Mitsubishi Electronics Engraver MDS-R Instruction manual

MELDAS is a registered trademark of Mitsubishi Electric Corporation.
Other company and product names that appear in this manual are trademarks or registered
trademarks of their respective companies.
Introduction
Thank you for selecting the Mitsubishi numerical control unit.
This instruction manual describes the handling and caution points for using this AC
servo/spindle.
Incorrect handling may lead to unforeseen accidents, so always read this instruction
manual thoroughly to ensure correct usage.
Make sure that this instruction manual is delivered to the end user.
Always store this manual in a safe place.
In order to confirm if all function specifications described in this manual are applicable,
refer to the specifications for each CNC.
Notes on Reading This Manual
(1) Since the description of this specification manual deals with NC in general, for the
specifications of individual machine tools, refer to the manuals issued by the
respective machine manufacturers. The "restrictions" and "available functions"
described in the manuals issued by the machine manufacturers have precedence
to those in this manual.
(2) This manual describes as many special operations as possible, but it should be
kept in mind that items not mentioned in this manual cannot be performed.
Precautions for safety
Please read this manual and auxiliary documents before starting installation, operation,
maintenance or inspection to ensure correct usage. Thoroughly understand the device, safety
information and precautions before starting operation.
The safety precautions in this instruction manual are ranked as "WARNING" and "CAUTION".
DANGER
When there is a potential risk of fatal or serious injuries if
handling is mistaken.
WARNING
When a dangerous situation, or fatal or serious injuries may
occur if handling is mistaken.
CAUTION
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 signs indicating prohibited and mandatory matters are explained below.
Indicates a prohibited matter. For example, "Fire Prohibited"
is indicated as
.
Indicates a mandatory matter. For example, grounding is
.
indicated as
After reading this specifications and instructions manual, store it where the user can access it
easily for reference.
The numeric control unit is configured of the control unit, operation board, servo drive unit,
spindle drive unit, power supply, servomotor and spindle motor, etc.
In this section "Precautions for safety", the following items are generically called the "motor".
• Servomotor
• Linear servomotor
• Spindle motor
In this section "Precautions for safety", the following items are generically called the "unit".
• Servo drive unit
• Spindle drive unit
• Power supply unit
• Scale interface unit
• Magnetic pole detection unit
POINT
Important matters that should be understood for operation of this machine
are indicated as a POINT 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 and connector even when the power is OFF unless carrying
out wiring work or periodic inspections. The inside of the units is charged, and can cause
electric shocks.
Since the high voltage is supplied to the main circuit connector while the power is ON or
during operation, do not touch the main circuit connector with an adjustment screwdriver or
the pen tip. Failure to observe this could lead to electric shocks.
Wait at least 15 minutes after turning the power OFF, confirm that the CHARGE lamp has
gone out, and check the voltage between P and N terminals with a tester, etc., before starting
wiring, maintenance or inspections. Failure to observe this could lead to electric shocks.
Ground the unit and motor following the standards set forth by each country.
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.
2. Injury prevention
The linear servomotor uses a powerful magnet on the secondary side, and could adversely
affect pacemakers, etc.
During installation and operation of the machine, do not place portable items that could
malfunction or fail due to the influence of the linear servomotor's magnetic force.
Take special care not to pinch fingers, etc., when installing (and unpacking) the linear
servomotor.
In the system where the optical communication with CNC is executed, do not see directly the
light generated from CN1A/CN1B connector of drive unit or the end of cable. When the light
gets into eye, you may feel something is wrong for eye.
(The light source of optical communication corresponds to class1 defined in JISC6802 or
IEC60825-1.)
CAUTION
1. Fire prevention
Install the units, motors and regenerative resistor on non-combustible material. Direct
installation on combustible material or near combustible materials could lead to fires.
Always install a circuit protector and contactor on the servo drive unit power input as explained
in this manual. Refer to this manual and select the correct circuit protector and contactor. An
incorrect selection could result in fire.
Shut off the power on the unit side if a fault occurs in the units. Fires could be caused if a large
current continues to flow.
When using a regenerative resistor, provide a sequence that shuts off the power with the
regenerative resistor's error signal. The regenerative resistor could abnormally overheat and
cause a fire due to a fault in the regenerative transistor, etc.
The battery unit could heat up, ignite or rupture if submerged in water, or if the poles are
incorrectly wired.
Cut off the main circuit power with the contactor when an alarm or emergency stop occurs.
2. Injury prevention
Do not apply a voltage other than that specified in this 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 radiation fin on unit back face, regenerative resistor or motor, etc., or place
parts (cables, etc.) while the power is turned ON or immediately after turning the power OFF.
These parts may reach high temperatures, and can cause burns or part damage.
Structure the cooling fan on the unit back face, etc., etc so that it cannot be touched after
installation. Touching the cooling fan during operation could lead to injuries.
CAUTION
3. Various precautions
Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and
electric shocks, etc.
(1) Transportation and installation
Correctly transport the product according to its weight.
Use the motor's hanging bolts only when transporting the motor. Do not transport the
machine when the motor is installed on the machine.
Do not stack the products above the tolerable number.
Follow this manual and install the unit or motor in a place where the weight can be borne.
Do not get on top of or place heavy objects on the unit.
Do not hold the cables, axis or detector when transporting the motor.
Do not hold the connected wires or cables when transporting the units.
Do not hold the front cover when transporting the unit. The unit could drop.
Always observe the installation directions of the units or motors.
Secure the specified distance between the units and control panel, or between the servo drive
unit and other devices.
Do not install or run a unit or motor that is damaged or missing parts.
Do not block the intake or exhaust ports of the motor provided with a cooling fan.
Do not let foreign objects enter the units or motors. 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 units and motors are precision devices, so do not drop them or apply strong impacts to
them.
CAUTION
Store and use the units under the following environment conditions.
Environment
Ambient
temperature
Ambient
humidity
Atmosphere
Altitude
Vibration/impact
Unit
Motor
Operation: 0 to 55°C (with no freezing),
Operation: 0 to 40°C (with no freezing),
Storage / Transportation: -15°C to 70°C
(Note 2)
Storage: -15°C to 70°C
(with no freezing)
(with no freezing)
Operation: 90%RH or less
Operation: 80%RH or less
(with no dew condensation)
(with no dew condensation),
Storage / Transportation: 90%RH or less
Storage: 90%RH or less
(with no dew condensation)
(with no dew condensation)
Indoors (no direct sunlight)
With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles
Operation/Storage: 1000 meters or less above
Operation: 1000 meters or less above sea level,
sea level,
Transportation: 13000 meters or less above sea Storage: 10000 meters or less above sea level
level
According to each unit or motor specification
(Note 1) For details, confirm each unit or motor specifications in addition.
(Note 2) -15°C to 55°C for linear servomotor.
Securely fix the servomotor to the machine. Insufficient fixing could lead to the servomotor
slipping off during operation.
Always install the servomotor with reduction gear in the designated direction. Failure to do so
could lead to oil leaks.
Structure the rotary sections of the motor so that it can never be touched during operation.
Install a cover, etc., on the shaft.
When installing a coupling to a servomotor shaft end, do not apply an impact by hammering,
etc. The detector could be damaged.
Do not apply a load exceeding the tolerable load onto the servomotor shaft. The shaft could
break.
Store the motor in the package box.
When inserting the shaft into the built-in IPM motor, do not heat the rotor higher than 130°C.
The magnet could be demagnetized, and the specifications characteristics will not be
ensured.
Always use a nonmagnetic tool (explosion-proof beryllium copper alloy safety tool: NGK
Insulators, etc.) when installing the linear servomotor.
Always provide a mechanical stopper on the end of the linear servomotor's travel path.
If the unit has been stored for a long time, always check the operation before starting actual
operation. Please contact the Service Center, Service Station, Sales Office or delayer.
CAUTION
(2) Wiring
Correctly and securely perform the wiring. Failure to do so could lead to abnormal operation of
the motor.
Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of
the drive unit.
Correctly connect the output side of the drive unit (terminals U, V, W). Failure to do so could
lead to abnormal operation of the motor.
When using a power regenerative power supply unit, always install an AC reactor for each
power supply unit.
In the main circuit power supply side of the unit, always install an appropriate circuit protector
or contactor for each unit. Circuit protector or contactor cannot be shared by several units.
Always connect the motor to the drive unit's output terminals (U, V, W).
Do not directly connect a commercial power supply to the servomotor. Failure to observe this
could result in a fault.
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 such as
contractor and motor brake output, etc.
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.
Servodrive unit
Servodrive unit
COM
(24VDC)
Control output
signal
COM
(24VDC)
RA
Control output
signal
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 instruction manual, always ground the cable with
a cable clamp, etc.
Always separate the signals wires from the drive wire and power line.
Use wires and cables that have a wire diameter, heat resistance and flexibility that conforms to
the system.
CAUTION
(3) Trial operation and adjustment
Check and adjust each program and parameter before starting operation. Failure to do so could
lead to unforeseen operation of the machine.
Do not make remarkable adjustments and changes of parameter as the operation could
become unstable.
The usable motor and unit combination is predetermined. Always check the models before
starting trial operation.
If the axis is unbalanced due to gravity, etc., balance the axis using a counterbalance, etc.
The linear servomotor does not have a stopping device such as magnetic brakes. Install a
stopping device on the machine side.
(4) Usage methods
In abnormal state, 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 unit
or motor.
Do not disassemble or repair this product.
Never make modifications.
When an alarm occurs, the machine will start suddenly if an alarm reset (RST) is carried out
while an operation start signal (ST) is being input. Always confirm that the operation signal is
OFF before carrying out an alarm reset. Failure to do so could lead to accidents or injuries.
Reduce magnetic damage by installing a noise filter. The electronic devices used near the
unit could be affected by magnetic noise. Install a line noise filter, etc., if there is a risk of
magnetic noise.
Use the unit, motor and regenerative resistor with the designated combination. Failure to do so
could lead to fires or trouble.
The brake (magnetic brake) of 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, the machine
construction (when ball screw and servomotor are coupled via a timing belt, etc.) or the
magnetic brake’s failure. 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 each specification for the power (input
voltage, input frequency, tolerable sudden power failure time, etc.).
Set all bits to "0" if they are indicated as not used or empty in the explanation on the bits.
Do not use the dynamic brakes except during the emergency stop. Continued use of the
dynamic brakes could result in brake damage.
If a circuit protector for the main circuit power supply is shared by several units, the circuit
protector may not activate when a short-circuit fault occurs in a small capacity unit. This is
dangerous, so never share the circuit protector.
CAUTION
(5) Troubleshooting
If a hazardous situation is predicted during power failure or product trouble, use a servomotor
with magnetic brakes or install an external brake mechanism.
Use a double circuit configuration
that allows the operation circuit for
the magnetic brakes to be operated
even by the external emergency
stop signal.
Shut off with the servomotor
brake control output.
Servomotor
MBR
Shut off with NC brake
control PLC output.
EMG
Magnetic
brake
24VDC
Always turn the input power OFF when an alarm occurs.
If an alarm occurs, remove the cause, and secure the safety before resetting the alarm.
Never go near the machine after restoring the power after a power failure, as the machine
could start suddenly. (Design the machine so that personal safety can be ensured even if the
machine starts suddenly.)
(6) Maintenance, inspection and part replacement
Always backup the programs and parameters before starting maintenance or inspections.
The capacity of the electrolytic capacitor will drop over time due to self-discharging, etc. To
prevent secondary disasters due to failures, replacing this part every five years when used
under a normal environment is recommended. Contact the Service Center, Service Station,
Sales Office or delayer for repairs or part 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.
The heat radiating fin used in some units contains substitute Freon as the refrigerant.Take
care not to damage the heat radiating fin during maintenance and replacement work.
(7) Disposal
Do not dispose of this type of unit as general industrial waste. Always contact the Service
Center, Service Station, Sales Office or delayer for repairs or part replacement.
Do not disassemble the unit or motor.

Dispose of the battery according to local laws.
Always return the secondary side (magnet side) of the linear servomotor to the Service
Center or Service Station.
When incinerating optical communication cable, hydrogen fluoride gas or hydrogen chloride
gas which is corrosive and harmful may be generated. For disposal of optical communication
cable, request for specialized industrial waste disposal services that has incineration facility
for disposing hydrogen fluoride gas or hydrogen chloride gas.
CAUTION
(8) Transportation
The unit and motor are precision parts and must be handled carefully.
According to a United Nations Advisory, the battery unit and battery must be transported
according to the rules set forth by the International Civil Aviation Organization (ICAO),
International Air Transportation Association (IATA), International Maritime Organization
(IMO), and United States Department of Transportation (DOT), etc.
(9) General precautions
The drawings given in this 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.
 Treatment of waste 
The following two laws will apply when disposing of this product. Considerations must be made to each
law. The following laws are in effect in Japan. Thus, when using this product overseas, the local laws will
have a priority. If necessary, indicate or notify these laws to the final user of the product.
1. Requirements for "Law for Promotion of Effective Utilization of Resources"
(1) Recycle as much of this product as possible when finished with use.
(2) When recycling, often parts are sorted into steel scraps and electric parts, etc., and sold to scrap
contractors. Mitsubishi recommends sorting the product and selling the members to appropriate
contractors.
2. Requirements for "Law for Treatment of Waste and Cleaning"
(1) Mitsubishi recommends recycling and selling the product when no longer needed according to
item (1) above. The user should make an effort to reduce waste in this manner.
(2) When disposing a product that cannot be resold, it shall be treated as a waste product.
(3) The treatment of industrial waste must be commissioned to a licensed industrial waste treatment
contractor, and appropriate measures, including a manifest control, must be taken.
(4) Batteries correspond to "primary batteries", and must be disposed of according to local disposal
laws.
Disposal
(Note)
This symbol mark is for EU countries only.
This symbol mark is according to the directive 2006/66/EC Article 20 Information for endusers and Annex II.
Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and
components which can be recycled and/or reused.
This symbol means that batteries and accumulators, at their end-of-life, should be disposed of
separately from your household waste.
If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the
battery or accumulator contains a heavy metal at a certain concentration. This will be indicated as
follows:
Hg: mercury (0,0005%), Cd: cadmium (0,002%), Pb: lead (0,004%)
In the European Union there are separate collection systems for used batteries and accumulators.
Please, dispose of batteries and accumulators correctly at your local community waste collection/
recycling centre.
Please, help us to conserve the environment we live in!
本製品の取扱いについて
( 日本語 /Japanese)
本製品は工業用 ( クラス A) 電磁環境適合機器です。販売者あるいは使用者はこの点に注意し、住商業環境以外で
の使用をお願いいたします。
Handling of our product
(English)
This is a class A product. In a domestic environment this product may cause radio interference in which case the
user may be required to take adequate measures.
본 제품의 취급에 대해서
( 한국어 /Korean)
이 기기는 업무용 (A 급 ) 전자파적합기기로서 판매자 또는 사용자는 이 점을 주의하시기 바라며 가정외의 지역에
서 사용하는 것을 목적으로 합니다 .
CONTENTS
1. Introduction
1-1 System configuration ............................................................................................................................... 1-2
1-2 Explanation of type .................................................................................................................................. 1-3
1-2-1 Servomotor type......................................................................................................................... 1-3
1-2-2 Servo drive unit type .................................................................................................................. 1-4
2. Specifications
2-1 Servomotor .............................................................................................................................................. 2-2
2-1-1 Specifications list ....................................................................................................................... 2-2
2-1-2 Torque characteristics................................................................................................................ 2-3
2-1-3 Outline dimension drawings....................................................................................................... 2-4
2-2 Servo drive unit ......................................................................................................................................2-49
2-2-1 Installation environment conditions.......................................................................................... 2-49
2-2-2 Specifications list ..................................................................................................................... 2-49
2-2-3 Outline dimension drawings..................................................................................................... 2-50
2-2-4 Explanation of each part .......................................................................................................... 2-54
3. Characteristics
3-1 Drive unit characteristics ......................................................................................................................... 3-2
3-1-1 Heating value ............................................................................................................................. 3-2
3-1-2 Overload protection characteristics ........................................................................................... 3-3
3-2 Servomotor .............................................................................................................................................. 3-7
3-2-1 Shaft characteristics................................................................................................................... 3-7
3-2-2 Magnetic brake .......................................................................................................................... 3-8
3-2-3 Dynamic brake characteristics................................................................................................. 3-11
4. Dedicated Options
4-1 Regenerative option................................................................................................................................. 4-2
4-1-1 Regenerative resistor unit.......................................................................................................... 4-4
4-1-2 Regenerative resistor................................................................................................................. 4-6
4-2 Machine side detector ............................................................................................................................. 4-8
4-3 Battery and terminator option .................................................................................................................. 4-9
4-3-1 Terminator (A-TM) ..................................................................................................................... 4-9
4-3-2 Battery (ER6) ........................................................................................................................... 4-10
4-3-3 Battery unit (MDS-A-BT) .......................................................................................................... 4-11
4-4 Relay terminal block (MR-J2CN3TM) ...................................................................................................4-12
4-5 Cables and connectors..........................................................................................................................4-13
4-5-1 Cable connection diagram ....................................................................................................... 4-13
4-5-2 Cable and connector options ................................................................................................... 4-14
5. Peripheral Devices
5-1 Selecting the wire size............................................................................................................................. 5-2
5-1-1 Example of wires by unit............................................................................................................ 5-2
5-2 Selection of circuit protector and contactor............................................................................................. 5-4
5-2-1 Selection of circuit protector ...................................................................................................... 5-4
5-2-2 Selection of contactor ................................................................................................................ 5-5
5-3 Selection of earth leakage breaker ......................................................................................................... 5-6
5-4 Selection of control power supply ........................................................................................................... 5-7
5-5 Noise filter ................................................................................................................................................ 5-8
5-6 Surge absorber ........................................................................................................................................ 5-9
5-7 Relay ......................................................................................................................................................5-10
6. Installation
6-1 Installing the servomotor ......................................................................................................................... 6-2
6-1-1 Environmental conditions........................................................................................................... 6-2
6-1-2 Vibration-resistance strength ..................................................................................................... 6-2
6-1-3 Precautions for mounting load (Preventing impact on shaft)..................................................... 6-3
6-1-4 Installation direction ................................................................................................................... 6-3
6-1-5 Oil and waterproofing measures................................................................................................ 6-4
6-1-6 Cable stress ............................................................................................................................... 6-5
6-2 Installation of the units ............................................................................................................................. 6-6
6-2-1 Environmental conditions........................................................................................................... 6-6
6-2-2 Installation direction and clearance ........................................................................................... 6-7
6-2-3 Prevention of foreign matter entry ............................................................................................. 6-9
6-2-4 Panel installation hole machining drawings (Panel cut drawings)............................................. 6-9
6-2-5 Heating value ........................................................................................................................... 6-10
6-2-6 Heat radiation countermeasures.............................................................................................. 6-11
6-3 Noise measures.....................................................................................................................................6-14
7. Wiring and Connection
7-1 Part system connection diagram............................................................................................................. 7-3
7-2 Main circuit and control circuit connectors.............................................................................................. 7-4
7-2-1 Connector pin assignment ......................................................................................................... 7-4
7-2-2 Main circuit and control circuit connector signal names and applications ................................. 7-5
7-3 NC and drive unit connection .................................................................................................................. 7-6
7-4 Motor and detector connection................................................................................................................ 7-7
7-4-1 Connection of servomotor HF Series......................................................................................... 7-7
7-5 Connection of main circuit power supply ..............................................................................................7-10
7-6 Connection of regenerative resistor ......................................................................................................7-11
7-6-1 Connection of external option regeneration resistance unit .................................................... 7-11
7-6-2 Connection of external regenerative resistor........................................................................... 7-12
7-7 Wiring of contactors ...............................................................................................................................7-14
7-7-1 Contactor control...................................................................................................................... 7-14
7-7-2 Contactor control signal (MC) output circuit............................................................................. 7-15
7-7-3 Contactor power ON sequences.............................................................................................. 7-16
7-7-4 Contactor shutoff sequences ................................................................................................... 7-16
7-7-5 Monitor of contactor operation ................................................................................................. 7-17
7-8 Wiring of the motor brake ......................................................................................................................7-18
7-8-1 Motor brake control signal (MBR) output circuit ...................................................................... 7-18
7-8-2 Motor brake release sequence ................................................................................................ 7-19
7-8-3 Control during the servo OFF command ................................................................................. 7-19
7-8-4 Operation sequences when an emergency stop occurs.......................................................... 7-19
7-9 Wiring of an external emergency stop ..................................................................................................7-20
7-9-1 External emergency stop setting ............................................................................................. 7-20
7-9-2 External emergency stop signal (EMGX) input circuit ............................................................. 7-21
7-9-3 External emergency stop operation sequence ........................................................................ 7-22
8. Setup
8-1 Servo drive unit initial settings................................................................................................................. 8-2
8-1-1 Setting the rotary switch ............................................................................................................ 8-2
8-1-2 Transition of LED display after power is turned ON .................................................................. 8-3
8-2 Setting the initial parameters................................................................................................................... 8-4
8-2-1 Setting the standard parameters ............................................................................................... 8-4
8-2-2 Limitations to electronic gear setting value................................................................................ 8-8
8-2-3 Standard parameter list according to servomotor...................................................................... 8-9
8-3 List of parameters ..................................................................................................................................8-13
9. Adjustment
9-1 Servo adjustment data output function (D/A output) .............................................................................. 9-2
9-1-1 D/A output specifications ........................................................................................................... 9-2
9-1-2 Setting the output data............................................................................................................... 9-2
9-1-3 Setting the output magnification ................................................................................................ 9-3
9-1-4 Current feedback analog output function................................................................................... 9-3
9-2 Gain adjustment....................................................................................................................................... 9-4
9-2-1 Current loop gain ....................................................................................................................... 9-4
9-2-2 Speed loop gain ......................................................................................................................... 9-4
9-2-3 Position loop gain....................................................................................................................... 9-7
9-3 Characteristics improvement................................................................................................................... 9-9
9-3-1 Optimal adjustment of cycle time............................................................................................... 9-9
9-3-2 Vibration suppression measures ............................................................................................. 9-12
9-3-3 Improving the cutting surface precision ................................................................................... 9-16
9-3-4 Improvement of protrusion at quadrant changeover................................................................ 9-19
9-3-5 Improvement of overshooting .................................................................................................. 9-24
9-3-6 Improvement of characteristics during acceleration/deceleration ........................................... 9-26
9-4 Settings for emergency stop..................................................................................................................9-29
9-4-1 Deceleration control ................................................................................................................. 9-29
9-4-2 Vertical axis drop prevention control........................................................................................ 9-31
9-4-3 Vertical axis pull up control ...................................................................................................... 9-33
10. Troubleshooting
10-1 Points of caution and confirmation......................................................................................................10-2
10-2 Troubleshooting at start up..................................................................................................................10-3
10-3 List of unit protection functions............................................................................................................10-4
10-3-1 List of alarms.......................................................................................................................... 10-4
10-3-2 List of warnings ...................................................................................................................... 10-6
10-4 Troubleshooting according to alarm and warning number.................................................................10-7
10-4-1 Alarms.................................................................................................................................... 10-7
10-4-2 Warning................................................................................................................................ 10-18
10-4-3 Parameter No. during initial parameter error ....................................................................... 10-20
11. Inspection
11-1 Inspections...........................................................................................................................................11-2
11-2 Service parts ........................................................................................................................................11-2
Appendix 1. Cable and Connector Specifications
Appendix 1-1 Selection of cable ................................................................................................................. A1-2
Appendix 1-1-1 Cable wire and assembly.........................................................................................A1-2
Appendix 1-2 Cable connection diagram ................................................................................................... A1-4
Appendix 1-3 Connector outline dimension drawings ............................................................................... A1-8
Appendix 1-4 Cable and connector assembly ......................................................................................... A1-14
Appendix 1-4-1 CM10-SP**S plug connector .................................................................................A1-14
Appendix 1-4-2 CM10-AP**S Angle Plug Connector......................................................................A1-21
Appendix 2. Selection
Appendix 2-1 Selection of servomotor capacity......................................................................................... A2-2
Appendix 2-1-1 Load inertia ratio ......................................................................................................A2-2
Appendix 2-1-2 Short time characteristics ........................................................................................A2-2
Appendix 2-1-3 Continuous characteristics.......................................................................................A2-3
Appendix 2-2 Selecting the regenerative resistor ...................................................................................... A2-5
Appendix 2-2-1 Calculating the regenerative energy........................................................................A2-5
Appendix 2-2-2 Calculating the positioning frequency......................................................................A2-8
Appendix 2-3 Example of servo selection.................................................................................................. A2-9
Appendix 2-3-1 Motor selection calculation ......................................................................................A2-9
Appendix 2-3-2 Regenerative resistor selection calculation ...........................................................A2-12
Appendix 2-3-3 Servo selection results...........................................................................................A2-14
Appendix 2-4 Motor shaft conversion load torque ................................................................................... A2-15
Appendix 2-5 Expressions for load inertia calculation ............................................................................. A2-16
Appendix 3. Compliance with European EC Directives
Appendix 3-1 Compliance to EC Directives ............................................................................................... A3-2
Appendix 3-1-1 European EC Directives ..........................................................................................A3-2
Appendix 3-1-2 Cautions for EC Directive compliance .....................................................................A3-2
Appendix 4. EMC Installation Guidelines
Appendix 4-1 Introduction........................................................................................................................... A4-2
Appendix 4-2 EMC instructions .................................................................................................................. A4-2
Appendix 4-3 EMC measures..................................................................................................................... A4-3
Appendix 4-4 Measures for panel structure ............................................................................................... A4-3
Appendix 4-4-1 Measures for control panel unit ...............................................................................A4-3
Appendix 4-4-2 Measures for door....................................................................................................A4-4
Appendix 4-4-3 Measures for operation board panel........................................................................A4-4
Appendix 4-4-4 Shielding of the power supply input section ............................................................A4-4
Appendix 4-5 Measures for various cables................................................................................................ A4-5
Appendix 4-5-1 Measures for wiring in panel....................................................................................A4-5
Appendix 4-5-2 Measures for shield treatment .................................................................................A4-5
Appendix 4-5-3 Servo/spindle motor power cable ............................................................................A4-6
Appendix 4-5-4 Servo/spindle motor feedback cable .......................................................................A4-7
Appendix 4-6 EMC countermeasure parts................................................................................................. A4-8
Appendix 4-6-1 Shield clamp fitting...................................................................................................A4-8
Appendix 4-6-2 Ferrite core...............................................................................................................A4-9
Appendix 4-6-3 Power line filter ......................................................................................................A4-10
Appendix 4-6-4 Surge protector ......................................................................................................A4-15
Appendix 5. Instruction Manual for Compliance with UL/c-UL Standard
Appendix 5-1 Operation surrounding air ambient temperature ................................................................. A5-2
Appendix 5-2 Notes for AC servo system .................................................................................................. A5-2
Appendix 5-2-1 General Precaution..................................................................................................A5-2
Appendix 5-2-2 Installation................................................................................................................A5-2
Appendix 5-2-3 Short-circuit ratings..................................................................................................A5-2
Appendix 5-2-4 Peripheral devices ...................................................................................................A5-2
Appendix 5-2-5 Field Wiring Reference Table for Input and Output.................................................A5-2
Appendix 5-2-6 Motor Over Load Protection.....................................................................................A5-2
Appendix 5-2-7 Flange of servo motor..............................................................................................A5-2
Appendix 5-3 AC Servo/Spindle System Connection................................................................................ A5-3
Appendix 6. Transportation Restrictions for Lithium Batteries
Appendix 6-1 Restriction for packing.......................................................................................................... A6-2
Appendix 6-1-1 Target products........................................................................................................A6-2
Appendix 6-1-2 Handling by user......................................................................................................A6-3
Appendix 6-1-3 Reference ................................................................................................................A6-4
Appendix 6-2 Issuing domestic law of the United State for primary lithium battery transportation .......... A6-5
Appendix 6-2-1 Outline of regulation.................................................................................................A6-5
Appendix 6-2-2 Target products........................................................................................................A6-5
Appendix 6-2-3 Handling by user......................................................................................................A6-5
Appendix 6-2-4 Reference ................................................................................................................A6-5
Appendix 6-3 Example of hazardous goods declaration list ..................................................................... A6-6
Appendix 7. Compliance with Restriction in China
Appendix 7-1 Compliance with China Compulsory Product Certification System.................................... A7-2
Appendix 7-1-1 Outline of China Compulsory Product Certification System ....................................A7-2
Appendix 7-1-2 First Catalogue of Products subject to Compulsory Product Certification...............A7-3
Appendix 7-1-3 Precautions for Shipping Products ..........................................................................A7-3
Appendix 7-1-4 Application for Exemption ........................................................................................A7-4
Appendix 7-1-5 Mitsubishi NC Product Subject to/Not Subject to CCC Certification .......................A7-5
Appendix 7-2 Response to the China environment restrictions ................................................................ A7-6
Appendix 7-2-1 Outline of the law on the pollution prevention and control for electronic information
products ..................................................................................................................A7-6
Appendix 7-2-2 Response to the drive product for Mitsubishi NC ....................................................A7-6
Appendix 7-2-3 Indication based on "Pollution suppression marking request for electronic
information product" ................................................................................................A7-7
Appendix 8. Old motor specifications
Appendix 8-1 Servomotor type ................................................................................................................... A8-2
Appendix 8-2 Specifications list.................................................................................................................. A8-3
Appendix 8-3 Torque characteristics.......................................................................................................... A8-4
Appendix 8-4 Unit outline dimension drawing............................................................................................ A8-5
Appendix 8-5 Overload protection characteristics ................................................................................... A8-17
Appendix 8-6 Magnetic brake characteristics .......................................................................................... A8-19
Appendix 8-7 Dynamic brake characteristics........................................................................................... A8-20
Appendix 8-8 Cables and connectors ...................................................................................................... A8-22
Appendix 8-8-1 List of cables and connectors ................................................................................A8-22
Appendix 8-8-2 Cable connection diagram .....................................................................................A8-26
Appendix 8-8-3 Connector outline dimension drawings..................................................................A8-28
1. Introduction
1-1 System configuration.......................................................................................................................... 1-2
1-2 Explanation of type............................................................................................................................. 1-3
1-2-1 Servomotor type .......................................................................................................................... 1-3
1-2-2 Servo drive unit type.................................................................................................................... 1-4
1-1
1. Introduction
1-1 System configuration
Servo drive unit
(MDS-R-V1)
Servo drive unit
(MDS-R-V2)
Battery unit
(MDS-A-BT)
Terminator
(A-TM)
From NC
Regenerative
resistor unit
Regenerative
resistor unit
G3 C
To 3rd axis
servomotor
G4
G4
G3 C
P
To 24V
power supply
P
To 24V
power supply
Grounding
Grounding
Contactor
(Note)
Prepared by
user
1st axis
servomotor
Contactor
(Note)
Prepared by
user
To 3rd axis
servomotor
Circuit
protector
(Note)
Prepared by
user
Circuit
protector
(Note)
Prepared by
user
2nd axis
servomotor
3-phase 200VAC
power supply
1-2
3-phase 200VAC
power supply
1. Introduction
1-2 Explanation of type
1-2-1 Servomotor type
HF Series
MITSUBISHI
AC
Motor t ype
INPUT 3AC 155 V xxx A
OUTPUT x. xkW I EC 34 -1 1994
3000r/min
SER .N o.xxxxxxxx※ D AT E 04-1
Rated output
Rated rotation speed
Serial No .
MITS UBISH I ELECTR IC
MA DE IN JAPA N
00 395 29 8- 01
Motor rating nameplate
HF (1)
(2) (3)
-
(4)
Symbol
A48
Detection method
Resolution
260,000p/rev
Absolute position
A51
1,000,000p/rev
Symbol
Shaft end structure
S
Straight
T
Taper
Symbol
(Note) HF204, 302, 303, 354 are compatible only with
the straight axis specifications.
Magnetic brakes
None
None
B
With magnetic brakes
HF□medium-inertia
HF□medium-inertia
series
series
series
Max. 4000r/min
Max. 3000r/min
Max. 2000r/min
Symbol
Rating
Symbol
Rating
HF□medium-inertia
Symbol
Rating
75
0.4 kW
54
0.5 kW
142
1.4 kW
105
0.75kW
104
1.0 kW
302
3.0 kW
154
1.5 kW
224
2.2 kW
204
2.0 kW
354
3.5 kW
123
1.2 kW
223
2.2 kW
303
3.3 kW
1-3
1. Introduction
1-2-2 Servo drive unit type
Motor type
MITSUBISHI
TYPE
Rated input
POWER
INPUT
SERVO DRIVE UNIT
MDS-R-V1-40
1.0kW
6A
0.1A
OUTPUT 6.6A
Rated output
3PH 200-230V 50/60Hz
DC24V
3PH 155V 0-240Hz
MANUAL *BNP-C3045
Current state
S/W
BNDXXXXXXXXX
SERIAL# XXXXXXXXXXX
Serial No.
MITSUBISHI ELECTRIC CORPORATION JAPAN
X
X
X
X
H/W VER.*
DATE 03/11
X
X
X
Rating nameplate
MDS-R-
(1)
1-axis servo drive unit
(1) Motor
type
MDS-RV1-20
Unit width
60mm width
V1-40
Compatible motor HF
Drive
shaft
75
105
54
L
◎
◎
◎
90mm width
V1-80
104 154 224 204 354 123 223 303 142 302
◎
◎
L
V1-60
◎
L
Unit width
V2-2020
V2-4020
60mm width
V2-4040
V2-6040
V2-6060
V2-8040
V2-8060
V2-8080
90mm width
◎
◎
◎
◎
◎
◎
◎
L
2-axis servo drive unit
(1) Motor
type
MDS-R-
Series
Medium-inertia
Compatible motor HF
Series
Medium-inertia
Drive
shaft
75
L/M
◎
◎
◎
◎
M
◎
◎
◎
◎
105
54
104 154 224 204 354 123 223 303 142 302
◎
◎
L
◎
◎
◎
L/M
◎
◎
◎
M
◎
◎
◎
L
◎
◎
◎
◎
L/M
◎
◎
◎
◎
◎
M
◎
◎
◎
L
◎
M
◎
◎
◎
L
◎
L/M
◎
(Note)  indicates the motor corresponding to each servo drive unit.
1-4
2. Specifications
2-1 Servomotor......................................................................................................................................... 2-2
2-1-1 Specifications list......................................................................................................................... 2-2
2-1-2 Torque characteristics ................................................................................................................. 2-3
2-1-3 Outline dimension drawings ........................................................................................................ 2-4
2-2 Servo drive unit ................................................................................................................................ 2-49
2-2-1 Installation environment conditions ........................................................................................... 2-49
2-2-2 Specifications list....................................................................................................................... 2-49
2-2-3 Outline dimension drawings ...................................................................................................... 2-50
2-2-4 Explanation of each part............................................................................................................ 2-54
2-1
2. Specifications
2-1 Servomotor
2-1-1 Specifications list
HF Series
HF□□-A48/A51
4000r/min
Series
Servomotor type
Compatible servo drive
MDS-R-V1/V2unit type (Note 4)
Rated output [kW]
Rated current [A]
Continuous
Rated torque [N･m]
characteristics
Stall current [A]
Stall torque
2000r/min
Series
3000r/min Series
HF
75
HF
105
HF
54
HF
104
HF
154
HF
224
HF
204
HF
354
HF
123
HF
223
HF
303
HF
142
HF
302
20
20
20
40
60
60
60
80
20
40
60
20
40
0.4
0.75
0.5
1.0
1.5
2.2
2.0
3.5
1.2
2.2
3.0
1.4
3.0
2.2
3.7
1.9
3.5
5.3
8.5
6.9
10.3
5.2
9.0
10.7
5.2
10.9
1.27
2.39
1.59
3.18
4.77
7.0
6.37
11.1
5.7
10.5
14.3
6.7
14.3
3.2
4.6
3.6
6.5
9.9
14.5
14.8
20.8
6.4
10.2
15.8
6.4
10.9
[N･m]
2.0
3.0
2.94
5.88
8.82
12.0
13.7
22.5
7.0
12.0
22.5
11.0
20.0
Rated rotation speed
Maximum rotation speed
Maximum current
[r/min]
[r/min]
[A]
3000
3000
3000
3000
3000
3000
3000
3000
2000
2000
2000
2000
2000
13.7
17.0
15.3
25.6
42.0
45.8
45.8
59.2
15.5
29.0
45.8
15.5
29.0
Maximum torque
[N･m]
8.0
11.0
11.8
21.6
35.3
37.0
41.7
59.8
17.0
32.0
60.0
26.5
50.0
Motor inertia
[kg･cm2]
2.6
5.1
6.1
11.9
17.8
23.7
38.3
75.0
11.9
23.7
75.0
17.8
75.0
Motor inertia with brake
[kg･cm2]
2.8
5.3
8.3
14.1
20.0
25.9
48.0
84.7
14.1
25.9
84.7
20.0
84.7
4000
Maximum motor shaft conversion load
inertia rate
3000
2000
Machine tool (Compensation axis): 5 times or less of motor inertia
General machine (non-compensation axis): 10 times or less of motor inertia
A51： For high-gain 1,000,000 pulse/rev
Motor side detector resolution
A48： For general use 260,000 pulse/rev
Structure
Fully closed, natural-cooling (Protection method: IP67) (Note 3)
Ambient temperature
Operation: 0 to 40°C (non freezing), Storage: -15 to 70°C (non freezing)
Operation: 80%RH or less (non condensing),
Storage: 90%RH or less (non condensing)
Ambient humidity
Atmosphere
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Operation: 1000 meters or less above sea level,
Storage: 1000 meters or less above sea level
Environment Altitude
2
X:49m/s (5G)
Y:49m/s2 (5G)
Vibration
Mass Without/with brake
2
[kg]
2.5
/3.9
4.3
/5.7
X:24.5m/s (2.5G)
Y:24.5m/s2 (2.5G)
4.8
/6.8
6.5
/8.5
Armature insulation class
8.3
/10.3
X:24.5m/s (2.5G)
Y:49m/s2 (5G)
X:24.5m/s (2.5G)
Y:24.5m/s2 (2.5G)
X:24.5
m/s2
(2.5G)
Y:49
m/s2
(5G)
12/18
6.5
/8.5
19/25
2
10/12
19/25
2
10/12
X:24.5
m/s2
(2.5G)
Y:24.5
m/s2
(2.5G)
8.3
/10.3
X:24.5
m/s2
(2.5G)
Y:49
m/s2
(5G)
19/25
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) Use the HF motor in combination with the MDS-R Series drive unit compatible with the 200VAC input.
This motor is not compatible with the conventional MDS-B/C1/CH Series.
(Note 3) The shaft-through portion is excluded.
(Note 4) "( )" indicates the combination with the drive unit capacity of one rank up. The motor characteristics are same as the
characteristics applied when the drive unit capacity is standard.
2-2
2. Specifications
2-1-2 Torque characteristics
[ HF75 ]
[ HF105 ]
6
4
Sh ort time o pera ti on ran ge
Torque [Nm]
20
15
15
10
Short ti me ope ration ra ng e
5
2
0
0
2000
Con ti nu ous
ope ratio n rang e
0
4000
0
[ HF104 ]
[ HF154 ]
10
Torque [N m]
Torque [N m]
Sh ort time o pera ti on ran ge
1000
Short ti me ope ration ra ng e
20
0
3000
30
Sh ort ti me ope ration ra nge
20
10
0
Rotation speed [r/min]
Co ntinu ous
op eratio n ran ge
1000
2000
0
3000
0
Rotation speed [ r/min]
[ HF204 ]
1000
2000
3000
Rotation speed [r/min]
[ HF123 ]
[ HF3 54 ]
50
3000
40
Con ti nuo us
ope ration ra nge
2000
2000
[ HF224 ]
30
C ontin uou s
