying from 10% to 100%)
Serial connection with M500/M50 and above CNC
Ambient temperature/humidity
0°C to 55°C / 90%RH or less (with no dew condensation)
Storage temperature/humidity
–15°C to 70°C / 90%RH or less (with no dew condensation)
Atmosphere
To be free from detrimental gas and dust
(to conform with "grade C" environmental resistance specified by JEM1103)
4.90m/s 2 (0.5G) or less
Vibration
Noise
(Note 1)
(Note 2)
(Note 3)
3Ø60
V10
75
Installation
Controller (drive unit)
18.5-03
750
[r/min]
[r/min]
Frame No.
AC spindle motor
Wide (1:8) rated output Series
Less than 55dB
The motor rated output is guaranteed with the power supply unit rated input voltage (200/220/230VAC). The rated
output may not be achieved if the input voltage fluctuates and drops to 200VAC or less.
Contact Mitsubishi when a rated output range other than 1:8, or 1:12 is required.
The 50% ED rating is ON for five minutes and OFF for five minutes in the 10 minute cycle time.
IV - 16
2. Specifications
Series
High-speed Series
Item
SJ-V
Speed
Output
capacity
Model
3.7-02ZM
7.5-03ZM
11-06ZM
11-08ZM
22-06ZM
30-02ZM
Cont. rating ( H P ) / ( k W )
3/2.2
7/5.5
7/5.5
10/7.5
15/11
25/18.5
30 min. rating
(HP)/(kW)
50% ED rating
5/3.7
(15 min. rating)
10/7.5
10/7.5
15/11
20/15
30/22
Basic speed
Max. speed
[r/min]
[r/min]
AC spindle motor
Frame No.
3000
1500
15000
12000
8000
A90
A112
A112
B112
A160
B160
Cont. rated torque
N·m
(kg·m)
7.0/
0.71
35.0/
3.57
35.0/
3.57
47.7/
4.87
70.0/
9.14
118/
12.0
GD2
[kg·m2]
0.027
0.098
0.098
0.12
0.23
0.32
Weight
[kg]
25
60
60
70
125
155
Tolerable radial load
[kg]
50
Cooling fan
[W]
42
100
150
Vibration
[dB]
75
Installation
Horizontal or vertical (output shaft down)
Overload withstand level
120% of 30 min. rated output, 1 min.
(°C)
0 to 40
Insulation class
F class
Paint color
Munsell 5.27G 2.46/0.21
Accessories
Pulse generator and overheat detector
Lubrication of bearings
Grease
Output characteristic
Fig.10
Fig.11
Fig.12
Series
Model
SPH-37
Main circuit
SPH-110
SPH-150
SP-185
SP-220
SP-300
IGBT IPM sinusoidal wave PWM inverter
Control circuit
Pulse generator speed feedback, digital closed-loop control, vector control
Braking
Speed control range
Fig.13
MDS-C1-
Item
Controller (drive unit)
3Ø 63
V5
Noise
Ambient temperature
200
3Ø 40
Power regenerative braking
[r/min]
Speed fluctuation rate
Speed command
35 to 15000
35 to 12000
35 to 8000
Max. 0.2% of maximum speed (under load varying from 10% to 100%)
Serial connection with M500/M50 and above CNC
Ambient temperature/humidity
0°C to 55°C / 90%RH or less (with no dew condensation)
Storage temperature/humidity
–15°C to 70°C / 90%RH or less (with no dew condensation)
To be free from detrimental gas and dust
(to conform with "grade C" environmental resistance specified by JEM1103)
Atmosphere
4.90m/s 2 (0.5G) or less
Vibration
Noise
Less than 55dB
(Note 1) The motor rated output is guaranteed with the power supply unit rated input voltage (200/220/230VAC). The rated output
may not be achieved if the input voltage fluctuates and drops to 200VAC or less.
(Note 2) Contact Mitsubishi when a rated output range other than 1:8, or 1:12 is required.
(Note 3) The 50% ED rating is ON for five minutes and OFF for five minutes in the 10 minute cycle time.
IV - 17
2. Specifications
Series
SJ-N Series
Item
SJ-N
Model
(HP)/(kW)
Basic speed
Max. speed
0.5/0.4 1.0/0.75
1500
[r/min]
[r/min]
Frame No.
AC spindle motor
1.5A
1.0/0.75 2.0/1.5
30 min. rating
(HP)/(kW)
50% ED rating
10min 10min
Speed
Output
capacity
0.75A
Cont. rating
2.2X
2.2A
3.7A
5.5AP
5.5A
2.0/1.5
2.0/1.5
3.0/2.2
4.0/3.0
5.0/3.7
7.4/5.5
3.0/2.2
15min
3.0/2.2
15min
5.0/3.7
15min
7.4/5.5
15min
7.4/5.5
30min
10.1/7.5
30min
3000
1500
10000
8000
B71
C71
C71
A90
B90
C90
A112
B112
Cont. rated torque
N·m
(kg·m)
2.55/
0.26
4.70/
0.48
3.53/
0.36
9.51/
0.97
14.0/
1.43
23.5/
2.4
23.5/
2.4
35.0/
3.57
GD2
[kg·m2]
0.0045
0.0086
0.0086
0.017
0.021
0.045
0.058
0.071
15
20
20
33
37
45
63
74
150
200
Weight
[kg]
Tolerable radial load
[kg]
50
Cooling fan
[W]
20
100
40
Vibration
Noise
75
120% of 30 min. rated output, 1 min.
(°C)
0 to 40
Insulation class
F class
Paint color
Munsell 5.27G 2.46/0.21
Accessories
Pulse generator and heat detector
Lubrication of bearings
Grease
Output characteristic
Fig. 14
Series
Item
Model
MDS-C1SPH-075
Main circuit
SPH-15
SPH-22
SPH-37
SPH-55
SP-55
Pulse generator speed feedback, digital c losed-loop control, vector control
Braking
Regenerative braking (resistance discharged)
[r/min]
Speed fluctuation rate
Speed command
35 to 10000
35 to 8000
Max. 0.2% of maximum speed (under load varying from 10% to 100%)
Serial connection with M500/M50 and above CNC
Ambient temperature/humidity
0°C to 55°C / 90%RH or less (with no dew condensation)
Storage temperature/humidity
–15°C to 70°C / 90%RH or less (with no dew condensation)
To be free from detrimental gas and dust
(to conform with "grade C" environmental resistance specified by JEM1103)
Atmosphere
SP-75
IGBT IPM sinusoidal wave PWM inverter
Control circuit
Speed control range
35
Horizontal or vertical (output shaft down)
Overload withstand level
Ambient temperature
55
V5
[dB]
Installation
Controller (drive unit)
7.5A
4.90m/s 2 (0.5G) or less
Vibration
Noise
Less than 55dB
(Note 1) The motor rated output is guaranteed with the power supply unit rated input voltage (200/220/230VAC). The rated output
may not be achieved if the input voltage fluctuates and drops to 200VAC or less.
(Note 2) For speeds faster than 6000min–1, the speed will be the reduced output calculated with rated output × 6000
speed
(Note 3) The 50% ED rating is ON for five minutes and OFF for five minutes in the 10 minute cycle time .
IV - 18
2. Specifications
2.2 Output characteristics
Fig.1
Fig.2
Output P1/P2/P3/P4
SJ-5.5A
5.5/3.7/3/2(kW) 7.5/5.5/4/3(kW)
7/5/4/2.5(HP)
Output P1/P2/P3/P4
S J-11A
SJ-15A
SJ-11AP
SJ-7.5A
10/7/5/4(HP)
11/7.5/8/5.5(kW) 15/11/11/8(kW) 18.5/15/13.5/11(kW)
15/9/10/7(HP)
15/10/10/7(HP) 20/15/15/10(HP)
30min. rating
P1
1500
Output
Output
0
4500
Continuous
rating
P2
P3
P4
8000
0
1500
4500
Speed (r/min)
6000
Speed (r/min)
Fig.3
Fig.4
Output P1/P2
SJ-22AP
Output P1/P2/P3/P4
SJ-22A
SJ-26A
S J-30A
22/15(kW)
22/18.5(kW)
26/22(kW)
30/22(kW)
30/20(HP)
30/25(HP)
35/30(HP)
40/30(HP)
SJ-V2.2-01
SJ-V3.7 -01
2.2/1.5/1.3/0.9(kW) 3.7/2.2/2.2/1.3(kW)
3/2/1.8/1.2(HP)
5/3/3/2(HP)
15min. rating
P1
P1
P2
Output
Output
30min. rating
Continuous
rating
0
1500
P1
P1
Continuous
rating
P2
P3
P4
4500
0
1500
6000
Speed (r/min)
10000
Speed (r/min)
Fig.5
Fig.6
Output P1/P2/P3/P4
Output P1/P2/P3/P4
SJ-V5.5-01
SJ-V11-01
SJ-V7.5 -01
S J-V15 -01
11/7.5/8.3/5.6(kW)
5.5/3.7/4.1/2.8(kW) 7.5/5.5/5.6/4.1(kW)
30min. rating
P1
30min. rating
0
1500
Output
Continuous
rating
P2
P3
P4
6000
8000
Output P1/P2
S J-V11 -01
S J-V11 -09
S J-V15-03
SJ-V18.5-03
SJ-V22-05
5.5/3.7(kW)
7.5/5.5(kW)
9/7.5(kW)
11/9(kW)
15/11(kW)
7/5(HP)
10/7(HP)
12/10(HP)
15/12(HP)
20/15(HP)
30min. rating
0
Output
Continuous
rating
750
P2
P3
P4
Continuous
rating
1500
4500
6000
Speed (r/min)
Fig.7
P2
P1
0
Speed (r/min)
P1
P1
SJ-V18.5 -01
6000
Speed (r/min)
IV - 19
SJ-V22-01
15/11/11.3/8.3(kW) 18.5/15/13.9/11.3(kW) 22/18.5/16.5/13.9(kW)
15/10/11/7.6(HP) 20/15/15/11(HP) 25/20/19/15(HP)
7/5/5.5/3.4(HP) 10/7/7/5.5(HP)
Output
25/20/18/15(HP)
30min. rating
P1
Continuous
rating
P2
P3
P4
SJ-18.5A
11/7/8/5(kW)
30/25/22/19(HP)
2. Specifications
Fig.8
Fig.9
Output P1/P2/P3/P4
Output P1/P2
SJ-22XW5
S J-22XW8
18.5/15/14/11.5(kW)
22/18.5(kW)
25/20/19/16(HP)
30/25(HP)
30min. rating
30min. rating
P1
P1
Continuous
rating
P2
Output
Output
P1
P1
P3
P4
0
500 600
3500
Continuous
rating
P2
4500
0
550 600
Speed (r/min)
Fig.10
Fig.11
Output P1/P2/P3/P4
Output P1/P2/P3/P4
SJ-V3.7-02ZM
S J-V7.5 -03ZM
3.7/2.2/3/1.8(kW)
7.5/5.5/6.3/4.6(kW)
5/3/4/2.5(HP)
10/7/8/6(HP)
15min. rating
P1
30min. rating
Continuous
rating
P2
Output
Output
4000
Speed (r/min)
P3
P4
0
3000
12000
P1
Continuous
rating
P2
P3
P4
15000
0
1500
10000
Speed (r/min)
Fig.12
12000
Speed (r/min)
Fig.13
Output P1/P2
Output P1/P2
SJ-V11-06ZM
SJ-V11-08ZM
SJ-V22-06ZM
SJ-V30-02ZM
7.5/5.5(kW)
11/7.5(kW)
15/11(kW)
22/18.5(kW)
10/7(HP)
15/10(HP)
20/15(HP)
30/25(HP)
P2
0
30min. rating
Continuous
rating
1500
Output
Output
30min. rating
P1
P1
12000
P1
P1
P2
0
Speed (r/min)
Continuous
rating
1500
8000
Speed (r/min)
IV - 20
2. Specifications
Fig.14
SJ-N1.5A
SJ-N0.75A
10min. rating
Continuous
rating
Continuous
rating
Output
Output
10min. rating
Speed (r/min)
Speed (r/min)
SJ-N2.2X
SJ-N2.2A
15min. rating
15min. rating
Continuous
rating
Output
Output
Continuous
rating
Speed (r/min)
Speed (r/min)
SJ-N3.7A
SJ-N5.5AP
15min. rating
15min. rating
Continuous
rating
Output
Output
Continuous
rating
Speed (r/min)
Speed (r/min)
SJ-N5.5A
SJ-N7.5A
30min. rating
30min. rating
Output
Output
Continuous
rating
Speed (r/min)
Speed (r/min)
IV - 21
2. Specifications
2.3 Outline dimension drawings
2.3.1
Motor
Standard flange type 112 to 200 frame
Terminal box
Leads port can
be placed on
left or right.
Section BB
Nameplate
Air
outlet
Air
inlet
Air inlet
1. A space of at least 30mm should be provided between
the cooling fan and
nearby located wall.
2. It can be installed vertically with the shaft down.
Cooling fan
Notes:
Section AA
Shaft end
Motor
Frame
No.
Standard leg installation type 112 to 200 frame
Terminal box
Leads port can
be placed on
left or right.
Nameplate
Air
inlet
Air
outlet
4-Z
Cooling fan
Notes:
1. A space of at least 30mm should be provided
between the cooling fan and nearby located wall.
Frame
No.
Motor
Section AA
Shaft end
IV - 22
2. Specifications
Leads port can be placed on left or right.
Nameplate Terminal box
Air inlet
Section BB
Air outlet
Cooling fan
Notes: 1. A space of at least 30mm should be provided
between the cooling fan and nearby located wall.
2. It can be installed vertically with the shaft down.
Motor
Frame
No.
L
KL
LL
B71F
308.5
223.5
258.5
C71F
368.5
283.5
318.5
Section AA
DIM IN mm
Leads port can be placed on left or right.
Nameplate Terminal box
Air inlet
Air outlet
Cooling fan
Notes: 1. A space of at least 30mm should be provided
between the cooling fan and nearby located wall.
Motor
Frame
No.
A
KL
L
N
B71
158.5
123.5
308.5
150
C71
218.5
183.5
368.5
170
DIM IN mm
IV - 23
Section AA
2. Specifications
Terminal box
Leads port can be
placed on left or
right side.
Air inlet
Nameplate
Section BB
Air
outlet
Cooling fan
Air inlet
Notes: 1. A space of at least 30mm should be provided
between the cooling fan and nearby located wall.
2. It can be installed vertically with the shaft down.
Section AA
Motor
Frame
No.
L
KL
LL
A90F
401
290
341
B90F
431
320
371
DIM IN mm
Terminal box
Leads port can be
placed on left or
right side.
Nameplate
Air
outlet
Air inlet
4-Ø10
Cooling fan
Notes: 1. A space of at least 30mm should be provided
between the cooling fan and nearby located wall.
Section AA
Motor
Shaft end
Frame
No.
A
B
F
KL
L
N
R
A90S
235
101
50
184
401
130
166
B90L
252.5
113.5
62.5
201.5
431
155
178.5
IV - 24
DIM IN mm
2. Specifications
Terminal box
Leads port can be
placed on left or
right side.
Air inlet
Section BB
Nameplate
Air
outlet
Cooling fan
Air inlet
Notes: 1. A space of at least 30mm should be provided
between the cooling fan and nearby located wall.
2. It can be installed vertically with the shaft down.
Motor
Section AA
Shaft end
Frame
No.
L
KL
LL
LR
Q
QK
S
T
U
W
QL
A112F
549
438
489
60
60
45
28
7
4
7
7.5
B112F
614
483
534
80
80
63
32
8
5
10
8
DIM IN mm
Terminal box
Leads port can be
placed on left or
right side.
Nameplate
Air
outlet
Air inlet
4-Ø12
Cooling fan
Notes: 1. A space of at least 30mm should be provided
between the cooling fan and nearby located wall.
Section AA
Motor
Shaft end
Frame
No.
A
KL
L
Q
QK
R
S
T
U
W
QL
A112M
349
298
549
60
45
200
28
7
4
7
7.5
B112M
394
343
614
80
63
220
32
8
5
10
8
IV - 25
DIM IN mm
IV - 26
C90F
Frame No.
Air inlet
Section AA
Section BB
Main unit nameplate
Notes:
1. A space of at least 30mm should be provided between the cooling fan and nearby
located wall.
2. It can be installed vertically with the shaft down.
3. When removing the suspension bolts for use, cover the screw holes with bolts, etc.
The screw length used should be less than the suspension bolt screw size × 1.5.
Cooling fan
Air outlet
Terminal box
Suspension bolt (M8 screw, 3 positions)
Leads port can be place on left or right side.
2-M8 screw
2. Specifications
2. Specifications
SJ-V Series:
Standard flange type
シリーズ
90 to 160 frame
Notes:
1. A space of at least 30mm should be provided between the cooling fan and nearby located wall.
2. It can be installed vertically with the shaft down.
3. When removing the suspension bolts for use, cover the screw holes with bolts, etc.
SJ-V/PF/PL Series
Terminal box
Air
Air outlet
Cooling fan
Air inlet
Section AA
(Unit: mm)
Frame No.
∗ is only applicable to motor model SJ-V30-02ZM.
SJ-V Series:
Standard leg installation
シリーズ
type 90 to 160 frame
Notes:
1. A space of at least 30mm should be provided between the cooling fan and nearby located wall.
2. It can be installed vertically with the shaft down.
3. When removing the suspension bolts for use, cover the screw holes with bolts, etc.
SJ-V/PF/PL Series
Air outlet
Air inlet
0
−0 .5
Terminal box
Cooling fan
Section AA
(Unit: mm)
Frame No.
∗ is only applicable to motor model SJ-V30-02ZM.
IV - 27
3. Status Display and Parameter Settings
3. Status Display and Parameter Settings.........................................................................
3.1 Status display with 7-segment LED.........................................................................
3.2 Spindle parameters .................................................................................................
3.3 Spindle specification parameters screen.................................................................
3.4 Spindle monitor screen............................................................................................
3.5 Control input signals ................................................................................................
3.6 Control output signals..............................................................................................
3.7 Meter outputs...........................................................................................................
3.8 Output interface.......................................................................................................
3.9 Spindle protection/warning functions .......................................................................
IV - 29
IV-30
IV-30
IV-31
IV-60
IV-64
IV-68
IV-71
IV-74
IV-76
IV-77
3. Status Display and Parameter Settings
3. Status Display and Parameter Settings
WARNING
1. Do not operate the switches with wet hands. Failure to observe this could lead to electric
shocks.
2. Do not operate the unit with the front cover removed. The high voltage terminals and
charged sections will be exposed, and could lead to electric shocks.
3. Do not open the front cover while the power is ON or during operation. Failure to observe
this could lead to electric shocks.
CAUTION
1. Check and adjust each program and parameter before starting operation. Failure to do so
could lead to unforeseen operation of the machine.
2. Do not touch the fin on the servo drive unit, regenerative resistor or servomotor, etc., while
the power is turned ON or immediately after turning the power OFF. These parts may reach
high temperatures, and can cause burns.
3.1 Status display with 7 -segment LED
The status can be displayed on the 7-segment LED on the power supply and spindle drives when the
power is turned ON.
MDS-C1-CV
power supply unit
MDS-C1-SP
spindle drive unit
3ø 200/230VAC ON
3ø 200/230VAC ON
Initializing
NC power ON
standby
NC power ON
standby
NC power ON
NC power ON
Alarm display
during alarm
Initial data
communication
with NC
Ready ON
Alarm display Ready ON
during alarm
Base ON
Servo ON
Normal operation
Normal operation
NC power OFF
NC power OFF or
emergency stop
NC power ON
The right segment of
indicates the axis No.
(This example shows the 1st axis.)
IV - 30
Emergency
stop
3. Status Display and Parameter Settings
3.2 Spindle parameters
CAUTION
Do not make remarkable adjustments and changes as the operation could become unstable.
(1) Parameters
For parameters marked with an "*" in the tables, turn the CNC power OFF after setting. The
parameters will be valid after the power is turned ON again.
The "fixed control constants" and "fixed control bits" in this section are set by Mitsubishi. Set these
to "0" unless designated in particular.
Items
Setting
range
(Unit)
Details
Standard
setting
SP001 PGM
Magnetic sensor
and motor built-in
encoder
orientation
position loop gain
As the set value is larger, the orientation time
becomes shorter and servo rigidity is increased.
However, vibration is increased and the machine
becomes likely to overshoot.
0 to 1000
(0.1 1/s)
100
SP002 PGE
Encoder
As the set value is larger, the orientation time
orientation
becomes shorter and servo rigidity is increased.
position loop gain However, vibration is increased and the machine
becomes likely to overshoot.
0 to 1000
(0.1 1/s)
100
SP003 PGC0
C-axis
Set the position loop gain in C-axis non-cutting
non-cutting
mode.
position loop gain During non-cutting (rapid traverse, etc.) with the Caxis control, this position loop gain setting is valid.
1 to 100
(1/s)
15
SP004 OINP
Orientation
in-position width
1 to 2880
(1/16°)
16
SP005 OSP*
Orientation mode Set the motor speed limit value to be used when the
changing speed speed loop is changed to the position loop in
limit value
orientation mode.
When this parameter is set to "0", SP017 (TSP)
becomes the limit value.
0 to 32767
(r/min)
0
SP006 CSP
Orientation mode As the set value is larger, the orientation time
deceleration rate becomes shorter. However, the machine becomes
likely to overshoot.
1 to 1000
20
SP007 OPST
Position shift
amount for
orientation
Set the stop position for orientation.
(1) Motor built-in encoder, encoder:
Set the value by dividing 360° by 4096.
(2) Magnetic sensor:
Divide –5 to +5 ° by 1024 and put 0° for 0.
(1) 0 to 4095 0
(2) –512 to
512
Not used. Set "0".
0
0
Set the spindle position loop gain in synchronized
tapping mode.
1 to 100
(1/s)
15
1 to 100
(1/s)
15
0
0
SP008
Set the position error range in which an orientation
completion signal is output.
SP009 PGT
Synchronized
tapping position
loop gain
SP010 PGS
Spindle
Set the spindle position loop gain in spindle
synchronous
synchronization mode.
position loop gain
SP011
to
SP016
Use not possible.
IV - 31
3. Status Display and Parameter Settings
Items
Setting
range
(Unit)
Details
SP017 TSP*
Maximum motor
speed
Set the maximum motor speed of the spindle.
SP018 ZSP*
Motor zero speed Set the motor speed for which zero-speed output is
performed.
Standard
setting
1 to 32767
(r/min)
6000
1 to 1000
(r/min)
50
SP019 CSN1* Speed cushion 1
Set the time constant for a speed command from "0"
to the maximum speed.
(This parameter is invalid in position loop mode.)
0 to 32767
(10ms)
30
SP020 SDTS*
Speed detection
set value
Set the motor speed for which speed detection
output is performed.
Usually, the setting value is 10% of SP017 (TSP).
0 to 32767
(r/min)
600
SP021 TLM1
Torque limit 1
Set the torque limit rate for torque limit signal 001.
0 to 120 (%) 10
SP022 VGNP1* Speed loop gain
63
SP023 VGNI1* Speed loop gain
integral term
under speed
control
Set the speed loop integral gain in speed control
0 to 1000
60
mode.
(0.1 1/s)
Usually, set a value in proportion to SP022 (VGNP1).
SP024
Not used. Set "0".
0
0
SP025 GRA1* Spindle gear
teeth count 1
Set the number of gear teeth of the spindle
corresponding to gear 000.
1 to 32767
1
SP026 GRA2* Spindle gear
teeth count 2
Set the number of gear teeth of the spindle
corresponding to gear 001.
1 to 32767
1
SP027 GRA3* Spindle gear
teeth count 3
Set the number of gear teeth of the spindle
corresponding to gear 010.
1 to 32767
1
SP028 GRA4* Spindle gear
teeth count 4
Set the number of gear teeth of the spindle
corresponding to gear 011.
1 to 32767
1
SP029 GRB1* Motor shaft gear
teeth count 1
Set the number of gear teeth of the motor shaft
corresponding to gear 000.
1 to 32767
1
SP030 GRB2* Motor shaft gear
teeth count 2
Set the number of gear teeth of the motor shaft
corresponding to gear 001.
1 to 32767
1
SP031 GRB3* Motor shaft gear
teeth count 3
Set the number of gear teeth of the motor shaft
corresponding to gear 010.
1 to 32767
1
SP032 GRB4* Motor shaft gear
teeth count 4
Set the number of gear teeth of the motor shaft
corresponding to gear 011.
1 to 32767
1
Set the speed loop proportional gain in speed control 0 to 1000
proportional term mode.
(1/s)
under speed
When the gain is increased, response is improved
control
but vibration and sound become larger.
IV - 32
3. Status Display and Parameter Settings
Items
Setting
range
(Unit)
Details
SP033 SFNC1* Spindle function 1 Set the spindle function 1 in bit units.
F
E
D
C
B
A
poff hzs
ront
7
6
5
4
3
2
sftk
9
8
Standard
setting
0000 to
FFFF
HEX setting
0000
0000 to
FFFF
HEX setting
0000
1
0
dflt 1a2m
(Note) Always set "0" for the empty bits.
bit Name
0 1a2m
Meaning when set to 0 Meaning when set to 1
1 drive unit
1 drive unit
2 motor function: Invalid 2 motor function: Valid
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Default motor: Main
SF-TK card invalid
dflt
sftk
Default motor: Sub
SF-TK card valid
This is a fixed cont rol
bit.
ront
hzs
poff
When SPH is used, bit 0 and bit 1 will be invalid.
SP034 SFNC2* Spindle function 2 Set the spindle function 2 in bit units.
F
E
D
C
7
6
5
4
B
A
9
8
3
2
1
0
mkc2 mkch invm mts1
(Note) Always set "0" for the empty bits.
bit Name
mts1
0
1
2
3
Meaning when set to 0
Special motor constant
invalid
invm A general-purpose
motor FV control invalid
mkch Winding switch function
invalid
This is a fixed control
mkc2
bit.
4
5
6
7
8
9
A
B
C
D
E
F
IV - 33
Meaning when set to 1
Special motor constant
setting valid
A general-purpose
motor FV control valid
Winding switch function
valid
3. Status Display and Parameter Settings
Items
Setting
range
(Unit)
Details
SP035 SFNC3* Spindle function 3 Set the spindle function 3 in bit units.
F
E
D
C
B
A
7
6
5
4
9
8
Standard
setting
0000 to
FFFF
HEX setting
0000
0000 to
FFFF
HEX setting
0000
3
2
1
0
lbsd hbsd lwid hwid
(Note) Always set "0" for the empty bits.
bit Name
hwid
0
1
lwid
2
3
4
5
6
7
8
9
A
B
C
D
E
F
hbsd
lbsd
Meaning when set to 0
H-coil wide-range
constant output invalid
L-coil wide-range
constant output invalid
Meaning when set to 1
H-coil wide-range
constant output valid
L-coil wide-range
constant output valid
H-coil base slide invalid
L-coil base slide invalid
H-coil base slide valid
L-coil base slide valid
(Used with SPJ.)
