Mitsubishi Electric MDS-D2/DH2 Series Instruction manual
Mitsubishi Electric MDS-D2/DH2 Series is a high-performance numerical control unit designed to provide precise control of AC servo motors and spindles. It offers a wide range of features to meet the demands of a variety of industrial applications. With its advanced motion control capabilities, the MDS-D2/DH2 Series can achieve high levels of accuracy and repeatability, making it ideal for applications such as machining, robotics, and packaging.
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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.
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 .
The meaning of each pictorial sign is as follows.
CAUTION CAUTION rotated object
CAUTION HOT Danger Electric shock risk
Danger explosive
Prohibited Disassembly is prohibited
KEEP FIRE AWAY General instruction Earth ground
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, servo motor and spindle motor, etc.
In this section "Precautions for safety", the following items are generically called the "motor".
• Servo motor
• Linear servo motor
• Spindle motor
• Direct-drive 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. For the motor, ground it via the drive unit.
Wiring, maintenance and inspection work must be done by a qualified technician.
Wire the servo drive unit and servo motor 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.
Always insulate the power terminal connection section. Failure to observe this could lead to electric shocks.
After assembling the built-in IPM spindle motor, if the rotor is rotated by hand etc., voltage occurs between the terminals of lead. Take care not to get electric shocks.
WARNING
2. Injury prevention
When handling a motor, perform operations in safe clothing.
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.)
The linear servo motor, direct-drive motor and built-in IPM spindle motor uses permanent magnets in the rotor, so observe the following precautions.
(1)Handling
• The linear servo motor, direct-drive motor and built-in IPM spindle motor could adversely affect medical electronics such as pacemakers, etc., therefore, do not approach the rotor.
• Do not place magnetic materials as iron.
• When a magnetic material as iron is placed, take safety measure not to pinch fingers or hands due to the magnetic attraction force.
• Remove metal items such as watch, piercing jewelry, necklace, etc.
• Do not place portable items that could malfunction or fail due to the influence of the magnetic force.
• When the rotor is not securely fixed to the machine or device, do not leave it unattended but store it in the package properly.
• When installing the motor to the machine, take it out from the package one by one, and then install it.
• It is highly dangerous to lay out the motor or magnetic plates together on the table or pallet, therefore never do so.
(2)Transportation and storage
• Correctly store the rotor in the package to transport and store.
• During transportation and storage, draw people's attention by applying a notice saying "Strong magnet-
Handle with care" to the package or storage shelf.
• Do not use a damaged package.
(3)Installation
• Take special care not to pinch fingers, etc., when installing (and unpacking) the linear servo motor.
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.
Take care not to suck hair, clothes, etc. into the cooling fan.
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 encoder 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.
Provide adequate protection using a material such as connector for conduit to prevent screws, metallic detritus, water and other conductive matter or oil and other combustible matter from entering the motor through the power line lead-out port.
The units, motors and encoders 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
Operation: 0 to +55°C
(with no freezing),
Storage / Transportation: -15°C to +70°C
(with no freezing)
Operation: 90%RH or less
(with no dew condensation)
Storage / Transportation: 90%RH or less
(with no dew condensation)
Servo motor
Operation: 0 to +40°C
(with no freezing),
Storage: -15°C to +70°C (Note 2)
(with no freezing)
Operation: 80%RH or less
(with no dew condensation),
Storage: 90%RH or less
(with no dew condensation)
Spindle motor
Operation: 0 to +40°C
(with no freezing),
Storage: -20°C to +65°C
(with no freezing)
Operation: 90%RH or less
(with no dew condensation)
Storage: 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:
13000 meters or less above sea level
Operation/Storage:
1000 meters or less above sea level,
Transportation:
10000 meters or less above sea 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 servo motor.
When disinfectants or insecticides must be used to treat wood packaging materials, always use methods other than fumigation (for example, apply heat treatment at the minimum wood core temperature of 56 °C for a minimum duration of 30 minutes (ISPM No. 15 (2009))).
If products such as units are directly fumigated or packed with fumigated wooden materials, halogen substances (including fluorine, chlorine, bromine and iodine) contained in fumes may contribute to the erosion of the capacitors.
When exporting the products, make sure to comply with the laws and regulations of each country.
Do not use the products in conjunction with any components that contain halogenated flame retardants
(bromine, etc). Failure to observe this may cause the erosion of the capacitors.
Securely fix the servo motor to the machine. Insufficient fixing could lead to the servo motor slipping off during operation.
Always install the servo motor 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 servo motor shaft end, do not apply an impact by hammering, etc. The encoder could be damaged.
Do not apply a load exceeding the tolerable load onto the servo motor shaft. The shaft could break.
Store the motor in the package box.
When inserting the shaft into the built-in IPM spindle 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 built-in IPM spindle motor, direct-drive motor and linear servo motor.
Always provide a mechanical stopper on the end of the linear servo motor'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.
Install the heavy peripheral devices to the lower part in the panel and securely fix it not to be moved due to vibration.
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 servo motor. 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
Servo drive unit
COM
(24VDC) output, etc. to suppress a surge. Connecting it backwards could cause the drive unit to Control output signal malfunction so that signals are not output, and emergency stop and other safety circuits are inoperable.
RA
Servo drive unit
COM
(24VDC)
Control output signal
Do not connect/disconnect the cables connected between the units while the power is ON.
RA
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. (Refer to "EMC Installation Guidelines")
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.
(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 combinations and parameters before starting trial operation.
The direct-drive motor and linear servo motor do not have a stopping device such as magnetic brakes.
Install a stopping device on the machine side.
When using the linear servo motor for an unbalance axis, adjust the unbalance weight to 0 by installing an air cylinder, etc. on the machine side. The unbalance weight disables the initial magnetic pole adjustment.
CAUTION
(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 servo motor 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 servo motor 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.
Mitsubishi spindle motor is dedicated to machine tools. Do not use for other purposes.
(5) Troubleshooting
If a hazardous situation is predicted during power failure or product trouble, use a servo motor 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 servo motor brake control output.
Servo motor
Shut off with NC brake control PLC output.
EMG
Always turn the main circuit power of the motor OFF when an alarm occurs.
If an alarm occurs, remove the cause, and secure the safety before resetting the alarm.
Magnetic brake
MBR
24VDC
CAUTION
(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, immediately replace the battery. Replace the batteries while applying the drive unit's control power.
Do not short circuit, charge, overheat, incinerate or disassemble the battery.
For after-purchase servicing of the built-in motor, only the servicing parts for MITSUBISHI encoder can be supplied. For the motor body, prepare the spare parts at the machine manufacturers.
For maintenance, part replacement, and services in case of failures in the built-in motor (including the encoder), take necessary actions at the machine manufacturers. For drive unit, Mitsubishi can offer the after-purchase servicing as with the general drive unit.
(7) Disposal
Take the batteries and backlights for LCD, etc., off from the controller, drive unit and motor, and dispose of them as general industrial wastes.
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 servo motor 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.
(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"
(a) Recycle as much of this product as possible when finished with use.
(b) 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"
(a) 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.
(b) When disposing a product that cannot be resold, it shall be treated as a waste product.
(c) 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.
(d) 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!
Trademarks
MELDAS, MELSEC, EZSocket, EZMotion, iQ Platform, MELSOFT, GOT, CC-Link, CC-Link/LT and CC-Link
IE are either trademarks or registered trademarks of Mitsubishi Electric Corporation in Japan and/or other countries.
Other company and product names that appear in this manual are trademarks or registered trademarks of the respective companies.
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 .
WARRANTY
Please confirm the following product warranty details before using MITSUBISHI CNC.
1. Warranty Period and Coverage
Should any fault or defect (hereafter called "failure") for which we are liable occur in this product during the warranty period, we shall provide repair services at no cost through the distributor from which the product was purchased or through a
Mitsubishi Electric service provider. Note, however that this shall not apply if the customer was informed prior to purchase of the product that the product is not covered under warranty. Also note that we are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit is replaced.
[Warranty Term]
The term of warranty for this product shall be twenty-four (24) months from the date of delivery of product to the end user, provided the product purchased from us in Japan is installed in Japan (but in no event longer than thirty (30) months,
Including the distribution time after shipment from Mitsubishi Electric or its distributor).
Note that, for the case where the product purchased from us in or outside Japan is exported and installed in any country other than where it was purchased; please refer to "2. Service in overseas countries" as will be explained.
[Limitations]
(1) The customer is requested to conduct an initial failure diagnosis by him/herself, as a general rule. It can also be carried out by us or our service provider upon the customer
’ s request and the actual cost will be charged.
(2) This warranty applies only when the conditions, method, environment, etc., of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual, user
’ s manual, and the caution label affixed to the product, etc.
(3) Even during the term of warranty, repair costs shall be charged to the customer in the following cases:
(a) a failure caused by improper storage or handling, carelessness or negligence, etc., or a failure caused by the customer’s hardware or software problem
(b) a failure caused by any alteration, etc., to the product made by the customer without Mitsubishi Electric’s approval
(c) a failure which may be regarded as avoidable, if the customer’s equipment in which this product is incorporated is equipped with a safety device required by applicable laws or has any function or structure considered to be indispensable in the light of common sense in the industry
(d) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced
(e) any replacement of consumable parts (including a battery, relay and fuse)
(f) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning, and natural disasters
(g) a failure which is unforeseeable under technologies available at the time of shipment of this product from our company
(h) any other failures which we are not responsible for or which the customer acknowledges we are not responsible for
2. Service in Overseas Countries
If the customer installs the product purchased from us in his/her machine or equipment, and export it to any country other than where he/she bought it, the customer may sign a paid warranty contract with our local FA center.
This falls under the case where the product purchased from us in or outside Japan is exported and installed in any country other than where it was purchased.
For details please contact the distributor from which the customer purchased the product.
3. Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:
(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.
(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.
(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.
(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
4. Changes in Product Specifications
Specifications shown in our catalogs, manuals or technical documents are subject to change without notice.
5. Product Application
(1) For the use of this product, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in the product, and a backup or fail-safe function should operate on an external system to the product when any failure or malfunction occurs.
(2) Mitsubishi CNC is designed and manufactured solely for applications to machine tools to be used for industrial purposes.
Do not use this product in any applications other than those specified above, especially those which are substantially influential on the public interest or which are expected to have significant influence on human lives or properties.
Contents
1 Introduction ................................................................................................................................................. 1
1.1 Servo/Spindle Drive System Configuration .............................................................................................................. 2
1.1.1 System Configuration ....................................................................................................................................... 2
1.2 Explanation of Type ................................................................................................................................................. 3
1.2.1 Servo Motor Type ............................................................................................................................................. 3
1.2.2 Servo Drive Unit Type ...................................................................................................................................... 5
1.2.3 Spindle Motor Type .......................................................................................................................................... 8
1.2.4 Tool Spindle Motor Type ................................................................................................................................ 10
1.2.5 Spindle Drive Unit Type.................................................................................................................................. 12
1.2.6 Power Supply Unit Type ................................................................................................................................. 13
1.2.7 AC Reactor Type ............................................................................................................................................ 14
2 Specifications............................................................................................................................................ 15
2.1 Servo Motor............................................................................................................................................................ 16
2.1.1 Specifications List........................................................................................................................................... 16
2.1.2 Torque Characteristics ................................................................................................................................... 26
2.2 Spindle Motor ......................................................................................................................................................... 34
2.2.1 Specifications ................................................................................................................................................. 34
2.2.2 Output Characteristics .................................................................................................................................... 51
2.3 Tool Spindle Motor ................................................................................................................................................. 60
2.3.1 Specifications ................................................................................................................................................. 60
2.3.2 Output Characteristics .................................................................................................................................... 64
2.4 Drive Unit ............................................................................................................................................................... 66
2.4.1 Installation Environment Conditions ............................................................................................................... 66
2.4.2 Servo Drive Unit ............................................................................................................................................. 67
2.4.3 Spindle Drive Unit........................................................................................................................................... 70
2.4.4 Power Supply Unit ......................................................................................................................................... 72
2.4.5 Unit Outline Dimension Drawing .................................................................................................................... 73
2.4.6 AC Reactor ..................................................................................................................................................... 74
2.4.7 Explanation of Each Part ................................................................................................................................ 77
3 Function Specifications............................................................................................................................ 87
Function Specifications List........................................................................................................................................... 88
3.1 Base Control Functions.......................................................................................................................................... 91
3.1.1 Full Closed Loop Control ................................................................................................................................ 91
3.1.2 Position Command Synchronous Control ...................................................................................................... 92
3.1.3 Speed Command Synchronous Control ......................................................................................................... 92
3.1.4 Distance-coded Reference Position Control .................................................................................................. 93
3.1.5 Spindle's Continuous Position Loop Control .................................................................................................. 93
3.1.6 Coil Changeover Control ................................................................................................................................ 93
3.1.7 Gear Changeover Control .............................................................................................................................. 93
3.1.8 Orientation Control ......................................................................................................................................... 93
3.1.9 Indexing Control ............................................................................................................................................. 93
3.1.10 Synchronous Tapping Control ...................................................................................................................... 94
3.1.11 Spindle Synchronous Control ....................................................................................................................... 94
3.1.12 Spindle/C Axis Control ................................................................................................................................. 94
3.1.13 Proximity Switch Orientation Control ............................................................................................................ 94
3.1.14 Power Regeneration Control ........................................................................................................................ 94
3.1.15 Resistor Regeneration Control ..................................................................................................................... 94
3.2 Servo/Spindle Control Functions............................................................................................................................ 95
3.2.1 Torque Limit Function..................................................................................................................................... 95
3.2.2 Variable Speed Loop Gain Control................................................................................................................. 95
3.2.3 Gain Changeover for Synchronous Tapping Control ..................................................................................... 95
3.2.4 Speed Loop PID Changeover Control ............................................................................................................ 96
3.2.5 Disturbance Torque Observer ........................................................................................................................ 96
3.2.6 Smooth High Gain Control (SHG Control)...................................................................................................... 96
3.2.7 High-speed Synchronous Tapping Control (OMR-DD Control)...................................................................... 96
3.2.8 Dual Feedback Control................................................................................................................................... 97
3.2.9 HAS Control ................................................................................................................................................... 97
3.2.10 OMR-FF Control ........................................................................................................................................... 98
3.2.11 Control Loop Gain Changeover.................................................................................................................... 98
3.2.12 Spindle Output Stabilizing Control................................................................................................................ 98
3.2.13 High-response Spindle Acceleration/Deceleration Function ........................................................................ 98
3.3 Compensation Control Function ............................................................................................................................ 99
3.3.1 Jitter Compensation ....................................................................................................................................... 99
3.3.2 Notch Filter..................................................................................................................................................... 99
3.3.3 Adaptive Tracking-type Notch Filter ............................................................................................................... 99
3.3.4 Overshooting Compensation........................................................................................................................ 100
3.3.5 Machine End Compensation Control ........................................................................................................... 100
3.3.6 Lost Motion Compensation Type 2 .............................................................................................................. 101
3.3.7 Lost Motion Compensation Type 3 .............................................................................................................. 101
3.3.8 Lost Motion Compensation Type 4 .............................................................................................................. 102
3.3.9 Spindle Motor Temperature Compensation Function .................................................................................. 102
3.4 Protection Function.............................................................................................................................................. 103
3.4.1 Deceleration Control at Emergency Stop..................................................................................................... 103
3.4.2 Vertical Axis Drop Prevention/Pull-up Control.............................................................................................. 103
3.4.3 Earth Fault Detection ................................................................................................................................... 103
3.4.4 Collision Detection Function......................................................................................................................... 104
3.4.5 SLS (Safely Limited Speed) Function .......................................................................................................... 104
3.4.6 Fan Stop Detection ...................................................................................................................................... 104
3.4.7 Open-phase Detection ................................................................................................................................. 104
3.4.8 Contactor Weld Detection ............................................................................................................................ 104
3.4.9 STO (Safe Torque Off) Function .................................................................................................................. 105
3.4.10 Deceleration and Stop Function at Power Failure...................................................................................... 106
3.4.11 Retraction Function at Power Failure......................................................................................................... 106
3.5 Sequence Functions ............................................................................................................................................ 107
3.5.1 Contactor Control Function .......................................................................................................................... 107
3.5.2 Motor Brake Control Function ...................................................................................................................... 107
3.5.3 External Emergency Stop Function.............................................................................................................. 107
3.5.4 Specified Speed Output ............................................................................................................................... 107
3.5.5 Quick READY ON Sequence ....................................................................................................................... 107
3.6 Diagnosis Function .............................................................................................................................................. 108
3.6.1 Monitor Output Function............................................................................................................................... 108
3.6.2 Machine Resonance Frequency Display Function....................................................................................... 109
3.6.3 Machine Inertia Display Function ................................................................................................................. 109
3.6.4 Motor Temperature Display Function........................................................................................................... 109
3.6.5 Load Monitor Output Function...................................................................................................................... 109
3.6.6 Open Loop Control Function ........................................................................................................................ 109
3.6.7 Power Supply Diagnosis Display Function................................................................................................... 109
4 Characteristics ........................................................................................................................................ 111
4.1 Servo Motor ......................................................................................................................................................... 112
4.1.1 Environmental Conditions ........................................................................................................................... 112
4.1.2 Quakeproof Level......................................................................................................................................... 112
4.1.3 Shaft Characteristics .................................................................................................................................... 113
4.1.4 Machine Accuracy........................................................................................................................................ 114
4.1.5 Oil / Water Standards................................................................................................................................... 114
4.1.6 Installation of Servo Motor ........................................................................................................................... 115
4.1.7 Overload Protection Characteristics............................................................................................................. 115
4.1.8 Magnetic Brake ............................................................................................................................................ 123
4.1.9 Dynamic Brake Characteristics ................................................................................................................... 128
4.2 Spindle Motor....................................................................................................................................................... 131
4.2.1 Environmental Conditions ........................................................................................................................... 131
4.2.2 Shaft Characteristics .................................................................................................................................... 131
4.2.3 Machine Accuracy........................................................................................................................................ 132
4.2.4 Installation of Spindle Motor......................................................................................................................... 132
4.3 Tool Spindle Motor............................................................................................................................................... 133
4.3.1 Environmental Conditions ........................................................................................................................... 133
4.3.2 Shaft Characteristics .................................................................................................................................... 133
4.3.3 Tool Spindle Temperature Characteristics................................................................................................... 134
4.3.4 Installation of Tool Spindle Motor................................................................................................................. 134
4.4 Drive Unit ............................................................................................................................................................. 135
4.4.1 Environmental Conditions ........................................................................................................................... 135
4.4.2 Heating Value............................................................................................................................................... 136
4.4.3 Drive Unit Arrangement................................................................................................................................ 137
5 Dedicated Options .................................................................................................................................. 139
5.1 Servo Options ...................................................................................................................................................... 140
5.1.1 Dynamic Brake Unit (MDS-D-DBU) ............................................................................................................. 145
5.1.2 Battery Option (ER6V-C119B, A6BAT, MDS-BTBOX-36)............................................................................ 147
5.1.3 Ball Screw Side Encoder (OSA105ET2A, OSA166ET2NA)......................................................................... 158
5.1.4 Machine Side Encoder ................................................................................................................................. 160
5.1.5 Twin-head Magnetic Encoder (MBA Series) ................................................................................................ 165
5.2 Spindle Options.................................................................................................................................................... 169
5.2.1 Spindle Side ABZ Pulse Output Encoder (OSE-1024 Series)...................................................................... 170
5.2.2 Spindle Side PLG Serial Output Encoder (TS5690, MU1606 Series) .......................................................... 172
5.2.3 Twin-head Magnetic Encoder (MBE Series) ................................................................................................ 176
5.2.4 Spindle Side Accuracy Serial Output Encoder (ERM280, MPCI Series) (Other Manufacturer's Product) ... 180
5.2.5 Machine Side Encoder ................................................................................................................................. 180
5.3 Encoder Interface Unit ......................................................................................................................................... 181
5.3.1 Serial Output Interface Unit for ABZ Analog Encoder MDS-B-HR ............................................................... 181
5.3.2 Serial Signal Division Unit MDS-B-SD.......................................................................................................... 184
5.3.3 Pulse Output Interface Unit for ABZ Analog Encoder IBV Series (Other Manufacturer's Product) .............. 186
5.3.4 Serial Output Interface Unit for ABZ Analog Encoder EIB192M (Other Manufacturer's Product) ................ 187
5.3.5 Serial Output Interface Unit for ABZ Analog Encoder EIB392M (Other Manufacturer's Product) ................ 188
5.3.6 Serial Output Interface Unit for ABZ Analog Encoder ADB-20J Series (Other Manufacturer's Product) ..... 189
5.4 Drive Unit Option.................................................................................................................................................. 190
5.4.1 Optical Communication Repeater Unit (FCU7-EX022) ................................................................................ 190
5.4.2 DC Connection Bar ...................................................................................................................................... 193
5.4.3 Side Protection Cover .................................................................................................................................. 194
5.4.4 Power Backup Unit (MDS-D/DH-PFU) ......................................................................................................... 196
5.4.5 Regenerative Resistors for Power Backup Unit (R-UNIT-6,7)...................................................................... 200
5.4.6 Capacitor Unit for Power Backup Unit (MDS-D/DH-CU) .............................................................................. 202
5.5 Cables and Connectors........................................................................................................................................ 204
5.5.1 Cable Connection Diagram .......................................................................................................................... 204
5.5.2 List of Cables and Connectors ..................................................................................................................... 206
5.5.3 Optical Communication Cable Specifications............................................................................................... 216
6 Specifications of Peripheral Devices .................................................................................................... 219
6.1 Selection of Wire .................................................................................................................................................. 220
6.1.1 Example of Wires by Unit ............................................................................................................................. 220
6.2 Selection of Circuit Protector and Contactor ........................................................................................................ 227
6.2.1 Selection of Circuit Protector ........................................................................................................................ 227
6.2.2 Selection of Contactor .................................................................................................................................. 228
6.3 Selection of Earth Leakage Breaker .................................................................................................................... 229
6.4 Branch-circuit Protection (for Control Power Supply)........................................................................................... 230
6.4.1 Circuit Protector............................................................................................................................................ 230
6.4.2 Fuse Protection ............................................................................................................................................ 230
6.5 Noise Filter ........................................................................................................................................................... 231
6.6 Surge Absorber .................................................................................................................................................... 232
6.7 Relay .................................................................................................................................................................... 233
6.8 Selection of Link Connection................................................................................................................................ 235
6.8.1 Connection of L11 and L21 Link................................................................................................................... 235
6.8.2 Connection of L+ and L- Link ....................................................................................................................... 235
7 Selection .................................................................................................................................................. 239
7.1 Selection of the Servo Motor................................................................................................................................ 240
7.1.1 Outline .......................................................................................................................................................... 240
7.1.2 Selection of Servo Motor Capacity ............................................................................................................... 241
7.1.3 Motor Shaft Conversion Load Torque .......................................................................................................... 248
7.1.4 Expressions for Load Inertia Calculation ...................................................................................................... 249
7.2 Selection of the Spindle Motor ............................................................................................................................. 250
7.3 Selection of the Power Supply Unit...................................................................................................................... 251
7.3.1 Calculation of Spindle Output ....................................................................................................................... 251
7.3.2 Calculation of Servo Motor Output ............................................................................................................... 253
7.3.3 Selection of the Power Supply Unit .............................................................................................................. 254
7.3.4 Required Capacity of Power Supply............................................................................................................. 256
7.3.5 Example for Power Supply Unit and Power Supply Facility Capacity .......................................................... 257
7.3.6 Selection of Regenerative Resistor for Power Backup Unit (R-UNIT-6,7) and
Capacitor Unit for Power Backup Unit (MDS-D/DH-CU) .............................................................................. 259
Appendix 1 Cable and Connector Specifications ................................................................................... 261
Appendix 1.1 Selection of Cable ................................................................................................................................ 262
Appendix 1.1.1 Cable Wire and Assembly ............................................................................................................ 262
Appendix 1.2 Cable Connection Diagram .................................................................................................................. 265
Appendix 1.2.1 Battery Cable................................................................................................................................ 265
Appendix 1.2.2 Power Supply Communication Cable and Connector .................................................................. 266
Appendix 1.2.3 Optical Communication Repeater Unit Cable .............................................................................. 267
Appendix 1.2.4 STO Cable ................................................................................................................................... 267
Appendix 1.2.5 Servo / Tool Spindle Encoder Cable ............................................................................................ 268
Appendix 1.2.6 Brake Cable and Connector......................................................................................................... 273
Appendix 1.2.7 Spindle Encoder Cable ................................................................................................................ 274
Appendix 1.2.8 Twin-head Magnetic Encoder Cable ............................................................................................ 276
Appendix 1.3 Main Circuit Cable Connection Diagram.............................................................................................. 277
Appendix 1.4 Connector Outline Dimension Drawings .............................................................................................. 278
Appendix 1.4.1 Connector for Drive Unit............................................................................................................... 278
Appendix 1.4.2 Connector for Servo and Tool Spindle ......................................................................................... 283
Appendix 1.4.3 Connector for Spindle .................................................................................................................. 286
Appendix 1.4.4 Power Backup Unit Connector ..................................................................................................... 288
Appendix 2 Restrictions for Lithium Batteries ........................................................................................ 289
Appendix 2.1 Restriction for Packing ......................................................................................................................... 290
Appendix 2.1.1 Target Products............................................................................................................................ 290
Appendix 2.1.2 Handling by User.......................................................................................................................... 291
Appendix 2.1.3 Reference..................................................................................................................................... 291
Appendix 2.2 Products Information Data Sheet (ER Battery) .................................................................................... 292
Appendix 2.3 Forbiddance of Transporting Lithium Battery by Passenger Aircraft Provided in the Code of
Federal Regulation .............................................................................................................................. 294
Appendix 2.4 California Code of Regulation "Best Management Practices for Perchlorate Materials" ..................... 294
Appendix 2.5 Restriction Related to EU Battery Directive ......................................................................................... 295
Appendix 2.5.1 Important Notes............................................................................................................................ 295
Appendix 2.5.2 Information for End-user .............................................................................................................. 295
Appendix 3 EC Declaration of Conformity............................................................................................... 297
Appendix 3.1 EC Declaration of Conformity .............................................................................................................. 298
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard .............................................. 299
Appendix 4.1 Operation Surrounding Air Ambient Temperature ............................................................................... 300
Appendix 4.2 Notes for AC Servo/Spindle System .................................................................................................... 300
Appendix 4.2.1 Warning........................................................................................................................................ 300
Appendix 4.2.2 Installation .................................................................................................................................... 300
Appendix 4.2.3 Short-circuit Ratings (SCCR) ....................................................................................................... 300
Appendix 4.2.4 Over-temperature Protection for Motor ........................................................................................ 300
Appendix 4.2.5 Peripheral Devices ....................................................................................................................... 301
Appendix 4.2.6 Field Wiring Reference Table for Input and Output (Power Wiring)............................................. 303
Appendix 4.2.7 Motor Over Load Protection ........................................................................................................ 309
Appendix 4.2.8 Flange of Servo Motor.................................................................................................................. 310
Appendix 4.2.9 Spindle Drive/Motor Combinations............................................................................................... 310
Appendix 4.2.10 Servo Drive/Motor Combinations ............................................................................................... 312
Appendix 4.3 AC Servo/Spindle System Connection ................................................................................................ 313
Appendix 4.3.1 MDS-D, D2/DH, DH2/DM, DM2-Vx/SP Series............................................................................. 313
Appendix 4.3.2 MDS-D/DH-CV, D/D2-Vx/SPx, DH/DH2-Vx/SPx, DM/DM2-V3 Series
with MDS-D/DH-PFU .................................................................................................................. 314
Appendix 4.3.3 MDS-D2/DH2-CV, D/D2-Vx/SPx, DH/DH2-Vx/SPx, DM/DM2-V3 Series
with MDS-D/DH-PFU .................................................................................................................. 314
Appendix 4.3.4 MDS-D-SVJ3/SPJ3/MDS-DJ Series ............................................................................................ 315
Appendix 4.3.5 MDS-DM, DM2-SPV Series ......................................................................................................... 316
Outline for MDS-D2/DH2 Series
Instruction Manual (IB-1501127-C)
1 Installation
1.1 Installation of Servo Motor
1.1.1 Environmental Conditions
1.1.2 Quakeproof Level
1.1.3 Cautions for Mounting Load (Prevention of Impact on Shaft)
1.1.4 Installation Direction
1.1.5 Shaft Characteristics
1.1.6 Machine Accuracy
1.1.7 Coupling with the Load
1.1.8 Oil / Water Standards
1.1.9 Installation of Servo Motor
1.1.10 Cable Stress
1.2 Installation of Spindle Motor
1.2.1 Environmental Conditions
1.2.2 Balancing the Spindle Motor (Unit)
1.2.3 Shaft Characteristics
1.2.4 Machine Accuracy
1.2.5 Coupling with the Fittings
1.2.6 Ambient Environment
1.2.7 Installation of Spindle Motor
1.2.8 Connection
1.2.9 Installation of the Terminal Box Cover
1.2.10 Cable Stress
1.3 Installation of Tool Spindle Motor
1.3.1 Environmental Conditions
1.3.2 Shaft Characteristics
1.3.3 Installation of Tool Spindle Motor
1.4 Installation of the Drive Unit
1.4.1 Environmental Conditions
1.4.2 Installation Direction and Clearance
1.4.3 Prevention of Entering of Foreign Matter
1.4.4 Panel Installation Hole Work Drawings (Panel Cut
Drawings)
1.4.5 Heating Value
1.4.6 Heat Radiation Countermeasures
1.5 Installation of the Machine End Encoder
1.5.1 Spindle Side ABZ Pulse Output Encoder (OSE-
1024 Series)
1.5.2 Spindle Side PLG Serial Output Encoder
(TS5690, MU1606 Series)
1.5.3 Twin-head Magnetic Encoder (MBA405W,
MBE405W Series)
1.6 Noise Measures
2 Wiring and Connection
2.1 Part System Connection Diagram
2.2 Main Circuit Terminal Block/Control Circuit Connector
2.2.1 Names and Applications of Main Circuit Terminal
Block Signals and Control Circuit Connectors
2.2.2 Connector Pin Assignment
2.3 NC and Drive Unit Connection
2.4 Connecting with Optical Communication Repeater Unit
2.5 Motor and Encoder Connection
2.5.1 Connection of the Servo Motor
2.5.2 Connection of the Full-closed Loop System
2.5.3 Connection of the Speed Command Synchronization Control System
2.5.4 Connection of the Spindle Motor
2.5.5 Connection of Tool Spindle Motor
2.6 Connection of Power Supply
2.6.1 Power Supply Input Connection
2.6.2 Connecting the Grounding Cable
2.7 Wiring of the Motor Brake
2.7.1 Wiring of the Motor Magnetic Brake
2.7.2 Dynamic Brake Unit Wiring
2.8 Peripheral Control Wiring
2.8.1 Input/Output Circuit Wiring
2.8.2 Specified Speed Output
2.8.3 Spindle Coil Changeover
2.8.4 Proximity Switch Orientation
3 Safety Function
3.1 Safety Function
3.1.1 Harmonized Standard
3.1.2 Outline of Safety Function
3.2 Emergency Stop Observation
3.3 SLS (Safely Limited Speed) Function
3.4 STO (Safe Torque Off) Function
4 Setup
4.1 Initial Setup
4.1.1 Setting the Rotary Switch
4.1.2 Setting DIP Switch
4.1.3 Transition of LED Display After Power Is Turned
ON
4.2 Setting the Initial Parameters for the Servo Drive Unit
4.2.1 Setting of Servo Specification Parameters
4.2.2 Setting of Machine Side Encoder
4.2.3 Setting of Distance-coded Reference Scale
4.2.4 Setting of Speed Command Synchronous Control
4.2.5 List of Standard Parameters for Each Servo Motor
4.2.6 Servo Parameters
4.3 Setting the Initial Parameters for the Spindle Drive Unit
4.3.1 Setting of Parameters Related to the Spindle
4.3.2 List of Standard Parameters for Each Spindle Motor
4.3.3 Spindle Specification Parameters
4.3.4 Spindle Parameters
5 Servo Adjustment
5.1 Servo Adjustment Procedure
5.2 Gain Adjustment
5.2.1 Current Loop Gain
5.2.2 Speed Loop Gain
5.2.3 Position Loop Gain
5.2.4 OMR-FF Function
5.3 Characteristics Improvement
5.3.1 Optimal Adjustment of Cycle Time
5.3.2 Vibration Suppression Measures
5.3.3 Improving the Cutting Surface Precision
5.3.4 Improvement of Characteristics during Acceleration/Deceleration
5.3.5 Improvement of Protrusion at Quadrant Changeover
5.3.6 Improvement of Overshooting
5.3.7 Improvement of the Interpolation Control Path
5.4 Adjustment during Full Closed Loop Control
5.4.1 Outline
5.4.2 Speed Loop Delay Compensation
5.4.3 Dual Feedback Control
5.5 Settings for Emergency Stop
5.5.1 Deceleration Control
5.5.2 Vertical Axis Drop Prevention Control
5.5.3 Vertical Axis Pull-up Control
5.6 Protective Functions
5.6.1 Overload Detection
5.6.2 Excessive Error Detection
5.6.3 Collision Detection Function
5.7 Servo Control Signal
5.7.1 Servo Control Input (NC to Servo)
5.7.2 Servo Control Output (Servo to NC)
6 Spindle Adjustment
6.1 Adjustment Procedures for Each Control
6.1.1 Basic Adjustments
6.1.2 Gain Adjustment
6.1.3 Adjusting the Acceleration/Deceleration Operation
6.1.4 Orientation Adjustment
6.1.5 Synchronous Tapping Adjustment
6.1.6 High-speed Synchronous Tapping
6.1.7 Spindle C Axis Adjustment (For Lathe System)
6.1.8 Spindle Synchronization Adjustment (For Lathe
System)
6.1.9 Deceleration Coil Changeover Valid Function by
Emergency Stop
6.1.10 High-response Acceleration/Deceleration Function
6.1.11 Spindle Cutting Withstand Level Improvement
6.1.12 Spindle Motor Temperature Compensation
Function
6.2 Settings for Emergency Stop
6.2.1 Deceleration Control
6.3 Spindle Control Signal
6.3.1 Spindle Control Input (NC to Spindle)
6.3.2 Spindle Control Output (Spindle to NC)
9.2.2 Setup of Retraction Function at Power Failure
System
9.3 Explanation of Each Part of Power Backup System
9.3.1 How to Set Rotary Switch and Dip Switches
9.3.2 Transition of LED Display After Power Is Turned
ON
9.4 Troubleshooting for Power Backup System
9.4.1 LED Display When Alarm or Warning Occurs
9.4.2 List of Power Backup Function Alarms
9.4.3 List of Power Backup Function Warnings
9.4.4 Troubleshooting for Each Alarm No.
9.4.5 Troubleshooting for Each Warning No.
9.4.6 Trouble Shooting at Power ON
Appendix 1 Cable and Connector Assembly
Appendix 1.1 CMV1-xPxxS-xx Plug Connector
Appendix 1.2 1747464-1 Plug Connector
Appendix 1.2.1 Applicable Products
Appendix 1.2.2 Applicable Cable
Appendix 1.2.3 Related Documents
Appendix 1.2.4 Assembly Procedure
Appendix 2 D/A Output Specifications for Drive Unit
Appendix 2.1 D/A Output Specifications
Appendix 2.2 Output Data Settings
Appendix 2.2.1 Servo Drive Unit Settings
Appendix 2.2.2 Spindle Drive Unit Settings
Appendix 2.3 Setting the Output Magnification
Appendix 2.3.1 Servo Drive Unit Settings
Appendix 2.3.2 Spindle Drive Unit Settings
7 Troubleshooting
7.1 Points of Caution and Confirmation
7.1.1 LED Display When Alarm or Warning Occurs
7.2 Protective Functions List of Units
7.2.1 List of Alarms
7.2.2 List of Warnings
7.3 Troubleshooting
7.3.1 Troubleshooting at Power ON
7.3.2 Troubleshooting for Each Alarm No.
7.3.3 Troubleshooting for Each Warning No.
7.3.4 Parameter Numbers during Initial Parameter Error
7.3.5 Troubleshooting the Spindle System When There
Is No Alarm or Warning
8 Maintenance
8.1 Periodic Inspections
8.1.1 Inspections
8.1.2 Cleaning of Spindle Motor
8.2 Service Parts
8.3 Adding and Replacing Units and Parts
8.3.1 Replacing the Drive Unit
8.3.2 Replacing the Unit Fan
8.3.3 Replacing the Battery
8.3.4 Replacing the Fuse
Appendix 3 Compliance to EC Directives
Appendix 3.1 Compliance to EC Directives
Appendix 3.1.1 European EC Directives
Appendix 3.1.2 Cautions for EC Directive Compliance
Appendix 4 EMC Installation Guidelines
Appendix 4.1 Introduction
Appendix 4.2 EMC Instructions
Appendix 4.3 EMC Measures
Appendix 4.4 Measures for Panel Structure
Appendix 4.4.1 Measures for Control Panel Unit
Appendix 4.4.2 Measures for Door
Appendix 4.4.3 Measures for Operation Board Panel
Appendix 4.4.4 Shielding of the Power Supply Input
Section
Appendix 4.5 Measures for Various Cables
Appendix 4.5.1 Measures for Wiring in Panel
Appendix 4.5.2 Measures for Shield Treatment
Appendix 4.5.3 Servo/Spindle Motor Power Cable
Appendix 4.5.4 Servo/Spindle Motor Encoder Cable
Appendix 4.6 EMC Countermeasure Parts
Appendix 4.6.1 Shield Clamp Fitting
Appendix 4.6.2 Ferrite Core
Appendix 4.6.3 Power Line Filter
Appendix 4.6.4 Surge Absorber
9 Power Backup System
9.1 Deceleration and Stop Function at Power Failure
9.1.1 Specifications of Stop Method for Deceleration and Stop Function at Power Failure System
9.1.2 Wiring of Deceleration and Stop Function at Power Failure
9.1.3 Setup of Deceleration and Stop Function at Power Failure
9.2 Retraction function at power failure
9.2.1 Wiring of Retraction Function at Power Failure
Appendix 5 Higher Harmonic Suppression Measure
Guidelines
Appendix 5.1 Higher Harmonic Suppression Measure
Guidelines
Appendix 5.1.1 Calculating the Equivalent Capacity of the Higher Harmonic Generator
1
Introduction
1 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
1 Introduction
1.1 Servo/Spindle Drive System Configuration
1.1.1 System Configuration
(MDS-D2/DH2-V1)
From NC servo drive unit
CN2
CN3
1-axis
CN20
CN2L
CN3L
Brake connector
CN2M
CN3M
2-axis servo drive unit
(MDS-D2/DH2-V2)
Optical communication cable
Optical communication cable
CN2
CN3
Spindle drive unit
(MDS-D2/DH2-SP)
Battery cable
Power supply communication cable
CN4
For external emergency stop
Power supply unit
(MDS-D2/DH2-CV)
Built in cell battery for servo drive unit or option battery
< Built in cell battery >
CN23
CN24
<Option battery>
Battery case
(MDS-BTCASE+A6BAT)
Battery unit
(MDS-BTBOX-36)
MDS-D2 Series:
3-phase 200VAC power supply
MDS-DH2 Series:
3-phase 400VAC power supply
Cell battery built in drive unit
(ER6V-C119B)
Circuit protector
(Note) Prepared
by user.
AC reactor
(D/DH-AL)
L+
L-
Circuit protector or protection fuse
(Note) Prepared by user.
Contactor
(Note) Prepared
by user.
Power connector
Power connector
To 2nd axis servo
To 3rd axis servo
To brake control
Contactor control output
Power cable (Only connector is supplied.)
Spindle encoder cable
< Motor side PLG cable >
Spindle encoder cable
< Spindle side encoder cable >
Power cable (Only connector is supplied.)
Brake cable (Only connector is supplied.)
Servo encoder cable
< Motor side encoder cable >
Spindle side encoder
Brake connector
Power connector
Servomotor
Spindle motor
Servo encoder cable
<MDS-B-HR unit cable >
Encoder conversion unit
(MDS-B-HR)
Servo encoder cable
< Linear scale cable> (Note) Prepared by user.
Servo encoder cable
< Ball screw side encoder cable >
Servo encoder cable
Ball screw side encoder
ABZ SIN wave signal output
< Linear scale cable for MDS-B-HR >
(Note) Prepared by user.
Mitsubishi serial signal output
Linear scale
(for full closed loop control)
(Note) Prepared by user.
IB-1501124-D 2
MDS-D2/DH2 Series Specifications Manual
1 Introduction
1.2 Explanation of Type
1.2.1 Servo Motor Type
Motor type
Rated rotation speed
Serial No.
Rated output
Motor rating nameplate
Date of manufacture
•109:September, 2010
•13Y:November, 2013
(X:October,Y:November,Z:December)
(1) 200V series
< HF Series >
H F (1) (2) (3) (4)
(1 ) R a te d o u tp u t · Ma xim u m ro ta tio n s p e e d
Sym b o l R a te d o u tp u t
Ma xim u m ro ta tio n s p e e d
Fla n g e s ize
(m m )
75
1 0 5
54
0 .7 5 kW
1 .0 kW
0 .5 kW
5 0 0 0 r/m in
5 0 0 0 r/m in
4 0 0 0 r/m in
9 0 SQ.
9 0 SQ.
1 3 0 SQ.
1 0 4
1 5 4
2 2 4
2 0 4
3 5 4
1 2 3
2 2 3
3 0 3
1 .0 kW
1 .5 kW
2 .2 kW
2 .0 kW
3 .5 kW
1 .2 kW
2 .2 kW
3 .0 kW
4 0 0 0 r/m in
4 0 0 0 r/m in
4 0 0 0 r/m in
4 0 0 0 r/m in
4 0 0 0 r/m in
3 0 0 0 r/m in
3 0 0 0 r/m in
3 0 0 0 r/m in
1 3 0 SQ.
1 3 0 SQ.
1 3 0 SQ.
1 7 6 SQ.
1 7 6 SQ.
1 3 0 SQ.
1 3 0 SQ.
1 7 6 SQ.
4 5 3
7 0 3
9 0 3
1 4 2
3 0 2
4 .5 kW
7 .0 kW
9 .0 kW
1 .4 kW
3 .0 kW
3 5 0 0 r/m in
3 0 0 0 r/m in
3 0 0 0 r/m in
2 0 0 0 r/m in
2 0 0 0 r/m in
1 7 6 SQ.
1 7 6 SQ.
2 0 4 SQ.
1 3 0 SQ.
1 7 6 SQ.
(3 ) Sh a ft e n d s tru ctu re
Sym b o l Sh a ft e n d s tru ctu re
S Stra ig h t
T Ta p e r
(N o te) "Ta p e r" is a va ila b le fo r th e
m o to r w h o s e fla n g e s ize is
9 0 SQ. m m o r 1 3 0 SQ. m m .
(2 ) Ma g n e tic b ra ke
Sym b o l Ma g n e tic b ra ke
N o n e N o n e
B W ith m a g n e tic b ra ke s
(4 ) En co d e r
Sym b o l
A4 8
A5 1
A7 4 N
Typ e
OSA1 8 -1 0 0
OSA1 0 5 S5 A
OSA1 6 6 S5 N A
D e te ctio n m eth o d
Ab s o lu te p o s itio n
R e s o lu tio n
2 6 0 ,0 0 0 p /re v
1 ,0 0 0 ,0 0 0 p /re v
1 6 ,0 0 0 ,0 0 0 p /re v
< HP Series >
HP (1) (2) (3) (4)
(1) R ated output · Maxim um rotation s peed
Sym bol R ated output
Maxim um rotation s peed
Flange s ize
(m m )
54 0.5 kW 4000 r/m in 130 SQ.
104
154
224
1.0 kW
1.5 kW
2.2 kW
4000 r/m in
4000 r/m in
4000 r/m in
130 SQ.
130 SQ.
130 SQ.
204
354
454
704
903
1103
2.0 kW
3.5 kW
4.5 kW
7.0 kW
9.0 kW
11.0 kW
4000 r/m in
4000 r/m in
4000 r/m in
4000 r/m in
3000 r/m in
3000 r/m in
180 SQ.
180 SQ.
180 SQ.
180 SQ.
220 SQ.
220 SQ.
(3) Shaft end s tructure
Sym bol Shaft end s tructure
S Straight
T Taper
(N ote) "Taper" is available for the
m otor w hos e flange s ize is
130 SQ. m m .
(2) Magnetic brake
Sym bol Magnetic brake
N one
B
N one
With m agnetic brake
(4) Encoder
Sym bol Type D etection m ethod
A48 OSA18-100
A51 OSA105S5A
A74N OSA166S5N A
Abs olute pos ition
R es olution
260,000 p/rev
1,000,000 p/rev
16,000,000 p/rev
< HF-KP Series >
HF-KP (1) (2) JW04-S6
(1) Rated output · Maxim um rotation speed
Sym bol Rated output
Maxim um rotation speed
Flange size (m m )
23
43
73
0.2 kW
0.4 kW
0.75 kW
6000 r/m in
6000 r/m in
6000 r/m in
60 SQ.
60 SQ.
80 SQ.
(2) Magnetic brake
Sym bol Magnetic brake
None
B
None
With m agnetic brake
3 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
1 Introduction
(2) 400V series
< HF-H Series>
HF-H (1) (2) (3) (4)
(1) R ated output · Maxim um rotation s peed
Sym bol R ated output
Maxim um rotation s peed
Flange s ize
(m m )
75
105
54
0.75kW
1.0kW
0.5kW
5000r/m in
5000r/m in
4000r/m in
90 SQ.
90 SQ.
130 SQ.
104
154
204
354
453
1.0kW
1.5kW
2.0kW
3.5kW
4.5kW
4000r/m in
4000r/m in
4000r/m in
4000r/m in
3500r/m in
130 SQ.
130 SQ.
176 SQ.
176 SQ.
176 SQ.
703
903
7.0kW
9.0kW
3000r/m in
3000r/m in
176 SQ.
204 SQ.
(3) Shaft end s tructure
Sym bol Shaft end s tructure
S
T
Straight
Taper
(N ote) "Taper" is available for the
m otor w hos e flange s ize is
90 SQ. m m or 130 SQ. m m .
(2) Magnetic brakes
Sym bol Magnetic brakes
N one
B
N one
With m agnetic brakes
(4) Encoder
Sym bol Type
A48
A51
OSA18-100
OSA105S5A
A74N OSA166S5N A
D etection m ethod
Abs olute pos ition
R es olution
260,000 p/rev
1,000,000 p/rev
16,000,000 p/rev
< HP-H Series >
HP-H (1) (2) (3) (4)
(1) R ated output · Maxim um rotation s peed
Sym bol R ated output
Maxim um rotation s peed
Flange s ize
(m m )
54 0.5kW
4000r/m in 130 SQ.
104
154
224
204
354
454
704
1.0kW
1.5kW
2.2kW
2.0kW
3.5kW
4.5kW
7.0kW
4000r/m in
4000r/m in
4000r/m in
4000r/m in
4000r/m in
4000r/m in
4000r/m in
130 SQ.
130 SQ.
130 SQ.
180 SQ.
180 SQ.
180 SQ.
180 SQ.
903
1103
9.0kW
11.0kW
3000r/m in
3000r/m in
220 SQ.
220 SQ.
(3) Shaft end s tructure
Sym bol Shaft end s tructure
S Straight
T Taper
(N ote) "Taper" is available for the
m otor w hos e flange s ize is
130 SQ.m m .
(2) Magnetic brakes
Sym bol Magnetic brakes
N one
B
N one
With m agnetic brakes
(4) Encoder
Sym bol Type D etection m ethod
A48
A51
OSA18-100
OSA105S5A
A74N OSA166S5N A
Abs olute pos ition
R es olution
260,000 p/rev
1,000,000 p/rev
16,000,000 p/rev
< HC-H Series >
HC-H (1) S-S10(2)
(1) Rated output · Maxim um rotation s peed
Sym bol Rated output
Maxim um rotation s peed
Flange s ize
(m m )
1502 15.0kW
2500r/m in 280 SQ.
Com patible with DH2 Series
(2) Encoder
Sym bol Type Detection m ethod
A48 OSA18-100
A51 OSA105S5A
A74N OSA166S5NA
Abs olute pos ition
Res olution
260,000 p/rev
1,000,000 p/rev
16,000,000 p/rev
IB-1501124-D 4
MDS-D2/DH2 Series Specifications Manual
1 Introduction
1.2.2 Servo Drive Unit Type
Output
Applicable standard
Type
Input/output conditions
Software No.
Serial No.
Manual No.
Date of manufacture
(Year-Month)
Rating nameplate
(1) 200V series
< MDS-D2 Series >
(a) 1-axis servo drive unit
MDS-D2(1)
(1) Unit Type
MDS-D2-
V1-20
V1-40
V1-80
Unit width
60mm
V1-160
V1-160W 90mm
V1-320 120mm
V1-320W 150mm
Compatible motor type
Unit nominal maximum current
20A
Stall torque
(N ･ m)
40A
80A
160A
160A
320A
320A
HF
□
HP
□
HF-KP
□
75 105 54 104 154 224 204 354 123 223 303 453 703 903 142 302 54 104 154 224 204 354 454 704 903 1103 23 43 73
2.0
3.0
● ●
2.9
●
5.9
●
9.0
●
12.0
●
13.7
22.5
●
●
7.0
●
12.0
●
22.5
●
37.2
●
49.0
58.8
●
●
11.0
20.0
●
●
3.0
●
5.9
●
9.0
●
12.0
●
13.7
●
22.5
●
31.9
●
49.0
70.0
110.0
●
●
●
0.64
●
1.3
●
2.4
●
● Indicates the compatible motor for each servo drive unit.
CAUTION
The dynamic brake unit (MDS-D-DBU) is required for the MDS-D2-V1-320W.
(b) 2-axis servo drive unit
MDS-D2(1)
(1) Unit Type
MDS-D2-
V2-2020
V2-4020
Unit width
Unit nominal maximum current
20+20A
Axis
Compatible motor type
Stall torque
(N ･ m)
LM
L
40+20A
M
HF □
75 105 54 104 154 224 204 354 123 223 303 453 703 903 142 302
2.0 3.0 2.9
● ●
● ●
V2-4040 60mm 40+40A LM
L
V2-8040 80+40A
V2-8080 80+80A
M
LM
V2-16080
90mm
160+80A
L
M
V2-160160
V2-160160W
160+160A
120mm 160+160A
LM
LM
●
Indicates the compatible motor for each servo drive unit.
●
●
●
5.9
●
●
●
9.0
●
●
●
12.0
●
●
●
13.7
●
●
●
22.5
●
●
●
7.0 12.0 22.5
●
●
●
●
●
●
●
●
37.2
●
●
●
49.0
●
58.8
11.0
●
●
20.0 3.0 5.9
●
●
●
54 104 154 224 204 354 454 704 903
●
●
●
●
●
●
9.0 12.0
●
●
●
●
●
●
13.7
●
●
●
HP □
22.5
●
●
●
31.9
●
●
●
49.0 70.0 110.0
●
1103 23
0.64 1.3 2.4
●
●
HF-KP □
43
●
●
73
●
●
5 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
1 Introduction
(c) 3-axis servo drive unit
MDS-D2(1)
(1) Unit Type
MDS-D2-
Compatible motor type 75 105 54
HF
□
104 154 123 223 142 302 23
HF-KP
□
43
Unit width
Unit nominal maximum current
Stall torque
Axis
(N ･ m) 2.0
3.0
2.9
5.9
7.0
7.0
12
(10.0)
11.0
20
(15.6)
0.64
V3-202020 20+20+20A
L
M
●
●
●
●
●
●
●
●
●
●
60mm
S
L
●
●
●
● ● ● □
●
● ●
●
● ●
●
V3-404040 40+40+40A M
● ● ● ● □ ● ○ ● ○
S
●
●
Indicates the compatible motor for each servo drive unit.
● ● ● □ ● ○
○ Indicates the motor that can be combine with the drive unit although the stall torque is limited.
● ○
□
Indicates the motor that can be combine with the drive unit although the stall torque and maximum torque are limited.
(Note) The values in the parentheses are specifications when connecting with the M/S-axis of the MDS-D2-V3-404040.
1.3
●
●
●
73
5.1
●
●
●
IB-1501124-D 6
MDS-D2/DH2 Series Specifications Manual
1 Introduction
(2) 400V series
< MDS-DH2 Series >
(a) 1-axis servo drive unit
MDS-DH2(1)
(1) Unit type
MDS-DH2-
V1-10
V1-20
V1-40
V1-80
V1-80W
V1-160
V1-160W
V1-200
Unit w idth
60m m
90m m
120m m
150m m
240m m
(Note)
Com patible m otor type
Unit nominal maximum current
10A
Stall torq ue
(N ･ m)
20A
40A
80A
80A
160A
160A
200A
HF-H
□
HP-H
□
HC-H
□
75 105 54 104 154 204 354 453 703 903 54 104 154 224 204 354 454 704 903 1103 1502S-S10
2.0
●
3.0
●
2.9
●
5.9
●
9.0
●
13.7 22.5 37.2
●
● ●
49.0 58.8
●
●
3.0
●
5.9
●
9.0
●
12.0
●
13.7 22.5
●
●
31.9 49.0 70.0 110.0
●
●
●
●
146.0
●
● Indicates the com patible m otor for each s ervo drive unit.
(Note) DC connection bar is required. Always ins tall a large capacity drive unit (MDS-DH2-V1-200) in the left s ide of power s upply unit, and connect with DC connection
CAUTION
The dynamic brake unit (MDS-D-DBU) is required for the MDS-DH2-V1-160W and MDS-DH2-V1-200.
(b) 2-axis servo drive unit
M D S -D H 2 (1)
( 1) Unit ty pe
MDS -DH2-
Co mpatible mo tor ty p e
Stall to rque
75 105
Unit w idth
Unit
no mina l max imum c u rr ent
10+10 A
A x is
(N ･ m) 2.0
3.0
V 2-10 10
V 2-20 10 20+10 A
LM
L
M
● ●
● ●
V 2-20 20
V 2-40 20
V 2-40 40
V 2-80 40
V 2-80 80
V 2-80 80W
60mm
90mm
12 0mm
20+20 A
40+20 A
40+40 A
80+40 A
80+80 A
80+80 A
LM
L
M
LM
L
M
LM
LM
● In dic ates the c o mp atible motor f o r eac h s e rv o dr iv e u nit.
54
2.9
●
●
●
HF-H □
10 4 15 4 2 04 354 453 703 903
5.9
●
●
●
9.0
●
●
●
13.7 22.5 37.2
●
●
●
●
●
●
●
●
●
49 .0
●
58 .8
54
3.0
●
●
●
HP-H □
1 04 1 54 224 204 354 45 4 70 4 9 03 1 103
5.9
●
●
●
9 .0
●
●
●
12.0
●
●
●
13.7 22 .5
●
●
●
●
●
●
3 1.9
●
●
●
49.0
●
70.0
110.0
7 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
1 Introduction
1.2.3 Spindle Motor Type
Motor type
Continuous rated output
Short time rated output
Frame No.
Serial No.
Date of manufacture
(Year-Month)
Rating nameplate
(1) 200V series
< SJ-D Series >
SJ-D (1) (2)
/
(3) (4) (5) (6)
(1) Motor series
Symbol Motor series
None
G
J
L
Normal
High-output specifications
Compact & lightweight specifications
Low-inertia specifications
(4) Specification code
Indicates a specification
code (01 to 99).
(3) Maximum rotation speed
Indicates the hundreds place
and higher order digits.
(6) Option (Note)
Symbol
None
A
C
J
S
X
Option
Standard
With leg
Shaft with key
Oil seal
Hollow shaft
Reversed cooling air
(Note) If more than one option is included,
the symbols are in alphabetical order.
(2) Short time (or %ED) rated output
Symbol Short-time rated output
3.7
0.75
3.7kW
0.75kW
1.5
5.5
7.5
11
15
1.5kW
5.5kW
7.5kW
11kW
15kW
(5) Encoder
Symbol
None
T
Type
Type 1
Type 2
(Note) This explains the model name system of spindle motors, but does not mean all the combinations are available.
< SJ-V/VL Series >
SJ(1) (2) (3) (4) (5) (6) T
For MDS-D2/DM2 m otor
(1) Motor s eries
Sym bol
V
VL
Motor s eries
Medium -inertia s eries
Low-inertia s eries
(3) Shaft configuration
Sym bol Axis configuration
None
None
K
Standard
(2) Coil changeover
Sym bol Coil changeover
Unavailable
Available
(4) Short tim e rated output
(For norm al s pecification
Sym bol
Short tim e rated output
0.75
1.5
2.2
3.7
0.75 kW
1.5 kW
2.2 kW
3.7 kW
5.5
7.5
11
15
18.5
5.5 kW
7.5 kW
11 kW
15 kW
18.5 kW
22
26
30
37
45
55
22 kW
26 kW
30 kW
37 kW
45 kW
55 kW
(6) Special s pecification
Sym bol
None
Z
FZ
Special s pecification
Standard
High-s peed bearing
High-s peed bearing front-lock
(5) Specification code
The SJ-V/VL Series is indicated
with a s pecification code (01 to 99).
(Note) This explains the m odel nam e s ys tem of s pindle m otors , but does not m ean all the com binations are available.
IB-1501124-D 8
MDS-D2/DH2 Series Specifications Manual
1 Introduction
(2) 400V series
< SJ-V Series >
SJ- 4 (1) (2) (3) (4)
-
(5) (6) T
(1) Motor s eries
Sym bol
V
Motor s eries
Medium -inertia s eries
(3) Shaft configuration
Sym bol
N one
Sym bol
N one
Axis configuration
Standard
(2) C oil changeover
C oil changeover
U navailable
(4) Short tim e rated output
(For norm al s pecification)
Sym bol Short tim e rated output
2.2
3.7
5.5
7.5
11
15
18.5
22
26
45
55
2.2kW
3.7kW
5.5kW
7.5kW
11kW
15kW
18.5kW
22kW
26kW
45kW
55kW
(6) Special s pecification
Sym bol
N one
Z
Special s pecification
Standard
H igh-s peed bearing
(5) Specification code
The SJ-4-V Series is indicated w ith
a s pecification code (01 to 99).
(N ote) This explains the m odel nam e s ys tem of s pindle m otors , but does not m ean all the com binations are available.
9 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
1 Introduction
1.2.4 Tool Spindle Motor Type
Motor type
Rated rotation speed
Serial No.
Motor rating nameplate
Rating nameplate
Rated output
Date of manufacture
•109:September, 2010
•13Y:November, 2013
(X:October,Y:November,Z:December)
(1) 200V series
<HF-KP Series>
HF-KP (1) J (2) W09
(1) Rated output and maximum rotation speed
Symbol Rated output
Maximum rotation speed
Flange size (mm)
46 0.4 kW 6000 r/min 60 SQ.
56
96
0.5 kW
0.9 kW
6000 r/min
6000 r/min
60 SQ.
80 SQ.
<HF-SP Series>
HF-SP (1) J (2) W09
(2) Option
Symbol
None
K
Option
Without keyway
With keyway (with key)
(1) Rated output and maximum rotation speed
Symbol Rated output
Maximum
226 2.2kW
rotation speed
6000 r/min
406 4.0kW
6000 r/min
Flange size (mm)
130 SQ.
130 SQ.
<HF Series>
HF (1) (2) (3)
(2) Option
Symbol
None
K
Option
Without keyw ay
With keyw ay (w ithout key)
(1) Rated output · Maximum rotation speed
Symbol Rated output
Maximum rotation
75 0.75 kW speed
4000 r/min
105
54
1.0 kW
0.5 kW
4000 r/min
3000 r/min
104
154
1.0 kW
1.5 kW
3000 r/min
3000 r/min
224
204
354
453
703
903
2.2 kW
2.0 kW
3.5 kW
4.5 kW
7.0 kW
9.0 kW
3000 r/min
3000 r/min
3000 r/min
3000 r/min
3000 r/min
3000 r/min
Flange size ( mm)
90 SQ.
90 SQ.
130 SQ.
130 SQ.
130 SQ.
130 SQ.
176 SQ.
176 SQ.
176 SQ.
176 SQ.
204 SQ.
(2) Shaft end structure
Symbol Shaft end structure
S Straight
(3) Encoder
Symbol
A48
Type
OSA18-100
Resolution
260,000 p/rev
(Note) Encoder A51 and A74N can not be
used with the tool spindle motor.
IB-1501124-D 10
MDS-D2/DH2 Series Specifications Manual
1 Introduction
< Combination with spindle drive unit >
(a) 1-axis spindle drive unit
Unit Type
MDS-D2-
Unit w idth
Compatible motor type
Rated torque
(N ･ m)
Rated output
20 A
75
1.8
105
2.4
54
1.6
HF
□
104 154 224 204 354 453 703 903
3.2
SP-20
SP-40
SP-80
60mm
SP-160 90mm
SP-200 120mm
40 A
80 A
160 A
200 A
● ●
● ●
SP-240
SP-320
150mm
SP-400 240mm
SP-640 300mm
240 A
320 A
400 A
640 A
●
Indicates the compatible motor for each spindle drive unit.
4.8
●
7.0
●
6.4
●
11.1
●
14.3
●
22.3
●
28.6 0.64
●
46
●
HF-KP
56
0.8
●
□
96
1.43
●
HF-SP
226 406
3.5 6.37
●
□
●
(b) 2-axis spindle drive unit
Unit Type
MDS-D2-
Compatible motor type
HF □
75 105 54 104 154 224 204 354 453 703 46
HF-KP □
56
Unit w idth
Rated output
Rated torque
(N ･ m)
1.8
2.4
Axis
SP2-2020 20+20A LM
● ●
SP2-4020 60mm 40+20A
40+40A
40+40A
L
M
LM
● ●
SP2-4040S
SP2-4040 LM
L
SP2-8040
90mm
80+40A
SP2-16080S
SP2-8080
160+80A
80+80A
M
L
M
LM
SP2-16080
120mm
160+80A
L
M
●
Indicates the compatible motor for each spindle drive unit.
1.6
●
●
●
●
3.2
●
●
●
●
4.8
●
●
●
●
7.0
●
●
●
●
6.4
●
●
●
●
11.1
●
●
14.3
●
●
22.3
●
●
0.6
●
●
0.8
●
●
96
1.4
●
●
HF-SP □
226
3.5
●
●
●
●
406
6.4
●
●
11 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
1 Introduction
1.2.5 Spindle Drive Unit Type
Output
Applicable standard
Type
Input/output conditions
Software No.
Serial No.
Manual No.
Date of manufacture
(Year-Month)
Rating nameplate
(1) 200V series
< MDS-D2 Series >
(a) 1-axis spindle drive unit
MDS-D2(1)
(1) Capacity
Symbol Nominal maximum current
SP-20 20 A
SP-40
SP-80
SP-160
SP-200
40 A
80 A
160 A
200 A
SP-240
SP-320
SP-400
SP-640
240 A
320 A
400 A
640 A
(b) 2-axis spindle drive unit
Unit width
60mm
90mm
120mm
150mm
240mm (Note)
300mm (Note)
MDS-D2(1)
(1) Capacity
Symbol
SP2-2020
SP2-4020
SP2-4040S
SP2-4040
SP2-8040
SP2-16080S
SP2-8080
SP2-16080
Nominal maximum current
20+20 A
40+20 A
40+40 A
40+40 A
80+40 A
160+80 A
80+80 A
160+80 A
Unit width
60mm
90mm
120mm
(Note) DC connection bar is required. Always install a large capacity
drive unit (MDS-D2-SP-400,640) in the left side of power supply
and connect with DC connection bar.
(2) 400V series
< MDS-DH2 Series >
M DS-DH2(1)
(1) Capacity
Sym bol Nom inal m axim um current
SP-20
SP-40
SP-80
SP-100
SP-160
SP-200
SP-320
SP-480
20A
40A
80A
100A
160A
200A
320A
480A
Unit width
60m m
90m m
120m m
150m m
240m m (Note)
300m m (Note)
(Note) DC connection bar is required. Alw ays ins tall a large capacity
drive unit (MDS-DH2-SP-200,320,480) in the left s ide of power s upply unit
and connect with DC connection bar.
IB-1501124-D 12
MDS-D2/DH2 Series Specifications Manual
1 Introduction
1.2.6 Power Supply Unit Type
Output
Applicable standard
Type
Input/output conditions
Software No.
Serial No.
Manual No.
Date of manufacture
(Year-Month)
Rating nameplate
(1) 200V series
< MDS-D2 Series >
MDS-D2(1)
CV-37
CV-75
CV-110
CV-185
CV-300
CV-370
CV-450
CV-550
Power supply unit
(1) Type
MDS-D2-
30-minute rated output
Continuous rated output
3.7kW
7.5kW
11.0kW
18.5kW
30.0kW
37.0kW
45.0kW
55.0kW
2.2kW
5.5kW
7.5kW
15.0kW
26.0kW
30.0kW
37.0kW
45.0kW
Unit width
60mm
90mm
150mm
(Note 2)
300mm (Note 2)
Compatible AC reactor
D-AL-7.5K
D-AL-11K
D-AL-18.5K
D-AL-30K
D-AL-37K
D-AL-45K
D-AL-55K
Compatible contactor
(Mitsubishi)
(Note 1)
S-T12-AC200V
S-T35-AC200V
Compatible circuit protector
(Mitsubishi)
(Note 1)
NF63-CW3P-20A
NF63-CW3P-40A
NF63-CW3P-50A
S-T65-AC200V
S-T80-AC200V
S-N150-AC200V
NF125-CW3P-100A
NF250-CW3P-125A
NF250-CW3P-175A
NF250-CW3P-200A
S-N180-AC200V NF250-CW3P-225A
(Note 1) This is an optional part, and must be prepared by the user.
(Note 2) When connecting with a large capacity drive unit, DC connection bar is required.
Always install a large capacity drive unit in the left side of power supply unit, and connect with DC connection bar.
(2) 400V series
< MDS-DH2 Series >
MDS-DH2(1)
Power s upply unit
(1) Type
MDS-DH2-
CV-37
CV-75
CV-110
CV-185
30-m inute rated output
3.7kW
7.5kW
11.0kW
18.5kW
Continuous rated output
2.2kW
5.5kW
7.5kW
15.0kW
Unit width
90m m
Com patible AC reactor
DH-AL-7.5K
DH-AL-11K
DH-AL-18.5K
Com patible contactor
(Mits ubis hi)
(Note 1)
S-T12-AC400V
S-T21-AC400V
S-T35-AC400V
Com patible circuit protector
(Mits ubis hi)
(Note 1)
NF63-CW3P-10A
NF63-CW3P-20A
NF63-CW3P-30A
NF63-CW3P-40A
CV-300
CV-370
CV-450
CV-550
CV-750
30.0kW
37.0kW
45.0kW
55.0kW
75.0kW
26.0kW
30.0kW
37.0kW
45.0kW
55.0kW
150m m
(Note 2)
300m m
(Note 2)
DH-AL-30K
DH-AL-37K
DH-AL-45K
DH-AL-55K
DH-AL-75K
(Note 1) This is an optional part, and m us t be prepared by the us er.
(Note 2) When connecting with a large capacity drive unit, DC connection bar is required.
S-T50-AC400V
S-T65-AC400V
S-T80-AC400V
S-N150-AC400V
NF125-CW3P-75A
NF125-CW3P-100A
NF125-CW3P-100A
NF250-CW3P-125A
NF250-CW3P-200A
Always ins tall a large capacity drive unit in the left s ide of power s upply unit, and connect with DC connection bar.
13 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
1 Introduction
1.2.7 AC Reactor Type
Type D-AL-18.5K
Nameplate
(1) 200V series
< MDS-D2 Series >
D-AL(1)
AC reactor
(1) Type
D-AL-
Capacity
7.5K
7.5kW
11K
18.5K
30K
37K
45K
55K
11.0kW
18.5kW
30.0kW
37.0kW
45.0kW
55.0kW
Compatible power supply unit
MDS-D2-CV-37
MDS-D2-CV-75
MDS-D2-CV-110
MDS-D2-CV-185
MDS-D2-CV-300
MDS-D2-CV-370
MDS-D2-CV-450
MDS-D2-CV-550
(2) 400V series
< MDS-DH2 Series >
DH-AL(1)
AC reactor
(1) Type
D H-AL-
C apacity
7.5K
7.5kW
11K
18.5K
30K
37K
45K
55K
75K
11.0kW
18.5kW
30.0kW
37.0kW
45.0kW
55.0kW
75.0kW
Com patible pow er s upply unit
MDS-D H2-CV-37
MDS-D H2-CV-75
MD S-DH 2-C V-110
MD S-DH 2-C V-185
MD S-DH 2-C V-300
MD S-DH 2-C V-370
MD S-DH 2-C V-450
MD S-DH 2-C V-550
MD S-DH 2-C V-750
Top surface of AC reactor
IB-1501124-D 14
2
Specifications
15 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
2.1 Servo Motor
2.1.1 Specifications List
(1) 200V series
< HF Series >
Servo motor type
Compatible servo drive unit type
MDS-D2-V1-
MDS-D2-V2-
MDS-D2-V3-
Continuous characteristics
Rated output [kW]
Rated current [A]
Rated torque [N•m]
Stall current [A]
Stall torque [N•m]
Power facility capacity [kVA]
Rated rotation speed [r/min]
Maximum rotation speed [r/min]
Maximum current [A]
Maximum torque [N•m]
Power rate at continuous rated torque [kW/s]
Motor inertia [×10 -4 kg•m 2 ]
Motor inertia with brake [×10 -4 kg•m 2 ]
Maximum motor shaft conversion load inertia ratio
Motor side encoder
Degree of protection
Environment
Ambient temperature
Ambient humidity
Atmosphere
Altitude
Vibration
Flange size [mm]
Total length (excluding shaft) [mm] (Note 2)
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass Without / with brake [kg]
Heat-resistant class
HF75
20
2020
4020 (M)
HF105
20
2020
4020 (M)
HF Series
ABS specifications: HF □ -A74N / -A51 / -A48
HF54 HF104 HF154 HF224
40
4020 (L)
4040
8040 (M)
40
4020 (L)
4040
8040 (M)
80
8040 (L)
8080
16080 (M)
-
80
8040 (L)
8080
16080 (M)
HF204
80
8040 (L)
8080
16080 (M)
HF354
160
16080 (L)
160160
160160W
202020
404040
0.75
3.1
1.8
3.2
2.0
1.5
4000
5000
202020
404040
1.0
3.7
2.4
4.6
3.0
2.0
14.0
8.0
12.3
15.5
11.0
11.2
2.6
5.1
2.8
90 SQ.
126.5
Φ
Φ
80
14
2.5/3.9
404040 404040 404040 -
0.5
2.0
1.6
3.2
2.9
1.1
16.8
13.0
4.1
6.1
1.0
3.9
3.2
6.6
5.9
2.0
29.0
23.3
8.4
11.9
1.5
5.6
4.8
11
9.0
2.8
52.0
42.0
12.7
17.8
1.5
5.6
4.8
8.5
7.0
2.8
3000
4000
29.0
23.7
12.7
17.8
2.2
8.6
7.0
15
12.0
4.1
57.0
46.5
20.7
23.7
2.0
6.8
6.4
15
13.7
3.7
57.0
47.0
10.6
38.3
3.5
12
11.1
22
22.5
6.4
116.0
90.0
16.5
75.0
5.3
90 SQ.
162.5
Φ
Φ
80
14
4.3/5.7
8.3
118.5
Φ 110
Φ 24
4.8/6.7
14.1
X,Y:24.5m/s
130 SQ.
130 SQ.
140.5
Φ
Φ
110
24
6.5/8.5
2
20.0
(2.5G)
130 SQ.
162.5
Φ
Φ
155 (F)
110
24
8.3/10.3
20.0
25.9
48.0
High-speed, high-accuracy machine: 3 times or less of motor inertia
General machine tool (interpolation axis): 5 times or less of motor inertia
General machine (non-interpolation axis): 7 times or less of motor inertia
Resolution per motor revolution
A74N: 16,000,000 pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev
IP67 (The shaft-through portion is excluded.)
Operation: 0 to 40°C (with no freezing),
Storage: -15°C to 70°C (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
84.7
130 SQ.
184.5
Φ 110
Φ 24
X:24.5m/s 2 (2.5G)
Y:29.4m/s 2 (3G)
176 SQ.
143.5
Φ 114.3
Φ 35
176 SQ.
183.5
Φ 114.3
Φ 35
10.0/12.0
12.0/18.0
19.0/25.0
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the values when combined with the drive unit.
(Note 2) The total length will be 3.5mm longer when using an A51 or A74N encoder.