o pera ti on ran ge
0
1000
50
10
5
0
Rotation speed [r/min]
40
15
0
0
4000
Rotation speed [ r/min]
20
Sh ort ti me ope ration ra nge
Conti nuous operation ra nge
2000
Rotation speed [r/min]
25
10
5
C ontin uo us
o pera ti on ra nge
Tor que [N m]
Torque [Nm]
8
[ HF54 ]
20
Torque [Nm]
10
80
20
60
15
Short ti me ope ratio n rang e
20
40 Short ti me op eratio n rang e
20
10
1000
2000
0
3000
0
Rotation speed [r/min]
[ HF223 ]
2000
30
60
20
Short ti me ope ratio n rang e
10
1000
40
Short ti me ope ration ra ng e
0
2000
3000
[ HF142]
0
1000
18
Sh ort time o pe ration ra nge
12
6
C ontin uou s
o pera ti on ran ge
2000 3000
1000
Rotation speed [r/min]
30
20
Rotation speed [r/min]
0
24
Co ntin uou s
o pera ti on ran ge
0
0
3000
[ HF303 ]
80
Torque [Nm]
Torque [Nm]
1000
Rotation speed [ r/min]
40
0
Con tinu ous
op eratio n rang e
C ontin uo us
o pera ti on ra nge
Torque [Nm]
0
10 Sho rt time op eratio n rang e
5
Co ntinu ous
op eratio n rang e
0
Torque [Nm]
30
Torque [Nm]
Torque [Nm]
40
2000
3000
Rotation speed [ r/min]
0
Con ti nuo us
ope ration ra nge
0
1000
2000
Rotation speed [r/min]
[ HF302 ]
Torque [Nm]
60
40
Short ti me ope ration ra nge
20
(Note1) The characteristic value in the above graphs is a value
applied when the motor is combined with each
compatible unit.
(Note2) The above graphs show the data for the input voltage
of 200VAC. When the input voltage is 200VAC or less,
the short t ime operation range is limited.
C ontin uou s
o pera ti on ra nge
0
0
1000
2000
Rotation speed [r/min]
2-3
2. Specifications
2-1-3 Outline dimension drawings
1. Use a friction coupling (Spun ring, etc.) to connect with the load.
CAUTION
2. Attach the cannon connector facing downward to improve the splash-proof performance.
3. When hanging up a motor with hanging bolts, stick them to the bearing surface of the hanging bolts.
2-4
2. Specifications
[Unit:mm]
・HF75S-A48
3
45q
Ǿ
10
50.9
Ǿ36
25
‫غ‬90
0
88.5
7.5
Ǿ80h7
38
33
5.5
Ǿ14h6
126.5
4-Ǿ6.6 mounting hole
Use a hexagon
socket bolt.
8
11
Oil seal
Ǿ
Detector connector
13
CM10-R10P
21
Power connector
54
61
CE05-2A18-10PD
・HF75BS-A48
33
7.5
3
10
0
Detector connector
CM10-R10P
88.5
50.9
63.4
Oil seal
12.5
45q
Ǿ
Ǿ36
25
‫غ‬90
Ǿ80h7
5.5
38
Ǿ14h6
167.5
4-Ǿ6.6 mounting hole
Use a hexagon
socket bolt.
8
11
Ǿ
13
66
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
21
54
61
2-5
2. Specifications
[Unit:mm]
・HF75T-A48
44
5.5
30
7.5
3
18 12
8.9
Ǿ36
Ǿ18
A
Ǿ14
50.9
Ǿ
10
0
U nut M8x1.0
Plain washer 8
13
45q
Ǿ1
18
A
14
‫غ‬90
88.5
14
Ǿ80h7
38
4-Ǿ6.6 mounting hole
Use a hexagon
socket bolt.
M8X1.0 screw
126.5
5 -0.03
Taper 1/10
Oil seal
21
0
Detector connector
CM10-R10P
61
3.55
Power connector
CE05-2A18-10PD
54
0
5 -0.03
A-A
・HF75BT-A48
7.5
30
3
18
12
14
8.9
‫غ‬90
11
8
61
0
Power connector
CE05-2A18-10PD
54
0
5 -0.03
Ǿ36
3.55
Brake connector
CM10-R2P
21
0
5 -0.03
66
Ǿ18
A
Ǿ14
50.9
63.4
12.5
10
Ǿ
U nut M8x1.0
Plain washer 8
Taper 1/10
Oil seal
Detector connector
13
CM10-R10P
A-A
2-6
45q
Ǿ
A
38
88.5
5.5
14
4-Ǿ6.6 mounting hole
Use a hexagon
socket bolt.
Ǿ80h7
44
M8X1.0 screw
167.5
2. Specifications
[Unit:mm]
・HF75S-A51
33
5.5
7.5
3
‫ޓ‬
Ǿ
10
0
88.5
60.2
Ǿ36
25
‫غ‬90
45q
Ǿ80h7
41.5
Ǿ14h6
130
4-Ǿ6.6 mounting hole
Use a hexagon
socket bolt.
8
11
Oil seal
Ǿ
12
Detector connector
CM10-R10P
Power connector
10
CE05-2A18-10PD
21
54
61
・HF75BS-A51
33
‫غ‬90
3
60.2
63.4
Oil seal
12
Detector connector
CM10-R10P
10
69
61
12.5
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
2-7
45
11
8
Ǿ36
25
Ǿ
q‫ޓ‬
Ǿ80h7
7.5
Ǿ14h6
5.5
41.5
10
88.5
171
4-Ǿ6.6 mounting hole
Use a hexagon
socket bolt.
0
Ǿ
54
2. Specifications
[Unit:mm]
・HF75T-A51
44
5.5
14
30
3
18 12
7.5
45
Ǿ1
18
Ǿ80h7
Ǿ36
5 -0.03
Power connector
CE05-2A18-10PD
61
54
0
0
21
0
Ǿ
5 -0.03
3.55
10
Ǿ18
A
Ǿ14
60.2
Detector connector
CM10-R10P
10
U nut M8x1.0
Plain
washer 8
Taper 1/10
Oil seal
12
q‫ޓ‬
8.9
A
14
‫غ‬90
88.5
41.5
4-Ǿ6.6 mounting hole
Use a hexagon
socket bolt.
M8X1.0 screw
130
A-A
・HF75BT-A51
44
5.5
7.5
30
3
18 12
Ǿ36
Ǿ18
A
Ǿ14
60.2
63.4
10
61
54
0
5 -0.03
3.55
Power connector
CE05-A18-10PD
Plain
washer 8
Taper 1/10
Oil seal
0
10
A-A
2-8
0
Ǿ
5 -0.03
12
q‫ޓ‬
8.9
U nut M8x1.0
Detector connector
69
CM10-R10P
12.5
Brake connector
CM10-R2P
45
11
8
A
14
‫غ‬90
Ǿ
88.5
41.5
Ǿ80h7
14
4-Ǿ6.6 mounting hole
Use a hexagon
socket bolt.
M8X1.0 screw
171
2. Specifications
[Unit:mm]
・HF105S-A48
7.5
3
45q
Ǿ
10
50.9
Ǿ36
25
‫غ‬90
0
88.5
38
Ǿ80h7
33
5.5
Ǿ14h6
162.5
4-Ǿ6.6 mounting hole
Use a hexagon
socket bolt.
8
11
Oil seal
Ǿ
13
Detector connector
CM10-R10P
21
54
97
Power connector
CE05-2A18-10PD
・HF105BS-A48
203.5
4-Ǿ6.6 mounting hole
Use a hexagon
socket bolt.
33
5.5
3
10
0
Detector connector
CM10-R10P
88.5
50.9
63.4
Oil seal
12.5
45q
Ǿ
Ǿ36
25
‫غ‬90
Ǿ80h7
7.5
Ǿ14h6
38
8
11
Ǿ
13
66
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
21
54
97
2-9
2. Specifications
[Unit:mm]
・HF105T-A48
4-Ǿ6.6 mounting hole
Use a hexagon
socket bolt.
‫غ‬90
44
M8X1.0 screw
5.5
38
14
30
7.5
3
18 12
8.9
Ǿ36
Ǿ18
A
Ǿ14
50.9
Ǿ
10
0
U nut M8x1.0
Plain washer 8
Taper 1/10
13
Detector connector
CM10-R10P
Ǿ80h7
A
14
45q
Ǿ1
18
88.5
162.5
Oil seal
21
54
0
0
Power connector
CE05-2A18-10PD
5 -0.03
97
3.55
5 -0.03
A-A
・HF105BT-A48
44
5.5
7.5
30
3
18 12
8.9
Ǿ36
66
Brake connector
CM10-R2P
U nut M8x1.0
Plain
washer 8
Taper 1/10
Oil seal
21
97
Power connector
CE05-2A18-10PD
54
0
5 -0.03
A-A
2 - 10
0
Ǿ
3.55
12.5
10
0
5 -0.03
13
Ǿ18
A
Ǿ14
50.9
63.4
Detector connector
CM10-R10P
45q
11
8
A
14
‫غ‬90
Ǿ
88.5
38
Ǿ80h7
14
4-Ǿ6.6 mounting hole
Use a hexagon
socket bolt.
M8x1.0 screw
203.5
2. Specifications
[Unit:mm]
・HF105S-A51
7.5
3
60.2
10
Oil seal
12
Detector connector
CM10-R10P
Power connector
10
CE05-2A18-10PD
45
11
8
Ǿ36
25
‫غ‬90
Ǿ
q‫ޓ‬
88.5
41.5
Ǿ80h7
33
5.5
Ǿ14h6
166
4-Ǿ6.6 mounting hole
Use a hexagon
socket bolt.
0
Ǿ
21
54
97
・HF105BS-A51
7.5
3
60.2
63.4
Ǿ36
25
Oil seal
45q
11
8
‫ޓ‬
10
88.5
41.5
‫غ‬90
Ǿ
Ǿ80h7
33
5.5
Ǿ14h6
207
4-Ǿ6.6 mounting hole
Use a hexagon
socket bolt.
0
Ǿ
12
Detector connector
CM10-R10P
10
12.5
69
Brake connector
CM10-R2P
97
Power connector
CE05-2A18-10PD
2 - 11
54
2. Specifications
[Unit:mm]
・HF105T-A51
14
30
3
18 12
7.5
‫غ‬90
Ǿ1
8.9
Ǿ14
60.2
10
Ǿ
5 -0.03
97
Power connector
CE05-2A18-10PD
54
0
0
21
q
18
0
U nut M8x1.0
Plain
washer 8
Taper 1/10
Oil seal
12
Detector connector
CM10-R10P
5 -0.03
3.55
10
Ǿ18
A
Ǿ36
A
14
45
88.5
5.5
41.5
4-Ǿ6.6 mounting hole
Use a hexagon
socket bolt.
M8X1.0 screw
44
Ǿ80h7
166
A-A
・HF105BT-A51
44
5.5
7.5
30
3
18 12
11
8
Ǿ36
Ǿ18
A
Ǿ14
60.2
63.4
10
69
Brake connector
CM10-R2P
97
Power connector
CE05-2A18-10PD
Plain
washer 8
Taper 1/10
Oil seal
54
0
5 -0.03
3.55
12.5
A-A
2 - 12
0
Ǿ
0
5 -0.03
10
q‫ޓ‬
8.9
U nut M8x1.0
12
Detector connector
CM10-R10P
45
Ǿ
A
14
‫غ‬90
88.5
41.5
Ǿ80h7
14
4-Ǿ6.6 mounting hole
Use a hexagon
socket bolt.
M8x1.0 screw
207
2. Specifications
[Unit:mm]
・HF54S-A48
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
118.5
12
45q
3
Ǿ
50
5
50.9
Ǿ110h7
Ǿ24h6
16
14
13
112.5
38.2
‫غ‬130
55
5
Ǿ
Oil seal
Detector connector
CM10-R10P
20.9
Power connector
CE05-2A18-10PD
13.5
57.8
58
・HF54BS-A48
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
153
12
55
3
50
‫غ‬130
45q
Ǿ
16
5
14
13
112.5
79.9
50.9
Ǿ110h7
Ǿ24h6
43.5
5
Ǿ
Oil seal
59
Detector connector
CM10-R10P
Brake connector
CM10-R2P
20.9
57.8
Power connector
CE05-2A18-10PD
2 - 13
13.5
29
58
2. Specifications
[Unit:mm]
・HF54T-A48
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
3
28 12
25 10
Ǿ
16
5
Plain
washer 10
14
112.5
A
50.9
Ǿ16
18
45q
Ǿ110h7
12
A
38.2
‫غ‬130
58
M10X1.25 screw
118.5
5
Ǿ
13
U nut M10˜1.25
Tightening torque
23 to 30 Nm
Taper 1/10
0
Oil seal
5 -0.03
Detector connector
CM10-R10P
5 -0.03
20.9
58
4.3
0
57.8
Power connector
CE05-2A18-10PD
13.5
A-A
・HF54BT-A48
58
12
3
18
28 12
13
20.9
57.8
5
Ǿ110h7
A
0
5-0.03
4.3
A-A
2 - 14
16
5
14
Ǿ
U nut M10˜1.25
Tightening torque
23 to 30 Nm
Taper 1/10
13.5
Oil seal
0
59
Detector connector
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05
࡯2A18-10PD
45q
Ǿ
Plain
washer 10
5 -0.03
Ǿ16
50.9
79.9
A
25 10
‫غ‬130
112.5
153
43.5
M10˜1.25 screw
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
29
58
2. Specifications
[Unit:mm]
・HF54S-A51
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
122
‫غ‬130
55
41.7
12
45
3
Ǿ
16
q
‫ޓ‬
5
10
14
5
Ǿ
Oil seal
12
112.5
60.2
Ǿ110h7
Ǿ24h6
50
Detector connector
CM10-R10P
24
20.9
Power connector
CE05-2A18-10PD
13.5
57.8
58
・HF54BS-A51
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
55
Ǿ4
Ǿ24h6
50
16
10
5
14
12
24
5q
‫ޓ‬
Ǿ
79.9
60.2
‫غ‬130
3
Ǿ110h7
12
5
Ǿ
Oil seal
62
Detector connector
CM10-R10P
Brake connector
CM10-R2P
20.9
57.8
Power connector
CE05-2A18-10PD
2 - 15
29
13.5
58
112.5
156.5
47
2. Specifications
[Unit:mm]
・HF54T-A51
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
58
3
28 12
25 10
60.2
45
Ǿ
16
q
5
Ǿ110h7
A
18
A
12
Ǿ16
41.7
‫غ‬130
M10X1.25 screw
122
5
14
U nut M10˜1.25 Ǿ
Tightening torque
23 to 30 Nm
Taper 1/10
0
5 -0.03 13.5
Oil seal
10
12
Detector connector
CM10-R10P
0
5 -0.03
20.9
57.8
Power connector
CE05-2A18-10PD
4.3
24
112.5
Plain
washer 10
58
A-A
・HF54BT-A51
58
3
28
25 10
45
Ǿ
16
q‫ޓ‬
5
20.9
57.8
Power connector
CE05-2A18-10PD
0
Detector connector
CM10-R10P
Brake connector
CM10-R2P
A-A
2 - 16
79.9
14
Ǿ
0
5 -0.03
4.3
62
U nut M10˜1.25
Tightening torque
23 to 30 Nm
Taper 1/10
Oil seal
5 -0.03
12
5
Plain
washer 10
13.5
29
58
112.5
A
60.2
‫غ‬130
Ǿ110h7
A
18
10
24
12
Ǿ16
12
M10˜1.25 screw
156.5
47
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
2. Specifications
[Unit:mm]
・HF104S-A48
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
140.5
‫غ‬130
55
12
45q
3
Ǿ
50
50.9
13
5
Ǿ110h7
Ǿ24h6
16
14
112.5
38.2
5
Ǿ
Oil seal
Detector connector
CM10-R10P
20.9
Power connector
CE05-2A18-10PD
13.5
79.8
58
・HF104BS-A48
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
175
45q
3
16
5
14
13
112.5
Ǿ24h6
50.9
Ǿ
Ǿ110h7
12
50
79.9
‫غ‬130
55
43.5
5
Ǿ
Oil seal
59
Detector connector
CM10-R10P
Brake connector
CM10-R2P
20.9
79.8
Power connector
CE05-2A18-10PD
2 - 17
13.5
29
58
2. Specifications
[Unit:mm]
・HF104T-A48
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
‫غ‬130
58
3
28 12
Ǿ16
18
A
50.9
A
25 10
45q
Ǿ
16
5
Plain
washer 10
14
U nut M10˜1.25 Ǿ
Tightening torque
23 to 30 Nm
Taper 1/10
13
Detector connector
CM10-R10P
Oil seal
0
58
4.3
Power connector
CE05-2A18-10PD
0
79.8
5
13.5
5 -0.03
5 -0.03
20.9
112.5
12
Ǿ110h7
38.2
M10X1.25 screw
140.5
A-A
・HF104BT-A48
3
18
28 12
A
Ǿ16
50.9
45q
Ǿ
16
5
Plain
washer 10
14
13
59
20.9
79.8
0
5-0.03
4.3
0
Detector connector
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05
࡯2A18-10PD
U nut M10㬍1.25
Tightening torque
23 to 30 Nm
Taper 1/10
Oil seal
5 -0.03
79.9
A
25 10
‫غ‬130
A-A
2 - 18
112.5
58
12
Ǿ110h7
175
43.5
M10˜1.25 screw
4-㱢9 mounting hole
Use a hexagon
socket bolt.
5
Ǿ
13.5
29
58
2. Specifications
[Unit:mm]
・HF104S-A51
144
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
55
‫غ‬130
50
41.7
12
45
3
Ǿ
q‫ޓ‬
5
14
10
5
Ǿ
Oil seal
12
112.5
60.2
Ǿ110h7
Ǿ24h6
16
Detector connector
CM10-R10P
24
20.9
13.5
79.8
Power connector
CE05-2A18-10PD
58
・HF104BS-A51
47
12
55
50
‫غ‬130
Ǿ4
3
Ǿ
5q
5
79.9
Ǿ110h7
60.2
Ǿ24h6
16
10
14
12
5
Ǿ
Oil seal
24
62
Detector connector
CM10-R10P
Brake connector
CM10-R2P
20.9
79.8
Power connector
CE05-2A18-10PD
2 - 19
13.5
29
58
112.5
178.5
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
2. Specifications
[Unit:mm]
・HF104T-A51
144
58
3
28 12
25 10
A
60.2
‫غ‬130
45
Ǿ
16
q‫ޓ‬
5
Ǿ110h7
A
18
Ǿ16
12
41.7
M10X1.25 screw
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
10
14
U nut M10˜1.25
Ǿ
Tightening torque
23 to 30 Nm
Taper 1/10
0
5 -0.03
Oil seal
12
20.9
79.8
Power connector
CE05-2A18-10PD
5
4.3
24
0
5 -0.03
Detector connector
CM10-R10P
112.5
Plain
washer 10
13.5
58
A-A
・HF104BT-A51
58
3
25 10
45
Ǿ
q
‫ޓ‬
5
Ǿ110h7
16
20.9
79.8
Power connector
CE05-2A18-10PD
0
5 -0.03
4.3
Detector connector
CM10-R10P
Brake connector
CM10-R2P
0
A-A
2 - 20
79.9
5
14
Ǿ
62
U nut M10㬍1.25
Tightening torque
23 to 30 Nm
Taper 1/10
Oil seal
5 -0.03
12
13.5
29
58
112.5
60.2
‫غ‬130
Plain
washer 10
10
24
28 12
A
Ǿ16
18
A
12
M10˜1.25 screw
178.5
47
4-㱢9 mounting hole
Use a hexagon
socket bolt.
2. Specifications
[Unit:mm]
・HF154S-A48
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
162.5
‫غ‬130
55
12
45q
3
Ǿ
50
50.9
13
5
Ǿ110h7
Ǿ24h6
16
14
112.5
38.2
5
Ǿ
Oil seal
Detector connector
CM10-R10P
20.9
13.5
101.8
Power connector
CE05-2A18-10PD
58
・HF154BS-A48
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
197
‫غ‬130
55
12
Ǿ4
3
Ǿ
16
5q
5
Ǿ110h7
50.9
79.9
Ǿ24h6
50
14
13
112.5
43.5
5
Ǿ
Oil seal
59
Detector connector
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
20.9
101.8
2 - 21
13.5
29
58
2. Specifications
[Unit:mm]
・HF154T-A48
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
‫غ‬130
58
A
45q
Ǿ
16
5
Plain
washer 10
14
U nut M10x1.25
Tightening torque
23 to 30 Nm
Taper 1/10
Oil seal
13
Detector connector
CM10-R10P
20.9
112.5
25 10
A
28 12
M10X1.25 screw
3
18
Ǿ16
12
50.9
38.2
Ǿ110h7
162.5
5
Ǿ
13.5
101.8
Power connector
CE05-2A18-10PD
58
0
4.3
0
5 -0.03
5 -0.03
A-A
58
12
3
18 28 12
10
Ǿ
16
A
A
Ǿ16
50.9
79.9
Plain
washer 10
13
0
101.8
0
5-0.03
4.3
20.9
U nut M10x1.25
Tightening torque
23 to 30 Nm
Taper 1/10
Oil seal
5 -0.03
Detector connector
59
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05
࡯2A18-10PD
A-A
2 - 22
5
Ǿ110h7
25
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
‫غ‬130
45q
14
112.5
197
43.5
M10˜1.25 screw
・HF154BT-A48
5
Ǿ
13.5
29
58
2. Specifications
[Unit:mm]
・HF154S-A51
166
41.7
12
55
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
50
‫غ‬130
45
3
Ǿ
q
‫ޓ‬
5
14
10
5
Ǿ
Oil seal
12
112.5
60.2
Ǿ110h7
Ǿ24h6
16
Detector connector
CM10-R10P
24
20.9
13.5
101.8
Power connector
CE05-2A18-10PD
58
・HF154BS-A51
47
12
55
50
‫غ‬130
Ǿ4
3
Ǿ
5
79.9
10
14
12
24
5q
Ǿ110h7
60.2
Ǿ24h6
16
5
Ǿ
62
Detector connector
CM10-R10P
Brake connector
CM10-R2P
Oil seal
20.9
101.8
Power connector
CE05-2A18-10PD
2 - 23
13.5
29
58
112.5
200.5
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
2. Specifications
[Unit:mm]
・HF154T-A51
166
M10X1.25 screw
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
58
3
28 12
25 10
16
60.2
q
5
Ǿ110h7
A
18
45
Ǿ
A
12
Ǿ16
41.7
‫غ‬130
10
U nut M10x1.25
Tightening torque
23 to 30 Nm
Taper 1/10
Oil seal
12
Detector connector
CM10-R10P
Power connector
CE05-2A18-10PD
0
5 -0.03
20.9
101.8
5
Ǿ
0
5 -0.03 13.5
4.3
24
14
112.5
Plain
washer 10
58
A-A
58
3
A
16
5
Ǿ110h7
60.2
Plain
washer 10
20.9
101.8
5
14
Ǿ
U nut M10x1.25
Tightening torque
23 to 30 Nm
Taper 1/10
13.5
Oil seal
5 -0.03
4.3
0
0
5 -0.03
10
24
12
62
Detector connector
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
10
25
Ǿ
A
Ǿ16
18 28 12
79.9
12
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
‫غ‬130
45
q‫ޓ‬
A-A
2 - 24
29
58
112.5
200.5
47
M10˜1.25 screw
・HF154BT-A51
2. Specifications
[Unit:mm]
・HF224S-A48
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
55
12
130 SQ.
3‫ޓ‬
16
24
h6
DIA.
50.9
13
45
IA
Oil seal
1
Detector connector
CM10-R10P
45
DI
A.
13.5
20.9
123.8
Power connector
CE05-2A18-10PD
q
.
110h7 DIA.
50
5D
112.5
184.5
38.2
58
・HF224BS-A48
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
130 SQ.
55
12
43.5
16
3‫ޓ‬
13
Detector connector
IA
45
q
.
110h7 DIA.
50.9
79.9
24
h6
DIA.
50
5D
112.5
219
A.
Oil seal
45
DI
1
59
CM10-R10P
Brake connector
CM10-R2P
Power connector
20.9
123.8
CE05-2A18-10PD
2 - 25
13.5
29
58
2. Specifications
[Unit:mm]
・HF224T-A48
M10 ˜1.25 screw
58
12
3‫ޓ‬
28 12
5D
45
IA
q
‫ޓ‬
.
110 h7 DIA.
A
50.9
16
25 10
A
16 DIA.
18
Plain
washer 10
5
14
DI
A.
112.5
184.5
38.2
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
130 SQ.
13
U nut M10 ˜1.25
Tightening torque
23 to 30 Nm
Taper 1/10
Detector connector
CM10-R10P
20.9
123.8
58
Oil seal
0
5‫ޓ‬
-0.03
4.3
0
5‫ޓ‬
-0.03
Power connector
CE05-2A18-10PD
13.5
A-A
・HF224BT-A48
58
3‫ޓ‬
18 28 12
16
14
123.8
5D
q
IA.
U nut M10˜1.25
Tightening torque
23 to 30 Nm
Taper 1/10
0
5‫ޓ‬
-0.03
4.3
0
5‫ޓ‬
-0.03
Oil seal
A-A
2 - 26
45
.
‫ޓ‬
112.5
A
Plain
washer 10
20.9
IA
10
13
Detector
connector
59
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
130 SQ.
5D
110h7 DIA.
25
A
16 DIA.
12
50.9
79.9
M10˜1.25 screw
219
43.5
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
29
13.5
58
2. Specifications
[Unit:mm]
・HF224S-A51
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
188
55
130 SQ.
16
3‫ޓ‬
12
45
IA
24
h6
DIA.
60.2
10
Oil seal
12
1
Detector connector
CM10-R10P
45
DI
A.
20.9
24
13.5
123.8
Power connector
CE05-2A18-10PD
q‫ޓ‬
.
110h7 DIA.
50
5D
112.5
41.7
58
・HF224BS-A51
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
55
12
130 SQ.
16
3‫ޓ‬
IA
24
42.5
Oil seal
12
Detector connector
62
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
5
14
20.9
123.8
2 - 27
q
.
110h7 DIA.
60.2
79.9
24
h6
DIA.
50
10
45
5D
DI
112.5
222.5
47
A.
13.5
29
58
2. Specifications
[Unit:mm]
・HF224T-A51
12
28
25 10
60.2
A
A
18
16
45
5D
IA
.
Plain
washer 10
10
12
1
Detector connector
CM10-R10P
24
123.8
DI
A.
13.5
58
4.3
0
5 -0.03
Power connector
CE05-2A18-10PD
45
U nut M10 ˜1.25
Tightening torque
23 to 30 Nm
Taper 1/10
Oil seal
0
5-0.03
20.9
q‫ޓ‬
112.5
3
16 DIA.
12
M10 ˜1.25 screw
58
41.7
110h7 DIA.
188
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
130 SQ.
A-A
・HF224BT-A51
16
3
18 28 12
10
A
16
DIA.
60.2
A
25
D
45
20.9
123.8
0
5 -0.03
4.3
0
A-A
2 - 28
45
.
IA
q‫ޓ‬
.
1
U nut M10˜1.25
Tightening torque
13.5
23 to 30 Nm
Taper 1/10
Oil seal
5 -0.03
24
42.5
IA
Plain
washer 10
10
12
62
Detector connector
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
130 SQ.
5D
79.9
12
29
58
112.5
58
110h7 DIA.
222.5
47
M10˜1.25 screw
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
2. Specifications
[Unit:mm]
・HF204S-A48
4-Ǿ13.5 mounting hole
Use a hexagon
socket bolt.
143.5
‫غ‬176
79
18
3
75
45q
Ǿ
0
50.9
13
0
Ǿ114.3 -0.025
Ǿ35 0
+0.010
23
Oil seal
20
140.9
38.5
0
Ǿ
Detector connector
CM10-R10P
24.8
Power connector
CE05-2A22-22PD
82
79.8
・HF204BS-A48
4-Ǿ13.5 mounting hole
Use a hexagon
socket bolt.
193
45.5
‫غ‬176
79
18
3
45q
Ǿ
75
0
13
Oil seal
20
140.9
50.9
96.9
0
Ǿ114.3 -0.0.25
Ǿ35
+0.010
0
23
0
Ǿ
Detector connector
CM10-R10P
44
66.5
Brake connector
CM10-R2P
Power connector
CE05-2A22-22PD
24.8
79.8
2 - 29
82
2. Specifications
[Unit:mm]
・HF204S-A51
147
4-Ǿ13.5 mounting hole
Use a hexagon
socket bolt.
79
‫غ‬176
75
3
18
45
Ǿ
23
q
‫ޓ‬
0
10
12
Oil seal
20
140.9
60.2
0
Ǿ114.3 -0.025
Ǿ35 0
+0.010
42
0
Ǿ
Detector connector
CM10-R10P
24.8
24
79.8
Power connector
CE05-2A22-22PD
82
・HF204BS-A51
4-Ǿ13.5 mounting hole
Use a hexagon
socket bolt.
196.5
‫غ‬176
79
49
18
3
45
Ǿ
23
q‫ޓ‬
0
10
Oil seal
12
24
44
Detector connector
69.5
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A22-22PD
20
140.9
96.9
60.2
0
Ǿ114.3 -0.0.25
Ǿ35 +0.010
0
75
0
Ǿ
24.8
79.8
2 - 30
82
2. Specifications
[Unit:mm]
・HF354S-A48
4-Ǿ13.5 mounting hole
Use a hexagon
socket bolt.
176 SQ.
79
38.5
23
3‫ޓ‬
18
0
A.
0
35
50.9
13
q‫ޓ‬
114.3 -0.025
DIA.
DIA.
75
+0.010
0
45
DI
Oil seal
2
00
DI
140.9
183.5
2-M8
Suspension bolt hole
A.
Detector connector
CM10-R10P
24.8
82
119.8
Power connector
CE05-2A22-22PD
・HF354BS-A48
4-Ǿ13.5 mounting hole
Use a hexagon
socket bolt.
79
18
45.5
176 SQ.
23
3‫ޓ‬
0
0
-0.0.25
DIA.
45
q
A.
Power connector
CE05-2A22-22PD
Oil seal
0
20
DI
140.9
13
66.5
Detector connector
CM10-R10P
Brake connector
CM10-R2P
44
DI
114.3
50.9
96.9
35
+0.010
0
75
DIA.
233
2-M8
Suspension bolt hole
A.
24.8
119.8
2 - 31
82
2. Specifications
[Unit:mm]
・HF354S-A51
4-Ǿ13.5 mounting hole
Use a hexagon
socket bolt.
79
187
2-M8
Suspension bolt hole
18
42
23
3‫ޓ‬
176 SQ.
0
114.3
12
Oil seal
45
q
A.
‫ޓ‬
DIA.
DIA.
0
-0.025
60.2
35
+0.010
0
75
DI
2
00
DI
140.9
10
24
A.
Detector connector
CM10-R10P
Power connector
CE05-2A22-22PD
24.8
119.8
82
・HF354BS-A51
4-Ǿ13.5 mounting hole
Use a hexagon
socket bolt.
236.5
2-M8
Suspension bolt hole
79
49
18
23
3‫ޓ‬
DI
45
A.
q
‫ޓ‬
60.2
Detector connector
CM10-R10P
44
Oil seal
12
0
20
DI
140.9
10
24
96.9
35
0
114.3 -0.025
DIA.
DIA.
+0.010
0
75
176 SQ.
0
A.
69.5
Brake connector
CM10-R2P
Power connector
CE05-2A22-22PD
24.8
119.8
2 - 32
82
2. Specifications
[Unit:mm]
・HF123S-A48
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
140.5
130 SQ.
55
16
3‫ޓ‬
5D
IA
45
.
q
50.9
24
h6
DIA.
110h7 DIA.
50
13
Oil seal
Detector connector
1
45
DI
112.5
12
38.2
A.
CM10-R10P
20.9
Power connector
13.5
79.8
58
CE05-2A18-10PD
・HF123BS-A48
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
55
12
43.5
130 SQ.
16
3‫ޓ‬
5D
45
IA
q
.
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
20.9
79.8
2 - 33
5
14
Oil seal
59
DI
A.
13
Detector connector
‫ޓ‬
110h7 DIA.
50.9
79.9
24
h6
DIA.
50
112.5
175
13.5
29
58
2. Specifications
[Unit:mm]
・HF123T-A48
M10˜1.25 screw
58
3‫ޓ‬
28 12
16
5D
A
50.9
Plain
washer 10
5
14
13
Detector connector
CM10-R10P
q
‫ޓ‬
.
DI
A.
U nut M10˜1.25
Tightening torque
23 to 30 Nm
Taper 1/10
20.9
Oil seal
79.8
13.5
58
0
5‫ޓ‬
-0.03
4.3
0
5‫ޓ‬
-0.03
Power connector
CE05-2A18-10PD
45
IA
25 10
A
16 DIA.
18
130 SQ.
112.5
12
110h7 DIA.
140.5
38.2
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
A-A
・HF123BT-A48
12
3‫ޓ‬
18
28 12
M10˜1.25 screw
58
175
43.5
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
130 SQ.
16
5D
45
IA
q
.
‫ޓ‬
13
20.9
79.8
14
Oil seal
0
5‫ޓ‬
-0.03
4.3
A-A
2 - 34
5D
U nut M10˜1.25
Tightening torque
23 to 30 Nm
Taper 1/10
0
5‫ޓ‬
-0.03
Detector
59
connector
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
Plain
washer 10
IA
112.5
16 DIA.
A
50.9
79.9
A
110h7 DIA.
25 10
.
13.5
29
58
2. Specifications
[Unit:mm]
・HF123S-A51
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
55
130 SQ.
16
3‫ޓ‬
12
5D
45
IA
24
h6
DIA.
60.2
10
12
Oil seal
1
45
DI
A.
Detector connector
CM10-R10P
24
13.5
20.9
Power connector
CE05-2A18-10PD
q
.
110h7 DIA.
50
112.5
144
41.7
58
79.8
・HF123BS-A51
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
55
12
130 SQ.
3‫ޓ‬
16
IA
10
Oil seal
24
42.5
12
Detector connector
62
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
20.9
79.8
2 - 35
q‫ޓ‬
.
110h7 DIA.
60.2
79.9
24
h6
DIA.
50
45
5D
1
45
DI
112.5
178.5
47
A.
29
13.5
58
2. Specifications
[Unit:mm]
・HF123T-A51
M10˜1.25 screw
58
3
18
28 12
16
5D
45
IA
q‫ޓ‬
.
25 10
60.2
A
16 DIA.
12
110h7 DIA.
41.7
130 SQ.
A
144
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
10
112.5
Plain
washer 10
A.
12
45
1
U nut M10˜1.25
Tightening torque
23 to 30 Nm
Detector connector
CM10-R10P
24
20.9
13.5
Taper 1/10
Oil seal
79.8
Power connector
CE05-2A18-10PD
DI
58
0
4.3
0
5 -0.03
5 -0.03
A-A
・HF123BT-A51
58
12
3‫ޓ‬
18
28 12
M10˜1.25 screw
178.5
47
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
130 SQ.
16
5D
45
IA
q
.
79.9
14
62
79.8
Power connector
CE05-2A18-10PD
Taper 1/10
Oil seal
0
5-0.03
A-A
2 - 36
29
13.5
58
4.3
20.9
0
42.5
Detector connector
CM10-R10P
Brake connector
CM10-R2P
5 -0.03
24
112.5
U nut M10˜1.25
Tightening torque
23 to 30 Nm
12
DI
10
A.
Plain
washer 10
5
60.2
16
DIA.
A
A
110h7 DIA.
25 10
2. Specifications
[Unit:mm]
・HF223S-A48
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
55
12
130 SQ.
3‫ޓ‬
16
24
h6
DIA.
50.9
13
45
IA
.
A.
Oil seal
5
14
Detector connector
CM10-R10P
DI
13.5
20.9
123.8
Power connector
CE05-2A18-10PD
q
110h7 DIA.
50
5D
112.5
184.5
38.2
58
・HF223BS-A48
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
130 SQ.
55
12
43.5
16
3‫ޓ‬
13
Detector connector
Oil seal
1
59
IA
45
q
.
110h7 DIA.
50.9
79.9
24
h6
DIA.
50
5D
45
DI
112.5
219
A.
CM10-R10P
Brake connector
CM10-R2P
Power connector
20.9
123.8
CE05-2A18-10PD
2 - 37
13.5
29
58
2. Specifications
[Unit:mm]
・HF223T-A48
M10 ˜1.25 screw
58
12
3‫ޓ‬
28 12
5D
45
IA
q
‫ޓ‬
.
110 h7 DIA.
A
50.9
16
25 10
A
16 DIA.
18
Plain
washer 10
5
14
DI
A.
112.5
184.5
38.2
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
130 SQ.
13
U nut M10 ˜1.25
Tightening torque
23 to 30 Nm
Taper 1/10
Detector connector
CM10-R10P
20.9
123.8
58
Oil seal
0
5‫ޓ‬
-0.03
4.3
0
5‫ޓ‬
-0.03
Power connector
CE05-2A18-10PD
13.5
A-A
・HF223BT-A48
58
3‫ޓ‬
18 28 12
16
123.8
5
14
DIA
U nut M10˜1.25
Tightening torque
23 to 30 Nm
Taper 1/10
0
5‫ޓ‬
-0.03
4.3
0
5‫ޓ‬
-0.03
Oil seal
A-A
2 - 38
45
.
q
‫ޓ‬
.
112.5
A
Plain
washer 10
20.9
IA
10
13
Detector
connector
59
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
130 SQ.
5D
110h7 DIA.
25
A
16 DIA.
12
50.9
79.9
M10˜1.25 screw
219
43.5
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
29
13.5
58
2. Specifications
[Unit:mm]
・HF223S-A51
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
188
55
130 SQ.
16
3‫ޓ‬
12
45
IA
24
h6
DIA.
60.2
10
Oil seal
12
Detector connector
CM10-R10P
5
14
DI
A.
20.9
24
13.5
123.8
Power connector
CE05-2A18-10PD
q‫ޓ‬
.
110h7 DIA.
50
5D
112.5
41.7
58
・HF223BS-A51
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
55
12
130 SQ.
16
3‫ޓ‬
IA
24
42.5
Oil seal
12
Detector connector
62
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
5
14
20.9
123.8
2 - 39
q
.
110h7 DIA.
24
h6
DIA.
60.2
79.9
10
45
5D
50
DI
112.5
222.5
47
A.
13.5
29
58
2. Specifications
[Unit:mm]
・HF223T-A51
12
28
25 10
60.2
A
A
18
16
45
5D
IA
.
Plain
washer 10
10
12
1
Detector connector
CM10-R10P
24
123.8
DI
A.
13.5
58
4.3
0
5 -0.03
Power connector
CE05-2A18-10PD
45
U nut M10 ˜1.25
Tightening torque
23 to 30 Nm
Taper 1/10
Oil seal
0
5-0.03
20.9
q‫ޓ‬
112.5
3
16 DIA.
12
M10 ˜1.25 screw
58
41.7
110h7 DIA.
188
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
130 SQ.
A-A
・HF223BT-A51
10
A
16
DIA.
60.2
A
25
.
D
45
20.9
123.8
0
5 -0.03
4.3
0
A-A
2 - 40
IA
q‫ޓ‬
.
1
U nut M10˜1.25
Tightening torque
13.5
23 to 30 Nm
Taper 1/10
Oil seal
5 -0.03
42.5
45
IA
Plain
washer 10
10
24
5D
79.9
18 28 12
12
62
Detector connector
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
130 SQ.
16
3
29
58
112.5
58
12
110h7 DIA.
222.5
47
M10˜1.25 screw
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
2. Specifications
[Unit:mm]
・HF303S-A48
4-Ǿ13.5 mounting hole
Use a hexagon
socket bolt.
183.5
79
176 SQ.
3‫ޓ‬
23
0
45
DI
q
13
Oil seal
0
20
Detector connector
CM10-R10P
DI
140.9
50.9
114.3
DIA.
DIA.
A.
35
+0.010
0
75
0
-0.025
18
38.5
A.
24.8
Power connector
CE05-2A22-22PD
82
119.8
・HF303BS-A48
4-Ǿ13.5 mounting hole
Use a hexagon
socket bolt.
233
176 SQ.
79
18
45.5
3‫ޓ‬
23
75
0
45
DI
44
‫ޓ‬
DIA.
0
-0.0.25
DIA.
q
13
Oil seal
2
Detector connector
66.5
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A22-22PD
24.8
119.8
2 - 41
00
DI
140.9
114.3
50.9
96.9
35
+0.010
0
A.
A.
82
2. Specifications
[Unit:mm]
・HF303S-A51
4-Ǿ13.5 mounting hole
Use a hexagon
socket bolt.
187
176 SQ.
79
18
42
23
3‫ޓ‬
0
q
‫ޓ‬
DIA.
0
-0.025
45
A.
114.3
60.2
35 +0.010
DIA. 0
DIA.
75
DI
Oil seal
12
140.9
10
24
A.
0
20
DI
Detector connector
CM10-R10P
24.8
82
119.8
Power connector
CE05-2A22-22PD
・HF303BS-A51
4-Ǿ13.5 mounting hole
Use a hexagon
socket bolt.
79
176 SQ.
23
3‫ޓ‬
0
0
-0.025
DIA.
A.
Oil seal
0
20
44
12
Detector connector
69.5
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A22-22PD
24.8
119.8
2 - 42
q
114.3
35
+0.010
0
60.2
96.9
10
24
45
DI
A.
75
140.9
18
DIA.
236.5
49
DI
82
2. Specifications
[Unit:mm]
・HF142S-A48
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
55
12
38.2
130 SQ.
3‫ޓ‬
5D
q
‫ޓ‬
IA
50
24
h6
DIA.
110h7 DIA.
.
50.9
13
45
16
Oil seal
1
45
DI
112.5
162.5
A.
Detector connector
CM10-R10P
20.9
13.5
101.8
Power connector
CE05-2A18-10PD
58
・HF142BS-A48
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
197
130 SQ.
55
12
3‫ޓ‬
16
Oil seal
13
59
Detector connector
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
5D
5
14
20.9
101.8
2 - 43
45
IA
q
‫ޓ‬
.
110h7 DIA.
50.9
79.9
24
h6
DIA.
50
DI
112.5
43.5
A.
29
13.5
58
2. Specifications
[Unit:mm]
・HF142T-A48
M10˜1.25 screw
58
12
3‫ޓ‬
28 12
5D
45
IA
q
‫ޓ‬
.
110 h7 DIA.
A
50.9
16
25 10
A
16 DIA.
18
130 SQ.
Plain
washer 10
IA.
112.5
162.5
38.2
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
5D
14
13
U nut M10˜1.25
Tightening torque
23 to 30 Nm
Detector connector
CM10-R10P
Taper 1/10
20.9
58
0
5‫ޓ‬
-0.03
4.3
0
5‫ޓ‬
-0.03
Power connector
CE05-2A18-10PD
13.5
Oil seal
101.8
A-A
・HF142BT-A48
58
3‫ޓ‬
16
5
14
20.9
101.8
45
.
DIA
U nut M10˜1.25
Tightening torque
23 to 30 Nm
Taper 1/10
Oil seal
0
0
4.3
5‫ޓ‬
-0.03
5‫ޓ‬
-0.03
A-A
2 - 44
IA
q
‫ޓ‬
110 h7 DIA.
A
50.9
79.9
Plain
washer 10
13
Detector
59
connector
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
130 SQ.
5D
10
25
A
16 DIA.
18 28 12
112.5
12
M10˜1.25 screw
197
43.5
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
.
13.5
29
58
2. Specifications
[Unit:mm]
・HF142S-A51
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
130 SQ.
55
3‫ޓ‬
12
16
45
IA
10
Oil seal
12
1
45
DI
A.
Detector connector
CM10-R10P
24
13.5
20.9
58
101.8
Power connector
CE05-2A18-10PD
q
.
110h7 DIA.
60.2
24
h6
DIA.
50
5D
112.5
166
41.7
・HF142BS-A51
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
130 SQ.
55
12
16
3‫ޓ‬
45
IA
10
Oil seal
1
24
42.5
12
Detector connector
62
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
20.9
101.8
2 - 45
q
.
110h7 DIA.
60.2
79.9
24
h6
DIA.
50
5D
45
DI
112.5
200.5
47
A.
13.5
29
58
2. Specifications
[Unit:mm]
・HF142T-A51
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
130 SQ.
12
25 10
16
A
60.2
5D
45
IA
q
.
110h7 DIA.
28
A
18
16 DIA.
3
12
M10˜1.25 screw
58
166
41.7
112.5
Plain
washer 10
A.
10
45
12
U nut M10˜1.25
Tightening torque
23 to 30 Nm
Taper 1/10
Oil seal
0
5 -0.03
Detector connector
CM10-R10P
20.9
1
13.5
58
4.3
0
Power connector
CE05-2A18-10PD
101.8
5 -0.03
24
DI
A-A
・HF142BT-A51
60.2
A
IA
45
.
D
45
20.9
101.8
Oil seal
0
5 -0.03
4.3
0
A-A
2 - 46
IA
q
.
1
U nut M10˜1.25
Tightening torque
13.5
23 to 30 Nm
Taper 1/10
5 -0.03
24
42.5
130 SQ.
5D
Plain
washer 10
10
12
62
Detector connector
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A18-10PD
10
25
A
16DIA.
18 28 12
16
79.9
3
29
58
112.5
58
12
110h7 DIA.
200.5
47
M10˜1.25 screw
4-Ǿ9 mounting hole
Use a hexagon
socket bolt.
2. Specifications
[Unit:mm]
・HF302S-A48
4-Ǿ13.5 mounting hole
Use a hexagon
socket bolt.
183.5
79
176 SQ.
3‫ޓ‬
23
0
75
45
DI
DIA.
0
-0.025
q
13
Oil seal
0
20
Detector connector
CM10-R10P
DI
140.9
50.9
114.3
35
+0.010
0
A.
DIA.
18
38.5
A.
24.8
Power connector
CE05-2A22-22PD
82
119.8
・HF302BS-A48
4-Ǿ13.5 mounting hole
Use a hexagon
socket bolt.
233
176 SQ.
79
23
44
DIA.
0
45
DI
A.
q
‫ޓ‬
13
Oil seal
2
Detector connector
66.5
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A22-22PD
24.8
119.8
2 - 47
00
DI
140.9
114.3
50.9
96.9
35
+0.010
0
75
DIA.
45.5
3‫ޓ‬
0
-0.0.25
18
A.
82
2. Specifications
[Unit:mm]
・HF302S-A51
4-Ǿ13.5 mounting hole
Use a hexagon
socket bolt.
187
176 SQ.
79
18
42
23
3‫ޓ‬
0
q
‫ޓ‬
DIA.
0
-0.025
45
A.
114.3
60.2
35 +0.010
DIA. 0
DIA.
75
DI
Oil seal
12
0
20
DI
140.9
10
24
A.
Detector connector
CM10-R10P
24.8
82
119.8
Power connector
CE05-2A22-22PD
・HF302BS-A51
4-Ǿ13.5 mounting hole
Use a hexagon
socket bolt.
79
176 SQ.
23
3‫ޓ‬
0
0
-0.025
DIA.
+0.010
0
Oil seal
0
20
44
12
Detector connector
69.5
CM10-R10P
Brake connector
CM10-R2P
Power connector
CE05-2A22-22PD
24.8
119.8
2 - 48
q
114.3
35
60.2
96.9
10
24
45
DI
A.
75
DI
140.9
18
DIA.
236.5
49
A.
82
2. Specifications
2-2 Servo drive unit
2-2-1 Installation environment conditions
Common installation environment conditions for servo drive unit are shown below.
Ambient temperature
Operation: 0 to 55°C (with no freezing), Storage / Transportation: -15°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation)
Storage / Transportation: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight)
With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles
Operation/Storage: 1000 meters or less above sea level, Transportation: 10000 meters or less above sea level
5.9m/s2 (0.6G)
Ambient humidity
Environment
Atmosphere
Altitude
Vibration/impact
2-2-2 Specifications list
(1) 1-axis servo drive unit
1-axis servo drive unit MDS-R-V1 Series
Servo drive
MDS-R-V1unit type
Nominal maximum current
[A]
(peak)
Power facility capacity
[kVA]
Rated voltage [V]
Output
Rated current [A]
Rated voltage [V]
Input
Rated current [A]
Voltage
[V]
Current
[A]
Control
Rush current
[A]
power
Rush
conductivity
[ms]
time
Earth leakage current
[mA]
Control method
Braking
Regenerative resistor
Dynamic brakes
External analog output
Structure
Cooling method
Mass
[kg]
Heat radiated at rated
[W]
output
Noise
20
40
60
80
20
40
60
80
1.3
1.9
4.0
5.8
3.8
6.6
12.0
17.0
11.0
15.0
155AC
3-phase 200 to 230AC
3.0
6.0
24DC ±10%
Max. 0.6
2.4
Max. 0.8
3.2
100ms
1 (Max. 2)
Sine wave PWM control method Current control method
External option
Built-in
0 to +5V, 2ch (data for various adjustments)
Protection type (Protection method: IP10)
Forced wind cooling (Fin)
3.3
5.0
3.3
46
73
5.0
101
141
Less than 55dB
(2) 2-axis servo drive unit
2-axis servo drive unit MDS-R-V2 Series
Servo drive
MDS-R-V2unit type
Nominal maximum current
[A]
(peak)
Power facility capacity
[kVA]
Rated voltage [V]
Output
Rated current [A]
Rated voltage [V]
Input
Rated current [A]
Voltage
[V]
Current
[A]
Control
Rush current
[A]
power
Rush
conductivity
[ms]
time
Earth leakage current
[mA]
Control method
Braking
Regenerative resistor
Dynamic brakes
External analog output
Structure
Cooling method
Mass
[kg]
Heat radiated at rated
[W]
output
Noise
2020
4020
4040
6040
6060
8040
8060
8080
20/20
40/20
40/40
60/40
60/60
80/40
80/60
80/80
2.5
3.2
3.9
5.9
8.0
7.8
9.8
11.7
17.0 + 6.6
17.0 + 12.0
17.0 + 17.0
21.0
26.0
30.0
3.8 + 3.8
6.6 + 3.8
6.6 + 6.6
6.0
9.0
12.0
Max. 0.9
3.6
155AC
12.0 + 6.6
12.0 + 12.0
3-phase 200 to 230AC
17.0
22.0
24DC ±10%
Max. 1.1
4.4
Max. 1.5
6.0
100ms
3.5
3.5
89
115
1 (Max.4 for 2 axes)
Sine wave PWM control method Current control method
External option
Built-in
0 to +5V, 2ch (data for various adjustments)
Protection type (Protection method: IP10)
Forced wind cooling (Fin)
3.5
5.5
5.5
5.5
143
170
200
Less than 55dB
2 - 49
218
5.5
5.5
240
278
2. Specifications
2-2-3 Outline dimension drawings
(1) 1-axis servo drive unit
40
 MDS-R-V1-20
 MDS-R-V1-40
(Note3)
10
ø6 hole
15
70
Wiring
allowance
360
380
350
(Note3)
15
40
340
Intake
15
6
8
30
60
226
2-M5 screw hole
52
Panel mounting
hole machining drawing
2 - 50
360
Square
hole
(Note 1)
Attach packing around the square hole for sealing.
The intake fan can be mounted only at the top as shown above.
Required wind passage space
10
(Note 1)
(Note 2)
(Note 3)
342
(8)
(Note3)
165
Unit [mm]
2. Specifications
40
 MDS-R-V1-60
 MDS-R-V1-80
(Note3)
10
ø6 hole
15
70
Wiring
allowance
360
380
350
(Note3)
15
40
340
Intake
15
6
8
45
90
226
Attach packing around the square hole for sealing.
The intake fan can be mounted only at the top as shown above.
Required wind passage space
2-M5 screw hole
82
Panel mounting
hole machining drawing
2 - 51
360
10
(Note 1)
(Note 2)
(Note 3)
Square
hole
(Note 1)
342
30
(8)
(Note3)
165
Unit [mm]
2. Specifications
(2) 2-axis servo drive unit
40
 MDS-R-V2-4040
(Note2)
ø6 hole
10
70
Wiring
allowance
15
 MDS-R-V2-2020
 MDS-R-V2-4020
360
380
350
340
Intake
(Note2)
15
40
Intake
15
6
8
30
60
226
Attach packing around the square hole for sealing.
Required wind passage space
2-M5 screw hole
52
Panel mounting
hole machining drawing
2 - 52
360
10
(Note 1)
(Note 2)
Square
hole
(Note 1)
342
(8)
(Note2)
165
Unit [mm]
2. Specifications
40
 MDS-R-V2-8080
70
Wiring
allowance
(Note2)
ø6 hole
10
 MDS-R-V2-8040
 MDS-R-V2-8060
15
 MDS-R-V2-6040
 MDS-R-V2-6060
360
380
350
340
Intake
(Note2)
15
40
Intake
15
6
8
45
90
226
Attach packing around the square hole for sealing.
Required wind passage space
2-M5 screw hole
82
Panel mounting
hole machining drawing
2 - 53
360
10
(Note 1)
(Note 2)
Square
hole
(Note 1)
342
30
(8)
(Note2)
165
Unit [mm]
2. Specifications
2-2-4 Explanation of each part
(1) Explanation of each servo drive unit part
<1>
<2>
<1>
<2>
<3>
<3>
<4>
<5>
<4>
<5>
<6>
<7>
<6>
<7>
<8>
<8>
<9>
<10>
<10>
<11>
<12>
<12>
<13>
<13>
<14>
<14>
<15>
<16>
<16>
MDS-R-V1 (1-axis servo drive unit)
MDS-R-V2 (2-axis servo drive unit)
The connector layout differs according to the unit being used. Refer to each unit’s outline drawing
for details.
Each part name
<16>
Main
circuit
<1>
<2>
<3>
<4>
<5>
<6>
<7>
<8>
<9>
<10>
<11>
<12>
<13>
<14>
<15>
Control circuit
Name
LED
SW1
BT1A
CN1A
CN1B
CN9
CN4
CN2L
CN2M
CN3L
CN3M
CN22
--CN31L
CN31M
------------------------CHARGE LAMP
LU, LV, LW, PE
MU, MV, MW, PE
CN30
L1, L2, L3, PE, P, C
Description
Unit status indication LED
Axis No. setting switch (Left: L axis, Right: M axis)
Battery connection connector
NC or upward axis communication connector
Battery unit/Terminator/Lower axis communication connector
Analog output connector
Maintenance connector
Motor side detector connection connector (L axis)
Motor side detector connection connector (M axis)
Machine side detector connection connector (L-axis)
Machine side detector connection connector (M-axis)
Control power (24VDC) input connector
Converter voltage output discharge status indication LED
L axis motor drive output (3-phase AC output) connector
M axis motor drive output (3-phase AC output) connector
Power input (3-phase AC input), regenerative resistor
connection connector
(Note) CN2M/CN31M are not mounted with the MDS-R-V1 unit.
2 - 54
3. Characteristics
3-1 Drive unit characteristics .................................................................................................................... 3-2
3-1-1 Heating value .............................................................................................................................. 3-2
3-1-2 Overload protection characteristics............................................................................................. 3-3
3-2 Servomotor......................................................................................................................................... 3-7
3-2-1 Shaft characteristics .................................................................................................................... 3-7
3-2-2 Magnetic brake............................................................................................................................ 3-8
3-2-3 Dynamic brake characteristics .................................................................................................. 3-11
3-1
3. Characteristics
3-1 Drive unit characteristics
3-1-1 Heating value
The heating value of each servo drive unit is the heating value at stall output.
Servo drive unit type
MDS-R-
Heating value [W]
Inside
Outside
panel
panel
Servo drive unit type
MDS-R-
Heating value [W]
Inside
Outside
panel
panel
V1-20
15
31
V2-2020
26
V1-40
21
52
V2-4020
32
83
V1-60
27
74
V2-4040
38
105
V1-80
36
105
V2-6040
45
125
V2-6060
50
150
V2-8040
53
158
V2-8060
60
180
V2-8080
68
210
POINT
63
Design the panel's heating value taking the actual axis operation (load rate) into
consideration. With a general machine tool, the servo drive unit's load rate is
approx. 50%, so the heating values inside the panel are half the values shown
above.
Calculation example: When using MDS-R-V1-20 and MDS-R-V2-2020
Total heating value = (15 + 31) + (26 + 63) = 135 [W]
Heating value in panel = 15 x 0.5 + 26 x 0.5 = 20.5 [W]
3-2
3. Characteristics
3-1-2 Overload protection characteristics
The servo drive unit has an electronic thermal relay to protect the servomotor and servo drive unit from
overloads. The operation characteristics of the electronic thermal relay are shown below when standard
parameters (SV021=60, SV022=150) are set.
If overload operation over the electronic thermal relay protection curve shown below is carried out,
overload 1 (alarm 50) will occur. If the maximum current is commanded at 95% or higher continuously
for one second or more due to a machine collision, etc., overload 2 (alarm 51) will occur.
3-3
3. Characteristics
（1）HF-75+V1-20、HF-44+V1-20
（2）HF75+V1-40、HF44+V1-40
1000
1000
100
100
Time
(sec)
時間（sec）
10000
Time
時間（sec）
(sec)
10000
10
10
1
1
0.1
0.1
0
100
200
300
モータ電流値（ストール定格電流値比 ％）
400
500
0
100
Current (stall %)
1000
100
100
Time (sec)
Time (sec)
時間（sec）
1000
時間（sec）
10000
10
1
500
400
500
400
500
0.1
0
100
200
300
モータ電流値（ストール定格電流値比 ％）
400
500
0
100
Current (stall %)
200
300
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
（5）HF-54+V1-20、HF-53+V1-20
（6）HF-54+V1-40、HF-53+V1-40
10000
1000
1000
100
100
Time
(sec)
時間（sec）
10000
時間（sec）
400
10
1
0.1
Time (sec)
500
（4）HF-105+V1-40、HF74-V1-40
10000
10
10
1
1
0.1
0.1
0
100
200
300
モータ電流値（ストール定格電流値比 ％）
400
0
500
100
200
300
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
Current (stall %)
（7）HF-104+V1-20、HF-103+V1-20
（8）HF-104+V1-40、HF-103+V1-40
10000
1000
1000
100
100
Time (sec)
時間（sec）
10000
時間（sec）
400
Current (stall %)
（3）HF105-V1-20、HF74-V1-20
Time (sec)
200
300
モータ電流値（ストール定格電流値比 ％）
10
10
1
1
0.1
0.1
0
100
200
300
モータ電流値（ストール定格電流値比 ％）
400
0
500
100
200
300
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
Current (stall %)
3-4
3. Characteristics
（9）HF-154+V1-40、HF-153+V1-40
（10）HF-154+V1-60、HF-153+V1-60
1000
1000
100
100
Time (sec)
Time (sec)
時間（sec）
10000
時間（sec）
10000
10
10
1
1
0.1
0.1
0
100
200
300
モータ電流値（ストール定格電流値比 ％）
400
500
0
100
Current (stall %)
100
100
Time (sec)
10
時間（sec）
1000
Time (sec)
1000
時間（sec）
10000
1
500
400
500
400
500
0.1
0
100
200
300
モータ電流値（ストール定格電流値比 ％）
400
500
0
100
200
300
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
Current (stall %)
（13）HF-204+V1-40、HF-203+V1-40
（14）HF-204+V1-60、HF-203+V1-60
10000
1000
1000
100
100
Time (sec)
時間（sec）
10000
時間（sec）
400
10
1
0.1
Time (sec)
500
（12）HF-224+V1-60
10000
10
10
1
1
0.1
0
100
200
300
モータ電流値（ストール定格電流値比 ％）
400
0.1
500
0
100
Current (stall %)
200
300
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
（15）HF-204+V1-80、HF-203+V1-80
（16）HF-354+V1-60、HF-353+V1-60
10000
1000
1000
100
100
Time (sec)
時間（sec）
10000
時間（sec）
400
Current (stall %)
（11）HF-154+V1-80 、HF-153+V1-80
Time (sec)
200
300
モータ電流値（ストール定格電流値比 ％）
10
1
10
1
0.1
0.1
0
100
200
300
モータ電流値（ストール定格電流値比 ％）
400
500
0
100
200
300
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
Current (stall %)
3-5
3. Characteristics
（17）HF-354+V1-80、HF-353+V1-80
（18）HF-123+V1-20
1000
1000
100
100
Time (sec)
Time (sec)
時間（sec）
10000
時間（sec）
10000
10
10
1
1
0.1
0.1
0
100
200
300
モータ電流値（ストール定格電流値比 ％）
400
0
500
100
（19）HF-223+V1-40
1000
1000
100
100
Time (sec)
Time (sec)
時間（sec）
10000
時間（sec）
10000
10
500
400
500
400
500
10
1
0.1
0.1
0
100
200
300
モータ電流値（ストール定格電流値比 ％）
400
0
500
100
Current (stall %)
200
300
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
（21）HF-142+V1-20
（22）HF-302+V1-40
10000
1000
1000
100
100
Time (sec)
時間（sec）
10000
時間（sec）
400
（20）HF-303+V1-60
1
Time (sec)
200
300
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
Current (stall %)
10
10
1
1
0.1
0.1
0
100
200
300
モータ電流値（ストール定格電流値比 ％）
400
0
500
100
200
300
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
Current (stall %)
3-6
3. Characteristics
3-2 Servomotor
3-2-1 Shaft characteristics
There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the
radial direction and thrust direction, when mounted on the machine, is below the tolerable values given
below. These loads may affect the motor output torque, so consider them when designing the machine.
Servo motor
Tolerable radial load
Tolerable thrust load
HF75T, HF105T（Taper shaft）
245N
(L=33)
147N
HF75S, HF105S（Straight shaft）
245N
(L=33)
147N
392N
(L=58)
490N
980N
(L=55)
490N
2058N
(L=79)
980N
HF54T, HF104T, HF154T, HF224T,
HF123T, HF223T, HF142T
（Taper shaft）
HF54S, HF104S, HF154S, HF224S,
HF123S, HF223S, HF142S
（Straight shaft）
HF204S, HF354S, HF303S, HF302S
（Straight shaft）
Note: The symbols in the table follow the drawing below.
L
Radial load
Thrust load
L : Length from flange installation surface to center of load [mm]
CAUTION
1. Use a flexible coupling when connecting with a ball screw, etc., and keep the
shaft core deviation to below the tolerable radial load of the shaft.
2. When directly installing the gear on the motor shaft, the radial load increases
as the diameter of the gear decreases. This should be carefully considered
when designing the machine.
3. When directly installing the pulley on the motor shaft, carefully consider so
that the radial load (double the tension) generated from the timing belt
tension is less than the values shown in the table above.
4. In machines where thrust loads such as a worm gear are applied, carefully
consider providing separate bearings, etc., on the machine side so that loads
exceeding the tolerable thrust loads are not applied to the motor.
5. Do not use a rigid coupling as an excessive bending load will be applied on
the shaft and could cause the shaft to break.
3-7
3. Characteristics
3-2-2 Magnetic 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 magnetic brakes are used for holding, and must not be used for normal
braking. There may be cases when holding is not possible due to the life or
machine structure (when ball screw and servomotor are coupled with a timing
belt, etc.). Provide a stop device on the machine side to ensure safety.
3. When operating the brakes, always turn the servo OFF (or ready OFF). When
releasing the brakes, always confirm that the servo is ON first. Sequence
control considering this condition is possible by using the brake contact
connection terminal (CN9) on the servo drive unit.
4. When the vertical axis drop prevention function is used, the drop of the
vertical axis during an emergency stop can be suppressed to the minimum.
(1) Motor with magnetic brake
(a) Types
The motor with a magnetic brake is set for each motor. The "B" following the standard motor
model stands for the motor with a brake.
(b) Applications
When this type of motor is used for the vertical feed axis in a machining center, etc., slipping
and dropping of the spindle head can be prevented even when the hydraulic balancer's
hydraulic pressure reaches zero when the power turns OFF. When used with a robot, deviation
of the posture when the power is turned OFF can be prevented.
When used for the feed axis of a grinding machine, a double safety measures is formed with
the deceleration stop (dynamic brake stop) during emergency stop, and the risks of colliding
with the grinding stone and scattering can be prevented.
This motor cannot be used for the purposes other than holding and braking during a power
failure (emergency stop). (This cannot be used for normal deceleration, etc.)
(c) Features
1) The magnetic brakes use a DC excitation method, thus:
• The brake mechanism is simple and the reliability is high.
• There is no need to change the brake tap between 50Hz and 60Hz.
• There is no rush current when the excitation occurs, and shock does not occur.
• The brake section is not larger than the motor section.
2) The magnetic brake is built into the motor, and the installation dimensions (flange size) are
the same as the motor without brake.
(d) Considerations to safety
1) Using a timing belt
Connecting the motor with magnetic brakes and the load (ball screw, etc.) with a timing
belt as shown on the left below could pose a hazard if the belt snaps. Even if the belt's
safety coefficient is increased, the belt could snap if the tension is too high or if cutting
chips get imbedded. Safety can be maintained by using the method shown on the right
below.
Safe!
Dangerous!
Top
Load
Brake
Load
Top
Motor
Bottom
Bottom
Motor
(No brakes)
Ball screw
Timing belt
Timing belt
3-8
Ball screw
Brake
3. Characteristics
(2) Magnetic brake characteristics
HF54B, HF104B,
Motor type
Item
HF75B, HF105B,
HF154B, HF224B,
HF123B, HF223B,
HF204B, HF354B,
HF303B, HF302B
HF142B
Spring closed non-exciting operation magnetic brakes
(for maintenance and emergency braking)
Type (Note 1)
Rated voltage
DC24V
Rated current at 20°C
（ A）
0.38
0.8
1.4
Capacity
（ W）
9
19
34
Static friction torque
（N･m）
2.4
8.3
43.1
Inertia (Note 2)
（kg･cm2）
0.2
2.2
9.6
Release delay time (Note 3)
（ s）
0.03
0.04
0.1
DC OFF
（ s）
0.03
0.03
0.03
Tolerable
Per braking
（ J）
64
400
4500
braking work
amount
Per hour
（ J）
640
4000
45000
（degree）
0.1～0.9
0.2～0.6
0.2～0.6
（times）
20000
20000
20000
32
200
1000
Braking delay
time (Note 3)
Brake play at motor axis
(Note 7)
Brake life
(Note 4)
No. of braking
operations
Work amount
per braking
（ J）
Notes:
1. There is no manual release mechanism. If handling is required such as during the machine core
alignment work, prepare a separate 24VDC power supply, and electrically release a brake.
2. These are the values added to the servomotor without a brake.
3. This is the representative value for the initial attraction gap at 20C.
4. The brake gap will widen through brake lining wear caused by braking. However, the gap cannot
be adjusted. Thus, the brake life is considered to be reached when adjustments are required.
5. A leakage flux will be generated at the shaft end of the servomotor with a magnetic brake.
6. When operating in low speed regions, the sound of loose brake lining may be heard. However, this
is not a problem in terms of function.
7. This is the main default value, and is not a guaranteed value.
3-9
3. Characteristics
(3) Magnetic brake power supply
CAUTION
1. Always install a surge absorber on the brake terminal when using DC OFF.
2. Do not pull out the cannon plug while the brake power is ON. The cannon
plug pins could be damaged by sparks.
(a) Brake excitation power supply
1)
2)
Prepare a brake excitation power supply that can accurately ensure the attraction current
in consideration of the voltage fluctuation and excitation coil temperature.
The brake terminal polarity is arbitrary. Make sure not to mistake the terminals with other
circuits.
(b) Brake excitation circuit
1) AC OFF and 2) DC OFF can be used to turn OFF the brake excitation power supply (to apply
the brake).
1)
AC OFF
The braking delay time will be longer, but the excitation circuit will be simple, and the relay
cut off capacity can be decreased.
2)
DC OFF
The braking delay time can be shortened, but a surge absorber will be required and the
relay cut off capacity will be increased.
<Cautions>
 Provide sufficient DC cut off capacity at the contact.
 Always use a surge absorber.
ZD1
100VAC or
PS
200VAC
ZD2
VAR1
SW2
VAR2
Magnetic brake 2
SW1
Magnetic brake 1
24VDC
(b) Example of DC OFF
: 24VDC stabilized power supply
PS
: Zener diode for power supply protection (1W, 24V)
ZD1, ZD2
VAR1, VAR2 : Surge absorber
Magnetic brake circuits
3 - 10
3. Characteristics
3-2-3 Dynamic brake characteristics
If a servo alarm that cannot control the motor occurs, the dynamic brakes will function to stop the
servomotor regardless of the parameter settings.
(1) Deceleration torque
The dynamic brake uses the motor as a generator, and obtains the deceleration torque by
consuming that energy with the dynamic brake resistance. The characteristics of this deceleration
torque have a maximum deceleration torque (Tdp) regarding the motor speed as shown in the
following drawing. The torque for each motor is shown in the following table.
Tdp
Deceleration
torque
0
Ndp
Motor speed
Deceleration torque characteristics of a dynamic brake
Max. deceleration torque of a dynamic brake
Motor
type
HF75
HF105
HF54
HF104
HF154
HF224
HF204
HF354
HF123
HF223
HF303
HF142
HF302
Combination unit
MDS-R-V1-20
MDS-R-V2-2020/4020
MDS-R-V1-20
MDS-R-V2-2020/4020
MDS-R-V1-20
MDS-R-V2-2020/4020
MDS-R-V1-40
MDS-R-V2-4020/4040
MDS-R-V2-6040/8040
MDS-R-V1-60
MDS-R-V2-6040/6060/8060
MDS-R-V1-60
MDS-R-V2-6040/6060
MDS-R-V1-60
MDS-R-V2-6040/6060/8060
MDS-R-V1-80
MDS-R-V2-8040/8060/8080
MDS-R-V1-20
MDS-R-V2-2020/4020
MDS-R-V1-40
MDS-R-V2-4020/4040
MDS-R-V2-6040/8040
MDS-R-V1-60
MDS-R-V2-6040/6060/8060
MDS-R-V1-20
MDS-R-V2-2020/4020
MDS-R-V1-40
MDS-R-V2-4020/4040
MDS-R-V2-6040/8040
3 - 11
Stall torque
(N・m)
Ndp
(r/min)
Tdp
(N・m)
2
1254
5.43
3
1254
5.43
2.94
478
3.96
5.88
409
10.04
5.88
539
10.04
8.82
541
15.62
12
660
21.77
13.7
367
15.94
22.5
464
35.24
7
370
9.74
12
339
21.56
12
500
21.56
22.5
357
35.33
11
330
15.46
20
190
35.45
20
305
35.45
3. Characteristics
(2) Coasting rotation distance during emergency stop
The distance that the motor coasts (angle for rotary axis) when stopping with the dynamic brakes
can be approximated with the following expression.
LMAX = F
60
▪ {te + (1 +
LMAX
F
N
JM
JL
te
A
B
JL
) ▪ (A ▪ N2 + B)}
JM
: Motor coasting distance (angle)
[mm, (deg)]
: Axis feedrate
[mm/min, (deg/min)]
: Motor rotation speed
[r/min]
: Motor inertia
[kg.cm2]
: Motor shaft conversion load inertia
[kg.cm2]
: Brake drive relay delay time
(s) (Normally, 0.03s)
: Coefficient A (Refer to the table below)
: Coefficient B (Refer to the table below)
Emergency stop (EMG)
OFF
ON
Dynamic brake control output
OFF
ON
Actual dynamic brake operation
OFF
ON
Motor rotation speed
N
Coasting amount
Time
te
Dynamic brake braking diagram
3 - 12
3. Characteristics
Coasting amount calculation coefficients table
Motor
type
HF75
HF105
HF54
HF104
Combination unit
MDS-R-V1-20
MDS-R-V2-2020/4020
MDS-R-V1-20
MDS-R-V2-2020/4020
MDS-R-V1-20
MDS-R-V2-2020/4020
MDS-R-V1-40
MDS-R-V2-4020/4040
MDS-R-V2-6040/8040
HF154
MDS-R-V1-60
DB resistance
value (Ω)
Jm (kg・㎝ )
A×10
B×10
0
2.6
0.67
3.14
0
5.1
1.31
6.16
0
6.1
5.62
3.85
0
11.9
5.06
2.54
0.2
11.9
3.84
3.35
0.2
17.8
3.68
3.23
0.2
23.7
2.88
3.76
0.2
38.3
11.41
4.62
0.2
75
8
5.17
0
11.9
5.77
2.36
0
23.7
5.66
1.95
0.2
23.7
3.84
2.88
0.2
75
10.37
3.97
0
17.8
6.09
1.99
0
75
19.45
2.1
0.2
75
12.11
3.38
2
-9
-3
MDS-R-V2-6040/6060/8060
HF224
MDS-R-V1-60
MDS-R-V2-6040/6060
HF204
MDS-R-V1-60
MDS-R-V2-6040/6060/8060
HF354
MDS-R-V1-80
MDS-R-V2-8040/8060/8080
HF123
MDS-R-V1-20
MDS-R-V2-2020/4020
MDS-R-V1-40
HF223
MDS-R-V2-4020/4040
MDS-R-V2-6040/8040
HF303
MDS-R-V1-60
MDS-R-V2-6040/6060/8060
HF142
MDS-R-V1-20
MDS-R-V2-2020/4020
MDS-R-V1-40
HF302
MDS-R-V2-4020/4040
MDS-R-V2-6040/8040
3 - 13
3 - 14
4. Dedicated Options
4-1 Regenerative option ........................................................................................................................... 4-2
4-1-1 Regenerative resistor unit ........................................................................................................... 4-4
4-1-2 Regenerative resistor .................................................................................................................. 4-6
4-2 Machine side detector ........................................................................................................................ 4-8
4-3 Battery and terminator option............................................................................................................. 4-9
4-3-1 Terminator (A-TM)....................................................................................................................... 4-9
4-3-2 Battery (ER6)............................................................................................................................. 4-10
4-3-3 Battery unit (MDS-A-BT) ........................................................................................................... 4-11
4-4 Relay terminal block (MR-J2CN3TM) .............................................................................................. 4-12
4-5 Cables and connectors .................................................................................................................... 4-13
4-5-1 Cable connection diagram ........................................................................................................ 4-13
4-5-2 Cable and connector options .................................................................................................... 4-14
4-1
4. Dedicated Options
4-1 Regenerative option
For the regenerative option, always select a regenerative resistor unit or regenerative resistor in the
correct combination for each servo drive unit. Refer to "Appendix 2-2 Selecting the regenerative
resistor" for details on selecting the regenerative option.
The regenerative resistor generates heats, so wire and install the unit while taking care to safety. When
using the regenerative resistor, make sure that flammable matters, such as cables, do not contact the
resistor, and provide a cover on the machine so that dust or oil does not accumulate on the resistor and
ignite.
List of regenerative option correspondence
Regenerative
resistor type
(Japan
Resistor)
GZG200
GZG200
GZG300
GZG200
GZG300 GRZG400-2
W39
W39
W20
W20
GZG80 GZG200 GZG300 GZG400 GZG400 W120
OHMJ
OHMJ
OHMJ
OHMJ
OHMJ
OHMJ
W26
W26
W20
W13
W8
4 units
3 units
3 units
3 units
3 units
3 units
OHMJ
OHMJ OHMJ
OHMJ
OHMJ connected connected connected connected connected connected
in parallel in parallel in parallel in parallel in parallel in serial
Regenerative
resistor unit
type
MR-RB32 MR-RB30 MR-RB50 MR-RB31 MR-RB51 MR-RB65
Regenerative
capacity
40W
100W
150W
200W
200W
300W
300W
500W
300W
500W
800W
Resistance
value
26Ω
26
20
13
8
40
13
13
6.7
6.7
8
MDS-R-V1-20