SP036 SFNC4* Spindle function 4 Set the spindle function 4 in bit units.
F
E
7
6
D
C
B
A
9
8
dslm dssm
5
4
3
2
1
0
enc2 enc1 mag2 mag1 plg2 plg1
(Note) Always set "0" for the empty bits.
bit Name
0
plg1
1
plg2
2 mag1
3 mag2
4
enc1
5
enc2
6
7
Meaning when set to 0 Meaning when set to 1
PLG of motor 1 valid
PLG of motor 1 invalid
PLG of motor 2 valid
PLG of motor 2 invalid
MAG of motor 1 valid
MAG of motor 1 invalid
MAG of motor 2 valid
MAG of motor 2 invalid
ENC of motor 1 valid
ENC of motor 1 invalid
ENC of motor 2 valid
ENC of motor 2 invalid
8
dssm
Speedometer output
valid
9
dslm
Load meter output valid
A
B
C
D
E
F
IV - 34
Speedometer output
invalid
Load meter output
invalid
3. Status Display and Parameter Settings
Items
Setting
range
(Unit)
Details
SP037 SFNC5* Spindle function 5 Set the spindle function 5 in bit units.
F
E
D
C
B
A
9
8
splg dplg
noplg nsno nosg
7
6
5
4
3
Standard
setting
0000 to
FFFF
HEX setting
0000
0000 to
FFFF
HEX setting
0000
2
1
0
plgo mago enco
(Note) Always set "0" for the empty bits.
bit Name
enco
0
Meaning when set to 0 Meaning when set to 1
Encoder orientation
Encoder orientation
invalid
valid
Magnet ic sensor
Magnet ic sensor
orientation invalid
orientation valid
1
mago
2
3
4
5
6
7
plgo
PLG orientation invalid
nosg
No-signal detection type Monitoring only in
(Always monitoring)
position loop or
orientation-mode
nsno
noplg
Fixed control bit
Fixed control bit
dplg
splg
Fixed control bit
Fixed control bit
8
9
A
B
C
D
E
F
PLG orientation valid
(Note) For bit0 to 2, do not set two bits or more to
"1" at the same time.
SP038 SFNC6* Spindle function 6 Set the spindle function 6 in bit units.
F
E
D
C
B
A
9
8
oplp lmx iqsv XFzs dcsn lmnp pl80 sdt2
7
6
5
vfbs orm adin
4
tdn
3
2
plg2 pftm
1
0
alty
(Note) Always set "0" for the empty bits.
bit Name
alty
0
Meaning when set to 0 Meaning when set to 1
Deceleration stop
Deceleration stop
during special alarm
during special alarm
invalid
valid
1
2
pftm
3
plg2
4
5
tdn
adin
orm
6
7
8
9
A
B
C
D
E
F
vfbs
sdt2
pl80
lmnp
dcsn
XFzs
iqsv
lmx
oplp
Encoder feedback serial
communication invalid
Semi-closed pulse
output signal ×2 invalid
Encoder feedback serial
communication valid
Semi-closed pulse
output signal ×2 valid
Fixed control bit
Orientation start memo
invalid
Orientation start memo
valid
Fixed control bit
Open loop operation
invalid
IV - 35
Open loop operation
valid
3. Status Display and Parameter Settings
Items
SP039 ATYP*
Drive unit type
Setting
range
(Unit)
Details
Set the drive unit type.
Set each drive unit type or "0"
Parameter setting
0000
0000 to
FFFF
HEX setting
Drive unit type

SP − 075
SP − 15
0001
0002
SP − 22
SP − 37
0003
0004
SP − 55
SP − 75
0005
0006
SP − 110
SP − 150
0007
0008
SP − 185
SP − 220
0009
000A
SP − 260
SP − 300
000B
000C
IV - 36
Standard
setting
0000
3. Status Display and Parameter Settings
Items
SP040 MTYP*
Motor type
Setting
range
(Unit)
Details
This parameter is valid when SP034 (SFNC2) bit0 is 0000 to
set to "0".
FFFF
Set the appropriate motor number from the standard HEX setting
motors listed below.
Maximum
speed
Corresponding
drive unit
SJ − 2.2A
SJ − 3.7A
SJ − 5.5A
SJ − 7.5A
SJ − 11A
SJ − 15A
SJ − 18.5A
SJ − 22A
SJ − 26A
SJ − 30A
10000 r/min
10000 r/min
8000 r/min
8000 r/min
6000 r/min
6000 r/min
6000 r/min
4500 r/min
4500 r/min
4500 r/min
SP − 22
SP − 37
SP − 55
SP − 75
SP − 110
SP − 150
SP − 185
SP − 220
SP − 260
SP − 300
SJ − N0.75A
SJ − N1.5A
SJ − N2.2A
SJ − N3.7A
SJ − N5.5A
SJ − N7.5A
10000 r/min
10000 r/min
10000 r/min
10000 r/min
8000 r/min
8000 r/min
SP − 075
SP − 15
SP − 22
SP − 37
SP − 55
SP − 75
SJ − J2.2A
SJ − J3.7A
SJ − J5.5A
SJ − J7.5A
10000 r/min
10000 r/min
8000 r/min
8000 r/min
SP − 22
SP − 37
SP − 55
SP − 75
Parameter
Motor type
setting
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
000A
000B
000C
000D
000E
000F
0010
0011
0012
0013
0014
0015
0016
0017
0018
0019
001A
001B
001C
001D
001E
001F
IV - 37
Standard
setting
0000
3. Status Display and Parameter Settings
Items
SP041 PTYP*
Power supply
type
Setting
range
(Unit)
Details
When this unit is a signal connection axis with power 0000 to
supply unit, set this parameter.
FFFF
Set "0" for this parameter for the unit which is not a
HEX setting
signal connection axis.
bit Name
0
ptyp
1
2
3
4
5
6
7
8
9
A
B
D
E
0000
Meaning when set to 0
Meaning when set to 1
Set the power supply type.
(Select the model from the following table and set.)
Power supply
type
00
Not connected
04
CV − 37
06
CV − 5 5
08
CV − 7 5
11
CV − 110
15
CV − 150
19
CV − 185
22
CV − 220
26
CV − 260
30
CV − 300
37
CV − 370
45
CV − 4 50
(Note
1)
When
− 5using
an external emergency stop
55
CV
50
the using
MDS-C
set emergency
a value of the
(Note 1) in
When
an1-CV,
external
stop
above
setting -CV,
values
“ 40of
” added.
in the MDS-B
set with
a value
the
(Example)above
Whensetting
using an
external
emergency
values
with "40"
added.
in CV
-260,
(Example) stop
When
using
an external emergency
setting
= 0026 + 0040 = 0066
stop in value
CV-260,
(Note 2) When
using
CV =
of0026
22kW+ or
more
with
setting
value
0040
= 0066
spindle
of large
capacity
(37kWwith
(Note 2 ) aWhen
using
CV more
than 22kW
or
more), also
turn the
bit 8 ON.
a spindle
of large
capacity
(more than
(Example)37kW),
Settingalso
value
= CV370
SP370 = 0137
turn
the bit 8+ON.
ptyp
rtyp Set "0" if the power supply unit is a current regeneration type.
If the power supply unit is a resistance regeneration type, set the type of
resistance being used.
No.
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
C
Standard
setting
amp
Regenerative
resistance type
Resistance
value(Ω)
Watts(W)
GZG200W260HMJ
GZG300W130HMJ x 2
MR-RB30
MR-RB50
GZG200W200HMJ x 3
GZG300W200HMJ x 3
R-UNIT-1
R-UNIT-2
R-UNIT-3
26
26
13
13
6.7
6.7
30
15
15
80
150
300
500
350
500
700
700
2100
Set the driver model number.
0: MDS-C1-V1/V2/SP, MDS-B-V1/V2/SP,MDS-A-V1/V2/SP
1: MDS-B-SVJ2, MDS-A- SVJ
2: MDS-B-SPJ2, MDS-A- SPJ
F
SP042 CRNG*
C-axis detector
range
This parameter is used to set the C-axis detector
range.
Set "0" for this parameter.
0 to 7
0
SP043 TRNG*
Synchronous
tapping, spindle
synchronous
detector range
This parameter is used to set the synchronous
tapping or spindle synchronous detector range.
Set "0" for this parameter.
0 to 7
0
IV - 38
3. Status Display and Parameter Settings
Items
SP044 TRANS* NC communication frequency
Setting
range
(Unit)
Details
Set a frequency of data communication with NC.
0 to 32767
Standard
setting
Standard:
0
Special:
1028
SP045 CSNT
Dual cushion
timer
Set the cycle to add the increment values in the dual 0 to 1000
cushion process.
(ms)
When this setting value is increased, the dual
cushion will increase, and the changes in the speed
during acceleration/deceleration will become
gradual.
0
SP046 CSN2*
Speed command
dual cushion
For an acceleration/deceleration time constant
defined in SP019 (CSN1), this parameter is used to
provide smooth movement only at the start of
acceleration/deceleration.
As the value of this parameter is smaller, it moves
smoother but the acceleration/deceleration time
becomes longer.
To make this parameter invalid, set "0".
0 to 1000
0
SP047 SDTR*
Speed detection
reset value
Set the reset hysteresis width for a speed detection
set value defined in SP020 (SDTS).
0 to 1000
(r/min)
30
SP048 SUT*
Speed reach
range
Set the speed deviation rate with respect to the
commanded speed for output of the speed reach
signal.
0 to 100 (%) 15
SP049 TLM2
Torque limit 2
Set the torque limit rate for the torque limit signal
010.
1 to 120 (%) 20
SP050 TLM3
Torque limit 3
Set the torque limit rate for the torque limit signal
011.
1 to 120 (%) 30
SP051 TLM4
Torque limit 4
Set the torque limit rate for the torque limit signal
100.
1 to 120 (%) 40
SP052 TLM5
Torque limit 5
Set the torque limit rate for the torque limit signal
101.
1 to 120 (%) 50
SP053 TLM6
Torque limit 6
Set the torque limit rate for the torque limit signal
110.
1 to 120 (%) 60
SP054 TLM7
Torque limit 7
Set the torque limit rate for the torque limit signal
111.
1 to 120 (%) 70
SP055 SETM*
Excessive speed
deviation timer
Set the timer value until the excessive speed
deviation alarm is output.
The value of this parameter should be longer than
the acceleration/deceleration time.
0 to 60 (s)
SP056 PYVR
Variable
excitation
(min value)
Set the minimum value of the variable excitation rate. 0 to 100 (%) 50
Select a smaller value when gear noise is too high.
However, a larger value is effective for impact
response.
SP057 STOD*
Fixed control
constant
Set by Mitsubishi.
Set "0" unless designated in particular.
0
0
SP058 SDT2*
Fixed control
constant
Set by Mitsubishi.
Set "0" unless designated in particular.
0
0
SP059 MKT*
Winding
Set the base interception time for contactor switching 50 to 10000
changeover base at winding changeover.
(ms)
interception timer Note that the contactor may be damaged with
burning if the value of this parameter is too small.
150
SP060 MKT2*
Current limit timer Set the current limit time to be taken after completion 0 to 10000
after winding
of contactor switching at winding changeover.
(ms)
changeover
500
IV - 39
12
3. Status Display and Parameter Settings
Items
SP061 MKIL*
Current limit
value after
winding
changeover
SP062
Setting
range
(Unit)
Details
Standard
setting
Set the current limit value during a period defined in
SP060 (MKT2) after completion of contactor
switching at winding changeover.
0 to 120 (%) 75
Not used. Set to "0".
0
0
SP063 OLT*
Overload alarm
detection time
Set the time constant for detection of the motor
overload alarm.
0 to 1000 (s) 60
SP064 OLL*
Overload alarm
detection level
Set the detection level of the motor overload alarm.
0 to 120 (%) 110
SP065 VCGN1* Target value of
variable speed
loop proportional
gain
Set the magnification of speed loop proportional gain 0 to 100 (%) 100
with respect to SP022 (VGNP1) at the maximum
motor speed defined in SP017 (TSP).
SP066 VCSN1* Change starting Set the speed when the speed loop proportional gain 0 to 32767
speed of variable change starts.
(r/min)
speed loop
proportional gain
SP022
0
Proportional gain
SP022×
(SP065/100)
Speed
SP066
SP017
SP067 VIGWA* Change starting Set the speed where the current loop gain change
speed of variable starts.
current loop gain
0 to 32767
(r/min)
0
SP068 VIGWB* Change ending
Set the speed where the current loop gain change
speed of variable ends.
current loop gain
0 to 32767
(r/min)
0
IV - 40
3. Status Display and Parameter Settings
Items
SP069 VIGN*
Target value of
variable current
loop gain
Setting
range
(Unit)
Details
Set the magnification of current loop gain (torque
0 to 32767
component and excitation component) for a change
ending speed defined in SP068 (VIGWB).
(1/16-fold)
When this parameter is set to "0", the magnification is 1.
Standard
setting
0
Gain
SP069×(1/16)-fold
1-fold
Speed
SP067 SP068
SP017 (TSP)
Maximum
motor speed
0 to 6000
6001 to 8000
8001 or more
SP070 FHz
Machine
resonance
suppression filter
frequency
SP071 VR2WA* Fixed control
constant
SP072 VR2WB*
SP017
SP067
(VIGWA)
SP068
(VIGWB)
0
5000
5000
0
8000
10000
SP069
(VIGN)
0
45
64
When machine vibration occurs in speed and
position control, set the frequency of the required
vibration suppression.
Note that a value of 100Hz or more is set.
Set to "0" when not used.
0 to 3000
(Hz)
0
Set by Mitsubishi.
Set "0" unless designated in particular.
0
0
SP073 VR2GN*
SP074 IGDEC*
SP075 R2KWS
SP076 FONS
Machine
resonance
suppression filter
operation speed
When the vibration increases in motor stop (ex. in
orientation stop) when the machine vibration
suppression filter is operated by SP070, operate the
machine vibration suppression filter at a speed of
this parameter or more.
When set to "0", this is validated for all speeds.
0 to 32767
(r/min)
0
SP077 TDSL*
Fixed control
constant
Set by Mitsubishi.
Set "14" unless designated in particular.
0
14
Set by Mitsubishi.
Set "0" unless designated in particular.
0
0
Not used. Set to "0".
0
0
SP078 FPWM* Fixed control
constant
SP079 ILMT*
SP080
SP081 LMCA
SP082 LMCB
SP083
to
SP086
SP087 DIQM*
Target value of
Set the minimum value of variable torque limit at
variable torque
deceleration.
limit magnification
at deceleration
IV - 41
0 to 150 (%) 75
3. Status Display and Parameter Settings
Items
SP088 DIQN*
Setting
range
(Unit)
Details
Speed for starting Set the speed where the torque limit value at
change of
deceleration starts to change.
variable torque
Torque limit
limit magnification
Inversely proportional
at deceleration
to speed
100%
Standard
setting
0 to 32767
(r/min)
3000
SP087
Speed
SP088
SP017
SP089
Not used. Set to "0".
0
0
SP090
Not used. Set to "0".
0
0
SP091 OFSN
Motor PLG
Set the PLG offset value for the forward rotation.
forward rotation
Normally set to "0".
offset compensation
–2048 to
2047
(–1mv)
0
SP092 OFSI
Motor PLG
Set the PLG offset value for the reverse rotation.
reverse rotation
Normally set to "0".
offset compensation
–2048 to
2047
(–1mv)
0
SP093 ORE*
Fixed control
constant
Set by Mitsubishi.
Set "0" unless designated in particular.
0
0
SP094 LMAV*
Load meter
output filter
Set the filter time constant of load meter output.
When "0" is set, a filter time constant is set to
100ms.
0 to 32767
(2ms)
0
SP095 VFAV*
Fixed control
constant
Set by Mitsubishi.
Set "0" unless designated in particular.
0
0
SP096 EGAR*
Encoder gear
ratio
Set the gear ratio between the spindle end and the
encoder end (except for the motor-built-in encoder)
as indicated below.
–3 to 4
0
Setting
value
Gear ratio
(deceleration)
Setting
value
0
1:1
–1
1
1 : 1/2
–2
2
1 : 1/4
–3
3
1 : 1/8
4
1 : 1/16
IV - 42
Gear ratio
ratio
(acceleration)
(Acceleration)
1:2
1:4
1:3
3. Status Display and Parameter Settings
Items
SP097 SPECO* Orientation
specification
Setting
range
(Unit)
Details
Set the orientation specifications in bit units.
F
E
D
C
B
A
9
ostp orze ksft gchg
ips2 zdir
7
6
vg8x mdir
5
fdir
8
0000 to
FFFF
HEX setting
Standard
setting
0000
4
3
2
1
0
osc1 pyfx dmin odi2 odi1
(Note) Always set "0" for the empty bits.
bit Name
0
odi1
odi2
1
2
dmin
pyfx
3
4
Meaning when set to 0 Meaning when set to 1
Orientation rotation direction
00: Previous (the direction in which the motor has
so far rotated under speed control)
01: Forward rotation
10: Backward rotation
11: Prohibited (Same as setting value = 10)
Orientation in-position
Orientation in-position
advance invalid
advance valid
Excitation min. (50%)
Excitation min. (50%)
during orientation servo during orientation servo
lock invalid
lock valid
5
osc1
fdir
Fixed control bit
Encoder detector
polarity: +
Magnetic sensor
polarity: +
6
mdir
7
8
9
A
B
C
D
E
F
vg8x
Fixed control bit
zdir
ips2
Fixed control bit
2nd in-position invalid
gchg
ksft
orze
ostp
Fixed control bit
Encoder detector
polarity: –
Magnetic sensor
polarity: –
2nd in-position valid
In-position advance (bit 2)
Second in-position
0
(Invalid)
0 (invalid)
1 (valid)
In-position signal in OINP
width=1
Control output 4/ bit 4=1
Second in-position
signal=0
Control output 4/ bit F=1
In-position signal in OINP
width=1
Control output 4/ bit 4=1
Second in-position
signal=0
Control output 4/ bit F=0
1
(Valid)
In-position signal in DINP
width=1
Control output 4/ bit 4= 1
Second in-position signal
in OINP width = 1
Control output 4/ bit F=1
SP098 VGOP*
Speed loop gain
proportional term
in orientation
mode
Set the speed loop proportional gain in orientation
0 to 1000
mode.
(1/s)
When the gain is increased, rigidity is improved in the
orientation stop but vibration and sound become
larger.
63
SP099 VGOI*
Speed loop gain
integral term in
orientation mode
Set the speed loop integral gain in orientation mode.
0 to 1000
(0.1 1/s)
60
SP100 VGOD*
Speed loop gain
delay advance
term in orientation
mode
Set the speed loop gain delay advance gain in
orientation mode.
When this parameter is set to "0", PI control is
applied.
0 to 1000
(0.1 1/s)
15
IV - 43
3. Status Display and Parameter Settings
Items
SP101 DINP*
Orientation
advance inposition width
Setting
range
(Unit)
Details
Standard
setting
When using the orientation in-position advance
function, set the in-position width that is larger than
the normal in-position width defined in SP004
(OINP).
1 to 2880
(1/16°)
16
SP102 OODR* Excessive error
value in orientation mode
Set the excessive error width in orientation mode.
0 to 32767
(1/4 pulse)
(1 pulse=
0.088°)
32767
SP103 FTM*
Index positioning
completion OFF
time timer
Set the time for forcedly turning OFF the index
positioning completion signal (different from the
orientation completion signal) after the leading edge
of the indexing start signal.
0 to 10000
(ms)
200
SP104 TLOR*
Torque limit value Set the torque limit value for orientation in-position
for orientation
output.
servo locking
If the external torque limit signal is input, the torque
limit value set with this parameter becomes invalid.
0 to 120 (%) 100
SP105 IQG0*
Current loop gain Set the magnification for current loop gain (torque
magnification 1 in component) at orientation completion.
orientation mode
1 to 1000
(%)
100
SP106 IDG0*
Current loop gain Set the magnification for current loop gain (excitation 1 to 1000
magnification 2 in component) at orientation completion.
(%)
orientation mode
100
SP107 CSP2
Deceleration rate Set the deceleration rate in orientation mode
0 to 1000
2 in orientation
corresponding to the gear 001.
mode
When this parameter is set to "0", the rate will be the
same as SP006 (CSP).
0
SP108 CSP3
Deceleration rate Set the deceleration rate in orientation mode
0 to 1000
3 in orientation
corresponding to the gear 010.
mode
When this parameter is set to "0", the rate will be the
same as SP006 (CSP).
0
SP109 CSP4
Deceleration rate Set the deceleration rate in orientation mode
0 to 1000
4 in orientation
corresponding to the gear 011.
mode
When this parameter is set to "0", the rate will be the
same as SP006 (CSP).
0
SP110 WCML
Fixed control
constants
Set by Mitsubishi.
Set "0" unless designated in particular.
0
0
SP111 WDEL
Fixed control
constants
Set by Mitsubishi.
Set "0" unless designated in particular.
0
0
SP112 WCLP
Fixed control
constants
Set by Mitsubishi.
Set "0" unless designated in particular.
0
0
SP113 WINP
Fixed control
constants
Set by Mitsubishi.
Set "0" unless designated in particular.
0
0
IV - 44
3. Status Display and Parameter Settings
Items
SP114 OPER
Orientation pulse An alarm "5C" will occur if the pulse miss value at the 0 to 32767
miss check value orientation stop exceeds this setting value. (Note that (360°/4096)
this is invalid when set to "0".)
In this parameter, set the value to fulfill the following
conditions.
SP114 setting value > 1.5 × SP004
(orientation in-position width)
SP115
to
SP118
SP119 MPGH
Setting
range
(Unit)
Details
Set by Mitsubis hi.
Set "0" unless designated in particular.
Orientation
position gain H
winding
compensation
magnification
0
Set the compensation magnification of the orientation 0 to 2560
position loop gain for the H winding.
(1/256-fold)
H winding orientation position loop gain
= SP001 (or SP002) × SP119/256
Standard
setting
0
0
0
When this parameter is set to "0", the magnification
will become the same as SP001 or SP002.
SP120 MPGL
Orientation
position gain L
winding
compensation
magnification
Set the compensation magnification of the orientation 0 to 2560
position loop gain for the L winding.
(1/256-fold)
L winding orientation position loop gain
= SP001 (or SP002) × SP120/256
0
When this parameter is set to "0", the magnification
will become the same as SP001 or SP002.
SP121 MPCSH Orientation
deceleration rate
H winding
compensation
magnification
Set the compensation magnification of the orientation 0 to 2560
deceleration rate for the H winding.
(1/256-fold)
0
Orientation deceleration rate for the H winding
= SP006 × SP121/256
When this parameter is set to "0", the magnification
will become the same as SP006.
SP122 MPCSL Orientation
deceleration rate
L winding
compensation
magnification
Set the compensation magnification of the orientation 0 to 2560
deceleration rate for the L winding.
(1/256-fold)
0
Orientation deceleration rate for the L winding
= SP006 × SP122/256
When this parameter is set to "0", the magnification
will become the same as SP006.
SP123 MGD0
Magnetic sensor This parameter is used for adjustment of orientation 1 to 10000
output peak value operation of the magnetic sensor.
Set the output peak value of the magnetic sensor.
If a gap between the sensor and the magnetizing
element is small, increase the value of this parameter.
If it is large, decrease the value of this parameter.
Standard
magnetizing
element: 542
Small
magnetizing
element: 500
SP124 MGD1
Magnetic sensor
linear zone width
1 to 10000
Standard
magnetizing
element: 768
Small
magnetizing
element: 440
This parameter is used for adjustment of orientation 1 to 10000
operation of the magnetic sensor.
Set the distance dimension from the target stop point
at switching from position feedback to magnetic
sensor output.
Normally, set a value that is approx. 1/2 of the value
defined in SP124.
Standard
magnetizing
element: 384
Small
magnetizing
element: 220
This parameter is used for adjustment of orientation
operation of the magnetic sensor.
Set the linear zone width of the magnetic sensor.
If the radius of the mounted magnetizing element is
large, decrease the value of this parameter. If it is
small, increase the value of this parameter.
SP125 MGD2
Magnetic sensor
switching point
IV - 45
3. Status Display and Parameter Settings
Items
Setting
range
(Unit)
Details
SP126
to
SP128
Not used. Set to "0".
SP129 SPECC* C-axis
specifications
Set the C-axis specifications in bit units.
F
zrtn
E
D
C
ptyp fb9x zrtd
7
vg8x
6
(Note)
bit Name
fclx
0
1
0
adin
5
fdir
4
Standard
setting
0
0000
B
zrn2
A
9
zdir
8
ztyp
3
2
1
adin
0
fclx
Always set "0" for the empty bits.
Meaning when set to 0 Meaning when set to 1
Semi-closed loop
Closed loop
(Gear 1 : 1 only)
Interpolation A/D
Interpolation A/D
compensation invalid
compensation valid
2
3
4
5
fdir
Position detector
direction (+)
Position detector
direction (–)
Speed gain × 1/8 during
torque limit valid
Z-phase type: Normal
start up
Z-phase rising polarity
(+)
Speed gain × 1/8 during
torque limit invalid
Z-phase type: Start up
only
Z-phase rising polarity
(–)
Fixed control bit
Fixed control bit
Speed feedback
Standard (PLG)
Position control switch
type: After zero point
return
Zero point return
direction: CCW
Speed feedback
90,000 pulse detector
Position control switch
type: After deceleration
stop
Zero point return
direction: CW
6
7
vg8x
8
ztyp
9
zdir
A
B
C
D
zrn2
zrtd
fb9x
ptyp
E
F
zrtn
SP130 PGC1
First position loop Set the position loop gain when the first gain is
gain for cutting on selected for C-axis cutting.
C-axis
1 to 100
(1/s)
15
SP131 PGC2
Second position
loop gain for
cutting on C-axis
Set the position loop gain when the second gain is
selected for C-axis cutting.
1 to 100
(1/s)
15
SP132 PGC3
Third position
loop gain for
cutting on C-axis
Set the position loop gain when the third gain is
selected for C-axis cutting.
1 to 100
(1/s)
15
SP133 PGC4
Stop position loop Set the position loop gain for stopping when carrying
gain for cutting on out C-axis cutting.
C-axis
1 to 100
(1/s)
15
0 to 5000
(1/s)
63
SP134 VGCP0∗ C-axis noncutting speed
loop gain
proportional item
Set the speed loop proportional gain in C-axis
non-cutting mode.
IV - 46
3. Status Display and Parameter Settings
Items
Details
Setting
range
(Unit)
Standard
setting
SP135 VGCI0* C-axis noncutting speed
loop gain integral
item
Set the speed loop integral gain in C-axis non-cutting 0 to 5000
mode.
(0.1 1/s)
60
SP136 VGCD0* C-axis noncutting speed
loop gain delay
advance item
Set the speed loop delay advance gain in C-axis
non-cutting mode.
When this parameter is set to "0", PI control is
applied.