(Note 3) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 16
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< HF Series >
Servo motor type
Compatible servo drive unit type
Continuous characteristics
MDS-D2-V1-
MDS-D2-V2-
MDS-D2-V3-
Rated output [kW]
Rated current [A]
Rated torque [N•m]
Stall current [A]
Stall torque [N•m]
Power facility capacity [kVA]
Rated rotation speed [r/min]
Maximum rotation speed [r/min]
Maximum current [A]
Maximum torque [N•m]
Power rate at continuous rated torque [kW/s]
Motor inertia [×10 -4 kg•m 2 ]
Motor inertia with brake [×10
-4 kg•m
2
]
Maximum motor shaft conversion load inertia ratio
Motor side encoder
Degree of protection
Ambient temperature
Ambient humidity
Atmosphere
Altitude
HF123
20
2020
4020 (M)
202020
404040
1.2
5.2
5.7
6.4
7.0
2.3
15.5
17.0
27.3
11.9
14.1
HF223
40
4020 (L)
4040
8040 (M)
HF Series
ABS specifications: HF □ -A74N / -A51 / -A48
HF303 HF453 HF703 HF903
160W 320 80
8040 (L)
8080
16080 (M)
160
16080 (L)
160160
160160W
160160W -
HF142
20
2020
4020 (M)
404040 -
202020
404040
12.0
(10.0)
4.1
(3.9)
2000
3000
29.0
32.0
46.5
2.2
(2.1)
9.0
(8.5)
10.5
(10.0)
11
(8.5)
23.7
3.0
11
14.3
16
22.5
5.5
48.0
64.0
27.3
75.0
4.5
19
14.3
28
37.2
8.1
3500
104.2
122.0
18.3
112.0
7.0
34
22.3
37
49.0
12.5
3000
108.4
152.0
32.2
154.0
3000
9.0
30
28.6
56
58.8
16.1
204.0
208.0
42.1
196.0
1.4
5.2
6.7
6.4
11.0
2.7
2000
2000
15.5
26.5
25.2
17.8
25.9
84.7
121.7
163.7
205.7
20.0
High-speed, high-accuracy machine: 3 times or less of motor inertia
General machine tool (interpolation axis): 5 times or less of motor inertia
General machine (non-interpolation axis): 7 times or less of motor inertia
Resolution per motor revolution
A74N: 16,000,000 pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev
IP67 (The shaft-through portion is excluded.)
Operation: 0 to 40°C (with no freezing),
Storage: -15°C to 70°C (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
HF302
40
4020 (L)
4040
8040 (M)
404040
29.0
50.0
27.3
75.0
84.7
Environment
Vibration X,Y:24.5m/s
2
(2.5G)
X:24.5m/s 2 (2.5G)
Y:29.4m/s
2
(3G)
X,Y:
9.8m/s
2
(1G)
X,Y:
24.5m/s
2
(2.5G)
Flange size [mm]
Total length (excluding shaft) [mm] (Note 2)
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass Without / with brake [kg]
Heat-resistant class
130 SQ.
140.5
Φ 110
Φ 24
6.5/8.5
130 SQ.
184.5
Φ 110
Φ 24
10.0/12.0
176 SQ.
183.5
Φ 114.3
Φ 35
19.0/25.0
176 SQ.
223.5
Φ 114.3
Φ 35
176 SQ.
263.5
Φ 114.3
Φ 35
25.0/31.0
32.0/38.0
155 (F)
204 SQ.
330
Φ 180
Φ 42
43.0/49.0
130 SQ.
162.5
Φ 110
Φ 24
8.3/11.0
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the values when combined with the drive unit.
(Note 2) The total length will be 3.5mm longer when using an A51 or A74N encoder.
(Note 3) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 4) The values in the parentheses are specifications when connecting with the M/S-axis of the MDS-D2-V3-404040.
X:
24.5m/s
(2.5G)
2
Y:
29.4m/s 2
(3G)
176 SQ.
183.5
Φ 114.3
Φ 35
19.0/25.0
3.0
(2.2)
11
(8.5)
14.3
(10.6)
11
(8.5)
20.0
(15.6)
5.5
(4.1)
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
17 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< HP Series >
Servo motor type
Compatible servo drive unit type
MDS-D2-V1-
MDS-D2-V2-
Continuous characteristics
Rated output [kW]
Rated current [A]
Rated torque [N•m]
Stall current [A]
Stall torque [N•m]
Power facility capacity [kVA]
Rated rotation speed [r/min]
Maximum rotation speed [r/min]
Maximum current [A]
Maximum torque [N•m]
Power rate at continuous rated torque [kW/s]
Motor inertia [×10 -4 kg•m 2 ]
Motor inertia with brake [×10 -4 kg•m 2 ]
Maximum motor shaft conversion load inertia ratio
Motor side encoder
Degree of protection
Environment
Ambient temperature
Ambient humidity
Atmosphere
Altitude
Vibration
Flange size [mm]
Total length (excluding shaft) [mm] (Note 2)
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass Without / with brake [kg]
Heat-resistant class
HP54
40
4020 (L)
4040
8040 (M)
0.5
1.8
1.6
4.4
3.0
1.1
HP Series
ABS specifications: HP □ -A74N/ -A51/ -A48
HP104 HP154 HP224
40
4020 (L)
4040
8040 (M)
80
8040 (L)
8080
16080 (M)
80
8040 (L)
8080
16080 (M)
1.0
3.6
3.2
7.8
5.9
2.0
1.5
5.1
4.8
9.6
9.0
2.8
3000
4000
2.2
6.9
6.4
14.0
12.0
4.1
25.6
19.2
13.0
52.0
36.5
19.0
57.0
46.0
20.0
7.7
12.0
20.0
HP204
80
8040 (L)
8080
16080 (M)
2.0
7.4
6.4
14.6
13.7
3.7
16.8
11.0
5.5
4.6
57.0
43.0
14.0
29.0
5.1
130 SQ.
133.5
Φ 110
Φ 24
6.0/7.3
8.2
12.5
High-speed, high-accuracy machine: 3 times or less of motor inertia
General machine tool (interpolation axis): 5 times or less of motor inertia
General machine (non-interpolation axis): 10 times or less of motor inertia
Resolution per motor revolution
A74N: 16,000,000pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev
IP67 (The shaft-through portion is excluded.)
Operation: 0 to 40°C (with no freezing),
Storage: -15°C to 70°C (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
130 SQ.
152.5
Φ
Φ
X,Y:24.5m/s
110
24
7.0/8.5
2 (2.5G)
130 SQ.
171.5
Φ
Φ
110
24
8.0/9.5
155 (F)
20.5
130 SQ.
204.5
Φ
Φ
110
24
12.0/13.9
34.5
X:24.5m/s 2 (2.5G)
Y:29.4m/s 2 (3G)
180 SQ.
172.5
Φ 114.3
Φ 35
14.0/15.9
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the values when combined with the drive unit.
(Note 2) The total length will be 3.5mm longer when using an A51 or A74N encoder.
(Note 3) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 18
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< HP Series >
Compatible servo drive unit type
Continuous characteristics
Rated output [kW]
Rated current [A]
Rated torque [N•m]
Stall current [A]
Stall torque [N•m]
Power facility capacity [kVA]
Rated rotation speed [r/min]
Maximum rotation speed [r/min]
Maximum current [A]
Maximum torque [N•m]
Power rate at continuous rated torque [kW/s]
Motor inertia [×10 -4 kg•m 2 ]
Motor inertia with brake [×10 -4 kg•m 2 ]
Maximum motor shaft conversion load inertia ratio
Motor side encoder
Degree of protection
Environment
Servo motor type
MDS-D2-V1-
MDS-D2-V2-
Ambient temperature
Ambient humidity
Atmosphere
Altitude
Vibration
Flange size [mm]
Total length (excluding shaft) [mm] (Note 2)
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass Without / with brake [kg]
Heat-resistant class
HP354
160
16080 (L)
160160
160160W
3.5
14.5
11.1
29.0
22.5
6.4
HP Series
ABS specifications: HP □ -A74N/ -A51/ -A48
HP454 HP704 HP903
160W 320 160
16080 (L)
160160
160160W
160160W -
4.5
12.8
14.3
29.6
31.9
8.1
7.0
17.2
22.3
40.2
49.0
12.5
3000
9.0
21.6
28.7
54.0
70.0
16.1
4000
116.0
95.0
36.0
116.0
120.0
59.0
172.0
170.0
52.0
55.0
82.0
163.0
3000
HP1103
320W
-
11.0
24.6
35.0
79.0
110.0
19.6
116.0
66.0
33.0
37.0
212.0
260.0
48.0
255.0
42.5
60.5
87.5
180 SQ.
195.5
X:24.5m/s 2 (2.5G) Y:29.4m/s 2 (3G)
180 SQ.
225.5
180 SQ.
305.5
Φ 114.3
Φ 35
17.0/22.0
Φ 114.3
Φ 35
21.0/26.0
Φ 114.3
Φ 35
37.0/43.0
155 (F)
187.0
High-speed, high-accuracy machine: 3 times or less of motor inertia
General machine tool (interpolation axis): 5 times or less of motor inertia
General machine (non-interpolation axis): 10 times or less of motor inertia
Resolution per motor revolution
A74N: 16,000,000pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev
IP67 (The shaft-through portion is excluded.)
Operation: 0 to 40°C (with no freezing),
Storage: -15°C to 70°C (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
279.0
X,Y:9.8m/s 2 (1G)
220 SQ.
346.5
220 SQ.
419.5
Φ 200
Φ 55
51.0/61.4
Φ
Φ
200
55
74.0/84.4
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the values when combined with the drive unit.
(Note 2) The total length will be 3.5mm longer when using an A51 or A74N encoder.
(Note 3) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
19 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< HF-KP Series >
Servo motor type
Compatible servo drive unit type
MDS-D2-V1-
MDS-D2-V2-
Continuous characteristics
MDS-D2-V3-
Rated output [kW]
Rated current [A]
Rated torque [N•m]
Stall current [A]
Stall torque [N•m]
Power facility capacity [kVA]
Rated rotation speed [r/min]
Maximum rotation speed [r/min]
Maximum current [A]
Maximum torque [N•m]
Power rate at continuous rated torque [kW/s]
Motor inertia [×10 -4 kg•m 2 ]
Motor inertia with brake [×10 -4 kg•m 2 ]
Maximum motor shaft conversion load inertia ratio
Motor side encoder
Degree of protection
HF-KP23JW04-S6
20
2020
4020 (M)
202020
0.2
1.4
0.64
1.4
0.64
0.6
4.3
1.9
16.9
0.23
0.31
HF-KP Series
Absolute position standard
HF-KP43JW04-S6
20
2020
4020 (M)
202020
0.4
2.9
1.3
2.9
1.3
0.9
3000
6000
8.5
3.8
38.6
0.42
0.50
HF-KP73JW04-S6
20
2020
4020 (M)
202020
0.75
5.2
2.4
5.2
2.4
1.5
15.5
7.2
39.9
1.43
1.63
General machine (non-interpolation axis): 15 times or less of motor inertia
Environment
Ambient temperature
Ambient humidity
Atmosphere
Altitude
Vibration
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass Without / with brake [kg]
Heat-resistant class
Resolution per motor revolution: 260,000 pulse/rev
IP65 (The shaft-through portion is excluded.)
Operation: 0 to 40°C (with no freezing),
Storage: -15°C to 70°C (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
60 SQ.
98
Φ
Φ
50
14
1.2/1.8
X,Y: 49m/s 2 (5G)
60 SQ.
119.9
Φ 50
Φ 14
1.7/2.3
130 (B)
80 SQ.
134.2
Φ
Φ
70
19
2.9/4.1
(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) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 20
MDS-D2/DH2 Series Specifications Manual
2 Specifications
(2) 400V series
< HF-H Series >
Compatible servo drive unit type
Continuous characteristics
Rated output [kW]
Rated current [A]
Rated torque [N•m]
Stall current [A]
Stall torque [N•m]
Power facility capacity [kVA]
Rated rotation speed [r/min]
Maximum rotation speed [r/min]
Maximum current [A]
Maximum torque [N•m]
Power rate at continuous rated torque [kW/s]
Motor inertia [×10 -4 kg•m 2 ]
Motor inertia with brake [×10
-4 kg•m
2
]
Maximum motor shaft conversion load inertia ratio
Motor side encoder
Degree of protection
Environment
Servo motor type
MDS-DH2-V1-
MDS-DH2-V2-
Ambient temperature
Ambient humidity
Atmosphere
Altitude
Vibration
Flange size [mm]
Total length (excluding shaft) [mm] (Note 2)
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass Without / with brake [kg]
Heat-resistant class
HF-H75
10
1010
2010 (M)
0.75
1.5
1.8
1.6
2.0
1.5
7.0
8.0
12.3
2.6
4000
5000
HF-H Series
ABS specifications: HF-H □ -A74N / -A51 / -A48
HF-H105 HF-H54 HF-H104
10
1010
2010 (M)
20
2010 (L)
2020
4020 (M)
20
2010 (L)
2020
4020 (M)
1.0
1.8
2.4
2.3
3.0
2.0
0.5
1.1
1.6
1.6
2.9
1.1
1.0
2.0
3.2
3.3
5.9
2.0
3000
4000
7.75
11.0
11.2
8.4
13.0
4.1
14.5
23.3
8.4
5.1
6.1
11.9
26.0
42.0
12.7
17.8
2.8
5.3
8.3
14.1
20.0
90 SQ.
126.5
Φ 80
Φ 14
2.5/3.9
High-speed, high-accuracy machine: 3 times or less of motor inertia
General machine tool (interpolation axis): 5 times or less of motor inertia
General machine (non-interpolation axis): 7 times or less of motor inertia
Resolution per motor revolution
A74N: 16,000,000 pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev
IP67 (The shaft-through portion is excluded.)
Operation: 0 to 40°C (with no freezing),
Storage: -15°C to 70°C (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
X,Y:24.5m/s 2 (2.5G)
90 SQ.
162.5
Φ 80
Φ 14
4.3/5.7
130 SQ.
118.5
Φ 110
Φ 24
4.8/6.7
155 (F)
130 SQ.
140.5
Φ
Φ
110
24
6.7/8.6
130 SQ.
162.5
Φ 110
Φ 24
8.3/11.0
HF-H154
40
4020 (L)
4040
8040 (M)
1.5
2.7
4.8
5.5
9.0
2.8
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the values when combined with the drive unit.
(Note 2) The total length will be 3.5mm longer when using an A51 or A74N encoder.
(Note 3) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
21 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< HF-H Series >
Compatible servo drive unit type
Continuous characteristics
Rated output [kW]
Rated current [A]
Rated torque [N•m]
Stall current [A]
Stall torque [N•m]
Power facility capacity [kVA]
Rated rotation speed [r/min]
Maximum rotation speed [r/min]
Maximum current [A]
Maximum torque [N•m]
Power rate at continuous rated torque [kW/s]
Motor inertia [×10 -4 kg•m 2 ]
Motor inertia with brake [×10 -4 kg•m 2 ]
Maximum motor shaft conversion load inertia ratio
Motor side encoder
Degree of protection
Environment
Servo motor type
MDS-DH2-V1-
MDS-DH2-V2-
Ambient temperature
Ambient humidity
Atmosphere
Altitude
Vibration
Flange size [mm]
Total length (excluding shaft) [mm] (Note 2)
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass Without / with brake [kg]
Heat-resistant class
HF-H204
40
4020 (L)
4040
8040 (M)
2.0
3.5
6.4
7.3
13.7
3.7
4000
HF-H Series
ABS specifications: HF-H □ -A74N / -A51 / -A48
HF-H354 HF-H453 HF-H703
80W 80
8040 (L)
8080
8080W
80
8040 (L)
8080
8080W
8080W
3.5
7.8
11.1
14
22.5
6.4
4.5
9.3
14.3
17
37.2
8.1
3000
3500
7.0
16
22.3
19
49.0
12.5
58.0
90.0
16.5
52.1
122.0
18.3
54.2
152.0
32.2
75.0
112.0
154.0
3000
HF-H903
160
-
9.0
17
28.6
28
58.8
16.1
28.5
47.0
10.6
38.3
102.0
208.0
42.1
196.0
48.0
176 SQ.
143.5
Φ 114.3
Φ 35
13/19
84.7
121.7
High-speed, high-accuracy machine: 3 times or less of motor inertia
General machine tool (interpolation axis): 5 times or less of motor inertia
General machine (non-interpolation axis): 7 times or less of motor inertia
Resolution per motor revolution
A74N: 16,000,000 pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev
IP67 (The shaft-through portion is excluded.)
Operation: 0 to 40°C (with no freezing),
Storage: -15°C to 70°C (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
X:24.5m/s 2 (2.5G) Y:29.4m/s 2 (3G)
176 SQ.
183.5
176 SQ.
223.5
Φ 114.3
Φ 35
19.0/25.0
Φ 114.3
Φ 35
25.0/31.0
155 (F)
163.7
176 SQ.
Φ
263.5
114.3
Φ 35
32.0/38.0
205.7
X,Y:9.8m/s 2 (1G)
204 SQ.
330
Φ 180
Φ 42
43.0/49.0
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the values when combined with the drive unit.
(Note 2) The total length will be 3.5mm longer when using an A51 or A74N encoder.
(Note 3) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 22
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< HP-H Series >
Servo motor type
Compatible servo drive unit type
MDS-DH2-V1-
MDS-DH2-V2-
Continuous characteristics
Rated output [kW]
Rated current [A]
Rated torque [N•m]
Stall current [A]
Stall torque [N•m]
Power facility capacity [kVA]
Rated rotation speed [r/min]
Maximum rotation speed [r/min]
Maximum current [A]
Maximum torque [N•m]
Power rate at continuous rated torque [kW/s]
Motor inertia [×10 -4 kg•m 2 ]
Motor inertia with brake [×10 -4 kg•m 2 ]
Maximum motor shaft conversion load inertia ratio
Motor side encoder
Degree of protection
Environment
Ambient temperature
Ambient humidity
Atmosphere
Altitude
Vibration
Flange size [mm]
Total length (excluding shaft) [mm] (Note 2)
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass Without / with brake [kg]
Heat-resistant class
HP-H54
20
2010 (L)
2020
4020 (M)
0.5
0.9
1.6
2.2
3.0
1.1
HP-H Series
ABS specifications: HP-H □ -A74N/ -A51/ -A48
HP-H104 HP-H154 HP-H224
20
2010 (L)
2020
4020 (M)
40
4020 (L)
4040
8040 (M)
40
4020 (L)
4040
8040 (M)
1.0
1.8
3.2
3.9
5.9
2.0
1.5
3.1
4.8
4.8
9.0
2.8
3000
4000
2.2
4.0
6.4
7.0
12.0
4.1
12.8
19.2
13.0
26.0
36.5
19.0
28.5
46.0
20.0
7.7
12.0
20.0
HP-H204
40
4020 (L)
4040
8040 (M)
2.0
4.1
6.4
7.3
13.7
3.7
8.4
11.0
5.5
4.6
28.5
43.0
14.0
29.0
5.1
130 SQ.
133.5
Φ 110
Φ 24
6.0/7.3
8.2
12.5
High-speed, high-accuracy machine: 3 times or less of motor inertia
General machine tool (interpolation axis): 5 times or less of motor inertia
General machine (non-interpolation axis): 10 times or less of motor inertia
Resolution per motor revolution
A74N: 16,000,000pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev
IP67 (The shaft-through portion is excluded.)
Operation: 0 to 40°C (with no freezing),
Storage: -15°C to 70°C (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
130 SQ.
152.5
Φ
Φ
X,Y:24.5m/s
110
24
7.0/8.5
2 (2.5G)
130 SQ.
171.5
Φ
Φ
110
24
8.0/9.5
155 (F)
20.5
130 SQ.
204.5
Φ
Φ
110
24
12.0/13.9
34.5
X:24.5m/s 2 (2.5G)
Y:29.4m/s 2 (3G)
180 SQ.
172.5
Φ 114.3
Φ 35
14.0/15.9
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the values when combined with the drive unit.
(Note 2) The total length will be 3.5mm longer when using an A51 or A74N encoder.
(Note 3) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
23 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< HP-H Series >
Compatible servo drive unit type
Continuous characteristics
Rated output [kW]
Rated current [A]
Rated torque [N•m]
Stall current [A]
Stall torque [N•m]
Power facility capacity [kVA]
Rated rotation speed [r/min]
Maximum rotation speed [r/min]
Maximum current [A]
Maximum torque [N•m]
Power rate at continuous rated torque [kW/s]
Motor inertia [×10 -4 kg•m 2 ]
Motor inertia with brake [×10 -4 kg•m 2 ]
Maximum motor shaft conversion load inertia ratio
Motor side encoder
Degree of protection
Environment
Servo motor type
MDS-DH2-V1-
MDS-DH2-V2-
Ambient temperature
Ambient humidity
Atmosphere
Altitude
Vibration
Flange size [mm]
Total length (excluding shaft) [mm] (Note 2)
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass Without / with brake [kg]
Heat-resistant class
HP-H354
80
8040 (L)
8080
8080W
3.5
7.4
11.1
14.5
22.5
6.4
HP-H Series
ABS specifications: HP-H □ -A74N/ -A51/ -A48
HP-H454 HP-H704 HP-H903
80W 160 80
8040 (L)
8080
8080W
8080W -
4.5
7.6
14.3
14.9
31.9
8.1
7.0
10.6
22.3
20.1
49.0
12.5
3000
9.0
12.9
28.7
32.0
70.0
16.1
4000
58.0
95.0
36.0
58.0
120.0
59.0
86.0
170.0
52.0
55.0
82.0
163.0
3000
HP-H1103
160W
-
11.0
15.0
35.0
46.0
110.0
19.6
58.0
66.0
33.0
37.0
106.0
260.0
48.0
255.0
42.5
60.5
87.5
180 SQ.
195.5
X:24.5m/s 2 (2.5G) Y:29.4m/s 2 (3G)
180 SQ.
225.5
180 SQ.
305.5
Φ 114.3
Φ 35
17.0/22.0
Φ 114.3
Φ 35
21.0/26.0
Φ 114.3
Φ 35
37.0/43.0
155 (F)
187.0
High-speed, high-accuracy machine: 3 times or less of motor inertia
General machine tool (interpolation axis): 5 times or less of motor inertia
General machine (non-interpolation axis): 10 times or less of motor inertia
Resolution per motor revolution
A74N: 16,000,000pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev
IP67 (The shaft-through portion is excluded.)
Operation: 0 to 40°C (with no freezing),
Storage: -15°C to 70°C (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
2790
X,Y:9.8m/s 2 (1G)
220 SQ.
346.5
220 SQ.
419.5
Φ 200
Φ 55
51.0/61.4
Φ
Φ
200
55
74.0/84.4
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the values when combined with the drive unit.
(Note 2) The total length will be 3.5mm longer when using an A51 or A74N encoder.
(Note 3) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 24
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< HC-H Series >
Servo motor type
HC-H Series
ABS specifications: HC-H □ -A74N / -A51 / -A48
HC-H1502S-S10
200 Compatible servo drive unit type
MDS-DH2-V1-
MDS-DH2-V2-
Continuous characteristics
Rated output [kW]
Rated current [A]
Rated torque [N•m]
Stall current [A]
Stall torque [N•m]
Power facility capacity [kVA]
Rated rotation speed [r/min]
Maximum rotation speed [r/min]
Maximum current [A]
Maximum torque [N•m]
Power rate at continuous rated torque [kW/s]
Motor inertia [×10 -4 kg•m 2 ]
Motor inertia with brake [×10 -4 kg•m 2 ]
Maximum motor shaft conversion load inertia ratio
Motor side encoder
-
15.0
39
71.6
77
146.0
26.7
2000
2500
160.0
280.0
104.5
550
---
High-speed, high-accuracy machine: 3 times or less of motor inertia
General machine tool (interpolation axis): 5 times or less of motor inertia
General machine (non-interpolation axis): 10 times or less of motor inertia
Resolution per motor revolution
A74N: 16,000,000pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev
IP44 (The shaft-through portion is excluded.)
3-phase 400V
Degree of protection
Input voltage
Cooling fan Maximum power consumption
85W
Environment
Ambient temperature
Ambient humidity
Atmosphere
Altitude
Vibration
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass Without / with brake [kg]
Heat-resistance class
Operation: 0 to 40°C (with no freezing),
Storage: -15°C to 70°C (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
X,Y:9.8m/s 2 (1G)
280 SQ.
605
Φ 250
Φ 60
160/---
155 (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) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
25 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
2.1.2 Torque Characteristics
(1) 200V series
< HF Series >
[ HF75 ]
10
7.5
5 Short time operation range
2.5
0
Continuous operation range
Rotation speed [r/min]
5000
12
9
6
[ HF105 ]
Short time operation range
3
0
0
Continuous operation range
2000 4000
Rotation speed [r/min]
5000
[ HF54 ]
15
12
9
6
Short time operation range
3
Continuous operation range
0
0 2000
Rotation speed [r/min]
4000
[ HF104 ] [ HF154 ] [ HF154 ] (Note 2)
25 50
50
20
40
40
15 30
30
Short time operation range
Short time operation range
10
20
20
Short time operation range
5
Continuous operation range
0
0 2000
Rotation speed [r/min]
4000
10
0
Continuous operation range
Rotation speed [r/min]
10
Continuous operation range
[ HF224 ] [ HF204 ]
Rotation speed [r/min]
[ HF354 ]
50
40
50
100
40
80
30
30
60
Short time operation range
Short time operation range Short time operation range
20 20
40
10
0
0
Continuous operation range
2000
Rotation speed [r/min]
4000
10
0
Continuous operation range
Rotation speed [r/min]
20
0
4000
Continuous operation range
Rotation speed [r/min]
(Note 1) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is
200VAC or less, the short time operation range is limited.
(Note 2) Each line indicates the case in connecting the following drive unit.
HF154: M/S-axis of MDS-D2-V3-404040
IB-1501124-D 26
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< HF Series >
[ HF123 ]
20
15
Short time operation range
10
5
Continuous operation range
0
0 1000 2000
Rotation speed [r/min]
3000
[ HF303 ]
80
[ HF223 ]
40
30
20
Short time operation range
10
Continuous operation range
0
0 1000 2000
Rotation speed [r/min]
3000
[ HF303 ] (Note 2)
40
30
20
Short time operation range
10
0
0
Continuous operation range
1000 2000
Rotation speed [r/min]
3000
60
40
Short time operation range
20
Continuous operation range
0
0 1000 2000
Rotation speed [r/min]
3000
(Note 1) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is
200VAC or less, the short time operation range is limited.
(Note 2) Each line indicates the case in connecting the following drive unit.
HF223: M/S-axis of MDS-D2-V3-404040
27 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< HF Series >
[ HF453 ]
125
160
[ HF703 ]
240
[ HF903 ]
100
120
180
75
Short time operation range 80 Short time operation range
120
Short time operation range
50
25
0
0
Continuous operation range
1000
Rotation speed [r/min]
40
60
0
Continuous operation range
Rotation speed [r/min]
3000
0
Continuous operation range
Rotation speed [r/min]
3000
[ HF142 ] [ HF302 ] [ HF302 ] (Note 2)
30
60 60
24
40 40
18
Short time operation range Short time operation range Short time operation range
12
20 20
6
0
0
Continuous operation range
1000
Rotation speed [r/min]
2000
0
0
Continuous operation range
1000
Rotation speed [r/min]
2000
0
0
Continuous operation range
1000
Rotation speed [r/min]
2000
(Note 1) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is
200VAC or less, the short time operation range is limited.
(Note 2) Each line indicates the case in connecting the following drive unit or axis.
HF302: M/S-axis of MDS-D2-V3-404040
IB-1501124-D 28
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< HP Series >
[ HP54 ]
12
20
[ HP104 ]
40
[ HP154 ]
9
15 30
6 Short time operation range 10 Short time operation range 20
Short time operation range
3
0
Continuous operation range
Rotation speed [r/min]
[ HP224 ]
50
40
30
Short time operation range
20
5 10
0
Continuous operation range
0 2000 4000
Rotation speed [r/min]
0
Continuous operation range
Rotation speed [r/min]
[ HP204 ] [ HP354 ]
50 75
40
30
Short time operation range
20
50
45
30
Short time operation range
10 10
0
Continuous operation range
Rotation speed [r/min]
0
4000
Continuous operation range
Rotation speed [r/min]
[ HP454 ] [ HP704 ]
100
150
15
0
Continuous operation range
Rotation speed [r/min]
[ HP903 ]
180
80 120
135
60 90
Short time operation range Short time operation range 90 Short time operation range
40 60
45
20 30
0
0
Continuous operation range
2000 4000
0
Rotation speed [r/min]
Continuous operation range
Rotation speed [r/min]
0
4000
Continuous operation range
Rotation speed [r/min]
[ HP1103 ]
300
240
180
Short time operation range
120
60
Continuous operation range
0
Rotation speed [r/min]
(Note) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is
200VAC or less, the short time operation range is limited.
29 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< HF-KP Series >
2.0
[ HF-KP23JW04-S6 ]
4.0
[ HF-KP43JW04-S6 ]
8.0
[ HF-KP73JW04-S6 ]
1.5
3.0
6.0
1.0
Short time operation range 2.0
Short time operation range 4.0
Short time operation range
0.5
1.0
2.0
Continuous operation range
Continuous operation range
Continuous operation range
0
0 3000
Rotation speed [r/min]
6000
0
0 3000
Rotation speed [r/min]
6000
0
0 3000
Rotation speed [r/min]
6000
(Note) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is
200VAC or less, the short time operation range is limited.
IB-1501124-D 30
MDS-D2/DH2 Series Specifications Manual
2 Specifications
(2) 400V series
< HF-H Series >
[ HF-H75 ]
10
7.5
5 Short time operation range
[ HF-H105 ]
12
9
6 Short time operation range
2.5
0
3
Continuous operation range
Rotation speed [r/min]
5000
0
Continuous operation range
Rotation speed [r/min]
5000
[ HF-H54 ] [ HF-H104 ]
15
25
12
20
9
15
Short time operation range
Short time operation range
6
10
3
5
0
0
Continuous operation range
2000 4000
0
Rotation speed [r/min]
Continuous operation range
Rotation speed [r/min]
[ HF-H204 ] [ HF-H354 ]
50
40
30
20
10
[ HF-H154 ]
Short time operation range
Continuous operation range
Rotation speed [r/min]
[ HF-H453 ]
50
40
100
80
125
100
30
20
Short time operation range
60
40
Short time operation range
75
50
Short time operation range
10
20
0
Continuous operation range
Rotation speed [r/min]
0
4000
Continuous operation range
Rotation speed [r/min]
[ HF-H703 ] [ HF-H903 ]
160
240
25
0
0
Continuous operation range
1000
Rotation speed [r/min]
120
180
80 Short time operation range 120 Short time operation range
40
60
Continuous operation range Continuous operation range
0
3000
0
3000
Rotation speed [r/min] Rotation speed [r/min]
(Note) The above graphs show the data when applied the input voltage of 380VAC. When the input voltage is
380VAC or less, the short time operation range is limited.
31 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< HP-H Series>
[ HP-H54 ]
12
20
[ HP-H104 ]
40
[ HP-H154 ]
9
15
30
6 Short time operation range
10
Short time operation range 20 Short time operation range
3
0
Continuous operation range
Rotation speed [r/min]
[ HP-H224 ]
50
40
30
20
Short time operation range
5
10
Continuous operation range
0
0 2000 4000
Rotation speed [r/min]
0
Continuous operation range
Rotation speed [r/min]
[ HP-H204 ] [ HP-H354 ]
50 75
40
30
20
Short time operation range
10
0
10
Continuous operation range
Rotation speed [r/min]
0
4000
Continuous operation range
Rotation speed [r/min]
[ HP-H454 ] [ HP-H704 ]
100 150
80 120
60
40
Short time operation range
90
60
Short time operation range
20
30
0
0
Continuous operation range
2000 4000
0
Rotation speed [r/min]
Continuous operation range
Rotation speed [r/min]
[ HP-H1103 ]
300
240
50
45
Short time operation range
30
15
0
Continuous operation range
Rotation speed [r/min]
[ HP-H903 ]
180
135
90 Short time operation range
45
Continuous operation range
Rotation speed [r/min]
180
120
Short time operation range
60
Continuous operation range
0
Rotation speed [r/min]
(Note) The above graphs show the data when applied the input voltage of 380VAC. When the input voltage is
380VAC or less, the short time operation range is limited.
IB-1501124-D 32
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< HC-H Series >
[ HC-H1502S-S10 ]
400
300
200
Short time operation range
100
Continuous operation range
0
2500
Rotation speed [r/min]
(Note) The above graphs show the data when applied the input voltage of 380VAC. When the input voltage is
380VAC or less, the short time operation range is limited.
33 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
2.2 Spindle Motor
2.2.1 Specifications
(1) 200V series
< SJ-D Series (Normal specifications) >
Spindle motor type
Compatible spindle drive unit type
MDS-D2-SP-
MDS-D2-SP2-
Continuous rated output
Output capacity
[kW]
Short time rated output
Standard output during acceleration/deceleration
Actual acceleration/ deceleration output (Note 3)
Power facility capacity [kVA]
Base rotation speed [r/min]
Maximum rotation speed [r/min]
Frame No.
Continuous rated torque [N•m]
GD 2 [kg•m 2 ]
Inertia [kg•m 2 ]
Tolerable radial load [N]
Input voltage
Cooling fan Maximum power consumption
Environment
Ambient temperature
Ambient humidity
Atmosphere
SJ-D3.7/
100-01
80
8040 (L)
8080
16080S
(M)
2.2
3.7
(15-minute rating)
3.7
4.4
6.7
1500
10000
B90
14.0
0.030
0.0074
980
38W
SJ-D5.5/
100-01
80
8040 (L)
8080
16080S
(M)
3.7
5.5
(30-minute rating)
5.5
6.6
9.9
1500
10000
D90
23.6
0.053
0.013
1470
38W
SJ-D5.5/
120-01
80
8040 (L)
8080
16080S
(M)
3.7
5.5
(30-minute rating)
5.5
6.6
9.9
1500
12000
D90
23.6
0.053
0.013
1470
38W
160
SJ-D5.5/
120-02
200
16080S (L)
9.2
11.0
3.7
9.9
2800
12000
B90
12.6
0.030
0.0074
980
3-phase 200V
38W
-
5.5
(30-minute rating)
10.4
12.5
SJ-D7.5/
100-01
160
16080S (L) 16080S (L) 16080S (L)
5.5
7.5
(30-minute rating)
7.5
9
13.4
1500
10000
A112
35.0
0.094
0.023
1960
50W
SJ-D7.5/
120-01
160
5.5
7.5
(30-minute rating)
7.5
9
13.4
1500
12000
A112
35.0
0.094
0.023
1960
50W
SJ-D11/
100-01
160
7.5
11
(30-minute rating)
11
13.2
19.6
1500
10000
B112
47.7
0.122
0.031
1960
50W
Altitude
Degree of protection
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
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,
Transportation: 10000 meters or less above sea level
174 SQ.
327
Φ
Φ
150
28
26
174 SQ.
417
Φ
Φ
150
28
39
IP54 (The shaft-through portion is excluded.)
174 SQ.
174 SQ.
204 SQ.
417
Φ 150
327
Φ 150 Φ
439
180
Φ 28
39
Φ 28
26
155 (F)
Φ 32
53
180 SQ.
439
Φ
Φ
180
32
53
180 SQ.
489
Φ
Φ
180
48
64
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".
(Note 4) For SJ-D5.5/120-02, output characteristics at acceleration/deceleration vary depending on the connected drive unit.
Refer to "output characteristics" for details.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 34
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< SJ-D Series (Hollow shaft specifications) >
Spindle motor type
Compatible spindle drive unit type
MDS-D2-SP-
MDS-D2-SP2-
Continuous rated output
Output capacity
[kW]
Short time rated output
Standard output during acceleration/deceleration
Actual acceleration/ deceleration output (Note 3)
Power facility capacity [kVA]
Base rotation speed [r/min]
Maximum rotation speed [r/min]
Frame No.
Continuous rated torque [N•m]
GD 2 [kg•m 2 ]
Inertia [kg•m 2 ]
Tolerable radial load [N]
Input voltage
Cooling fan Maximum power consumption
Environment
Ambient temperature
Ambient humidity
Atmosphere
160
16080S (L)
9.2
11.0
9.9
SJ-D5.5/120-02T-S
3.7
5.5
（ 25%ED rating ）
2800
12000
B90
12.6
0.030
0.0075
-
3-phase 200V
38W
200
-
10.4
12.5
9.9
Altitude
Degree of protection
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
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,
Transportation: 10000 meters or less above sea level
IP54 (The shaft-through portion is excluded.)
174 SQ.
327
Φ 150
Φ 28
24
155 (F)
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".
(Note 4) For SJ-D5.5/120-02T-S, output characteristics at acceleration/deceleration vary depending on the connected drive unit. Refer to "output characteristics" for details.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
35 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< SJ-DG Series (High-output specifications) >
Spindle motor type
Compatible spindle drive unit type
MDS-D2-SP-
MDS-D2-SP2-
Continuous rated output
Output capacity
[kW]
Short time rated output
Standard output during acceleration/deceleration
Actual acceleration/ deceleration output (Note 3)
Power facility capacity [kVA]
Base rotation speed [r/min]
Maximum rotation speed [r/min]
Frame No.
Continuous rated torque [N•m]
GD 2 [kg•m 2 ]
Inertia [kg•m 2 ]
Tolerable radial load [N]
Input voltage
Cooling fan Maximum power consumption
Environment
Ambient temperature
Ambient humidity
Atmosphere
SJ-DG3.7/120-03T
160
-
2.2
5.5 （ 25%ED rating ）
5.5
6.6
6.7
1500
12000
B90
14.0
0.026
0.0066
980
32W
SJ-DG5.5/120-04T
160
-
3.7
7.5 （ 25%ED rating ）
7.5
9.0
9.9
1500
12000
D90
23.6
0.049
0.012
1470
32W
SJ-DG7.5/120-05T
160
5.5
11.0 （ 25%ED rating ）
3-phase 200V
-
11.0
13.2
13.4
1500
12000
A112
35.0
0.088
0.022
1960
50W
SJ-DG11/100-03T
200
-
7.5
15.0 （ 25%ED rating ）
15.0
18.0
19.6
1500
10000
B112
47.7
0.12
0.029
1960
50W
Altitude
Degree of protection
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
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,
Transportation: 10000 meters or less above sea level
174 SQ.
327
Φ
Φ
150
28
31
IP54 (The shaft-through portion is excluded.)
174 SQ.
204 SQ.
417
Φ 150
439
Φ 180
Φ 28
49
Φ 32
66
155 (F)
204SQ.
489
Φ
Φ
180
48
82
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 36
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< SJ-DJ Series (Compact & lightweight specifications) >
Spindle motor type
Compatible spindle drive unit type
MDS-D2-SP-
MDS-D2-SP2-
Continuous rated output
Output capacity
[kW]
Short time rated output
Standard output during acceleration/deceleration
Actual acceleration/ deceleration output (Note 3)
Power facility capacity [kVA]
Base rotation speed [r/min]
Maximum rotation speed [r/min]
Frame No.
Continuous rated torque [N•m]
GD 2 [kg•m 2 ]
Inertia [kg•m 2 ]
Tolerable radial load [N]
Input voltage
Cooling fan Maximum power consumption
Environment
Ambient temperature
Ambient humidity
Atmosphere
SJ-DJ5.5/
100-01
80
8040 (L)
8080
16080S (M)
3.7
5.5
(25%ED rating)
5.5
6.6
9.9
(Continuous)
2000
/ (Short time)
1500
10000
B90
17.7
0.030
0.0074
980
38W
SJ-DJ5.5/
120-01
80
8040 (L)
8080
16080S (M)
3.7
5.5
(25%ED rating)
5.5
6.6
9.9
(Continuous)
2000
/ (Short time)
1500
12000
B90
17.7
0.030
0.0074
980
38W
SJ-DJ7.5/
100-01
160
16080S (L)
5.5
7.5
(15-minute rating)
7.5
9
38W
SJ-DJ7.5/
120-01
160
16080S (L)
5.5
7.5
(15-minute rating)
7.5
9
13.4
(Continuous)
2000
/ (Short time)
1500
10000
D90
26.3
0.053
13.4
(Continuous)
2000
/ (Short time)
1500
12000
D90
26.3
0.053
0.013
0.013
1470
3-phase 200V
1470
38W
SJ-DJ11/
100-01
160
16080S (L)
7.5
11
(15-minute rating)
11
13.2
19.6
(Continuous)
2000
/ (Short time)
1500
10000
A112
35.8
0.094
0.023
1960
50W
SJ-DJ15/
80-01
200
-
11
15
(15-minute rating)
(15%ED rating)
15
18
26.7
(Continuous)
2000
/ (Short time)
1500
8000
B112
52.5
0.122
0.031
1960
50W
Altitude
Degree of protection
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
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,
Transportation: 10000 meters or less above sea level
174 SQ.
327
Φ
Φ
150
28
26
174 SQ.
327
Φ
Φ
150
28
26
IP54 (The shaft-through portion is excluded.)
174 SQ.
174 SQ.
417
Φ 150
417
Φ 150
Φ 28
39
Φ 28
39
155 (F)
204 SQ.
439
Φ
Φ
180
32
53
204 SQ.
Φ
489
Φ
180
48
64
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
37 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< SJ-DL Series (Low-inertia specifications) >
Spindle motor type
MDS-D2-SP-
Compatible spindle drive unit type
MDS-D2-SP2-
Continuous rated output
Output capacity
[kW]
Short time rated output
Standard output during acceleration/deceleration
Actual acceleration/ deceleration output (Note 3)
Power facility capacity [kVA]
Base rotation speed [r/min]
Maximum rotation speed [r/min]
Frame No.
Continuous rated torque [N•m]
GD 2 [kg•m 2 ]
Inertia [kg•m 2 ]
Tolerable radial load [N]
Input voltage
Cooling fan Maximum power consumption
Environment
Ambient temperature
Ambient humidity
Atmosphere
SJ-DL0.75/100-01
20
2020
4020(M)
0.4
0.75
(10-minute rating)
0.9
1.1
1.5
1500
10000
A71
2.6
0.045
0.0011
490
17W
SJ-DL1.5/100-01
40
4020(L)
4040S
8040(M)
0.75
1.5
(10-minute rating)
1.5
1.8
2.8
1500
10000
B71
4.8
0.078
0.0019
490
17W
SJ-DL5.5/150-01T SJ-DL5.5/200-01T SJ-DL7.5/150-01T
160 160 160
16080S(L)
3.7
5.5
(15-minute rating)
11
13.2
9.9
2500
15000
C90
14.1
0.018
0.0046
245
3-phase 200V
38W
16080S(L)
3.7
5.5
(15-minute rating)
11
13.2
9.9
2500
20000
C90
14.1
0.018
0.0046
245
38W
16080S(L)
5.5
7.5
(30-minute rating)
11
13.2
13.4
1500
15000
B112
35.0
0.063
0.016
980
50W
Altitude
Degree of protection
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
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,
Transportation: 10000 meters or less above sea level
130 SQ.
264
Φ
Φ
110
22
10
IP54 (The shaft-through portion is excluded.)
130 SQ.
174 SQ.
174 SQ.
317
Φ 110
377
Φ 150
377
Φ 150
Φ 22
14
Φ 28
30
155 (F)
Φ 28
30
204 SQ.
489
Φ
Φ
180
32
56
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 38
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< SJ-DL Series (Hollow shaft specifications) >
Spindle motor type
Compatible spindle drive unit type
MDS-D2-SP-
MDS-D2-SP2-
Continuous rated output
Output capacity
[kW]
Short time rated output
Standard output during acceleration/deceleration
Actual acceleration/ deceleration output (Note 3)
Power facility capacity [kVA]
Base rotation speed [r/min]
Maximum rotation speed [r/min]
Frame No.
Continuous rated torque [N•m]
GD 2 [kg•m 2 ]
Inertia [kg•m
2
]
Tolerable radial load [N]
Input voltage
Cooling fan Maximum power consumption
Environment
Ambient temperature
Ambient humidity
Atmosphere
SJ-DL5.5/200-01T-S
160
16080S (L)
3.7
5.5
(15-minute rating)
(30-minute rating)
11
13.2
13.4
2500
20000
C90
14.1
0.019
0.0046
-
3-phase 200V
38W
Altitude
Degree of protection
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
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,
Transportation: 10000 meters or less above sea level
IP54 (The shaft-through portion is excluded.)
174 SQ.
377
Φ 150
Φ 22
28
155 (F)
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
39 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< SJ-V Series (Normal specifications) >
Spindle motor type
MDS-D2-SP-
Compatible spindle drive unit type
MDS-D2-SP2-
Continuous rated output
Output capacity
[kW]
Short time rated output
Standard output during acceleration/deceleration
Actual acceleration/ deceleration output (Note 3)
Power facility capacity [kVA]
Base rotation speed [r/min]
Maximum rotation speed [r/min]
Frame No.
Continuous rated torque [N•m]
GD 2 [kg•m 2 ]
Inertia [kg•m 2 ]
Tolerable radial load [N]
Input voltage
Cooling fan Maximum power consumption
Environment
Ambient temperature
Ambient humidity
Atmosphere
SJ-V2.2-01T
40
4020 (L)
4040S
8040 (M)
1.5
2.2
(15-minute rating)
2.2
2.6
4.1
1500
10000
A90
9.5
0.027
0.00675
980
36W
Single-phase 200V
SJ-V3.7-02ZT
80
8040 (L)
8080
16080 (M)
2.2
3.7
(15-minute rating)
3.7
4.4
6.7
3000
15000
A90
7.0
0.027
0.00675
245
36W
Altitude
Degree of protection
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
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,
Transportation: 10000 meters or less above sea level
IP44
174 SQ.
300
Φ 150
Φ 28
25
174 SQ.
300
Φ 150
Φ 28
25
155 (F)
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 40
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< SJ-V Series (Normal specifications) >
Spindle motor type
Compatible spindle drive unit type
MDS-D2-SP-
MDS-D2-SP2-
Continuous rated output
Output capacity
[kW]
Short time rated output
Standard output during acceleration/deceleration
Actual acceleration/ deceleration output (Note 3)
Power facility capacity [kVA]
Base rotation speed [r/min]
Maximum rotation speed [r/min]
Frame No.
Continuous rated torque [N•m]
GD 2 [kg•m 2 ]
Inertia [kg•m 2 ]
Tolerable radial load [N]
Input voltage
Cooling fan Maximum power consumption
Environment
Ambient temperature
Ambient humidity
Atmosphere
SJ-V7.5-03ZT
160
16080S (L)
5.5
7.5
(30-minute rating)
7.5
9
13.4
1500
12000
A112
35
0.098
0.0245
980
70W
SJ-V11-08ZT
200
-
7.5
11
(30-minute rating)
11
13.2
19.6
1500
8000
B112
47.7
0.12
0.03
1960
40W
3-phase 200V
SJ-V11-13ZT
200
-
7.5
11
(30-minute rating)
11
13.2
19.6
1500
8000
B112
47.7
0.12
0.03
1960
70W
SJ-V15-01ZT
200
-
11
15
(30-minute rating)
15
18
26.7
1500
8000
A160
70
0.23
0.0575
2940
80W
Altitude
Degree of protection
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
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,
Transportation: 10000 meters or less above sea level
IP44
204 SQ.
440
Φ 180
Φ 32
60
204 SQ.
490
Φ 180
Φ 48
70
204 SQ.
490
Φ 180
Φ 48
70
250 SQ.
469.5
Φ 230
Φ 48
110
155 (F)
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
41 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< SJ-V Series (Normal specifications) >
Spindle motor type
Compatible spindle drive unit type
MDS-D2-SP-
MDS-D2-SP2-
Continuous rated output
Output capacity
[kW]
Short time rated output
Standard output during acceleration/deceleration
Actual acceleration/ deceleration output (Note 3)
Power facility capacity [kVA]
Base rotation speed [r/min]
Maximum rotation speed [r/min]
Frame No.
Continuous rated torque [N•m]
GD 2 [kg•m 2 ]
Inertia [kg•m 2 ]
Tolerable radial load [N]
Input voltage
Cooling fan Maximum power consumption
Environment
Ambient temperature
Ambient humidity
Atmosphere
SJ-V15-09ZT
200
-
11
15
(30-minute rating)
15
18
26.7
1500
8000
A160
70
0.23
0.0575
2940
80W
SJ-V18.5-01ZT
200
-
15
18.5
(30-minute rating)
18.5
22.2
32.8
1500
8000
A160
95.5
0.23
0.0575
2940
80W
SJ-V18.5-04ZT
240
-
15
18.5
(30-minute rating)
18.5
22.2
32.8
1500
8000
A160
95.5
0.23
0.0575
2940
3-phase 200V
80W
SJ-V22-01ZT
240
-
18.5
22
(30-minute rating)
22
26.4
39.0
1500
8000
B160
118
0.319
0.08
2940
80W
SJ-V22-04ZT
320
-
18.5
22
(30-minute rating)
22
26.4
39.0
1500
8000
B160
118
0.319
0.08
2940
80W
Altitude
Degree of protection
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
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
Transportation: 10000 meters or less above sea level
250 SQ.
469.5
Φ
Φ
230
48
110
250 SQ.
469.5
Φ
Φ
230
48
110
IP44
250 SQ.
469.5
Φ 230
Φ 48
110
155 (F)
250 SQ.
539.5
Φ
Φ
230
55
135
250 SQ.
539.5
Φ
Φ
230
55
135
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 42
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< SJ-V Series (Normal specifications) >
Spindle motor type
Compatible spindle drive unit type
MDS-D2-SP-
MDS-D2-SP2-
Continuous rated output
Output capacity
[kW]
Short time rated output
Standard output during acceleration/deceleration
Actual acceleration/ deceleration output (Note 3)
Power facility capacity [kVA]
Base rotation speed [r/min]
Maximum rotation speed [r/min]
Frame No.
Continuous rated torque [N•m]
GD 2 [kg•m 2 ]
Inertia [kg•m 2 ]
Tolerable radial load [N]
Input voltage
Cooling fan Maximum power consumption
Environment
Ambient temperature
Ambient humidity
Atmosphere
SJ-V22-06ZT
240
-
11
15
(30-minute rating)
15
18
26.7
1500
10000
A160
70.0
0.23
0.0575
2450
80W
SJ-V26-01ZT
320
-
22
26
(30-minute rating)
26
31.2
46.1
1500
8000
C160
140
0.37
0.0925
2940
80W
SJ-V37-01ZT
400
-
30
37
(30-minute rating)
37
44.4
65.5
1150
6000
B180
249
1.36
0.34
3920
3-phase 200V
175W
SJ-V45-01ZT
640
-
37
45
(30-minute rating)
45
54
79.6
1500
6000
B180
236
1.36
0.34
3920
175W
SJ-V55-01ZT
640
-
45
55
(30-minute rating)
55
66
97.2
1150
4500
A225
374
3.39
0.8475
5880
115W
Altitude
Degree of protection
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
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
Transportation: 10000 meters or less above sea level
250 SQ.
469.5
Φ
Φ
230
48
110
250 SQ.
585.5
Φ
Φ
230
55
155
IP44
320 SQ.
700
Φ 300
Φ 60
300
155 (F)
320 SQ.
700
Φ
Φ
300
60
300
480 SQ.
724
Φ
Φ
450
75
450
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
43 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< SJ-V Series (Wide range constant output specifications) >
Spindle motor type
Compatible spindle drive unit type
MDS-D2-SP-
MDS-D2-SP2-
Continuous rated output
Short time rated output
Output capacity
[kW]
Standard output during acceleration/deceleration
Actual acceleration/ deceleration output (Note 3)
Power facility capacity [kVA]
Base rotation speed [r/min]
Maximum rotation speed [r/min]
Frame No.
Continuous rated torque [N•m]
GD 2 [kg•m 2 ]
Inertia [kg•m
2
]
Tolerable radial load [N]
Input voltage
Cooling fan Maximum power consumption
Environment
Ambient temperature
Ambient humidity
Atmosphere
SJ-V11-01T
160
16080S (L)
3.7
5.5 (30-minute rating)
5.5
6.6
9.9
750
6000
B112
47.1
0.12
0.03
1960
70W
SJ-V11-09T
160
16080S (L)
5.5
7.5 (30-minute rating)
7.5
9
13.4
750
6000
A160
70.0
0.23
0.0575
2940
80W
7.5
9 (30-minute rating)
3-phase 200V
SJ-V15-03T
200
-
9
10.8
16.1
750
6000
A160
95.5
0.23
0.0575
2940
80W
SJ-V18.5-03T
240
-
9
11 (30-minute rating)
11
13.2
19.6
750
6000
B160
115
0.32
0.08
2940
80W
Altitude
Degree of protection
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
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
Transportation: 10000 meters or less above sea level
IP44
204 SQ.
490
Φ 180
Φ 48
70
250 SQ.
469.5
Φ 230
Φ 48
110
250 SQ.
469.5
Φ 230
Φ 48
110
250 SQ.
539.5
Φ 230
Φ 55
135
155 (F)
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 44
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< SJ-V Series (Wide range constant output specifications) >
Spindle motor type
Compatible spindle drive unit type
MDS-D2-SP-
MDS-D2-SP2-
Continuous rated output
Short time rated output
Output capacity
[kW]
Standard output during acceleration/deceleration
Actual acceleration/ deceleration output (Note 3)
Power facility capacity [kVA]
Base rotation speed [r/min]
Maximum rotation speed [r/min]
Frame No.
Continuous rated torque [N•m]
GD 2 [kg•m 2 ]
Inertia [kg•m
2
]
Tolerable radial load [N]
Input voltage
Cooling fan Maximum power consumption
Environment
Ambient temperature
Ambient humidity
Atmosphere
SJ-V22-05T
320
-
11
15 (30-minute rating)
15
18
26.7
750
6000
B160
140
0.32
0.08
2940
80W
SJ-V22-09T
320
-
15
18.5 (30-minute rating)
18.5
22.2
32.8
500
4500
A180
239
1.23
0.308
3920
175W
SJ-VK22-19ZT
320
13
18.5 (15-minute rating)
3-phase 200V
18.5
22.2
32.8
330
750
310
-
B180
1.36
0.34
3920
175W
18.5
22 (30-minute rating)
22
26.4
39.0
575
6000
307
Altitude
Degree of protection
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
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
Transportation: 10000 meters or less above sea level
IP44
250 SQ.
539.5
Φ 230
Φ 55
135
320 SQ.
631
Φ 300
Φ 60
280
320 SQ.
700
Φ 300
Φ 60
300
155 (F)
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
45 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< SJ-VL Series (Low-inertia specifications) >
Spindle motor type
MDS-D2-SP-
Compatible spindle drive unit type
MDS-D2-SP2-
Continuous rated output
Output capacity
[kW]
Short time rated output
Standard output during acceleration/deceleration
Actual acceleration/ deceleration output (Note 3)
Power facility capacity [kVA]
Base rotation speed [r/min]
Maximum rotation speed [r/min]
Frame No.
Continuous rated torque [N•m]
GD 2 [kg•m 2 ]
Inertia [kg•m 2 ]
Tolerable radial load [N]
Input voltage
Cooling fan Maximum power consumption
Environment
Ambient temperature
Ambient humidity
Atmosphere
SJ-VL2.2-02ZT
40
4020 (L)
4040S
8040 (M)
1.5
2.2
(15-minute rating)
2.2
2.6
4.1
3000
15000
B71
4.8
0.0096
0.0024
196
14W
SJ-VL11-02FZT
160
16080S (L)
2.2
3.7
(15-minute rating)
11
13.2
6.7
1500
15000
D90
14.0
0.012
0.003
245
41W
SJ-VL11-05FZT-S01
160
16080S (L)
1.5
3
(10-minute rating)
Single-phase 200V
11
13.2
5.5
5000
20000
B71
2.9
0.0096
0.0024
98
14W
SJ-VL18.5-05FZT
240
-
2.2
5.5
(5-minute rating)
18.5
22.2
9.9
3000
15000
D90
7.0
0.021
0.00525
245
41W
Altitude
Degree of protection
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
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
Transportation: 10000 meters or less above sea level
IP44
130 SQ.
325
Φ 110
Φ 22
20
174 SQ.
441
Φ 150
Φ 28
42
130 SQ.
335
Φ 110
Φ 22
20
174 SQ.
441
Φ 150
Φ 28
40
155 (F)
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 46
MDS-D2/DH2 Series Specifications Manual
2 Specifications
(2) 400V series
< SJ-4-V Series (Normal specifications) >
Spindle motor type
Compatible spindle drive unit type
MDS-DH2-SP-
Continuous rated output
Output capacity
[kW]
Short time rated output
Standard output during acceleration/deceleration
Actual acceleration/ deceleration output (Note 3)
Power facility capacity [kVA]
Base rotation speed [r/min]
Maximum rotation speed [r/min]
Frame No.
Continuous rated torque [N•m]
GD 2 [kg•m 2 ]
Inertia [kg•m
2
]
Tolerable radial load [N]
Input voltage
Cooling fan Maximum power consumption
Environment
Ambient temperature
Ambient humidity
Atmosphere
SJ-4-V2.2-03T
1.5
2.2
(15-minute rating)
2.2
2.64
4.1
A90
9.5
0.027
0.00675
20
35W
SJ-4-V3.7-03T
2.2
3.7
(15-minute rating)
3.7
4.44
6.7
1500
10000
B90
14.0
0.035
0.00875
980
Single-phase 400V
SJ-4-V5.5-07T
3.7
5.5
(30-minute rating)
5.5
6.6
9.9
D90
23.5
0.059
0.0148
1470
35W
40
8000
SJ-4-V7.5-12T
5.5
7.5
(30-minute rating)
7.5
9
13.4
1500
13.4
A112
35.0
0.098
0.0245
1960
3-phase 400V
12000
A112
35.0
0.098
0.0245
980
70W
SJ-4-V7.5-13ZT
80
5.5
7.5
(30-minute rating)
7.5
9
70W
Altitude
Degree of protection
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
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,
Transportation: 10000 meters or less above sea level
174 SQ.
300
Φ
Φ
150
28
25
174 SQ.
330
Φ
Φ
150
28
30
IP44
174 SQ.
425
Φ 150
Φ 28
49
155 (F)
204 SQ.
440
Φ
Φ
180
32
60
204 SQ.
440
Φ
Φ
180
32
60
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".
(Note 4) The rated output is guaranteed at the rated input voltage (380 to 440VAC 50Hz / 380 to 480VAC 60Hz) to the power supply unit. If the input voltage fluctuates and drops below 380VAC, the rated output may not be attained.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
47 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< SJ-4-V Series (Normal specifications) >
Spindle motor type
Compatible spindle drive unit type
MDS-DH2-SP-
Continuous rated output
Output capacity
[kW]
Short time rated output
Standard output during acceleration/deceleration
Actual acceleration/ deceleration output (Note 3)
Power facility capacity [kVA]
Base rotation speed [r/min]
Maximum rotation speed [r/min]
Frame No.
Continuous rated torque [N•m]
GD 2 [kg•m 2 ]
Inertia [kg•m 2 ]
Tolerable radial load [N]
Input voltage
Cooling fan Maximum power consumption
Environment
Ambient temperature
Ambient humidity
Atmosphere
SJ-4-V11-18T
80
7.5
11
(30-minute rating)
11
13.2
19.6
6000
B112
47.7
0.12
0.03
1960
70W
SJ-4-V18.5-14T
100
15
18.5
(30-minute rating)
18.5
22.2
32.8
6000
A160
95.5
0.23
0.0575
2940
1500
3-phase 400V
SJ-4-V22-18ZT
160
11
15
(30-minute rating)
15
18
26.7
8000
A160
70.0
0.23
0.0575
2940
72W
SJ-4-V22-15T
160
18.5
22
(30-minute rating)
22
26.4
39.0
6000
B160
118
0.32
0.08
2940
Altitude
Degree of protection
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
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,
Transportation: 10000 meters or less above sea level
IP44
204 SQ.
490
Φ 180
Φ 48
70
250 SQ.
469.5
Φ 230
Φ 48
110
250 SQ.
469.5
Φ 230
Φ 48
110
250 SQ.
539.5
Φ 230
Φ 55
135
155 (F)
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".
(Note 4) The rated output is guaranteed at the rated input voltage (380 to 440VAC 50Hz / 380 to 480VAC 60Hz) to the power supply unit. If the input voltage fluctuates and drops below 380VAC, the rated output may not be attained.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 48
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2 Specifications
< SJ-4-V Series (Normal specifications) >
Spindle motor type
Compatible spindle drive unit type
MDS-DH2-SP-
Continuous rated output
Output capacity
[kW]
Short time rated output
Standard output during acceleration/deceleration
Actual acceleration/ deceleration output (Note 3)
Power facility capacity [kVA]
Base rotation speed [r/min]
Maximum rotation speed [r/min]
Frame No.
Continuous rated torque [N•m]
GD 2 [kg•m 2 ]
Inertia [kg•m 2 ]
Tolerable radial load [N]
Input voltage
Cooling fan Maximum power consumption
Environment
Ambient temperature
Ambient humidity
Atmosphere
SJ-4-V26-08ZT
160
22
26
(30-minute rating)
26
31.2
46.1
1500
10000
C160
140
0.37
0.0925
2450
72W
SJ-4-V37-04ZT
200
30
37
(30-minute rating)
37
44.4
65.5
1150
6000
B180
249
1.36
0.34
3920
3-phase 400V
SJ-4-V45-02T
37
45
(30-minute rating)
45
54
79.6
1500
4500
B180
236
1.36
0.34
320
Refer to each motor specifications.
SJ-4-V55-03T
45
55
(30-minute rating)
55
66
97.2
1150
3450
A225
374
3.39
0.85
5880
Altitude
Degree of protection
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
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,
Transportation: 10000 meters or less above sea level
IP44
250 SQ.
585.5
Φ 230
Φ 55
155
320 SQ.
700
Φ 300
Φ 60
300
320 SQ.
700
Φ 300
Φ 60
300
480 SQ.
724
Φ 450
Φ 75
450
155 (F)
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".
(Note 4) The rated output is guaranteed at the rated input voltage (380 to 440VAC 50Hz / 380 to 480VAC 60Hz) to the power supply unit. If the input voltage fluctuates and drops below 380VAC, the rated output may not be attained.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
49 IB-1501124-D
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2 Specifications
< SJ-4-V Series (Wide range constant output specifications) >
Spindle motor type
Compatible spindle drive unit type
MDS-DH2-SP-
Continuous rated output
Output capacity
[kW]
Short time rated output
Standard output during acceleration/deceleration
Actual acceleration/ deceleration output (Note 3)
Power facility capacity [kVA]
Base rotation speed [r/min]
Maximum rotation speed [r/min]
Frame No.
Continuous rated torque [N•m]
GD 2 [kg•m 2 ]
Inertia [kg•m 2 ]
Tolerable radial load [N]
Input voltage
Cooling fan Maximum power consumption
Environment
Ambient temperature
Ambient humidity
Atmosphere
SJ-4-V15-20T
100
7.5
9
(30-minute rating)
9
10.8
16.1
A160
95.5
0.23
0.06
750
6000
2940
3-phase 400V
72W
SJ-4-V22-16T
160
11
15
(30-minute rating)
15
18
26.7
B160
140
0.32
0.08
Altitude
Degree of protection
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)
Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
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,
Transportation: 10000 meters or less above sea level
IP44
250 SQ.
469.5
Φ 230
Φ 48
110
250 SQ.
539.5
Φ 230
Φ 55
135
155 (F)
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".
(Note 4) The rated output is guaranteed at the rated input voltage (380 to 440VAC 50Hz / 380 to 480VAC 60Hz) to the power supply unit. If the input voltage fluctuates and drops below 380VAC, the rated output may not be attained.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 50
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2 Specifications
2.2.2 Output Characteristics
(1) 200V series
< SJ-D Series (Normal specifications) >
[ SJ-D3.7/100-01 ]
6.0
6.0
[ SJ-D5.5/100-01 ]
5.5
30-minute rating
3.7
Continuous rating
4.0
2.0
3.7
15-minute rating
2.2
Continuous rating
0
0 1500 6000
Rotation speed [r/min]
10000
4.0
2.0
0
0 1500 6000
Rotation speed [r/min]
10000
8.0
6.0
4.0
[ SJ-D5.5/120-02 ]
(D2-SP-160, D2-SP2-16080S (L))
15
Standard output during acceleration/deceleration
10 9.2
5
5.5
3.7
25%ED rating
Continuous rating
0
0 2000 2800 6000 8000
Rotation speed [r/min]
12000
[ SJ-D7.5/120-01 ]
7.5
30-minute rating
5.5
Continuous rating
2.0
0
0 1500 6000
Rotation speed [r/min]
12000
6.0
4.0
[ SJ-D5.5/120-01 ]
5.5
30-minute rating
3.7
Continuous rating
2.0
0 1500 6000
Rotation speed [r/min]
10000
[ SJ-D5.5/120-02 ]
(D2-SP-200)
15
10.4
Standard output during acceleration/deceleration
10
5
5.5
3.7
25%ED rating
Continuous rating
0
0 1700 2800 4500 8000
Rotation speed [r/min]
12000
[ SJ-D11/100-01 ]
16
12
8
11
30-minute rating
7.5
Continuous rating
4
0
0 1500 4500
Rotation speed [r/min]
10000
6.0
4.0
8.0
[ SJ-D7.5/100-01 ]
7.5
30-minute rating
5.5
Continuous rating
2.0
0
0 1500 6000
Rotation speed [r/min]
10000
< SJ-D Series (Hollow shaft specifications) >
[ SJ-D5.5/120-02T-S ]
(D2-SP-160, D2-SP2-16080S (L))
15 15
[ SJ-D5.5/120-02T-S ]
(D2-SP-200)
Standard output during acceleration/deceleration 10.4
Standard output during acceleration/deceleration
10 9.2
10
5
5.5
3.7
25%ED rating
Continuous rating
0
0 2000 2800 6000 8000
Rotation speed [r/min]
12000
5
5.5
3.7
25%ED rating
Continuous rating
0
0 1700 2800 4500 8000
Rotation speed [r/min]
12000
(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or
1.2-fold of "Short time rated output".
51 IB-1501124-D
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2 Specifications
< SJ-DG Series (High-output specifications) >
[ SJ-DG3.7/120-03T ] [ SJ-DG5.5/120-04T ]
6
8
4
5.5
25%ED rating
3.7
15-minute rating
2.2
6
4
7.5
25%ED rating
5.5
30-minute rating
3.7
Continuous rating
2
Continuous rating 2
0
0 1500 5500 7000
Rotation speed [r/min]
0
0 1500 7000 10000
Rotation speed [r/min]
12000
[ SJ-DG11/100-03T ]
18
12
6
15
25%ED rating
11
30-minute rating
7.5
Continuous rating
12000
[ SJ-DG7.5/120-05T ]
15
10
5
11
7.5
25%ED rating
5.5
30-minute rating
Continuous rating
0
0 1500 5500 8000
Rotation speed [r/min]
12000
0
0 1500 4500 6000
Rotation speed [r/min]
10000
< SJ-DJ Series (Compact & lightweight specifications) >
8.0
[ SJ-DJ5.5/100-01 ]
8.0
[ SJ-DJ5.5/120-01 ]
6.0
4.0
5.5
25%ED rating
3.7
Continuous rating
2.0
0
0 1500 2000 4500
Rotation speed [r/min]
8.0
6.0
4.0
2.0
[ SJ-DJ7.5/120-01 ]
7.5
15-minute rating
5.5
Continuous rating
0
0 1500 2000 4500
Rotation speed [r/min]
12000
6.0
4.0
5.5
25%ED rating
3.7
10000
2.0
Continuous rating
0
0 1500 2000 4500
Rotation speed [r/min]
[ SJ-DJ11/100-01 ]
16
12
8
11
15-minute rating
7.5
Continuous rating
4
0
0 1500 2000 4500
Rotation speed [r/min]
12000
10000
8.0
6.0
4.0
2.0
[ SJ-DJ7.5/100-01 ]
7.5
15-minute rating
5.5
Continuous rating
0
0 1500 2000 4500
Rotation speed [r/min]
[ SJ-DJ15/80-01 ]
16
15%ED rating
12
15
15-minute rating
11
8
Continuous rating
4
0
0 1500 2000 4000
Rotation speed [r/min]
10000
8000
(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or
1.2-fold of "Short time rated output".
IB-1501124-D 52
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2 Specifications
< SJ-DL Series (Low-inertia specifications) >
[ SJ-DL0.75/100-01 ] [ SJ-DL1.5/100-01 ]
1.0
2.0
0.8
0.9
0.75
Standard output during acceleration/deceleration
10-minute rating
1.5
1.5
0.6
10-minute rating
1.0
0.4
0.4
0.75
Continuous rating
0.2
0.5
Continuous rating
0
0 1500 1800
Rotation speed [r/min]
10000
0
0 1500
Rotation speed [r/min]
[ SJ-DL5.5/200-01T ]
15
11
10
15-minute rating
Standard output during acceleration/deceleration
5
5.5
3.7
30-minute rating
Continuous rating
0
Rotation speed [r/min]
10000
[ SJ-DL7.5/150-01T ]
15
10
11
7.5
Standard output during acceleration/deceleration
5.5
30-minute rating
5
Continuous rating
0
0 1500 1800 8000
Rotation speed [r/min]
15000
< SJ-DL Series (Hollow shaft specifications) >
[ SJ-DL5.5/200-01T-S ]
15
11
10
15-minute rating
Standard output during acceleration/deceleration
5
5.5
3.7
30-minute rating
Continuous rating
0
Rotation speed [r/min]
[ SJ-DL5.5/150-01T ]
15
11
10
15-minute rating
5
Standard output during acceleration/deceleration
5.5
3.7
30-minute rating
Continuous rating
0
0 2500 3000 4200
Rotation speed [r/min]
15000
(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or
1.2-fold of "Short time rated output".
53 IB-1501124-D
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2 Specifications
< SJ-V Series (Normal specifications) >
6.0
[ SJ-V2.2-01T ]
0
0 1500 4500
Rotation speed [r/min]
8000
6.0
[ SJ-V3.7-02ZT ]
4.0
2.0
2.2
1.5
15-minute rating
Continuous rating
0
0 1500 6000
Rotation speed [r/min]
10000
4.0
2.0
3.7
2.2
15-minute rating
Continuous rating
0
0 3000 12000 15000
Rotation speed [r/min]
[ SJ-V11-08ZT ]
15
10
5
11
7.5
30-minute rating
Continuous rating
0
0 1500
Rotation speed [r/min]
8000
[ SJ-V15-09ZT ]
20
15
10
15
11
30-minute rating
Continuous rating
5
0
0 1500 6000
Rotation speed [r/min]
8000
[ SJ-V22-01ZT ]
30
20
10
22
18.5
30-minute rating
Continuous rating
[ SJ-V11-13ZT ]
20
15
10
11
7.5
30-minute rating
Continuous rating
5
0
0 1500 6000
Rotation speed [r/min]
8000
20
15
10
[ SJ-V18.5-01ZT ]
18.5
30-minute rating
15
Continuous rating
5
0
0 1500 4500
Rotation speed [r/min]
[ SJ-V22-04ZT ]
8000
30
20
22
18.5
30-minute rating
Continuous rating
10
0
0 1500 6000
Rotation speed [r/min]
8000
4.0
2.0
8.0
6.0
[ SJ-V7.5-03ZT ]
7.5
30-minute rating
5.5
Continuous rating
0
0 1500 10000 12000
Rotation speed [r/min]
10
5
20
15
[ SJ-V15-01ZT ]
20
15
10
15
30-minute rating
11
Continuous rating
5
0
0 1500 4500
Rotation speed [r/min]
[ SJ-V18.5-04ZT ]
18.5
30-minute rating
15
Continuous rating
8000
0
0 1500 6000
Rotation speed [r/min]
8000
[ SJ-V22-06ZT ]
10
5
20
15
15
11
30-minute rating
Continuous rating
0
0 1500
Rotation speed [r/min]
9500 10000
(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or
1.2-fold of "Short time rated output".
IB-1501124-D 54
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2 Specifications
30
20
[ SJ-V26-01ZT ]
26
22
30-minute rating
Continuous rating
10
60
40
20
[ SJ-V37-01ZT ]
37
30
30-minute rating
Continuous rating
0
0 1500 6000
Rotation speed [r/min]
8000
60
40
[ SJ-V55-01ZT ]
55
45
30-minute rating
Continuous rating
20
0
0 1150 3450
Rotation speed [r/min]
6000
60
40
20
[ SJ-V45-01ZT ]
45
37
30-minute rating
Continuous rating
0
0 1500 4500
Rotation speed [r/min]
6000
0
0 1150 3450
Rotation speed [r/min]
4500
(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or
1.2-fold of "Short time rated output".
55 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< SJ-V Series (Wide range constant output specifications) >
[ SJ-V11-01T ] [ SJ-V11-09T ]
15 15
[ SJ-V15-03T ]
15
10
5
0
0 750
5.5
3.7
30-minute rating
Continuous rating
Rotation speed [r/min]
6000
10
5
7.5
5.5
30-minute rating
Continuous rating
[ SJ-V18.5-03T ]
20
15
10
11
9
30-minute rating
Continuous rating
5
0
0 750
Rotation speed [r/min]
6000
0
0 750
Rotation speed [r/min]
[ SJ-V22-05T ]
10
5
20
15
15
11
30-minute rating
Continuous rating
0
0 750
Rotation speed [r/min]
6000
6000
[ SJ-VK22-19ZT (in low-speed coil) ]
30
20
10
10-minute rating
18.5
15-minute rating
13
Continuous rating
[ SJ-VK22-19ZT (in high-speed coil) ]
30
20
22
18.5
30-minute rating
Continuous rating
10
10
9
7.5
30-minute rating
Continuous rating
5
0
0 750
Rotation speed [r/min]
[ SJ-V22-09T ]
30
20
10
18.5
15
30-minute rating
Continuous rating
6000
0
0 500 600 3500
Rotation speed [r/min]
4500
0
0 330 400
Rotation speed [r/min]
750
0
0 575 3450
Rotation speed [r/min]
6000
(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or
1.2-fold of "Short time rated output".