MDS-R-V1-40





MDS-R-V1-60








MDS-R-V1-80
MDS-R-V2-2020









MDS-R-V2-6040




MDS-R-V2-6060




MDS-R-V2-8040




MDS-R-V2-8060






MDS-R-V2-8080






MDS-R-V2-4040


Note: Types indicated with a  cannot be used when driving the HF353 motor.
Manufacturer: Japan Resistor
4-2
4. Dedicated Options
No.
Abbrev.
Parameter
name
SV036
PTYP*
Regenerative
resistor type
Explanation
F
E
D
C
B
amp
9
A
B
CAUTION
9
8
7
rtyp
bit
8
A
6
5
4
3
2
1
0
emgx
Explanation
Select the regenerative resistor type.
rtyp
Setting Regenerative resistor or regenerative resistor unit
0 to 1
Setting prohibited
2
GZG200W26OHMJ
3
GZG300W20OHMJ
4
MR-RB32 or GZG200W1200HMJ 3 units connected
in parallel
5
MR-RB30 or GZG200W39OHMJ 3 units
connected in parallel
6
MR-RB50 or GZG300W39OHMJ 3 units
connected in parallel
7
MR-RB31 or GZG200W20OHMJ 3 units
connected in parallel
8
MR-RB51 or GZG300W20OHMJ 3 units
connected in parallel
9
MR-RB65 or GRZG400-20HMJ 4 units connected
in serial
A
GZG80W26OHMJ
B
GZG400W13OHMJ
C
D to F
GZG400W8OHMJ
Setting prohibited
1. Only the designated combination can be used for the regenerative option and
servo drive unit.
There is a risk of fire, so always use the designated combination.
2. Correct protection will not be attained if the parameter setting is incorrect.
Check the regenerative resistor type carefully, and set the parameters.
4-3
4. Dedicated Options
4-1-1 Regenerative resistor unit
(1) Specifications
Resistance
value ()
Mass (kg)
300
13
2.9
300
6.7
2.9
MR-RB32
300
40
2.9
MR-RB50
500
13
5.6
MR-RB51
500
6.7
5.6
MR-RB65
800
8
10
Regenerative
option type
Regenerative
power (W)
MR-RB30
MR-RB31
(2) Outline dimension drawings
[Unit: mm]
52
G4 G3
C
P
MR-RB30/31/32
125
7
79
17
318
90
100
30
150
MR-RB30, MR-RB31, MR-RB32
4-4
4. Dedicated Options
MR-RB50, MR-RB51
350
325
MR-RB50/51
G4 G3 C P
95
[Unit: mm]
7
103
17
200
27
116
128
MR-RB65
500
500
10
480
30
[Unit: mm]
2-ø10 mounting hole
TE1
30
230
10
10
2.3
215
260
230
4-5
4. Dedicated Options
4-1-2 Regenerative resistor
(1) Outline dimension drawings
GZG80W26OHMJ
[Unit: mm]
22
54
Ø3.2×2 mounting hole
148
167
6
26
GZG200W20OHMJ, GZG200W26OHMJ, GZG200W39OHMJ, GZG200W120OHMJ
[Unit: mm]
22
54
Ø4.3×2 mounting hole
287
306
6
26
GZG400W13OHMJ, GZG400W8OHMJ
78
Ø5.5×2 mounting hole
40
9.5
[Unit: mm]
385
9.5
411
40
4-6
4. Dedicated Options
GZG300W20OHMJ, GZG300W39OHMJ
[Unit: mm]
40
78
Ø5.5×2 mounting hole
309
9.5
335
40
GRZG400-2OHMJ
[Unit: mm]
40
79
Ø5.5×2 mounting hole
384
9
410
CAUTION
40
When using the regenerative resistor, a protective cover must be mounted on
the machine side so that flammable matters do not come in contact or adhere on
the device.
4-7
4. Dedicated Options
4-2 Machine side detector
In MDS-R series, the relative position specifications and rectangular wave output linear scale are
available.
The machine side detectors are all special order parts, and must be prepared by the user.
Relative position detector
Select a machine side relative position detector that has specifications that are correspond to the
following output signal.
Compatible rectangular wave output specifications
Select a relative position detector with an A/B phase difference and Z-phase width at the maximum
feedrate that satisfies the following conditions.
Use an A, B, Z-phase signal type with differential output (RS-422 standard product) for the output
signal.
Phase difference
Output circuit
A, B, Z-phase
A-phase
A, B, Z-phase
B-phase
0.1s or more
Z-phase
0.1s or
more
Integer mm
For a scale having multiple Z phases, select the neighboring Z
phases whose distance is an integral mm.
(Note) The above value is minimum value that can be received normally in the servo drive unit side.
In an actual selection, ensure margin of 20% or more in consideration of degradation of electrical wave and
speed overshoot.
<Example of scale specifications >
The example of using representative oblong save scale is shown below.
For specifications of each conversion unit and scale and for purchase, contact each corresponding
manufacture directly.
Scale Type
SR33
Combination
conversion unit
CN33
Manufacturer
SONY
IBV610
LS186/LS486
IBV650
HEIDENHAIN
IBV660B
4-8
Minimum resolution
Maximum speed
1μm
150m/min
0.5μm
120m/min
0.1μm
24m/min
0.05μm
12m/min
1μm
120m/min
0.5μm
120m/min
0.1μm
48m/min
0.1μm
60m/min
0.05μm
30m/min
4. Dedicated Options
4-3 Battery and terminator option
A battery unit must be used with the absolute position system. A battery unit or terminator must be
connected on each NC communication bus line. Select the unit according to the system specifications.
 Incremental system
(a) Terminator (A-TM)
 Absolute position system
(b) Battery (ER6) + terminator (A-TM)
(c) Battery unit (MDS-A-BT)
4-3-1 Terminator (A-TM)
Always connect the terminator to the last unit connected to the NC communication bus line. If there
are many axes and two NC communication bus line channels are in use, connect a terminator per
each channel.
(1) Outline dimension drawing
 A-TM
11.5
[Unit: mm]
42.0
33.0
20.9
29.7
4-9
4. Dedicated Options
4-3-2 Battery (ER6)
This battery is built into the servo drive unit. One battery is provided for each absolute position control
axis' servo drive unit.
(1) Specifications
Battery unit specifications
Type
ER6
Nominal voltage
3.6V
Nominal capacity
2000mAh
Battery continuous backup time
Approx. 6,000 hours
Battery useful life
4 years from date of unit manufacture
Data save time during battery replacement
Approx. 20 hours at time of delivery,
Approx. 10 hours after 5 years
Back up time from battery warning (9F) to alarm occurrence
Approx. 100 hours
Number of backup axes
2 axes
(2) Mounting
Mount the battery into the servo drive unit
with the following procedure.
(a) Remove the battery holder's cover.
(b) Mount the battery into the battery
holder.
(c) Securely insert the battery connector
into BT1A.
(d) Mount the battery holder's cover.
CAUTION
To BT1A
Battery connector
To battery holder
Battery
1. To protect the absolute position, do not shut off the servo 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 is the theoretical value for when the battery is used at an ambient
temperature of 25°C. If the ambient temperature rises, generally the backup
time and useful life will be shorter.
3. The circuits in the servo drive unit could be damaged by static electricity.
Always observe the following matters.
(a) Ground the worker and work table.
(b) Do not directly touch the conductive sections such as the connector pins
or electric parts.
4 - 10
4. Dedicated Options
4-3-3 Battery unit (MDS-A-BT)
This battery is installed outside the servo drive unit. This battery unit backs up the absolute position
data of the multiple servo axes connected to each NC bus line. This battery unit also functions as a
terminator.
(1) Specifications
Battery unit specifications
Type
MDS-A-BT-2
MDS-A-BT-4
Nominal voltage
MDS-A-BT-6
MDS-A-BT-8
12000mAh
16000mAh
3.6V
Nominal capacity
4000mAh
8000mAh
Battery continuous backup time
Approx. 12,000 hours
Battery useful life
7 years from date of unit manufacture
Data save time during battery
replacement
20 hours at time of delivery, 10 hours after 5 years
Back up time from battery warning
(9F) to alarm occurrence
Approx. 100 hours
Number of backup axes
2 axes
4 axes
6 axes
7 axes
(2) Outline dimension drawings
 MDS-A-BT-2/-4/-6/-8
[Unit: mm]
Use an M5 screw for the ø6 mounting hole
135
145
160
52
15
17
R3
100
6
30
CAUTION
1. To protect the absolute position, do not shut off the servo 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 is the theoretical value for when the battery is used at an ambient
temperature of 25°C. If the ambient temperature rises, generally the backup
time and useful life will be shorter.
4 - 11
4. Dedicated Options
4-4 Relay terminal block (MR-J2CN3TM)
Signals input/output from the CN9 connector on the front of the servo drive unit can be led to the
terminal block. Connect the terminal block to the CN9 connector with an SH21 cable.
Abbrev.
Name
Explanation
Connect from the CN3 connector with an SH21 cable. Common for any
connector, so each signal will pass through. When the CN3 control signal
is being used, each signal can be output from the relay terminal block by
relaying through these connectors.
CN3A
Connector 3 input/output A
CN3B
Connector 3 input/output B
CN3C
Connector 3 input/output C
VDD
Internal power supply output
This is the 24V power supply output in the drive unit. When using an
internal power supply, use relayed once through the COM terminal.
COM
Common power supply
Connect VDD when using the drive unit internal power supply. Connect the
+ side of the external power supply when using an external power supply.
EMG
External emergency stop input
This is the input terminal for external emergency stops.
DOG
DI contactor B contact
This is not used with the MDS-R.
MO1
Monitor output 1
D/A output ch.1 used to measure the voltage across M01 and LG.
MO2
Monitor output 2
D/A output ch.2 used to measure the voltage across M02 and LG.
PE
Plate ground
This has the same potential as the drive unit FG or cable shield.
SG
24V power supply ground
This is the ground when using digital input/output.
MC
Contactor control output
This is the output terminal for contactor control.
MBR
Motor brake control output
This is the output terminal for motor brake control.
LG
5V power supply ground
This is the ground when using D/A output.
(1) Outline dimension drawings
 MR-J2CN3TM
[Unit: mm]
2-ø5.3 (mounting hole)
CN3B
CN3
75
37.5
CN3A
VDD COM EMG DOG MO1 MO2
PE SG MC MBR LG LG
3
88
100
41.5
4 - 12
4. Dedicated Options
4-5 Cables and connectors
4-5-1 Cable connection diagram
The cables and connectors that can be ordered from Mitsubishi Electric Corp. as option parts are shown
below. Cables can only be ordered in the designated lengths shown on the following pages. Purchase a
connector set, etc., to create special length cables.
Servo drive unit
(MDS-R-V1)
From NC (1)
Servo drive unit
(MDS-R-V2)
Battery unit
(MDS-A-BT)
Terminator
(A-TM)
(1) NC bus cable
connector set
(1)
(1)
(7) Drive unit
Control power
connector
1
2
Pin No.
1
2
Signal
VDD
SG
(6) Drive unit
B
Motor power connector A
Pin No.
A1
A2
B1
B2
Signal
V
PE
U
W
Pin No.
A1
A2
A3
B1
B2
B3
Signal
P
C
PE
L1
L2
L3
12
Relay terminal block
(MR-J2CN3TM)
(5) Drive unit
Main circuit power
connector
(2) Detector cable
connector set
B
A
123
(4) Motor brake connector
(3) Motor power connector
(Note1) The compatible linear scale is a relative position rectangular
wave output type.
(Note2) The linear scale and cable for connecting a linear scale must be
prepared by user.
Servomotor
4 - 13
4. Dedicated Options
4-5-2 Cable and connector options
(1) Cables
Item
For
CN1A,
CN1B
Model
(1) NC bus cable
Contents
SH21
Length:
Servo drive unit side connector
(3M)
Servo drive unit side
connector (3M)
0.35, 0.5, 0.7, 1,
Connector : 10120-6000EL
Shell kit : 10320-3210-000
Connector : 10120-6000EL
Shell kit : 10320-3210-000
1.5, 2, 2.5, 3,
3.5, 4, 4.5, 5,
6, 7, 8, 9,
10, 15, 20, 30 m
For
CN2L
CN2M
For
CN2L
CN2M
(2) Detector cable for
HF□-A51
(2) Detector cable for
HF□-A48/A51
IP67
IP67
Straight
CNV2E-6P-□M
□indicates length (m)
2, 3, 4, 5, 7, 10,
15,20,25,30
Servo drive unit side connector Servomotor detector side
connector
(3M)
(DDK)
Receptacle：36210-0100PL
Plug
Shell kit：36310-3200-008
：CM10-SP10S-M
(Molex)
Contact：CM10-#22SC
Connector set：54599-1019
Angle
CNV2E-7P-□M
□indicates length (m)
2, 3, 4, 5, 7, 10,
15,20,25,30
Servo drive unit side connector Servomotor detector side
connector
(3M)
(DDK)
Receptacle：36210-0100PL
Plug
Shell kit：36310-3200-008
：CM10-AP10S-M
(Molex)
Contact：CM10-#22SC
Connector set：54599-1019
Straight
CNV2E-8P-□M
□indicates length (m)
2, 3, 4, 5, 7, 10,
15,20,25,30
Servo drive unit side connector Servomotor detector side
connector
(3M)
(DDK)
Receptacle：36210-0100PL
Plug
Shell kit：36310-3200-008
：CM10-SP10S-M
(Molex)
Contact：CM10-#22SC
Connector set：54599-1019
Angle
CNV2E-9P-□M
□indicates length (m)
2, 3, 4, 5, 7, 10,
15,20,25,30
Servo drive unit side connector Servomotor detector side
connector
(3M)
(DDK)
Receptacle：36210-0100PL
Plug
：CM10-AP10S-M
Shell kit：36310-3200-008
Contact：CM10-#22SC
(Molex)
Connector set：54599-1019
(Note) The connector manufacturer is subject to change without notice.
4 - 14
4. Dedicated Options
(2) Connector sets
Item
Model
For
CN1A,
CN1B,
CN9
(1) NC bus cable connector set
For
CN2L
CN2M
(2) Servo detector connector
FCUA-CS000
CNU2S(AWG18)
Contents
Servo drive unit side connector
(3M)
Servo drive unit side
connector (3M)
Connector : 10120-6000EL
Shell kit
:
10320-3210-000
Connector
:
10120-6000EL
Shell kit
:
10320-3210-000
Servo drive unit side connector
(3M)
Receptacle：36210-0100PL
Shell kit：36310-3200-008
(Molex)
Connector set：54599-1019
(2) Motor side detector
connector for HF motor
IP67
Straight CNE10-R10S(9)
compatible
Applicable cable outline
φ6.0～φ9.0mm
Servomotor detector side
connector
(DDK)
Plug
：CM10-SP10S-M
Contact：CM10-#22SC
(2) Motor side detector
connector for HF motor
IP67
compatible
Servomotor detector side
connector
(DDK)
Plug
：CM10-AP10S-M
Contact：CM10-#22SC
Angle
CNE10-R10L(9)
Applicable cable outline
φ6.0～φ9.0mm
(Note) The connector manufacturer is subject to change without notice.
4 - 15
4. Dedicated Options
Item
For
CN30
For
CN31L,
CN31M
For
CN22
(5) Main circuit power supply connector for
MDS-R-V1/V2
(6) Motor power connector for
MDS-R-V1/V2
(7) Control power connector common for
MDS-R-V1, V2
Model
Contents
RCN30S
For AWG14, 16
Drive unit main circuit power
supply connector
(DDK)
Contact : DK-5200S-04R
Housing : DK-5RECSLP1-100
RCN30M
For AWG10, 12
Drive unit motor power supply
connector
(DDK)
Contact : DK-5200M-06R
Housing : DK-5RECMLP1-100
RCN31S
For AWG14, 16
Drive unit motor power supply
connector
(DDK)
Contact : DK-5200M-04R
Housing : DK-RECSLP1-100
RCN31M
For AWG10, 12
Drive unit motor power supply
connector
(DDK)
Contact : DK-5200M-04R
Housing : DK-5RECMLP1-100
RCN22
Drive unit control power supply
connector
(DDK)
Contact : DK-3200S-02R
Housing : DK-3REC2LLP1-100
(Note) The connector manufacturer is subject to change without notice.
4 - 16
5. Peripheral Devices
5-1 Selecting the wire size ....................................................................................................................... 5-2
5-1-1 Example of wires by unit ............................................................................................................. 5-2
5-2 Selection of circuit protector and contactor........................................................................................ 5-4
5-2-1 Selection of circuit protector ........................................................................................................ 5-4
5-2-2 Selection of contactor.................................................................................................................. 5-5
5-3 Selection of earth leakage breaker .................................................................................................... 5-6
5-4 Selection of control power supply ...................................................................................................... 5-7
5-5 Noise filter .......................................................................................................................................... 5-8
5-6 Surge absorber .................................................................................................................................. 5-9
5-7 Relay ................................................................................................................................................ 5-10
5-1
5. Peripheral Devices
5-1 Selecting the wire size
5-1-1 Example of wires by unit
Selected wires must be able to tolerate rated current of the unit’s terminal to which the wire is
connected.
How to calculate tolerable current of an insulated wire or cable is shown in "Tolerable current of electric
cable" (1) of Japanese Cable Makers’ Association Standard (JCS)-168-E (1995), its electric equipment
technical standards or JEAC regulates tolerable current, etc. wire.
When exporting wires, select them according to the related standards of the country or area to export.
In the UL standards, certification conditions are to use wires of 60 oC and 75 oC product. (UL508C)
Wire’s tolerable current is different depending on conditions such as its material, structure, ambient
temperature, etc. Check the tolerable current described in the specification of the wire to use.
Example of wire selections according to each standard is as follows.
(1) 600V vinyl insulated wire (IV wire) 60oC product
(Example according to IEC/EN60204-1, UL508C)
Terminal
name
Unit type
Servo drive unit
Servo drive unit
(2-axis)
Power input
CN30
(L1, L2, L3, )
2
MDS-R-V1-20
MDS-R-V1-40
MDS-R-V1-60
MDS-R-V1-80
MDS-R-V2-2020
MDS-R-V2-4020
MDS-R-V2-4040
MDS-R-V2-6040
MDS-R-V2-6060
MDS-R-V2-8040
MDS-R-V2-8060
MDS-R-V2-8080
mm
2
2
2
3.5
2
2
2
3.5
3.5
3.5
5.5
5.5
AWG
14
14
14
12
14
14
14
12
12
12
10
10
Regenerative option
CN30
(P, C)
mm
2
AWG
2
14
2
14
Motor output
CN31L、CN31M
(LU，LV，LW， )
(MU，MV，MW， )
2
mm
2
2
3.5
3.5
2
2
2
3.5
3.5
3.5
3.5
3.5
AWG
14
14
12
12
14
14
14
12
12
12
12
12
Control power
(24VDC)
CN22
Magnetic brake
CN9
2
mm
AWG
2
14
2
14
(2) 600V double (heat proof) vinyl insulated wire (HIV wire) 75 oC product
(Example according to IEC/EN60204-1, UL508C)
Terminal
name
Unit type
Servo drive unit
Servo drive unit
(2-axis)
Power input
CN30
(L1, L2, L3, )
2
MDS-R-V1-20
MDS-R-V1-40
MDS-R-V1-60
MDS-R-V1-80
MDS-R-V2-2020
MDS-R-V2-4020
MDS-R-V2-4040
MDS-R-V2-6040
MDS-R-V2-6060
MDS-R-V2-8040
MDS-R-V2-8060
MDS-R-V2-8080
mm
2
2
2
3.5
2
2
2
3.5
3.5
3.5
5.5
5.5
AWG
14
14
14
12
14
14
14
12
12
12
10
10
Regenerative option
CN30
(P, C)
mm
5-2
2
AWG
2
14
2
14
Motor output
CN31L、CN31M
(LU，LV，LW， )
(MU，MV，MW， )
2
mm
2
2
3.5
3.5
2
2
2
3.5
3.5
3.5
3.5
3.5
AWG
14
14
12
12
14
14
14
12
12
12
12
12
Control power
(24VDC)
CN22
Magnetic brake
CN9
2
mm
AWG
2
14
2
14
5. Peripheral Devices
(3) 600V bridge polyethylene insulated wire (IC) 105oC product
(Example according to JEAC8001)
Terminal
name
Unit type
Servo drive unit
Servo drive unit
(2-axis)
Power input
CN30
(L1, L2, L3, )
2
MDS-R-V1-20
MDS-R-V1-40
MDS-R-V1-60
MDS-R-V1-80
MDS-R-V2-2020
MDS-R-V2-4020
MDS-R-V2-4040
MDS-R-V2-6040
MDS-R-V2-6060
MDS-R-V2-8040
MDS-R-V2-8060
MDS-R-V2-8080
CAUTION
mm
2
2
2
2
2
2
2
2
2
2
3.5
3.5
AWG
14
14
14
14
14
14
14
14
14
14
12
12
Regenerative option
CN30
(P, C)
mm
2
AWG
2
14
2
14
Motor output
CN31L、CN31M
(LU，LV，LW， )
(MU，MV，MW， )
mm
2
2
2
2
2
2
2
2
2
2
2
2
2
AWG
14
14
14
14
14
14
14
14
14
14
14
14
Control power
(24VDC)
CN22
Magnetic brake
CN9
2
mm
AWG
1.25 to 2
14 to 16
1.25 to 2
14 to 16
1. Selection conditions follow IEC/EN60204-1, UL508C, JEAC8001.
 Ambient temperature is maximum 40°C.
 Cable installed on walls without ducts or conduits.
To use the wire under conditions other than above, check the standards you
are supposed to follow.
2. The maximum wiring length to the motor is 30m.
If the wiring distance between the drive unit and motor is 20m or longer, use a
thick wire so that the cable voltage drop is 2% or less.
3. Twist the wire for the regenerative option connection wire.
4. Always wire the grounding wire.
5-3
5. Peripheral Devices
5-2 Selection of circuit protector and contactor
Always select the circuit protector and contactor properly, and install them to each power supply unit to
prevent disasters.
5-2-1 Selection of circuit protector
Select the circuit protector as in the expression below.
Unit type
MDS-RRecommended
breaker
(Mitsubishi Electric
Corp.: option part)
Rated current of the
recommended
breaker
Unit type
MDS-RRecommended
breaker
(Mitsubishi Electric
Corp.: option part)
Rated current of the
recommended
breaker
V1-20
V1-40
V1-60
V1-80
NF30-
NF30-
NF30-
NF50-
CS3P-15A CS3P-20A CS3P-30A CW3P-40A
15A
20A
30A
40A
V2-2020
V2-4020
V2-4040
V2-6040
V2-6060
V2-8040
V2-8060
V2-8080
NF30-
NF30-
NF30-
NF30-
NF50-
NF50-
NF50-
NF50-
CS3P-20A CS3P-30A CS3P-30A CS3P-30A CW3P-40A CW3P-40A CW3P-40A CW3P-40A
20A
30A
30A
30A
40A
40A
40A
40A
Option part: A breaker is not prepared as an NC unit accessory, so purchase the part from your dealer, etc.
CAUTION
1. If a circuit protector is shared by several drive units, the circuit protector may
not activate when a short-circuit fault occurs in a small capacity drive unit. This
is dangerous, so never share the circuit protector by several drive units.
Always install the circuit protector for each drive unit.
2. If the control power (CN22) must be protected, select according to the section
"5-4 Selection of control power supply".
5-4
5. Peripheral Devices
5-2-2 Selection of contactor
Select the contactor as in the expression below.
Unit type
MDS-RRecommended
contactor
(Mitsubishi Electric
Corp.: option part)
Free-air thermal
current of the
recommended
contactor
Unit type
MDS-RRecommended
contactor
(Mitsubishi Electric
Corp.: option part)
Free-air thermal
current of the
recommended
contactor
V1-20
V1-40
V1-60
V1-80
S-N12
S-N18
S-N20
S-N25
-AC200V
-AC200V
-AC200V
-AC200V
20A
25A
32A
50A
V2-2020
V2-4020
V2-4040
V2-6040
V2-6060
V2-8040
V2-8060
V2-8080
S-N18
S-N20
S-N20
S-N20
S-N25
S-N25
S-N25
S-N25
-AC200V
-AC200V
-AC200V
-AC200V
-AC200V
-AC200V
-AC200V
-AC200V
25A
32A
32A
32A
50A
50A
50A
50A
Option part: A breaker is not prepared as an NC unit accessory, so purchase the part from your dealer, etc.
1. Use an alternating contactor.
POINT
2. Select a contactor whose excitation coil does not operate at 15mA or less.
5-5
5. Peripheral Devices
5-3 Selection of earth leakage breaker
When installing an earth leakage breaker, select the breaker on the following basis to prevent the
breaker from malfunctioning by the higher frequency earth leakage current generated in the servo drive
unit.
(1) Selection
Obtaining the earth leakage current for all drive units referring to the following table, select an earth
leakage breaker within the "rated non-operation sensitivity current".
Usually use an earth leakage breaker for inverter products that function at a leakage current within
the commercial frequency range (50 to 60Hz).
If a product sensitive to higher frequencies is used, the breaker could malfunction at a level less
than the maximum earth leakage current value.
Earth leakage current for each drive unit
Drive unit
Earth leakage current
Maximum earth leakage current
MDS-R-V1-20 to 80
1mA
2mA
MDS-R-V2-2020 to 8080
1mA
4mA (for two axes)
(Note1) Maximum earth leakage current: Value that considers wiring length and grounding, etc.
(Commercial frequency 50/60Hz)
(2) Measurement of earth leakage current
When actually measuring the earth leakage current, use a product that is not easily affected by the
higher frequency earth leakage current. The measurement range should be 50 to 60Hz.
POINT
1. The earth leakage current tends to increase as the motor capacity increases.
2. A higher frequency earth leakage current will always be generated because the
inverter circuit in the drive unit switches the transistor at high speed. Always
ground to reduce the higher frequency earth leakage current as much as
possible.
3. An earth leakage current containing higher frequency may reach approx.
several hundreds of mA. According to IEC479-2, this level is not hazardous to
the human body.
4. For safety, ground the machine with Class C (former class 3) grounding.
5-6
5. Peripheral Devices
5-4 Selection of control power supply
For the control power supply of MDS-R Series, choose the stabilized power supply that satisfies the
specifications below.
(1) Power supply specification
External power supply unit
Output voltage
Ripple
Output current
24VDC ±10%
200mV max.
Select the external power supply unit that satisfies the current or rush
current specification of the drive unit control power supply
specification.
If the power supply is supplied to multiple drive units, select a product
that satisfies the total of the drive units.
Circuit
protector
DC24V
Stabilized power supply
Servo drive unit
MDS-R
ACIN
Circuit protector
or
Protection fuse
CN22
DCOUT
CAUTION
1. Do not damage, apply excessive stress, place heavy things on or sandwich
the cables, as this may lead to electric shocks.
2. Separate the signal wire from the drive line/power line when wiring.
3. Do not connect or disconnect the connection cables between each unit while
the power is ON.
5-7
5. Peripheral Devices
5-5 Noise filter
(1) Selection
Use an EMC noise filter if the noise conducted to the power line must be reduced. Select an EMC
noise filter taking the drive unit's input rated voltage and input rated current into consideration.
(2) Noise filter mounting position
Install the noise filter to the drive unit’s power input as the diagram below indicates.
Power
distribution panel
Breaker
Power
supply
Contactor
Noise filter
R
S
Drive unit
MDS-R-V1/V2
T
(Note) The noise filter must be prepared by the user.
Recommended devices:
Densei-lambda
Soshin Electric
MX13 Series
HF3000C-TM Series
Contact:
Densei-lambda Co., Ltd.
Soshin Electric Co., Ltd.
TEL0120-507039
http://www.densei-lambda.com
TEL03-3775-9112(+81-3-3775-9112)
http://www.soshin.co.jp
(Note) The above devices may be changed at the manufacturer's discretion.
Contact each manufacturer for more information.
5-8
5. Peripheral Devices
5-6 Surge absorber
When controlling a magnetic brake of a servomotor in DC OFF circuit, a surge absorber must be
installed to protect the relay contacts and brakes. Commonly a varistor is used.
(1) Selection of varistor
When a varistor is installed in parallel with the coil, the surge voltage can be adsorbed as heat to
protect a circuit. Commonly a 120V product is applied. When the brake operation time is delayed,
use a 220V product. Always confirm the operation with an actual machine.
(2) Specifications
Select a varistor with the following or equivalent specifications. To prevent short-circuiting, attach a
flame resistant insulation tube, etc., onto the leads as shown in the following outline dimension
drawing.
Varistor specifications
Varistor type
ERZV10D121
TNR10V121K
ERZV10D221
TNR10V221K
Varistor
voltage
Tolerable circuit
rating
voltage
(range)
(V)
AC (V)
DC (V)
120
75
100
（108 to 132）
220
140
180
（198 to 242）
Rating
Surge current
Energy
withstand level
withstand level
(A)
(J)
1 time 2 times 10/1000μs 2ms
Electrostatic
Max. limit capacity
(reference
Power voltage
value)
(W)
(V)
(pF)
3500
2500
20
14.5
0.4
200
1400
3500
2500
39
27.5
0.4
360
410
(Note 1) Selection condition: When ON/OFF frequency is 10 times/min or less, and exciting current is 2A or less
(Note 2) ERZV10D121 and ERZV10D221 are manufactured by Matsushita Electric Industrial Co., Ltd.
TNR10V121K and TNR10V221K are manufactured by MARCON Electronics Co., Ltd.
Contact: Matsushita Electronic Components Co., Ltd : http://www.panasonic.co.jp/ maco/
MARCON Electronics Co., Ltd. :Telephone (Kanto)03-3471-7041 (+81-3-3471-7041)
(Kinki) 06-6364-2381 (+81-3-6364-2381)
(Chubu) 052-581-2595 (+81-52-581-2595)
(3) Outline dimension drawing
 ERZV10D121, ERZV10D221
Unit: [mm]
11.5
20.0
POINT
Insulation tube
Normally use a product with 120V varistor voltage. If there is no allowance for the
brake operation time, use the 220V product. A varistor whose voltage exceeds 220V
cannot be used, as such varistor will exceed the specifications of the relay in the unit.
5-9
5. Peripheral Devices
5-7 Relay
Use the following relays for the input/output interface (contactor control signal or motor break control
signal: CN9).
Interface name
For digital input signal (CN9)
For digital output signal (CN9)
Selection example
Use a minute signal relay (Example: twin contact) to prevent a contact defect.
<Example> OMRON: G2A, G6B type, MY type, LY type
Use a compact relay with rating of 24VDC, 50mA or less.
<Example> OMRON: G6B type, MY type
5 - 10
6. Installation
6-1 Installing the servomotor .................................................................................................................... 6-2
6-1-1 Environmental conditions ............................................................................................................ 6-2
6-1-2 Vibration-resistance strength ...................................................................................................... 6-2
6-1-3 Precautions for mounting load (Preventing impact on shaft) ...................................................... 6-3
6-1-4 Installation direction..................................................................................................................... 6-3
6-1-5 Oil and waterproofing measures ................................................................................................. 6-4
6-1-6 Cable stress ................................................................................................................................ 6-5
6-2 Installation of the units ....................................................................................................................... 6-6
6-2-1 Environmental conditions ............................................................................................................ 6-6
6-2-2 Installation direction and clearance............................................................................................. 6-7
6-2-3 Prevention of foreign matter entry............................................................................................... 6-9
6-2-4 Panel installation hole machining drawings (Panel cut drawings) .............................................. 6-9
6-2-5 Heating value ............................................................................................................................ 6-10
6-2-6 Heat radiation countermeasures ............................................................................................... 6-11
6-3 Noise measures ............................................................................................................................... 6-14
6-1
6. Installation
6-1 Installing the servomotor
CAUTION
1. Do not hold the cables, shaft or detector when transporting the motor. Failure
to observe this could result in breakage and injury.
2. Securely fix the motor onto the machine. Improper fixing could cause the
motor to dislocate and result in injury.
3. Do not apply impact, such as by tapping with a hammer, when connecting the
coupling to the servomotor's shaft end. The detector could break.
4. Never touch the motor's rotating sections during operation. Provide a cover,
etc., on the shaft.
5. Do not apply a load exceeding the tolerable load on the servomotor shaft.
Failure to observe this could result in shaft breakage and injury.
6. Do not connect or disconnect any connector while the power is ON.
6-1-1 Environmental conditions
Environment
Conditions
Ambient temperature
0°C to +40°C
(with no freezing)
Ambient humidity
80%RH or less
(with no dew condensation)
Storage temperature
–15°C to +70°C
(with no freezing)
Storage humidity
90%RH or less
(with no dew condensation)
Atmosphere
Indoors (Where unit is not subject to direct sunlight)
No corrosive gases, inflammable gases, oil mist or dust
Operation/storage: 1,000m or less above sea level
Transportation: 10,000m or less above sea level
Altitude
6-1-2 Vibration-resistance strength
Acceleration direction
Motor type
HF75, HF105
HF54, HF104, HF154, HF224, HF123,
HF223, HF142
HF204, HF354, HF303, HF302
Shaft direction (X)
Direction of right
angle to the shaft (Y)
49m/s2 (5G) or less
49m/s2 (5G) or less
24.5m/s2 (2.5G) or less
24.5m/s2 (2.5G) or less
24.5m/s2 (2.5G) or less
49m/s2 (5G) or less
Each vibration condition is as follows.
200
Vibration amplitude
(double amplitude)
Servomotor
100
80
60
Y
X
50
40
30
Acceleration
(µm) 20
0
1000
2000 3000
Rotation speed (r/min)
6-2
6. Installation
6-1-3 Precautions for mounting load (Preventing impact on shaft)
(1) When using the servomotor with keyway, use the screw
hole on the end of the shaft to mount the pulley onto the
shaft. When mounting, insert a double-end stud into the
shaft's screw hole, and contact a washer against the end
of the coupling. Push in so as to tighten with the nut. Use a
friction joint for a shaft which does not have a keyway.
(2) When removing the pulley, use a pulley remover, and take
care not to apply impact on the shaft.
(3) Provide a protection cover, etc., to ensure safety at the
rotating sections, such as the pulley mounted on the shaft.
(4) The direction of the detector mounted on the servomotor
cannot be changed.
CAUTION
Servom otor
Double-end stud
Nut
P ulle y
W asher
Never tap the shaft end with a hammer
when assembling, etc.
6-1-4 Installation direction
(1) The servomotor can be installed in any direction without limit,
but as a standard, the cannon plugs (led out wires) of the
motor power supply cable and detector cable should face
downward. Installing in the standard direction is effective for
drip-proofing. If the servomotor is not to be installed in the
standard direction, special caution must be taken for oil and
waterproofing. Refer to section "6-2-5 Oil and waterproofing
measures" and provide appropriate measures. When installing
the servomotor with magnetic brakes with the shaft facing
upward, the sound of the brake plates sliding may be heard.
This is not an abnormality.
6-3
Top
Bottom
Standard installation direction
6. Installation
6-1-5 Oil and waterproofing measures
Oil or water
(1) A format based on IEC Standards (IP types) is used as the motor
protective format. However, these Standards are short-term performance
specifications. They do not guarantee continuous environmental
protection characteristics. Measures such as covers, etc., must be
provided if there is any possibility that oil or water will fall on the motor, or
the motor will be constantly wet and permeated by water. Note that the
motor’s IP-type is not indicated as corrosion-resistant.
Servomotor
(2) When a gear box is installed on the servomotor, make sure that the oil level height from the center of
the shaft is higher than the values given below. Open a breathing hole on the gear box so that the
inner pressure does not rise.
Servomotor
HF75, HF105
HF54, HF104, HF154, HF224,
HF123, HF223, HF142
HF204, HF354, HF303, HF302
Oil level (mm)
Gear
15
Servomotor
22.5
Oil level
30
Lip
Oil seal
V-ring
(3) When installing the servomotor horizontally, set the power cable and detector cable to face downward.
When installing vertically or with an inclination, provide a cable trap.
Cable trap
When installed horizontally
CAUTION
When installed vertically
1. The servomotors, including those having IP67 specifications, do not have a
completely waterproof (oil-proof) structure. Do not allow oil or water to
constantly contact the motor, enter the motor, or accumulate on the motor. Oil
can also enter the motor through cutting chip accumulation, so be careful of
this also.
2. When the motor is installed facing upwards, take measures on the machine
side so that gear oil, etc., does not flow onto the motor shaft.
3. Do not remove the detector from the motor. (The detector installation screw is
treated for sealing.)
6-4
6. Installation
(4) Do not use the unit with the cable submerged in oil or
water.
(Refer to right drawing.)
Cover
Servomotor
Oil or water pool
<Fault> Capillary tube Phenomenon
(5) Make sure that oil and water do not flow along the cable
into the motor or detector. (Refer to right drawing.)
Cover
Servomotor
<Fault> Respiration
(6) When installing on the top of the shaft end, make sure that
oil from the gear box, etc., does not enter the servomotor.
The servomotor does not have a waterproof structure.
Gear
Lubricating oil
Servomotor
6-1-6 Cable stress
(1) Carefully consider the cable clamping method so that bending stress and the stress from the
cable's own weight is not applied on the cable connection section.
(2) If the detector cable and servomotor wiring are stored in a cable bear and the servomotor moves,
make sure that the cable bending part is within the range of the optional detector cable.
Fix the detector cable and power cable enclosed with the servomotor.
(3) Make sure that the cable sheathes will not be cut by sharp cutting chips, worn, or stepped on by
workers or vehicles.
(4) When the servomotor is installed on a moving machine, set the bending radius as large as possible.
6-5
6. Installation
6-2 Installation of the units
CAUTION
1. Install the unit on noncombustible material. Direct installation on combustible
material or near combustible materials may lead to fires.
2. Follow the instructions in this manual and install the unit while allowing for the
unit mass.
3. Do not get on top of the units or motor, or place heavy objects on the unit.
Failure to observe this could lead to injuries.
4. Always use the unit within the designated environment conditions.
5. Do not let conductive objects such as screws or metal chips, etc., or
combustible materials such as oil enter the units.
6. Do not block the units intake and outtake ports. Doing so could lead to failure.
7. The units and servomotor are precision devices, so do not drop them or apply
strong impacts on them.
8. Do not install or run units or servomotor that is damaged or missing parts.
9. When storing for a long time, please contact your dealer.
10.Always observe the installation directions. Failure to observe this could lead to
faults.
11. Secure the specified distance between the units and panel’s inner wall, or
between the units and other devices. Failure to observe this could lead to
faults.
6-2-1 Environmental conditions
Environment
Conditions
Ambient temperature
0°C to +55°C
(with no freezing)
Ambient humidity
90% RH or less
(with no dew condensation)
Storage temperature
–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)
With no corrosive gas, inflammable gas, oil mist, dust or conductive particles
Altitude
Operation/storage: 1,000m or less above sea level
Transportation: 10,000m or less above sea level
Vibration
Operation/storage: 4.9m/s (0.5G) or less
2
Transportation: 49m/s (5G) or less
2
(Note) When installing the machine at 1,000m or more above sea level, the heat dissipation
characteristics will drop as the altitude increases. The upper limit of the ambient
temperature drops 1°C with every 100m increase in altitude. (The ambient temperature at
an altitude of 2,000m is between 0 and +45°C.)
6-6
6. Installation
6-2-2 Installation direction and clearance
Wire each unit in consideration of the maintainability and the heat dissipation, also secure sufficient
space for ventilation.
(1) Installation clearance
100mm
or more
100mm
or more
60mm
or more
Exhaust
80mm
or more
60mm
10mm
or more
10mm
or more
Inlet
260m
Filter
60mm
1mm or more
100mm
or more
100mm
or more
CAUTION
60mm
or more
Exhaust
75mm
or more
1. The operation ambient temperature for the drive unit is 55ºC or less.
2. Because heat can easily accumulate in the upper portion of the units, give
sufficient consideration to heat dissipation when designing the panel. If
required, install a fan in the panel to agitate the heat in the upper portion of
the units.
(2) Panel structure of the unit back face
The type "(a)" that has substantial cooling effect is recommended.
(a) Back face inlet type
(b) Side face inlet type
Filter
Filter
Install a partition plate inside
to separate inlet and exhaust.
Cooling will be more highefficiency by installing a partition
plate inside to separate inlet and
exhaust.
Fan inlet hole
Fan inlet hole
6-7
6. Installation
170
105
105
□40
□60
170
□40
□60
(3) Cooling fan position
90mm width
unit
60mm width
unit
CAUTION
1.
2.
Design the inlet so that it is the position of the cooling fan.
Make the inlet and exhaust size more than the area that is a total of the cooling
fan area.
6-8
6. Installation
6-2-3 Prevention of foreign matter entry
Treat the cabinet with the following items.
 Make sure that the cable inlet is dust and oil proof by
using packing, etc.
 Make sure that the external air does not enter inside
through heat radiating holes, etc.
 Close all clearances of the cabinet.
 Securely install door packing.
 If there is a rear cover, always apply packing.
 Oil will tend to accumulate on the top. Take special
measures such as oil-proofing packing so that oil does
not enter the cabinet from the screw holes.
 After installing each unit, avoid machining in the
periphery. If cutting chips, etc., stick onto the
electronic parts, trouble may occur.
 When using the unit in an area with toxic gases or high
levels of dust, protect the unit with air purging (system
to blow clean air so that the panel's inner pressure is
higher than the outer pressure).
6-2-4 Panel installation hole machining drawings (Panel cut drawings)
52
Unit width: 60mm
82
Unit width: 90mm
(Note 1) Attach packing around the square hole to provide a seal.
6-9
360
(8)
2-M5 screw
hole
342
360
Unit [mm]
10
2-M5 screw
hole
Square
hole
(Note 1)
10
Square
hole
(Note 1)
342
(8)
Prepare a square hole to match the unit width.
Unit [mm]
6. Installation
6-2-5 Heating value
The heating value of each servo drive unit is the heating value at stall output.
Servo drive unit type
MDS-R-
Heating value [W]
Inside
Outside
panel
panel
Servo drive unit type
MDS-R-
Heating value [W]
Inside
Outside
panel
panel
V1-20
15
31
V2-2020
26
V1-40
21
52
V2-4020
32
83
V1-60
27
74
V2-4040
38
105
V1-80
36
105
V2-6040
45
125
V2-6060
50
150
V2-8040
53
158
V2-8060
60
180
V2-8080
68
210
POINT
63
Design the panel's heating value taking the actual axis operation (load rate) into
consideration. With a general machine tool, the servo drive unit's load rate is
approx. 50%, so the heating values inside the panel are half the values shown
above.
Calculation example: When using MDS-R-V1-20 and MDS-R-V2-2020
Total heating value = (15 + 31) + (26 + 63) = 135 [W]
Heating value in panel = 15 x 0.5 + 26 x 0.5 = 20.5 [W]
6 - 10
6. Installation
6-2-6 Heat radiation countermeasures
(1) Heat radiation countermeasures in the control panel
In order to secure reliability and life, design the temperature in the panel so that the ambient
temperature of each unit is 55°C or less.
If the heat accumulates at the top of the unit, etc., install a fan or heat exchanger so that the
temperature in the panel remains constant.
Please refer to following method for heat radiation countermeasures.
Calculate total heat radiation of each
unit in panel (W)
<Hypothetical conditions>
[1] Average temperature in panel: T 55°C
[2] Panel peripheral temperature: Ta 0 to 45°C
[3] Internal temperature rise value: T=T-Tamax =10°C
Calculate panel’s cooling capacity
(W1)
Comparison of
W and W1
<Point>
W>W1
[1] Refer to the section “6-5 Heating value” for the heat
generated by each unit.
Consider heat
exchanger
W W1
[2] Refer to the following calculation for calculation W1 of the
panel’s cooling capacity (thin steel plate).
W1 = U x A x ΔT
2
(with internal agitating fan)
2
(without internal agitating fan)
U: 6W/m x °C
4W/m x °C
2
A: Effective heat radiation area [m ]
Manufacturing and evaluation
（Heat dissipation area in panel）
Consider adding fan or
heat exchanger
Sections contacting other objects are excluded.
T: Internal temperature rise value (10°C)
[3] Points in manufacturing and evaluation
ΔT > 10℃
Understanding the temperature rise in the panel, and
Evaluate temperature
in panel
install a fan or heat exchanger.
T (average value) 10°C
Tmax (maximum value) 15°C
ΔT 10℃
Completion
Examples of mounting heat exchanger and temperature measurement positions (reference)
Flow of air
Relay, etc
Heat
exchanger
Relay, etc
Heat
exchanger
Unit
Temperature measurement positions
6 - 11
Unit
Flow of air
6. Installation
The following shows a calculation example for considering heat radiation countermeasures.
<Control panel outline dimension (assumption) >
When installing four units which have the heating value in the panel of 15W
Fan for agitating
600
Top of panel inside
300
600
Heat radiation area (A): When a bottom section contacts with a machine
A = 0.6 x 0.3 + 0.6 x 0.6 x 2 + 0.6 x 0.3 x 2 = 1.26 (m2)
(Top face) (Front/back face) (Side face)
*Actually, sections contacting other objects are excluded.
Heating value in panel (W): when installing four units which are 15W
W = 15 x 4 = 60 (W)
<Considering necessity of agitating fan>
1 Temperature standard
(1) Standard of temperature in panel (around each unit) T  55°C
(2) External peripheral temperature
Ta = 0 to 45°C
(3) Internal temperature rise value
T = T - Ta(MAX) = 10°C
2 Cooling capacity of control panel (W1)
W1 = U x A x T
T = Internal temperature rise value (=10°C)
U = 6W/m2  °C (with internal agitating fan)
4W/m2  °C (without internal agitating fan)
A = Effective heat radiation area (m2)
(1) With internal agitating fan
W1 = 6 x 1.26 x 10 = 75.6 (W) > 60 (W)
(2) Without internal agitating fan W1 = 4 x 1.26 x 10 = 50.4 (W) < 60 (W)
POINT
Internal fan is
required.
Measure an actual internal temperature, and install a fan or heat exchanger
which agitates the heat at the top of the unit if the temperature rise exceeds
10°C.
6 - 12
6. Installation
(2) Heat radiation countermeasures outside the control panel
Measure the temperature at 40mm form tops of all units, and design the temperature rise so that it
is 20°C or less against the ambient temperature.
If the temperature rise at the temperature measurement position exceeds 20°C, consider adding a
fan.
40mm
40mm
Side face
Back face
Temperature measurement position
POINT
The temperature of some units may rise locally, because air accumulates at a
particular point. Therefore, take a temperature measurement in each unit.
If a temperature at even one point exceeds 20°C in the temperature
measurements, take a heat radiation countermeasure such as adding fans.
6 - 13
6. Installation
6-3 Noise measures
Noise includes "propagation noise" generated from the power supply or relay, etc., and propagated
along a cable causing the power supply unit or drive unit to malfunction, and "radiated noise"
propagated through air from a peripheral device, etc. causing the power supply unit or drive unit to
malfunction.
If the peripheral devices or units malfunction due to this noise, measures must be taken to suppress the
noise. The measures differ according to the noise propagation path, so refer to the following explanations
and take appropriate measures.
(1) General noise measures
 Avoid laying the drive unit's power line and signal wire in a parallel or bundled state. Always
separate these wires. Use a twisted pair shielded wire for the detector cable and signal wires
such as the communication cable connected with the NC unit. Accurately ground the devices.
 Use one-point grounding for the drive unit and motor.
 Accurately ground the AC reactor.
(2) Propagation noise measures
Take the following measures when noise generating devices are installed and the power supply
unit or drive unit could malfunction.
 Install a surge killer on devices (magnetic contactors, relays, etc.) which generate high levels of
noise.
 Install a power supply filter.
 Mount a ferrite core on the signal wire.
 Ground the shield of the servo detector's cable with a cable clamp fittings.
(3) Measures against radiated noise
The types of propagation paths of the noise and the noise measures for each propagation path are
shown below.
Noise generated
from drive unit
Airborne
propagation noise
Noise directly radiated
from drive unit
Path <1>
Magnetic
induction noise
Path
<4>and<5>
Noise radiated from
power line
Path <2>
Static induction
noise
Path <6>
Noise radiated from
servomotor/spindle
motor
Path <3>
Noise propagated over
power line
Path <7>
Noise lead in from
grounding wire by
leakage current
Path <8>
Cable propagation
noise
6 - 14
6. Installation
(Example) Drive system
<5>
<7>
<2>
<7>
<2>
<1>
Instrument
Receiver
Sensor
power
supply
Drive
unit
<6>
<3>
<4>
<8>
Sensor
Servomotor
Spindle motor
Noise
propagation
path
<1> <2> <3>
<4> <5> <6>
<7>
<8>
M
Measures
When devices such as instrument, receiver or sensor, which handle minute signals
and are easily affected by noise, or the signal wire of these devices, are stored in
the same panel as the drive units and the wiring is close, the device could
malfunction due to airborne propagation of the noise. In this case, take the following
measures.
(1) Install devices easily affected as far away from the drive units as possible.
(2) Lay devices easily affected as far away from the signal wire of the drive unit as
possible.
(3) Do not lay the signal wire and power line in parallel or in a bundled state.
(4) Insert a line noise filter on the input/output wire or a radio filter on the input wire
to suppress noise radiated from the wires.
(5) Use a shield wire for the signal wire and power line, or place in separate metal
ducts.
If the signal wire is laid in parallel to the power line, or if it is bundled with the power
line, the noise could be propagated to the signal wire and cause malfunction
because of the magnetic induction noise or static induction noise. In this case, take
the following measures.
(1) Install devices easily affected as far away from the drive unit as possible.
(2) Lay devices easily affected as far away from the signal wire of the drive unit as
possible.
(3) Do not lay the signal wire and power line in parallel or in a bundled state.
(4) Use a shield wire for the signal wire and power line, or place in separate metal
ducts.
If the power supply for the peripheral devices is connected to the power supply in
the same system as the drive units, the noise generated from the power supply unit
could back-flow over the power line and cause the devices to malfunction. In this
case, take the following measures.
(1) Install a radio filter onto the drive unit's power supply wire.
(2) Install a power filter onto the drive unit's power supply wire.
If a closed loop is created by the peripheral device and drive unit grounding wire, the
noise current could be run through causing the device to malfunction. In this case,
change the device grounding methods and the grounding place.
6 - 15
6 - 16
7. Wiring and Connection
7-1 Part system connection diagram........................................................................................................ 7-3
7-2 Main circuit and control circuit connectors ......................................................................................... 7-4
7-2-1 Connector pin assignment .......................................................................................................... 7-4
7-2-2 Main circuit and control circuit connector signal names and applications .................................. 7-5
7-3 NC and drive unit connection ............................................................................................................. 7-6
7-4 Motor and detector connection .......................................................................................................... 7-7
7-4-1 Connection of servomotor HF Series .......................................................................................... 7-7
7-5 Connection of main circuit power supply ......................................................................................... 7-10
7-6 Connection of regenerative resistor ................................................................................................. 7-11
7-6-1 Connection of external option regeneration resistance unit...................................................... 7-11
7-6-2 Connection of external regenerative resistor ............................................................................ 7-12
7-7 Wiring of contactors ......................................................................................................................... 7-14
7-7-1 Contactor control ....................................................................................................................... 7-14
7-7-2 Contactor control signal (MC) output circuit .............................................................................. 7-15
7-7-3 Contactor power ON sequences ............................................................................................... 7-16
7-7-4 Contactor shutoff sequences .................................................................................................... 7-16
7-7-5 Monitor of contactor operation .................................................................................................. 7-17
7-8 Wiring of the motor brake................................................................................................................. 7-18
7-8-1 Motor brake control signal (MBR) output circuit........................................................................ 7-18
7-8-2 Motor brake release sequence.................................................................................................. 7-19
7-8-3 Control during the servo OFF command................................................................................... 7-19
7-8-4 Operation sequences when an emergency stop occurs........................................................... 7-19
7-9 Wiring of an external emergency stop ............................................................................................. 7-20
7-9-1 External emergency stop setting............................................................................................... 7-20
7-9-2 External emergency stop signal (EMGX) input circuit............................................................... 7-21
7-9-3 External emergency stop operation sequence.......................................................................... 7-22
7-1
7. Wiring and Connection
DANGER
1. Wiring work must be done by a qualified technician.
2. Wait at least 15 minutes after turning the power OFF and check the voltage
with a tester, etc. before starting wiring. Failure to observe this could lead to
electric shocks.
3. Securely ground the drive units and servo/spindle motor.
4. Wire the drive units and servo/spindle motor after installation. Failure to
observe this could lead to electric shocks.
5. Do not damage, apply forcible stress, place heavy items on the cables or get
them caught. Failure to observe this could lead to electric shocks.
6. Always insulate the power terminal connection section. Failure to observe
this could lead to electric shocks.
1. Correctly and securely perform the wiring. Failure to do so could lead to
runaway of the servo/spindle motor resulting in possible injury.
2. Do not mistake the terminal connections.
Failure to observe this item could lead to ruptures or damage, etc.
3. Do not mistake the polarity ( + , – ). Failure to observe this item could lead to
ruptures or damage, etc.
4. Do not mistake the direction of the diodes for the surge absorption installed
on the DC relay for the motor brake and contactor (magnetic contactor)
control. The signal may not be output when a failure occurs.
Servo drive unit
Servo drive unit
COM
(24VDC)
COM
(24VDC)
Control output
signal
RA
Control output
signal
RA
CAUTION
5. Electronic devices used near the drive units may receive magnetic
obstruction. Reduce the effect of magnetic obstacles by installing a noise
filter, etc.
6. Do not install a phase advancing
capacitor, surge absorber or radio noise
filter on the power line (U, V, W) of the
servo/spindle motor.
7. Do not modify this unit.
8. The half-pitch connectors (CN1A, etc.)
on the front of the drive units have the
same shape. If the connectors are
connected incorrectly, faults could occur.
Make sure that the connection is correct.
9. Do not separately ground the connected
motor and drive unit as noise could be
generated. To ground the motor, connect
to the PE terminal for the drive unit's
CN31 connector, and connect to the
ground from the other CN30 connector's
PE terminal. (Ground to one point)
7-2
7. Wiring and Connection
7-1 Part system connection diagram
Mitsubishi
CNC
MDS-R-V1-
SV1, 2
(CSH21)
CN1A
MDS-R-V2-
CN1A
CN1B
CN3L
Machine side
detector
CN4
MDS-A-BT-
CN1B
CN3L
CN4
Machine side detector
CN3M
Machine side detector
CN9
24V power
CN2L
CN22
CN9
CN2L
CN22
CN2M
LU
No-fuse
breaker
Contactor
CN31L
R
L1
S
L2
T
LU
LV
Regenerative
resistor unit
L3
P
CN30
Motor
LV
Motor
CN31L
LW
LW
Motor side
detector
Motor side
detector
MU
Regenerative
resistor unit
CN31M
C
MV
Motor
MW
Motor side
detector
No-fuse
breaker
Contactor
Ground
R
: Main circuit
S
: Control circuit
T
(Note 1)
(Note 2)
(Note 3)
(Note 4)
The total length of the SH21 cable must be within 30m.
The connection method will differ according to the motor to be used.
When not using an absolute position detector, connect the terminal connector (A-TM).
The main circuit ( ) and control circuit ( ) are safely separated.
7-3
7. Wiring and Connection
7-2 Main circuit and control circuit connectors
CAUTION
Do not apply a voltage other than that specified on each terminal. Failure to
observe this item could lead to rupture or damage, etc.
7-2-1 Connector pin assignment
Unit
MDS-R-V1-
Terminal
MDS-R-V2-
Connector position
(d)
(d)
(b)
(b)
(c)
(a)
(a)
L1 L2 L3
(DDK)
B
(a)
CN30
Housing : DK-5200M-06R
Contact : DK-5RECSLP1-100 for AWG14,16
Contact : DK-5RECMLP1-100 for AWG10,12
A
P
Terminal
specification/
Pin
assignment
C PE
U
W
(DDK)
(b)
(c)
CN31L
CN31M
B
Housing : DK-5200M-04R
Contact : DK-5RECSLP1-100 for AWG14,16
Contact : DK-5RECMLP1-100 for AWG10,12
A
V PE
(d)
CN22
1
VDD
2
SG
7-4
(DDK)
Housing : DK-3200S-02R
Contact : DK-3REC2LLP1-100 for AWG14
7. Wiring and Connection
7-2-2 Main circuit and control circuit connector signal names and applications
The following table shows the details for each terminal block signal.
Name
Signal name
L1 . L2 . L3
Main circuit
power supply
Main circuit power supply input terminal
Connect a 3-phase 200 to 230VAC, 50/60Hz power supply.
P, C
Regenerative
resistor
Regenerative resistor connection terminal
Connect the regenerative resistor.
U.V.W
Motor output
Servomotor power output terminal
The servo/spindle motor power terminal (U, V, W) is connected.
PE
Protective
grounding
(PE)
Grounding terminal
The servomotor/spindle motor grounding terminal is connected and
grounded.
Control circuit
power supply
Control circuit power supply input terminal
Connect 24VDC.
VDD, SG
Description
7-5
7. Wiring and Connection
7-3 NC and drive unit connection
The NC bus cables are connected from the NC to each drive unit so that they are laid in a straight line
from the NC to the terminal connector (battery unit). And up to 7 axes can be connected per system.
(Note that the number of connected axes is limited by the CNC. The following drawing shows an
example with 5 axes connected.)
< Connection >
CN1A : CN1B connector on NC or previous stage's drive unit
CN1B : CN1A connector on next stage's drive unit or terminal connector (battery unit)
Connected to the NC
MDS-R-V2-
1st/2nd axis
Refer to the
instruction manual
of each NC for
details.
CN1A
MDS-R-V2-
3rd/4th axis
MDS-R-V1-
5th axis (final axis)
Connect to the
battery unit with a
terminal connector
or SH21 cable.
CN1B
CN1A
CN1B
CN1A
CN1B
SH21 cable
Max. length of 30m from the NC to the terminal connector.
CAUTION
POINT
Wire the SH21 cable between the NC and drive unit so that the distance
between the NC and terminal connector (battery unit) is within 30m.
Axis Nos. are determined by the rotary switch for setting the axis No. (Refer to
section "8-1-1 Setting the rotary switch".) The axis No. has no relation to the
order for connecting to the NC.
7-6
7. Wiring and Connection
7-4 Motor and detector connection
7-4-1 Connection of servomotor HF Series
(1) Connection of HF75(B)/HF105(B)/HF54(B)/HF104(B)/HF154(B)/HF224(B) /HF123(B)
/HF223(B)/HF142(B)
The A48 or A51 detector can be used.
MDS-R-V1/V2
Option cable：CNV2E
(Refer to Appendix 1 for details on manufacturing
the cable.)
Motor side detector connector
CN2L/M
Pin
1
2
3
4
5
CN2L
Max. 30m
Detector connector
Signal
P5
LG
RQ
RQ*
Pin
6
7
8
9
10
Signal
SD
SD*
BAT
Motor brake wiring
CM10-R10P
3
7
2
6
9
Motor power connector
CN31L/M
1
5
10
（ Refer to “7-8 Wiring of the
motor brake” for details.）
B
4
8
A
CN31L
1
Pin
1
2
3
4
5
6
7
8
9
10
Signal
RQ
RQ*
Pin
1B
1A
2B
2A
U,V,W,PE
BAT
LG(GND)
SD
SD*
P5(+5V)
Power wire and grounding wire
（Refer to “5-1 Selecting the wire size" for details on selecting the wire.）
SHD
Power connector
MS3102A18-10P
Brake connector
CM10-R2P
1
2
2
Signal
V
W
PE
Pin
1
2
Signal
B1
B2
Servomotor
D
A
C
B
There is no polarity for 24VDC.
(Note) The above connection is used for the single-axis servo drive unit.
7-7
Pin
A
B
C
D
Signal
U
V
W
PE
7. Wiring and Connection
(2) Connection of HF204(B)/HF354(B)/HF303(B)/HF302(B)
The A48 or A51 detector can be used.
MDS-R-V1/V2
Option cable：CNV2E
(Refer to Appendix 1 for details on manufacturing
the cable.)
Motor side detector connector
CN2L/M
Pin
1
2
3
4
5
CN2L
Max. 30m
Detector connector
（ Refer to “7-8 Wiring of the
motor brake” for details.）
7
2
5
9
4
A
CN31L
Signal
RQ
RQ*
Pin
1B
1A
2B
2A
U,V,W,PE
BAT
LG(GND)
SD
SD*
P5(+5V)
Power wire and grounding wire
Power connector
MS3102A22-22P
Brake connector
CM10-R2P
1
Pin
1
2
2
Signal
U
V
W
PE
（Refer to “5-1 Selecting the wire size" for details on selecting the wire.）
SHD
2
SD
SD*
BAT
B
8
1
Pin
1
2
3
4
5
6
7
8
9
10
Signal
Motor power connector
CN31L/M
1
6
10
Pin
6
7
8
9
10
Motor brake wiring
CM10-R10P
3
Signal
P5
LG
RQ
RQ*
Signal
B1
B2
Servomotor
D
A
C
B
There is no polarity for 24VDC.
Note) The above connection is used for the single-axis servo drive unit.
7-8
Pin
A
B
C
D
Signal
U
V
W
PE
7. Wiring and Connection
(3) Connecting the linear scale (for rectangular wave data output)
Detector connector : CN3L
Pin No.
No.9
No.1
No.10 No.2
MDS-R-V1/V2
CNV2E
CN2L
CN3L
Max.30m
CN31L
U,V,W,PE
Table
Servomotor
Linear scale
7-9
Pin
1
3
5
7
9
Name
P5(+5V)
A
B
Z
Pin
2
4
6
8
10
Name
LG
A*
B*
Z*
ABZSEL*
7. Wiring and Connection
7-5 Connection of main circuit power supply
CAUTION
1. Make sure that the power supply voltage is within the specified range of
the servo drive unit. Failure to observe this could lead to damage or faults.
2. For safety purposes, always install a circuit protector, and make sure that
the circuit is cut off when an error occurs or during inspections. Refer to
Chapter 5 and select a no fuse breaker.
3. The wire size will differ according to each drive unit capacity. Refer to
Chapter 5 and select the size.
4. For safety purposes, always install a contactor (magnetic contactor) on the
main circuit power supply input. Large rush currents will flow when the
power is turned ON. Refer to Chapter 5 and select the correct contactor.
Drive the contactor via the relay from the CN9 connector's contactor control output (MC). Some types of
contactors can be directly driven with 24VDC.
3-phase
200 to 230V
Circuit
protector
Contactor
Contactor control relay
(There are also types that
are built into the contactor.)
MDS-R-V1/V2
CN30
L1
L2
L3
CN9
10 VDD
5 COM
15 MC
CN22
24VDC
power supply
Mitsubishi NC
Terminator (A-TM) or
battery unit (MDS-A-BT-)
SH21 cable
CN1A
Emergency stop alarm
7 - 10
CN1B
7. Wiring and Connection
7-6 Connection of regenerative resistor
CAUTION
The MDS-R Series does not have a built-in regenerative resistor. If the load
inertia is small, there will be no problem with the capacitor regeneration
(regenerative resistance is not required as the circuit is charged with the
capacitor in the drive unit). However, the overvoltage alarm (ALM33) will occur if
the load inertia is large. In this case, connect the external option regenerative
resistor. Refer to section "Appendix 2-2 Selection of regenerative resistor" for
details on making a selection.
7-6-1 Connection of external option regeneration resistance unit
Connect the option regeneration resistor between the P and C terminals. The thermal protector
terminals (G3, G4) are used together with the electronic thermal to provide double-protection against
overheating of the regenerative resistor. Construct a sequence in which an emergency stop results
when the current stops flowing between G3 and G4.
MDS-R-V1/V2
CN30
C P
G3 and G4:
Thermal protector terminals
The current stops flowing between
G3 and G4 when there is
abnormal overheating.
Contact capacity: 150mA
Contact ON resistance: 10m
Twist the wires.
External option regeneration
resistance unit
G3
G4
P
C
5m or less
DANGER
1. Install the regenerative resistor unit in the control panel or in the place where
foreign matter does not enter the regenerative resistor unit. If foreign matter
(cutting chips, cutting oil, etc.) enters the regenerative resistor unit, the servo
drive unit could be damaged or fires could be caused.
2. Select the installation place so that foreign matter (cutting chips, cutting oil,
etc.) do not enter the regenerative resistance unit's terminal block. A
short-circuit between the P and C terminals could lead to servo drive unit
damage.
3. The regenerative resistor generates heat of approximately 100°C (or higher,
depending on the installation conditions). Give sufficient consideration to
heat dissipation and installation position. Do not touch the regenerative
resistor directly.
4. Use flame retardant wire or provide flame retardant treatment for the wire
connected to the regenerative resistance unit.
CAUTION
Always use twisted pair cable to connect to the servo drive unit, and keep the
length of the wiring to 5m or less.
Refer to section "5-1 Selection of wire" for details on selecting the wire.
7 - 11
7. Wiring and Connection
7-6-2 Connection of external regenerative resistor
Connect the regenerative resistor across P-C of CN30.
(1) Connection of one resistor
GZG200W26OHMJ, GZG300W20OHMJ
GZG80W26OHMJ, GZG400W13OHMJ, GZG400W8OHMJ
External optional regenerative resistor
Install a protective cover to prevent foreign matter
(cutting chips, cutting oil, etc.) from entering the
regenerative resistor or the regenerative resistor
from being touched directly.
CN30
Use a twisted flame retardant wire.
P
C
Wire length 5m or less
(2) Connection of three resistors in parallel
GZG200W120OHMJ, GZG200W39OHMJ, GZG300W39OHMJ
GZG200W20OHMJ, GZG300W20OHMJ
External optional regenerative resistor
Install a protective cover to prevent foreign
matter (cutting chips, cutting oil, etc.) from
entering the regenerative resistor or the
regenerative resistor from being touched
directly.
CN30
Use a twisted flame retardant wire.
P
C
Wire length 5m or less
100mm or more
7 - 12
100mm or more
7. Wiring and Connection
(3) Connection of four resistors in serial
GRZG400-2OHMJ
External optional regenerative resistor
Install a protective cover to prevent
foreign matter (cutting chips, cutting oil,
etc.) from entering the regenerative
resistor or the regenerative resistor from
being touched directly.
CN30
Use a twisted flame retardant wire.
P
C
Wire length 5m or less
100mm or more
100mm or more
DANGER
1. Install the regenerative resistor unit in the control panel or in the place in
where foreign matter does not enter the regenerative resistor unit. If
foreign matter (cutting chips, cutting oil, etc.) enters the regenerative
resistor, the servo drive unit could be damaged or fires could be caused.
2. Always mount a protective cover so that the cables, etc., do not directly
contact the regenerative resistor. A short-circuit across P-C could result in
servo drive unit damage.
3. The regenerative resistor heats up to approx. 100 degrees. (It may get
hotter depending on the installation conditions.) Pay special attention to
heat dissipation and the installation position.
Do not touch the regenerative resistor directly.
4. Use flame retardant wires or provide flame retardant treatment for the
wires connected to the regenerative resistor.
CAUTION
1. When installing on a wall, install the regenerative resistors vertically.
2. The regenerative resistor generates heat and will reach high temperatures
if the regeneration frequency is high. Do not install on wall surfaces
susceptible to heat.
3. When installing three resistors in a row, leave a space of 100mm or more
between each unit.
4. Always use twisted pair cables for connection with the servo drive unit, and
keep the wire length 5m or less. Refer to section "5-1. Selecting the wire
size" for details on selecting the wire.
7 - 13
7. Wiring and Connection
7-7 Wiring of contactors
7-7-1 Contactor control
Insert a contactor (magnetic contactor) in the main circuit power supply input (L1, L2, L3) of the servo
drive unit, and shut off the power supply input when an emergency stop or servo alarm occurs.
When an emergency stop or servo alarm occurs, the servo drive unit stops the motor using deceleration
control or dynamic brakes. The contactors cannot be shut off because the power supply for deceleration
to be held. Therefore, the drive unit always controls the contactors. The NC unit confirms the stop of all
axes or the dynamic brake operation. Then it outputs a shutoff command to the drive units that drive
contactors.
CAUTION
1. The contactors cannot be driven from other than a drive unit. Undervoltage
(alarm) may occur if the contactors are shut off at the same time as an
emergency stop occurrence.
2. Do not directly shut off the contactors with an external sequence. If they
are shut off earlier than the emergency stop input, or if the input power
supply is shut off during the deceleration control or vertical axis drop
prevention control, an undervoltage alarm will occur, and deceleration
control or drop hold may not be possible. For double-protection, use a
power supply unit external emergency stop input.
(Refer to section "7-9 Wiring of an external emergency stop”.)
7 - 14
7. Wiring and Connection
7-7-2 Contactor control signal (MC) output circuit
When using an external power supply
When using an internal power supply
A relay or photo coupler can be driven. When using an inductive load, install a diode.
(Tolerable current: 40mA or less, rush current: 100mA or less)
POINT
Contactor
The servo drive unit will
fail if the diode polarity is
incorrect.
MDS-R-V1/V2
24VDC
CN9
10 VDD
5 COM
15 MC
3
SG
Contactor control relay
(There are also types that
are built into the contactor.)
Contactor
The servo drive unit will
fail if the diode polarity is
incorrect.
MDS-R-V1/V2
24VDC
CN9
10 VDD
5 COM
15 MC
3
SG
27VDC
or less
Contactor control relay
(There are also types that
are built into the contactor.)
When using the internal power supply, the power can be directly connected to
VDD if using only the digital output (MC, MBR). When using the digital input
(EMGX), always connect across VDD-COM.
7 - 15
7. Wiring and Connection
7-7-3 Contactor power ON sequences
When using the contactor control output (CN9 connector: MC) for the MDS-R-V1/V2 servo drive unit,
the main circuit power supply is turned ON with the sequence shown below. In the 200ms interval after
the drive unit emergency stop input is canceled, the contactor contact fusion is checked by discharging
the PN bus voltage with the regenerative resistor. External contactor fusion (alarm 5F) is detected when
the contactor has fusion.
Emergency stop (EMG)
OFF
ON
Contactor control output (MC)
ON
OFF
PN charging completion
PN bus voltage
Dynamic brake
OFF
ON
Motor ON (GATE)
ON
OFF
OFF
ON
ON
OFF
ON
OFF
Motor brake control output (MBR)
Ready ON signal (READY)
Servo ON signal (SERVO)
Ready completion
Command input enable
500
0
1000
1500
Time (ms)
Contactor power ON sequences
7-7-4 Contactor shutoff sequences
When an emergency stop or servo alarm occurs, the NC confirms the MC shutoff enabled (motor stop or
dynamic brake operation) for all axes, and then shuts off the contactors. If an MC shutoff enabled signal
is not output, the contactors will be forcibly shut off by the controlling unit after 30 seconds.
OFF
ON
Emergency stop (EMG)
1st axis
(dynamic brake stop)
Speed
0
MC shutoff enable
2nd axis
(deceleration control)
Speed
0
MC shutoff enable
3rd axis
(deceleration control +
drop prevention control)
Drop prevention
Speed
0
MC shutoff enable
Contactor control output (MC)
Shutoff after confirmation
of all axes enable
ON
OFF
Contactor shutoff sequences
7 - 16
7. Wiring and Connection
7-7-5 Monitor of contactor operation
When using an internal power supply
The contactor operation can be monitored by inputting the contactor B contact to the MDS-R-V1/V2 DI
signal and setting the parameter.
The contactor error alarm (5F) will occur if the contactor turns ON during READY OFF, or if the
contactor turns OFF during READY ON.
(Note) Refer to the "POINT"
below.
MDS-R-V1/V2
Contactor
L1
L2
24VDC
L3
CN9
Direction of
current
10 VDD
5 COM
19
DI
3
SG
4.7k
When using an external power supply
B contact
Contactor
(Note) Refer to the "POINT"
below.
MDS-R-V1-V2
L1
L2
24VDC
L3
CN9
Direction of
current
10 VDD
5 COM
19
DI
3
SG
4.7k
27VDC
or less
POINT
No.
Abbrev.
SV033
SSF2
B contact
When the contactor or relay contact is used with a minute load, the contact's
contactor resistance will increase, resulting in a higher fault rate. Add
appropriate resistors so that the proper current is passed to the contactor in
use, and then flow the current to the B contact.
A current of approx. 5mA (at 24VDC) will flow if a resistor is not added.
Parameter name
Servo function
selection 2
Explanation
F
E
zup
D
C
B
A
9
8
dis
bit
A
B
7
6
nfd2
5
4
nf3
Explanation
Select the digital signal input.
dis
00: DI not used
01: Contactor B contact input
7 - 17
10: Reserved
11: Reserved
3
2
nfd1
1
0
7. Wiring and Connection
7-8 Wiring of the motor brake
The magnetic brakes of servomotors with magnetic brakes are driven by the control signal (MBR) output
by the servo drive unit MDS-R-V1/V2. The servo drive unit releases the brakes when the motor is ON.
(Servo ON means when torque is generated in the motor.)
No parameters need to be set to use the motor brake control output (MBR).
7-8-1 Motor brake control signal (MBR) output circuit
When using an external power supply
When using an internal power supply
The motor brake power supply is controlled via a relay. When using an inductive load, install a diode.
(Tolerable current: 40mA or less, rush current: 100mA or less)
The servo drive unit will fail
if the diode polarity is
incorrect.
MDS-R-V1/V2
24VDC
Always install a surge
absorber.
24VDC
CN9
Surge
absorber
10 VDD
5 COM
13 MBR
3
SG
Brake control relay
(The brakes cannot be directly driven
by an internal power supply.)
The servo drive unit will fail
if the diode polarity is
incorrect.
MDS-R-V1/V2
Brake
24VDC
Always install a surge
absorber.
24VDC
CN9
10 VDD
5 COM
13 MBR
3
SG
27VDC
or less
Surge
absorber
Brake
Brake control relay
(The brakes cannot be directly driven
by an internal power supply.)
POINT
When using the internal power supply, the power can be directly connected
to VDD if using only the digital output (MC, MBR). When using the digital
input (EMGX), always connect across VDD-COM.
CAUTION
1. Always install a surge absorber near the motor's brake terminal to
eliminate noise and protect the contacts. Refer to section "5-4 Surge
absorber".
2. The magnetic brakes cannot be directly driven with the output signal from
the servo drive unit. Always install a relay.
3. The magnetic brakes cannot be driven by the servo drive unit's VDD
(24VDC). Always install a separate power supply.
7 - 18
7. Wiring and Connection
7-8-2 Motor brake release sequence
The motor brake control output (CN9 connector: MBR) releases the motor brakes with the sequence
shown below when canceling the emergency stop. Because the brake is released after the start of the
power ON to the servomotor, dropping due to an uncontrolled state does not occur.
Emergency stop (EMG)
OFF
ON
Dynamic brake
OFF
ON
Motor ON (GATE)
ON
OFF
Motor brake control output (MBR)
READY ON signal (READY)
Servo ON signal (SERVO)
Servo holding power occurs
OFF
ON
ON
OFF
ON
OFF
Ready completion
Command input enable
500
0
1000
1500
Time (ms)
Motor brake control output operation sequence when an emergency stop is canceled
7-8-3 Control during the servo OFF command
When a servo OFF command is input by an NC sequence input, the motor brake turns ON simultaneously
when the motor ON is shut off. Note that the vertical axis drop prevention control is not validated, so a drop
due to the brake operation lag occurs. When the servo OFF is canceled, a drop due to an uncontrolled
state does not occur.
200ms
Servo OFF command
SERVO ON
SERVO OFF
Dynamic brake
OFF
ON
Motor ON (GATE)
ON
OFF
Motor brake control output (MBR)
OFF
ON
Motor brake control output operation sequence when a servo OFF command is input
CAUTION
The vertical axis drop prevention control is performed only during an
emergency stop (including alarms and power failures). It is not performed
when a servo OFF command is input.
7-8-4 Operation sequences when an emergency stop occurs
The motor brake control output operation when an emergency stop occurs differs according to the motor
deceleration stop method. Refer to section "9-4 Setting for emergency stop" for details on the operation
sequences for each stop method.
7 - 19
7. Wiring and Connection
7-9 Wiring of an external emergency stop
7-9-1 External emergency stop setting
Besides the main emergency stop input from the NC bus line (CN1A, CN1B), double-protection when
an emergency stop occurs is possible by directly inputting an independent external emergency stop to
the servo drive unit. Even if the main emergency stop is not input for some reason, the contactors will be
shut off within 30 seconds after the external emergency stop is input.
Emergency stop
Mitsubishi NC
Emergency stop
Contactor control axis
MDS-R-V1/V2
MDS-R-V1/V2
CN1A
CN1A
CN1B
CN1B
Contactor shutoff command
CN9
10 VDD
5 COM
15 MC
20 EMGX
3
SG
No.
Abbrev.
Parameter name
SV036 PTYP* Regenerative
resistor type
External emergency
stop input
Explanation
F
E
D
amp
C
B
A
9
rtyp
8
7
6
5
emgx
4
3
2
1
0
bit
4
5
6
7
Descriptions
Set the external emergency stop function.
(Setting is prohibited for values with no description.)
Setting
Descriptions
emgx
0 External emergency stop invalid
4 External emergency stop valid
CAUTION
Always input the external emergency stop to the servo drive unit controlling
the contactors.
POINT
1. When the MDS-R-V1/V2 controls the contactor, the external emergency
stop input is validated for the axis receiving the main circuit power supply
from that contactor. When the converter controls the contactor, use the
external emergency stop input of the converter.
2. The external emergency stop input is merely an auxiliary input, so always
input the main emergency stop (NC bus line). An external emergency stop
error (alarm 55) will occur if only an external emergency stop is input.
7 - 20
7. Wiring and Connection
7-9-2 External emergency stop signal (EMGX) input circuit
When using an external power supply
When using an internal power supply
Issue a signal with a relay or open collector transistor. When using an external power supply, the power
supply for the contactor control output and motor brake control output is the same external power
supply.
MDS-R-V1/V2
For a transistor:
VCES1.0V
I CEO100A
24VDC
CN9
4.7k
10 VDD
5 COM
20 EMGX
3
SG
Current direction
approx. 5mA
External emergency
stop
External emergency stop
canceled by CLOSE
MDS-R-V1/V2
For a transistor:
VCES1.0V
I CEO100A
24VDC
CN9
4.7k
10 VDD
5 COM
20 EMGX
3
SG
27VDC
or less Current direction
approx. 5mA