0 to 5000
(0.1 1/s)
15
SP137 VGCP1* First speed loop
gain proportional
item for C-axis
cutting
Set the speed loop proportional gain when the first
gain is selected for C-axis cutting.
0 to 5000
(1/s)
63
SP138 VGCI1* First speed loop Set the speed loop integral gain when the first gain is 0 to 5000
gain integral item selected for C-axis cutting.
(0.1 1/s)
for cutting on Caxis
60
SP139 VGCD1* First speed loop
gain delay
advance item for
cutting on C-axis
Set the speed loop delay advance gain when the first 0 to 5000
gain is selected for C-axis cutting.
(0.1 1/s)
When this parameter is set to "0", PI control is
applied.
15
SP140 VGCP2* Second speed
loop gain
proportional item
for cutting on Caxis
Set the speed loop proportional gain when the
second gain is selected for C-axis cutting.
0 to 5000
(1/s)
63
SP141 VGCI2* Second speed
Set the speed loop integral gain when the second
loop gain integral gain is selected for C-axis cutting.
item for cutting on
C-axis
0 to 5000
(0.1 1/s)
60
SP142 VGCD2* Second speed
loop gain delay
advance item for
cutting on C-axis
0 to 5000
(0.1 1/s)
15
SP143 VGCP3* Third speed loop Set the speed loop proportional gain when the third
gain proportional gain is selected for C-axis cutting.
item for cutting on
C-axis
0 to 5000
(1/s)
63
SP144 VGCI3* Third speed loop Set the speed loop integral gain when the third gain
gain integral item is selected for C-axis cutting.
for cutting on Caxis
0 to 5000
(0.1 1/s)
60
Set the speed loop delay advance gain when the
second gain is selected for C-axis cutting.
When this parameter is set to "0", PI control is
applied.
IV - 47
3. Status Display and Parameter Settings
Items
SP145 VGCD3* Third speed loop
gain delay
advance item for
cutting on C-axis
Setting
range
(Unit)
Details
Standard
setting
Set the speed loop delay advance gain when the
third gain is selected for C-axis cutting.
When this parameter is set to "0", PI control is
applied.
0 to 5000
(0.1 1/s)
15
SP146 VGCP4* Speed loop gain Set the speed loop proportional gain when C-axis
proportional item cutting is stopped.
for stop of cutting
on C-axis
0 to 5000
(1/s)
63
SP147 VGCI4* Speed loop gain Set the speed loop integral gain when C-axis cutting
integral item for
is stopped.
stop of cutting on
C-axis
0 to 5000
(0.1 1/s)
60
SP148 VGCD4* Speed loop gain
delay advance
item for stop of
cutting on C-axis
Set the speed loop delay advance gain when C-axis
cutting is stopped.
When this parameter is set to "0", PI control is
applied.
0 to 5000
(0.1 1/s)
15
SP149 CZRN
C-axis zero point
return speed
This parameter is valid when SP129 (SPECC) bitE is 1 to 500
set to "0".
(r/min)
Set the zero point return speed used when the speed
loop changes to the position loop.
SP150 CPDT
C-axis zero point This parameter is valid when SP129 (SPECC) bitE is 1 to 10000
return
set to "0".
deceleration point Set the deceleration rate where the machine starts to
decelerate when it returns to the target stop point
during C-axis zero point return.
When the machine tends to overshoot at the stop
point, set a smaller value.
SP151 CPSTL
C-axis zero point
return shift
amount
(low byte)
50
1
This parameter is valid when SP129 (SPECC) bitE is HEX setting H: 0000
set to "0".
00000000 to L: 0000
Set the C-axis zero point position.
FFFFFFFF
(1/1000°)
SP152 CPSTH C-axis zero point
return shift
amount
(high byte)
SP153 CINP
C-axis in-position Set the position error range in which the in-position
width
signal is output on the C-axis.
SP154 CODRL* Excessive error
width on C-axis
(low byte)
03E8
Set the excessive error width on the C-axis.
HEX setting H: 0001
00000000 to L: D4C0
FFFFFFFF
(1/1000°)
Not used. Set to "0".
0
SP155 CODRH* Excessive error
width on C-axis
(high byte)
SP156
to
SP158
0000 to
FFFF
(1/1000°)
HEX setting
IV - 48
0
3. Status Display and Parameter Settings
Items
Details
SP159 CPY0
C-axis noncutting variable
excitation ratio
Set the minimum value of variable excitation ratio for
non-cutting on the C-axis.
SP160 CPY1
C-axis cutting
Set the minimum variable excitation ratio for cutting
variable excitation on the C-axis.
ratio
Setting
range
(Unit)
Standard
setting
0 to 100 (%) 50
0 to 100 (%) 100
SP161 IQGC0* Current loop gain Set the magnification of current loop gain (torque
magnification 1
component) for C-axis non-cutting.
for non-cutting on
C-axis
1 to 1000
(%)
100
SP162 IDGC0* Current loop gain Set the magnification of current loop gain (excitation
magnification 2
component) for C-axis non-cutting.
for non-cutting on
C-axis
1 to 1000
(%)
100
SP163 IQGC1* Current loop gain Set the magnification of current loop gain (torque
magnification 1
component) for C-axis cutting.
for cutting on Caxis
1 to 1000
(%)
100
SP164 IDGC1* Current loop gain Set the magnification of current loop gain (excitation
magnification 2
component) for C-axis cutting.
for cutting on Caxis
1 to 1000
(%)
100
SP165 PG2C
C-axis position
loop gain 2
Set the second position loop gain when high-gain
control is carried out for control of the C-axis.
This parameter is applied to all the operation modes
of C-axis control.
When this function is not used, assign "0".
0 to 999
(1/s)
0
SP166 PG3C
C-axis position
loop gain 3
Set the third position loop gain when high-gain
control is carried out for control of the C-axis.
This parameter is applied to all the operation modes
of C-axis control.
When this function is not used, assign "0".
0 to 999
(1/s)
0
SP167 PGU*
Position loop gain Set the position loop gain for when the disturbance
for increased
observer is valid.
spindle holding
force
0 to 100
(1/s)
15
SP168 VGUP*
Speed loop gain
proportional item
for increased
spindle holding
force
0 to 5000
(1/s)
63
SP169 VGUI*
Speed loop gain Set the speed loop gain integral item for when the
integral item for
disturbance observer is valid.
increased spindle
holding force
0 to 5000
(0.1 1/s)
60
Set the speed loop gain proportional item for when
the disturbance observer is valid.
IV - 49
3. Status Display and Parameter Settings
Items
SP170 VGUD*
Setting
range
(Unit)
Details
Speed loop gain Set the speed loop gain delay advance item for when 0 to 5000
delay advance
the disturbance observer is valid.
(0.1 1/s)
item for increased
spindle holding
force
Standard
setting
15
SP171
to
SP176
Not used. Set to "0".
0
0
SP177 SPECS* Spindle
synchronous
specifications
Set the spindle synchronous specifications in bit
units.
0000 to
FFFF
HEX setting
0000
F
E
D
odx8
C
B
A
9
8
7
6
5
fdir
4
3
pyfx
2
1
adin
0
fclx
(Note)
bit Name
0
fclx
adin
1
Always set "0" for the empty bits.
Meaning when set to 0 Meaning when set to 1
Closed loop
Semi-closed loop
Interpolation A/D
Interpolation A/D
compensation invalid
compensation valid
2
3
pyfx
Normal excitation
Position loop excitation
fixed (strong)
fdir
Position detector
polarity (+)
Position detector
polarity (–)
Magnification of
excessive error width ×
8 times invalid
Magnification of
excessive error width ×
8 times valid
4
5
6
7
8
9
A
B
C
odx8
D
E
F
(Used with SPJ)
SP178 VGSP*
Spindle
synchronous
speed loop gain
proportional term
Set the speed loop proportional gain in spindle
synchronous mode.
0 to 1000
(1/s)
63
SP179 VGSI*
Spindle
synchronous
speed loop gain
integral term
Set the speed loop integral gain in spindle
synchronous mode.
0 to 1000
(0.1 1/s)
60
SP180 VGSD*
Spindle
synchronous
speed loop gain
delay advance
term
Set the speed loop delay advance gain in spindle
synchronous mode.
When this parameter is set to "0", PI control is
applied.
0 to 1000
(0.1 1/s)
15
SP181 VCGS*
Spindle
synchronous
target value of
variable speed
loop proportional
gain
Set the magnification of speed loop proportional gain 0 to 100 (%) 100
with respect to SP178 (VGSP) at the maximum
speed defined in SP017 (TSP) in spindle
synchronous mode.
IV - 50
3. Status Display and Parameter Settings
Items
SP182 VCSS*
Setting
range
(Unit)
Details
Spindle
Set the speed when the speed loop proportional gain 0 to 32767
synchronous
change starts in the spindle synchronous mode.
(r/min)
change starting
speed of variable
Proportional gain
speed loop
SP178
proportional gain
SP178×
(SP181/100)
Spindle
synchronous
sync matching
speed
SP184 FFCS*
SP185 SINP
0
Speed
SP182
SP183 SYNV
Standard
setting
SP017
0 to 1000
(r/min)
20
Spindle
Set the acceleration rate feed forward gain in the
synchronous
spindle synchronous mode.
acceleration rate This parameter is used only with the SPJ2.
feed forward gain
0 to 1000
(%)
0
Spindle
synchronous
in-position width
Set the position error range for output of the
in-position signal in the spindle synchronous mode.
1 to 2880
(1/16°)
16
SP186 SODR* Spindle
synchronous
excessive error
width
Set the excessive error width in the spindle
synchronous mode.
1 to 32767
( pulse)
(1 pulse
=0.088°)
32767
SP187 IQGS*
Spindle
synchronous
current loop gain
magnification1
Set the magnification of current loop gain (torque
component) in the spindle synchronous mode.
1 to 1000
(%)
100
SP188 IDGS*
Spindle
synchronous
current loop gain
magnification 2
Set the magnification of current loop gain (excitation
component) in the spindle synchronous mode.
1 to 1000
(%)
100
SP189 PG2S
Spindle
synchronous
position loop gain
2
Set the second position loop gain when high-gain
control is carried out in the spindle synchronous
mode.
When this parameter function is not used, set to "0".
0 to 999
(1/s)
0
SP190 PG3S
Spindle
synchronous
position loop gain
3
Set the third position loop gain when high-gain
control is carried out in the spindle synchronous
mode.
When this parameter function is not used, set to "0".
0 to 999
(1/s)
0
Not used. Set to "0".
0
0
SP191
to
SP192
For changeover from the speed loop to the position
loop in the spindle synchronous mode, set a speed
command error range for output of the synchronous
speed matching signal.
IV - 51
3. Status Display and Parameter Settings
Items
SP193 SPECT* Synchronized
tapping
specifications
Setting
range
(Unit)
Details
Set the synchronized tapping specifications in bit
units.
F
zrtn
E
D
ptyp od8x
7
6
(Note)
bit Name
fclx
0
1
adin
5
fdir
C
B
A
9
8
phos
4
cdir
3
pyfx
2
1
adin
0
fclx
0000 to
FFFF
HEX setting
Standard
setting
0000
Always set "0" for the empty bits.
Meaning when set to 0 Meaning when set to 1
Semi-closed loop
Closed loop
(Gear 1 : 1 only)
Interpolation A/D
Interpolation A/D
compensation invalid
compensation valid
2
3
pyfx
Normal excitation
Position loop excitation
fixed (strong)
4
cdir
fdir
Command polarity (+)
Position detector
polarity (+)
Command polarity (–)
Position detector
polarity (–)
phos
Normal
(no compensation)
Synchronized tapping
position compensation
valid
od8x
Magnification of
excessiv e error width ×
8 times invalid
Position control switch
type: After zero point
return
Zero point return
direction: CCW
Magnification of
excessive error width ×
8 times valid
Position control switch
type: After deceleration
stop
Zero point return
direction: CW
5
6
7
8
9
A
B
C
D
ptyp
E
F
zrtn
SP194 VGTP*
Synchronized
tapping speed
loop gain
proportional term
SP195 VGTI*
Synchronized
Set the speed loop integral gain in synchronized
tapping speed
tapping mode.
loop gain integral
term
0 to1000
(0.1 1/s)
60
SP196 VGTD*
Synchronized
tapping speed
loop gain delay
advance term
Set the speed loop delay advance gain in
synchronized tapping mode.
When this parameter is set to "0", PI control is
applied.
0 to 1000
(0.1 1/s)
15
Not used. Set "0".
0
0
SP197
SP198 VCGT*
Synchronized
tapping target
value of variable
speed loop
proportional gain
Set the speed loop proportional gain in synchronized 0 to 1000
tapping mode.
(1/s)
Set the magnification of speed loop proportional gain 0 to 100 (%)
with respect to SP194 (VGTP) at the maximum motor
speed defined in SP017 (TSP) in synchronized
tapping mode.
IV - 52
63
100
3. Status Display and Parameter Settings
Items
SP199 VCST*
Synchronized
tapping change
starting speed of
variable speed
loop proportional
gain
Setting
range
(Unit)
Details
Set the speed where the speed loop proportional
gain change starts during synchronized tapping.
0 to 32767
(r/min)
Standard
setting
0
Proportional gain
SP194
SP194×
(SP198/100)
Speed
SP199
SP017
SP200 FFC1*
Synchronized
tapping
acceleration feed
forward gain
(gear 1)
Set the acceleration feed forward gain for selection of 0 to 1000
gear 000 at synchronized tapping.
(%)
This parameter should be used when an error of
relative position to Z-axis servo is large.
0
SP201 FFC2*
Synchronized
tapping
acceleration feed
forward gain
(gear 2)
Set the acceleration feed forward gain for selection of 0 to 1000
gear 001 at synchronized tapping.
(%)
0
SP202 FFC3*
Synchronized
tapping
acceleration feed
forward gain
(gear 3)
Set the acceleration feed forward gain for selection of 0 to 1000
gear 010 at synchronized tapping.
(%)
0
SP203 FFC4*
Synchronized
tapping
acceleration feed
forward gain
(gear 4)
Set the acceleration feed forward gain for selection of 0 to 1000
gear 011 at synchronized tapping.
(%)
0
Not used. Set "0".
0
SP204
to
SP213
0
SP214 TZRN
Synchronized
tapping
zero point return
speed
This parameter is valid when SP193 (SPECT) bitE is 0 to 500
set to "0".
(r/min)
Set the zero point return speed used when the speed
loop changes to the position loop.
50
SP215 TPDT
Synchronized
tapping
zero point return
deceleration rate
This parameter is valid when SP193 (SPECT) bitE is 0 to 10000
set to "0".
(pulse)
Set the deceleration rate where the machine starts to
decelerate when it returns to the target stop point
during synchronized tapping zero point return.
When the machine tends to overshoot at the stop
point set a smaller value.
1
SP216 TPST
Synchronized
tapping
zero point return
shift amount
This parameter is valid when SP193 (SPECT) bitE is 0 to 4095
set to "0".
Set the synchronized tapping zero point position.
0
SP217 TINP
Synchronized
tapping
in-position width
Set the position error range for output of the
in-position signal during synchronized tapping.
16
IV - 53
1 to 2880
(1/16°)
3. Status Display and Parameter Settings
Items
Setting
range
(Unit)
Details
Standard
setting
SP218 TODR*
Synchronized
Set the excessive error width during synchronized
tapping excessive tapping.
error width
1 to 32767
(pulse)
(1 pulse
=0.088°)
32767
SP219 IQGT*
Synchronized
tapping current
loop gain
magnification 1
Set the magnification of current loop gain (torque
component) during synchronized tapping.
1 to 1000
(%)
100
SP220 IDGT*
Synchronized
tapping current
loop gain
magnification 2
Set the magnification of current loop gain (excitation
component) during synchronized tapping.
1 to 1000
(%)
100
SP221 PG2T
Synchronized
tapping position
loop gain 2
Set the second position loop gain when high-gain
control is applied during synchronized tapping.
When this parameter is not used, set to "0".
0 to 999
(1/s)
0
SP222 PG3T
Synchronized
tapping position
loop gain 3
Set the third position loop gain when high-gain
control is applied during synchronized tapping.
When this parameter is not used, set to "0".
0 to 999
(1/s)
0
SP223
to
SP224
Not used. Set to "0".
0
0
SP225 OXKPH Fixed control
constant
SP226 OXKPL
Set by Mitsubishi.
Set "0" unless designated in particular.
0
0
Set the ratio of the motor inertia + load inertia and
motor inertia.
0 to 5000
(%)
0
SP227 OXVKP
SP228 OXVKI
SP229 OXSFT
SP230
SP231
SP232
SP233 JL*
Disturbance
observer general
inertia scale
Setting
Motor inertia + load inertia
value = ×100
Motor inertia
(Normally, set "0", "100" or more. When less than
"50" is set, the setting will be invalid.)
SP234 OBS1*
Disturbance
Set the frequency of the low path filter for when the
observer low path disturbance observer is valid.
filter frequency
Setting (1/s) = 2πf
"0", "100" or
more
0 to 1000
(1/s)
0
f: Approx. 1.5 times the disturbance frequency
SP235 OBS2*
Disturbance
observer gain
Set the gain for the disturbance observer.
IV - 54
0 to 500 (%) 0
3. Status Display and Parameter Settings
Items
SP236
to
SP248
Setting
range
(Unit)
Details
Standard
setting
Not used. Set to "0".
0
0
SP249 SM0
Speed meter
speed
Set the motor rotation speed when the speed meter
10V is output.
When set to "0", this parameter becomes the same
as SP017 (TSP).
0 to 32767
(r/min)
0
SP250 LM0
Load meter
voltage
Set the voltage when the load meter 120% is output.
When set to "0", this becomes 10V.
0 to 10
(V)
0
SP251
to
SP252
Not used. Set to "0".
0
0
SP253 DA1NO D/A output
channel 1 data
number
Set the output data number for channel 1 of the D/A
output function.
When this parameter is set to "0", the output is
speedometer.
Refer to "3.2 (2) D/A output functions ".
–32768 to
32767
0
SP254 DA2NO D/A output
channel 2 data
number
Set the output data number for channel 2 of the D/A
output function.
When this parameter is set to "0", the output is load
meter.
Refer to "3.2 (2) D/A output functions".
–32768 to
32767
0
SP255 DA1MPY D/A output
channel 1
magnification
Set the data magnification for channel 1 of the D/A
output function.
The output magnification is the setting value divided
by 256.
When this parameter is set to "0", the output
magnification becomes 1-fold, in the same manner
as when "256" is set.
Refer to "3.2 (2) D/A output functions".
–32768 to
32767
(1/256-fold)
0
SP256 DA2MPY D/A output
channel 2
magnification
Set the data magnification for channel 2 of the D/A
output function.
The output magnification is the setting value divided
by 256.
When this parameter is set to "0", the output
magnification becomes 1-fold, in the same manner
as when "256" is set.
Refer to "3.2 (2) D/A output functions".
–32768 to
32767
(1/256-fold)
0
SP257 RPM*
to
SP320 BSD*
This parameter is valid only in the following two
conditional cases:
0000 to
FFFF
HEX setting
0000
Motor constant
(H coil)
(a) In case that SP034 (SFNC2) bit0=1
and SP034 (SFNC2) bit2=0
Set the motor constants when using a special
motor, not described in the SP040 (MTYP)
explanation and when not using the coil
changeover motor.
(b) In case that SP034 (SFNC2) bit0=1
and SP034 (SFNC2) bit2=1
Set the motor constant of the H coil of the coil
changeover motor.
(Note) It is not allowed for the user to change the
setting.
IV - 55
3. Status Display and Parameter Settings
Items
SP321 RPML*
to
SP384 BSDL*
Motor constant
(L coil)
Setting
range
(Unit)
Details
This parameter is valid only in the following
conditional case:
Standard
setting
0000 to
FFFF
HEX setting
0000
0
0
(a) In case that SP034 (SFNC2) bit0=1
and SP034 (SFNC2) bit2=1
Set the motor constant of the L coil of the coil
changeover motor.
(Note) It is not allowed for the user to change the
setting.
SP385
to
SP400
Fixed control
constant
Not used. Set to "0".
IV - 56
3. Status Display and Parameter Settings
(2) D/A output functions
(a) Outline
The D/A output function is mounted in the standard system in the MDS-C1-SP.
Using this D/A output function, the drive unit status and each data can be confirmed.
(b) Hardware specifications
Ÿ 2 channels
Ÿ 8 bit
0 to +10V
Ÿ Output pin
CH 1: CN9-9 pin
CH 2: CN9-19 pin
GND: CN9-1.11 pin
(c) Parameters
Set the data No. and output magnification of each channel according to the parameters below.
Name
SP253
SP254
SP255
SP256
Details
D/A channel 1 data No.
D/A channel 2 data No.
D/A channel 1 output magnification
D/A channel 2 output magnification
(d) Output data No.
Set the No. of the data to be output in SP253 and SP254. A correlation of the output data and the
data No. is shown below.
No.
(setting
value)
0
CH1
Output data
CH2
Units
Speedometer output
Maximum speed at 10V
2
Current command
3
Current feedback
4
6
7
Speed feedback
Position droop low -order
Position droop high-order
8
Position F T low-order
When the actual data is 4096, the current command
data is regarded as 100%.
When the actual data is 4096, the current feedback
data is regarded as 100%.
Actual data r/min
Interpolation units
When the actual data is 23040000, the position
droop data is regarded as 360°.
Interpolation units/NC communication cycle
9
10
11
Position F T high-order
Position command low-order
Position command
high-order
Feedback position low -order
Feedback position
high-order
Control input 1
Control input 2
Control input 3
Control input 4
Control output 1
Control output 2
Control output 3
Control output 4
12
13
80
81
82
83
84
85
86
87
(Note)
Interpolation units
When the actual data is 23040000, the position
command data is regarded as 360°.
Output data
Load meter
output
Units
120% load
at 10V
Same as CH1
Interpolation units
When the actual data is 23040000, the feedback
position data is regarded as 360°.
Bit correspondence
Bit correspondence
The % of the current command and current feedback indicate 30min. rating = 100%.
IV - 57
3. Status Display and Parameter Settings
(e) Setting the output magnification
Set the output magnification in SP255 and SP256.
DATA = actual data ×
SP255 or SP256
256
Using the expression above,
(i) Output data other than speedometer output and load meter output carries out the D/A output
in Fig. 1.
(ii) Speedometer output data and load meter output data carries out the D/A output in Fig. 2.
D/A output voltage
D/A output voltage
+10V
+10V
+5V
+5V
0V
-128
0V
DATA
0
+127
0
Fig. 1
+127
+255
DATA
Fig. 2
(Example 1) Current command, current feedback
The data is regarded as 100% when the actual data is 4096.
Therefore, for example, the actual data is output as shown below during +120% current
feedback.
Actual data = 4096 × 1.2 = 4915
If "256" is set (magnification 1) in parameter SP255 (SP256), from Fig.1, the D/A output
voltage will be as shown below, exceeding the D/A output voltage maximum value.
5V + {4915 × 1 × (5V/128)} = 197V > 10V
Therefore, if "6" is set in parameter SP255 (SP256), the D/A output voltage will become
as shown below, and data confirmation will be possible.
5V + {4915 × 6/256 × (5V/128)} = 9.5V < 10V
IV - 58
3. Status Display and Parameter Settings
(Example 2) Speed feedback
Data unit is r/min.
Therefore, at +2000r/min, the motor speed will be output as "2000".
If "256" (magnification 1) is set in parameter SP255 (SP256), from Fig.1, the D/A output
voltage will be as shown below, exceeding the D/A output voltage maximum value.
5V + {2000 × 1 × (5V/128)} = 83.125V > 10V
Therefore, if "16" is set in parameter SP255 (SP256), the D/A output voltage will
become as shown below, and data confirmation will be possible.
5V + {2000 × 16/256 × (5V/128)} = 9.88V < 10V
(Example 3) Position droop
The data unit is r/min. Data is regarded as 100% when the actual data is 4096.
Therefore, for example, the actual data is output as shown below during the +0.1°
position droop.
Actual data = 0.1 × 23040000/360 = 6400
If "256" (magnification 1) is set in parameter SP255 (SP256), from Fig.1, the D/A output
voltage will be as shown below, exceeding the D/A output voltage maximum value.
5V + {6400 × 1 × (5V/128)} = 255V > 10V
Therefore, if "5" is set in parameter SP255 (SP256), the D/A output voltage will become
as shown below, and data confirmation will be possible.
5V + {2000 × 5/256 × (5V/128)} = 9.88V < 10V
(Example 4) Confirm the orientation complete signal (ORCF) with the control output 4L.
The data unit is bit corresponding data.
Refer to the Instruction Manual for the meanings of the control output 4L bit
corresponding signals.
The orientation complete signal (ORCF) corresponds to the control output 4L/bit 4.
Therefore, for example, the actual data is output as shown below when ORCF= ON.
4
bit 4 corresponding actual data = 2 = 16
If "256" is (magnification 1) set in parameter SP255 (SP256), from Fig.1, the D/A output
voltage will be as shown below, and data confirmation will be possible.
5V + {16 × 1 × (5V/128)} = 5.625V < 10V
Note that, if bits other than bit4 are ON, the current of that bit will be added to the
5.625V shown above, and at the actual ORCF signal measurement will be as shown
below, so confirm the changed voltage.
(5.625 V – 5V) = 0.625 V
IV - 59
3. Status Display and Parameter Settings
3.3 Spindle specification parameters screen
The spindle parameters are divided into those transmitted to the spindle drive unit from the NC and
those used on the NC side.
(1) Parameters transmitted to the spindle drive unit from the NC
The 384 parameters shown in section "3.2.(1)" are those transmitted from the NC to the spindle
drive unit.
(2) Parameters used on NC side
The spindle specifications parameters shown on this page are used on the NC side.
For parameters indicated with an "*" in the table, turn the CNC power OFF after setting. The setting is
validated after the power is turned ON again.
In the bit explanation below, set all bits not used, including empty bits, to "0".
No.
Items
Details
Setting range (Unit)
1
Sp_axis_ Axis No.
num*
Set the spindle control axis number.
(When using analog spindle, set to "0".
0 to max. number of
control axes
2
Slimit 1
Limit rotation speed
Gear 00
0 to 99999 (r/min)
3
Slimit 2
Limit rotation speed
Gear 01
Set spindle rotation speed for maximum motor
rotation speed with gears 00, 01, 10, 11.
(Set the spindle rotation speed for the S analog
output 10V.)
4
Slimit 3
Limit rotation speed
Gear 10
5
Slimit 4
Limit rotation speed
Gear 11
6
Smax 1
Maximum rotation
speed
Gear 00
0 to 99999 (r/min)
7
Smax 2
Maximum rotation
speed
Gear 01
Set maximum spindle rotation speed with gears
00, 01, 10, 11.
Set the value that is equal to or larger than
"Slimit" value.
8
Smax 3
Maximum rotation
speed
Gear 10
9
Smax 4
Maximum rotation
speed
Gear 11
10
Ssift
1
Shift rotation speed
Gear 00
Set spindle rotation speed for gear shifting with
gears 00, 01, 10, 11.