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2 Specifications
< SJ-VL Series (Low-inertia specifications) >
[ SJ-VL2.2-02ZT ] [ SJ-VL11-02FZT ]
6.0
15
4.0
2.0
0
0
2.2
1.5
15-minute rating
Continuous rating
3000
Rotation speed [r/min]
15000
11
10
Standard output during acceleration/deceleration
5
3.7
2.2
15-minute rating
Continuous rating
0
0 1500 4000 10000
Rotation speed [r/min]
15000
[ SJ-VL18.5-05FZT ]
30
[ SJ-VL11-05FZT-S01 ]
15
10
11
Standard output during acceleration/deceleration
5
0
0
3
1.5
10-minute rating
Continuous rating
5000 6000
Rotation speed [r/min]
18000 20000
20
18.5
Standard output during acceleration/deceleration
10
0
0
5.5
3.7
2.2
5-minute rating
15-minute rating
Continuous rating
3000 5000
Rotation speed [r/min]
15000
(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or
1.2-fold of "Short time rated output".
57 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
(2) 400V series
< SJ-4-V Series (Normal specifications) >
6.0
[ SJ-4-V2.2-03T ]
6.0
[ SJ-4-V3.7-03T ]
4.0
2.0
2.2
1.5
15-minute rating
Continuous rating
0
0 1500 6000
Rotation speed [r/min]
10000
4.0
2.0
8.0
6.0
[ SJ-4-V7.5-12T ]
7.5
30-minute rating
5.5
Continuous rating
0
0 1500 6000
Rotation speed [r/min]
8000
20
15
10
5
0
0
[ SJ-4-V18.5-14T ]
18.5
30-minute rating
15
Continuous rating
1500 4500
Rotation speed [r/min]
6000
30
20
[ SJ-4-V26-08ZT ]
26
22
30-minute rating
Continuous rating
10
4.0
2.0
3.7
15-minute rating
2.2
Continuous rating
0
0 1500 6000
Rotation speed [r/min]
10000
4.0
2.0
8.0
6.0
[ SJ-4-V7.5-13ZT ]
7.5
30-minute rating
5.5
Continuous rating
0
0 1500 10000 12000
Rotation speed [r/min]
[ SJ-4-V22-18ZT ]
10
5
20
15
15
11
30-minute rating
Continuous rating
0
0 1500
Rotation speed [r/min]
8000
60
40
20
[ SJ-4-V37-04ZT ]
37
30
30-minute rating
Continuous rating
20
15
10
5
0
0
[ SJ-4-V5.5-07T ]
4.0
2.0
8.0
6.0
5.5
30-minute rating
3.7
Continuous rating
0
0 1500 6000
Rotation speed [r/min]
8000
[ SJ-4-V11-18T ]
11
7.5
30-minute rating
Continuous rating
1500 4500
Rotation speed [r/min]
[ SJ-4-V22-15T ]
6000
30
20
22
18.5
30-minute rating
Continuous rating
10
0
0 1500 4500
Rotation speed [r/min]
6000
[ SJ-4-V45-02T ]
60
40
20
45
37
30-minute rating
Continuous rating
0
0 1500 6000
Rotation speed [r/min]
10000
0
0 1150 3450
Rotation speed [r/min]
6000
0
0 1500
Rotation speed [r/min]
4500
(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or
1.2-fold of "Short time rated output".
IB-1501124-D 58
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2 Specifications
60
40
[ SJ-4-V55-03T ]
55
45
30-minute rating
Continuous rating
20
0
0 1150
Rotation speed [r/min]
3450
< SJ-4-V Series (Wide range constant output specifications) >
[ SJ-4-V15-20T ] [ SJ-4-V22-16T ]
15 20
10
9
7.5
30-minute rating
Continuous rating
15
10
15
11
30-minute rating
Continuous rating
5
5
0
0 750
Rotation speed [r/min]
6000
0
0 750
Rotation speed [r/min]
6000
(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or
1.2-fold of "Short time rated output".
59 IB-1501124-D
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2 Specifications
2.3 Tool Spindle Motor
2.3.1 Specifications
< HF-KP Series >
Tool spindle motor type
Compatible spindle drive unit type
MDS-D2-SP-
MDS-D2-SP2-
Continuous characteristics
Rated output [kW]
Rated current [A]
Rated torque [N•m]
Power facility capacity [kVA]
Rated rotation speed [r/min]
Maximum rotation speed [r/min]
Maximum current [A]
Maximum torque [N•m]
Motor inertia [×10 -4 kg•m 2 ]
Motor side encoder
Degree of protection
Ambient temperature
Environment
Ambient humidity
Atmosphere
Altitude
Vibration
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
HF-KP Series
HF-KP46
20
2020
4020 (M)
0.4
1.5
0.64
0.9
HF □ JW09
HF-KP56
20
2020
4020 (M)
0.5
1.8
0.80
1.1
6000
6000
11.3
5
0.42
HF-KP96
20
2020
4020 (M)
0.9
3.4
1.43
1.8
5.5
2.5
0.24
15.5
6.5
1.43
60 SQ.
118.7
Φ 50
Φ 14
1.2
Resolution per motor revolution
260,000 pulse/rev
IP67 (The shaft-through portion is excluded.)
Operation: 0 to 40°C (with no freezing),
Storage: -15°C to 70°C (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
X,Y: 49m/s
2
(5G)
60 SQ.
140.6
Φ
Φ
50
14
1.7
130(B)
80 SQ.
149.1
Φ 70
Φ 19
2.9
(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) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 60
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< HF-SP Series >
Tool spindle motor type
Compatible spindle drive unit type
Continuous characteristics
Rated output [kW]
Rated current [A]
Rated torque [N•m]
Power facility capacity [kVA]
Rated rotation speed [r/min]
Maximum rotation speed [r/min]
Maximum current [A]
Maximum torque [N•m]
Motor inertia [×10 -4 kg•m 2 ]
Degree of protection
Ambient temperature
Environment
MDS-D-2SP-
MDS-D2-SP2-
Motor side encoder
Ambient humidity
Atmosphere
Altitude
Vibration
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
HF-SP Series
HF-SP □ JW09
HF-SP226
80
8040 (L)
16080S (M)
8080
16080 (M)
2.2
8.2
3.5
4.1
HF-SP406
160
16080S (L)
16080 (L)
4.0
14.4
6.37
7.3
6000
6000
44.0
22.0
11.9
95.0
50.0
23.7
Resolution per motor revolution
260,000 pulse/rev
IP67 (The shaft-through portion is excluded.)
Operation: 0 to 40°C (with no freezing),
Storage: -15°C to 70°C (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
X,Y:24.5m/s
2
(2.5G)
130 SQ.
140.5
Φ 110
Φ 24
6.8
130 SQ.
184.5
Φ 110
Φ 24
10.0
155(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) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
61 IB-1501124-D
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2 Specifications
< HF Series >
Tool spindle motor type
Compatible spindle drive unit type
MDS-D2-SP-
MDS-D2-SP2-
Continuous characteristics
Rated output [kW]
Rated current [A]
Rated torque [N•m]
Power facility capacity [kVA]
Rated rotation speed [r/min]
Maximum rotation speed [r/min]
Maximum current [A]
Maximum torque [N•m]
Motor inertia [×10 -4 kg•m 2 ]
Motor side encoder
Degree of protection
Ambient temperature
Environment
Ambient humidity
Atmosphere
Altitude
Vibration
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
HF Series
HF75
20
2020
4020 (M)
0.75
3.1
1.8
1.5
14.0
7.0
2.6
90 SQ.
126.5
Φ
Φ
80
14
2.5
4000
4000
HF105
20
2020
4020 (M)
1.0
3.7
2.4
2.0
HF54
40
4020 (L)
4040S
4040
8040 (M)
0.5
2.0
1.6
1.1
HF □ -A48
HF104 HF154
40
4020 (L)
4040S
4040
8040 (M)
80
8040 (L)
16080S(M)
8080
16080 (M)
1.0
3.9
3.2
2.0
1.5
5.6
4.8
2.8
3000
3000
HF224
80
8040 (L)
16080S(M)
8080
16080 (M)
2.2
8.6
7.0
4.1
29.0
23.3
52.0
33.9
57.0
46.5
11.9
17.8
23.7
HF204
80
8040 (L)
16080S(M)
8080
16080 (M)
2.0
6.8
6.4
3.7
15.5
8.1
5.1
17.0
12.1
6.13
57.0
46.5
38.3
90 SQ.
162.5
Φ 80
Φ 14
4.3
Resolution per motor revolution
260,000 pulse/rev
IP67 (The shaft-through portion is excluded.)
Operation: 0 to 40°C (with no freezing),
Storage: -15°C to 70°C (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
X,Y:24.5m/s
2
(2.5G)
130 SQ.
118.5
Φ 110
Φ 24
4.8
130 SQ.
140.5
Φ
Φ
110
24
6.5
155(F)
130 SQ.
162.5
Φ 110
Φ 24
8.3
130 SQ.
184.5
Φ 110
Φ 24
10.0
176 SQ.
143.5
Φ 114.3
Φ 35
12.0
HF354
160
16080S(L)
16080 (L)
3.5
12
11.1
6.4
116.0
74.5
75.0
176 SQ.
183.5
Φ 114.3
Φ 35
19.0
(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) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 62
MDS-D2/DH2 Series Specifications Manual
2 Specifications
< HF Series >
Tool spindle motor type
Compatible spindle drive unit type
MDS-D2-SP-
MDS-D2-SP2-
Continuous characteristics
Rated output [kW]
Rated current [A]
Rated torque [N•m]
Power facility capacity [kVA]
Rated rotation speed [r/min]
Maximum rotation speed [r/min]
Maximum current [A]
Maximum torque [N•m]
Motor inertia [×10 -4 kg•m 2 ]
Motor side encoder
Degree of protection
Ambient temperature
Environment
Ambient humidity
Atmosphere
Altitude
Vibration
Flange size [mm]
Total length (excluding shaft) [mm]
Flange fitting diameter [mm]
Shaft diameter [mm]
Mass [kg]
Heat-resistant class
HF Series
HF453
160
16080S(L)
16080 (L)
4.5
19
14.3
8.1
HF □ -A48
HF703
160
16080S(L)
16080 (L)
7.0
34
22.3
12.5
3000
3000
109.0
116.5
154.0
HF903
320
-
9.0
30
28.6
16.1
105.0
89.3
112.0
204.0
171.0
196.0
Resolution per motor revolution
260,000 pulse/rev
IP67 (The shaft-through portion is excluded.)
Operation: 0 to 40°C (with no freezing),
Storage: -15°C to 70°C (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
176 SQ.
223.5
Φ 114.3
Φ 35
25.0
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
X,Y:24.5m/s
2
(2.5G)
176 SQ.
263.5
Φ 114.3
Φ 35
32.0
155 (F)
X,Y:9.8m/s
Φ
Φ
180
42
43.0
2
204 SQ.
330
(1G)
(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) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
63 IB-1501124-D
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2 Specifications
2.3.2 Output Characteristics
< HF-KP Series >
[ HF-KP46JW09 ]
3.0
2.5
2.0
1.5
1.0
Short time operation range
0.5
0.0
0
Continuous operation range
2000 4000
Rotation speed [r/min]
6000
< HF-SP Series >
[ HF-SP226JW09 ]
25
20
15
Short time operation range
10
5
0
0
Continuous operation range
2000 4000
Rotation speed [r/min]
6000
< HF Series >
[ HF75 ]
10
7.5
[ HF-KP56JW09 ]
6.0
5.0
4.0
3.0
2.0
Short time operation range
1.0
0.0
0
Continuous operation range
2000 4000
Rotation speed [r/min]
6000
60
[ HF-SP406JW09 ]
45
30
Short time operation range
15
0
0
Continuous operation range
2000 4000
Rotation speed [r/min]
6000
8.0
[ HF-KP96JW09 ]
6.0
4.0
Short time operation range
2.0
Continuous operation range
0.0
0 2000 4000
Rotation speed [r/min]
6000
5
Short time operation range
2.5
Continuous operation range
0
0 2000
Rotation speed [r/min]
4000
[ HF105 ]
12
9
6
Short time operation range
3
Continuous operation range
0
0 2000
Rotation speed [r/min]
4000
(Note) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is
200VAC or less, the short time operation range is limited.
IB-1501124-D 64
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2 Specifications
< HF Series >
[ HF54 ]
15
50
40
12
9
6
Short time operation range
3
0
Continuous operation range
Rotation speed [r/min]
3000
[ HF224 ]
30
20
Short time operation range
10
0
0
Continuous operation range
1000 2000
Rotation speed [r/min]
3000
[ HF453 ]
125
100
75
50
Short time operation range
25
0
0
Continuous operation range
1000 2000 3000
Rotation speed [r/min]
120
80
40
0
[ HF104 ]
25
20
15
10
Short time operation range
5
0
0
Continuous operation range
1000 2000
Rotation speed [r/min]
3000
[ HF204 ]
50
40
30
20
10
0
Short time operation range
Continuous operation range
Rotation speed [r/min]
[ HF703 ]
160
100
80
60
40
20
[ HF154 ]
50
40
30
20
10
0
Short time operation range
Continuous operation range
Rotation speed [r/min]
3000
240
180
[ HF354 ]
Short time operation range
Continuous operation range
1000 2000
Rotation speed [r/min]
3000
[ HF903 ]
120
Short time operation range
60
Continuous operation range
Rotation speed [r/min]
3000
0
Short time operation range
Continuous operation range
Rotation speed [r/min]
3000
(Note) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is
200VAC or less, the short time operation range is limited.
65 IB-1501124-D
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2 Specifications
2.4 Drive Unit
2.4.1 Installation Environment Conditions
Common installation environment conditions for servo, spindle and power supply unit are shown below.
Ambient temperature
Ambient humidity
Environment
Atmosphere
Altitude
Vibration/impact
Operation: 0 to 55°C (with no freezing), Storage / Transportation: -15°C to 70°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: 13000 meters or less above sea level
4.9m/s 2 (0.5G) / 49m/s 2 (5G)
IB-1501124-D 66
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2 Specifications
2.4.2 Servo Drive Unit
(1) 200V series
< MDS-D2 Series >
Servo drive unit type
MDS-D2-V1-
Nominal maximum current (peak) [A]
Output
Input
Rated voltage [V]
Rated current [A]
Rated voltage [V]
Rated current [A]
Voltage [V]
Frequency [Hz]
Control power
Maximum current [A]
Maximum rush current [A]
Maximum rush conductivity time [ms]
Earth leakage current [mA]
Control method
Braking
Dynamic brakes
External analog output
Degree of protection
Cooling method
Mass [kg]
Heat radiated at rated output [W]
Noise
Unit outline dimension drawing
20
20
6.4
7.0
40
1-axis servo drive unit MDS-D2-V1 Series
80 160 160W 320 320W
40 80 160 160 320
11 16
155AC
29.6
40.2
59.6
7.0
14
270 to 311DC
30 35 45
200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation : between +10% and -15%
50/60 Tolerable fluctuation : between +3% and -3%
0.2
30
320
97
55
6
1 (Max. 2)
Sine wave PWM control method
Regenerative braking and dynamic brakes
Built-in
External
(MDS-D-
DBU)
40
A1
58
A1
3.8
0 to +5V, 2ch (data for various adjustments)
IP20 ([over all] / IP00 [Terminal block TE1])
Forced air cooling
96
4.5
245
A1
184
Less than 55dB
A1 B1
5.8
366
C1
7.5
471
D1
Servo drive unit type
MDS-D2-V2-
Nominal maximum current (peak) [A]
Rated voltage [V]
Output
Rated current [A]
Rated voltage [V]
Input
Rated current [A]
Voltage [V]
Control power
Frequency [Hz]
Maximum current [A]
Maximum rush current [A]
Maximum rush conductivity time [ms]
Earth leakage current [mA]
Control method
Braking
Dynamic brakes
External analog output
Degree of protection
Cooling method
Mass [kg]
Heat radiated at rated output [W]
Noise
Unit outline dimension drawing
2020 4020
2-axis servo drive unit MDS-D2-V2 Series
4040 8040 8080 16080 160160 160160W
20/20
6.4 / 6.4
14
40/20
11 / 6.4
40/40
11 / 11
80/40 80/80
16 / 11
AC155
16 / 16
270 to 311DC
160/80
29.6 / 16
160/160
29.6 / 29.6
14 14 21 28 44 60
200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation : between +10% and -15%
50/60 Tolerable fluctuation : between +3% and -3%
0.2
30
160/160
40.2 / 40.2
70
6
70
A1
88
A1
1 (Max. 4 For two axes)
Sine wave PWM control method Current control method
Regenerative braking and dynamic brakes
Built-in
0 to +5V, 2ch (data for various adjustments)
IP20 ([over all] / IP00 [Terminal block TE1])
Forced air cooling
4.5
106 144 182 270
A1
Less than 55dB
A1 A1 B1
5.2
358
B1
6.3
480
C1
67 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
Servo drive unit type
MDS-D2-V3-
Nominal maximum current (peak) [A]
Output
Input
Rated voltage [V]
Rated current [A]
Rated voltage [V]
Rated current [A]
Voltage [V]
Frequency [Hz]
Control power
Maximum current [A]
Maximum rush current [A]
Maximum rush conductivity time [ms]
Earth leakage current [mA]
Control method
Braking
Dynamic brakes
External analog output
Degree of protection
Cooling method
Mass [kg]
Heat radiated at rated output [W]
Noise
Unit outline dimension drawing
3-axis servo drive unit MDS-D2-V3 Series
202020 404040
20/20/20 40/40/40
AC155
6.4/6.4/6.4
11/11/11
270 to 311DC
21 21
200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation : between +10% and -15%
50/60 Tolerable fluctuation : between +3% and -3%
0.2
30
6
1 (Max. 2)
Sine wave PWM control method
Regenerative braking and dynamic brakes
Built-in
0 to +5V, 2ch (data for various adjustments)
IP20 [over all]
Forced air cooling
3.8
89 159
Less than 55dB
A0
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 68
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2 Specifications
(2) 400V series
< MDS-DH2 Series >
Servo drive unit type
MDS-DH2-V1-
Nominal maximum current (peak) [A]
Rated voltage [V]
Output
Rated current [A]
Input
Control power
Rated voltage [V]
Rated current [A]
Voltage [V]
Frequency [Hz]
Maximum current [A]
Maximum rush current [A]
Maximum rush conductivity time [ms]
Earth leakage current [mA]
Control method
Braking
Dynamic brakes
External analog output
Degree of protection
Cooling method
Mass [kg]
Heat radiated at rated output [W]
Noise
Unit outline dimension drawing
1-axis servo drive unit MDS-DH2-V1 Series
10 20 40 80 80W 160 160W 200
10 20 40 80 80 160 160 200
340AC
2.3
3.9
7.3
17 20.1
32 46 76.8
0.9
1.6
2.9
513 to 648DC
6.0
8.0
11.9
16.7
380 to 440AC (50Hz) / 380 to 480AC (60Hz) Tolerable fluctuation : between +10% and -15%
39
50/60 Tolerable fluctuation : between +3% and -3%
0.1
18
18
46
A1
68
A1
3.8
12
1 (Max. 2)
Sine wave PWM control method
Regenerative braking and dynamic brakes
Built-in
0 to +5V, 2ch (data for various adjustments)
IP20 ([over all] / IP00 [Terminal block TE1])
Forced air cooling
4.5
5.8
114 390
A1
215 269
Less than 55dB
A1 B1 C1
External (MDS-D-DBU)
7.5
542
D1
16.5
735
E1
Servo drive unit type
MDS-DH2-V2-
Nominal maximum current (peak) [A]
Output
Input
Rated voltage [V]
Rated current [A]
Rated voltage [V]
Rated current [A]
Voltage [V]
Frequency [Hz]
Control power
Maximum current [A]
Maximum rush current [A]
Maximum rush conductivity time [ms]
Earth leakage current [mA]
Control method
Braking
Dynamic brakes
External analog output
Degree of protection
Cooling method
Mass [kg]
Heat radiated at rated output [W]
Noise
Unit outline dimension drawing
1010 2010
2-axis servo drive unit MDS-DH2-V2 Series
2020 4020 4040 8040 8080 8080W
10/10 20/10 20/20 40/20 40/40 80/40 80/80 80/80
2.3 / 2.3
3.9 / 2.3
3.9 / 3.9
7.3 / 3.9
340AC
7.3 / 7.3
17 / 7.3
17 / 17 20.1 / 20.1
1.8
2.5
3.2
513 to 648DC
4.5
5.8
8.9
12
380 to 440AC (50Hz) / 380 to 480AC (60Hz) Tolerable fluctuation : between +10% and -15%
16
50/60 Tolerable fluctuation : between +3% and -3%
0.1
18
12
82
A1
104
A1
1 (Max. 4 For two axes)
Sine wave PWM control method Current control method
Regenerative braking and dynamic brakes
Built-in
0 to +5V, 2ch (data for various adjustments)
IP20
Forced air cooling
3.8
126 319
5.2
A1
172 218
Less than 55dB
A1 A1 B1
420
B1
6.3
528
C1
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
69 IB-1501124-D
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2 Specifications
2.4.3 Spindle Drive Unit
(1) 200V series
< MDS-D2 Series >
Spindle drive unit type
MDS-D2-SP-
Nominal maximum current (peak) [A]
Output
Rated voltage [V]
Rated current [A]
Rated voltage [V]
Input
Rated current [A]
Voltage [V]
Frequency [Hz]
Control power
Maximum current [A]
Maximum rush current [A]
Maximum rush conductivity time [ms]
Earth leakage current [mA]
Control method
Braking
External analog output
Degree of protection
Cooling method
Mass [kg]
Heat radiated at continuous rated output [W]
Noise
Unit outline dimension drawing
1-axis spindle drive unit MDS-D2-SP Series
20
20
4.5
7.0
40 80 160
40
10
80
18
160
54
200
155AC
85
270 to 311DC
240
94
320
130
400
174
13 20 41 76 95 140 150
200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation : between +10% and -15%
50/60 Tolerable fluctuation : between +3% and -3%
0.2
30
6
200 240 320 400
9
640
640
200
210
55
A1
3.8
94
A1
158
A1
6 (Max. 15)
Sine wave PWM control method
Regenerative braking
0 to +5V, 2ch (data for various adjustments)
IP20 ([over all] / IP00 [Terminal block TE1])
Forced air cooling
4.5
290
B1
5.8
481
Less than 55dB
C1
6.5
620
D1
7.5
806
D2
1045
E1
16.5
1427
F1
Spindle drive unit type
MDS-D2-SP2-
Nominal maximum current (peak) [A]
Output
Rated voltage [V]
Rated current [A]
Input
Rated voltage [V]
Rated current [A]
Voltage [V]
Frequency [Hz]
Control power
Maximum current [A]
Maximum rush current [A]
Maximum rush conductivity time [ms]
Earth leakage current [mA]
Control method
Braking
External analog output
Degree of protection
Cooling method
Mass [kg]
Heat radiated at continuous rated output [W]
Noise
Unit outline dimension drawing
2020 4020
2-axis spindle drive unit MDS-D2-SP2 Series
4040S 4040 8040 16080S 8080 16080
20/20 40/20 40/40 40/40 80/40
10 / 10
AC155
18 / 10
160/80 80/80
4.5 / 4.5
14
10 / 4.5
10 / 10 54 / 18 18 / 18
20 26
270 to 311DC
26 33 61 40
200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation : between +10% and -15%
50/60 Tolerable fluctuation : between +3% and -3%
0.2
30
160/80
54 / 18
61
6
4.5
90
A1
4.5
129
A1
6 (Max. 15)
Sine wave PWM control method
Regenerative braking
0 to +5V, 2ch (data for various adjustments)
IP20 ([over all] / IP00 [Terminal block TE1])
Forced air cooling
4.5
168
6.5
168
6.5
232
5.2
428
A1
Less than 55dB
B1 B1 B1
6.5
298
C1
6.5
428
C1
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 70
MDS-D2/DH2 Series Specifications Manual
2 Specifications
(2) 400V series
< MDS-DH2 Series >
1-axis spindle drive unit MDS-DH2-SP Series
Spindle drive unit type
MDS-DH2-SP-
Nominal maximum current (peak) [A]
Output
Rated voltage [V]
Rated current [A]
Input
Rated voltage [V]
Rated current [A]
Voltage [V]
Frequency [Hz]
Control power
Maximum current [A]
Maximum rush current [A]
Maximum rush conductivity time [ms]
Earth leakage current [mA]
Control method
Braking
External analog output
Degree of protection
Cooling method
Mass [kg]
Heat radiated at continuous rated output [W]
Noise
Unit outline dimension drawing
20
20
9.0
40
13
80
19
100 160
340AC
30 65
513 to 648DC
200
85
320
103
480
180
10 15 21 38 72 99 119 150
380 to 440AC (50Hz) / 380 to 480AC (60Hz) Tolerable fluctuation : between +10% and -15%
50/60 Tolerable fluctuation : between +3% and -3%
0.1
18
3.8
120
A1
40
200
A1
4.5
80
12
100 160 200
0 to +5V, 2ch (data for various adjustments)
IP20 ([over all] / IP00 [Terminal block TE1])
Forced air cooling
5.8
7.5
291
B1
6 (Max. 15)
Sine wave PWM control method
Regenerative braking
442 749
Less than 55dB
C1 D1
872
E1
16.5
320
18
1202
E1
480
22.5
1720
F1
(Note) Rated output capacity and rated speed of the motor used in combination with the drive unit are as indicated when using the power supply voltage and frequency listed. The torque drops when the voltage is less than specified.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
71 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
2.4.4 Power Supply Unit
(1) 200V series
< MDS-D2 Series >
Power supply unit type
MDS-D2-CV-
30-minute rated output [kW]
Continuous rated output [kW]
Power facility capacity [kVA]
Rated voltage [V]
Input
Output
Frequency [Hz]
Rated current [A]
Rated voltage [V]
Rated current [A]
Voltage [V]
Control power
Frequency [Hz]
Maximum current [A]
Maximum rush current [A]
Maximum rush conductivity time [ms]
Main circuit method
Degree of protection
Cooling method
Mass [kg]
Heat radiated at rated output [W]
Noise
Unit outline dimension drawing
37
3.7
2.2
5.3
15
17
38
3
IP20
Natural-cooling
4.0
54 79
A2 A2
26
30
75
7.5
5.5
11
Power supply unit MDS-D2-CV Series
110 185 300 370
11.0
7.5
18.5
15.0
30.0
26.0
37.0
30.0
16.0
27.0
43.0
53.0
200AC (50Hz) / 200 to 230AC (60Hz)
Tolerable fluctuation : between +10% and -15%
50/60 Tolerable fluctuation : between +3% and -3%
35 65 107 121
41
270 to 311DC
76 144 164
200AC (50Hz) / 200 to 230AC (60Hz)
Tolerable fluctuation : between +10% and -15%
50/60 Tolerable fluctuation : between +3%v and -3%
0.2
30
6
148
198
Converter with power regeneration circuit
IP20 ([over all] / IP00 [Terminal block TE1])
124
6.0
Forced air cooling
10.0
396 496
B1
193 317
Less than 55dB
B1 D1 D1 D2
450
45.0
37.0
64.0
550
55.0
45.0
78.0
200
238
25.5
595
F1
(2) 400V series
< MDS-DH2 Series >
Power supply unit type
MDS-DH2-CV-
30-minute rated output [kW]
Continuous rated output [kW]
Power facility capacity [kVA]
Rated voltage [V]
Input Frequency [Hz]
Rated current [A]
Rated voltage [V]
Output
Rated current [A]
Voltage [V]
Control power
Frequency [Hz]
Maximum current [A]
Maximum rush current [A]
Maximum rush conductivity time [ms]
Main circuit method
Degree of protection
Cooling method
Mass [kg]
Heat radiated at rated output [W]
Noise
Unit outline dimension drawing
37 75 110
Power supply unit MDS-DH2-CV Series
185 300 370 450 550 750
3.7
2.2
5.3
7.5
5.5
11.0
7.5
18.5
15.0
30.0
26.0
37.0
30.0
45.0
37.0
55.0
45.0
75.0
55.0
11.0
16.0
27.0
43.0
53.0
64.0
78.0
380 to 440AC (50Hz)/380 to 480AC (60Hz) Tolerable fluctuation : between +10% and -15%
107.0
5.2
13
50/60 Tolerable fluctuation : between +3% and -3%
18 35 61 70 85
513 to 648DC
106 130
7.1
15 21 38 72 82 99 119
380 to 440AC (50Hz)/380 to 480AC (60Hz) Tolerable fluctuation : between +10% and -15%
150
50/60 Tolerable fluctuation : between +3% and -3%
0.1
18
12
54
B1
79
B1
6.0
124
B1
Converter with power regeneration circuit
IP20 ([over all] / IP00 [Terminal block TE1])
Forced air cooling
193
10.0
402
B1
317
Less than 55dB
D1 D1
496
D1
595
F1
25.5
842
F1
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)).
IB-1501124-D 72
MDS-D2/DH2 Series Specifications Manual
2 Specifications
2.4.5 Unit Outline Dimension Drawing
A0 A1
Panel cut drawing
(80) (80)
60
200
60 200 60
52
60
380 350
U nit [m m]
80
A2
Panel cut drawing
200 20 52
㸦 80 㸧
B1
Panel cut drawing
C1
㸦 80 㸧
Panel cut drawing
90 200 60
82
120
200 60
112
150
㸦 80 㸧
D1
Panel cut drawing
Square hole
200 60
142
150
D2
㸦 80 㸧
Panel cut drawing
Square hole
200 67
142
240
E1
Panel cut drawing
㸦 80 㸧
Square hole
210 92
222
300
F1
Panel cut drawing
㸦 80 㸧
Square hole
210 92
282
73 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
2.4.6 AC Reactor
An AC reactor must be installed for each power supply unit.
(1) 200V series
< MDS-D2 Series >
AC reactor model
D-AL-
Compatible power supply unit type
MDS-D2-CV-
Rated capacity [kW]
Rated voltage [V]
Rated current [A]
Frequency [Hz]
Ambient temperature
Ambient humidity
Environment
Atmosphere
Altitude
Vibration / impact
Mass [kg]
7.5K
11K 18.5K
AC reactor
30K 37K 45K 55K
37,75 110 185 300 370 450 550
7.5
27
11 18.5
30 37 45
200 to 240AC Tolerable fluctuation : between +10% and -15%
40 66 110 133
50/60 Tolerable fluctuation : between +3% and -3%
162
55
198
Operation: -10°C to 60°C (with no freezing), Storage/Transportation: -10°C to 60°C (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage/Transportation: 80%RH or less (with no dew condensation)
Indoors (no direct sunlight)
With no corrosive gas, inflammable gas, oil mist or dust
Operation/Storage: 1000 meters or less above sea level, Transportation: 10000 meters or less above sea level
4.2
3.7
5.3
9.8m/s 2 (1G) / 98m/s 2 (10G)
6.1
8.6
9.7
11.5
(2) 400V series
< MDS-DH2 Series >
AC reactor model
DH-AL-
Compatible power supply unit type
MDS-DH2-CV-
Rated capacity [kW]
Rated voltage [V]
Rated current [A]
Frequency [Hz]
Ambient temperature
Ambient humidity
Environment
Atmosphere
Altitude
Vibration / impact
Mass [kg]
7.5K
11K 18.5K
AC reactor
30K 37K 45K 55K 75K
37, 75 110 185 300 370 450 550 750
7.5
14
11
21
18.5
30 37 45
380 to 480AC Tolerable fluctuation : between +10% and -15%
37 65 75 85
50/60 Tolerable fluctuation : between +3% and -3%
55
105
75
142
Operation: -10°C to 60°C (with no freezing), Storage/Transportation: -10°C to 60°C (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage/Transportation: 80%RH or less (with no dew condensation)
Indoors (no direct sunlight)
With no corrosive gas, inflammable gas, oil mist or dust
Operation/Storage: 1000 meters or less above sea level, Transportation: 10000 meters or less above sea level
4.0
3.7
5.3
9.8m/s
2
(1G) / 98m/s
2
(10G)
6.0
8.5
9.8
10.5
13.0
IB-1501124-D 74
MDS-D2/DH2 Series Specifications Manual
2 Specifications
Outline dimension drawing
M5 12
FG
Nameplate
L11
L12
L21 L31
Terminal screw 6-M5 12
(Tightening torque: 2.0Nm)
L32
2-M4
Terminal plate
(with cover)
L22
20
Grounding position
4-M6 hole
Terminal assignment seal
175
Cover
130
Serial number of manufacture
55 r 1.5
165
82 r 1.5
D/DH-AL-7.5K
Terminal screw 6-M6 16
(Tightening torque: 4.0Nm)
L11 L21 L31
M5 12
FG
Nameplate
2-M4
L12 L22 L32
20
Grounding position
4-M6 hole
Terminal assignment seal
175
Terminal plate
(with cover)
Cover
130
Serial number of manufacture
55 r 1.5
165
D/DH-AL-18.5K
105 r 1.5
M5 12
FG
Nameplate
L11
L12
L21
L22
Terminal screw 6-M5 12
(Tightening torque: 2.0Nm)
L31
L32
2-M4
Terminal plate
(with cover)
20
Grounding position
4-M6 hole
Terminal assignment seal
175
Cover
130
55 r 1.5
165
D/DH-AL-11K
75 r 1.5
L11 L21 L31
M5 12
FG 2-M4
Nameplate
Terminal screw 6-M6 16
(Tightening torque: 4.0Nm)
L12
20
L22 L32
Terminal plate
(with cover)
Grounding position 4-M6 hole
Terminal assignment seal
175
Cover
130
55 r 1.5
165
D/DH-AL-30K
110 r 1.5
140
[Unit:mm]
Serial number of manufacture
Serial number of manufacture
L11 L21 L31
M5 12
Nameplate
Terminal screw 6-M6 16
(Tightening torque: 4.0Nm)
FG
L12 L22 L32
20 Grounding position
4-M6 hole
Terminal assignment seal
2-M4
Terminal plate
(with cover)
Cover
130
70 r 1.5
215 r 2.5
D/DH-AL-37K
110 r 1.5
150
Serial number of manufacture
75
L11 L21 L31
M5 12
Nameplate
Terminal screw 6-M6 16
(Tightening torque: 4.0Nm)
FG
L12 L22 L32
2-M4
Terminal plate
(with cover)
20
Grounding position
4-M6 hole
Terminal assignment seal
Cover
130
Serial number of manufacture
70 r 1.5
215 r 2.5
D/DH-AL-45K
120 r 1.5
160
IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
L11
M5 12
FG
Nameplate
Grounding position
Terminal screw 6-M10 20
(Tightening torque: 11.0Nm)
L12
L21 L31
2-M4
L22 L32
Terminal assignment seal
Terminal plate
(with cover)
4-M8 hole
Cover
230
Serial number of manufacture
02
Bar code
200 r 1.5
220 r 2.5
D-AL-55K
120 r 1.5
L11
M5 12
FG
Nameplate
Grounding position
Terminal screw 6-M6 16
(Tightening torque: 11.0Nm)
L12
L21
L22
L31
L32
2-M4
Terminal plate
(with cover)
Terminal assignment seal
4-M8 hole
Cover
230
M5 12
FG
Nameplate
Grounding position
Terminal screw 6-M6 16
(Tightening torque: 11.0Nm)
L11 L21
L22
L31
L32
2-M4
Terminal plate
(with cover)
4-M8 hole
Terminal assignment seal
Cover
230
[Unit:mm]
Serial number of manufacture
N.P
Bar code
200 r 1.5
220 r 2.5
DH-AL-55K
120 r 1.5
Serial number of manufacture
N.P
Bar code
230 r 1.5
250 r 2.5
DH-AL-75K
143 r 1.5
IB-1501124-D 76
MDS-D2/DH2 Series Specifications Manual
2 Specifications
2.4.7 Explanation of Each Part
(1) 200V series
< MDS-D2 Series >
(a) Explanation of each 1-axis servo drive unit part
(13)
(12)
(8)
(9)
(1)
(4)
(5)
(2)
(3)
(11)
(10)
(14)
(17)
1 2 1 2
(6)
1 2
(7)
(15)
(16)
(18)
(19)
MDS-D2-V1
60mm width
Bottom view of left diagram
(19)
MDS-D2-V1
90mm width or more
The connector and terminal block layout may differ according to the unit being used. Refer to each unit outline drawing for details.
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
(15)
(1)
(2)
(3)
(4)
(5)
(6)
Control circuit
< Each part name >
(16)
(17)
(18)
Main circuit
LED
SWL
SW1
CN1A
CN1B
BTA, BTB
Name
BT1
CN2L
CN3L
CN4
CN5
CN8
CN9
CN20
TE2
TE3
---
---
---
---
---
---
---
---
L+
L-
L11
L21
---
---
---
---
---
---
TE1
U, V, W,
U, V, W
(19) PE
Description
Unit status indication LED
Axis No. setting switch
Unused axis setting switch
NC or master axis optical communication connector
Slave axis optical communication connector
For connecting converged battery unit
Both BTA and BTB are the same function, and they are internally connected each other.
For connecting battery built-in drive unit ER6V-C119B
Motor side encoder connection connector 5V power supply capacity:0.35A
Machine side encoder connection connector 5V power supply capacity:0.35A
Power supply communication connector
USB maintenance connector (usually not used)
External STO input connector
(Insert the provided STO short-circuit connector when not using external STO input.)
Maintenance connector (usually not used)
Motor brake/dynamic brake control connector (Key way: X type)
Converter voltage input terminal (DC input)
Control power input terminal (single-phase AC input)
Motor power supply output connector (3-phase AC output),
Motor grounding terminal (for 60mm width)
Motor power supply output terminal (for 90mm width or more) (3-phase AC output)
Grounding terminal, Motor grounding terminal
Note that TE1 connector (above "(17)") is used for the motor grounding of the 60mm width unit.
< Screw size >
Type
Unit width (mm)
(15) TE2
(16) TE3
(18) TE1
(19)
20 to 160
60
-
M4 × 12
1-axis servo drive unit MDS-D2-V1-
160W 320
90 120
M6 × 16
M4 × 12
M5 × 12
M5 × 12
320W
150
M8 × 12
M8 × 12
77 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
(b) Explanation of each 2-axis servo drive unit part
(15)
(14)
(8)
(9)
(10)
(11)
(1)
(4)
(5)
(17)
(2)
(3)
1 2 1 2
(6)
(13)
(12)
(16)
(19)
(20)
1 2
(7)
(18)
(23)
(21)
(22)
(23)
Bottom view of left diagram MDS-D2-V2
90mm width or less
MDS-D2-V2
120mm width
The connector and terminal block layout may differ according to the unit being used. Refer to each unit outline drawing for details.
< Each part name >
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
(15)
(16)
(17)
(1)
(2)
(3)
(4)
(5)
(6)
(18)
(19)
(20)
(21)
(22)
Control circuit
Main circuit
LED
SWL,SWM
SW1
CN1A
CN1B
BTA, BTB
Name
BT1
CN2L
CN3L
CN2M
CN3M
CN4
CN5
CN8
CN9
CN20
TE2
TE3
TE1
TE1
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
L+
L-
L11
L21
MU, MV, MW,
LU, LV, LW,
MU, MV, MW
LU, LV, L
(23) PE
Description
Unit status indication LED
Axis No. setting switch (L, M-axis)
Unused axis setting switch (L, M-axis)
NC or master axis optical communication connector
Slave axis optical communication connector
For connecting converged battery unit
Both BTA and BTB are the same function, and they are internally connected each other.
For connecting battery built-in drive unit ER6V-C119B
Motor side encoder connection connector (L-axis) 5V power supply capacity:0.35A
Machine side encoder connection connector (L-axis) 5V power supply capacity:0.35A
Motor side encoder connection connector (M-axis) 5V power supply capacity:0.35A
Machine side encoder connection connector (M-axis) 5V power supply capacity:0.35A
Power supply communication connector
USB maintenance connector (usually not used)
External STO input connector
(Insert the provided STO short-circuit connector when not using external STO input.)
Maintenance connector (usually not used)
Motor brake/dynamic brake control connector (Key way: X type)
Converter voltage input terminal (DC input)
Control power input terminal (single-phase AC input)
Motor power supply output connector(3-phase AC output)
Motor grounding terminal (for 90mm width or less)
Motor power supply output connector(3-phase AC output) (for 120mm width)
Grounding terminal, Motor grounding terminal
Note that TE1 connector (above "(19)", "(20)") is used for the motor grounding of the
90mm width or less unit.
< Screw size >
Type
Unit width (mm)
(17) TE2
(18) TE3
(21) (22)TE1
(23)
2020 to 8080
60
-
2-axis servo drive unit MDS-D2-V2-
16080,160160
90
M6×16
M4×12
-
M4×12
160160W
120
M5×12
M5×12
IB-1501124-D 78
MDS-D2/DH2 Series Specifications Manual
2 Specifications
(c) Explanation of each 3-axis servo drive unit part
(17)
(16)
(8)
(9)
(10)
(11)
(12)
(13)
(19)
(1)
(4)
(5)
(2)
(3)
(15)
(14)
(18)
1 2 1 2
1 2
(21)
(22)
(23)
(6)
(7)
(20)
(24)
MDS-D2-V3 Bottom view
The connector and terminal block layout may differ according to the unit being used. Refer to each unit outline drawing for details.
< Each part name >
(20)
(21)
(22)
(23)
(24)
(16)
(17)
(18)
(19)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
(15)
(1)
(2)
(3)
(4)
(5)
(6)
Control circuit
Main circuit
Name
LED
SWL,SWM,SWS
SW1
CN1A
CN1B
BTA, BTB
BT1
CN2L
CN3L
CN2M
CN3M
CN2S
CN3S
CN4
CN5
CN8
CN9
CN20
TE2
TE3
TE1
---
---
---
---
---
---
---
L+
L-
L11
L21
SU, SV, SW,
MU, MV, MW,
LU, LV, LW,
---
---
---
---
---
---
---
---
PE
Description
Unit status indication LED
Axis No. setting switch (L,M,S-axis)
Unused axis setting switch (L,M,S-axis)
NC or master axis optical communication connector
Slave axis optical communication connector
For connecting converged battery unit
Both BTA and BTB are the same function, and they are internally connected each other.
For connecting battery built-in drive unit ER6V-C119B
Motor side encoder connection connector (L-axis) 5V power supply capacity:0.35A
Machine side encoder connection connector (L-axis) 5V power supply capacity:0.35A
Motor side encoder connection connector (M-axis) 5V power supply capacity:0.35A
Machine side encoder connection connector (M-axis) 5V power supply capacity:0.35A
Motor side encoder connection connector (S-axis) 5V power supply capacity:0.35A
Machine side encoder connection connector (S-axis) 5V power supply capacity:0.35A
Power supply communication connector
USB maintenance connector (usually not used)
External STO input connector
(Insert the provided STO short-circuit connector when not using external STO input.)
Maintenance connector (usually not used)
Motor brake/dynamic brake control connector (Key way: X type)
Converter voltage input terminal (DC input)
Control power input terminal (single-phase AC input)
Motor power supply output connector (3-phase AC output)
Grounding terminal
Note that TE1 connector is used for the motor grounding.
< Screw size >
Type
Unit width (mm)
(19) TE2
(20) TE3
(24)
202020
3-axis servo drive unit MDS-D2-V3-
60
M6x 16
M4x 12
M4x 12
404040
79 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
(d) Explanation of each 1-axis spindle drive unit part
(13)
(12)
(8)
(9)
(1)
(4)
(5)
(2)
(3)
(11)
(10)
(16)
1 2 1 2
(6)
1 2
(7)
(14)
(15)
(18)
MDS-D2-SP
60mm width
(17)
(18)
Bottom view of left diagram
MDS-D2-SP
90mm width or more
The connector and terminal block layout may differ according to the unit being used. Refer to each unit outline drawing for details.
< Each part name >
(5)
(6)
(7)
(8)
(1)
(2)
(3)
(4)
(9)
(10)
(11)
(12)
(13)
(14)
Control circuit
(15)
(16)
(17)
Main circuit
LED
SWL
SW1
CN1A
CN1B
BTA, BTB
BT1
CN2L
CN3L
CN4
CN5
Name
CN8
CN9
TE2
TE3
---
---
L+
L-
L11
L21
---
---
---
---
---
---
---
---
---
---
---
U, V, W,
TE1
U, V, W
(18) PE
Description
Unit status indication LED
Axis No. setting switch
Unused axis setting switch
NC or master axis optical communication connector
Slave axis optical communication connector
(Unused)
(Unused)
Motor side encoder connection connector 5V power supply capacity:0.35A
Spindle side encoder connection connector 5V power supply capacity:0.35A
Power supply communication connector
USB maintenance connector (usually not used)
External STO input connector
(Insert the provided STO short-circuit connector when not using external STO input.)
Maintenance connector (usually not used)
Converter voltage input terminal (DC input)
Control power input terminal (single-phase AC input)
Motor power supply output connector (3-phase AC output),
Motor grounding terminal (for 60mm width)
Motor power supply output terminal (3-phase AC output)
(for 90mm width or more)
Grounding terminal, Motor grounding terminal
Note that TE1 connector (above "(16)") is used for the motor grounding of the 60mm width unit.
< Screw size >
Type
Unit width (mm)
(14) TE2
(15) TE3
(17) TE1
(18)
20,40,80
60
-
M4 x 12
160
90
Spindle drive unit MDS-D2-SP-
200
120
240,320
150
M6 x 16
M4 x 12
M5 x 12
M5 x 12
M8 x 12
M8 x 12
400
240
M10 x 20
M4 x 8
M10 x 20
M10 x 20
640
300
IB-1501124-D 80
MDS-D2/DH2 Series Specifications Manual
2 Specifications
(e) Explanation of each 2-axis spindle drive unit part
(15)
(14)
(8)
(9)
(10)
(11)
(1)
(4)
(5)
(16)
(2)
(3)
(13)
(12)
(18)
(19)
1 2 1 2
(6)
1 2
(7)
(17)
(22)
MDS-D2-SP2-2020 㨪 8080
(20)
(21)
(22)
Bottom view of left diagram MDS-D2-SP2-16080
The connector and terminal block layout may differ according to the unit being used. Refer to each unit outline drawing for details.
< Each part name >
(17)
(18)
(19)
(20)
(21)
(5)
(6)
(7)
(8)
(1)
(2)
(3)
(4)
(9)
(10)
(11)
(12)
(13)
(14)
(15)
(16)
Control circuit
Main circuit
LED
SWL,SWM
SW1
CN1A
CN1B
BTA, BTB
BT1
CN2L
CN3L
CN2M
CN3M
CN4
CN5
Name
CN8
CN9
TE2
TE3
TE1
TE1
---
---
L+
L-
L11
L21
MU, MV, MW,
LU, LV, LW,
MU, MV, MW
LU, LV, LW
---
---
---
---
---
---
---
---
---
---
---
---
---
(22) PE
Description
Unit status indication LED
Axis No. setting switch (L, M-axis)
Unused axis setting switch (L, M-axis)
NC or master axis optical communication connector
Slave axis optical communication connector
(Unused)
For connecting battery built-in drive unit ER6V-C119B
Motor side encoder connection connector (L-axis) 5V power supply capacity:0.35A
Spindle side encoder connection connector (L-axis) 5V power supply capacity:0.35A
Motor side encoder connection connector (M-axis) 5V power supply capacity:0.35A
Spindle side encoder connection connector (M-axis) 5V power supply capacity:0.35A
Power supply communication connector
USB maintenance connector (usually not used)
External STO input connector
(Insert the provided STO short-circuit connector when not using external STO input.)
Maintenance connector (usually not used)
Converter voltage input terminal (DC input)
Control power input terminal (single-phase AC input)
Motor power supply output connector (3-phase AC output),
Motor grounding terminal (For other than MDS-D2-SP2-2020 to 8080)
Motor power supply output terminal (3-phase AC output)
(For MDS-D2-SP2-16080)
Grounding terminal, Motor grounding terminal
Note that TE1 connector (above "(18)","(19)") is used for the motor grounding of
MDS-D2-SP2-2020 to 8080 unit.
< Screw size >
Type
Unit width (mm)
(17) TE2
(18) TE3
(21), (22) TE1
(23)
2020, 4020, 4040S
60
M4×12
2-axis spindle drive unit MDS-D2-SP2-
4040, 8040, 16080S
90
8080
120
M6×16
M4×12
-
M5×12
16080
120
M5×12
81 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
(f) Explanation of each power supply unit part
(1)
(3)
(4)
(2)
(5)
(6)
(1)
(3)
(4)
(2)
(5)
(6)
(11)
(7)
(8)
(9)
(10)
(12)
(11)
(7)
(8)
(9)
(10)
(12)
(11)
(12)
(12)
MDS-D2-CV
Bottom view
60mm width
MDS-D2-CV
Bottom view
90mm width or more
The connector and terminal block layout may differ according to the unit being used. Refer to each unit outline drawing for details.
(5)
(6)
(7)
(8)
(1)
(2)
(3)
(4)
(9)
(10)
(11)
(12)
< Each part name >
Control circuit
Main circuit
LED
SW1
CN4
CN9
CN41
CN24
CN23
---
TE2
TE3
TE1
PE
Name
---
---
---
---
---
---
---
CHARGE
L+
L-
L11
L21
L1, L2, L3
Description
Power supply status indication LED
Power supply setting switch
Servo/spindle communication connector (primary)
Servo/spindle communication connector (secondary)
Power backup unit communication connector
External emergency stop input connector
External contactor control connector
TE2 output charging/discharging circuit indication LED
Converter voltage output terminal (DC output)
Control power input terminal (single-phase AC input)
Power input terminal (3-phase AC input)
Grounding terminal
< Screw size >
Type
Unit width (mm)
(9) TE2
(10) TE3
(11) TE1
(12)
37, 75
60
-
M4 x 12
Power supply unit MDS-D2-CV-
110,185 300 to 450
90
M6 x 16
150
M4 x 12
M5 x 12
M5 x 12
M8 x 16
M8 x 14
550
300
M10 x 20
M4 x 8
M10 x 20
M10 x 20
IB-1501124-D 82
MDS-D2/DH2 Series Specifications Manual
2 Specifications
(2) 400V series
< MDS-DH2 Series >
(a) Explanation of each 1-axis servo drive unit part
(13)
(12)
(8)
(9)
(1)
(4)
(5)
(2)
(3)
(11)
(10)
(14)
(17)
1 2 1 2
(6)
1 2
(7)
(15)
(16)
(19)
MDS-DH2-V1
90mm width or less
(18)
Bottom view of left diagram
(19)
MDS-DH2-V1
120mm width or more
The connector and terminal block layout may differ according to the unit being used. Refer to each unit outline drawing for details.
< Each part name >
(6)
(7)
(8)
(9)
(10)
(11)
(1)
(2)
(3)
(4)
(5)
(12)
(13)
(14)
(15)
Control circuit
(16)
(17)
(18)
Main circuit
LED
SWL
SW1
CN1A
CN1B
Name
BTA, BTB
BT1
CN2L
CN3L
CN4
CN5
CN8
CN9
CN20
TE2
TE3
---
---
---
L+
L-
L11
L21
---
---
---
---
---
---
---
---
---
---
---
TE1
U, V, W,
U, V, W
(19) PE
Description
Unit status indication LED
Axis No. setting switch
Unused axis setting switch
NC or master axis optical communication connector
Slave axis optical communication connector
For connecting converged battery unit
Both BTA and BTB are the same function, and they are internally connected each other.
For connecting battery built-in drive unit ER6V-C119B
Motor side encoder connection connector
Machine side encoder connection connector
Power supply communication connector
USB maintenance connector (usually not used)
External STO input connector
(Insert the provided STO short-circuit connector when not using external STO input.)
Maintenance connector (usually not used)
Motor brake/dynamic brake control connector (Key way: X type)
Converter voltage input terminal (DC input)
Control power input terminal (single-phase AC input)
Motor power supply output connector (3-phase AC output),
Motor grounding terminal (for 90mm width or less)
Motor power supply output terminal (3-phase AC output) (for 120mm width or more)
Grounding terminal, Motor grounding terminal
Note that TE1 connector (above "(17)") is used for the motor grounding of the 90mm width unit or less.
< Screw size >
Type
Unit width (mm)
(15) TE2
(16) TE3
(18) TE1
(19)
10 to 80
60
M4×12
-
80W
90
1-axis servo drive unit MDS-DH2-V1-
160
120
160W
150
M6×16
M4×12
M5×12
M5×12
200
240
M4×8
M8×15
M8×16
83 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
(b) Explanation of each 2-axis servo drive unit part
(15)
(14)
(8)
(9)
(10)
(11)
(1)
(4)
(5)
(17)
(2)
(3)
1 2 1 2
(6)
(13)
(12)
(16)
(19)
(20)
1 2
(7)
(18)
(21)
MDS-DH2-V2 Bottom view
The connector and terminal block layout may differ according to the unit being used. Refer to each unit outline drawing for details.
< Each part name >
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
(15)
(16)
(17)
(1)
(2)
(3)
(4)
(5)
(6)
(18)
(19)
(20)
(21)
Control circuit
Main circuit
BT1
CN2L
CN3L
CN2M
CN3M
CN4
CN5
CN8
CN9
CN20
TE2
LED
SWL,SWM
SW1
CN1A
CN1B
BTA, BTB
Name
TE3
TE1
---
---
---
---
---
---
---
---
L+
L-
L11
L21
MU, MV, MW,
LU, LV, LW,
---
---
---
---
---
---
---
---
PE
Description
Unit status indication LED
Axis No. setting switch (L, M-axis)
Unused axis setting switch (L, M-axis)
NC or master axis optical communication connector
Slave axis optical communication connector
For connecting converged battery unit
Both BTA and BTB are the same function, and they are internally connected each other.
For connecting battery built-in drive unit ER6V-C119B
Motor side encoder connection connector (L-axis)
Machine side encoder connection connector (L-axis)
Motor side encoder connection connector (M-axis)
Machine side encoder connection connector (M-axis)
Power supply communication connector
USB maintenance connector (usually not used)
External STO input connector
(Insert the provided STO short-circuit connector when not using external STO input.)
Maintenance connector (usually not used)
Motor brake/dynamic brake control connector (Key way: X type)
Converter voltage input terminal (DC input)
Control power input terminal (single-phase AC input)
Motor power supply output connector(3-phase AC output), Motor grounding
Grounding terminal
Use TE1 connector for the motor grounding.
< Screw size >
Type
Unit width (mm)
(17) TE2
(18) TE3
(21)
1010 to 4040
60
2-axis servo drive unit MDS-DH2-V2-
8040, 8080
90
M6×16
M4×12
M4×12
8080
120
M5×12
IB-1501124-D 84
MDS-D2/DH2 Series Specifications Manual
2 Specifications
(c) Explanation of each 1-axis spindle drive unit part
(13)
(12)
(8)
(9)
(1)
(4)
(5)
(2)
(3)
(11)
(10)
(16)
1 2 1 2
(6)
1 2
(7)
(14)
(15)
(18)
MDS-DH2-SP
90mm width or less
(17)
(18)
Bottom view of left diagram
MDS-DH2-SP
120mm width or more
The connector and terminal block layout may differ according to the unit being used. Refer to each unit outline drawing for details.
< Each part name >
(5)
(6)
(7)
(8)
(1)
(2)
(3)
(4)
(9)
(10)
(11)
(12)
(13)
(14)
Control circuit
(15)
(16)
(17)
Main circuit
LED
SWL
SW1
CN1A
CN1B
BTA, BTB
BT1
CN2L
CN3L
CN4
CN5
Name
CN8
CN9
TE2
TE3
---
---
L+
L-
L11
L21
---
---
---
---
---
---
---
---
---
---
---
U, V, W,
TE1
U, V, W
(18) PE
Description
Unit status indication LED
Axis No. setting switch
Unused axis setting switch
NC or master axis optical communication connector
Slave axis optical communication connector
(Unused)
(Unused)
Motor side encoder connection connector 5V power supply capacity:0.35A
Spindle side encoder connection connector 5V power supply capacity:0.35A
Power supply communication connector
USB maintenance connector (usually not used)
External STO input connector
(Insert the provided STO short-circuit connector when not using external STO input.)
Maintenance connector (usually not used)
Converter voltage input terminal (DC input)
Control power input terminal (single-phase AC input)
Motor power supply output connector (3-phase AC output),
Motor grounding terminal (for 90mm width or less)
Motor power supply output terminal (3-phase AC output)
(for 120mm width or more)
Grounding terminal, Motor grounding terminal
Note that TE1 connector (above "(16)") is used for the motor grounding of the 90mm width or less unit.
< Screw size >
Type
Unit width (mm)
(14) TE2
(15)TE3
(17)TE1
(18)
20, 40
60
M4×12
-
80
90
Spindle drive unit MDS-DH2-SP-
100 160
120 150
M6×16
M4×12
M5×12
M5×12
200, 320
240
M4×8
M8×15
M8×16
480
300
85 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
2 Specifications
(d) Explanation of each power supply unit part
(1)
(3)
(4)
(2)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
MDS-DH2-CV
(11)
(12)
Bottom view
90mm width or more
The connector and terminal block layout may differ according to the unit being used. Refer to each unit outline drawing for details.
< Each part name >
(5)
(6)
(7)
(8)
(1)
(2)
(3)
(4)
(9)
(10)
(11)
(12)
Control circuit
Main circuit
LED
SW1
CN4
CN9
CN41
CN24
CN23
---
TE2
TE3
TE1
PE
Name
Power supply status indication LED
Description
---
---
---
---
---
---
---
Power supply setting switch
Servo/spindle communication connector (primary)
Servo/spindle communication connector (secondary)
Power backup unit communication connector
External emergency stop input connector
External contactor control connector
CHARGE TE2 output charging/discharging circuit indication LED
L+
L-
L11
L21
L1, L2, L3
Converter voltage output terminal (DC output)
Control power input terminal (single-phase AC input)
Power input terminal (3-phase AC input)
Grounding terminal
< Screw size >
Type
Unit width (mm)
(9) TE2
(10) TE3
(11) TE1
(12)
37 to 185
90
M5×12
M5×12
Power supply unit MDS-DH2-CV-
300 to 450
150
M6×16
M4×12
M8×16
M8×14
550, 750
300
M6×16
M4×8
M8×15
M8×16
IB-1501124-D 86
3
Function Specifications
87 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
3 Function Specifications
Function Specifications List
< Power supply specification >
Item MDS-D2-CV
1
Base control functions
1.14 Power regeneration control
1.15 Resistor regeneration control
●
-
●
-
4
Protection function
5
Sequence function
6
Diagnosis function
4.6 Fan stop detection
4.7 Open-phase detection
4.8 Contactor weld detection
4.10 Deceleration and stop function at power failure (Note 1)
4.11 Retraction function at power failure (Note 2)
5.1 Contactor control function
5.3 External emergency stop function
5.5 High-speed READY ON sequence
6.7 Power supply diagnosis display function
●
●
●
●
●
●
●
●
●
(Note 1) The power backup unit and resistor unit option are required.
(Note 2) The power backup unit and capacitor unit option are required.
●
●
●
●
●
●
●
●
●
MDS-DH2-CV
MDS-DM2-
SPV2/3,SPHV3 built-in converter
●
-
MDS-DJ-V1/V2 built-in converter
-
●
-
●
●
●
●
●
●
-
-
●
●
-
●
-
●
-
● -
MDS-DJ-
SP/SP2 built-in converter
-
●
-
●
●
-
●
-
●
-
-
IB-1501124-D 88
MDS-D2/DH2 Series Specifications Manual
3 Function Specifications
< Servo specification >
1
Base control functions
2
Servo control function
3
Compensation control function
4
Protection function
5
Sequence function
6
Diagnosis function
Item
1.1 Full closed loop control
1.2 Position command synchronous control
1.3 Speed command synchronous control
1.4 Distance-coded reference position control
2.1 Torque limit function (stopper function)
2.2 Variable speed loop gain control
2.3 Gain changeover for synchronous tapping control
2.4 Speed loop PID changeover control
2.5 Disturbance torque observer
2.6 Smooth High Gain control (SHG control)
2.7 High-speed synchronous tapping control (OMR-DD control)
2.8 Dual feedback control
2.9 HAS control
2.10 OMR-FF control
3.1 Jitter compensation
3.2 Notch filter
3.3 Adaptive tracking-type notch filter
3.4 Overshooting compensation
3.5 Machine end compensation control
3.6 Lost motion compensation type 2
3.7 Lost motion compensation type 3
3.8 Lost motion compensation type 4
4.1 Deceleration control at emergency stop
4.2 Vertical axis drop prevention/pull-up control
4.3 Earth fault detection
4.4 Collision detection function
4.5 SLS (Safely Limited Speed) function
4.6 Fan stop detection
4.9 STO (Safe Torque Off) function
5.2 Motor brake control function (Note 1)
5.4 Specified speed output
5.5 Quick READY ON sequence
6.1 Monitor output function
6.2 Machine resonance frequency display function
6.3 Machine inertia display function
MDS-D2-V1/
V2/V3
●
●
● (Note 2)
●
●
●
●
●
●
●
●
●
●
●
●
Variable frequency: 4
Fixed frequency: 1
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
MDS-DH2-V1/
V2
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
Variable frequency: 4
Fixed frequency: 1
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
MDS-DM2-
SPV2/3,
SPHV3
●
●
-
●
●
●
●
●
●
●
●
●
●
●
●
Variable frequency: 4
Fixed frequency: 1
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
MDS-DJ-V1
●
●
-
●
●
●
●
●
●
●
●
●
●
●
●
Variable frequency: 4
Fixed frequency: 1
●
●
●
●
●
●
●
●
●
●
●
●
●
●
-
-
●
●
●
MDS-DJ-V2
-
●
-
-
●
●
●
●
●
●
●
-
●
●
●
Variable frequency: 4
Fixed frequency: 1
●
●
●
●
●
●
●
●
●
●
●
●
●
●
-
-
●
●
●
(Note 1) For the multiaxis drive unit, a control by each axis is not available.
It is required to turn the servo of all axes OFF in the drive unit in order to enable a motor brake output.
(Note 2) Always set L-axis as primary axis and M-axis as secondary axis for the speed command synchronous control using
MDS-D2-V3. Other settings cause the initial parameter error alarm.
89 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
3 Function Specifications
< Spindle specifications >
Item MDS-D2-SP
MDS-DH2-
SP
MDS-D2-
SP2
1
Base control functions
2
Spindle control functions
3
Compensation control function
4
Protection function
1.1 Full closed loop control
1.5 Spindle's continuous position loop control
1.6 Coil changeover control
1.7 Gear changeover control
1.8 Orientation control
1.9 Indexing control
1.10 Synchronous tapping control
1.11 Spindle synchronous control
1.12 Spindle/C axis control
1.13 Proximity switch orientation control
2.1 Torque limit function
2.2 Variable speed loop gain control
2.5 Disturbance torque observer
2.6 Smooth High Gain control (SHG control)
2.7 High-speed synchronous tapping control (OMR-DD control)
2.8 Dual feedback control
2.11 Control loop gain changeover
2.12 Spindle output stabilizing control
2.13 High-response spindle acceleration/ deceleration function
3.1 Jitter compensation
3.2 Notch filter
3.3 Adaptive tracking-type notch filter
3.4 Overshooting compensation
3.6 Lost motion compensation type 2
3.9 Spindle motor temperature compensation function
4.1 Deceleration control at emergency stop
4.3 Earth fault detection
4.5 SLS (Safely Limited Speed) function
4.6 Fan stop detection
4.9 STO (Safe Torque Off) function
5.4 Specified speed output
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
Variable frequency: 4
Fixed frequency: 1
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
Variable frequency: 4
Fixed frequency: 1
●
●
●
●
●
●
●
●
●
●
●
●
-
●
●
●
●
●
●
● (Note)
●
●
●
●
●
●
●
●
●
●
Variable frequency: 4
Fixed frequency: 1
●
●
●
●
5
Sequence functions
5.5 Quick READY ON sequence ● ● ●
6
Diagnosis functions
6.1 Monitor output function
6.2 Machine resonance frequency display function
6.3 Machine inertia display function
6.4 Motor temperature display function
6.5 Load monitor output function
6.6 Open loop control function
●
●
●
●
●
●
●
●
●
●
●
●
●
●
(Note) As for 2-axis spindle drive unit, setting is available only for one of the axes.
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●
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●
MDS-DM2-
SPV2/3,
SPHV3
●
●
●
●
●
●
●
●
●
●
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●
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●
MDS-DJ-SP
●
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-
●
●
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●
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Variable frequency: 4
Fixed frequency: 1
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Variable frequency: 4
Fixed frequency: 1
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-
-
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-
-
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-
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Variable frequency: 4
Fixed frequency: 1
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MDS-DJ-
SP2
-
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-
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● (Note)
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3 Function Specifications
3.1 Base Control Functions
3.1.1 Full Closed Loop Control
The servo control is all closed loop control using the encoder's feedback. "Full closed loop control" is the system that directly detects the machine position using a linear scale, whereas the general "semi-closed loop" is the one that detects the motor position.
In a machine that drives a table with a ball screw, the following factors exist between the motor and table end:
(1) Coupling or ball screw table bracket's backlash
(2) Ball screw pitch error
These can adversely affect the accuracy. If the table position of the machine side is directly detected with a linear scale, high-accuracy position control which is not affected by backlash or pitch error is possible.
NC
Position command
+
-
Position FB
Position command
PGN
+
-
Speed FB
Current command
VGN
+
-
Current FB
IG
Voltage command
ENC
Servo motor
Table
Full closed loop control (servo)
Linear scale
The ball screw side encoder is also applied.
NC
Position command
+
-
Position FB
Position command
PGN
+
-
Speed FB
Current command
VGN
+
-
Current FB
IG
Voltage command
Motor encoder
Full closed loop control (spindle)
Spindle encoder
V-belt
Spindle
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3.1.2 Position Command Synchronous Control
This is one of the controls which enable two servo motors to drive the same axis. This is also called "Position tandem control".
The same position command is issued to the 2-axis servo control, and the control is carried out according to each axis' position and speed feedbacks.
<Features>
(1) The position commands in which machine's mechanical errors (pitch error, backlash, etc.) have been compensated, can be output to each axis.
(2) Each axis conducts independent position control, therefore the machine posture can be kept constant.
(3) Deviation between the two axes is always monitored, and if excessive, the alarm is detected.
CNC Primary axis
Program
Compen
-sation
Compen
-sation
+
-
Position control
+
-
Speed control
Current control
S
M
Encoder
Same position command
+
-
Position control
+
-
S
Speed control
Current control
Secondary axis
M
Encoder
3.1.3 Speed Command Synchronous Control
This is one of the controls which enable two servo motors to drive the same axis. This is also called "Speed tandem control".
The same position command is issued to the 2-axis servo control, and the control is carried out according to each axis' position and speed feedbacks.
This function is usually used when the control is performed with one linear scale during the full closed loop control.
<Features>
(1) When a linear scale is used, two axes can share the position feedback signal from one linear scale.
(2) Feed rates of each axis are controlled with each axis' speed feedback signals, which allows stable control.
(3) Mechanical errors (pitch error, backlash, etc.) are compensated using the common values.
Program
CNC
Compen
-sation
+
-
Position control
+
-
S
Speed control
Primary axis
Current control
M
Encoder
Same position command
Same position FB
Same speed command
+
-
Position control
+
-
Speed control
S
Current control
Secondary axis
M
Encoder
CAUTION
1. The speed command synchronous control cannot be used for a primary or secondary axis on which load unbalance is generated (Example: an axis carrying an operating axis).
2. Disturbance observer cannot be used during the speed command synchronous control.
POINT
When using a motor with brake for rigid synchronization control axes, the brake circuits of the two motors can be connected to the motor brake control connector.
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3.1.4 Distance-coded Reference Position Control
This is the function to establish the reference point from axis movements of the reference points using a scale with distance-coded reference mark.
Since it is not necessary to move the axis to the reference point, the axis movement amount to establish the reference point can be reduced.
No dog is used as the position is calculated using reference marks.
If the distance-coded reference check function is used to verify the motor end encoder data, select a battery option before setting the parameter.
3.1.5 Spindle's Continuous Position Loop Control
Under this control, position loop control is always applied to spindle, including when speed command is issued (in cutting). There is no need for control changeover nor zero point return during orientation and C axis control changeover.
Therefore, the operation can be completed in a shorter time than the previous.
In acceleration/deceleration with S command, the acceleration/deceleration and orientation are always controlled with the spindle motor's maximum torque.
Speed Speed
Reduced by 20%
Speed
1
<Our conventional series>
Time
Orientation
Time
0.8
<MDS-D2/DH2/DM2 Series>
Speed
Time reduced
Zero point return
C-axis positioning
C-axis positioning
<Our conventional series>
Time
<MDS-D2/DH2/DM2 Series>
Time
C-axis changeover
3.1.6 Coil Changeover Control
A signal output from the spindle drive unit controls the changeover of the low-speed and high-speed specification coils in a spindle motor.
The drive unit automatically outputs the coil changeover sequence in accordance with the motor speed.
3.1.7 Gear Changeover Control
This function enables a spindle motor to perform both high-speed light cutting and low-speed heavy cutting by changing the gear ratio between the motor and spindle.
The gear change is carried out while the spindle is not running.
3.1.8 Orientation Control
This control enables a spindle motor to stop at a designated angle when the motor is rotating at a high-speed with a speed command. This control is used for exchanging the tools in machining centers and performing index positioning in lathes, etc.
3.1.9 Indexing Control
This control enables positioning of a spindle motor at an arbitrary angle (in increments of 0.01 degrees) from the orientation stop position. This control is used for positioning in lathes for hole drilling, etc.
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3.1.10 Synchronous Tapping Control
Under synchronous tapping control, spindle control is completely synchronized with Z axis servo control, and Z axis is accurately fed by one screw pitch in accordance with one tap revolution. The tap is completely fixed to the spindle head.
As a result, feed pitch error is less likely to occur, which allows high-speed, high-accuracy and high-durable tapping.
3.1.11 Spindle Synchronous Control
This control enables two spindles to run at the same speed. A spindle being driven with a speed command is synchronized with another spindle at a constant rate or acceleration/deceleration rate.
This control is applied such as when a workpiece is transferred between two rotating chucks in lathe or a workpiece is held with two chucks.
3.1.12 Spindle/C Axis Control
An axis rotating about Z axis is called C axis, whose rotation direction is normally the same as of spindle. This function enables high-accuracy spindle control including interpolation control, like servo axis, when a high-resolution position encoder is attached to the spindle motor.
3.1.13 Proximity Switch Orientation Control
Orientation control is carried out based on the leading edge position of the proximity switch output signal (ON/OFF) after the spindle is stopped.
3.1.14 Power Regeneration Control
This control enables the regeneration energy generated when the motor decelerates to return to the power supply.
This is an energy saving method because regeneration energy is hardly converted to heat.
3.1.15 Resistor Regeneration Control
This control enables the regeneration energy generated when the motor decelerates to convert to heat with regenerative resistance.
The drive system can be downsized because the regeneration capacity is also small in the motor of relatively small capacity.
Select a suitable regenerative resistance according to the load inertia, motor operation speed, etc.
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3.2 Servo/Spindle Control Functions
3.2.1 Torque Limit Function
This control suppresses the motor output torque with the parameter values (SV013, SV014).
This function is used for stopper positioning control and stopper reference position establishment, by switching the two setting values.
3.2.2 Variable Speed Loop Gain Control
< Servo >
If disturbing noise occurs when the motor is rotating at a high speed, such as during rapid traverse, the high speed loop gain during high-speed rotation can be lowered with this function.
VGN1
VGN2
VGN1:SV005
VGN2:SV006
VCS :SV029
VLMT:Servo motor maximum speed×1.15
0
VCS VLMT
(VLMT=Max. speed x 1.15)
< Spindle >
For a high-speed spindle of machining center etc., adequate response can be ensured with this function by suppressing noise and vibration at low speeds and increasing the speed loop gain at high-speeds.
VGN1
(VGN2)
VGVN
0 VGVS VLMT
(VLMT=Max. speed x 1.15)
VGVN
VGN1
(VGN2)
0 VGVS VLMT
(VLMT=Max. speed x 1.15)
VGN1:SP005
VGN2:SP008
VGVN:SP005×SP073/100
VGVS:SP074
VLMT:SP026×1.15
3.2.3 Gain Changeover for Synchronous Tapping Control
SV003, SV004 and SV057 are used as the position loop gain for normal control. Under synchronous tapping control,
SV049, SV050 and SV058 are used instead to meet the spindle characteristics.
Spindle
Servo axis
Material
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3.2.4 Speed Loop PID Changeover Control
This function is used under full-closed loop control. Normally, machine-end position tracking delays compared with the motor-end position.
Under full-closed position loop control, machine-end position is used for position feedback. Therefore, the motor-end position tends to advance too much, which may cause overshooting of the machine-end position.
This function can suppress the generation of overshoot by adding the D (delay) control to the speed control, which is normally controlled with PI (proportional integral), in order to weaken the PI control after the position droop becomes 0.
3.2.5 Disturbance Torque Observer
The effect caused by disturbance, frictional resistance or torsion vibration during cutting can be reduced by estimating the disturbance torque and compensating it.
3.2.6 Smooth High Gain Control (SHG Control)
A high-response control and smooth control (reduced impact on machine) were conventionally conflicting elements; however, SHG control enables the two elements to function simultaneously by controlling the motor torque (current FB) with an ideal waveform during acceleration/deceleration.
Speed
SHG control
Conventional control
Time
Position loop step response
3.2.7 High-speed Synchronous Tapping Control (OMR-DD Control)
Servo drive unit detects the spindle position, and compensates the synchronization errors. This control enables more accurate tapping than the previous.
(Note) A spindle drive unit that controls the high-speed synchronous tapping (OMR-DD control) has to be connected on the farther side from the NC than the servo drive unit that is subject to the synchronous tapping control.
Spindle speed
(r/min)
4000
3000
2000
Spindle speed
1000
0
−1000
−2000
Servo/Spindle synchronous error
−3000
−4000
0 0.5
1 1.5
2 2.5
3 3.5
〈 Without OMR-DD control 〉 (sec)
Spindle speed
(r/min)
4000
3000
2000
1000
0
−1000
−2000
Servo/Spindle
−3000 synchronous error
−4000
Spindle speed
0 0.5
1 1.5
2 2.5
3 3.5
〈 With OMR-DD control 〉 (sec)
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3.2.8 Dual Feedback Control
This function is used under full-closed loop control.
When a linear scale is used, the machine-end position, such as a table, is directly detected, which may render the position loop control unstable.
With this control, however, high-frequency components are eliminated from the machine-end feedback signals, which will lead to stable control.
Table
Position command +
-
Position droop
Position control
High frequency
FB element
Low frequency FB element -
+
Primary delay filter
SV051
+
-
Speed command
Servo motor
Position FB
ENC
Position FB
Linear scale
Dual feedback control
3.2.9 HAS Control
If the torque output during acceleration/deceleration is close to the servo motor's maximum torque, the motor cannot accelerate with the commanded time constant when the torque is saturated due to input voltage fluctuation, etc. As a result, speed overshoot occurs when a constant speed command is issued, because the position droop for the delay is canceled.
With HAS control, however, this overshoot is smoothened so that the machine operation can be stable.
During current limit
During current limit 1% or less than maximum speed
Speed command
Overshoot will occur to catch up the delay of position.
Speed feedback
HAS control is disabled.
Speed command
HAS control will catch up the delay of position.
Speed feedback
HAS control is enabled.
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3.2.10 OMR-FF Control
OMR-FF control enables fine control by generating feed forward inside the drive unit and can realize the strict feedback control to the program command than the conventional high-speed accuracy control.
The conventional position control method causes machine vibration when increasing the gain because it ensures both the trackability to the position command and the servo rigidity to the friction or cutting load, etc. by setting the position loop gain (PGN).
OMR-FF function allows the improvement of the command trackability by independently deciding the trackability with the scale model position loop gain (PGM) and the servo rigidity with the position control gain (PGN).
OMR-FF control option for NC side is required when using this function.
It is recommended that this function is used for linear motors, direct-drive motors, or general motors in semi-closed loop control.
< Features >
(1) The command trackability can be decided independently of the position control gain (PGN) with the scale model position loop gain (PGM).
(2) Position loop gain (PGN) can be set for each axis.
-> Delay in the machine's response caused by friction or cutting load, etc. can be compensated with high gain.
<OMR-FF control> CNC Drive unit
"OMR-FF control"
Position command
Model position
(1)
Scale model
Position FF
The optimal feed forward control ensures both the high stability and trackability.
(2)
Feed forward generation part
Speed FF Current FF
Machine system
Position, speed, and current control
Motor
"Feedback control"
• Compensates the mechanical response delay caused by friction or other disturbances
(Position loop gain can be set independently for each axis.)
3.2.11 Control Loop Gain Changeover
Position loop gain and speed loop gain are switched between non-interpolation mode, which is used during speed command, and interpolation mode, which is used during synchronous tapping and C axis control. By switching these gains, optimum control for each mode can be realized.
3.2.12 Spindle Output Stabilizing Control
Spindle motor's torque characteristic is suppressed due to voltage saturation in the high-speed rotation range, therefore the current control responsiveness significantly degrades, which may cause excessive current.
With this control, however, the current and flux commands are compensated to avoid the voltage saturation so that the current control responsiveness will not degrade.
3.2.13 High-response Spindle Acceleration/Deceleration Function
This function enables reduction of the spindle motor's setting time (from when the command value becomes 0 until when the motor actually stops) without being affected by the position loop gain, when the spindle motor stops under deceleration stop control using the S command.
This function is not active when the spindle is stopped while performing position control, such as orientation control and synchronous tapping control.
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3.3 Compensation Control Function
3.3.1 Jitter Compensation
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.
3.3.2 Notch Filter
This filter can damp vibrations of servo torque commands at a specified frequency.
Machine vibrations can be suppressed by adjusting the notch filter frequency to the machine's resonance frequency.
Filter depth adjustment is also available that allows stable control even when the filter is set to an extremely low frequency.
<Specifications>
Notch filter
Notch filter 1
Notch filter 2
Notch filter 3
Notch filter 4
Notch filter 5
Frequency
50Hz to 2250Hz
50Hz to 2250Hz
Fixed at 1125Hz
50Hz to 2250Hz
50Hz to 2250Hz
Depth compensation
Enabled
Enabled
Disabled
Enabled
Enabled
Gain
[dB]
+20
0
-20
-40
10 30 50 70 100 300 500 700 1k
Frequency
[Hz]
Example of filter characteristic set to 300Hz
Gain
[dB]
+20
0
-20
-40
10 30 50 70 100 300 500 700 1k
Frequency
[Hz]
For shallow setting by additionally using the depth compensation at 300Hz
3.3.3 Adaptive Tracking-type Notch Filter
Machine's specific resonance frequency tends to change due to aged deterioration or according to machine's operation conditions. Therefore, the frequency may be deviated from the filter frequency set at the initial adjustment. With adaptive tracking-type notch filter, resonance point fluctuation due to the machine's condition change is estimated using the vibration components of the current commands, and effective notch filter frequency, which has been deviated from the setting value, is automatically corrected to suppress the resonance.
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3.3.4 Overshooting Compensation
The phenomenon when the machine position goes past or exceeds the command during feed stopping is called overshooting.
In OVS compensation, the overshooting is suppressed by subtracting the torque command set in the parameters when the motor stops.
Speed
FB
0
Position command
0
Position droop
0
Overshoot
Time
[1] Overshooting during rapid traverse settling
Position droop
0
Overshoot
[2] Overshooting during pulse feed
Time
3.3.5 Machine End Compensation Control
The shape of the machine end during high-speed and high-speed acceleration operation is compensated by compensating the spring effect from the machine end to the motor end.
The shape may be fine during low-speed operation. However, at high speeds, the section from the machine end to the outer sides could swell. This function compensates that phenomenon.
Electric end FB
Program path
Compensation
Command is issued in the inner side during high-speed feed.
Spindle head
Machine end FB
Machine end FB Machine end FB
During high-speed feed, the machine end swells outward due to the spring effect.
Electric end FB
Normal control
Since a command is issued in the inner side by the amount of spring effect, the shape keeps fine even during the high-speed feed.
Electric end FB
Machine end compensation
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3.3.6 Lost Motion Compensation Type 2
Servo motor always drives the machine opposing to the frictional force, and the torque which is required to oppose the friction during the axis movement is outputted by I control (Integral control) of the speed loop PI control. When the movement direction is changed, the frictional force works in the opposite direction momentarily, however, the machine will stop while the command torque is less than the frictional force as it takes some time to reverse the command torque in I control.
When the movement direction is changed, the frictional force works in the opposite direction momentarily, however, the machine will stop while the command torque is less than the frictional force as it takes some time to reverse the command torque in I control.
With the this lost motion compensation function improves the accuracy worsened by the stick motion.
No compensation With compensation
3.3.7 Lost Motion Compensation Type 3
For a machine model where the travel direction is reversed, the compensation in accordance with the changes in the cutting conditions is enabled by also considering the spring component and viscosity component in addition to the friction.
This function can be used to accommodate quadrant projection changes that accompany feed rate and circular radius changes which could not be compensated by Lost motion compensation type 2.
1.Mechanical spring elements can't be ignored.
2.Changes between static and dynamic frictions are
wide and steep.
Not only frictions but spring element and viscosity element can be compensated, thus quadrant protrusions are suppressed within a wide band.
Conventional control can't perform enough compensation.
+Y +Y
Conventional compensation control
+X
3μm
+X
Lost motion compensation control type 3
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3.3.8 Lost Motion Compensation Type 4
When the difference between static and dynamic friction is large, the friction torque changes sharply at the inversion of the travel direction. When the lost motion type 4 is used together with the type 2 or type 3, the acute change of the friction torque is compensated so that the path accuracy at the travel direction inversion can be enhanced.
3.3.9 Spindle Motor Temperature Compensation Function
As for the low-temperature state of the IM spindle motor, the output characteristic may deteriorate in comparison with the warm-up state and the acceleration/deceleration time may become long, or the load display during cutting may become high immediately after operation. This function performs the control compensation depending on the motor temperature with the thermistor built into the spindle motor and suppresses the output characteristic deterioration when the temperature is low. Temperature compensation function is not required for IPM spindle motor in principle.
2.50
2.40
2.30
2.20
2.10
2.00
1.90
1.80
1.70
1.60
1.50
20
Without compensation
[Acceleration]
Without compensation
[Deceleration]
40
Effect of suppressing acceleration/deceleration time fluctuation
60
With compensation
[Acceleration]
With compensation
[Deceleration]
80
Stator (thermistor) temperature[℃]
100
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3.4 Protection Function
3.4.1 Deceleration Control at Emergency Stop
When an emergency stop (including NC failure, servo alarm) occurs, the motor will decelerate following the set time constant while maintaining the READY ON state.
READY will turn OFF and the dynamic brakes will function after stopping. The deceleration stop can be executed at a shorter distance than the dynamic brakes.
3.4.2 Vertical Axis Drop Prevention/Pull-up Control
If the READY OFF and brake operation are commanded at same time when an emergency stop occurs, the axis drops due to a delay in the brake operation.
The no-control time until the brakes activate can be eliminated by delaying the servo READY OFF sequence by the time set in the parameters.
Always use this function together with deceleration control.
When an emergency stop occurs in a vertical machining center, the Z axis is slightly pulled upwards before braking to compensate the drop of even a few μ m caused by the brake backlash.
Motor brake of gravity axis
During an emergency stop
Spindle
3.4.3 Earth Fault Detection
When an emergency stop is canceled, the earth fault current is measured using the power module's special switching circuit before Servo ready ON.
Specifying the faulty axis is possible in this detection, as the detection is carried out for each axis.
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3.4.4 Collision Detection Function
Collision detection function quickly detects a collision of the motor shaft, and decelerates and stops the motor. This suppresses the generation of an excessive torque in the machine tool, and helps to prevent an abnormal state from occurring.Impact at a collision will not be prevented by using this collision detection function, so this function does not necessarily guarantee that the machine tool will not be damaged or that the machine accuracy will be maintained after a collision.
The same caution as during regular operation is required to prevent the machine from colliding.
Collision detection function outline
(a) A collision of machine is detected. (b) A retracting torque is generated.
The collision of machine is reduced.
3.4.5 SLS (Safely Limited Speed) Function
This function is aimed at allowing a safety access to the machine's working part by opening the safety door, etc. without shutting the power for saving the setup time.
Both the NC control system and drive system (servo and spindle drive units) doubly observe the axis feed rate so that it will not exceed the safety speed. If it exceeds the set safety speed, emergency stop occurs and the power is shut OFF.
NC CPU
Speed observation
Command speed observation
FB speed observation
Position speed command
Drive CPU
Servo control
Current command
Speed observation
Command speed observation
FB speed observation
Speed F/B
Motor encoder
3.4.6 Fan Stop Detection
The rotation of the radiation fin cooling fan is observed and when the fan stops rotating for a breakdown of the fan or an external factor, warning is detected.(The system will not be stopped.) Before sudden system down by the power module overheat, inspection and replacement of the fan are prompted.
3.4.7 Open-phase Detection
Disconnection of a phase of the 3-phase input power is detected.
The occurrence of abnormal operation will be avoided by open-phase detection because open-phase does not cause a power failure, however, abnormal operation will occur when the motor load becomes large.
3.4.8 Contactor Weld Detection
It detects that a contact of the external contactor is welding and cannot be opened.
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3.4.9 STO (Safe Torque Off) Function
STO (Safe Torque Off) function is a shutoff function which stops the supply of energy to the motor capable of generating torque. It shuts off an energy supply electronically inside the drive unit.
It is an uncontrolled stop function in accordance with "IEC60204-1 Stop Category 0".
STO function can be used in the following two ways ([1] and [2] below), which directly input the STO signal from the external device by using a network cable and CN8 connector.
[1] When using network STO function
STO function shuts off the motor power of all axes in the system.
Emergency stop input 2
Optical communication
Emergency stop input 1
STO shutoff via optical communication
Normal MC control
Shut off
[2] When using dedicated wiring STO function
This method is used to shut off the motor power with STO function only for the specific axis.
CNC
(1) External door open
(Dual signal input)
Door
Optical communication
MDS-D2/DH2
Series
(2) STO signal is input
from the CN8 connector
CN8
Shutoff command
STO shutoff via CN8
(3) The STO function shuts off the
power for only the magazine rack axis.
Drive unit: Warning A4 (sub-number 0001)
[Magazine rack axis]
STO1, STO2 signal
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3.4.10 Deceleration and Stop Function at Power Failure
The deceleration and stop function at power failure is a function to safely decelerate the servo axes and the spindle when a power failure occurs. This function prevents a damage on the machine due to an overrun of the servo axes, and at the same time, realizes a protection against overvoltage for high-speed IPM spindle motors and high-speed DDMs.
Outlined configuration of deceleration and stop function at power failure
Drive unit is protected against overvoltage when an alarm of coasting to a stop occurs during driving high-speed IPM spindle motor
(Note) Supported by MDS-D2/DH2 Series only.
NC
Optical communication
Drive unit
MDS-D2/DH2-Vx
Drive unit
MDS-D2/DH2-SP
CN1A
CN1B
CN1A
OPT1
CN4
L+
L -
L11
L21
Power supply unit
MDS-D2/DH2 -CV
Power backup unit
MDS-D/DH-PFU
L1 L2 L3
CN41
CN4 CN41
Serial communication
Power failure detected
L11
L21
L+
L-
L1
L2
L3
R1
R2
Resistor unit
R-UNIT6,7
Control power is supplied from power backup unit
Regeneration energy consumed
MC
AC power supply
3.4.11 Retraction Function at Power Failure
The retraction function at power failure is a function to backup the power of the main circuit from the capacitor unit and perform a tool escape by the retraction operation with the NC command when a power failure occurs.
Outlined configuration of retraction function at power failure
[Servo or spindle settings]
Select the stop method
(deceleration and stop/retraction) with a parameter.
*Set only for PS connection axis.
(Note) Supported by MDS-D2/DH2 Series only.
[Power backup unit(PFU) settings]
Select whether to connect a capacitor unit with a dip switch.
* "Connect" for the retraction system.
NC
Drive unit
MDS-D2/DH2-Vx
Optical communication
CN1A
CN1B
OPT1
Drive unit
MDS-D2/DH2-SP
CN1A
CN4
Power supply unit
MDS-D2/DH2
CN4 CN41
-CV
Uninterruptible power supply
(UPS)
Essential for retraction system
L+
L -
L11
L21
L1 L2 L3
Power backup unit
MDS-D/DH-PFU
CN41
Serial communication
Power failure detection
L11
L21
L+
L-
L1
L2
L3
R1
R2
C+
C-
Resistor unit
R-UNIT6,7
The resistor unit is required if the spindle motor is decelerated to a stop after retraction has been performed
Capacitor unit
MDS-D/DH-CU
Essential for retraction system
AC power supply
AC reactor
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3.5 Sequence Functions
3.5.1 Contactor Control Function
With this function, the contactor ON/OFF command is output from the power supply unit (or servo/spindle drive unit for integrated type) based on the judgement as to whether it is in emergency stop, emergency stop cancel, spindle deceleration and stop or vertical axis drop prevention control, etc.
3.5.2 Motor Brake Control Function
With this function, the brake ON/OFF command is output from the servo drive unit based on the judgement as to whether it is in emergency stop, emergency stop cancel or vertical axis drop prevention/pull-up control, etc.
When a multiaxis drive unit is connected, all the axes are simultaneously controlled.
3.5.3 External Emergency Stop Function
Besides the emergency stop input from the NC, double-protection when an emergency stop occurs can be provided by directly inputting an external emergency stop, which is a second emergency stop input, to the power supply unit (servo/ spindle drive unit for integrated type).
Even if the emergency stop is not input from NC for some reason, the contactors will be activated by the external emergency stop input, and the power can be shut off.
Mitsubishi NC
OPT1
EMG
Emergency
MDS-D2/DH2-V1/V2/V3/SP/SP2 stop
Alarm
Emergency stop
CN1A
Alarm
Optical communication
G391 cable
CN4
SH21 cable
MDS-D2/DH2-CV
CN4 CN23
3 MC2
2 (NC)
1 MC1
CN24
External emergency stop input
(24VDC)
External emergency stop switch
4A EMG1
Contactor shutoff command
3.5.4 Specified Speed Output
This function is to output a signal that indicates whether the machine-end speed has exceeded the speed specified with the parameter.
With this function, the safety door, etc. can be locked to secure the machine operator when the machine-end speed has exceeded the specified speed. This function can also be used for judging whether the current machine-end speed is higher than the specified speed.
3.5.5 Quick READY ON Sequence
With this function, the charging time during READY ON is shortened according to the remaining charge capacity of the power supply unit. When returning to READY ON status immediately after the emergency stop input, the charging time can be shortened according to the remaining charge capacity and the time to READY ON is shortened.
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3.6 Diagnosis Function
3.6.1 Monitor Output Function
Drive unit has a function to D/A output the various control data. The servo and spindle adjustment data required for setting the servo and spindle parameters to match the machine can be D/A output. Measure using a high-speed waveform recorder, oscilloscope, etc.
D/A output specifications
Pin
CN9 connector
Name
LG
Pin Name
LG
M01 M02
Item
No. of channels
Output cycle
Output precision
Output voltage range
Output magnification setting
Output pin (CN9 connector)
Others
MDS-D2/DH2
Explanation
2ch
0.8ms (min. value)
12bit
0V to 2.5V (zero) to +5V
-32768 to 32767 (1/100-fold)
MO1 = Pin 9, MO2 = Pin 19, LG = Pin 1,11
The D/A output for the 2-axis or 3-axis unit is also 2ch. When using the 2-axis or 3-axis unit, always set -1 for the output data (SV061, SV062 / SP125,SP126) of the axis that is not to be measured.
When the output data is 0, the offset voltage is 2.5V. If there is an offset voltage, adjust the zero level position in the measuring instrument side.
+5 [V]
Speed FB
+2.5 [V]
0 [V]
+5 [V]
Current FB
+2.5 [V]
0 [V]
Example of D/A output waveform
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3.6.2 Machine Resonance Frequency Display Function
If resonance is generated and it causes vibrations of the current commands, this function estimates the vibration frequency and displays it on the NC monitor screen (AFLT frequency).
This is useful in setting the notch filter frequencies during servo adjustment. This function constantly operates with no need of parameter setting.
3.6.3 Machine Inertia Display Function
With this function, the load current and acceleration rate during motor acceleration are measured to estimate the load inertia.
According to the parameter setting, the estimated load inertia is displayed on the NC monitor screen, expressed as its percentage to the motor inertia.
3.6.4 Motor Temperature Display Function
The temperature sensed by the thermal sensor attached to the motor coil is displayed on the NC screen.
(Note) This function is only compatible with Spindle motor.
3.6.5 Load Monitor Output Function
A spindle motor's load is output as an analog voltage of 0 to 3V (0 to 120%). To use this function, connect a load meter that meets the specifications.
3.6.6 Open Loop Control Function
This function is to run a spindle motor for operation check before or during the adjustment of the spindle motor's encoder.
This allows the operation in which no encoder feedback signals are used.
3.6.7 Power Supply Diagnosis Display Function
The diagnosis information of the power supply (bus voltage and current) is displayed on the NC monitor screen.
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Characteristics
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4.1 Servo Motor
4.1.1 Environmental Conditions
Environment
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Atmosphere
Altitude
Conditions
0°C to +40°C (with no freezing)
80% RH or less (with no dew condensation)
-15°C to +70°C (with no freezing)
90% RH or less (with no dew condensation)
Indoors (no direct sunlight)
No corrosive gas, inflammable gas, oil mist or dust
Operation / storage: 1000m or less above sea level
Transportation: 10000m or less above sea level
4.1.2 Quakeproof Level
Series
200V series
400V series
Motor type
HF75, 105
HF54, 104, 154, 224, 123, 223, 142
HP54, 104, 154, 224
HF204, 354, 303, 453, 703, 302
HP204, 354, 454, 704
HF903
HP903, 1103
HF-KP23, 43, 73
HF-H75, 105
HF-H54, 104, 154
HP-H54, 104, 154, 224
HF-H204, 354, 453, 703
HP-H204, 354, 454, 704
HF-H903
HP-H903, 1103
HC-H1502S-S10
The vibration conditions are as shown below.
Acceleration direction
Axis direction (X)
Direction at right angle to axis
(Y)
24.5m/s 2 (2.5G) or less 24.5m/s 2 (2.5G) or less
24.5m/s
2
(2.5G) or less
9.8m/s
2
(1G) or less
49m/s 2 (5G) or less
24.5m/s
2
(2.5G) or less
24.5m/s 2 (2.5G) or less
9.8m/s 2 (1G) or less
9.8m/s 2 (1G) or less
29.4m/s
9.8m/s
2
49m/s 2
24.5m/s
2
29.4m/s
9.8m/s 2
9.8m/s 2
2
(3G) or less
(1G) or less
(5G) or less
(2.5G) or less
2 (3G) or less
(1G) or less
(1G) or less
200
Servo motor
100
80
60
50
40
30
20
X
Y
Acceleration
0 1000 2000
Speed (r/min)
3000
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4.1.3 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.
Series
200V series
400V series
Servo motor
HF75T, 105T (Taper shaft)
HF75S, 105S (Straight shaft)
HF54T, 104T, 154T, 224T,123T, 223T, 142T (Taper shaft)
HF54S, 104S, 154S, 224S,123S, 223S, 142S (Straight shaft)
HF204S, 354S, 303S, 453S, 703S, 302S (Straight shaft)
HF903S (Straight shaft)
HP54T, 104T, 154T, 224T (Taper shaft)
HP54S, 104S, 154S, 224S (Straight shaft)
HP204S, 354S, 454S (Straight shaft)
HP704S (Straight shaft)
HP903S (Straight shaft)
HP1103S (Straight shaft)
HF-KP23, 43 (Straight shaft)
HF-KP73 (Straight shaft)
HF-H75T, 105T (Taper shaft)
HF-H75S, 105S (Straight shaft)
HF-H54T, 104T, 154T (Taper shaft)
HF-H54S, 104S, 154S (Straight shaft)
HF-H204S, 354S, 453S, 703S (Straight shaft)
HF-H903S (Straight shaft)
HP-H54T, 104T, 154T, 224T (Taper shaft)
HP-H54S, 104S, 154S, 224S (Straight shaft)
HP-H204S, 354S, 454S (Straight shaft)
HP-H704S (Straight shaft)
HP-H903S (Straight shaft)
HP-H1103S (Straight shaft)
HC-H1502S-S10 (Straight shaft)
Tolerable radial load
245N (L=33)
245N (L=33)
392N (L=58)
980N (L=55)
2058N (L=79)
2450N (L=85)
392N (L=52.7)
980N (L=52.7)
1500N (L=52.7)
1300N (L=52.7)
2500N (L=52.7)
2700N (L=52.7)
245N (L=30)
392N (L=40)
245N (L=33)
245N (L=33)
392N (L=58)
980N (L=55)
2058N (L=79)
2450N (L=85)
392N (L=52.7)
980N (L=52.7)
1500N (L=52.7)
1300N (L=52.7)
2500N (L=52.7)
2700N (L=52.7)
3234N (L=140)
Tolerable thrust load
147N
147N
490N
490N
980N
980N
490N
490N
490N
590N
1100N
1500N
98N
147N
147N
147N
490N
490N
980N
980N
490N
490N
490N
590N
1100N
1500N
1470N
(Note 1) The tolerable radial load and thrust load in the above table are values applied when each motor is used independently.
(Note 2) The symbol L in the table refers to the value of L below.
L
Radial load
Thrust load
L: Length from flange installation surface to center of load mass [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 apply the loads exceeding the tolerable level. Failure to observe this may lead to the axis or bearing damage.
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4.1.4 Machine Accuracy
Machine accuracy of the servo motor's output shaft and around the installation part is as below.
(Excluding special products)
Accuracy
Run-out of the flange surface to the output shaft
Run-out of the flange surface's fitting outer diameter
Run-out of the output shaft end
Measurement point
Flange size [mm]
Less than 100 SQ.
100 SQ., 130 SQ.
176 SQ. - 250 SQ.
280 SQ. or over a 0.05mm
0.06mm
0.08mm
0.08mm
b c
0.04mm
0.02mm
0.04mm
0.02mm
0.06mm
0.03mm
0.08mm
0.03mm
c b a
4.1.5 Oil / Water Standards
(1) The motor protective format uses the IP type, which complies with IEC Standard. (Refer to the section "Specifications
List".)
However, these Standards are short-term performance specifications. They do not guarantee continuous environmental protection characteristics. Measures such as covers, etc., must be taken if there is any possibility that oil or water will fall on the motor, and the motor will be constantly wet and permeated by water. Note that the motor's IP-type is not indicated as corrosion-resistant.
Oil or water
Servo motor
(2) When a gear box is installed on the servo motor, 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.
Series
200V series
400V series
Servo motor
HF75, 105
HF54, 104, 154, 224, 123, 223, 142
HP54, 104, 154, 224
HF204, 354, 303, 453, 302
HP204, 354, 454, 704
HF703
HF903
HP903, 1103
HF-KP23, 43
HF-KP73
HF-H75, 105
HF-H54, 104, 154
HP-H54, 104, 154, 224
HF-H204, 354, 453
HP-H204, 354, 454, 704
HF-H703
HF-H903
HP-H903, 1103
HC-H1502S-S10
Oil level (mm)
15
22.5
20
30
25
30
34
30
12.5
15
15
22.5
20
30
25
30
34
30
45
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Gear
Servo motor
Oil level
Lip
Oil seal
(3) When installing the servo motor horizontally, set the connector to face downward. When installing vertically or on an inclination, provide a cable trap because the liquid such as oil or water may enter the motor from the connector by running along the cable.
Cable trap
CAUTION
1. The servo motors, 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. Oil may enter the motor from the clearance between the cable and connector. Protect with silicon not to make the clearance.
3. 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.
4.1.6 Installation of Servo Motor
Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat dissipation effect:
Flange size (mm)
150×150×6
250×250×6
250×250×12
300×300×20
800×800×35
Servo motor capacity
100W
200 to 400W
0.5 to 1.5kW
2.0 to 7.0kW
9.0 to 11.0kW
(Note 1) These flange sizes are recommended dimensions when the flange material is an aluminum.
(Note 2) If enough flange size cannot be ensured, ensure the cooling performance by a cooling fan or operate the motor in the state that the motor overheat alarm does not occur.
4.1.7 Overload Protection Characteristics
The servo drive unit has an electronic thermal relay to protect the servo motor 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.
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(1) 200V series
< HF series >
HF75
10000.0
1000.0
100.0
10.0
1.0
0.1
0
When stopped
When rotating
10000.0
1000.0
100.0
10.0
1.0
0.1
0
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HF54
When stopped
When rotating
700
10000.0
1000.0
100.0
10.0
1.0
0.1
0
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HF154
When stopped
When rotating
700
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HF204
When stopped
When rotating
700
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HF123
When stopped
When rotating
100 200 300 400
Motor current value (stall rated current value ratio %)
700
500
HF105
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
When stopped
When rotating
10000.0
1000.0
100.0
10.0
1.0
0.1
0
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HF104
When stopped
When rotating
700
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HF224
When stopped
When rotating
700
500 100 200 300 400
Motor current value (stall rated current value ratio %)
HF354
When stopped
When rotating
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HF223
When stopped
When rotating
700
100 200 300 400
Motor current value (stall rated current value ratio %)
500
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10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
HF303
When stopped
When rotating
100 200 300 400
Motor current value (stall rated current value ratio %)
HF703
When stopped
When rotating
500
100 200 300 400
Motor current value (stall rated current value ratio %)
HF142
When stopped
When rotating
500
100 200 300 400
Motor current value (stall rated current value ratio %)
500
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
HF453
When stopped
When rotating
100 200 300 400
Motor current value (stall rated current value ratio %)
HF903
When stopped
When rotating
500
100 200 300 400
Motor current value (stall rated current value ratio %)
HF302
When stopped
When rotating
500
100 200 300 400
Motor current value (stall rated current value ratio %)
500
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< HP series >
HP54
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
When stopped
When rotating
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HP154
When stopped
When rotating
100 200 300 400
Motor current value (stall rated current value ratio %)
HP454
When stopped
When rotating
700
10000.0
1000.0
100.0
10.0
1.0
0.1
0
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HP204
When stopped
When rotating
700
500
500 100 200 300 400
Motor current value (stall rated current value ratio %)
HP903
When stopped
When rotating
100 200 300 400
Motor current value (stall rated current value ratio %)
500
HP104
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
When stopped
When rotating
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HP224
When stopped
When rotating
700
500 100 200 300 400
Motor current value (stall rated current value ratio %)
HP354
When stopped
When rotating
500 100 200 300 400
Motor current value (stall rated current value ratio %)
HP704
When stopped
When rotating
100 200 300 400
Motor current value (stall rated current value ratio %)
HP1103
When stopped
When rotating
500
100 200 300 400
Motor current value (stall rated current value ratio %)
500
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10000.0
1000.0
100.0
10.0
1.0
0.1
0
< HF-KP series >
10000.0
1000.0
100.0
10.0
1.0
0.1
0
HF-KP23
When stopped
When rotating
100 200
Motor current value (stall rated current value ratio %)
HF-KP73
300
When stopped
When rotating
100 200
Motor current value (stall rated current value ratio %)
300
HF-KP43
10000.0
1000.0
100.0
10.0
1.0
0.1
0
When stopped
When rotating
100 200
Motor current value (stall rated current value ratio %)
300
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(2) 400V series
< HF-H series >
HF-H75
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
When stopped
When rotating
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HF-H54
When stopped
When rotating
700
10000.0
1000.0
100.0
10.0
1.0
0.1
0
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HF-H154
When stopped
When rotating
700
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HF-H354
When stopped
When rotating
700
500 100 200 300 400
Motor current value (stall rated current value ratio %)
HF-H703
When stopped
When rotating
100 200 300 400
Motor current value (stall rated current value ratio %)
500
HF-H105
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
When stopped
When rotating
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HF-H104
When stopped
When rotating
100 200 300 400
Motor current value (stall rated current value ratio %)
HF-H453
When stopped
When rotating
700
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HF-H204
When stopped
When rotating
700
500
500 100 200 300 400
Motor current value (stall rated current value ratio %)
HF-H903
When stopped
When rotating
100 200 300 400
Motor current value (stall rated current value ratio %)
500
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< HP-H series >
HP-H54
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
When stopped
When rotating
10000.0
1000.0
100.0
10.0
1.0
0.1
0
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HP-H154
When stopped
When rotating
700
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HP-H204
When stopped
When rotating
700
500 100 200 300 400
Motor current value (stall rated current value ratio %)
HP-H454
When stopped
When rotating
500 100 200 300 400
Motor current value (stall rated current value ratio %)
HP-H903
When stopped
When rotating
100 200 300 400
Motor current value (stall rated current value ratio %)
500
HP-H104
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
10000.0
1000.0
100.0
10.0
1.0
0.1
0
When stopped
When rotating
100 200 300 400 500
Motor current value (stall rated current value ratio %)
600
HP-H224
When stopped
When rotating
700
500 100 200 300 400
Motor current value (stall rated current value ratio %)
HP-H354
When stopped
When rotating
500 100 200 300 400
Motor current value (stall rated current value ratio %)
HP-H704
When stopped
When rotating
500 100 200 300 400
Motor current value (stall rated current value ratio %)
HP-H1103
When stopped
When rotating
100 200 300 400
Motor current value (stall rated current value ratio %)
500
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4 Characteristics
< HC-H series >
HC-H1502S-S10
10000.0
1000.0
100.0
10.0
1.0
0.1
0
When stopped
When rotating
50 100 150 200
Motor current value (stall rated current value ratio %)
250 300
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4 Characteristics
4.1.8 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 servo motor 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 servo motor 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 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 are the same as the motor without brake.
(d) Cautions for 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.
Top
Top
Motor
Brake
Bottom
Bottom
Motor
(No brakes)
Ball screw
Ball screw
Brake
Timing belt
Timing belt
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4 Characteristics
（ 2 ） Magnetic brake characteristics
(a) 200V series
< HF Series >
Item
Type (Note 1)
Rated voltage
Rated current at 20°C (A)
Capacity (W)
Static friction torque (N•m)
Inertia (Note 2) (×10
-4 kg•m
2
)
Release delay time (Note 3) (s)
Braking delay time (DC OFF) (Note 3) (s)
Tolerable braking work amount
Per braking (J)
Per hour (J)
Brake play at motor axis (degree)
Brake life (Note 4)
No. of braking operations (times)
Work amount per braking (J)
< HP Series >
HF75B, HF105B
Motor type
HF54B, HF104B
HF154B,HF224B
HF123B, HF223B
HF142B
HF204B, HF354B
HF303B, HF453
HF703B, HF903B
HF302B
Spring closed non-exciting operation magnetic brakes
(for maintenance and emergency braking)
0.38
9
2.4
0.2
0.03
0.03
64
640
0.1 to 0.9
20,000
32
24VDC 0V-10%
0.8
19
8.3
2.2
0.04
0.03
400
4,000
0.2 to 0.6
20,000
200
1.4
34
43.1
9.7
0.1
0.03
4,500
45,000
0.2 to 0.6
20,000
1,000
Item
Type (Note 1)
Rated voltage
Rated current at 20°C(A)
Capacity (W)
Static friction torque (N•m)
Inertia (Note 2) (×10
-4 kg•m
2
)
Release delay time (Note 3) (s)
Braking delay time (DC OFF) (Note 3) (s)
Tolerable braking work amount
Per braking (J)
Per hour (J)
Brake play at motor axis (degree)
Brake life (Note 4)
No. of braking operations (times)
Work amount per braking (J)
HP54B
0.91
21
3.5
0.5
0.1
0.1
700
7,000
0.2 to 0.6
20,000
HP104B
HP154B
Motor type
HP204B
HP224B
HP354B
HP454B
HP704B
Spring closed non-exciting operation magnetic brakes
(for maintenance and emergency braking)
24VDC 0V-10%
0.86
21
1.0
24
1.4
34
1.4
34
9
0.5
12
5.5
32
5.5
54.9
5.5
0.1
0.1
700
7,000
0.2 to 0.6
0.1
0.1
700
7,000
0.2 to 0.6
0.12
0.1
4,500
45,000
0.2 to 0.6
0.3
0.1
4,500
45,000
0.2 to 0.6
20,000 20,000 20,000 20,000
HP903B
HP1103B
1.7
41
90
24
0.3
0.1
4,500
45,000
0.2 to 0.6
20,000
200 200 200 1,000 1,000 1,000
(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 servo motor 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 servo motor 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.
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4 Characteristics
< HF-KP Series >
Item
Type (Note 1)
Rated voltage
Rated current at 20°C(A)
Capacity (W)
Static friction torque (N•m)
Inertia (Note 2) (×10
-4 kg•m
2
)
Release delay time (Note 3) (s)
Braking delay time (DC OFF) (Note 3) (s)
Tolerable braking work amount
Per braking (J)
Per hour (J)
Brake play at motor axis (degree)
Brake life (Note 4)
No. of braking operations (times)
Work amount per braking (J)
Motor type
HF-KP23B, HF-KP43B HF-KP73B
Spring closed non-exciting operation magnetic brakes
(for maintenance and emergency braking)
24VDC 0V-10%
0.33
7.9
0.42
10
1.3
0.08
2.4
0.2
0.03
0.02
22
220
1.2
0.04
0.02
64
640
0.9
20,000 20,000
22 64
(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 servo motor 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 servo motor 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.
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4 Characteristics
(b) 400V series
< HF-H Series >
Item
Type (Note 1)
Rated voltage
Rated current at 20°C (A)
Capacity (W)
Static friction torque (N•m)
Inertia (Note 2) (×10 -4 kg•m 2 )
Release delay time (Note 3) (s)
Braking delay time (DC OFF) (Note 3) (s)
Tolerable braking work amount
Per braking (J)
Per hour (J)
Brake play at motor axis (degree)
Brake life (Note 4)
No. of braking operations (times)
Work amount per braking (J)
< HP-H Series >
Motor type
HF-H75B, HF-H105B
HF-H54B, HF-H104B
HF-H154B
HF-H204B, HF-H354B
HF-H453B, HF-H703B
HF-H903B
Spring closed non-exciting operation magnetic brakes
(for maintenance and emergency braking)
0.38
24VDC 0V-10%
0.8
1.4
9
2.4
19
8.3
34
43.1
0.2
0.03
0.03
64
640
0.1 to 0.9
2.2
0.04
0.03
400
4,000
0.2 to 0.6
9.7
0.1
0.03
4,500
45,000
0.2 to 0.6
20,000 20,000 20,000
32 200 1,000
Item
Type (Note 1)
Rated voltage
Rated current at 20°C(A)
Capacity (W)
Static friction torque (N•m)
Inertia (Note 2) (×10
-4 kg•m
2
)
Release delay time (Note 3) (s)
Braking delay time (DC OFF) (Note 3) (s)
Tolerable braking work amount
Per braking (J)
Per hour (J)
Brake play at motor axis (degree)
No. of braking
Brake life (Note 4) operations (times)
Work amount per braking (J)
0.91
21
3.5
0.5
0.1
0.1
700
7,000
0.2 to 0.6
20,000
200
HP-H54B
HP-H104B
HP-H154B
Motor type
HP-H204B
HP-H224B
HP-H354B
HP-H454B
HP-H704B
Spring closed non-exciting operation magnetic brakes
(for maintenance and emergency braking)
24VDC 0V-10%
0.86
21
1.0
24
1.4
34
1.4
34
9
0.5
12
5.5
32
5.5
54.9
5.5
0.1
0.1
700
7,000
0.2 to 0.6
0.1
0.1
700
7,000
0.2 to 0.6
0.12
0.1
4,500
45,000
0.2 to 0.6
0.3
0.1
4,500
45,000
0.2 to 0.6
20,000 20,000 20,000 20,000
HP-H903B
HP-H1103B
1.7
41
90
24
0.3
0.1
4,500
45,000
0.2 to 0.6
20,000
200 200 1,000 1,000 1,000
(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 servo motor 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 servo motor 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.
IB-1501124-D 126
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4 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] Prepare a brake excitation power supply that can accurately ensure the attraction current in consideration of the voltage fluctuation and excitation coil temperature.
[2] The brake terminal polarity is random. Make sure not to mistake the terminals with other circuits.
(b) Bake excitation circuit
When turning OFF the brake excitation power supply (to apply the brake), DC OFF is used to shorten the braking delay time.
A surge absorber will be required. Pay attention to the relay cut off capacity.
<Cautions>
• Provide sufficient DC cut off capacity at the contact.
• Always use a surge absorber.
• When using the cannon plug type, the surge absorber will be further away, so use shielded wires between the motor and surge absorber.
100VAC or
200VAC
PS
24VDC
SW1
ZD1
ZD2
VAR1
SW2
VAR2
(b) Example of DC OFF
PS
ZD1,ZD2
: 24VDC stabilized power supply
: Zener diode for power supply protection (1W, 24V)
VAR1,VAR2 : Surge absorber
Magnetic brake circuits
127 IB-1501124-D
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4 Characteristics
4.1.9 Dynamic Brake Characteristics
If a servo alarm that cannot control the motor occurs, the dynamic brakes will function to stop the servo motor 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.
T dp
Deceleration torque
0 N dp
Motor speed
Deceleration torque characteristics of a dynamic brake
HF903
HF142
HF302
HP54
HP104
HP154
HP224
HP204
HP354
HP454
HP704
HP903
HP1103
HF-KP23
HF-KP43
HF-KP73
Motor type
(200V series)
HF75
HF105
HF54
HF104
HF154
HF224
HF204
HF354
HF123
HF223
HF303
HF453
HF703
22.5
31.9
49.0
70.0
110.0
0.64
1.3
2.4
58.8
11.0
20.0
3.0
5.9
9.0
12.0
13.7
Stall torque
(N•m)
2.0
3.0
2.9
5.9
9.0
12.0
13.7
22.5
7.0
12.0
22.5
37.2
49.0
38.40
61.67
88.46
91.66
157.97
1.03
2.60
2.96
89.29
14.43
29.42
6.36
11.08
17.39
28.73
26.18
20.07
15.95
35.25
9.80
19.93
30.40
52.94
71.90
Tdp
(N•m)
5.43
10.21
3.97
10.02
15.64
2072
1597
1656
2984
2324
1272
1377
962
3755
547
635
716
987
1307
1848
2135
1765
1029
908
750
1059
955
1080
1070
Ndp
(r/min)
1825
1967
758
1060
1356
Max. deceleration torque of a dynamic brake
Motor type
(400V series)
HF-H75
HF-H105
HF-H54
HF-H104
HF-H154
HF-H204
HF-H354
HF-H453
HF-H703
HF-H903
HP-H54
HP-H104
HP-H154
HP-H224
HP-H204
HP-H354
HP-H454
HP-H704
HP-H903
HP-H1103
HC-H1502S-S10
Stall torque
(N•m)
2.0
3.0
2.9
5.9
9.0
13.7
22.5
37.2
49.0
58.8
3.0
5.9
9.0
12.0
13.7
22.5
31.9
49.0
70.0
110.0
146.0
835
657
619
374
1044
614
824
1107
Ndp
(r/min)
1685
1740
690
897
1073
1445
1524
861
939
597
936
704
1828
15.82
37.33
52.91
71.76
89.63
6.32
11.10
18.08
Tdp
(N•m)
5.11
10.19
3.96
10.03
15.05
28.63
28.04
37.94
60.61
95.52
100.48
170.34
237.97
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4 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.
L
MAX
㸻
F
60
㺃 { t e + 㸦 1 㸩
J
L
J
M
㸧㺃㸦 A 㺃 N 2 㸩 B 㸧 }
L
MAX
F
N t e
A
B
J
M
J
L
: Motor coasting distance (angle)
: Axis feedrate
: Motor speed
: Motor inertia
: Motor shaft conversion load inertia
: Brake drive relay delay time
: Coefficient A (Refer to the following table)
: Coefficient B (Refer to the following table)
[mm, (deg)]
[mm/min, (deg/min)]
[r/min]
[×10
-4 kg•m
2
]
[×10 -4 kg•m 2 ]
[s] (Normally, 0.03s)
Emergency stop (EMG)
Dynamic brake control output
Actual dynamic brake operation
OFF
ON
OFF
ON
OFF
ON
Motor speed
N
Coasting amount
Time t e
Dynamic brake braking diagram
129 IB-1501124-D
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4 Characteristics
HF453
HF703
HF903
HF142
HF302
HP54
HP104
HP154
HP224
HP204
Motor type
(200V series)
HF75
HF105
HF54
HF104
HF154
HF224
HF204
HF354
HF123
HF223
HF303
HP354
HP454
HP704
HP903
HP1103
HF-KP23
HF-KP43
HF-KP73
J
M
(×10
-4 kg•m
2
)
112.0
154.0
196.0
17.8
75.0
4.6
7.7
12.0
20.0
29.0
37.0
55.0
82.0
163.0
255.0
0.23
0.42
1.43
2.6
5.1
6.1
11.9
14.7
23.7
38.3
75.0
11.9
23.7
75.0
A
Coasting amount calculation coefficients table
0.46×10 -9
B
4.58×10 -3
Motor type
(400V series)
HF-H75
J
M
(×10
-4
2.6
kg•m
2
)
0.44×10 -9
3.54×10
-9
1.95×10
-9
1.47×10 -9
1.17×10
-9
4.07×10
-9
4.09×10 -9
2.82×10
-9
1.96×10
-9
4.51×10 -9
3.42×10 -9
3.50×10
-9
1.02×10
-9
3.94×10 -9
7.01×10
-9
2.75×10
-9
1.92×10 -9
1.44×10 -9
1.03×10
-9
2.04×10 -9
5.15×10 -3
6.10×10
-3
6.59×10
-3
8.08×10 -3
10.91×10
-3
12.94×10
-3
10.12×10 -3
4.77×10
-3
6.60×10
12.33×10
4.72×10
6.74×10
12.38×10
-3
-3
11.96×10 -3
12.00×10
-3
43.15×10
-3
3.53×10 -3
8.48×10
-3
2.71×10
-3
3.59×10 -3
-3
-3
-3
HF-H105
HF-H54
HF-H104
HF-H154
HF-H204
HF-H354
HF-H453
HF-H703
HF-H903
HP-H54
HP-H104
HP-H154
HP-H224
HP-H204
HP-H354
HP-H454
HP-H704
HP-H903
HP-H1103
HC-H1502S-S10
5.1
6.1
11.9
17.8
38.3
75.0
112.0
154.0
196.0
4.6
7.7
12.0
20.0
29.0
37.0
55.0
82.0
163.0
255.0
550.0
1.83×10 -9
2.19×10
-9
2.20×10
-9
2.34×10 -9
2.73×10
-9
0.17×10
-9
0.12×10 -9
0.49×10 -9
10.45×10 -3
7.46×10
-3
8.04×10
-3
27.79×10 -3
19.65×10
-3
1.48×10
-3
1.17×10 -3
2.43×10 -3
A
2.30×10 -9
1.64×10
-9
1.32×10
-9
2.66×10 -9
4.45×10
-9
3.79×10
-9
5.65×10 -9
6.80×10 -9
8.35×10
-9
2.21×10 -9
0.53×10 -9
0.50×10 -9
3.90×10
-9
2.31×10
-9
1.92×10 -9
5.06×10
-9
5.34×10
-9
5.97×10 -9
10.01×10
-9
3.66×10
-9
3.23×10 -9
B
4.49×10 -3
4.56×10 -3
5.56×10
-3
5.57×10
-3
6.65×10 -3
10.59×10
-3
6.91×10
-3
6.86×10 -3
4.20×10
-3
11.95×10
-3
2.34×10 -3
2.99×10 -3
3.85×10
-3
5.29×10
-3
8.25×10 -3
4.40×10
-3
4.46×10
-3
2.68×10 -3
7.95×10 -3
5.52×10
-3
22.13×10 -3
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4 Characteristics
4.2 Spindle Motor
4.2.1 Environmental Conditions
Environment
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Atmosphere
Altitude
Vibration
Conditions
0°C to +40°C (with no freezing)
90%RH or less (with no dew condensation)
-20°C to +65°C (with no freezing)
90%RH or less (with no dew condensation)
Indoors (Where unit is not subject to direct sunlight)
No corrosive gases, flammable gases, oil mist or dust
Operation/storage: 1000m or less above sea level
Transportation: 10000m or less above sea level
X:29.4m/s
2
(3G) Y:29.4m/s
2
(3G)
(Note) Refer to each spindle motor specifications for details on the spindle motor vibration class.
4.2.2 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, 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.
Series
200V series
400V series
Spindle motor
SJ-VL11-05FZT-S01
SJ-VL2.2-02ZT
SJ-DL5.5/150-01T, SJ-DL5.5/200-01T, SJ-V3.7-02ZT, SJ-VL11-02FZT,
SJ-VL18.5-05FZT
SJ-DL0.75/100-01T, SJ-DL1.5/100-01T
SJ-D3.7/100-01, SJ-D5.5/120-02, SJ-DJ5.5/100-01, SJ-DJ5.5/120-01,
SJ-DL7.5/150-01T, SJ-V2.2-01T, SJ-V7.5-03ZT
SJ-D5.5/100-01, SJ-D5.5/120-01, SJ-DJ7.5/100-01, SJ-DJ7.5/120-01
SJ-D7.5/100-01, SJ-D7.5/120-01, SJ-D11/100-01, SJ-DJ11/100-01,
SJ-DJ15/80-01, SJ-V11-08ZT, SJ-V11-13ZT, SJ-V11-01T
SJ-V22-06ZT
SJ-V15-01ZT, SJ-V15-09ZT, SJ-V18.5-01ZT, SJ-V18.5-04ZT, SJ-V22-01ZT,
SJ-V22-04ZT, SJ-V26-01ZT, SJ-V11-09T, SJ-V15-03T, SJ-V18.5-03T,
SJ-V22-05T
SJ-V37-01ZT, SJ-V45-01ZT, SJ-V22-09T, SJ-VK22-19ZT
SJ-V55-01ZT
SJ-4-V2.2-03T, SJ-4-V3.7-03T, SJ-4-V7.5-13ZT
SJ-4-V5.5-07T
SJ-4-V7.5-12T, SJ-4-V11-18T
SJ-4-V26-08ZT
SJ-4-V18.5-14T, SJ-4-V22-15T, SJ-4-V22-18ZT, SJ-4-V15-20T, SJ-4-V22-16T
SJ-4-V37-04ZT, SJ-4-V45-02T
SJ-4-V55-03T
Tolerable radial load
98N
196N
245N
490N
980N
1470N
1960N
2450N
2940N
3920N
5880N
980N
1470N
1960N
2450N
2940N
3920N
5880N
Radial load
(Note) The load point is at the one-half of the shaft length.
CAUTION
Consider on the machine side so that the thrust loads are not applied to the spindle motor.
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4 Characteristics
4.2.3 Machine Accuracy
Machine accuracy of the spindle motor's output shaft and around the installation part is as below.
(Excluding special products)
Accuracy
Run-out of the flange surface to the output shaft
Run-out of the flange surface's fitting outer diameter
Run-out of the output shaft end
Measurement point a b c
Frame No.
A71, B71, A90, B90, C90,
D90, E90, A112, B112
A160, B160, C160,
A180, B180, A225
0.03mm
0.05mm
0.02mm
0.01mm
0.04mm
0.02mm
(Note) Refer to Specifications Manual for the frame number of each spindle motor.
c b a
4.2.4 Installation of Spindle Motor
Make sure that the spindle motor is installed so that the motor shaft points from downward to 90° as shown below. When installing upward more than 90°, contact your Mitsubishi Electric dealer.
Up
Down
Standard installation direction for connector connection type
The spindle motor whose motor power line and detection lead wires are connected with connectors, as a standard, should be installed with the connectors facing down. Installation in the standard direction is effective against dripping.
Measure to prevent oil and water must be taken when not installing in the standard direction.
CAUTION
1. Rubber packing for waterproof is attached on the inner surface of the top cover of terminal block.
After checking that the packing is installed, install the top cover.
2. When installing a motor on a flange, chamfer(C1) the part of flange that touches inside low part of the motor.
To yield good cooling performance, provide a space of at least 30mm between the cooling fan and wall. If the motor is covered by a structure and the air is not exchanged, its cooling performance degrades and the motor is unable to fully exercise its performance, which may cause the spindle motor overheat alarm. Do not use the spindle motor in an enclosed space with little ventilation.
Cooling fan wall
30mm or more
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4 Characteristics
4.3 Tool Spindle Motor
4.3.1 Environmental Conditions
Environment
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Atmosphere
Altitude
Vibration
Conditions
0°C to +40°C (with no freezing)
80% RH or less (with no dew condensation)
-15°C to +70°C (with no freezing)
90% RH or less (with no dew condensation)
Indoors (no direct sunlight)
No corrosive gas, inflammable gas, oil mist or dust
Operation/storage: 1000m or less above sea level
Transportation: 10000m or less above sea level
X:19.6m/s 2 (2G) Y:19.6m/s 2 (2G)
4.3.2 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, 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.
Tool spindle motor
HF-KP46, 56
HF-KP96
HF-SP226, 406
HF75S, 105S
HF54S, 104S, 154S, 224S
HF204S, 354S,453S,703S
HF903S
Tolerable radial load
245N (L=30)
392N (L=40)
980N(L-55
245N (L=33)
980N (L=55)
2058N (L=79)
2450(L=85)
Tolerable thrust load
98N
147N
490N
147N
490N
980N
980N
(Note 1) The tolerable radial load and thrust load in the above table are values applied when each motor is used independently.
(Note 2) The symbol L in the table refers to the value of L below.
L
Radial load
Thrust load
L: Length from flange installation surface to center of load mass [mm]
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4 Characteristics
4.3.3 Tool Spindle Temperature Characteristics
< HF-KP Series >
[ HF-KP46J(K)W09 ]
60K 80K 100K
100
40K
80
20K
60
100
80
60
40
40
20
0
0 2000 4000
Rotation speed [r/min]
6000
20K
[ HF-KP96J(K)W09 ]
40K 60K 80K
20
0
0 2000 4000
Rotation speed [r/min]
6000
100
80
20K
[ HF-KP56J(K)W09 ]
40K 60K 80K
60
40
20
0
0 2000 4000
Rotation speed [r/min]
6000
CAUTION
1. The contour lines 20K to 100K in the graph indicate the temperature rising values from the start-up to saturation.
2. The motor temperature tends to rise in a high-speed rotation even if the load rate is low.
4.3.4 Installation of Tool Spindle Motor
Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat dissipation effect:
Flange size (mm)
250×250×6
250×250×12
300×300×20
800×800×35
Tool spindle motor capacity
400W
0.5 to 1.5kW
2.0 to 3.0kW
9.0kW
IB-1501124-D 134
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4 Characteristics
4.4 Drive Unit
4.4.1 Environmental Conditions
Environment
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Atmosphere
Altitude
Vibration
Conditions
0°C to +55°C (with no freezing)
90% RH or less (with no dew condensation)
-15°C to +70°C (with no freezing)
90% RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles
Operation/storage: 1000m or less above sea level
Transportation: 13000m or less above sea level
Operation/storage: 4.9m/s 2 (0.5G) or less Transportation: 49m/s 2 (5G) or less
(Note) When installing the machine at 1,000m or more above sea level, the heat dissipation characteristics will drop as the altitude increases in proportion to the air density. The ambient temperature drops 1% with every 100m increase in altitude.
When installing the machine at 1,800m altitude, the heating value of the drive unit must be reduced to 92% or less. The heating value is proportional to the square of the current, and required current decreasing rate follows the expression below.
Required current decreasing rate = 0.92 = 0.95
Therefore, use the unit with the reduced effective load rate to 95% or less.
135 IB-1501124-D
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4 Characteristics
4.4.2 Heating Value
The values for the servo drive unit apply at the stall output. The values for the spindle drive unit apply for the continuous rated output. The values for the power supply unit include the AC reactor's heating value.
< MDS-D2 Series >
V1-80
V1-
160
V1-
160W
V1-
320
V1-
320W
Type
MDS-
D2-
V1-20
V1-40
Servo drive unit
Heating value
[W]
Inside panel
Outside panel
18 22
20
25
36
44
59
72
38
71
148
201
307
399
Type
MDS-
D2-
V2-2020
V2-4020
V2-4040
V2-8040
V2-8080
V2-
16080
V2-
160160
V2-
160160W
V3-
202020
V3-
404040
Heating value
[W]
Inside panel
Outside panel
26 44
Type
MDS-
D2-
SP-20
28
31
35
40
51
62
77
89
60
75
109
142
219
296
403
0
SP-40
SP-80
SP-
160
SP-
200
SP-
240
SP-
320
SP-
400
SP-
640
Spindle drive unit
Heating value
[W]
Inside panel
Outside panel
24 31
29
37
54
78
100
118
148
65
121
236
404
520
688
897
Type
MDS-
D2-
SP2-
2020
SP2-
4020
SP2-
4040S
SP2-
4040
SP2-
8040
SP2-
16080S
SP2-
8080
SP2-
16080
Heating value
[W]
Inside panel
Outside panel
28 62
33
38
38
46
70
54
70
96
130
130
186
358
242
358
196 1231
CV-75
CV-
110
CV-
185
CV-
300
CV-
370
CV-
450
CV-
550
Power supply unit
Type
MDS-
D2-
CV-37
Heating value
[W]
Inside panel
Outside panel
20 34
24
25
32
45
53
104
164
55
99
161
272
343
392
431
Power backup
Type
MDS-
D-
PFU unit
Heating value
[W]
15
159 0
< MDS-DH2 Series >
Type
MDS-
DH2-
V1-10
V1-20
V1-40
V1-80
V1-80W
V1-160
V1-160W
V1-200
Servo drive unit
Heating value [W]
Inside panel
19
Outside panel
27
22
27
40
47
46
87
175
222
62
81
105
328
461
630
Type
MDS-
DH2-
V2-1010
V2-2010
V2-2020
V2-4020
V2-4040
V2-8040
V2-8080
V2-8080W
Heating value [W]
Inside panel
28
Outside panel
54
30
33
39
45
74
93
133
173
57
70
83
262
350
445
Type
MDS-
DH2-
SP-20
SP-40
SP-80
SP-100
SP-160
SP-200
SP-320
SP-480
Spindle drive unit
Heating value [W]
Inside panel
32
Outside panel
88
42
54
73
110
158
237
369
639
126
168
232
746
1034
1488
Power supply unit
Type
MDS-
DH2-
Power backup unit
Heating value [W] Type
Inside panel
Outside panel
MDS-
DH-
20 34 PFU
Heating value
[W]
15 CV-37
CV-75
CV-110
CV-185
CV-300
CV-370
CV-450
CV-550
CV-750
24
25
32
45
53
104
164
228
55
99
161
272
343
392
431
614
POINT
1. Design the panel's heating value taking the actual axis operation (load rate) into consideration.
2. The heating values in the above tables are calculated with the following load rates.
Unit
Servo drive unit
Spindle drive unit
Power supply unit
Load rate
50%
100%
100%
IB-1501124-D 136
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4 Characteristics
4.4.3 Drive Unit Arrangement
Arrange the drive units in the following procedure.
(1) Install a power supply unit.
(2) Arrange drive units in order of the nominal current from largest from the right.
(3) In the arrangement, the clearance between the units is 1 mm.
(4) Arrange the drive units with the DC connection length from the power supply unit being 800mm or less.
For the arrangement of 800mm or more, multiple power supply units are required.
(5) Arrange large capacity drive units at the left of the power supply unit with the clearance between the drive units being 1mm.
1mm 1mm 1mm 1mm
Use the dedicated connection bar.
800mm or less
Large Small
Arrange drive units in order of nominal current from largest.
POINT
1. Arrange large capacity drive units at the left of the power supply unit with the clearance between the drive units being
1mm.
2. Power supply units equivalent to the number of large capacity drive units are required.
3. When arranging the drive unit at the right of the large capacity power supply unit, remove the side protection cover of the power supply unit.
4. MDS-D2-SP-400/640, MDS-DH2-SP-200/320/480, and MDS-DH2-V1-200 are the large capacity drive units.
137 IB-1501124-D
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4 Characteristics
< For separated arrangement of drive units >
Arranging drive units in the horizontal as much as possible is recommended. Thus, if the drive units must be arranged in the vertical, or if the drive units must be separated by more than 30mm, arrange them with the DC connection length of 500mm or less.
1mm
500mm or less
1mm
Twist Fixing band
CAUTION
1. D2: For MDS-D2-V1-320W, MDS-D2-SP-240 to 640, the separated wiring is not available.
DH2: For MDS-DH2-V1-160W to 200, MDS-DH2-SP-160 to 480, the separated wiring is not available.
2. If the drive units are separated by more than 30mm, twist the wires used for the DC connection or bundle them with a fixing band in order to prevent two wires from being separated.
3. Failure to observe the above arrangement could damage the units.
IB-1501124-D 138
5
Dedicated Options
139 IB-1501124-D
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5 Dedicated Options
5.1 Servo Options
The option units are required depending on the servo system configuration. Check the option units to be required referring the following items.
(1) System establishment in the full closed loop control
Refer to the table below to confirm the interface unit (I/F) and battery option required for the full closed loop control.
(a) Full closed loop control for linear axis
Incremental encoder
Machine side encoder to be used
Rectangular wave signal output
SIN wave signal output
SR74, SR84
(Magnescale)
Various scale
LS187, LS487
(HEIDENHAIN)
LS187C, LS487C
(HEIDENHAIN)
Encoder signal output
Rectangular wave signal
Rectangular wave signal
SIN wave signal
SIN wave signal
Interface unit
-
-
IBV series
(HEIDENHAIN)
EIB series
(HEIDENHAIN)
APE series
(HEIDENHAIN)
MDS-B-HR-11(P)
(Mitsubishi Electric)
EIB series
(HEIDENHAIN)
MDS-B-HR-11(P)
(Mitsubishi Electric)
Drive unit input signal
Rectangular wave signal
Rectangular wave signal
Rectangular wave signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Battery option
-
-
-
-
-
(Required)
(Note 1)
Remarks
Distance-coded reference scale
(Note 2)
Various scale SIN wave signal
EIB series
(HEIDENHAIN)
Mitsubishi serial signal
(Required)
(Note 1)
Distance-coded reference scale is also available
(Note 2)
Mitsubishi serial signal output
SR75, SR85
(Magnescale)
Mitsubishi serial signal
-
Mitsubishi serial signal
-
Absolute position encoder
Mitsubishi serial signal output
OSA105ET2A
OSA166ET2NA
(Mitsubishi Electric)
SR27, SR77, SR87,
SR67A
(Magnescale)
LC195M, LC495M,
LC291M
(HEIDENHAIN)
LC193M, LC493M
(HEIDENHAIN)
AT343, AT543, AT545,
ST748
(Mitutoyo)
SAM Series
(FAGOR)
SVAM Series
(FAGOR)
GAM Series
(FAGOR)
LAM Series
(FAGOR)
RL40N Series
(Renishaw)
AMS-ABS-3B Series
(Schneeberger)
LMFA Series
(AMO)
LMBA Series
(AMO)
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
-
-
-
-
-
-
-
-
-
-
-
-
-
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Ball screw side encoder
Mitsu03-4
Mitsu02-4
(Note 1) When using the distance-coded reference scale, it is recommended to use with distance-coded reference check function. In this case, the battery option is required.
(Note 2) The distance-coded reference scale is the supported option for M700V Series.
IB-1501124-D 140
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5 Dedicated Options
Absolute position encoder
Machine side encoder to be used
SIN wave signal output
MPS Series
(Mitsubishi Heavy
Industries Machine Tool)
MPI Series
(Mitsubishi Heavy
Industries Machine Tool)
Encoder signal output
SIN wave signal
SIN wave signal
Interface unit
ADB-20J60
(Mitsubishi Heavy
Industries Machine Tool)
ADS-20J60
(Mitsubishi Heavy
Industries Machine Tool)
Drive unit input signal
Mitsubishi serial signal
Mitsubishi serial signal
Battery option
Required
Remarks
(b) Full closed loop control for rotary axis
Machine side encoder to be used
Encoder signal output
Interface unit Output signal
Battery option
Remarks
Rectangular wave signal output
Various scale
Rectangular wave signal
-
Rectangular wave signal
-
Incremental encoder
SIN wave signal output
ERM280 Series
(HEIDENHAIN)
Various scale
SIN wave signal
SIN wave signal
EIB series
(HEIDENHAIN)
MDS-B-HR-11(P)
(Mitsubishi Electric)
Mitsubishi serial signal
Mitsubishi serial signal
-
(Required)
(Note 1)
Distance-coded reference scale is also available
(Note 2)
Absolute position encoder
Mitsubishi serial signal output
SIN wave signal output
MBA405W Series
(Mitsubishi Electric)
RU77
(Magnescale)
RCN223M, RCN227M
(HEIDENHAIN)
RCN727M, RCN827M
(HEIDENHAIN)
RA Series
(Renishaw)
HAM Series
(FAGOR)
WMFA Series
WMBA Series
WMRA Series
(AMO)
MPRZ Series
(Mitsubishi Heavy
Industries Machine Tool)
MPI Series
(Mitsubishi Heavy
Industries Machine Tool)
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
SIN wave signal
SIN wave signal
(Provided)
-
-
-
-
-
-
ADB-20J71
(Mitsubishi Heavy
Industries Machine Tool)
ADB-20J60
(Mitsubishi Heavy
Industries Machine Tool)
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Mitsubishi serial signal
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Required
Mitsu02-4
Mitsu02-4
(Note 1) When using the distance-coded reference scale, it is recommended to use with distance-coded reference check function. In this case, the battery option is required.
(Note 2) The distance-coded reference scale is the supported option for M700V Series.
< Contact information about machine side encoder >
- Magnescale Co., Ltd.: http://www.mgscale.com/mgs/
- HEIDENHAIN CORPORATION: http://www.heidenhain.com/
- Mitutoyo Corporation: http://www.mitutoyo.co.jp/eng/
- Mitsubishi Heavy Industries Machine Tool: http://www.mhi-machinetool.com/en/index.html
- FAGOR Automation: http://www.fagorautomation.com/
- Renishaw plc.: http://www.renishaw.com/
- SCHNEEBERGER AG: https://www.schneeberger.com
- AMO (Automatisierung Messtechnik Optik) GmbH: http://www.amo-gmbh.com/en/
POINT
The absolute position system cannot be established in combination with the relative position (incremental) machine side encoder and absolute position motor side encoder.
141 IB-1501124-D
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5 Dedicated Options
(2) System establishment in the synchronous control
(a) Position command synchronous control
The synchronous control is all executed in the NC, and the each servo is controlled as an independent axis.
Therefore, preparing special options for the synchronous control is not required on the servo side.
(b) Speed command synchronization control
The common position control in two axes is performed by one linear scale. Basically, the multi axes integrated type drive unit (MDS-D2/DH2-V2/V3) is used, and the feedback signal is divided for two axes inside the drive unit.
When the two 1-axis type drive units are used in driving the large capacity servo motor, the linear scale feedback signal must be divided outside.
<Required option in the speed command synchronous control>
Machine side encoder to be used
SIN wave signal output scale
For MDS-D2/DH2-V2/V3
MDS-B-HR-11(P)
(Serial conversion)
For MDS-D2/DH2-V1×2 units
MDS-B-HR-12(P)
(Serial conversion/signal division)
Remarks
Mitsubishi serial signal output scale
MDS-B-SD (Signal division)
Including the case that an interface unit of the scale manufacturer is used with SIN wave output scale.
(Note 1) The rectangular wave signal output scale speed command synchronous control is not available.
(Note 2) The distance-coded reference scale speed command synchronous control is not available.
POINT
1. When executing the synchronous control, use the servo motors of which the type and encoder specifications are same.
2. When performing the speed command synchronous control with 2-axis drive unit (MDS-D2/DH2-V2), make sure to set Laxis as primary axis. When performing the speed command synchronous control with 3-axis drive unit (MDS-D2-V3), make sure to set L-axis as primary axis and M-axis as secondary axis. Other settings cause the initial parameter error alarm.
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5 Dedicated Options
< Speed command synchronization control system configuration >
1) SIN wave signal output scale
< When using MDS-D2/DH2-V2/V3 >
For the FB signal of the linear scale, the SIN wave signal is converted to Mitsubishi serial signal with the encoder conversion unit (MDS-B-HR-11), and that signal is divided to each axis control inside 2-axis or 3-axis drive unit.
MDS-D2/DH2-V2/V3
Linear scale
( SIN wave signal output )
Primary axis
Secondary axis
MDS-B-HR-11
Encoder conversion unit
CON3
CON4
CON1
CON2
< When using two units of MDS-D2/DH2-V1 >
For the FB signal of the linear scale, the SIN wave signal is converted to Mitsubishi serial signal with the encoder conversion unit (MDS-B-HR-12), and that signal is divided to each drive unit.
MDS-D2/DH2-V1
( Primary axis)
MDS-D2/DH2-V1
(Secondary axis)
Linear scale
( SIN wave signal output )
Primary axis
Secondary axis
MDS-B-HR-12
Encoder conversion unit
CON3
CON4
CON1
CON2
143 IB-1501124-D
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5 Dedicated Options
2) Mitsubishi serial signal output scale
< When using MDS-D2/DH2-V2 >
The FB signal of the linear scale is divided to each axis control inside 2-axis drive unit. An external option unit is not required.
MDS-D2/DH2-V2
Primary axis
Secondary axis
Linear scale
( Mitsubishi serial signal output )
(Note) The conversion unit of the scale manufacturer is included.
< When using two units of MDS-D2/DH2-V1 >
The FB signal of the linear scale is divided to each drive unit with the signal division unit (MDS-B-SD).
MDS-D2/DH2-V1
( Primary axis)
MDS-D2/DH2-V1
(Secondary axis)
Primary axis
MDS-B-SD
Encoder division unit Secondary axis
Linear scale
( Mitsubishi serial signal output )
(Note) The conversion unit of the scale manufacturer is included.
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5.1.1 Dynamic Brake Unit (MDS-D-DBU)
The MDS-D2-V1-320W and MDS-DH2-V1-160W or larger units do not have dynamic brakes built in, so install an external dynamic brake unit.
(1) Specifications
Type
MDS-D-DBU
Coil specifications
24VDC 160mA
Wire size
5.5mm
2
or more
(For IV wire)
Compatible drive unit
MDS-D2-V1-320W
MDS-DH2-V1-160W or larger
Mass (kg)
3kg
(2) Outline dimension drawings
MDS-D-DBU
[Unit: mm]
20
5
20
140
5
20
195.4
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(3) Connecting with the servo drive unit
Brake connector
(CN20)
Pin Name
3
2
1
MBR
DBR
P24
CNU20S(AWG14)
3
2
1
External power supply
DC24V GND
Twist wire
To a motor brake
Control terminal block (M3)
Name
Terminal
4
5
6
1
2
3
NC a b
13
14
Servomotor
U V W a b
Dynamic brake unit
(MDS-D-DBU)
Power terminal block (M3)
Terminal
1
2
3
Name
U
V
W
Internal circuit diagram
R (0.5
)
M C
SK
V
W
U
14
13 b a
CAUTION
Correctly wire the dynamic brake unit to the servo drive unit.
Do not use for applications other than emergencies (normal braking, etc.). The internal resistor could heat up, and lead to fires or faults.
POINT
When you use a motor with a brake, please wire (between 1pin and 3pin) for the CN20 connector.
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5.1.2 Battery Option (ER6V-C119B, A6BAT, MDS-BTBOX-36)
This battery option may be required to establish absolute position system. Select a battery option from the table below depending on the servo system.
Type
Installation type
Hazard class
Number of connectable axes
Battery change
EER6V-C119B
Drive unit with battery holder type
Not applicable
Up to 3 axes
Possible
A6BAT(MR-BAT)
Dedicated case type
Not applicable
(24 or less)
Up to 8 axes
(When using dedicated case)
Possible
MDS-BTBOX-36
Unit and battery integration type
Not applicable
Up to 8 axes
Possible
(1) (2)
(3)
Battery connector
Battery
A6BAT
(MR-BAT)
Appearance
To the battery holder
Battery
ER6V-C119B
Dedicated case
MDS-BTCASE
(Note) When using the converged battery option, refer to this section "(4) Converged battery option".
CAUTION
1. When transporting lithium batteries with means such as by air transport, measures corresponding to the United Nations
Dangerous Goods Regulations must be taken. (Refer to "Appendix 2 Restrictions for Lithium Batteries".)
2. The lithium 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. The packaging methods, correct transportation methods, and special regulations are specified according to the quantity of lithium alloys. The battery unit exported from Mitsubishi is packaged in a container (UN approved part) satisfying the standards set forth in this UN Advisory.
3. To protect the absolute value, do not shut off the servo drive unit control power supply if the battery voltage becomes low
(warning 9F).
4. Contact the Service Center when replacing the cell battery.
5. The battery life (backup time) is greatly affected by the working ambient temperature. Generally, if the ambient temperature increases, the backup time and useful life will both decrease.
POINT
A6BAT is a battery with same specifications as MR-BAT.
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(1) Cell battery ( ER6V-C119B )
(a) Specifications
Battery option type
Battery model name
Nominal voltage
Nominal capacity
Battery safety
Hazard class
Battery shape
Number of batteries used
Lithium alloy content
Mercury content
Number of connectable axes
Battery continuous backup time
Cell battery
ER6V-C119B (Note 1)
ER6V
3.6V
2000mAh
-
Single battery
ER6V x 1
0.7g
1g or less
Up to 3 axes (Note 3)
Up to 2 axes: Approx. 10000 hours
3 axes connected: Approx. 6600 hours
Battery useful life
(From date of unit manufacture)
Data save time in battery replacement
Back up time from battery warning to alarm occurrence
(Note 2)
Mass
7 years
Approx. 20 hours at time of delivery, approx. 10 hours after 5 years
Up to 2 axes: Approx. 100 hours
3 axes connected: Approx. 60 hours
20g
(Note 1) ER6V-C119B is a battery built in a servo drive unit. Install this battery only in the servo drive unit that executes absolute position control.
(Note 2) This time is a guideline, so does not guarantee the back up time. Replace the battery with a new battery as soon as a battery warning occurs.
(Note 3) When using ball screw side encoder OSA166ET2NA/OSA105ET2A, both ball screw side encoder and motor side encoder need to be backed up by a battery, so the number of load shaft should be two.
(b) Installing the cell battery
Open the upper front cover of the servo drive unit.
Connect the battery connector and then put the battery inside.
Battery connector
Battery connector connection part magnified figure
1 2 1 2
To battery holder
Battery
1 2
BT1
Connector for connecting cell battery
Connect the cell battery with BT1.
(Note) When using a cell battery, do not connect the battery unit, MDS-BTBOX-36.
POINT
When using a cell battery built-in drive unit, the wiring between units is not required. The cell battery can be changed in each drive unit.
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(2) Cell battery ( A6BAT )
Always use the cell battery (A6BAT) in combination with the dedicated case (MDS-BTCASE).
(a) Specifications
Battery option type
Battery model name
Nominal voltage
Nominal capacity
Battery safety
Hazard class
Battery shape
Number of batteries used
Lithium alloy content
Mercury content
Number of connectable axes
Battery continuous backup time
Battery useful life
(From date of unit manufacture)
Data save time in battery replacement
Back up time from battery warning to alarm occurrence
(Note)
Mass
Cell battery
A6BAT (MR-BAT)
ER17330V
3.6V
1700mAh
-
Single battery
A6BAT (MR-BAT) x 1
0.48g
1g or less
1 axis / (per 1 battery)
Approx. 10000 hours
5 years
Approx. 20 hours at time of delivery, approx. 10 hours after 5 years
Approx. 80 hours
17g
(Note) This time is a guideline, so does not guarantee the back up time. Replace the battery with a new battery as soon as a battery warning occurs.
(b) Specifications of the dedicated case MDS-BTCASE
Type
Number of batteries installed
Number of connectable axes
MDS-BTCASE
Up to 8 A6BATs (MR-BATs) (Install either 2, 4, 6 or 8 A6BATs (MR-BATs))
Max. 8 axes (It varies depending on the number of batteries installed.)
When A6BAT (MR-BAT) x 2, 1 to 2 axis/axes
When A6BAT (MR-BAT) x 4, 3 to 4 axes
When A6BAT (MR-BAT) x 6, 5 to 6 axes
When A6BAT (MR-BAT) x 8, 7 to 8 axes
(c) Installing the cell battery
Open the cover of the dedicated case. Connect the battery connector and then put the battery inside.
Battery connector Battery
A6BAT
(MR-BAT)
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(d) Installing A6BAT (MR-BAT) to battery case
Open the cover of the dedicated case. Connect the battery connector and then put the battery inside.
[1] Incorporate batteries in order, from the connector CON1 on the top of the case.
In the same way, install batteries to holders in order, from the holder on the top.
Example of incorporated batteries
(Photo: 8 batteries incorporated)
Corresponding to MDS-A-BT-2
A6BAT
(MR-BAT)
CON1
CN1A
CON2
A6BAT
(MR-BAT)
CON8
Corresponding to MDS-A-BT-6
A6BAT
(MR-BAT)
CON1
CN1A
A6BAT
(MR-BAT)
Corresponding to MDS-A-BT-4
A6BAT
(MR-BAT)
CON1
CN1A
CON4
A6BAT
(MR-BAT)
CON8
Corresponding to MDS-A-BT-8
A6BAT
(MR-BAT)
CON1
CN1A
A6BAT
(MR-BAT)
CON6
CON8
CON8
[2] Attach a seal indicating the number of incorporated batteries to the part shown below.
Attach the seal here.
(Attach only numbers)
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(e) Outline dimension drawing of the dedicated case MDS-BTCASE
15
25
R3
145
130 㧔 15 㧕
16.8
2-M5 screw
6 ޓ
30
Panel drawing
[Unit:mm]
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(3) Battery box (MDS-BTBOX-36)
(a) Specifications
Battery option type
Battery model name (Note 1)
Nominal voltage
Number of connectable axes
Battery box
MDS-BTBOX-36 size-D alkaline batteries LR20 x 4 pieces
3.6V (Unit output), 1.5V (Isolated battery)
Up to 8 axes
Battery continuous backup time (Note 2) Approx. 10000 hours (when 8 axes are connected, cumulative time in non-energized state)
Back up time from battery warning to alarm occurrence (Note 2)
Approx. 336 hours (when 8 axes are connected)
(Note 1) Install commercially-available alkaline dry batteries into MDS-BTBOX-36. The batteries should be procured by customers. Make sure to use new batteries that have not passed the expiration date. We recommend you to replace the batteries in the one-year cycle.
(Note 2) This time is a guideline, so does not guarantee the back up time. Replace the battery with a new battery as soon as a battery warning (9F) occurs.
(b) Explanation of terminals
(1) Power supply output for absolute position encoder
(2) backup
(3) Power supply input for battery voltage drop detection
(4) circuit
(5)
(6)
Battery voltage drop warning signal output
Name
BT
LG
+5V
Description
3.6V output for absolute position encoder backup
Ground
5V power supply input for battery voltage drop detection circuit
LG Ground
DO(ALM) Battery voltage drop warning output
DOCOM DO output common
(c) Outline dimension drawings
[Unit: mm]
80
40
103
102
89
（ 87 ）
Square hole
4-M4 Flat head screw
(Tightening torque: 1.0N·m)
Panel cut drawing
Connection terminal block
Packing Packing area
POINT
As soon as the battery warning has occurred, replace the batteries with new ones.
Make sure to use new batteries that have not passed the expiration date. We recommend you to replace the batteries in the one-year cycle.
CAUTION
When installing the battery box on the panel, it may be damaged if the screw is tightened too much. Make sure the tightening torque of the screw.
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(d) Cable connection procedure
When connecting the terminal block, select a cable for the terminal block referring to the applicable size as a guide.
Connect the cable by crimping the bare conductor or bar terminal. Do not pre-solder the wire.
< Range of applicable terminal block cable >
Twisted wire:
2
0.2mm to 1.25mm
2
< Recommended bar terminal >
Type: TUB-0.5
Crimping tool: YHT-2622
- Processing of power insulator
The strip length of the wire insulator should be 11mm.
Sheath
Core
11mm
Strip length
Retwist and straighten the core as shown below.
Unraveling or bending of core
Make sure to retwist and straighten the core
(e) Wiring of the battery voltage drop warning output
The battery voltage drop warning is detected in the MDS-BTBOX-36 and output to the servo drive unit as digital signal.Connect the battery voltage drop warning signal to one of the servo drive units supported by MDS-BTBOX-
36. For the connected servo axis, set the servo parameter "SV082/bitF-C" to "2" to enable this signal input. When using 2 or 3-axis drive unit, set the value to one of the axes and set other axes in the same unit to "0" (No signal).
Servo drive unit
CN9
4
1
20
13
DG24 cable
Light blue
White
+5V
LG
24V (I/O power)
Blue
Yellow
DO(ALM)
MDS-BTBOX-36
DOCOM
24G (I/O power)
Battery voltage drop warning signal connection diagram
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(f) When backing up for more than 8 axes
Add a MDS-BTBOX-36 so that the number of connectable axes for a battery unit is 8 axes or less.
For all of servo drive units supported by one MDS-BTBOX-36, start the control powers ON simultaneously.
CAUTION
1. The battery voltage drop warning signal and SLS (Safely Limited Speed) function door state signal cannot be connected to the same drive unit. To use these function together as a system, connect to the different drive unit.
2. Battery voltage drop warning (9F) can also occur when the cable between the battery box and drive unit is broken.
3. For 2-axis or 3-axis drive unit, the parameter error "E4" or drivers communication error "82" occurs at all the axes when the setting of SV082(SSF5)/bitF-C differs according to axes (except 0 setting).
4. The drive unit which is connected to the battery box and cell battery cannot be used together.
5. Replace the batteries with new ones without turning the control power of the drive unit OFF immediately after the battery voltage drop alarm (9F) has been detected.
6. Replace the batteries while applying the control power of all drive units which are connected to the battery box.
7. When changing the wiring of the CN9 control input, change after SV082(SSF5)/bitF-C is set to 0. Otherwise unexpected alarms can be detected because of a mismatch of the control input signal and setting parameter.
8. Battery voltage drop warning (9F) is released by turning the drive unit power ON again after replacing the battery.
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(4) Converged battery option
When using the following battery options, the wiring between units which configure an absolute position system is required.
Battery option type
A6BAT (MR-BAT)
MDS-BTBOX-36
Installation type
Dedicated case type (built-in MDS-BTCASE)
Unit and battery integration type
Battery charge
Possible
Possible
System configuration
< A6BAT(MR-BAT) Series >
1-axis servo drive unit
(MDS-D2/DH2-V1)
2-axis servo drive unit
(MDS-D2/DH2-V2)
Spindle drive unit
(MDS-D2/DH2-SP)
Power supply unit
(MDS-D2/DH2-CV)
Battery case
MDS-BTCASE +
A6BAT (MR-BAT)
From NC
L+
L-
Servo motor Servo motor
Battery connector connection part magnified figure
BTA
1 2 1 2
BTB
Connector for connecting converged battery
1 2
BT1
Connect the converged battery with BTA or BTB.
POINT
1. This wiring is not required for the drive unit or spindle drive unit which is not an absolute system.
2. Use a shield cable for wiring between drive units.
The drive unit could malfunction.
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< MDS-BTBOX-36 >
(a) MDS-D2/DH2-V1/V2/V3 Series connected in serial
1-axis servo drive unit
(MDS-D2/DH2-V1)
2-axis servo drive unit
(MDS-D2/DH2-V2)
DG22
Spindle drive unit
Power supply unit
(MDS-D2/DH2-SP)
DG24
(MDS-D2/DH2-CV)
DG23
From NC
+24V
RG
I/O power
Battery box
MDS-BTBOX-36
DOCOM
DO(ALM)
LG
+5V
LG
BT
L+
L-
Servo motor Servo motor
Servo drive unit
Battery connector connection part magnified figure
BTA BTB
1 2 1 2
Connector for connecting battery unit
1 2
BT1 For cell battery
Connect the battery unit with BTA or BTB.
Connect either the battery unit or the cell battery.
CAUTION
1. 24V power for DO output must always be turned ON before the NC power input.
2. Spindle drive unit has no battery voltage drop warning function. Wiring to CN9 of drive unit must be always connected to servo drive unit.
3. The total length of battery cable (from the battery unit to the last connected drive unit) must be 30m or less.
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(b) MDS-D2/DH2-V1/V2/V3 Series connected in parallel
From NC
1-axis servo drive unit
(MDS-D2/DH2-V1)
2-axis servo drive unit
(MDS-D2/DH2-V2)
DG2
Spindle drive unit
(MDS-D2/DH2-SP)
DG24
Power supply unit
(MDS-D2/DH2-CV)
DG23
To servo drive unit
BTB BTB
CN9
L+
L-
+24V
RG
I/O power
Battery box
MDS-BTBOX-36
DOCOM
DO(ALM)
LG
+5V
LG
BT
Provide the terminal block to divide the power for backup.
Connect the +5V power and DO output with one of servo drive units.
Servo motor Servo motor
Servo drive unit
Battery connector connection part magnified figure
BTA
1 2 1 2
BTB
Connector for connecting battery unit
1 2
BT1 For cell battery
Connect the battery unit with BTA or BTB.
Connect either the battery unit or the cell battery.
CAUTION
1. 24V power for DO output must always be turned ON before the NC power input.
2. Spindle drive unit has no battery voltage drop warning function. Wiring to CN9 of drive unit must be always connected to servo drive unit.
3. The total length of battery cable (from the battery unit to the last connected drive unit) must be 30m or less.
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5.1.3 Ball Screw Side Encoder (OSA105ET2A, OSA166ET2NA)
(1) Specifications
Mechanical characteristics for rotation
(*1)
(*2)
Electrical characteristics
Mechanical configuration
Working environment
Encoder type
Encoder resolution
Detection method
Accuracy (*1)
Tolerable rotation speed at power off (*2)
Encoder output data
Power consumption
Inertia
Shaft friction torque
Shaft angle acceleration
Tolerable continuous rotation speed
Shaft amplitude
(position 15mm from end)
Tolerable load
(thrust direction/radial direction)
Mass
Degree of protection
Recommended coupling
Ambient temperature
Storage temperature
Humidity
Vibration resistance
Impact resistance
OSA105ET2A
1,000,000 pulse/rev
OSA166ET2NA
16,000,000 pulse/rev
Absolute position method
(battery backup method)
±3 seconds
500r/min
Serial data
0.3A
0.5 x 10
-4 kgm
2
or less
0.1Nm or less
4 x 10 4 rad/s 2 or less
4000r/min
0.02mm or less
9.8N/19.6N
0.6kg
IP67 (The shaft-through portion is excluded.) bellows coupling
0°C to +55°C
-20°C to +85°C
95%Ph
5 to 50Hz, total vibration width 1.5mm, each shaft for 30min
490m/s
2
(50G)
The values above are typical values after the calibration with our shipping test device and are not guaranteed.
If the tolerable rotation speed at power off is exceeded, the absolute position cannot be repaired.
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(2) Outline dimension drawings
OSA105ET2A / OSA166ET2NA
2.7
75
0
-0.020
DIA.
70 DIA.
8.72
85 SQ.
4-5.5 DIA.
45°
100 DIA.
80 DIA.
56
A-A
30
2
A
14
A
0 -0.020
B
B-B
B
10
24
CM10-R10P
(3) Explanation of connectors
7
3
6
2
5
1
4
10 9 8
3
4
5
Pin
1
2
Connector pin layout
Function
RQ
RQ*
-
BAT
LG(GND)
Pin
6
7
8
9
10
Function
SD
SD*
P5(+5V)
-
SHD
[Unit OO ]
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5.1.4 Machine Side Encoder
(1) Relative position encoder
Depending on the output signal specifications, select a machine side relative position encoder with which the following
(a), (b) or (c) is applied.
(a) Serial signal type (serial conversion unit made by each manufacture)
The following serial conversion unit converts the encoder output signal and transmits the signal to the drive unit in serial communication.
For details on the specifications of each conversion unit scale and for purchase, contact each corresponding manufacture directly.
Manufacturer
Magnescale Co., Ltd
HEIDENHAIN CORPORATION
Encoder type
SR67A
SR75
SR85
LS187, LS187C
LS487, LS487C
ERM280 1200
ERM280 2048
Interface unit type
Not required
EIB192M A4 20 μ m
EIB392M A4 20 μ m
EIB192M C4 1200
EIB392M C4 1200
EIB192M C6 2048
EIB392M C6 2048
Minimum detection resolution
0.1
μ m
0.05
μ m
0.01
μ m
Tolerable maximum speed
200m/min
0.0012
μ m 120m/min
0.0000183°
(19,660,800p/rev)
0.0000107°
(33,554,432p/rev)
20000r/min
11718r/min
< Contact information about machine side encoder >
- Magnescale Co., Ltd.: http://www.mgscale.com/mgs/language/english/
- HEIDENHAIN CORPORATION: http://www.heidenhain.com/
CAUTION
The above value does not guarantee the accuracy of the system.
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(b) SIN wave output (using MDS-B-HR)
When using a relative position encoder that the signal is the SIN wave output, the encoder output signal is converted in the encoder conversion unit (MDS-B-HR), and then the signal is transmitted to the drive unit in the serial communication. Select a relative position encoder with A/B phase SIN wave signal that satisfies the following conditions. For details on the specifications of MDS-B-HR, refer to the section "MDS-B-HR".
< Encoder output signal >
- 1Vp-p analog A-phase, B-phase, Z-phase differential output
- Output signal frequency 200kHz or less
Voltage [V]
3.0
A phase B phase
Voltage [V]
A phase
360°
2.5
2.5
2.0
Time
A/B phase output signal waveform during forward run
-45° +45° -45° +45°
Z phase
2.5
Zero crossover
Angle [° ]
Relationship between A phase and Z phase
(When the differential output waveform is measured)
- Combination speed / rotation speed
In use of linear scale:
Maximum speed (m/min) = scale analog signal frequency (m) × 200,000 × 60
In use of rotary encoder:
Maximum rotation speed (r/min) = 200,000 / numbers of encoder scale (1/rev) × 60
An actual Maximum speed/ rotary speed is limited by the mechanical specifications and electrical specifications, etc. of the connected scale, so contact the manufacture of the purchased scale.
- Division number 512 divisions per 1 cycle of signal
In use of linear scale:
Minimum resolution (m) = scale analog signal frequency (m) / 512
In use of rotary encoder:
Minimum resolution (pulse/rev) = numbers of encoder scale (1/rev) × 512
CAUTION
The above value does not guarantee the accuracy of the system.
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(c) Rectangular wave output
Select a relative position encoder 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.
Output circuit
Phase difference
A, B, Z-phase
A-phase
A, B, Z-phase
B-phase
1 cycle
Z-phase
1/4 cycle 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 rectangular wave scale is shown below.
For specifications of each conversion unit and scale and for purchase, Contact each corresponding manufacture directly.
Manufacturer
Magnescale Co., Ltd
HEIDENHAIN CORPORATION
Encoder type
SR67A
SR74
SR84
LS187
LS487
Interface unit type
Not required
IBV 101 (10 divisions)
IBV 102 (100divisions)
IBV 660B (400divisions)
Minimum detection resolution
1.0
μ m
0.5
μ m
0.1
μ m
0.05
μ m
0.5
μ m
0.05
μ m
0.0125
μ m
Tolerable maximum speed
180m/min
125m/min
25m/min
12m/min
120m/min
24m/min
7.5m/min
< Contact information about machine side encoder >
- Magnescale Co., Ltd: http://www.mgscale.com/mgs/language/english/
- HEIDENHAIN CORPORATION: http://www.heidenhain.com/
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(2) Absolute position encoder
The applicable absolute position encoders are as follows.
Manufacturer
Mitsubishi Electric
Corporation
Magnescale
HEIDENHAIN
CORPORATION
Mitutoyo Corporation
Mitsubishi Heavy
Industries Machine Tool
FAGOR Automation
Renishaw plc.
AMO
Schneeberger
Encoder type
MBA405W Series
SR67A
SR77
SR87
RU77
LC193M
LC493M
LC195M
LC495M
LC291M
RCN223M
RCN227M
RCN727M
RCN827M
AT343
AT543
AT545
ST748
MPRZ Series
MPS Series
MPI Series
SAM Series
SVAM Series
GAM Series
LAM Series
HAM Series
RL40N Series
RA Series
LMFA Series
LMBA Series
WMFA Series
WMBA Series
WMRA Series
AMS-ABS-3B Series
Interface unit type
(Provided)
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
ADB-20J71
ADB-20J60
ADB-20J60
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
0.00488
(20/4096) μ m
0.1
μ m
0.000043°
(8,388,608p/rev)
0.05
μ m
0.00005°
(7,200,000p/rev) or
0.000025°
(14,400,000p/rev)
0.05
μ m
0.05
μ m
0.05
μ m
0.1
μ m
0.0000429°
(8,388,608p/rev)
0.0000027°
(134,217,728p/rev)
0.05
μ m
0.001
μ m
0.0000429°
(8,388,608p/rev)
0.0000027°
(134,217,728p/rev)
1 μ m
0.25
μ m
1 μ m
0.25
μ m
250,000r/rev
500,000r/rev
1,000,000r/rev
2,000,000r/rev
4,000,000r/rev
8,000,000r/rev
0.05
μ m
Minimum detection resolution
0.00009°
(4,000,000p/rev)
0.1
μ m
0.05
μ m
0.01
μ m
0.0000429°
(8,388,608p/rev)
0.0000107
(33,554,432p/rev)
0.05
μ m
0.01
μ m
0.01
μ m
0.001
μ m
0.01
μ m
0.0000429°
(8,388,608p/rev)
0.0000027°
(134,217,728p/rev)
0.0000027°
(134,217,728p/rev)
0.05
μ m
0.05
μ m
Tolerable maximum speed
3000r/min
200m/min
2,000r/min
2,000r/min
180m/min
180m/min
180m/min
1,500r/min
1,500r/min
300r/min
120m/min
150m/min
150m/min
300m/min
10,000r/min
3600m/min
5,000r/min
120m/min
120m/min
120m/min
120m/min
6000r/min
6000r/min
6,000m/min
36000r/min
36000r/min
600 m/min
150m/min
300m/min
150m/min
14000r/min
180m/min
163 IB-1501124-D
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5 Dedicated Options
< Contact information about machine side encoder >
- Magnescale Co., Ltd.: http://www.mgscale.com/mgs/language/english/
- HEIDENHAIN CORPORATION: http://www.heidenhain.com/
- Mitutoyo Corporation: http://www.mitutoyo.co.jp/eng/
- Mitsubishi Heavy Industries Machine Tool: http://www.mhi-machinetool.com/en/index.html
- FAGOR Automation: http://www.fagorautomation.com/
- Renishaw plc.: http://www.renishaw.com/
- SCHNEEBERGER AG: https://www.schneeberger.com
- AMO (Automatisierung Messtechnik Optik) GmbH : http://www.amo-gmbh.com/en/
CAUTION
1. Confirm the specifications of each encoder manufacturer before using machine side encoders made by other manufacturers.
2. Refer to "Twin-head Magnetic Encoder (MBA Series)" for details of the specifications of MBA405W.
IB-1501124-D 164
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5 Dedicated Options
5.1.5 Twin-head Magnetic Encoder (MBA Series)
(1) Type description
MBA 405W-B (1) (2)
( 1 )
Symbol
E
F
G
Drum outer diameter
Φ100 mm
Φ150.3 mm
Φ200.6 mm
(2)
Symbol
082
125
160
Drum inner diameter
Φ82 mm
Φ125 mm
Φ160 mm
(2) Specifications
Electrical characteristics
Encoder type
Encoder resolution
Detection method
Accuracy (*1) (*2)
Wave number within one rotation
Encoder output data
Power consumption
Inertia
MBA405W-BE082 MBA405W-BF125
4,000,000p/rev
MBA405W-BG160
Absolute position method (battery backup method)
±4 seconds
512 waves
0.5×10
-3 kg ・ m
2
±3 seconds
768 waves
Serial data
0.2A or less
2.4×10
-3 kg ・ m
2
±2 seconds
1024 waves
8.7×10
-3 kg ・ m
2 Mechanical characteristics for rotation
Tolerable continuous rotation speed 3000r/min 2000r/min 1500r/min
Mechanical configuration
Working environment
(*1)
(*2)
(*3)
Drum inner diameter
Drum outer diameter
Drum mass
Degree of protection (*3)
Ambient temperature range
Storage temperature range
Humidity
Vibration resistance
Impact resistance
Φ 82mm
Φ 100mm
0.2kg
Φ 125mm
Φ 150.3mm
0.46kg
IP67
Φ
Φ
0°C to +55°C
-20°C to +85°C
95%RH
Horizontal direction to the axis: 5G or less,
Vertical direction to the axis: 5G or less
490m/s
2
(50G)
160mm
200.6mm
1.0kg
The values above are typical values after the calibration with our shipping test device and are not guaranteed.
The user is requested to install the magnetic drum and installation ring in the encoder within the accuracy range specified herein. Even when the accuracy of the encoder when shipped and when installed by the user is both within the specified range, there is a difference in the installation position. Therefore, the accuracy at the time of our shipment may not be acquired.
It is the degree of protection when fitted with a connector.
(3) Specifications of preamplifier
Item
Output communication style
Working ambient temperature
Working ambient humidity
Atmosphere
Tolerable vibration
Tolerable impact
Tolerable power voltage
Mass
Degree of protection (*2)
(*1)
(*2)
Specified value
High-speed serial communication I/F
0°C to +55°C
90%RH or less (with no dew condensation)
No toxic gases
Horizontal direction to the axis: 5G or less,
Vertical direction to the axis: 5G or less
490m/s
2
(50G)
DC5V±10%
0.33kg
IP67
The values above are the specified values for the preamplifier provided with a twin-head magnetic encoder.
It is the degree of protection when fitted with a connector.
165 IB-1501124-D
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5 Dedicated Options
(4) Outline dimension drawing
< MBA405W-BE082 >
Hirose Electric
RM15WTPZ-12P(72)
(IP67 in the fitting state)
[Unit: mm]
Main head IP67 ）
Cable length 1200
45°
45°
MC2D009
8Ǿ 3.4 hole evenly spaced around Ǿ 90 circumference
(Drum installation hole)
4Ǿ 5.5
evenly spaced around Ǿ 124 circumference
（ Installation ring hole ）
Installation ring
45°
A 6
BE082
W
6E
K
MBA405W
Magnetic drum
Ǿ
82
(Drum inner diameter)
+0.03
0
Ǿ
100
(Drum outer diameter)
45°
2-M5 pulling tap around Ǿ 124 circumference
BE082
MBA405W
SC2D005
35
Sub head IP67 ）
Z-phase signal position mark
Magnetic drum
Magnetic drum centering track
21.5
20
6
Installation ring
9.5
±0.2
(Dimension from the bottom of installation ring to the bottom of magnetic drum)
C1.5
0 -0.015
< MBA405W-BF125 >
[Unit: mm]
Hirose Electric
RM15WTPZ-12P(72)
(IP67 in the fitting state)
45°
Cable length 1200
Main head IP67 ）
MC2D009
8Ǿ 4.5 hole evenly spaced around Ǿ 134 circumference
(Drum installation hole)
4Ǿ 5.5
evenly spaced around Ǿ 174 circumference
（ Installation ring hole ）
23.5
22
8
45°
Installation ring
MBA405W
Magnetic drum
Installation ring
11.5
±0.2
(Dimension from the bottom of installation ring to the bottom of magnetic drum)
R78
45°
Ǿ
150.3
2-M5 pulling tap around Ǿ 174 circumference
+0.03 0
Ǿ
125
(Drum inner diameter) BF125
MBA405W
45°
35
SC2D005
Sub head IP67 ）
Magnetic drum
Z-phase signal position mark
Magnetic drum centering track
C1.5
IB-1501124-D 166
MDS-D2/DH2 Series Specifications Manual
5 Dedicated Options
< MBA405W-BG160 >
Cable length 1200
Hirose Electric
RM15WTPZ-12P(72)
(IP67 in the fitting state)
45°
45°
R103
Main head IP67 ）
MC2D009
Ǿ
160
+0.05
0
(Drum inner diameter)
Ǿ
200.6
[Unit: mm]
8Ǿ 5.5 hole evenly spaced around Ǿ 170 circumference
(Drum installation hole)
4Ǿ 6.6
evenly spaced around Ǿ 226 circumference
（ Installation ring hole ）
Installation ring
25.5
24
10
Installation ring
45°
13.5
±0.2
(Dimension from the bottom of installation ring to the bottom of magnetic drum)
A 6W6EOK
MBA405W
Magnetic drum
0 -0.015
2-M5 pulling tap around Ǿ 226 circumference
45°
BG160
MBA405W
SC2D005
Magnetic drum
35
Sub head IP67 ）
Z-phase signal position mark
Magnetic drum centering track
C1.5
< Preamplifier (common) >
Hirose Electric
RM15WTRZBK-12S(72)
(IP67 in the fitting state)
[Unit: mm]
100
78
66
□□□□□□□□ ENCODER MBA405W-BG160
SER. J5AVV6W6EOK DATE 1206
A 0
MITSUBISHI ELECTRIC CORP.
MADE IN JAPAN
×
4Ǿ 3.4 hole
Hirose Electric
RM15WTRZB-12P(72)
(IP67 in the fitting state)
Hirose Electric
Protective cap
RM15TR-C4(71)
Hirose Electric
RM15WTRZB-10P(72)
(IP67 in the fitting state)
Hirose Electric
RM15WTRZBK-12S(72)
(IP67 in the fitting state)
105
Preamplifier
167 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
5 Dedicated Options
< Explanation of connectors >
Connector name
CN1-1
CN1-2
CN2
CN3
< Connector pin layout >
Application
For connection with scale (main head)
For connection with scale (sub head)
For connection with servo drive unit
For connection with motor thermistor
1
9
8
2 10 12 7
3
4
11
5
6
CN2 < Drive unit >
Pin No.
1
2
3
6
7
4
5
8
9
10
11
12
Function
-
BT
SD
SD*
SHD
MT1
RQ
RQ*
P5
LG
MT2
CNT
Pin No.
1
2
3
6
7
4
5
8
9
10
11
12
2
3
1
9
10
8
7
6
4 5
CN3 < Thermistor>
Function
-
-
MT1-i
-
-
-
-
-
MT2-i
-
-
-
IB-1501124-D 168
MDS-D2/DH2 Series Specifications Manual
5 Dedicated Options
5.2 Spindle Options
According to the spindle control to be adopted, select the spindle side encoder based on the following table.
(1) No-variable speed control
(When spindle and motor are directly coupled or coupled with a 1:1 gear ratio)
Spindle control item
Control specifications Without spindle side encoder With spindle side encoder
Spindle control
Orientation control
Synchronous tap control
Spindle synchronous control
C-axis control
Normal cutting control
Constant surface speed control (lathe)
Thread cutting (lathe)
1-point orientation control
Multi-point orientation control
Orientation indexing
Standard synchronous tap
Synchronous tap after zero point return
Without phase alignment function
With phase alignment function
●
●
●
●
●
●
●
●
●
●
This normally is not used for novariable speed control.
C-axis control ● (Note 2) ●
(Note 1) ● :Control possible x :Control not possible
(Note 2) When spindle and motor are coupled with a 1:1 gear ratio, use of a spindle side encoder is recommended to assure the precision.
(2) Variable speed control
(When using V-belt, or when spindle and motor are connected with a gear ratio other than 1:1)
Spindle control item
Control specifications
Spindle control
Normal cutting control
Constant surface speed control (lathe)
Thread cutting (lathe)
1-point orientation control
Orientation control
Multi-point orientation control
Orientation indexing
Synchronous tap control
Spindle synchronous control
Standard synchronous tap
Synchronous tap after zero point return
Without phase alignment function
With phase alignment function
C-axis control C-axis control
Without spindle side encoder
●
● (Note 2) x x x x
● (Note 3) x
● (Note 2) x
With spindle side encoder
TS5690/ERM280/
MPCI/MBE405W
Series
OSE-1024
● ●
Proximity switch
●
●
●
●
●
●
●
●
●
● x ●
(Note 1) ● :Control possible x :Control not possible
(Note 2) Control not possible when connected with the V-belt.
(Note 3) Control not possible when connected with other than the gears.
(Note 4) Orientation is carried out after the spindle is stopped when a proximity switch is used.
As for 2-axis spindle drive unit, setting is available only for one of the axes.
●
●
●
●
●
●
●
●
● x
● (Note 2) x
● (Note 4) x x
● (Note 3) x
● (Note 2) x x
(3) Cautions for connecting the spindle end with an OSE-1024 encoder
[1] Confirm that the gear ratio (pulley ratio) of the spindle end to the encoder is 1:1.
[2] Use a timing belt when connecting by a belt.
169 IB-1501124-D
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5 Dedicated Options
5.2.1 Spindle Side ABZ Pulse Output Encoder (OSE-1024 Series)
When a spindle and motor are connected with a V-belt, or connected with a gear ratio other than 1:1, use this spindle side encoder to detect the position and speed of the spindle. Also use this encoder when orientation control and synchronous tap control, etc are executed under the above conditions.
(1) Specifications
Mechanical characteristic s for rotation
Encoder type
Inertia
Shaft friction torque
Shaft angle acceleration
Tolerable continuous rotation speed
Bearing maximum non-lubrication time
Shaft run-out
(position 15mm from end)
OSE-1024-3-15-68
0.1x10
-4 kgm 2 or less
0.98Nm or less
10
4 rad/s
2
or less
6000 r/min
20000h/6000r/min
0.02mm or less
OSE-1024-3-15-68-8
0.1x10
-4 kgm 2 or less
0.98Nm or less
10
4 rad/s
2
or less
8000 r/min
20000h/8000r/min
0.02mm or less
Mechanical configuration
Working environment
Tolerable load
(thrust direction/radial direction)
Mass
Degree of protection
Squareness of flange to shaft
Flange matching eccentricity
Ambient temperature range
Storage temperature range
Humidity
Vibration resistance
Impact resistance
10kg/20kg
Half of value during operation
1.5kg
IP54
0.05mm or less
0.05mm or less
10kg/20kg
Half of value during operation
1.5kg
-5°C to +55°C
-20°C to +85°C
95%Ph
5 to 50Hz, total vibration width 1.5mm, each shaft for 30min.
294.20m/s
2
(30G)
(Note) Confirm that the gear ratio (pulley ratio) of the spindle end to the encoder is 1:1.
(2) Detection signals
Signal name
A, B phase
Z phase
Number of detection pulses
1024p/rev
1p/rev
E
F
C
D
Pin
A
B
G
H
J
Connector pin layout
Function
A+ signal
Z+ signal
B+ signal
-
Case grounding
-
-
+5V
-
Pin
K
L
M
N
P
R
S
T
Function
0V
-
-
A- signal
Z- signal
B- signal
-
-
IB-1501124-D 170
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5 Dedicated Options
(3) Outline dimension drawings
102 33 غ 68
MS3102A20 -29P
3 2
4Ǿ 5.4 hole
2
5
+0.012
0
20
1.15
+0.14
0
Shaft section
Key way magnified figure
Spindle side encoder (OSE-1024-3-15-68, OSE-1024-3-15-68-8)
[Unit: mm]
171 IB-1501124-D
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5 Dedicated Options
5.2.2 Spindle Side PLG Serial Output Encoder (TS5690, MU1606 Series)
This encoder is used when a more accurate synchronous tapping control or C-axis control than OSE encoder is performed to the spindle which is not directly-connected to the spindle motor.
(1) Type configuration
<Sensor type>
TS5690N (1) (2)
(1)
Symbol
64
12
25
The number of compatible detection gear teeth
64
128
256
(2)
Symbol
10
20
30
40
60
Length of the cable
400mm
800mm
1200mm
1600mm
2000mm
<Detection gear type>
MU1606N (1) (2)
(1)
Symbol
6
7
8
The number of detection gear teeth
64
128
256
(2) Each specification number
(2) Specifications
Sensor
Series type xx (The end of the type name)
Length of lead [mm]
Detection gear
Type
The number of teeth
Outer diameter [mm]
Inner diameter [mm]
Thickness [mm]
Shrink fitting [mm]
Notched fitting section
Outer diameter [mm]
Outer diameter tolerance [mm]
A/B phase The number of output pulse
Z phase
Detection resolution [p/rev]
Absolute accuracy at stop
Tolerable speed [r/min]
Signal output
10
400
±10
TS5690N64xx
20 30 40
800
±20
1200
±20
1600
±30
MU1606N601
64
Φ 52.8
Φ 40H5
12
0.020 to 0.040
Φ 72.0
+0.010 to +0.060
64
1
2 million
150"
40,000
60
2000
±30
10
400
±10
20
TS5690N12xx
30 40
800
±20
1200
±20
1600
±30
MU1606N709
128
Φ 104.0
Φ 80H5
12
0.030 to 0.055
Φ 122.0
-0.025 to +0.025
128
1
4 million
100"
20,000
Mitsubishi high-speed serial
60
2000
±30
10
400
±10
20
TS5690N25xx
30 40
800
±20
1200
±20
1600
±30
MU1606N805
256
Φ 206.4
Φ 140H5
14
0.050 to 0.085
Φ 223.6
-0.025 to +0.025
256
1
8 million
95"
10,000
60
2000
±30
CAUTION
1.Selected encoders must be able to tolerate the maximum rotation speed of the spindle.
2.Please contact your Mitsubishi Electric dealer for the special products not listed above.
IB-1501124-D 172
MDS-D2/DH2 Series Specifications Manual
5 Dedicated Options
(3) Outline dimension drawings
CAUTION
Always apply the notched fitting section machining with the specified dimensions to the sensor installation surface.
< TS5690N64xx + MU1606N601 >
Sensor mounting face (Note 4)
Ǿ 7
5
16.5
29
5.5
Round crimp contact for thermistor 0.5-4
(For M4 screw)
100±10
A
Output connector (by Tyco Electronics)
Housing (Cap) #172161-1
Contact (Socket) #170365-4
Accessories (Note 5)
Housing (Plug) #172169-1 Qty : 1
Contact (Pin) #170363-4 Qty : 9
A 23.7
Name plate
Sensor model and
Serial No. written
2Ǿ 5.8
Ground
50
38
14.5
[Unit: mm]
Central line of detection gear
(Note 4)
R1
3.3
C0.5
C0.5
C part
(Note 2)
D part (Note 3)
Ǿ 2 hole for identification
Detection gear
8
12
4
One notch (For Z phase signal)
The number of teeth 64
(For A, B phase signals)
(Note 1) Handle with care as this is a precision component.
(Note 2)
Pay special attention not to apply excessive external force on the sensor’s detection face. Applying such force will cause a fault.
+ 0.060
In installing the sensor, keep the protruding fitting of Ǿ 72 mm on the machine side, and push the C part of the sensor mounting seat against the fitting.
+ 0.010
(Note 3) In installing the detection gear, make sure that the D part side comes the opposite side of the sensor installation side (sensor’s lead wire side).
(Note 4) The diviation of the center of the detection gear is 16.5±0.25mm from the sensor mounting face.
(Note 5) A connector of the signal cable side (one plug and nine pins) is attached.
Parts name
TS5690N6410
TS5690N6420
TS5690N6430
TS5690N6440
TS5690N6460
Sensor
Lead wire length A [mm]
400±10
800±20
1200±20
1600±30
2000±30
Detection gear
Parts name
MU1606N601
22
14
Projection for connector lock
Seen from Arrow A
3
3 2 1
RQ MT1 MT2
6
SD*
5
SD
4
RQ*
9 8 7
FG 5G +5V
Pin layout of output connector
Sensor mounting face
+0.060 +0.010
Encoder mounting face of machine side
173 IB-1501124-D
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5 Dedicated Options
< TS5690N12xx + MU1606N709 >
Round crimp contact for thermistor 0.5-4
(For M4 screw)
100±10
Sensor mounting face (Note 4)
Ǿ 7
5
16.5
29
A
2Ǿ 5.8
Ground
23.7
50
38
14.5
A
5.5
Central line of detection gear
(Note 4)
R1
3.3
C0.5
C0.5
Output connector (by Tyco Electronics)
Housing (Cap) #172161-1
Contact (Socket) #170365-4
Accessories (Note 5)
Housing (Plug) #172169-1 Qty: 1
Contact (Pin) #170363-4 Qty: 9
Name plate
Sensor model and
Serial No. written
C part (Note 2)
D part (Note 3)
Ǿ 2 hole for identification
[Unit: mm]
90 2-M5 screw
IB-1501124-D
Detection gear 3
Sensor mounting face
8
12
4
One notch (For Z phase signal)
The number of teeth 128
(For A, B phase signals)
(Note 1) Handle with care as this is a precision component.
Pay special attention not to apply excessive external force on the sensor’s detection face. Applying such force will cause a fault.
(Note 2) In installing the sensor, keep the protruding fitting of Ǿ 122±0.025
mm on the machine side, and push the C part of the sensor mounting seat against the fitting.
(Note 3)
(Note 4)
In installing the detection gear, make sure that the D part side comes the opposite side of the sensor installation side (sensor’s lead wire side).
The diviation of the center of the detection gear is 16.5±0.25mm from the sensor mounting face.
(Note 5) A connector of the signal cable side (one plug and nine pins) is attached.
Parts name
TS5690N1210
TS5690N1220
TS5690N1230
TS5690N1240
TS5690N1260
Sensor
Lead wire length A [mm]
400±10
800±20
1200±20
1600±30
2000±30
Detection gear
Parts name
MU1606N709
Encoder mounting face of machine side
22
14
Projection for connector lock
Seen from Arrow A
3 2 1
RQ MT1 MT2
6
SD*
5
SD
4
RQ*
9 8 7
FG 5G +5V
Pin layout of output connector
174
MDS-D2/DH2 Series Specifications Manual
5 Dedicated Options
< TS5690N25xx + MU1606N805 >
Sensor mounting face (Note 4) 29
16.5
5
5.5
Central line of detection gear
(Note 4)
3.3
C0.5
C0.5
[Unit: mm]
Output connector (by Tyco Electronics)
Housing (Cap) #172161-1
Contact (Socket) #170365-4
Accessories (Note 5)
Contact (Pin) #170363-4 Qty: 9
Housing (Plug) #172169-1 Qty: 1
Round crimp contact for thermistor 0.5-4
(For M4 screw)
50
38
100±10
14.5
2Ǿ 5.8
Ground
R1
Ａ 23.7
Name plate
Sensor model and
Serial No. written
Ａ
C part (Note 2)
D part (Note 3)
Ǿ 2 hole for identification
180 2-M8 screw
Detection gear
The number of teeth 256
(For A, B phase signals)
1
8 4
12 1
14
One notch (For Z phase signal)
(Note 1) Handle with care as this is a precision component.
Pay special attention not to apply excessive external force on the sensor’s detection face. Applying such force will cause a fault.
(Note 2)
(Note 3)
(Note 4)
(Note 5)
In installing the sensor, keep the protruding fitting of Ǿ 223.6±0.025
mm on the machine side, and push the C part of the sensor mounting seat against the fitting.
In installing the detection gear, make sure that the D part side comes the opposite side of the sensor installation side (sensor’s lead wire side).
The diviation of the center of the detection gear is 16.5±0.25mm from the sensor mounting face.
A connector of the signal cable side (one plug and nine pins) is attached.
Parts name
TS5690N2510
TS5690N2520
TS5690N2530
TS5690N2540
TS5690N2560
Sensor
Lead wire length A [mm]
400±10
800±20
1200±20
1600±30
2000±30
Detection gear
Parts name
MU1606N805
3
Sensor mounting face
Encoder mounting face of machine side
Projection for connector lock
22
14
Seen from Arrow A
3
RQ
2
MT1
1
MT2
6 5 4
SD* SD RQ*
9 8 7
FG 5G +5V
Pin layout of output connector
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5.2.3 Twin-head Magnetic Encoder (MBE Series)
(1) Type description
MBE 405W-B (1) (2)
( 1 )
Symbol
E
F
G
Drum outer diameter
Φ100mm
Φ150.3mm
Φ200.6mm
(2)
Symbol
082
125
160
Drum inner diameter
Φ82mm
Φ125mm
Φ160mm
(2) Specifications
Electrical characteristics
Encoder type
Encoder resolution
Detection method
Accuracy (*1) (*2)
Wave number within one rotation
Encoder output data
Power consumption
Inertia
MBE405W-BE082
±4 seconds
512 waves
MBE405W-BF125
4,000,000p/rev
Incremental
±3 seconds
768 waves
Serial data
0.2A or less
2.4×10
-3 kg ・ m
2
MBE405W-BG160
±2 seconds
1024 waves
Mechanical characteristics for rotation
Tolerable continuous rotation speed
0.5×10
-3 kg ・ m
2
15000r/min 10000r/min
8.7×10
-3 kg ・ m
2
8000r/min
Mechanical configuration
Working environment
(*1)
(*2)
(*3)
Drum inner diameter
Drum outer diameter
Drum mass
Degree of protection (*3)
Ambient temperature range
Storage temperature range
Humidity
Vibration resistance
Impact resistance
Φ 82mm
Φ 100mm
0.2kg
Φ 125mm
Φ 150.3mm
0.46kg
IP67
Φ
Φ
160mm
200.6mm
1.0kg
0°C to +55°C
-20°C to +85°C
95%RH
Horizontal direction to the axis: 5G or less,
Vertical direction to the axis: 5G or less
490m/s
2
(50G)
The values above are typical values after the calibration with our shipping test device and are not guaranteed.
The user is requested to install the magnetic drum and installation ring in the encoder within the accuracy range specified herein. Even when the accuracy of the encoder when shipped and when installed by the user is both within the specified range, there is a difference in the installation position. Therefore, the accuracy at the time of our shipment may not be acquired.
It is the degree of protection when fitted with a connector.
(3) Specifications of preamplifier
Item
Output communication style
Working ambient temperature
Working ambient humidity
Atmosphere
Tolerable vibration
Tolerable impact
Tolerable power voltage
Mass
Degree of protection (*2)
Specified value
High-speed serial communication I/F
0°C to +55°C
90%RH or less (with no dew condensation)
No toxic gases
Horizontal direction to the axis: 5G or less,
Vertical direction to the axis: 5G or less
490m/s 2 (50G)
DC5V±10%
0.33kg
IP67
(*1) The values above are the specified values for the preamplifier provided with a twin-head magnetic encoder.
(*2) It is the degree of protection when fitted with a connector.
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（ 4) Outline dimension drawing
< MBE405W-BE082 >
[Unit: mm]
Main head IP67 ）
Hirose Electric
RM15WTPZ-12P(72)
(IP67 in the fitting state)
Cable length 1200
45°
45°
MC2D009
8Ǿ 3.4 hole evenly spaced around Ǿ 90 circumference
(Drum installation hole)
4Ǿ 5.5
evenly spaced around Ǿ 124 circumference
（ Installation ring hole ）
Installation ring
45°
A 6W6EOK
BE082
MBA405W
Magnetic drum
Ǿ
82
(Drum inner diameter)
+0.03
0
Ǿ
100
(Drum outer diameter)
45°
2-M5 pulling tap around Ǿ 124 circumference
BE082
MBA405W
SC2D005
35
Sub head IP67 ）
Z-phase signal position mark
Magnetic drum
Magnetic drum centering track
21.5
20
6
Installation ring
9.5
±0.2
(Dimension from the bottom of installation ring to the bottom of magnetic drum)
C1.5
0 -0.015
< MBE405W-BF125 >
[Unit: mm]
Hirose Electric
RM15WTPZ-12P(72)
(IP67 in the fitting state)
45°
Cable length 1200
Main head IP67 ）
MC2D009
8Ǿ 4.5 hole evenly spaced around Ǿ 134 circumference
(Drum installation hole)
4Ǿ 5.5
evenly spaced around Ǿ 174 circumference
（ Installation ring hole ）
23.5
22
8
45°
Installation ring
A 6W6EOK
MBA405W
Magnetic drum
Installation ring
11.5
±0.2
(Dimension from the bottom of installation ring to the bottom of magnetic drum)
R78
45°
Ǿ
150.3
2-M5 pulling tap around Ǿ 174 circumference
+0.03 0
Ǿ
125
(Drum inner diameter)
BF125
MBA405W
45°
35
SC2D005
Sub head IP67 ）
Magnetic drum
Z-phase signal position mark
Magnetic drum centering track
C1.5
177 IB-1501124-D
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< MBE405W-BG160 >
Cable length 1200
Hirose Electric
RM15WTPZ-12P(72)
(IP67 in the fitting state)
45°
45°
< Preamplifier (common) >
Hirose Electric
RM15WTRZBK-12S(72)
(IP67 in the fitting state)
R103
Main head IP67 ）
MC2D009
Ǿ
160
+0.05
0
(Drum inner diameter)
Ǿ
200.6
[Unit: mm]
8Ǿ 5.5 hole evenly spaced around Ǿ 170 circumference
(Drum installation hole)
4Ǿ 6.6
evenly spaced around Ǿ 226 circumference
（ Installation ring hole ）
Installation ring
25.5
24
10
Installation ring
45°
13.5
±0.2
(Dimension from the bottom of installation ring to the bottom of magnetic drum)
A 6W6EOK
MBA405W
Magnetic drum
0 -0.015
2-M5 pulling tap around Ǿ 226 circumference
45°
BG160
MBA405W
SC2D005
Magnetic drum
35
Sub head IP67 ）
Z-phase signal position mark
Magnetic drum centering track
C1.5
[Unit: mm]
100
78
66
□□□□□□□□ ENCODER MBA405W-BG160
SER. J5AVV6W6EOK DATE 1206
A 0
MITSUBISHI ELECTRIC CORP.
MADE IN JAPAN
×
4Ǿ 3.4 hole
Hirose Electric
RM15WTRZB-12P(72)
(IP67 in the fitting state)
Hirose Electric
Protective cap
RM15TR-C4(71)
Hirose Electric
RM15WTRZB-10P(72)
(IP67 in the fitting state)
Hirose Electric
RM15WTRZBK-12S(72)
(IP67 in the fitting state)
105
Preamplifier
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< Explanation of connectors >
Connector name
CN1-1
CN1-2
CN2
CN3
< Connector pin layout >
Application
For connection with scale (main head)
For connection with scale (sub head)
For connection with spindle drive unit
For connection with motor thermistor
1
9
8
2 10 12 7
3
4
11
5
6
CN2 < Drive unit >
7
8
9
10
11
12
Pin No.
1
2
5
6
3
4
Function
-
-
SD
SD*
SHD
MT1
RQ
RQ*
P5
LG
MT2
CNT
7
8
9
10
11
12
Pin No.
1
2
5
6
3
4
2
3
1
9
10
8
4 5
7
6
CN3 < Thermistor>
Function
-
-
MT1-i
-
-
-
-
-
MT2-i
-
-
-
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5.2.4 Spindle Side Accuracy Serial Output Encoder (ERM280, MPCI Series)
(Other Manufacturer's Product)
C-axis control encoder is used in order to perform an accurate C-axis control.
Manufacturer
HEIDENHAIN
CORPORATION
Mitsubishi Heavy Industries
Machine Tool
Encoder type
ERM280 1200
ERM280 2048
MPCI series
Interface unit type
EIB192M C4 1200
EIB392M C4 1200
EIB192M C6 2048
EIB392M C6 2048
ADB-20J20
Minimum detection resolution
0.0000183°
(19,660,800p/rev)
0.0000107°
(33,554,432p/rev)
0.00005°
(7200000p/rev)
Tolerable maximum speed
20000 r/min
11718 r/min
10000 r/min
<Contact information about machine side encoder>
- HEIDENHAIN CORPORATION: http://www.heidenhain.com/
- Mitsubishi Heavy Industries Machine Tool: http://www.mhi-machinetool.com/en/index.html
CAUTION
Confirm specifications of each encoder manufacturer before using the machine side encoder.
5.2.5 Machine Side Encoder
Refer to the section "5.1.4 Machine Side Encoder".
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5.3 Encoder Interface Unit
5.3.1 Serial Output Interface Unit for ABZ Analog Encoder MDS-B-HR
This unit superimposes the scale analog output raw waves, and generates high resolution position data. Increasing the encoder resolution is effective for the servo high-gain. MDS-B-HR-12(P) is used for the synchronous control system that 1scale 2-drive operation is possible.
(1) Type configuration
MDS-B-HR- (1) (2)
(1) Signal division function class
Symbol Scale output voltage class
11
12
Output number 1
Output number 2 (with division)
(2) Specifications
Type MDS-B-HR-
Compatible scale (example)
Signal 2-division function
Analog signal input specifications
Compatible frequency
Scale resolution
Input/output communication style
Working ambient temperature
Working ambient humidity
Atmosphere
Tolerable vibration
Tolerable impact
Tolerable power voltage
Maximum heating value
Mass
Degree of protection
(2) Degree of protection
Symbol Degree of protection
None
P
IP65
IP67
11
-
12 11P
LS186 / LS486 / LS186C / LS486C (HEIDENHAIN)
* -
A-phase, B-phase, Z-phase (Amplitude 1Vp-p)
Analog raw waveform max. 200kHz
Analog raw waveform/512 division
High-speed serial communication I/F, RS485 or equivalent
0 to 55°C
90%RH or less (with no dew condensation)
No toxic gases
98.0 m/s
2
(10G)
294.0 m/s
2
(30G)
5VDC±5%
2W
0.5kg or less
IP65 IP67
12P
*
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(3) Explanation of connectors
Connector name
CON1
CON2
CON3
CON4
Application
For connection with servo drive unit (2nd system)
For connection with servo drive unit
For connection with scale
For connection with pole detection unit
(MDS-B-MD)
Remarks
Not provided for 1-part system specifications
*Used for linear servo system
Pin No.
CON1
Function
3
4
1
2
RQ+ signal
RQ- signal
SD+ signal
SD- signal
7
8
5
6
P5
P5
GND
GND
Pin No.
CON2
Function
3
4
1
2
RQ+ signal
RQ- signal
SD+ signal
SD- signal
7
8
5
6
P5
P5
GND
GND
7
8
9
10
11
12
Pin No.
1
2
5
6
3
4
CON3
Function
A+ phase signal
A- phase signal
B+ phase signal
B- phase signal
Z+ phase signal
Z- phase signal
-
-
-
-
P5
GND
Pin No.
1
2
5
6
3
4
7
8
9
10
CON4
Function
A phase signal
REF signal
B phase signal
REF signal
P24
MOH signal
P5
P5
TH signal
GND
< Connector pin layout >
Connector
CON1
CON2
CON3
CON4
Type
RM15WTR-8P (Hirose Electric)
RM15WTR-12S (Hirose Electric)
RM15WTR-10S (Hirose Electric)
2
1
3
8
4
7
5
6
CON1
CON2
(4) Outline dimension drawings
6.5
8 9 1
6
7
5
12
10
11
4
2
3
CON3
152
7
8
9
6
5
1
2
10
4
3
CON4
6.5
46
RM15WTR-10S
RM15WTR-8Px2
RM15WTR-12S
40
4-5 DIA.
[Unit:mm]
IB-1501124-D
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(5) Example of wiring
MDS-D2/DH2-V1/V2/V3/SP/SP2 MDS-D2/DH2-CV
CN2/3
MDS-B-HR
CON1 CON2
(Note 1)
(Note 3)
CON3 CON4
(Note 5)
(Note 4)
(Note 2)
Motor/Machine end encoder
Control panel
Grounding bar
(Note 1) Install the MDS-B-HR unit outside the control panel.
(Note 2) For connections between an encoder and MDS-B-HR unit, keep the cable length as short as possible.
(Note 3) Ground the MDS-B-HR unit.
(Note 4) Place a ferrite core as close as possible to the MDS-B-HR unit.
Wind the cable around the unit one time when installing a ferrite core.
(Note 5) Use shielded cables and join the shield to the connector shell.
183 IB-1501124-D
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5.3.2 Serial Signal Division Unit MDS-B-SD
This unit has a function to divide the position and speed signals fed back from the high-speed serial encoder and high-speed serial linear scale. This unit is used to carry out synchronized control of the motor with two MDS-D2/DH2-V1 drive units.
(1) Specifications
Type
Compatible servo drive unit
Input/output communication style
Working ambient temperature
Working ambient humidity
Atmosphere
Tolerable vibration
Tolerable impact
Tolerable power voltage
Maximum heating value
Mass
Degree of protection
MDS-B-SD
MDS-D2/DH2-V1□
High-speed serial communication I/F, RS485 or equivalent
0 to 55°C
90%RH or less (with no dew condensation)
No toxic gases
98.0 m/s
2
(10G)
294.0 m/s
2
(30G)
5VDC±10%
4W
0.5kg or less
IP20
POINT
Always provide one MDS-B-SD unit for one speed command synchronous control operation.
The CN2 system's CN2A and the CN3 system's CN3A cannot be connected to different servo drive units.
(2) Explanation of connectors
Pin No.
1
2
5
6
3
4
7
8
9
10
Encoder connector : CN2
Name Pin No.
LG 11
12
SD
RQ
13
14
15
16
BAT
P5 (+5V)
17
18
19
20
Name
LG
SD*
RQ*
P5 (+5V)
< Connector pin layout >
Encoder connector 㸸 CN2
Pin No.
No.1
No.10
No.11
No.20
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(3) Outline dimension drawings
40
Encoder
CN2
Primary axis
CN2A
Secondary axis
CN2B
CN3
CN3A
CN3B
70
Wiring allowance
135
6
2-M5-0.8 screw
34 6
Mounting hole [Unit: mm]
185 IB-1501124-D
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5.3.3 Pulse Output Interface Unit for ABZ Analog Encoder IBV Series
(Other Manufacturer's Product)
(1) Appearance
IBV100 series
(2) Specifications
Type
Manufacturer HEIDENHAIN
Input signal
Maximum input frequency
Output signal
Interpolation division number
Compatible encoder
Minimum detection resolution
Working temperature
Degree of protection
Mass
(3) Outline dimension drawings
IBV100 series
38.5±1
98
86±0.2
IBV600 series
IBV 101
Maximum 10 divisions
LS187, LS487
0.5
μ m
IBV 102
HEIDENHAIN CORPORATION
A-phase, B-phase: SIN wave 1Vpp, Z-phase
400kHz
IBV 660B
Rectangular wave pulse signal
Maximum 100 divisions Maximum 400 divisions
LS187, LS487
0.05
μ m
LS187, LS487
0.0125
μ m
0°C to 70°C
IP65
300g
(Note)
14 .5
Φ 4.5
Φ 7.5
(Note) This can be fixed with two screws.
M4 × 16 ISO 4762/DIN 912
IBV600 series
57
7±1
M4
[Unit: mm]
175
M4
22 74
59
163±0.2
6
9
[Unit : mm]
CAUTION
These are other manufacturer's products. When purchasing these products, refer to the manufacturer's information materials for the product specifications.
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5.3.4 Serial Output Interface Unit for ABZ Analog Encoder EIB192M
(Other Manufacturer's Product)
(1) Appearance
(2) Specifications
Type
Manufacturer
Input signal
Maximum input frequency
Output signal
Interpolation division number
Compatible encoder
Minimum detection resolution
Working temperature
Degree of protection
Mass
(3) Outline dimension drawings
EIB192M A4 20 μ m EIB192M C4 1200
HEIDENHAIN CORPORATION
EIB192M C4 2048
A-phase, B-phase: SIN wave 1Vpp, Z-phase
400kHz
Mitsubishi high-speed serial signal (Mitsu02-4)
Maximum 16384 divisions
LS187, LS487
0.0012
μ m
ERM280 1200
0.0000183°
(19,660,800p/rev)
ERM280 2048
0.0000107°
(33,554,432p/rev)
0°C to 70°C
IP65
300g
38.5±1
98
86±0.2
14.5
㧔 Note 㧕
Ǿ 4.5
Ǿ 7.5
㧔 Note 㧕 㧔 M4×16 DIN 912/ISO 4762 㧕
7±1
M4
[Unit : mm]
CAUTION
These are other manufacturer's products. When purchasing these products, refer to the manufacturer's information materials for the product specifications.
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5.3.5 Serial Output Interface Unit for ABZ Analog Encoder EIB392M
(Other Manufacturer's Product)
(1) Appearance
(2) Specifications
Type
Manufacturer
Input signal
Maximum input frequency
Output signal
Interpolation division number
Compatible encoder
Minimum detection resolution
Working temperature
Degree of protection
Mass
(3) Outline dimension drawings
EIB392M A4 20 μ m EIB392M C4 1200
HEIDENHAIN CORPORATION
EIB392M C4 2048
A-phase, B-phase: SIN wave 1Vpp, Z-phase
400kHz
Mitsubishi high-speed serial signal (Mitsu02-4)
Maximum 16384 divisions
LS187, LS487
0.0012
μ m
ERM280 1200
0.0000183°
(19,660,800p/rev)
ERM280 2048
0.0000107°
(33,554,432p/rev)
0°C to 70°C
IP40
140g
76.5
[Unit : mm]
CAUTION
These are other manufacturer's products. When purchasing these products, refer to the manufacturer's information materials for the product specifications.
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5.3.6 Serial Output Interface Unit for ABZ Analog Encoder ADB-20J Series
(Other Manufacturer's Product)
(1) Appearance
(2) Specifications
Manufacturer
Type
Maximum response speed
Output signal
Compatible encoder
Minimum detection resolution
Working temperature
Degree of protection
Mass
(3) Outline dimension drawings
ADB-20J20
10,000r/min
MPCI Series
0.00005°
(7,200,000p/rev)
ADB-20J60
Mitsubishi Heavy Industries Machine Tool Co., Ltd.
3,600m/min 5,000r/min
Mitsubishi high-speed serial signal
MPS Series
0.05
μ m
MPI Series
0.000025°
(1,440,000p/rev)
0°C to 55°C
IP20
0.9kg
ADB-20J71
10,000r/min
MPRZ Series
0.000043°
(8,388,608p/rev)
190
180
160
[Unit：mm]
43
M4 screw ×4
Part side Label side
CAUTION
These are other manufacturer's products. When purchasing these products, refer to the manufacturer's information materials for the product specifications.
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5.4 Drive Unit Option
5.4.1 Optical Communication Repeater Unit (FCU7-EX022)
When the distance of the optical communication cable between NC control unit and drive unit is over 30m (M700V/M70V/E70
Series: maximum 30m, M700/M70/C70 Series: maximum 20m), the communication can be performed by relaying the optical signal.
Using up to two units, relay of the total length of up to 90m can be performed.
<Product features>
(a) When the distance of the optical communication cable between NC control unit and drive unit is over 30m, the communication can be performed by relaying the optical signal.
(b) The relay between NC control unit and drive unit can be performed for up to two channels.
(c) If the distance between NC control unit and drive unit is even within 30m, the cable can be divided by the relay in transporting the machine.
(d) Same mounting dimension as the remote I/O unit (DX unit).
CAUTION
This unit can not be used between drive units.
(1) Specifications
DC24V input
Optical interface
Environment
Dimension
Mass
Item
Input voltage
Inrush current
Power consumption
Consumption current
Channel number
Connectable number
Ambient temperature
Operation
Ambient humidity
Storage
Operation
(long term)
Operation
(short term)
Storage
Operation
Vibration
Transportation
Impact resistance Operation
Atmosphere
Dimension
Mounting method
FCU7-EX022
24V±10% (21.6V to 26.4V)
35A
10W
0.4A
2 channels
Maximum 2
0°C to +55°C
-20°C to +60°C
+10%RH to +75%RH (with no dew condensation)
+10%RH to +95%RH
(with no dew condensation. Short term is within about one month.)
+10%RH to +75%RH (with no dew condensation)
4.9m/s 2
34.3m/s 2
29.4m/s
2
No corrosive gas, oil mist, or dust
(depth)135mm × (width)40mm × (height)168mm
Screw cramp with M5 2 screw cramps
0.42kg
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(2) Explanation of connectors
Connector name
OPT1IN,
OPT1OUT,
OPT2IN,
OPT2OUT
DCIN
DCOUT
Application
Optical connector
DC24V Power connector
DC24V/ Power OFF detection output connector
ACFAIL
Remarks
Power OFF detection connector
Relays the PD25/27 output to NC control unit.
Relays the power OFF detection signal (ACFAIL) when sharing 24V power from PD25/PD27 for NC control unit and optical communication repeater unit.
It will not be used when dedicated general-purpose power supply for optical communication repeater unit is prepared.
FG FG Faston terminal
Pin No.
1
2
DCIN
Name
DC24V
0V (RG)
3 FG
Pin No.
A1
A2
A3
< Connector pin layout >
Optical communication
I/F (OPT1IN, OPT1OUT,
OPT2IN, OPT2OUT)
DC24V input (DCIN)
1 3
Name
DCOUT
Pin No.
ACFAIL
COM
B1
B2
NC B3
Name
DC24V
0V (RG)
FG
ACFAIL
Pin No.
Name
1
2
COM
ACFAIL
DC24V output (DCOUT)
Power OFF input
ACFAIL
(Terminal name:CF01)
B1 B3
2 1
FG terminal (FG)
FG
A1 A3
< Cable side connector type >
(PCF type)
Connector: CF-2D101-S
Recommended manufacturer: Japan Aviation
Electronics
(POF type)
Connector: PF-2D101
Recommended manufacturer:
Japan Aviation Electronics
< PCB side connector type >
Connector: 2-178293-5
Recommended manufacturer: Tyco
Electronics
<Cable side connector type>
Connector: 2-178288-3
Contact: 1-175218-5
Recommended manufacturer:
Tyco Electronics
< PCB side connector type >
Connector: 3-178137-5
Recommended manufacturer: Tyco
Electronics
<Cable side connector type>
Connector: 2-178127-6
Contact: 1-175218-5
Recommended manufacturer:
Tyco Electronics
< PCB side connector type >
Connector: 53103-0230
Recommended manufacturer: MOLEX
<Cable side connector type>
Connector: 005057-9402
Contact: 0016020103
Recommended manufacturer:
MOLEX
< Cable side faston terminal type name >
Type name: 175022-1
(For AWG20-14 250 series)
Recommended manufacturer: Tyco
Electronics
Terminal protection tube:
174817-2 (Yellow)
[Unit:mm]
Φ2.0
6.2
5.0
9.6
0.9
0.8
± 0.025
Unit side tab terminal shape
(Note) The faston terminal
"175022-1" of the cable side is a simple lock type. Make sure to insert until the simple lock pin is in the Φ second hole. Firmly press the simple lock release tab when unplugging it.
191 IB-1501124-D
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5 Dedicated Options
(3) Outline dimension drawings
5 40
OPT1IN
OPT1OUT
OPT2IN
OPT2OUT
FUSE
DCOUT
FG
135
DCIN
ACFAIL
2-M5-0.8 screw
34 6
[Unit: mm]
IB-1501124-D 192
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5 Dedicated Options
5.4.2 DC Connection Bar
When connecting a large capacity drive unit with L+L- terminal of power supply unit, DC connection bar is required. In use of the following large capacity drive units, use a dedicated DC connection bar. The DC connection bar to be used depends on the connected power supply, so make a selection according to the following table.
Series Required connection bar
MDS-D2
MDS-DH2
Large capacity drive unit
MDS-D2-SP-400
MDS-D2-SP-640
MDS-D2-SP-400
MDS-D2-SP-640
MDS-DH2-SP-200
MDS-DH2-SP-320
MDS-DH2-SP-480
MDS-DH2-V1-200
MDS-DH2-SP-200
MDS-DH2-SP-320
MDS-DH2-V1-200
Power supply unit
MDS-D2-CV-300
MDS-D2-CV-370
MDS-D2-CV-450
MDS-D2-CV-550
MDS-DH2-CV-550
MDS-DH2-CV-750
MDS-DH2-CV-300
MDS-DH2-CV-370
MDS-DH2-CV-450
MDS-DH2-CV-185
D-BAR-B1006
D-BAR-A1010
(Two-parts set)
DH-BAR-A0606
(Two-parts set)
DH-BAR-B0606
DH-BAR-C0606
(1) Outline dimension drawings
D-BAR-A1010
24 12 DIA.
t3
D-BAR-B1006
12 DIA.
14
[Unit:mm]
㧔 17 㧕 57.5
89
14.5
(Note) D-BAR-A1010 is a set of two DC connection bars.
DH-BAR-A0606
14
7 DIA.
DH-BAR-B0606
7 DIA.
t3
12 46.5
67
8.5
(Note) DH-BAR-A0606 is a set of two DC connection bars.
DH-BAR-C0606
7 DIA.
14
133.5
138
14
93.5
POINT
Always install a large capacity drive unit in the left side of power supply unit, and connect with DC connection bar.
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5 Dedicated Options
5.4.3 Side Protection Cover
Install the side protection cover outside the both ends of the connected units.
(Installation method 1): Installation of medium capacity unit
(1)
(2)
(2)
(2)
(1)
(Installation method 2): Installation of large capacity unit
< For MDS-D2 Series >
(1): Install the side protection cover
(type: D-COVER-1).
(2): Close the front cover.
(Note) For MDS-D2-CV-37/75,
install the cover (type: E-COVER-1).
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(2)
(2)
(1): Install the front cover.
(2): Install the side protection cover
on the right side.
IB-1501124-D 194
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5 Dedicated Options
< For MDS-DH2 Series >
(2)
(2)
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(1): Install the front cover.
(2): Install the side protection cover.
(2)
(2)
(1)
POINT
< MDS-D2 Series >
One side cover for the large capacity unit is supplied per large capacity power supply unit as standard.
< MDS-DH2 Series >
One side cover for the large capacity unit is supplied per large capacity power supply unit and per large capacity drive unit as standard, respectively.
195 IB-1501124-D
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5 Dedicated Options
5.4.4 Power Backup Unit (MDS-D/DH-PFU)
MDS-D/DH-PFU unit is a system to protect the machine and the drive units safely by decelerating and stopping the motor at power failure. There are two unit types of 200V specification and 400V specification in accordance with the NC servo and spindle system.
(1) Type configuration
MDS(1) -PFU
(1)
Symbol
D
DH
Voltage class
200V
400V
(2) Specifications
Model Name
Rated voltage [V]
AC Input
DC Input and output
Frequency [Hz]
Rated current [A]
Rated voltage [V]
Rated current [A]
AC output for control power supply backup
Voltage [V]
Current [A]
Maximum number of connectable drive units
Changeover time
Minimum backup time
Degree of protection
Ambient temperature
Environment
Ambient humidity
Atmosphere
Cooling method
Mass [kg]
Noise
Altitude
Vibration
MDS-D-PFU
200 to 230AC (50/60Hz)
Tolerable fluctuation : between +10% and -15%
MDS-DH-PFU
380 to 480AC (50/60Hz)
(Exclusively for earthed-star supply system))
Tolerable fluctuation : between +10% and -10%
50/60 Tolerable fluctuation : between +3% and -3%
4
270 to 311DC
2
513 to 648DC
Regenerating Input: MAX 300A
Powering Output: MAX 200A
Single phase 200 to 230VAC (50Hz or 60Hz)
50Hz at backup
MAX 4
Regenerating Input: MAX 200A
Powering Output: MAX 160A
Single phase 380 to 480VAC (50Hz or 60Hz)
50Hz at backup
MAX 2
6 (excluding power supply units)
100ms or less after instantaneous interruption of AC input
75ms or longer 75ms or longer
(When 200VAC is input and the maximum number of connectable drive units is connected)
(When 380VAC is input and the maximum number of connectable drive units is connected)
IP20 (Except for Terminal block and Connector)
Operation: 0 to 55°C (with no freezing)
Storage / Transportation: -15°C to 70°C (with no freezing)
Operation / 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: 13000 meters or less above sea level
Operation / Storage: 4.9m/s 2 (0.5G) or less
Natural air cooling
4
Less than 55dB
IB-1501124-D 196
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5 Dedicated Options
(3) Outline dimension drawings
< MDS-D-PFU / MDS-DH-PFU >
22
80
20
16.5
90 200
[Unit : mm]
197 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
5 Dedicated Options
(4) Explanation of each part
< MDS-D-PFU / MDS-DH-PFU >
(1)
(6)
(4)
(5)
(7)
(2) (3)
7 segment LED SW1 SW2 SW3
(8)
(13)
(12)
(10)
(11)
(9)
(14)
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
Control l circuit
Main circuit
Name
LED
SW1
SW2,SW3
CN40
CN41
CN42
CN43
Charge
LED
TE1
TE2
TE3
TE4
L1
L2
L3
---
---
---
---
---
---
---
---
L+
L-
OUT-L11
OUT-L21
C+
C-
Application
Unit status indication 7 segment LED
Function setting rotary switch
Function setting DIP switch
(Not used)
For connecting MDS-D2/DH2-CV
Maintenance
DIO
Voltage status indication between TE4 terminals
Control power input terminal (Three-phase AC input)
Power backup unit voltage input/output terminal
Connected to the L+ and L- terminals of the power supply unit
Power backup unit voltage output terminal (AC output)
Connected to the L11 and L21 terminals of the power supply unit and drive unit
Capacitor unit connection terminal
(13)
(14)
TE5
PE
R1
R2
Regenerative resistor connection terminal
Grounding terminal
Screw size
---
---
---
---
---
---
---
---
---
M6×16
Tightening torque
4.0Nm
M4×12
Tightening torque
1.2Nm
M6×16
Tightening torque
4.0Nm
M6×16
Tightening torque
4.0Nm
M4×12
Tightening torque
1.2Nm
Compatible wire
---
---
---
---
---
---
---
---
AWG#14
(2mm
2
)
AWG#4
(22 mm 2 ) or above
AWG#14
(2mm
2
)
AWG#10
(5.5mm
2
)
AWG#10
(5.5 mm
2
)
AWG#14
(2mm
2
)
IB-1501124-D 198
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5 Dedicated Options
(5) Explanation of connectors
< CN43 connector >
No.
1B
2B
5B
10B
1A
2A
3A
10A
Signal name
24VOUT
DO_COM
DO2
THM1
24GOUT
DO_COM2
DO_COM2
THM2(24GOUT)
Function
Internal 24V output
DO common terminal
Tool escape request
Thermal error detection
Internal 24V output GND
DO common terminal 2
DO common terminal 2
Thermal error detection
Description
Internal 24V output. This enables connection to the 24V input power supply for DO.
(Note that the DO output current should be 100mA or less.)
Common terminal for DO output circuit
ON:Normal, OFF: Tool escape request
Shorted: Normal, Open: Error detection
GND for internal 24V input
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5 Dedicated Options
5.4.5 Regenerative Resistors for Power Backup Unit (R-UNIT-6,7)
Check the availability of connection of the power backup unit and the regenerative resistor for the power backup unit.
The regenerative resistor generates heats, so wire and install the unit while taking care to safety.
(1) Specifications
Model Name
Compatible power backup unit name
Resistance value [ Ω ]
Instantaneous regeneration capacity [kW]
Allowable regeneration workload [kJ]
Ambient temperature
Environment
Ambient humidity
Atmosphere
Altitude
Cooling method
Mass [kg]
Vibration
R-UNIT-7
MDS-D-PFU
1.4
114
R-UNIT-6
MDS-DH-PFU
5
128
180 180
Operation: 0 to 55°C (with no freezing)
Storage / Transportation: -15°C to 70°C (with no freezing)
Operation / 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: 13000 meters or less above sea level
Operation / Storage: 4.9m/s 2 (0.5G) or less
Natural air cooling
10
CAUTION
1. Only the designated combination can be used for the power backup unit and the regenerative resistor for the power backup unit.
There is a risk of fire, so always use the designated combination.
2. Select the function selection rotary switch (SW1) of the power backup unit according to the regenerative resistor for the power backup unit to be used.
(2) Outline dimension drawings
< R-UNIT-6 / R-UNIT-7 >
[ Unit : mm]
3∅ 6 hole
19.6
IB-1501124-D
6
18 120
M4 screw
6
120
276
167
144
6
23
34.6
100
200
MDS-D2/DH2 Series Specifications Manual
5 Dedicated Options
(3) Explanation of each part
< R-UNIT-6 / R-UNIT-7 >
(1)
(2)
(3)
(4)
Name
(1)
(2)
(3)
(4)
R1
R2
AL1
AL2
(5) E
Function
PFU connection terminal
Thermal connection output terminal
Grounding terminal
(5)
Compatible wire
AWG10
(5.5 mm 2 )
AWG#18 to AWG#24
(0.75mm
2 to 0.2mm
2 )
AWG10
(5.5 mm 2 )
Terminal specification
M4 screw
Compatible crimp terminal: Round:
Up to 5.5-4
M4 screw
Compatible crimp terminal: Round:
Up to 1.25-4
M4 screw
Compatible crimp terminal: Round:
Up to 5.5-4
201 IB-1501124-D
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5 Dedicated Options
5.4.6 Capacitor Unit for Power Backup Unit (MDS-D/DH-CU)
Check the availability of connection of the power backup unit and the capacitor unit. The powering energy at retraction/ tool escape is supplied to the capacitor unit.
(1) Specifications
Model Name
Compatible power backup unit name
Capacity [ μ F]
DC Input and output
Rated voltage [V]
Ambient temperature
Environment
Ambient humidity
Atmosphere
Altitude
Cooling method
Mass [kg]
Vibration
MDS-D-CU
MDS-D-PFU
28000
DC270 to 311
MDS-DH-CU
MDS-DH-PFU
7000
DC513 to 648
Operation: 0 to 55°C (with no freezing)
Storage / Transportation: -15°C to 70°C (with no freezing)
Operation / 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: 13000 meters or less above sea level
Operation / Storage: 4.9m/s 2 (0.5G) or less
Natural air cooling
11
CAUTION
1. Only the designated combination can be used for the power backup unit and the capacitor unit.
There is a risk of fire, so always use the designated combination.
2. Do not reverse the polarity when connecting.
3. When using the retraction/tool escape function, the supported software version for the power backup unit is A1 or later.
4. Select the function setting dip switch (SW2) of the power backup unit according to the capacitor unit to be used.
(2) Outline dimension drawings
< MDS-D-CU/MDS-DH-CU >
[Unit : mm]
34.5
22 22.5
45
6
60
150
6
45
200
260
60
IB-1501124-D 202
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5 Dedicated Options
(3) Explanation of each part
< MDS-D-CU/MDS-DH-CU >
(1)
(3)
(1)
(2)
(3)
(4)
Charge LED
Name
TE1
TE2
---
C+
C-
C+
C-
PE
(4)
(2)
Function
Voltage status indication between TE1 terminals
PFU connection terminal
Capacitor unit connection terminal (for extension)
Grounding terminal
Compatible wire
---
AWG#4
(22 mm 2 )
AWG#4
(22 mm 2 )
AWG#10
(5.5 mm 2 )
Terminal specification
---
M10 screw
Compatible crimp terminal: Round:
Up to 8-10
M6 screw
Compatible crimp terminal: Round:
Up to 8-6
M10 screw
Compatible crimp terminal: Round:
Up to 8-10
203 IB-1501124-D
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5 Dedicated Options
5.5 Cables and Connectors
5.5.1 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. Purchase a connector set, etc., to create special length cables.
From NC
CN2
CN3
1-axis servo drive unit
(MDS-D2/DH2-V1)
Optical communication cable
CN20
CN2L
CN3L
Brake connector
CN2M
CN3M
2-axis servo drive unit
(MDS-D2/DH2-V2)
Spindle drive unit
(MDS-D2/DH2-SP)
Optical communication cable
CN2
CN3
Battery cable
Power supply communication cable
CN4
For external emergency stop
Power supply unit
(MDS-D2/DH2-CV)
CN23
Option battery for servo drive unit
CN24
Battery case
(MDS-BTCASE+A6BAT)
DOCOM
DO(ALM)
LG
+5V
LG
BT
L+
L-
Battery unit
MDS-D2 Series:
3-phase 200VAC power supply
MDS-DH2 Series:
3-phase 400VAC power supply
Circuit protector
(Note) Prepared
by user.
AC reactor
(D/DH-AL)
Contactor
(Note) Prepared
by user.
Circuit protector or protection fuse
(Note) Prepared by user.
Power connector
Power connector
To 2nd axis servo
To 3rd axis servo
To brake control
Contactor control output
Power cable (Only connector is supplied.)
Spindle encoder cable
< Motor side PLG cable >
Spindle encoder cable
< Spindle side encoder cable >
Power cable (Only connector is supplied.)
Brake cable (Only connector is supplied.)
Servo encoder cable
< Motor side encoder cable >
Spindle side encoder
Brake connector
Power connector
Servomotor
Servo encoder cable
<MDS-B-SD unit cable >
Spindle motor
Battery connector
To battery holder
Cell battery built in drive unit
(ER6V-C119B)
Mitsubishi serial signal output
Servo encoder cable
<Linear scale cable for MDS-B-SD>
(Note) Prepared by user.
Servo encoder cable
<MDS-B-HR unit cable >
Encoder conversion unit
(MDS-B-HR)
Servo encoder cable
< Linear scale cable> (Note) Prepared by user.
Servo encoder cable
< Ball screw side encoder cable >
Signal divider unit (MDS-B-SD)
ABZ SIN wave signal output
Servo encoder cable
< Linear scale cable for MDS-B-HR >
(Note) Prepared by user.
Mitsubishi serial signal output
Linear scale
(for full closed loop control)
(Note) Prepared by user.
Ball screw side encoder
IB-1501124-D 204
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5 Dedicated Options
< When MDS-D/DH-PFU is connected >
Not required when the spindle is coasted to a stop using the retraction function at power failure.
Regenerative resistor for power backup unit
(R-UNIT-6,7)
1-axis servo drive unit
(MDS-D2/DH2-V1)
2-axis servo drive unit
(MDS-D2/DH2-V2)
Spindle drive unit
(MDS-D2/DH2-SP)
From NC
CN2
CN3
L+
L-
Optical communication cable
CN20
CN2L
CN3L
Brake connector
CN2M
CN3M
Optical communication cable
CN2
CN3
For external emergency stop
Power supply unit
(MDS-D2/DH2-CV)
Power supply communication cable
CN4
CN4
CN41
CN23
CN24
Power backup unit
(MDS-D/DH-PFU)
CN41
CN43
TE5
TE4
Capacitor unit
MDS-D/DH-CU
TE2
Power connector
To 1st axis servo
To 2nd axis servo
To 3rd axis servo
Power connector
Contactor control output
Contactor
(Note) Prepared
by user.
AC reactor
(D/DH-AL)
To spindle
Circuit protector
(Note) Prepared
by user.
TE1
TE1
Circuit protector
(Note) Prepared
by user.
Essential when using retraction function at power failure
MDS-D2 Series:
3-phase 200VAC power supply
MDS-DH2 Series:
3-phase 400VAC power supply
205 IB-1501124-D
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5 Dedicated Options
5.5.2 List of Cables and Connectors
< Optical communication cable >
Item
Optical communication cable
For wiring between drive units
(inside panel)
Model
G396 L □ M
□ : Length
0.3, 0.5, 1, 2, 3, 5m
Drive unit side connector
(Japan Aviation Electronics
Industry)
Connector: PF-2D103
Contents
Drive unit side connector
(Japan Aviation Electronics
Industry)
Connector: PF-2D103
For
CN1A/
CN1B/
OPT1A
Optical communication cable
For wiring between drive units
(outside panel)
For NC - drive unit
G395 L □ M
□ : Length
1, 2, 3, 5, 7, 10m
Drive unit side connector
(Japan Aviation Electronics
Industry)
Connector: PF-2D103
Drive unit side connector
(Japan Aviation Electronics
Industry)
Connector: PF-2D103
Optical communication cable
For wiring between drive units
(outside panel)
For optical communication repeater unit
G380 L □ M
□ : Length
5, 10, 12, 15, 20, 25,
30m
Drive unit side connector
(Tyco Electronics)
Connector: 1123445-1
Drive unit side connector
(Tyco Electronics)
Connector: 1123445-1
(Note) For details on the optical communication cable, refer to the section "Optical Communication Cable Specification".
< Battery cable and connector >
Item Model Contents
Drive unit side connector
(Hirose Electric)
Connector: DF1B-2S-2.5R
Contact: DF1B-2428SCA (Note 2)
Battery unit side connector
(3M)
Connector: 10120-3000VE
Shell kit : 10320-52F0-008
Battery cable
(For drive unit - battery unit)
DG21□ M
□ : Length
0.3, 0.5, 1, 5m
Compatible part (Note 1)
(J.S.T)
Connector : MS-P20-L
Shell kit : MS20-2B-28
For battery unit
Battery cable
(For drive unit - battery box)
DG23□ M
□ : Length
0.3, 0.5, 1, 2, 3, 5, 7,
10m
Drive unit side connector
(Hirose Electric)
Connector: DF1B-2S-2.5R
Contact: DF1B-2428SCA (Note 2)
Battery box side (Note 3)
5V supply/DO output cable
(For drive unit - battery box)
DG24□ M
□ : Length
0.3, 0.5, 1, 2, 3, 5, 7,
10m
Drive unit side connector
(3M)
Connector: 10120-6000EL
Contact: 10320-3210-000
Battery box side (Note 3 )
For drive unit
Battery cable
(For drive unit - drive unit)
*This cable is required to supply the power from the battery unit to multiple drive units.
DG22□ M
□ : Length
0.3, 0.5, 1, 2, 3, 5, 7,
10m
Drive unit side connector
(Hirose Electric)
Connector: DF1B-2S-2.5R
Contact: DF1B-2428SCA (Note 2)
Drive unit side connector
(Hirose Electric)
Connector: DF1B-2S-2.5R
Contact: DF1B-2428SCA (Note 2)
Drive unit side connector
(3M)
Connector: 10120-3000VE
Shell kit : 10320-52F0-008
Power supply unit side connector
(3M)
Connector: 10120-3000VE
Shell kit : 10320-52F0-008
For CN9
Battery cable
Connector set:
FCUA-CS000
Compatible part (Note 1)
(J.S.T)
Connector : MS-P20-L
Shell kit : MS20-2B-28
Compatible part (Note 1)
(J.S.T)
Connector : MS-P20-L
Shell kit : MS20-2B-28
(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.
(Note 2) Hand crimping tools: DF1B-TA2428SHC
(Note 3) The battery box side is connected using a bare conductor or a bar terminal.
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5 Dedicated Options
< Power supply communication cable and connector >
Item
For CN4/9 Power supply communication cable
For CN4/9
Power supply communication cable connector set
For CN23 Contactor control output connector
For CN24 External emergency stop connector
Model
SH21
Length:
0.35, 0.5, 0.7, 1, 1.5,
2,2.5,
3, 3.5, 4, 4.5, 5, 6, 7, 8, 9,
10, 15, 20, 30m
Drive unit side connector
(3M)
Connector: 10120-6000EL
Shell kit : 10320-3210-000
Drive unit side connector
(3M)
Connector: 10120-3000VE
Shell kit : 10320-52F0-008
FCUA-CS000
Compatible part (Note 1)
(J.S.T)
Connector : MS-P20-L
Shell kit : MS20-2B-28
Power supply unit side connector
(J.S.T.)
03JFAT-SAXGSA-L
CNU23SCV2(AWG14)
These connectors are supplied for each power supply unit.
Applicable cable size:
0.85mm
2 to 3.5mm
2
Cable finish outside diameter: to Φ 4.2mm
Connection lever
J-FAT-OT-EXL
(J.S.T.)
CNU24S (AWG24)
Contents
Compatible part (Note 1)
(J.S.T)
Connector : MS-P20-L
Shell kit : MS20-2B-28
Power supply unit side connector
(DDK)
Connector : DK-2100D-08R
Contact : DK-2RECSLP1-100 (Note 2)
Power supply unit side connector
(3M)
Connector: 10120-6000EL
Shell kit : 10320-3210-000
Power supply unit side connector
(3M)
Connector: 10120-3000VE
Shell kit : 10320-52F0-008
< Power backup unit (MDS-D/DH-PFU) cable and connector >
Item Model
For TE1 (For power supply)
05JFAT-SAXGSA-L
(J.S.T.)
Contents
For power backup unit
TE1
Power connector for MDS-D/DH-PFU CNU01SPFU (AWG14)
Connection lever
J-FAT-OT-EXL
(J.S.T.)
For power backup unit
CN43
Input/output connector for MDS-D/DH-
PFU
CNU43S(AWG22)
For CN43
(DDK)
Connector: DK-2100D-20R
Contact: DK-2RECMLP1-100 (Note 3)
For power backup unit
CN41
Power supply communication cable
SH21
Length:
0.35, 0.5, 0.7, 1, 1.5,
2,2.5,
3, 3.5, 4, 4.5, 5, 6, 7, 8, 9,
10, 15, 20, 30m
Drive unit side connector
(3M)
Connector: 10120-6000EL
Shell kit : 10320-3210-000
Power supply unit side connector
(3M)
Connector: 10120-6000EL
Shell kit : 10320-3210-000
(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.
(Note 2) Hand crimping tools:357J-22733
(Note 3) Hand crimping tools:357J-22734
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< STO input connector >
Item
STO cable
For
CN8
STO short-circuit connector
Model Contents
Connector set ： 2069250-1
(Tyco Electronics)
MR-D05UDL3M-B
These connectors are supplied for each drive unit.
Required when not using dedicated wiring STO function.
Drive unit side connector
(Tyco Electronics)
1971153-1
< Optical communication repeater unit >
For
OPT1/2
Item
Optical communication cable
For wiring between drive unit and optical communication repeater unit/
For wiring between optical communication repeater units
Model
G380-L □ M
□ : Length
5, 10, 12, 15, 20, 25, 30m
For
DCIN
For optical communication repeater unit
DC24V power cable
Contents
Drive unit side/
Optical communication repeater unit side connector
(Tyco Electronics)
Connector: 1123445-1
Optical communication repeater unit side connector
(Tyco Electronics)
Connector: 1123445-1
F070
□ : Length
0.5, 1.5, 3, 5, 8, 10, 15, 20m
DC24V power side terminal
(J.S.T.)
Crimp terminal: V1.25-3 or V1.25-4 × 2
Optical communication repeater unit side connector
(Tyco Electronics)
Connector: 2-178288-3
Contact: 1-175218-5 × 3 (Note 1)
DCIN
For
DCIN/
ACFAIL
For optical communication repeater unit/
For connecting
Mitsubishi power unit
PD25, PD27
DC24V power cable
(power OFF detection)
F110
□ : Length
0.5, 1.5, 3, 5, 8, 10, 15m
DC24V power side connector
(Tyco Electronics)
Connector: 3-178127-6
Contact:
1-175218-5 (for AWG16) × 3 (Note 1)
1-175217-5 (for AWG22) × 2 (Note 2)
Optical communication repeater unit side connector
< DCIN >
(Tyco Electronics)
Connector: 2-178288-3
Contact: 1-175218-5 × 3 (Note 1)
< ACFAIL (CF01) >
(MOLEX)
005057-9402
0016020103 × 2 (Note 3)
DCIN
DCOUT
CF01
(Note 1) Hand crimping tools: 91558-1
(Note 2) Hand crimping tools: 91557-1
(Note 3) Hand crimping tools: 57036-5000
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< Servo / tool spindle encoder cable and connector >
Item Model
Drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit : 36310-3200-008
Contents
Motor encoder/
Ball screw side encoder side connector (DDK)
Plug : CMV1-SP10S-M2
Contact: CMV1-#22ASC-S1
CNV2E-8P□ M
□ : Length
2, 3, 4, 5,
7, 10, 15, 20,
25, 30m
Compatible part (Note 1)
(MOLEX)
Connector set : 54599-1019
(J.S.T.)
Plug connector : XV-10P-03-L-R
Cable kit : XV-PCK10-R
For
CN2/3
For HF/HF-H, HP/HP-H
/ For HF-KP (Tool spindle)
Motor side encoder cable (for A48/A51/A74N)
Drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit : 36310-3200-008
Motor encoder/
Ball screw side encoder side connector (DDK)
Plug : CMV1-AP10S-M2
Contact: CMV1-#22ASC-S1
CNV2E-9P□ M
□ : Length
2, 3, 4, 5,
7, 10, 15, 20,
25, 30m
Compatible part (Note 1)
(MOLEX)
Connector set : 54599-1019
(J.S.T.)
Plug connector : XV-10P-03-L-R
Cable kit : XV-PCK10-R
Drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit : 36310-3200-008
Motor encoder/
Ball screw side encoder side connector (Tyco Electronics)
Connector: 1674320-1
For
CN2/3
Direct connecti on type
For HF-KP (Servo)
Motor side encoder cable
CNV2E-K1P□ M
Lead out in direction of motor shaft
□ : Length
2, 3, 5, 7, 10,m
Compatible with only IP65
Compatible part (Note 1)
(MOLEX)
Connector set : 54599-1019
(J.S.T.)
Plug connector : XV-10P-03-L-R
Cable kit : XV-PCK10-R
Drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit : 36310-3200-008
Motor encoder/
Ball screw side encoder side connector (Tyco Electronics)
Connector: 1674320-1
CNV2E-K2P□ M
Lead out in opposite direction of motor shaft
□ : Length
2, 3, 5, 7, 10,m
Compatible with only IP65
Compatible part (Note 1)
(MOLEX)
Connector set : 54599-1019
(J.S.T.)
Plug connector : XV-10P-03-L-R
Cable kit : XV-PCK10-R
(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.
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For
CN2/3
Relay type
(Note 1)
Item Model
CNV22J-K1P-0.3M
Lead out in direction of motor shaft
Length: 0.3m
Compatible with only IP65
Drive unit side connector
(DDK)
Plug: CM10-CR10P-M
For HF-KP (Servo)
Motor side encoder relay cable
(motor side)
CNV22J-K2P-0.3M
Lead out in opposite direction of motor shaft
Length: 0.3m
Compatible with only IP65
Drive unit side connector
(DDK)
Plug: CM10-CR10P-M
Drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit : 36310-3200-008
For HF-KP (Servo)
Motor side encoder relay cable
(Drive unit side)
CNV2E-8P□ M
□ : Length
15, 20, 25, 30m
Compatible part (Note 2)
(MOLEX)
Connector set : 54599-1019
(J.S.T.)
Plug connector : XV-10P-03-L-R
Cable kit : XV-PCK10-R
Contents
Motor encoder/
Ball screw side encoder side connector (Tyco Electronics)
Plug : 1747464-1
Contact: 1674335-4
Motor encoder/
Ball screw side encoder side connector (Tyco Electronics)
Plug : 1747464-1
Contact: 1674335-4
Motor encoder/
Ball screw side encoder side connector (DDK)
Plug : CMV1-SP10S-M2
Contact: CMV1-#22ASC-S1
Motor encoder/
Ball screw side encoder side connector (DDK)
Plug : CMV1-SP10S-M2
Contact: CMV1-#22ASC-S1 For motor encoder/
Ball screw side encoder
Motor side encoder connector/
Ball screw side encoder connector
CNE10-R10S(9)
Applicable cable outline
Φ 6.0 to 9.0mm
CNE10-R10L(9)
Applicable cable outline
Φ 6.0 to 9.0mm
Motor encoder/
Ball screw side encoder side connector (DDK)
Plug : CMV1-AP10S-M2
Contact: CMV1-#22ASC-S1
CN3
For MDS-
B-HR unit
MDS-B-HR unit cable
MDS-B-HR connector
(For CON1,2: 1)
(For CON3: 1)
Drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit : 36310-3200-008
CNV2E-HP□ M
□ : Length
2, 3, 4, 5,
7, 10, 15, 20,
25, 30m
CNEHRS(10)
Applicable cable outline
Φ 8.5 to 11mm
Compatible part (Note 2)
(MOLEX)
Connector set : 54599-1019
(J.S.T.)
Plug connector : XV-10P-03-L-R
Cable kit : XV-PCK10-R
MDS-B-HR unit side connector
(Hirose Electric)
Plug : RM15WTPZ-8S(71) (for CON1, 2)
RM15WTPZ-12P(71) (for CON3)
Clamp: JR13WCCA-10(72) (10)
MDS-B-HR unit side connector
(Hirose Electric)
Plug : RM15WTPZ-8S(71)
Clamp: JR13WCCA-10(72)
(Note 1) When using cable of 15m or longer, use relay cable.
(Note 2) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.
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Item Model
Drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit : 36310-3200-008
Contents
MDS-B-SD unit side connector
(3M)
Connector: 10120-3000VE
Shell kit : 10320-52F0-008
CN3 MDS-B-SD unit cable
CNV2E-D□ M
□ : Length
2, 3, 4, 5,
7, 10, 15, 20,
25, 30m
Compatible part (Note 1)
(MOLEX)
Connector set : 54599-1019
(J.S.T.)
Plug connector : XV-10P-03-L-R
Cable kit : XV-PCK10-R
MDS-B-SD unit side connector
(3M)
Connector: 10120-3000VE
Shell kit : 10320-52F0-008
Compatible part (Note 1)
(MOLEX)
Connector: MS-P20-L
Shell kit: MS20-2B-28
MDS-B-SD unit side connector
(J.S.T)
Connector: 10120-3000VE
Shell kit : 10320-52F0-008
For MDS-
B-SD unit
MDS-B-SD connector
(Two-piece set)
FCUA-CS000
Compatible part (Note 1)
(J.S.T.)
Connector: MS-P20-L
Shell kit: MS20-2B-28
Drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit : 36310-3200-008
Compatible part (Note 1)
(J.S.T.)
Connector: MS-P20-L
Shell kit: MS20-2B-28
For
CN2/3
Encoder connector CNU2S(AWG18)
Compatible part (Note 1)
(MOLEX)
Connector set : 54599-1019
(J.S.T.)
Plug connector : XV-10P-03-L-R
Cable kit : XV-PCK10-R
(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.
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< Brake cable and connector >
Item Model
CNB10-R2S(6)
Applicable cable outline
Φ 4.0 to 6.0mm
Brake connector for
< 200V series >
HF,HP
< 400V series >
HF-H, HP-H CNB10-R2L(6)
Applicable cable outline
Φ 4.0 to 6.0mm
For motor brake MR-BKS1CBL □ M-A1-H
Lead out in direction of motor shaft
□ : Length
2, 3, 5, 7, 10m
Brake cable for
< 200V series >
HF-KP
MR-BKS1CBL □ M-A2-H
Lead out in opposite direction of motor shaft
□ : Length
2, 3, 5, 7, 10m
For CN20
Brake connector for motor brake control output
CNU20S(AWG14)
Servo drive unit side connector
(DDK)
Connector : DK-3200S-03R
Contact: DK-3REC2LLP1-100 (Note 1)
Contents
Servo motor side brake connector (DDK)
Plug : CMV1-SP2S-S
Contact: CMV1-#22BSC-S2
Servo motor side brake connector (DDK)
Plug : CMV1-AP2S-S
Contact: CMV1-#22BSC-S2
Servo motor side brake connector
(Japan Aviation Electronics Industry)
Plug : JN4FT02SJ1-R
Contact: ST-TMH-S-C1B-100-(A534G)
Servo motor side brake connector
(Japan Aviation Electronics Industry)
Plug : JN4FT02SJ1-R
Contact: ST-TMH-S-C1B-100-(A534G)
(Note 1) Hand crimping tools: 357J-22113
< Power connector >
Item Model
Power connector for
< 200V series >
HF75, 105, 54,104,154, 224,
123, 223, 142
HP54,104,154,224
< 400V series >
HF-H54,104,154
HP-H54,104,154,224
CNP18-10S(14)
Applicable cable outline
Φ 10.5 to 14mm
CNP18-10L(14)
Applicable cable outline
Φ 10.5 to 14mm
For motor power
CNP22-22S(16)
Applicable cable outline
Φ 12.5 to 16mm
Power connector for
< 200V series >
HF204,354,303, 453, 302
HP204,354,454
< 400V series >
HF-H204,354,453,703
HP-H204,354,454,704
CNP22-22L(16)
Applicable cable outline
Φ 12.5 to 16mm
Contents
Motor side power connector (DDK)
Plug: CE05-6A18-10SD-C-BSS
Clamp: CE3057-10A-1 (D240)
Motor side power connector (DDK)
Plug: CE05-8A18-10SD-C-BAS
Clamp: CE3057-10A-1 (D240)
Motor side power connector (DDK)
Plug: CE05-6A22-22SD-C-BSS
Clamp: CE3057-12A-1 (D240)
Motor side power connector (DDK)
Plug: CE05-8A22-22SD-C-BAS
Clamp: CE3057-12A-1 (D240)
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Item
Power connector for
< 200V series >
HF703,903
HP704,903,1103
< 400V series >
HF-H903
HP-H903,1103
Model
CNP32-17S(23)
Applicable cable outline
Φ 22 to 23.8mm
CNP32-17L(23)
Applicable cable outline
Φ 22 to 23.8mm
Contents
Motor side power connector (DDK)
Plug: CE05-6A32-17SD-C-BSS
Clamp: CE3057-20A-1 (D240)
Motor side power connector (DDK)
Plug: CE05-8A32-17SD-C-BAS
Clamp: CE3057-20A-1 (D240)
For motor power
For TE1
MR-PWS1CBL □ M-A1-H
Lead out in direction of motor shaft
□ : Length
2, 3, 5, 7, 10m
Power cable for
< 200V series >
HF-KP
MR-PWS1CBL □ M-A2-H
Lead out in opposite direction of motor shaft
□ : Length
2, 3, 5, 7, 10m
Power connector for
MDS-D2-V1-20 to 80
MDS-D2-V2-2020 to 8080
MDS-D2-SP-20 to 40
MDS-D2-SP2-2020 to 4040
MDS-DH2-V1-10 to 80
MDS-DH2-V2-1010 to 8080
MDS-DH2-SP-20,40
MDS-D2-V3
Power connector for
MDS-D2-V1-160
MDS-D2-V2-16080,160160
MDS-D2-SP-80
MDS-D2-SP2-8040,8080
MDS-DH2-V1-80W
MDS-DH2-V2-8080W
MDS-DH2-SP-80
CNU1S(AWG14)
CNU1S(AWG10)
Drive unit side power connector (DDK)
Housing: DK-5200S-04R
Contact : DK-5RECSLP1-100 (Note 1)
Drive unit side power connector (DDK)
Housing: DK-5200S-04R
Contact : DK-5RECMLP1-100 (Note 2)
Motor side power connector
(Japan Aviation Electronics Industry)
Plug: JN4FT04SJ1-R
Contact: ST-TMH-S-C1B-100-(A534G)
Motor side power connector
(Japan Aviation Electronics Industry)
Plug: JN4FT04SJ1-R
Contact: ST-TMH-S-C1B-100-(A534G)
Drive unit side power connector (J.S.T)
Connector : 03JFAT-SAZGDS-P15 (CV-37/75 only)
Power connector for
MDS-D2-CV-37/75
CNU01SECV (AWG14)
Connection lever
J-FAT-OT-P
(J.S.T)
(Note 1) Hand crimping tools: 357J-22795
(Note 2) Hand crimping tools: 357J-22796
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< Spindle encoder cable and connector >
Item Model
For CN2
Motor side PLG cable
Spindle side accuracy encoder TS5690 cable
CNP2E-1□ M
□ : Length
2, 3, 4, 5,
7, 10, 15, 20,
25, 30m
For CN3
Spindle side encoder
OSE-1024 cable
CNP3EZ-2P□ M
□ : Length
2, 3, 4, 5,
7, 10, 15, 20,
25, 30m
Spindle drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit : 36310-3200-008
Contents
Spindle motor side connector
(Tyco Electronics)
Connector: 172169-1
Contact:170363-1(AWG26-22)
170364-1(AWG22-18)
Compatible part (Note 1)
(MOLEX)
Connector set: 54599-1019
(J.S.T.)
Plug connector : XV-10P-03-L-R
Cable kit : XV-PCK10-R
Spindle drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit : 36310-3200-008
Compatible part (Note 1)
(MOLEX)
Connector set: 54599-1019
(J.S.T.)
Plug connector : XV-10P-03-L-R
Cable kit : XV-PCK10-R
Spindle drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit : 36310-3200-008
Spindle motor side connector
(DDK)
Connector: MS3106A20-29S(D190)
Straight back shell: CE02-20BS-S
Clamp: CE3057-12A-3
Spindle motor side connector
(DDK)
Connector: MS3106A20-29S(D190)
Angle back shell: CE-20BA-S
Clamp : CE3057-12A-3
CNP3EZ-3P□ M
□ : Length
2, 3, 4, 5,
7, 10, 15, 20,
25, 30m
Compatible part (Note 1)
(MOLEX)
Connector set: 54599-1019
(J.S.T.)
Plug connector : XV-10P-03-L-R
Cable kit : XV-PCK10-R
For spindle motor
Motor side PLG connector
Spindle side accuracy encoder TS5690 connector
CNEPGS
Spindle motor side connector
(Tyco Electronics)
Connector: 172169-1
Contact:170363-1(AWG26-22)
170364-1(AWG22-18)
CNE20-29S(10)
Applicable cable outline
Φ 6.8 to 10mm
For spindle motor
Spindle side encoder
OSE-1024 cable
CNE20-29S(10)
Applicable cable outline
Φ 6.8 to 10mm
Spindle motor side connector
(DDK)
Connector:MS3106A20-29S(D190)
Straight back shell: CE02-20BS-S
Clamp: CE3057-12A-3
Spindle motor side connector
(DDK)
Connector:MS3106A20-29S(D190)
Angle back shell: CE-20BA-S
Clamp: CE3057-12A-3
(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.
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Item Model Contents
Spindle drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit : 36310-3200-008
For
CN2/3
Spindle encoder drive unit side connector
CNU2S(AWG18)
Compatible part (Note 1)
(MOLEX)
Connector set: 54599-1019
(J.S.T.)
Plug connector : XV-10P-03-L-R
Cable kit : XV-PCK10-R
(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.
< Twin-head magnetic encoder (MBE405W/MBA405W) cable and connector >
Item Model
Drive unit side connector
(3M)
Receptacle:36210-0100PL
Shell kit:36310-3200-008
Cable for
MBE405W/MBA405W
CNV2E-MB□ M
□ :Length
2, 3, 4, 5, 7, 10, 15, 20m
For CN2
Connector for
MBE405W/MBA405W
CNEMB2S(8)
Compatible part (Note 1)
(MOLEX)
Connector set: 54599-1019
(J.S.T.)
Plug connector : XV-10P-03-L-R
Cable kit : XV-PCK10-R
Encoder preamplifier side connector
(Hirose Electric)
Plug: RM15WTPZK-12S
Cord clamp: JR13WCCA-8 (72)
Contents
Encoder preamplifier side connector
(Hirose Electric)
Plug:RM15WTPZK-12S
Clamp:JR13WCCA-8(72)
For CN3
Thermistor connector for MBE405W/
MBA405W
CNEMB3S(8)
Encoder preamplifier side connector
(Hirose Electric)
Plug: RM15WTPZ-10S (72)
Cord clamp: JR13WCCA-8 (72)
(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.
< Contact information >
Japan Aviation Electronics Industry, Limited: http://www.jae.com/en/index.html
HIROSE ELECTRIC CO., LTD.: http://www.hirose.com/
3M: http://www.3m.com/
J.S.T. Mfg. Co., Ltd.: http://www.jst-mfg.com/index_e.php
DDK Ltd.: http://www.ddknet.co.jp/English/index.html
Tyco Electronics Japan G.K.: http://www.te.com/en/home.html
Molex Ltd.: http://www.molex.com/
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5.5.3 Optical Communication Cable Specifications
(1) Specifications
Cable model
Specification application
Cable length
Minimum bend radius
Tension strength
Temperature range for use
(Note1)
Ambient
G396 L □ M
For wiring inside panel
0.3, 0.5, 1.0, 2.0, 3.0, 5.0m
25mm
140N
-40 to 85°C
G395 L □ M
For wiring outside panel
G380 L □ M
For wiring outside panel
For long distance wiring
1, 2, 3, 5, 7, 10m 5.0, 10, 12, 15, 20, 25, 30m
Enforced covering cable: 50mm cord: 30mm
980N
(Enforced covering cable)
Indoors (no direct sunlight)
No solvent or oil
-20 to 70°C
4.4
± 0.4
Optical communication cable
Cable appearance
[mm]
4.4
± 0.1
7.6
± 0.5
Protection tube
(6.7) (15) (13.4)
Connector appearance
[mm]
37.65
22.7
(Note 1) This temperature range for use is the value for optical cable (cord) only. Temperature condition for the connector is the same as that for drive unit.
(Note 2) 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.)
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(2) Cautions for using optical communication cable
Optical communication cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available.
Especially, as optical fiber for G396 L □ M is made of synthetic resin, it melts down if being left near the fire or high temperature. Therefore, do not make it touched the part, which becomes high temperature, such as radiator or regenerative brake option of drive unit.
Read described item in this section carefully and handle it with caution.
(a) Minimum bend radius
Make sure to lay the cable with greater radius than the minimum bend radius. Do not press the cable to edges of equipment or others. For the optical communication cable, the appropriate length should be selected with due consideration for the dimensions and arrangement of drive unit so that the cable bend will not become smaller than the minimum bend radius in cable laying. When closing the door of control box, pay careful attention for avoiding the case that optical communication cable is hold down by the door and the cable bend becomes smaller than the minimum bend radius.
Lay the cable so that the numbers of bends will be less than 10 times.
(b) Bundle fixing
When using optical communication cable of 3m or longer, fix the cable at the closest part to the connector with bundle material in order to prevent optical communication cable from putting its own weight on CN1A/CN1B connector of drive unit. Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted.
When tightening up the cable with nylon band, the sheath material should not be distorted. Fix the cable with tightening force of 1 to 2kg or less as a guide.
Minimum bend radius
For wiring inside panel: 25mm
For wiring outside panel: 50mm wall
When laying cable, fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material. If it is fixed by a cable tie and the like without using cushioning, the wire breakage may occur.
Never use vinyl tape for cord. Plasticizing material in vinyl tape goes into optical fiber and lowers the optical characteristic. At worst, it may cause wire breakage. If using adhesive tape for cable laying, the fire resistant acetate cloth adhesive tape 570F (Teraoka Seisakusho Co., Ltd) is recommended.
If laying with other wires, do not make the cable touched wires or cables made from material which contains plasticizing material.
217 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
5 Dedicated Options
(c) Tension
If tension is added on optical fiber, the increase of transmission loss occurs because of external force which concentrates on the fixing part of optical fiber or the connecting part of optical connector. At worst, the breakage of optical fiber or damage of optical connector may occur. For cable laying, handle without putting forced tension.
(d) Lateral pressure
If lateral pressure is added on optical communication cable, the optical cable itself distorts, internal optical fiber gets stressed, and then transmission loss will increase. At worst, the breakage of optical cable may occur. As the same condition also occurs at cable laying, do not tighten up optical communication cable with a thing such as nylon band
(TY-RAP).
Do not trample it down or tuck it down with the door of control box or others.
(e) Twisting
If optical fiber is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of optical fiber may occur at worst.
(f) Cable selection
When wiring is outside the power distribution panel or machine cabinet, there is a highly possibility that external power is added. Therefore, make sure to use the cable for wiring outside panel (G380 L □ M)
If a part of the wiring is moved, use the cable for wiring outside panel.
In a place where sparks may fly and flame may be generated, use the cable for wiring outside panel.
(g) Method to lay cable
When laying the cable, do not haul the optical fiver or connector of the optical communication cable strongly. If strong force is added between the optical fiver and connector, it may lead to a poor connection.
(h) Protection when not in use
When the CN1A/CN1B connector of the drive unite or the optical communication cable connector is not used such as pulling out the optical communication cable from drive unit, protect the joint surface with attached cap or tube for edge protection. If the connector is left with its joint surface bared, it may lead to a poor connection caused by dirty.
(i) Attaching /Detaching optical communication cable connector
With holding the connector body, attach/detach the optical communication cable connector. If attaching/detaching the optical communication cable with directly holding it, the cable may be pulled out, and it may cause a poor connection.
When pulling out the optical communication connector, pull out it after releasing the lock of clock lever.
(j) Cleaning
If CN1A and CN1B connector of the drive unit or optical communication cable connector is dirty, it may cause poor connection. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol.
(k) Disposal
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.
(l) Return in troubles
When asking repair of drive unit for some troubles, make sure to put a cap on CN1A/CN1B connector.
When the connector is not put a cap, the light device may be damaged at the transit. In this case, exchange and repair of light device is required.
IB-1501124-D 218
6
Specifications of Peripheral Devices
219 IB-1501124-D
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6 Specifications of Peripheral Devices
6.1 Selection of Wire
6.1.1 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°C and 75°C 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.
Wire size
Conductor （ copper ）
[mm
2
]
2
3.5
5.5
8
14
22
38
60
80
100
AWG
6
4
2
1/0
14
12
10
8
3/0
4/0
60°C
(IV wire)
15A
20A
28A
34A
50A
65A
92A
124A
145A
170A
Tolerable current
75°C
(HIV wire)
15A
20A
30A
46A
65A
85A
115A
150A
200A
225A
(Note) The relation between wire size and tolerable current above corresponds to restrictions specified in IEC/
EN60204-1,UL508C,JEAC8001.
Wire's tolerable current is different depending on the specifications even for the wires of the same size.
Confirm the operating environment and conditions, and wire with the applicable wires.
IB-1501124-D 220
MDS-D2/DH2 Series Specifications Manual
6 Specifications of Peripheral Devices
(1) 600V vinyl insulated wire (IV wire) 60°C product (Example according to IEC/EN60204-1, UL508C)
< MDS-D2 Series >
Unit type
Power supply unit
Spindle drive unit
Spindle drive unit
(2-axis)
Servo drive unit
Servo drive unit
(2-axis)
MDS-D2-CV-37
MDS-D2-CV-75
MDS-D2-CV-110
MDS-D2-CV-185
MDS-D2-CV-300
MDS-D2-CV-370
MDS-D2-CV-450
MDS-D2-CV-550
MDS-D2-SP-20
MDS-D2-SP-40
MDS-D2-SP-80
MDS-D2-SP-160
MDS-D2-SP-200
MDS-D2-SP-240
MDS-D2-SP-320
MDS-D2-SP-400
MDS-D2-SP-640
MDS-D2-SP2-2020
MDS-D2-SP2-4020
MDS-D2-SP2-4040S
MDS-D2-SP2-4040
MDS-D2-SP2-8040
MDS-D2-SP2-16080S
MDS-D2-SP2-8080
MDS-D2-SP2-16080
MDS-D2-V1-20
MDS-D2-V1-40
MDS-D2-V1-80
MDS-D2-V1-160
MDS-D2-V1-160W
MDS-D2-V1-320
MDS-D2-V1-320W
MDS-D2-V2-2020
MDS-D2-V2-4020
MDS-D2-V2-4040
MDS-D2-V2-8040
MDS-D2-V2-8080
MDS-D2-V2-16080
MDS-D2-V2-160160
MDS-D2-V2-
160160W
MDS-D2-V3-202020
14 (14)
Servo drive unit
(3-axis)
MDS-D2-V3-404040
2
(Note) The values inside of ( ) are M side.
2
2
3.5
5.5
14
22
60
2 (2)
2 (2)
2 (2)
3.5 (2)
3.5 (3.5)
5.5 (3.5)
5.5 (5.5)
2 (2)
2 (2)
2 (2)
2 (2)
5.5 (2)
22 (5.5)
5.5 (5.5)
22 (5.5)
60
-
-
-
2
5.5
22
38
TE1
(U,V,W, ) mm
2
2
AWG
14
-
2
-
-
5.5
14
30
-
-
-
-
14
10
6
3
-
14 (14)
14 (14)
14 (14)
14 (14)
10 (14)
4 (10)
10 (10)
4 (10)
1/0
-
-
-
14
10
4
2
14
14
12
10
6
4
1/0
14 (14)
14 (14)
14 (14)
12 (14)
12 (12)
10 (12)
10 (10)
6 (6)
14
Terminal name
TE2
(L+, L-) mm
2
3.5
8
22
AWG
12
38
-
-
-
2
-
8
4
-
-
Bar enclosed
Match with TE2 of selected power supply unit
Bar enclosed
Match with TE2 of selected power supply unit
Match with TE2 of selected power supply unit
Match with TE2 of selected power supply unit
Match with TE2 of selected power supply unit
TE3
(L11, L21, L12, L22, MC1) mm
2 AWG
2
2
2
2
2
2
14
14
14
14
14
14
Power backup unit
Unit type
MDS-D-PFU
TE1
(U, V, W, ) mm
2 AWG
2 14
Terminal name
TE2
(L+, L-) mm
2 AWG
22 4
TE3
(L11, L21, L12, L22, MC1) mm
2 AWG
2 14
221 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
6 Specifications of Peripheral Devices
< MDS-DH2 Series >
Unit type
Power supply unit
Spindle drive unit
Servo drive unit
Servo drive unit
(2-axis)
MDS-DH2-CV-37
MDS-DH2-CV-75
MDS-DH2-CV-110
MDS-DH2-CV-185
MDS-DH2-CV-300
MDS-DH2-CV-370
MDS-DH2-CV-450
MDS-DH2-CV-550
MDS-DH2-CV-750
MDS-DH2-SP-20
MDS-DH2-SP-40
MDS-DH2-SP-80
MDS-DH2-SP-100
MDS-DH2-SP-160
MDS-DH2-SP-200
MDS-DH2-SP-320
MDS-DH2-SP-480
MDS-DH2-V1-10
MDS-DH2-V1-20
MDS-DH2-V1-40
MDS-DH2-V1-80
MDS-DH2-V1-80W
MDS-DH2-V1-160
MDS-DH2-V1-160W
MDS-DH2-V1-200
MDS-DH2-V2-1010
MDS-DH2-V2-2010
MDS-DH2-V2-2020
MDS-DH2-V2-4020
MDS-DH2-V2-4040
MDS-DH2-V2-8040
MDS-DH2-V2-8080
MDS-DH2-V2-8080W
(Note) The values inside of ( ) are M side.
TE1
8
14
38
2 (2)
2 (2)
2 (2)
2 (2)
2 (2)
2
2
3.5
5.5
38
-
-
2
3.5 (2)
3.5 (3.5)
5.5 (5.5)
2
5.5
8
22
38
-
-
2
(U, V, W, ) mm
2 AWG
2
2
14
14
3.5
14
22
38
12
6
4
2
14
10
8
4
2
-
-
14
8
6
2
14 (14)
14 (14)
14 (14)
14 (14)
14 (14)
14
14
12
10
2
-
-
14
12 (14)
12 (12)
10 (10)
5.5
14
38
50
60
Terminal name
TE2
(L+, L-) mm
2
2
3.5
AWG
14
12
10
6
2
1
1/0
Bar enclosed
Match with TE2 of selected power supply unit
Bar enclosed
Match with TE2 of selected power supply unit
Match with TE2 of selected power supply unit
TE3
(L11, L21, L12, L22, MC1) mm
2 AWG
2
2
2
2
14
14
14
14
Unit type
Power backup unit
MDS-DH-PFU
TE1
(U, V, W, ) mm
2 AWG
2 14
Terminal name
TE2
(L+, L-) mm
2 AWG
22 4
TE3
(L11, L21, L12, L22, MC1) mm
2 AWG
2 14
IB-1501124-D 222
MDS-D2/DH2 Series Specifications Manual
6 Specifications of Peripheral Devices
(2) 600V double (heat proof) vinyl insulated wire (HIV wire) 75°C product
(Example according to IEC/EN60204-1, UL508C)
< MDS-D2 Series >
Unit type
Power supply unit
Spindle drive unit
Spindle drive unit
(2-axis)
Servo drive unit
Servo drive unit
(2-axis)
MDS-D2-CV-37
MDS-D2-CV-75
MDS-D2-CV-110
MDS-D2-CV-185
MDS-D2-CV-300
MDS-D2-CV-370
MDS-D2-CV-450
MDS-D2-CV-550
MDS-D2-SP-20
MDS-D2-SP-40
MDS-D2-SP-80
MDS-D2-SP-160
MDS-D2-SP-200
MDS-D2-SP-240
MDS-D2-SP-320
MDS-D2-SP-400
MDS-D2-SP-640
MDS-D2-SP2-2020
MDS-D2-SP2-4020
MDS-D2-SP2-4040S
MDS-D2-SP2-4040
MDS-D2-SP2-8040
MDS-D2-SP2-16080S
MDS-D2-SP2-8080
MDS-D2-SP2-16080
MDS-D2-V1-20
MDS-D2-V1-40
MDS-D2-V1-80
MDS-D2-V1-160
MDS-D2-V1-160W
MDS-D2-V1-320
MDS-D2-V1-320W
MDS-D2-V2-2020
MDS-D2-V2-4020
MDS-D2-V2-4040
MDS-D2-V2-8040
MDS-D2-V2-8080
MDS-D2-V2-16080
MDS-D2-V2-160160
MDS-D2-V2-
160160W
MDS-D2-V3-202020
8 (8)
Servo drive unit
(3-axis)
MDS-D2-V3-404040
2
(Note) The values inside of ( ) are M side.
TE1
60
80
80
2 (2)
2 (2)
2 (2)
2 (2)
3.5 (2)
14 (3.5)
3.5 (3.5)
14 (3.5)
2
2
3.5
5.5
8
14
38
2 (2)
2 (2)
2 (2)
3.5 (2)
3.5 (3.5)
5.5 (3.5)
5.5 (5.5)
3.5
14
22
38
60
80
2
2
(U, V, W, ) mm
2 AWG
2
5.5
14
10
8
14
38
60
8
6
2
1/0
12
6
4
2
1/0
3/0
14
12
6
2
14 (14)
14 (14)
14 (14)
12 (14)
12 (12)
10 (12)
10 (10)
6 (12)
12 (12)
6 (12)
14
14
12
10
8
1/0
3/0
3/0
14 (14)
14 (14)
14 (14)
14 (14)
12 (14)
8 (8)
14
8
22
Terminal name
TE2
(L+, L-) mm
2
3.5
5.5
AWG
12
10
8
4
Bar enclosed
Match with TE2 of selected power supply unit
Bar enclosed
Match with TE2 of selected power supply unit
Match with TE2 of selected power supply unit
Match with TE2 of selected power supply unit
Match with TE2 of selected power supply unit
TE3
(L11, L21, L12, L22, MC1) mm
2 AWG
2
2
2
2
2
2
14
14
14
14
14
14
Power backup unit
Unit type
MDS-D-PFU
TE1
(U, V, W, ) mm
2 AWG
2 14
Terminal name
TE2
(L+, L-) mm
2 AWG
22 4
TE3
(L11, L21, L12, L22, MC1) mm
2 AWG
2 14
223 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
6 Specifications of Peripheral Devices
< MDS-DH2 Series >
Power supply unit
Unit type
MDS-DH2-CV-37
MDS-DH2-CV-75
MDS-DH2-CV-110
MDS-DH2-CV-185
MDS-DH2-CV-300
MDS-DH2-CV-370
MDS-DH2-CV-450
Spindle drive unit
Servo drive unit
Servo drive unit
(2-axis)
MDS-DH2-CV-550
MDS-DH2-CV-750
MDS-DH2-SP-20
MDS-DH2-SP-40
MDS-DH2-SP-80
MDS-DH2-SP-100
MDS-DH2-SP-160
MDS-DH2-SP-200
MDS-DH2-SP-320
MDS-DH2-SP-480
MDS-DH2-V1-10
MDS-DH2-V1-20
MDS-DH2-V1-40
MDS-DH2-V1-80
MDS-DH2-V1-80W
MDS-DH2-V1-160
MDS-DH2-V1-160W
MDS-DH2-V1-200
MDS-DH2-V2-1010
MDS-DH2-V2-2010
MDS-DH2-V2-2020
MDS-DH2-V2-4020
MDS-DH2-V2-4040
MDS-DH2-V2-8040
MDS-DH2-V2-8080
MDS-DH2-V2-
8080W
5.5 (5.5)
(Note) The values inside of ( ) are M side.
2
2
3.5
5.5
22
38
80
2
38
60
2
2
3.5
5.5
14
8
8
22
2 (2)
2 (2)
2 (2)
2 (2)
2 (2)
3.5 (2)
3.5 (3.5)
TE1
(U, V, W, ) mm
2 AWG
2
2
14
14
3.5
8
14
22
12
8
6
4
22 4
14
14
12
10
4
2
3/0
14
2
1/0
14
14
12
10
6
8
8
4
14 (14)
14 (14)
14 (14)
14 (14)
14 (14)
12 (14)
12 (12)
10 (10)
22
22
Terminal name
TE2
(L+, L-) mm
2
2
2
5.5
8
38 or bar enclosed
AWG
14
14
10
8
4
4
2 or bar enclosed
Bar enclosed
TE3
(L11, L21, L12, L22, MC1) mm
2 AWG
2 14
Match with TE2 of selected power supply unit
Bar enclosed
Match with TE2 of selected power supply unit
Match with TE2 of selected power supply unit
2
2
2
14
14
14
Unit type
Power backup unit
MDS-DH-PFU
TE1
(U, V, W, ) mm
2 AWG
2 14
Terminal name
TE2
(L+, L-) mm
2 AWG
22 4
TE3
(L11, L21, L12, L22, MC1) mm
2 AWG
2 14
IB-1501124-D 224
MDS-D2/DH2 Series Specifications Manual
6 Specifications of Peripheral Devices
(3) 600V bridge polyethylene insulated wire (IC) 105 °C product
(Example according to JEAC8001)
< MDS-D2 Series >
Unit type
Power supply unit
Spindle drive unit
Spindle drive unit
(2-axis)
Servo drive unit
Servo drive unit
(2-axis)
MDS-D2-CV-37
MDS-D2-CV-75
MDS-D2-CV-110
MDS-D2-CV-185
MDS-D2-CV-300
MDS-D2-CV-370
MDS-D2-CV-450
MDS-D2-CV-550
MDS-D2-SP-20
MDS-D2-SP-40
MDS-D2-SP-80
MDS-D2-SP-160
MDS-D2-SP-200
MDS-D2-SP-240
MDS-D2-SP-320
MDS-D2-SP-400
MDS-D2-SP-640
MDS-D2-SP2-2020
MDS-D2-SP2-4020
MDS-D2-SP2-4040S
MDS-D2-SP2-4040
MDS-D2-SP2-8040
MDS-D2-SP2-16080S
MDS-D2-SP2-8080
MDS-D2-SP2-16080
MDS-D2-V1-20
MDS-D2-V1-40
MDS-D2-V1-80
MDS-D2-V1-160
MDS-D2-V1-160W
MDS-D2-V1-320
MDS-D2-V1-320W
MDS-D2-V2-2020
MDS-D2-V2-4020
MDS-D2-V2-4040
MDS-D2-V2-8040
MDS-D2-V2-8080
MDS-D2-V2-16080
MDS-D2-V2-160160
MDS-D2-V2-
160160W
MDS-D2-V3-202020
5.5 (5.5)
Servo drive unit
(3-axis)
MDS-D2-V3-404040
2
(Note) The values inside of ( ) are M side.
TE1
38
60
80
2 (2)
2 (2)
2 (2)
2 (2)
3.5 (2)
8 (3.5)
3.5 (3.5)
8 (3.5)
2
2
2
3.5
5.5
14
22
2 (2)
2 (2)
2 (2)
2 (2)
2 (2)
3.5 (2)
3.5 (3.5)
3.5
8
22
22
60
60
2
2
(U, V, W, ) mm
2 AWG
2
3.5
14
12
5.5
14
38
38
10
6
2
2
12
8
4
4
1/0
1/0
14
14
6
4
14 (14)
14 (14)
14 (14)
14 (14)
14 (14)
12 (14)
12 (12)
8 (12)
12(12)
8(12)
14
14
14
12
10
2
1/0
3/0
14 (14)
14 (14)
14 (14)
14 (14)
12 (14)
10 (10)
14
Terminal name
TE2
(L+, L-) mm
2
2
3.5
AWG
14
22
50
60
1
1/0
60 1/0
Bar enclosed
14
12
6
4
Match with TE2 of selected power supply unit
1.25 to 2
Bar enclosed
TE3
(L11, L21, L12, L22, MC1) mm
2 AWG
1.25 to 2
Match with TE2 of selected power supply unit
1.25 to 2
Match with TE2 of selected power supply unit
1.25 to 2
Match with TE2 of selected power supply unit
1.25 to 2
Match with TE2 of selected power supply unit
1.25 to 2
16 to 14
16 to 14
16 to 14
16 to 14
16 to 14
16 to 14
Unit type
Power backup unit
MDS-D-PFU
TE1
(U, V, W, ) mm
2 AWG
2 14
Terminal name
TE2
(L+, L-) mm
2 AWG
22 4
TE3
(L11, L21, L12, L22, MC1) mm
2 AWG
2 14
225 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
6 Specifications of Peripheral Devices
< MDS-DH2 Series >
Unit type
Power supply unit
Spindle drive unit
Servo drive unit
Servo drive unit
(2-axis)
MDS-DH2-CV-37
MDS-DH2-CV-75
MDS-DH2-CV-110
MDS-DH2-CV-185
MDS-DH2-CV-300
MDS-DH2-CV-370
MDS-DH2-CV-450
MDS-DH2-CV-550
MDS-DH2-CV-750
MDS-DH2-SP-20
MDS-DH2-SP-40
MDS-DH2-SP-80
MDS-DH2-SP-100
MDS-DH2-SP-160
MDS-DH2-SP-200
MDS-DH2-SP-320
MDS-DH2-SP-480
MDS-DH2-V1-10
MDS-DH2-V1-20
MDS-DH2-V1-40
MDS-DH2-V1-80
MDS-DH2-V1-80W
MDS-DH2-V1-160
MDS-DH2-V1-160W
MDS-DH2-V1-200
MDS-DH2-V2-1010
MDS-DH2-V2-2010
MDS-DH2-V2-2020
MDS-DH2-V2-4020
MDS-DH2-V2-4040
MDS-DH2-V2-8040
MDS-DH2-V2-8080
MDS-DH2-V2-
8080W
2 (2)
(Note) The values inside of ( ) are M side.
TE1
3.5
8
14
2 (2)
2 (2)
2 (2)
2 (2)
2 (2)
2 (2)
2 (2)
2
2
2
2
22
38
60
2
2
3.5
5.5
14
22
22
38
2
(U, V, W, ) mm
2 AWG
2
2
14
14
2
5.5
14
14
14
10
6
6
14
12
10
6
4
4
2
14
12
8
6
14 (14)
14 (14)
14 (14)
14 (14)
14 (14)
14 (14)
14 (14)
14
14
14
14
4
2
1/0
14
14 (14)
3.5
5.5
14
22
30
Terminal name
TE2
(L+, L-) mm
2
2
2
AWG
14
14
12
10
6
4
3
Bar enclosed
Bar enclosed
TE3
(L11, L21, L12, L22, MC1) mm
2 AWG
1.25 to 2
Match with TE2 of selected power supply unit
1.25 to 2
Match with TE2 of selected power supply unit
1.25 to 2
Match with TE2 of selected power supply unit
1.25 to 2
16 to 14
16 to 14
16 to 14
16 to 14
Unit type
Power backup unit
MDS-DH-PFU
TE1
(U, V, W, ) mm
2 AWG
2 14
Terminal name
TE2
(L+, L-) mm
2 AWG
22 4
TE3
(L11, L21, L12, L22, MC1) mm
2 AWG
2 14
CAUTION
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. Always wire the grounding wire.
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6.2 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.
6.2.1 Selection of Circuit Protector
Calculate a circuit protector selection current from the rated output and the nominal input voltage (voltage supplied to the power supply unit) as in the expression below. And then select the minimum capacity circuit protector whose rated current meets the circuit protector selection current.
< MDS-D2 Series >
Circuit protector selection current [A] =
(Circuit protector selection current for 200V input [A] / Nominal input voltage [V]) × 200 [V]
Selection of circuit protector for 200V input
Unit type
MDS-D2-CV-
Rated output
Circuit protector selection current for 200V input
37
3.7kW
15A
75
7.5kW
31A
110
11kW
45A
185
18.5kW
76A
300
30kW
124A
370
37kW
153A
450
45kW
186A
550
55kW
224A
Selection example of circuit protector
(Mitsubishi Electric Corp.)
NF63-
CW3P-
20A
NF63-
CW3P-
40A
NF63-
CW3P-
50A
NF125-
CW3P-
100A
NF250-
CW3P-
125A
NF250-
CW3P-
175A
NF250-
CW3P-
200A
NF250-
CW3P-
225A
Rated current of the selection example of circuit protector
20A 40A 50A 100A 125A 175A 200A 225A
Option part: A circuit protector is not prepared as an NC unit accessory, so purchase the part from your dealer, etc.
(Example)
Select a circuit protector for using the MDS-D2-CV-110 with a 220V nominal input voltage.
Circuit protector selection current = 45/220 × 200 = 40.9[A]
According to the table above, select "NF63-CW3P-50A".
< MDS-DH2 Series >
Circuit protector selection current [A] =
(Circuit protector selection current for 380V input [A] / Nominal input voltage [V]) × 380 [V]
Selection of circuit protector for 380V input
Unit type
MDS-DH2-CV-
Rated output
Circuit protector selection current for
380V input
37
3.7kW
8A
75
7.5kW
16A
110
24A
185
11kW 18.5kW
40A
300
30kW
65A
370
37kW
80A
450
45kW
98A
550
55kW
119A
750
75kW
163A
Selection example of circuit protector
(Mitsubishi Electric Corp.)
NF63-
CW3P-
10A
NF63-
CW3P-
20A
NF63-
CW3P-
30A
NF63-
CW3P-
40A
NF125-
CW3P-
75A
NF125-
CW3P-
100A
NF125-
CW3P-
100A
NF250-
CW3P-
125A
NF250-
CW3P-
200A
Rated current of the selection example of circuit protector
10A 20A 30A 40A 75A 100A 100A 125A 200A
Option part: A circuit protector is not prepared as an NC unit accessory, so purchase the part from your dealer, etc.
(Example)
Select a circuit protector for using the MDS-DH2-CV-450 with a 480V nominal input voltage.
Circuit protector selection current = 98/480×380 = 77.6[A]
According to the table above, select "NF125-CW3P-100A".
CAUTION
1. It is dangerous to share a circuit protector for multiple power supply units, so do not share it. Always install the circuit protectors for each power supply unit.
2. If the control power (L11, L21) must be protected, select according to the section "Circuit protector ".
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6.2.2 Selection of Contactor
Select the contactor selection current that is calculated from the rated output and the nominal input voltage (voltage supplied to the power supply unit) as in the expression below. And then select the contactor whose conventional free-air thermal current meets the contactor selection current.
< MDS-D2 Series >
Contactor selection current [A]=
(Contactor selection current for 200V input [A] / Nominal input voltage [V]) × 200 [V]
Selection of contactor for 200V input
Unit type
MDS-D2-CV-
Rated output
Contactor selection current for 200V input
Selection example of contactor
(Mitsubishi Electric Corp.)
37
3.7kW
15A
75
7.5kW
31A
110
11kW
45A
185
18.5kW
76A
300
30kW
124A
370
37kW
153A
450
45kW
186A
S-T12
-AC200V
S-T35
-AC200V
S-T35
-AC200V
S-T65
-AC200V
S-T80
-AC200V
S-N150
-AC200V
S-N150
-AC200V
Conventional freeair thermal current of the selection example of contactor
20A 50A 50A 100A 135A 200A 200A
Option part: A contactor is not prepared as an NC unit accessory, so purchase the part from your dealer, etc.
550
55kW
224A
S-N180
-AC200V
260A
(Example)
Select a contactor for using the MDS-D2-CV-110 with a 220V nominal input voltage.
Contactor selection current = 45/220 × 200 = 40.9[A]
According to the table above, select "S-T35-AC200V".
< MDS-DH2 Series >
Contactor selection current [A] =
(Contactor selection current for 380V input [A] / Nominal input voltage [V]) × 380 [V]
Selection of contactor for 380V input
Unit type
MDS-DH2-CV-
Rated output
37
3.7kW
75
7.5kW
110
11kW
185
18.5kW
300
30kW
370
37kW
450
45kW
550
55kW
Contactor selection current for 380V input
Selection example of contactor
(Mitsubishi Electric Corp.)
8A
S-T12-
AC400V
16A
S-T12-
AC400V
24A
S-T21-
AC400V
40A
S-T35-
AC400V
65A
S-T50-
AC400V
80A
S-T65-
AC400V
98A
S-T65-
AC400V
119A
S-T80-
AC400V
Conventional freeair thermal current of the selection example of contactor
20A 20A 32A 50A 80A 100A 100A 135A
Option part: A contactor is not prepared as an NC unit accessory, so purchase the part from your dealer, etc.
750
75kW
163A
S-N150-
AC400V
200A
(Example)
Select a contactor for using the MDS-DH2-CV-450 with a 480V nominal input voltage.
Contactor selection current = 98/480×380 = 77.6[A]
According to the table above, select "S-T50-AC400V".
POINT
1. Use an alternating contactor.
2. If the contactor selection current is 20A or less, select the S-T12 product for the contactor.
3. Select a contactor whose excitation coil does not operate at 15mA or less.
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6.3 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 or spindle 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.
Series Drive unit
MDS-D2-SP-20 to 640
Earth leakage current for each unit
Earth leakage current
6mA
Maximum earth leakage current
15mA
MDS-D2
MDS-DH2
MDS-D2-SP2-2020 to 16080
MDS-D2-V1-20 to 320W
MDS-D2-V2-2020 to 160160
MDS-D2-V3-202020 to MDS-D2-V3-404040
MDS-DH2-SP-20 to 480
MDS-DH2-V1-10 to 200
MDS-DH2-V2-1010 to 8080
6mA
1mA
1mA
3mA
6mA
1mA
1mA
30 ｍ A
2mA
4mA (for two axes)
6mA
15mA
2mA
4mA (for two axes)
(Note1) Maximum earth leakage current: Value that considers wiring length and grounding, etc.(Commercial frequency
50/60Hz)
(Note2) The earth leakage current in the power supply unit side is included in the drive unit side.
(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.
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6.4 Branch-circuit Protection (for Control Power Supply)
6.4.1 Circuit Protector
This breaker is used to switch the control power and to provide overload and short-circuit protection.
When connecting a circuit protector to the power input (TE3 terminals L11 and L21) for the control circuit, use a product that does not trip (incorrectly activate) by a rush current when the power is turned ON. A circuit protector with inertial delay is available to prevent unnecessary tripping. Select the product to be used according to the machine specifications.
The rush current and rush conductivity time differ according to the power impedance and power ON timing, so select a product that does not trip even under the conditions listed in the following table.
Rush current
MDS-D2 Series: Ip=30A
MDS-DH2 Series: Ip=18A
I [A]
(per 1 unit)
36.8%
Rush conductivity time:
Time to reach 36.8% of rush current Ip,
equivalent to circuit protector operation characteristics
operation time.
t [ms]
Time constant: MDS-D2 Series: T = 12ms
MDS-DH2 Series: T = 18ms
POINT
When collectively protecting the control circuit power for multiple units, select a circuit protector that satisfies the total sum of the rush current Ip.
The largest value is used for the rush conductivity time T.
6.4.2 Fuse Protection
The fuse of branch-circuit protection must use UL class CC, J or T. In the selection, please consider rush current and rush conductive time.
1 to 4
5 to 8
Selection of branch-circuit protection fuse
Connected total of unit
Fuse (Class CC)
Rated [V] Current [A]
600
20
35
Wire Size
AWG
16 to 14
CAUTION
For continued protection against risk of fire, replace only with same type 600 V, 80 or 35 A (UL CLASS CC) fuse.
WARNING
Before replacing fuse, confirm all power controlling the drive system is shut-OFF. Be sure to look out the power source to prevent the power from being turned ON while maintenance is being performed.
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6.5 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 power supply unit's input rated voltage and input rated current into consideration.
(2) Noise filter mounting position
Install the noise filter to the power supply unit's power input as the diagram below indicates.
Power distribution panel
Breaker
Power supply
Noise filter
AC reactor Contactor
R
S
T
Power supply unit
MDS-D2/DH2-CV
(Note) The noise filter must be prepared by the user.
Recommended devices:
Soshin Electric HF3000C-SZA Series
Contact:
Soshin Electric Co., Ltd. http://www.soshin-ele.com/
(Note) The above devices may be changed at the manufacturer's discretion.
Contact each manufacturer for more information.
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6.6 Surge Absorber
When controlling a magnetic brake of a servo motor 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
Varistor voltage rating
(range)
(V)
Tolerable circuit voltage
Rating
Surge current withstand level
(A)
AC(V) DC(V) 1 time 2 times
Energy
withstand level
(J)
10/
1000 μ s
2ms
Power
(W)
Max. limit voltage
(V)
Electrostatic capacity
(reference value)
(pF)
ERZV10D121
TND10V-121K
ERZV10D221
TND10V-221K
120
(108 to 132)
220
(198 to 242)
75
140
100
180
3500
3500
2500
2500
20
39
14.5
27.5
0.4
0.4
200
360
1400
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 Panasonic Corporation.
TNR10V121K and TNR10V221K are manufactured by Nippon Chemi-Con Corporation.
Contact: Panasonic Corporation http://www.panasonic.com/global/home.html
Nippon Chemi-Con Corporation http://www.chemi-con.co.jp/e/index.html
(3) Outline dimension drawing
ERZV10D121, ERZV10D221
11.5
20.0
Insulation tube
[Unit:mm]
POINT
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.
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6 Specifications of Peripheral Devices
6.7 Relay
CN9 connector is equipped with 24V input/output circuit for the control of external devices and the control by an external signal.
Set the relevant parameters and use them with care for the wiring since some signals are changeover type, which can be switched over by parameters. Refer to the description of each function in relevant sections for details on the function specifications and settings.
Connector
CN9
CN24
Switch ON
Switch OFF
Switch ON
Switch OFF
Input condition
18VDC to 25.2VDC
4.3mA or more
4VDC or less
2mA or less
18VDC to 25.2VDC
4.3mA or more
4VDC or less
2mA or less
Connector
CN9
Output voltage
Output condition
24VDC ±5%
Tolerable output current
50mA or less
For a switch or relay to be wired, use a switch or relay that satisfies the input/output (voltage, current) conditions.
Interface name
For digital input signal (CN24,CN9)
For digital output signal (CN9)
Selection example
Use a minute signal switch which is stably contacted and operated even with low voltage or current.
< Example > OMRON: G2A, G6B type, MY type, LY type
Use a compact relay operated with rating of 24VDC, 50mA or less.
< Example > OMRON: G6B type, MY type
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Input circuit
CN9 connector
24V
(1)
Switch
DI1
DICOM
13
20
4.1k
Servo/spindle drive unit
24V
Switch
CN24 connector
1A 4.1k
4A
(1)
Power supply unit
Output circuit
CN9 connector
24V
8
18
16
MPO1
Relay, etc.
D01
MPO2
D02
MPO3
D03
10
(2)
Servo/spindle drive unit
24G
The part indicated by the " " must be prepared by the user.
(Note) Do not connect "(1)" or "(2)".
If a ground of the external 24V power is same as the 24V power in the drive unit, a fault or abnormal operation could occur.
Servo input signal
Servo output signal
Spindle input signal
Spindle input signal
Device name
MPI1
MPI2
MPI3
MPO1
MPO2
MPO3
Servo input/output signal (CN9 connector)
Connector pin No.
CN9-13
CN9-2
CN9-3
CN9-8
CN9-18
CN9-16
Signal name
SLS(Safely Limited Speed) function door state signal SV082/bitF-C=1
Battery box voltage drop signal
(Reservation)
(Reservation)
(Reservation)
Servo specified speed signal
(Reservation)
Signal changeover parameter
SV082/bitF-C=2
SV082/bit9,8=01
Device name
MPI1
MPI2
MPI3
MPO1
MPO2
MPO3
Spindle input/output signal (CN9 connector)
Connector pin No.
CN9-13
CN9-2
Signal name
SLS(Safely Limited Speed) function door state signal SP227/bitF-C=1
Proximity switch signal
(Reservation)
Signal changeover parameter
SP227/bitF-C=4
CN9-3
CN9-8
CN9-18
CN9-16
(Reservation)
Coil changeover signal
Spindle specified speed signal
(Reservation)
SP229/bitC=1
CAUTION
The different signal changeover parameter setting is not available for the same connector pin number of each axis in 2-axis or 3-axis drive unit.
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6.8 Selection of Link Connection
6.8.1 Connection of L11 and L21 Link
Regardless of the power supply unit and drive unit capacities, the wire size must be IV2SQ or more. When using a conductor bar, the conductor cross-sectional area must be 1mm
2
or more.
The wire size between the circuit protector and L11, L21 must also be IV2SQ or more.
6.8.2 Connection of L+ and L- Link
< Selection method 1 > To unify the wire or conductor bar sizes for L+ and L- links
To unify the wire or conductor bar sizes for L+ and L- links, select the following size or larger for the L+ and L- links based on the power supply unit capacity.
Model
Rated output current
Wire size
Conductor bar cross-sectional area
D2-CV-37
17A
IV3.5SQ
HIV3.5SQ
5mm
2
or more
D2-CV-75
30A
IV5.5SQ
HIV5.5SQ
8mm
2 or more
D2-CV-110 D2-CV-185 D2-CV-300 D2-CV-370 D2-CV-450 D2-CV-550
41A 76A 144A 164A 198A 238A
IV22SQ
HIV14SQ
11mm
2
or more
IV38SQ
HIV22SQ
19mm
2
or more
HIV60SQ
36mm
2 more
or
HIV60SQ or more
41mm
2 or more
HIV60SQ or more
50mm
2 more or
Dedicated bar
Model
Rated output current
Wire size
Conductor bar cross-sectional area
DH2-CV-
37
7.1A
IV2.0SQ
HIV2.0SQ
2mm
2
or more
DH2-CV-
75
15A
IV3.5SQ
HIV3.5SQ
4mm
2
or more
DH2-CV-
110
21A
IV5.5SQ
HIV5.5SQ
6mm
2
or more
DH2-CV-
185
38A
IV14SQ
HIV8SQ
10mm
2
or more
DH2-CV-
300
72A
IV38SQ
HIV22SQ
18mm
2
or more
DH2-CV-
370
82A
IV50SQ
HIV38SQ
21mm
2
or more
DH2-CV-
450
99A
IV60SQ
HIV50SQ
25mm
2
or more
DH2-CV-
550
119A
DH2-CV-
750
150A
Dedicated bar
Dedicated bar
< Selection method 2 > To suppress the wire or conductor bar sizes for L+ and L- links to the minimum required for each unit
To suppress the wire or conductor bar sizes for L+ and L- links to the minimum required for each unit, select as shown below based on the current value that actually flows to the L+ and L- links.
In this section, the case when two servo drive units and one spindle drive unit are connected to one power supply unit is explained. The same selection methods apply in all other cases.
D2-V2 D2-V1 D2-SP D2-CV
L+, Llink
Link1 Link2 Link3
I1 I2 I3 I4
(1) If the current which flows through the L+ and L- bus bars of each drive unit is I1 to I4 as shown above, the current that flows through each link (Link1 to Link3) is the following equation [1]. Thus, the wire and conductor bar for each
L+, L- link should tolerate the above current.
However, if the above current (I(Link □ )) exceeds the rated output current in < Selection method 1 >, use the wire and conductor bar for L+ and L- link in < Selection method 1 >.
I(Link1) = I1 + I2
I(Link2) = I1 + I2 + I3
I(Link3) = I1 + I2 + I3 + I4
・・・ [1]
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(2) The I1 to I4 values are actually obtained with the following equation [2].
( I1 to I4) = Motor output current × 1.1 ・・・ [2]
Note that the value of the following table (a) Compatible spindle drive unit capacity for spindle motor or (b)
Compatible servo motor type for servo motor is substituted into "Motor output current" in the equation [2].
(a) Compatible spindle drive unit capacity
Spindle drive unit capacity
Motor output current
D2-SP-20
4.5A
D2-SP-40
10A
D2-SP-80 D2-SP-160 D2-SP-200 D2-SP-240 D2-SP-320 D2-SP-400
18A 37A 63A 79A 130A 174A
Spindle drive unit capacity
Motor output current
DH2-SP-
20
9A
DH2-SP-
40
13A
DH2-SP-
80
19A
DH2-SP-
100
30A
DH2-SP-
160
65A
DH2-SP-
200
70A
DH2-SP-
320
103A
DH2-SP-
480
132A
DH2-SP-
640
200A
(b) Compatible servo motor type
Servo motor type
Motor output current
HF75
2.8A
HF105
3.6A
HF223
9.0A
Servo motor type
Motor output current
Servo motor type
Motor output current
HF123
5.2A
HP54
1.8A
Servo motor type
Motor output current
HP354
15.2A
Servo motor type HF-KP23
Motor output current
1.4A
HP104
3.6A
HP454
14.2A
HF-KP43
2.7A
HF54
1.8A
HF303
10.7A
HP154
5.0A
HP704
19.2A
HF-KP73
5.2A
HF104
3.6A
HF453
13.4A
HP224
7.4A
HP903
22.2A
HF154
5.8A
HF703
16.6A
HP204
7.2A
HP1103
25.2A
HF224
8.5A
HF903
27.2A
HF204
6.8A
HF142
3.9A
HF354
13.8A
HF302
10.9A
Servo motor type
Motor output current
Servo motor type
Motor output current
Servo motor type
Motor output current
Servo motor type
Motor output current
Servo motor type
Motor output current
HF-H75
1.4A
HF-H703
8.3A
HF-H54
0.9A
HF-H354
7.6A
HF-H105
1.8A
HF-H903
13.6A
HF-H104
1.8A
HF-H454
7.1A
HC-H1502S-S10
38.8A
HF-H54
0.9A
HF-H104
1.8A
HF-H154
2.9A
HF-H154
2.5A
HF-H704
9.6A
HF-H224
3.7A
HF-H204
3.6A
HF-H903
11.1A
HF-H1103
12.6A
HF-H204
3.4A
HF354
6.9A
HF453
6.7A
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(3) Obtain I (Bar1) to I (Bar3) using the equations [1] based on I1 to I4 obtained with the equation (2)[2]. Match that value against the following table, and select the IV wire size.
When using a conductor bar, calculate the value at 4A (reference value) per 1mm
2
of conductor area.
Wire size
2SQ
3.5SQ
5.5SQ
8SQ
14SQ
22SQ
38SQ
60SQ
Tolerable current
IV wire (60°C) HIV wire (75°C)
15A
20A
15A
20A
28A
34A
50A
65A
92A
124A
30A
46A
65A
85A
115A
150A
(Ambient temperature is 40°C or less)
CAUTION
1. When the number of units is an odd number, install and adjust the height by spacer etc. because the bar of the final axis floats by the thickness of the bar.
2. Unify the thickness of the bar to prevent a contact failure due to the inclination at thread fastening.
The thickness for two-ply bar must be 6.4mm or less.
3. To ensure the contact area of the bar, 15 to 16mm is recommended for the bar width.
4. The following material and plating are recommended for the DC link bar.
Material: Tough-pitch copper (C1100)
Plating: Tin plating
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Selection
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7.1 Selection of the Servo Motor
7.1.1 Outline
It is important to select a servo motor matched to the purpose of the machine that will be installed. If the servo motor and machine to be installed do not match, the motor performance cannot be fully realized, and it will also be difficult to adjust the parameters. Be sure to understand the servo motor characteristics in this chapter to select the correct motor.
(1) Motor inertia
The servo motor has an optimum load inertia scale. If the load inertia exceeds the optimum range, the control becomes unstable and the servo parameters become difficult to adjust. When the load inertia is too large, decelerate with the gears (The motor axis conversion load inertia is proportional to the square of the deceleration ratio.), or change to a motor with a large inertia.
(2) Rated speed
Even with motors having the same capacity, the rated speed will differ according to the motor.
The motor's rated output is designed to be generated at the rated speed, and the output P (W) is expressed with expression (7-1). Thus, even when the motors have the same capacity, the rated torque will differ according to the rated speed.
P = 2 π NT (W) ---(7-1)
N: Motor speed (1/sec)
T: Output torque (N.m)
In other words, even with motors having the same capacities, the one with the lower rated speed will generate a larger torque. If generated torque is the same, the drive unit capacity can be downsized. When actually mounted on the machine, if the positioning distance is short and the motor cannot reach the maximum speed, the motor with the lower rated speed will have a shorter positioning time. When selecting the motor, consider the axis stroke and usage methods, and select the motor with the optimum rated speed.
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7.1.2 Selection of Servo Motor Capacity
The following three elements are used to determine the servo motor capacity.
1. Load inertia ratio
2. Short time characteristics (acceleration/deceleration torque)
3. Continuous characteristics (continuous effective load torque)
Carry out appropriate measures, such as increasing the motor capacity, if any of the above conditions is not fulfilled.
(1) Load inertia ratio
Each servo motor 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 servo specifications list, increase the motor capacity, and select so that the load inertia ratio is within the recommended range.
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 servo motors for NC unit machine tools, place importance on the surface precision during machining. To do this, always select a servo motor with a load inertia ratio within the recommended value. Select the lowest value possible within that range.
2. The load inertia ratio for the motor with brakes must be judged based on the motor inertia for the motor without brakes.
(2) Short time characteristics
In addition to the continuous operation range, the servo motor has the short time operation range that can be used only in a short time such as acceleration/deceleration. This range is expressed by the maximum torque and the torque characteristics. The maximum torque or the torque characteristics differ according to each motor, so confirm the specifications in section "2.1 Servo Motor".
The torque required for the servo motor’s acceleration/deceleration differs according to the CNC’s command pattern or the servo’s position control method.
Determine the required maximum motor torque from the following expression, and select the servo motor capacity.
(a) Selection with the maximum torque characteristics
In a low-speed rotation range (approximately less than half of the servo motor maximum speed), the linear acceleration/deceleration time constant "ta" that can be driven depends on the motor maximum torque. That can be approximated from the machine specifications using the expression (7-2).
ta =
1.05
10
-2
(J
L
/ η + J
M
) N
(0.8
T
MAX
-T
L
)
(ms) ••• (7-2)
N
J
L
J
M
η
T
MAX
T
L
: Motor reach speed
: Motor shaft conversion load inertia
: Motor inertia
: Drive system efficiency (Normally 0.8 to 0.95)
: Maximum motor torque
: Motor shaft conversion load (friction, unbalance) torque
(r/min)
(×10
-4 kg•m
2
)
(×10
-4 kg•m
2
)
(N•m)
(N•m)
Using the approximate linear acceleration/deceleration time constant "ta" calculated above, confirm the torque characteristics of the high-speed rotation range in the CNC’s command pattern or the servo’s position control method.
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(b) Approximation when using the NC command linear acceleration/deceleration pattern + servo standard position control
This is a normal command pattern or servo standard position control method.
Using the expression (7-3) and (7-4), approximate the maximum torque "Ta1" and maximum torque occurrence speed "Nm" required for this acceleration/deceleration pattern.
T a
1 = (1-
-Kp ta
e )+T
L
(N
.
m) ••• (7-3) ta
Nm =N {1-
1000
Kp ta
(1-
-Kp ta
e )} (r/min) •••(7-4) ta
Kp
N
J
L
J
M
η
T
L
: Acceleration/deceleration time constant
: Position loop gain (SV003)
: Motor reach speed
: Motor shaft conversion load inertia
(ms)
(rad/s)
(r/min)
(×10
-4 kg•m
2
)
: Motor inertia (×10 -4 kg•m 2 )
: Drive system efficiency (Normally 0.8 to 0.95)
: Motor shaft conversion load (friction, unbalance) torque (N•m)
Motor speed
(r/min)
N
Nm
NC command
Motor actual speed
0
Motor acceleration
Ac ta
Time (ms)
Motor acceleration
Motor torque
Ta 1
Speed most required for the motor torque
0 ta
Time (ms)
TL
0
Nm N
Motor speed
(r/min)
Fig.1 Speed, acceleration and torque characteristics when using the NC command linear acceleration/deceleration pattern + servo standard position control
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(c) Approximation when using the NC command linear acceleration/deceleration pattern + servo SHG control (option)
This is a servo’s position control method to achieve a normal command pattern and high precision. SHG control improves the position loop gain by stably controlling a delay of the position loop in the servo system. This allows the settling time to be reduced and a high precision to be achieved.
Using the expression (7-5) and (7-6), approximate the maximum torque "Ta1" and maximum torque occurrence speed "Nm" required for this acceleration/deceleration pattern.
T a
1 = (1 0.586
-2 Kp ta e )+T
L
(N
.
m) ••• (7-5) ta
Nm =N {1-
1000
1.3
Kp ta
(1-1.5
-2 Kp ta e )} (r/min) ••• (7-6) ta
Kp
N
J
L
J
M
η
T
L
Motor speed
㧔 r/min 㧕
N
NC command
Nm
: Acceleration/deceleration time constant
: Position loop gain (SV003)
: Motor reach speed
: Motor shaft conversion load inertia
: Motor inertia
: Drive system efficiency (Normally 0.8 to 0.95)
(ms)
(rad/s)
(r/min)
(×10 -4 kg•m 2 )
(×10
-4
: Motor shaft conversion load (friction, unbalance) torque (N•m) kg•m
2
)
Motor actual speed
0
Motor acceleration
Ac ta
Time (ms)
Motor torque
Ta 1
Motor acceleration
Speed most required for the motor torque
TL
0 ta
Time (ms)
0
Nm N
Motor speed
(r/min)
Fig.2 Speed, acceleration and torque characteristics when using the NC command linear acceleration/deceleration pattern + servo SHG control
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(d) Approximation when using the NC command soft acceleration/deceleration pattern + feed forward control
This is an approximation when using high-speed high-accuracy control and OMR-FF control.
If the feed forward amount is set properly, the delay of the servo position loop is guaranteed. Therefore, this command acceleration pattern can be approximated to the NC command and does not depend on the servo position control method.
Using the expression (7-7) and (7-8), approximate the maximum torque "Ta1" and maximum torque occurrence speed "Nm" required for this acceleration/deceleration pattern.
T a
1 =
1.05
10
-2
(J
L
/ η + J
M
) N ta
+T
L
(N
.
m) ••• (7-7)
Nm =N
1
2 tb ta
(r/min) ••• (7-8) ta tb
N
J
L
J
M
η
T
L
: Acceleration/deceleration time constant
: Acceleration/deceleration time constant
: Motor reach speed
: Motor shaft conversion load inertia
: Motor inertia
: Drive system efficiency (Normally 0.8 to 0.95)
(ms)
(ms)
(r/min)
(×10 -4 kg•m 2 )
(×10
-4
: Motor shaft conversion load (friction, unbalance) torque (N•m) kg•m
2
)
Motor speed
㧔 r/min 㧕
N
Nm
NC command ѳ Motor actual speed
0
Motor acceleration
Ac ta ta+tb
Time (ms) Motor torque
Ta 1
Speed most required for the motor torque
TL
0 tb ta ta+ tb
Time (ms)
0
Nm N
Motor speed
(r/min)
Fig 3. Speed, acceleration and torque characteristic when using the NC command soft acceleration/deceleration pattern + feed forward control
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(e) Confirmation in the torque characteristics
Confirm whether the maximum torque "Ta1" and maximum torque occurrence speed "Nm" required for this acceleration/deceleration pattern calculated in the item "(b)" to "(d)" are in the short time operation range of the torque characteristics.
Motor maximum torque
100
Required maximum torque: Ta 1
Required maximum torque occurrence speed: Nm
80
60
High-speed rotation range torque characteristic
Short time operation range
40
20
Continuous operation range
0
Rotation speed [r/min]
Motor torque characteristics
If they are not in the short time operation range, return to the item "(b)" to "(d)" and make the linear acceleration/ deceleration time constant "ta" large.
If the acceleration specification cannot be changed (the linear acceleration/deceleration time constant cannot be increased), reconsider the selection, such as increasing the motor capacity.
POINT
1. In selecting the maximum torque "Ta1" required for this acceleration/deceleration pattern, the measure of it is 80% of the motor maximum torque "T
MAX
"
2. In high-speed rotation range, confirm that the maximum torque "Ta1" and maximum torque occurrence speed "Nm" required for this acceleration/deceleration is in the short time operation range.
3. The drive system efficiency is normally approx. 0.95 in the ball screw mechanism and approx. 0.8 in the gear mechanism
4. For the torque characteristics in the motor high-speed rotation range, the AC input voltage is 200V (200V series) or 380V
(400V series). If the input voltage is low or if the power wire connecting the servo motor and drive unit is long (20m length), the short time operation range is limited. In this case, an allowance must be provided for the selection of the high-speed rotation range.
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(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 (7-9).
[1] [2] [3] [4] [5] [6] [7] [8]
Motor speed
0
Motor torque
0
T1
T7
T2 T4
T3 T6 T8 t1 t2 t3 t4 t5 t6 t7 t8 t0
T5
Time
Fig. 1 Continuous operation pattern
Trms =
T1
2
·t 1+T2
2
·t2 +T3
2
·t3 +T4
2
·t4 +T5
2
·t5 +T6
2
·t6 +T7
2
·t7 +T8
2
·t8 t0
••• (7-9)
Select a motor so that the continuous effective load torque Trms is 80% or less of the motor stall torque Tst.
Trms
≦
0.8•Tst ••• (7-10)
The amount of acceleration torque (Ta) shown in tables 7-3 and 7-4 is the torque to accelerate the load inertia in a frictionless state. It can be calculated by the expression (7-11). (For Acceleration/deceleration)
T a
=
1.05
10
-2
(J
L
/ η + J
M
) N ta
N
J
L
J
M ta
η
(N
.
m) ••• (7-11)
: Motor reach speed
: Motor shaft conversion load inertia
: Motor inertia
: Acceleration/deceleration time constant
: Drive system efficiency (Normally 0.8 to 0.95)
(r/min)
(×10
-4 kg•m
2
)
(×10
-4 kg•m
2
)
(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 ••• (7-12)
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(a) 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.
Period
[1]
Table 7-3 Load torques of horizontal axes
Load torque calculation method
(Amount of acceleration torque) + (Kinetic friction torque)
Explanation
Normally the acceleration/deceleration time constant is calculated so that this torque is 80% of the maximum torque of the motor.
[2] (Kinetic friction torque)
[3]
[4]
[5]
[6]
[7]
[8]
(Amount of deceleration torque) + (Kinetic friction torque)
(Static friction torque)
- (Amount of acceleration torque) - (Kinetic friction torque)
- (Kinetic friction torque)
- (Amount of deceleration torque) - (Kinetic friction torque)
- (Static friction torque)
The absolute value of the acceleration torque amount is same as the one 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.
(b) 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.
Period
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]
Table 7-4 Load torques of unbalance axes
Load torque calculation method
(Amount of acceleration torque) + (Kinetic friction torque) +
(Unbalance torque)
Explanation
Normally the acceleration/deceleration time constant is calculated so that this torque is 80% of the maximum torque of the motor.
(Kinetic friction torque) + (Unbalance torque)
(Amount of deceleration torque) + (Kinetic friction torque) +
(Unbalance torque)
(Static friction torque) + (Unbalance torque)
The absolute value of the acceleration torque amount is same as the one 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)
- (Amount of acceleration torque) - (Kinetic friction torque)
+ (Unbalance torque)
- (Kinetic friction torque) + (Unbalance torque)
The generated torque may be in the reverse of the movement direction, depending on the size of the unbalance torque.
- (Amount of deceleration torque) - (Kinetic friction torque)
+ (Unbalance torque)
- (Static friction torque) + (Unbalance torque)
The holding torque becomes smaller than the upward stop. (Downward stop)
POINT
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.
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7.1.3 Motor Shaft Conversion Load Torque
The calculation method for a representative load torque is shown.
Type Mechanism
Linear movement
Servo motor
Z
1 ǯ
Z
2
F c
W
F
0
Calculation expression
T
L
=
F
10
3
V
πη N
F
.
Δ S
10
3 πη
T
L
:Load torque (N•m)
F:Force in axial direction of the machine that moves linearly (N)
η : Drive system efficiency
V:Speed of object that moves linearly (mm/min)
N:Motor speed (r/min)
∆ S:Object movement amount per motor rotation (mm)
Z
1
,Z
2
:Deceleration ratio
F in the above expression is obtained from the expression below when the table is moved as shown on the left.
F=Fc+ μ (W•g+F
0
)
F c
:Force applied on axial direction of moving section (N)
F
0
:Tightening force on inner surface of table guide (N)
W:Total mass of moving section (kg) g:Gravitational acceleration = 9.8 (m/s
2
)
μ :Friction coefficient
T
L0
Rotary movement
Vertical movement
Z
1
Servo motor
1/n
Z
2
Servo motor
W
1
Load
W
2
Counterweight
T
L
Z
Z
1
2
1
L0
+T
F
1 n
1
η L0
+T
F
T
L
:Load torque (N•m)
T
L0
:Load torque on load shaft (N•m)
T
F
:Motor shaft conversion load friction torque (N•m)
η :Drive system efficiency
Z
1
,Z
2
:Deceleration ratio n:Deceleration ratio
When rising T
L
=T
U
T
L
:Load torque (N•m)
+T
F
When lowering T
L
= -T
U
• η
2
+T
F
T
U
:Unbalanced torque (N•m)
T
F
:Friction torque on moving section (N•m)
T
U
=
(W
1
-W
10
2
3
)
.g
V
πη N
T
F
=
μ .
(W
1
+W
2
)
.g.
Δ S
10
3 πη
(W
1
-W
2
)
10
3
.g.
πη
Δ S
W
1
:Load mass (kg)
W
2
:Counterweight mass (kg)
η : Drive system efficiency g:Gravitational acceleration = 9.8 (m/s
2
)
V:Speed of object that moves linearly (mm/min)
N:Motor speed (r/min)
∆ S:Object movement amount per motor rotation (mm)
μ :Friction coefficient
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7.1.4 Expressions for Load Inertia Calculation
The calculation method for a representative load inertia is shown.
Type Mechanism
Cylinder
Rotary shaft is cylinder center
Ǿ D
1.
Ǿ D
2.
Rotary shaft
When rotary shaft and cylinder shaft are deviated
R
Calculation expression
J
L
=
.(D
1
4
32
-D
2
4 W
8
1
2
＋
D
2
2
)
T
L
:Load inertia (kg•cm
2
)
ρ : Density of cylinder material (kg/cm
3
)
L:Length of cylinder (cm)
D
1
:Outer diameter of cylinder (cm)
D
2
:Inner diameter of cylinder (cm)
W:Mass of cylinder (kg)
<Reference data (Material densities)>
Iron:7.80×10
-3
(kg/cm
3
) Aluminum:2.70×10
-3
(kg/cm
3
)
Copper:8.96×10
-3
(kg/cm
3
)
W
J
L
= .(D
8
2
+8R
2
)
Rotary shaft
D
J
L
:Load inertia (kg•cm 2
W:Mass of cylinder (kg)
)
D:Outer diameter of cylinder (cm)
R:Distance between rotary axis and cylinder axis (cm)
Column
R a a
Rotary shaft b b
J
L a
2
+b
2
= W(
3
+R
2
)
J
L
: Load inertia (kg•cm
2
)
W:Mass of cylinder (kg) a,b,R:Left diagram (cm)
Object that moves linearly
Servo motor
Suspended object
Converted load
N
W
D
V
W
N
3
Load B
J
B J
31
J
21
Servo motor
J
11
N
1
J
22
N
1
Load A
J
A
N
2
J
L
= W(
2
1
π N
V
10
2
= W( )
20
2
J
L
:Load inertia (kg•cm 2 )
W:Mass of object that moves linearly (kg)
N:Motor speed (r/min)
V:Speed of object that moves linearly (mm/min)
∆ S:Object movement amount per motor rotation (mm)
D
J
L
= W( )
2
2
+J p
J
L
:Load inertia (kg•cm
2
W:Object mass (kg)
)
D:Diameter of pulley (cm)
Jp:Inertia of pulley (kg•cm 2 )
J
L
= J
11
+(J
21
+J
22
+J
A
)
.
N
2
N
1
)
2
+ (J +J
B
)
.
N
3
N
1
)
2
J
L
:Load inertia (kg•cm
2
)
J
A
,J
B
:Inertia of load A, B (kg•cm
2
)
J
11
to J
31
:Inertia (kg•cm 2 )
N
1
to N
3
:Each shaft's speed (r/min)
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7.2 Selection of the Spindle Motor
(1) Calculation of average output for spindle
In the machine which carries out the spindle’s acceleration/deceleration frequently (example: tapping center), short-time rating is frequently used, and a rise in temperature become significant on the spindle motor or drive unit. Thus, calculate the average output (P
AV
) from one cycle operation pattern and confirm that the calculated value is less than the continuous rating output of the selected spindle motor.
[1] [2] [3] [4] [5] [6] [7] [8]
Motor speed
0
Motor torque
0
P1
Acceleration
Cutting
P2
Deceleration
P3
P4
Stop
Acceleration
P5
P6
Cutting
P7
Deceleration P8
Stop t1 t2 t3 t4 t5 t6 t7 t8 t0
Time
Output during acceleration/deceleration (k W)
= Actual acceleration/deceleration output (k W)
*
Actual acceleration/deceleration output (k W) is
1.2-fold of "Standard output (k W) during acceleration/deceleration" or
1.2-fold of "Short time rated output (k W)".
Continuous operation pattern (example)
P
AV
=
P1
2
· t 1+P2
2
· t2 +P3
2
· t3 +P4
2
· t4 +P5
2
· t5 +P6
2
· t6 +P7
2
· t7 +P8
2
· t8 t0
P1 to P8 :Output t1 to t8 t0
:Time
:One cycle operation time
≧ AV
)
POINT
1. Calculate acceleration/deceleration time by the accurate load inertia because even if the rotation speed is the same, acceleration/deceleration time varies with a tool or workpiece mounted to the spindle.
Refer to the section "Adjusting the Acceleration/Deceleration Operation" (1) in Instruction Manual.
2. Calculation method of synchronous tapping
The acceleration/deceleration number of times is twice, for forward run and reverse run are carried out in one machining.
The output guideline is 50% of the short-time rating. The time is tapping time constant.
3. Calculation method of spindle synchronization
The output guideline is 70% of the short-time rating. The time is spindle synchronization time constant.
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7.3 Selection of the Power Supply Unit
For the power supply unit, calculate the spindle motor output and servo motor output each, and select the capacity satisfying the required rated capacity and the maximum momentary output.
7.3.1 Calculation of Spindle Output
The spindle rated output and spindle maximum momentary rated output are calculated.
(1) Calculation of spindle rated output
The spindle rated output is calculated according to the following procedure.
(a) Spindle motor rated output
The spindle motor rated output is calculated from the following expression.
Spindle motor rated output =
MAX (continuous rated output, short-time rated output × short-time rated output coefficient α ,
%ED rated output × %ED rated output coefficient β )
(Note 1) For the spindle motor rated output, use the maximum value of "continuous rated output", "short-time rated output × short-time rated output coefficient α ", and "%ED rated output × %ED rated output coefficient β ".
(Note 2) Select the maximum value for the spindle motor with multiple %ED rated output characteristics.
For the spindle short-time rated output coefficient α , use the value in the "Table 1.1", and for the %ED rated output coefficient β , use the value in the "Table 1.2".
Table1.1 List of short-time rated output time and short-time rated output coefficient
Short-time rated output time
1 minute
2 minutes
3 minutes
4 minutes
Short-time rated output coefficient
0.2
0.4
0.5
0.6
α
Short-time rated output time
5 minutes
6 to 7 minutes
8 to 9 minutes
10 minutes or more
Short-time rated output coefficient
0.7
0.8
0.9
1.0
α
(Note 1) Select the set time for the short-time rated output of your spindle motor from the list.
E.g.) When the set time for the short-time rated output is "1/12h", it means "5 minutes".
(Note 2) For the motor with coil changeover specification, select the set time for the short-time rated output of the high-speed coil.
Table 1.2 List of %ED rated output time and %ED rated output coefficient
%ED rated output time
%ED rated output coefficient
β
More than or equal to 10% but less than 20%
More than or equal to 20% but less than 30%
More than or equal to 30%
0.7
0.9
1.0
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(b) Spindle rated output
The spindle rated output is calculated from the following expression.
Spindle rated output
=Spindle motor rated output × motor output coefficient γ of the combined spindle drive unit
For the spindle motor rated output of the above expression, use the value calculated in (a).
For the motor output coefficient of the combined spindle drive unit, use the value corresponding to the used spindle drive unit in the table 2.
Spindle motor rated output to 1.5kW
to 2.2kW
to 3.7kW
to 5.5kW
to 7.5kW
to 11.0kW
to 15.0kW
to 18.5kW
to 22kW to 26kW to 30kW to 37kW to 45kW to 55kW
Table 2. Motor output coefficient list of combined spindle drive unit
< MDS-D2 Series >
-
-
-
-
-
-
-
-
-
-
-
20
1.00
-
-
-
-
-
-
-
-
-
-
-
-
-
40
1.15
1.00
1.00
-
-
-
-
-
-
-
-
80
Combined spindle drive unit MDS-D2-SP-
160 200 240 320
1.25
1.15
-
1.30
-
-
-
-
-
-
1.05
1.00
-
-
1.20
1.10
1.00
1.00
-
1.20
1.15
1.05
-
-
1.20
1.10
-
-
-
1.15
-
-
-
-
-
-
-
-
1.00
1.00
-
-
-
-
-
-
1.05
1.00
1.00
-
-
-
-
-
1.10
1.05
1.00
1.00
1.00
-
-
-
1.10
1.05
1.00
1.00
1.00
-
-
-
-
-
-
400
-
-
-
-
1.15
1.10
1.05
1.05
1.0
1.0
-
-
-
-
640
-
-
-
< MDS-DH2 Series >
Spindle motor rated output to 2.2kW
to 3.7kW
to 5.5kW
to 7.5kW
to 11.0kW
to 15.0kW
to 18.5kW
to 22kW to 26kW to 30kW to 37kW to 45kW to 55kW to 75kW
-
-
-
-
-
-
-
-
-
-
-
20
1.00
1.00
-
-
-
-
-
-
-
-
-
-
-
-
40
1.15
1.05
1.00
-
-
-
-
-
-
-
Combined spindle drive unit MDS-DH2-SP-
80 100 160 200
1.30
-
1.20
1.10
-
1.20
-
-
-
-
1.00
1.00
-
-
1.15
1.05
1.00
1.00
-
1.15
1.10
1.05
-
-
-
1.10
-
-
-
-
-
-
-
1.00
1.00
1.00
-
-
-
-
-
-
-
1.05
1.00
1.00
1.00
1.15
1.10
1.05
1.05
1.00
1.00
-
-
-
-
-
320
-
-
-
-
1.20
1.15
1.10
1.05
1.00
1.00
-
-
-
-
480
-
-
-
POINT
1. When the spindle motor applies to the wide range constant output specification or the high-torque specification, the spindle rated output may become large.
2. The spindle rated output is calculated from the motor output coefficient of the spindle drive unit used in combination with the spindle motor.
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(2) Calculation of spindle maximum momentary output
The spindle maximum momentary output is calculated from the following expression.
Spindle maximum momentary output
=MAX (short-time rated output × 1.2, output at acceleration/deceleration × 1.2 or %ED rated output×1.2)
(Note) For the spindle rated output, use the larger one of "short-time rated output × 1.2", "output at acceleration/ deceleration × 1.2" or "%ED rated output×1.2".
7.3.2 Calculation of Servo Motor Output
(1) Selection with rated output
(2) Selection with maximum momentary output
For the rated output and maximum momentary output of the servo motor, use the value corresponding to the servo motor in the table 3.
Table 3. Data for servo motor output selection
< 200V series >
Motor HF
Rated output (kW)
Maximum momentary output
(kW)
75
0.75
2.6
105
1.0
3.6
54
0.5
2.3
104
1.0
5.0
154
1.5
9.0
224
2.2
12.3
Motor HP
Rated output (kW)
Maximum momentary output
(kW)
Motor HP
Rated output (kW)
Maximum momentary output
(kW)
Motor HF-KP
Rated output (kW)
Maximum momentary output
(kW)
123
1.2
4.0
54
0.5
2.3
23
0.2
0.72
223
2.2
7.5
104
1.0
4.3
43
0.4
1.72
303
3.0
12.0
154
1.5
8.0
73
0.75
2.85
453
4.5
22.0
224
2.2
11.0
703
7.0
28.0
204
2.0
11.0
903
9.0
41.0
354
3.5
15.0
204
2.0
8.0
142
1.4
3.8
454
4.5
21.0
354
3.5
18.0
302
3.0
7.4
704
7.0
27.0
903
9.0
33.0
1103
11.0
50.0
< 400V series >
Motor HF-H
Rated output (kW)
Maximum momentary output
(kW)
75
0.75
2.6
105
1.0
3.6
54
0.5
2.3
104
1.0
5.0
154
1.5
9.0
204
2.0
8.0
354
3.5
18.0
453
4.5
22.0
703
7.0
28.0
903
9.0
41.0
Motor HP-H
Rated output (kW)
Maximum momentary output
(kW)
54
0.5
2.3
104
1.0
4.3
154
1.5
8.0
224
2.2
11.0
204
2.0
11.0
354
3.5
15.0
454
4.5
21.0
704
7.0
27.0
903
9.0
33.0
1103
11.0
50.0
Motor HC-H
Rated output (kW)
Maximum momentary output
(kW)
1502S-S10
15.0
59.0
(Note) The maximum momentary output in this table is reference data for selecting the power supply unit and is not data which guarantees the maximum output.
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7.3.3 Selection of the Power Supply Unit
Select the power supply unit from the total sum of the rated output and the maximum momentary output.
(1) Calculation of required rated output
(a) When there is only one servo motor axis
Power supply unit rated capacity > Σ (Spindle rated output) + (Servo motor rated output)
(b) When there are two or more servo motor axes
Power supply unit rated capacity > Σ (Spindle rated output) + 0.7 Σ (Servo motor rated output)
Substitute the output calculated from "7.3.1(1)" and "7.3.2(1)" to the expression (a) and (b), and calculate the total sum of the spindle rated output and servo motor rated output. According to this, select the power supply unit satisfying the rated capacity from the table 4.
(2) Calculation of required maximum momentary output
Maximum momentary rated capacity of power supply unit
≧
Σ (Spindle maximum momentary output) + Σ (Maximum momentary output of servo motor accelerating/ decelerating simultaneously + Maximum momentary output of direct drive motor accelerating/ decelerating simultaneously)
Substitute the output calculated from "7.3.1(2)" and "7.3.2(2)" to the above expression, and calculate the total sum of the
"spindle maximum momentary output" and "output of servo motor accelerating/decelerating simultaneously". According to this, select the power supply unit satisfying the maximum momentary rated capacity from the table 4.
(3) Selection of power supply unit
Select the power supply unit of which the capacity is larger than that selected in the item (1) and (2).
Table 4. Power supply unit rated capacity and maximum momentary rated capacity
< MDS-D2 Series >
Unit MDS-D2-CV37
Rated capacity (kW) 4.2
Maximum momentary rated capacity
(kW)
16
75
8
23
110
11.5
39
185
19
60
300
31
92
370
38
101
450
46
125
550
56
175
< MDS-DH2 Series >
Unit MDS-DH2-CV37
Rated capacity (kW) 4.2
Maximum momentary rated capacity (kW) 16
75
8
23
110
11.5
39
185 300 370
19 31 38
60 92 101
450 550
46 56
125 175
750
76
180
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CAUTION
1. When two or more servo motor axes are connected, do the calculation with the largest rated capacity of the servo motor if a value obtained by multiplying the total sum of the servo motor rated output by "0.7" is smaller than the largest rated capacity of the servo motors.
Example: HF Series
(1) For "HF903 (9.0kW) + HF104 (1.0kW)", "0.7 × (9.0 + 1.0) =7.0 < 9.0" is applied.
So, do the calculation with applying "9.0kW" to the total sum of the servo motor's rated output.
(2) For "HF903 (9.0kW) + HF903 (9.0kW)", "0.7 × (9.0 + 9.0) = 12.6 > 9.0" is applied.
So, do the calculation with applying "12.6kW" to the total sum of the servo motor's rated output.
Example: HF-H Series
(1) For "HF-H903 (9.0kW) + HF-H104 (1.0kW)", "0.7 × (9.0 + 1.0) =7.0 < 9.0" is applied.
So, do the calculation with applying "9.0kW" to the total sum of the servo motor's rated output.
(2) For "HF-H903 (9.0kW) + HF-H903 (9.0kW)", "0.7 × (9.0 + 9.0) = 12.6 > 9.0" is applied.
So, do the calculation with applying "12.6kW" to the total sum of the servo motor's rated output.
2. When reducing the time constant replacing the conventional motor with the HF, HP, HF-KP, HF-H, HP-H or HC-H Series motor, the power supply capacity may rise because the motor maximum momentary output increases more than the conventional motor. Therefore, make sure to check the selection with maximum momentary rated capacity.
3. When the large capacity drive unit (MDS-D2-SP-400/640, MDS-DH2-SP-200/320/480, MDS-DH2-V1-200) is connected to the power supply unit, always install the drive unit proximally in the left side of the power supply unit and connect PN terminal with the dedicated DC connection bar.
4. When using two large capacity drive units or more, the power supply unit is required for each drive unit.
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7.3.4 Required Capacity of Power Supply
For the power supply capacity, calculate the required spindle rated output and servo motor rated output each, and select the power supply capacity satisfying them.
(1) Spindle rated output required for power supply
The spindle rated output required for power supply is calculated from the following expression.
Spindle rated output required for power supply =
MAX (Spindle motor continuous rated output, Spindle motor output at accelerating/decelerating, Spindle motor short-time output)× motor output coefficient γ of combined spindle drive unit
(Note) For the spindle rated output required for the power supply, multiply the largest one of "spindle motor continuous rated output", "spindle motor output at acceleration/deceleration" and "spindle motor short-time output" by the motor output coefficient γ of the combined spindle drive unit.
For the motor output coefficient of the combined spindle drive unit, use the value corresponding to the used spindle drive unit in the table 2. of 7.3.1 (1).
(2) Servo motor rated output required for power supply
For the servo motor rated output required for power supply, use the value calculated in 7.3.2 (1).
(3) Calculation of rated output required for power supply
(a) When there is only one servo motor axis
Rated capacity required for power supply =
Σ (Spindle rated output required for power supply) + (servo motor rated output required for power supply)
(b) When there are two or more servo motor axes
Rated capacity required for power supply =
Σ (Spindle rated output required for power supply) + 0.7 Σ (servo motor rated output required for power supply)
Substitute the output calculated from the item (1) and (2) to the expression (a) and (b), and calculate the rated capacity required for the power supply.
(4) Calculation of required power supply
Power supply capacity (kVA) = Σ {(Required rated capacity calculated in the item (3)(kW) / Capacity of selected power supply unit (kW)) × Power supply capacity base value (kVA)}
The power supply capacity base value corresponding to the capacity of the selected power supply unit is as the following table.
< MDS-D2 Series >
Unit MDS-D2-CV-
Power supply capacity base value (kVA)
37
5.3
75
11.0
110
16.0
185
27.0
300
43.0
370
53.0
450
64.0
550
78.0
< MDS-DH2 Series >
Unit MDS-DH2-CV-
Power supply capacity base value (kVA)
37
5.3
75
11.0
110
16.0
185
27.0
300
43.0
370
53.0
450
64.0
550 750
78.0
107.0
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7.3.5 Example for Power Supply Unit and Power Supply Facility Capacity
< MDS-D2 Series >
(Example 1)
Axis name
X-axis
Y-axis
Z-axis
Motor
HF354
HF354
HF354
Spindle Spindle motor 22kW
Drive unit
(MDS-D2-V2-160160)
(MDS-D2-V2-160160)
(MDS-D2-V1-160)
MDS-D2-SP-320
(Output coefficient 1.0)
Rated output
3.5kW
3.5kW
3.5kW
22kW
Maximum momentary output
18kW
18kW
18kW
26.4kW
Total
0.7 × (3.5 × 3) + 22
= 29.35kW
< 31kW (D2-CV-300)
(18 × 3) + 26.4
= 80.4kW
< 92kW (D2-CV-300)
The power supply unit satisfying the total of the rated output and the maximum momentary output is MDS-D2-CV-
300.
Required power supply capacity (kVA) = (29.35 / 30) × 43 = 42.1 (kVA)
(Example 2)
Axis name
X1-axis
X2-axis
Y-axis
Z-axis
Motor
HF453
HF453
HF354
HF354
Spindle Spindle motor 15kW
Drive unit
(MDS-D2-V2-160160)
(MDS-D2-V2-160160)
(MDS-D2-V2-160160)
(MDS-D2-V2-160160)
MDS-D2-SP-200
(Output coefficient 1.0)
Rated output
4.5kW
4.5kW
3.5kW
3.5kW
15kW
Maximum momentary output
22kW
22kW
18kW
18kW
18kW
Total
0.7 × (4.5 × 2 + 3.5 x 2) + 15
= 26.2kW
< 31kW (D2-CV-300)
22 × 2 + 18 × 2 + 18
= 98.0kW
< 101kW (D2-CV-370)
The power supply unit satisfying the total of the rated output and the maximum momentary output is MDS-D2-CV-
370.
Required power supply capacity (kVA) = (26.2 / 37) × 53 = 37.5 (kVA)
(Example 3)
Axis name
X-axis
Y-axis
Z-axis
Spindle
Motor
HF354
HF204
HF204
Spindle motor 15kW
(High-torque motor)
Drive unit
MDS-D2-V1-160
MDS-D2-V2-8080
MDS-D2-V2-8080
MDS-D2-SP-320
(Output coefficient 1.1)
Rated output
3.5kW
2.0kW
2.0kW
16.5kW
Maximum momentary output
18kW
8kW
8kW
18kW
Total
0.7 × (3.5 + 2.0 × 2) + 16.5
= 21.75kW
< 31kW (D2-CV-300)
18 + 8 × 2 + 18
= 52kW
< 60kW (D2-CV-185)
The power supply unit satisfying the total of the rated output and the maximum momentary output is MDS-D2-CV-
300.
Required power supply capacity (kVA) = (21.75 / 30) × 43 = 31.2 (kVA)
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< MDS-DH2 Series >
(Example 1)
Axis name
X-axis
Y-axis
Z-axis
Spindle
Motor
HF-H354
HF-H354
HF-H354
Spindle motor 22kW
Drive unit
(MDS-DH2-V2-8080)
(MDS-DH2-V2-8080)
(MDS-DH2-V1-80)
MDS-DH2-SP-160
(Output 22kW)
Rated output
3.5kW
3.5kW
3.5kW
22kW
Maximum momentary output
18kW
18kW
18kW
26.4kW
Total
0.7×(3.5×3)+22
=29.35kW
<31kW(DH2-CV-300)
(18×3)+26.4
=80.4kW
<92kW(DH2-CV-300)
The power supply unit satisfying the total of the rated output and the maximum momentary output is MDS-DH2-CV-
300.
Required power supply capacity (kVA) = (29.35 / 30) x 43 = 42.0 (kVA)
(Example 2)
Axis name
X1-axis
X2-axis
Y-axis
Z-axis
Motor
HF-H453
HF-H453
HF-H354
HF-H354
Spindle Spindle motor 15kW
Drive unit
(MDS-DH2-V2-8080)
(MDS-DH2-V2-8080)
(MDS-DH2-V2-8080)
(MDS-DH2-V2-8080)
MDS-DH2-SP-100
(Output coefficient 1.0)
Rated output
4.5kW
4.5kW
3.5kW
3.5kW
15kW
Maximum momentary output
22kW
22kW
18kW
18kW
18kW
Total
0.7×(4.5×2+3.5×2)+15
=26.2kW
<31kW(DH2-CV-300)
22×2+18×2+18
=98.0kW
<101kW(DH2-CV-370)
The power supply unit satisfying the total of the rated output and the maximum momentary output is MDS-DH2-CV-
370.
Required power supply capacity (kVA) = (26.2 / 30) x 43 = 37.6 (kVA)
(Example 3)
Axis name
X-axis
Y-axis
Z-axis
Spindle
Motor
HF-H354
HF-H204
HF-H204
Spindle motor 15kW
(High-torque motor)
Drive unit
MDS-DH2-V1-160
MDS-DH2-V2-8080
MDS-DH2-V2-8080
MDS-DH2-SP-320
(Output coefficient 1.1)
Rated output
3.5kW
2.0kW
2.0kW
16.5kW
Maximum momentary output
18kW
8kW
8kW
18kW
Total
0.7×(3.5+2.0×2)+16.5
=21.75kW
<31kW(DH2-CV-300)
18+8×2+18
=52kW
<60kW(DH2-CV-185)
The power supply unit satisfying the total of the rated output and the maximum momentary output is MDS-DH2-CV-
300.
Required power supply capacity (kVA) = (21.75 / 30) x 43 = 31.2 (kVA)
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7.3.6 Selection of Regenerative Resistor for Power Backup Unit (R-UNIT-6,7) and
Capacitor Unit for Power Backup Unit (MDS-D/DH-CU)
When using the retraction function at power failure with MDS-D/DH-PFU, select to satisfy the stop operation for the regenerative resistor and the continuous rated output of the spindle motor for the capacitor unit.
(1) Selection of regenerative resistor for power backup unit
When using the retraction function at power failure, a resistor unit is required to make the spindle deceleration and stop after the retraction is completed.
CAUTION
1. When not using a resistor unit, control to coast the spindle motor after the retraction operation is completed.
2. Only the designated combination can be used for the power backup unit and the regenerative resistor.
(2) Selection of capacitor unit for power backup unit
When using the retraction function at power failure, the required number of capacitor units is decided by the continuous rated output [kW] of the spindle motor. Select according to the following specifications.
List of spindle continuous rated output and number of capacitor unit
Spindle continuous rated output
3.7kW or less
5.5kW or less
7.5kW or less
11kW or less
15kW or less
22kW or less
Number of capacitor unit
1
2
3
4
5
6
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IB-1501124-D 260
Appendix 1
Cable and Connector Specifications
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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. The Mitsubishi designated cable is the recommended cables shown below. When manufacturing the encoder cable and battery connection cable, use the recommended wires shown below or equivalent products.
(a) Heat resistant specifications cable
Wire type
(other manufacturer's product)
BD20288
Compound 6-pair shielded cable
Specification No.
Bangishi-17145
(Note 1)
Finish outer diameter
8.7mm
Sheath material
Heat resistant
PVC
No. of pairs
2
(0.5mm
2
)
4
(0.2mm
2
)
Configuration
100 strands/
0.08mm
40 strands/
0.08mm
Conductive
resistor
Wire characteristics
Withstand voltage
Insulation resistance
Heat resistance temperature
40.7
Ω /km or less
103 Ω /km or less
500VAC/
1min
1000
M Ω /km or more
105°C
Flexibility
70×10
4 times or more at
R200
(b) General-purpose heat resistant specifications cable
Wire type
(other manufacturer's product)
BD20032
Compound 6-pair shielded cable
Specification No.
Bangishi-16903
Revision No. 3
(Note 2))
Finish outer diameter
8.7mm
Sheath material
PVC
No. of pairs
2
(0.5mm
2
)
4
(0.2mm
2 )
Configuration
100 strands/
0.08mm
40 strands/
0.08mm
Conductive resistor
40.7
Ω /km or less
103 Ω /km or less
Wire characteristics
Withstand voltage
500VAC/
1min
Insulation resistance
1000
M Ω /km or more
Heat resistance temperature
60°C
Flexibility
100×10 4 times or more at
R200
(Note 1) BANDO Electric Wire (http://www.bew.co.jp/)
(Note 2) The Mitsubishi standard cable is the (a) Heat resistant specifications cable. When the working environment temperature is low and so higher flexibility is required, use the (b) General-purpose heat resistant specifications cable. For MDS-C1/CH series, (b) or equivalent is used as the standard cable.
Compound 6-pair cable structure drawing
IB-1501124-D
Cable core
L1
L2
Conductor
Insulator
A1
B4
B3
A2
B1
B2
Core identification
Pair No.
A1 (0.5mm
A2 (0.5mm
2
2
)
)
B1 (0.2mm
2 )
B2 (0.2mm
2
)
B3 (0.2mm
2
)
B4 (0.2mm
2 )
Insulator color
L1 L2
Red White
Black
Brown
Blue
Purple
Yellow
White
Orange
Green
White
White
262
Sheath
Mesh shield
Intervening wire
Tape
MDS-D2/DH2 Series Specifications Manual
Appendix 1 Cable and Connector Specifications
(c) HF-KP motor encoder cable
Wire type
(other manufacturer's product)
ETFE ・ SVP 60/
0.08mm
4-pair shielded cable
Specification
No.Bangishi-
17669(Note 1))
Finish outer diameter
7.1mm
Sheath material
PVC
No. of pairs
4
(0.5mm
2 )
Configuration
60 strands/
0.08mm
(Note 1) BANDO Electric Wire (http://www.bew.co.jp/)
Conductive resistor
Wire characteristics
Withstand voltage
Insulation resistance
Heat resistance temperature
73.0
Ω /km or less
500VAC/
1min
1500
M Ω /km or more
105°C
Flexibility
R200
(70×10 4 times or more)
4-pair shielded cable structure drawing
Sheath
Mesh shield
Tape
Insulated cable core
Intervening wire
Insulator
Conductor
Core identification
6
7
4
5
8
No.
1
2
3
Color
Black
White
Red
Green
Yellow
Brown
Blue
Gray
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Appendix 1 Cable and Connector Specifications
(2) 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.
Shield
(external conductor)
Sheath
(3) Battery connection cable
Wire type
(other manufacturer's product)
J14B101224-00
Two core shield cable
Finish outer diameter
3.3mm
Sheath material
PVC
No. of pairs
1
(0.2mm
2 )
Configuration
7strands /
0.2mm
Conductive resistor
91.2
Ω /km or less
Wire characteristics
Withstand voltage
AC500V/
1min
Insulation resistance
1000M Ω / km or less
Heat resistance temperature
80°C
(Note 1) Junkosha Inc. http://www.junkosha.co.jp/english/index.html
Dealer: TOA ELECTRIC INDUSTRIAL CO.,LTD. http://www.toadenki.co.jp/index_e.html
Flexibility
R33mm
Sheath
1
2
Shield
JUNFLON ETFE wire
Two core shield cable structure drawing
Core identification
No.
1
2
Insulator color
Red
Black
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Appendix 1 Cable and Connector Specifications
Appendix 1.2 Cable Connection Diagram
CAUTION
1. Take care not to mistake the connection when manufacturing the encoder cable. Failure to observe this could lead to faults, runaway or fire.
2. When manufacturing the cable, do not connect anything to pins which have no description.
Appendix 1.2.1 Battery Cable
< DG21 cable connection diagram
(Connection cable between drive unit and A6BAT (MR-BAT) (MDS-BTCASE) >
Drive unit side connector
(Hirose Electric)
Connector: DF1B-2S-2.5R
Contact: DF1B-2428SCA
BT
LG
1
2
0.2mm
2
Battery unit side connector
(3M)
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
9
1
PE
BT
LG
Case grounding
< DG22 cable connection diagram (Connection cable between drive unit and drive unit) >
Drive unit side connector
(Hirose Electric)
Connector: DF1B-2S-2.5R
Contact: DF1B-2428SCA
BT
LG
1
2
0.2mm
2
1
2
Drive unit side connector
(Hirose Electric)
Connector: DF1B-2S-2.5R
Contact: DF1B-2428SCA
BT
LG
< DG23 cable connection diagram (Connection cable between drive unit and MDS-BTBOX-36) >
Drive unit side connector
(Hirose Electric)
Connector : DF1B-2S-2.5R
Contact : DF1B-2428SCA
Battery box side
BT
LG
1
2
0.2mm
2
BT
LG
< DG24 cable connection diagram (Connection cable for alarm output between drive unit and MDS-BTBOX-36) >
Drive unit side connector
(3M)
Connector :10120-3000VE
Shell kit :10320-52F0-008
Battery box side
0.2mm
2
DICOM
D11
P5
LG
Case grounding
20
13
4
1
FG
0.2mm
2
0.2mm
2
Blue
+24V (I/O power side)
Yellow
DO(ALM)
Light blue
+5V
White
LG
CAUTION
When DG24 cable is used, proximity switch or external emergency stop cannot be wired, so these functions cannot be used.
265 IB-1501124-D
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Appendix 1 Cable and Connector Specifications
Appendix 1.2.2 Power Supply Communication Cable and Connector
< SH21 cable connection diagram >
Drive unit side connector
（ 3M)
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
13
4
14
5
15
6
16
7
1
11
2
12
3
17
8
18
9
19
10
20
PE
Power supply unit side connector
（ 3M)
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
13
4
14
5
15
6
16
7
1
11
2
12
3
17
8
18
9
19
10
20
PE Plate
< CN23 contactor control output connector connection diagram >
Power supply unit side
(J.S.T.)
03JFAT-SAXGSA-L
MC2
MC1
3
2
1
CN23
Contactor shutoff output
< CN24 external emergency stop connector connection diagram >
External emergency stop input
24G
Power supply unit side
(DDK)
Connector :
Contact :
DK-2100D-08R
DK-2RECMLP1-100
1A EMG2
4A EMG1
CN24
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Appendix 1 Cable and Connector Specifications
Appendix 1.2.3 Optical Communication Repeater Unit Cable
< F070 cable connection diagram >
24VDC power side terminal
(J.S.T.)
Crimping Terminal V1.25-3 or V1.25-4 × 2
0V
24VDC
Optical communication repeater unit side connector
(Tyco Electronics)
Connector ： 2-178288-3
Contact ：
FG
3
2
1
0V
24VDC
DCIN
< F110 cable connection diagram >
24VDC power side connector
(Tyco Electronics)
Connector ： 3-178127-6
Contact ： 1-175218-5 (for AWG16 ) × 3
1-175217-5 (for AWG22 ) × 2
+24V
DCOUT
1B
0V
FG
2B
3B
ACFAIL
0V
1A
2A
AWG16
AWG22
Optical communication repeater unit side connector
(Tyco Electronics)
<DCIN>
Connector ： 2-178288-3
Conntact ： 1-175218-5 × 3
<ACFAIL (CF01)>
005057-9402
0016020103 × 2
DCIN
1 +24V
2
3
CF01
0V
FG
ACFAIL 2
1 0V
Appendix 1.2.4 STO Cable
< CN8 STO input connector connection diagram >
STO1 input
STO2 input
24G
TOF1 output
TOF2 output
24V
Yellow (Dot mark: Red)
Gray (Dot mark: Black)
Yellow (Dot mark: Black)
Gray (Dot mark: Red)
White (Dot mark: Black)
White (Dot mark: Red)
Drive unit side
(Tyco Electronics)
Connector set: MR-D05UDL3M-B
6
7
8
4
5
3
CN8
STO1
STO2
STOCOM
TOF1
TOF2
TOFCOM
267 IB-1501124-D
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Appendix 1 Cable and Connector Specifications
Appendix 1.2.5 Servo / Tool Spindle Encoder Cable
< CNV2E-8P, CNV2E-9P cable connection diagram >
Drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
P5(+5V)
LG
BT
SD
SD*
RQ
RQ*
8
3
4
9
7
1
2
Case grounding
PE
0.5mm
2
0.2mm
2
0.2mm
2
0.2mm
2
< For 15m or less >
7
1
2
10
3
4
6
8
5
Motor encoder/
Ball screw side encoder side connector
(DDK)
Plug: CMV1-SP10S-M2 (Straight)
CMV1-AP10S-M2 (Angle)
Contact: CMV1-#22ASC-S1
P5(+5V)
LG
CNT
BT
SD
SD*
RQ
RQ*
SHD
Drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
P5(+5V)
LG
BT
SD
SD*
RQ
RQ*
8
3
9
7
4
1
2
Case grounding
PE
0.5mm
2
0.5mm
2
0.2mm
2
0.2mm
2
0.2mm
2
< For 15m to 30m >
7
1
2
10
5
3
4
6
8
Motor encoder/
Ball screw side encoder side connector
(DDK)
Plug: CMV1-SP10S-M2 (Straight)
CMV1-AP10S-M2 (Angle)
Contact: CMV1-#22ASC-S1
P5(+5V)
LG
CNT
BT
SD
SD*
RQ
RQ*
SHD
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Appendix 1 Cable and Connector Specifications
< CNV2E-K1P, CNV2E-K2P cable connection diagram (Direct connection type) >
Drive unit side connector
(3M)
Receptacle
Shell kit
: 36210 - 0100PL
: 36310 - 3200- 008
( MOLEX )
Connector set : 54599-1019
P5
LG
MR
MRR
MD
MDR
BT
SD
7
8
9
3
4
1
2
Plate
Motor encoder connector/
Ball screw side encoder side connector
(Tyco Electronics)
Connector : 1674320-1
2
1
8
7
9
5
4
3
6
P5
P5G
MR
MRR
MD
MDR
BT
CONT
SD
< CNV22J-K1P, CNV22J-K2P cable connection diagram (Relay type) >
Drive unit side connector
(DDK)
Plug: CM10-CR10P-M
P5(+5V)
LG
BT
SD
SD*
RQ
RQ*
Case grounding
10
7
1
2
5
4
6
8
0.08mm
2
0.08mm
2
0.08mm
2
0.08mm
2
4
7
5
1
2
8
9
3
6
Motor encoder/
Ball screw side encoder side connector
(Tyco Electronics)
Plug: 1747464-1
Contact: 1674335-4
P5(+5V)
LG
CNT
BT
SD
SD*
RQ
RQ*
SHD
269 IB-1501124-D
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Appendix 1 Cable and Connector Specifications
< CNV2E-HP cable connection diagram >
Drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
P5(+5V)
Case
LG
RQ
RQ*
SD
SD* grounding
10
3
4
5
6
7
8
PE
1
2
< CNV2E-D cable connection diagram >
Drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
P5(+5V)
LG
RQ
RQ*
SD
SD*
Case grounding
7
8
PE
4
5
6
1
2
9
10
3
0.5mm
0.5mm
2
2
0.2mm
2
0.2mm
2
MDS-B-HR unit side connector
(Hirose Electric)
Plug: RM15WTPZ-8S(71)
Clamp: JR13WCCA-10(72)
5
7
6
8
1
2
3
4
PE
P5(+5V)
LG
P5(+5V)
LG
RQ
RQ*
SD
SD*
Case grounding
0.5mm
2
0.5mm
2
0.2mm
0.2mm
2
2
MDS-B-SD unit side connector
(3M)
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
7
17
20
11
10
1
9
6
16
PE
P5(+5V)
LG
P5(+5V)
LG
BAT
RQ
RQ*
SD
SD*
Case grounding
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Appendix 1 Cable and Connector Specifications
< Cable connection diagram between scale I/F unit and scale (CNLH3 cable, etc.) >
Encoder conversion unit side connector
(Hirose Electric)
Plug: RM15WTPZ-12P(71)
Clamp: JR13WCCA-10(72)
9
10
7
8
1
2
3
4
5
6
11
12
PE
0.2mm
2
0.2mm
2
0.2mm
2
0.2mm
2
0.2mm
2
0.5mm
2
0.5mm
2
SD
SD
RQ
RQ
A+
A-
B+
B-
R+
R-
＊
＊
(Note) This cable must be prepared by the user.
P5(+5V)
LG
Case grounding
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Appendix 1 Cable and Connector Specifications
< Rectangular wave communication encoder (linear scale, etc.) cable connection diagram >
Drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
Machine side rectangular wave communication encoder
0.5mm
2
0.5mm
2
P5 (+5V)
LG
ABZS E L*
A
A*
B
B*
Z
Z*
6
7
4
5
10
3
1
2
8
9
Case grounding
PE
0.2mm
2
0.2mm
2
0.2mm
2
A
A*
B
B*
Z
Z*
P5 (+5V)
LG
(Note) Contact the encoder
manufacture about
whether to perform
the P5V wiring or not.
S HD
Contact the encoder manufacture for the details.
(Note) This cable must be prepared by the user.
< Serial communication encoder (linear scale, etc.) cable connection diagram >
Drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
Machine side serial communication encoder
P5(+5V)
LG
RQ
RQ*
SD
SD*
Case grounding
4
5
6
7
8
9
10
3
1
2
PE
0.5mm
2
0.5mm
2
0.2mm
2
0.2mm
2
SD
SD*
SHD
P5(+5V)
LG
RQ
RQ*
(Note) Contact the encoder
manufacture about
whether to perform
the P5V wiring or not.
Contact the encoder manufacture for the details.
Note: When using a linear scale manufactured by FAGOR,
ground the encoder side SEL signal to LG.
(Note) This cable must be prepared by the user.
POINT
For compatible encoder, refer to the section "Servo option" in Specifications Manual.
IB-1501124-D 272
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Appendix 1 Cable and Connector Specifications
Appendix 1.2.6 Brake Cable and Connector
< CNU20S connector connection diagram (Brake connector for motor brake control output) >
• For MDS-D2-V1-320 or smaller and MDS-DH2-V1-160 or smaller
Drive unit side connector
(DDK)
Connector: DK-3200S-03R
Contact: DK-3REC2LLP1-100
MBR
DBR
P24
3
2
1
CN20
Motor brake
External power (+24V)
• For MDS-D2-V1-320W or larger and MDS-DH2-V1-160W or larger
Drive unit side connector
（ DDK)
Connector: DK-3200S-03R
Contact: DK-3REC2LLP1-100
MBR
DBR
P24
3
2
1
CN20
Motor brake
Dynamic brake
External power (+24V)
< MR-BKS1CBL □ M-A1-H, MR-BKS1CBL □ M-A2-H cable connection diagram >
Drive unit side connector
(DDK)
Connector: DK-3200S-03R
Contact: DK-3REC2LLP1-100
MBR
DBR
P24
3
2
1
CN20
Motor brake
External power (+24V)
Motor side brake connector
(Japan Aviation Electronics Industry)
Plug: JN4FT02SJ1-R
Contact: ST-TMH-S-C1B-100-(A534G)
2 B2
1 B1
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Appendix 1.2.7 Spindle Encoder Cable
< CNP2E-1 cable connection diagram >
Spindle drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
P5(+5V)
LG
MT1
MT2
1
2
5
6
0.5mm
0.2mm
2
2
Spindle motor side connector
(Tyco Electronics)
Connector: 172169-1
Contact: 170363-1(AWG26-22)
170364-1(AWG22-18)
SD
SD*
RQ
RQ*
7
8
3
4
Case grounding
PE
0.2mm
0.2mm
2
2
(Note) For the pin "7" or "8", use the contact "170364-1".
For the other pins, use the contact "170363-1".
6
3
4
9
1
5
(Note)
7
8
2
SD
SD*
RQ
RQ*
SHD
P5(+5V)
LG
MT1
MT2
< For 15m or less >
Spindle drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
P5(+5V)
LG
MT1
MT2
1
2
5
6
SD
SD*
RQ
RQ*
Case grounding
PE
3
4
7
8
0.5mm
0.5mm
0.2mm
0.2mm
0.2mm
2
2
2
2
2
Spindle motor side connector
（ Tyco Electronics)
Connector: 172169-1
Contact: 170363-1(AWG26-22)
170364-1(AWG22-18)
5
6
3
4
2
1
(Note)
7
8
9
SD
SD*
RQ
RQ*
SHD
P5(+5V)
LG
MT1
MT2
(Note) For the pin "7" or "8", use the contact "170364-1".
For the other pins, use the contact "170363-1".
< For 15m to 30m >
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Appendix 1 Cable and Connector Specifications
< CNP3EZ-2P, CNP3EZ-3P cable connection diagram >
Spindle drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
P5(+5V)
LG
ABZSEL*
A
A*
1
2
10
3
4
B
B*
Z
Z*
Case grounding
PE
7
8
5
6
0.5mm
2
0.2mm
2
0.2mm
2
0.2mm
2
< For 15m or less >
N
C
K
A
H
R
B
P
Spindle motor side connector
(DDK)
Connector: MS3106A20-29S (D190)
Back shell: CE02-20BS-S (straight)
CE-20BA-S (angle)
Clamp: CE3057-12A-3
P5(+5V)
LG
A
A*
B
B*
Z
Z*
Spindle drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
P5(+5V)
LG
ABZSEL*
A
A*
10
3
4
1
2
B
B*
Z
Z*
Case grounding
PE
7
8
5
6
0.5mm
2
0.5mm
2
0.2mm
2
0.2mm
2
0.2mm
2
A
N
C
R
H
K
B
P
Spindle motor side connector
(DDK)
Connector: MS3106A20-29S (D190)
Back shell: CE02-20BS-S (straight)
CE-20BA-S (angle)
Clamp: CE3057-12A-3
P5(+5V)
LG
A
A*
B
B*
Z
Z*
< For 15m to 30m >
275 IB-1501124-D
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Appendix 1 Cable and Connector Specifications
Appendix 1.2.8 Twin-head Magnetic Encoder Cable
< Twin-head magnetic encoder (MBA Series) connection diagram >
Drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
P5(+5V 䠅
LG
1
2
0.5mm
2
Encoder preamplifier side connector
(Hirose Electric)
Plug: RM15WTPZK-12S
Cord clamp: JR13WCCA-8(72)
9
10
12
P5(+5V 䠅
LG
CNT
(Note)
BAT
MT1
MT2
SD
SD*
RQ
RQ*
Case grounding
9
7
8
3
4
5
6
PE
0.2mm
2
0.2mm
2
0.2mm
2
< For 10m or less >
5
2
3
4
7
8
6
11
BAT
MT1
MT2
SD
SD*
RQ
RQ*
SHD
Drive unit side connector
(3M)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(MOLEX)
Connector set: 54599-1019
P5(+5V 䠅
LG
1
2
0.5mm
2
Encoder preamplifier side connector
(Hirose Electric)
Plug: RM15WTPZK-12S
Cord clamp: JR13WCCA-8(72)
9
10
P5(+5V 䠅
LG
(Note) BAT
MT1
MT2
SD
SD*
RQ
RQ*
Case grounding
0.5mm
2
9
5
6
7
8
3
4
0.2mm
2
0.2mm
2
0.2mm
2
PE
< For 10m to 30m >
5
12
2
3
4
7
8
6
11
CNT
BAT
MT1
MT2
SD
SD*
RQ
RQ*
SHD
(Note) The above wiring diagrams apply to both MBA405W and MBE405W.
The connection of BT can be omitted for MBE405W (incremental).
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Appendix 1 Cable and Connector Specifications
Appendix 1.3 Main Circuit Cable Connection Diagram
The methods for wiring to the main circuit are shown below.
< DRSV1/DRSV2 cable connection diagram >
•
•
These cables are used to connect the drive unit's TE1 terminal and HF, HP, HF-H, HP-H Series motor.
• DRSV1 cable: This is the power line for the single-axis unit (MDS-D2/DH2-V1-) and dual-axis integrated unit
(MDS-D2/DH2-V2-) L axis.
DRSV2 cable: This is the power line for the dual-axis integrated unit (MDS-D2/DH2-V2-) M axis.
DRSV3 cable: This is the power line for the triple-axis unit (MDS-D2-V3-) S axis.
Drive unit side
1: U
2: V
3: W
4:
Motor side
A
B
C
D
< HF-KP motor cable connection diagram >
This cable is used to connect the drive unit's TE1 terminal and HF-KP Series motor.
Drive unit side
1: U
2: V
3: W
4:
Motor side power connector
(Japan Aviation Electronics Industry)
Plug: JN4FT04SJ1-R
Contact: ST-TMH-S-C1B-100-(A534G)
2: U
3: V
4: W
1:
CAUTION
1. The main circuit cable must be manufactured by the user.
2. Refer to the section "Specification of Peripheral Devices" in Specifications Manual when selecting the wire material.
3. Lay out the terminal block on the drive unit side as shown in "DRIVE SYSTEM DATA BOOK".
4. Refer to "DRIVE SYSTEM DATA BOOK" for details on the motor's connectors and terminal block.
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Appendix 1 Cable and Connector Specifications
Appendix 1.4 Connector Outline Dimension Drawings
Appendix 1.4.1 Connector for Drive Unit
Optical communication cable connector
Optical communication connector
(6.7) (15) (13.4)
For wiring between drive units
(inside panel)
Manufacturer: Japan Aviation
Electronics Industry
<Type>
Connector: PF-2D103
37.65
[Unit:mm]
Cable appearance
<Type>
Connector: PF-2D103 (Japan Aviation
Electronics Industry)
Optical fiber: ESKA Premium
(MITSUBISHI RAYON)
㧔 L ҇ 0.1
m 㧕
㧔 L ҈ 0.2
m 㧕
(Note 1) The POF fiber's light amount will drop depending on how the fibers are wound. So, try to avoid wiring the fibers.
(Note 2) Do not wire the optical fiber cable to moving sections.
(Note 3) Contact: Japan Aviation Electronics Industry, Limited http://www.jae.com/jaehome.htm
Optical communication connector
[Unit:mm]
For wiring between drive units
(outside panel)
Manufacturer: Tyco Electronics
<Type>
Connector: 1123445-1
22.7
Cable appearance
<Type>
Connector: 1123445-1
(Tyco Electronics)
Optical fiber: ESKA Premium
(MITSUBISHI RAYON)
(Note 1) The PCF fiber's light amount will drop depending on how the fibers are wound. So, try to avoid wiring the fibers.
(Note 2) Do not wire the optical fiber cable to moving sections.
For wiring between NC and drive unit
Refer to the instruction manual for CNC.
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Appendix 1 Cable and Connector Specifications
STO input connector
Drive unit connector for CN8 (STO input)
[Unit:mm]
Manufacturer: Tyco Electronics
<Type>
Connector set: 2069250-1
7.3
11
Connector for encoder cable
Spindle drive unit connector for CN2/CN3
[Unit:mm]
22.7 11
Manufacturer: 3M
<Type>
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
Compatible part (Note 1)
(MOLEX)
Connector set: 54599-1019
(J.S.T.)
Plug connector: XV-10P-03-L-R
Cable kit: XV-PCK10-R
22.4
10
(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.
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Connector for CN4/CN9
Connector for CN4/CN9
Manufacturer: 3M
<Type>
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
Compatible part (Note 1)
(J.S.T.)
Connector: MS-P20-L
Shell kit: MS20-2B-28
22.0 14.0
12.0
[Unit:mm]
33.3 12.7
[Unit:mm]
20.9
Manufacturer: 3M
<Type>
Connector: 10120-6000EL
Shell kit:10320-3210-000
29.7
[Unit:mm]
14
Manufacturer: J.S.T.
<Type>
Connector: MS-P20-L
Shell kit: MS20-2A-28
33.4
12.7
(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.
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Appendix 1 Cable and Connector Specifications
Power connector
Power connector for drive unit TE1
Manufacturer: DDK
< Type >
Housing: DK-5200S-04R
44.08
㧝 㧞 㧟 㧠
56.08
48.48
10.16
Manufacturer: J.S.T.
< Type >
Connector:
03JFAT-SAFGDK-P15 (CV-37/75)
[Unit:mm]
[Unit:mm]
[Unit:mm]
Manufacturer: J.S.T.
< Type >
Connector: J-FAT-OT-P
Connector for motor brake control output
Brake connector for motor brake control output
Manufacturer: DDK
<Type>
Connector: DK-3200S-03R
19.24
5.08
281
㧝 㧞
29.70
㧝 㧞 㧟
㧭
[Unit:mm]
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Appendix 1 Cable and Connector Specifications
Connector for CN23 (Connector for contactor control output)
Power supply unit connector for CN23 (Connector for contactor control output)
Manufacturer: J.S.T.
<Type>
03JFAT-SAXGSA-L
25.1
Connector for CN24 (Connector for external emergency stop)
Connector for CN24 (Connector for external emergency stop)
Manufacturer: DDK
<Type>
Connector : DK-2100D-08R 12.2
Battery power input connector
Battery connector for drive unit
Manufacturer: Hirose Electric
<Type>
Connector: DF1B-2S-2.5R
5.0
2.5
4.4
[Unit:mm]
[Unit:mm]
[Unit:mm]
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Appendix 1 Cable and Connector Specifications
Appendix 1.4.2 Connector for Servo and Tool Spindle
Motor encoder connector
Motor side encoder connector / Ball screw side encoder for connector
Manufacturer: DDK
<Type>
Plug:CMV1-SP10S-M2
50
[Unit:mm]
[Unit:mm]
Manufacturer: DDK
<Type>
Plug:CMV1-AP10S-M2
32
(Note) For the manufacturing method of CMV1 series connector, refer to the section "Cable and Connector
Assembly" in Instruction Manual.
Contact: Fujikura Ltd. http://www.fujikura.co.jp/eng/
Motor side encoder connector
[Unit:mm]
23
15
Manufacturer: Tyco Electronics
<Type>
Assembly: 1674320-1
14.2
Ǿ 13.6
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Appendix 1 Cable and Connector Specifications
Brake connector
Brake connector
Manufacturer: DDK
<Type>
Plug: CMV1-SP2S-S
[Unit:mm]
50
[Unit:mm]
Manufacturer: DDK
<Type>
Plug: CMV1-AP2S-S
32
(Note) For the manufacturing method of CMV1 series connector, refer to the section "Cable and Connector
Assembly" in Instruction Manual.
[Unit:mm]
17
26.6
12.3
Manufacturer: Japan Aviation
Electronics Industry
<Type>
JN4FT02SJ1-R
R6
12.7
R4
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Appendix 1 Cable and Connector Specifications
Motor power connector
Motor power connector
[Unit:mm]
W
D or less
7.85 or more
A
Manufacturer: DDK
Plug:
Type
CE05-6A18-10SD-C-BSS
CE05-6A22-22SD-C-BSS
CE05-6A32-17SD-C-BSS
A
1 1 /
8
-18UNEF-2B
1 3 /
8
-18UNEF-2B
2-18UNS-2B
B
+0
-0.38
34.13
40.48
56.33
C±0.8
32.1
38.3
54.2
D or less
D or less
57
61
79
W
1-20UNEF-2A
1 3 /
16
-18UNEF-2A
1 3 /
4
-18UNS-2A
[Unit:mm]
A
Manufacturer: DDK
W
Plug:
Type
CE05-8A18-10SD-C-BAS
CE05-8A22-22SD-C-BAS
CE05-8A32-17SD-C-BAS
A
1 1 /
8
-18UNEF-2B
1
3
/
8
-18UNEF-2B
2-18UNS-2B
B
+0
-0.38
34.13
40.48
56.33
D or less
69.5
75.5
93.5
W
1-20UNEF-2A
1
3
/
16
-18UNEF-2A
1 3 /
4
-18UNS-2A
R±0.7
13.2
16.3
24.6
U±0.7
30.2
33.3
44.5
(S)±1
43.4
49.6
61.9
Y or more
7.5
7.5
8.5
[Unit:mm]
V screw
1.6
C
㧔 D 㧕
A
Manufacturer: DDK
Clamp:
Type
CE3057-10A-1(D240)
CE3057-12A-1(D240)
CE3057-20A-1(D240)
Shel l size
18
20
32
Total length
A
23.8
23.8
27.8
Outer dia.