External emergency
stop
External emergency stop
canceled by CLOSE
7 - 21
7. Wiring and Connection
7-9-3 External emergency stop operation sequence
If only an external emergency stop is input when "external emergency stop valid" is set (the main
emergency stop is not input), "In external emergency stop state" (warning EA) will be detected. Then,
the system will enter the emergency stop state.
If a contactor shutoff command is not issued from the NC unit within 30 seconds after the external
emergency stop is input (if the main emergency stop is not input), an external emergency stop error (alarm
55) is detected. If the main emergency stop is input within 30 seconds, the warning EA changes to the "In
NC emergency stop state" (warning E7). The normal emergency stop status (warning E7) will result.
Ready ON is possible even if an external emergency stop has been input when the emergency stop is
canceled, but an external emergency stop error (alarm 55) will occur after 30 seconds.
External emergency stop input
(EMGX)
Main emergency stop input
(EMG)
OFF
ON
OFF
ON
Deceleration control
Motor speed
0
Contactor control output (MC)
Servo drive unit status display
ON
OFF
dx
EA
E7
Cxdx
External emergency stop input sequences
External emergency stop input
(EMGX)
Main emergency stop input
(EMG)
OFF
ON
OFF
ON
Deceleration control
Motor speed
0
Contactor control output (MC)
Servo drive unit status display
ON
OFF
dx
EA (30s)
When main emergency stop is not input
7 - 22
55
8. Setup
8-1 Servo drive unit initial settings..................................................................................................... 8-2
8-1-1 Setting the rotary switch...................................................................................................... 8-2
8-1-2 Transition of LED display after power is turned ON............................................................ 8-3
8-2 Setting the initial parameters ....................................................................................................... 8-4
8-2-1 Setting the standard parameters......................................................................................... 8-4
8-2-2 Limitations to electronic gear setting value ......................................................................... 8-8
8-2-3 Standard parameter list according to servomotor ............................................................... 8-9
8-3 List of parameters...................................................................................................................... 8-13
8-1
8. Setup
8-1
Servo drive unit initial settings
8-1-1
Setting the rotary switch
Before turning the power ON, the axis No. must be set with the rotary switch. The rotary switch settings
will be validated when the units are turned ON.
L
67
5
4
3
21
8 9
0F
Rotary switch
setting
M
A
B
C
D
E
67
5
4
3
21
8 9
0F
A
B
C
D
E
Set axis No.
0
1st axis
1
2nd axis
2
3rd axis
3
4th axis
4
5th axis
5
6th axis
6
7th axis
7
8
9
A
B
Not usable
C
D
E
When MDS-R-V2 Series are used
POINT
F
Axis not used
When an axis that is not used is selected, that axis will not be controlled when
the power is turned ON, and "Ab" will remain displayed on the LED. If the power
of the axis not in use is disconnected, the NC system's emergency stop cannot
be released.
8-2
8. Setup
8-1-2
Transition of LED display after power is turned ON
When NC, each drive unit and the power supply unit power have been turned ON, each unit will
automatically execute self-diagnosis and initial settings for operation, etc. The LEDs on the front of the
units will change as shown below according to the progression of these processes.
If an alarm occurs, the alarm No. will appear on the LEDs. Refer to "Chapter 10 Troubleshooting" for
details on the alarm displays.
Drive units
LED display
Servo drive unit initialization complete
Waiting for NC power start up
Waiting for NC
power start up
NC power ON
NC power ON
Executing initial
communication with NC
Emergency stop state
The LED will alternate between
F#  E7  not lit.
(# is the set axis No.)
Servo ON state
Servo OFF sate
NC power OFF
Repeats lighting and going out.
(1st axis in the display example)
8-3
8. Setup
8-2
Setting the initial parameters
The servo parameters must be set to startup the servo system. The servo parameters are input from
the NC. The input method differs according to the NC, so follow the respective NC instruction manual.
8-2-1
Setting the standard parameters
Always set the standard parameters listed in "8-2-3 Standard parameter list according to servomotor"
when starting up the system. Check the machine and servo system specifications, and determine the
setting values for the following parameters.
(1) Basic specification parameters
When performing absolute position control, set SV017, bit7=1. This may be automatically set by
NC system parameter setting, depending upon NC model. (Setting on the servo parameter screen
invalid.)
Setting basic specification parameters
No.
Abbrev.
Parameter name
Explanation
F
SV017
SPEC*
Servo specification
selection
E
D
spm
bit
7
POINT
abs
C
B
A
9
8
Meaning when set to 0
Incremental control
7
abs
6
5
4
3
fdir vfb
2
1
dfbx
0
Meaning when set to 1
Absolute position control
Setting of absolute position control (SV017.bit7) may be set automatically by NC
system parameter setting, depending on NC model. In this case, setting on the
servo parameter screen is not valid.
8-4
8. Setup
(2) Electronic gear related parameters
The setting range of the following parameters, which configure the electronic gears, may be limited
according to the combination.
Setting electronic gear related parameters
No.
Abbrev.
SV001
PC1*
Motor side gear
ratio
SV002
PC2*
Machine side gear
ratio
SV018
PIT*
Ball screw pitch
SV019
RNG1*
Parameter name
Position detector
resolution
Setting
range (Unit)
Explanation
Set the motor side and machine side gear ratio.
For the rotary axis, set the total deceleration (acceleration) ratio.
Even if the gear ratio is within the setting range, the electronic gears may
overflow and causes initial parameter error (servo alarm No. 37).
1 to 32767
1 to 32767
Set the ball screw pitch. Set to "360" for the rotary axis.
1 to 32767
(mm/rev)
In the case of the semi-closed loop control
Set the same value as SV020 (RNG2).
(Refer to the explanation of SV020.)
1 to 9999
(kp/rev)
In the case of the full-closed loop control
This is available for the relative position rectangular wave output
specification linear scale.
Set the number of pulses per ball screw pitch.
Detector model name
Resolution
1 to 9999
(kp/PIT)
SV019 setting
Relative position rectangular Refer to detector
wave output scale
specification manual.
SV018 (PIT)(mm)/
Resolution (µm)
Set the number of pulses per one revolution of the motor side detector.
SV020
RNG2*
Speed detector
resolution
Motor type
SV020 setting
HF□□-A42
100
HF□□-A47
100
1 to 9999
(kp/rev)
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
(3) Detector type related parameters
(a) For semi-closed loop control
Set the following parameter as below when controlling by using only detector of motor.
Setting for semi-closed loop control
No.
Abbrev.
Parameter name
Explanation
Explanation
Set the detector type.
Set the position detector type for "pen", and the speed detector type
for "ent".
ent
In the case of the semi-closed loop control, set the same value for
"pen" and "ent".
bit
8
9
SV025
MTYP*
Motor/detector type
A
B
C
D
E
F
Detector model name
A42, A47
pen setting ent setting
2
2
pen
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
8-5
8. Setup
(b) For full-closed loop control
Note that when using machine side detector, some parameters must be set depending upon
linear scale and installation conditions.
[1] Set SV025 bit8 to B(ent) by following the motor side detector specification as for the
semi-closed loop control.
[2] When polarities of the motor side detector and machine side detector do not match, set
SV017 bit4=1.
Setting for full-closed loop control
No.
Abbrev.
Parameter name
Explanation
F
SV017
SPEC*
Servo specification
selection
E
D
spm
bit
4
fdir
C
B
A
9
8
7
abs
Meaning when set to 0
Position feedback forward polarity
bit
8
9
A
B
ent
5
SV025
2
1
dfbx
0
Meaning when set to 1
Position feedback reverse polarity
Details
Detector model name
pen
E
F
4
3
fdir vfb
Set the detector type.
Set the position detector type for “pen”, and the speed detector type
for “ent”. In the case of the semi-closed loop control, set the same
value for “pen” and “ent”.
C
D
6
A51, A74
MTYP* Motor/detector type
Relative position rectangular wave output
scale
pen
setting
ent setting
0
Setting impossible
1
Setting impossible
2 (Note)
2
3
Setting impossible
4
Setting impossible
5
Setting impossible
6
Setting impossible
7
Setting impossible
8
Setting impossible
9
Setting impossible
A
Setting impossible
B
Setting impossible
C
Setting impossible
D
Setting impossible
E
Setting impossible
F
Setting impossible
(Note) Setting for semi-closed loop control.
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
8-6
8. Setup
(4) Setting of regenerative resistor type
Set the following parameter according to the connected regenerative resistor unit.
No.
Abbrev.
Parameter name
Explanation
F
E
D
C
B
1
A
9
rtyp
8
7
6
5
emgx
4
3
2
1
0
0
bit
8
9
A
B
SV036
PTYP*
Regenerative
resistor type
Explanation
Set the regenerative resistor type.
Setting
Details
rtyp
0 to 1 Setting prohibited
2
GZG200W26OHMJ
3
GZG300W20OHMJ
MR-RB32 or GZG200W120OHMJ 3 units connected
4
in parallel
MR-RB30 or GZG200W39OHMJ 3 units connected in
5
parallel
MR-RB50 or GZG300W39OHMJ 3 units connected in
6
parallel
MR-RB31 or GZG200W20OHMJ 3 units connected in
7
parallel
MR-RB51 or GZG300W20OHMJ 3 units connected in
8
parallel
MR-RB65 or GRZG400-2OHMJ 4 units connected in
9
serial
A
GZG80W26OHMJ
B
GZG400W13OHMJ
C
GZG400W8OHMJ
D to F Setting prohibited
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
If the emergency stop state is displayed on the drive unit's LED, the system has started up normally.
F1
F + axis No.
E7
Emergency
stop
F1
F + axis No.
E7
Emergency
stop
OFF
Normal LED display at NC power ON (1st axis)
CAUTION
Always input emergency stop when starting up the servo system.
8-7
8. Setup
8-2-2
Limitations to electronic gear setting value
The servo drive unit has internal electronic gears. The command value from the NC is converted into a
detector resolution unit to carry out position control. The electronic gears are single gear ratios calculated
from multiple parameters as shown below. However, each value (ELG1, ELG2) must be less than 32767.
If the value overflows, the initial parameter error (alarm 37) or error parameter No. 101 (2301 with
M60S/E60 Series NC) will be output.
If an alarm occurs, the mechanical specifications and electrical specifications must be revised so that
the electronic gears are within the specified range.
(1) For semi-closed loop control
ELG1
Reduced fraction of
=
ELG2
PC2×RNG1
PC1×PIT×IUNIT
(reduced fraction)
IUNIT = 2/NC command unit (m)
1m : IUNIT = 2, 0.1m : IUNIT = 20
When the above is calculated, the following conditions must be satisfied.
ELG1  32767
ELG2  32767
(2) For full-closed loop control
PGNX
Reduced fraction of
PGNY
PC2×RNG2×PGN1
PC1×RNG1×30
=
(reduced fraction)
When the above is calculated, the following conditions must be satisfied.
PGNX  32767
PGNY  32767
And,
Reduced fraction of
PGNXsp
PGNYsp
=
PC2×RNG2×PGN1sp
PC1×RNG1×30
(reduced fraction)
When the above is calculated, the following conditions must be satisfied.
PGNXsp  32767
PGNYsp  32767
POINT
If the electronic gear value in the drive unit overflows, alarm 37 or error
parameter No. 101 (2301 with M60S/E60 Series NC) will be output.
8-8
8. Setup
8-2-3
Standard parameter list according to servomotor
(1) HF Series
Motor
Parameter
No.
Abbrev.
SV001
SV002
SV003
SV004
SV005
SV006
SV007
SV008
PC1
PC2
PGN1
PGN2
VGN1
VGN2
VIL
VIA
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
Details
Unit capacity
Standard HF motor
HF
HF
HF
HF
HF
HF
HF
HF
HF
154 224 204 354 123 223 303 142 302
40/60
40/60
20/40 20/40 20/40 20/40
60
60/80 20
40
60
20
40
/80
/80
----------------------------------------------------33
33
33
33
33
33
33
33
33
33
33
33
33
0
0
0
0
0
0
0
0
0
0
0
0
0
20
40
50
50
50
70 100 120
70
70 140
70 140
0
0
0
0
0
0
0
0
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 1364 1364 1364 1364
HF
75
Motor side gear ratio
Machine side gear ratio
Position loop gain 1
Position loop gain 2
Speed loop gain 1
Speed loop gain 2
Speed loop delay compensation
Speed loop lead compensation
Current loop q axis lead
IQA
6144
compensation
Current loop d axis lead
IDA
6144
compensation
IQG Current loop q axis gain
768
IDG
Current loop d axis gain
768
ILMT Current limit value
500
ILMTsp Current limit value in special control
500
FFC Acceleration rate feed forward gain
0
LMC1 Lost motion compensation 1
0
SPEC Servo specification selection
1000
PIT
Ball screw pitch
--RNG1 Position detector resolution
--RNG2 Speed detector resolution
--OLT Overload detection time constant
60
OLL Overload detection level
150
Excessive error detection width during
OD1
6
servo ON
INP
In-position detection width
50
MTYP Motor/Detector type
221D
Excessive error detection width during
OD2
6
servo OFF
SSF1 Servo function selection 1
4000
0
Speed at the change of speed loop
VCS
0
gain
IVC
Voltage non-sensitive compensation
0
OVS1 Overshooting compensation 1
0
TOF Torque offset 1
0
SSF2 Servo function selection 2
0000
SSF3 Servo function selection 3
0000
SSF4 Servo function selection 4
0000
PTYP Regenerative resistor type
1x00
JL
Load inertia scale
0
FHz1 Notch filter frequency 1
0
LMCD Lost motion compensation timing
0
Lost motion compensation
LMCT
0
non-sensitive band
LMC2 Lost motion compensation 2
0
OVS2 Overshooting compensation 2
0
OBS1 Disturbance observer filter frequency
0
OBS2 Disturbance observer gain
0
Current compensation
TRUB
0
(the high order 8 bits)
FHz2 Notch filter frequency 2
0
EC1 Inductive voltage compensation gain
100
EMGrt Vertical axis drop prevention time
0
PGN1s Position loop gain 1 in spindle
15
p
synchronous control
PGN2s Position loop gain 2 in spindle
0
p
synchronous control
DFBT Dual feedback control time constant
0
Dual feedback control non-sensitive
0
DFBN
band
Excessive error detection width in
0
OD3
special control
Overrun detection width in closed loop
ORE
0
control
Max. gate off delay time after
EMGx
0
emergency stop
Deceleration time constant at
EMGt
0
emergency stop
SHGC SHG control gain
0
SHGCs SHG control gain in spindle
0
p
synchronous control
HF
105
HF
54
HF
104
6144 6144 6144 6144 6144 6144 6144 10240 8192 4096 15360 4096
6144 6144 6144 6144 6144 6144 6144 10240 8192 4096 15360 4096
512 1280 1024 1024 768 1024 1024 1280 1024 1280 2048 1280
512 1280 1024 1024 768 1024 1024 1280 1024 1280 2048 1280
500 500 500 500 500 500 500 500 500 500 500 500
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
0
0
0
0
0
0
1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000
------------------------------------------------------------------------60
60
60
60
60
60
60
60
60
60
60
60
150 150 150 150 150 150 150 150 150 150 150 150
6
6
6
6
6
6
6
6
6
6
6
6
50
50
50
50
50
50
50
50
50
50
50
50
221E 2210 2211 2212 2216 2213 2214 2224 2226 2228 2225 2227
6
6
6
6
6
6
6
6
6
6
6
6
4000 4000 4000 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
0000
0000
0000
1x00
0
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
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
0
0
100
0
0
100
0
0
100
0
0
100
0
0
100
0
0
100
0
0
100
0
0
100
0
0
100
0
0
100
0
0
100
0
15
15
15
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
8-9
8. Setup
Motor
Parameter
No.
SV059
SV060
SV061
SV062
SV063
SV064
Abbrev.
Details
Unit capacity
DA1NO D/A output channel 1 data No.
DA2NO D/A output channel 2 data No.
DA1MP
D/A output channel 1 output scale
Y
DA2MP
D/A output channel 2 output scale
Y
SV065
SV081
SV082
to
SV088
SV089
SV090
(System parameter area)
SPEC2 Servo specification 2
TQMAX Torque maximizing control kq gain
kq
(For machine tool builder adjustment)
TQMAX Torque maximizing control kd gain
kd
(For machine tool builder adjustment)
SV091
to
SV93
SV094
SV095
to
SV100
MPV
Magnetic pole position error
detection speed
HF
75
HF
105
HF
54
HF
104
HF
154
40/60
20/40 20/40 20/40 20/40
/80
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Standard HF motor
HF
HF
HF
224 204 354
40/60
60/80
60
/80
0
0
0
0
0
0
0
0
0
0
0
0
HF
123
HF
223
HF
303
HF
142
HF
302
20
40
60
20
40
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
8 - 10
8. Setup
Motor
Parameter
No.
Abbrev.
SV001
SV002
SV003
SV004
SV005
SV006
SV007
SV008
SV009
SV010
SV011
SV012
SV013
SV014
SV015
SV016
SV017
SV018
SV019
SV020
SV021
SV022
PC1
PC2
PGN1
PGN2
VGN1
VGN2
VIL
VIA
IQA
IDA
IQG
IDG
ILMT
ILMTsp
FFC
LMC1
SPEC1
PIT
RNG1
RNG2
OLT
OLL
SV023
OD1
SV024
SV025
INP
MTYP
SV026
OD2
SV027
SV028
SV029
SV030
SV031
SV032
SV033
SV034
SV035
SV036
SV037
SV038
SV039
SSF1
SV040
SV041
SV042
SV043
SV044
SV045
SV046
SV047
SV048
SV049
SV050
SV051
SV052
SV053
SV054
SV055
SV056
Details
Unit capacity
Motor side gear ratio
Machine side gear ratio
Position loop gain 1
Position loop gain 2
Speed loop gain 1
Speed loop gain 2
Speed loop delay compensation
Speed loop lead compensation
Current loop q axis lead compensation
Current loop d axis lead compensation
Current loop q axis gain
Current loop d axis gain
Current limit value
Current limit value in special control
Acceleration rate feed forward gain
Lost motion compensation 1
Servo specification selection
Ball screw pitch
Position detector resolution
Speed detector resolution
Overload detection time constant
Overload detection level
Excessive error detection width during
servo ON
In-position detection width
Motor/Detector type
Excessive error detection width during
servo OFF
Servo function selection 1
VCS
IVC
OVS1
TOF
SSF2
SSF3
SSF4
PTYP
JL
FHz1
LMCD
Speed at the change of speed loop gain
Voltage non-sensitive compensation
Overshooting compensation 1
Torque offset 1
Servo function selection 2
Servo function selection 3
Servo function selection 4
Regenerative resistor type
Load inertia scale
Notch filter frequency 1
Lost motion compensation timing
Lost motion compensation
LMCT
non-sensitive band
LMC2 Lost motion compensation 2
OVS2 Overshooting compensation 2
OBS1 Disturbance observer filter frequency
OBS2 Disturbance observer gain
Current compensation
TRUB
(the high order 8 bits)
FHz2
Notch filter frequency 2
EC1
Inductive voltage compensation gain
EMGrt Vertical axis drop prevention time
Position loop gain 1 in spindle
PGN1sp
synchronous control
Position loop gain 2 in spindle
PGN2sp
synchronous control
DFBT
Dual feedback control time constant
Dual feedback control non-sensitive
DFBN
band
Excessive error detection width in
OD3
special control
Overrun detection width in closed loop
ORE
control
Max. gate off delay time after
EMGx
emergency stop
EMGt
Deceleration time constant at emergency
stop
44
20/40
74
20/40
HF motor
103
153
20/40
40/60/80
53
20/40
203
40/60/80
353
60/80
----33
0
20
0
0
1364
6144
6144
768
768
500
500
0
0
1000
------60
150
----33
0
40
0
0
1364
6144
6144
512
512
500
500
0
0
1000
------60
150
----33
0
50
0
0
1364
6144
6144
1280
1280
500
500
0
0
1000
------60
150
----33
0
50
0
0
1364
6144
6144
1024
1024
500
500
0
0
1000
------60
150
----33
0
50
0
0
1364
6144
6144
1024
1024
500
500
0
0
1000
------60
150
----33
0
100
0
0
1364
6144
6144
1024
1024
500
500
0
0
1000
------60
150
----33
0
120
0
0
1364
6144
6144
1024
1024
500
500
0
0
1000
------60
150
6
6
6
6
6
6
6
50
220D
50
220E
50
2200
50
2201
50
2202
50
2203
50
2204
6
6
6
6
6
6
6
4000
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
4000
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
4000
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
4000
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
4000
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
4000
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
4000
0
0
0
0
0
0000
0000
0000
1x00
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
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
0
0
100
0
0
100
0
0
100
0
0
100
0
0
100
0
0
100
0
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
8 - 11
8. Setup
Motor
Parameter
No.
Abbrev.
Details
Unit capacity
33
20/40
73
20/40
HF motor
103
153
20/40
40/60/80
53
20/40
203
40/60/80
353
60/80
SV057
SHGC
SHG control gain
0
0
0
0
0
0
0
SV058
SHGCsp
SHG control gain in spindle
synchronous control
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
SV059
SV060
SV061
SV062
DA1NO D/A output channel 1 data No.
DA2NO D/A output channel 2 data No.
SV063 DA1MPY D/A output channel 1 output scale
SV064 DA2MPY D/A output channel 2 output scale
SV065
SV081
SV082
to
SV088
SV089
SV090
SPEC2
(System parameter area)
Servo specification 2
TQMAX Torque maximizing control kq gain
kq
(For machine tool builder adjustment)
TQMAX Torque maximizing control kd gain
kd
(For machine tool builder adjustment)
SV091
to
SV93
SV094
SV095
to
SV100
MPV
Magnetic pole position error
detection speed
8 - 12
8. Setup
8-3
List of parameters
No.
Abbrev.
SV001
PC1*
SV002
PC2*
Parameter name
Setting
range (Unit)
Explanation
Motor side gear ratio Set the motor side and machine side gear ratio.
For the rotary axis, set the total deceleration (acceleration) ratio.
Machine side gear
Even if the gear ratio is within the setting range, the electronic gears may
ratio
overflow and cause initial parameter error (servo alarm No. 37).
1 to 32767
1 to 32767
SV003
PGN1
Position loop gain 1
Set the position loop gain. The standard setting is "33".
The higher the setting value is, the more precisely the command can be
followed and the shorter the positioning time gets, however, note that a
bigger shock is applied to the machine during acceleration/deceleration.
When using the SHG control, also set SV004 (PGN2) and SV057 (SHGC).
SV004
PGN2
Position loop gain 2
When using the SHG control, also set SV003 (PGN1) and SV057 (SHGC).
When not using the SHG control, set to "0".
0 to 999
(rad/s)
Speed loop gain 1
Set the speed loop gain.
Set this according to the load inertia size.
The higher the setting value is, the more accurate the control will be,
however, vibration tends to occur.
If vibration occurs, adjust by lowering by 20 to 30%.
The value should be determined to be 70 to 80% of the value at the time
when the vibration stops.
1 to 999
SV005
SV006
VGN1
VGN2
Speed loop gain 2
If the noise is bothersome at high speed
during rapid traverse, etc, lower the speed
loop gain.
As in the right figure, set the speed loop
gain of the speed 1.2 times as fast as the
motor's maximum speed, and use this with
SV029 (VCS).
When not using, set to "0".
1 to 200
(rad/s)
-1000 to
1000
VGN1
VGN2
0
VCS
VLMT
(Maximum speed*1.2)
SV007
VIL
Speed loop delay
compensation
Set this when the limit cycle occurs in the full-closed loop, or overshooting
occurs in positioning.
When you set this parameter, make sure to set the torque offset (SV032
(TOF)). When not using, set to “0”.
0 to 32767
Set the gain of the speed loop integration control.
The standard setting is "1364". During the SHG control, the standard
setting is "1900". Adjust the value by increasing/decreasing it by about 100
at a time.
Raise this value to improve contour tracking precision in high-speed
cutting. Lower this value when the position droop vibrates (10 to 20Hz).
1 to 9999
Set the gain of current loop.
As this setting is determined by the motor's electrical characteristics, the
setting is fixed for each type of motor.
Set the standard values for all the parameters depending on each motor
type.
1 to 20480
SV008
VIA
Speed loop lead
compensation
SV009
IQA
Current loop q axis
lead compensation
SV010
IDA
Current loop d axis
lead compensation
SV011
IQG
Current loop q axis
gain
SV012
IDG
Current loop d axis
gain
1 to 4096
SV013
ILMT
Set the normal current (torque) limit value. (Limit values for both + and direction.)
When the value is "500" (a standard setting), the maximum torque is
determined by the specification of the motor.
0 to 999
(Stall
current %)
SV014
Set the current (torque) limit value in a special control (initial absolute
Current limit value in position setting, stopper control, etc). (Limit values for both of the + and ILMTsp
directions.)
special control
Set to "500" when not using.
0 to 999
(Stall
current %)
SV015
FFC
Current limit value
Acceleration rate
feed forward gain
When a relative error in the synchronous control is large, apply this
parameter to the axis that is delaying. The standard setting value is “0”.
For the SHG control, set to "100".
To adjust a relative error in acceleration/deceleration, increase the value by
50 to 100 at a time.
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power is turned ON again.
8 - 13
0 to 999
(%)
8. Setup
No.
Abbrev.
Parameter name
Setting
range
(Unit)
Explanation
Set this when the protrusion (that occurs due to the non-sensitive band by
friction, torsion, backlash, etc) at quadrant change is too large.
This compensates the torque at quadrant change.
This is valid only when the lost motion compensation (SV027 (SSF1/lmc))
is selected. Only type 2 is compatible with the MDS-R-Vx Series.
SV016
LMC1
Lost motion
compensation 1
Type 2: When SV027 (SSF1)/bit9, 8 (lmc)=10
Set the compensation amount based on the stall (rated) current of the
motor.
The standard setting is double of the friction torque. Setting to "0" means
the compensation amount is zero.
When you wish different compensation amount depending on the direction
When SV041 (LMC2) is "0", compensate with the value of SV016 (LMC1)
in both of the + and -directions.
If you wish to change the compensation amount depending on the
command direction, set this and SV041 (LMC2). (SV016: + direction,
SV041: - direction. However, the directions may be opposite depending on
other settings.)
When "-1" is set, the compensation won’t be performed in the direction of
the command.
F
E
D
C
B
A
9
8
spm
bit
7
6
5
abs
4
3
2
fdir vfb
Meaning when "0" is set
-1 to 200
(Stall
current %)
1
0
dfbx
Meaning when "1" is set
0
1
dfbx Dual feedback control stop
Dual feedback control start
3
vfb
Speed feedback filter stop
Speed feedback filter start
4
fdir
Position feedback forward polarity Position feedback reverse polarity
2
5
SV017
SPEC*
Servo specification
selection
6
7
abs Incremental control
Absolute position control
8
9
A
B
C
D
spm
E
0 : Setting prohibited
1 : HF motor selection (standard)
2 to F : Setting prohibited
F
(Note 1)
SV018
PIT*
Ball screw pitch
Set to "0" for bits with no particular description.
Set the ball screw pitch. Set to "360" for the rotary axis.
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power is turned ON again.
8 - 14
1 to 32767
(mm/rev)
8. Setup
No.
SV019
Abbrev.
RNG1*
Explanation
Setting
range (Unit)
In the case of the semi-closed loop control
Set the same value as SV020 (RNG2).
(Refer to the explanation of SV020.)
1 to 9999
(kp/rev)
Parameter name
Position detector
resolution
In the case of the full-closed loop control
This is available for the relative position rectangular wave output
specification linear scale.
Set the number of pulses per ball screw pitch.
Detector model name
Resolution
Relative position rectangular Refer to detector
wave output scale
specification manual.
SV019 setting
1 to 9999
(kp/PIT)
SV018 (PIT)(mm)/
Resolution (µm)
Set the number of pulses per one revolution of the motor side detector.
SV020
Speed detector
RNG2*
resolution
SV021
OLT
Overload detection
time constant
SV022
OLL
Overload detection
level
SV023
OD1
Excessive error
detection width
during servo ON
SV024
INP
In-position
detection width
Motor type
SV020 setting
HF□□-A42
100
HF□□-A47
100
HF□□-A48
260
HF□□-A51
1000
Set the detection time constant of Overload 1 (Alarm 50).
Set to "60" as a standard. (For machine tool builder adjustment.)
Set the current detection level of Overload 1 (Alarm 50) in respect to the
stall (rated) current.
Set to "150" as a standard. (For machine tool builder adjustment.)
Set the excessive error detection width when servo ON.
<Standard
Rapid traverse rate (mm/min)
OD1=OD2=
/2 (mm)
setting value>
60×PGN1
When "0" is set, the excessive error detection will not be performed.
Set the in-position detection width.
Set the accuracy required for the machine.
The lower the setting is, the higher the positioning accuracy gets, however,
the cycle time (setting time) becomes longer. The standard setting is "50".
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power is turned ON again.
8 - 15
1 to 9999
(kp/rev)
1 to 999
(s)
110 to 500
(Stall
current %)
0 to 32767
(mm)
0 to 32767
(m)
8. Setup
No.
Abbrev. Parameter name
15
14 13
pen
12
11
10 9
ent
8
bit
0
1
2
3
4
5
6
7
MTYP*
7
6
5
4
3
mtyp
2
1
3x
4x
5x
6x
7x
Bx
Cx
Dx
Ex
Fx
Explanation
Set the motor type.
Setting 0x
1x
x0
HF 53 HF54
x1
HF 03 HF104
mtyp
x2
HF153 HF154
x3
HF203 HF204
x4
HF353 HF354
x5
x6
HF224
x7
x8
x9
xA
xB
xC
xD HF 44 HF75
xE HF74 HF105
xF
Setting
x0
x1
SV025
Setting
range (Unit)
Explanation
Motor/Detector
type
8x
9x
2x
HF123
HF142
HF223
HF302
HF303
Ax
x2
x3
x4
x5
x6
x7
x8
x9
xA
xB
xC
xD
xE
xF
8
9
A
B
C
D
E
ent
Set the speed detector type.
Set "2".
Set the position detector type
When applying semi-closed loop control:
pen
Rectangular wave (ABZ) output type
When using relative position detector scale:
Set "2".
Set "8".
F
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power is turned ON again.
8 - 16
0
8. Setup
No.
Abbrev.
Parameter name
SV026
OD2
Excessive error
detection width
during servo OFF
Setting
range (Unit)
Explanation
Set the excessive error detection width when servo ON.
For the standard setting, refer to the explanation of SV023 (OD1).
When "0" is set, the excessive error detection will not be performed.
F
E
D
C
zrn2
bit
B
A
ovs
9
8
lmc
7
6
5
zrn3
Meaning when "0" is set
4
3
0 to 32767
(mm)
2
1
0
vfct
Meaning when "1" is set
0
1
2
3
4
5
SV027
SSF1
Set the number of compensation pulses of the jitter compensation.
vfct 00: Jitter compensation invalid
10: Jitter compensation 2 pulses
01: Jitter compensation 1 pulse
11: Jitter compensation 3 pulses
Servo function
selection 1
Set depending on the Z-phase output type of scale.
6
zrn3
Rising edge position of the Z-phase For Z phase, “H” section does not depend
does not depend on the movement on the movement direction and is constant.
direction and is constant.
A-phase
A-phase
B-phase
B-phase
Z-phase
Z-phase
7
8
9
A
B
Set the compensation amount with SV016 (LMC1) and SV041 (LMC2).
lmc 00: Lost motion compensation stop
10: Lost motion compensation type 2
01: Setting prohibited
11: Setting prohibited
Set the compensation amount with SV031 (OVS1) and SV042 (OVS2).
ovs 00: Overshooting compensation stop
10: Setting prohibited
01: Setting prohibited
11: Overshooting compensation type 2
C
D
E zrn2
Set to "1".
F
(Note)
SV028
SV029
VCS
Speed at the
change of speed
loop gain
SV030
IVC
Voltage
non-sensitive
compensation
SV031
OVS1
Overshooting
compensation 1
Set to "0" for bits with no particular description.
Not used. Set to “0”.
If the noise is bothersome at high speed during rapid traverse, etc, lower the
speed loop gain.
Set the speed at which the speed loop gain changes, and use this with
SV006 (VGN2). When not using, set to "0".
When 100% is set, the voltage equivalent to the logical non-energized time
will be compensated.
When "0" is set, a 100% compensation will be performed.
Adjust in increments of 10% from the default value 100%.
If increased too much, vibration or vibration noise may be generated.
Set this if overshooting occurs during positioning. This compensates the
motor torque during positioning.
This is valid only when the overshooting compensation SV027 (SSF1.ovs)
is selected.
Type 3: When SV027 (SSF1)/bitB, A (ovs)=11
Set the compensation amount based on the motor’s stall current.
Increase by 1% and determine the amount that overshooting doesn’t
occur.
When you wish different compensation amount depending on the direction
When SV042 (OVS2) is “0”, compensate with the value of SV031
(OVS1) in both of the + and -directions.
If you wish to change the compensation amount depending on the
command direction, set this and SV042 (OVS2). (SV031: + direction,
SV042: - direction. However, the directions may be opposite
depending on other settings.)
When “-1” is set, the compensation won’t be performed in the direction of
the command.
8 - 17
0
0 to 9999
(r/min)
0 to 200
(%)
-1 to 100
(Stall
current %)
8. Setup
No.
Abbrev.
SV032
TOF
Parameter name
Setting
range (Unit)
Explanation
Set the unbalance torque of vertical axis and slant axis.
-100 to 100
(Stall
current %)
Torque offset 1
F
E
D
C
B
zup
A
9
8
7
dis
bit
6
5
nfd2
Meaning when "0" is set
4
3
nf3
2
1
0
nfd1
Meaning when "1" is set
0
1
Set the filter depth for Notch filter 1 (SV038).
2
nfd1 Value
Depth (dB)
000
001
010
011
100
101
110
111
-∞
-18.1
-12.0
-8.5
-6.0
-4.1
-2.5
-1.2
3
Shallow
Deep
4
nf3 Notch filter 3 stop
5
Set the operation frequency of Notch filter 2 (SV046).
6
SV033
SSF2
Servo function
selection 2
Notch filter 3 start (1125Hz)
nfd2 Value
Depth (dB)
000
001
010
011
100
101
110
111
-∞
-18.1
-12.0
-8.5
-6.0
-4.1
-2.5
-1.2
7
Shallow
Deep
8
9
A
dis
B
Select the digital signal input.
00: DI not used
10: Reserved
01: Contactor B contact input
11: Reserved
C
D
E
zup Vertical axis pull up control stop
Vertical axis pull up control start
F
(Note)
F
Set to "0" for bits with no particular description.
E
D
ovsn
bit
C
B
A
9
8
Meaning when "0" is set
7
6
5
zeg
4
3
2
1
0
Meaning when "1" is set
0
1
2
3
4
SV034
SSF3
Servo function
selection 3
5
zeg
6
os2
Z phase normal edge detection
(Setting for normal use)
Setting for normal use
Z phase reverse edge detection
(Valid only when SV027/bit6=1)
Overspeed detection level
changeover
7
8
9
A
B
Set the non-sensitive band of the overshooting compensation type 3 in
increments of 2µm at a time.
ovsn In the feed forward control, the non-sensitive band of the model
position droop is set, and overshooting of the model is ignored.
F
Set the same value as the standard SV040.
(Note) Set to "0" for bits with no particular description.
C
D
E
8 - 18
8. Setup
No.
Abbrev.
Parameter name
Setting range
(Unit)
Explanation
F
E
bit
D
C
B
A
9
8
Meaning when "0" is set
7
6
5
1
2
3
4
5
SSF4
Servo function
selection 4
6
7
8
9
A
B
C
D
E
F
(Note)
Set to "0" for bits with no particular description.
8 - 19
3
2
1
Meaning when "1" is set
0
SV035
4
0
8. Setup
No.
Abbrev.
Parameter name
Setting range
(Unit)
Explanation
F
E
D
C
B
1
bit
A
9
rtyp
8
7
6
5
emgx
Meaning when "0" is set
4
3
2
1
0
Meaning when "1" is set
0
1
2
3
Set the external emergency stop function. (Setting is prohibited for
values with no description.)
4
5
emgx
6
7
SV036
PTYP*
Regenerative
resistor type
8
9
A
B
Setting
Explanation
0
External emergency stop invalid
4
External emergency stop valid
Set the regenerative resistor type.
rtyp
Setting
Explanation
0 to 1
Setting prohibited
2
GZG200W26OHMJ
3
GZG300W20OHMJ
4
MR-RB32 or GZG200W120OHMJ 3 units connected in parallel
5
MR-RB30 or GZG200W39OHMJ 3 units connected in parallel
6
MR-RB50 or GZG300W39OHMJ 3 units connected in parallel
7
MR-RB31 or GZG200W20OHMJ 3 units connected in parallel
8
MR-RB51 or GZG300W20OHMJ 3 units connected in parallel
9
MR-RB65 or GRZG400-2OHMJ 4 units connected in serial
A
GZG80W26OHMJ
B
GZG400W13OHMJ
C
GZG400W8OHMJ
D to F Setting prohibited
C
Always set 1 (0001).
D
amp
E
F
(Note)
Set to "0" for bits with no particular description.
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power is turned ON again.
8 - 20
0
8. Setup
No.
SV037
SV038
SV039
SV040
SV041
SV042
SV043
SV044
SV045
Abbrev.
Parameter name
Explanation
Setting range
(Unit)
Set "the motor inertia + motor axis conversion load inertia" in respect to the
motor inertia.
0 to 5000
Load inertia scale
JL
Jl+Jm
Jm : Motor inertia
(%)
SV037(JL) =
*100
Jm
Jl : Motor axis conversion load inertia
Notch filter
Set the vibration frequency to suppress if machine vibration occurs.
0 to 4500
FHz1
frequency 1
(Valid at 36 or more) When not using, set to "0".
(Hz)
Lost motion
Set this when the lost motion compensation timing doest not match.
0 to 2000
LMCD
compensation timing Adjust by increasing the value by 10 at a time.
(ms)
Set the non-sensitive band of the lost motion compensation in the feed
Lost motion
forward control.
0 to 100
LMCT compensation
When "0" is set, the actual value that is set is 2m. Adjust by increasing by
(m)
non-sensitive band
1m at a time.
-1 to 200
Set this with SV016 (LMC1) only when you wish to set the lost motion
Lost motion
(Stall
compensation amount to be different depending on the command directions.
LMC2
compensation 2
current %)
Set to "0" as a standard.
Set this with SV031 (OVS1) only when you wish to set the overshooting
-1 to 100
Overshooting
OVS2
(Stall
compensation
amount
to
be
different
depending
on
the
command
directions.
compensation 2
current %)
Set to “0” as a standard.
Set the disturbance observer filter band.
Disturbance
Set to "100" as a standard.
0 to 1000
OBS1 observer filter
To use the disturbance observer, also set SV037 (JL) and SV044 (OBS2).
(rad/s)
frequency
When not using, set to "0".
Set the disturbance observer gain. The standard setting is "100" to "300".
0 to 500
Disturbance
To use the disturbance observer, also set SV037 (JL) and SV043 (OBS1).
OBS2
(%)
observer gain
When not using, set to "0".
Set "0" for the low order 8 bits.
Current
-32768
Current bias:Use the high order 8 bits.(IB1)
To
TRUB compensation
32767
(the high order 8 bits) Use this in combination with SV030 and the high order 8bits of SV040.
Set the vibration frequency to suppress if machine vibration occurs.
0 to 4500
(Valid at 36 or more) When not using, set to "0".
(Hz)
Set the inductive voltage compensation gain. Set to "100" as a standard.
0 to 200
SV047
EC
If the current FB peak exceeds the current command peak, lower the gain.
(%)
Input a length of time to prevent the vertical axis from dropping by delaying
Ready OFF until the brake works when the emergency stop occurs.
0 to 20000
Vertical axis drop
SV048 EMGrt
Increase the setting by 100msec at a time and set the value where the axis
(ms)
prevention time
does not drop.
Set the position loop gain during the spindle synchronous control
(synchronous tapping, synchronous control with spindle/C axis).
Position loop gain 1
Set the same value as the value of the spindle parameter, position loop gain 1 to 200
SV049 PGN1sp in spindle
(rad/s)
in synchronous control.
synchronous control
When performing the SHG control, set this with SV050 (PGN2sp) and
SV058 (SHGCsp).
Set this with SV049 (PGN1sp) and SV058 (SHGCsp) if you wish to perform
Position loop gain 2
the SHG control in the spindle synchronous control (synchronous tapping,
0 to 999
SV050 PGN2sp in spindle
(rad/s)
synchronous control with spindle/C axis).
synchronous control
When not performing the SHG control, set to "0".
Set the control time constant in dual feed back.
When “0” is set, the actual value that is set is 1ms.
Dual feed back
0 to 9999
SV051
DFBT
control time constant The higher the time constant is, the closer it gets to the semi-closed control,
(ms)
so the limit of the position loop gain is raised.
Set the dead zone in the dual feedback control.
Dual feedback
0 to 9999
SV052
DFBN
Set to “0” as a standard.
control dead zone
(µm)
Excessive error
Set the excessive error detection width when servo ON in a special control
0 to 32767
SV053
OD3
detection width in
(initial absolute position setting, stopper control, etc.).
(mm)
special control
If "0" is set, excessive error detection won’t be performed.
Set the overrun detection width in the full-closed loop control.
If the gap between the motor side detector and the linear scale (machine
Overrun detection
side detector) exceeds the value set by this parameter, it is judged to be
-1 to 32767
width in closed loop
SV054
ORE
overrun and Alarm 43 will be detected.
(mm)
control
When “-1” is set, the alarm detection won’t be performed. When “0” is set,
overrun is detected with a 2mm width.
Set the time from when emergency stop is input to when READY is forcibly
Max. gate off delay turned OFF.
0 to 20000
SV055 EMGx time after
Normally, set the same value as SV056.
(ms)
When using vertical axis drop prevention control, the gate off will be delayed
emergency stop
by the time set in SV048 even if SV055 is smaller than SV048.
SV046
FHz2
Notch filter
frequency 2
Inductive voltage
compensation gain
8 - 21
8. Setup
No.
SV056
SV057
SV058
SV059
SV060
SV061
SV062
SV063
SV064
SV065
SV066
to
SV080
Abbrev.
Parameter name
In the vertical axis drop prevention time control, set the time constant used
for the deceleration control at emergency stop. Set a length of time that
0 to 20000
EMGt
takes from rapid traverse rate (rapid) to stopping.
(ms)
Normally, set the same value as the rapid traverse acceleration/deceleration
time constant.
When performing the SHG control, set this with S003 (PGN1) and SV004
0 to 1200
SHGC SHG control gain
(PGN2).
(rad/s)
When not performing the SHG control, set to "0".
Set this with SV049 (PGN1sp) and SV050 (PGN2sp) if you wish to perform
SHG control gain in
0 to 1200
the SHG control in the spindle synchronous control (synchronous tapping,
SHGCsp spindle synchronous
synchronous control with spindle/C axis).
(rad/s)
control
When not performing the SHG control, set to "0".
Not used. Set to "0".
0
Not used. Set to "0".
0
D/A output channel 1 Input the No. of the data to be output to the D/A output channel.
DA1NO
data No.
0 to 102
D/A output channel 2
DA2NO
data No.
D/A output channel 1 When "0" is set, the data is output with the standard output unit.
DA1MPY
-32768 to
output scale
Set a value other than 0 to change the output unit.
32767
D/A output channel 2 The scale is set with a 1/256 unit. When 256 is set, the unit is the same as (Unit: 1/256)
DA2MPY
the standard output unit.
output scale
Not used. Set to "0".
0
These parameters are set automatically by the NC system.
System setting
parameter
Deceleration time
constant at
emergency stop
F
E
sabs
bit
SV081
Setting range
(Unit)
Explanation
SPEC2
Servo specification
2
D
C
B
A
9
8
Meaning when set to 0
7
6
5
4
3
2
1
0
Meaning when set to 1
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Absolute position detection
semi ABS is valid（Note1）
（Note 1）When performing by semi ABS method of absolute position detection, set
"1". Also set SV017/abs to "1".
（Note 2）Set 0 if there is no particular explanation for the bit.
sabs Setting for normal use
8 - 22
8. Setup
No.
Abbr.
Parameter name
SV082
to
SV088
SV089
SV090
SV091
to
SV093
SV094
Setting range
(Unit)
0
Details
Not used. Set to "0".
The gain kq of torque maximizing control is set.
Torque maximizing
TQMAX
When "0" is set, a default gain corresponding to the motor type setting is
control
used inside the driver.
kq
kq gain
When "-1" is set, the gain become 0 inside the driver.
The gain kd of torque maximizing control is set.
Torque maximizing
TQMAX
When "0" is set, a default gain corresponding to the motor type setting is
control
used inside the driver.
kd
kd gain
When "-1" is set, the gain become 0 inside the driver.
Not used. Set to "0".
-1～1000
When not using, set to "0".
In the magnetic pole position error detection (alarm 3E), as a detection
condition, it is monitored that the absolute value of the command motor
speed and FB motor speed are above the standard, therefore, the standard
of the command motor speed level and FB motor speed level is set. In
decimal, the setting values for ones digit to hundreds digit are the FB motor
speed level (10r/min), and for thousands digit to ten-thousands digit are the
command motor speed level (10r/min).
When the command motor speed level is set to "0", the command motor
speed level is set to 10(r/min) inside the driver. When the FB motor speed
level is set to "0", magnetic pole position error is not detected.
When Magnetic pole position error detection is validated, set the standard
setting value of SV094 to "0". This detects the magnetic pole position error
when the FB motor speed level is 100(r/min) and command motor speed
level 10(r/min).
0～31999
MPV
Magnetic pole
position error
detection speed
Ten-thousands
Thousands
digit
digit
Command motor speed level
Hundreds digit
Tens
Ones
digit
digit
-1～1000
0
FB motor speed level (10r/min)
(10r/min)
SV095
to
SV100
Not used. Set to "0".
0
8 - 23
8 - 24
9. Adjustment
9-1 Servo adjustment data output function (D/A output) .......................................................................... 9-2
9-1-1 D/A output specifications............................................................................................................. 9-2
9-1-2 Setting the output data ................................................................................................................ 9-2
9-1-3 Setting the output magnification .................................................................................................. 9-3
9-1-4 Current feedback analog output function .................................................................................... 9-3
9-2 Gain adjustment ................................................................................................................................. 9-4
9-2-1 Current loop gain......................................................................................................................... 9-4
9-2-2 Speed loop gain .......................................................................................................................... 9-4
9-2-3 Position loop gain ........................................................................................................................ 9-7
9-3 Characteristics improvement.............................................................................................................. 9-9
9-3-1 Optimal adjustment of cycle time ................................................................................................ 9-9
9-3-2 Vibration suppression measures............................................................................................... 9-12
9-3-3 Improving the cutting surface precision..................................................................................... 9-16
9-3-4 Improvement of protrusion at quadrant changeover ................................................................. 9-19
9-3-5 Improvement of overshooting.................................................................................................... 9-24
9-3-6 Improvement of characteristics during acceleration/deceleration............................................. 9-26
9-4 Settings for emergency stop ............................................................................................................ 9-29
9-4-1 Deceleration control .................................................................................................................. 9-29
9-4-2 Vertical axis drop prevention control ......................................................................................... 9-31
9-4-3 Vertical axis pull up control........................................................................................................ 9-33
9-1
9. Adjustment
9-1 Servo adjustment data output function (D/A output)
The MDS-R-V1/V2 servo drive unit has a function to D/A output the various control data.
The servo adjustment data required for setting the servo parameters to match the machine can be D/A
output. Measure using a high-speed waveform recorder, synchroscope, etc.
9-1-1 D/A output specifications
Item
No. of channels
Output cycle
Output precision
Output voltage range
Output magnification
setting
Output pins
Function
Option
Explanation
2ch
0.8ms (Min. value)
12bit
0~2.5~5V
CN9 connector
±1/256 to ±128-fold
CN9 connector
Channel 1 = Pin 4
Channel 2 = Pin 14
GND (LG) = Pins 1
Phase current feedback output function
L axis U phase current FB : pin 6
L axis V phase current FB : pin 16
M axis U phase current FB : pin 7
M axis V phase current FB : pin 17
Relay terminal block: MR-J2CN3TM
Lead out with the SH21 cable from
the CN9 connector and connect.
Pin
1
2
3
4
5
6
7
8
9
10
Signal
LG
SG
MO1
COM
LUIFB
MUIFB
VDD
Pin
11
12
13
14
15
16
17
18
19
20
Signal
MBR
MO2
MC
LVIFB
MVIFB
EMGX
9-1-2 Setting the output data
No.
SV061
SV062
Abbrev.
Parameter name
D/A output channel 1
DA1NO
data No.
D/A output channel 2
DA2NO
data No.
Explanation
Input the No. of the data to be output to each D/A output channel.
(Note) When using the 2-axis drive unit (MDS-R-V2), set "0" for the data No. of the
other axis in the same drive unit which is not to be D/A output.
Standard
output unit
Output
No.
cycle
Standard
output unit
Output
cycle
100%/0.5V
0.1s
100%/0.5V
0.9s
–
–
Sawtooth wave test
output
0 to 5V
Cycle 113.7ms
0.8ms
Short wave test output
0 to 5V
Cycle 227.5ms
0.8ms
No.
Output data
Output data
0
D/A output not selected
1
Speed feedback
1000 r/min / 0.5V
0.8ms
21 Load level
2
Current feedback
Stall current/0.5V
0.8ms
22
3
Speed command
1000 r/min / 0.5V
0.8ms
23 Regeneration load level
4
Current command
Stall current/0.5V
0.8ms
24
5
25
6
7
26
Estimated
disturbance torque
Stall current/0.5V
0.8ms
27
8
28
9
29
30
11 Position droop
mm/0.5V
3.5ms
12 Position droop (×10)
100m/0.5V
3.5ms
13 Position droop (×100)
10m/0.5V
3.5ms
31 ~ 99
10
14 Feedrate (F∆T)
10000(mm/min)/0.5V
0.8ms
100 2.5V test output
15 Feedrate (F∆T×10)
16 Model position droop
1000(mm/min)/0.5V
mm/0.5V
0.8ms
3.5ms
101
102
Model position droop
(×10)
100m/0.5V
3.5ms
18
Model position droop
(×100)
10m/0.5V
3.5ms
19
20
Setting prohibited
103 ~
17
No setting
9-2
9. Adjustment
9-1-3 Setting the output magnification
Set as follows to output with a unit other than the standard output unit.
(Example 1) When SV061 = 11 and SV063 = 2560
The position droop is output as a 0.1mm/V unit to D/A output channel 1.
(Example 2) When SV062 = 11 and SV064 = 128
The position droop is output as a 2mm/V unit to D/A output channel 2.
No.
Abbrev.
Parameter name
Explanation
Setting range
SV063 DA1MPY D/A output channel 1 output When "0" is set, the data is output with the standard output unit.
magnification
Set a value other than 0 to change the output unit.
-32768 to 32767
SV064 DA2MPY D/A output channel 2 output The scale is set with a 1/256 unit. When 256 is set, the unit is the
same
as
the
standard
output
unit.
magnification
9-1-4 Current feedback analog output function
Use this function to measure the resonance frequency when adjusting machine resonance suppression
filter.
The phase current is output to the CN9
pin. Connect a high-speed waveform
recorder, etc. between the GND (pin 1)
and the phase current to be measured,
and observe the state.
6: L axis U-phase current FB
16: L axis V-phase current FB
7: M axis U-phase current FB
20 ms
Current feedback: 9 crests
Machine
9 cycles
= 450 Hz
resonance =
-3
20 x 10 s
frequency
Set the speed loop gain (SV005: VGN1) to approx. 50 to 100, disconnect the
resonance filter, and measure the waveform while the axis is stopped.
9-3
9. Adjustment
9-2 Gain adjustment
9-2-1 Current loop gain
No.
Abbrev.
Parameter name
Explanation
Setting range
SV009
IQA
Current loop q axis leading
compensation
IDA
Current loop d axis leading
compensation
1 to 20480
SV010
SV011
IQG
Current loop q axis gain
Set the gain of current loop.
As this setting is determined by the motor’s electrical
characteristics, the setting is fixed for each type of motor.
Set the standard values for all the parameters depending on each
motor type.
SV012
IDG
Current loop d axis gain
1 to 4096
9-2-2 Speed loop gain
(1) Setting the speed loop gain
The speed loop gain (SV005 (VGN1)) is an important parameter for determining the responsiveness
of the servo control. During servo adjustment, the highest extent that this value can be set to becomes
important. The setting value has a large influence on the machine cutting precision and cycle time.
(a) Refer to the following table and set the standard VGN1 according to the size of the entire
load inertia (motor and machine load inertia).
(b) If the standard speed gain setting value is exceeded, the current command fluctuation will
increase even if the speed feedback fluctuates by one pulse. This can cause the machine to
vibrate easily, so set a lower value to increase the machine stability.
Mot or unit
Motor unit
250
500
< HF75, 105 >
Standard
VGN
< HF54 - 354 >
200
400
150
300
100
The upper
limit value
for A48
HF354
200
HF105
HF204
100
50
HF7
0
100
200
300
400
500
HF54,104,15
600
Load inert ia scale（%） SV037 Setting value
A51
A48
Mot or unit
500
400
HF302,303
300
Standard
VGN1
200
HF123,142,223,224
100
0
100
200
300
400
Load inertia scale
500
600
[%]
9-4
0
100
200
300
400
500
Load inertia scale（%） SV037 Setting value
600
9. Adjustment
Motor unit
250
500
200
400
HF203
HF353
Standard
VGN1
A42
A47
Motor unit
300
150
HF74
100
200
50
100
HF44
0
100
200
300
400
500
HF53, 103, 153
600
0
100
200
Load inertia scale (%)
300
400
500
600
Load inertia scale (%)
<When machine resonance does not occur at the standard VGN1>
Set the standard VGN1. Use the standard value if no problem (such as machine resonance) occurs. If
sufficient cutting precision cannot be obtained at the standard VGN1, VGN1 can be raised above the
standard value as long as a 70 percent margin in respect to the machine resonance occurrence limit is
maintained. The cutting accuracy can also be improved by adjusting with the disturbance observer.
<When machine resonance occurs at the standard VGN1>
Machine resonance is occurring if the shaft makes abnormal sounds when operating or stopping,
and a fine vibration can be felt when the machine is touched while stopped. Machine resonance
occurs because the servo control responsiveness includes the machine resonance points. (Speed
control resonance points occur, for example, at parts close to the motor such as ball screws.)
Machine resonance can be suppressed by lowering VGN1 and the servo control responsiveness,
but the cutting precision and cycle time are sacrificed. Thus, set a vibration suppression filter and
suppress the machine resonance (Refer to section "9-3-2 Vibration suppression measures"), and
set a value as close as possible to the standard VGN1. If the machine resonance cannot be
sufficiently eliminated even by using a vibration suppression filter, then lower the VGN1.
No.
SV005
Abbrev.
VGN1
Parameter name
Explanation
Setting range
Speed loop gain 1
Set the speed loop gain. Set this according to the load inertia size.
The higher the setting value is, the more accurate the control will be,
however, vibration tends to occur. If vibration occurs, adjust by lowering
by 20 to 30%. The value should be determined to be 70 to 80% of the
value at the time when the vibration stops.
1 to 999
POINT
The final VGN1 setting value is 70 to 80% of the maximum value at which the
machine does not resonate.
Suppressing the resonance with the vibration suppression function and increasing
the VGN1 setting is effective for adjusting the servo later.
9-5
9. Adjustment
(2) Setting the speed loop leading compensation
The speed loop leading compensation (SV008 (VIA)) determines the characteristics of the speed
loop mainly at low frequency regions. 1364 is set as a standard, and 1900 is set as a standard
during SHG control. The standard value may drop in respect to loads with a large inertia.
When the VGN1 is set lower than the standard value because the load inertia is large or because
machine resonance occurred, the speed loop control band is lowered. If the standard value is set in
the leading compensation in this status, the leading compensation control itself will induce vibration.
In concrete terms, a vibration of 10 to 20Hz could be caused during acceleration/deceleration or
stopping, and the position droop waveform could be disturbed when accelerating to a constant
speed and when stopped. (Refer to the following graphs.)
This vibration cannot be suppressed by the vibration suppression functions. Lower the VIA in
increments of 100 from the standard setting value. Set a value where vibration does not occur and the
position droop waveform converges smoothly. Because lowering the VIA causes a drop in the position
control's trackability, the vibration suppression is improved even when a disturbance observer is used
without lowering the VIA. (Be careful of machine resonance occurrence at this time.)
Speed FB
0
0
Time
Time
D/A output range
Position
droop
0
0
Time
Vibration waveform with leading compensation control
Time
Adjusted position droop waveform
If VIA is lowered, the position droop waveform becomes smooth and overshooting does not occur.
However, because the trackability in respect to the position commands becomes worse, the
positioning time and accuracy are sacrificed. VIA must be kept high (set the standard value) to
guarantee precision, especially in high-speed contour cutting (generally F = 1000 or higher). For
machines which aim to attain a high speed and high accuracy, set VGN1 to a sufficiently large value
so that VIA does not need to be lowered. When adjusting, the cutting precision will be better if
adjustment is carried out to a degree where overshooting does not occur and a high VIA is maintained,
without pursuing position droop smoothness.
If there are no vibration or overshooting problems, the high-speed contour cutting precision can be
further improved by setting the VIA higher than the standard value. In this case, adjust by raising
the VIA in increments of 100 from the standard value.
Setting a higher VIA improves the trackability regarding position commands in machines for which
cycle time is important, and the time to when the position droop converges on the in-position width
is shortened.
It is easier to adjust the VIA to improve precision and cycle time if a large value (a value near the
standard value) can be set in VGN1, or if VGN1 can be raised equivalently using the disturbance
observer.
No.
Abbrev.
SV008
VIA
Parameter name
Speed loop lead
compensation
POINT
Explanation
Setting range
Set the gain of the speed loop integration control.
The standard setting is "1364". During the SHG control, the standard
setting is "1900". Adjust the value by increasing/decreasing it by about
100 at a time.
Raise this value to improve contour tracking precision in high-speed
cutting. Lower this value when the position droop vibrates (10 to 20Hz).
1 to 9999
Position droop vibration of 10Hz or less is not leading compensation control
vibration. The position loop gain must be adjusted.
9-6
9. Adjustment
9-2-3 Position loop gain
(1) Setting the position loop gain
The position loop gain (SV003 (PGN1)) is a parameter that determines the trackability to the
command position. 33 is set as a standard. Set the same position loop gain value between
interpolation axes.
When PGN1 is raised, the trackability will be raised and the settling time will be shortened, but a speed
loop that has a responsiveness that can track the position loop gain with increased response will be
required. If the speed loop responsiveness is insufficient, several Hz of vibration or overshooting will
occur during acceleration/deceleration. Vibration or overshooting will also occur when VGN1 is
smaller than the standard value during VIA adjustment, but the vibration in the position loop occurs
generally 10Hz or less. (The VIA vibration occurs from 10 to 20Hz.) When the position control includes
machine resonance points (Position control machine resonance points occur at the machine end
parts, etc.) because of insufficient machine rigidity, the machine will vibrate during positioning, etc. In
either case, lower PGN1 and adjust so that vibration does not occur.
If the machine also vibrates due to machine backlash when the motor stops, the vibration can be
suppressed by lowering the PGN1 and smoothly stopping.
If SHG control is used, an equivalently high position loop gain can be maintained while suppressing
these vibrations. To adjust the SHG control, gradually raise the gain from a setting where 1/2 of a
normal control PGN1 where vibration did not occur was set in PGN1. If the PGN1 setting value is
more than 1/2 of the normal control PGN1 when SHG control is used, there is an improvement
effect in position control. (Note that for the settling time the improvement effect is at 1/ 2 or more.)
No.
SV003
Abbrev.
PGN1
Parameter name
Explanation
Setting range
Position loop gain 1
Set the position loop gain. The standard setting is "33".
The higher the setting value is, the more precisely the command can be
followed and the shorter the positioning time gets, however, note that a
bigger shock is applied to the machine during acceleration/deceleration.
When using the SHG control, also set SV004 (PGN2) and SV057
(SHGC).
1 to 200
(rad/s)
SV004
PGN2
Position loop gain 2
Set 0. (For SHG control)
0 to 999
SV057
SHGC
SHG control gain
Set 0. (For SHG control)
0 to 1200
CAUTION
Always set the same value for the position loop gain between the interpolation
axes.
(2) Setting the position loop gain for spindle synchronous control
During spindle synchronous control (synchronous tapping control, etc.), there are three sets of
position loop gain parameters besides the normal control.
No.
Abbrev.
Parameter name
Explanation
Set the same parameter as the
position loop gain for the spindle
synchronous control.
SV049 PGN1sp Position loop gain 1 Set 15 as a standard.
in spindle
synchronous control
Setting range
1 to 200
(rad/s)
SV050 PGN2sp Position loop gain 2 Set 0 as a standard.
(For SHG control)
in spindle
synchronous control
0 to 999
SV058 SHGCsp SHG control gain in Set 0 as a standard.
spindle synchronous (For SHG control)
control
0 to 1200
CAUTION
Always set the same value for the position loop gain between the spindle and
servo synchronous axes.
9-7
9. Adjustment
(3) SHG control (option function)
If the position loop gain is increased or feed forward control (NC function) is used to shorten the
settling time or increase the precision, the machine system may vibrate easily.
SHG control changes the position loop to a high-gain by stably compensating the servo system
position loop through a delay. This allows the settling time to be reduced and a high precision to be
achieved. (SHG: Smooth High-Gain)
(Feature 1) When the SHG control is set, even if PGN1 is set to the same value as the conventional
gain, the position loop gain will be doubled.
(Feature 2) The SHG control response is smoother than conventional position control during
acceleration/deceleration, so the gain can be increased further with SHG control
compared to the conventional position control.
(Feature 3) With SHG control, a high gain is achieved so a high precision can be obtained during
contour control.
The following drawing shows an example of the improvement in roundness
characteristics with SHG control.
50.0
<1> : Commanded path
<2> : SHG control (PGN1=47)
<3> : Conventional control (PGN1=33)
<Effect>
0.0
Control
method
Roundness error (m)
Conventional
control
SHG control
22.5
2.5
-50.0
-50.0
50.0
0.0
(F=3000mm/min, ERROR=5.0µm/div)
Shape error characteristics
During SHG control, PGN1, PGN2 and SHGC are set with the following ratio.
8
:6
3
During SHG control even if the PGN1 setting value is the same, the actual position loop gain will be
higher, so the speed loop must have a sufficient response. If the speed loop response is low,
vibration or overshooting could occur during acceleration/deceleration in the same manner as
conventional control. If the speed loop gain has been lowered because machine resonance occurs,
lower the position loop gain and adjust.
PGN1 : PGN2 : SHGC = 1 :
No.
Abbrev.
Parameter name
Setting
ratio
Setting example
SV003 PGN1
Position loop gain 1
(SV049) (PGN1sp)
1
23
26
33
38
SV004 PGN2
Position loop gain 2
(SV050) (PGN2sp)
8
3
62
70
86
102 125
SV057 SHGC
SHG control gain
(SV058) (SHGCsp)
6
140 160 187 225 281
47
Explanation
Setting range
Always set a combination of 3
parameters
1 to 200
0 to 999
0 to 1200
SV008
VIA
Speed loop lead
compensation
Set 1900 as a standard for SHG control.
1 to 9999
SV015
FFC
Acceleration rate
feed forward gain
Set 100 as a standard for SHG control.
0 to 999
POINT
The SHG control is an optional function. If the option is not set in the CNC, the
alarm 37 (at power ON) or warning E4, Error Parameter No. 104 (2304 for M60S/
E60 Series NC) will be output.
9-8
9. Adjustment
9-3 Characteristics improvement
9-3-1 Optimal adjustment of cycle time
The following items must be adjusted to adjust the cycle time. Refer to the Instruction Manuals provided
with each CNC for the acceleration/deceleration pattern.
<1> Rapid traverse rate (rapid)
: This will affect the maximum speed during positioning.
<2> Clamp speed (clamp)
: This will affect the maximum speed during cutting.
<3> Acceleration/deceleration time : Set the time to reach the feedrate.
constant (G0t, G1t)
<4> In-position width (SV024)
: This will affect each block's movement command end time.
<5> Position loop gain (SV003)
: This will affect each block's movement command settling time.
(1) Adjusting the rapid traverse
To adjust the rapid traverse, the CNC axis specification parameter rapid traverse rate (rapid) and
acceleration/deceleration time constant (G0t) are adjusted. The rapid traverse rate is set so that the
motor speed matches the machine specifications in the range below the maximum speed in the motor
specifications. For the acceleration/deceleration time constants, carry out rapid traverse reciprocation
operation, and set so that the maximum current command value at acceleration/deceleration is within
the range shown below. The output torque is limited in areas near the maximum rotation speed, so
when adjusting, view the current FB waveform during acceleration/deceleration and adjust so that the
torque is within the specified range.
If the drive unit's input voltage is less than the rated voltage, the torque will easily become
insufficient, and excessive errors will occur easily during acceleration/deceleration.
(2) Adjusting the cutting feed
To adjust the cutting rate, the NC axis specification parameter clamp speed (clamp) and acceleration/
deceleration time constant (G1t) are adjusted. The in-position width at this time must be set to the
same value as actual cutting.
• Determining the clamp rate and adjusting the acceleration/deceleration time constant
(Features)
The maximum cutting rate (clamp speed) can be determined freely.
(Adjustment) Carry out reciprocating cutting feed operation without dwell at the maximum
cutting speed, and adjust the acceleration/deceleration time constant so that the
maximum current command value during acceleration/deceleration is within the
range shown below.
• Setting the step acceleration/deceleration and adjusting the clamp speed
(Features)
The acceleration/deceleration time constant is determined with the position loop
in the servo, so the acceleration/deceleration F∆T can be reduced.
(Adjustment) Set 1 (step) for the acceleration/deceleration time constant and carry out cutting
feed reciprocation operation with no dwell. Adjust the cutting feed rate so that the
maximum current command value during acceleration/deceleration is within the
range shown below, and then set the value in the clamp speed.
9-9
9. Adjustment
Maximum current command value when adjusting acceleration/deceleration time constant
Maximum current command value when adjusting acceleration/deceleration time constant
Motor
model
HF75
HF105
HF54
HF104
HF104
HF154
HF154
HF224
HF204
HF204
HF354
HF354
HF123
HF223
HF303
HF142
HF302
Compatible drive unit
MDS-R-Vx-20/40
MDS-R-Vx-20/40
MDS-R-Vx-20/40
MDS-R-Vx-40
MDS-R-Vx-20
MDS-R-Vx-60/80
MDS-R-Vx-40
MDS-R-Vx-60
MDS-R-Vx-60/80
MDS-R-Vx-40
MDS-R-Vx-80
MDS-R-Vx-60
MDS-R-Vx-20
MDS-R-Vx-40
MDS-R-Vx-60
MDS-R-Vx-20
MDS-R-Vx-40
Max. current
Motor
command value (%)
model
343
296
340
315
227
339
229
253
248
230
228
236
194
227
232
194
213
HF44
HF74
HF53
HF103
HF103
HF153
HF153
HF203
HF203
HF353
HF353
9 - 10
Compatible drive unit
MDS-R-Vx-20/40
MDS-R-Vx-20/40
MDS-R-Vx-20/40
MDS-R-Vx-20
MDS-R-Vx-40
MDS-R-Vx-40
MDS-R-Vx-60/80
MDS-R-Vx-40
MDS-R-Vx-60/80
MDS-R-Vx-60
MDS-R-Vx-80
Max. current
command value (%)
343
296
340
227
315
229
339
230
248
236
228
9. Adjustment
(3) Adjusting the in-position width
Because there is a response delay in the servomotor drive due to position loop control, a "settling
time" is also required for the motor to actually stop after the command speed from the CNC reaches 0.
The movement command in the next block is generally started after it is confirmed that the machine
has entered the "in-position width" range set for the machine.
Set the precision required for the machine as the in-position width. If a high precision is set
needlessly, the cycle time will increase due to a delay in the settling time.
As a standard, the in-position width is valid with the servo parameters. However, there may be
cases when the NC parameters must be set. Refer to each NC Instruction Manual and set the
value.
No.
Abbrev.
SV024
INP
Parameter name
Explanation
Setting range
0 to 32767
(m)
In-position detection Set the in-position detection width.
width
Set the accuracy required for the machine.
The lower the setting is, the higher the positioning accuracy gets,
however, the cycle time (setting time) becomes longer. The standard
setting is "50".
POINT
The in-position width setting and confirmation availability depend on the CNC
parameters.
(4) Adjusting the settling time
The settling time is the time required for
the position droop to enter the in-position
width after the feed command (F∆T) from
F∆T
the CNC reaches 0.
The settling time can be shortened by
raising the position loop gain or using SHG
control. However, a sufficient response
(sufficiently large VGN1 setting) for the Position
speed loop is required to carry out stable droop
control.
The settling time during normal control
when the CNC is set to linear acceleration/
deceleration can be calculated using the
following equation. During SHG control,
estimate the settling time by multiplying
PGN1 by 2 .
103
Settling time (ms) = –
×
PGN1
ln
F
Settling time
0
Time
G0tL
In-position
0
F × 106
60×G0tL×PGN12
In-position width
INP
×
1 - exp -
PGN1×G0tL
103
PGN1 : Position loop gain1 (SV003)
(rad/s)
F
: Rapid traverse rate
(mm/min)
G0tL : Rapid traverse linear acceleration/
deceleration time constant
(ms)
INP : In-position width (SV024)
(m)
9 - 11
9. Adjustment
9-3-2 Vibration suppression measures
If vibration (machine resonance) occurs, it can be suppressed by lowering the speed loop gain (VGN1).
However, cutting precision and cycle time will be sacrificed. (Refer to "9-2-2 Speed loop gain".) Thus, try
to maintain the VGN1 as high as possible, and suppress the vibration using the vibration suppression
functions.
If the VGN1 is lowered and adjusted because vibration cannot be sufficiently suppressed with the
vibration suppression functions, adjust the entire gain (including the position loop gain) again.
<Examples of vibration occurrence>
• A fine vibration is felt when the machine is touched, or a groaning sound is heard.
• Vibration or noise occurs during rapid traverse.
POINT
Suppress the vibration using the vibration suppression functions, and maintain
the speed loop gain (SV005 (VGN1)) as high as possible.
(1) Notch filter
The notch filter operates at the set frequency. Measure the resonance frequency with the current
feedback analog output function, and set that frequency in SV038 or SV046.
If the notch filter is set to a particularly low frequency, vibration may occur initially due to another
resonance frequency that existed latently. If the notch filter's depth compensation (SV033 (nfd1,
nfd2)) is adjusted so that the filter does not operate unless necessary, the servo control will
stabilize.
Notch filter 3 (SV033 (bit4)) is a filter with frequency fixed to 1125Hz, and has no depth compensation.
<Setting method>
1. Set the resonance frequency in the machine resonance suppression filter frequency (SV038
(FHz1), SV046 (FHz2)).
2. If the machine starts to vibrate at another frequency, raise (make shallower) the machine
resonance suppression filter depth compensation value (SV033 (SSF2.nfd)), and adjust to the
optimum value at which the resonance can be eliminated.
3. If the vibration cannot be removed completely, use another vibration suppression control (notch
filter 3, jitter compensation).
No.
Abbrev.
SV038
FHz1
Notch filter frequency Set the vibration frequency to suppress if machine vibration occurs.
1
(Valid at 36 or more) When not using, set to "0".
Parameter name
0 to 4500
(Hz)
SV046
FHz2
Notch filter frequency Set the vibration frequency to suppress if machine vibration occurs.
2
(Valid at 36 or more) When not using, set to "0".
0 to 4500
(Hz)
SV033
SSF2
Servo function
selection 2
Explanation
F
E
zup
bit
1
2
3
4
5
6
7
D
C
B
A
9
8
dis
Meaning when "0" is set
Setting range
7
6
nfd2
5
4
nf3
3
2
nfd1
1
0
Meaning when "1" is set
Set the filter depth for Notch filter 1 (SV038).
Value
nfd1
000 001 010 011 100 101 110 111 Shallow
Deep
Depth (dB) -∞ -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2
nf3 Notch filter 3 stop
Notch filter 3 start (1125Hz)
Set the operation frequency of Notch filter 2 (SV046).
Value
nfd2
000 001 010 011 100 101 110 111 Shallow
Deep
Depth (dB) -∞ -18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2
9 - 12
9. Adjustment
The recommended setting value of depth for each setting frequency is shown in the table below.
Setting frequency and recommended setting value of depth for machine resonance suppression filter 1,2
Setting frequency
2250Hz
1500Hz
1125Hz
900Hz
750Hz
642Hz
562Hz
500Hz
450Hz
409Hz
375Hz
346Hz
321Hz
300Hz
Recommended
setting value
0
0
0
0
0
0
0
0
0
0
4
4
4
4
Depth
Setting frequency
-∞
-∞
-∞
-∞
-∞
-∞
-∞
-∞
-∞
-∞
-12.0
-12.0
-12.0
-12.0
281Hz
264Hz
250Hz
225Hz
204Hz
187Hz
173Hz
160Hz
150Hz
140Hz
128Hz
112Hz
100Hz
Recommended
setting value
4
4
8
8
8
8
8
8
8
C
C
C
C
Depth
-12.0
-12.0
-6.0
-6.0
-6.0
-6.0
-6.0
-6.0
-6.0
-2.5
-2.5
-2.5
-2.5
(Note1) The setting of the standard depth compensation in the above table indicates the HEX setting value applied when the setting
of “bit 0” or “bit 4” is “0”.
(Note2) The recommended setting value in the above table is a guideline. According to the machine characteristic, the depth must
be changed in some cases.
9 - 13
9. Adjustment
<Setting the machine resonance filter frequency when resonance cannot be eliminated>
This function is compatible with the MDS-R-V1/V2 Series' machine resonance suppression filter
(SV038: FHz1, SV046: FHz2). Some machines have three or more machine resonance points and
the resonance cannot be eliminated. Try the following methods in this case.
(a) When there are three machine resonance points including one exceeding 800Hz
When the 3rd machine resonance filter is set (SV033: nfd3),
the resonance filter is applied at 1125Hz, and the machine may
Machine resonance filter
not resonate at 800Hz or more. Then, remove the remaining
two machine resonance with the 1st and 2nd machine
resonance suppression filters.
If the machine resonance cannot be eliminated even by setting
the 1st and 2nd machine resonance suppression filter
800Hz 1125Hz 1450Hz
frequencies, it may be possible to suppress the machine
resonance by additionally setting the 3rd machine resonance
suppression filter.
[Example] If the machine resonance is approx. 1100Hz and high, validate the 3rd machine
resonance suppression filter. Then, adjust the machine resonance suppression
filters (SV038: FHz1, SV046: FHz2).
(b) When there are three or more machine resonance points
With the MDS-R-V1/V2 Series machine resonance
suppression filter, the filter is also applied at the odd-fold of the
set frequency. If one machine resonance is near the odd-fold
of another machine resonance, set the machine resonance
suppression filter frequency to the lower resonance, and try
changing it by approx. 10 to 20Hz. It may be possible to
eliminate two machine resonance by setting the most effective
value.
[Example] If the machine resonates at 300Hz and 900Hz,
both machine resonance can be eliminated by
setting 300Hz.
Machine resonance
300Hz
900Hz
1500Hz
Machine resonance filter
Set 300Hz to suppress the
machine resonance near 900Hz.
(c) When machine resonance does not change even when machine resonance filter is set
The MDS-R-V1/V2 Series machine resonance suppression filter frequency can be set by 1Hz.
However, the internal control is operated with the nearest value of the frequency setting range
obtained by the following expression.
Frequency setting range (Hz)=4500/N (N: integer)
If the value of the above expression is not the frequency to be set, set a frequency that is 1
part of the odd amount (1/3, etc.). Doing so may be possible to eliminate the machine
resonance.
[Example] To set 1350Hz, setting 450Hz may be just as effective.
9 - 14
9. Adjustment
(2) Jitter compensation (Vibration suppression at motor stopping)
The load inertia becomes much smaller than usual if the motor position enters the machine
backlash when the motor is stopped. Because this means that an extremely large VGN1 is set for
the load inertia, vibration may occur.
Jitter compensation can suppress the vibration that occurs at the motor stop by ignoring the
backlash amount of speed feedback pulses when the speed feedback polarity changes.
Increase the number of ignored pulses by one pulse at a time, and set a value at which the vibration
can be suppressed. (Because the position feedback is controlled normally, there is no worry of
positional deviation.)
When jitter compensation is set to an axis that is not vibrating is set, vibration could be induced, so
take care.
No.
Abbrev.
Parameter name
SV027
SSF1
Special servo function
selection 1
Explanation
F
E
D
C
zrn2
bit
4
5
POINT
vfct
B
A
9
8
lmc
Meaning when "0" is set
7
6
5
4
3
2
1
0
vfct
Meaning when "1" is set
Set the number of compensation pulses for jitter compensation.
00: Jitter compensation invalid 10: 2-pulse jitter compensation
01: 1-pulse jitter compensation 11: 3-pulse jitter compensation
Jitter compensation vibration suppression is only effective when the motor is
stopped.
9 - 15
9. Adjustment
9-3-3 Improving the cutting surface precision
If the cutting surface precision or roundness is poor,
these can be improved by increasing the speed
loop gain (VGN1, VIA) or by using the disturbance
observer function.
Y
<Examples of faults>
• The surface precision in the 45 direction of a
taper or arc is poor.
• The load fluctuation during cutting is large,
causing vibration or surface precision defects to
occur.
POINT
X
Adjust by raising the speed loop gain equivalently to improve cutting surface
precision, even if the measures differ. In this case, it is important how much the
machine resonance can be controlled, so adjust making sufficient use of
vibration suppression functions.
(1) Adjusting the speed loop gain (VGN1)
If the speed loop gain is increased, the cutting surface precision will be improved but the machine
will resonate easily.
The final VGN1 setting should be approx. 70 to 80% of the maximum value where resonance does
not occur. (Refer to "9-2-2 (1) Setting the speed loop gain")
(2) Adjusting the speed loop leading compensation (VIA)