0 to 32767 (r/min)
11
Ssift
2
Shift rotation speed
Gear 01
12
Ssift
3
Shift rotation speed
Gear 10
13
Ssift
4
Shift rotation speed
Gear 11
14
Stap
1
Tap rotation speed
Gear 00
Set maximum spindle rotation speed during tap
cycle with gears 00, 01, 10, 11.
0 to 999999 (r/min)
15
Stap
2
Tap rotation speed
Gear 01
16
Stap
3
Tap rotation speed
Gear 10
17
Stap
4
Tap rotation speed
Gear 11
IV - 60
3. Status Display and Parameter Settings
No.
Items
Details
18
Stapt 1
Tap time constant
Gear 00
19
Stapt 2
Tap time constant
Gear 01
20
Stapt 3
Tap time constant
Gear 10
21
Stapt 4
Tap time constant
Gear 11
Setting range (Unit)
Set time constants for constant inclination
synchronized tapping for gears 00, 01, 10, 11.
1 to 5000 (ms)
Relationship between spindle limit rotation speed and maximum spindle rotation speed
Output voltage (V)
10V
Spindle rotation speed
0
Smax1
Slimt1 Smax2 Slimt2 Smax(n) Slimt(n)
Limit rotation speed of gear 1 (Parameter setting)
Maximum rotation speed of gear 1 (Parameter setting)
Set "0" for any unused gears.
Relation between the spindle limit rotation speed and the spindle tap time constant
(for the constant inclination synchronized tapping)
Spindle rotation speed (r/min)
Spindle rotation speed (r/min)
Slimt(n)
Slimt(n)
Slimt2
Slimt1
S command
Time (ms)
Time (ms)
0
Stapt1
Execution time
constant
Stapt2
Stapt(n)
Stapt(n)
IV - 61
3. Status Display and Parameter Settings
No.
Items
Details
Setting range (unit)
22
Sori
Orientation rotation
speed
Set the spindle orientation rotation speed.
Set the rotation speed for rotating the spindle at
the constant rotation speed.
0 to 32767 (r/min)
23
Sgear
Encoder gear ratio
Set the gear ratio of the spindle to the encoder.
0: 1/1
1: 1/2
2: 1/4
3: 1/8
24
Smini
Minimum rotation
speed
Set the minimum rotation speed of the spindle.
If an S command instructs the rotation speed
below this setting, the spindle rotates at the
minimum rotation speed set with this parameter.
0 to 32767 (r/min)
25
Serr
Spindle speed arrival
detection range
Set the spindle speed arrival detection width.
0: Not check
The detection range is obtained by the
1 to 99 (%)
commanded rotation speed and the rate set with
this parameter. When the actual spindle rotation
speed is out of range, an upper or lower limit
error signal is output to the PLC.
26
Senc_pno Encoder port number
Set the port number of a connection card for an
encoder.
1 to 7 : DIO
8 to 16 : RIO
17
: IOC
27
Sana_pno Analog output port
number
(Not used.)
Set the port number of an analog output card.
1 to 7 : DIO
8 to 16 : RIO
17
: IOC
28
Spflg
bit0
1: HDLC connection
0: Analog connection
00 to FF
bit2
1: Direct connection to encoder
0: Via passing HDLC connection axis
bit3
Sub-motor spindle designation
1: Sub
0: Main
It is no use specifying sub-motor for
the spindle which the 1 drive unit 2
motor function is invalid.
bit4
1: SPJ Spindle/C-axis control valid
0: SPJ Spindle/C-axis control invalid
29
Spindle connection
information
Sana_no Analog output number Set the connection card number for an encoder.
(Not used.)
IV - 62
0 to FF
3. Status Display and Parameter Settings
No.
30
Items
Sana_ofs Offset for spindle
analog output
adjustment
Details
Set the offset voltage for spindle analog output.
Setting range (unit)
-4095 to 4095
<Adjustment method >
1) Command the spindle speed "0" with S
command.
2) Measure the output voltage of the
designated port.
3) Set the value obtained in the following
equation to this parameter.
Set value = −8191 × Offset voltage
(V)/10.56
4) After setting this parameter, confirm that
the output voltage is "0V" again.
31
Sana_gin Gain for spindle
analog output
adjustment
Set the data for gain adjustment for analog
output.
<Adjustment method >
1) Set the standard set value "4095" to the
No. of the designated file register R.
2) Measure the output voltage of the
designated port.
3) Set the value obtained in the following
equation to this parameter.
Set value = Proper voltage (V)/
Measured voltage (V) × 4096
4) After setting this parameter, confirm that
the output voltage is "10.0V" again.
IV - 63
0 to 9999
3. Status Display and Parameter Settings
3.4 Spindle monitor screen
The current state of the spindle can be confirmed on the NC screen.
The monitor screen is shown on this page.
[SPINDLE MONITOR]
GAIN
DROOP
SPEED
LOAD
AMP DISP
ALARM
CYC CNT
D/I
UNIT TYP
UNIT NO
S/W VER
1 WORK TIME
2 ALM HIST
D/O
Data
GAIN
DROOP
SPEED
LOAD
AMP DISP
ALARM
CYC CNT
D/I 1L
H
D/I 2L
H
D/I 3L
H
D/I 4L
H
D/O 1L
H
D/O 2L
H
D/O 3L
H
D/O 4L
H
UNIT TYP
UNIT NO
S/W VER
1 WORK TIME
2 ALM HIST 1~8
Unit
1/s
pulse
r/min
%
Display details
The position loop gain during operation of the spindle with the position command is display ed.
The position deflection during operation of the spindle with the position command is displayed.
The motor rotation speed is displayed.
The motor load (load ratio) is displayed. The 30 min. rating is 100%.
The data of the 7-segment LED display for the spindle drive unit is displayed.
The alarm No. is displayed when an alarm other than that displayed on the spindle drive unit's
7-segment LED.
The current position from the position detector's reference position (Z-phase) when operating the
spindle with the position command is displayed.
The control input signal 1 input from the NC to the spindle drive unit is displayed in correspondence to
the bits. (Refer to section "(1-1)" for details.)
Same as above (control input signal 2)
Same as above (control input signal 3)
Same as above (control input signal 4)
The control output signal 1 output from the spindle drive unit to the NC is displayed in correspondence
to the bits. (Refer to section "(2-1)" for details.)
Same as above (control output signal 2)
Same as above (control output signal 3)
Same as above (control output signal 4)
The spindle drive unit type is displayed.
The spindle drive unit serial No. is displayed.
The main software version in the spindle drive unit is displayed.
The cumulative working time of the spindle drive unit is displayed.
The alarm history is displayed. 1 is the latest alarm.
IV - 64
3. Status Display and Parameter Settings
(1-1)
F
D/I (Control input) 1L
H
E
D
C
B
G1
bit
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
(1-2)
F
A
9
8
7
6
TL3
TL2
TL1
ALMR
PRM
Name
RDY
SRV
Ready ON command
Servo ON command
PRM
ALMR
TL1
TL2
TL3
Parameter conversion command
Servo alarm reset command
Torque limit 1
Torque limit 2
Torque limit 3
G1
5
4
3
2
1
0
SRV
RDY
Description
Cutting
D/I (Control input) 2L
H
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
∗ Not used at this time.?
(1-3)
F
bit
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
D/I (Control input) 3L
H
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
MS
LCS
ORC
WRI
WRN
SRI
SRN
GR3
GR2
GR1
SC5
SC4
SC3
SC2
SC1
Name
SC1
SC2
SC3
SC4
SC5
GR1
GR2
GR3
SRN
SRI
WRN
WRI
ORC
LCS
MS
Description
Spindle control mode selection command 1
Spindle control mode selection command 2
Spindle control mode selection command 3
Spindle control mode selection command 4
Spindle control mode selection command 5
Gear selection command 1
Gear selection command 2
Gear selection command 3
Forward run start command
Reverse run start command
Index forward run command
Index reverse run command
Orientation start command
L coil selection command (during coil changeover)
Sub-motor selection command (during 1-drive unit 2-motor changeover)
IV - 65
3. Status Display and Parameter Settings
(1-4)
F
D/I (Control input) 4L
H
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
A
9
8
7
6
5
4
3
2
1
0
TL3A
TL2A
TL1A
ALM
PRM
SON
RON
7
6
1
0
∗ Not used at this time.
(2-1)
F
bit
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
(2-2)
F
D/O (Control output) 1L
H
E
D
INP
ZFIN
C
B
Name
RON In ready ON
SON In servo ON
DWN
Description
DWN In drive unit warning
PRM
ALM
TL1A
TL2A
TL3A
In parameter conversion
In alarm
In torque limit 1
In torque limit 2
In torque limit 3
ZFIN Z-phase passed
INP In position loop in-position
D/O (Control output) 2L
H
E
D
C
B
A
9
8
∗ Not used at this time.
IV - 66
5
4
3
2
3. Status Display and Parameter Settings
(2-3)
F
D/O (Control output) 3L
H
E
MSA
bit
D
C
B
A
LCSA ORCA WRIA WRNA
Name
9
SRIA
8
6
5
4
3
2
1
0
Description
0
SC1A In spindle control mode s election command 1
1
SC2A In spindle control mode selection command 2
2
SC3A In spindle control mode selection command 3
3
SC4A In spindle control mode selection command 4
4
SC5A In spindle control mode selection command 5
5
GR1A In gear selection command 1
6
GR2A In gear selection command 2
7
GR3A In gear selection command 3
8
SRNA In forward run start command
9
SRIA
A
7
SRNA GR3A GR2A GR1A SC5A SC4A SC3A SC2A SC1A
In reverse run start command
WRNA In index forward run command
B
WRIA
C
ORCA In orientation start command
In index reverse run command
D
LCSA In L coil selection command (during coil changeover)
E
MSA
In sub-motor selection command (during 1-drive unit 2-motor changeover)
F
(2-4)
F
D/O (Control output) 4L
H
E
D
C
B
A
9
8
7
WRCF
bit
Name
Description
0
CD
Current detection
1
SD
Speed detection
2
US
Speed reached
3
ZS
Zero speed
4
ORCF Orientation complete
5
SYSA Synchronous speed match
6
7
MKC In coil changeover
WRCF Index positioning complete
8
9
A
B
C
D
E
F
IV - 67
6
5
4
MKC SYSA ORCF
3
2
1
0
ZS
US
SD
CD
3. Status Display and Parameter Settings
3.5 Control input signals
(1) Speed command input
Max. speed
Speed command value
(a) When the speed command value is 0, the motor speed will be 0; and when the speed
command value is the maximum value, the motor speed will be the maximum motor speed
set in parameter SP017 (TSP).
(b) The motor will forward run and reverse run with the forward run and reverse run start
commands. (The motor will not rotate with only the speed command value.)
(2) Forward run start command (SRN)
(a) When SRN is ON, the motor will run in the clockwise direction (CW) from the shaft side
according to the commanded speed.
(b) When SRN is OFF, the motor will decelerate to a stop, the transistor base interception will be
carried out and the motor will stop.
(c) The orientation movement will be a priority when the orientation command is input.
(3) Reverse run start command (SRI)
(a) When SRI is ON, the motor will run in the counterclockwise direction (CCW) from the shaft
side according to the commanded speed.
(b) When SRI is OFF, the motor will decelerate to a stop, the transistor base interception will be
carried out and the motor will stop.
(c) The orientation movement will be a priority when the orientation command is input.
(4) Torque limit 1, 2, 3 input (TL1, TL2, TL3)
(a) The torque limit will temporarily reduce the motor output torque during mechanical spindle
orientation or gear shift, etc., and will rotate the motor.
(b) The following seven torque limit values can be used according to the combination of the TL1,
TL2 and TL3 bit inputs.
TL3
TL2
TL1
Torque limit value
0
0
0
1
1
0
Torque limit value (%) set with parameter SP021
SP049
0
1
1
SP050
1
0
0
SP051
1
0
1
SP052
1
1
1
1
0
1
SP053
SP054
(Note) % indicates the percentage to the motor 30 min. rating torque.
IV - 68
3. Status Display and Parameter Settings
(5) Orientation start command input (ORC)
(a) This is the orientation movement start signal. When ORC is ON, the orientation will start
regardless of the operation command (SRN, SRI).
(b) When ORC is OFF, the motor will start rotating at the commanded speed again if either
forward run (SRN) or reverse run (SRI) is input.
(c) The orientation movement will be a priority when the orientation command is input.
(6) Gear selection command 1, 2, 3 input (GR1, GR2, GR3)
(a) The spindle gear step for orientation movement or various position control movements is
selected.
(b) The following eight gear steps can be selected according to the combination of the GR1, GR2
and GR3 3bit inputs.
(c) Do not change the signal while the orientation command or servo ON command is input.
GR3
GR2
GR1
Parameters used to set the gear ratio
0
0
0
0
0
1
SP025 (GRA1), SP029 (GRB1)
SP026 (GRA2), SP030 (GRB2)
0
1
0
SP027 (GRA3), SP031 (GRB3)
0
1
1
SP028 (GRA4), SP032 (GRB4)
1
0
0
SP225 (GRA5), SP229 (GRB5)
1
1
0
1
1
0
SP226 (GRA6), SP230 (GRB6)
SP227 (GRA7), SP231 (GRB7)
1
1
1
SP228 (GRA8), SP232 (GRB8)
(7) Index forward run command input (WRN), reverse run command input (WRI)
(a) This is the command input for forward run index or reverse run index during multipoint
orientation. This will be valid only when the orientation start signal is ON.
(b) The forward run index will start from the CCW direction from the motor shaft end and the
reverse run index will start from the CW direction.
(8) L coil selection command input (LCS)
(a) This is the command input signal for selecting the low-speed coil or high-speed coil when
changing the coils.
(b) The high-speed coil is selected when LCS is OFF, and the low-speed coil is selected when
LCS is ON.
(9) Sub-motor selection command input (MS)
(a) This is the command input signal for selecting the main spindle motor or sub general-purpose
motor during the 1-drive unit 2-motor specifications changeover.
(b) The main motor is selected when MS is OFF, and the sub-motor is selected when MS is ON.
(10) Cutting input (G1)
This signal determines whether cutting is being performed during C-axis control.
The operation will be determined as cutting when G1 is ON.
IV - 69
3. Status Display and Parameter Settings
(11) Spindle control mode selection command 1, 2, 3, 4, 5 input (SC1, SC2, SC3, SC4, SC5)
The operation mode during spindle drive unit position control is selected with the bits.
The selections shown below are used.
SC5
SC4
SC3
SC2
SC1
0
1
0
0
0
Operation mode
~
Synchronous tap operation mode
0
1
0
1
1
0
1
1
0
0
0
1
1
1
1
1
0
0
0
0
1
0
1
1
~
C-axis operation mode
Spindle synchronous operation mode
~
0
(Note) The normal speed operation mode will be entered when bits other than
the above are selected.
IV - 70
3. Status Display and Parameter Settings
3.6 Control output signals
(1) Zero speed output signal (ZS)
(a) ZS will turn ON if the actual motor rotation speed drops below the zero speed detection point
in regard to the stop command.
(b) The signal is output whether run command signal is SRN (forward run) or SRI (reverse run).
(c) The minimum output pulse width is about 200ms.
(d) The zero speed detection speed is set with parameter SP018 (ZSP) in the range of 1 to
1000r/min.
Motor speed
Zero speed detect point:
set with parameter within range from 1 to 1000r/min
(standard: 50r/min, semi-standard: 25r/min)
Output signal
(2) Up-to-speed output signal (US)
(a) US will turn ON when the actual motor rotation speed reaches ±15% of the commanded speed.
Command speed
Detection range
Output signal
(b) The signal is not output unless either SRN or SRI will turn ON.
(c) The signal can be used to verify implementation of forward run (M03) or reverse run (M04)
command.
(d) If the reverse run command will turn ON, the motor will start deceleration. The US signal will
turn OFF, and after confirming that the reached signal will turn ON, the reverse run command
will be completed.
IV - 71
3. Status Display and Parameter Settings
Forward run
Command
Reverse run
Forward run
Motor speed 0
Reverse run
Output signal
(3) Speed detection output (SD)
(a) SD will turn ON when the speed drops below the speed set in parameter SP020 (SDTS).
(b) The SD signal will turn ON when the motor speed's absolute value drops below the set
detection level regardless of the run command (SRN, SRI).
Speed detection level
Motor speed
Output signal
(4) Orientation complete output (ORCF)
ORCF will turn ON when the spindle position is currently within the in-position range set with
parameter SP004 (OINP) during orientation.
(5) Current detect output (CD)
CD will turn ON when the current value is 110% or more than the rated current.
(6) Forward run starting command output (SRNA)
This is the answer output to the forward run start command input (SRN).
(7) Reverse run starting command output (SRIA)
This is the answer output to the reverse run start command input (SRI).
(8) Torque limiting 1, 2, 3 output (TL1A, TL2A, TL3A)
This is the answer output to the torque limit 1, 2, 3 input (TL1, TL2, TL3).
(9) Orientation starting command output (ORCA)
This is the answer output to the orientation start command input (ORC).
IV - 72
3. Status Display and Parameter Settings
(10) Gear selecting command 1, 2, 3 output (GR1A, GR2A, GR3A)
This is the answer output to the gear selection command 1, 2, 3 input (GR1, GR2, GR3).
(11) Index forward run command output (WRNA), reverse run command output (WRIA)
This is the answer output to the index forward run command (WRN) and reverse run command
(WRI).
(12) L coil selection command output (LCSA)
This is the answer output to the L coil selection command input (LCS).
(13) Sub-motor selection command output (MSA)
This is the answer output to the sub-motor selection command (MS).
(14) Synchronous speed match output (SYSA)
SYSA will turn ON when the movement from the speed operation mode to the spindle
synchronous operation mode becomes possible during spindle synchronous operation.
(15) Coil changeover output (MKC)
MKC will turn ON for a set time when changing over from the L coil to the H coil or the H coil to
the L coil during coil changeover.
(16) Index positioning complete output (WRCF)
WRCF will turn ON when indexing is completed during indexing.
(17) Drive unit warning output (DWN)
DWN will turn ON when any warning occurs in the spindle drive unit.
(18) Alarm output (ALM)
ALM will turn ON when any alarm occurs in the spindle drive unit.
(19) Z-phase passed output (ZFIN)
ZFIN will turn ON when the Z-phase is passed for the first time after the servo will turn ON during
position control.
(20) Position loop in-position output (INP)
INP will turn ON when the current position is within the in-position range set with parameters
during positioning other than orientation. INP will turn OFF when the servo turns OFF.
(21) Spindle control mode selection command 1, 2, 3, 4, 5 output (SC1A, SC2A, SC3A, SC4A,
SC5A)
This is the answer output to the spindle control mode selection command 1, 2, 3, 4, 5 input (SC1,
SC2, SC3, SC4, SC5).
IV - 73
3. Status Display and Parameter Settings
3.7 Meter outputs
Speedometer
Full scale: 10V
Load meter
Full scale: 10V
(1) Speedometer output
(a) The following specification is recommended for speedometer.
(i)
Model
: YM-8G DC voltmeter (Mitsubishi)
(ii) Rating
: 10VDC full scale
(iii) Internal impedance : About 10kΩ
(b) +10VDC is output at the motor max speed, regardless of rotation direction.
Max. speed
(2) Load meter output
(a) The following specification is
(i)
Model
:
(ii) Rating
:
(iii
Internal impedance :
(iv) Scale
recommended for load meter.
YM-8G DC voltmeter (Mitsubishi)
10VDC full scale
About 10kΩ
Red zone
IV - 74
Motor speed
3. Status Display and Parameter Settings
Motor output capacity (kW)
(b) Reading of load meter is percent (%) of load to the rated motor output. The relationship
between motor output capacity [kW] and load meter reading [r/min] is as follows:
Overload zone (1 min.)
50%ED (
15 min.
) rating
30 min.
Load meter 120%
Load meter 100%
Continuous rating area
IV - 75
Load meter
Cont. rating
× 100%
30 min. rating
3. Status Display and Parameter Settings
3.8 Output interface
Open emitter output
Output transistor rating
M54630P TR array
Tolerable voltage : 24VDC or less
Tolerable current : 50mA or less (per output)
Coil changeover
output signal
Spindle/C-axis
changeover output signal
<Spindle drive unit>
<MHE90K (AD converter)>
(Note 1) Connect the spindle/C-axis changeover output signal only when using the MHE90K detector.
(Note 2) The changeover circuit configuration for coil changeover is as shown below.
<Spindle drive unit>
<AC spindle motor>
Control
section
• The relays, contactors, cables, etc., for the spindle drive unit and AC spindle motor that are not
enclosed in the bold line must be prepared by the machine maker.
• The relay (RA) must be connected in parallel with the flywheel diode; and the contactors (MC1, MC2)
must be connected in parallel with the CR surge absorber coil.
∗ During low-speed coil selection .............
connection (Turn MC1 ON, MC2 OFF)
During high-speed coil selection ............
connection (Turn MC1 OFF, MC2 ON)
IV - 76
3. Status Display and Parameter Settings
3.9 Spindle protection/warning functions
Reset methods are indicated as follows:
AR: Turn ON the spindle drive unit again.
PR: Turn ON the CNC again.
NR: Reset the CNC.
Alarm
No.
Abbr.
Name
Meaning
Reset
method
12
ME1
Memory error 1
A check sum in the ROM or a RAM check error
occurred in the spindle drive’s control card.
AR
13
SWE
S/W process error
The S/W process did not end within the specified time.
PR
17
ADE
AD error
The AD converter for current detection did not function
normally during initialization.
PR
21
NS2
No signal
(Spindle encoder)
A signal was not input from the spindle encoder (for
orientation‚ C-axis)‚ or was not at a normal level.
PR
23
OSE
Speed excessive error
The command speed and motor speed difference was
above the specified value‚ and the state continued for
the specified time.
PR
31
OS
Overspeed
The motor speed exceeded 115% of the set max.
speed.
PR
32
PMOC
Overcurrent
A current exceeding the specified value flowed to the
IMP used for spindle drive’s main circuit.
PR
34
DP
CRC error
A CRC error occurred in the communication data from
the NC.
PR
35
DE
Data error
The movement command data from the NC is
abnormally high during position control.
PR
36
TE
Transmission error
The periodic data transmission from the NC was
stopped.
PR
37
PE
Initial parameter error
The parameter is out of the tolerable range.
PR
38
TP1
Protocol error 1
(frame)
There was a protocol error in the communication with
the NC. (Frame error)
PR
39
TP2
Protocol error 2
(information)
There was a protocol error in the communication with
the NC. (Information error)
PR
3B
PMOH
Power module
overheat
An overheat in the IPM used for the drive’s main circuit
was detected.
PR
40
KE1
TK unit changeover
error
The procedure for changing the signal during use of the
TK unit is wrong.
PR
41
KE2
TK communications
error
Communication with the TK unit during use of the TK
unit was not performed correctly.
PR
43
FE
Feedback error
A deviation occurred in the feedback from the spindle
encoder and motor built-in encoder.
PR
44
CAXE
C-axis changeover
alarm
When using the coil changeover motor, the C-axis was
controlled with the H coil.
NR
46
OHM
Motor overheat
The motor overheated and the built-in thermal protector
functioned because an overload occurred or the motor
cooling blower stopped.
NR
50
OL
Overload
The time that the motor current exceeded the overload
detection level is more than the detection time constant.
NR
52
OD
Excessive error
The position tracking error exceeded the specified value NR
during position loop operation.
5C
ORFE
Orientation feedback
error
When the orientation in-position was completed, the
pulse miss value was higher than the parameter setting
value (SP114:OPER).
IV - 77
NR
3. Status Display and Parameter Settings
Alarm
No.
Abbr.
Name
Meaning
Reset
method
6F
PALM
Power supply alarm
An alarm related to the power supply has been
generated.
AR
88
WD
Watch dog
88 is the watch dog alarm. Refer to the section "Servo
alarms" for details.
AR
E1
WOL
Overload warning
The time that the motor current exceeded the overload
detection level was 80% or more of the detection time
constant.
AR
E4
WPE
Parameter error
warning
−
E7
NCE
CNC emergency stop
A parameter out of the setting range was set. The illegal
parameter will be ignored‚ and the value before the
illegal parameter setting will be retained.
An emergency stop command was input form CNC.
E8
O
Power supply
Auxiliary regeneration
frequency over
The regeneration at the limit of regeneration capacity
occurs frequently.
−
E9
P
Power supply
Instantaneous stop
warning
An Instantaneous power stop occurred for 25ms or
more.
(As the main circuit voltage has not dropped, an alarm
has not occurred.)
NR
EA
Q
Power supply
External emergency
stop input
An external emergency stop signal for the power supply
was input.
Thus, 24V is not added to the CN23 connector.
−
EB
R
Power supply
The regeneration amount reached to 80% level of the
Excessive-regeneration Excessive-regeneration alarm.
alarm
IV - 78
−
−
4. Optional Specifications and Parts
4. Optional Specifications and Parts ................................................................................
4.1 Orientation specifications (optional) .......................................................................
4.1.1 1-point orientation using magnetic sensor.....................................................
4.1.2 4096-point orientation using encoder.............................................................
4.1.3 4096-point orientation using motor built-in encoder ......................................
4.1.4 Operation of orientation ..................................................................................
4.2 Synchronous tap function (option) ..........................................................................
4.2.1 Closed type synchronous tap.........................................................................
4.2.2 Semi-closed type synchronous tap ................................................................
4.2.3 Operation of synchronous tap ........................................................................
4.3 C-axis control (optional) ..........................................................................................
4.3.1 When using encoder (OSE90K+1024 BKO-NC6336H01) ............................
4.3.2 When using built-in encoder (MBE90K).........................................................
4.3.3 When using built-in encoder (MHE90K).........................................................
4.4 Single parts (optionally supplied parts)...................................................................
4.4.1 Power step-down transformer........................................................................
4.4.2 Noise filter .......................................................................................................
4.5 Other optional specifications...................................................................................
4.6 Theoretical acceleration and deceleration times....................................................
IV - 79
IV-80
IV-80
IV-80
IV-88
IV-91
IV-91
IV-94
IV-94
IV-94
IV-94
IV-95
IV-95
IV-98
IV-98
IV-99
IV-99
IV-101
IV-103
IV-104
4. Optional Specifications and Parts
4. Optional Specifications and Parts
WARNING
Always wait at least 15 minutes after turning the power OFF before connecting options or
peripheral devices. Failure to observe this could lead to electric shocks.
CAUTION
Always use the designated peripheral devices and options. Failure to observe this could lead to
faults or fires.
4.1 Orientation specifications (optional)
The following three types of orientation specifications are available:
(1) 1-point orientation using magnetic sensor
(2) 4096-point orientation using encoder
(3) 4096-point orientation using motor built-in encoder
4.1.1 1-point orientation using magnetic sensor
(1) Connection
Refer to "1.4 Configuration" for the connection of the magnetic sensor and spindle drive unit.