B
30.1
35
51.6
Avail. screw length
C
10.3
10.3
11.9
D E F G H
41.3
15.9
14.1
31.7
3.2
41.3
19 16.0
37.3
4
43 31.7
23.8
51.6
6.3
H
(Movable range of one side)
Ǿ E
(Inner diameter of cable clamp)
Fitting screw
V
Bushing
Applicable cable
1-20UNEF-2B CE3420-10-1 Φ 10.5 to Φ 14.1
1
3
/
16
-18UNEF-2B CE3420-12-1 Φ 12.5 to Φ 16.0
1 3 /
4
-18UNS-2B CE3420-20-1 Φ 22.0 to Φ 23.8
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Appendix 1 Cable and Connector Specifications
Motor power connector
4-R2
16
11.7
27
Manufacturer: Japan Aviation
Electronics
Industry
<Type>
JN4FT04SJ1-R
R6
R0.5
12.7
12.7
7 ࠑ
MDS-B-HR connector
MDS-B-HR connector
Manufacturer: Hirose Electric
<Type>
Plug:
RM15WTPZ-8S(71) (for CON1,2)
RM15WTPZ-12P(71) (for CON3)
RM15WTPZ-10P(71) (for CON4)
M19×1 M16×0.75
36.8
M16×0.75
8.5 20
Manufacturer: Hirose Electric
<Type>
Clamp: JR13WCCA-10(72)
[Unit:mm]
[Unit:mm]
[Unit:mm]
Appendix 1.4.3 Connector for Spindle
Motor encoder connector
Motor side PLG (TS5690) connector
23.7
± 0.4
9.3
Manufacturer: Tyco Electronics
<Type>
Plug: 172169-1
16 ± 0.4
2.8
8.4
14
4.2
[Unit:mm]
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Appendix 1 Cable and Connector Specifications
Spindle side encoder connector (for OSE-1024)
Spindle side encoder connector (for OSE-1024)
Gasket
18.26
± 0.12
1 1 /
4
-18UNEF-2B
Manufacturer: DDK
<Type>
Connector: MS3106A20-29S(D190)
Manufacturer: DDK
<Type>
Straight back shell: CE02-20BS-S
Manufacturer: DDK
<Type>
Angle back shell: CE-20BA-S
[Unit:mm]
1 1 /
8
-18UNEF- 2A
12.16
± 0.3
34.11
± 0.5
[Unit:mm]
1
1
/
8
-18UNEF-2B screw
O-ring
10.9
35
1 3 /
16
18UNEF - 2A screw
7.85
or more
(effective screw length)
31.6
(Spanner grip)
50.5 or less
39.6 or less
1 1 /
4
-18UNEF-2B
[Unit:mm]
O-ring
1 3 /
16
-18UNEF-2A screw
1 3 /
16
-18UNEF-2B screw
1.6
㧔 41.3
㧕
23.8
10.3
[Unit:mm]
Manufacturer: DDK
<Type>
Cable clamp:CE3057-12A-3
Ǿ 19
(Cable clamp inside diameter)
4
(Moveable range of one side)
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Appendix 1 Cable and Connector Specifications
Appendix 1.4.4 Power Backup Unit Connector
Connector for power backup unit TE1
［ Unit : mm ］
Manufacturer: J.S.T.
<Type>
Connector: 05JFAT-SAXGSA-L
41.1±1
32.0
8
26.9
［ Unit : mm ］
Manufacturer: J.S.T.
<Type>
Connector: J-FAT-OT-EXL
Connector for power backup unit CN43
Manufacturer: DDK
<Type>
Connector: DK-2100D-20R
IB-1501124-D 288
［ Unit : mm ］
10 9 8 7 6 5 4 3 2 1
27.2
2.5
15.5
10.5
25.8
Appendix 2
Restrictions for Lithium Batteries
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Appendix 2 Restrictions for Lithium Batteries
Appendix 2.1 Restriction for Packing
When transporting lithium batteries with means such as by air transport, measures corresponding to the United Nations
Dangerous Goods Regulations (hereafter called "UN Regulations") must be taken.
The UN Regulations classify the batteries as dangerous goods (Class 9) or not dangerous goods according to the lithium metal 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 "Transportation Restrictions for Lithium Batteries: Handling by User".
The followings are restrictions for transportation. Each restriction is specified based on the recommendation of the United
Nations.
Area
World
World
United States
Europe
Transportation method
Air
Marine
All (air, marine, land) land
Restriction
ICAO, IATA
IMO
DOT
RID, ADR
Special clause
-
188
49 CFR 173.185
-
Appendix 2.1.1 Target Products
The following Mitsubishi NC products use lithium batteries. If the lithium metal content exceeds 1g for battery cell and 2g for battery, the battery is classified as dangerous good (Class9).
In order to avoid an accidental actuation during the transportation, all lithium battery products incorporated in a machinery or device must be fixed securely and must be shipped with wrapped over the outer package as to prevent damage or shortcircuits.
(1) Materials falling under Class 9
Mitsubishi type
(Type for arrangement)
CR23500SE-CJ5
Battery type
CR23500SE-CJ5
Lithium metal content
Number of incorporated batteries
1.52g -
Application
(Data backup)
For NC SRAM
(M500)
Battery class
Outline dimension drawing
Battery cell
Refer to "Battery Option" in the specification manual for drive unit you are using for the outline dimension drawing for servo.
(2) Materials not falling under Class 9
Mitsubishi type
(Type for arrangement)
Battery type
Lithium metal content
Number of incorporated batteries
Application
(Data backup)
Battery class
Outline dimension drawing
CR2032
(for built-in battery)
CR2450
(for built-in battery)
ER6, ER6V series
(for built-in battery)
A6BAT(MR-BAT)
Q6BAT
MDS-BAT6V1SET
MR-BAT6V1SET
CR2032
CR2450
ER6, ER6V
ER17330V
Q6BAT
2CR17335A
0.067g
0.173g
0.65g
0.48g -
0.49g -
1.2g
-
-
-
2
For NC SRAM/
For NC SRAM
For NC SRAM/ servo encoder
For NC SRAM
Battery cell
For servo encoder Battery
Refer to "Battery Option" in the specification manual for drive unit you are using for the outline dimension drawing for servo.
(Note) If the number of batteries exceeds 24 batteries for the battery cell or 12 batteries for the battery, the dedicated packing (for materials falling under Class 9) is required.
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Appendix 2 Restrictions for Lithium Batteries
Appendix 2.1.2 Handling by User
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: International Air Transport Association http://www.iata.org/
IMDG Code: A uniform international code for the transport of dangerous goods by seas determined by IMO (International
Maritime Organization). http://www.imo.org/
Appendix 2.1.3 Reference
Refer to the following materials for details on the regulations and responses.
Guidelines regarding transportation of lithium batteries and lithium ion batteries
Battery Association of Japan http://www.baj.or.jp/e/
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Appendix 2 Restrictions for Lithium Batteries
Appendix 2.2 Products Information Data Sheet (ER Battery)
MSDS system does not cover the product used in enclosed state. The ER battery described in this section applies to that product.
This description is applied to the normal use, and is provided as reference but not as guarantee.
This description is based on the lithium battery's (ER battery) hazardous goods data sheet (Products Information Data Sheet) which MITSUBISHI has researched, and will be applied only to the ER batteries described in "Transportation Restrictions for
Lithium Batteries: 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
Skin contact
Eye contact
Ingestion
(3) Fire-fighting measure
Appropriate fire-extinguisher
Special fire-fighting measure
Protectors against fire
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.
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
Handling
Cautions for safety 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.
(Recommended temp. range: +5 to +35°C, humidity: 70%RH or less)
Flammable or conductive material (Metal: may cause a short-circuit)
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(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
(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 shortcircuit, 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
< Thionyl chloride >
Acute toxicity
Local effect
< Aluminum chloride >
Acute toxicity
Local effect
< Lithium chloride >
Acute toxicity
Local effect
Lc
50
: 500ppm (inhaled administration to rat)
The lungs can be damaged by chronic cough, dyspnea and asthma.
L
D50
: 3700ppm (oral administration to rat)
Not found.
L
D50
: 526ppm (oral administration to rat)
The central nerves and kidney can be influenced.
< Carbon black >
Acute toxicity
Carcinogenicity
L
D50
: 2,000mg/kg > (rat)
LARC group 2 (suspected of being carcinogenic)
(9) Ecological information
Mobility, Persistence/
Decomposability, Bioaccumulation 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.
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Appendix 2 Restrictions for Lithium Batteries
Appendix 2.3 Forbiddance of Transporting Lithium Battery by Passenger
Aircraft Provided in the Code of Federal Regulation
This regulation became effective from Dec.29, 2004. This law is a domestic law of the United States, however it 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 for details.
When transporting primary lithium battery by cargo aircraft, indicate that transportation by passenger aircraft is forbidden on the exterior box.
"Lithium Metal batteries forbidden for transport aboard Passenger aircraft"
Appendix 2.4 California Code of Regulation "Best Management Practices for Perchlorate Materials"
When any products that contain primary lithium batteries with perchlorate are shipped to or transported through the State of
California, they are subject to the above regulation.The following information must be indicated on the package, etc. of the products that contain primary lithium batteries (with a perchlorate content of 6 ppb or higher).
"Perchlorate Meterial-special handling may apply. See http://www.dtsc.ca.gov/hazardouswaste/perchlorate"
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Appendix 2 Restrictions for Lithium Batteries
Appendix 2.5 Restriction Related to EU Battery Directive
EU Battery Directive (2006/66/EC) has been enforced since September 26th in 2008. Hereby, battery and machinery incorporating battery marketed in European Union countries must be in compliance with the EU Battery Directive.
Lithium battery provided by MITSUBISHI are subjected to this restriction.
Appendix 2.5.1 Important Notes
Follow the instruction bellow as shipping products incorporating MITSUBISHI device.
(1) When shipping products incorporating MITSUBISHI device any time later than September 26th, 2008, the symbol mark shown as Figure 1 in section "Information for End-user" is required to be attached on the machinery or on the package.
Also, the explanation of the symbol must be added.
(2) Machinery with battery and maintenance battery produced before the EU Battery Directive are also subjected to the restriction. When shipping those products to EU countries later than September 26th, 2008, follow the instruction explained in (1).
Appendix 2.5.2 Information for End-user
Figure 1
Note: This symbol mark is for EU countries only.
This symbol mark is according to the directive 2006/66/EC
Article 20 Information for end-users 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!
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Appendix 3
EC Declaration of Conformity
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Appendix 3 EC Declaration of Conformity
Appendix 3.1 EC Declaration of Conformity
Each series can respond to LVD and EMC directive. Approval from a third party certification organization has been also acquired for the Low Voltage Directive.
The declaration of conformity of each unit is shown below.
IB-1501124-D 298
Appendix 4
Instruction Manual for Compliance with UL/c-UL
Standard
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Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
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.
UL File No. E131592 (MDS-D, D2/DH, DH2/DM, DM2/DJ Series)
Appendix 4.1 Operation Surrounding Air Ambient Temperature
The recognized operation ambient temperature 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.
Classification
AC servo/spindle system
Unit name
Power supply unit, AC Reactor
Servo, Spindle drive unit
Multi Axis unit (Multi-Hybrid drive unit)
Power Backup unit
Option unit, Battery unit
Servo motor, Spindle motor
Operation ambient temperature
0 to 55°C
0 to 55°C
0 to 55°C
0 to 55°C
0 to 55°C
0 to 40°C
Appendix 4.2 Notes for AC Servo/Spindle System
Appendix 4.2.1 Warning
It takes 15 minutes maximum to discharge the bus capacitor. (The capacitor discharge time is one minute for Models
MDS-D-SVJ3-03, MDS-DJ-V1-10; two min. for Models MDS-D-SVJ3-04, MDS-DJ-V1-15, three min. for Model MDS-D-
SVJ3-07, MDS-DJ-V1-30, 9 min. for Models MDS-D-SVJ3-10, -20 and -35, MDS-DJ-V1-40, -80 and -100, 10 min. for
Models MDS-D, D2/DH, DH2/DM, DM2/PFU/DJ.)
When starting wiring or inspection, shut the power off and wait for more than 15 minutes to avoid a hazard of electrical shock.
Appendix 4.2.2 Installation
MDS-D, D2/DH, DH2/DM, DM2/DJ Series are UL/c-UL listed "open type" drives and must be installed into an end-use electrical enclosure. The minimum enclosure size is based on 150 percent of each MDS-D, D2/DH, DH2/DM, DM2/DJ
Series combination. MDS-D, D2/DH, DH2/DM, DM2/DJ Series are installed a pollution degree 2 environment.
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 4.2.3 Short-circuit Ratings (SCCR)
Suitable for use in a circuit capable of delivering not more than 100kA rms symmetrical amperes, 500 volts maximum.
(MDS-D2-CV, MDS-DM/DM2-SPV are suitable for use in a circuit capable of delivering 230 volts maximum, MDS-DH2-
CV suitable for use in a circuit capable of delivering 480 volts maximum.)
(MDS-D/DH-PFU, MDS-D-DBU, MDS-D2-CV-550, MDS-DH2-CV-550,-750, MDS-DJ-SP-100,-120,-160, MDS-DJ-V2-
3030, MDS-DJ-SP2-2020 is suitable for use in a circuit capable of delivering not more than 5kA rms symmetrical amperes.)
Appendix 4.2.4 Over-temperature Protection for Motor
Motor Over temperature sensing is not provided by the drive.
IB-1501124-D 300
MDS-D2/DH2 Series Specifications Manual
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
Appendix 4.2.5 Peripheral Devices
To comply with UL/c-UL Standard, use the peripheral devices which conform to the corresponding standard.
Applicable power supply unit
MDS-D(*)-CV-37
MDS-D(*)-CV-75
MDS-D(*)-CV-110
MDS-D(*)-CV-185
MDS-D(*)-CV-300
MDS-D(*)-CV-370
MDS-D(*)-CV-450
MDS-D(*)-CV-550
MDS-DH(*)-CV-37
MDS-DH(*)-CV-75
MDS-DH(*)-CV-110
MDS-DH(*)-CV-185
MDS-DH(*)-CV-300
MDS-DH(*)-CV-370
MDS-DH(*)-CV-450
MDS-DH(*)-CV-550
MDS-DH(*)-CV-750
(Note (*)) : may be followed by 2
Circuit Protector, Fuses, Magnetic contactor and AC Reactor
UL489 Circuit
Protector
20A
40A
60A
100A
150A
200A
225A
300A
10A
20A
30A
50A
75A
100A
125A
150A
200A
400A
10A
25A
35A
70A
110A
125A
150A
200A
300A
UL Fuse
Class T
30A
60A
70A
125A
200A
225A
250A
Magnetic contactor (AC3)
S-N12/S-T12
S-N25/S-T35
S-N35/S-T35
S-N65/S-T65
S-N95/S-T80
S-N150
S-N150
S-N300
S-N12/S-T12
S-N12/S-T12
S-N21/S-T21
S-N25/S-T35
S-N50/S-T50
S-N65/S-T65
S-N80/S-T80
S-N95/S-T80
S-N150
Applicable drive unit
MDS-D-SVJ3(#)-03(##)
MDS-DJ-V1-10
MDS-D-SVJ3(#)-04(##)
MDS-DJ-V1-15
MDS-D-SVJ3(#)-07(##)
MDS-DJ-V1-30
MDS-D-SVJ3(#)-10(##)
MDS-DJ-V1-40
MDS-D-SVJ3(#)-20(##)
MDS-DJ-V1-80
MDS-D-SVJ3(#)-35(##)
MDS-DJ-V1-100
MDS-D-SPJ3(#)-075(##)
MDS-DJ-SP-20
MDS-D-SPJ3(#)-22(##)
MDS-DJ-SP-40
MDS-D-SPJ3(#)-37(##)
MDS-DJ-SP-80
MDS-D-SPJ3(#)-55(##)
MDS-DJ-SP-100
MDS-D-SPJ3(#)-75(##)
MDS-DJ-SP-120
MDS-D-SPJ3(#)-110(##)
MDS-DJ-SP-160
MDS-DJ-V2-3030
MDS-DJ-SP2-2020
UL 489 Circuit
Protector (240Vac)
(Note (#)) : may be followed by S
(Note (##)) : may be followed by N or NA
5A
5A
5A
10A
15A
20A
5A
15A
30A
40A
50A
75A
10A
10A
UL Fuse
Class T (300Vac)
10A
20A
20A
20A
40A
70A
15A
40A
60A
90A
125A
175A
20A
15A
Magnetic contactor (AC3)
S-N12/S-T12
S-N12/S-T12
S-N12/S-T12
S-N12/S-T12
S-N21/S-T18
S-N21/S-T20
S-N12/S-T12
S-N12/S-T12
S-N21/S-T20
S-N25/S-T35
S-N25/S-T35
AC Reactor
D-AL-7.5K
D-AL-7.5K
D-AL-11K
D-AL-18.5K
D-AL-30K
D-AL-37K
D-AL-45K
D-AL-55K
DH-AL-7.5K
DH-AL-7.5K
DH-AL-11K
DH-AL-18.5K
DH-AL-30K
DH-AL-37K
DH-AL-45K
DH-AL-55K
DH-AL-75K
S-N50/S-T35
S-N12/S-T12
S-N12/S-T12
301 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
Applicable drive unit
MDS-DM(*)-SPV2-10080
MDS-DM(*)-SPV2-16080
MDS-DM(*)-SPV2-20080
MDS-DM(*)-SPV3-10080
MDS-DM(*)-SPV3-16080
MDS-DM(*)-SPV3-20080
MDS-DM2-SPHV3-20080
MDS-DM(*)-SPV3-200120
MDS-DM-SPV2F-10080
MDS-DM-SPV2F-16080
MDS-DM-SPV2F-20080
MDS-DM-SPV3F-10080
MDS-DM-SPV3F-16080
MDS-DM-SPV3F-20080
MDS-DM-SPV3F-200120
MDS-DM-SPV2S-10080
MDS-DM-SPV2S-16080
MDS-DM-SPV2S-20080
MDS-DM-SPV3S-10080
MDS-DM-SPV3S-16080
MDS-DM-SPV3S-20080
MDS-DM-SPV3S-200120
(Note (*)) : may be followed by 2
Applicable
Power Backup Unit
MDS-DH-PFU
MDS-D-PFU
UL489 Circuit
Protector
40A
50A
60A
50A
60A
75A
75A
75A
40A
50A
60A
50A
60A
75A
75A
40A
50A
60A
50A
60A
75A
75A
UL489 Circuit
Protector
10A
10A
UL Fuse
Class T (300Vac)
80A
100A
125A
100A
125A
150A
150A
150A
80A
100A
125A
100A
125A
150A
150A
80A
100A
125A
100A
125A
150A
150A
Magnetic contactor (AC3)
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
S-N65/S-T65
Regenerative
Resistance Unit
R-UNIT-6
R-UNIT-7
AC Reactor
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
D-AL-18.5K
Circuit Protector for spindle motor Fan
Select the Circuit Protector by doubling the spindle motor fan rated.
A rush current that is approximately double the rated current will flow, when the fan is started.
<Notice>
- For installation in United States, branch circuit protection must be provided, in accordance with the National Electrical
Code and any applicable local codes.
- For installation in Canada, branch circuit protection must be provided, in accordance with the Canadian Electrical Code and any applicable provincial codes.
IB-1501124-D 302
MDS-D2/DH2 Series Specifications Manual
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
Appendix 4.2.6 Field Wiring Reference Table for Input and Output (Power Wiring)
Use the UL-approved Round Crimping Terminals to wire the input and output terminals of MDS-D, D2/DH, DH2/DM,
DM2-SPV/DJ Series. Crimp the terminals with the crimping tool recommended by the terminal manufacturer. Please protect terminal ring by the insulation cover.
Following described crimping terminals and tools type are examples of Japan Solderless Terminal Mfg. Co., Ltd.
This wire size is each unit maximum rating. The selection method is indicated in each specification manual.
(See Manual: No. IB-1500158, 1500875, 1500891, 1501130, 1501124 or 1501136)
(1) Power Supply Unit (MDS-D, D2/DH, DH2-CV)
Unit Type
Terminal
Screw
Size
MDS-D(*)-CV-
MDS-DH(*)-CV-
TE2 (L+, L-)
Torque [lb in/ N m]
TE3 (L11, L21)
Torque [lb in/ N m]
TE1 (L1, L2, L3, )
Torque [lb in/ N m]
37 to 75
------
M6
35.4/4.0
M4
10.6/1.2
M4
10.6/1.2
110 to 185
37 to 185
M6
35.4/4.0
M4
10.6/1.2
M5
17.7/2.0
300 to 450
300 to 750
M6
35.4/4.0
M4
10.6/1.2
M8
53.1/6.0
---
M6
35.4/4.0
M4
10.6/1.2
M10
97.3/11.0
550
---
M10
97.3/11.0
---
---
---
---
TE2 (L+, L-)
Unit Type
MDS-D(*)-CV-
MDS-DH(*)-CV-
Wire Size (AWG)
/Temp Rating Note 1
Crimping Terminals Type
Crimping Tools Type
---
37,75
#14
/75°C
R2-6
YHT-
2210
37
---
#12
/75°C
R5.5-6
YHT-
2210
75
110
#10
/75°C
R5.5-6
YHT-
2210
110
185
#8
/75°C
R8-6
YPT-
60-21
185
300,370
#4
/75°C
R22-6
YPT-
60-21
#2
/75°C
R38-6
YPT-
60-21
---
450 or
Busbar
---
---
300 to 550
550, 750
Bus-bar
---
---
TE3 (L11, L21)
Unit Type MDS-D(*)/DH(*)-CV-
Wire Size (AWG)/Temp Rating Note 1
Crimping Terminals Type
Crimping Tools Type
37 to 750
#14/75°C
R2-4
YHT-2210
TE1 (L1, L2, L3, )
Unit Type
MDS-D(*)-CV-
MDS-DH(*)-CV-
Wire Size (AWG)/Temp Rating Note 1
Crimping Terminals Type
Crimping Tools Type
Unit Type
MDS-D(*)-CV-
MDS-DH(*)-CV-
Wire Size (AWG)/Temp Rating
Note 1
Crimping Terminals Type
Crimping Tools Type
37
37, 75
#14/75°C
R2-4
YHT-2210
---
300
#6/75°C
R14-8
YPT-60-21
---
110
#12/75°C
R5.5-5
YHT-2210
---
370, 450
#4/75°C
R22-8
YPT-60-21
75
---
#10/75°C
5.5-S4
YHT-2210
300
550
#2/75°C
38-S8
YPT-60-21
110
185
#8/75°C
R8-5
YPT-60-21
370, 450
750
#1/0/75°C
60-S8
YPT-60-21
(Note 1) 75 °C: Grade heat-resistant polyvinyl chloride insulated wires (HIV).
Use copper wire only.
Above listed wire are for use in the electric cabinet on machine or equipment.
(Note (*)) : may be followed by 2
185
---
#6/75°C
R14-5
YPT-60-21
550
---
#3/0/75°C
80-10
YPT-150-1
303 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
(2) Spindle Drive Unit (MDS-D, D2/DH, DH2-SP/SP2, MDS-D-SPJ3, MDS-DJ)
Unit Type
Terminal
Screw
Size
MDS-D(*)-SP(#)-
MDS-D-SPJ3(#)-
MDS-DJ-SP-
MDS-DJ-SP2-
MDS-DH(*)-SP(#)-
TE2 (L+, L-)
Torque [lb in/ N m]
TE3 (L11, L21)
Torque [lb in/ N m]
TE1 (L1, L2, L3, )
Torque [lb in/ N m]
CNP1 (L1,L2,L3,N,P1,P2) and CNP3 (U,V,W))
Torque [lb in/ N m]
160 to 200
---
---
---
100 to 160
M6
35.4/4.0
M4
10.6/1.2
M5
17.7/2.0
---
---
240 to 320
---
---
---
200 to 480
M6
35.4/4.0
M4
10.6/1.2
M8
53.1/6.0
---
---
400 to 640
---
---
---
---
M10
97.3/11.0
M4
10.6/1.2
M10
97.3/11.0
---
---
---
22, 37(##)
---
---
---
---
---
---
---
---
---
---
5.3/0.6
TE2 (L+, L-)
Wire size depends on the Power Supply Unit (MDS-D,D2/DH,DH2-CV Series).
TE3 or CNP2 (L11, L21)
Unit Type
MDS-D(*)/DH(*)-SP(#)-
MDS-D-SPJ3(#)-
MDS-DJ-SP-
MDS-DJ-SP2-
Wire Size (AWG)/Temp Rating
Note 1
Crimping Terminals Type
Crimping Tools Type
20 to 640
55(##) to 110(##)
100,120,160
---
#14/75°C
R2-4
YHT-2210
---
075(##) to 37(##)
20,40,80
2020
#14/60 or 75°C
---
---
---
22(##)
20,40,80
2020
---
---
---
---
---
---
---
---
---
---
55(##), 75(##),
110(##)
100,120,160
---
---
---
---
M3.5
10.6/1.2
M4
17.7/2.0
---
---
TE1 (U, V, W, )
Unit Type
MDS-D(*)-SP(#)-
MDS-DH(*)-SP(#)-
Wire Size (AWG)/Temp Rating
Note 1, 2, 3
Crimping Terminals Type
Crimping Tools Type
Unit Type
MDS-D(*)-SP(#)-
MDS-DH(*)-SP(#)-
Wire Size (AWG)/Temp Rating Note 1, 2, 3
Crimping Terminals Type
Crimping Tools Type
20, 40
20, 40
#14/75°C
---
---
---
200
#4/75°C
R22-8
YPT-60-21
80
80
#12/75°C
---
---
240
320
#2/75°C
38-S8
YPT-60-21
---
100
#10/75°C
R5.5-5
YHT-2210
320
---
#1/0/75°C
60-S8
YPT-60-21
160
---
#6/75°C
R8-5
YPT-60-21
200
160
#4/75°C
R14-5
YPT-60-21
400, 640
480
#3/0/75°C
80-10
YPT-150-1
CNP1 (L1, L2, L3), CNP3 (U, V, W) and
Unit Type
MDS-D-SPJ3(#)-
MDS-DJ-SP-
MDS-DJ-SP2-
Wire Size (AWG)/Temp Rating
Note 1, 2, 3
Crimping Terminals Type
Crimping Tools Type
075(##) to 37(##)
20,40,80
2020
#14/60 or 75°C
---
---
55(##)
100
---
#12/75°C
R5.5-5
YHT-2210
75(##)
120
---
#10/75°C
R5.5-5
YHT-2210
110(##)
160
---
#8/75°C
R8-5
YPT-60-21
(Note 1) 75 °C: Grade heat-resistant polyvinyl chloride insulated wires (HIV).
Use copper wire only. Above listed wire are for use in the electric cabinet on machine or equipment.
(Note (#)) :may be followed by S
(Note (##)) :may be followed by N or NA
(Note (*)) :may be followed by 2
(Note 2) The servo motor cable can be selected in accordance with the stall current.
The spindle motor cable can be selected in accordance with the continuous rated current.
(Note 3) Select the motor so that the current value of motor become below in the current value of drive.
IB-1501124-D 304
MDS-D2/DH2 Series Specifications Manual
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
(3) Servo Drive Unit (MDS-D, D2/DH, DH2/DM, DM2-V1/V2/V3/D-SVJ3/DJ)
Unit Type
Terminal
Screw
Size
MDS-D(*)-V1(#)-
MDS-DH(*)-V1(#)-
MDS-D-SVJ3(#)-
MDS-DJ-V1-
MDS-DJ-V2-
TE2 (L+, L-)
Torque [lb in/ N m]
TE3 (L11, L21)
Torque [lb in/ N m]
TE1 (L1, L2, L3, )
Torque [lb in/ N m]
CNP1 (L1,L2,L3,N,P1,P2) and
CNP3 (U,V,W))
Torque [lb in/ N m]
160W, 320
160, 160W
---
---
---
M6
35.4/4.0
M4
10.6/1.2
M5
17.7/2.0
---
---
320W
200
---
---
---
M6
35.4/4.0
M4
10.6/1.2
M8
53.1/6.0
---
---
---
---
10 to 35(##)
---
---
---
---
---
---
---
---
---
5.3/0.6
---
---
10(##), 20(##)
10, 15, 30, 40, 80,
100
3030
---
---
---
---
---
---
---
---
TE2 (L+, L-)
Wire size depends on the Power Supply Unit (MDS-D, D2/DH, DH2-CV Series).
TE3 or CNP2 (L11, L21)
Unit Type
MDS-D/DH/DM-V1(#)/V2(#)/V3(#)-
MDS-D-SVJ3(#)-
MDS-DJ-V1-
MDS-DJ-V2-
Wire Size (AWG)/Temp Rating
Note 1
Crimping Terminals Type
Crimping Tools Type
10 to 320W
---
---
---
#14/75°C
R2-4
YHT-2210
---
03(##) to 35(##)
10, 15, 30, 40, 80, 100
3030
#14/75°C
---
---
TE1 (U, V, W, )
Unit Type
MDS-D(*)-V1(#)-
MDS-DH(*)-V1(#)-
Wire Size (AWG)/Temp Rating
Note 1, 2, 3
Unit Type
MDS-D(*)-V1(#)-
MDS-DH(*)-V1(#)-
Wire Size (AWG)/Temp Rating Note 1, 2, 3
Crimping Terminals Type
Crimping Tools Type
20 to 40
10 to 40
#14/75°C
160W
160, 160W
#8/75°C
R8-5
YPT-60-21
320
---
#6/75°C
R14-5
YPT-60-21
80
80
#12/75°C
---
200
#4/75°C
R22-8
YPT-60-21
160
80W
#10/75°C
320W
---
#2/75°C
38-S8
YPT-60-21
CNP1 (L1, L2, L3), CNP3 (U, V, W) and
Unit Type
MDS-D-SVJ3(#)-
MDS-DJ-V1-
MDS-DJ-V2-
Wire Size (AWG)/Temp Rating
Note 1, 2, 3
03(##) to 10(##)
10, 15, 30, 40
3030
#14/75°C
20(##)
80
---
#12/75°C
35(##)
100
#10/75°C
(Note 1) 75 °C: Grade heat-resistant polyvinyl chloride insulated wires (HIV).
Use copper wire only.
Above listed wire are for use in the electric cabinet on machine or equipment.
(Note (#)) :may be followed by S
(Note (##)) :may be followed by N or NA
(Note (*)) :may be followed by 2
(Note 2) The servo motor cable can be selected in accordance with the stall current.
The spindle motor cable can be selected in accordance with the continuous rated current.
(Note 3) Select the motor so that the current value of motor become below in the current value of drive.
305 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
(4) Option Unit : Dynamic Brake Unit (MDS-D-DBU)
Type
Terminal Screw
Size
U, V, W,
Torque [lb in/ N m]
MDS-D-DBU
M4
10.6/1.2
TE1 (U, V, W, )
Unit Type
Wire Size (AWG) /Temp Rating Note 1
Crimping Terminals Type
Crimping Tools Type
MDS-D-DBU
#10/75°C
R5.5-4
YHT-2210
(Note 1) 75 °C: Grade heat-resistant polyvinyl chloride insulated wires (HIV).
Use copper wire only. Above listed wire are for use in the electric cabinet on machine or equipment.
(5) AC Reactor (D/DH-AL)
Type
Terminal
Screw
Size
D-AL-
DH-AL-
L11, L12, L13, L21, L22, L23
Torque [lb in/ N m]
7.5K, 11K
7.5K, 11K
M5
17.7/2.0
18.5K to 45K
18.5K to 75K
M6
35.4/4.0
55K
---
M10
97.3/11.0
Input/Output (L11, L12, L13, L21, L22, L23)
The wire connected with AC Reactor becomes same size as TE1 of the selected Power supply unit.
(6) Multi Axis Unit (Multi-Hybrid drive unit) (MDS-DM, DM2-SPV)
Unit Type
Terminal
Screw
Size
MDS-DM(*)-SPV2(###)
MDS-DM(*)-SPV3(###)
MDS-DM2-SPHV3
TE1 (L1,L2,L3,U,V,W)
Torque [lb in/ N m]
CN31L/M/S (U,V,W)
Torque [lb in/ N m]
PE ( )
Torque [lb in/ N m]
-10080
-10080
---
M5
17.7 / 2.0
---
---
M5
17.7 / 2.0
-16080
-16080
---
M5
17.7 / 2.0
---
---
M5
17.7 / 2.0
-20080
-20080
-20080
M5
17.7 / 2.0
---
---
M5
17.7 / 2.0
---
-200120
---
M5
17.7 / 2.0
---
---
M5
17.7 / 2.0
TE1 (L1, L2, L3) and
Unit Type
MDS-DM(*)-SPV2(###)
MDS-DM(*)-SPV3(###)
MDS-DM2-SPHV3
Wire Size (AWG) /Temp Rating Note 1
Crimping Terminals Type
Crimping Tools Type
-10080
-10080
---
#4/75°C
R22-S5
YPT-60-21
-16080
-16080
---
#4/75°C
R22-S5
YPT-60-21
-20080
-20080
-20080
#4/75°C
R22-S5
YPT-60-21
---
-200120
---
#4/75°C
R22-S5
YPT-60-21
TE1 (U, V, W) and
Unit Type
MDS-DM(*)-SPV2(###)
MDS-DM(*)-SPV3(###)
MDS-DM2-SPHV3
Wire Size (AWG) /Temp Rating
Note 1, 2, 3
Crimping Terminals Type
Note 2
Crimping Tools Type
-10080
-10080
---
#10/75°C
R5.5-5
YHT-2210
-16080
-16080
---
#8/75°C
R8-5
YPT-60-21
---
---
-20080
#6/75°C
R14-5
YPT-60-21
-20080
-20080
-200120
---
#4/75°C
R22-5
YPT-60-21
IB-1501124-D 306
MDS-D2/DH2 Series Specifications Manual
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
CN31L/M/S (U,V,W) and
MDS-DM(*)-SPV2(###)
Unit Type MDS-DM(*)-SPV3(###)
MDS-DM2-SPHV3
Wire Size (AWG) /Temp Rating
Note 1, 2, 3
-10080
-10080
---
#12/75°C
-16080
-16080
---
#12/75°C
-20080
-20080
-20080
#12/75°C
---
-200120
---
#10/75°C
(Note (###)) :may be followed by F or S
(Note (*)) :may be followed by 2
(Note 1) 75 °C: Grade heat-resistant polyvinyl chloride insulated wires (HIV).
Use copper wire only.
Above listed wire are for use in the electric cabinet on machine or equipment.
(Note 2) The servo motor cable can be selected in accordance with the stall current.
The spindle motor cable can be selected in accordance with the continuous rated current.
(Note 3) Select the motor so that the current value of motor become below in the current value of drive.
(7) Power Backup Unit (MDS-D/DH-PFU)
Unit Type
Terminal
Screw
Size
TE1 (L1,L2,L3)
Torque [lb in/ N m]
TE2 (L+, L-))
Torque [lb in/ N m]
TE3 (OUT-L11,OUT-L21))
Torque [lb in/ N m]
MDS-DH-PFU / MDS-D-PFU
---
---
M6
35.4/4.0
M4
10.6/1.2
TE4 (C+,C-))
Torque [lb in/ N m]
TE5 (R1,R2))
Torque [lb in/ N m]
PE( )
Torque [lb in/ N m]
M6
35.4/4.0
M6
35.4/4.0
M4
10.6/1.2
TE1 (L1, L2,L3)
Unit Type
Wire Size (AWG) /Temp Rating
Note 1
Crimping Terminals Type
Crimping Tools Type
TE2 (L+, L-)
Unit Type
Wire Size (AWG) /Temp Rating Note 1
Crimping Terminals Type
Crimping Tools Type
TE3 (OUT-L11, OUT-L21)
Unit Type
Wire Size (AWG) /Temp Rating
Note 1
Crimping Terminals Type
Crimping Tools Type
MDS-DH-PFU / MDS-D-PFU
#14/75°C
---
---
MDS-DH-PFU / MDS-D-PFU
#10/75°C
R5.5-6
YHT-2210
MDS-DH-PFU / MDS-D-PFU
#14/75°C
R2-4
YHT-2210
TE4 (C+,C-)
Unit Type
Wire Size (AWG) /Temp Rating
Note 1
Crimping Terminals Type
Crimping Tools Type
MDS-DH-PFU / MDS-D-PFU
#10/75°C
R5.5-6
YHT-2210
307 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
TE5 (R1,R2)
Unit Type
Wire Size (AWG) /Temp Rating Note 1
Crimping Terminals Type
Crimping Tools Type
MDS-DH-PFU / MDS-D-PFU
#10/75°C
R5.5-6
YHT-2210
PE ( )
Unit Type
Wire Size (AWG) /Temp Rating Note 1
Crimping Terminals Type
Crimping Tools Type
MDS-DH-PFU / MDS-D-PFU
#14/75°C
R2-4
YHT-2210
Option Unit : R-Unit (R-UNIT-6 / R-UNIT-7)
Unit Type
Terminal
Screw
Size
TE1 (R1, R2)
Torque [lb in/ N m]
PE( )
Torque [lb in/ N m]
TE1 (R1,R2)
Unit Type
Wire Size (AWG) /Temp Rating Note 1
Crimping Terminals Type
Crimping Tools Type
R-UNIT-6 / R-UNIT-7
M4
10.6/1.2
M4
10.6/1.2
R-UNIT-6 / R-UNIT-7
#10/75°C
R5.5-4
YHT-2210
PE ( )
Unit Type
Wire Size (AWG) /Temp Rating Note 1
Crimping Terminals Type
Crimping Tools Type
R-UNIT-6 / R-UNIT-7
#10/75°C
R5.5-4
YHT-2210
Option Unit : Capacitor Unit (MDS-D-CU / MDS-DH-CU)
Unit Type
Terminal
Screw
Size
TE1 (C+, C-)
Torque [lb in/ N m]
TE2 (C+, C-)
Torque [lb in/ N m]
PE( )
Torque [lb in/ N m]
MDS-D-CU / MDS-DH-CU
M10
97.3/11.0
M6
35.4/4.0
M10
97.3/11.0
TE1 (C+, C-)
Unit Type
Wire Size (AWG) /Temp Rating Note 1
Crimping Terminals Type
Crimping Tools Type
MDS-D-CU / MDS-DH-CU
#10/75°C
R5.5-10
YHT-2210
TE2 (C+, C-)
Unit Type
Wire Size (AWG) /Temp Rating Note 1
Crimping Terminals Type
Crimping Tools Type
MDS-D-CU / MDS-DH-CU
#10/75°C or more
R5.5-6
YHT-2210
IB-1501124-D 308
MDS-D2/DH2 Series Specifications Manual
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
PE ( )
Unit Type
Wire Size (AWG) /Temp Rating Note 1
Crimping Terminals Type
Crimping Tools Type
MDS-D-CU / MDS-DH-CU
#10/75°C
R5.5-10
YHT-2210
(8) Notes of Round Crimping Terminals and Terminal Block
The non-insulation ring tongue must have the insulated sleeving described below to prevent electric shock.
The crimp terminal must be provided with SUMITOMO ELECTRIC FINE POLYMER INC. (File No.: E48762,
Catalogue No.: SUMITUBE F(Z) or 939) per the illustration below.
Insulated sleeve
Non-insulated terminal
Non-insulated terminal
Insulation distance
Appendix 4.2.7 Motor Over Load Protection
Spindle drive unit MDS-D, D2/DH, DH2-SP/SP2, MDS-D-SPJ3/MDS-DJ, Servo drive unit MDS-D, D2/DH, DH2/DM,
DM2-V1/V2/V3/, MDS-D-SVJ3/MDS-DJ and Multi Axis unit (Multi-Hybrid drive unit) MDS-DM, DM2-SPV 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.
(1) MDS-D, D2/DH, DH2-SP/SP2, MDS-D-SPJ3/MDS-DJ (Spindle drive unit),
MDS-DM, DM2-SPV (Multi Axis unit (Multi-Hybrid drive unit))
Parameter
No.
SP021
SP022
Parameter abbr.
OLT*
OLL
Parameter
Name
Overload time constant
Overload detection level
Setting Procedure
Set the time constant for overload detection. (Unit: 1 second.)
Set the overload current detection level with a percentage (%) of the rating.
Standard
Setting Value
60s
Setting
Range
0 to 15300s
120% 1 to 200%
(2) MDS-D, D2/DH, DH2/DM, DM2-V1/V2/V3, MDS-D-SVJ3, MDS-DJ (Servo drive unit),
MDS-DM, DM2-SPV (Multi Axis unit (Multi-Hybrid drive unit))
Parameter
No.
SV021
SV022
Parameter abbr.
OLT
OLL
Parameter
Name
Overload time constant
Overload detection level
Setting Procedure
Set the time constant for overload detection. (Unit: 1 second.)
Set the overload current detection level with a percentage (%) of the stall rating.
Standard
Setting Value
60s
150%
Setting
Range
1 to 999s
110 to 500%
309 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
Appendix 4.2.8 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:
Flange size
(mm)
150×150×6
250×250×6
250×250×12
300×300×20
800×800×35
Servo Motor
HF, HF-H, HP, HP-H, HF-KP, HF-MP, HF-SP
50 to 100W
200 to 400W
0.5 to 1.5kW
2.0 to 7.0kW
9.0 to 11.0kW
Appendix 4.2.9 Spindle Drive/Motor Combinations
Following combinations are the Standard combinations.
Drive Unit
MDS-D(*)-SP(#)-20
MDS-D(*)-SP(#)-40
MDS-D(*)-SP(#)-80
MDS-D(*)-SP(#)-160
MDS-D(*)-SP(#)-200
MDS-D(*)-SP(#)-240
MDS-D(*)-SP(#)-320
MDS-D(*)-SP(#)-400
MDS-D(*)-SP(#)-640
MDS-D(*)-SP2(#)-2020
MDS-D(*)-SP2(#)-8040
MDS-D(*)-SP2(#)-8080
MDS-D(*)-SP2(#)-16080
Drive Unit
MDS-DH(*)-SP(#)-20
MDS-DH(*)-SP(#)-40
MDS-DH(*)-SP(#)-80
MDS-DH(*)-SP(#)-100
MDS-DH(*)-SP(#)-160
MDS-DH(*)-SP(#)-200
MDS-DH(*)-SP(#)-320
MDS-DH(*)-SP(#)-480
MDS-DH(*)-SP2(#)-2020
MDS-DH(*)-SP2(#)-4040
MDS-DH(*)-SP2(#)-8040
Rating Output (kW) of Applicable Spindle Motor
SJ, SJ-V/VL Series Note 1
0.75
0.75, 1.5, 2.2
2.2, 3.7, 7.5
7.5, 11
11, 15, 18.5
18.5, 22
22, 26, 30
30, 37, 45
37, 45, 55
0.75, 1.5 / 0.75, 1.5
2.2, 3.7, 7.5 / 0.75, 1.5, 2.2
2.2, 3.7, 7.5 / 2.2, 3.7, 7.5
7.5, 11 / 2.2, 3.7, 7.5
Rating Output (kW) of Applicable Spindle Motor
SJ-4, SJ-4-V/VL Series
Note 1
0.75, 1.5, 2.2, 3.7
2.2, 3.7, 5.5, 7.5
2.2, 3.7, 7.5, 11
7.5, 11, 15, 18.5
18.5, 22, 26, 30
26, 30, 37, 45
30, 37, 45, 55
45, 55, 60
0.75, 1.5, 2.2, 3.7 / 0.75, 1.5, 2.2, 3.7
2.2, 3.7, 5.5, 7.5 / 2.2, 3.7, 5.5, 7.5
2.2, 3.7, 7.5, 11 / 2.2, 3.7, 5.5, 7.5
IB-1501124-D 310
MDS-D2/DH2 Series Specifications Manual
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
Drive Unit
MDS-D-SPJ3(#)-075(##)
MDS-DJ-SP-20
MDS-D-SPJ3(#)-22(##)
MDS-DJ-SP-40
MDS-D-SPJ3(#)-37(##)
MDS-DJ-SP-80
MDS-D-SPJ3(#)-55(##)
MDS-DJ-SP-100
MDS-D-SPJ3(#)-75(##)
MDS-DJ-SP-120
MDS-D-SPJ3(#)-110(##)
MDS-DJ-SP-160
MDS-DJ-SP2-2020
SJ-V
-
SJ-V2.2
SJ-V3.7
SJ-V5.5
SJ-V7.5
SJ-V7.5,
SJ-V11
-
SJ-VL
SJ-VL0.75
SJ-VL1.5,
SJ-VL2.2
SJ-VL2.2
-
-
SJ-VL11
SJ-VL0.75
Spindle Motor
SJ-D
-
-
3.7
5.5
7.5
11
-
SJ-DJ
-
-
-
5.5
7.5
11
-
HF-KP
46, 56, 96
-
-
-
-
-
46, 56, 96
Drive Unit
Rating Output (kW) of Applicable Spindle Motor
SJ-V Series Note 1 SJ-VL Series Note 1 SJ-DJ Series Note 1 SJ-DL Series Note 1
MDS-DM(*)-SPV2(###)-10080
MDS-DM(*)-SPV3(###)-10080
MDS-DM(*)-SPV2(###)-16080
MDS-DM(*)-SPV3(###)-16080
MDS-DM(*)-SPV2(###)-20080
MDS-DM(*)-SPV3(###)-20080
MDS-DM2-SPHV3-20080
MDS-DM(*)-SPV3(###)-200120
5.5, 7.5
7.5, 11
11, 15
-
11
-
-
-
15
-
-
-
-
-
-
-
3.7
-
(Note1) Applicable unit depends on the range of power constant of motor.Inquire of Mitsubishi about the detail of the combinations.
(Note (#)) :may be followed by S
(Note (##)) :may be followed by N or NA
(Note (###)) :may be followed by F or S
(Note (*)) :may be followed by 2
311 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
Appendix 4.2.10 Servo Drive/Motor Combinations
Following combinations are the Standard combinations.
Drive Unit
MDS-D-SVJ3(#)-03(##)
MDS-DJ-V1-10
MDS-D-SVJ3(#)-04(##)
MDS-DJ-V1-15
MDS-D-SVJ3(#)-07(##)
MDS-DJ-V1-30
MDS-D-SVJ3(#)-10(##)
MDS-DJ-V1-40
MDS-D-SVJ3(#)-20(##)
MDS-DJ-V1-80
MDS-D-SVJ3(#)-35(##)
MDS-DJ-V1-100
MDS-DJ-V2-3030
MDS-DM(*)-SPV2(###)-10080
MDS-DM(*)-SPV2(###)-16080
MDS-DM(*)-SPV2(###)-20080
MDS-DM(*)-SPV3(###)-10080
MDS-DM(*)-SPV3(###)-16080
MDS-DM(*)-SPV3(###)-20080
MDS-DM2-SPHV3-20080
MDS-DM(*)-SPV3(###)-200120
(Note (#)) :may be followed by S
(Note (##)) :may be followed by N or NA
(Note (###)) :may be followed by F or S
(Note (*)) :may be followed by 2
-
HF-KP
053, 13, 23
43
73
-
-
-
13, 23, 43, 73
HF-SP
Servo Motor
HF-MP
053, 13, 23
-
51, 52
81, 102
43
73
-
121, 152, 201, 202
352
-
-
-
-
-
-
-
-
HF
-
-
54,75,105
104,123,142,223,
302
154, 204,224,303
354
54, 75, 105
54, 104, 154, 204,
224, 223, 303, 302
154, 204, 224, 354,
303, 453
IB-1501124-D 312
MDS-D2/DH2 Series Specifications Manual
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
Appendix 4.3 AC Servo/Spindle System Connection
Appendix 4.3.1 MDS-D, D2/DH, DH2/DM, DM2-Vx/SP Series
From NC
Regarding the connection of NC, see the CNC manual book.
MDS-D,D2/DH.DH2/
DM.DM2-V1/V2/V3 MDS-D,D2/DH,DH2-SP
Series Series
CN1A CN1B CN1A CN1B
CN9 CN4 CN9 CN4
MDS-D,D2/
DH,DH2-CV
Series
CN4
CN2L CN3L CN2L CN3L CN9
CN2M CN3M CN2M CN3M
CN2S CN3S
External Emergency Stop
Refer to specification manual
D/DH/DM :
IB-1500875 or IB-1500891
D2/DH2/DM2 :
IB-1501124 or IB-1501136
Enclosure Side
Machine Side
SU/SV/SW
MU/MV/MW
LU/LV/LW
Servo Motor Spindle Motor
Battery Unit
L+/L -
L11/L21
L1/L2/L3
CB
Note: It recommends installing.
U/V/W
CN23A CN23B
(CN24) (CN23)
AC Reactor
MC
Contactor
Fuse or
Circuit Protector (MCCB)
CB
3 phase
DH,DH2 Series: 380 to 480VAC
D,D2/DM,DM2 Series: 200 to 230VAC
Servo Motor
Encoder
Servo Motor
FAN
Encoder and
Thermal Protection
Encoder Encoder
313 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
Appendix 4.3.2 MDS-D/DH-CV, D/D2-Vx/SPx, DH/DH2-Vx/SPx, DM/DM2-V3 Series
with MDS-D/DH-PFU
MDS-D/DH-PFU
Series
Option
R-UNIT-6 or
R-UNIT-7
From NC
Regarding the connection of NC, see the NC manual book.
MDS-D,D2/DH,DH2/DM.DM2
-V1/V2/V3 Series
CN1A CN1B
MDS-D,D2/DH,DH2-SP
Series
CN1A CN1B
CN9 CN4 CN9 CN4
CN2L CN3L CN2L CN3L
MDS-D/DH-CV
Series
CN4
CN9 TE5
Battery Unit CN43
CN2M CN3M CN2M CN3M
TE2
TE4
TE2 CN2S CN3S TE2
TE3
SU/SV/SW
LU/LV/LW
TE3
L+/L-
TE2
L11/L21
TE3
TE3
TE1
L1/L2/L3
CN23A CN23B
(CN24) (CN23)
External Emergency Stop
Refer to specification manual
D/DH/DM :
IB-1500875 or IB-1500891
D2/DH2/DM2 :
IB-1501124 or IB-1501136
Enclosure Side
Machine Side
AC Reactor
MC
Contactor
CB
CB
Fuse or
Circuit Protector (MCCB)
3 phase
DH,DH2 Series: 380 to 480VAC
D,D2/DM,DM2 Series: 200 to 230VAC
Servo Motor Spindle Motor
Servo Motor Servo Motor
Thermal Protection
Encoder Encoder
Appendix 4.3.3 MDS-D2/DH2-CV, D/D2-Vx/SPx, DH/DH2-Vx/SPx, DM/DM2-V3 Series
with MDS-D/DH-PFU
From NC
Regarding the connection of NC,
MDS-D,D2/DH,DH2/DM.DM2
-V1/V2/V3 Series
CN1A CN1B
MDS-D,D2/DH,DH2-SP
Series
CN1A CN1B
CN9 CN4
CN9 CN4
MDS-D2/DH2-CV
Series
CN4 CN41
MDS-D/DH-PFU
Series
CN41 CN42
Option
R-UNIT-6 or
R-UNIT-7
Refer to specification manual
D/DH/DM :
IB-1500875 or IB-1500891
D2/DH2/DM2 :
IB-1501124 or IB-1501136
CN2L CN3L CN9
CN24
TE5
Battery Unit CN43
CN2M CN3M CN2M CN3M
CN23
External
Emergency Stop
TE4
CN2S CN3S
TE2 TE2
L+/L-
TE2 TE2
TE3
L11/L21
TE3 TE3
SU/SV/SW
U/V/W
TE1
MU/MV/MW L1/L2/L3
LU/LV/LW
TE3
L1/L2/L3
CB
MC
Contactor
AC Reactor
TE2
TE1
Option
MDS-D-CU or
MDS-DH-CU
CB
Fuse or
Circuit Protector (MCCB)
3 phase
DH,DH2 Series: 380 to 480VAC
D,D2/DM,DM2 Series: 200 to 230VAC
Enclosure Side
Machine Side
Servo Motor Spindle Motor
Encoder
Servo Motor
Encoder
Servo Motor
Thermal Protection
IB-1501124-D 314
MDS-D2/DH2 Series Specifications Manual
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
Appendix 4.3.4 MDS-D-SVJ3/SPJ3/MDS-DJ Series
Enclosure Side
Input
Machine Side
Resistor
MDS-D-SVJ3/MDS-DJ-V1
MDS-D-SPJ3/MDS-DJ-SP
Series
Series
CNP1 CN9
CNP2
External
Emergency Stop
Refer to specification manual
MDS-D-SVJ3/SPJ3 : IB-1500158
MDS-DJ : IB-1501130
CN8
CN1A
CN8
(Only SVJ3S,
SPJ3S,MDS-DJ)
CN1B
From NC
Regarding the connection of NC, see the CNC manual book.
Relay
CNP3
CN2
CN3
Contactor
MC
Note: It recommends installing.
CB
Fuse or
Circuit Protector
3 phases
200 to 230Vac
Servo/Spindle Motor
Encoder
MDS-DJ-V2
MDS-DJ-SP2
Series
Series
CNP1
CNP2
CN9
External
Emergency Stop
Refer to specification manual
MDS-DJ : IB-1501130
CN8
CN8
CN1A
CN1B
Regarding the connection of NC, see the NC manual book.
Relay
CNP3L
CNP3M
CN2 L
CN 2M
MC
Contactor
Note : It recommends installing.
CB
Fuse or
Circuit Protector
3 phases
200 to 230Vac
Enclosure Side
Machine Side
Input
Servo / Spindle Motor Servo / Spindle Motor
Encoder
Encoder
315 IB-1501124-D
MDS-D2/DH2 Series Specifications Manual
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
Appendix 4.3.5 MDS-DM, DM2-SPV Series
External
Emergency Stop
24V stabilized
Power supply
Refer to specification manual
IB-1500891, IB-1501136
From NC
Regarding the connection of NC, see the NC manual book.
Relay
MDS-DM,DM2-SPV Series
CN22
CN9A CN9B
OPT1
CN2SP
CN3SP
CN2L
CN2M
CN2S
CN3L
CN3M
CN3S
L1/L2/L3 U/V/W CN31L CN31M CN31S
Contactor
MC
3 phase
200 to 230VAC
Input
Fuse or
Circuit Protector
Enclosure Side
AC Reactor
CB
Note : It recommends installing.
Machine Side
Spindle Motor Servo Motor
Encoder
FAN
Encoder and
Thermal Protection
Encoder
Encoder
IB-1501124-D 316
Revision History
Date of revision
Nov. 2013
Jun. 2014
May 2016
Manual No.
IB(NA)1501124-A First edition created.
Revision details
IB(NA)1501124-B - The words "detector" were replaced by "encoder".
- "Explanation of Type" was revised.
- "Specifications" and "Output Characteristics" in "Spindle Motor" were revised.
- "Specifications" and "Output Characteristics" in "Tool Spindle Motor" were revised.
- Function Specifications List was revised.
- "Retraction Function at Power Failure" was added.
- "External Emergency Stop Function" was revised.
- "Monitor Output Function" was revised.
- "Motor Temperature Display Function" was revised.
- "Environmental Conditions" in "Servo Motor" was revised.
- "Shaft Characteristics" in "Spindle Motor" and "Tool Spindle Motor" were revised.
- "Environmental Conditions" in "Drive Unit" was revised.
- "Servo Options" was revised.
- Specifications and Outline dimension drawings in "Dynamic Brake Unit (MDS-
D-DBU)" were revised.
- Absolute position encoder in "Machine Side Encoder" was revised.
- "Spindle Options" was revised.
- "Spindle Side Accuracy Serial Output Encoder (ERM280, MPCI Series)
(Other Manufacturer's Product)" was revised.
- "Machine Side Encoder" was revised.
- Explanation of each part and Explanation of connectors in "Power Backup
Unit (MDS-D/DH-PFU)" were revised.
- "Capacitor Unit for Power Backup Unit (MDS-D/DH-CU)" was added.
- < When MDS-D/DH-PFU is connected > in "Cable Connection Diagram" was revised.
- "List of Cables and Connectors" was revised.
- Tolerable current list was added to "Example of Wires by Unit".
- "Selection of the Spindle Motor" was revised.
- "Calculation of Spindle Output" was revised.
- "Example for Power Supply Unit and Power Supply Facility Capacity" was revised.
- "Selection of Regenerative Resistor for Power Backup Unit (R-UNIT-6,7) and
Capacitor Unit for Power Backup Unit (MDS-D/DH-CU)" was added.
- "Cable and Connector Specifications" was revised.
- Miswrite is corrected.
IB(NA)1501124-C - Specification descriptions of MDS-D2-CV-37 and 75 were added.
- SJ-DG Series spindle motors were added.
- Specifications of SJ-VL2.2-02ZT was changed to low-inertia.
- SJ-4-V11-18ZT was replaced by SJ-4-V11-18T.
- The following spindle motors were deleted.
SJ-VS7.5-14FZT, SJ-VKS26-09FZT, SJ-VKS30-16FZT, SJ-VLS15-11FZT,
SJ-4-V3.7-05ZT, SJ-4-V11-23ZT, SJ-4-V15-18T, SJ-4-V30-15ZT,
SJ-4-V37-04ZT, SJ-4-V11-21T, SJ-4-V18.5-17T
- "Precautions for Safety" was revised.
- "System Configuration" was revised.
Date of revision
May 2016
Apr. 2017
Manual No.
Revision details
IB(NA)1501124-C - "Explanation of Type" was revised.
- "Specifications List" in "Servo Motor" was revised.
- "Specifications" and "Output Characteristics" in "Spindle Motor" were revised.
- "Specifications" in "Tool Spindle Motor" was revised.
- "Servo Drive Unit", "Spindle Drive Unit", "Power Supply Unit", "Unit Outline
Dimension Drawing" and "Explanation of Each Part" in "Drive Unit" were revised.
- Function Specifications List was revised.
- "Retraction Function at Power Failure" was revised.
- "Shaft Characteristics", "Oil / Water Standards", "Installation of Servo Motor",
"Magnetic Brake", "Dynamic Brake Characteristics" in "Servo Motor" were revised.
- "Shaft Characteristics" and "Machine Accuracy" in "Spindle Motor" was revised.
- "Servo Options" was revised.
- "Battery Option (ER6V-C119B, A6BAT, MDS-BTBOX-36)" was revised.
- "Machine Side Encoder" was revised.
- "Spindle Options" was revised.
- "Serial Output Interface Unit for ABZ Analog Encoder MDS-B-HR" was revised.
- "Serial Output Interface Unit for ABZ Analog Encoder ADB-20J Series (Other
Manufacturer's Product)" was revised.
- "Optical Communication Repeater Unit (FCU7-EX022)" was revised.
- "Cable Connection Diagram", "List of Cables and Connectors" and "Optical
Communication Cable Specifications" were revised.
- "Selection of Contactor" was revised.
- "Noise Filter" was revised.
- "Relay" was revised.
- "Selection of Link Connection" was revised.
- "Selection of the Servo Motor" was revised.
- "Selection of the Spindle Motor" was revised.
- "Calculation of Spindle Output" was revised.
- "Cable Wire and Assembly" was revised.
- "Battery Cable", "Optical Communication Repeater Unit Cable" and "Servo /
Tool Spindle Encoder Cable" were revised.
- "Connector for Drive Unit" and "Connector for Servo and Tool Spindle" were revised.
IB(NA)1501124-D
- "Restrictions for Lithium Batteries" was revised.
- "Compliance to EC Directives" was deleted.
- "EMC Installation Guidelines" was deleted.
- "EC Declaration of Conformity" was revised.
- "Instruction Manual for Compliance with UL/c-UL Standard" was revised.
- "Compliance with Restrictions in China" was deleted.
- Miswrite is corrected.
- "Introduction" was revised.
- "Spindle Motor Type" was revised.
- Specifications list of servo motor, spindle motor, and tool spimdle motor were revised.
- SJ-4-V37-04ZT was added.
- "Servo Drive Unit", "Spindle Drive Unit", "Power Supply Unit", and "AC
Reactor" were revised.
Date of revision
Apr. 2017
Manual No.
IB(NA)1501124-D
Revision details
- "Speed Command Synchronous Control" was revised.
- "Installation of Servo Motor" was revised.
- Manufacturer names and the contact information were updated.
- "Ball Screw Side Encoder (OSA105ET2A, OSA166ET2NA)" and "Machine
Side Encoder" were revised.
- "Serial Output Interface Unit for ABZ Analog Encoder MDS-B-HR" was revised.
- "Side Protection Cover" was revised.
- "List of Cables and Connectors" was revised.
- Power connector for MDS-D2-CV-37/75 was added.
- "Example of Wires by Unit" was revised.
- "Cable and Connector Specifications" was revised.
- "EC Declaration of Conformity" was revised.
- "Instruction Manual for Compliance with UL/c-UL Standard" was revised.
- "Global Service Network" was revised.
- Miswrite is corrected.
Global Service Network
AMERICA
MITSUBISHI ELECTRIC AUTOMATION INC. (AMERICA FA CENTER)
Central Region Service Center (Chicago)
500 CORPORATE WOODS PARKWAY, VERNON HILLS, ILLINOIS 60061, U.S.A.
TEL: +1-847-478-2500 / FAX: +1-847-478-2650
Minneapolis, MN Service Satellite
Detroit, MI Service Satellite
Grand Rapids, MI Service Satellite
Lima, OH Service Satellite
Cleveland, OH Service Satellite
Indianapolis, IN Service Satellite
St. Louis, MO Service Satellite
South/East Region Service Center (Georgia)
1845 SATTELITE BOULEVARD STE. 450, DULUTH, GEORGIA 30097, U.S.A.
TEL +1-678-258-4529 / FAX +1-678-258-4519
Charleston, SC Service Satellite
Charlotte, NC Service Satellite
Raleigh, NC Service Satellite
Dallas, TX Service Satellite
Houston, TX Service Satellite
Hartford, CT Service Satellite
Knoxville, TN Service Satellite
Nashville, TN Service Satellite
Baltimore, MD Service Satellite
Pittsburg, PA Service Satellite
Allentown, PA Service Satellite
Syracuse, NY Service Satellite
Tampa, FL Service Satellite
Lafayette, LA Service Satellite
Western Region Service Center (California)
5900-B KATELLA AVE. - 5900-A KATELLA AVE. CYPRESS, CALIFORNIA 90630, U.S.A.
TEL: +1-714-699-2625 / FAX: +1-847-478-2650
San Francisco, CA Service Satellite
Seattle, WA Service Satellite
Canada Region Service Center (Tronto)
4299 14TH AVENUE MARKHAM, ONTARIO L3R OJ2, CANADA
TEL: +1-905-754-3805 / FAX: +1-905-475-7935
Edmonton, AB Service Satellite
Montreal, QC Service Satellite
Mexico Region Service Center (Queretaro)
Parque Tecnol ó gico Innovaci ó n Quer é taro, Lateral Carretera Estatal 431, Km 2+200, Lote 91 Modulos 1 y 2
Hacienda la Machorra, CP 76246, El Marqués, Querétaro, México
TEL: +52-442-153 4250
Monterrey, NL Service Satellite
Mexico City, DF Service Satellite
BRAZIL
Mitsubishi Electric do Brasil Comércio e Serviços Ltda.
Votorantim Office
AV. GISELE CONSTANTINO,1578 ， PARQUE BELA VISTA, VOTORANTIM-SP, BRAZIL CEP:18.110-650
TEL: +55-15-3023-9000
JOVIMAQ – Joinville, SC Service Satellite
MAQSERVICE – Canoas, RS Service Satellite
EUROPE
MITSUBISHI ELECTRIC EUROPE B.V.
European Service Headquarter (Dusseldorf, GERMANY)
Mitsubishi-Electric-Platz 1 40882 RATINGEN, GERMANY
TEL: +49-2102-486-1850 / FAX: +49-2102-486-5910
South Germany Service Center (Stuttgart)
KURZE STRASSE. 40, 70794 FILDERSTADT-BONLANDEN, GERMANY
TEL: + 49-711-770598-123 / FAX: +49-711-770598-141
France Service Center (Paris)
25, BOULEVARD DES BOUVETS, 92741 NANTERRE CEDEX FRANCE
TEL: +33-1-41-02-83-13 / FAX: +33-1-49-01-07-25
France Service Satellite (Lyon)
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 (Milan)
VIALE COLLEONI, 7 - CENTRO DIREZIONALE COLLEONI PALAZZO SIRIO INGRESSO 1,
20864 AGRATE BRIANZA (MB), ITALY
TEL: +39-039-6053-342 / FAX: +39-039-6053-206
Italy Service Satellite (Padova)
VIA G. SAVELLI, 24 - 35129 PADOVA, ITALY
TEL: +39-039-6053-342 / FAX: +39-039-6053-206
U.K. Service Center
TRAVELLERS LANE, HATFIELD, HERTFORDSHIRE, AL10 8XB, U.K.
TEL: +49-2102-486-1850 / FAX: +49-2102-486-5910
Spain Service Center
CTRA. DE RUBI, 76-80-APDO. 420, 08173 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: +48-12-347-6500 / FAX: +48-12-630-4701
Hungary Service Center
MADARASZ VIKTOR 47-49 , BUDAPEST XIII; HUNGARY
TEL: +48-12-347-6500 / FAX: +48-12-630-4701
MITSUBISHI ELECTRIC TURKEY A.Ş
Turkey Service Center
SERIFALI MAHALLESI NUTUK SOKAK. NO.5 34775
UMRANIYE, ISTANBUL, TURKEY
TEL: +90-216-526-3990 / FAX: +90-216-526-3995
Czech Republic Service Center
AutoCont Control Systems s.r.o (Service Partner)
KAFKOVA 1853/3, 702 00 OSTRAVA 2, CZECH REPUBLIC
TEL: +420-59-5691-185 / FAX: +420-59-5691-199
Russia Service Center
NC-TECH (Service Partner)
213, B.NOVODMITROVSKAYA STR., 14/2, 127015 MOSCOW, RUSSIA
TEL: +7-495-748-0191 / FAX: +7-495-748-0192
Sweden Service Center
HAMMARBACKEN 14, P.O.BOX 750 SE-19127, SOLLENTUNA, SWEDEN
TEL: +46-8-6251000 / FAX: +46-8-966877
Bulgaria Service Center
AKHNATON Ltd. (Service Partner)
4 ANDREJ LJAPCHEV BLVD. POB 21, BG-1756 SOFIA, BULGARIA
TEL: +359-2-8176009 / FAX: +359-2-9744061
Ukraine Service Center (Kharkov)
CSC Automation Ltd. (Service Partner)
APTEKARSKIY PEREULOK 9-A, OFFICE 3, 61001 KHARKOV, UKRAINE
TEL: +380-57-732-7774 / FAX: +380-57-731-8721
Belarus Service Center
TECHNIKON Ltd. (Service Partner)
NEZAVISIMOSTI PR.177, 220125 MINSK, BELARUS
TEL: +375-17-393-1177 / FAX: +375-17-393-0081
South Africa Service Center
MOTIONTRONIX (Service Partner)
P.O. BOX 9234, EDLEEN, KEMPTON PARK GAUTENG, 1625, SOUTH AFRICA
TEL: +27-11-394-8512 / FAX: +27-11-394-8513
ASEAN
MITSUBISHI ELECTRIC ASIA PTE. LTD. (ASEAN FA CENTER)
Singapore Service Center
307 ALEXANDRA ROAD #05-01/02 MITSUBISHI ELECTRIC BUILDING SINGAPORE 159943
TEL: +65-6473-2308 / FAX: +65-6476-7439
Philippines Service Center
Flexible (Service Partner)
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
VIETNAM
MITSUBISHI ELECTRIC VIETNAM CO.,LTD
Vietnam Ho Chi Minh Service Center
UNIT 01-04, 10TH FLOOR, VINCOM CENTER 72 LE THANH TON STREET, DISTRICT 1,
HO CHI MINH CITY, VIETNAM
TEL: +84-8-3910 5945 / FAX: +84-8-3910 5946
Vietnam Hanoi Service Center
6TH FLOOR, DETECH TOWER, 8 TON THAT THUYET STREET, MY DINH 2 WARD,
NAM TU LIEM DISTRICT, HA NOI CITY, VIETNAM
TEL: +84-4-3937-8075 / FAX: +84-4-3937-8076
INDONESIA
PT. MITSUBISHI ELECTRIC INDONESIA
Indonesia Service Center (Cikarang)
JL. KENARI RAYA BLOK G2-07A, DELTA SILICON 5, LIPPO CIKARANG - BEKASI 17550, INDONESIA
TEL: +62-21-2961-7797 / FAX: +62-21-2961-7794
MALAYSIA
MITSUBISHI ELECTRIC SALES MALAYSIA SDN. BHD.
Malaysia Service Center (Kuala Lumpur Service Center)
LOT 11, JALAN 219, P.O BOX 1036, 46860 PETALING JAYA, SELANGOR DARUL EHSAN. MALAYSIA
TEL: +60-3-7960-2628 / FAX: +60-3-7960-2629
Johor Bahru Service satellite
THAILAND
MITSUBISHI ELECTRIC FACTORY AUTOMATION (THAILAND) CO.,LTD
Thailand Service Center
12TH FLOOR, SV.CITY BUILDING, OFFICE TOWER 1, NO. 896/19 AND 20 RAMA 3 ROAD,
KWAENG BANGPONGPANG, KHET YANNAWA, BANGKOK 10120,THAILAND
TEL: +66-2-682-6522 / FAX: +66-2-682-6020
INDIA
MITSUBISHI ELECTRIC INDIA PVT., LTD.
CNC Technical Center (Bangalore)
PLOT NO. 56, 4TH MAIN ROAD, PEENYA PHASE 3,
PEENYA INDUSTRIAL AREA, BANGALORE 560058, KARNATAKA, INDIA
TEL : +91-80-4655-2121 FAX : +91-80-4655-2147
Chennai Service Satellite
Coimbatore Service Satellite
Hyderabad Service Satellite
North India Service Center (Gurgaon)
2ND FLOOR, TOWER A&B, DLF CYBER GREENS, DLF CYBER CITY,
DLF PHASE-III, GURGAON- 122 002, HARYANA, INDIA
TEL : +91-124-4630 300 FAX : +91-124-4630 399
Ludhiana Satellite
Panth Nagar Service Satellite
Delhi Service Satellite
Jamshedpur Service Satellite
West India Service Center (Pune)
EMERALD HOUSE, EL-3, J BLOCK, M.I.D.C., BHOSARI, PUNE - 411026, MAHARASHTRA, INDIA
TEL : +91-20-2710 2000 FAX : +91-20-2710 2100
Kolhapur Service Satellite
Aurangabad Service Satellite
Mumbai Service Satellite
West India Service Center (Ahmedabad)
UNIT NO: B/4, 3RD FLOOR, SAFAL PROFITAIRE, PRAHALADNAGAR CORPORATE ROAD,
PRAHALADNAGAR SATELLITE, AHMEDABAD – 380015, GUJRAT, INDIA
TEL : +91-265-2314699
Rajkot Service Satellite
CHINA
MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. (CHINA FA CENTER)
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: +86-21-2322-3000*8422
China Ningbo Service Partner
China Wuxi Service Partner
China Jinan Service Partner
China Hangzhou Service Partner
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: +86-10-6518-8030
China Beijing Service Partner
China Tianjin Service Center
UNIT 2003, TIANJIN CITY TOWER, NO 35 YOUYI ROAD, HEXI DISTRICT,
TIANJIN 300061, CHINA
TEL: +86-22-2813-1015 / FAX: +86-22-2813-1017
China Chengdu Service Center
1501-1503,15F,GUANG-HUA CENTRE BUILDING-C,NO.98 NORTH GUANG HUA 3th RD,
CHENGDU,610000,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: +86-755-8229-3686
China Xiamen Service Partner
China DongGuang Service Partner
China Dalian Service Center
DONGBEI 3-5, DALIAN ECONOMIC & TECHNICAL DEVELOPMENTZONE, LIAONING PROVINCE,
116600, CHINA
TEL: +86-411-8765-5951 / FAX: +86-411-8765-5952
KOREA
MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD. (KOREA FA CENTER)
Korea Service Center
8F GANGSEO HANGANG XI-TOWER A, 401 YANGCHEON-RO, GANGSEO-GU,
SEOUL 07528 KOREA
TEL: +82-2-3660-9609 / FAX: +82-2-3664-8668
Korea Daegu Service Satellite
TAIWAN
MITSUBISHI ELECTRIC TAIWAN CO., LTD. (TAIWAN FA CENTER)
Taiwan Taichung Service Center
NO.8-1, INDUSTRIAL 16TH RD., TAICHUNG INDUSTRIAL PARK, SITUN DIST.,
TAICHUNG CITY 40768, TAIWAN
TEL: +886-4-2359-0688 / FAX: +886-4-2359-0689
Taiwan Taipei Service Center
10F, NO.88, SEC.6, CHUNG-SHAN N. RD., SHI LIN DIST., TAIPEI CITY 11155, TAIWAN
TEL: +886-2-2833-5430 / FAX: +886-2-2833-5433
Taiwan Tainan Service Center
11F-1., NO.30, ZHONGZHENG S. ROAD, YONGKANG DISTRICT, TAINAN CITY 71067, TAIWAN
TEL: +886-6-252-5030 / FAX: +886-6-252-5031
OCEANIA
MITSUBISHI ELECTRIC AUSTRALIA PTY. LTD.
Oceania Service Center
348 VICTORIA ROAD, RYDALMERE, N.S.W. 2116 AUSTRALIA
TEL: +61-2-9684-7269/ FAX: +61-2-9684-7245
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.
© 2013-2017 Mitsubishi Electric Corporation
ALL RIGHTS RESERVED
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Key features
High-speed processing for fast and accurate control
Advanced motion control algorithms for smooth and precise movement
Built-in PLC functionality for flexible programming
Ethernet connectivity for easy integration with other devices
Compact design for space-saving installation
Easy-to-use programming environment for quick setup and operation
Support for a wide range of servo motors and spindles
Built-in safety features to protect personnel and equipment
Frequently asked questions
The MDS-D2/DH2 Series is suitable for a wide range of industrial applications, including machining, robotics, packaging, and printing.
The key benefits include high-speed processing, advanced motion control, built-in PLC functionality, Ethernet connectivity, compact design, easy-to-use programming environment, and support for a wide range of servo motors and spindles.
The MDS-D2/DH2 Series includes built-in safety features to protect personnel and equipment, such as overcurrent protection, overvoltage protection, and thermal overload protection.