The VIA has a large influence on the position trackability, particularly during high-speed cutting
(generally F1000 or more). Raising the setting value improves the position trackability, and the
contour precision during high-speed cutting can be improved. For high-speed high-precision cutting
machines, adjust so that a value equal to or higher than the standard value can be set.
When VIA is set lower than the standard value and set to a value differing between interpolation
axes, the roundness may worsen (the circle may distort). This is due to differences occurring in the
position trackability between interpolation axes. The distortion can be improved by matching the
VIA with the smaller of the values. Note that because the position trackability is not improved, the
surface precision will not be improved.
(Refer to "9-2-2 (2) Setting the speed loop leading compensation")
No.
Abbrev.
Parameter name
Explanation
Setting range
SV005
VGN1
Speed loop gain 1
1 to 999
SV008
VIA
Speed loop lead
compensation
Set the speed loop gain.
Set this according to the load inertia size.
The higher the setting value is, the more accurate the control will be,
however, vibration tends to occur.
If vibration occurs, adjust by lowering by 20 to 30%.
The value should be determined to be 70 to 80% of the value at the time
when the vibration stops.
Set the gain of the speed loop integration control.
The standard setting is "1364". During the SHG control, the standard
setting is "1900". Adjust the value by increasing/decreasing it by about
100 at a time.
Raise this value to improve contour tracking precision in high-speed
cutting. Lower this value when the position droop vibrates (10 to 20Hz).
9 - 16
1 to 9999
9. Adjustment
(3) Disturbance observer
The disturbance observer can reduce the effect caused by disturbance, frictional resistance or
torsion vibration during cutting by estimating the disturbance torque and compensating it. It also is
effective in suppressing the vibration caused by speed leading compensation control.
<Setting method>
<1> Adjust VGN1 to the value where vibration does not occur, and then lower it 10 to 20%.
<2> Set the load inertia scale (SV037 (JL)) with a percentage in respect to the motor inertia of the
total load inertia.
<3> Set the observer filter band (observer pole) in the disturbance observer 1 (SV043 (OBS1)), and
estimate the high frequency disturbance to suppress the vibration. Set "100" as a standard.
<4> Set the observer gain in disturbance observer 2 (SV044 (OBS2)). The disturbance observer
will function here for the first time. Set 100 first, and if vibration does not occur, increase the
setting by 50 at a time to increase the observer effect.
<Measuring the load inertia>
If the load inertia is not clear, it can be estimated with the following method.
<1> Set the torque offset (SV032 (TOF)) for the unbalance axis. (Refer to "9-3-4 (2) Unbalance
torque compensation".)
<2> Set JL = 100, OBS1 = 600 and OBS2 =0, and reciprocate the axis within the range that it can
be moved smoothly. Set the acceleration/deceleration time constant so that the acceleration/
deceleration torque is larger than the stall (rated) torque (100% or more).
<3> Measure the estimated disturbance torque with the D/A output, and raise JL until the
disturbance torque during acceleration/deceleration is small (until it cannot be observed). Even
when the torque offset is set and JL is an appropriate value, if the axis has a large friction, the
frictional torque will remain in the estimated disturbance torque. Judge the JL setting value,
with frictional torque remaining, as the machine's load inertia scale as shown below.
Speed
command
0
0
Estimated
disturbance 0
torque
0
0
Frictional torque
Time
Time
JL: Too small
No.
Abbrev.
SV037
JL
JL: Appropriate
Parameter name
Load inertia scale
0
Time
JL: Too large
Explanation
Setting range
Set "the motor inertia + motor axis conversion load inertia" in respect to the
motor inertia.
0 to 5000
(%)
SV037(JL) =
Jl+Jm
Jm
*100
Jm : Motor inertia
Jl : Motor axis conversion load inertia
SV043
OBS1
Disturbance observer Set the disturbance observer filter band.
filter frequency
Set to "100" as a standard.
To use the disturbance observer, also set SV037 (JL) and SV044 (OBS2).
When not using, set to "0".
0 to 1000
(rad/s)
SV044
OBS2
Disturbance observer Set the disturbance observer gain. The standard setting is "100" to "300".
gain
To use the disturbance observer, also set SV037 (JL) and SV043 (OBS1).
When not using, set to "0".
0 to 500
(%)
POINT
1. The estimated disturbance torque can be output to the D/A output even if the
disturbance observer gain is zero (OBS2 = 0), and the disturbance observer
is not functioning.
2. Sections at which the machine is not moving smoothly are estimated as the
disturbance.
3. The lost motion compensation must be readjusted when the disturbance
observer is started.
9 - 17
9. Adjustment
(4) Voltage dead zone (Td) compensation
With the PWM control of the inverter circuit, a dead time (non-energized time) is set to prevent
short-circuits caused by simultaneous energizing of the P side and N side transistors having the
same phase. The dead time has a non-sensitive band for particularly low voltage commands. Thus,
when feeding with a low speed and a low torque, the control may be unstable.
When an unbalance axis is lowering, the frictional torque and unbalance torque, and the frictional
torque and deceleration torque before the quadrant changes during circle cutting, are balanced.
The motor output torque will be approximately zero, and the control accuracy may drop. In this case,
the control accuracy can be improved by using the voltage non-sensitive band compensation. Note
that this may cause vibration to increase while the motor is running.
Cutting direction
Motor torque ≒ 0
Frictional torque
Balanced
Unbalance torque
Lowering
Deceleration torque = frictional torque
For circle cutting
No.
Abbrev.
SV030
IVC
For unbalance axis
Parameter name
Explanation
Voltage non-sensitive When 100% is set, the voltage equivalent to the logical non-energized time
will be compensated.
compensation
When "0" is set, a 100% compensation will be performed.
Adjust in increments of 10% from the default value 100%.
If increased too much, vibration or vibration noise may be generated.
9 - 18
Setting
range
0 to 200
(%)
9. Adjustment
9-3-4 Improvement of protrusion at quadrant changeover
The response delay (caused by non-sensitive band from friction, torsion, expansion/contraction, backlash,
etc.) caused when the machine advance direction reverses is compensated with the lost motion
compensation (LMC compensation) function.
With this, the protrusions that occur at the quadrant changeover in the DBB measurement method, or
the streaks that occur when the quadrant changes during circular cutting can be improved.
Compensation
Cutting
direction
Circle cutting path before compensation
Circle cutting path after compensation
DBB: Double Ball Bar
(1) Lost motion compensation (LMC compensation)
LMC compensation compensates the response delay during reversal by adding the torque
command set with the parameters when the speed direction changes. There are two types of LMC
compensation.
<Setting method>
<1> Set the special servo function selection 1 (SV027 (SSF1)) bit 9. (The LMC compensation type 2 will
start).
<2> Set the compensation amount with a stall % (rated current % for the general-purpose motor) unit in
the lost motion compensation 1 (SV016 (LMC1)). The LMC1 setting value will be used for
compensation in the positive and negative directions when SV041 (LMC2) is 0.
<3> If the compensation amount is to be changed in the direction to be compensated, set LMC2. The
compensation direction setting will be as shown below with the CW/CCW setting in the NC parameter.
If only one direction is to be compensated, set the side not to be compensated as -1.
CW
CCW
A
X axis: LMC2
X axis: LMC1
B
Y axis: LMC1
Y axis: LMC2
C
X axis: LMC1
X axis: LMC2
D
Y axis: LMC2
Y axis: LMC1
C
No. Abbrev.
Parameter name
SV016 LMC1 Lost motion
compensation 1
SV041
LMC2
Lost motion
compensation 2
SV027
SSF1
Special servo
function selection 1
The Y axis command direction changes from + to -.
D
+Y
Compensation
point
A
-X
The X axis command direction changes from + to -.
+X
The X axis command direction changes from - to +.
B
-Y
The Y axis command direction changes from - to +.
Explanation
Setting range
Set the compensation value using the motor's stall current as a reference.
-1 to 200
The standard setting value is double the friction torque. The compensation (Stall current %)
amount will be 0 when "0" is set.
-1 to 200
Set this with SV016 (LMC1) only when you wish to set the lost motion
(Stall current %)
compensation amount to be different depending on the command
directions.
Set to "0" as a standard.
F
8
9
E
D
zrn2
C
B
A
9
8
bit
Meaning when "0" is set
lmc
7
6
5
4
3
2
1
0
vfct
Meaning when "1" is set
Set the compensation amount with SV016 (LCM1) and SV041 (LCM2).
lmc
00: Lost motion compensation stop 10: Lost motion compensation type 2
01: Setting prohibited
11: Setting prohibited
9 - 19
9. Adjustment
<Adjustment method>
First confirm whether the axis to be compensated is an unbalance axis (vertical axis, slant axis). If it
is an unbalance axis, carry out the adjustment after performing step "(2) Unbalance torque
compensation".
Next, measure the frictional torque. Carry out reciprocation operation (approx. F1000) with the axis
to be compensated and measure the load current % when fed at a constant speed on the NC servo
monitor screen. The frictional torque of the machine at this time is expressed with the following
expression.
(+ feed load current %) - (- feed load current %)
Frictional torque (%) =
2
The standard setting value for the lost motion compensation 1 (LMC1) is double the frictional torque
above.
(Example)
Assume that the load current % was 25% in the + direction and -15% in the - direction
when JOG feed was carried out at approx. F1000.
25 - (-15)
2
= 20%
The frictional torque is as shown above, so 20% × 2 = 40% (LMC2 remains at zero, and
compensation is carried out in both directions.) is set for LMC1. (LMC2 is left set at 0.)
With this setting, 40% compensation will be carried out when the command reverses from
the + direction to the - direction, and when the command reverses from the - direction to
the + direction.
Perform the final adjustment, carrying out the CNC sampling measurement (DBB measurement) or
actual cutting. If the compensation amount is insufficient, increase LMC1 or LMC2 by 5% at a time.
Note that if the setting is too high, biting may occur.
Compensation 0
POINT
Optimum
Too high
1. When either parameter SV016 (LMC1) or SV041 (LMC2) is set to 0, the same
amount of compensation is carried out in both the positive and negative direction
with the setting value of the other parameter (the parameter not set to 0).
2. To compensate in only one direction, set -1 in the parameter (LMC1 or LMC2)
for the direction in which compensation is prohibited.
3. The value set based on the friction torque is the standard value for LMC
compensation. The optimum compensation value changes with the cutting
conditions (cutting speed, cutting radius, blade type, workpiece material,
etc.). Be sure to ultimately make test cuts matching the target cutting and
determine the compensation amount.
9 - 20
9. Adjustment
(2) Unbalance torque compensation
If the load torque differs in the positive and negative directions such as with a vertical axis or slant
axis, the torque offset (SV032 (TOF)) is set to carry out accurate lost motion compensation.
<Setting method>
Measure the unbalance torque. Carry out reciprocation operation (approx. F1000) with the axis to
be compensated and measure the load current % when fed at a constant speed on the NC servo
monitor screen. The unbalance torque at this time is expressed with the following expression.
Unbalance torque (%) =
(+ feed load current %)
+ (- feed load current %)
2
The unbalance torque value above is set for the torque offset (TOF).
If there is a difference in the protrusion amount according to the direction, make an adjustment with
LMC2. Do not adjust with TOF.
(Example)
Assume that the load current % was -40% in the + direction and -20% in the - direction
when JOG feed was carried out at approx. F1000. The unbalance torque is as shown
below, so -30% is set for TOF.
-40 + (-20)
2
No.
SV032
Abbrev. Parameter name
TOF
Torque offset
POINT
= -30%
Explanation
Set this to carry out lost motion compensation.
Set the unbalance torque for the vertical axis and slant axis.
Setting range
-100 to 100
(Stall current %)
Even when TOF is set, the torque output characteristics of the motor and load
current display of the NC servo monitor will not change. Only the characteristics
of the LMC compensation function are affected.
9 - 21
9. Adjustment
(3) Adjusting the lost motion compensation timing
If the speed loop gain has been lowered from the standard setting value because the machine
rigidity is low or because machine resonance occurs easily, or when cutting at high speeds, the
quadrant protrusion may appear later than the quadrant changeover point on the servo control. In
this case, suppress the quadrant protrusion by setting the lost motion compensation timing (SV039
(LMCD)) to delay the LMC compensation.
<Adjustment method>
If a delay occurs in the quadrant protrusion in the circle or arc cutting as shown below in respect to
the cutting direction when CNC sampling measurement (DBB measurement) or actual cutting is
carried out, and the compensation appears before the protrusion position, set the lost motion
compensation timing (SV039 (LMCD)).
While measuring the arc path, increase LMCD by 10ms at a time, to find the timing that the
protrusion and compensation position match.
After
compensation
Cutting
direction
No.
Abbrev.
SV039
LMCD
Before timing delay compensation
After timing delay compensation
Parameter name
Explanation
Set this when the lost motion compensation timing doest not match.
Lost motion
compensation timing Adjust by increasing the value by 10 at a time.
Setting range
0 to 2000
(ms)
When the LMCD is gradually raised, a two-peaked contour may occur at the motor FB position DBB
measurement. However, due to the influence of the cutter diameter in cutting such as end milling,
the actual cutting surface becomes smooth.
Because satisfactory cutting can be achieved even if this two-peaked contour occurs, consider the
point where the protrusion becomes the smallest and finest possible without over compensating
(bite-in) as the optimum setting.
Quadrant changeover point
Cutter diameter
Cutter center path
Actual cutting surface
Cutting direction
Point of LMC compensation execution
9 - 22
9. Adjustment
(4) Adjusting for feed forward control
In LMC compensation, a model position considering the position loop gain is calculated based on
the position command sent from the CNC, and compensation is carried out when the feed changes
to that direction. When the CNC carries out feed forward (fwd) control, overshooting equivalent to
the operation fraction unit occurs in the position commands, and the timing of the model position
direction change may be mistaken. As a result, the LMC compensation timing may deviate, or
compensation may be carried out twice or more.
If feed forward control is carried out and the compensation does not operate correctly, Lost motion
compensation non-sensitive band (SV040 (LMCT)) during feed forward control. In this
non-sensitive band control, overshooting of the set width or less is ignored. The model position
direction change point is correctly recognized, and the LMC compensation is correctly executed.
This parameter is meaningless when feed forward control is not being carried out.
<Adjustment method>
If the compensation timing deviates during feed forward control, increase the LMCT setting by 1m
at a time.
Note that 2m are set even when the LMCT is set to 0.
No.
SV040
Abbrev.
LMCT
Parameter name
Lost motion
compensation
non-sensitive band
Explanation
Setting range
Set the non-sensitive band of the lost motion compensation in the feed
forward control.
When "0" is set, the actual value that is set is 2m. Adjust by increasing
by 1m at a time.
0 to 100
(µm)
9 - 23
9. Adjustment
9-3-5 Improvement of overshooting
The phenomenon when the machine position goes past or exceeds the command during feed stopping
is called overshooting. Overshooting is compensated by overshooting compensation (OVS
compensation).
Overshooting occurs due to the following two causes.
<1> Machine system torsion: Overshooting will occur mainly during rapid traverse settling
<2> Machine system friction: Overshooting will occur mainly during one pulse feed
Either phenomenon can be confirmed by measuring the position droop.
Speed
FB
0
Position
command
0
Position
droop 0
Position
droop 0
Overshoot
Overshoot
Time
<1> Overshooting during rapid traverse settling
Time
<2> Overshooting during pulse feed
(1) Overshooting compensation (OVS compensation)
In OVS compensation, the overshooting is suppressed by subtracting the torque command set in
the parameters when the motor stops.
<Setting and adjustment method>
<1> Set the special servo function selection 1 (SV027 (SSF1)) bit 10, 11. (OVS compensation type 3 will
start.)
<2> Observe the position droop waveform using the D/A output, and increase the overshoot
compensation 1 (SV031 (OVS1)) value 1% at a time. Set the smallest value where the overshooting
does not occur. If SV042 (OVS2) is 0, the overshooting will be compensated in both the
forward/reverse directions with the OVS1 setting value.
<3> If the compensation amount is to be changed in the direction to be compensated, set the + direction
compensation value in OVS1 and the – direction compensation value in OVS2. If only one direction is
to be compensated, set the side not to be compensated as -1. The compensation direction setting will
be as reversed with the NC parameter CW/CCW setting.
(2) Adjusting for feed forward control
If OVS compensation type 3 is used to attempt to compensate overshooting, the overshooting may
conversely become larger, or projections may appear during arc cutting. This is because overshooting
equivalent to the operation fraction unit occurs in the position commands when the NC is carrying out
feed forward (fwd) control. Because of this, the OVS compensation recognizes a change in the
command direction, and executes the compensation in the opposite direction.
If the compensation is in the opposite direction when carrying out feed forward control, adjust with
the dead band (SV034 (SSF3) bit C to F: ovsn) during feed forward control. By ignoring
overshooting of a set width in the ovsn or less, the command direction change point is correctly
recognized, and the OVS compensation is correctly executed.
This parameter is insignificant when feed forward control is not used.
<Adjustment method>
If the OVS compensation is carried out in reverse during feed forward control, increase the LMCT
setting by 1µm at a time. Note that 2µm are set even when the LMCT is set to 0.
9 - 24
9. Adjustment
No.
Abbrev.
Parameter name
SV027
SSF1
Servo function
selection 1
Explanation
F
E
D
C
B
zrn2
bit
A
B
No.
Abbrev.
Parameter name
SV031
OVS1
Overshooting
compensation 1
SV042
OVS2
Overshooting
compensation 2
No.
Abbrev.
Parameter name
SV034
SSF3
Servo function
selection 3
9
8
7
lmc
6
5
zrn3
Meaning when "0" is set
4
3
2
1
0
vfct
Meaning when "1" is set
Set the compensation amount with SV031 (OVS1) and SV042 (OVS2).
ovs 00: Overshooting compensation stop
10: Setting prohibited
01: Setting prohibited
11: Overshooting compensation type 2
Explanation
Setting range
Set the compensation amount based on the motor’s stall current.
Increase by 1% and determine the amount that overshooting doesn’t
occur. When OVS2 is "0", setting values in both of the + and –directions
are applied.
When you wish different compensation amount depending on the
direction
-1 to 100
When SV042 (OVS2) is "0", compensate with the value of SV031
(Stall current %)
(OVS1) in both of the + and -directions.
If you wish to change the compensation amount depending on the
command direction, set this and SV042 (OVS2). (SV031: + direction,
SV042: - direction. However, the directions may be opposite
depending on other settings.)
When “-1” is set, the compensation won’t be performed in the
direction of the command.
Set this with SV031 (OVS1) only when you wish to set the overshooting
-1 to 100
compensation amount to be different depending on the command
(Stall
current %)
directions. Set to “0” as a standard.
Explanation
F
E
D
ovsn
bit
C
D
E
F
POINT
A
ovs
Setting range
C
B
A
9
Setting range
8
7
Meaning when "0" is set
6
5
zeg
4
3
2
1
0
Meaning when "1" is set
Set the non-sensitive band of the overshooting compensation type 3 in
increments of 2µm at a time.
ovsn In the feed forward control, the non-sensitive band of the model position
droop is set, and overshooting of the model is ignored.
Set the same value as the standard SV040.
1. When either parameter SV031 (OVS1) or SV042 (OVS2) is set to 0, the same
amount of compensation is carried out in both the positive and negative
direction.
2. To compensate in only one direction, set -1 in the parameter (OVS1 or OVS2)
for the direction in which compensation is prohibited.
3. For contour cutting, the projection at the arc end point is compensated with
OVS compensation. LMC compensation is carried out at the arc starting
point.
OVS compensation
LMC compensation
Cutting direction
Work
9 - 25
9. Adjustment
9-3-6 Improvement of characteristics during acceleration/deceleration
(1) SHG control (option function)
Because SHG control has a smoother response during acceleration/deceleration than conventional
position controls, the acceleration/deceleration torque (current FB) has more ideal output
characteristics. (A constant torque is output during acceleration/deceleration.) The peak torque is kept
low by the same acceleration/deceleration time constant, enabling the time constant to be shortened.
Refer to item "(3) SHG control" in section "9-2-3 Position loop gain" for details on setting SHG control.
3000
Speed command
(r/min)
0
Time
-3000
200
Current FB
(stall current%)
0
Time
-200
Acceleration/deceleration characteristics during conventional control
3000
Speed command
(r/min)
0
Time
-3000
200
Current FB
(stall current %)
0
Time
-200
Acceleration/deceleration characteristics during SHG control
No.
Parameter name
Abbrev.
Setting
ratio
Setting example
Explanation
SV003
(SV049)
PGN1
Position loop gain 1
(PGN1sp)
1
23
26
33
SV004
(SV050)
PGN2
Position loop gain 2
(PGN2sp)
8
3
62
70
86 102 125
SV057
(SV058)
SHGC
SHG control gain
(SHGCsp)
6
140 160 187 225 281
38
47
Setting
range
1 to 200
Always set a combination of 3 parameters.
0 to 999
0 to 1200
SV008
VIA
Speed loop lead
compensation
Set 1900 as a standard value during SHG control.
1 to 9999
SV015
FFC
Acceleration rate
feed forward gain
Set 100 as a standard value during SHG control.
0 to 999
POINT
SHG control is an optional function. If the option setting is not provided with the
NC, alarm 37 (at power ON), warning E4, or error parameter No. 104 (2304 for
M60S/E60 Series NC) will be output.
9 - 26
9. Adjustment
(2) Acceleration feed forward
Vibration may occur at 10 to 20 Hz during acceleration/deceleration when a short time constant of
30 ms or less is applied, and a position loop gain (PGN1) higher than the general standard value or
SHG control is used. This is because the torque is insufficient when starting or when starting
deceleration, and can be resolved by setting the acceleration feed forward gain (SV015 (FFC)).
This is also effective in reducing the peak current (torque).
While measuring the current command waveform, increase FFC by 50 to 100 at a time and set the
value where vibration does not occur.
Current
command
(%)
200
200
100
100
0
0
0
20
40
60
80
100
0
20
40
60
80
100
Time (ms)
Time (ms)
No FFC setting
With FFC setting
Acceleration feed forward gain means that the speed loop gain during acceleration/deceleration is
raised equivalently. Thus, the torque (current command) required during acceleration/deceleration
starts sooner. The synchronization precision will improve if the FFC of the delayed side axis is
raised between axes for which high-precision synchronous control (such as synchronous tapping
control and superimposition control).
No.
Abbrev.
SV015
FFC
Parameter name
Acceleration rate
feed forward gain
POINT
Explanation
Setting range
When a relative error in the synchronous control is large, apply this
parameter to the axis that is delaying. The standard setting value is “0”.
For the SHG control, set to "100".
To adjust a relative error in acceleration/deceleration, increase the value
by 50 to 100 at a time.
0 to 999
(%)
Overshooting occurs easily when a value above the standard value is set during
SHG control.
9 - 27
9. Adjustment
(3) Inductive voltage compensation
The current loop response is improved by compensating the back electromotive force element
induced by the motor rotation. This improved the current command efficiency, and allows the
acceleration/deceleration time constant to the shortened.
<Adjustment method>
While accelerating/decelerating at rapid traverse, adjust the inductive voltage compensation
gain (SV047 (EC)) so that the current FB peak is a few % smaller than the current command
peak.
3000
Speed command
0
(r/min)
Time
-3000
200
Current
command
(stall current %)
No inductive voltage
compensation
0
-200
Time
With inductive
voltage
compensation
Inductive voltage compensation
No.
Abbrev.
Parameter name
Explanation
Setting range
SV047
EC
Inductive voltage
compensation gain
Set the inductive voltage compensation gain. Set to "100" as a standard.
If the current FB peak exceeds the current command peak, lower the
gain.
0 to 200
(%)
POINT
If the current FB peak becomes larger than the current command peak (over
compensation), an overcurrent (alarm 3A) will occur easily. Note that over
compensation will occur easily if the load inertia is large.
9 - 28
9. Adjustment
9-4 Settings for emergency stop
9-4-1 Deceleration control
If the deceleration stop function is validated, the MDS-R-V1/V2 servo drive unit will decelerate to stop
the motor according to the set time constants. After stopping, the drive unit enters the ready OFF state
and the dynamic brakes will be applied.
If an emergency stop factor occurs, operation will be stopped with the dynamic brakes.
<Features>
When the load inertia is large, deceleration stop can be executed at a shorter time than the dynamic
brakes.
(The stop time for the normal acceleration/deceleration time constants will be achieved.)
(1) Setting the deceleration control time constant
Set the time for stopping from the rapid traverse rate (rapid: axis specification parameter) in the
deceleration time constant for emergency stop (SV056: EMGt). The operation stops with the
position loop stop when "0" is set.
If linear acceleration/deceleration is selected for rapid traverse, the same value as the acceleration/
deceleration time constant (G0tL) will be the standard value. If another acceleration/deceleration
pattern is selected, set rapid traverse to linear acceleration/deceleration and adjust to a suitable
acceleration/deceleration time constant. Use that value as the standard value.
<Operation>
When an emergency stop occurs, the motor will decelerate at the same inclination from each
speed.
Emergency stop occurrence
RAPID
Constant inclination
deceleration
Motor speed
Time
EMGt
Dynamic brake
OFF
ON
Motor brake control output (MBR)
OFF
ON
No.
Abbr.
Parameter name
Explanation
Setting range
SV055
EMGx
Max. gate off delay
time after
emergency stop
0 to 20000
(ms)
SV056
EMGt
Deceleration time
constant at
emergency stop
Set the maximum delay time from when emergency stop is input to when
READY ON is kept.
Normally, set the value of SV056x1.1-fold.
For contactor control axis, set the maximum value of all connected axes.
In the vertical axis drop prevention time control, set the time constant
used for the deceleration control at emergency stop. Set a length of time
that takes from rapid traverse rate (rapid) to stopping.
Normally, set the same value as the rapid traverse
acceleration/deceleration time constant.
0 to 20000
(ms)
POINT
1. Deceleration control will not take place when a servo alarm, for which the
stopping method is dynamic, occurs. The motor will stop with dynamic
braking regardless of the parameter setting.
2. If the power fails and the deceleration time constant is set to a relatively long
time, the braking method may change from deceleration control to dynamic
braking due to a drop in the bus voltage in the drive unit.
CAUTION
If the deceleration control time constant (EMGt) is set to a value longer than the
acceleration/deceleration time constant, the overtravel point (stroke end point)
may be exceeded.
Take care as the axis could collide with the machine end.
9 - 29
9. Adjustment
(2) Dynamic braking stop
Dynamic braking stop takes place if an alarm for which dynamic braking stop is set as the stopping
method occurs. With dynamic braking stop, the dynamic brakes activate simultaneously with the
occurrence of an emergency stop. The motor brake control output also activates simultaneously.
Emergency stop occurrence
Motor speed
Time
Dynamic brake
OFF
ON
Motor brake control output (MBU)
OFF
ON
CAUTION
The dynamic brakes cannot be used for normal braking.
If the dynamic brakes activate continuously, the internal regenerative resistor
could burn, so always eliminate the cause of the emergency stop before
resuming operation.
(3) Deceleration control stop distance
The stopping distance LEMG to stop the motor with deceleration control during an emergency stop
can be approximated with the following expression. Note that the value will be higher than this if the
current is limited during deceleration. Refer to section "3-2-3 (2) Coasting rotation distance during
emergency stop" for the stopping distance when using dynamic brakes.
LEMG =
F
PGN1×60
+
1
2
×
F
60
×
F×EMGt
rapid×1000
(mm)
F
: Feedrate during emergency stop
(mm/min)
rapid
: Rapid traverse rate
(mm/min)
PGN1
: Position loop gain 1
(SV003)
: Deceleration time constant (SV056)
for emergency stop
(ms)
EMGt
9 - 30
(rad/s)
9. Adjustment
9-4-2 Vertical axis drop prevention control
The vertical axis drop prevention control is a function that prevents the vertical axis from dropping due to
a delay in the brake operation when an emergency stop occurs. The no-control time until the brakes
activate can be eliminated by delaying ready OFF from the servo drive unit by the time set in the
parameters when an emergency stop occurs.
(1) Operating conditions
<1> The emergency stop signal has been input.
<2> The NC power has been turned OFF.
<3> An alarm for which deceleration control is set as the stopping method has occurred. (This
differs according to the occurring alarm. Refer to "10-3-1 Alarm list" for details.)
CAUTION
This drop prevention function does not prevent the axis from dropping under all
conditions. To prevent the axis from dropping under all conditions, take measures
on the machine such as installing a balance unit.
(2) Function outline and parameter settings
While stopped ....... The drive unit enters the ready OFF state after the vertical axis drop prevention
time (SV048) has elapsed.
While moving......... Deceleration stop is carried out, and the drive unit enters the ready OFF state
after the larger value of the vertical axis drop prevention time (SV048) and
emergency stop maximum delay time (SV055) has elapsed.
Emergency
stop
Emergency
stop
Brake
operation
Brake
operation
Tbd
Servo ON
Tbd: Brake operation delay time
Tbd
Servo ON
Tbd: Brake operation delay time
Actual
EMGrt
Motor speed
0
EMGrt > Tbd
operation
Rapid
traverse rate
Command
Detect in-position
and turn servo OFF
EMGt
EMGx
Drop prevention function sequence during emergency stop
9 - 31
Deceleration stop function sequence during emergency stop
9. Adjustment
<Setting method>
<1> Adjust the vertical axis drop prevention time (SV048), and set the minimum value at which the axis
does not drop when emergency stop is input.
<2> Set the same value as the adjusted vertical axis drop prevention time (SV048) for the gate cutoff
maximum delay time during emergency stop (SV055).
<3> For the axis, for which the vertical drop is to be controlled, set the same value as the acceleration/
deceleration time constant for the deceleration control time constant at emergency stop (SV056).
<4> If the vertical axis is MDS-R-V2 (2-axis drive unit), set the servo parameters for the other axis in
the same unit.
SV048 = Same value as SV048 for vertical axis
SV055 = Same value as SV055 for vertical axis
SV056 = Same value as that axis' rapid traverse acceleration/deceleration time constant
No.
Abbrev.
Parameter name
Explanation
Setting range
Input a length of time to prevent the vertical axis from dropping by
delaying Ready OFF until the brake works when the emergency stop
occurs.
Increase the setting by 100msec at a time and set the value where
the axis does not drop.
Set the time from when emergency stop is input to when READY is
forcibly turned OFF.
Normally, set the same value as SV056.
When using vertical axis drop prevention control, the gate off will be
delayed by the time set in SV048 even if SV055 is smaller than
SV048.
In the vertical axis drop prevention time control, set the time constant
used for the deceleration control at emergency stop. Set a length of
time that takes from rapid traverse rate (rapid) to stopping.
Normally, set the same value as the rapid traverse
acceleration/deceleration time constant.
0 to 20000
(ms)
SV048
EMGrt
Vertical axis drop
prevention time
SV055
EMGx
Max. gate off delay
time after
emergency stop
SV056
EMGt
Deceleration time
constant at
emergency stop
CAUTION
0 to 20000
(ms)
0 to 20000
(ms)
1. SV048 (EMGrt) and SV055 (EMGx) are set for each axis. However, when
using a 2-axis drive unit, the value for the axis with the larger setting will be
valid.
2. When only SV048 (EMGrt) is set, step stop will be used for deceleration stop.
9 - 32
9. Adjustment
9-4-3 Vertical axis pull up control
Even when the vertical axis drop prevention control is used, the axis may drop several m due to
mechanical play of the motor brakes. This function raises the axis by a 2.8deg. motor angle before the
brakes are activated to retract the vertical axis upward during an emergency stop or power failure.
OFF
ON
Emergency stop (EMG)
Axis
rise
Motor position
Motor brake control output (MBR)
OFF
ON
Contactor control output (MC)
ON
OFF
READY ON signal (READY)
ON
OFF
2.8deg (When PIT=10, raise 80m.)
When SV048 is set to 100
100
0
200
300
Time (ms)
Vertical axis pull up control operation sequence
<Setting and adjustment method>
<1> Complete the adjustment explained in "9-4-2 Vertical axis drop prevention control".
<2> Increase the vertical axis drop prevention time (SV048) by 100ms from the value adjusted in <1>.
<3> Set SV033.bitE to ON.
<4> Set the torque offset (SV032). (The setting value is the same as the lost motion compensation
adjustment.)
No.
Abbrev.
SV033
SSF2
Parameter name
Servo function
selection 2
The vertical axis pull up control starts with the following parameters.
F
E
SV032
TOF
Torque offset
SV048
EMGrt
Vertical axis drop
prevention time
CAUTION
Setting
range
Explanation
E
zup
D
C
B
A
9
8
7
dis
bit
Meaning when "0" is set
zup Vertical axis pull up control stop
6
nfd2
5
4
nf3
3
2
nfd1
1
0
Meaning when "1" is set
Vertical axis pull up control start
-100 to 100
Set the unbalance torque for the vertical axis and slant axis.
(Stall
The vertical axis pull up control compensation direction is determined by this
current %)
parameter's sign.
Vertical axis pull up control is not carried out when 0 is set.
The axis is pulled up during drop prevention time, so set a value of about
0 to 20000
100ms.
(ms)
This function is valid for the Z axis in the vertical machining center. Basically it
cannot be used with the horizontal machining center's Y axis or the lathe's X axis
as collisions could occur. Check the machine's working conditions carefully before
using this function.
9 - 33
9 - 34
10. Troubleshooting
10-1 Points of caution and confirmation ................................................................................................. 10-2
10-2 Troubleshooting at start up ............................................................................................................ 10-3
10-3 List of unit protection functions....................................................................................................... 10-4
10-3-1 List of alarms.......................................................................................................................... 10-4
10-3-2 List of warnings ...................................................................................................................... 10-6
10-4 Troubleshooting according to alarm and warning number ............................................................ 10-7
10-4-1 Alarms.................................................................................................................................... 10-7
10-4-2 Warning................................................................................................................................ 10-18
10-4-3 Parameter No. during initial parameter error ....................................................................... 10-20
10 - 1
10. Troubleshooting
10-1 Points of caution and confirmation
If an error occurs in the servo drive unit, the warning or alarm will occur. When a warning or alarm
occurs, check the state while observing the following points, and inspect or remedy the unit according to
the details given in this section.
<Points of confirmation>
1. What is the alarm No. display?
2. Can the error or trouble be repeated? (Check alarm history)
3. Is the motor and servo drive unit temperature and ambient temperature normal?
4. Are the servo drive unit, control unit and motor grounded?
5. Was the unit accelerating, decelerating or running at a set speed? What was the speed?
6. Is there any difference during forward and reverse run?
7. Was there a momentary power failure?
8. Did the trouble occur during a specific operation or command?
9. At what frequency does the trouble occur?
10. Is a load applied or removed?
11. Has the drive unit been replaced, parts replaced or emergency measures taken?
12. How many years has the unit been operating?
13. Is the power supply voltage normal? Does the state change greatly according to the time band?
F1 (flicker)
F + axis No.
37 (flicker)
Alarm No.
F1 (flicker)
F + axis No.
37 (flicker)
Alarm No.
Not lit
LED display during servo alarm
F1
F + axis No.
9F
Warning No.
F1
F + axis No.
9F
Warning No.
Not lit
LED display during servo warning
CAUTION
1. This power supply unit uses a large capacity electrolytic capacitor. When the
CHARGE LAMP on the front of the power supply unit is lit, voltage is still
present at the PN terminal (TE2). Do not touch the terminal block in this state.
2. Before replacing the unit, etc., always confirm that there is no voltage at the
PN terminal (TE2) with a tester or wait at least 15 minutes after turning the
main power OFF.
3. The conductivity in the unit cannot be checked.
4. Do not carry out a megger test as the unit could be damaged.
10 - 2
10. Troubleshooting
10-2 Troubleshooting at start up
If the CNC system does not start up correctly and a system error occurs when the CNC power is turned
ON, the servo drive unit or spindle drive unit may not have been started up correctly.
Confirm the LED display on each unit, and take measures according to this section.
LED
display
AA
Symptom
Cause of occurrence
Investigation method
Remedy
Initial communication with The drive unit axis No. setting Is there any other drive unit that has the Set correctly.
the CNC was not
is incorrect.
same axis No. set?
completed correctly.
The CNC setting is incorrect. Is the No. of CNC controlled axes
Set correctly.
correct?
Communication with CNC is Is the connector (CN1A, CN1B)
incorrect.
disconnected?
Is the cable broken?
Check the conductivity with a tester.
Ab
12
Connect correctly.
Replace the cable.
Initial communication with The axis is not used, the
Is the axis setting rotary switch set to "7" Set correctly.
the CNC was not carried setting is for use inhibiting.
to "F"?
out.
Communication with CNC is Is the connector (CN1A, CN1B)
Connect correctly.
incorrect.
disconnected?
An error was detected in a CPU peripheral circuit error
memory IC or feedback
IC by self-check to be
made during the unit
power ON.
Is the cable broken?
Check the conductivity with a tester.
Replace the cable.
Check the repeatability.
Replace the unit.
Check the grounding state and ambient Improve the ambient
temperature.
environment.
If the LED on the top of the drive unit shows the emergency stop (E7) warning, the system has started
up correctly.
F1
F + axis No.
E7
Emergency
stop
F1
F + axis No.
E7
Emergency
stop
Normal LED display at NC power ON (for 1st axis)
10 - 3
Not lit
10. Troubleshooting
10-3 List of unit protection functions
10-3-1 List of alarms
When an alarm occurs, the servo drive unit will make the motor stop by the deceleration control or
dynamic brake. The spindle drive unit will coast to a stop or will decelerate to a stop. At the same time,
the alarm No. will appear on the NC monitor screen and with the LEDs on the front of the drive unit.
Check the alarm No., and remove the cause of the alarm by following this list.
No.
Alarm name
Alarm details
Stopping method
Reset
PR
10 Insufficient voltage
Insufficient PN bus voltage was detected in main circuit.
Dynamic brakes
11 Axis selection error
Setting of the axis No. selection switch is incorrect.
Initial error
AR
12 Memory error 1
A CPU error or an internal memory error was detected during
the power ON self-check.
Initial error
AR
13 Software processing error 1
Software processing has not finished within the specified time. Dynamic brakes
14 Software processing error 2
Software processing has not finished within the specified time. Dynamic brakes
PR
17 A/D converter error
An error was detected in the A/D converter for detecting current Dynamic brakes
FB.
PR
18 Motor side detector:
Initial communication error
Initial communication with the motor side detector failed.
Initial error
PR
21 No signal 2
In the full-closed loop system, an error was detected in ABZ
phase.
Dynamic brakes
PR
PR
PR
24 Grounding
The motor power cable is in contact with FG (Frame Ground).
25 Absolute position data lost
The absolute position was lost, as the backup battery voltage
dropped in the absolute position detector.
Initial error
AR
26 Unused axis error
A power module error occurred in the axis whose axis No.
selection switch was set to "F"(free axis).
Dynamic brakes
PR
2B Motor side detector:
CPU error 1
An CPU initial error was detected in the motor side detector.
Initial error
PR
2C Motor side detector:
EEPROM/LED error
The LED deterioration was detected in the motor side detector. Dynamic brakes
PR
2D Motor side detector:
Data error
A data error was detected in the motor side detector.
Dynamic brakes
PR
2F Motor side detector:
Communication error
An error was detected in communication with the motor side
detector. Or, the communication was interrupted.
Dynamic brakes
PR
30 Over regeneration
Over-regeneration detection level became over 100%. The
regenerative resistor is overloaded.
Dynamic brakes
PR
31 Overspeed
The motor was detected to rotate at a speed exceeding the
allowable speed.
Dynamic brakes
PR
32 Power module overcurrent
Overcurrent protection function in the power module has started Dynamic brakes
its operation.
PR
33 Overvoltage
PN bus voltage in main circuit exceeded the allowable value.
Dynamic brakes
Deceleration control
PR
PR
34 NC-DRV communication:
CRC error
An error was detected in the data received from the CNC.
35 NC command error
The travel command data that was received from the CNC was Deceleration control
excessive.
Deceleration control
The communication with the CNC was interrupted.
PR
37 Initial parameter error
An incorrect parameter was detected among the parameters
received from the CNC at the power ON.
Initial error
PR
38 NC-DRV communication:
Protocol error 1
An error was detected in the communication frames received
from the CNC.
Deceleration control
PR
39 NC-DRV communication:
Protocol error 2
An error was detected in the axis information data received from Deceleration control
the CNC.
PR
3A Overcurrent
Excessive current was detected in the motor drive current.
Dynamic brakes
PR
3B Power module overheat
Thermal protection function in the power module has started its Dynamic brakes
operation.
PR
3C Regeneration circuit error
An error was detected in the regenerative transistor or in the
regenerative resistor.
Dynamic brakes
AR
3D Power supply voltage error at A motor control error, due to an input voltage failure, was
acceleration/deceleration
detected.
Dynamic brakes
PR
3E Magnetic pole position
detection error
Dynamic brakes
AR
36 NC-DRV communication:
Communication error
The magnetic pole position, detected in the magnetic pole
position detection control, is not reliable.
10 - 4
PR
10. Troubleshooting
No.
Alarm name
Alarm details
Stopping method
Reset
PR
43 Feedback error 2
An excessive difference in feedback was detected between the Dynamic brakes
sub side detector and the main side detector.
45 Fan stop
A cooling fan built in the drive unit stopped, and the loads on the Deceleration control
unit exceeded the specified value.
NR
46 Motor overheat
Thermal protection function of the motor or in the detector, has Deceleration control
started its operation.
NR
50 Overload 1
Overload detection level became over 100%. The motor or the Deceleration control
drive unit is overloaded.
NR
51 Overload 2
Current command of more than 95% of the unit's max. current Dynamic brakes
was being continuously given for longer than 1 second.
NR
52 Excessive error 1
A difference between the actual and theoretical motor positions Dynamic brakes
during servo ON exceeded the setting value.
NR
53 Excessive error 2
A difference between the actual and theoretical motor positions Dynamic brakes
during servo OFF exceeded the setting value.
NR
54 Excessive error 3
The anomalous motor current was detected at the detection of Dynamic brakes
Excessive error 1.
NR
55 External emergency stop error There is no contactor shutoff command, even after 30 seconds Dynamic brakes
has passed since the external emergency stop was input.
NR
5F External contactor error
A contact of the external contactor is welding. Or the contactor Deceleration control
fails to be ON during ready ON.
NR
88 Watchdog
The system does not operate correctly.
AR
Dynamic brakes
(Note) Definitions of terms in the table are as follows.
Main side detector: Detector connected to CN2
Sub side detector: Detector connected to CN3
 Stopping method Deceleration control : The motor stops with the deceleration control time
constants set with the parameters (SV056).
Dynamic brakes
: The dynamic brakes activate simultaneously with the
alarm occurrence to stop the motor.
Initial error
: This alarm is detected before ready ON.
 Resetting method NR
PR
AR
: The alarm can be reset with the NC reset button. The alarm can also be
reset with the PR and AR resetting conditions.
: The alarm can be reset by turning the NC power OFF and ON. The alarm
can also be reset with the AR resetting conditions.
If the control axis is removed, the alarm can be reset with the NC reset
button. (Excluding alarms 32 and 37.)
: The alarm can be reset by turning the servo drive unit's power OFF and
ON.
10 - 5
10. Troubleshooting
10-3-2 List of warnings
When a warning occurs, a warning No. will appear on the NC monitor screen and with the LEDs on the
front of the drive unit. Check the warning No., and remove the cause of the warning by following this
section.
No.
Alarm name
Alarm details
Stopping method
Reset
PR
93 Initial absolute position
fluctuation
The position data have fluctuated during the absolute position Does not stop
initializing.
9E Absolute position detector:
Revolution counter error
An error was detected in the revolution counter of the absolute Does not stop
position detector. The absolute position data cannot be
compensated.
*
9F Battery voltage drop
The battery voltage that is supplied to the absolute position
detector dropped. The absolute position data is retained.
Does not stop
*
A6 Fan stop warning
A cooling fan built in the drive unit stopped.
Does not stop
*
E0 Over regeneration warning
Over-regeneration detection level exceeded 80%.
Does not stop
*
E1 Overload warning
Overload detection level exceeded 80%.
Does not stop
*
E4 Set parameter warning
A parameter setting was outside the setting range.
Does not stop
*
E6 Control axis detachment
warning
Control axis detachment was commanded.
-
E7 In NC emergency stop state
Emergency stop was input from the CNC.
Deceleration control
*
E9 Instantaneous power
interruption warning
The power was momentarily interrupted.
Does not stop
NR
EA In external emergency stop
state
External emergency stop signal was input.
Deceleration control
*
 Resetting method
*
NR
PR
AR
*
: If the state causing the warning is canceled, the warning will be reset
automatically.
: The warning can be reset with the NC reset button. The warning can also
be reset with the PR and AR resetting conditions.
: The warning can be reset by turning the NC power OFF and ON. The
warning can also be reset with the AR resetting conditions.
If the control axis is removed, the warning can be reset with the NC reset
button. (Excluding warning 93.)
: The alarm can be reset by turning the servo drive unit's power OFF and
ON.
10 - 6
10. Troubleshooting
10-4 Troubleshooting according to alarm and warning number
Refer to the following section to troubleshoot alarms which occurred during start up or while the
machine is operating. If the problem is not improved even after completing the following investigations,
the servo drive unit may be faulty. In this case, replace the unit with one having the same capacity, and
check whether the state is improved.
10-4-1 Alarms
Alarm No.
10
Insufficient voltage:
Insufficient PN bus voltage was detected in main circuit.
Cause of occurrence
1
2
Contactor operation or continuity is
faulty.
Wire is broken or voltage is insufficient.
Alarm No.
11
1
Investigation items
Check the output from the drive unit.
 Is the connector (CN9) dislocated?
 Is the cable broken?
Replace the contactor.
Check the contactor drive relay's
operation and continuity.
Replace the relay.
Check the input voltage.
 Is single-phase 200V or 100V input?
 Is there a phase failure?
Input 3-phase 200V.
Check the power capacity.
Review the power.
Axis selection error:
Setting of the axis No. selection switch is incorrect.
Cause of occurrence
Investigation items
Check the setting of the axis selection
switch on the unit.
A CPU error or an internal memory error was detected during the power ON self-check.
Investigation items
Software processing error 1:
Software processing has not finished within the specified time.
Cause of occurrence
Software operation sequence is incorrect
or operation timing is incorrect.
Alarm No.
14
Investigation items
Remedy
Check whether the servo software
version has been changed recently.
Replace with a drive unit containing the
original software version.
Check the repeatability.
If the problem is repeated, replace the
drive unit.
Check for abnormalities in the drive
unit's surrounding environment, etc.
(Example: Ambient temperature, noise,
grounding)
Improve the surrounding environment.
Example: High temperature
... Check the cooling fan
Incomplete grounding
... Add grounding measures
Software processing error 2:
Software processing has not finished within the specified time.
Cause of occurrence
1
Remedy
Refer to "10-2 Troubleshooting at power ON".
Alarm No.
13
1
Remedy
Set the correct axis No.
0 = 1st axis, 1 = 2nd axis, ...
Memory error 1:
Cause of occurrence
1
 Correctly connect.
 Replace the cable.
Check the contactor operation and
continuity.
When using the 2-axis servo drive unit,
the same axis No. is selected for the L
and M axes.
Alarm No.
12
Remedy
Investigation items
Carry out items for alarm No. 13.
10 - 7
Remedy
10. Troubleshooting
Alarm No.
17
A/D converter error:
An error was detected in the A/D converter for detecting current FB.
Investigation items
Remedy
1
CPU peripheral circuit operation is
incorrect.
Cause of occurrence
Check for abnormalities in the unit's
surrounding environment, etc.
(Example: Ambient temperature, noise,
grounding)
Improve the surrounding environment.
2
Drive unit is faulty.
Check the repeatability.
If the problem is repeated, replace the
drive unit.
Alarm No.
18
1
Motor side detector: Initial communication error:
Initial communication with the motor side detector failed.
Cause of occurrence
Investigation items
Detector input connector is disconnected.
Check whether the drive unit connector
(CN2) is disconnected.
Correctly connect.
Check whether detector connector is
disconnected.
Correctly connect.
Exchange with cable for other axis and
check repeatability.
Replace the detector cable.
2
Detector cable is broken.
3
CPU peripheral circuit operation is
incorrect.
Remedy
Check cable continuity.
4
Drive unit input circuit is faulty.
5
Detector is faulty.
Alarm No.
21
1
Check the repeatability.
If the problem is repeated, replace the
drive unit.
Check for abnormalities in the drive unit's
surrounding environment, etc.
(Example: Ambient temperature, noise,
grounding)
Improve the surrounding environment.
Example: High temperature
... Check the cooling fan
Incomplete grounding
... Add grounding measures
Try connecting the drive unit and detector
with another axis, and check the
repeatability.
(Note) Do not release the emergency
stop in this case.
Replace the drive unit.
Replace the detector.
(When using the absolute position
system, the zero point must be
established again.)
No signal 2:
In the full-closed loop system, an error was detected in ABZ phase.
Cause of occurrence
Investigation items
Detector input connector is disconnected.
Check whether the drive unit connector
(CN2) is disconnected.
Correctly connect.
Check whether detector connector is
disconnected.
Correctly connect.
Exchange with cable for other axis and
check repeatability.
Replace the detector cable.
2
Detector cable is broken.
3
Drive unit input circuit is faulty.
4
Detector is faulty.
Check cable continuity.
Try connecting the drive unit and detector
with another axis, and check the
repeatability.
(Note) Do not release the emergency
stop in this case.
10 - 8
Remedy
Replace the drive unit.
Replace the detector.
(When using the absolute position
system, the zero point must be
established again.)
10. Troubleshooting
Alarm No.
24
1
Grounding:
The motor power cable is in contact with FG (Frame Ground).
Cause of occurrence
Investigation items
Ground fault in motor power cable (U, V,
W phase).
Check the motor power cable connection.
Correctly connect.
Remedy
Disconnect the motor's cannon plug,
and check the insulation across the
power cable and FG.
Replace the power cable.
2
Drive unit is faulty.
Check the repeatability.
If the problem is repeated, replace the
drive unit.
3
Ground fault in motor.
Confirm that there is no ground fault in the
power cable, and without disconnecting
the cannon plug, check the insulation
across the power cable and FG.
Replace the motor.
(When using the absolute position
system, the zero point must be
established again.)
4
Motor is faulty.
Check whether the motor is submerged
in cutting solution.
Replace the motor and improve the
motor installation environment.
(When using the absolute position
system, the zero point must be
established again.)
Check whether the motor has been
subject to high temperatures.
Alarm No.
25
Absolute position data lost:
The absolute position was lost, as the backup battery voltage dropped in the absolute position detector.
Cause of occurrence
1
Battery voltage has dropped.
Investigation items
Measure the battery voltage with a
tester. (Alarm occurs at 3V or less).
Does warning 9F occur at the same
time?
Remedy
Replace the battery and establish the
zero point.
(The machine operation will not be
affected even if there is no battery as
long as the power is not turned OFF.)
2
Detector cable was disconnected while
power was OFF.
Did alarm 18 occur last time power was
turned ON?
Correctly connect the detector cable,
and establish the zero point.
3
Detector cable is broken.
Check the detector cable continuity with
a tester.
Replace the cable and establish the
zero point.
Alarm No.
26
Unused axis error:
A power module error occurred in the axis whose axis No. selection switch was set to "F"(free axis).
Investigation items
Remedy
1
CPU peripheral circuit operation is
incorrect.
Cause of occurrence
Check for abnormalities in the unit's
surrounding environment, etc.
(Example: Ambient temperature, noise,
grounding)
Improve the surrounding environment.
2
Drive unit is faulty.
Check the repeatability.
If the problem is repeated, replace the
drive unit.
Alarm No.
2B
Motor side detector: CPU error 1:
An initial CPU error was detected in the motor side detector.
Investigation items
Remedy
1
Detector internal circuit operation is
incorrect.
Cause of occurrence
Check for abnormalities in the detector's
surrounding environment, etc.
(Example: Ambient temperature, noise,
grounding)
Improve the surrounding environment.
2
Detector is faulty.
Check the repeatability.
Try connecting the drive unit and
detector with another axis, and check
the repeatability.
(Note) Do not release the emergency
stop in this case.
Replace the detector.
(When using the absolute position
system, the zero point must be
established again.)
10 - 9
10. Troubleshooting
Alarm No.
2C
Motor side detector: EEPROM/LED error:
LED deterioration was detected with the motor side detector.
Cause of occurrence
1
Alarm No.
2D
Remedy
Motor side detector: Data error:
A data error was detected with the motor side detector.
Cause of occurrence
1
Investigation items
Carry out items for alarm No. 2B.
Investigation items
Remedy
Carry out items for alarm No. 2B.
Motor side detector: Communication error:
Alarm No.
2F
An error was detected in the communication with the motor side detector. Or, the communication was cut
off.
Cause of occurrence
1
2
Electromagnetic noise
Investigation items
Remedy
Is the detector cable shielded and
connected to FG?
Check the cable shield.
Is the detector cable wired in the same
conduit as the motor's power cable or
are the two cables laid in parallel near
each other?
Do not wire the detector cable and
motor's power cable in the same path.
Is the motor FB wire connected only to
the drive unit to be driven? (Is one-point
grounding used?)
Connect the motor FG wire to the drive
unit, and ground to one point with the
drive unit.
Carry out items for alarm No. 18.
Alarm No.
30
Over regeneration:
Over-regeneration detection level became over 100%. The regenerative resistor is overloaded.
Cause of occurrence
Investigation items
Remedy
1
Regenerative resistor selection is
incorrect.
Check the regeneration capacity again.
Change the regeneration resistor.
2
Parameter setting is incorrect.
Check the SV036 setting.
Correctly set the parameters.
3
Regenerative resistor connection is
incorrect.
Check the regenerative resistor
connection.
Is the 3-unit parallel connection
connected in serial?
Correctly wire.
4
Power voltage is high.
The regeneration constantly activates
when the power voltage is 260V or more.
Review the power supply.
(Note) PR resetting is not possible when the regeneration level is 50% or more. Do not forcibly reset (AR) by turning the unit
power OFF. If AR resetting is used at 50% or higher, the level is set to 80% when the power is turned ON next.
10 - 10
10. Troubleshooting
Alarm No.
31
Overspeed:
The motor was detected to rotate at a speed exceeding the allowable speed.
Investigation items
Remedy
1
Rapid traverse rate (rapid) setting is
incorrect.
Cause of occurrence
Check the motor maximum speed and
machine specifications.
Use within the motor's maximum speed.
2
Servo parameter settings are incorrect.
Check the SV001 (PC1), SV002 (PC2),
SV018 (PIT) and SV025 (MTYP)
settings.
Correctly set.
3
Speed FB is overshooting.
Is acceleration/deceleration time
constant too short?
Adjust the acceleration/deceleration
time constant so that the current is not
limited by the motor's maximum current
(torque).
Is the speed loop gain too low?
Adjust the gain to that operation is stable.
Is the current limited?
Set SV013 to 500 as the standard.
Alarm No.
32
Power module overcurrent:
Overcurrent protection function in the power module has started its operation.
Investigation items
Remedy
1
CPU peripheral circuit operation is
incorrect.
Cause of occurrence
Check for abnormalities in the unit's
surrounding environment, etc.
(Example: Ambient temperature, noise,
grounding)
Improve the surrounding environment.
2
Short-circuit or ground fault in motor's
power wire.
Disconnect the UVW phase connection
from the terminal block and the motor's
cannon plug. Check the insulation with
a tester.
Replace the motor's power wire.
Check the insulation across the motor's
power wire and FG.
3
Drive unit is faulty.
Check the repeatability.
Does the alarm occur before READY
ON?
If the alarm occurs before READY ON,
replace the drive unit.
4
Ground fault in motor.
Check that there is no ground fault in the
power cable. Then, without disconnecting
the cannon plug, check the insulation
across the power cable and FG.
Replace the motor.
(When using the absolute position
system, the zero point must be
established again.)
5
Motor is faulty.
Check whether the motor is submerged
in cutting solution.
Replace the motor and improve the
motor installation environment.
(When using the absolute position
system, the zero point must be
established again.)
Check whether the motor has been
subject to high temperatures.
Alarm No.
33
Overvoltage:
PN bus voltage in main circuit exceeded the allowable value.
Cause of occurrence
Investigation items
1
The regenerative resistor or regenerative
resistor cable is broken.
Disconnect the regenerative resistor
terminal and check the continuity with a
tester.
Replace the regenerative resistor.
Replace the cable.
2
Regenerative resistor connection is
incorrect.
Check the regenerative resistor
connection.
Is the 3-unit parallel connection
connected in serial?
Correctly wire.
3
Regenerative transistor is faulty.
Regeneration is not taking place when
there is no problem with the regenerative
resistor.
Replace the drive unit.
10 - 11
Remedy
10. Troubleshooting
Alarm No.
34
NC-DRV communication: CRC error:
An error was detected in the data received from the CNC.
Investigation items
Remedy
1
Terminator or battery unit is faulty.
Cause of occurrence
Try replacing the terminator or battery
unit.
Replace the terminator or battery unit.
2
NC bus communication cable is faulty.
Check the continuity to check for
breakage.
Replace the cable.
Is the communication pair wire
connected in reverse?
Try changing the order of the connected
drive units.
3
Communication circuit operation is
incorrect.
Alarm No.
35
Check for abnormalities in the unit's
surrounding environment, etc.
(Example: Ambient temperature, noise,
grounding)
NC command error:
The travel command data that was received from the CNC was excessive.
Cause of occurrence
1
Movement command data is excessive.
Alarm No.
36
Improve the surrounding environment.
Investigation items
Is the rapid traverse rate large for a
submicron system or rotation axis?
Remedy
Check the feedrate limit.
NC-DRV communication: Communication error:
The communication with the CNC was interrupted.
Cause of occurrence
Investigation items
Remedy
1
NC bus communication cable is
disconnected.
Check the connector connection (CN1A,
CN1B).
Correctly connect.
2
NC bus communication cable is broken.
Check the cable continuity.
Replace the cable.
Alarm No.
37
Initial parameter error:
An incorrect parameter was detected among the parameters received from the CNC at the power ON.
This is displayed as "S02 initial parameter error ####" on the NC screen. ####: Error parameter No.
Cause of occurrence
Investigation items
Remedy
1
Parameter settings exceed the setting
range.
Check the setting range of the error
parameter No.
Correctly set.
2
Electronic gears are overflowing.
Error parameter No. is 2301.
Check SV001, SV002 and SV018.
Review the specifications.
3
Absolute position detection parameter
is valid.
Error parameter No. is 2302.
Check SV017 (bit7).
Absolute position control cannot be
used. If necessary, replace with an
absolute position detector.
4
No SHG control option provided.
Error parameter No. is 2304.
Check SV057 and SV058.
SHG control cannot be used.
5
No adaptive filter option provided.
Error parameter No. is 2305.
Check SV027 (bitF).
Adaptive filter cannot be used.
(Note) Refer to "10-4-3 Parameter numbers at initial parameter error".
Alarm No.
38
NC-DRV communication: Protocol error 1:
An error was detected in the communication frames received from the CNC.
Cause of occurrence
1
Investigation items
Carry out items for alarm No. 34.
10 - 12
Remedy
10. Troubleshooting
Alarm No.
39
NC-DRV communication: Protocol error 2:
An error was detected in the axis information data received from the CNC.
Cause of occurrence
1
Investigation items
Remedy
Carry out items for alarm No. 34.
Alarm No.
3A
Overcurrent:
Excessive current was detected in the motor drive current.
Cause of occurrence
Investigation items
Remedy
1
Speed lop gain (VGN1) is excessive.
Is the VGN1 value higher than the
standard value for the load inertia?
2
Current loop gain is incorrectly set.
Check the current loop gain (SV009,
SV010, SV011, SV012).
Set the standard value.
3
Motor power cable connection is
incorrect.
Is the U, V, W phase connection correct?
Correctly connect.
Lower and adjust VGN1 (SV005).
Is vibration occurring?
4
Current detection circuit operation is
incorrect.
5
Carry out items for alarm No. 32.
Alarm No.
3B
Is the cable connected to another axis'
motor?
Check for abnormalities in the unit's
surrounding environment, etc.
(Example: Ambient temperature, noise,
grounding)
Improve the surrounding environment.
Power module overheat:
Thermal protection function in the power module has started its operation.
Cause of occurrence
Investigation items
Large amounts of cutting oil or dust,
etc., are adhered.
Remedy
1
The fan is not rotating correct.
Clean or replace the fan.
2
The heat dissipating fins are dirty.
Cutting oil or dust, etc., is adhered and
clogging the fins.
Clean the fins.
3
Drive unit's ambient temperature is high.
The temperature exceeds 55ºC.
Take measure to ventilate/cool the
panel.
4
Detector circuit operation is incorrect.
Improve the surrounding environment.
5
Drive unit is faulty.
Check for abnormalities in the unit's
surrounding environment, etc.
(Example: Ambient temperature, noise,
grounding)
Problem is repeated even when unit
temperature drops.
The rotation is slow.
Alarm No.
3C
Replace the drive unit.
Regeneration circuit error:
An error was detected in the regenerative transistor or in the regenerative resistor.
Cause of occurrence
1
Regenerative resistor is faulty.
2
Regenerative transistor was damaged
because of a short-circuit.
Investigation items
Remedy
Check the regenerative resistor's
resistance value.
Replace the regenerative resistor.
Is the regenerative resistor burned?
Replace the drive unit.
The problem is repeated even when the
regenerative resistor is not faulty.
10 - 13
10. Troubleshooting
Alarm No.
45
Fan stop:
A cooling fan built in the drive unit stopped, and the loads on the unit exceeded the specified value.
Cause of occurrence
Investigation items
Remedy
Leave for more than 10 seconds, and
turn the power ON again.
If the fan is not rotating, check the
investigation item No. 2.
1
The power is turned ON without assuring Are more than 10 seconds for the time
more than 10 seconds for the time from from when the power is turned OFF till
when the power is turned OFF till when it when it is turned ON assured?
is turned ON.
2
The connector connected to a fan is
disconnected.
3
Oil or cutting chips are adhered to the fan. Is oil or cutting chips adhered to the fan? Improve the use environment and
Is the cable broken?
replace the drive unit.
Alarm No.
46
Correctly connect the connector. If it is
correctly connected, check the
investigation item No. 3.
Motor overheat:
Thermal protection function of the motor or in the detector, has started its operation.
Cause of occurrence
1
The ambient temperature is high.
2
The motor heat dissipation is poor.
3
Motor load is large.
Alarm No.
50
Is the connector connected to a fan
disconnected?
Investigation items
Remedy
Is there a source of heat near the motor? Take care when arranging sources of
heat.
Provide means to shield heat.
Is the motor mounting flange thermally
Provide means to dissipate heat from
shielded?
flange.
Is unbalance torque large?
Select the motor so that the unbalance
torque is 60% or less.
Was the overload alarm (50) forcibly
reset by turning the drive unit power
OFF?
Review the operation pattern.
Overload 1:
Overload detection level became over 100%. The motor or the drive unit is overloaded.
Cause of occurrence
Investigation items
Remedy
1
Machine resonance is occurring.
Is vibration noise heard?
Does the position droop fluctuate even
when the motor is stopped?
Adjust the parameters.
 Select the notch filter.
 Lower VGN1 (SV005).
2
Hunting is occurring.
The axis is swaying or moving even
when the motor is stopped.
Adjust the parameters.
 Increase VGN1 (SV005).
 Lower VIA (SV008).
3
Motor performance is insufficient.
Review the motor capacity selection.
Change the motor capacity.
4
The motor brakes are not released.
Check the brake operation.
 Check the brake relay.
 Check the connector (CN9)
connection.
Correctly any faulty section.
5
An excessive force is applied from the
machine.
Check the load current with the NC
servo monitor, and investigate the
machine load.
Correct any faulty machine section.
Is the ball screw bent?
6
Parameters are incorrectly set.
Is there interference with the positioning
pin?
When using the positioning pin, turn the
servo OFF while stopped.
Are OLT (SV021) and OLL (SV022) set
to the standard values?
Set to the standard values.
(Note) PR resetting is not possible when the overload level is 50% or more. Do not forcibly reset (AR) by turning the unit power
OFF. If AR resetting is used at 50% or higher, the level is set to 80% when the power is turned ON next.
10 - 14
10. Troubleshooting
Alarm No.
51
Overload 2:
Current command of more than 95% of the unit's max. current was being continuously given for longer
than 1 second.
Cause of occurrence
Investigation items
Remedy
1
The machine collided.
Check whether the machine collided.
Check the cause of the collision.
2
The acceleration/deceleration time
constant is too short.
Is the current value on the NC servo
monitor screen abnormally large during
acceleration or deceleration?
Adjust the acceleration/deceleration
time constant.
3
Motor cable is incorrectly connected.
Check the motor's power wire (U, V, W
phases).
 The power wire is not connected.
 Is the wire connected to another axis'
motor?
Correctly connect.
4
Detector is incorrectly connected.
Is the wire connected to another axis'
detector?
Correctly connect.
5
Detector is faulty.
Move the axis and check the FB signal.
Replace the detector.
(When using the absolute position
system, the zero point must be
established again.)
Alarm No.
52
1
Excessive error 1:
A difference between the actual and theoretical motor positions during servo ON exceeded the setting
value.
Cause of occurrence
Investigation items
Remedy
The excessive error detection width is
too small.
Check the OD1 (SV023) setting value.
Set the standard value according to the
rapid traverse rate and position loop gain.
Is OD1=
2
RAPID
60PGN1
Carry out the items for alarm No. 51.
10 - 15
/ 2 satisfied?
10. Troubleshooting
Alarm No.
53
Excessive error 2:
A difference between the actual and theoretical motor positions during servo OFF exceeded the setting
value.
Cause of occurrence
Investigation items
Remedy
1
The axis moved during servo OFF.
Check the motor brake operation.
Correctly and faulty sections.
2
The NC stopped the follow-up function
during servo OFF.
Check the NC parameters.
Set the NC parameters according to the
machine specifications.
3
The excessive error detection width is
too small.
Check the OD1 (SV026) setting value.
Set the standard value according to the
rapid traverse rate and position loop gain.
Is OD2=
RAPID
60×PGN1
/ 2 satisfied?
If the actual machine position is separated by the distance set with OD1 from the ideal machine position in
respect to the commanded position, the position will be within the shaded sections shown below.
Supplement
Position
Commanded position
Ideal machine position
OD1
OD2
OD2
OD1
Time
Servo OFF
Alarm No.
55
Servo ON
External emergency stop error:
There is no contactor shutoff command, even after 30 seconds has passed since the external emergency
stop was input.
Cause of occurrence
Investigation items
Remedy
1
An error occurred during main
emergency stop.
Check the emergency stop input and
sequence program.
Improve the emergency stop sequence.
2
Parameters are incorrectly set.
Check the PTYP (SV036) external
emergency stop setting.
Set correctly.
Alarm No.
5F
External contactor error:
A contact of the external contactor is welding. Or the contactor fails to be ON during ready ON.
Cause of occurrence
Investigation items
1
The contactor turned ON during READY
OFF.
Check whether the contactor contact is
melted.
Replace the contactor.
2
The contactor turned OFF during ready
ON.
Check whether the contactor control
output connector (CN9) is disconnected.
Correctly connect.
10 - 16
Remedy
10. Troubleshooting
Alarm No.
88
Watchdog:
The system does not operate correctly.
Cause of occurrence
Investigation items
Remedy
1
Software operation is incorrect.
Check whether the servo software
version was changed recently.
Try returning to the original software
version.
2
CPU peripheral circuit operation is
incorrect.
Check for abnormalities in the unit's
surrounding environment, etc.
(Example: Ambient temperature, noise,
grounding)
Improve the surrounding environment.
3
Drive unit is faulty.
Check the repeatability.
Replace the drive unit.
10 - 17
10. Troubleshooting
10-4-2 Warning
Warning No.
93
Initial absolute position fluctuation:
The position data have fluctuated during the absolute position initializing.
Cause of occurrence
Investigation items
1
The vertical axis or slant axis dropped
when the NC power was turned ON.
Check the state of the axis at NC power
ON.
2
The axis moved with an external force
when the NC power was turned ON.
Warning No.
9E
Remedy
Correct the faulty sections.
Absolute position detector: Revolution counter error:
An error was detected in the revolution counter of the absolute position detector. The absolute position
data cannot be compensated.
Investigation items
Remedy
1
Detector internal circuit operation is
incorrect.
Cause of occurrence
Check for abnormalities in the detector's
surrounding environment, etc.
(Example: Ambient temperature, noise,
grounding)
Improve the surrounding environment.
2
Detector is faulty.
Check the repeatability.
Replace the detector.
Warning No.
9F
Battery voltage drop:
The battery voltage that is supplied to the absolute position detector dropped. The absolute position data
is retained.
Cause of occurrence
Investigation items
Remedy
1
Battery is spent.
Measure the battery voltage.
(Warning 9F occurs at 3V or less.)
Replace the battery.
2
The cable between the drive unit or
battery unit is disconnected.
Check the cable connection.
Correctly connect.
3
The battery connector (inside drive unit)
is dislocated.
Check the cable connection.
Correctly connect.
4
Battery line in detector cable is broken.
Check the continuity of the detector
cable.
Replace the cable.
(Note) When warning 9F occurs, do not turn OFF the drive power to ensure that the absolute position data is held.
Warning No.
A6
Fan stop warning:
A cooling fan built in the drive unit stopped.
Cause of occurrence
1
Warning No.
E0
Over-regeneration detection level exceeded 80%.
Investigation items
Remedy
Carry out items for alarm No. 30.
Warning No.
E1
Overload warning:
Overload detection level exceeded 80%.
Cause of occurrence
1
Remedy
Over regeneration warning:
Cause of occurrence
1
Investigation items
Carry out items for alarm No. 45.
Investigation items
Carry out items for alarm No. 50.
10 - 18
Remedy
10. Troubleshooting
Warning No.
E4
Set parameter warning:
A parameter setting was outside the setting range.
This is displayed as "S51 parameter error ####" on the NC screen. ####: Error parameter No.
Cause of occurrence
1
Parameter settings exceed the setting
range.
Warning No.
E6
Investigation items
Check the setting range of the error
parameter No.
Control axis detachment warning:
Control axis detachment was commanded.
Cause of occurrence
1
Remedy
Correctly set.
Investigation items
Remedy
This indicates that the control axis removal was commanded from the NC.
Warning No.
E7
In NC emergency stop state:
Emergency stop was input from the CNC.
Cause of occurrence
Investigation items
Remedy
1
The NC emergency stop was input.
This is the state in which the NC emergency stop is correctly input.
2
An alarm is occurring with another drive
unit.
Check whether an alarm is occurring in
another drive unit.
Reset the alarm in the other drive unit.
3
Emergency stop cannot be reset.
Check that the terminator or battery unit
is connected, and that the cable between
the drive unit is not disconnected.
Correctly connect.
Warning No.
E9
Instantaneous power interruption warning:
The power was momentarily interrupted.
Cause of occurrence
Investigation items
Remedy
1
The control power input was cut off.
Check the control power (24V) input.
Correctly the faulty sections.
2
CPU peripheral circuit operation is
incorrect.
Check for abnormalities in the unit's
surrounding environment, etc.
(Example: Ambient temperature, noise,
grounding)
Improve the surrounding environment.
Warning No.
EA
In external emergency stop state:
External emergency stop signal was input.
Cause of occurrence
1
External emergency stop input.
Investigation items
Remedy
This is the state in which only the external emergency stop was input without the NC
emergency stop input.
10 - 19
10. Troubleshooting
10-4-3 Parameter No. during initial parameter error
If an initial parameter error (alarm 37) occurs, the alarm and the parameter No. that may be set
incorrectly will appear on the NC Diagnosis screen as shown below. (For M60S, E60 Series NC.)
S02 Initial parameter error    

    : Error parameter No.

: Axis name display
If a number larger than the parameter No. is displayed for the servo drive unit, the alarm is occurring for
several related parameters. Refer to the following table, and correctly set the parameters.
Error
parameter No.
2269
2271
2301
2302
2303
2304
2305
Details
The CNC setting maximum rapid traverse rate value is
incorrect.
The CNC system software may be illegal. Turn the power ON
again.
The CNC setting maximum cutting speed setting value is
incorrect.
The CNC system software may be illegal. Turn the power ON
again.
The following settings are overflowing.
 Electronic gears
 Position loop gain
 Speed feedback
Other than the absolute position detection is connected.
However, the absolute position detection parameter is valid.
The servo option is not available.
The closed loop or dual feedback control function is set.
The servo option is not available. The SHG control function is
set.
The servo option is not available.
10 - 20
Related
parameter
NC setting rapid
NC setting clamp
SV001, SV002
SV003, SV018
SV019, SV020
SV049
SV017, SV025
SV025, SV017
SV057, SV058
SV027
11. Inspection
11-1 Inspections ..................................................................................................................................... 11-2
11-2 Service parts .................................................................................................................................. 11-2
11 - 1
11. Inspection
WARNING
1. Turn the main circuit power and control power both OFF before starting
maintenance and inspection. It will take approx. 10 minutes for the main
circuit's capacitor to discharge. After the CHARGE LAMP goes out, use a
tester to confirm that the input and output voltages are zero. Failure to
observe this could lead to electric shocks.
2. Inspections must be carried out by a qualified technician. Failure to observe
this could lead to electric shocks. Contact the Service Center for repairs and
part replacements.
CAUTION
1. Never perform a megger test (measure the insulation resistance) of the servo
drive unit. Failure to observe this could lead to faults.
2. The user must never disassemble or modify this product.
11-1 Inspections
Periodic inspection of the following items is recommended.
<1> Are any of the screws on the terminal block loose? If loose, tighten them.
<2> Is any abnormal noise heard from the servomotor bearings or brake section?
<3> Are any of the cables damaged or cracked? If the cables move with the machine, periodically
inspect the cables according to the working conditions.
<4> Is the core of the load coupling shaft deviated?
11-2 Service parts
A guide to the part replacement cycle is shown below. Note that these will differ according to the working
conditions or environmental conditions, so replace the parts if any abnormality is found. Contact
Mitsubishi branch or your dealer for repairs or part replacements.
Part name
Smoothing capacitor
Servo drive unit
Servomotor
Cooling fan
Battery
Bearings
Detector
Oil seal, V-ring
Standard replacement time
Remarks
10 years
10,000 to 30,000 hours
(2 to 3 years)
The standard replacement time
is a reference. Even if the
standard replacement time is
not reached, the part must be
replaced if any abnormality is
found.
10,000 hours
20,000 to 30,000 hours
20,000 to 30,000 hours
5,000 hours
<1> Power smoothing capacitor : The characteristics of the power smoothing capacitor will deteriorate
due to the effect of ripple currents, etc. The capacitor life is greatly
affected by the ambient temperature and working conditions.
However, when used continuously in a normal air-conditioned
environment, the service life will be ten years.
<2> Relays
: Contact faults will occur due to contact wear caused by the switching
current. The service life will be reached after 100,000 cumulative
switches (switching life).
<3> Servomotor bearings
: The motor bearings should be replaced after 20,000 to 30,000 hours
of rated load operation at the rated speed. This will be affected by the
operation state, but the bearings must be replaced when any
abnormal noise or vibration is found in the inspections.
<4> Motor oil seal, V-ring
: These parts should be replaced after 5,000 hours of operation at the
rated speed. This will be affected by the operation state, but these
parts must be replaced if oil leaks, etc., are found in the inspections.
11 - 2
Appendix 1. Cable and Connector Specifications
Appendix 1-1 Selection of cable.............................................................................................................A1-2
Appendix 1-1-1 Cable wire and assembly ..........................................................................................A1-2
Appendix 1-2 Cable connection diagram ...............................................................................................A1-4
Appendix 1-3 Connector outline dimension drawings............................................................................A1-8
Appendix 1-4 Cable and connector assembly......................................................................................A1-14
Appendix 1-4-1 CM10-SP**S plug connector...................................................................................A1-14
Appendix 1-4-2 CM10-AP**S Angle Plug Connector .......................................................................A1-21
A1 - 1
Appendix 1. Cable and Connector Specifications
Appendix 1-1 Selection of cable
Appendix 1-1-1 Cable wire and assembly
(1) Cable wire
The specifications of the wire used for each cable, and the machining methods are shown in this
section. When manufacturing the detector cable and battery connection cable, use the
recommended wires shown below or equivalent products.
(a) Heat resistant specifications cable
Wire type
(special order
part)
BD20288
Compound 6-pair
shielded cable
Specification No.
Bangishi-17145
(Note 1)
Wire characteristics
Finish
outer
diameter
Sheath
material
8.7mm
Heat
resistant
PVC
No. of
pairs
2
(0.5mm2)
4
(0.2mm2)
Configuration
Conductive Withstand
resistor
voltage
100 strands/
0.08mm
40.7/km
or less
40 strands/
0.08mm
500VAC/
1min
Insulation
resistance
Heat
resistance
temperature
Flexibility
1000M/km
or more
105°C
70104 times
or more at
R200
Insulation
resistance
Heat
resistance
temperature
Flexibility
1000M/km
or more
60°C
100104 times
or more at
R200
103/km
or less
(b) General-purpose heat resistant specifications cable
Wire type
(special order
part)
BD20032
Compound 6-pair
shielded cable
Specification No.
Bangishi-16903
Revision No. 3
(Note 2)
Finish
outer
diameter
Wire characteristics
Sheath
material
No. of
pairs
2
(0.5mm2)
8.7mm
Configuration
Conductive Withstand
resistor
voltage
100 strands/
0.08mm
40.7/km
or less
PVC
4
(0.2mm2)
40 strands/
0.08mm
500VAC/
1min
103/km
or less
(Note 1) Bando Electric Wire (Contact: 81+48-461-0561 http://www.bew.co.jp)
(Note 2) The Mitsubishi standard cable is the (a) Heat resistant specifications cable. For MDS-C1/CH
series, (b) or equivalent is used as the standard cable.
Core identification
B4
B1
B3
B2
Mesh shield
Intervening wire
Cable core
A2
Insulator color
L1
L2
Pair No.
Sheath
A1
Tape
L1
L2
Conductor
Insulator
Compound 6-pair cable structure drawing
A1 - 2
2
A1 (0.5mm )
2
A2 (0.5mm )
2
B1 (0.2mm )
2
B2 (0.2mm )
2
B3 (0.2mm )
2
B4 (0.2mm )
Red
Black
Brown
Blue
Purple
Yellow
White
White
Orange
Green
White
White
Appendix 1. Cable and Connector Specifications
(2) NC bus cable
Recommended
wire model
(Cannot be
directly ordered
from Mitsubishi
Electric Corp.)
Finished
Sheath
outside
material
diameter
Wire characteristics
UL20276 AWG28
10pair
6.1mm
No. of
pairs
PVC
10
Configuration
Conductor
resistance
Withstand
voltage
Insulation
resistance
7 strands/
0.13mm
222/km or less
AC350/ 1min
1M/km or more
(3) Cable assembly
Assemble the cable with the cable shield wire securely connected to the ground plate of the
connector.
Core wire
Connect with a ground
plate of connector.
Sheath
Shield
(external conductor)
(4) 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 due to cutting
chips.
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
Nippon Flex
Control Corp.
Tube
FBA-4
(FePb wire braid sheath)
DAIWA DENGYO Hi-flex
CO., LTD
PT #17 (FePb sheath)
Sankei Works
Purika Tube
PA-2 #17 (FePb sheath)
Drive unit side
RBC-104 (straight)
RBC-204 (45)
RBC-304 (90)
PSG-104 (straight)
PLG-17 (90)
PS-17 (straight)
Connector
Installation screws
G16
G16
G16
Screw diameter ø26.4
Screw diameter ø26.4
PF1/2
BC-17 (straight)
Wire tube screws : 15
(Note) None of the parts in this table can be ordered from Mitsubishi Electric Corp.
A1 - 3
Motor detector side
RCC-104-CA2022
PDC20-17
PDC20-17
Appendix 1. Cable and Connector Specifications
Appendix 1-2 Cable connection diagram
CAUTION
Do not mistake the connection when manufacturing the detector cable. Failure to
observe this could lead to faults, runaway or fires.
(1) NC bus cable
< SH21 cable connection diagram >
This is an actual connection diagram for the SH21 cable supplied by Mitsubishi.
Manufacture the cable as shown below. The cable can be up to 30m long.
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
1
11
2
12
3
13
4
14
5
15
6
16
7
17
8
18
9
19
10
20
1
11
2
12
3
13
4
14
5
15
6
16
7
17
8
18
9
19
10
20
PE
PE
A1 - 4
Plate
Appendix 1. Cable and Connector Specifications
(2) HF□-A51 motor detector cable
< CNV2E-6P/7P cable connection diagram >
This is an actual connection diagram for the CNV2E-6P/7P cable supplied by Mitsubishi.
Servo drive unit side connector
(3M)
Receptacle : 36210-0100PL
Shell kit : 36310-3200-008
(MOLEX)
Connector set : 54599-1019
P5(+5V)
LG
1
2
BT
SD
SD*
RQ
RQ*
9
7
8
3
4
Case
grounding
PE
Servo motor detector side connector
Plug: CM10-SP10S-M (Straight)
CM10-AP10S-M (Angle)
Contact: CM10-#22SC
0.5mm2
0.2mm2
0.2mm2
0.2mm2
8
5
3
4
6
7
1
2
P5(+5V)
LG
BT
SD
SD*
RQ
RQ*
10
SHD
<For 15m or less>
Servo drive unit side connector
Servo motor detector side connector
(3M)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
Plug: CM10-SP10S-M (Straight)
CM10-AP10S-M (Angle)
Contact: CM10-#22SC
0.5mm2
P5(+5V)
LG
1
2
BT
SD
SD*
RQ
RQ*
9
7
8
3
4
Case
grounding
PE
0.5mm2
0.2mm2
0.2mm2
0.2mm2
8
5
3
4
6
7
1
2
P5(+5V)
LG
BT
SD
SD*
RQ
RQ*
10
SHD
<For 15 to 30m>
1.
CAUTION
2.
Do not connect anything to pins unless particularly specified when
manufacturing a cable. (Leave OPEN)
Contact Mitsubishi when manufacturing a cable longer than 30m.
A1 - 5
Appendix 1. Cable and Connector Specifications
(3) HF□-A48/A51 motor detector cable
< CNV2E-8P/9Pcable connection diagram >
This is an actual connection diagram for the CNV2E-8P/9P cable supplied by Mitsubishi.
Servo drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
P5(+5V)
LG
1
2
BT
SD
SD*
RQ
RQ*
9
7
8
3
4
Case
grounding
PE
Servo motor detector side connector
Plug: CM10-SP10S-M (Straight)
CM10-AP10S-M (Angle)
Contact: CM10-#22SC
0.5mm2
0.2mm2
0.2mm2
0.2mm2
8
5
3
4
6
7
1
2
P5(+5V)
LG
CNT
BT
SD
SD*
RQ
RQ*
10
SHD
<For 15m or less>
Servo drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
Servo motor detector side connector
Plug: CM10-SP10S-M (Straight)
CM10-AP10S-M (Angle)
Contact: CM10-#22SC
0.5mm2
P5(+5V)
LG
1
2
BT
SD
SD*
RQ
RQ*
9
7
8
3
4
Case
grounding
PE
0.5mm2
0.2mm2
0.2mm2
0.2mm2
8
5
3
4
6
7
1
2
P5(+5V)
LG
CNT
BT
SD
SD*
RQ
RQ*
10
SHD
<For 15 to 30m>
1.
CAUTION
2.
Do not connect anything to pins unless particularly specified when
manufacturing a cable. (Leave OPEN)
Contact Mitsubishi when manufacturing a cable longer than 30m
A1 - 6
Appendix 1. Cable and Connector Specifications
(4) Rectangular wave communication detector (linear scale, etc.) cable connection diagram
Servo drive unit side connector
(3M)
Receptacle: 36210-0100JL
Shell kit: 36310-3200-008
Molex
Connector set: 54599-1019
0.5mm
P5(+5V)
LG
ABZSEL*
A
A*
B
B*
Z
Z*
1
2
10
3
4
5
6
7
8
9
Case
grounding
PE
2
0.5mm
2
0.2mm
2
0.2mm
2
0.2mm
2
P5(+5V)
LG
A
A*
B
B*
Z
Z*
Note: Contact the detector
manufacture about whether
to perform the P5V wiring or
not.
SHD
Contact the detector manufacture
for the details.
(Note) This cable must be prepared by the user.
A1 - 7
Appendix 1. Cable and Connector Specifications
Appendix 1-3 Connector outline dimension drawings
Connector for CN1A, CN1B drive unit
Manufacturer: 3M
<Model>
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
[Unit: mm]
10.0
12.0
14.0
33.3
12.7
23.8
39.0
22.0
Manufacturer: 3M
<Model>
Connector: 10120-3000VE
Shell kit: 10320-52A0-008
[Unit: mm]
10.0
12.0
14.0
33.3
12.7
23.8
39.0
22.0
Manufacturer: 3M
<Model>
Connector: 10120-6000EL
Shell kit: 10320-3210-000
11.5
33.0
20.9
42.0
Because this connector is an
integrated molding part of the
cable, it is not an option
setting in the connector set.
The terminal connector
(A-TM) also has the same
outline.
[Unit: mm]
29.7
Recommended manufacturer: 3M
A1 - 8
Appendix 1. Cable and Connector Specifications
Connector for CN2L, CN2M drive unit
Manufacturer: Molex
<Model>
Connector set: 54599-1019
[Unit: mm]
22.7
33.9
Manufacturer: 3M
<Model>
Receptacle: 36210-0100JL
Shell kit: 36310-3200-008
11
8
22.4
10
Connector for CN31L, CN31M, CN30 drive unit
29
B
10.16
10.16 x N
Dimension
Model
No. of
poles
A
B
DK-5200M-04R
4
33.36
23.76
DK-5200M-06R
6
43.52
33.92
A1 - 9
19.26
A
(9.1)
For CN30
Housing: DK-5200M-06R
Contact: DK-5RECSLP1-100
(for AWG14, 16)
DK-5RECMLP1-100
(for AWG10, 12)
[Unit: mm]
19.96
Manufacturer: DDK
<Model>
For CN31L, CN31M
Housing: DK-5200M-04R
Contact: DK-5RECSLP1-100
(for AWG14, 16)
DK-5RECMLP1-100
(for AWG10, 12)
Appendix 1. Cable and Connector Specifications
Connectors for detector and motor power (IP67 and EN standard compatible)
Straight plug
Manufacturer: DDK
D or less
W
A
øB +0
-0.38
øC± 0.8
7.85 or more
[Unit: mm]
W
Model
A
B +0
–0.38
C0.8
D or less
CE05-6A18-10SD-B-BSS
1 /8-18UNEF-2B
1
34.13
32.1
57
1-20UNEF-2A
3
40.48
38.3
61
1 /16-18UNEF-2A
CE05-6A22-22SD-B-BSS
CE05-6A22-23SD-B-BSS
1 /8-18UNEF-2B
Angle plug
Manufacturer: DDK
3
D or less
ø B +0
-0.38
Y or more
U ±0.7
(S)±1
R± 0.7
A
W
[Unit: mm]
+0
D or
less
W
R0.7
U0.7
(S)1
Y or
more
Model
A
B –0.38
CE05-8A18-10SD-B-BAS
1 /8-18UNEF-2B
1
34.13
69.5
1-20UNEF-2A
13.2
30.2
43.4
7.5
3
40.48
75.5
13/16-18UNEF-2A
16.3
33.3
49.6
7.5
CE05-8A22-22SD-B-BAS
CE05-8A22-23SD-B-BAS
1 /8-18UNEF-2B
Cable clamp
Manufacturer: DDK
(D)
A
C
G ± 0.7
1.6
Bushing (inside
diameter)
øF
B ± 0.7
V screw
øE
H
(Cable clamp inside
diameter)
(Moveable range of one side)
[Unit: mm]
Model
Shell
size
CE3057-10A-1 (D265)
CE3057-12A-1 (D265)
CE3057-12A-2 (D265)
18
20
22
Total
length
Outside
dia.
Effective
screw
length
A
23.8
B
30.1
C
10.3
D
41.3
E
15.9
23.8
35
10.3
41.3
19
Installation
screw (V)
Recommended manufacturer: DDK
A1 - 10
F
14.1
16
13
G
31.7
H
3.2
37.3
4
1-20UNEF-2B
13/16-18UNEF-2
B
Bushing
Compliant
cable
CE3420-10-1 Ø10.5 to ø14.1
CE3420-12-1 Ø12.5 to ø16
CE3420-12-2 Ø9.5 to ø13
Appendix 1. Cable and Connector Specifications
Connectors for detector, motor power and brake (IP67 and EN standard compatible)
Straight plug
Manufacturer: DDK
Gasket
A
øB +0
-0.38
øG +0.05
-0.25
J ± 0.12
D
E±0.3
H or less
C±0.5
Model
A
B +0
–0.38
C0.5
D
E0.3
G +0.05
–0.25
[Unit: mm]
J0.12
MS3106A20-29S (D190)
1 /4 -18UNEF-2B
37.28
34.11
1 /8-18UNEF-2A
1
12.16
26.8
18.26
1
12.15
29.9
18.26
1
3
MS3106A22-14S (D190)
1 /8-18UNEF-2B
40.48
34.11
1 /4-18UNEF-2A
Straight back shell
Manufacturer: DDK
L
W screw
B
O-ring
øC
øA
V screw
7.85 or more
D
(Effective screw length) (Spanner grip)
[Unit: mm]
Model
L
A
B
C
D
V
W
1
1 /16-18UNEF-2A
1
1 /16-18UNEF-2A
CE02-20BS-S
35
35
10.9
17.8
31.6
1 /8-18UNEF-2B
CE02-22BS-S
35
36.5
10.9
17.8
32.4
1 /4-18UNEF-2B
3
3
[Unit: mm]
Angle back shell
Manufacturer: DDK
Model: CE-22BA-S
L1 or less
O-ring
øC
A screw
W or more
U
(S)
R
L2 or less
V screw
[Unit: mm]
Model
Shell
size
Connection
screw
A
CE-20BA-S
20
11/8-18UNEF-2B
CE-22BA-S
22
1
1 /4-18UNEF-2B
Total
length
L1
Angle
total
length
L2
50.5
39.6
Diameter
C
R
36
15
38.6
16.3
A1 - 11
U
33.3
(S)
48.3
49.6
Installation
screw
V
Effective screw
length
W
13/16-18UNEF2A
7.5
Appendix 1. Cable and Connector Specifications
Motor side detector connector
Manufacturer：DDK
＜Model＞
Plug：CM10-SP10S-M
φ21
φ18.9
［Unit：mm］
(51.4)
Manufacturer：DDK
＜Model＞
Plug：CM10-AP10S-M
34
φ18.9
or less
［Unit：mm］
φ21
32.5
(Note) For the manufacturing method of CM10 series connector, refer to the section "Cable and connector assembly" in Instruction
Manual.
A1 - 12
Appendix 1. Cable and Connector Specifications
Connector for brake (IP67 and EN standard compatible)
Straight
Manufacturer: DDK
Model: CM10-SP2S-M
ø21
ø18.9
[Unit: mm]
(51.4)
Angle
Manufacturer: DDK
Model: CM10-AP2S-M
34
ø18.9
or less
[Unit: mm]
ø21
32.5
A1 - 13
Appendix 1. Cable and Connector Specifications
Appendix 1-4 Cable and connector assembly
Appendix 1-4-1 CM10-SP**S plug connector
This section explains how to assemble the wire to CM 10 angle plug connector.
(1) Cutting a cable
Cut the cable to the following dimensions:
Cable length
* Cable length after cutting = CM10 - SP**S：35mm + cable length
= 35mm + cable length
(2) Inserting parts
Insert the clamp nut, cable clamp, bushing and back shell in to the cable.
(Note) Take care not to insert them upside down
Cable clamp
Bushing
Cable
Clamp nut
Back shell
(3) Stripping a cable
Strip the cable to a length 20mm.
Strip the core wire to a length 6mm.
20
Sheath
6
Core wire
A1 - 14
Appendix 1. Cable and Connector Specifications
(4) Soldering a contact
Temporarily solder each contact and core wire, and then solder the core wire on the contact.
When using a drain wire, attach a heat shrink tube on it after soldering.
(Note) Take care not to stick out the core wire from the contact.
Take care to prevent solder from adhering to the edge of solder cup.
Connector name
CM10-SP10S
CM10-SP2S
Applicable contact
CM10-#22SC-S1
CM10-#22SC-S2
Applicable cable
AWG20 or less
AWG16 or less
Solder
Detail A
A
Contact
Core wire
Cable
Drain wire
Heat shrink tube
Soldering drain wire
A1 - 15
Appendix 1. Cable and Connector Specifications
(5) Inserting the contact
Insert the contact into the specified terminal in the housing.
(Insert grounding wire or drain wire into terminal No.10 in the housing.)
* When the contact catches the housing, you will hear a snap.
(Note) Before inserting the contact, check that the clamp nut, cable clamp, bushing and back shell
is inserted.
Contact
Housing
Cable
Insert
Terminal No.10 only
(Grounding wire or drain wire)
* Insert the contact so that the lance
and the terminal number in the
housing face the same direction.
However, in case of CM10-SP2S,
insert the contact so that the lance
and the terminal number in the
housing face the opposite direction.
Terminal number
Lance
Contact
Terminal number
Lance
Contact
CM10-SP2S
(Note) When pulling out a contact, use dedicated jigs and tools.
Contact removal tool: 357J-50548T-A
A1 - 16
Appendix 1. Cable and Connector Specifications
(6) Back clamp nut tightening, shell tightening
[1] Temporarily tighten the back shell coupling on the straight back shell.
* To prevent loosening, the adhesive should be applied to the straight back shell.
[2] Set the back shell wrench on the back shell coupling.
[3] With the wrench, tighten the back shell coupling on the straight back shell.
Recommended tightening: 5Nm
(Note) Accurately fit the wrench on the back shell coupling.
To remove, take the reverse steps.
* Recommendation Adhesive (2 threads around the circumference)
Temporary tightening
Back shell
Back shell coupling
Set
Tightening guide
19
Tightening guide
* Referential dimensions for
back shell tightening guide
Back shell
wrench
(Back shell width)
20
17
Back shell
wrench
Thickness:
10
Tighten
* Recommendation:
Tightening guide
(357J-50494T)
 Recommended jigs and tools：Back shell wrench (357J-51333T)
Bit (357J-51344T)
Torque wrench (CL6N x 8D,Tonichi Mfg.)
* Recommended tightening guide: (357J-50494T)
* Recommended adhesive: screw lock 1401B (Threee bond Co,Ltd)
A1 - 17
Appendix 1. Cable and Connector Specifications
(7) Insert a busing and a cable clamp
Insert the bushing and the cable clamp into the back shell.
Back shell
Busing
Insert
A1 - 18
Cable clamp
Cable
Appendix 1. Cable and Connector Specifications
(8) Tightening a clamp nut
[1] Temporarily tighten the clamp nut on the back shell.
* To prevent loosening, the adhesive should be applied to the back shell.
[2] Set the clamp nut wrench on the clamp nut.
[3] With the wrench, tighten the clamp nut on the straight back shell.
Recommended tightening: 5Nm
(Note) Accurately fit the wrench on the clamp nut.
To remove, take the reverse steps.
* Recommendation
Adhesive (2 threads around
the circumference)
Temporary tightening
Tightening guide
Tightening guide
Clamp nut
Back shell
Set
* Referential dimensions for back
shell tightening guide
19
(Back shell width)
20
17
Clamp nut
wrench
Thickness
:10
* Recommendation :
Tightening guide
(357J-50494T)
Torque wrench
Tighten
● Recommended jigs and tools : Clamp nut wrench(357J-51334T)
Bit (357J-51345T)
Torque wrench (CL6N x 8D, Tonichi Mfg.)
* Recommended tightening jig : (357J-50494T)
* Recommended adhesive : Screw lock 1401B (Three Bond Co,.Ltd)
A1 - 19
Appendix 1. Cable and Connector Specifications
(9) When using a conduit
[1] Tighten the nipple of conduit connector on the plug connector (CM10).
[2] Set the conduit on the nipple of conduit connector.
[3] When using by moving part, fix conduit on the saddle etc.,
Take care not to damage for plug connector (CM10) and conduit connector.
Set the protective cover (rubber etc.,) on the conduit for takes care not to cable damage.
[1]
[2]
[3]
Plug connector
Plug connector
Conduit
connector
(nipple)
Conduit
connector
Plug connector
Conduit
connector
Conduit
Saddle
Conduit
Cable
Protective cover
(rubber etc.)
Recommended conduit
Type: VF Type: SR Type: FBN Type: EM Type: VFS Type: SRK etc
Recommended connector
Recommended
connector
RCM103S
RCM103M
RCM104L
Applicable connector type
Applicable cable range
CM10-SP10S-S/CM10-AP-10S-S
CM10-SP10S-M/CM10-AP-10S-M
CM10-SP10S-L/CM10-AP-10S-L
φ4.0 toφ6.0mm
φ6.0 toφ9.0mm
φ9.0 toφ12.0mm
A1 - 20
Appendix 1. Cable and Connector Specifications
Appendix 1-4-2 CM10-AP**S Angle Plug Connector
This section explains how to assemble the wire to CM10 angle plug connector.
(1) Cutting a cable
Cut the cable to the following dimensions:
Cable length
* Cable length after cutting = CM10 - AP**S ： A + cable length
= A + cable length
Product name
CM10-AP**S-S-**
CM10-AP**S-M-**
CM10-AP**S-L-**
A
40mm
55mm
(2) Stripping a cable sheath
Strip the cable sheath to the following dimensions:
Core
wire
Sheath
A
Product name
CM10-AP**S-S-**
CM10-AP**S-M-**
CM10-AP**S-L-**
A1 - 21
A
30mm
45mm
Appendix 1. Cable and Connector Specifications
(3) Inserting parts
Insert the clamp nut, cable clamp, bushing and angle back shell in to the cable.
(Note) Take care not to insert them upside down
Angle back shell
Bushing
Cable clamp
Cable
Clamp nut
* Bend and insert the cable into angle back shell.
Angle back shell
Cable
Insert
Bend
(4) Stripping a cable
Strip the core wire to a length 6mm.
Cable
6
Core
wire
A1 - 22
Appendix 1. Cable and Connector Specifications
(5) Soldering a contact
Temporarily solder each contact and core wire, and then solder the core wire on the contact.
When using a drain wire, attach a heat shrink tube on it after soldering.
(Note) Take care not to stick out the core wire from the contact.
Take care to prevent solder from adhering to the edge of solder cup.
Connector name
CM10-AP10S
CM10-AP2S
Applicable contact
CM10-#22SC-S1
CM10-#22SC-S2
Applicable cable
AWG20 or less
AWG16 or less
Solder
Detail A
A
Contact
Core wire
Cable
Drain wire
Heat shrink tube
Soldering drain wire
A1 - 23
Appendix 1. Cable and Connector Specifications
(6) Inserting the contact
Insert the contact into the specified terminal in the housing.
(Insert grounding wire or drain wire into terminal No.10 in the housing.)
* When the contact catches the housing, you will hear a snap.
(Note) Before inserting the contact, check that the clamp nut, cable clamp, bushing and back shell
is inserted.
Contact
Housing
Cable
Insert
Terminal No.10 only
(Grounding wire or drain wire)
* Insert the contact so that the lance
and the terminal number in the
housing face the same direction.
However, in case of CM 10-AP2S,
insert the contact so that the lance
and the terminal number in the
housing face the opposite direction.
Terminal number
Lance
Contact
Terminal
number
Lance
Contact
CM10-AP2S
(Note) When pulling out a contact, use dedicated jigs and tools.
Contact removal tool:：357J-50548T-A
A1 - 24
Appendix 1. Cable and Connector Specifications
(7) Tightening angle back shell
[1] Temporarily tighten the back shell coupling on the angle back shell.
* To prevent loosening, Adhesive should be applied to the angle back shell.
[2] Set the angle back shell on the tightening guide.
[3] Set the back shell wrench on the back shell coupling.
[4] With the wrench, tighten the back shell coupling on the angle back shell.
Recommended tightening torque: 5Nm
(Note) Accurately fit the wrench on the back shell coupling.
To remove, take the reverse steps.
* Recommendation
Adhesive
(2 threads around
the circumference)
Temporary
tightening
Angle back shell
Tightening guide
Back shell
coupling
Tightening guide
Set
Set
Angle back shell
wrench
* Referential dimensions for back
shell tightening guide
19
Back shell width
22
17
Thickness:
10 or more
* Recommendation:
Tightening guide
(357J-50508T)
Torque wrench
Tighten
(Note) To change the back shell angle, adjust the toothing position of the plug shell
and back shell.
 Recommended jigs and tools: Back shell wrench (357J-51333T)
Bit (357J-51344T)
Torque wrench (CL6N x 8D,Tonichi Mfg.)
* Recommended tightening guide: (357J-50508T)
* Recommended adhesive: screw lock 1401B (Threee bond Co,Ltd)
A1 - 25
Appendix 1. Cable and Connector Specifications
(8) Insert a busing and a cable clamp
Insert the bushing and the cable clamp into the angle back shell.
Cable
Cable clamp
Insert
Busing
A1 - 26
Appendix 1. Cable and Connector Specifications
(9) Tightening a clamp nut
[1] Temporarily tighten the clamp nut on the angle back shell.
* To prevent loosening, the adhesive should be applied to the back shell.
[2] Set the angle back shell on the tightening guide.
[3] Set the clamp nut wrench on the clamp nut.
[4] With the wrench, tighten the clamp nut on the angle back shell.
Recommended tightening: 5Nm
(Note) Accurately fit the wrench on the clamp nut.
To remove, take the reverse steps.
* Recommendation
Adhesive
(2 treads around the
circumference)
Temporary
tightening
Tightening guide
Set
Tighten
19
Clamp nut wrench
Clamp nut
Set
Angle
Back shell
Torque wrench
* Referential dimensions for back
shell tightening guide
17
Back shell width
22
Tightening guide
● Recommended jigs and tools: Clamp nut wrench (357J-51334T)
Thickness:
10 or more
Bit (357J-51345T)
Touque wrench (CL6N x 8D,Tonochi Mfg.)
* Recommended tightening guide: (357J-50508T)
* Recommendation:
Tightening guide
(357J-50508T)
* Recommended adhesive: Screw lock 1401B (Tree bond Co.Ltd)
A1 - 27
Appendix 1. Cable and Connector Specifications
* When using a conduit
[1] Tighten the nipple of conduit connector on the plug connector (CM10).
[2] Set the conduit on the nipple of conduit connector.
[3] When using by moving part, fix conduit on the saddle etc.,
Take care not to damage for plug connector (CM10) and conduit connector.
Set the protective cover (rubber etc.,) on the conduit for takes care not to cable damage.
[1]
[2]
[3]
Plug connector
Plug connector
Conduit
connector
(nipple)
Conduit
connector
Plug connector
Conduit
connector
Conduit
Saddle
Conduit
Cable
Protective cover
(rubber etc.,)
Recommended conduit
Type: VF Type: SR Type: FBN Type: EM Type: VFS Type: SRK etc
Recommended connector
Recommended
connector
RCM103S
RCM103M
RCM104L
Applicable connector type
Applicable cable range
CM10-SP10S-S/CM10-AP-10S-S
CM10-SP10S-M/CM10-AP-10S-M
CM10-SP10S-L/CM10-AP-10S-L
φ4.0 toφ6.0mm
φ6.0 toφ9.0mm
φ9.0 toφ12.0mm
A1 - 28
Appendix 2. Selection
Appendix 2-1 Selection of servomotor capacity .....................................................................................A2-2
Appendix 2-1-1 Load inertia ratio........................................................................................................A2-2
Appendix 2-1-2 Short time characteristics..........................................................................................A2-2
Appendix 2-1-3 Continuous characteristics ........................................................................................A2-3
Appendix 2-2 Selecting the regenerative resistor ..................................................................................A2-5
Appendix 2-2-1 Calculating the regenerative energy .........................................................................A2-5
Appendix 2-2-2 Calculating the positioning frequency .......................................................................A2-8
Appendix 2-3 Example of servo selection ..............................................................................................A2-9
Appendix 2-3-1 Motor selection calculation........................................................................................A2-9
Appendix 2-3-2 Regenerative resistor selection calculation ............................................................A2-12
Appendix 2-3-3 Servo selection results ............................................................................................A2-14
Appendix 2-4 Motor shaft conversion load torque................................................................................A2-15
Appendix 2-5 Expressions for load inertia calculation .........................................................................A2-16
A2 - 1
Appendix 2. Selection
Appendix 2-1 Selection of servomotor capacity
The following three elements are used to determine the servomotor capacity.
1. Load inertia ratio
2. Short time characteristics (acceleration/deceleration torque)
3. Continuous characteristics (continuous effective load torque)
Carry out appropriate measures, such as changing the motor series or increasing the motor capacity, if
any of the above conditions is not fulfilled.
Appendix 2-1-1 Load inertia ratio
Each servomotor has an appropriate load inertia ratio (load inertia/motor inertia). The control becomes
unstable when the load inertia ratio is too large, and the servo parameter adjustment becomes difficult.
It becomes difficult to improve the surface precision in the feed axis, and the positioning time cannot be
shortened in the positioning axis because the settling time is longer.
If the load inertia ratio exceeds the recommended value in the servomotor specifications list, increase
the motor capacity and limit the load inertia ratio within the recommended value. Note that the
recommended value for the load inertia ratio is strictly one guideline. This does not mean that controlling
of the load with inertia exceeding the recommended value is impossible.
POINT
1. When selecting feed axis servomotors for NC unit machine tools, place
importance on the surface precision during machining. To do this, always
select a servomotor with a load inertia ratio within the recommended value.
Select the lowest value possible within that range.
2. Judge the load inertia ratio for the motor with brakes using the motor inertia of
motors without brakes as a reference.
Appendix 2-1-2 Short time characteristics
In addition to the continuous operation range, the servomotor has the short time operation range that
can only be used for short times such as acceleration/deceleration. This range is expressed at the
maximum torque. The maximum torque differs for each motor even at the same capacity, so confirm the
specifications in section "2-1 Servomotor".
The maximum torque affects the acceleration/deceleration time constant that can be driven. The linear
acceleration/deceleration time constant ta can be approximated from the machine specifications using
expression (2-1). Determine the maximum motor torque required from this expression, and select the
motor capacity.
ta =
(JL + JM)  N
(ms)
95.5  (0.8  TMAX  TL)
N
JL
JM
TMAX
TL
..................................................
: Motor reach speed
(r/min)
: Motor shaft conversion load inertia
(kg.cm2)
: Motor inertia
(kg.cm2)
: Maximum motor torque
(N.m)
: Motor shaft conversion load (friction, unbalance) torque (N.m)
A2 - 2
(2-1)
Appendix 2. Selection
Appendix 2-1-3 Continuous characteristics
A typical operation pattern is assumed, and the motor's continuous effective load torque (Trms) is
calculated from the motor shaft conversion and load torque. If numbers <1> to <8> in the following
drawing were considered a one-cycle operation pattern, the continuous effective load torque is obtained
from the root mean square of the torque during each operation as shown in the expression (2-2).
<1>
Motor
speed
<2>
<3>
<4>
<5>
<6>
<7>
<8>
0
T1
T7
Motor
torque
T4
T2
0
T3
T8
T6
Time
T5
t1
t2
t3
t4
t5
t6
t7
t8
t0
Fig. 1 Continuous operation pattern
Trms =
2
2
2
2
2
2
2
2
T1 ·t1 + T2 ·t2 + T3 ·t3 + T4 ·t4 + T5 ·t5 + T6 ·t6 + T7 ·t7 + T8 ·t8
t0
....................
(2-2)
Select a motor so that the continuous effective load torque Trms is 80% or less of the stall torque Tst.
Trms ≤ 0.8 . Tst
..................................................
(2-3)
The amount of acceleration torque (Ta) shown in tables 2-1 and 2-2 is the torque to accelerate the load
inertia in a frictionless state. It can be calculated by the expression (2-4). (For linear acceleration/
deceleration)
Ta =
(JL + JM)  N
95.5  ta
N
JL
JM
ta
(N.m)
..................................................
: Motor reach speed
: Motor shaft conversion load inertia
: Motor inertia
: Linear acceleration/deceleration time constant
(2-4)
(r/min)
(kg.cm2)
(kg.cm2)
(ms)
For an unbalance axis, select a motor so that the motor shaft conversion load torque (friction torque +
unbalance torque) is 60% or less of the stall.
TL ≤ 0.6 . Tst
..................................................
A2 - 3
(2-5)
Appendix 2. Selection
(1) Horizontal axis load torque
When operations <1> to <8> are for a horizontal axis, calculate so that the following torques are
required in each period.
Table 2-1 Load torques of horizontal axes
Period
Load torque calculation method
<1>
(Amount of acceleration torque) +
(Kinetic friction torque)
<2>
(Kinetic friction torque)
<3>
(Amount of deceleration torque) +
(Kinetic friction torque)
<4>
(Static friction torque)
<5>
 (Amount of acceleration torque) 
(Kinetic friction torque)
<6>
 (Kinetic friction torque)
<7>
 (Amount of deceleration torque) 
(Kinetic friction torque)
<8>
 (Static friction torque)
Explanation
Normally the acceleration/deceleration time constant is
calculated so that this torque is 80% of the maximum torque of
the motor.
The absolute value of the acceleration torque amount is same
as that of the deceleration torque amount. The signs for the
amount of acceleration torque and amount of deceleration
torque are reversed.
Calculate so that the static friction torque is always required
during a stop.
The signs are reversed with period <1> when the kinetic friction
does not change according to movement direction.
The signs are reversed with period <2> when the kinetic friction
does not change according to movement direction.
The signs are reversed with period <3> when the kinetic friction
does not change according to movement direction.
Calculate so that the static friction torque is always required
during a stop.
(2) Unbalance axis load torque
When operations <1> to <8> are for an unbalance axis, calculate so that the following torques are
required in each period. Note that the forward speed shall be an upward movement.
Table 2-2 Load torques of unbalance axes
Period
Load torque calculation method
<1>
(Amount of acceleration torque) + (Kinetic
friction torque) + (Unbalance torque)
<2>
(Kinetic friction torque) + (Unbalance torque)
<3>
(Amount of deceleration torque) + (Kinetic
friction torque) + (Unbalance torque)
<4>
(Static friction torque) + (Unbalance torque)
<5>
 (Amount of acceleration torque)  (Kinetic
friction torque) + (Unbalance torque)
<6>
 (Kinetic friction torque) + (Unbalance torque)
<7>
 (Amount of deceleration torque)  (Kinetic
friction torque) + (Unbalance torque)
<8>
 (Static friction torque) + (Unbalance torque)
POINT
Explanation
Normally the acceleration/deceleration time constant is
calculated so that this torque is 80% of the maximum
torque of the motor.
The absolute value of the acceleration torque amount
is same as that of the deceleration torque amount. The
signs for the amount of acceleration torque and
amount of deceleration torque are reversed.
The holding torque during a stop becomes fairly large.
(Upward stop)
The generated torque may be in the reverse of the
movement direction, depending on the size of the
unbalance torque.
The holding torque becomes smaller than the upward
stop. (Downward stop)
During a stop, the static friction torque may constantly be applied. The static
friction torque and unbalance torque may be applied during an unbalance axis
upward stop, and the torque during a stop may become extremely large.
Therefore, caution is advised.
A2 - 4
Appendix 2. Selection
Appendix 2-2 Selecting the regenerative resistor
Calculate the regenerative energy for stopping (positioning) from each axis' rapid traverse rate, and
select a regenerative resistor having a capacity that satisfies the positioning frequency determined from
the machine specifications.
Appendix 2-2-1 Calculating the regenerative energy
(1) For horizontal axis
For the horizontal axis, the regenerative energy ER consumed by the regenerative resistor can be
calculated from expression (2-6). If the ER value is negative, all of the regenerative energy is
absorbed by the capacitor in the drive unit (capacitor regeneration), and the energy consumed by
the regenerative resistor is zero (ER= 0).
ER = 5.4810-7    (JL+JM)  N2–Ec
   (2-6)
(J)

JL
JM
N
Ec
: Motor reverse efficiency
: Motor inertia
: Load inertia
: Motor speed
: Unit charging energy
(kgcm2)
(kgcm2)
(r/min)
(J)
(Example)
When a load with the same inertia as the motor is connected to the HF53, determine the regenerative
energy to stop from the rated rotation speed. Note that the drive unit is MDS-R-V1-20 in this case.
According to expression (2-6), the regenerative energy ER is:
ER = 5.4810-70.85(6.1+6.1)30002–13 = 38.1 (J)
Table 2-3 Drive unit charging energy
Drive unit
Charging energy Ec (J)
Drive unit
Charging energy Ec (J)
MDS-R-V1-20
13
MDS-R-V2-2020
26
MDS-R-V1-40
20
MDS-R-V2-4020
30
MDS-R-V1-60
30
MDS-R-V2-4040
30
MDS-R-V1-80
46
MDS-R-V2-6040
46
MDS-R-V2-6060
46
MDS-R-V2-8040
66
MDS-R-V2-8060
66
MDS-R-V2-8080
66
A2 - 5
Appendix 2. Selection
Table 2-4 Servomotor reverse efficiency
Servomotor
Motor reverse efficiency η
Servomotor
Motor reverse efficiency η
HF75
0.85
HF44
0.85
HF105
0.85
HF74
0.85
HF54
0.85
HF53
0.85
HF104
0.85
HF103
0.85
HF154
0.85
HF153
0.85
HF224
0.85
HF203
0.85
HF204
0.85
HF353
0.85
HF354
0.85
HF123
0.85
HF223
0.85
HF303
0.85
HF142
0.85
HF302
0.85
POINT
The charging energy values apply when the unit input power voltage is 220V. If
the input voltage is higher, the charging energy decreases, and the regenerative
energy increases.
A2 - 6
Appendix 2. Selection
(2) For unbalance axis
The regenerative energy differs in the upward stop and downward stop for an unbalance axis. A
constant regeneration state results during downward movement if the unbalance torque is the
same as or larger than the friction torque.
Regenerative energy
Downward stop
Upward stop
A regenerative state only occurs when deceleration torque (downward torque) is generated.
ERU = 5.2410-5    Tdu  N  td – Ec (J)
   (2-7)

Tdu
N
td
Ec
: Motor reverse efficiency
: Upward stop deceleration torque
: Motor speed
: Deceleration time (time constant)
: Unit charging energy
(Nm)
(r/min)
(ms)
(J)
A regenerative state occurs even during constant rate feed when the upward torque Ts during dropping is
generated.
Calculate so that Ts = 0 when Ts is downward.
2    Ts  L
ERD =
   (2-8)
+ 5.24  10-5    Tdd  N  td – Ec (J)
∆S
 : Motor reverse efficiency
Ts : Upward torque during dropping
(Nm)
L : Constant speed travel
(mm)
∆S : Travel per motor rotation
(mm)
Tdd : Downward stop deceleration torque (Nm)
N : Motor speed
(r/min)
td : Deceleration time (time constant)
(ms)
Ec : Unit charging energy
(J)
The regenerative energy per cycle (ER) is obtained using expression (2-9) using one reciprocation as one cycle.
ER=ERU+ERD
   (2-9)
(J)
(Example)
Using a machine tool vertical axis driven by an HF153 motor, reciprocation is carried out with F30000 at an
acceleration/deceleration time constant of 100ms for a distance of 200mm. Obtain the regenerative energy
per reciprocation operation in this case.
Where: Servo drive unit
: MDS-R-V1-80
Travel per motor rotation
: 10 mm
Upward stop deceleration torque
: 20 Nm
Downward stop deceleration torque
: 30 Nm
Upward torque during downward movement : 3 Nm
Using expression (2-7), the upward stop regenerative energy ERU is as follows:
ERU = 5.2410-50.85203000100 – 46 = 221.2 (J)
The acceleration/deceleration distance required to accelerate at the 100ms acceleration/deceleration time
constant to 30000mm/min. is as follows:
30000100
2601000
= 25 (mm)
Therefore, the constant speed travel is 150mm.
The downward stop regenerative energy ERD is obtained using the following expression (2-8).
ERD =
20.853150
10
+ 5.2410-50.85303000100 – 46 = 595.2 (J)
Thus, the regenerative energy per reciprocation operation ER is as follows:
ER = 221.2 + 595.2 = 816.4 (J)
A2 - 7
Appendix 2. Selection
Appendix 2-2-2 Calculating the positioning frequency
Select the regenerative resistor so that the positioning frequency DP (times/minute) calculated from the
regenerative resistor capacity PR (W) and regenerative energy ER (J) consumed by the regenerative
resistor is within the range shown in expression (2-10). For the unbalance axis, calculate using the
regenerative energy ER per reciprocation operation, and judge the number of operation cycles for rising
and lowering as DP.
DP < 48 
PR
ER
   (2-10)
(times/minute)
Table 2-5 List of regenerative option correspondence
Regenerative
resistor type
(Japan
Resistor)
GZG200 GZG200 GZG300 GZG200 GZG300 GRZG400
W39
W39
W20
W20
-2
GZG80 GZG200 GZG300 GZG400 GZG400 W120
OHMJ
OHMJ
OHMJ
OHMJ
OHMJ
OHMJ
W20
W13
W8
W26
W26
3 units
3 units
3 units
3 units
3 units
4 units
OHMJ OHMJ OHMJ OHMJ OHMJ connected connected connected connected connected
connected
in parallel in parallel in parallel in parallel in parallel in serial
Regenerative
resistor unit
type
MR-RB32 MR-RB30 MR-RB50 MR-RB31 MR-RB51 MR-RB65
Regenerative
capacity
40W
100W
150W
200W
200W
300W
300W
500W
300W
500W
800W
Resistance
value
26Ω
26
20
13
8
40
13
13
6.7
6.7
8
MDS-R-V1-20


MDS-R-V1-40





MDS-R-V1-60








MDS-R-V1-80
MDS-R-V2-2020
MDS-R-V2-4040











MDS-R-V2-6040




MDS-R-V2-6060




MDS-R-V2-8040



MDS-R-V2-8060






MDS-R-V2-8080






(Note) Types indicated with a ∆ cannot be used when driving the HF353 motor.
A2 - 8

Appendix 2. Selection
Appendix 2-3 Example of servo selection
A servomotor is selected using a machining center with the following specifications as an example.
Specification item
Axis type
Movement direction
Table support method
Table movement friction coefficient
Unit
Ball screw diameter
Ball screw length
Ball screw lead
Deceleration ratio
Primary side gear inertia
Secondary side gear inertia
Motor/ball screw connection section inertia
Mass of moving object installed on the machine
(table, etc.)
Mass of standard-added-moving object
(workpiece, etc.)
mm
mm
mm
Rapid traverse rate
Target acceleration/deceleration time constant
Rapid traverse positioning frequency
Motor brake
X axis
Linear
Horizontal
Rolling
5
Y axis
Linear
Horizontal
Rolling
5
Z axis
Linear
Vertical
Rolling
5
kg.cm
2
kg.cm
2
kg.cm
50
1200
10
1


10.0
50
1000
10
1


10.0
50
1000
10
2/3
1.6
8.1

kg
600
500
500
kg
100
100
10
mm/min
ms
times/min
30000
120
12
Without
30000
120
12
Without
20000
100
12
With
%
2
Appendix 2-3-1 Motor selection calculation
The selection calculation is carried out in order using the Z axis as
an example.
Deceleration ratio = 2/3
Primary side
gear
1.6kg·cm2
Secondary
side gear
8.1kg·cm2
(1) Obtaining the load inertia
Calculate the motor shaft conversion load inertia separately
for the rotation load and linear movement load. Furthermore,
calculate the rotation load inertia separately for the primary
and secondary side.
 Primary side rotation load inertia: JR1
This is the primary side gear inertia.
JR1 = 1.6 (kg.cm2)
500kg
Servomotor
10kg
Ball screw
Ø50, 1000mm
Fig. 11-3
Z axis configuration
 Secondary side rotation load inertia: JR2
This is the sum of the ball screw inertia JB and secondary side gear inertia. The ball screw is
generally calculated as a cylinder made of steel. Refer to section "Appendix 2-5 Expressions for
load inertia calculation".
  7.80  103  100
··L 4
D
+
8.1
=
 54 + 8.1
JR2 = JB + 8.1 =
32
32
= 47.9 + 8.1 = 56.0 (kg.cm2)
 Total rotation load inertia: JR
This is the sum of the primary side load inertia and secondary side load inertia. To convert the
secondary side load inertia to the motor shaft (primary side), multiply by the square of the
deceleration ratio.
2
4
JR = JR1 + ( 3 )2  JR2 = 1.6 + 9  56.0 = 1.6 + 24.9 = 26.5 (kg.cm2)
A2 - 9
Appendix 2. Selection
 Linear movement load inertia: JT
The inertia is calculated when a standard workpiece, tool, etc., is attached. The conversion to the
motor shaft by the deceleration ratio is included in the movement amount per motor rotation. Refer
to section "Appendix 2-5 Expressions for load inertia calculation".
S
10  2 2
)2 = (500 + 10) . (
) = 5.7 (kg.cm2)
JT = W . (
20
20  3
 Load inertia: JL
This is the sum of the total rotation load inertia and the linear movement load inertia.
JL = 26.5 + 5.7 = 32.2 (kg.cm2)
When looking at the load inertia components, the linear movement mass tends to increase.
However, the rotation load generally accounts for most of the inertia. The load inertia does not
change much even if the workpiece mass changes greatly in the table axis.
(2) Obtaining unbalance torque
The unbalance torque is obtained from the moving object mass. Here, the drive system efficiency is
calculated as 1.
Refer to section "Appendix 2-4 Motor shaft conversion load torque".
TU =
(W 1  W 2) · g · S
3
2  10  · 
=
(510  0)  9.8  10  2
= 5.3 (N.m)
3
2  10   1  3
(3) Obtaining friction torque
The friction torque is obtained from the moving object mass and friction coefficient. Here, the drive
system efficiency is calculated as 1. Refer to section "Appendix 2-4 Motor shaft conversion load
torque".
TF =
F · S
3
2  10  · 
=
 · W · g · S
3
2  10  · 
=
0.05  510  9.8  10  2
= 0.27 (N.m)
3
2  10   1  3
(4) Selecting the appropriate motor from the load inertia ratio
Confirm that the motor speed is 3000r/min based on the rapid traverse rate and gear ratio, and
make sure that it is less than the maximum speed. Motor brakes must be provided, so select a
motor from the HFB Series. Note that even when the motor has brakes, the motor inertia for
motors without brakes is used to judge the load inertia ratio.
The motor is judged as appropriate if the capacity is HF103 or more and the load inertia is within
3-fold of the recommended load inertia ratio.
Motor type
HF53
HF103
HF153
HF203
HF353
Motor inertia
(kg.cm2)
Load inertia
(kg.cm2)
6.1
11.9
17.8
38.3
75.0
32.2
32.2
32.2
32.2
32.2
A2 - 10
Load inertia
magnification
5.29
2.71
1.81
0.84
0.43
Judgment





Appendix 2. Selection
(5) Selecting the appropriate motor from the short time characteristics (acceleration/
deceleration time constant)
The acceleration/deceleration time constant is calculated using expression (a), and is judged
whether it satisfies the target acceleration/deceleration time constant of 100ms.
HF103B:
ta=
(JL+JM)N
95.5(0.8TMAX–TU–TF)
=
(32.2+14.0)3000
95.5(0.821.6–5.3–0.27)
= 123.9 (ms)
HF153B:
ta=
(JL+JM)N
95.5(0.8TMAX–TU–TF)
=
(32.2+20.0)3000
95.5(0.835.3–5.3–0.27)
= 72.3 (ms)
HF203B:
ta=
(JL+JM)N
95.5(0.8TMAX–TU–TF)
=
(32.2+47.9)3000
95.5(0.841.7–5.3–0.27)
= 90.5 (ms)
HF353B:
ta=
(JL+JM)N
95.5(0.8TMAX–TU–TF)
=
(32.2+84.7)3000
95.5(0.859.8–5.3–0.27)
= 86.9 (ms)
The motor which satisfies the conditions based on the above calculation results is HF153B or more
as shown below.
Motor type
HF103B
HF153B
HF203B
HF353B
Maximum
torque (N.m)
Total inertia
(kg.cm2)
Acceleration/
deceleration time
constant
[ms]
Judgment
21.6
35.3
41.7
59.8
46.2
52.2
80.1
116.9
123.9
72.3
90.5
86.9




(6) Selecting the appropriate motor from the continuous characteristics
Generally, the motor is judged following the typical operation pattern. Because the Z axis is the
vertical axis here, the motor will be judged by the torque during an upward stop.
The unbalance axis torque during a stop should be 60% or less of the stall torque. This is one of the
criteria for motor selection. As shown in the following table, only the HC203B or larger motor satisfies
this criterion. Based on the judgment in steps (4) to (6), the "HF203B" motor is appropriate for the Z
axis.
Motor type
Stall torque (N.m)
Torque during
stop TU+T
F
2
(kg.cm )
Load rate (%)
Judgment
HF153B
HF203B
HF353B
8.82
13.7
22.5
5.57
5.57
5.57
63.2
40.7
24.8



A2 - 11
Appendix 2. Selection
Appendix 2-3-2 Regenerative resistor selection calculation
Calculation is carried out in order with the Z axis as an example.
(1) Obtaining the generated torque
The deceleration torque required to calculate the regenerative energy is obtained.
 Upward stop deceleration torque: Tdu
The amount of deceleration torque (=amount of acceleration torque) is first calculated using
expression (2-4).
Ta=
(JL+JM)N
95.5ta
=
(32.2+47.9)3000
95.5100
= 25.2 (Nm)
The upward stop deceleration torque is obtained from the amount of deceleration torque,
unbalance torque and friction torque.
Tdu = Ta–TU–TF = 25.2-5.3-0.27 = 19.6 (Nm)
 Downward stop deceleration torque: Tdd
The downward stop deceleration torque is obtained from the amount of deceleration torque,
unbalance torque and friction torque.
Tdd = Ta+TU–TF = 25.2+5.3-0.27 = 30.2 (Nm)
 Upward torque during dropping: Ts
The upward torque during dropping is obtained from the unbalance torque and friction torque.
Ts = TU–TF = 5.3-0.27 = 5.6 (Nm)
 Constant speed travel: L
Because the constant speed travel is not clearly described in the specifications, the value used
here is 200mm taking the axis stroke, etc., into consideration.
(2) Obtaining the regenerative energy
Because the Z axis is a vertical axis, the regenerative energy is calculated separately for an upward
stop and downward stop.
 Upward stop regenerative energy: ERU
This is obtained from expression (2-7).
ERU = 5.2410-5    Tdu  N  td – Ec = 5.2410-50.8519.63000100-46 = 215.9 (J)
 Downward stop regenerative energy: ERU
This is obtained from expression (2-8).
ERD =
=
2    Ts  L
+ 5.2410-5    Tdd  N  td – Ec
∆S
20.855.62003
102
+ 5.2410-50.8530.23000100-46
= 897.2+403.5-46 = 1254.7 (J)
 Stop regenerative energy per cycle: ER
This is obtained from expression (2-9).
ER = 215.9+1254.7 = 1470.6 (J)
A2 - 12
Appendix 2. Selection
(3) Obtaining the tolerable number of positioning times
The tolerable cycle operation frequency per minute DP is calculated respectively for the standard
built-in regenerative resistor and option regenerative resistor.
Refer to expression (2-10).
 MR-RB30 (300W)
DP1 = 48 
PR
ER
= 48
300
= 9.79 (times)
1470.6
Number of positioning times = 19.6 (times)
500
= 16.3 (times)
1470.6
Number of positioning times = 32.6 (times)
 MR-RB50 (500W)
DP2 = 48 
PR
ER
= 48
Because the number of times described above is the number of cycle operations for 1 vertical axis
reciprocation, the number of positioning times is 2-fold. Thus, it is apparent that the MR-RB30
(300W) option resistor is required to satisfy the specified positioning frequency of 12 times/min.
POINT
With the vertical axis, the regenerative load tends to increase compared to the
horizontal axis, so provide an allowance when making a selection.
A2 - 13
Appendix 2. Selection
Appendix 2-3-3 Servo selection results
As a result of the servo selection calculations, the servo specifications for the Z axis of this machining
center have been determined.
Item
Servo drive unit
Servomotor
Regenerative resistor unit
Type
MDS-R-V1-80
HF203B
MR-RB30
The  in the motor type will be decided based on separate machine specifications such as motor shaft
shape and absolute position system.
The following table shows the servo selections for all axes.
Item
Axis type
Movement direction
Table support method
Table movement friction coefficient
Unit
Ball screw diameter
Ball screw length
Ball screw lead
Deceleration ratio
Primary side gear inertia
mm
mm
mm
%
kg.cm
2
kg.cm
2
X axis
Linear
Horizontal
Rolling
5
Y axis
Linear
Horizontal
Rolling
5
Z axis
Linear
Vertical
Rolling
5
50
1200
10
1

50
1000
10
1

50
1000
10
2/3
1.6


8.1
Motor/ball screw connection section inertia
Mass of moving object installed on the machine
(table, etc.)
Mass of standard-added-moving object
(workpiece, etc.)
2
kg.cm
10.0
10.0

kg
600
500
500
kg
100
100
10
Rapid traverse rate
Target acceleration/deceleration time constant
Rapid traverse positioning frequency
Motor brake
mm/min
ms
times/min
30000
120
12
Without
30000
120
12
Without
20000
100
12
With
Motor shaft conversion rotation load inertia
Motor shaft conversion linear movement load
inertia
Motor shaft conversion total load inertia
kg.cm
2
67.4
57.9
26.5
kg.cm
2
17.7
15.2
5.7
kg.cm
2
kg.cm
85.1
73.1
32.2
-fold
38.3
2.22
38.3
1.91
47.9
0.84
Motor shaft conversion unbalance torque
Motor shaft conversion friction torque
Motor shaft conversion total load torque
N.m
N.m
N.m
0.0
0.55
0.55
0.0
0.47
0.47
5.3
0.27
5.57
Motor speed during rapid traverse
Rapid traverse minimum
acceleration/deceleration time constant
Maximum torque during motor stop
Maximum load rate during motor stop
r/min
3000
3000
3000
ms
118.1
106.4
90.5
N.m
%
0.55
4.0
0.47
3.4
5.57
40.7
Secondary side gear inertia
Motor inertia
Motor shaft conversion load inertia magnification
2
Regenerative energy per braking (per cycle)
J
852.3 (total of X, Y axes)
1470.6
MR-RB30 tolerable positioning frequency
times/min
16.8
16.8
19.6
MR-RB50 tolerable positioning frequency
times/min
28.2
28.2
32.6
Servo drive unit type
Servomotor type
Regenerative resistor type
MDS-R-V2-8080
HF203
HF203
MR-RB30
A2 - 14
MDS-R-V1-80
HF203B
MR-RB30
Appendix 2. Selection
Appendix 2-4 Motor shaft conversion load torque
The calculation method for a representative load torque is shown.
Type
Mechanism
Calculation expression
TL =
V
F
)=
·(
N
2×103
F.∆S
2×103
(N.m)
TL
F

FC
F0
Z2
Linear
movement
Servomotor
W
: Load torque
: Force in axial direction of the machine
that moves linearly

: Drive system efficiency
V
: Speed of object that moves linearly
N
: Motor speed
∆S
: Object movement amount per motor
rotation
Z1, Z2 : Deceleration ratio
(N)
(mm/min)
(r/min)
(mm)
F in the above expression is obtained from the expression below
when the table is moved as shown on the left.
Z1
F = Fc +  (W . g + F0)
Fc : Force applied on axial direction of moving section (N)
(N)
F0 : Tightening force on inner surface of table guide
W : Total mass of moving section
(kg)
g : Gravitational acceleration = 9.8
(m/s2)
 : Friction coefficient
TL =
TLO
Rotary
movement
Z1
Z2
Servomotor
1 1
Z1 1
·
· TLO + TF =
·
· TLO + TF
n 
Z2 
TL
: Load torque
TLO
: Load torque on load shaft
TF
: Motor shaft conversion load friction torque

: Drive system efficiency
Z1, Z2 : Deceleration ratio
n
: Deceleration rate
(N.m)
(N.m)
(N.m)
When rising
TL = TU + TF
When lowering
TL = –TU · 2 + TF
TL : Load torque
TU : Unbalanced torque
TF : Friction torque on moving section
Servomotor
1/n
TU =
Counterweight
Vertical
movement
(W1 – W2) · g · ∆S
(W1  W2) · g
V
·( N )=
3
2  103
2  10 
 · (W1 + W2) · g · ∆S
2  103
W1 : Load mass
(kg)
(kg)
W2 : Counterweight mass

: Drive system efficiency
g
: Gravitational acceleration = 9.8
(m/s2)
V
: Speed of object that moves linearly
(mm/min)
N : Motor speed
(r/min)
∆S : Object movement amount per motor rotation (mm)

: Friction coefficient
TF =
W2
Guide
Load
W1
(N.m)
(N.m)
(N.m)
A2 - 15
Appendix 2. Selection
Appendix 2-5 Expressions for load inertia calculation
The calculation method for a representative load inertia is shown.
Type
Mechanism
Ø D 1.
Rotary
shaft is
cylinder
center
··L .
(D14 - D24) =
32
W .
2
2
8 (D1 - D2 )
Reference data
JL : Load inertia
[kg.cm2] Material densities
 : Density of cylinder material [kg.cm3] Iron
–3
3
..... 7.8010 [kg/cm ]
[cm]
L : Length of cylinder
Aluminum
D1 : Outer diameter of cylinder [cm]
–3
3
..... 2.7010 [kg/cm ]
D2 : Inner diameter of cylinder [cm]
Copper
–3
3
[kg]
W : Mass of cylinder
..... 8.9610 [kg/cm ]
Ø D 2.
Rotary
Cylinder
Calculation expression
JL =
shaft
When rotary shaft and cylinder
shaft are deviated
W
JL = 8 . (D2 + 8R2)
R
JL : Load inertia
[kg.cm2]
W : Mass of cylinder
[kg]
D : Outer diameter of cylinder
[cm]
R : Distance between rotary axis and
cylinder axis
[cm]
D
Rotary shaft
JL = W (
R
Column
b
a
a2 + b2
+ R2 )
3
b
JL
: Load inertia
W
: Mass of cylinder
a.b.R : Left diagram
a
[kg.cm2]
[kg]
[cm]
Rotary shaft
JL = W (
V
Object that
moves
linearly
JL
W
N
V
∆S
Servomotor
W
N
Suspended
object
D 2
) + JP
2
JL : Load inertia
W : Object mass
D : Diameter of pulley
JP : Inertia of pulley
W
N3
: Load inertia
[kg.cm2]
: Mass of object that moves linearly
[kg]
: Motor speed
[r/min]
: Speed of object that moves linearly
[mm/min]
: Object movement amount per motor rotation [mm]
JL = W (
D
∆S
1
V 2
·
) = W ( 20 )2
2N
10
Load B
JB
[kg.cm2]
[kg]
[cm]
[kg.cm2]
JL = J11 + (J21 + J22 + JA) ·( N2 )2 + (J31 + JB) · ( N3 )2
N1
N1
J31
J21
Converted
load
Servomotor
J22
N1
N1
J11
Load A
JA
N2
JL
: Load inertia
JA,JB
: Inertia of load A, B
J11~J31 : Inertia
N1~N3 : Each shaft’s speed
A2 - 16
[kg.cm2]
[kg.cm2]
[kg.cm2]
[r/min]
Appendix 3. Compliance with European EC Directives
Appendix 3-1 Compliance to EC Directives ...........................................................................................A3-2
Appendix 3-1-1 European EC Directives............................................................................................A3-2
Appendix 3-1-2 Cautions for EC Directive compliance ......................................................................A3-2
A3 - 1
Appendix 3. Compliance with European EC Directives
Appendix 3-1 Compliance to EC Directives
Appendix 3-1-1 European EC Directives
In the EU Community, the attachment of a CE mark (CE marking) is mandatory to indicate that the basic
safety conditions of the Machine Directives (issued Jan. 1995), EMC Directives (issued Jan. 1996) and
the Low-voltage Directives (issued Jan. 1997) are satisfied. The machines and devices in which the
servo and spindle drive are assembled are the targets for CE marking.
(1) Compliance to EMC Directives
The servo and spindle drive are components designed to be used in combination with a machine or
device. These are not directly targeted by the Directives, but a CE mark must be attached to
machines and devices in which these components are assembled. The next section "EMC
Installation Guidelines", which explains the unit installation and control panel manufacturing
method, etc., has been prepared to make compliance to the EMC Directives easier.
(2) Compliance to Low-voltage Directives
The MDS-R Series units are targeted for the Low-voltage Directives. An excerpt of the precautions
given in this specification is given below. Please read this section thoroughly before starting use.
A Self-Declaration Document has been prepared for the EMC Directives and Low-voltage
Directives. Contact Mitsubishi or your dealer when required.
Appendix 3-1-2 Cautions for EC Directive compliance
Use the Low-voltage Directive compatible parts for the servo/spindle drive and servo/spindle motor. In
addition to the items described in this instruction manual, observe the items described below.
(1) Configuration
Isolating
transformer
Circuit breaker
Electromagnetic
contactor
Unit
AC reactor
CB
MC
M
Insert a type B circuit breaker (RCD) in the power supply side of the unit.
(2) Environment
Use the units under an Overvoltage Category II and Pollution Class of 2 or less environment as
stipulated in IEC60664.
(a) To adjust the units to the Overvoltage Category II, insert an isolating transformer of the star
connection complying with EN or IEC standard in the input of the power supply unit.
(b) To adjust the units to the Pollution Class of 2, install the units in a control panel having a
structure
(IP54 or higher) in which water, oil, carbon or dust cannot enter.
Unit
Ambient
temperature
Humidity
Altitude
Motor
During
operation
Storage
During
transportation
0°C to 55°C
-15°C to 70°C
-15°C to 70°C
Ambient
temperature
90%RH or
less
1000m or
less
90%RH or
less
1000m or
less
90%RH or less
Humidity
13000m or
less
Altitude
A3 - 2
During
operation
Storage
During
transportation
0°C to 40°C
-15°C to 70°C
-15°C to 70°C
80%RH or
less
1000m or
less
90%RH or
less
1000m or
less
90%RH or
less
13000m or
less
Appendix 3. Compliance with European EC Directives
(3) Power supply
[1] Use the power supply and servo/spindle drive unit under an Overvoltage Category II as
stipulated in IEC60664.
[2] Earth the PE terminal of the units to the neutral point of the star connection.
[3] Do not omit the circuit breaker and electromagnetic contactor.
(4) Earthing
[1]
[2]
To prevent electric shocks, always connect the servo/spindle drive unit protective earth (PE)
mark) to the protective earth (PE) on the control panel.
terminal (terminal with
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
[3]
PE terminal
Select the earthing wire size in accordance with Table 1 of EN60204-1.
(5) Wiring
[1]
Always use crimp terminals with insulation tubes so that the connected wire does not contact
the neighboring terminals.
Crimp terminal
Insulation tube
Wire
[2]
Do not connect the wires directly.
[3]
Select the size of the wires for input power supply to Power Supply unit in accordance with
Table 4 and 5 of EN60204-1.
A3 - 3
Appendix 3. Compliance with European EC Directives
(6) Peripheral devices
[1]
[2]
Use EN/IEC Standards compliant parts for the circuit breaker and contactor.
Select circuit breaker with instantaneous trip function. (Trip within 30 second when over
current of 600%). Apply Annex C of EN60204-1 for sizing of the circuit breaker.
(7) Miscellaneous
[1]
[2]
[3]
[4]
Refer to the next section "EMC Installation Guidelines" for methods on complying with the
EMC Directives.
Ground the facility according to each country's requirements.
The control circuit connector () is safely separated from the main circuit ( ).
Inspect the appearance before installing the unit. Carry out a performance inspection of the
final unit, and save the inspection records.
Mitsubishi
CNC
MDS-R-V1-
SV1, 2
(CSH21)
CN1A
MDS-R-V2-
CN1A
CN1B
CN3L
Machine side
detector
CN4
MDS-A-BT-
CN1B
CN3L
CN4
Machine side detector
CN3M
Machine side detector
CN9
24V power
CN2L
CN22
CN9
CN2L
CN22
CN2M
LU
No-fuse
breaker
Contactor
CN31L
R
L1
S
L2
T
LU
LV
Regenerative
resistor unit
L3
P
CN30
Motor
LV
Motor
CN31L
LW
LW
Motor side
detector
Motor side
detector
MU
Regenerative
resistor unit
CN31M
C
MV
Motor
MW
Motor side
detector
No-fuse
breaker
Contactor
Ground
R
: Main circuit
S
: Control circuit
T
A3 - 4
Appendix 4. EMC Installation Guidelines
Appendix 4-1 Introduction ......................................................................................................................A4-2
Appendix 4-2 EMC instructions ..............................................................................................................A4-2
Appendix 4-3 EMC measures ................................................................................................................A4-3
Appendix 4-4 Measures for panel structure ...........................................................................................A4-3
Appendix 4-4-1 Measures for control panel unit.................................................................................A4-3
Appendix 4-4-2 Measures for door .....................................................................................................A4-4
Appendix 4-4-3 Measures for operation board panel .........................................................................A4-4
Appendix 4-4-4 Shielding of the power supply input section..............................................................A4-4
Appendix 4-5 Measures for various cables ............................................................................................A4-5
Appendix 4-5-1 Measures for wiring in panel .....................................................................................A4-5
Appendix 4-5-2 Measures for shield treatment...................................................................................A4-5
Appendix 4-5-3 Servo/spindle motor power cable..............................................................................A4-6
Appendix 4-5-4 Servo/spindle motor feedback cable.........................................................................A4-7
Appendix 4-6 EMC countermeasure parts .............................................................................................A4-8
Appendix 4-6-1 Shield clamp fitting ....................................................................................................A4-8
Appendix 4-6-2 Ferrite core ................................................................................................................A4-9
Appendix 4-6-3 Power line filter........................................................................................................A4-10
Appendix 4-6-4 Surge protector........................................................................................................A4-15
A4 - 1
Appendix 4. EMC Installation Guidelines
Appendix 4-1 Introduction
EMC Instructions became mandatory as of January 1, 1996. The subject products must have a CE mark
attached indicating that the product complies with the Instructions.
As the NC unit is a component designed to control machine tools, it is believed to be out of the direct
EMC Instruction subject. However, we would like to introduce the following measure plans to backup
EMC Instruction compliance of the machine tool as the NC unit is a major component of the machine
tools.
[1] Methods for installation in control/operation panel
[2] Methods of wiring cable outside of panel
[3] Introduction of countermeasure parts
Mitsubishi is carrying out tests to confirm the compliance to the EMC Standards under the environment
described in this manual. However, the level of the noise will differ according to the equipment type and
layout, control panel structure and wiring lead-in, etc. Thus, we ask that the final noise level be
confirmed by the machine manufacturer.
For measures for CNC, refer to "EMC INSTALLATION GUIDELINES" (BNP-B2230).
Appendix 4-2 EMC instructions
The EMC Instructions regulate mainly the following two withstand levels.
Emission ..... Capacity to prevent output of obstructive noise that adversely affects external
sources.
Immunity ..... Capacity not to malfunction due to obstructive noise from external sources.
The details of each level are classified as Table 1. It is assumed that the Standards and test details
required for a machine are about the same as these.
Table 1
Class
Emission
Immunity
Name
Details
Generic
Standard
EN61000-6-4
EN61800-3
(Industrial
environment)
Standards for
determining test
and measurement
Radiated noise
Electromagnetic noise radiated through the air
Conductive noise
Electromagnetic noise discharged from power line
Static electricity
electrical discharge
Example) Withstand level of discharge of
electricity charged in a human body.
IEC61000-4-2
Radiated magnetic
field
Example) Simulation of immunity from digital
wireless transmitters
IEC61000-4-3
Burst immunity
Example) Withstand level of noise from relays or
connecting/disconnecting live wires
Conductive
immunity
Example) Withstand level of noise entering
through power line, etc.
Power supply
frequency field
Example) 50/60Hz power frequency noise
Power dip
(fluctuation)
Example) Power voltage drop withstand level
Surge
Example) Withstand level of noise caused by
lightning
A4 - 2
EN61000-6-2
EN61800-3
(Industrial
environment)
EN55011
IEC61000-4-4
IEC61000-4-6
IEC61000-4-8
IEC61000-4-11
IEC61000-4-5
Appendix 4. EMC Installation Guidelines
Appendix 4-3 EMC measures
The main items relating to EMC measures include the following.
[1] Store the device in an electrically sealed metal panel.
[2] Earth all conductors that are floating electrically. (Lower the impedance.)
[3] Wire the power line away from the signal wire.
[4] Use shielded wires for the cables wired outside of the panel.
[5] Install a noise filter.
Ensure the following items to suppress noise radiated outside of the panel.
[1] Securely install the devices.
[2] Use shielded wires.
[3] Increase the panel's electrical seal. Reduce the gap and hole size.
Note that the electromagnetic noise radiated in the air is greatly affected by the clearance of the panel
and the quality of the cable shield.
Appendix 4-4 Measures for panel structure
The design of the panel is a very important factor for the EMC measures, so take the following
measures into consideration.
Operation board panel
Door
Control panel
Appendix 4-4-1 Measures for control panel unit
[1] Use metal for all materials configuring the panel.
[2] For the joining of the top plate and side plates, etc., mask the contact surface with paint, and fix with
welding or screws.
In either case, keep the joining clearance to a max. of 20cm for a better effect.
[3] Note that if the plate warps due to the screw fixing, etc., creating a clearance, noise could leak from
that place.
[4] Plate the metal plate surface (with nickel, tin) at the earthing section, such as the earthing plate.
[5] The max. tolerable hole diameter of the openings on the panel surface, such as the ventilation
holes, must be 3cm to 5cm. If the opening exceeds this size, use a measure to cover it. Note that
even when the clearance is less than 3cm to 5cm, noise may still leak if the clearance is long.
Example)
Painting mask
Hole exceeding
3cm to 5cm
Painting mask
 Provide electrical conductance
A4 - 3
Max. joining
clearance 20cm
Appendix 4. EMC Installation Guidelines
Appendix 4-4-2 Measures for door
[1] Use metal for all materials configuring the door.
[2] Use an EMI gasket or conductive packing for the contact between the door and control panel unit.
[3] The EMI gasket or conductive packing must contact at a uniform and correct position of the metal
surface of the control panel unit.
[4] The surface of the control panel unit contacted with the EMI gasket or conductive packing must
have conductance treatment.
Example) Weld (or screw) a plate that is plated (with nickel, tin).
Control panel
EMI gasket
Packing
Door
Carry out conductance treatment on
sections that the EMI gasket contacts.
[5] As a method other than the above, the control panel unit and door can be connected with a plain
braided wire. In this case, the panel and door should be contacted at as many points as possible.
Appendix 4-4-3 Measures for operation board panel
[1] Always connect the operation board and indicator with an earthing wire.
[2] If the operation board panel has a door, use an EMI gasket or conductive packing between the door
and panel to provide electrical conductance in the same manner as the control panel.
[3] Connect the operation board panel and control panel with a sufficiently thick and short earthing
wire.
Appendix 4-4-4 Shielding of the power supply input section
[1] Separate the input power supply section from other parts in the control panel so that the input
power supply cable will not be contaminated by radiated noise.
[2] Do not lead the power line through the panel without passing it through a filter.
Control panel
Control panel
Drive unit
Drive unit
Radiated
noise
Radiated
noise
Power
line filter
Breaker
Shielding
plate
Power
line filter
AC input
The power supply line noise is eliminated
by the filter, but cable contains noise again
because of the noise radiated in the control
panel.
A4 - 4
Breaker
AC input
Use a metal plate, etc., for the shielding
partition. Make sure not to create a
clearance.
Appendix 4. EMC Installation Guidelines
Appendix 4-5 Measures for various cables
The various cables act as antennas for the noise and discharge the noise externally. Thus appropriate
treatment is required to avoid the noise.
The wiring between the drive unit and motor act as an extremely powerful noise source, so apply the
following measures.
Appendix 4-5-1 Measures for wiring in panel
[1] If the cables are led unnecessarily in the panel, they will easily pick up the radiated noise. Thus,
keep the wiring length as short as possible.
Noise
Noise
Device
Device
Device
Device
Device
Device
[2] The noise from other devices will enter the cable and be discharged externally, so avoid internal
wiring near the openings.
Control panel
Control panel
Device
Device
Device
Device
Noise
[3] Connect the control device earthing terminal and earthing plate with a thick wire. Take care to the
leading of the wire.
Appendix 4-5-2 Measures for shield treatment
Common items
Use of shield clamp fittings is recommended for treating the shields. The fittings are available as options,
so order as required.
Clamp the shield at a position within 10cm from the panel lead out port.
POINT
1. When leading the cables, including the grounding wire (FG), outside of the
panel, clamp the cables near the panel outlet (recommendation: within
10cm).
2. When using a metal duct or conduit, the cables do not need to be clamped
near the panel outlet.
3. When leading cables not having shields outside the panel, follow the
instructions given for each cable. (Installation of a ferrite core, etc., may be
required.)
A4 - 5
Appendix 4. EMC Installation Guidelines
Appendix 4-5-3 Servo/spindle motor power cable
Control panel
Earth with paint mask
Control panel
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
Power cable for servo motor
Control panel
Control panel
Earth with paint mask
Conduit connector
Earth with P or U clip
Terminal box
To drive unit
Terminal box
To drive unit
Conduit
Servo motor
Shield cable
Cabtyre cable
Using shield cable
Using conduit
Power cable for spindle motor
[1] Use four wires (3-phase + earthing) for the power cable that are completely shielded and free from
breaks.
[2] Earth the shield on both the control panel side and motor chassis side.
[3] Earth the shield with a metal P clip or U clip.
(A cable clamp fitting can be used depending on the wire size.)
[4] Directly earth the shield. Do not solder the braided shield onto a wire and earth the end of the wire.
Solder
[5] When not using a shield cable for the power cable, use a conventional cabtyre cable. Use a metal
conduit outside the cable.
[6] Earth the power cable on the control panel side at the contact surface of the conduit connector and
control panel. (Mask the side wall of the control panel with paint.)
[7] Follow the treatment shown in the example for the conduit connector to earth the power cable on
the motor side. (Example: Use a clamp fitting, etc.)
Clamp fitting
To earthing
Conduit
Cannon connector
Conduit connector
A4 - 6
Appendix 4. EMC Installation Guidelines
Appendix 4-5-4 Servo/spindle motor feedback cable
Use a shield pair cable for feed back cable of the servo motor to earth on NC side (inside the control
panel.) Mounting a ferrite core directly behind the unit connector is also effective in suppressing noise.
Control panel
Cannon connector
To drive unit
Batch shield pair cable
Feed back cable for servomotor
A4 - 7
Appendix 4. EMC Installation Guidelines
Appendix 4-6 EMC countermeasure parts
Appendix 4-6-1 Shield clamp fitting
The effect can be enhanced by connecting the cable directly to the earthing plate.
Install an earthing plate near each panel's outlet (within 10cm), and press the cable against the earthing
plate with the clamp fitting.
If the cables are thin, several can be bundled and clamped together.
Securely earth the earthing plate with the frame ground. Install directly on the cabinet or connect with an
earthing wire.
Contact Mitsubishi if the earthing plate and clamp fitting set (AERSBAN- SET) is required.
Peel the cable sheath at the clamp section.
Cable
Earthing plate
Cable
Clamp fitting
(Fitting A, B)
Shield sheath
View of clamp section
 Outline drawing
Earthing plate 2-Ø5 hole
Installation hole
Clamp fitting
Note 1
M4 screw
[Unit: mm]
(Note 1) Screw hole for wiring to earthing plate in cabinet.
(Note 2) The earthing plate thickness is 1.6mm.
A
B
C
Enclosed fittings
AERSBAN-DSET
100
86
30
Clamp fitting A  2
Clamp fitting A
70
AERSBAN-ESET
70
56
-
Clamp fitting B  1
Clamp fitting B
45
CAUTION
L
Shield of spindle detector cable is not connected to FG (earth). Do not earth the
cable shield with cable clamp, etc.
A4 - 8
Appendix 4. EMC Installation Guidelines
Appendix 4-6-2 Ferrite core
A ferrite core is integrated and mounted on the plastic case.
Quick installation is possible without cutting the interface cable or power cable.
This ferrite core is effective against common mode noise, allowing measures against noise to be taken
without affecting the signal quality.
Recommended ferrite core
TDK ZCAT Series
Shape and dimensions
A
φD
B
φC
ZCAT-A type
A
E
B
φC
D
ZCAT type
Fig.1
Fig.2
ZCAT-B type
ZCAT-C type
A
E
A
Fig.3
φD
B
φC
φD
φC
B
Fig.4
[Unit: mm]
Part name
Fig.
A
B
C
D
E
Applicable
cable outline
Mass
Recommended
ferrite core
○
1
1
39
34
13
30
---
13 max.
63
ZCAT2035-0930-M (-BK)
2
35
29
13
23.5
22
10 to 13
29
ZCAT2017-0930-M (-BK)
3
21
17
9
20
28.5
9 max.
12
ZCAT2749-0430-M (-BK)
4
49
27
4.5
19.5
---
4.5 max.
26
ZCAT3035-1330 (-BK)*
*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.
A4 - 9
Appendix 4. EMC Installation Guidelines
Appendix 4-6-3 Power line filter
(1) Power line filter for 200V
HF3000A-TM Series for 200V
 Features
 3-phase 3-wire type (250V series, 500V series)
 Compliant with noise standards German Official Notice
Vfg243, EU Standards EN55011 (Class B)
 Effective for use with IGBT inverter and MOS-FET inverter.
 Easy mounting with terminal block structure, and outstanding
reliability.
 Application
 Products which must clear noise standards German Official
Notice Vfg243 and EU Standards EN55011 (Class B).
 For input of power converter using advanced high-speed
power device such as IGBT MOS-FET.

 Specifications (250V series)
Part name
HF3005A HF3010A HF3015A HF3020A HF3030A HF3040A HF3050A HF3060A HF3080A HF3100A HF3150A
-TM
-TM
-TM
-TM
-TM
-TM
-TM
-TM
-TM
-TM
-TM
250VAC
Rated voltage
Rated current
5A
10A
15A
20A
Leakage current
30A
40A
50A
60A
80A
100A
150A
1.5mA MAX 250VAC 60Hz
<Example of measuring voltage at noise terminal> ... Measured with IGBT inverter
German Official Notice Vfg243 measurement data
EU Standards EN55011 (Class B) measurement data
A4 - 10
Appendix 4. EMC Installation Guidelines
40A item
(250V Series)
(500V Series)
[Unit: mm]
Model
Dimension
A
B
C
180
170
130
260
155
140
290
190
405
220
570
230
HF3005A-TM
HF3010A-TM
HF3015A-TM
HF3020A-TM
HF3030A-TM
HF3040A-TM
HF3050A-TM
HF3060A-TM
HF3080A-TM
HF3100A-TM
HF3150A-TM
A4 - 11
170
230
210
Appendix 4. EMC Installation Guidelines
MX13 Series 3-phase high attenuation noise filter for 200V
 Features
Perfect for mounting inside control panel:
 Easy mounting and maintenance work:
Terminals are centrally located on the
front
 Complaint with NC servo and AC servo
noise:
High attenuation of 40dB at 150KHz
 Safety Standards:
UL1283, CSA22.2 No.8, EN133200
 Patent and design registration pending
 Specifications
Type
Item
1 Rated voltage (AC)
2 Rated current (AC)
Test voltage (AC for one minute across
3
terminal and case)
Insulation resistance (500VDC across
4
terminal and case)
5 Leakage current (250V, 60Hz)
6 DC resistance
7 Temperature rise
8 Working ambient temperature
9 Working ambient humidity
10 Storage ambient temperature
11 Storage ambient humidity
12 Mass (typ)
MX13030
MX13050
MX13100
3-phase 250VAC (50/60Hz)
50A
100A
30A
MX13150
150A
2500VAC (100mA) at 25°C, 70% RH
100M min. at 25°C, 70% RH
3.5 mA max.
8 mA max.
30 m max.
11 m max.
5.5 m max.
3.5 m max.
30°C max
–25°C to +85°C
30% to 95% RH (non condensing)
–40°C to +85°C
10% to 95% RH (non condensing)
2.8kg
3.9kg
11.5kg
16kg
(Note) This is the value at Ta50°C.
Refer to the following output derating for Ta>50°C.
Contact: Densei-lambda Co., Ltd. Telephone: 03-3447-4411 (+81-3-3447-4411)
Fax: 03-3447-7784 (+81-3-3447-7784)
http://www.densei-lambda.com
A4 - 12
Appendix 4. EMC Installation Guidelines
 Example of using MX13 Series
As with the servo unit, the terminals are arranged on the front enabling ideal wire lead-out.
Refer to the following figure for details.
Wire to 3-phase power supply
Noise filter input terminal
200
380
Noise filter (MX13 Series)
Noise filter output terminal
Servo unit
Servo input terminal
Wire from noise filter to servo

Noise terminal voltage
[dBuV]
Noise terminal voltage
[dBuV]
 Example of noise terminal voltage attenuation

EMI data for independent control panel
(with six-axis servo unit mounted)
EMI data for control panel + noise filter
(MX13030)


Current (%)
 Output derating
Ambient temperature Ta (°C)
A4 - 13
Appendix 4. EMC Installation Guidelines
 Outline dimension drawings
 MX13030, MX13050


























 MX13100, MX13150
[Unit: mm]
(Installation hole)
Model
MX13030
MX13050
A
66
81
B
45
55
C
10.5
13
D
50
67
E
13
16
F
10
13
G
177
179
H
M4 screw
M6 screw
I
70
85
J
M4 screw
M6 screw
K
195
200
Model
MX13100
MX13150
A
130
165
B
90
110
[Unit: mm]
(Installation hole)
(Installation hole)
A4 - 14
C
20
27.5
D
115
150.5
E
37.5
57.5
F
18
23
G
174
176
H
M6 screw
M8 screw
I
21
27
J
37.5
56.5
K
115
149.5
L
276
284
Appendix 4. EMC Installation Guidelines
Appendix 4-6-4 Surge protector
Insert a surge protector in the power input section to prevent damage to the control panel caused by the
surge (lightning or sparks, etc.) applied on the AC power line.
Use a surge protector that satisfies the following electrical specifications.
(1) Surge protector for 200V
200V R･A･V BYZ Series (for protection between lines)
Part name
Circuit
voltage
50/60Hz
Maximum
tolerable
circuit voltage
Clamp
voltage
Surge
withstand
level
8/20 S
Surge
withstand
voltage
1.2/50 S
RAV-781BYZ-2
3AC 250V
300V
783V±10%
2500A
20kV
Electrostatic
Service
capacity
temperature
75pF
-20 to 70°C
(Note) Refer to the manufacturer's catalog for details on the surge protector's characteristics and specifications.
Circuit diagram
(1) Black (2) Black (3) Black
28.5±1
28.5±1
5.5±1
5.5±1
11±1
11±1
Outline dimension drawings
28±1
28±1
4.5±0.5
200±
30
200±0300
UL-1015 AWG16
41±1
41±1
[Unit: mm]
200V R･A･V BXZ Series (for protection between lines)
Part name
Circuit
voltage
50/60Hz
Maximum
tolerable
circuit voltage
Clamp
voltage
Surge
withstand
level
8/20 S
Surge
withstand
voltage
1.2/50 S
RAV-781BXZ-4
3AC 250V
300V
1700V±10%
2500A
2kV
Electrostatic
Service
capacity
temperature
75pF
(Note) Refer to the manufacturer's catalog for details on the surge protector's characteristics and specifications.
Circuit diagram
(1) Black (2) Black
(3) Black
28.5±1
28.5±1
5.5±1
5.5±1
11±1
11±1
Outline dimension drawings
28±1
28±1
4.5±0.5
4.5±0.5
200±
30
00
200±30
UL-1015 AWG16
41±1
41±1
[Unit: mm]
A4 - 15
U
Green
-20 to 70°C
Appendix 4. EMC Installation Guidelines
(2) Surge protector for both between phases and between phase and earth
■ Features
This surge protector can protect both between phases and between phase and earth.
This contains a fuse and has windows to check malfunction or device degradation.
■ Specifications
LT-C Series 200V
Part name
Circuit
voltage
50/60Hz
Maximum
tolerable
circuit
voltage
LT-C32G801WS
3AC
250Vrms
275Vrms
AC
operation
start
voltage
(between
line and earth)
AC
operation
start
voltage
(between
lines)
Voltage
protection
level
(Up)
Nominal
discharge
current
(8/20μs)
Maximum
discharge
current
(8/20μs)
560V±20％
410V±20％
1.5kV
2500A
5000A
(Note) Refer to the manufacturer's catalog for details on the surge protector's characteristics and specifications, etc.
LT-C Series 500V
Part name
Circuit
voltage
50/60Hz
Maximum
tolerable
circuit
voltage
LT-C35G102WS
3AC
500Vrms
550Vrms
AC
operation
start
voltage
(between
line and earth)
AC
operation
start
voltage
(between
lines)
Voltage
protection
level
(Up)
Nominal
discharge
current
(8/20μs)
Maximum
discharge
current
(8/20μs)
700V±20％
800V±20％
2.0kV
2500A
5000A
(Note) Refer to the manufacturer's catalog for details on the surge protector's characteristics and specifications, etc.
■ Outline dimensions
Outline dimension drawings
Circuit diagram
Status indicator
Black
Wire (line)
Wire (earth)
A4 - 16
Black
Green
Black
Appendix 4. EMC Installation Guidelines
(3) Example of surge protector installation
An example of installing the surge protector in the machine control panel is shown below.
A short-circuit fault will occur in the surge protector if a surge exceeding the tolerance is applied.
Thus, install a circuit protection breaker in the stage before the surge protector. Note that almost no
current flows to the surge protector during normal use, so a breaker installed as the circuit
protection for another device can be used for the surge protector.
Transformer
Breaker
NC unit
Other device
(panel power
supply, etc.)
Contactor
Factory
power
Panel earth
leakage
breaker
Control panel
(relay panel,
etc.)
MC
AC reactor
Breaker
Input
power
Power supply
unit
and
drive unit
A
Other device
(panel power
supply, etc.)
Breaker
(1) Surge protector
(Protection across phases)
(2) Surge protector
(Protection across each phase's grounding)
B
Grounding
Grounding plate
Installing the surge absorber
CAUTION
1. The wires from the surge protector should be connected without extensions.
2. If the surge protector cannot be installed just with the enclosed wires, keep
the wiring length of A and B to 2m or less. If the wires are long, the surge
protector's performance may drop and inhibit protection of the devices in the
panel.
3. Surge protector to be selected varies depending on input power voltage.
A4 - 17
A4 - 18
Appendix 5. Instruction Manual for Compliance with
UL/c-UL Standard
Appendix 5-1 Operation surrounding air ambient temperature ..............................................................A5-2
Appendix 5-2 Notes for AC servo system ..............................................................................................A5-2
Appendix 5-2-1 General Precaution ...................................................................................................A5-2
Appendix 5-2-2 Installation .................................................................................................................A5-2
Appendix 5-2-3 Short-circuit ratings ...................................................................................................A5-2
Appendix 5-2-4 Peripheral devices ....................................................................................................A5-2
Appendix 5-2-5 Field Wiring Reference Table for Input and Output ..................................................A5-2
Appendix 5-2-6 Motor Over Load Protection......................................................................................A5-2
Appendix 5-2-7 Flange of servo motor ...............................................................................................A5-2
Appendix 5-3 AC Servo/Spindle System Connection ............................................................................A5-3
A5 - 1
Appendix 5 Instruction Manual for Compliance with UL/c-UL Standard
Instruction Manual for Compliance with UL/c-UL Standard
(MDS-R Series)
The instructions of UL/c-UL listed products are 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.
Appendix 5-2-5 Field Wiring Reference Table for Input and Output
Use the Tyco Electronics Corporation "Dynamic Series" connectors to
wire the input and output terminals of MDS-R Series. Crimp the pins with
the crimping tool recommended by the manufacturer.
This wire size is each unit maximum rating. The selection method is
indicated in each specification manual. (See Manual: No. BNP-C3045)
(1) Input
CN30 (L1, L2, L3)
Appendix 5-1 Operation surrounding air ambient
temperature
Capacity [kW]
Wire Size (AWG)
/Temp Rating Note 1
Earth Wire Size
(AWG)
The recognized operation ambient temperatures of each unit 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.
Operation ambient
Classification
Unit name
temperature
AC Servo/
Power supply unit
0~55C
Spindle system
Servo, Spindle drive unit
0~55C
Option unit, Battery unit
0~55C
Servo motor, Spindle motor 0~40C
Capacity [kW]
Wire Size (AWG)
/Temp Rating Note 1
Earth Wire Size
(AWG)
Capacity [kW]
Wire Size (AWG)
/Temp Rating Note 1
Earth Wire Size
(AWG)
Appendix 5-2 Notes for AC servo system
Appendix 5-2-1 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.
Appendix 5-2-2 Installation
MDS-R 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-R
Series combination. And also, design the enclosure so that the ambient
temperature in the enclosure is 55C (131F) or less, refer to the
specifications manual.
Appendix 5-2-3 Short-circuit ratings
Suitable for use in a circuit capable of delivering not more than 100 kA
rms symmetrical amperes, 500 volts maximum.
Appendix 5-2-4 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
Fuse
Magnetic
Applicable
Circuit Breaker
Class K5
Contactor (AC3)
power supply unit
MDS-R-V1-20
NF30 15A
30A
S-N12
MDS-R-V1-40
NF30 20A
40A
S-N18
MDS-R-V1-60
NF30 30A
60A
S-N20
MDS-R-V1-80
NF30 30A
60A
S-N25
MDS-R-V2-2020
NF30 20A
40A
S-N18
MDS-R-V2-4040
NF30 30A
60A
S-N20
MDS-R-V2-6040
NF30 30A
80A
S-N20
MDS-R-V2-6060
NF50 40A
80A
S-N25
MDS-R-V2-8040
NF50 40A
80A
S-N25
MDS-R-V2-8060
NF50 40A
80A
S-N25
MDS-R-V2-8080
NF50 40A
80A
S-N25
<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.
20
40
60
80
#14/75C #14/75C #12/75C
#12/75C
#14/75C #14/75C #12/75C
#12/75C
2020
4040
6040
6060
#14/75C #14/75C #12/75C #12/75C
#14/75C #14/75C #12/75C #12/75C
8040
8060
8080
#12/75C #10/75C #10/75C
#12/75C #10/75C #10/75C
(2) Output
CN31L, CN31M (U, V, W)
Capacity [kW]
Wire Size (AWG)
/Temp Rating Note 1
Earth Wire Size
(AWG)
20
40
60
80
#14/75C #14/75C #12/75C #12/75C
#14/75C #14/75C #12/75C #12/75C
Appendix 5-2-6 Motor Over Load Protection
Servo drive unit MDS-R-V1 and V2 series have each solid-state motor
over load protection. (The motor full load current is the same as rated
current.)
When adjusting the level of motor over load, set the parameter as
follows.
MDS-R-V1/V2
Parameter Parameter Parameter
No.
abbr.
name
SV021
OLT
Overload
time
constant
SV022
OLL
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
setting
range
value
60s
1 to
300s
150%
1 to
500%
Appendix 5-2-7 Flange of servo motor
Mount the servo motor on a flange which has the following size or
produces an equivalent or higher heat dissipation effect:
Servo Motor
Flange size
(mm)
HF, HC
HC-MF, HA-FF
150x150x6
--<100 W
250x250x6
--200, 300 W
250x250x12
0.5 to 1.5 kW
400, 600 W
300x300x12
--750 W
300x300x20
2.0 to 3.5 kW
---
A5 - 2
Appendix 5 Instruction Manual for Compliance with UL/c-UL Standard
Appendix 5-3 AC Servo/Spindle System Connection
MDS-R-V1/V2
CN1A CN1B
From NC
Regarding the connection of
NC, see the NC manual book.
CN4
Battery unit
or
Terminator A-TM
CN2L
Power supply
CN2M
CN22
CB Note: It recommends installing.
AC/DC
External
emergency stop
CN9
CN31M
CN31L
Relay
CN30
MC
Contactor
Refer to specification manual
BNP-C3045
Fuse
or
circuit breaker
3 phases
200 to 230Vac
Input
Enclosure side
Machine side
Servo motor
Detector
Servo motor
Detector
A5 - 3
A5 - 4
Appendix 6. Transportation Restrictions for Lithium
Batteries
Appendix 6-1 Restriction for packing......................................................................................................A6-2
Appendix 6-1-1 Target products .........................................................................................................A6-2
Appendix 6-1-2 Handling by user .......................................................................................................A6-3
Appendix 6-1-3 Reference ..................................................................................................................A6-4
Appendix 6-2 Issuing domestic law of the United State for primary lithium battery transportation ........A6-5
Appendix 6-2-1 Outline of regulation ..................................................................................................A6-5
Appendix 6-2-2 Target products .........................................................................................................A6-5
Appendix 6-2-3 Handling by user .......................................................................................................A6-5
Appendix 6-2-4 Reference ..................................................................................................................A6-5
Appendix 6-3 Example of hazardous goods declaration list ..................................................................A6-6
A6 - 1
Appendix 6 Transportation Restrictions for Lithium Batteries
Appendix 6-1 Restriction for packing
The United Nations Dangerous Goods Regulations "Article 12" became effective from 2003. When
transporting lithium batteries with means subject to the UN Regulations, such as by air transport,
measures corresponding to the Regulations must be taken. The UN Regulations classify the batteries as
dangerous goods (Class 9) or not dangerous goods according to the lithium content.
To ensure safety during transportation, lithium batteries (battery unit) directly exported from Mitsubishi
are packaged in a dedicated container (UN package) for which safety has been confirmed. When the
customer is transporting these products with means subject to the UN Regulations, such as air transport,
the shipper must follow the details explained in the section "Appendix 6-1-2 Handling by user".
Appendix 6-1-1 Target products
The following Mitsubishi NC products use lithium batteries. The UN Regulations classify the batteries as
dangerous goods (Class 9) or not dangerous goods according to the lithium content. If the batteries
subjected to hazardous materials are incorporated in a device and shipped, a dedicated packaging (UN
packaging) is not required. However, the item must be packed and shipped following the Packing
Instruction 912 specified in the IATA DGR (Dangerous Goods Regulation) book.
Also, all lithium battery products incorporated in a machinery or device must be fixed securely in
accordance with the Packing Instruction 900 and shipped with protection in a way as to prevent damage
or short-circuits.
(1) Products requiring dedicated packaging (Materials falling under Class 9)
Mitsubishi type
(Type for
arrangement)
MDS-A-BT-4
MDS-A-BT-6
MDS-A-BT-8
FCU6-BT4-D1
CR23500SE-CJ5
(Note1)
Battery type
ER6-B4-11
ER6-B6-11
ER6-B8-11
Combination of
ER6-B4D-11 and ER6
CR23500SE-CJ5
Lithium
metal
content
Application
Battery class
2.6g
3.9g
5.2g
For servo
For servo
For servo
Battery
2.6g+0.65g
For NC/ servo
1.52g
For NC(M500)
Outline dimension
drawing
For each outline
dimension drawing of
servo, refer to the
section “4-3 Battery and
terminator option”.
Battery cell
(2) Products not requiring dedicated packaging (Materials not falling under Class 9)
Mitsubishi type
(Type for
arrangement)
MDS-A-BT-2
FCU6-BTBOX Series
CR2032
(for built-in battery)
CR2450
(for built-in battery)
ER6, ER6V series
(for built-in battery)
A6BAT(MR-BAT)
Q6BAT
MR-J3BAT
Battery type
Lithium metal
content
Application
Battery class
ER6-B2-12
2CR5
1.3g
1.96g
For servo
For NC/ servo
Battery
CR2032
0.067g
For NC
CR2450
0.173g
For NC
ER6, ER6V
0.7g
For NC/servo
ER17330V
Q6BAT
ER6V
0.48g
0.49g
0.65g
For servo
For NC
For servo
Battery cell
Outline dimension
drawing
For each outline
dimension drawing of
servo, refer to the
section “4-3 Battery and
terminator option”.
(Note 1) When CR23500SE-CJ5 is incorporated in the unit, this battery is not subject to the regulation.
(Note 2) Dedicated packaging is required if the shipment exceeds 12 batteries/24 battery cells. Package the batteries so that this
limit is not exceeded.
(Note 3) The battery units labeled as "FCUA-" instead of "MDS-A-" also use the same battery.
(Note 4) Always use the cell battery (A6BAT) in combination with the dedicated case (MDS-BTCASE). Maximum 8 (either 2, 4, 6
or 8) cell batteries (A6BAT) can be installed to the dedicated case (MDS-BTCASE).
Example) Rating nameplate
for battery units
Mitsubishi type
Safety class
Battery manufacturer type
Lithium metal content
A6 - 2
Appendix 6 Transportation Restrictions for Lithium Batteries
Appendix 6-1-2 Handling by user
The following technical opinion is solely Mitsubishi's opinion. The shipper must confirm the latest IATA
Dangerous Goods Regulations, IMDG Codes and laws and orders of the corresponding export country.
These should be checked by the company commissioned for the actual transportation.
IATA
IMDG Code
: International Air Transport Association
: A uniform international code for the transport of dangerous goods by seas
determined by IMO (International Maritime Organization).
■ When shipping isolated lithium battery products (Packing Instruction 903)
(1) Reshipping in Mitsubishi UN packaging
Mitsubishi packing applies the isolated battery's safety test and packaging specifications
complying with the UN Regulations (Packing Instruction 903).
The user only needs to add the following details before shipping. (Consult with the shipping
company for details.)
(a) Indication of container usage mark on exterior box (Label with following details
recorded.)
 Proper shipping name (Lithium batteries)
 UN NO. (UN3090 for isolated battery, UN3091 for battery incorporated in a device or
included)
 Shipper and consignee's address and name
Example of completing form
Shipper information
Consignee information
(b) Preparation of shipping documents (Declaration of dangerous goods)
(Refer to the section "Appendix 6-3 Example of hazardous goods declaration list")
(2) When packaged by user
The user must follow UN Regulations when packing, preparing for shipping and preparing the
indications, etc.
(a) Packing a lithium battery falling under Class 9
 Consult with The Ship Equipment Inspection Society of Japan for details on packaging.
 Prepare for shipping as explained in "(1) Reshipping in Mitsubishi UN packaging".
The Ship Equipment Inspection Society of Japan
Headquarters Telephone: 03-3261-6611 Fax: 03-3261-6979
(b) Packing a lithium battery not falling under Class 9
 Cells and batteries are separated so as to prevent short circuits and are stored in a strong
outer packaging. (12 or less batteries, 24 or less cells.)
 Prepare for the certificates or test results showing compliance to battery safety test.
The safety test results have been obtained from the battery manufacturer. (Consult with
Mitsubishi when the safety test results are required.)
 Prepare for shipping as explained in "(1) Reshipping in Mitsubishi UN packaging".
A6 - 3
Appendix 6 Transportation Restrictions for Lithium Batteries
■ When shipping lithium batteries upon incorporating in a machinery or device
(Packing Instruction 900)
Pack and prepare for shipping the item in accordance with the Packing Instruction 900 specified in
the IATA DGR (Dangerous Goods Regulation) book. (Securely fix the batteries that comply with the
UN Manual of Tests and Criteria to a machinery or device, and protect in a way as to prevent damage
or short-circuit.)
Note that all the lithium batteries provided by Mitsubishi have cleared the UN recommended safety
test; fixing the battery units or cable wirings securely to the machinery or device will be the user’s
responsibility.
Check with your shipping company for details on packing and transportation.
■ When shipping a device with lithium batteries incorporated (Packing Instruction 912)
A device incorporating lithium batteries does not require a dedicated packaging (UN packaging).
However, the item must be packed, prepared for shipping and labeled following the Packing
Instruction 912 specified in the IATA DGR (Dangerous Goods Regulation) book.
Check with your shipping company for details on packing and transportation.
The outline of the Packing Instruction 912 is as follows:
 All the items in the packing instructions for shipping the isolated lithium battery products
(Packing Instruction 903) must be satisfied, except for the items related to container,
short-circuit, and fixation.
 A device incorporating lithium batteries has to be stored in a strong water-proofed outer
packaging.
 To prevent an accidental movement during shipment, securely store the item in an outer
packaging.
 Lithium content per device should be not more than 12g for cell and 500g for battery.
 Lithium battery mass per device should be not more than 5kg.
Appendix 6-1-3 Reference
Refer to the following materials for details on the regulations and responses.
Guidelines regarding transportation of lithium batteries and lithium ion batteries (Edition 2)
     Battery Association of Japan
A6 - 4
Appendix 6 Transportation Restrictions for Lithium Batteries
Appendix 6-2 Issuing domestic law of the United State for primary lithium battery
transportation
Federal Aviation Administration (FAA) and Research and Special Programs Administration (RSPA)
announced an additional regulation (interim final rule) for the primary lithium batteries transportation
restrictions item in "Federal Register" on Dec.15 2004. This regulation became effective from Dec.29,
2004.
This law is a domestic law of the United States, however if also applies to the domestic flight and
international flight departing from or arriving in the United States. Therefore, when transporting lithium
batteries to the United State, or within the United State, the shipper must take measures required to
transport lithium batteries.
Refer to the Federal Register and the code of Federal Regulation ("Appendix 6-2-4 Reference") for
details.
Appendix 6-2-1 Outline of regulation
(1) Transporting primary lithium battery by passenger aircraft is forbidden.
 Excluding primary lithium battery for personal use in a carry-on or checked luggage
(Lithium metal content should be not more than 5g for cell and 25g for battery. For details on the
lithium metal content, refer to "Appendix 6-1-1 Target products".)
(2) When transporting primary lithium battery by cargo aircraft, indicate that transportation by
passenger aircraft is forbidden on the exterior box.
Appendix 6-2-2 Target products
All NC products for which the lithium batteries are used are subject to the regulation.
(Refer to the table "Appendix 6-1-1 Target products".)
Appendix 6-2-3 Handling by user
The "Appendix 6-2-1 Outline of regulation" described above is solely Mitsubishi's opinion. The shipper
must confirm orders of "Appendix 6-2-4 Reference" described below for transportation method
corresponding the regulation. Actually, these should be checked by the company commissioned for the
actual lithium buttery transportation.
(1) Indication of exterior box
When transporting primary lithium battery by cargo aircraft, indicate that transportation by
passenger aircraft is forbidden on the exterior box.
Display example
PRIMARY LITHIUM BATTERIES
FORBIDDEN FOR TRANSPORT ABOARD PASSENGER AIRCRAFT.
 The character color must be displayed with contrast. (black characters against white background,
black characters against yellow background, etc.)
 The height (size) of characters to be displayed is prescribed depending on the packaging mass.
When the total mass is over 30kg:
at least 12mm
When the total mass is less than 30kg: at least 6mm
Appendix 6-2-4 Reference
(1) Federal Register (Docket No. RSPA-2004-19884 (HM-224E) ) PDF format
http://www.regulations.gov/fredpdfs/05-11765.pdf
(2) 49CFR (Code of Federal Regulation, Title49) (173.185 Lithium batteries and cells.)
http://www.access.gpo.gov/nara/cfr/waisidx_00/49cfr173_00.html
(3) DOT regulation body (Department of Transportation)
http://hazmat.dot.gov/regs/rules/final/69fr/docs/69fr-75207.pdf
A6 - 5
Appendix 6 Transportation Restrictions for Lithium Batteries
Appendix 6-3 Example of hazardous goods declaration list
This section describes a general example of the hazardous goods declaration list. For details, please
inquire each transportation company.
This will be applied only to the batteries described in "Appendix 6-1 Restriction for Packing".
(1) Outline of hazard
Principal hazard and effect
Specific hazard
Environmental effect
Possible state of emergency
Not found.
As the chemical substance is stored in a sealed metal container, the battery itself is
not hazardous. But when the internal lithium metal attaches to human skin, it causes
a chemical skin burn. As a reaction of lithium with water, it may ignite or forms
flammable hydrogen gas.
Not found.
Damages or short-circuits may occur due to external mechanical or electrical
pressures.
(2) First-aid measure
Inhalation
If a person inhales the vapor of the substance due to the battery damage, move the
person immediately to fresh air. If the person feels sick, consult a doctor
immediately.
If the content of the battery attaches to human skin, wash off immediately with water
and soap. If skin irritation persists, consult a doctor.
In case of contact with eyes due to the battery damage, rinse immediately with a
plenty of water for at least 15 minutes and then consult a doctor.
If swallowed, consult a doctor immediately.
Skin contact
Eye contact
Ingestion
(3) Fire-fighting measure
Appropriate fire-extinguisher
Special fire-fighting measure
Protectors against fire
Dry sand, dry chemical, graphite powder or carbon dioxide gas
Keep the battery away from the fireplace to prevent fire spreading.
Fire-protection gloves, eye/face protector (face mask), body/skin protective cloth
(4) Measure for leakage
Environmental precaution
How to remove
Dispose of them immediately because strong odors are produced when left for a long
time.
Get them absorbed into dry sand and then collect the sand in an empty container.
(5) Handling and storage
Cautions for safety
handling
Handling
Storage
Appropriate storage
condition
Material to avoid
Do not peel the external tube or damage it.
Do not dispose of the battery in fire or expose it to heat.
Do not immerse the battery in water or get it wet.
Do not throw the battery.
Do not disassemble, modify or transform the battery.
Do not short-circuit the battery.
Avoid direct sunlight, high temperature and high humidity.
o
(Recommended temp. range: +5 to +35 C, humidity: 70%RH or less)
Flammable or conductive material (Metal: may cause a short-circuit)
(6) Physical/chemical properties
Appearance
Physical form
Shape
Smell
pH
Boiling point/Boiling
range,
Melting point,
Decomposition
temperature,
Flash point
Solid
Cylinder type
Odorless
Not applicable (insoluble)
No information
A6 - 6
Appendix 6 Transportation Restrictions for Lithium Batteries
(7)
Stability and reactivity
Stability
Condition to avoid
Hazardous decomposition
products
Stable under normal handling condition.
Do not mix multiple batteries with their terminals uninsulated. This may cause a
short-circuit, resulting in heating, bursting or ignition.
Irritative or toxic gas is emitted in the case of fire.
(8) Toxicological information
As the chemical substance is stored in a sealed metal container, the battery has no harmfulness.
Just for reference, the table below describes the main substance of the battery.
(Lithium metal)
Acute toxicity
Local effect
No information
Corrosive action in case of skin contact
(9) Ecological information
Mobility,
Persistence/Decomposability,
Bio-accumulation potential,
Ecological toxicity
Not found.
(10) Caution for disposal
Dispose of the battery following local laws or regulations.
Pack the battery properly to prevent a short-circuit and avoid contact with water.
A6 - 7
A6 - 8
Appendix 7. Compliance with Restriction in China
Appendix 7-1 Compliance with China Compulsory Product Certification System .................................A7-2
Appendix 7-1-1 Outline of China Compulsory Product Certification System......................................A7-2
Appendix 7-1-2 First Catalogue of Products subject to Compulsory Product Certification ................A7-3
Appendix 7-1-3 Precautions for Shipping Products............................................................................A7-3
Appendix 7-1-4 Application for Exemption..........................................................................................A7-4
Appendix 7-1-5 Mitsubishi NC Product Subject to/Not Subject to CCC Certification .........................A7-5
Appendix 7-2 Response to the China environment restrictions .............................................................A7-6
Appendix 7-2-1 Outline of the law on the pollution prevention and control for electronic information
products ....................................................................................................................A7-6
Appendix 7-2-2 Response to the drive product for Mitsubishi NC......................................................A7-6
Appendix 7-2-3 Indication based on "Pollution suppression marking request for electronic
information product" ..................................................................................................A7-7
A7 - 1
Appendix 7 Compliance with Restriction in China
Appendix 7-1 Compliance with China Compulsory Product Certification System
Appendix 7-1-1 Outline of China Compulsory Product Certification System
The Safety Certification enforced in China included the "CCIB Certification (certification system based
on the "Law of the People’s Republic of China on Import and Export Commodity Inspection" and
"Regulations on Implementation of the Import Commodities Subject to the Safety and Quality Licensing
System" enforced by the State Administration of Import and Export Commodity Inspection (SACI) on
import/export commodities, and the "CCEE Certification" (certification system based on "Product Quality
Certification Management Ordinance" set forth by the China Commission for Conformity Certification of
Electrical Equipment (CCEE) on commodities distributed through China.
CCIB Certification and CCEE Certification were merged when China joined WTO (November 2001), and
were replaced by the "China Compulsory Product Certification" (hereinafter, CCC Certification)
monitored by the State General Administration of Quality Supervision, Inspection and Quarantine
(AQSIQ) of the People's Republic of China.
The CCC Certification system was partially enforced from May 2002, and was fully enforced from May
2003. Target commodities which do not have CCC Certification cannot be imported to China or sold in
China. (Indication of the CCIB or CCEE mark has been eliminated from May 1, 2003.)
CCIB : China Commodity Inspection Bureau
CCEE : China Commission for Conformity Certification of Electrical Equipment
CCC : China Compulsory Certification
A7 - 2
Appendix 7 Compliance with Restriction in China
Appendix 7-1-2 First Catalogue of Products subject to Compulsory Product Certification
The First Catalogue of Products subject to Compulsory Product Certification, covering 132 items (19
categories) based on the CCIB products (104 items), CCEE products (107 items) and CEMC products
(Compulsory EMC Certification products) was designated on December 3, 2001.
Class
Product catalogue
Class
1
2
3
Electric Wires and Cables (5 items)
Switches, Installation protective and connection devices (6 items)
Low-voltage Electrical Apparatus (9 items)
Compulsory Certification
Regulations
Circuit-breakers (including RCCB, RCBO, MCB)
Low-voltage switchers
(disconnectors, switch-disconnectors, and
fuse-combination devices.
5
6
7
Other protective equipment for circuits
(Current limiting devices, circuits protective
devices, over current protective devices,
thermal protectors, over load relays,
low-voltage electromechanical contactors and
motor starters)
CNCA -01C -011: 2001
Relays (36V < Voltage  1000V)
(Switch and Control
Other switches
Equipment)
(Switches for appliances, vacuum switches,
CNCA -01C -012: 2001
pressure switches, proximity switches, foot
(Installation Protective
switches, thermal sensitive switches, hydraulic
Equipment)
switches, push-button switches, position limit
switches, micro-gap switches, temperature
sensitive switches, travel switches,
change-over switches, auto-change-over
switches, knife switches)
Other devices
(contactors, motor starters, indicator lights,
auxiliary contact assemblies, master
controllers, A.C. Semiconductor motor
controllers and starters)
Earth leakage protectors
Fuses
Low-voltage switchgear
4
Small power motors (1 item)
(Note)
(Note)
8
9
10
11
12
13
14
15
16
17
18
19
Product catalogue
Electric tools
Welding machines
Household and similar
electrical appliances
Audio and video equipment
Information technology
equipment
Lighting apparatus
Telecommunication terminal
equipment
Motor vehicles and Safety
Parts
Tyres
Safety Glasses
Agricultural Machinery
(16 items)
(15 items)
(18 items)
Latex Products
Medical Devices
Fire Fighting Equipment
Detectors for Intruder Alarm
Systems
(1 item)
(7 items)
(3 items)
(1 item)
(16 items)
(12 items)
(2 items)
(9 items)
(4 items)
(4 items)
(3 items)
(1 item)
CNCA-01C-010:2001
(Low-voltage
switchgear)
CNCA-01C-013:2001
(Small power motors)
When the servomotor or the spindle motor of which output is 1.1kW or less (at 1500 r/min) is used,
NC could have been considered as a small power motor. However, CQC (China Quality
Certification Center) judged it is not.
Appendix 7-1-3 Precautions for Shipping Products
As indicated in Appendix 7-1-2, NC products are not included in the First Catalogue of Products subject
to Compulsory Product Certification. However, the Customs Officer in China may judge that the product
is subject to CCC Certification just based on the HS Code.Note 2
NC cannot be imported if its HS code is used for the product subject to CCC Certification. Thus, the
importer must apply for a "Certification of Exemption" with CNCA.Note 3 Refer to Appendix 7-1-4.
Application for Exemption for details on applying for an exemption.
(Note 1) The First Catalogue of Products subject to Compulsory Product Certification (Target HS
Codes) can be confirmed at http://www.cqc.com.cn/Center/html/60gonggao.htm.
(Note 2) HS Code: Internationally unified code (up to 6 digits) assigned to each product and used for
customs.
(Note 3) CNCA: Certification and Accreditation Administration of People's Republic of China
(Management and monitoring of certification duties)
A7 - 3
Appendix 7 Compliance with Restriction in China
Appendix 7-1-4 Application for Exemption
Following "Announcement 8" issued by the Certification and Accreditation Administration of the People's
Republic of China (CNCA) in May 2002, a range of products for which application for CCC Certification
is not required or which are exempt from CCC marking has been approved for special circumstances in
production, export and management activities.
An application must be submitted together with materials which prove that the corresponding product
complies with the exemption conditions. Upon approval, a "Certification of Exemption" shall be issued.
<Range of products for which application is exempt>
Range of products not (a) Items brought into China for the personal use by the foreign embassies, consulates, business
requiring application
agencies and visitors
(Excluding products purchased from Service Company for Exporters)
(b) Products presented on a government-to-government basis, presents
(c) Exhibition products (products not for sale)
(d) Special purpose products (e.g., for military use)
Products not requiring application for CCC Certification are not required to be CCC marked or
certified.
Range of products for
which application is
exempted
(e) Products imported or manufactured for research and development and testing purposes
(f) Products shipped into China for integration into other equipment destined for 100% re-export to a
destination outside of China
(g) Products for 100% export according to a foreign trade contract (Excluding when selling partially in
China or re-importing into China for sales)
(h) Components used for the evaluation of an imported product line
(i) The products imported or manufactured for the service (service and repairs) to the end-user. Or the
spare parts for the service (service and repairs) of discontinued products.
(j) Products imported or manufactured for research and development, testing or measurements
(k) Other special situations
The following documents must be prepared to apply for an exemption of the "Import Commodity Safety
and Quality License" and "CCC Certification".
(1) Formal Application
(a)
(b)
(c)
(d)
Relevant introduction and description of the company.
The characteristics of the products to be exempted.
The reason for exemption and its evidence (ex. customs handbook).
The name, trademark, quantity, model and specification of the products to be exempted.
(Attach a detail listing of these items for a large quantity of products. When importing materials
for processing and repair equipments, submit a list of the importing materials for each month
and repair equipments.)
(e) Guarantee for the safety of the products; self-declaration to be responsible for the safety during
the manufacturing and use.
(f) To be responsible for the authenticity and legitimacy of the submitted documents. Commitment
to assist CNCA to investigate on the authenticity of the documents (When CNCA finds it
necessary to investigate on the authenticity of the documents.)
(2) Business license of the company (Copy)
(3) Product compliance declaration
Indicate which standard’s requirements the products comply with or submit a test report (Copy is
acceptable. The report can be prepared in a manufacturer’s laboratory either at home or overseas.)
(4) Import license (Only if an import license is needed for this product. Copy is acceptable.)
(5) Quota certificate (Only if a quota certificate is needed for this product. Copy is acceptable.)
(6) Commercial contract (Copy is acceptable.)
(7) If one of item (4), (5) or (6) cannot be provided, alternative documents, such as bill of lading, the
invoice, and other evidential documents must be submitted.
A7 - 4
Appendix 7 Compliance with Restriction in China
Appendix 7-1-5 Mitsubishi NC Product Subject to/Not Subject to CCC Certification
The state whether or not Mitsubishi NC products are subject to the CCC Certification is indicated below,
based on the "First Catalogue of Products subject to Compulsory Product Certification" issued by the
State General Administration of Quality Supervision, Inspection and Quarantine (AQSIQ) of the
People's Republic of China and the Certification and Accreditation Administration of the People's
Republic of China (CNCA) on July 1, 2002.
China HS Code (Note 1)
Judgment on whether or not subject to
CCC Certification
Power supply unit
Servo/spindle drive unit
85044090
85371010
Not subject to CCC Certification
Servo/spindle
85015100
85015200
Not subject to CCC Certification
Model
NC
–
Not subject to CCC Certification
Display unit
–
Not subject to CCC Certification
(Note 1) The China HS Code is determined by the customs officer when importing to China. The above
HS Codes are set based on the HS Codes used normally when exporting from Japan.
(Note 2) Reference IEC Standards are used as the actual IEC Standards may not match the GB
Standards in part depending on the model.
Whether or not the NC products are subject to CCC Certification was judged based on the following five
items.
(a) Announcement 33 (Issued by AQSIQ and CNCA in December 2001)
(b) HS Codes for the products subject to CCC Certification (Export Customs Codes)
* HS Codes are supplementary materials used to determine the applicable range. The applicable
range may not be determined only by these HS Codes.
(c) GB Standards (This is based on the IEC Conformity, so check the IEC. Note that some parts are
deviated.)
(d) Enforcement regulations, and products specified in applicable range of applicable standards within
(e) "Products Excluded from Compulsory Certification Catalogue" (Issued by CNCA, November 2003)
Reference
 Outline of China's New Certification System (CCC Mark for Electric Products), Japan Electrical
Manufacturers' Association
 Outline of China's New Certification System (CCC Mark for Electric Products) and Electric Control
Equipment, Nippon Electric Control Equipment Industries Association
A7 - 5
Appendix 7 Compliance with Restriction in China
Appendix 7-2 Response to the China environment restrictions
Appendix 7-2-1 Outline of the law on the pollution prevention and control for electronic
information products
Ministry of Information Industry (information industry ministry) issued this law on Feb.28, 2006 (Note)
(effective from Mar.1, 2007.) in order to protect the environment and the health of the people with
restricting and reducing the environmental pollution caused by the electronic information product wastes.
The restrictions are applied to containing lead (Pb), hydrargyrum (Hg), cadmium (Cd), hexavalent
chromium (Cr (VI)), polybrominated biphenyl (PBB) and polybrominated diphenyl ether (PBDE) in two
stages.
(Note) For the details, refer to the following. http://www.mii.gov.cn/art/2006/03/02/art_524_7343.html
(1) First stage: Requirement of indicating contained substance
The producer and importer of the electronic information product are required to indicate the hazardous
substance. The concrete categories of the products belonging in the following eleven main categories
are described as subjected product list (electronic information product category note).
• Radar device • Communication device • Radio/TV device industry product • Computer product
• Consumer-electronics device • Electronic measuring apparatus
• Electronics industry dedicated device • Electronic parts • Electronics device
• Electronics application product • Electronics dedicated material
(2) Second stage: Suppressing the amount of contained substances and compulsory CCC
Certification
The product listed in the "Electronic information product pollution priority control list" cannot be sold in
China unless it conforms to the Compulsory Product Certification System (CCC Certification) and its
cadmium usage is suppressed to 0.01w% and other substances usage less than 0.1w%. Note that the
timing when this is effective is unmentioned.
Appendix 7-2-2 Response to the drive product for Mitsubishi NC
The drive product for NC has no items falling under the subjected product list (electronic information
product category note). However, for use with the drive product included in the subjected product or for
treating the product properly, information based on the law on the pollution prevention and control for
electronic information products are described in the section "Appendix 7-2-3" for reference.
A7 - 6
Appendix 7 Compliance with Restriction in China
Appendix 7-2-3 Indication based on "Pollution suppression marking request for
electronic information product"
(1) Electronic information product pollution suppression marking
This marking indicates the environmental protection expiration date applied to the
electronic information products sold in China according to the law on the pollution
prevention and control for electronic information products issued on Feb.28, 2006.
As long as you keep safety for this product and follow the precautions for use, there
are no serious effects on the environment pollution, human body or property within
its term reckoned from the manufacturing date.
Note: This symbol mark is for
China only.
(Note) Equate the environmental protection expiration date of consumables, such as enclosed
battery and cooling fan, with the product life. When disposing the product after using it properly,
obey each local laws and restrictions for collecting and recycling of the electronic information
product.
(2) The names of contained six hazardous substances and the parts containing them
The names of six substances contained in this product and the parts containing them are shown below.
Toxic/hazardous substance or element
Hexavalent
Cadmium
chromium
（PBB）
（PBDE）
（Cd）
（Cr(VI)）
Drive unit
×
○
○
○
○
○
Servo motor/spindle motor
×
○
○
○
○
○
Dedicated options (cable/connector)
×
○
○
×
○
○
Dedicated Options (detector/AC reactor)
×
○
○
×
○
○
Dedicated Options (battery)
×
○
○
○
○
○
○: This mark means that toxic/hazardous substance content in all homogeneous materials of corresponding parts does not exceed the standard
specified in the standard of SJ/T11363-2006.
×: This mark means that toxic/hazardous substance content in the homogeneous materials of corresponding parts exceeds the standard specified in
the standard of SJ/T11363-2006.
Parts name
Lead
（Pb）
Hydrargyrum
（Hg）
A7 - 7
A7 - 8
Appendix 8. Old motor specifications
Appendix 8-1 Servomotor type ...............................................................................................................A8-2
Appendix 8-2 Specifications list..............................................................................................................A8-3
Appendix 8-3 Torque characteristics......................................................................................................A8-4
Appendix 8-4 Unit outline dimension drawing ........................................................................................A8-5
Appendix 8-5 Overload protection characteristics................................................................................A8-17
Appendix 8-6 Magnetic brake characteristics.......................................................................................A8-19
Appendix 8-7 Dynamic brake characteristics .......................................................................................A8-20
Appendix 8-8 Cables and connectors ..................................................................................................A8-22
Appendix 8-8-1 List of cables and connectors..................................................................................A8-22
Appendix 8-8-2 Cable connection diagram.......................................................................................A8-26
Appendix 8-8-3 Connector outline dimension drawings ...................................................................A8-28
A8 - 1
Appendix 8 Old motor specifications
Appendix 8-1 Servomotor type
HF Series
MITSUBISHI
AC SERVO
Motor type
HF103S
INPUT 3AC 123V 6.0A
OUTPUT 1kW IEC34-1 1994
SPEED 3000r/min
SER.No.XXXXXXXXX DATE 03-9
Rated output
Rated rotation speed
Serial No.
MITSUBISHI ELECTRIC
MADE IN JAPAN
Motor rating nameplate
HF
(1)
(2) (3) -
(4)
Symbol
A42
Detection method
Absolute position
A47
Resolution
100,000p/rev
100,000p/rev
Symbol
Shaft end structure
S
Straight
T
Taper
Symbol
Magnetic brakes
(Note) Taper can be selected for the 1.5kW or smaller
motor.
None
None
B
With magnetic brakes
HF low-inertia series
HF medium-inertia series
Rating 3000r/min
Rating 3000r/min
Symbol
Rated output
44
0.4 kW
53
0.5 kW
74
0.75kW
103
1.0 kW
153
1.5 kW
203
2.0 kW
353
3.5 kW
A8 - 2
Sym
-bol
Rated output
Appendix 8 Old motor specifications
Appendix 8-2 Specifications list
HF Series
HF□□-A47/A42
4000r/min
Servomotor type
3000r/min Series
Series
HF44
HF74
HF53
MDS-R-V1/V2- 20(40)
unit type (Note 4)
Rated output [kW]
0.4
Rated current [A]
2.2
Continuous
Rated torque [N･m]
1.27
characteristics
Stall current [A]
3.2
20(40)
20(40)
20
40
40
60
(80)
40
60
(80)
0.75
0.5
0.67
1.0
1.0
1.5
1.16
2.0
2.4
3.5
3.7
1.9
3.5
3.5
5.3
5.3
6.0
6.9
10.3
10.3
2.39
1.59
3.18
3.18
4.77
4.77
5.54
6.37
11.1
11.1
4.6
3.6
6.0
6.5
9.9
9.9
10.7
14.8
15.5
20.8
Compatible servo drive
Stall torque
HF103
HF153
HF203
HF353
60
80
[N･m]
2.0
3.0
2.94
5.4
5.88
8.82
8.82
9.9
13.7
16.7
22.5
Rated rotation speed
[r/min]
3000
3000
3000
2000
3000
2000
3000
2000
3000
2000
3000
Maximum rotation speed
[r/min]
4000 (-A47)
3000
3000 (-A42)
Maximum current
[A]
13.7
17.0
15.3
17.0
25.6
28.3
42.0
30.8
45.8
45.8
59.2
Maximum torque
[N･m]
8.0
11.0
11.8
15.3
21.6
25.2
35.3
28.5
41.7
49.0
59.8
Motor inertia
[kg･cm ]
2.6
5.1
6.1
2
2
Motor inertia with brake
[kg･cm ]
Maximum motor shaft conversion load
inertia rate
Motor side detector resolution
Structure
17.8
38.3
75.0
84.7
Fully closed, natural-cooling (Protection method: IP67) (Note 3)
Ambient temperature
Operation: 0 to 40°C (non freezing), Storage: -15 to 70°C (non freezing)
Operation: 80%RH or less (non condensing),
Ambient humidity
Environment
11.9
2.8
5.3
8.3
14.1
20.0
48.0
Machine tool (Compensation axis): 5 times or less of motor inertia
General machine (non-compensation axis): 10 times or less of motor inertia
A42:
For high-gain
100,000 pulse/rev
A47:
For general use 100,000 pulse/rev
Storage: 90%RH or less (non condensing)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist,
or dust
Atmosphere
Operation: 1000 meters or less above sea level,
Altitude
X:49m/s2 (5G)
Y:49m/s2 (5G)
Vibration
Power facility capacity
Mass Without/with brake
Armature insulation class
[kVA]
[kg]
0.9
1.3
Storage: 1000 meters or less above sea level
2
2
X:24.5m/s (2.5G)
X:24.5m/s (2.5G)
2
2
Y:49m/s (5G)
Y:24.5m/s (2.5G)
1.0
2.5/3.9 4.3/5.7 4.8/6.8
1.7
6.5/8.5
2.6
8.3/10.3
Class F
3.5
5.5
12/18
19/25
(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) Use the HF motor in combination with the MDS-R Series drive unit compatible with the 200VAC input.
This motor is not compatible with the conventional MDS-B/C1/CH Series.
(Note 3) The shaft-through portion is excluded.
(Note 4) "( )" indicates the combination with the drive unit capacity of one rank up. The motor characteristics are same as the
characteristics applied when the drive unit capacity is standard.
A8 - 3
Appendix 8 Old motor specifications
Appendix 8-3 Torque characteristics
[ HF44 ]
[ HF74 ]
Compatible unit R-V1/V2-20 (40)
10
15
6
4
Short time operation range
Torque [Nm]
10
Short time operation range
5
2
Continuous
operation range
0
2000
0
4000
Continuous
operation range
0
Rotation speed [r/min]
[ HF53 ]
20
10
Short time operation range
5
Continuous operation range
0
1000
2000
0
3000
15
Short time operation range
10
5
Continuous
operation range
0
Rotation speed [r/min]
1000
Continuous operation range
0
2000
3000
[ HF153 ]
Compatible unit R-V1/V2-40
30
Short time operation range
20
10
Continuous
operation range
0
1000
Continuous
operation range
Continuous operation range
2000
0
3000
0
1000
2000
0
3000
40
Torque [Nm]
Short time operation
20
60
40
Short time operation range
20
10
1000
2000
3000
Rotation speed [r/min]
40
Short time operation range
20
Continuous
operation range
Continuous operation range
0
3000
Compatible unit R-V1/V2-80
80
60
30
2000
[ HF353 ]
Compatible unit R-V1/V2-60
80
1000
Rotation speed [r/min]
[ HF353 ]
Compatible unit R-V1/V2-60 (80）
0
0
Rotation speed [r/min]
[ HF203 ]
0
Short time operation range
20
10
Rotation speed [r/min]
50
Torque [Nm]
30
Torque [Nm]
30
0
3000
Compatible unit R-V1/V2-40
40
10
2000
[ HF203 ]
Compatible unit R-V1/V2-60 (80)
40
Short time operation range
1000
Rotation speed [r/min]
40
20
0
Rotation speed [r/min]
[ HF153 ]
Torque [Nm]
Torque [Nm]
Short time operation range
Torque [Nm]
Torque [Nm]
10
Compatible unit R-V1/V2-40
25
15
5
Torque [Nm]
[ HF103 ]
Compatible unit R-V1/V2-20
20
15
0
4000
[ HF103 ]
Compatible unit R-V1/V2-20 (40)
20
2000
Rotation speed [r/min]
Torque [Nm]
Torque [Nm]
8
0
Compatible unit R-V1/V2-20 (40)
20
0
1000
Continuous operation range
2000
3000
Rotation speed [r/min]
0
0
1000
2000
3000
Rotation speed [r/min]
(Note1) The characteristic value in the above graphs is a value applied when the motor is combined with each compatible
unit.
(Note2) 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
A8 - 4
Appendix 8 Old motor specifications
Appendix 8-4 Unit outline dimension drawing
HF44S-A47
 HF44T-A47
 HF74S-A47
 HF74T-A47
[Unit: mm]
L
7.5
4-ø6.6
mounting hole
90
ø14h6
39.5
33
5.3
3
25
45º
Use a hexagon
socket bolt.
ø118
ø80h7
ø36
ø100
88.5
81.5
Oil seal
SC15307
19.5
KL
54
Detector connector
Power connector
MS3102A20-29P
M8×1.0 screw
MS3102A18-10P
44
5.3
14
90
U nut
M8×1.0
3
18
4-ø6.6 mounting hole
Use a hexagon
socket bolt.
Plain washer 8
45º
12
ø100
ø118
88.5
Taper 1/10
ø18
ø14
A
ø36
ø80h7
A
14
Oil seal
8.9
3.55
5 -0.03
0
54
0
5 -0.03
A-A
Servomotor type
L
KL
HF44
128
61
HF74
164
97
(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load. (A straight axis.)
(Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.
A8 - 5
Appendix 8 Old motor specifications
 HF44BS-A47
 HF44BT-A47
 HF74BS-A47
 HF74BT-A47
[Unit: mm]
L
33
7.5
90
5.3
3
25
ø14h6
39.5
45º
ø118
ø36
88.5
Oil seal
SC15307
81.5
63.4
ø80h7
ø100
4-ø6.6
mounting hole
Use a hexagon
socket bolt.
19.5
KL
67.5
Detector connector
MS3102A20-29P
Brake connector
CM10-R2P
54
Power connector
M8×1.0 screw
MS3102A18-10P
44
5.3
14
4-ø6.6 mounting hole
Use a hexagon
socket bolt.
Plain washer 8
90
U nut
M8×1.0
3
45º
18
12
ø100
ø118
88.5
Taper 1/10
ø18
ø14
A
ø36
ø80h7
A
14
Oil seal
8.9
3.55
5 -0.03
0
54
0
5 -0.03
A-A
Servomotor type
L
KL
HF44B
169
61
HF74B
205
97
(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load. (A straight axis.)
(Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.
A8 - 6
Appendix 8 Old motor specifications
 HF44S-A42
 HF44T-A42
 HF74S-A42
 HF74T-A42
[Unit: mm]
L
7.5
90
ø14h6
44
33
5.3
3
25
45º
ø118
ø80h7
ø36
ø100
88.5
81.5
Oil seal
SC15307
4-ø6.6
mounting hole
Use a hexagon
socket bolt.
21.5
KL
Detector connector
54
Power connector
MS3102A22-14P
M8×1.0 screw
MS3102A18-10P
44
5.3
14
4-ø6.6 mounting hole
Use a hexagon
socket bolt.
Plain washer 8
90
U nut
M8×1.0
3
45º
18
12
ø100
ø118
88.5
Taper 1/10
ø18
ø14
A
ø36
ø80h7
A
14
Oil seal
8.9
3.55
5 -0.03
0
54
0
5 -0.03
A-A
Servomotor type
L
KL
HF44
132.5
61
HF74
168.5
97
(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load. (A straight axis.)
(Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.
A8 - 7
Appendix 8 Old motor specifications
 HF44BS-A42
 HF44BT-A42
 HF74BS-A42
 HF74BT-A42
[Unit: mm]
L
33
90
5.3
3
25
7.5
ø14h6
44
45º
ø118
ø80h7
88.5
Oil seal
SC15307
81.5
63.4
ø36
ø100
4-ø6.6
mounting hole
Use a hexagon
socket bolt.
21.5
KL
72
Detector connector
MS3102A20-14P
Brake connector
CM10-R2P
54
Power connector
M8×1.0 screw
MS3102A18-10P
44
5.3
14
90
U nut
M8×1.0
3
18
4-ø6.6 mounting hole
Use a hexagon
socket bolt.
Plain washer 8
45º
12
ø100
ø118
88.5
Taper 1/10
ø18
ø14
A
ø36
ø80h7
A
14
Oil seal
8.9
3.55
5 -0.03
0
54
0
5 -0.03
A-A
Servomotor type
L
KL
HF44B
173.5
61
HF74B
209.5
97
(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load. (A straight axis.)
(Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.
A8 - 8
Appendix 8 Old motor specifications
 HF53S-A47
 HF53T-A47
 HF103S-A47
 HF103T-A47
 HF153S-A47
 HF153T-A47
[Unit: mm]
L
39.5
130
55
3
12
ø24h6
45º
ø145
ø110h7
81.5
ø165
112.5
50
13.5
4- ø9 mounting hole
KL
19.5
Use a hexagon socket bolt.
58
Detector connector
MS3102A20-29P
Power connector
MS3102A18-10P
58
130
3
18
45º
28
12
ø16.000
A
ø145
ø110h7
ø22
25 10
ø165
112.5
A
Tightening torque
23 to 30 Nm
U nut M10×1.25
Plain washer 10
58
Taper 1/10
Oil seal
4-ø9 mounting hole
0
5 -0.03
Use a hexagon socket
bolt.
4.3
5
S30457B
Servomotor type
L
KL
HF53
120
57.8
HF103
142
79.8
HF153
164
101.8
(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load.
(Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.
A8 - 9
Appendix 8 Old motor specifications
 HF53BS-A47
 HF53BT-A47
 HF103BS-A47
 HF103BT-A47
 HF153BS-A47
 HF153BT-A47
[Unit: mm]
L
39.5
130
55
3
12
ø24h6
45º
ø145
ø110h7
50
21.5
69
Detector connector
MS3102A20-29P
4-ø9 mounting hole 13.5
Use a hexagon socket
bolt.
Power connector
112.5
79.9
81.5
ø165
29
KL
58
MS3102A18-10P
Brake connector
CM10-R2P
58
130
3
18
45º
28
12
ø145
ø165
A
112.5
ø16.000
A
ø110h7
ø22
25 10
Tightening torque
23 to 30 Nm
U nut M10×1.25
Plain washer 10
58
Taper 1/10
Oil seal
4-ø9 mounting hole
0
5 -0.03
Use a hexagon socket
bolt.
4.3
5
S30457B
Servomotor type
L
KL
HF53B
158
57.8
HF103B
180
79.8
HF153B
202
101.8
(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load.
(Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.
A8 - 10
Appendix 8 Old motor specifications
 HF53S-A42
 HF53T-A42
 HF103S-A42
 HF103T-A42
 HF153S-A42
 HF153T-A42
[Unit: mm]
L
44
130
55
3
12
ø24h6
45º
ø145
ø110h7
50
112.5
81.5
ø165
Detector connector
MS3102A22-14P
13.5
4-ø9 mounting hole
KL
21.5
Use a hexagon socket
bolt.
58
Power connector
MS3102A18-10P
58
130
3
18
45º
28
12
ø145
ø165
A
112.5
ø16.000
A
ø110h7
ø22
25 10
Tightening torque
23 to 30 Nm
U nut M10×1.25
Plain washer 10
58
Taper 1/10
Oil seal
4-ø9 mounting hole
0
5 -0.03
Use a hexagon socket
bolt.
4.3
5
S30457B
Servomotor type
L
KL
HF53
124.5
57.8
HF103
146.5
79.8
HF153
168.5
101.8
(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load.
(Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.
A8 - 11
Appendix 8 Old motor specifications
 HF53BS-A42
 HF53BT-A42
 HF103BS-A42
 HF103BT-A42
 HF153BS-A42
 HF153BT-A42
[Unit: mm]
L
44
130
55
3
12
ø24h6
45º
ø145
ø110h7
50
21.5
73.5
Detector connector
MS3102A22-14P
KL
4-ø9 mounting hole
29
13.5
Use a hexagon socket
bolt.
Power connector
112.5
79.9
81.5
ø165
58
MS3102A18-10P
Brake connector
CM10-R2P
58
130
3
18
45º
28
12
ø145
ø165
A
112.5
ø16.000
A
ø110h7
ø22
25 10
Tightening torque
23 to 30 Nm
U nut M10×1.25
Plain washer 10
58
Taper 1/10
Oil seal
0
5-0.03
4-ø9 mounting hole
Use a hexagon socket
bolt.
4.3
5
S30457B
Servomotor type
L
KL
HF53B
162.5
57.8
HF103B
184.5
79.8
HF153B
206.5
101.8
(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load.
(Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.
A8 - 12
Appendix 8 Old motor specifications
 HF203S-A47
[Unit: mm]
145
39.5
176
79
3
18
45º
ø200
140.9
ø114.3
81.5
ø35
+0.01
0
0
-0.025
75
ø230
79.8
19.5
82
Power connector
4-ø13.5 mounting hole
MS3102A22-22P
Detector connector
Use a hexagon socket
bolt.
MS3102A20-29P
(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load.
(Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.
 HF203BS-A47
[Unit: mm]
185
176
79
39.5
18
3
45º
0
-0.025
ø230
79.8
Power connector
19.5
Detector connector
MS3102A20-29P
82
MS3102A22-22P
Brake connector
4-ø13.5 mounting hole
Use a hexagon socket
bolt.
CM10-R2P
(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load.
(Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.
A8 - 13
140.9
ø35 +0.01
0
ø200
ø114.3
81.5
96.9
75
Appendix 8 Old motor specifications
 HF203S-A42
[Unit: mm]
149.5
44
176
79
3
18
45º
140.9
ø114.3
+0.01
0
ø35
81.5
0
-0.025
ø200
75
ø230
79.8
21.5
82
Power connector
4-ø13.5 mounting hole
MS3102A22-22P
Detector connector
Use a hexagon socket
bolt.
MS3102A22-14P
(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load.
(Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.
 HF203BS-A42
[Unit: mm]
189.5
176
79
44
18
3
45º
0
-0.025
ø230
79.8
21.5
Power connector
MS3102A22-14P
82
MS3102A22-22P
Detector connector
Brake connector
4-ø13.5 mounting hole
Use a hexagon socket
bolt.
CM10-R2P
(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load.
(Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.
A8 - 14
140.9
ø35 +0.01
0
ø200
ø114.3
81.5
96.9
75
Appendix 8 Old motor specifications
 HF353S-A47
[Unit: mm]
185
18
39.5
176
79
3
45º
0
ø35 +0.01
0
81.5
ø114.3 -0.025
ø200
75
140.9
ø230
119.8
19.5
4-ø13.5 mounting hole
Detector connector
MS3102A20-29P
Power connector
Use a hexagon socket
bolt.
82
MS3102A22-22P
(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load.
(Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.
 HF353BS-A47
[Unit: mm]
235
39.5
176
79
18
3
45º
ø230
119.8
19.5
68.5
4-ø13.5 mounting hole
Power connector
Detector connector
MS3102A20-29P
Use a hexagon socket
bolt.
MS3102A22-22P
Brake connector
CM10-R2P
(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load.
(Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.
A8 - 15
82
140.9
81.5
96.9
+0.01
ø35 0
0
ø114.3 -0.025
ø200
75
Appendix 8 Old motor specifications
 HF353S-A42
[Unit: mm]
189.5
18
44
176
79
3
45º
ø230
119.8
21.5
4-ø13.5 mounting hole
Detector connector
MS3102A22-14P
140.9
0
ø35 +0.01
0
81.5
ø114.3 -0.025
ø200
75
Power connector
Use a hexagon socket
bolt.
82
MS3102A22-22P
(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load.
(Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.
 HF353BS-A42
[Unit: mm]
239.5
176
79
44
18
3
45º
ø230
119.8
21.5
73
4-ø13.5 mounting hole
Power connector
Detector connector
MS3102A22-14P
Use a hexagon socket
bolt.
MS3102A22-22P
Brake connector
CM10-R2P
(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load.
(Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.
A8 - 16
82
140.9
ø114.3
81.5
96.9
ø35
+0.01
0
0
-0.025
ø200
75
Appendix 8 Old motor specifications
Appendix 8-5 Overload protection characteristics
The servo drive unit has an electronic thermal relay to protect the servomotor and servo drive unit from
overloads. The operation characteristics of the electronic thermal relay are shown below when standard
parameters (SV021=60, SV022=150) are set. If overload operation over the electronic thermal relay
protection curve shown below is carried out, overload 1 (alarm 50) will occur. If the maximum torque is
commanded continuously for one second or more due to a machine collision, etc., overload 2 (alarm 51)
will occur.
A8 - 17
Appendix 8 Old motor specifications
（1）HF44 motor
（2）HF74 motor
HF44 Overload protection characteristics
HF74 Ov erload protection characteristic s
10000
10000
When rotating
1000
When stopped
100
100
Time (s)
Time (s)
When rotating
When stopped
1000
10
10
1
1
0.1
0.1
0
100
200
300
400
0
500
100
200
Current (stall %)
300
（3）HF53 motor
HF103 Overload protction c haracteris tic s
10000
10000
When rotating
1000
When rotating
1000
When s topped
When s topped
100
Time (s)
100
Time (s)
500
（4）HF103 motor
HF53 Overload protection c haracteris tics
10
10
1
1
0.1
0.1
0
100
200
300
400
500
0
100
200
Current (stall % )
300
400
500
Current (stall % )
（5）HF153 motor
（6）HF203 motor
HF203 Overload protection characteristics
HF153 Ov erload protec tion charac teristic s
10000
10000
When rotating
When rotating
1000
When stopped
1000
When stopped
100
Time (s)
100
Time (s)
400
Current (stall %)
10
10
1
1
0.1
0.1
0
0
100
200
300
400
HF353 Ov erload protec tion charac teristic s
10000
When rotating
1000
When stopped
Time (s)
100
10
1
0.1
100
200
200
300
Current (stall %)
（7）HF353 motor
0
100
500
Current (stall %)
300
400
500
Current (stall %)
A8 - 18
400
500
Appendix 8 Old motor specifications
Appendix 8-6 Magnetic brake characteristics
Motor model
HF53B
HF103B
HF153B
HF44B
HF74B
HF203B
HF353B
Item
Type (Note 1)
Rated voltage
Rated current at 20°C
Capacity
Static friction torque
(A)
(W)
(N·m)
Inertia (Note 2)
(kg·cm )
0.2
2.2
9.6
Release delay time (Note 3)
(s)
0.03
0.04
0.1
(s)
0.03
0.03
0.03
(J)
(J)
(degree)
64
640
0.1 to 0.9
400
4000
0.2 to 0.6
4500
45000
0.2 to 0.6
(times)
20,000
20,000
20,000
32
200
1000
Braking delay
DC OFF
time (Note 3)
Tolerable braking Per braking
work amount
Per hour
Brake play at motor axis
No. of braking
Brake life
operations
(Note 4)
Work amount
per braking
2
(J)
0.38
9
Spring braking type safety brakes
24VDC
0.8
19
1.4
34
2.4
8.3
43.1
(Note 1) There is no manual release mechanism. If handling is required such as during the machine
core alignment work, prepare a separate 24VDC power supply, and electrically release a
brake.
(Note 2) These are the values added to the servomotor without a brake.
(Note 3) This is the representative value for the initial attraction gap at 20°C.
(Note 4) The brake gap will widen through brake lining wear caused by braking. However, the gap
cannot be adjusted. Thus, the brake life is considered to be reached when adjustments are
required.
(Note 5) A leakage flux will be generated at the shaft end of the servomotor with a magnetic brake.
(Note 6) When operating in low speed regions, the sound of loose brake lining may be heard.
However, this is not a problem in terms of function.
(Note 7) This is the main default value, and is not a guaranteed value.
A8 - 19
Appendix 8 Old motor specifications
Appendix 8-7 Dynamic brake characteristics
If a servo alarm that cannot control the motor occurs, the dynamic brakes will function to stop the
servomotor regardless of the parameter settings.
(1) Deceleration torque
The dynamic brake uses the motor as a generator, and obtains the deceleration torque by consuming
that energy with the dynamic brake resistance. The characteristics of this deceleration torque have a
maximum deceleration torque (Tdp) regarding the motor speed as shown in the following drawing. The
torque for each motor is shown in the following table.
Tdp
Deceleration
torque
0
Ndp
Motor speed
Deceleration torque characteristics of a dynamic brake
Max. deceleration torque of a dynamic brake
Motor type
HF44
HF74
HF53
HF103
Stall torque
(N.m)
2.00
3.00
2.94
5.88
HF153
HF203
8.82
13.7
HF353
22.5
Combination
drive unit type
MDS-R-V1-20 to 40
MDS-R-V2-2020 to 4040
MDS-R-V2-6040 to 8040
MDS-R-V1-20 to 40
MDS-R-V2-2020 to 4040
MDS-R-V2-6040 to 8040
MDS-R-V1-20 to 40
MDS-R-V2-2020 to 4040
MDS-R-V2-6040 to 8040
MDS-R-V1-20 to 40
MDS-R-V2-2020 to 4040
MDS-R-V2-6040 to 8040
MDS-R-V1-60 to 80
MDS-R-V2-6040 to 8080
MDS-R-V1-60 to 80
MDS-R-V2-6060 to 8080
A8 - 20
Ndp (r/min)
1254
Tdp (N.m)
5.43
1282
1254
5.43
1369
478
3.96
534
409
10.04
539
541
367
15.62
15.94
464
35.24
Appendix 8 Old motor specifications
(2) Coasting rotation distance during emergency stop
The distance that the motor coasts (angle for rotary axis) when stopping with the dynamic brakes
can be approximated with the following expression.
LMAX = F
60
▪ {te + (1 +
LMAX
F
N
JM
JL
te
A
B
JL
) ▪ (A ▪ N2 + B)}
JM
: Motor coasting distance (angle)
[mm, (deg)]
: Axis feedrate
[mm/min, (deg/min)]
: Motor rotation speed
[r/min]
: Motor inertia
[kg.cm2]
: Motor shaft conversion load inertia
[kg.cm2]
: Brake drive relay delay time
(s) (Normally, 0.03s)
: Coefficient A (Refer to the table below)
: Coefficient B (Refer to the table below)
Emergency stop (EMG)
OFF
ON
Dynamic brake control output
OFF
ON
Actual dynamic brake operation
OFF
ON
Motor rotation speed
N
Coasting amount
Time
te
Dynamic brake braking diagram
Coasting amount calculation coefficients table
Motor type
HF44
HF74
HF53
HF103
JM
2
（kg･cm ）
2.6
5.1
6.1
11.9
Combination
drive unit type
MDS-R-V1-20 to 40
MDS-R-V2-2020 to 4040
MDS-R-V2-6040 to 8040
MDS-R-V1-20 to 40
MDS-R-V2-2020 to 4040
MDS-R-V2-6040 to 8040
MDS-R-V1-20 to 40
MDS-R-V2-2020 to 4040
MDS-R-V2-6040 to 8040
MDS-R-V1-20 to 40
MDS-R-V2-2020 to 4040
MDS-R-V2-6040 to 8040
HF153
17.8
A
0.67×10
-9
3.14×10
-3
0.65×10
-9
3.21×10
-3
1.31×10
-9
6.16×10
-3
1.20×10
-9
6.73×10
-3
5.62×10
-9
3.85×10
-3
5.03×10
-9
4.30×10
-3
5.06×10
-9
2.54×10
-3
3.84×10
-9
3.35×10
-3
3.68×10
-9
3.23×10
-3
11.41×10
-9
4.62×10
-3
-9
5.17×10
-3
MDS-R-V1-60 to 80
MDS-R-V2-6040 to 8080
HF203
38.3
HF353
75.0
MDS-R-V1-60 to 80
MDS-R-V2-6060 to 8080
A8 - 21
B
8.00×10
Appendix 8 Old motor specifications
Appendix 8-8 Cables and connectors
Appendix 8-8-1 List of cables and connectors
The cables and connectors that can be ordered from Mitsubishi Electric Corp. as option parts are shown
below. Cables can only be ordered in the designated lengths shown on the following pages. Purchase a
connector set, etc., to create special length cables.
Servo drive unit
(MDS-R-V1)
From NC (1)
Servo drive unit
(MDS-R-V2)
Battery unit
(MDS-A-BT)
Terminator
(A-TM)
(1) NC bus cable
connector set
(1)
(1)
(7) Drive unit
Control power
connector
1
2
Pin No.
1
2
Signal
VDD
SG
(6) Drive unit
B
Motor power connector A
Pin No.
A1
A2
B1
B2
Signal
V
PE
U
W
Pin No.
A1
A2
A3
B1
B2
B3
Signal
P
C
PE
L1
L2
L3
12
Relay terminal block
(MR-J2CN3TM)
(5) Drive unit
Main circuit power
connector
(2) Detector cable
connector set
B
A
123
(4) Motor brake connector
(3) Motor power connector
(Note1) The compatible linear scale is a relative position rectangular
wave output type.
(Note2) The linear scale and cable for connecting a linear scale must be
prepared by user.
Servomotor
A8 - 22
Appendix 8 Old motor specifications
(1) Cables
For
CN2L,
CN2M
For
CN2L,
CN2M
(2) Detector cable for
HF-A47
(2) Detector cable
for HF-A42
IP67
compatible
IP67
compatible
Straight
CNV2E-4P-M
 indicates length (m)
2, 3, 4, 5, 7, 10,
15, 20, 25, 30
Servo drive unit side connector
(Molex)
Connector set: 54599-1019
or
(3Ｍ)
Receptacle: 36210-0100JL
Shell kit: 36310-3200-008
Servomotor detector side
connector (DDK)
Connector: MS3106A20-29S
(D190)
Straight back shell:
CE02-20BS-S
Clamp: CE3057-12A-3
Angle
CNV2E-5P-M
 indicates length (m)
2, 3, 4, 5, 7, 10,
15, 20, 25, 30
Servo drive unit side connector
(Molex)
Connector set: 54599-1019
or
(3Ｍ)
Receptacle: 36210-0100JL
Shell kit: 36310-3200-008
Servomotor detector side
connector (DDK)
Connector: MS3106A20-29S
(D190)
Angle back shell: CE-20BA-S
Clamp: CE3057-12A-3
Straight
CNV2E-2P-M
 indicates length (m)
2, 3, 4, 5, 7, 10,
15, 20, 25, 30
Servo drive unit side connector
(Molex)
Connector set: 54599-1019
or
(3Ｍ)
Receptacle: 36210-0100JL
Shell kit: 36310-3200-008
Servomotor detector side
connector (DDK)
Connector: MS3106A22-14S
(D190)
Straight back shell:
CE02-22BS-S
Clamp: CE3057-12A-3
Angle
CNV2E-3P-M
 indicates length (m)
2, 3, 4, 5, 7, 10,
15, 20, 25, 30
Servo drive unit side connector
(Molex)
Connector set: 54599-1019
or
(3Ｍ)
Receptacle: 36210-0100JL
Shell kit: 36310-3200-008
Servomotor detector side
connector (DDK)
Connector: MS3106A22-14S
(D190)
Angle back shell: CE-22BA-S
Clamp: CE3057-12A-3
(Note) The connector manufacturer is subject to change without notice.
A8 - 23
Appendix 8 Old motor specifications
(2) Connector sets
For
CN2L,
CN2M
(2) Servo detector connector set
(2) Detector
connector set
for HF-A47
(2) Detector
connector set
for HF-A42
IP67
compatible
IP67
compatible
CNU2S (AWG18)
Servo drive unit side
connector (Molex)
Connector set: 54599-1019
or
(3Ｍ)
Receptacle: 36210-0100JL
Shell kit: 36310-3200-008
Straight
CNE20-29S(10)
Compliant cable range
ø6.8 to ø10mm
Servomotor detector side
connector (DDK)
Connector: MS3106A20-29S
(D190)
Straight back shell:
CE02-20BS-S
Clamp: CE3057-12A-3
Angle
CNE20-29L(10)
Compliant cable range
ø6.8 to ø10mm
Servomotor detector side
connector (DDK)
Connector: MS3106A20-29S
(D190)
Angle back shell: CE-20BA-S
Clamp: CE3057-12A-3
Straight
CNE22-14S(10)
Compliant cable range
ø6.8 to ø10mm
Servomotor detector side
connector (DDK)
Connector: MS3106A22-14S
(D190)
Straight back shell:
CE02-22BS-S
Clamp: CE3057-12A-3
Angle
CNE22-14L(10)
Compliant cable range
ø6.8 to ø10mm
Servomotor detector side
connector (DDK)
Connector: MS3106A22-14S
(D190)
Angle back shell: CE-22BA-S
Clamp: CE3057-12A-3
(Note) The connector manufacturer is subject to change without notice.
A8 - 24
Appendix 8 Old motor specifications
For
motor
power
supply
Item
(3) Power supply
connector set for
HF44, 74,
HF53, 103, 153
(3) Power supply
connector set for
HF203, 353
For
motor
brake
(3) Brake connector
set for HF44B,
74B, HF53B,
103B, 153B,
HF203B, 353B
EN, IP67
compatible
EN, IP67
compatible
IP67
compatible
Model
PWCE18-10S
Compliant cable
range
ø10.5 to ø14.1mm
Contents
Servomotor side power supply
connector (DDK)
Plug : CE05-6A18-10SD-BBSS
Clamp : CE3057-10A-1 (D256)
Angle
PWCE18-10L
Compliant cable
range
ø10.5 to ø14.1mm
Servomotor side power supply
connector (DDK)
Plug : CE05-8A18-10SD-BBAS
Clamp : CE3057-10A-1 (D256)
Straight
PWCE22-22S
Compliant cable
range
ø12.5 to ø16mm
Servomotor side power supply
connector (DDK)
Plug : CE05-6A22-22SD-BBSS
Clamp : CE3057-12A-1 (D256)
Angle
PWCE22-22L
Compliant cable
range
ø12.5 to ø16mm
Servomotor side power supply
connector (DDK)
Plug : CE05-8A22-22SD-BBAS
Clamp : CE3057-12A-1 (D256)
Straight
BRK-CM10S
Compliant cable
range
ø6 to ø9mm
Servomotor side brake
connector (DDK)
Connector: CM10-SP2S-M-S2
Angle
BRK-CM10L
Compliant cable
range
ø6 to ø9mm
Servomotor side brake
connector (DDK)
Connector: CM10-AP2S-M-S2
Straight
(Note) The connector manufacturer is subject to change without notice.
A8 - 25
Appendix 8 Old motor specifications
Appendix 8-8-2 Cable connection diagram
(1) HF-A42 motor detector cable
< CNV2E-2P/3P cable connection diagram >
This is an actual connection diagram for the CNV2E-2P/3P cable supplied by Mitsubishi.
Servo drive unit side connector
Servo motor detector side connector
(3M)
Receptacle: 36210-0100JL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
(DDK)
Connector: MS3106A22-14S(D190)
Clamp: CE3057-12A-3
Straight back shell: CE02-22BS-S
Right angle back shell: CE22BA-S
P5(+5V)
LG
1
2
BT
SD
SD*
RQ
RQ*
9
7
8
3
4
Case
grounding
PE
0.5mm
2
S
R
P5(+5V)
LG
E
H
J
K
L
BT
SD
SD*
RQ
RQ*
N
SHD
2
0.2mm
0.2mm2
0.2mm2
<For 15m or less>
Servo drive unit side connector
Servo motor detector side connector
(3M)
Receptacle: 36210-0100JL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
(DDK)
Connector: MS3106A22-14S (D190)
Clamp: CE3057-12A-3
Straight back shell: CE02-22BS-S
Right angle back shell: CE22BA-S
0.5mm
P5(+5V)
LG
1
2
BT
SD
SD*
RQ
RQ*
9
7
8
3
4
Case
grounding
PE
2
0.5mm
2
0.2mm
2
0.2mm
2
0.2mm
2
S
R
P5(+5V)
LG
E
H
J
K
L
BT
SD
SD*
RQ
RQ*
N
SHD
<For 15 to 30m>
CAUTION
1. Do not connect anything to pins unless particularly specified when
manufacturing a cable. (Leave OPEN)
2. Contact Mitsubishi when manufacturing a cable longer than 30m.
A8 - 26
Appendix 8 Old motor specifications
(2) HF-A47 motor detector cable
< CNV2E-4P/5P cable connection diagram >
This is an actual connection diagram for the CNV2E-4P/5P cable supplied by Mitsubishi.
Servo drive unit side connector
Servo motor detector side connector
(3M)
Receptacle: 36210-0100JL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
(DDK)
Connector: MS3106A20-29S (D190)
Clamp: CE3057-12A-3
Straight back shell: CE02-20BS-S
Right angle back shell: CE20BA-S
P5(+5V)
LG
1
2
BT
SD
SD*
RQ
RQ*
9
7
8
3
4
Case
grounding
PE
0.5mm
0.2mm
2
2
0.2mm
2
0.2mm
2
S
R,G
M
F
A
B
C
D
P5(+5V)
LG
CONT
BT
SD
SD*
RQ
RQ*
N
SHD
<For 15m or less>
Servo drive unit side connector
Servo motor detector side connector
(3M)
Receptacle: 36210-0100JL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
(DDK)
Connector: MS3106A20-29S (D190)
Clamp: CE3057-12A-3
Straight back shell: CE02-20BS-S
Right angle back shell: CE20BA-S
0.5mm
P5(+5V)
LG
1
2
BT
SD
SD*
RQ
RQ*
9
7
8
3
4
2
0.5mm
2
0.2mm
2
0.2mm
2
0.2mm
2
Case
PE
grounding
S
R,G
M
F
A
B
C
D
P5(+5V)
LG
CONT
BT
SD
SD*
RQ
RQ*
N
SHD
<For 15 to 30m>
CAUTION
1. Do not connect anything to pins unless particularly specified when
manufacturing a cable. (Leave OPEN)
2. Contact Mitsubishi when manufacturing a cable longer than 30m.
A8 - 27
Appendix 8 Old motor specifications
Appendix 8-8-3 Connector outline dimension drawings
Connectors for detector and motor power (IP67 and EN standard compatible)
Straight plug
Manufacturer: DDK
D or less
W
A
øB +0
-0.38
øC± 0.8
7.85 or more
Model
A
B +0
–0.38
CE05-6A18-10SD-B-BSS
1 /8-18UNEF-2B
1
3
CE05-6A22-22SD-B-BSS
CE05-6A22-23SD-B-BSS
1 /8-18UNEF-2B
[Unit: mm]
W
D or less
34.13
C0.8
32.1
57
1-20UNEF-2A
40.48
38.3
61
1 /16-18UNEF-2A
Angle plug
Manufacturer: DDK
3
D or less
ø B +0
-0.38
Y or more
U ±0.7
(S)±1
R± 0.7
A
W
[Unit: mm]
Model
A
B +0
–0.38
CE05-8A18-10SD-B-BAS
CE05-8A22-22SD-B-BAS
CE05-8A22-23SD-B-BAS
1 /8-18UNEF-2B
1
34.13
69.5
1-20UNEF-2A
13.2
30.2
43.4
7.5
3
40.48
75.5
13/16-18UNEF-2A
16.3
33.3
49.6
7.5
1 /8-18UNEF-2B
D or
less
W
R0.7
U0.7
(S)1
Y or
more
Cable clamp
Manufacturer: DDK
(D)
A
C
G ± 0.7
Bushing (inside
diameter)
øF
B ± 0.7
V screw
1.6
øE
H
(Cable clamp inside
diameter)
(Moveable range of one side)
[Unit: mm]
Model
Shell
size
CE3057-10A-1 (D265)
CE3057-12A-1 (D265)
CE3057-12A-2 (D265)
18
20
22
Total
length
Outside
dia.
Effective
screw
length
A
23.8
B
30.1
C
10.3
D
41.3
E
15.9
23.8
35
10.3
41.3
19
Installation
screw (V)
Recommended manufacturer: DDK
A8 - 28
F
14.1
16
13
G
31.7
H
3.2
37.3
4
1-20UNEF-2B
13/16-18UNEF-2
B
Bushing
Compliant
cable
CE3420-10-1 Ø10.5 to ø14.1
CE3420-12-1 Ø12.5 to ø16
CE3420-12-2 Ø9.5 to ø13
Appendix 8 Old motor specifications
Connectors for detector, motor power and brake (IP67 and EN standard compatible)
Straight plug
Manufacturer: DDK
Gasket
A
øB +0
-0.38
øG +0.05
-0.25
J ± 0.12
D
E±0.3
H or less
C±0.5
Model
A
B +0
–0.38
C0.5
D
E0.3
G +0.05
–0.25
[Unit: mm]
J0.12
MS3106A20-29S (D190)
MS3106A22-14S (D190)
1 /4 -18UNEF-2B
3
1 /8-18UNEF-2B
37.28
40.48
34.11
34.11
1 /8-18UNEF-2A
1
1 /4-18UNEF-2A
12.16
12.15
26.8
29.9
18.26
18.26
1
1
Straight back shell
Manufacturer: DDK
L
W screw
B
O-ring
øC
øA
V screw
7.85 or more
D
(Effective screw length) (Spanner grip)
[Unit: mm]
Model
L
A
B
C
D
V
CE02-20BS-S
CE02-22BS-S
35
35
35
36.5
10.9
10.9
17.8
17.8
31.6
32.4
1 /8-18UNEF-2B
1
1 /4-18UNEF-2B
1
W
3
1 /16-18UNEF-2A
3
1 /16-18UNEF-2A
[Unit: mm]
Angle back shell
Manufacturer: DDK
Model: CE-22BA-S
L1 or less
O-ring
øC
A screw
W or more
U
(S)
R
L2 or less
V screw
[Unit: mm]
Model
Shell
size
CE-20BA-S
CE-22BA-S
20
22
Connection
screw
A
11/8-18UNEF-2B
11/4-18UNEF-2B
Total
length
L1
Angle
total
length
L2
Diameter
C
R
U
(S)
Installation
screw
V
Effective screw
length
W
50.5
39.6
36
38.6
15
16.3
33.3
48.3
49.6
13/16-18UNEF2A
7.5
A8 - 29
A8 - 30
Revision History
Date of revision
Manual No.
Sep. 2004
BNP-C3045*
First edition created.
Sep. 2005
BNP-C3045A
 Servo motor "H44", "H75" specifications were added.
 The section "Compliance to EC Directives" was revised.
 The section "Transportation Restrictions for Lithium Batteries" was revised.
 The section "Compliance with China Compulsory Product Certification (CCC
Certification) System" was added.
Miswrite
is corrected.

Dec. 2005
BNP-C3045B
Miswrite is corrected.
Mar. 2006
BNP-C3045C
 The drive units "MDS-R-V1-60", "MDS-R-V2-4020", "MDS-R-V2-6040",
"MDS-R-V2-6060" and "MDS-R-V2-8060" were added.
 The regenerative option "GZG80W26OHMJ", "GZG400W13OHMJ", and
"GZG400W8OHMJ" were added.
 The heat radiation countermeasures were revised.
 The parameters "SV001", "SV002", "SV017", "SV018", "SV019", "SV020",
"SV025" and "SV036" were revised.
 The parameters "SV089" and "SV090" were added.
 The troubleshooting "45" was revised.
 The error parameter No. "2269" and "2271" were added.
 "Appendix 1. Cable and Connector Specifications" was revised.
 "Appendix 4. EMC Installation Guidelines" was revised.
 "Appendix 6. Transportation Restrictions for Lithium Batteries" was revised.
 Miswrite is corrected.
Feb. 2008
BNP-C3045D
 "Instruction Manual for Compliance with UL/c-UL Standard" was revised.
Sep. 2011
BNP-C3045G
 "Handling of our product" was added.
 Specifications of motors were overall revised.
 Old motor specifications were moved to Appendix.
 The detector names were standardized.
 "Global Service Network" was revised.
 Miswrite is corrected.
Revision details
Global Service Network
AMERICA
EUROPE
MITSUBISHI ELECTRIC AUTOMATION INC. (AMERICA FA CENTER)
MITSUBISHI ELECTRIC EUROPE B.V. (EUROPE FA CENTER)
Central Region Service Center
500 CORPORATE WOODS PARKWAY, VERNON HILLS, ILLINOIS 60061, U.S.A.
TEL: +1-847-478-2500 / FAX: +1-847-478-2650
Michigan Service Satellite
ALLEGAN, MICHIGAN 49010, U.S.A.
TEL: +1-847-478-2500 / FAX: +1-269-673-4092
Ohio Service Satellite
LIMA, OHIO 45801, U.S.A.
TEL: +1-847-478-2500 / FAX: +1-847-478-2650
CLEVELAND, OHIO 44114, U.S.A.
TEL: +1-847-478-2500 / FAX: +1-847-478-2650
Minnesota Service Satellite
MINNEAPOLIS, MINNESOTA 55413, U.S.A.
TEL: +1-847-478-2500 / FAX: +1-847-478-2650
West Region Service Center
5665 PLAZA DRIVE, CYPRESS, CALIFORNIA 90630, U.S.A.
TEL: +1-714-220-4796 / FAX: +1-714-229-3818
East Region Service Center
200 COTTONTAIL LANE SOMERSET, NEW JERSEY 08873, U.S.A.
TEL: +1-732-560-4500 / FAX: +1-732-560-4531
Pennsylvania Service Satellite
ERIE, PENNSYLVANIA 16510, U.S.A.
TEL: +1-814-897-7820 / FAX: +1-814-987-7820
Massachusetts Service Satellite
BOSTON, MASSACHUSETTS 02108, U.S.A.
TEL: +1-508-216-6104
South Region Service Center
2810 PREMIERE PARKWAY SUITE 400, DULUTH, GEORGIA 30097, U.S.A.
TEL: +1-678-258-4500 / FAX: +1-678-258-4519
Texas Service Satellites
GRAPEVINE, TEXAS 76051, U.S.A.
TEL: +1-817-251-7468 / FAX: +1-817-416-5000
FRIENDSWOOD, TEXAS 77546, U.S.A.
TEL: +1-832-573-0787 / FAX: +1-678-573-8290
Florida Service Satellite
WEST MELBOURNE, FLORIDA 32904, U.S.A.
TEL: +1-321-610-4436 / FAX: +1-321-610-4437
Canada Region Service Center
4299 14TH AVENUE MARKHAM, ONTARIO L3R OJ2, CANADA
TEL: +1-905-475-7728 / FAX: +1-905-475-7935
Mexico City Service Center
MARIANO ESCOBEDO 69 TLALNEPANTLA, 54030 EDO. DE MEXICO
TEL: +52-55-9171-7662 / FAX: +52-55-9171-7649
Monterrey Service Satellite
MONTERREY, N.L., 64720, MEXICO
TEL: +52-81-8365-4171 / FAX: +52-81-8365-4171
Brazil Region Service Center
ACESSO JOSE SARTORELLI, KM 2.1 CEP 18550-000, BOITUVA-SP, BRAZIL
TEL: +55-15-3363-9900 / FAX: +55-15-3363-9911
Brazil Service Satellites
PORTO ALEGRE AND CAXIAS DO SUL BRAZIL
TEL: +55-15-3363-9927
SANTA CATARINA AND PARANA STATES
TEL: +55-15-3363-9927
GOTHAER STRASSE 10, 40880 RATINGEN, GERMANY
TEL: +49-2102-486-0 / FAX: +49-2102-486-5910
Germany Service Center
KURZE STRASSE. 40, 70794 FILDERSTADT-BONLANDEN, GERMANY
TEL: + 49-711-3270-010 / FAX: +49-711-3270-0141
France Service Center
25, BOULEVARD DES BOUVETS, 92741 NANTERRE CEDEX FRANCE
TEL: +33-1-41-02-83-13 / FAX: +33-1-49-01-07-25
France (Lyon) Service Satellite
120, ALLEE JACQUES MONOD 69800 SAINT PRIEST FRANCE
TEL: +33-1-41-02-83-13 / FAX: +33-1-49-01-07-25
Italy Service Center
VIALE COLLEONI 7-PALAZZO SIRIO CENTRO DIREZIONALE COLLEONI,
20041 AGRATE BRIANZA MILANO ITALY
TEL: +39-039-60531-342 / FAX: +39-039-6053-206
Italy (Padova) Service Satellite
VIA SAVELLI 24 - 35129 PADOVA ITALY
TEL: +39-039-60531-342 / FAX: +39-039-6053-206
U.K. Service Center
TRAVELLERS LANE, HATFIELD, HERTFORDSHIRE, AL10 8XB, U.K.
TEL: +44-1707-27-6100 / FAX: +44-1707-27-8992
Spain Service Center
CTRA. DE RUBI, 76-80-APDO. 420
08190 SAINT CUGAT DEL VALLES, BARCELONA SPAIN
TEL: +34-935-65-2236 / FAX: +34-935-89-1579
Poland Service Center
UL.KRAKOWSKA 50, 32-083 BALICE, POLAND
TEL: +48-12-630-4700 / FAX: +48-12-630-4727
Poland (Wroclaw) Service Center
UL KOBIERZYCKA 23, 52-315 WROCLAW, POLAND
TEL: +48-71-333-77-53 / FAX: +48-71-333-77-53
Turkey Service Center
BAYRAKTAR BULVARI, NUTUK SOKAK NO.5, YUKARI DUDULLU
ISTANBUL, TURKEY
TEL: +90-216-526-3990 / FAX: +90-216-526-3995
Czech Republic Service Center
TECHNOLOGICKA 374/6,708 00 OSTRAVA-PUSTKOVEC, CZECH REPUBLIC
TEL: +420-59-5691-185 / FAX: +420-59-5691-199
Russia Service Center
213, B.NOVODMITROVSKAYA STR., 14/2, 127015 MOSCOW, RUSSIA
TEL: +7-495-748-0191 / FAX: +7-495-748-0192
Sweden Service Center
STRANDKULLEN, 718 91 FROVI, SWEDEN
TEL: +46-581-700-20 / FAX: +46-581-700-75
Bulgaria Service Center
4 A. LYAPCHEV BOUL., 1756 - SOFIA, BULGARIA
TEL: +359-2-8176000 / FAX: +359-2-9744061
Ukraine (Kharkov) Service Center
APTEKARSKIY LANE 9-A, OFFICE 3, 61001 KHARKOV, UKRAINE
TEL: +38-57-732-7744 / FAX: +38-57-731-8721
Ukraine (Kiev) Service Center
4-B, M. RASKOVOYI STR., 02660 KIEV, UKRAINE
TEL: +38-044-494-3355 / FAX: +38-044-494-3366
Belarus Service Center
703, OKTYABRSKAYA STR., 16/5, 220030 MINSK, BELARUS
TEL: +375-17-210-4626 / FAX: +375-17-227-5830
South Africa Service Center
P.O. BOX 9234, EDLEEN, KEMPTON PARK GAUTENG, 1625 SOUTH AFRICA
TEL: +27-11-394-8512 / FAX: +27-11-394-8513
Denmark Service Center
KARETMAGERVEJ. 7A, DK-7000, FREDERICIA, DENMARK
TEL: +45-7620-7514
ASEAN
CHINA
MITSUBISHI ELECTRIC ASIA PTE. LTD. (ASEAN FA CENTER)
MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. (CHINA FA CENTER)
Singapore Service Center
307 ALEXANDRA ROAD #05-01/02 MITSUBISHI ELECTRIC BUILDING SINGAPORE 159943
TEL: +65-6473-2308 / FAX: +65-6476-7439
China (Shanghai) Service Center
1-3,5-10,18-23/F, NO.1386 HONG QIAO ROAD, CHANG NING QU,
SHANGHAI 200336, CHINA
TEL: +86-21-2322-3030 / FAX: +86-21-2308-2830
China (Ningbo) Service Dealer
China (Wuxi) Service Dealer
China (Jinan) Service Dealer
China (Wuhan) Service Satellite
Indonesia Service Center
THE PLAZZA OFFICE TOWER, 28TH FLOOR JL.M.H. THAMRIN KAV.28-30, JAKARTA, INDONESIA
TEL: +62-21-2992-2333 / FAX: +62-21-2992-2555
Malaysia (KL) Service Center
60, JALAN USJ 10 /1B 47620 UEP SUBANG JAYA SELANGOR DARUL EHSAN, MALAYSIA
TEL: +60-3-5631-7605 / FAX: +60-3-5631-7636
Malaysia (Johor Baru) Service Center
NO. 16, JALAN SHAH BANDAR 1, TAMAN UNGKU TUN AMINAH, 81300 SKUDAI, JOHOR MALAYSIA
TEL: +60-7-557-8218 / FAX: +60-7-557-3404
Vietnam Service Center-1
ROOM 1004, 1005, FLOOR 10, 255 TRAN HUNG DAO CO GIANG WARD, DIST. 1, HCMC, VIETNAM
TEL: +84-8-3838-6931 / FAX: +84-8-3838-6932
Vietnam Service Center-2
LOT G10 - AREA 4 - HIEP BINH CHANH WARD - THU DUC DISTRICT - HCMC, VIETNAM
TEL: +84-8-2240-3587 / FAX: +84-8-3726-7968
Vietnam (Hanoi) Service Center
5FL, 59 - XA DAN STR., DONG DA DIST., HN, VIETNAM
TEL: +84-4-3573-7646 / FAX: +84-4-3573-7650
Philippines Service Center
UNIT NO.411, ALABAMG CORPORATE CENTER KM 25. WEST SERVICE ROAD
SOUTH SUPERHIGHWAY, ALABAMG MUNTINLUPA METRO MANILA, PHILIPPINES 1771
TEL: +63-2-807-2416 / FAX: +63-2-807-2417
China (Beijing) Service Center
9/F, OFFICE TOWER 1, HENDERSON CENTER, 18 JIANGUOMENNEI DAJIE,
DONGCHENG DISTRICT, BEIJING 100005, CHINA
TEL: +86-10-6518-8830 / FAX: +86-10-6518-3907
China (Beijing) Service Dealer
China (Tianjin) Service Center
B-2 801/802, YOUYI BUILDING, NO.50 YOUYI ROAD, HEXI DISTRICT,
TIANJIN 300061, CHINA
TEL: +86-22-2813-1015 / FAX: +86-22-2813-1017
China (Shenyang) Service Satellite
China (Changchun) Service Satellite
China (Chengdu) Service Center
ROOM 407-408, OFFICE TOWER AT SHANGRI-LA CENTER, NO. 9 BINJIANG DONG ROAD,
JINJIANG DISTRICT, CHENGDU, SICHUAN 610021, CHINA
TEL: +86-28-8446-8030 / FAX: +86-28-8446-8630
China (Shenzhen) Service Center
ROOM 2512-2516, 25/F., GREAT CHINA INTERNATIONAL EXCHANGE SQUARE, JINTIAN RD.S.,
FUTIAN DISTRICT, SHENZHEN 518034, CHINA
TEL: +86-755-2399-8272 / FAX: +86-755-8218-4776
China (Xiamen) Service Dealer
China (Dongguan) Service Dealer
MITSUBISHI ELECTRIC AUTOMATION (THAILAND) CO., LTD. (THAILAND FA CENTER)
BANG-CHAN INDUSTRIAL ESTATE NO.111 SOI SERITHAI 54
T.KANNAYAO, A.KANNAYAO, BANGKOK 10230, THAILAND
TEL: +66-2906-8255 / FAX: +66-2906-3239
KOREA
MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD. (KOREA FA CENTER)
Thailand Service Center
898/19,20,21,22 S.V. CITY BUILDING OFFICE TOWER 1, FLOOR 7
RAMA III RD., BANGPONGPANG, YANNAWA, BANGKOK 10120, THAILAND
TEL: +66-2-682-6522 / FAX: +66-2-682-9750
INDIA
Korea Service Center
1480-6, GAYANG-DONG, GANGSEO-GU SEOUL 157-200, KOREA
TEL: +82-2-3660-9602 / FAX: +82-2-3664-8668
Korea Taegu Service Satellite
603 CRYSTAL BUILDING 1666, SANBYEOK-DONG, BUK-KU, DAEGU, 702-010, KOREA
TEL: +82-53-604-6047 / FAX: +82-53-604-6049
MITSUBISHI ELECTRIC INDIA PVT. LTD.
India Service Center
2nd FLOOR, DLF BUILDING No.9B, DLF CYBER CITY
DLF PHASE-III, GURGAON 122002, HARYANA
TEL: +91-124-4630300 / FAX: +91-124-4630399
India (Bangalore) Service Center
FIRST & SECOND FLOOR, AVR BASE, MUNICIPAL NO.BC-308,
HENNURE BANASWADI ROAD, HRBR RING ROAD, BANGALORE-560 043, INDIA
TEL: +91-80-4020-1600 / FAX: +91-80-4020-1699
Chennai satellite office
Coimbatore satellite office
India (Pune) Service Center
TEL: +91-998-7997651
Baroda satellite office
OCEANIA
MITSUBISHI ELECTRIC AUSTRALIA LTD.
Oceania Service Center
348 VICTORIA ROAD, RYDALMERE, N.S.W. 2116 AUSTRALIA
TEL: +61-2-9684-7269 / FAX: +61-2-9684-7245
TAIWAN
MITSUBISHI ELECTRIC TAIWAN CO., LTD. (TAIWAN FA CENTER)
Taiwan (Taichung) Service Center
NO.8-1, GONG YEH 16TH RD., TAICHUNG INDUSTRIAL PARK TAICHUNG CITY, TAIWAN R.O.C.
TEL: +886-4-2359-0688 / FAX: +886-4-2359-0689
Taiwan (Taipei) Service Center
3RD. FLOOR, NO.122 WUKUNG 2ND RD., WU-KU HSIANG, TAIPEI HSIEN, TAIWAN R.O.C.
TEL: +886-2-2299-2205 / FAX: +886-2-2298-1909
Taiwan (Tainan) Service Center
2F(C),1-1, CHUNGHWA-RD., YONGKANG CITY, TAINAN HSIEN, TAIWAN R.O.C.
TEL: +886-6-313-9600 / FAX: +886-6-313-7713
Notice
Every effort has been made to keep up with software and hardware revisions in the
contents described in this manual. However, please understand that in some unavoidable
cases simultaneous revision is not possible.
Please contact your Mitsubishi Electric dealer with any questions or comments regarding
the use of this product.
Duplication Prohibited
This manual may not be reproduced in any form, in part or in whole, without written
permission from Mitsubishi Electric Corporation.
COPYRIGHT 2004-2011 MITSUBISHI ELECTRIC CORPORATION
ALL RIGHTS RESERVED
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