(2) Magnet and detection head installation direction
The magnet and detection head should be installed in the specified orientation.
Standard type and high-speed standard type
............ The center reference hole of magnet and the reference notch of detection head
should come to the same side.
Refer to
CASE 1 ,
CASE 2 ,
CASE 3 and
UNACCEPTABLE EXAMPLE 1 .
High-speed small type
............ The reference notch of detection head should be positioned in reference with polarity
(N, S) of magnet.
Refer to
CASE 4 ,
CASE 5 and
UNACCEPTABLE EXAMPLE 2 .
High-speed ring type
............ The reference notch of detection head should be positioned in reference with polarity
(N, S) of magnet.
Refer to
CASE 1
CASE 6 ,
CASE 7 and
UNACCEPTABLE EXAMPLE 3 .
Magnet is installed on the circumferential surface of rotating body. (Circumferential mounting)
The reference hole of magnet and the reference notch of detection head should come to
the opposite load side, as shown below.
Reference hole
Opposite
load side
Opposite
load side
Load side
Load side
Reference
notch
Reference hole
View from "A"
Reference notch
Magnet is installed on circumferential surface of rotating body.
IV - 80
4. Optional Specifications and Parts
CASE 2
(1)
Magnet is installed on the front or back flat surface of rotating body. (Flat mounting)
When the magnet is installed on the
opposite load side of spindle, the reference
hole of magnet and reference notch of
detection head should face inward, as
shown below.
Reference
hole
(2)
When the magnet is installed on the load
side of spindle, the reference hole of
magnet and reference notch of detection
head should face outward, as shown below.
Reference Reference
hole
notch
Reference
notch
Reference
hole
Reference
notch
View from "B"
Magnet is installed on the opposite load side.
CASE 3
In regard to
Reference
hole
Reference
notch
View from "C"
Magnet is installed on the load side.
CASE 1 , the magnet and detection head can be changed to the following
position as long as the reference hole and reference notch are aligned. With this, normal
orientation can be carried out.
(However, the parameter SP097 orientation detector installation direction bit must be
changed in this case.)
Reference hole
Reference notch
UNACCEPTABLE EXAMPLE 1
If the magnet reference hole and detection head reference notch are not aligned, intense
vibration will occur on both ends of the magnet, and orientation is impossible.
Reference hole
Reference hole
Reference notch
IV - 81
Reference notch
4. Optional Specifications and Parts
CASE 4
Magnet is installed on the circumferential surface of rotating body. (Circumferential mounting)
The detection head reference notch should be on the opposite load side and the magnet
should be installed in the polarity shown below.
Opposite
load side
Opposite
load side
Load side
Load side
Reference View from "A"
notch
Reference notch
Magnet is installed on the circumferential surface of rotating body.
CASE 5
As long as the relation between location of the detection head reference notch and the
polarity of the magnet are aligned, the detection head and the magnet can be installed as
shown below in
CASE 4 , and normal orientation can be carried out.
(However, the parameter SP097 orientation detector installation direction bit must be
changed in this case.)
Opposite
load side
Load side
View from "A"
Reference notch
Reference notch
UNACCEPTABLE EXAMPLE 2
If the detection head reference notch is not aligned properly in reference to polarity of the
magnet, intense vibration occurs on both ends of the magnet, and orientation is impossible.
Opposite
load side
Opposite
load side
Load side
Load side
Reference View from "A"
notch
Reference notch
In this example, polarity (N, S) of magnet is inverse to that in
IV - 82
CASE 4 .
4. Optional Specifications and Parts
CASE 6
The detection head reference notch is on the opposite load side of spindle and the polarity
of the magnet is as shown below.
Opposite
load side
Opposite
load side
Load side
Load side
Reference
notch
View from "A"
Reference
notch
CASE 7
As long as the relation between location of detection head reference notch and the polarity
of the magnet are aligned, the detection head and the magnet can be installed as shown
below in
CASE 4 , and normal orientation can be carried out.
(However, the parameter SP097 orientation detector installation direction bit must be
changed in this case.)
Opposite
load side
Opposite
load side
Load side
Load side
View from "A"
Reference notch
Reference notch
UNACCEPTABLE EXAMPLE 3
If the detection head reference notch is not aligned properly in reference to polarity of the
magnet, intense vibration occurs on both ends of the magnet, and orientation is impossible.
Opposite
load side
Opposite
load side
Load side
Load side
Reference
notch
View from "A"
Reference
notch
In this example, polarity (N, S) of magnet is inverse to that in
IV - 83
CASE 4 .
4. Optional Specifications and Parts
Direction of rotation
Spindle
(40 to 60
permissible)
Face A
Face A
Magnet
Magnet
Max. gap
Min. gap
Tolerable
installation error
±2 mm
Head
Adjustable
range ±2 mm
Mounting plate
Reference notch
Reference notch
Center
Center
Table 1
BKO-C1810H03
R (Radius) mm
Max. gap
Standard
mm
Min. gap
mm
BKO-C1730H06
Max. gap
High-speed standard
mm
Min. gap
mm
40
11.5 ± 0.5
2.7 ± 0.5
10 ± 0.5
1.22 ± 0.5
50
9.5 ± 0.5
2.8 ± 0.5
8 ± 0.5
1.31 ± 0.5
60
8.5 ± 0.5
3.0 ± 0.5
7 ± 0.5
1.5 ± 0.5
70
8.0 ± 0.5
3.4 ± 0.5
7 ± 0.5
2.38 ± 0.5
Table 2
BKO-C1810H03
Standard
BKO-C1730H06
High-speed standard
R (Radius) mm
Gap mm
Gap mm
40
6 ± 0.5
5 ± 0.5
50
6 ± 0.5
5 ± 0.5
60
6 ± 0.5
5 ± 0.5
Table 3
BKO-C1730H09
R (Radius) mm
Max. gap
mm
High-speed standard
Min. gap
mm
40
6.25 ± 0.5
3.3 ± 0.5
50
6.0 ± 0.5
3.7 ± 0.5
60
5.75 ± 0.5
3.85 ± 0.5
70
5.5 ± 0.5
3.87 ± 0.5
IV - 84
4. Optional Specifications and Parts
(3) Caution on installation of magnet
When the magnet is installed to the spindle, pay attention to the following:
(a)
(b)
(c)
(d)
(e)
Do not place an intense magnetic source near the magnet.
Carefully handle the magnet, avoiding mechanical shock to the magnet.
Secure the magnet to the spindle with M4 screws.
After the magnet is installed, balance the entire spindle.
Align the center of the magnet (between N and S) with the center line of the rotating disk on
the spindle.
(The position relation should be as shown in
CASE 1 to CASE 7 on the previous pages.)
(f)
Keep the magnet and its peripheral clean from iron particles (iron particles may cause
malfunction).
(g) Apply lock paint, or other suitable means, to prevent installation screws from becoming loose.
(h) If the magnet is installed on a ground rotating disk, demagnetize the disk.
(i) Diameter of rotating disk on which the magnet is installed should be within the range from
80mm to 120mm.
(j) If rotation speed of the spindle on which the magnet is installed exceeds 6000r/min, use a
high-speed type magnet (applicable up to 12000r/min of rotation speed). If rotation speed
exceeds 12000r/min, use a ring type magnet.
(k) When installing the magnet on a rotating body plane, keep the speed below 6,000r/min.
(4) Caution on installation of sensor
Observe the following cautions when installing the sensor.
(a) The position relation of the magnet and detection head should follow
CASE 1 to CASE 7 .
(b) The center line of detection head should be in line with the center of magnet.
(c) The gap between the magnet and detection head should be as follows:
• Table 1 on previous page when using standard magnet and installation
CASE 1 or CASE 3
• Table 1 on previous page when using high-speed standard magnet and installation
CASE 1 or
CASE 3
• Table 2 on previous page when using standard magnet and installation
CASE 2
• Table 2 on previous page when using high-speed standard magnet and installation
CASE 2
• Table 3 on previous page when using high-speed compact magnet and installation
CASE 1 or
CASE 3
• An example of the high-speed ring magnet is shown in the outline drawing in section "4.1.1 (5)".
∗ Manufacturing a jig is recommended for mass production.
(d) Connector used in preamplifier
BKO-C1810 : Oil proof-type
BKO-C1730 : Not oil proof-type
Install both type at a place not subject to oil.
(e) The cable between the preamplifier and the controller should be laid down apart from
high-voltage cables.
(f) Check the connector wiring, securely engage the receptacle and tighten connector lock screws.
IV - 85
4. Optional Specifications and Parts
(5) Magnetic sensor orientation parts (Optionally supplied parts)
Select the combination of the magnetic sensor parts for magnetic sensor orientation from the table
below.
Combination
PreSensor Magnet
amplifier
H01
H02
H03
Tolerable
speed [r/min]
Model
Standard
0 to 6000
MAGSENSOR BKO-C1810H01 to 3
High-speed standard
0 to 12000
MAGSENSOR BKO-C1730H01.2.6
H01
H02
H06
High-speed small
High-speed ring
0 to 12000
0 to 25000
MAGSENSOR BKO-C1730H01.2.9
MAGSENSOR BKO-C1730H01.2.11
H01
H01
H02
H02
H09
H41
High-speed ring
0 to 25000
MAGSENSOR BKO-C1730H01.2.12
H01
H02
H42
High-speed ring
0 to 30000
MAGSENSOR BKO-C1730H01.2.13
H01
H02
H43
High-speed ring
0 to 30000
MAGSENSOR BKO-C1730H01.2.14
H01
H02
H44
Type
Outline dimensions:
l
Preamplifier H01
2-ø5.5 hole
Connector (sensor side)
For BKO-C1810H01, R04-R-8F is used.
For BKO-C1730H01, TRC116-21A10-7F is used.
l
Connector (controller cable side)
Unit side
: TRC116-21A10-7M
Cable side : TRC116-12A10-7F10.5
Sensor H02
Reference notch
Cable length 500
+100
–0
Connector
For BKO-C1810H02, R04-R-8M is used.
For BKO-C1730H02, TRC116-12A10-7M is used.
IV - 86
4. Optional Specifications and Parts
l
Magnet
Part
Tolerable
No. speed [r/min]
Outline drawings
Weight: 40 ± 1.5g
H03
0 to 6000
H06
0 to 12000
Reference hole
4-ø4.3 hole
Installation screw: M4
Weight: 14.8 ± 0.7g
2-ø4.3 hole
H09
0 to 12000
N.P
Installation screw: M4
Spun ring
RINGFEDER
RFN8006 J×K
Stainless case
SUS-303
Cover
Case
0 to 25000
Gap 1 ± 0.1
H41
4-F screw
H42
N
Sensor
head
0 to 25000
2-øG ±0.15øH
On circumference
Stop position scale
Reference
notch
∗ Polarity (N,S) is indicated on the side wall of cover.
Detection head should be installed so that the reference notch of
sensor head comes on the case side.
Magnet
H43
DIM IN mm
Dimensions
0 to 30000
Model
A
BKO-C1730H11
105
BKO-C1730H12
BKO-C1730H13
BKO-C1730H14
H44
0 to 30000
G
H
J× X
L
Weight
(g)
19 M6×1.0
5
90 70×79
1
1024±4
25
17 M5×0.8
5
79 60×68
1
768±4
66
23
15 M5×0.8
5
66 50×57
1
478±4
54
20
13 M4×0.7
5
54 40×45
1
322±4
B
70H7+0.030
–0
60H7+0.030
94
–0
50H7+0.025
78
–0
40H7+0.025
66
–0
C
D
E
90
28
79
F
Spindle
Reference notch
Case
G hole
Gap L
Cover
Tolerance
Spindle clamping
screw
Installation of magnet
IV - 87
Caution on installation of H41 to H44
1. Tolerance to shaft dimension should be "h6".
2. 2-øG hole can be used for positioning of spindle
and magnet.
3. Magnet shall be installed as shown to the left.
4. Misalignment between sensor head and magnet ic
center line shall be within ±2mm.
5. Reference notch of sensor head shall come on the
case side.
4. Optional Specifications and Parts
4.1.2 4096-point orientation using encoder
(1) Connection
Refer to "1.4 Configuration" for the connection of the encoder and spindle drive unit.
(2) Installation conditions
Mechanical characteristics for rotation
a.
b.
c.
d.
Inertia
Shaft friction torque
Shaft angle acceleration
Tolerable speed
–4
2
: 0.1×10 kg·m or less
: 0.98N·m or less
4
2
: 10 rad/s or less
: 7,030r/min
Mechanical configuration
a. Bearings
b.
c.
d.
e.
f.
: Non-lubricated for 100,000 hours or more rotations
(at 2,000r/min)
Non-lubricated for 20,000 hours or more at 6,000r/min
Shaft amplitude
: 0.02mm or less at 15mm from end
Tolerable load
: Thrust direction 10kg (5kg during operation)
Radial direction 20kg (10kg during operation)
Weight
: 1.5kg max
Squareness of flange to shaft : 0.05mm or less
Flange matching eccentricity : 0.05mm or less
Working conditions
a.
b.
c.
d.
e.
Working temperature range
Storage temperature range
Humidity range
Vibration resistance
Impact resistance
: –5°C to +55°C
: –20°C to +85°C
: 95% RH (at 40°C) for 8 hours
: 5 to 50Hz, total vibration width 1.5mm, each shaft for 30 min.
2
: 294.0m/s (30G)
IV - 88
4. Optional Specifications and Parts
(3) Handling
a.
b.
Use of a flexible coupling is recommended for the coupling of the encoder and spindle shaft
in terms of improving the encoder life and performance.
Installation precision
The precision shown below should be secured for the encoder installation section engaging
section and installation surface sway in order to maximize the coupling life.
Encoder
Coupling
Opposite encoder
shaft side
c.
Recommended coupling
Recommendation 1
Recommendation 2
Tokushu Seiko
Model M1
Eagle
FCS38A
Resonance frequency
1374Hz
3515Hz
Position detection error
0.8 × 10 °
1.2 × 10–3 °
Tolerable speed
20000r/min
10000 r/min
0.7mm
1.5°
0.16mm
1.5°
Manufacturer
Model
–3
Misalignment
Core deviation
Angle displacement
Outline
dimensions
Max. length
74.5mm
33mm
Max. diameter
ø57mm
ø38mm
Refer to the coupling catalogue for details on the coupling.
IV - 89
4. Optional Specifications and Parts
(4) Encoder orientation parts (Optionally supplied parts)
Encoder (1024p/rev)
Encoder model
RFH-1024-22-1M-68
6000r/min
RFH-1024-22-1M-68-8
8000r/min
1.15
4-ø5.4 hole
5
Name plate
Tolerable speed
Key way dimensions
ø 50g6
Encoder side
MS3102A20-29P
Cable side
MS3106A20-29S
ø 15g6
ø14.3
3
Pin
A
Function
1chA
B
2chZ
L
C
1chB
M
D
Function
0V
N
1chA
P
2chZ
F
R
1chB
G
S
E
H
J
IV - 90
Pin
K
Case earth
+5V
T
4. Optional Specifications and Parts
4.1.3
4096-point orientation using motor built-in encoder
The motor built-in encoder built-in motor with Z-phase signal is required for this specification.
This can be used only when the motor and spindle coupling is the direction coupling or when the
timing belt with a reduction ratio of 1 is used.
(1) Connection
Refer to "1.4 Configuration" for the connection of the signal wires.
(2) Installation
The encoder is built into the motor so no special detector needs to be installed.
4.1.4
Operation of orientation
(1) Operation modes
There are three modes of orientation stop. Desired mode can be selected by setting parameter
SPECO.
1. PRE :
.......... (a) Spindle approaches the stop position in the direction of on-going rotation.
2. Forward orientation :
.......... (b) Spindle approaches the stop position in forward direction of rotation, regardless of
direction of on-going rotation.
3. Reverse orientation :
.......... (c) Spindle approaches the stop position in the reverse direction of rotation, regardless
of direction of on-going rotation.
Speed
(Fwd.)
ORC
ORCF
Speed
(Rev.)
ORC
ORCF
(2) Operation sequence
(a) When orientation command ORC is given, motor speed changes from the steady run speed
to "Position loop changeover speed" and at the same time the multi-point orientation stop
position is read.
(b) When motor speed reaches the "Position loop changeover speed", control mode changes
from speed control to positioning control (position loop gain parameter (Note 1)).
("Position loop changeover speed" is automatically set when position loop gain is specified by
parameter.)
IV - 91
4. Optional Specifications and Parts
(c) When control mode changes, distance to the orientation stop position is calculated and the
motor is decelerated in the set pattern (specified by parameter CSP) to enter the orientation
mode.
(d) When the spindle enters the in-position range (set by parameter OINP), "oriented spindle
stop complete signal (in-position)" ORCF turns ON.
(e) The stop position zero point can be shifted by setting parameter OPST.
( f ) When orientation command (ORC) is removed, the motor is returned to the previously
specified run speed.
Motor speed
Stop position
command
(Note 1) PGM is used for the magnetic sensor and motor built-in encoder orientation and PGE is
used for the encoder orientation.
The stopping position according to the encoder installation direction is as shown below:
Case 1
Case 2
Encoder
Motor
Installation
direction
Belt
Arrow A
Arrow A
Looking from arrow A
Forward run
Looking from arrow A
Reverse run
Normal
orientation
IV - 92
Forward run
Reverse run
4. Optional Specifications and Parts
(3) Diagram of relation of parameters for orientation
Position control block
Speed control block
is the parameter name.
From CNC
or
Position feedback
Delay advance
Power
drive unit
Speed feedback
Spindle motor
Encoder
Bit 5 or
bit 6
Spindle
Bit 0 to 2
Magnetic sensor
IV - 93
4. Optional Specifications and Parts
4.2 Synchronous tap function (option)
There are two types of synchronous tap.
1. Closed type synchronous tap
2. Semi-closed type synchronous tap
4.2.1 Closed type synchronous tap
A position loop can be built up with position signal from an encoder installed on spindle.
(1) Connection
Refer to "1.4 Configuration" for the connection of the encoder and spindle drive unit.
(2) Installation of encoder
For installation of encoder, refer to the pages related to encoder orientation.
4.2.2 Semi-closed type synchronous tap
A position loop can be built up with position signal from motor built-in encoder.
A special detector is not required for synchronous tap if the spindle is coupled to the motor shaft
directly or through gears.
(When belt or timing belt is used, closed type synchronous tap is applicable.)
It is also applicable to standard motor having no Z-phase control.
(1) Connection
No additional connection is required for semi-closed type synchronous tap.
4.2.3 Operation of synchronous tap
One of synchronous tap operation modes can be selected with parameter.
(1) Synchronous tap starts after zero point return (parameter SPECT-bitE is set to "0").
(2) Synchronous tap starts after deceleration and stop (parameter SPECT-bitE is set to "1").
The operation of synchronous tap is conditioned as shown below.
¡ : Available
× : Not available
Without orientation
Magnetic sensor
orientation
Encoder orientation
Motor built-in
encoder orientation
Synchronous tap
after zero point
return
×
¡
¡
¡
Synchronous tap
after deceleration
and stop
¡
¡
¡
¡
IV - 94
4. Optional Specifications and Parts
4.3 C-axis control (optional)
4.3.1 When using encoder (OSE90K+1024 BKO-NC6336H01)
(1) Connection
Refer to page "1.4 Configuration" for the connection of the encoder and spindle drive unit.
(2) Installation conditions
Mechanical characteristics for rotation
a.
b.
c.
d.
Inertia
Shaft friction torque
Shaft angle acceleration
Tolerable speed
–4
2
: 0.1×10 kg·m or less
: 0.98N·m or less
5
2
: 10 rad/s or less
: 7,030r/min
Mechanical configuration
a. Bearings
b.
c.
d.
e.
f.
: Non-lubricated for 100,000 hours or more rotations
(at 2,000r/min)
Non-lubricated for 20,000 hours or more at 6,000r/min
Shaft amplitude
: 0.02mm or less at 15mm from end
Tolerable load
: Thrust direction 10kg (5kg during operation)
Radial direction 20kg (10kg during operation)
Weight
: 2kg max
Squareness of flange to shaft : 0.05mm or less
Flange matching eccentricity : 0.05mm or less
Working conditions
a.
b.
c.
d.
e.
Working temperature range
Storage temperature range
Humidity range
Vibration resistance
Impact resistance
: –5°C to +55°C
: –20°C to +85°C
: 95% RH (at 45°C) for 8 hours
: 5 to 50Hz, total vibration width 1.5mm, each shaft for 30 min.
2
: 294.0m/s (30G)
IV - 95
4. Optional Specifications and Parts
(3) Handling
a.
b.
Installation of encoder
Use of a flexible coupling is recommended for the coupling of the encoder and spindle shaft
in terms of improving the encoder life and performance.
Installation precision
The precision shown below should be secured for the encoder installation section engaging
section and installation surface sway to secure the coupling life.
Encoder
Coupling
Opposite encoder
shaft side
c.
Recommended coupling
Recommendation 1
Manufacturer
Tokushu Seiko
Model
Model M1
Resonance frequency
1374 Hz
Position detection error
0.8 × 10-3 °
Tolerable speed
20000 r/min
MisCore deviation
0.7 mm
alignment
Angle displacement
1.5°
Max. length
74.5 mm
Dimensions
Max. diameter
ø57 mm
Refer to the coupling catalogue for details on the coupling.
d.
Recommendation 2
Eagle
FCS38A
3515 Hz
1.2 × 10-3 °
10000 r/min
0.16 mm
1.5°
33 mm
ø38 mm
Cable
1) Consider the following points to allow the encoder to be used to its fullest.
A 4.5V or higher power supply must be secured for the encoder.
For example:
(i) Increase the +5V, 0V wire size.
(ii) Use two or more wires for +5V, 0V.
(iii) Keep the cable length as short as possible.
2)
Others
The encoder is a precision device so do not apply strong impact, etc., to it.
Incorrect wiring will cause trouble. Always confirm the connector name and pin No., etc.,
before wiring.
IV - 96
4. Optional Specifications and Parts
(4) C-axis control parts (Optionally supplied parts)
l Encoder OSE90K+1024 BKO-NC6336H01
4-M4 depth 6
Caution plate
Connector key way
Connector
Main unit side
: MS3102A20-29P
Controller cable side : MS3102A20-29S (The connector on the controller cable side must be
prepared by the user.)
5
3
Note 1. The max. encoder speed must be 6000r/min or less.
Note 2. The dimensional tolerance that is not specified is
±0.5mm.
Signal
1ch
2ch
3ch
Generated signals
1024 C/T
1 C/T
90000 C/T
Remarks
A • B-phase, A •B -phase
Z-phase • Z -phase
C • D-phase, C •D -phase
4ch
1 C/T
Y-phase • Y •B-phase
Connector pin assignment
Pin
A
B
C
D
E
F
G
Function
1ch A-phase
2ch Z-phase
1ch B-phase
——
Case grounding
3ch C-phase
3ch D-phase
H
+5V DC –10%
0V
J
l
+5%
Pin
K
L
M
N
P
R
S
T
Function
0V
3ch C -phase
3ch D -phase
1ch A -phase
2ch Z -phase
1ch B -phase
4ch Y-phase
4ch Y -phase
Grounding plate and cable clamp fittings
Refer to "4.4 Single parts".
IV - 97
4. Optional Specifications and Parts
4.3.2 When using built-in encoder (MBE90K)
Refer to the MBE90K (built-in C-axis encoder) Specifications and Instruction Manual [BNP-A2993-41].
4.3.3 When using built-in encoder (MHE90K)
Refer to the MHE90K (built-in C-axis encoder) Specifications and Instruction Manual [BNP-A2993-44].
IV - 98
4. Optional Specifications and Parts
4.4 Single parts (optionally supplied parts)
4.4.1 Power step-down transformer
When available power supply is at 400V, use this optional step-down transformer.
(1) 12-23kVA (ITEM1 to 3)
HV & LV Terminal
Bolt Size : M8
ITEM
Capacity Dimensions Weight
Remarks
(kVA)
A
(kg)
1
12
230
90
7.5K
2
17
175
115
11K
3
23
215
130
15K
Name Plate
Ventilation Window
(With Right & Left, Backside)
4-M5 Thread
Lifting Eye Bolt
DIA Hole : 62
Earthing Terminal
Bolt Size : M6
Name Plate
Terminal Board
Front Cover
(Removable)
Setting Base
(DIA Holes "M12K")
IV - 99
4. Optional Specifications and Parts
(2) 30kVA to 75kVA (ITEM4 to 8)
HV Terminal
Bolt Size : G
LV Terminal
Bolt Size : G
ITEM
4
5
6
7
8
Capacity
(kVA)
30
37
44
60
75
A
535
535
535
625
625
B
395
395
425
425
425
Dimensions
C
D
E
625
460
250
665
460
250
665
460
265
815
540
255
840
540
270
F
445
485
485
625
650
G
M12
M12
M12
M16
M16
Weight
(kg)
165
185
205
280
320
Remarks
18.5K
22K, 26K
30K
37K
45K
Name Plate
4-M5 Thread
Terminal Window
Lifting
Eye Bolt
Cover For Connecting
Terminal
(Removable)
Earthing Terminal
(Bolt Size : M16)
Terminal
Board
Setting Base
(DIA Hole "M12")
IV - 100
4. Optional Specifications and Parts
4.4.2 Noise filter
(1) Selection
If radio noise must be reduced, select a noise filter from the following table according to the power
supply unit model:
MDS-C1-CV37
Noise filter name (Tohoku Kinzoku)
55
LF-340
75
LF-350
110
150, 185
LF-360
LF-380K
220, 260, 300
Two LF-380K units in parallel
LF-330
(2) Noise filter installation position
Insert the noise filter in the unit input.
Power distribution box
CB
Power supply unit
Noise filter
Power supply
(MDS-C1-CV)
∗ Connect to the transformer input
in power supply units that use the
transformer.
(3) Specifications
Name
Rated voltage
AC/DC (V)
Rated current
AC/DC (A)
Tested voltage
AC 1 min. (V)
Between case
terminals
Insulation
resistance
(MΩ)
500VDC
Leakage current
(mA)
250V 60Hz
Working
temperature
range (°C)
330
200V
30A
1500
> 300
<1
–20 to +55
340
200V
40A
1500
> 300
<1
–20 to +45
350
200V
50A
1500
> 300
<1
–20 to +45
360
200V
60A
1500
> 300
<1
–20 to +45
380K
200V
80A
2000
> 300
<5
–25 to +55
IV - 101
4. Optional Specifications and Parts
(4) Shape and dimensions
LF-300 Series
IN
rating
nameplate
Part name
A
B
C
D
E
F
G
H
I
LF-330
180
170
60
29
120
135
150
35
65
LF-340
180
160
50
30
200
220
240
40
80
LF-350
180
160
50
30
200
220
240
40
80
LF-360
200
180
60
30
300
320
340
50
100
(mm)
LF-K Series
Name
Terminal plate
A
B
C
D
E
F
G
H
LF-380K
TE-K22 M6
670
400
560
380
500
170
9×6.5ø
6.5ø
IV - 102
4. Optional Specifications and Parts
4.5 Other optional specifications
Refer to the following optional specifications for each model shown below for optional specifications
not explained in this manual.
Title of optional specifications
Specifications No.
(1)
MDS-C1 Series coil changeover function optional specifications
BNP-A2993-23
(2)
MBE90K (built-in C-axis encoder) specifications and instruction manual
BNP-A2993-41
(3)
MHE90K (built-in C -axis encoder) specifications and instruction manual
BNP-A2993-44
IV - 103
4. Optional Specifications and Parts
4.6 Theoretical acceleration and deceleration times
In the calculation described below, load torque is assumed to be zero. Therefore, acceleration and
deceleration times determined here somewhat differ from actual acceleration and deceleration times.
(1) Definition
P0
N (r/min)
(Note)
1) "P0" is (Rated power × 1.2).
Example : For spindle of 2.2/3.7kW,
P0 = 3700 × 1.2 = 4440 (W)
2
2
2
2
2) GD = (Motor GD ) + (Motor shaft conversion load GD ) (kg·m )
(2) Acceleration/deceleration time "t"
(a) Constant torque zone
1.03 × GD2 × N12
t1 =
375 × P0
Example:
(s)
2
2
(s)
t1 =
1.03 × 0.144 × 15002
= 0.200 (s)
375 × 3700 × 1.2
t2 =
1.03 × 0.144 × (6000 – 1500 )
= 1.503 (s)
2 × 375 × 3700 × 1.2
t3 =
1.03 × 0.144 × (8000 – 6000 )
= 1.465 (s)
3 × 375 × 3700 × 1.2 × 6000
2
(c) Reduced output zone
1.03 × GD2 × (N33 – N23)
t3 =
3 × 375 × P0 × N2
3
Therefore, acc./dec. time t (0 → N3) is,
t = t1 + t 2 + t 3 (s)
π
: 1r/min = 2 rad/s
60
Output (power) : 1kW = 1/1.3596HP
Speed
Formula :
N
) ×T
60
:
:
:
:
:
Output [W]
Angular velocity [rad/s]
Torque [N·m]
Speed [r/min]
Torque [N·m]
IV - 104
2
3
Acc./dec. time for 0 → 8000r/min
t = 0.200 + 1.503 + 1.465 = 3.168 (s)
Unit conversion :
P
ω
T0
N
T
2
From specification 2, GD M = 0.021kg·m
2
2
thus, GD = 0.021 + 0.123 = 0.144 kg·m
(b) Constant output (power) zone
1.03 × GD2 × (N22 – N12)
t2 =
2 × 375 × P0
P = ωT0 = (2π
2
GD L = 0.123kg·m
For motor SJ-N3.7A
V. IPM
Spindle Drive System Section
1. Outline
1. Outline
....................................................................................................................
1.1 Outline ....................................................................................................................
1.2 Features of MDS-C1-SPM Series ...........................................................................
1.3 Precautions for use ................................................................................................
V– 1
V-2
V-2
V-2
V-2
1. Outline
1. Outline
1.1 Outline
The MDS-C1-SPM Series is a spindle drive unit developed to drive the IPM (internal permanent magnet)
spindle motor, a version of the conventional spindle motor that is more compact, has a higher efficiency and
generates less heat.
Refer to "IV. MDS-C1-SP Spindle System Section" for any matters not described in this section.
1.2 Features of MDS-C1-SPM Series
The IPM spindle system, which combines the IPM spindle drive unit and IPM spindle motor, has the
following features in addition to those described in the "MDS-B Series" and "MDS-C1 Series"
Specifications Manuals.
(1) High efficiency
By incorporating the IPM type spindle motor, the efficiency has been greatly improved compared to the
conventional IM type spindle motor drive.
(2) Compact spindle motor
By incorporating the IPM type spindle motor, the size has been downsized compared to the
conventional spindle motor.
(3) Low spindle motor heat generation
By incorporating the IPM type spindle motor, the heat generated at the spindle rotor has been greatly
reduced. It is also possible to downsize the spindle cooling units, etc.
1.3 Precautions for use
(1) The motor rated output is guaranteed at the power supply unit's rated input (200/230VAC).
If the input voltage fluctuates below this, the rated output may not be achieved with the IPM spindle
drive unit.
(2) A higher harmonic chopper voltage, which is PWM-controlled, is applied on the motor so a higher
harmonic leakage current will flow during motor operation. If a common earth leakage breaker is used,
it could malfunction due to the higher harmonics. Use the earth leakage breaker for inverters
(Mitsubishi: Progressive Super NV Series, etc.).
(3) The higher harmonic leakage current, explained above, also flows to the grounding wire between the
motor and drive unit. If a CRT is used for the NC display unit, the screen image could be affected by the
leakage current (magnetic field). Keep the grounding wire on the drive unit as far away from the CRT
display unit as possible.
(4) A radio filter is installed in the AC reactor, but the motor and drive unit must always be grounded. If the
units are insufficiently grounded, the AM radio reception may be inhibited.
V– 2
2. Configuration of Drive System
2. Configuration of Drive System.........................................................................................
2.1 Basic system configuration drawing .......................................................................
2.2 Combination with power supply unit........................................................................
2.3 List of IPM spindle drive units .................................................................................
V– 3
V-4
V-4
V-4
V-5
2. Configuration of Drive System
2. Configuration of Drive System
2.1 Basic system configuration drawing
Example: One spindle axis + three servo axes
MELDAS CNC
Servo drive unit
(2 axes)
MDS-B/C1-V2
88
Servo drive unit
(1 axis)
MDS-B/C1-V1
IPMspindle drive
88
88
unit (1 axis)
MDS-B/C1-SPM
Power supply
unit
MDS-B/C1-CV(E)
88
Detector cable
L+
LL11
L21
U V
W
U V W
U V W
IPM spindle motor
L1 L2
For control circuit power
(RS)
L3
MDSB-AL
MC
AC
reactor
Linear scale
3 φ200VAC
for main circuit
power
Servomotor
CB
200VAC
Servomotor
Servomotor
(Note 1) Set the IPM spindle drive unit next to the power supply unit.
(Note 2) Set the drive units in order of unit capacity from the power supply unit side.
(Note 3) Always install the AC reactor. Wire to the front step (breaker side) of the contactor.
2.2 Combination with power supply unit
No
IPM spindle drive unit type
Compatible power supply unit type
1
MDS-B/C1-SPM-110
MDS-C1-CV-75
2
MDS-B/C1-SPM-150
MDS-C1-CV-110
3
MDS-B/C1-SPM-185
MDS-C1-CV-150
5
MDS-C1-SPM-220
MDS-C1-CV-185
6
MDS-C1-SPM-260
MDS-C1-CV-220
Remarks
7
MDS-C1-SPM-300
MDS-C1-CV-260
(Note) The above combinations are standard for a one-on-one combination. The power supply unit's
capacity is determined by the IPM spindle motor output. Note that the difference of the IPM spindle
drive unit and power supply unit capacity must be within two ranks.
Refer to "8. Selection of Capacity" in the "I. MDS-C1 Series Servo/Spindle System Configuration
Section" for details on making a selection.
V– 4
2. Configuration of Drive System
2.3 List of IPM spindle drive units
The following IPM spindle drive units are available.
Drive unit type
Rated output current
[A]
MDS-B/C1SPM-110
MDS-B/C1SPM-150
MDS-B/C1SPM-185
MDS-C1SPM-220
MDS-C1SPM-260
54
67
85
94
115
Control method
Sinusoidal wave PWM control, current control type vector control method
Braking method
Power regenerative braking
Speed control range
[r/min
]
Speed fluctuation rate
Tolerable
inertia
load
35 to 8000
Max. 0.2% of maximum speed (under load varying from 10% to 100%)
moment
of
As a reference, 5-times or less of motor GD 2
Connection with NC
MELDAS dedicated serial communication
Ambient
temperature
Operation: 0 to 55°C (with no freezing),
Storage/transportation: –15 to 70°C
Environ- Ambient humidity
ment
Atmosphere
90%RH (with no dew condensation)
Altitude
Operation/storage: 1000m or less, Transportation: 10000m or less
No corrosive gas, dust
4.9m/s 2 (0.5G) or less/49m/s 2 (5G) or less
Vibration
Drive unit type
Rated output current
[A]
Control method
MDS-C1SPM-300
MDS-BSPM-370
MDS-BSPM-450
130
180
210
Sinusoidal wave PWM control, current control type vector control method
Braking method
Power regenerative braking
Speed control range
[r/min
]
Speed fluctuation rate
Tolerable
inertia
load
moment
Connection with NC
35 to 8000
Max. 0.2% of maximum speed (under load varying from 10% to 100%)
of
As a reference, 5-times or less of motor GD 2
MELDAS dedicated serial communication
Ambient
temperature
Operation: 0 to 55°C (with no freezing),
Storage/transportation: –15 to 70°C
Environ- Ambient humidity
ment
Atmosphere
90%RH (with no dew condensation)
Altitude
Operation/storage: 1000m or less, Transportation: 10000m or less
Vibration
No corrosive gas, dust
4.9m/s 2 (0.5G) or less/49m/s 2 (5G) or less
The unit outline is the same as the SP Series.
Note 1) The rated output is guaranteed in the rated input voltage to the power supply unit (AC200 to
230V). If the input voltage changes and becomes less than that, the rated output may not
appear.
Note 2) When the load exceeds 50% ED, the overload alarm will occur.
(50% ED :ON for five minutes/OFF for five minutes in 10-minute cycle time)
V– 5
3. Setting the IPM Spindle Drive Unit Parameters
3. Setting the IPM Spindle Drive Unit Parameters...............................................................
3.1 Bit selection parameters .........................................................................................
3.2 Setting the unit type, motor and power supply unit .................................................
3.3 Spindle monitor screen ..........................................................................................
3.4 List of spindle protection functions and warning functions .....................................
V– 7
V-8
V-8
V-10
V-11
V-15
3. Setting the IPM Spindle Drive Unit Parameters
3. Setting the IPM Spindle Drive Unit Parameters
The parameters unique to the MDS-B/C1-SPM unit are explained below. Refer to the "IV. MDS-C1-SP
Spindle System Section" for details on any parameters not explained in this section.
3.1 Bit selection parameters
No.
SP033
Abbrev.
SFNC1
Details
F
E
D
C
B
A
9
8
7
TYP
6
5
4
3
2
1
0
poff
HEX
setting
[poff]
SP034
SFNC2
F
Contactor hold at NC power OFF (0: Invalid/1: Valid)
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
mach mk3c mtsl
HEX
setting
SP035
SFNC3
[mtsl]
Motor constant (0: Standard/1: Special)
[mk3c]
3-step coil changeover function (0: Invalid/1: Valid) ... Set SP038_bit8 to 1 at the same time.
[mach]
Coil changeover function (0: Invalid/1: Valid)
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
lwid hwid
HEX
setting
SP036
SFNC4
[hwid]
H coil output characteristics change (0: Invalid/1: Valid)
[lwid]
L coil output characteristics change (0: Invalid/1: Valid)
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
HEX
setting
Not used.
SP037
SFNC5
F
E
D
C
B
A
9
8
7
6
5
4
3
nstv
2
1
plgo
0
enco
HEX
setting
SP038
SFNC6
[enco]
Encoder orientation (0: Invalid/1: Valid)
[plgo]
PLG orientation (0: Invalid/1: Valid)
[nstv]
No signal detection type (0: Constant monitor/1: Only at position loop or orientation)
F
E
D
C
XFzs
B
A
9
8
7
6
p180 sdt2
5
4
3
2
1
pftm
0
alty
HEX
setting
[alty]
Deceleration stop at alarm (0: Invalid/1: Valid) ... Note that this is only for specific alarms.
[pftm]
Thread cutting position data (0: Invalid/1: Valid)
[sdt2]
General-purpose output 2 setting (0: bit_C setting/1: Output 2nd speed detection)
[p180]
180 wave PLG (0: MHE90K/1: other than MHE90K)
[XFzs]
General-purpose output 2 setting
(0: C axis detector MHE90K C axis mode changeover/1: Output zero speed detection)
V– 8
3. Setting the IPM Spindle Drive Unit Parameters
No.
SP097
Abbrev.
SPECO
Details
F
E
D
C
B
A
9
8
7
TYP
6
vg8x
5
4
3
fdir
2
1
0
dmin odi2 odi1
setting
Orientation control
[odi2,odi1] Orientation rotation direction
0 0 Pre (direction rotating in during speed control)
0 1 Motor forward run
1 0 Motor reverse run
1 1 (Prohibit)
[dmin]
Dummy in-position (0: Invalid/1: Valid)
[fdir]
[vg8x]
SP129
SPECC
F
Encoder detector polarity (0: (+)/1: (–))
Speed loop gain 1/8 during torque limit (0: Valid/1: Invalid)
E
D
C
B
A
zrtn ptyp fb9x
9
8
zdir
ztyp
7
6
5
4
fdir
3
2
1
phos
0
fclx
[phos]
High-gain servo synchronization (0: Invalid/1: Valid)
[fdir]
Position detector polarity (0: (+)/1: (–))
[ztyp]
Z-phase detection type (0: Standard/1: Special)
[zdir]
Z-phase detector polarity (0: Rising edge/1: Falling edge)
[fb9x]
Speed feedback during C axis control (0: PLG/1: 90,000 pulse detector)
[ptyp]
Position control changeover type (0: After zero point return/1: After deceleration stop)
[zrtn]
SPECS
F
Zero point return direction (0: CCW/1: CW)
E
D
C
B
A
9
odl
8
7
6
phos
5
4
fdir
3
2
1
mach
0
fclx
[mach]
Automatic coil changeover during spindle synchronization (0: random/1: High-speed coil fixed)
[fdir]
Position detector polarity (0: (+)/1: (–))
[phos]
High-gain servo synchronization (0: Invalid/1: Valid)
[odl ]
SPECT
F
HEX
setting
Spindle synchronization control
[fclx]
Semi-closed loop control (0: Invalid/1: Valid)
SP193
HEX
setting
C axis control
[fclx]
Semi-closed loop control (0: Invalid/1: Valid)
SP177
HEX
Excessive error width scale (0: 1-fold/1: 8-fold)
E
zrtn ptyp
D
C
B
A
9
odl
8
7
6
phos
5
4
fdir
cdir
3
2
1
Synchronous tap control
[fclx]
Semi-closed loop control (0: Invalid/1: Valid)
[cdir]
Command polarity (0: CCW/1: CW)
[fdir]
Position detector polarity (0: (+)/1: (–))
[phos]
High-gain servo synchronization (0: Invalid/1: Valid)
[odl ]
Excessive error width scale (0: 1-fold/1: 8-fold)
[ptyp]
Position control changeover type (0: After zero point return/1: After deceleration stop)
[zrtn]
Zero point return direction (0: CCW/1: CW)
V– 9
0
fclx
HEX
setting
3. Setting the IPM Spindle Drive Unit Parameters
3.2 Setting the unit type, motor and power supply unit
No.
SP039
Abbrev.
ATYP
Details
TYP
Select the capacity of the drive unit to be used.
HEX
setting
Setting
value
Drive unit type
0 0 0 0
0 0 0 1
0 0 0 2
0 0 0 3
0 0 0 4
0 0 0 5
0 0 0 6
0 0 0 7 MDS-B/C1-SPM-110
0 0 0 8 MDS-B/C1-SPM-150
0 0 0 9 MDS-B/C1-SPM-185
0 0 0 A MDS-C1-SPM-220
0 0 0 B MDS-C1-SPM-260
0 0 0 C MDS-C1-SPM-300
0 0 0 D MDS-B-SPM-370
0 0 0 E MDS-B-SPM-450
0 0 0 F
SP040
MTYP
Set the motor to be used. Note that this parameter is valid only when SP034
(SFNC2)-bit0 is set to "0".
Refer to the individual parameter setting list, enclosed at delivery, and set the motor
type.
HEX
setting
SP041
PTYP
Select the power supply to be used from the following values.
HEX
setting
Setting
value
Power supply type
0 0 0 0
Capacity [kW]
–
0 0 0 4 MDS-C1-CV-37
3.7
0 0 0 8 MDS-C1-CV-75
7.5
0 0 1 1 MDS-C1-CV-110
11
0 0 1 5 MDS-C1-CV-150
15
0 0 1 9 MDS-C1-CV-185
18.5
0 0 2 2 MDS-C1-CV-220
22
0 0 2 6 MDS-C1-CV-260
26
0 0 3 0 MDS-C1-CV-300
30
0 0 3 7 MDS-C1-CV-370
37
0 0 4 5 MDS-B-CVE-450
45
Note 1)
Note 2)
When the power supply external emergency stop function (CN23) is valid, set
"1∗∗" with the 3rd digit set to 1. (Example) For MDS-C1-CV-110, set "0111".
Even when using in combination with a spindle drive unit higher than
SPM-370, set "1∗∗" with the 3rd digit set to 1.
V – 10
3. Setting the IPM Spindle Drive Unit Parameters
3.3 Spindle monitor screen
The current state of the spindle can be confirmed on the NC screen.
The monitor screen is shown on this page.
[SPINDLE MONITOR]
GAIN
DROOP
SPEED
LOAD
AMP DISP
ALARM
CYC CNT
D/I
UNIT TYP
UNIT NO
S/W VER
1 WORK TIME
2 ALM HIST
D/O
Data
GAIN
DROOP
SPEED
LOAD
AMP DISP
ALARM
CYC CNT
D/I 1L
H
D/I 2L
H
D/I 3L
H
D/I 4L
H
D/O 1L
H
D/O 2L
H
D/O 3L
H
D/O 4L
H
UNIT TYP
UNIT NO
S/W VER
1 WORK TIME
2 ALM HIST 1~8
Unit
1/s
pulse
r/min
%
Display details
The position loop gain during operation of the spindle with the position command is displayed.
The position deflection during operation of the spindle with the position command is displayed.
The motor rotation speed is displayed.
The motor load (load ratio) is displayed. The 30 min. rating is 100%.
The data of the 7-segment LED display for the spindle drive unit is displayed.
The alarm No. is displayed when an alarm other than that displayed on the spindle drive unit's
7-segment LED.
The current position from the position detector's reference position (Z-phase) w hen operating the
spindle with the position command is displayed.
The control input signal 1 input from the NC to the spindle drive unit is displayed in correspondence to
the bits. (Refer to section (1-1) for details.)
Same as above (control input signal 2)
Same as above (control input signal 3)
Same as above (control input signal 4)
The control output signal 1 output from the spindle drive unit to the NC is displayed in correspondence
to the bits. (Refer to section (2-1) for details.)
Same as above (control output signal 2)
Same as above (control output signal 3)
Same as above (control output signal 4)
The spindle drive unit type is displayed.
The spindle drive unit serial No. is displayed.
The main software version in the spindle drive unit is displayed.
The cumulative working time of the spindle drive unit is displayed.
The alarm history is displayed. 1 is the latest alarm.
V – 11
3. Setting the IPM Spindle Drive Unit Parameters
(1-1)
F
D/I (Control input) 1L
H
E
D
C
B
G1
bit
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
(1-2)
F
A
9
8
7
6
TL3
TL2
TL1
ALMR
PRM
7
6
Name
RDY
SRV
Ready ON command
Servo ON command
PRM
ALMR
TL1
TL2
TL3
Parameter conversion command
Servo alarm reset command
Torque limit 1
Torque limit 2
Torque limit 3
G1
5
4
3
2
1
0
SRV
RDY
1
0
Description
Cutting
D/I (Control input) 2L
H
E
D
C
B
A
9
8
5
4
3
2
∗ Not used at this time.
(1-3)
F
bit
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
D/I (Control input) 3L
H
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
MCS
LCS
ORC
WRI
WRN
SRI
SRN
GR3
GR2
GR1
SC5
SC4
SC3
SC2
SC1
Name
SC1
SC2
SC3
SC4
SC5
GR1
GR2
GR3
SRN
SRI
WRN
WRI
ORC
LCS
MCS
Description
Spindle control mode selection command 1
Spindle control mode selection command 2
Spindle control mode selection command 3
Spindle control mode selection command 4
Spindle control mode selection command 5
Gear selection command 1
Gear selection command 2
Gear selection command 3
Forward run start command
Reverse run start command
Index forward run command
Index reverse run command
Orientation start command
L coil selection command (during coil changeover)
(M coil selection command)
V – 12
3. Setting the IPM Spindle Drive Unit Parameters
(1-4)
F
D/I (Control input) 4L
H
E
D
C
B
A
9
8
7
6
5
5
4
3
2
4
3
2
1
0
∗ Not used at this time.
(2-1)
F
bit
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
(2-2)
F
D/O (Control output) 1L
H
E
D
INP
ZFIN
C
B
A
9
8
7
6
TL3A
TL2A
TL1A
ALM
PRM
7
6
Name
RON In ready ON
SON In servo ON
DWN
1
0
SON
RON
1
0
Description
DWN In drive unit warning
PRM
ALM
TL1A
TL2A
TL3A
In parameter conversion
In alarm
In torque limit 1
In torque limit 2
In torque limit 3
ZFIN Z-phase passed
INP In position loop in-position
D/O (Control output) 2L
H
E
D
C
B
A
9
8
∗ Not used at this time.
V – 13
5
4
3
2
3. Setting the IPM Spindle Drive Unit Parameters
(2-3)
F
bit
D/O (Control output) 3L
H
E
D
C
B
A
9
8
MCSA LCSA ORCA WRIA WRNA
SRIA
Name
Description
7
6
5
4
3
2
1
0
SRNA GR3A GR2A GR1A SC5A SC4A SC3A SC2A SC1A
0
SC1A In spindle control mode selection command 1
1
SC2A In spindle control mode selection command 2
2
SC3A In spindle control mode selection command 3
3
SC4A In spindle control mode selection command 4
4
SC5A In spindle control mode selection command 5
5
GR1A In gear selection command 1
6
GR2A In gear selection command 2
7
GR3A In gear selection command 3
8
SRNA In forward run
9
SRIA
In reverse run
A
WRNA In index forward run command
B
WRIA
C
ORCA In orientation start command
D
LCSA In L coil selection command (during coil changeover)
E
MCSA (M coil selection command)
In index reverse run command
F
(2-4)
F
D/O (Control output) 4L
H
E
D
C
B
A
ATA
bit
Name
0
CD
Current detection
1
SD
Speed detection
2
US
Speed reached
3
ZS
Zero speed
ORCF Orientation complete
5
SYSA Synchronous speed match
7
8
MKC In coil changeover
WRCF Index positioning complete
8
9
SD2
Speed detection 2
ATA
In automatic adjustment
A
B
C
D
7
WRCF
Description
4
6
9
SD2
E
F
V – 14
6
5
4
MKC SYSA ORCF
3
2
1
0
ZS
US
SD
CD
3. Setting the IPM Spindle Drive Unit Parameters
3.4 List of spindle protection functions and warning functions
Refer to "3.9 Spindle protection/warning functions" in the "IV. MDS-C1-SP Spindle System Section" for
details on numbers not listed here.
Abbrev.
Name
Details
Operation
16
RD
Magnetic pole
position
detection error
This occurs when the start signal was input before Z-phase
automatic adjustment was executed (SP205=0), or when the
number of initial magnetic pole estimation retries was
exceeded.
PR
3A
OC
Overcurrent
This occurs when the current command reached the spindle
drive's maximum output current value and continued for more
than 1 second.
PR
SPHD
Spindle speed
lock
This occurs when the motor speed feedback was less than 45
rotations, and the maximum motor torque command
continued for longer than the detection time (SP230,
0:3000ms).
PR
3E
SPOS
Spindle speed
overrun
3F
OSE2
Excessive
speed
deflection 2
No.
3D
42
PLE
51
OL2
Feedback error
(PLG)
Overload 2
(1) This occurs when the motor speed continued to
accelerate past the 112.5% of the commanded value.
(2) This occurs when the motor rotated more than 10° during
the position/speed stop command.
This occurs when the speed deflection exceeded the
detection range (SP238, 0:30%) for longer than the detection
time (SP239: 0:3000ms).
PR
PR
(1) This occurs when an excessive offset was detected in the
AD input value during PLG automatic adjustment.
(2) This occurs when an abnormal number of feedback
pulses was continuously detected between the Z-phase
pulses.
This occurs when the motor output reached the overload level
set with overload detection level (SP313, 0: Invalid) and
detection time constant (SP314, 0: Invalid).
V – 15
PR
NR
4. Setup Procedures
4. Setup Procedures............................................................................................................
4.1 Wiring the drive unit.................................................................................................
4.2 Setting the parameters............................................................................................
4.3 PLG Z-phase automatic adjustment ......................................................................
4.4 PLG automatic adjustment of SPM unit ..................................................................
4.5 Alarms ....................................................................................................................
4.6 Handling the motor ..................................................................................................
4.6.1 Storage...............................................................................................................
4.6.2 Assembly (built-in type)......................................................................................
V – 17
V-18
V-18
V-18
V-18
V-19
V-19
V-19
V-19
V-19
4. Setup Procedures
4. Setup Procedures
4.1 Wiring the drive unit
The wiring is the same as the "MDS-B/C1-SP Series" spindle drive unit. Refer to "3.8 Output interface" in
the "IV. MDS-C1-SP Spindle System Section" for the coil changeover specifications.
4.2 Setting the parameters
<Parameters used for adjustment>
SP205 (ZCHS)····· Validate the PLG Z-phase automatic adjustment function (0: Invalid/1: Valid)
SP245 (PGHS) ···· Validate the MDS-B/C1-SPM PLG automatic adjustment function (0: Invalid/1: Valid)
4.3 PLG Z-phase automatic adjustment
Z-phase automatic adjustment is a function that automatically adjusts the relative position of the motor
magnetic pole and the PLG Z-phase pulse signal input into the MDS-B/C1-SPM, and then saves and
validates the adjustment data. This function is used to increase the output torque accuracy, and must
always be carried out when the machine is started up. Execute this function with the following procedures.
(Note)
*1. The mechanical adjustments (gear – sensor gap, etc.) must already be completed.
*2. When using this function, set the spindle load GD2 (max.: approx. 5-fold of the motor GD2) and the
frictional load as low as possible.
*3. The motor will automatically rotate at the adjustment speed during the Z-phase automatic
adjustment. Do not touch the rotating sections, as these are hazardous.
*4. If START (ON) is executed before the adjustment is completed, alarm 16 will occur, and the
protection function will activate.
(1) Change SP205 from 0 to 1, and start forward run operation. (The power does not need to be turned
OFF and ON.)
The control output 4H bit "D" will be set to 1 until the unit power is turned ON again.
(Note) The spindle motor will automatically rotate at the adjustment speed (two steps for Z-phase pulse
detection and magnetic pole position detection).
The adjustment results will be calculated approximately 90 seconds after forward run is started
(this time will differ slightly according to the magnetic pole position). Then operation will stop
automatically.
(2) Confirm that the motor has automatically stopped. Leave parameter SP205 set to 1, turn START
OFF, and turn the power OFF and ON. (When SP205 is set to 1, the adjustment data saved in
SPM will be used.)
(Note) If START is turned OFF during automatic rotation, reset SP205 to 0, and turn the power OFF and
ON. Then, repeat the procedure from step (1).
(Note) If the drive unit or motor is replaced, if the PLG is reinstalled, or if the signals are readjusted, etc.,
always reset SP205 to 0, and turn the power OFF and ON. Then, repeat the procedure from step
(1). Failure to observe this will prevent correct operation due to invalid adjustment data.
V – 18
4. Setup Procedures
4.4 PLG automatic adjustment of SPM unit
PLG automatic adjustment is a function that automatically adjusts the PLG A and B-phase sinusoidal wave
signals input into the SPM unit. (Adjusts the offset and gain, etc.) The adjustment data is then saved and
validated.
This function is used to improve the position data accuracy, and must always be carried out when the
machine is started up.
(Note)
*1. As a condition, the PLG Z-phase automatic adjustment described in "4.3" must be completed.
*2. The motor will automatically rotate at the adjustment speed during the PLG automatic adjustment.
Do not touch the rotating sections of the spindle motor or spindle end, as these are hazardous.
(1) Change parameter (SP245) from 0 to 1, and start forward run operation.
The control output 4H bit "D" will be set to 1 from when the parameter is changed to when the
power is turned ON again.
(Note) The spindle motor will automatically rotate at the adjustment speed (two steps for offset
adjustment and gain adjustment).
The adjustment results will be calculated within several seconds after forward run is started. Then
operation will stop automatically.
(2) Leave parameter (SP245) set to 1, turn START OFF, and turn the drive unit power OFF and ON.
(When SP245 is set to 1, the adjustment data saved in SPM will be used.)
(If SP245 is set to 0, the adjustment data will be invalidated.)
To carry out PLG automatic adjustment again (when the unit has been replaced, the PLG has been
reinstalled, or the signals have been readjusted, etc.), reset parameter (SP245) to 0, and then
repeat the procedure from step (1).
4.5 Alarms
The alarms related to setup are shown below.
AL16: Magnetic pole position detection error··········· This occurs if START is turned ON before Z-phase
automatic adjustment is carried out.
→ Carry out the PLG Z-phase automatic adjustment explained in "4.3".
AL42: Feedback error ··········································· This occurs when there is an excessive offset in the
PLG A and B phases.
→ Mechanically adjust the PLG A and B phases.
AL42: Feedback error ··········································· This occurs when the correct Z-phase pulses were not
detected.
→ Check that the Z-phase pulse and number of teeth are correct.
4.6 Handling the motor
4.6.1 Storage
Store the motor in the package box. This motor has a powerful permanent magnet in the rotor section. If the
rotor is left standing outside of the package box, the built-in type parts could attract magnetic objects in the
area, and could cause clock's to lose time, etc.
4.6.2 Assembly (built-in type)
(1) The rotor section's powerful permanent magnet will attract magnetic objects. Thus, when inserting the
shaft into the rotor or inserting the rotor in the machine, take care not to catch hands or fingers.
(2) Do not apply impacts on the stator or rotor. If impact is applied on the stator, the insulation will drop and
could lead to burning, etc. If impact is applied on the rotor, the magnet could crack and the specified
characteristics may not be realized.
(3) When inserting the shaft into the rotor, the maximum rotor heating temperature must be 130°C.
→ If the rotor is heated too high, the magnet will be demagnetized, and the specified characteristics
may not be realized.
V – 19
5. IPM Spindle Motor Specifications
5. IPM Spindle Motor Specifications ....................................................................................
5.1 IPM spindle motor specifications.............................................................................
5.2 Motor outline drawings.............................................................................................
V – 21
V-22
V-22
V-23
5. IPM Spindle Motor Specifications
5. IPM Spindle Motor Specifications
5.1 IPM spindle motor specifications
Spindle motor model
Continuous
characteristics
Short-time
rated
characteristic
s
SJ-PMF
01830-00
SJ-PMF
03530-00
SJ-PMF
07030-00
Rated
output
[kW]
3.7
7.5
18.5
Rated
torque
[Nm]
11.8
23.9
58.9
Rated
output
[kW]
5.5
11.0
22.0
Rated
torque
[Nm]
17.5
35.0
70.0
Rated rotation speed
[r/min
]
3000
Maximum
speed
[r/min
]
8000
rotation
Frame number
2
Weight
GD
7.1
90
112
[kgm ]
0.013
0.027
0.063
[kg]
23
40
60
2
Cooling method
Ambient temperature
Forced wind cooling
[°C]
Operation: 0 to 40/Storage: –15 to 70
Accessories
Pulse generator, thermal protector
19.6m/s 2 (2G) or less
Vibration
Standard combination drive unit
type
MDS-C1SPM-110
MDS-C1SPM-185
MDS-C1SPM-300
Note 1) The rated output is guaranteed in the rated input voltage to the power supply unit (AC200 to
230V).
Note 2) The short-time rating is 50% ED (ON for five minutes/OFF for five minutes in 10-minute cycle
time).
V – 22
5. IPM Spindle Motor Specifications
5.2 Motor outline drawings
SJ-PMF01830-00 with standard flange
Terminal Box
Air Outlet
Cooling Fan
Air Inlet
Section AA
SJ-PMF03530-00 with standard flange
Terminal Box
Air Outlet
Cooling Fan
Air Inlet
Section AA
SJ-PMF07030-00 with standard flange
Terminal Box
Air Outlet
Cooling Fan
Air Inlet
Section AA
Note 1) A space of at least 30mm should be provided between the cooling fan and nearby located wall.
Note 2) It can be installed vertically with the shaft down.
Note 3) When removing the suspension bolts for use, cover the screw holes with bolts, etc.
V – 23
Appendix 1
EN Standards Step-down Insulation Transformer
Appendix 1 EN Standards Step-down Insulation Transformer ........................................
AI - 1
AI-2
Appendix 1
EN Standards Step-down Insulation Transformer
Appendix 1 EN Standards Step-down Insulation Transformer
The following transformer is available as an EN Standards step-down insulation transformer.
Contact the manufacturer directly to purchase.
• Manufacturer : Nunome Electric
Insulation transformer
Type
: NETxxxxTUV
Approval No. : B94 10 21343 002
n Standard specifications
l Rating
l Capacity
l
l
l
l
: Continuous
: Refer to following
table
Rated frequency : 50/60Hz
Primary voltage
: 380 400 415
440 460 480V
Secondary voltage : 200V
Insulation Class
: Class H
Terminal block
l Connection
:
l Max. ambient temperature: 50 °C
■ Product outline dimensions
Type
NET
3460TUV
NET
5200TUV
NET
6930TUV
NET
010.4TUV
NET
013.9TUV
NET
017.3TUV
NET
026TUV
NET
034.6TUV
Secondary
current
(A)
L
LP
W
WP
W1
H
H1
Ø
kg
Terminal
connection
wire range
(mm2)
3460VA
10A
250
120
210
154
174
310
240
10×12
36
0.33 to 6
5200VA
15A
320
180
240
153
185
355
285
10
50
0.33 to 6
6930VA
20A
360
250
240
160
190
410
340
13
64
P0.5 to 10
S1.5 to 16
10.4kVA
30A
360
250
280
200
230
410
340
13
93
1.5 to 16
13.9kVA
40A
500
330
300
205
245
455
370
13×15
120
2.5 to 16
17.3kVA
50A
500
330
330
225
265
455
370
13×15
143
2.5 to 16
26kVA
75A
530
305
400
222
280
535
450
13
206
34.6kVA
100A
550
270
440
305
355
575
490
13
273
Capacity
AI - 2
P2.5 to 16
S6 to 50
P2.5 to 16
S6 to 50
Appendix 2 EMC Installation Guidelines
Appendix 2 EMC Installation Guidelines ............................................................................
1. Introduction...................................................................................................................
2. EMC Instructions..........................................................................................................
3. EMC Measures.............................................................................................................
4. Measures for panel structure........................................................................................
4.1
Measures for control box unit..........................................................................
4.2
Measures for door...........................................................................................
4.3
Measures for operation board panel...............................................................
4.4
Shielding of the power supply input section....................................................
5. Measures for various cables ........................................................................................
5.1
Measures for wiring in box ..............................................................................
5.2
Measures for shield treatment.........................................................................
5.3
Servomotor power cable.................................................................................
5.4
Servomotor feedback cable ............................................................................
5.5
Spindle motor power cable..............................................................................
5.6
Spindle motor feedback cable.........................................................................
5.7
Cable between control box and operation board panel...................................
6. EMC Countermeasure Parts ........................................................................................
6.1
Shield clamp fitting..........................................................................................
6.2
Ferrite core......................................................................................................
AII - 1
AII-2
AII-2
AII-2
AII-3
AII-3
AII-3
AII-4
AII-4
AII-4
AII-5
AII-5
AII-5
AII-6
AII-6
AII-7
AII-7
AII-7
AII-8
AII-8
AII-9
Appendix 2 EMC Installation Guidelines
Appendix 2 EMC Installation Guidelines
1. Introduction
EMC Instructions became mandatory as of January 1, 1996. The subject products must have a CE
mark attached indicating that the product complies with the Instructions. As the NC unit is a
component designed to control machine tools, it is believed that it is not a direct EMC Instruction
subject. However, we would like to introduce the following measure plans to backup EMC Instruction
compliance of the machine tool as the NC unit is a major component of the machine tools.
(1) Methods for installation in control/operation panel
(2) Methods of wiring cable outside of panel
(3) Introduction of countermeasure parts
Mitsubishi is carrying out tests to confirm the compliance to the EMC Standards under the
environment described in this manual. However, the level of the noise will differ according to the
equipment type and layout, control panel structure and wiring lead-in, etc. Thus, we ask that the final
noise level be confirmed by the machine manufacturer.
These contents are the same as the EMC INSTALLATION GUIDELINES (BNP-B8582-45).
For measures for CNC, refer to "EMC INSTALLATION GUIDELINES" (BNP -B2230).
2. EMC Instructions
The EMC Instructions largely regulate the following two withstand levels.
(1) Emission....... Capacity to prevent output of obstructive noise that adversely affects external
sources.
(2) Immunity....... Capacity not to malfunction due to obstructive noise from external sources.
The details of each level are classified as Table 1. It is assumed that the Standards and test details
required for a machine are the same as these.
Table 1
Class
Name
Details
Electromagnetic noise radiated through
the air
Electromagnetic noise discharged from
Conductive noise
power supply line
Example) Withstand level of static
Static electricity
electricity discharge from a
electrical discharge
charged human body
Radiated magnetic Example) Simulation of immunity from
field
digital wireless transmitters
Example) Withstand level of noise from
Burst immunity
relays or connecting/
disconnecting live wires
Example)
Withstand level of noise
Conductive
entering through power line,
immunity
etc.
Power supply
Example) 50/60Hz power frequency
frequency field
noise
Power dip
Example) Power voltage drop withstand
(fluctuation)
level
Example) Withstand level of noise
Surge
caused by lightning
Radiated noise
Emission
Immunity
AII - 2
Generic
Standard
EN50081-2
EN61800-3
(Industrial
environment)
Standards for
determining test
and measurement
EN55011
IEC61000-4-2
IEC61000-4-3
EN61000-6-2
:1999
EN61800-3
(Industrial
environment)
IEC61000-4-4
IEC61000-4-6
IEC61000-4-8
IEC61000-4-11
IEC61000-4-5
Appendix 2 EMC Installation Guidelines
3. EMC Measures
The main items relating to EMC measures include the following.
(1)
(2)
(3)
(4)
(5)
Store the device in an electrically sealed metal panel.
Earth all conductors that are floating electrically. (Lower the impedance.)
Wire the power line away from the signal wire.
Use shielded wires for the cables wired outside of the panel.
Install a noise filter.
Take caution to the following items to suppress noise radiated outside of the panel.
(1) Securely install the devices.
(2) Use shielded wires.
(3) Increase the panel's electrical seal. Reduce the gap and hole size.
Note that the electromagnetic noise radiated in the air is greatly affected by the clearance of the panel
and the quality of the cable shield.
4. Measures for panel structure
The design of the panel is a very important factor for the EMC measures, so take the following
measures into consideration.
Operation board panel
Door
Control box
4.1 Measures for control box unit
(1) Use metal for all materials configuring the panel.
(2) For the joining of the top plate and side plates, etc., mask the contact surface with paint, and fix
with welding or screws.
In either case, keeping the joining clearance to a max. of 20cm for a better effect.
(3) Note that if the plate warps due to the screw fixing, etc., creating a clearance, noise could leak
from that place.
(4) Plate the metal plate surface (with nickel, tin) at the earthing section, such as the earthing plate.
(5) The max. tolerable hole diameter of the openings on the panel surface, such as the ventilation
holes, must be 3cm to 5cm. If the opening exceeds this tolerance, use a measure to cover it. Note
that even when the clearance is less than 3cm to 5cm, noise may still leak if the clearance is long.
Example)
Painting mask
Hole exceeding
3cm to 5cm
Painting mask
∗ Provide electrical conductance
AII - 3
Max. joining
clearance 20cm
Appendix 2 EMC Installation Guidelines
4.2 Measures for door
(1) Use metal for all materials configuring the door.
(2) Use an EMI gasket or conductive packing for the contact between the door and control box unit.
(3) The EMI gasket or conductive packing must contact at a uniform and correct position of the metal
surface of the control box unit.
(4) The surface of the control box unit contacted with the EMI gasket or conductive packing must
have conductance treatment.
Example)
Weld (or screw) a welded plate that is plated (with nickel, tin).
Control box
EMI gasket
Packing
Door
Carry out conductance treatment on
sections that the EMI gasket contacts.
(5) As a method other than the above, the control box unit and door can be connected with a plain
braided wire. In this case, the box and door should be contacted at as many points as possible.
4.3 Measures for operation board panel
(1) Always connect the operation board and indicator with an earthing wire.
(2) If the operation board panel has a door, use an EMI gasket or conductive packing between the
door and panel to provide electrical conductance in the same manner as the control box.
(3) Connect the operation board panel and control box with a sufficiently thick and short earthing
wire.
Refer to the "EMC INSTALLATION GUIDELINES" BNP-B2230 for the NC for more details.
4.4 Shielding of the power supply input section
(1) Separate the input power supply section from other parts of the control box so that the input
power supply line will not be contaminated by radiated noise.
(2) Do not lead the power line through the panel without passing it through a filter.
Control box
Control box
NC Drive unit
NC
Drive unit
Radiated noise
Radiated noise
Shielding plate
AC input
AC input
Filter
Filter
CB
The power supply line noise is
eliminated by the filter, but cable
contains noise again because of the
noise radiated in the control box.
CB
Use a metal plate, etc., for the
shielding partition. Make sure not to
create a clearance.
AII - 4
Appendix 2 EMC Installation Guidelines
5. Measures for various cables
The various cables act as antennas for the noise and discharge the noise externally. Thus appropriate
treatment is required to avoid the noise. The wiring between the drive unit and motor act as an
extremely powerful noise source, so apply the following measures.
5.1 Measures for wiring in box
(1) If the cables are led unnecessarily in the box, they will easily pick up the radiated noise. Thus,
keep the wiring length as short as possible.
Noise
Noise
Device
Device
Device
Device
Device
Device
(2) The noise from other devices will enter the cable and be discharged externally, so avoid internal
wiring near the openings.
Control box
Control box
Device
Device
Device
Device
Noise
(3) Connect the control device earthing terminal and earthing plate with a thick wire. Take care to the
leading of the wire.
5.2 Measures for shield treatment
Use of shield clamp fittings is recommended for treating the shields. The fittings are available as
options, so order as required. (Refer to section "6.1 Shield clamp fitting".)
Clamp the shield at a position within 10cm from the panel lead out port.
AII - 5
Appendix 2 EMC Installation Guidelines
5.3 Servomotor power cable
Control box
Earth with paint mask
Control box
Conduit connector
Earth with P or U clip
Cannon
connector
To drive unit
Cannon connector
To drive unit
Servomotor
Servomotor
Conduit
Shield cable
Cabtyre cable
Using shield cable
Using conduit
(1) Use four wires (3-phase + earthing) for the power line that are completely shielded and free from
breaks.
(2) Earth the shield on both the control box side and motor chassis side.
(3) Earth the shield with a metal P clip or U clip.
(4) Directly earth the shield. Do not solder the braided shield onto a wire and earth the end of the
wire.
Solder
(5) When not using a shield cable for the power line, use a conventional cabtyre cable. Use a metal
conduit outside the cable.
(6) Earth the power line on the control box side at the contact surface of the conduit connector and
control box. (Mask the side wall of the control box with paint.)
(7) Follow the treatment shown in the example for the conduit connector to earth the power line on
the motor side. (Example: Use a clamp fitting, etc.)
Clamp fitting
To earthing
Conduit
Cannon connector
Conduit connector
5.4 Servomotor feedback cable
Control box
Cannon connector
To drive unit
Batch pair shield cable
AII - 6
Use a conventional batch pair shield
cable for the servomotor's feedback
cable, and earth to the NC side
(inside the control box).
Appendix 2 EMC Installation Guidelines
5.5 Spindle motor power cable
Control box
Control box
Earth with paint mask
Conduit
connector
Earth with
P or U clip
Terminal
box
Terminal
box
To drive unit
To drive unit
Conduit
Spindle motor
Cabtyre cable
Shield cable
Using shield cable
Using conduit
(1) Use four wires (3-phase + earthing) for the power line, that are completely shielded and free from
breaks.
(2) Earth the shield with the same manner as the servomotor power line.
(3) When not using a shield cable for the power line, use a conventional cabtyre cable. Use a metal
conduit outside the cable.
(4) Earth the power line on the control box side at the contact surface of the conduit connector and
control box side wall in the same manner as the servomotor power line. (Mask the side wall of the
control box with paint.)
(5) Earth at the conduit connector section in the same manner as the servomotor power line.
5.6 Spindle motor feedback cable
Control box
Clamp shield and connect to
connector case
Terminal
box
To drive unit
Spindle drive side connector
(View of state with cover removed)
Batch pair shield cable
(1) Use the conventional batch pair shield cable for the spindle motor's feedback cable.
Note) The shield of the spindle motor feedback cable is not FG, so do not earth it.
5.7 Cable between control box and operation board panel
SH11 cable (signal line)
Ferrite core (Within 10cm from device)
Operation board box
Control box
Board
Clamp fitting
enclosed with NC
(1) Use a shield cable for the cable between the
control box and operation board.
(2) Earth the shield in the same manner as the
other cables.
(3) Insert a ferrite core in the SH11 cable at a
position within 10cm from the device.
(This provides a better effect.)
Earth with P or U clip
PD05 cable (power supply line)
Control box
Operation board box
Board
The PD05 cable is used with the MELDAS500
Series.
Refer to the EMC INSTALLATION GUIDELINES
for each NC for details.
Clamp fitting
enclosed with NC
Earth with P or U clip
AII - 7
Appendix 2 EMC Installation Guidelines
6. EMC Countermeasure Parts
6.1 Shield clamp fitting
The effect can be enhanced by connecting the cable directly to the earthing plate.
Install an earthing plate near each panel's outlet (within 10cm), and press the cable against the
earthing plate with the clamp fitting.
If the cables are thin, several can be bundled and clamped together.
Securely earth the earthing plate with the frame ground. Install directly on the cabinet or connect with
an earthing wire.
Contact Mitsubishi if the earthing plate and clamp fitting set (AERSBAN-[ ]SET) is required.
View of clamp section
• Outline drawing
Note 1) Screw hole for wiring to earthing plate in cabinet.
Note 2) The earthing plate thickness is 1.6mm.
AERSBAN-DSET
AERSBAN-ESET
A
100
70
B
86
56
C
30
–
Enclosed fittings
Two clamp fittings A
One clamp fitting B
AII - 8
Clamp fitting A
Clamp fitting B
L
70
45
Appendix 2 EMC Installation Guidelines
6.2 Ferrite core
A ferrite core is integrated and mounted on the plastic case.
Quick installation is possible without cutting the interface cable or power supply line.
This ferrite core is effective against common mode noise, allowing measures against noise to be taken
without affecting the signal quality.
Recommended ferrite core
TDK ZCAT Series
Shape and dimensions
ZCAT type
ZCAT-A type
φD
A
E
B
φC
B
φC
D
A
Fig. 1
Fig. 2
ZCAT-B type
ZCAT-C type
A
E
A
Fig. 3
φD
B
φC
φD
φC
B
Fig. 4
• Recommended ferrite core
Part name
•
1
ZCAT3035-1330 (-BK)*
ZCAT2035-0930-M (-BK)
ZCAT2017-0930B-M (-BK)
ZCAT2749-0430-M (-BK)
Unit [mm]
Fig.
A
B
C
D
E
1
2
3
4
39
35
21
49
34
29
17
27
13
13
9
4.5
30
23.5
20
19.5
--22
28.5
---
Applicable cable
outline
13 max.
10 to 13
9 max.
4.5 max.
Weight
63
29
12
26
*1 A fixing band is enclosed when shipped.
ZCAT-B type: Cabinet fixed type, installation hole ø4.8 to 4.9mm, plate thickness 0.5 to 2mm
ZCAT-C type: Structured so that it cannot be opened easily by hand once closed.
AII - 9
Appendix 2 EMC Installation Guidelines
HF3000A-TM/HF3000C-TM Series
l 3-phase, 3-wire type (250V system, 500V system)
l Noise Standards [German Official Report Vfg243,
European Standards EN55011 (Class B)] compatible
part.
l Effective as an IGBT inverter and MOS-FET inverter.
l Installation is easy with terminal block structure, and
reliability is outstanding.
<Application>
l Products that must satisfy Noise Standards [German
Official Report Vfg243, European Standards EN55011
(Class B)].
l For input of electricity converter using the latest advanced
high-speed power device such as IGBT MOS-FET.
<Performance>
<250V system>
Part
name
HF3005A
-TM
HF3010A
-TM
HF3015A
-TM
HF3020A
-TM
HF3030A
-TM
Rated
voltage
Rated
current
HF3040A
-TM
HF3050A
-TM
HF3060A
-TM
HF3080A
-TM
HF3100A
-TM
HF3150A
-TM
50A
60A
80A
100A
150A
250VAC
5A
10A
15A
20A
Leakage
current
30A
40A
1.5mA MAX 250VAC 60Hz
<500V system>
Part
name
HF3005C
-TM
HF3010C
-TM
HF3015C
-TM
HF3020C
-TM
Rated
voltage
Rated
current
HF3030C
-TM
HF3040C
-TM
HF3050C
-TM
HF3060C
-TM
HF3080C
-TM
HF3100C
-TM
50A
60A
80A
100A
500VAC
5A
10A
15A
20A
Leakage
current
30A
40A
3mA MAX 500VAC 60Hz
<Noise terminal voltage measurement example> ..... Measured with IGBT inverter
German Official Report Vfg243
measurement data
European Standards EN55011 Class B
measurement data
AII - 10
Appendix 2 EMC Installation Guidelines
<Main characteristics>
40A part
<Circuit diagram>
(250V system)
(500V system)
AII - 11
Appendix 2 EMC Installation Guidelines
<Outline dimensions>
Part name
HF3005A-TM
HF3010A-TM
HF3015A-TM
Dimensions (unit: mm)
A
175
B
170
C
130
HF3020A-TM
HF3030A-TM
HF3040A-TM
HF3050A-TM
HF3060A-TM
HF3080A-TM
HF3100A-TM
Part name
HF3005C-TM
HF3010C-TM
HF3015C-TM
Dimensions (unit: mm)
A
B
C
170
170
150
260
155
160
290
190
250
405
220
260
HF3020C-TM
260
155
140
290
190
230
405
220
240
AII - 12
HF3030C-TM
HF3040C-TM
HF3050C-TM
HF3060C-TM
HF3080C-TM
HF3100C-TM
Appendix 2 EMC Installation Guidelines
CC3000C-AZ Series Terminal block type
l
l
l
l
3-phase, 3-wire type (500V system)
Dedicated reactor type for inverter secondary side (load side).
Noise radiated on the inverter output side is dampened.
Series is available up to 150A.
<Application>
l For secondary side (load side) of general-purpose and large
capacity inverter powers.
<Performance> (500V system)
CC3005C CC3010C CC3015C CC3020C CC3030C CC3040C CC3050C CC3060C CC3080C CC3100C C3115C - CC3150C
-AZ
-AZ
-AZ
-AZ
-AZ
-AZ
-AZ
-AZ
-AZ
-AZ
AZ
-AZ
Part name
Rated voltage
500VAC
Rated current
5A
10A
15A
20A
30A
40A
<Main characteristics>
50A
60A
80A
100A
115A
150A
<Circuit diagram>
10A part
(1)
(4)
(2)
(5)
(3)
(6)
<Outline dimensions>
(1)
Part name
(2)
A
B
C
Dimensions (Unit: mm)
D
E F
G H
J
CC3005C-AZ
CC3010C-AZ 154.5 140 125 110 95 70
CC3015C-AZ
CC3020C-AZ
174.5 160 145 130 110 80
CC3030C-AZ
50
20
70
25
32
L
N
P
R2.25
M4 ø4.5 length
6
Part name
CC3035C-AZ
CC3045C-AZ
CC3060C-AZ
CC3080C-AZ
CC3100C-AZ
CC3115C-AZ
CC3150C-AZ
A
170
B
120
C
80
Dimensions (Unit :mm)
D
E
F
G
H
150 135 120
44
120
J
90
L
M5
N
ø5.5
230
180
100
220
200
180
44
170
140
M6
ø6.5
260
210
150
250
230
210
57
170
140
M8
ø6.5
277
220
160
260
240
220
57
170
140
M8
ø6.5
5A to 30A
(1)
(2)
(3)
35A to 150A
(4)
(1)
(2) (3)
(4)
Hunting machining
No.
1
2
3
4
5
AII - 13
Name
Input terminal
Metal case
Nameplate
Output terminal
Earthing terminal
Appendix 2 EMC Installation Guidelines
MX13-SERIES
3-phase high-attenuation noise filter (for FA and servo systems)
n Features
l Optimum for installation in control panel:
New shape with uniform height and depth
l Easy installation and maintenance:
Terminals are grouped on the front panel
l NC servo and AC servo noise compatible:
High-attenuation of 40dB at 150kHz
l Safety Standards:
UL1283, CSA22.2 No.8, EN133200
l Patent and registration of design pending
n Specifications and standards
Type
Item
1 Rated voltage (AC)
MX13030
MX13050
MX13100
MX13150
3-phase 250VAC (50/60Hz)
(Note)
2 Rated current (AC)
30A
50A
100A
100MO min. at 25℃, 70% RH
4 Insulation resistance (500VDC between terminal and case)
5 Leakage current (250V, 60Hz)
3.5 mA max.
6 DC resistance
150A
2500VAC (100mA) at 25℃ , 70% RH
3 Test voltage (AC for one minute between terminal and case)
30 mO max.
8 mA max.
11 mO max.
7 Temperature rise
5.5 mO max.
3.5 mO max.
30℃ max
8 Working ambient temperature
-25℃ to +85℃
9 Working ambient humidity
30% to 95% RH (With no dew condensation)
-40℃ to +85 ℃
10 Storage ambient temperature
11 Storage ambient humidity
10% to 95% RH (With no dew condensation)
12 Weight (typ)
2.8 kg
3.9 kg
11.5 kg
16 kg
(Note) This is the value at Ta ≤ 50°C.
Refer to the following output derating when Ta > 50°C.
n Output derating
n Examples of using MX13 Series
Current (%)
This noise filter has the same dimensions as the
general servo unit's depth (200mm) and height
(380mm).
The system layout can be simplified by arranging
this unit with the servo unit.
As with the servo unit, the terminals are arranged
on the front panel, so ideal wiring leading can be
realized.
Refer to the following usage example for details.
Ambient temperature Ta (°C )
Wiring 3to相給電へ配線
3-phase power supply
ノイズフィルタ入力端子
Noise filter input terminal
200
200
380
380
Noise
filter
ノイズフィルタ
(MX13
3 シリーズ)
(M X 1Series)
Noiseノイズフィルタ出力端子
filter output terminal
Servo
unit
サーボユニット
サーボ入力端子
Servo
input terminal
Wiring from noise filter to servo
ノイズフィルタからサーボへの配線
AII - 14
Appendix 2 EMC Installation Guidelines
g Example of attenuation of noise terminal voltage
Noise terminal voltage [dBuV]
l EMI data for control panel + noise filter
(MX13030)
Noise terminal voltage [dBuV]
l EMI data for single control panel
(with six-axis servo unit)
Frequency [MHz]
Frequency [MHz]
g Outline drawing
l MX13030, MX13050
(Installation hole)
Model
A
B
C
D
E
F
G
H
I
J
K
MX13030
MX13050
66
81
45
55
10.5
13
50
67
13
16
10
13
177
179
M4 crossM6 crosshead screw head screw
70
85
M4 crossM6 crosshead screw head screw
195
200
l MX13100, MX13150
(Installation hole)
(Installation hole)
Model
A
B
C
D
E
F
G
H
I
J
K
L
g Contact:
DENSEI-LAMBDA K.K.
AII - 15
MX13100
MX13150
130
165
90
110
20
27.5
115
150.5
37.5
57.5
18
23
174
176
M6 cross- M8 minus screw
head screw
(hexagon)
21
27
37.5
56.5
115
149.5
276
284
Appendix 2 EMC Installation Guidelines
Product Identification
ZCAT
(1)
20
(2)
35
(3)
–
09
(4)
30
(5)
A
(6)
–
BK
(7)
(1)
(2)
(3)
(4)
(5)
(6)
Series name
Outside diameter in mm
Length in mm
Inside diameter in mm
Material
A
: Self-hold (cable-rock mechanism) type
B
: Self-hold (chassis-hold mechanism) type
None : Band-hold type
(7) Color BK
: Black
None
: Gray
Construction
Ferrite Core
Plastic Case
AII - 16
Appendix 3
Appendix 3
Unit System
Unit system ................................................................................................... AIII-2
AIII - 1
Appendix 3
Unit System
Appendix 3 Unit system
The correspondence of the conventional unit symbols used in this manual and the international unit
system (SI) is shown below.
Name of amount
Conventional unit's
symbol
Weight/load
(expresses weight)
kgf
SI unit and common
unit symbols
Conversion value
The value is the same
Weight
kg
Wight/load
(concept of force)
kgf
N
1kgf=9.80665N
Force
kgf
N
1kgf=9.80665N
Torque
kgf • cm
N•m
Inertia
(J)
kgf • cm • S2
kg • m 2
1kgf • cm=9.80665×10-2N • m
1kgf •cm •S2=9.80665×10-2kg •m 2
2
GD
2
kgf • cm
GD
2
J=
4g
Rotation speed,
speed
rpm
r/min or min -1
AIII - 2
(g: Gravitational acceleration
2
980cm/s )
1rpm=1r/min=1min-1
Appendix 4 Classification of Servo/Spindle Drive Unit Circuits Based on
Higher Harmonic Suppression Countermeasures Guidelines
Appendix 4 Classification of Servo/Spindle Drive Unit Circuits Based on
Higher Harmonic Suppression Countermeasures Guidelines ....................... AIV-2
AIV – 1
Appendix 4 Classification of Servo/Spindle Drive Unit Circuits Based on
Higher Harmonic Suppression Countermeasures Guidelines
Appendix 4 Classification of Servo/Spindle Drive Unit Circuits Based
on Higher Harmonic Suppression Countermeasures
Guidelines
Calculate the circuit class (conversion coefficient) and power capacity based on the Higher Harmonic
Suppression Countermeasures Guidelines using the following table.
Circuit class
Name
AC servo drive unit
Circuit
class
Model
TRS Series
3
MR-S1/S2/S3
MR-S11/S12 Series
AC spindle drive unit
3
MDS-A-SVJ
MDS-B-SJV2
MR-J2-CT Series
MDS-A-V1/V2
MDS-B-V1/V14/V2/V24
MDS-C1-V1/V2 Series
SFJ/SGJ Series
3
3
3
MDS-A-SPJ
MDS-B-SPJ2 Series
3
MDS-A-CSP-370/450
3
MDS-A-SP/SPA
MDS-B-SP/SPA/SPH/SPM/SPX
MDS-C1-SP/SPH/SPM/SPX Series
3
Circuit type
3-phase bridge (with
smoothing capacitor)
Without reactor
3-phase bridge (with
smoothing capacitor)
Without reactor
3-phase bridge (with
smoothing capacitor)
Without reactor
3-phase bridge (with
smoothing capacitor)
With AC reactor
3-phase bridge (with
smoothing capacitor)
Without reactor
3-phase bridge (with
smoothing capacitor)
Without reactor
3-phase bridge (with
smoothing capacitor)
Without reactor
3-phase bridge (with
smoothing capacitor)
Without AC reactor
Conversion
coefficie nt
K31=3.4
K31=3.4
K31=3.4
K32=1.8
K31=3.4
K31=3.4
K31=3.4
K32=1.8
Working conditions
1. The power supply unit (MDS-A/B/C1-CV Series) applies when using the AC reactor (B-AL Series).
When the MDS-A-CR Series is used, calculate with the conversion coefficient as K31=3.4 (without
reactor).
Power facility capacity
Type
MDS-A/B/C1-SP-37
MDS-A/B/C1-SP-55
MDS-A/B/C1-SP-75
MDS-A/B/C1-SP-110
MDS-A/B/C1-SP-150
MDS-A/B/C1-SP-185
MDS-A/B/C1-SP-220
MDS-A/B/C1-SP-260
MDS-A/B/C1-SP-300
MDS-B-SP-370
MDS-B-SP-450
MDS-B-SP-550
Rated
capacity
[KVA]
4.61
6.77
9.07
13.1
17.6
21.8
25.9
30.0
34.7
42.8
52.1
63.7
SP: Including SPA/SPH/SPM/SPX
Type
MDS-A/B/C1-V1-03
MDS-A/B/C1-V1-05
MDS-A/B/C1-V1-10
MDS-A/B/C1-V1-20
MDS-A/B/C1-V1-35
MDS-A/B/C1-V1-45
MDS-A/B/C1-V1-70
MDS-A/B/C1-V1-90
V1: Including V14
AIV – 2
Rated
capacity
[KVA]
0.6
1.0
1.6
2.7
4.7
5.9
9.0
11.5
Type
MDS-A/B/C1-V2-0503
MDS-A/B/C1-V2-0505
MDS-B/C1-V2-1003
MDS-A/B/C1-V2-1005
MDS-A/B/C1-V2-1010
MDS-A/B/C1-V2-2010
MDS-A/B/C1-V2-2020
MDS-A/B/C1-V2-3510
MDS-A/B/C1-V2-3520
MDS-A/B/C1-V2-3535
MDS-A/B/C1-V2-4520
MDS-A/B/C1-V2-4535
MDS-C1-V2-4545
MDS-C1-V2-7070
V2: Including V24
Rated
capacity
[KVA]
1.6
2.0
2.2
2.6
3.2
4.3
5.4
6.3
7.4
9.4
8.6
10.6
11.8
18.0
Appendix 5 Explanation of Large Capacity Spindle Unit Specifications
Appendix 5 Explanation of Large Capacity Spindle Unit Specifications ............................ AV-2
1. Outline
.................................................................................................................... AV-2
2. List of units ................................................................................................................... AV-2
3. Selection of AC reactor (B-AL), contactor and CB ..................................................... AV-2
4. Outline of units ............................................................................................................. AV-3
5. Panel cut dimension drawing....................................................................................... AV-4
6. Detailed outline drawing ............................................................................................... AV-5
7. Heating value................................................................................................................ AV-8
8. Selection of power capacity ......................................................................................... AV-8
9. Selecting of wire size................................................................................................... AV-8
10. Drive unit connection screw size................................................................................ AV-9
11. Connection of Each Unit ............................................................................................. AV-9
12. Restrictions ................................................................................................................. AV-11
13. Parameters ................................................................................................................. AV-12
14. Precautions ................................................................................................................. AV-12
AV – 1
Appendix 5 Explanation of Large Capacity Spindle Unit Specifications
Appendix 5 Explanation of Large Capacity Spindle Unit
Specifications
1. Outline
The MDS-B-SP Series large capacity spindle unit (37kW, 45kW, 55kW) is an increased capacity version of
the MDS-B-SP Series standard spindle unit (30kW or less).
Thus, the items other than those related to the increased capacity are the same as the 30kW or less
capacity.
The matters required for the increased capacity are explained in these specifications.
Refer to the "AC Servo/Spindle MDS-A Series/B Series Specifications Manual" (BNP-B3759) for details on
the other specifications.
2. List of units
Power supply unit
DC power supply/regeneration control to drive
unit
No.
Type
Spindle drive unit
Spindle motor control
Capacity
(kW)
Weight
(kg)
Outline
drawing
No.
Type
Capacity
(kW)
Weight
(kg)
Outline
drawing
(1)
B-CVE-370
37
9.5
"6.(1)"
(1)
B-SP-370
37
20
"6.(4)"
(2)
B-CVE-450
45
20
"6.(2)"
(2)
B-SP-450
45
21
"6.(5)"
(3)
B-CVE-550
55
21
"6.(3)"
(3)
B-SP-550
55
21
"6.(5)"
3. Selection of AC reactor (B-AL), contactor and CB
Always install the following AC reactor and contactor on the input side of each power supply unit
(B-CVE-370/450/550). Note that only the contactor can be omitted for the B-CVE-370.
(Note 1) When using the MDS-B-CVE-450 or 550, always install one contactor for one power supply unit.
The power supply unit will be damaged if this contactor is omitted or shared.
(Note 2) Always install one ACL for one power supply unit. The power supply unit will be damaged if this
ACL is omitted or shared.
Selection of the CB when using only one power supply unit is shown below as reference.
B-CVE-370
B-CVE-450
B-CVE-550
Outline
drawing
AC reactor (ordered part)
B-AL-37K
B-AL-45K
B-AL-55K
"6 (6)"
Recommended contactor
(non-ordered part)
SN150-AC200V
SN150-AC200V
SN180-AC200V
NF225CS3P175A05
NF225CS3P200A05
NF400CS3P300A05
Power supply unit type
Recommended CB
(non-ordered part)
(Note)
Even when OFF, a leakage current of 15mA or less flows at the coil connection terminal MC1 for
the power supply unit's external contactor. Thus, when using a contactor other than that
recommended above, do not use a connector that turns ON at 15mA or less or a contactor that
cannot be turned OFF at 15mA. When using a contactor with an internal electronic circuit, consult
with the contactor maker and make sure that the contactor will operate correctly even if a leakage
current of 15mA or less flows.
AV – 2
AV – 3
150
200
120
W
D1
D2
115
210
240
MDS-B-CVE-450
Power supply unit
Note) The D1 value includes the terminal block cover.
MDS-B-CVE-370
Type
(Front)
W
380
Maintenance
area
400
120
210
300
MDS-B-CVE-550
(Side)
250
D1
D2
115
210
240
MDS-B-SP-370
340
Outside
box
Power
Fin + fan
supply unit
Inside box
[Power supply unit]
380
120
210
300
MDS-B-SP-450
Spindle drive unit
Maintenance
area
400
(Side)
250
D1
D2
Fin + fan
120
210
300
340
Outside
box
MDS-B-SP-550
Spindle
drive unit
Inside box
[Spindle drive unit]
Appendix 5 Explanation of Large Capacity Spindle Unit Specifications
4. Outline of units
AV – 4
–
41±0.5
13±0.5
105±0.5
W3
W4
W5
60±0.3
W1
W2
341±1
10±0.5
H2
142±1
H1
360±0.3
360±0.3
H
W
120±0.5
18±0.5
51±0.5
–
120±0.3
10±0.5
341±1
222±1
MDS-B-CVE-450
MDS-B-CVE-370
Type
W
W1
W3
Square
hole
120±0.5
18±0.5
51±0.5
–
180±0.3
10±0.5
341±1
282±1
360±0.3
H
51±0.5
120±0.3
–
10±0.5
341±1
222±1
360±0.3
MDS-B-SP-370
8-M5 screw
H2
H1
MDS-B-CVE-550
Power supply unit
installation side
Power supply unit
(Front)
Spindle drive unit
installation side
W4
W5
Panel cut dimension drawing
Square
hole
W2
–
–
51±0.5
180±0.3
–
10±0.5
341±1
282±1
360±0.3
MDS-B-SP-450
Spindle drive unit
51±0.5
180±0.3
–
10±0.5
341±1
282±1
360±0.3
MDS-B-SP-550
Note 1) Looking from the front of the unit, the
spindle drive unit must be installed to the
left of the power supply unit.
The panel must be cut taking this into
consideration.
Note 2) L+ and L- connection conductors are
enclosed with the CVE-450 and 550
capacities, so provide the dimensions
shown below between the units.
Note 3) When using the CVE-260 to 300
capacities, cut the panel in the same
manner as for the CVE-370 capacity.
Appendix 5 Explanation of Large Capacity Spindle Unit Specifications
5. Panel cut dimension drawing
Appendix 5 Explanation of Large Capacity Spindle Unit Specifications
6. Detailed outline drawing
Note) The I-bolt installation hole is provided only on the top of the MDS-B-CVE-550 and
MDS-B-SP-450/550 models.
The I-bolt (size: M10) is not enclosed, and must be prepared by the user. Use an I-bolt that is
between 13mm and 25mm long.
(1) MDS-B-CVE-370
66
360
380
350
40.6
195
107
15
10
2-ø6 hole
Fin
L+
L–
L11
L21
MC1
6
15
6
45
10
AIR
FLOW
60
150
70
20
180
120
(2) MDS-B-CVE-450
21
18
10
180
Fin
L+
L+
L–
L–
L11 L12 MC1
339
360
380
344
178.5
AIR FLOW
L1 L2 L3
60
20
18
4-ø6 hole
120
240
10
L21 L22 MC2
63
60
AV – 5
146
114
Appendix 5 Explanation of Large Capacity Spindle Unit Specifications
64
(3) MDS-B-CVE-550
2-M10 screw, for I-bolt installation
Only on top
20
18
10
180
L+
L+
L–
L–
340
360
380
344
178.5
AIR
FLOW
Fin
L11 L12 MC1
60
L3
60
20
4-ø6 hole
180
300
18
L2
10
L1
L21 L22MC2
63
146
120
(4) MDS-B-SP-370
21
18
10
180
Fin
339
L+
360
380
344
178.5
AIR FLOW
L–
60
4-ø6 hole
120
240
W
60
20
V
18
U
10
L11 L21
62
AV – 6
146
114
Appendix 5 Explanation of Large Capacity Spindle Unit Specifications
64
(5) MDS-B-SP-450/550
2-M10 screw, for I-bolt installation
Only on top
20
18
10
180
340
360
380
344
178.5
AIR
FLOW
Fin
L+
L–
L11 L21
60
W
20
4-ø6 hole
180
300
18
V
10
U
60
63
146
120
(6) ACL
DRIVE
M5 screw
FG connection
position
±1
(with ground
70
mark)
PE connection position
Terminal cover
M5 screw
FG connection
position
4-8×15 slot
(installation hole)
L11
L12
L21
L22
DRIVE
4-10×15 slot
(installation hole)
200
PE connection
position
(with ground
mark)
±1.5
190
145
175
Terminal cover
± 2.5
215
ACL
model
L31
L32
Compatible power
supply unit
220
D3
D
2.5
MAIN
D±
L31
L32
D
L21
L22
±1
L11
L12
(240)
6-M10 screw
(for wire
connection)
MAIN
D3
(for wire
connection)
6-M6 screw
D3±1.5
2) 55kW
1) 37kW, 45kW
Weight
B-AL-37K
B-CVE-370
110 150 10.0kg
B-AL-45K
B-CVE-450
120 160 12.8kg
ACL
model
Compatible power
supply unit
B-AL-55K B-CVE-550
AV – 7
± 2.5
D3
D
Weight
200 320 10.0kg
Appendix 5 Explanation of Large Capacity Spindle Unit Specifications
7. Heating value
(1) Power supply unit
(2) Spindle drive unit
Model
Heating value (W)
Model
Heating value (W)
B-CVE-370
400
B-SP-370
850
B-CVE-450
500
B-SP-450
1000
B-CVE-550
600
B-SP-550
1200
Note 1) The heating value is the value at the continuous rated output.
Note 2) Use the following expressions as a guide for the heating value outside the unit when installing
in an enclosed structure.
Unit
Heating value outside unit
B-CVE-370
Heating value outside unit = (B-CVE heating value – 15) × 0.75
B-CVE-450,550
Heating value outside unit = (B-CVE heating value – 30) × 0.75
B-SP-370,450,550
Heating value outside unit = (B-SP heating value – 40) × 0.75
8. Selection of power capacity
The power capacity required for the power supply unit is shown below.
Power supply unit model
Power capacity (kVA)
B-CVE-370
54
B-CVE-450
63
B-CVE-550
77
9. Selecting of wire size
(1) Recommended power lead-in wire size
Select the wire size based on the power supply unit capacity as shown below regardless of the motor
type.
Power supply unit model
Recommended power-lead-in
wire size
B-CVE-370
B-CVE-450
B-CVE-550
HIV50mm
2
HIV60mm
2
HIV80mm
2
(2) Recommended wire size for spindle motor output wire
Select the wire size based on the spindle drive unit capacity as shown below regardless of the motor
type.
Spindle drive unit model
Recommended wire size for
spindle motor output wire
B-SP-370
B-SP-450
B-SP-550
HIV50mm
2
HIV60mm
2
HIV80mm
2
(3) L+, L– link bar wire size
Power supply unit model
L+, L– link bar wire size
B-CVE-370
B-CVE-450
B-CVE-550
HIV50mm
Dedicated link bars are enclosed as accessories (always use accessories)
Dedicated link bars are enclosed as accessories (always use accessories)
2
(4) L11, L21, MC1
Regardless of the spindle drive unit and power supply unit capacities, use an IV2mm2 or more wire
size.
AV – 8
Appendix 5 Explanation of Large Capacity Spindle Unit Specifications
10. Drive unit connection screw size
Type
B-CVE-370
L1, L2, L3
U, V, W
L+, L–
L11, L21
MC1
M8
–
M6
M4
M4
Power supply unit
B-CVE-450
Spindle drive unit
B-SP-370
B-SP-450
B-SP-550
–
–
M8
M10
M10
M10
M4
M4
–
–
B-CVE-550
Left side Right side Left side Right side
M8
–
M10
M10
–
M6
M10
M6
M4
M4
M4
M4
11. Connection of Each Unit
(1) Wiring system
The wiring system is the same as the standard MDS-A/B-SP Series (30kW or less). (Refer to the
wiring system example below.)
Note that there are restrictions to the installation and selection, so refer to the Restrictions given in
"12".
(a) When using MDS-B-CVE-370 or less
CN1B
CN4
CN1A
CN9
CN3
To terminator or
battery unit
CN9
CN6
CN8
MDS-B
-Vx
CN4
CN1B
MDS-B-CVE
–260 to 370
CN4
CN5
CN7
CN9
CN1A
MDS-B-SP(H)
–370 to 550
CN2
NC
L+
L+
L+
L–
L11 L21
U
V
L–
L11
L–
L11
L21
MC
1
W
L1
L21
L2 L3
U
MC
V
W
Contactor
AC reactor
PLG
B-AL
MAG
ENC
Spindle
motor
CB
For motor blower
CB
3ø 200VAC
50Hz
3ø 200 to 220VAC 60Hz
AV – 9
Servomotor
Appendix 5 Explanation of Large Capacity Spindle Unit Specifications
(b) When using MDS-B-CVE-450 or 550
V
CN4
CN3
CN1B
CN9
CN2
L+
L–
L–
U
CN4
Always use the link bar
enclosed with B-CVE.
CN9
CN1B
CN4
CN6
CN8
CN1A
CN9
CN5
CN7
To terminator or
battery unit
L+
L11L21
MDS-B-Vx
MDS-B-CVE-450 to 550
CN1A
MDS-B-SP(H)-370 to 550
NC
L11
L21
L11L1 MC1
W
Upper 2
step
L21L22 MC2
Lower
step
U
L1 L2 L3
V W
Contactor
AC reactor
Servomotor
B-AL
PLG
MAG
ENC
Spindle
motor
CB
For motor blower
CB
3ø 200VAC
50Hz
3ø 200 to 220VAC 60Hz
(Note 1) Connect the L11, L21 and MC1 external connections without removing the conductors
connected between L21 and L22, L22 and MC2, and L11 and L12 of the B-CVE-450/550.
(L12, L22 and MC2 are for special specifications, and normally, the external connection is not
required.)
(Note 2) Always connect the contactor to MC1 so that it can be controlled with the drive unit's internal
signal. The power supply unit could be damaged if the contactor is turned ON and OFF with a
separate user-prepared sequence.
AV – 10
Appendix 5 Explanation of Large Capacity Spindle Unit Specifications
12. Restrictions
(1) Installation
Always install the B-SP-370/450/550 to the left of the B-CVE-260 to 550.
When using B-CVE-450/550, always use the enclosed link bar to connect L+ and L– on the
B-SP-370/450/550.
(a) Layout when connecting only one spindle drive unit to power supply unit
Install the B-CVE-260 to 370/450/550 to the right, and the B-SP-370/450/550 to the left.
Always cut the panel according to the panel cut dimension drawings shown in "5".
<Refer to Example 1.>
(b) Layout when connecting multiple drive units to a large capacity power supply unit
The following number of servo/spindle drive units can be additionally connected.
• When B-CVE-450 and B-SP-370 are combined, 9kW (=45kW–37kW+1kW) worth of units.
• When B-CVE-550 and B-SP-450 are combined, 11kW (=55kW–45kW+1kW) worth of units.
• When B-CVE-450 and B-SP-370 are combined, 19kW (=55kW–37kW+1kW) worth of units.
In this case, install the B-SP-370/450 to the left of B-CVE-450/550 as shown in the panel cut
dimension drawings in "5". Install the additional drive units to the right of the B-CVE-450/
550.
If the spindle motor output differs from the spindle drive unit output, the above, excluding the layout,
may not always apply. (This is because the power supply unit output is determined by the motor
output.)
<Refer to Example 2.>
(2) Selection
(a) When using the B-CVE-450/550, one of the B-SP-370/450/550 units must be selected for the drive
units connected to this power supply unit.
Only one B-SP-370/450/550 can be connected to one B-CVE-450/550.
(b) When using B-SP-370/450/550, the following power supply unit must be selected.
• When using B-SP-370: Select B-CVE-260 or more
• When using B-SP-450: Select B-CVE-300 or more
• When using B-SP-550: Select B-CVE-370 or more
Note that if the total of the servo/spindle motor output corresponds to the above power supply unit
with the normal selection method, that capacity power supply unit can be selected.
Example 3)
When using B-SP-370
When total of servo/spindle motor output is 23kW or less: Select B-CVE-260
When total of servo/spindle motor output is 23.1kW or more:
Select power supply unit selected with normal selection method.
Example 4)
When using B-SP-450
When total of servo/spindle motor output is 27kW or less: Select B-CVE-300
When total of servo/spindle motor output is 27.1kW or more:
Select power supply unit selected with normal selection method.
Example 5)
When using B-SP-550
When total of servo/spindle motor output is 31kW or less: Select B-CVE-370
When total of servo/spindle motor output is 31.1kW or more:
Select power supply unit selected with normal selection method.
AV – 11
Appendix 5 Explanation of Large Capacity Spindle Unit Specifications
<Example 1>
<Example 2>
SP-450
CVE-450
SP-370
CVE-450
V1-45×2
13. Parameters
The parameters added and changed from the 30kW or less drive unit are shown below. The parameters
other than those shown below are the same as the 30kW or less capacity. Refer to the "AC Servo/Spindle
MDS-A Series/B Series Specifications Manual" (BNP-B3759) for details.
No.
Abbrev.
SP039
ATYP
SP041
PTYP
Details
Select the capacity of the drive unit to be used.
Setting
value
Drive unit type
000D
MDS-B-SP-370
000E
MDS-B-SP-450
0010
MDS-B-SP-550
Select the capacity of the power supply unit to be used.
Setting
value
Power supply unit type
0126
MDS-B-CVE-260
0130
MDS-B-CVE-300
0137
MDS-B-CVE-370
0145
MDS-B-CVE-450
0155
MDS-B-CVE-550
Note 1)
TYP
HEX
setting
HEX
setting
When using the external emergency stop function, add 40 to
the above setting value.
Example) When using external emergency stop function
with B-CVE-450
0145+0040=0185
14. Precautions
(1) After turning the power OFF, wait at least 15 seconds before turning it ON again.
If the power is turned ON within 15 seconds, the drive unit's control power may not start up correctly.
AV – 12
Revision history
SubNo.
A
Date of revision
Revision details
December 2000
First edition created.
April 2001
Revised errors.
Changed outside dimension of AC reactor.
Revised outside dimension of HA053N.
C
March 2002
• Contents of "MDS-B/C1-SPM Series Specifications and Instruction Manual
(Provisional Version) BNP-B3979E" combined with "MDS-C1 Series
Specifications Manual BNP-C3000".
• Corrections made to match level with "MDS -C1 Series Specifications
Manual BNP-C3000".
• Design of the cover and the back cover were changed.
• Place of contact on back cover corrected.
• MODEL, MODEL CODE, and Manual No. were added on the back cover.
Notice
Every effort has been made to keep up with software and hardware revisions in the
contents described in this manual. However, please understand that in some
unavoidable cases simultaneous revision is not possible.
Please contact your Mitsubishi Electric dealer with any questions or comments
regarding the use of this product.
Duplication Prohibited
This instruction manual may not be reproduced in any form, in part or in whole,
without written permission from Mitsubishi Electric Corporation.
 2002 MITSUBISHI ELECTRIC CORPORATION
ALL RIGHTS RESERVED
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertising