Mitsubishi Electric MDS-DM2 Series Instruction manual

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


Servo motor


(with no freezing),

Storage: -15°C to +70°C (Note 2)

(with no freezing)


(with no dew condensation),

Storage: 90%RH or less


Spindle motor


(with no freezing),

Storage: -20°C to +65°C

(with no freezing)



Storage: 90%RH or less


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 Drive Unit Type................................................................................................................................................. 4

1.2.3 Spindle Motor Type .......................................................................................................................................... 5

1.2.4 AC Reactor Type.............................................................................................................................................. 6

2 Specifications.............................................................................................................................................. 7

2.1 Servo Motor.............................................................................................................................................................. 8

2.1.1 Specifications List............................................................................................................................................. 8

2.1.2 Torque Characteristics ................................................................................................................................... 10

2.2 Spindle Motor ......................................................................................................................................................... 11

2.2.1 Specifications ................................................................................................................................................. 11

2.2.2 Output Characteristics.................................................................................................................................... 18

2.3 Drive Unit ............................................................................................................................................................... 22

2.3.1 Installation Environment Conditions ............................................................................................................... 22

2.3.2 Multi Axis Drive Unit ....................................................................................................................................... 23

2.3.3 Unit Outline Dimension Drawing .................................................................................................................... 24

2.3.4 AC Reactor..................................................................................................................................................... 24

2.3.5 Explanation of Each Part................................................................................................................................ 25

3 Function Specifications............................................................................................................................ 27

Function Specifications List........................................................................................................................................... 28

3.1 Base Control Functions.......................................................................................................................................... 31

3.1.1 Full Closed Loop Control................................................................................................................................ 31

3.1.2 Position Command Synchronous Control ...................................................................................................... 32

3.1.3 Speed Command Synchronous Control......................................................................................................... 32

3.1.4 Distance-coded Reference Position Control .................................................................................................. 33

3.1.5 Spindle's Continuous Position Loop Control .................................................................................................. 33

3.1.6 Coil Changeover Control ................................................................................................................................ 33

3.1.7 Gear Changeover Control .............................................................................................................................. 33

3.1.8 Orientation Control ......................................................................................................................................... 33

3.1.9 Indexing Control ............................................................................................................................................. 33

3.1.10 Synchronous Tapping Control...................................................................................................................... 34

3.1.11 Spindle Synchronous Control....................................................................................................................... 34

3.1.12 Spindle/C Axis Control ................................................................................................................................. 34

3.1.13 Proximity Switch Orientation Control............................................................................................................ 34

3.1.14 Power Regeneration Control ........................................................................................................................ 34

3.1.15 Resistor Regeneration Control ..................................................................................................................... 34

3.2 Servo/Spindle Control Functions............................................................................................................................ 35

3.2.1 Torque Limit Function..................................................................................................................................... 35

3.2.2 Variable Speed Loop Gain Control................................................................................................................. 35

3.2.3 Gain Changeover for Synchronous Tapping Control ..................................................................................... 35

3.2.4 Speed Loop PID Changeover Control............................................................................................................ 36

3.2.5 Disturbance Torque Observer ........................................................................................................................ 36

3.2.6 Smooth High Gain Control (SHG Control)...................................................................................................... 36

3.2.7 High-speed Synchronous Tapping Control (OMR-DD Control)...................................................................... 36

3.2.8 Dual Feedback Control................................................................................................................................... 37

3.2.9 HAS Control ................................................................................................................................................... 37

3.2.10 OMR-FF Control........................................................................................................................................... 38

3.2.11 Control Loop Gain Changeover.................................................................................................................... 38

3.2.12 Spindle Output Stabilizing Control................................................................................................................ 38

3.2.13 High-response Spindle Acceleration/Deceleration Function ........................................................................ 38

3.3 Compensation Control Function............................................................................................................................. 39

3.3.1 Jitter Compensation ....................................................................................................................................... 39

3.3.2 Notch Filter ..................................................................................................................................................... 39

3.3.3 Adaptive Tracking-type Notch Filter ............................................................................................................... 39

3.3.4 Overshooting Compensation.......................................................................................................................... 40

3.3.5 Machine End Compensation Control.............................................................................................................. 40

3.3.6 Lost Motion Compensation Type 2................................................................................................................. 41

3.3.7 Lost Motion Compensation Type 3................................................................................................................. 41

3.3.8 Lost Motion Compensation Type 4 ................................................................................................................ 42

3.3.9 Spindle Motor Temperature Compensation Function .................................................................................... 42

3.4 Protection Function................................................................................................................................................ 43

3.4.1 Deceleration Control at Emergency Stop....................................................................................................... 43

3.4.2 Vertical Axis Drop Prevention/Pull-up Control................................................................................................ 43

3.4.3 Earth Fault Detection ..................................................................................................................................... 43

3.4.4 Collision Detection Function........................................................................................................................... 44

3.4.5 SLS (Safely Limited Speed) Function ............................................................................................................ 44

3.4.6 Fan Stop Detection ........................................................................................................................................ 44

3.4.7 Open-phase Detection ................................................................................................................................... 44

3.4.8 Contactor Weld Detection .............................................................................................................................. 44

3.4.9 STO (Safe Torque Off) Function .................................................................................................................... 45

3.4.10 Deceleration and Stop Function at Power Failure........................................................................................ 46

3.4.11 Retraction Function at Power Failure........................................................................................................... 46

3.5 Sequence Functions .............................................................................................................................................. 47

3.5.1 Contactor Control Function ............................................................................................................................ 47

3.5.2 Motor Brake Control Function ........................................................................................................................ 47

3.5.3 External Emergency Stop Function................................................................................................................ 47

3.5.4 Specified Speed Output ................................................................................................................................. 47

3.5.5 Quick READY ON Sequence ......................................................................................................................... 47

3.6 Diagnosis Function ................................................................................................................................................ 48

3.6.1 Monitor Output Function................................................................................................................................. 48

3.6.2 Machine Resonance Frequency Display Function......................................................................................... 49

3.6.3 Machine Inertia Display Function ................................................................................................................... 49

3.6.4 Motor Temperature Display Function............................................................................................................. 49

3.6.5 Load Monitor Output Function........................................................................................................................ 49

3.6.6 Open Loop Control Function .......................................................................................................................... 49

3.6.7 Power Supply Diagnosis Display Function..................................................................................................... 49

4 Characteristics .......................................................................................................................................... 51

4.1 Servo Motor ........................................................................................................................................................... 52

4.1.1 Environmental Conditions ............................................................................................................................. 52

4.1.2 Quakeproof Level........................................................................................................................................... 52

4.1.3 Shaft Characteristics ...................................................................................................................................... 53

4.1.4 Machine Accuracy.......................................................................................................................................... 53

4.1.5 Oil / Water Standards..................................................................................................................................... 54

4.1.6 Installation of Servo Motor ............................................................................................................................. 55

4.1.7 Overload Protection Characteristics............................................................................................................... 55

4.1.8 Magnetic Brake .............................................................................................................................................. 57

4.1.9 Dynamic Brake Characteristics ..................................................................................................................... 60

4.2 Spindle Motor......................................................................................................................................................... 62


4.2.2 Shaft Characteristics ...................................................................................................................................... 62

4.2.3 Machine Accuracy.......................................................................................................................................... 63

4.2.4 Installation of Spindle Motor........................................................................................................................... 63

4.3 Drive Unit ............................................................................................................................................................... 64


4.3.2 Heating Value................................................................................................................................................. 64

5 Dedicated Options .................................................................................................................................... 65

5.1 Servo Options ........................................................................................................................................................ 66

5.1.1 Battery Option (ER6V-C119B, A6BAT, MDS-BTBOX-36) ............................................................................. 68

5.1.2 Ball Screw Side Encoder (OSA105ET2A)...................................................................................................... 78

5.1.3 Machine Side Encoder ................................................................................................................................... 80

5.1.4 Twin-head Magnetic Encoder (MBA Series) .................................................................................................. 85

5.2 Spindle Options ..................................................................................................................................................... 89

5.2.1 Spindle Side ABZ Pulse Output Encoder (OSE-1024 Series) ....................................................................... 90

5.2.2 Spindle Side PLG Serial Output Encoder (TS5690, MU1606 Series)............................................................ 92

5.2.3 Twin-head Magnetic Encoder (MBE Series) .................................................................................................. 96

5.2.4 Spindle Side Accuracy Serial Output Encoder (ERM280, MPCI Series) (Other Manufacturer's Product)... 100

5.2.5 Machine Side Encoder ................................................................................................................................. 100

5.3 Encoder Interface Unit ......................................................................................................................................... 101

5.3.1 Serial Output Interface Unit for ABZ Analog Encoder MDS-B-HR ............................................................... 101

5.3.2 Serial Output Interface Unit for ABZ Analog Encoder EIB192M (Other Manufacturer's Product)................ 104

5.3.3 Serial Output Interface Unit for ABZ Analog Encoder EIB392M (Other Manufacturer's Product)................ 105

5.3.4 Serial Output Interface Unit for ABZ Analog Encoder ADB-20J Series (Other Manufacturer's Product) ..... 106

5.4 Drive Unit Option.................................................................................................................................................. 107

5.4.1 Optical Communication Repeater Unit (FCU7-EX022) ................................................................................ 107

5.5 Cables and Connectors........................................................................................................................................ 110

5.5.1 Cable Connection Diagram .......................................................................................................................... 110

5.5.2 List of Cables and Connectors ..................................................................................................................... 111

5.5.3 Optical Communication Cable Specifications............................................................................................... 118

6 Specifications of Peripheral Devices .................................................................................................... 121

6.1 Selection of Wire .................................................................................................................................................. 122

6.1.1 Example of Wires by Unit ............................................................................................................................. 122

6.2 Selection of Circuit Protector and Contactor ........................................................................................................ 124

6.2.1 Selection of Circuit Protector........................................................................................................................ 124

6.2.2 Selection of Contactor .................................................................................................................................. 125

6.3 Selection of Earth Leakage Breaker .................................................................................................................... 126

6.4 Noise Filter ........................................................................................................................................................... 127

6.5 Surge Absorber .................................................................................................................................................... 128

6.6 Relay .................................................................................................................................................................... 129

7 Selection .................................................................................................................................................. 131

7.1 Selection of the Servo Motor................................................................................................................................ 132

7.1.1 Outline .......................................................................................................................................................... 132

7.1.2 Selection of Servo Motor Capacity ............................................................................................................... 133

7.1.3 Motor Shaft Conversion Load Torque .......................................................................................................... 140

7.1.4 Expressions for Load Inertia Calculation...................................................................................................... 141

7.2 Selection of the Spindle Motor ............................................................................................................................. 142

Appendix 1 Cable and Connector Specifications ................................................................................... 143

Appendix 1.1 Selection of Cable ................................................................................................................................ 144

Appendix 1.1.1 Cable Wire and Assembly ............................................................................................................ 144

Appendix 1.2 Cable Connection Diagram .................................................................................................................. 146

Appendix 1.2.1 Battery Cable................................................................................................................................ 146

Appendix 1.2.2 Optical Communication Repeater Unit Cable............................................................................... 147

Appendix 1.2.3 STO Cable.................................................................................................................................... 147

Appendix 1.2.4 Servo Encoder Cable ................................................................................................................... 148

Appendix 1.2.5 Spindle Encoder Cable................................................................................................................. 151

Appendix 1.2.6 Twin-head Magnetic Encoder Cable ............................................................................................ 153

Appendix 1.3 Main Circuit Cable Connection Diagram .............................................................................................. 154

Appendix 1.4 Connector Outline Dimension Drawings .............................................................................................. 155

Appendix 1.4.1 Connector for Drive Unit............................................................................................................... 155

Appendix 1.4.2 Connector for Servo ..................................................................................................................... 159

Appendix 1.4.3 Connector for Spindle................................................................................................................... 161

Appendix 2 Restrictions for Lithium Batteries........................................................................................ 163

Appendix 2.1 Restriction for Packing ......................................................................................................................... 164

Appendix 2.1.1 Target Products............................................................................................................................ 164

Appendix 2.1.2 Handling by User.......................................................................................................................... 165

Appendix 2.1.3 Reference..................................................................................................................................... 165

Appendix 2.2 Products Information Data Sheet (ER Battery) .................................................................................... 166

Appendix 2.3 Forbiddance of Transporting Lithium Battery by Passenger Aircraft Provided in the Code of

Federal Regulation............................................................................................................................... 168

Appendix 2.4 California Code of Regulation "Best Management Practices for Perchlorate Materials" ..................... 168

Appendix 2.5 Restriction Related to EU Battery Directive ......................................................................................... 169

Appendix 2.5.1 Important Notes............................................................................................................................ 169

Appendix 2.5.2 Information for End-user............................................................................................................... 169

Appendix 3 EC Declaration of Conformity............................................................................................... 171

Appendix 3.1 EC Declaration of Conformity............................................................................................................... 172

Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard .............................................. 173

Appendix 4.1 Operation Surrounding Air Ambient Temperature................................................................................ 174

Appendix 4.2 Notes for AC Servo/Spindle System .................................................................................................... 174

Appendix 4.2.1 Warning ........................................................................................................................................ 174

Appendix 4.2.2 Installation .................................................................................................................................... 174

Appendix 4.2.3 Short-circuit Ratings (SCCR) ....................................................................................................... 174

Appendix 4.2.4 Over-temperature Protection for Motor ........................................................................................ 174

Appendix 4.2.5 Peripheral Devices ....................................................................................................................... 175

Appendix 4.2.6 Field Wiring Reference Table for Input and Output (Power Wiring) ............................................. 177

Appendix 4.2.7 Motor Over Load Protection ........................................................................................................ 183

Appendix 4.2.8 Flange of Servo Motor.................................................................................................................. 184

Appendix 4.2.9 Spindle Drive/Motor Combinations............................................................................................... 184

Appendix 4.2.10 Servo Drive/Motor Combinations ............................................................................................... 186

Appendix 4.3 AC Servo/Spindle System Connection ................................................................................................ 187

Appendix 4.3.1 MDS-D, D2/DH, DH2/DM, DM2-Vx/SP Series............................................................................. 187

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 ................................................................................................................. 188

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 ................................................................................................................. 188

Appendix 4.3.4 MDS-D-SVJ3/SPJ3/MDS-DJ Series ............................................................................................ 189

Appendix 4.3.5 MDS-DM, DM2-SPV Series ......................................................................................................... 190

Outline for MDS-DM2 Series

Instruction Manual (IB-1501139-A)

1 Installation

1-1 Installation of servomotor

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


1-2-2 Cautions for mounting fittings

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 Cable stress

1-3 Installation of the drive unit


1-3-2 Installation direction and clearance

1-3-3 Prevention of entering of foreign matter

1-3-4 Panel installation hole work drawings (Panel cut drawings)

1-3-5 Heating value

1-3-6 Heat radiation countermeasures

1-4 Installation of the machine end detector

1-4-1 Spindle side ABZ pulse output detector (OSE-

1024 Series)

1-4-2 Spindle side PLG serial output detector (TS5690,

MU1606 Series)

1-4-3 Twin-head magnetic detector

(MBA405W,MBE405W Series)

1-5 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 detector connection

2-5-1 Connection of the servomotor

2-5-2 Connection of the full-closed loop system

2-5-3 Connection of the 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

2-8 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 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 detector

4-2-3 Setting of distance-coded reference scale

4-2-4 List of standard parameters for each servomotor

4-2-5 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

6-2 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)

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

Appendix 1 Cable and Connector Specifications

Appendix 1-1 Selection of cable

Appendix 1-1-1 Cable wire and assembly

Appendix 1-2 Cable connection diagram

Appendix 1-2-1 Battery cable

Appendix 1-2-2 Optical communication repeater unit cable

Appendix 1-2-3 STO cable

Appendix 1-2-4 Servo detector cable

Appendix 1-2-5 Spindle detector cable

Appendix 1-2-6 Twin-head magnetic detector cable

Appendix 1-3 Main circuit cable connection diagram

Appendix 1-4 Connector outline dimension drawings

Appendix 1-4-1 Connector for drive unit

Appendix 1-4-2 Connector for servo

Appendix 1-4-3 Connector for spindle

Appendix 2 Cable and Connector Assembly

Appendix 2-1 CMV1-SPxxS-x plug connector

Appendix 2-2 CMV1-APxxS-x angle plug connector

Appendix 2-3 1747464-1 plug connector

Appendix 2-3-1 Applicable products

Appendix 2-3-2 Applicable cable

Appendix 2-3-3 Related documents

Appendix 2-3-4 Assembly procedure

Appendix 3 D/A Output Specifications for Drive Unit

Appendix 3-1 D/A output specifications

Appendix 3-2 Output data settings

Appendix 3-2-1 Servo drive unit settings

Appendix 3-2-2 Spindle drive unit settings

Appendix 3-3 Setting the output magnification

Appendix 3-3-1 Servo drive unit settings

Appendix 3-3-2 Spindle drive unit settings

Appendix 4 Precautions in Installing Spindle Motor

Appendix 4-1 Precautions in transporting motor

Appendix 4-2 Precautions in selecting motor fittings

Appendix 4-3 Precautions in mounting fittings

Appendix 4-4 Precautions in coupling shafts

Appendix 4-5 Precautions in installing motor in machine

Appendix 4-6 Other Precautions

Appendix 4-7 Example of unbalance correction

Appendix 4-8 Precautions in balancing of motor with key

Appendix 5 EMC Installation Guidelines

Appendix 5-1 Introduction

Appendix 5-2 EMC instructions

Appendix 5-3 EMC measures

Appendix 5-4 Measures for panel structure

Appendix 5-4-1 Measures for control panel unit

Appendix 5-4-2 Measures for door

Appendix 5-4-3 Measures for operation board panel

Appendix 5-4-4 Shielding of the power supply input section

Appendix 5-5 Measures for various cables

Appendix 5-5-1 Measures for wiring in panel

Appendix 5-5-2 Measures for shield treatment

Appendix 5-5-3 Servo/spindle motor power cable

Appendix 5-5-4 Servo/spindle motor feedback cable

Appendix 5-6 EMC countermeasure parts

Appendix 5-6-1 Shield clamp fitting

Appendix 5-6-2 Ferrite core

Appendix 5-6-3 Power line filter

Appendix 5-6-4 Surge protector

Appendix 6 EC Declaration of Conformity

Appendix 6-1 EC Declaration of conformity

Appendix 6-1-1 Low voltage equipment

Appendix 7 Higher Harmonic Suppression Measure

Guidelines

Appendix 7-1 Higher harmonic suppression measure guidelines

Appendix 7-1-1 Calculating the equivalent capacity of the higher harmonic generator

1

Introduction

1 IB-1501136-B

MDS-DM2 Series Specifications Manual

1 Introduction

1.1 Servo/Spindle Drive System Configuration

1.1.1 System Configuration

Multi axis unit

(MDS-DM2 Series)

24V stabilized power supply

(Note) Prepared by user.

From NC

Optical communication cable

Power connector

CN9A

Encoder conversion unit

(MDS-B-HR)

Servo encoder cable

<MDS-B-HR unit cable >

CN3L

CN3M

CN3S

BTA

BT1

CN22

CN9B

OPT1A

CN2SP

CN3SP

CN2L

CN2M

CN2S

To servo for

M/S-axis

Servo encoder cable

< Linear scale cable for MDS-B-HR >


Linear scale cable for M/S-axis (Note) Prepared by user.

Servo encoder cable

< Linear scale cable> (Note) Prepared by user.

Linear scale

(for full closed loop control)

RA circuit for contactor drive


To servo for

M/S-axis Spindle side encoder

Power cable

䠄 *Only connector

is supplied 䠅

<Option battery>

DOCOM

DO(ALM)

LG

+5V

LG

BT

Battery box

(MDS-BTBOX-36)

RA circuit for motor brake


<Built in cell battery>

Cell battery built in drive unit

(ER6V-C119B)

Servo motor

Spindle motor

3-phase 200VAC power supply

Circuit protector

(Note) Prepared

by user.

AC reactor

(D-AL-18.5K)

Contactor

(Note) Prepared

by user.

Brake connector

Power connector

IB-1501136-B 2


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)

< HF Series >

HF (1) (2) (3) (4)

(1) Rated output · Maximum rotation speed

Symbol Rated output

Maximum Flange size

54 0.5 kW rotation speed

4000 r/min

(mm)

130 SQ.

104

154

1.0 kW

1.5 kW

4000 r/min

4000 r/min

130 SQ.

130 SQ.

224

204

354

2.2 kW

2.0 kW

3.5 kW

4000 r/min

4000 r/min

4000 r/min

130 SQ.

176 SQ.

176 SQ.

223

303

453

302

2.2 kW

3.0 kW

4.5 kW

3.0 kW

3000 r/min

3000 r/min

3500 r/min

2000 r/min

130 SQ.

176 SQ.

176 SQ.

176 SQ.

ROTARY DETECTOR OSA105S5

SER. X X X X X X X X X X X DATE 0401

A2 MITSUBISHI ELECTRIC CORP.

MADE IN JAPAN

D

Encoder rating nameplate

Encoder type

Serial No.

(3) Shaft end structure

Symbol Shaft end structure

S Straight

T Taper

(Note) "Taper" is available for the

motor w hose flange size is

90 SQ. mm or 130 SQ. mm.

(2) Magnetic brake

Symbol Magnetic brake

None

B

None

With magnetic brakes

(4) Encoder

Symbol

A48

A51

Type

OSA18-100

OSA105S5A

Detection method

Absolute position

Resolution

260,000 p/rev

1,000,000 p/rev

　

　

　　

　

3 IB-1501136-B


1 Introduction

1.2.2 Drive Unit Type

(1) Multi axis integrated servo drive unit

Output

Applicable standard

Software No.

Serial No.

Rating nameplate

MDS-DM2(1)

(1) Unit Type

MDS-DM2-

Unit width

Unit nominal maximum current

Compatible motor type

Axis

Stall torque

(N ･ m)

SPV3-10080

SPV3-16080

80+80+80A

80+80+80A

LMS

LMS

SPV3-20080

SPV3-200120 260mm

80+80+80A

120+120+120A

LMS

LMS

SPV2-10080

SPV2-16080

80+80A

80+80A

LM

LM

SPV2-20080 80+80A LM

● Indicates the compatible motor for each servo drive unit.

HF □

54 104 154 224 204 354 223 303 453 302

2.9

5.9

● ●

9.0

●

12.0

13.7

22.5

12.0

22.5

37.2

20.0

● ●

● ● ● ● ●

● ● ● ● ●

● ● ● ●

● ● ● ● ●

● ● ● ● ●

● ● ● ● ●

● ●

● ●

● ●

● ●

● ●

● ●

● ●

●

●

●

●

●

●

MDS-DM2(1)

(1) Unit Type

MDS-DM2-

Compatible motor type

SPHV3-20080

Unit width

260mm

Unit nominal maximum current

80+80+80A

Axis

Stall torque

LMS

(N

･ m)

● Indicates the compatible motor for each servo drive unit.

HF □

54 104 154 224 204 354 223 303 453 302

2.9

●

5.9

9.0 12.0 13.7

22.5 12.0 22.5 37.2

20.0

● ● ● ● ● ● ●

Type

Input/output conditions

Manual No.

Date of manufacture

(Year-Month)

IB-1501136-B 4


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

< SJ-D Series >

SJ-D (1) (2) /

(3) (4) (5) (6)

(1) Motor series

Symbol

None

J

L

Motor Series

Standard

Compact & lightw eight 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.

(2) Short time (or %ED) rated output

Symbol Short-time rated output

5.5

7.5

11

15

5.5kW

7.5kW

11kW

15kW

(6) Option (Note)

Symbol Option

None Standard (flange type, w ithout oil seal, w ithout key, coil changeover unavailable, air-cooling, solid shaft)

C

J

X

With key

Oil seal

Reversed cooling air

(Note) If more than one option is included,

the symbols are in alphabetical order.

(5) Encoder

Symbol

None

T

Type

Type 1

Type 2

(Note) This explains the model name system of a spindle motor, and all combinations of motor types listed above do not exist.

< SJ-V/VL Series >

SJ-

(1) (2)

-

(3) (4)

T

For MDS-D2/DM2 motor

(1) Motor series

Symbol

V

VL

Motor series

Medium-inertia series

Low -inertia series

(2) Short time rated output (For normal specification)

Symbol Short time rated output

5.5

7.5

11

15

5.5 kW

7.5 kW

11 kW

15 kW

(4) Special specification

Symbol Special specifications

None

Z

None

High-speed

(3) Specification code

The SJ-V/VL Series is indicated w ith a specification

code (01 to 99).

(Note) This explains the model name system of a spindle motor, and all combinations of motor types listed above do not exist.

5 IB-1501136-B


1 Introduction

1.2.4 AC Reactor Type

Type D-AL-18.5K

Nameplate

Type

D-AL-18.5K

Capacity

18.5kW

Top surface of AC reactor

Compatible pow er supply unit

MDS-DM2-SPV Series

IB-1501136-B 6

2

Specifications

7 IB-1501136-B


2 Specifications

2.1 Servo Motor

2.1.1 Specifications List

< HF Series >

Servo Motor type

MDS-DM2-SPV3-

Compatible drive unit type MDS-DM2-SPHV3-

MDS-DM2-SPV2-

Rated output [kW]

Rated current [A]

Continuous characteristics

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



Atmosphere

Altitude

Vibration

Flange size [mm]

Total length (excluding shaft) [mm] (Note 3)

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass Without / with brake [kg]

HF54 xxx80 xxx80 xxx80

0.5

2.0

1.6

3.2

2.9

1.1

HF Series

ABS specifications: HF □ -A51 / -A48

HF104 HF154 HF224 xxx80 xxx80

200120 xxx80

200120 xxx80 xxx80

1.0

3.9

xxx80 xxx80

1.5

5.6

xxx80 xxx80

2.2

8.6

3.2

6.6

5.9

2.0

29.0

23.3

8.4

4.8

11

9.0

2.8

3000

4000

52.0

42.0

12.7

7.0

15

12.0

4.1

57.0

46.5

20.7

11.9

17.8

23.7

HF204 xxx80

200120 xxx80 xxx80

2.0

6.8

6.4

15

13.7

3.7

16.8

13.0

4.1

6.1

57.0

47.0

10.6

38.3

8.3

130 SQ.

118.5

Φ 110

Φ 24

4.8/

6.8

14.1

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

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

Φ

Φ

6.5/

8.5

X,Y:24.5m/s

130 SQ.

140.5

110

24

2

(2.5G)

130 SQ.

162.5

Φ

Φ

110

24

8.3/

10.3

155 (F)

130 SQ.

184.5

Φ

Φ

110

24

10.0/

12.0

X:24.5m/s 2 (2.5G)

Y:29.4m/s

2

(3G)

176 SQ.

143.5

Φ 114.3

Φ 35

12.0/

18.0

Heat-resistant class

(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the values when combined with the drive unit.

(Note 2) Use the HF motor in combination with the MDS-DM2 Series drive unit compatible with the 200VAC input.

(Note 3) The total length will be 3.5mm longer when using an A51 encoder.

(Note 4) 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-1501136-B 8



< HF Series >

Servo Motor type

MDS-DM2-SPV3-

Compatible drive unit type MDS-DM2-SPHV3-

MDS-DM2-SPV2-

Rated output [kW]


Continuous characteristics

Rated torque [N•m]

Stall current [A]

Stall torque [N•m]


Rated rotation speed [r/min]



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


Environment



Atmosphere

Altitude

Vibration


Total length (excluding shaft) [mm] (Note 3)



Mass Without / with brake [kg]

HF354

200120

-

-

3.5

12

11.1

22

22.5

6.4

3000

4000

79.6

75.0

16.5

75.0

29.0

32.0

46.5

23.7

HF Series

ABS specifications: HF □ -A51 / -A48

HF223 HF303 HF453 xxx80 xxx80

200120

200120 xxx80 xxx80

2.2

9.0

xxx80 xxx80

3.0

11

-

-

4.5

19

10.5

11

12.0

4.1

14.3

16

22.5

5.5

14.3

28

37.2

8.1

2000

3000

3000

3500

48.0

64.0

27.3

75.0

79.6

90.0

18.3

112.0

HF302 xxx80

84.7

25.9

84.7

121.7

84.7

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

A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev


Operation: 0 to 40°C (with no freezing),

Storage: -15°C to 70°C (with no freezing)

176 SQ.

183.5

Φ 114.3

Φ 35

19.0/

25.0


Storage: 90%RH or less (with no dew condensation)


X:24.5m/s 2 (2.5G)

Y:29.4m/s

2

(3G)

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

X,Y:24.5m/s

2

(2.5G)

X:24.5m/s 2 (2.5G)

Y:29.4m/s

2

(3G)

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

155 (F)

176 SQ.

223.5

Φ 114.3

Φ 35

25/

31

X:24.5m/s 2 (2.5G)

Y:29.4m/s

2

(3G)

176 SQ.

183.5

Φ 114.3

Φ 35

19.0/

25.0

xxx80 xxx80

3.0

11

14.3

11

20.0

5.5

2000

2000

29.0

50.0

27.3

75.0


(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) Use the HF motor in combination with the MDS-DM2 Series drive unit compatible with the 200VAC input.

(Note 3) The total length will be 3.5mm longer when using an A51 encoder.



9 IB-1501136-B



2.1.2 Torque Characteristics

< HF Series >

[ HF54 ]

15

12

9

Short time operation range

6

3

Continuous operation range

0

0 2000

Rotation speed [r/min]

4000

30

20

[ HF224 ]

50

40

30


20

10

0

0


2000


4000

[ HF223 ]

40


10


0

0 1000 2000


3000

[ HF302 ]

60

[ HF104 ]

25

20

15

10


5


0

0 2000


4000

[ HF204 ]

50

40

30


20

10

0



[ HF303 ]

80

60

40


20

0

0


1000 2000


3000

[ HF154 ]

50

40

30


20

10

0



[ HF354 ]

100

80

60


40

20

0

0


2000 4000


[ HF453 ]

125

100

75

50


25

0

0


1000 2000 3000 3500


40


20

0

0


1000


2000

(Note1) 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-1501136-B 10



2.2 Spindle Motor

2.2.1 Specifications

< SJ-D Series (Normal) >

Spindle motor type[

Compatible drive unit

MDS-DM2-SPV2/SPV3-

Output capacity

Continuous rating [kW]

Short time rating [kW]


Base rotation speed [r/min]


Frame No.

Continuous rated torque [N•m]

GD 2 [kg•m 2 ]

Motor inertia [kg•m 2 ]

Tolerable radial load [N]

Input voltage

Cooling fan Maximum power consumption

Environment



Atmosphere

SJ-D5.5/

100-01

10080

3.7

5.5

(30-minute rating)

9.9

1500

10000

D90

23.6

0.053

0.013

1470

38W

SJ-D5.5/

120-01

10080

3.7

5.5

(30-minute rating)

9.9

1500

12000

D90

23.6

0.053

0.013

1470

38W

SJ-D5.5/

120-02

10080

16080

20080

3.7

5.5

(25%ED rating)

9.9

2800

12000

B90

12.6

0.030

0.0074

980

38W

SJ-D7.5/

100-01

10080

5.5

7.5

(30-minute rating)

13.4

1500

10000

A112

35.0

0.094

0.023

1960

3-phase 200V

50W

SJ-D7.5/

120-01

10080

5.5

7.5

(30-minute rating)

13.4

1500

12000

A112

35.0

0.094

0.023

1960

50W

SJ-D11/

80-01

16080

7.5

11

(30-minute rating)

19.6

1500

8000

B112

47.7

0.122

0.031

1960

50W

SJ-D11/

100-01

16080

7.5

11

(30-minute rating)

19.6

1500

10000

B112

47.7

0.122

0.031

1960

50W

Altitude



Total length (excluding shaft) [mm]



Mass [kg]


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)


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.

417

Φ

Φ

150

28

39

174 SQ.

Φ

417

Φ

150

28

39


174 SQ.

204 SQ.

180 SQ.

327

Φ 150 Φ

439

180

439

Φ 180

Φ 28

26

Φ 32

53

155 (F)

Φ 32

53

204 SQ.

Φ

489

Φ

180

48

64

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 3) For SJ-D5.5/120-02, output characteristics at acceleration/deceleration vary depending on the connected drive unit.

Refer to "output characteristics" for details.


11 IB-1501136-B



< SJ-DJ Series (Compact & lightweight) >

Spindle motor type[

SJ-DJ5.5/

100-01

SJ-DJ5.5/

120-01

SJ-DJ5.5/

120-02

SJ-DJ7.5/

100-01

SJ-DJ11/

100-01

SJ-DJ15/

80-01

Compatible drive unit type



10080 10080 10080 10080 16080 20080

Output capacity Short time rating [kW]


Base rotation speed

Continuous rating

[r/min]

Short time rating[r/min]


Frame No.


GD 2 [kg•m 2 ]

Motor inertia [kg•m

2

]


Input voltage


Environment



Atmosphere

3.7

5.5

(25%ED rating)

9.9

2000

1500

10000

B90

17.7

0.030

0.0074

980

38W

3.7

5.5

(25%ED rating)

9.9

2000

1500

12000

B90

17.7

0.030

0.0074

980

38W

3.7

5.5

(25%ED rating)

9.9

2000

1500

12000

B90

17.7

0.030

0.0074

1500

10000

D90

26.3

0.053

0.013

980

3-phase 200V

1470

38W

5.5

7.5

(15-minute rating)

13.4

2000

38W

7.5

11

(15-minute rating)

19.6

2000

1500

10000

A112

35.8

0.094

0.023

1960

50W

11

15

(15-minute rating)

(15%ED rating)

26.7

2000

1500

8000

B112

52.5

0.122

0.031

1960

50W

Altitude






Mass [kg]







174

Φ

Φ

SQ.

327

150

28

26

174 SQ.

327

Φ

Φ

150

28

26


174 SQ.

174 SQ.

327

Φ 150 Φ

417

150

Φ 28

26

Φ 28

39

155 (F)

204

439

Φ

Φ

SQ.

180

32

53

204

Φ

SQ.

489

Φ 180

48

64




IB-1501136-B 12



< SJ-DL Series (Low-inertia) >

Spindle motor type








Frame No.


GD 2 [kg•m 2 ]

Inertia [kg•m

2

]


Input voltage


Environment



Atmosphere

SJ-DL5.5/150-01T

16080

3.7

5.5

(15-minute rating)

9.9

2500

15000

C90

14.1

0.018

0.0046

245

38

3-phase 200V

SJ-DL7.5/150-01T

16080

5.5

7.5

(30-minute rating)

13.4

1500

15000

B112

35.0

0.063

0.016

980

50

Altitude






Mass [kg]





Operation: 1000 meters or less above sea level, Storage: 1000 meters or less above sea level



174 SQ.

377

Φ 150

Φ 28

30

204 SQ.

489

Φ 180

Φ 32

56

155 (F)




13 IB-1501136-B



< SJ-V Series (Normal) >



Output capacity


MDS-DM2-SPHV3-


Short time rating [kW]




Frame No.


GD 2 [kg•m 2 ]

Inertia [kg•m 2 ]


Input voltage

SJ-V5.5-

01ZT

10080

-

3.7

5.5

(30-minute rating)

9.9

1500

12000

D90

23.6

0.059

0.0148

980

Single-phase

200V

SJ-V7.5-

01ZT

10080

-

5.5

7.5

(30-minute

rating)

13.4

1500

12000

A112

35

0.098

0.0245

980

3-phase

200V

SJ-V7.5-

03ZT

16080

-

5.5

7.5

(30-minute rating)

13.4

1500

12000

A112

35

0.098

0.0245

980

3-phase

200V

SJ-V11-01ZT SJ-V11-13ZT SJ-V15-01ZT SJ-V15-09ZT

16080

-

7.5

11

(30-minute rating)

19.6

1500

8000

B112

47.7

0.12

0.03

1960

3-phase

200V

20080

-

7.5

11

(30-minute rating)

19.6

1500

8000

B112

47.7

0.12

0.03

1960

3-phase

200

20080

-

11

15

(30-minute rating)

26.7

1500

8000

A160

70

0.23

0.0575

2940

3-phase

200V

Cooling fan

Environment

Maximum power consumption



Atmosphere

Altitude






Mass [kg]


36W 40W 40W 40W 40W 63W 63W






174 SQ.

425

Φ

Φ

150

28

49

204 SQ.

440

Φ

Φ

180

32

60

204 SQ.

440

Φ

Φ

180

32

60

IP44

204 SQ.

490

Φ 180

Φ 48

70

155 (F)

204 SQ.

490

Φ

Φ

180

48

70

250 SQ.

469.5

Φ

Φ

230

48

110

250 SQ.

469.5

Φ

Φ

230

48

110



-

20080

11

15

(30-minute rating)

26.7

1500

8000

A160

70

0.23

0.0575

2940

3-phase

200V


IB-1501136-B 14



< SJ-V Series (High-speed) >




MDS-DM2-SPHV3-






Frame No.


GD 2 [kg•m 2 ]



Input voltage


Environment



Atmosphere

SJ-V11-06ZT

20080

-

5.5

7.5

(30-minute rating)

13.4

3000

12000

A112

35.0

0.098

0.025

980

3-phase 200V

40W

SJ-V11-08ZT

-

20080

7.5

11

(30-minute rating)

19.6

1500

8000

B112

47.7

0.12

0.03

1470

3-phase 200V

40W

Altitude






Mass [kg]







IP44

204 SQ.

440

Φ 180

Φ 32

60

204 SQ.

490

Φ 180

Φ 48

70

155 (F)




15 IB-1501136-B



< SJ-V Series (Wide range constant output) >




MDS-DM2-SPHV3-






Frame No.


GD 2 [kg•m 2 ]



Input voltage


Environment



Atmosphere

SJ-V11-01T

16080

-

3.7

5.5

(30-minute rating)

9.9

750

6000

B112

47.1

0.12

0.03

1960

3-phase 200V

40W

SJ-V11-09T

16080

-

5.5

7.5

(30-minute rating)

13.4

750

6000

A160

70.0

0.23

0.06

2940

3-phase 200V

63W

SJ-V15-03T

-

20080

7.5

9

(30-minute rating)

16.1

750

6000

A160

95.5

0.23

0.06

2940

3-phase200V

63W

Altitude






Mass [kg]







204 SQ.

490

Φ

Φ

180

48

70

IP44

250 SQ.

469.5

Φ 230

Φ 48

110

155 (F)

250 SQ.

469.5

Φ

Φ

230

48

110




IB-1501136-B 16



< SJ-VL Series (Low-inertia) >









Frame No.


GD 2 [kg•m 2 ]

Inertia [kg•m

2

]


Input voltage


Environment



Atmosphere

SJ-VL11-05FZT-S01

16080

1.5

3

(10-minute rating)

5.5

5000

15000

B71

2.8

0.0096

0.0024

980

Single-phase 200V

14W

SJ-VL11-10FZT

16080

41W

SJ-VL11-10FZT

16080

2.2

3.7

(15-minute rating)

6.7

1700

15000

D90

12.4

0.021

0.00525

3.7

5.5

(15-minute rating)

9.9

3000

(10-minute rating:

2500)

15000

D90

11.8

0.021

0.00525

245 245

Single-phase 200V Single-phase 200V

41W

SJ-VL11-07ZT

16080

5.5

7.5

(30-minute rating)

13.4

1500

12000

B112

35

0.072

0.018

980

3-phase 200V

40W

SJ-VL11-07ZT

16080

7.5

11

(15-minute rating)

19.6

2200

12000

B112

32.6

0.072

0.018

980

3-phase 200V

40W

Altitude






Mass [kg]







130 SQ.

335

Φ

Φ

110

22

20

174 SQ.

441

Φ

Φ

150

28

40

IP44

174 SQ.

441

Φ 150

Φ 28

40

155 (F)

204 SQ.

490

Φ

Φ

180

32

70

204 SQ.

490

Φ

Φ

180

32

70




17 IB-1501136-B



2.2.2 Output Characteristics

< SJ-D Series (Normal) >

[ SJ-D5.5/100-01 ]

6.0

4.0

2.0

5.5

30-minute rating

3.7

Continuous rating

0

0 1500 6000


10000

[ SJ-D5.5/120-02 ] (SPVx-16080)

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


12000

8.0

6.0

4.0

2.0

[ SJ-D7.5/120-01 ]

7.5

30-minute rating

5.5

Continuous rating

0

0 1500 6000


12000

6.0

4.0

2.0

[ SJ-D5.5/120-01 ]

5.5

30-minute rating

3.7

Continuous rating

0 1500 6000


10000

[ SJ-D5.5/120-02 ] (SPVx-20080)

15


10.4

10

5

5.5

3.7

25%ED rating

Continuous rating

0

0 1700 2800 4500 8000


12000

[ SJ-D11/80-01 ]

30-minute rating

Continuous rating

0 1500 4500


8000

[ SJ-D5.5/120-02 ] (SPVx-10080)

15

10

5

7.5


5.5

3.7

25%ED rating

Continuous rating

0

0 2000 2800 8000


12000

8.0

6.0

4.0

2.0

[ SJ-D7.5/100-01 ]

7.5

30-minute rating

5.5

Continuous rating

0

0 1500 6000


10000

[ SJ-D11/100-01 ]

16

12

8

4

11

30-minute rating

7.5

Continuous rating

0

0 1500 4500


10000

IB-1501136-B 18



< SJ-DJ Series (Compact & lightweight ) >

[ SJ-DJ5.5/100-01 ]

8.0

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


10000

6.0

4.0

5.5

25%ED rating

3.7

2.0

Continuous rating

0

0 1500 2000 4500


12000

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


10000

[ SJ-DJ11/100-01 ]

16

12

8

4

11

15-minute rating

7.5

Continuous rating

0

0 1500 2000 4500


10000

[ SJ-DJ5.5/120-02 ]

8.0

6.0

4.0

6.0

5.5

During acceleration/deceleration

25%ED rating

3.7

2.0

Continuous rating

0

0 1500 2000 4500


12000

[ SJ-DJ15/80-01 ]

16

12

15%ED rating

15

15-minute rating

11

8

Continuous rating

4

0

0 1500 2000 4000


8000

< SJ-DL Series (Low-inertia) >

[ SJ-DL5.5/150-01T ]

15

11

10

5

15-minute rating


5.5

3.7

30-minute rating

Continuous rating

0

0 2500 3000 4200


15000

[ SJ-DL7.5/150-01T ]

15

10

11

Standard output during

7.5

acceleration/deceleration

5.5

30-minute rating

5

Continuous rating

0

0 1500 1800 8000


15000

19 IB-1501136-B



< SJ-V Series (Normal) >

[ SJ-V5.5-01ZT ]

8.0

6.0

4.0

2.0

5.5

30-minute rating

3.7

Continuous rating

0

0 1500 6000


12000

10

5

20

15

[ SJ-V11-01ZT ]

20

15

10

5

11

30-minute rating

7.5

Continuous rating

0

0 1500 4500


[ SJ-V15-09ZT ]

15

11

30-minute rating

Continuous rating

8000

0

0 1500 6000


8000

8.0

6.0

4.0

[ SJ-V7.5-01ZT ]

7.5

30-minute rating

5.5

Continuous rating

2.0

0

0 1500 6000


12000

[ SJ-V11-13ZT ]

10

5

20

15

11

7.5

30-minute rating

Continuous rating

0

0 1500 6000


8000

8.0

6.0

4.0

2.0

[ SJ-V7.5-03ZT ]

7.5

30-minute rating

5.5

Continuous rating

0

0 1500 10000 12000


[ SJ-V15-01ZT ]

10

5

20

15

15

30-minute rating

11

Continuous rating

0

0 1500 4500


8000

< SJ-V Series (High-speed) >

[ SJ-V11-06ZT ]

8.0

7.5

30-minute rating

6.0

5.5

Continuous rating

4.0

2.0

0

0 1500


12000

15

10

5

[ SJ-V11-08ZT ]

11

7.5

30-minute rating

Continuous rating

0

0 1500


8000

IB-1501136-B 20



< SJ-V Series (Wide range constant output) >

[ SJ-V11-01T ]

15

15

[ SJ-V11-09T ]

10

5

0

0 750

5.5

3.7

30-minute rating

Continuous rating


6000

10

5

7.5

5.5

30-minute rating

Continuous rating

0

0 750


6000

15

[ SJ-V15-03T ]

10

9

7.5

30-minute rating

Continuous rating

5

0

0 750


6000

< SJ-VL Series (Low-inertia) >

[ SJ-VL11-05FZT-S01 ]

15

10

11


5

0

0

3

1.5

10-minute rating

Continuous rating

5000 6000 18000 20000


[ SJ-VL11-07ZT ]

15

10

5

11


7.5

5.5

30-minute rating

Continuous rating

0

0 1500 2200 8000


12000

[ SJ-VL11-10FZT ]

15

10

11


5

3.7

2.2

15-minute rating

Continuous rating

0

0 1700 5000


15000

[ SJ-VL11-07ZT ]

15

10

11

15-minute rating

7.5

Continuous rating

5

0

0 2200 8000


12000

[ SJ-VL11-10FZT ]

15

11

10

5

10-minute rating


5.5

3.7

15-minute rating

Continuous rating

0

0 2500 3000 5000


15000

21 IB-1501136-B



2.3 Drive Unit

2.3.1 Installation Environment Conditions

Common installation environment conditions for servo and spindle are shown below.

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)


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-1501136-B 22



2.3.2 Multi Axis Drive Unit

(1) Multi axis integrated drive unit

Drive unit type

MDS-DM2-

Nominal maximum current (at peak of spindle section) [A]

Nominal maximum current (at peak of servo section) [A]


Output

Rated voltage [V]

Rated current

(spindle axis) [A]

Input

Rated current (servo) [A]



Voltage [V]

Control power

Frequency [Hz]


Maximum rush current [A]

Maximum rush conductivity time [ms]

Earth leakage current [mA]

Control method

Braking

Dynamic brakes

External analog output


Cooling method

Mass [kg]

Heat radiated at rated output [W]

Noise

Unit outline dimension drawing

Drive unit type

MDS-DM2-

Nominal maximum current (at peak of spindle section) [A]

Nominal maximum current (at peak of servo section) [A]



Output

Rated current

(spindle axis) [A]

Input

Rated current (servo) [A]



Voltage [V]

Control power

Frequency [Hz]


Maximum rush current [A]

Maximum rush conductivity time [ms]

Earth leakage current [mA]

Control method

Braking

Dynamic brakes

External analog output


Cooling method

Mass [kg]

Heat radiated at rated output [W]

Noise

Unit outline dimension drawing

10080

100

14.7

Multi axis integrated drive unit MDS-DM2-SPV Series

SPV2SPV3-

16080

160

80×2

20080

200

10080

100

16080

160

80×3

20080

200

19.3

24.6

17.1

AC155

21.7

27

37 67 26 37 67

200120

200

120×3

28.2

26 67

15.8×2 15.8×3 28×3

AC200 (50Hz) /AC200 to 230 (60Hz) Tolerable fluctuation between +10% and -15%

33 43 55 38

DC24±10%

48 60 65

50/60 Tolerable fluctuation: between +3% and -3%

4.0

10

100

9/ Max.21 (Details: Spindle 6/Max.15, Servo per one axis 1/Max.2)

Sine wave PWM control method

Regenerative braking and dynamic brakes (only regenerative braking for spindle)

630

14.5

700

Built-in

0 to +5V,2ch (data for various adjustments)

IP20 [over all] (IP00 [Terminal block TE1])

Forced wind cooling

15

895 730

Less than 55dB

F0

800 990 1260

Multi axis integrated drive unit MDS-DM2-SPHV Series

SPHV3-

20080

200

80×3

27

AC155

63

15.8×3

AC200 (50Hz) /AC200 to 230 (60Hz) Tolerable fluctuation between +10% and -15%

60

DC24±10%

50/60 Tolerable fluctuation: between +3% and -3%

4.0

10

100

9/ Max.21 (Details: Spindle 6/Max.15, Servo per one axis 1/Max.2)

Sine wave PWM control method

Regenerative braking and dynamic brakes (only regenerative braking for spindle)

Built-in

0 to +5V,2ch (data for various adjustments)

IP20 [over all] (IP00 [Terminal block TE1])

Forced wind cooling

15

990

Less than 55dB

F0


23 IB-1501136-B



2.3.3 Unit Outline Dimension Drawing

Unit:[mm]

(

60 140 60 （ 80 ）

Panel cut drawing

140

Square hole

180 96

248

260

2.3.4 AC Reactor

AC reactor model

D-AL-

Rated capacity [kW]



Frequency [Hz]



Environment

Atmosphere

Altitude

Vibration / impact

Mass [kg]

AC reactor

18.5K

18.5

200 to 240AC Tolerable fluctuation : between +10% and -15%

66

50/60 Tolerable fluctuation between +3% and -3%

Operation: -10°C to 60°C (with no freezing), Storage/Transportation: -10°C to 60°C (with no freezing)


Storage/Transportation: 80%RH or less (with no dew condensation)


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

9.8m/s

2

(1G) / 98m/s

2

(10G)

5.3

Outline dimension drawing

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

Unit:[mm]

Serial number of manufacture

IB-1501136-B

55 r 1.5

165

D-AL-18.5K

105 r 1.5

24



2.3.5 Explanation of Each Part

(1) Explanation of each multi axis integrated servo drive unit part

(1)

(2)

(3)

(4)

(6)

(7)

(8)

(9)

(10)

(11)

(12)

(13)

(14)

(15)

(16)

(17)

(21)

(5)

(22)

(23)

(24)

(18)

(19)

(25) (20)

MDS-DM2-SPV2/SPV3

The connector and terminal block layout may differ according to the unit being used. Refer to each unit outline drawing for details.

(22)

(23)

(24)

(25)

(1)

(2)

(3)

(4)

(5)

(6)

(7)

(8)

(9)

(10)

(11)

(12)

(13)

(14)

(15)

(16)

(17)

(18)

(19)

(20)

Control

circuit

(21)

<Each part name>

Main circuit

Name

POWER

SP1,

SP2,SV1,SV2

CN22

CN9A

CN9B

OPT1A

CN8

CN2SP

CN3SP

CN2L

CN2M

CN2S

CN3L

CN3M

CN3S

CN5A

CN5B

BTA

BT1

CHARGE LAMP

TE1

---

---

---

---

---

---

---

---

---

---

---

---

L1, L2, L3

U, V, W

---

---

---

---

---

---

---

---

P+, N-

CN31L

CN31M

CN31S

PE

U, V, W,

U, V, W,

U, V, W,

Description

24V power supply status indication LED

Unit status indication LED

Control power input terminal (DC24V) input connector

Connector for DIO/analog output (spindle)

Connector for DIO/analog output (servo)

NC optical communication connector

External STO input connector

(Insert the provided STO short-circuit connector when not using external STO input.)

Spindle motor side encoder connection connector 5V power supply capacity:0.35A

Spindle side encoder connection connector 5V power supply capacity:0.35A

Servo motor side encoder connection connector (L-axis) 5V power supply capacity:0.35A

Servo motor side encoder connection connector (M-axis) 5V power supply capacity:0.35A

Servo motor side encoder connection connector (S-axis) 5V power supply capacity:0.35A

Machine side encoder connection connector (L-axis)

Machine side encoder connection connector (M-axis)

Machine side encoder connection connector (S-axis)

USB maintenance connector (spindle) usually not used

USB maintenance connector (servo) usually not used

For connecting converged battery unit

For connecting battery built-in drive unit ER6V-C119B

Converter voltage output charge-discharge status indication LED

Power supply input terminal (3-phase AC output)

Motor power output terminal (spindle, 3-phase AC output)

DC output for unit stopped caused by power failure

*Do not wiring during unused state.

Motor power supply output connector (L-axis, 3-phase AC output)

Motor power supply output connector (M-axis, 3-phase AC output)

Motor power supply output connector (S-axis, 3-phase AC output)

Grounding terminal

(also including grounding of the spindle motor)

<Screw size>

Type

Unit width (mm)

(21)TE1

(25)

10080 16080

SPV3-

Multi axis integrated drive unit MDS-DM2-

SPHV3-

20080 10080 200120

260

M5 × 12

20080

M5 × 8

SPV2-

16080 20080

25 IB-1501136-B



IB-1501136-B 26

3

Function Specifications

27 IB-1501136-B


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-1501136-B 28



< Servo specification >

1


2

Servo control function

3

Compensation control function

4


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



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


4.9 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

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●


Fixed frequency: 1

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

MDS-DM2-

SPV2/3,

SPHV3

●

●

-

●

●

●

●

●

●

●

●

●

●

●

●


Fixed frequency: 1

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

MDS-DJ-V1

●

●

-

●

●

●

●

●

●

●

●

●

●

●

●


Fixed frequency: 1

●

●

●

●

●

●

●

●

●

●

●

●

●

●

-

-

●

●

●

MDS-DJ-V2

-

●

-

-

●

●

●

●

●

●

●

-

●

●

●


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.

29 IB-1501136-B



< Spindle specifications >

Item MDS-D2-SP

MDS-DH2-

SP

MDS-D2-

SP2

1


2

Spindle control functions

3

Compensation control function

4


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


3.9 Spindle motor temperature compensation function

4.1 Deceleration control at emergency stop

4.3 Earth fault detection

4.5 SLS (Safely Limited Speed) function


4.9 STO (Safe Torque Off) function

5.4 Specified speed output

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●


Fixed frequency: 1

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●


Fixed frequency: 1

●

●

●

●

●

●

●

●

●

●

●

●

-

●

●

●

●

●

●

● (Note)

●

●

●

●

●

●

●

●

●

●


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.

●

●

●

●

●

●

●

●

●

●

MDS-DM2-

SPV2/3,

SPHV3

●

●

●

●

●

●

●

●

●

●

●

●

●

●

MDS-DJ-SP

●

●

●

●

●

●

●

-

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●

●


Fixed frequency: 1

●

●

●

●

●


Fixed frequency: 1

●

●

●

●

●

●

●

●

●

●

●

●

●

●

-

-

●

●

●

●

●

●

●

●

●

●

●

●

-

-

●

●

-

●

●

●

●


Fixed frequency: 1

●

●

●

MDS-DJ-

SP2

-

●

-

●

●

●

●

●

●

● (Note)

●

●

●

●

IB-1501136-B 30



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

31 IB-1501136-B



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.

IB-1501136-B 32



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.

33 IB-1501136-B



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.

IB-1501136-B 34



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


VGVN

VGN1

(VGN2)

0 VGVS VLMT


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

35 IB-1501136-B



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)

IB-1501136-B 36



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.

37 IB-1501136-B



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.

IB-1501136-B 38



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.

39 IB-1501136-B



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

IB-1501136-B 40



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


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

41 IB-1501136-B




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

IB-1501136-B 42



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.

43 IB-1501136-B



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.

IB-1501136-B 44



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.

Optical communication

Emergency stop input 2

Emergency stop input 1

STO shutoff via optical communication

Normal MC control Shutoff

[2] 　 When using dedicated wiring STO function

This method is used to shut off the motor power with STO function only for the servo axes and spindle which are connected to the MDS-DM2-SPV drive unit while operating the system.

CNC

(1) External door open

(Dual signal input)

Door


Shutoff command

MDS-DM2-SPV Series

(2) STO signal is input from the CN8 connector

CN8

STO shutoff via CN8

(3) The STO function shuts off the power for only the servo axes and the spindle connected to the unit.

[Servo and spindle]

STO1, STO2 signal

45 IB-1501136-B



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


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


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

IB-1501136-B 46



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 stop

Alarm


G391 cable

External emergency stop input

(24VDC)

External emergency stop switch

MDS-DM2-SPV Series

24V

OPT1A

CN9B

3 EMG

20 DICOM

24G

CN9A

16 MC

10 DOCOM

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.

47 IB-1501136-B



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

8

9

10

4

5

6

7

1

2

3

Pin

CN9A connector

(spindle side D/A output)

Name

LG

MO1

Pin Name

11

12

13

14

15

16

17

18

19

20

LG

MO2

8

9

10

5

6

7

Pin

1

2

3

4

CN9B connector

(servo side D/A output)

Name

LG

MO1

Pin

11

12

13

14

15

16

17

18

19

20

Name

LG

MO2

MDS-DM2-SPV Series

Item

No. of channels

Output cycle

Output precision

Output voltage range

Output magnification setting

Output pin (servo side: CN9B connector)

Output pin (spindle side: CN9A connector)

Others

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

MO1 = Pin 9, MO2 = Pin 19, LG = Pin 1,11

The D/A output for the 2nd axis or the 3rd axis is also 2ch. When using the 2nd axis or the 3rd axis, set "-1" for the output data (SV061, SV062) of the servo 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

IB-1501136-B 48



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.

49 IB-1501136-B



IB-1501136-B 50

4

Characteristics

51 IB-1501136-B


4 Characteristics

4.1 Servo Motor

4.1.1 Environmental Conditions

Environment



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)



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

Motor type

HF54, 104, 154, 224, 223

HF204, 303, 302, 354, 453

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 29.4m/s 2 (3G) or less

The vibration conditions are as shown below.

200

Servo motor

100

80

60

50

40

30

20

X

Y

Acceleration

0 1000 2000

Speed (r/min)

3000

IB-1501136-B 52



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.

Servo motor

HF54T, 104T, 154T, 224T, 223T (Taper shaft)

HF54S, 104S, 154S, 224S, 223S (Straight shaft)

HF204S, 303S, 302S, 354S, 453S (Straight shaft)

Tolerable radial load

392N （ L=58 ）

980N （ L=55 ）

2058N （ L=79 ）

Tolerable thrust load

490N

490N

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]

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.

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


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

53 IB-1501136-B



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.

Servo motor

HF54, 104, 154, 224, 223

HF204, 303, 302, 354, 453

Oil level (mm)

22.5

30

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.

IB-1501136-B 54



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.

< HF Series>

HF54 HF104

10000.0

10000.0

When stopped

When rotating

When stopped

When rotating

1000.0

1000.0

100.0

100.0

10000.0

1000.0

100.0

10.0

1.0

0.1

0

10.0

1.0

0.1

0

10.0

1.0

100 200 300 400 500

Motor current value (stall rated current value ratio %)

600

HF154

When stopped

When rotating

700

0.1

0

10000.0

1000.0

100.0

10.0

1.0

100 200 300 400 500


600 700

0.1

0

100 200 300 400 500


600

HF224

When stopped

When rotating

700

100 200 300 400


500

55 IB-1501136-B



10000.0

1000.0

100.0

10.0

1.0

0.1

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

< HF Series >

0

HF204

When stopped

When rotating

100 200 300 400


HF223

When stopped

When rotating

500

㪇

100 200 300 400


HF453

When stopped

When rotating

500

0.1

0

10000.0

1000.0

100.0

10.0

1.0

100 200 300 400


500

0.1

0

10000.0

1000.0

100.0

10.0

1.0

㪈㪇㪇㪇㪇㪅㪇

㪈㪇㪇㪇㪅㪇

㪈㪇㪇㪅㪇

㪈㪇㪅㪇

㪈㪅㪇

㪇㪅㪈

HF354

When stopped

When rotating

㪈㪇㪇㪉㪇㪇㪊㪇㪇㪋㪇㪇


HF303

When stopped

When rotating

㪌㪇㪇

100 200 300 400


HF302

When stopped

When rotating

500

100 200 300 400


500

IB-1501136-B 56



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

57 IB-1501136-B



（ 2 ） Magnetic brake characteristics

< HF Series >

Type (Note 1)

Item

Rated voltage

Rated current at 20°C (A)

Capacity (W)

Static friction torque (N•m)

Inertia (Note 2) (kg•cm

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

HF54B, HF104B, HF154B, HF224B HF204B, HF354B HF303B, HF453B

HF223B HF302B

Spring closed non-exciting operation magnetic brakes

(for maintenance and emergency braking)

24VDC

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

(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-1501136-B 58



(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

59 IB-1501136-B



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

Motor type

HF54

HF104

HF154

HF224

HF204

HF354

HF223

HF303

HF453

HF302

Drive unit type

SPVx-xxx80, SPHV3-20080



SPV3-2000120


SPV3-2000120


SPV3-2000120

SPV3-2000120



SPV3-2000120

SPV3-2000120


Max. deceleration torque of a dynamic brake

Stall torque

(N•m)

2.9

5.9

L/M-axis

Tdp

(N•m)

3.97

10.02

9.0

12.0

13.7

22.5

12.0

22.5

37.2

20.0

15.64

20.07

15.95

35.25

19.95

30.40

52.94

29.42

1042

1029

617

908

1059

955

550

1080

635

Ndp

(r/min)

758

1060

1356

850

1765

Stall torque

(N•m)

2.9

5.9

9.0

S-axis

Tdp

(N•m)

3.96

10.02

15.65

12.0

13.7

22.5

12.0

22.5

37.2

20.0

20.06

15.97

35.25

19.95

30.43

52.94

29.42

Ndp

(r/min)

533

540

546

608

370

469

463

308

529

253

IB-1501136-B 60



(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

Motor type

HF54

HF104

HF154

HF224

HF204

HF354

HF223

HF303

HF453

HF302

Drive unit type

SPVx-xxx80,

SPHV3-20080

SPVx-xxx80,

SPHV3-20080

SPVx-xxx80,

SPHV3-20080

SPV3-2000120

SPVx-xxx80,

SPHV3-20080

SPV3-2000120

SPVx-xxx80,

SPHV3-20080

SPV3-2000120

SPV3-2000120

SPVx-xxx80,

SPHV3-20080

SPVx-xxx80,

SPHV3-20080

SPV3-2000120

SPV3-2000120

SPVx-xxx80,

SPHV3-20080

Coasting amount calculation coefficients table

L/M-axis

J

M

(kg•cm 2 ) A B J

M

(kg•cm 2 )

6.1

3.54×10

-9

6.10×10

-3 6.1

11.9

1.95×10 -9 6.59×10 -3 11.9

17.8

23.7

38.3

75.0

23.7

75.0

112

75.0

1.47×10

-9

2.34×10 -9

1.17×10 -9

1.98×10

-9

4.07×10

-9

6.79×10

-9

4.09×10 -9

1.96×10 -9

4.51×10 -9

7.82×10 -9

3.42×10

-9

7.01×10

-9

8.08×10

5.06×10

10.91×10 -3

6.44×10

-3

12.94×10

-3

7.76×10

-3

10.12×10 -3

6.60×10

12.33×10

-3

-3

-3

-3

7.11×10 -3

11.96×10

-3

8.48×10

-3

17.8

23.7

38.3

75

23.7

75.0

112

75.0

S-axis

A

5.04×10

3.84×10

3.64×10

3.39×10

-9

-9

-9

-9

11.31×10

-9

7.92×10 -9

4.49×10 -9

14.00×10 -9

6.98×10

-9

17.58×10

-9

B

4.29×10

-3

3.36×10

3.25×10

3.76×10

-3

4.66×10

-3

-3

-3

5.22×10 -3

2.88×10 -3

3.97×10 -3

5.86×10

-3

3.38×10

-3

61 IB-1501136-B



4.2 Spindle Motor


Environment





Atmosphere

Altitude

Vibration

Conditions


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


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.

Spindle motor

SJ-VL11-10FZT, SJ-DL5.5/150-01T

SJ-V5.5-01ZT, SJ-V7.5-01ZT, SJ-V7.5-03ZT, SJ-V11-06ZT

SJ-VL11-05FZT-S01, SJ-VL11-07ZT, SJ-D5.5/120-02

SJ-DJ5.5/100-01, SJ-DJ5.5/120-01, SJ-DJ5.5/120-02, SJ-DL7.5/150-01T

SJ-D5.5/100-01, SJ-D5.5/120-01, SJ-DJ7.5/100-01, SJ-V11-08ZT

SJ-V11-01ZT, SJ-V11-13ZT, SJ-V11-01T,

SJ-D7.5/100-01, SJ-D7.5/120-01, SJ-D11/80-01, SJ-D11/100-01

SJ-DJ11/100-01, SJ-DJ15/80-01

SJ-V15-01ZT, SJ-V15-09ZT, SJ-V11-09T, SJ-V15-03T

Tolerable radial load

245N

980N

1470N

1960N

2940N

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.

IB-1501136-B 62



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, 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

63 IB-1501136-B



4.3 Drive Unit


Environment





Atmosphere

Altitude

Vibration

Conditions





Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles

Operation/storage: 1000m 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.

4.3.2 Heating Value

The values for the servo drive unit apply at 50% of the stall output. The values for the spindle drive unit apply for the continuous rated output. The values for the multiple axes integrated drive unit include the AC reactor's heating value.

Multiple axes integrated drive unit

Type MDS-DM2-

SPV3-10080

Heating value [W]

Inside Outside panel panel

140 590

SPV3-16080

SPV3-20080

150

175

650

815

SPV3-200120

SPHV3-20080

SPV2-10080

SPV2-16080

SPV2-20080

235

175

120

130

155

1025

815

510

570

740

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

Load rate

50%

100%

IB-1501136-B 64

5

Dedicated Options

65 IB-1501136-B


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


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)


Drive unit input signal




Mitsubishi serial signal



Battery option

-

-

-

-

-

(Required)

(Note 1)

Remarks

Distance-coded reference scale

(Note 2)

Various scale SIN wave signal

EIB series

(HEIDENHAIN)


(Required)

(Note 1)

Distance-coded reference scale is also available

(Note 2)

Mitsubishi serial signal output

SR75, SR85

(Magnescale)


-


-

Absolute position encoder


OSA105ET2A

(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)














-

-

-

-

-

-

-

-

-

-

-

-

-














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-1501136-B 66






MPS Series

(Mitsubishi Heavy

Industries Machine Tool)

MPI Series




SIN wave signal

SIN wave signal

Interface unit

ADB-20J60

(Mitsubishi Heavy

Industries Machine Tool)

ADS-20J60

(Mitsubishi Heavy


Drive unit input signal



Battery option

Required

Remarks

(b) Full closed loop control for rotary axis



Interface unit Output signal

Battery option

Remarks

Rectangular wave signal output

Various scale


-


-

Incremental encoder


ERM280 Series

(HEIDENHAIN)

Various scale

SIN wave signal

SIN wave signal

EIB series

(HEIDENHAIN)

MDS-B-HR-11(P)




-

(Required)

(Note 1)

Distance-coded reference scale is also available

(Note 2)




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



MPI Series










SIN wave signal

SIN wave signal

(Provided)

-

-

-

-

-

-

ADB-20J71

(Mitsubishi Heavy


ADB-20J60

(Mitsubishi Heavy











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.

67 IB-1501136-B



5.1.1 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

A6BAT

(MR-BAT)

Appearance

Battery connector

Battery

ER6V-C119B

To battery holder

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. The above data is the theoretical value for when the battery is used 8 hours a day/240 days a year at an ambient temperature of 25°C. 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.

IB-1501136-B 68



(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


Cell battery

ER6V-C119B (Note 1)

ER6V

3.6V

2000mAh

-

Single battery

ER6V x 1

0.7g

Battery continuous backup time

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

HF Series: 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 connection part magnified figure

Battery connector

Battery

Connect the cell battery with BT1.

To battery holder

BT1

Connector for connecting cell battery

(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.

69 IB-1501136-B



(2) Cell battery ( A6BAT )

Always use the cell battery (A6BAT) in combination with the dedicated case (MDS-BTCASE).



Battery model name

Nominal voltage

Nominal capacity

Battery safety

Hazard class

Battery shape

Number of batteries used

Lithium alloy content

Mercury content


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


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



(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)

IB-1501136-B 70



(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


A6BAT

(MR-BAT)

CON1

CN1A

A6BAT

(MR-BAT)


A6BAT

(MR-BAT)

CON1

CN1A

CON4

A6BAT

(MR-BAT)

CON8


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)

71 IB-1501136-B



(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]

IB-1501136-B 72



(3) Battery box (MDS-BTBOX-36)



Battery model name (Note 1)

Nominal voltage


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.

73 IB-1501136-B



(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

IB-1501136-B 74



(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.

75 IB-1501136-B



(4) Converged battery option

When using the following battery options, the wiring between units which configure an absolute position system is required.


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) >

Battery case

MDS-BTCASE+

A6BAT(MR-BAT)

1-axis servo drive unit

(MDS-D2-V1)

From NC

3-axes servo drive unit

(MDS-D2-V3)

Spindle

drive unit

(MDS-D2-SP)

Power supply unit

(MDS-D2-CV)

Multi axis unit

(MDS-DM2-SPV Series)

L+

L-


BTA

MDS-D2-Vx

1 2 1 2

MDS-DM2-SPV Series

BTB

Connector for connecting converged battery

1 2

BT1

BT1

Connect the converged battery with BTA or BTB.

Servo motor Servo motor

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.

IB-1501136-B 76



< MDS-BTBOX-36 >

Multi axis unit

MDS-DM2-SPV Series

From NC

CN9A

CN9B

BTA DG23

DG24

+24V

RG I/O power

Battery box

MDS-BTBOX-36

DOCOM

DO(ALM)

LG

+5V

LG

BT

Servo motor


BTA

Connector for connecting battery unit

BT1

Connector for connecting cell battery

1

2

2

2

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. Connect the cable for alarm with CN9B on the drive unit. CN9A cannot receive the battery voltage drop warning.

3. The total length of battery cable (from the battery unit to the last connected drive unit) must be 30m or less.

77 IB-1501136-B



5.1.2 Ball Screw Side Encoder (OSA105ET2A)

(1) Specifications

Electrical characteristics

Mechanical characteristics for rotation

Mechanical configuration

(*1)

(*2)

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 run-out

(position 15mm from end)

Tolerable load

(thrust direction/radial direction)

Mass


Recommended coupling



Humidity

Vibration resistance

Impact resistance

OSA105ET2A

1,000,000 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.

IB-1501136-B 78



(2) Outline dimension drawings

OSA105ET2A

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 ]

79 IB-1501136-B



5.1.3 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

SR75

SR85

LS187

LS487

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


- Magnescale Co., Ltd.: http://www.mgscale.com/mgs/language/english/


CAUTION

The above value does not guarantee the accuracy of the system.

IB-1501136-B 80



(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.

81 IB-1501136-B



(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


Not required

IBV 101 (10 divisions)

IBV 102 (100divisions)

IBV 660B (400divisions)


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


180m/min

125m/min

25m/min

12m/min

120m/min

24m/min

7.5m/min


- Magnescale Co., Ltd: http://www.mgscale.com/mgs/language/english/


IB-1501136-B 82



(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


(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


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


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

83 IB-1501136-B




- Magnescale Co., Ltd.: http://www.mgscale.com/mgs/language/english/


- Mitutoyo Corporation: http://www.mitutoyo.co.jp/eng/


- 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-1501136-B 84



5.1.4 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



Encoder type



Accuracy (*1) (*2)

Wave number within one rotation



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



(*1)

(*2)

(*3)

Drum inner diameter

Drum outer diameter

Drum mass

Degree of protection (*3)

Ambient temperature range

Storage temperature range

Humidity



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 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


(*1)

(*2)

Specified value

High-speed serial communication I/F

0°C to +55°C


No toxic gases



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.


85 IB-1501136-B



(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)


45°

Cable length 1200

Main head IP67 ）

MC2D009



4Ǿ 5.5



23.5

22

8

45°

Installation ring

MBA405W

Magnetic drum

Installation ring

11.5

±0.2


R78

45°

Ǿ

150.3


+0.03 0

Ǿ

125

(Drum inner diameter) BF125

MBA405W

45°

35

SC2D005

Sub head IP67 ）

Magnetic drum



C1.5

IB-1501136-B 86



< MBA405W-BG160 >

Cable length 1200

Hirose Electric

RM15WTPZ-12P(72)


45°

45°

R103

Main head IP67 ）

MC2D009

Ǿ

160

+0.05

0


Ǿ

200.6

[Unit: mm]



4Ǿ 6.6



Installation ring

25.5

24

10

Installation ring

45°

13.5

±0.2


A 6W6EOK

MBA405W

Magnetic drum

0 -0.015


45°

BG160

MBA405W

SC2D005

Magnetic drum

35

Sub head IP67 ）



C1.5

< Preamplifier (common) >

Hirose Electric

RM15WTRZBK-12S(72)


[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)


Hirose Electric

Protective cap

RM15TR-C4(71)

Hirose Electric

RM15WTRZB-10P(72)


Hirose Electric

RM15WTRZBK-12S(72)


105

Preamplifier

87 IB-1501136-B



< 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-1501136-B 88



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.

89 IB-1501136-B



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.


Mechanical characteristic s for rotation

Encoder type

Inertia

Shaft friction torque

Shaft angle acceleration


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



Tolerable load

(thrust direction/radial direction)

Mass


Squareness of flange to shaft

Flange matching eccentricity



Humidity



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-1501136-B 90




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]

91 IB-1501136-B



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


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-1501136-B 92




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

93 IB-1501136-B



< TS5690N12xx + MU1606N709 >


(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


(Note 4)

R1

3.3

C0.5

C0.5





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)


[Unit: mm]

90 2-M5 screw

IB-1501136-B

Detection gear 3


8

12

4






(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


400±10

800±20

1200±20

1600±30

2000±30

Detection gear

Parts name

MU1606N709


22

14


Seen from Arrow A

3 2 1

RQ MT1 MT2

6

SD*

5

SD

4

RQ*

9 8 7

FG 5G +5V


94



< TS5690N25xx + MU1606N805 >

Sensor mounting face (Note 4) 29

16.5

5

5.5


(Note 4)

3.3

C0.5

C0.5

[Unit: mm]





Contact (Pin) #170363-4 Qty: 9

Housing (Plug) #172169-1 Qty: 1


(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)


180 2-M8 screw

Detection gear



1

8 4

12 1

14




(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


400±10

800±20

1200±20

1600±30

2000±30

Detection gear

Parts name

MU1606N805

3




22

14

Seen from Arrow A

3

RQ

2

MT1

1

MT2

6 5 4

SD* SD RQ*

9 8 7

FG 5G +5V


95 IB-1501136-B



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



Encoder type



Accuracy (*1) (*2)

Wave number within one rotation



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


0.5×10

-3 kg ・ m

2

15000r/min 10000r/min

8.7×10

-3 kg ・ m

2

8000r/min



(*1)

(*2)

(*3)

Drum inner diameter

Drum outer diameter

Drum mass




Humidity



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



490m/s

2

(50G)


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.


(3) Specifications of preamplifier

Item

Output communication style



Atmosphere




Mass


Specified value

High-speed serial communication I/F

0°C to +55°C


No toxic gases



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.

IB-1501136-B 96



（ 4) Outline dimension drawing

< MBE405W-BE082 >

[Unit: mm]

Main head IP67 ）

Hirose Electric

RM15WTPZ-12P(72)


Cable length 1200

45°

45°

MC2D009



4Ǿ 5.5



Installation ring

45°

A 6W6EOK

BE082

MBA405W

Magnetic drum

Ǿ

82


+0.03

0

Ǿ

100

(Drum outer diameter)

45°


BE082

MBA405W

SC2D005

35

Sub head IP67 ）


Magnetic drum


21.5

20

6

Installation ring

9.5

±0.2


C1.5

0 -0.015

< MBE405W-BF125 >

[Unit: mm]

Hirose Electric

RM15WTPZ-12P(72)


45°

Cable length 1200

Main head IP67 ）

MC2D009



4Ǿ 5.5



23.5

22

8

45°

Installation ring

A 6W6EOK

MBA405W

Magnetic drum

Installation ring

11.5

±0.2


R78

45°

Ǿ

150.3


+0.03 0

Ǿ

125


BF125

MBA405W

45°

35

SC2D005

Sub head IP67 ）

Magnetic drum



C1.5

97 IB-1501136-B



< MBE405W-BG160 >

Cable length 1200

Hirose Electric

RM15WTPZ-12P(72)


45°

45°

< Preamplifier (common) >

Hirose Electric

RM15WTRZBK-12S(72)


R103

Main head IP67 ）

MC2D009

Ǿ

160

+0.05

0


Ǿ

200.6

[Unit: mm]



4Ǿ 6.6



Installation ring

25.5

24

10

Installation ring

45°

13.5

±0.2


A 6W6EOK

MBA405W

Magnetic drum

0 -0.015


45°

BG160

MBA405W

SC2D005

Magnetic drum

35

Sub head IP67 ）



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)


Hirose Electric

Protective cap

RM15TR-C4(71)

Hirose Electric

RM15WTRZB-10P(72)


Hirose Electric

RM15WTRZBK-12S(72)


105

Preamplifier

IB-1501136-B 98



< Explanation of connectors >

Connector name

CN1-1

CN1-2

CN2

CN3


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

-

-

-

99 IB-1501136-B



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


EIB192M C4 1200

EIB392M C4 1200

EIB192M C6 2048

EIB392M C6 2048

ADB-20J20


0.0000183°

(19,660,800p/rev)

0.0000107°

(33,554,432p/rev)

0.00005°

(7200000p/rev)


20000 r/min

11718 r/min

10000 r/min

<Contact information about machine side encoder>



CAUTION

Confirm specifications of each encoder manufacturer before using the machine side encoder.

5.2.5 Machine Side Encoder

Refer to the section "5.1.3 Machine Side Encoder".

IB-1501136-B 100



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)


Type MDS-B-HR-

Compatible scale (example)

Signal 2-division function

Analog signal input specifications

Compatible frequency

Scale resolution

Input/output communication style



Atmosphere




Maximum heating value

Mass


(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


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

*

101 IB-1501136-B




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

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


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-1501136-B

165

102



(5) Example of wiring

MDS-DM2-SPV Series

Control panel

CN2/3

Grounding bar

MDS-B-HR

CON1 CON2

(Note 1)

(Note 3)

CON3 CON4

(Note 5)

(Note 4)

(Note 2)

Motor/Machine end encoder

(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.

103 IB-1501136-B



5.3.2 Serial Output Interface Unit for ABZ Analog Encoder EIB192M


(1) Appearance


Type

Manufacturer

Input signal

Maximum input frequency

Output signal

Interpolation division number

Compatible encoder


Working temperature


Mass


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.

IB-1501136-B 104



5.3.3 Serial Output Interface Unit for ABZ Analog Encoder EIB392M


(1) Appearance


Type

Manufacturer

Input signal

Maximum input frequency

Output signal

Interpolation division number





Mass


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


105 IB-1501136-B



5.3.4 Serial Output Interface Unit for ABZ Analog Encoder ADB-20J Series


(1) Appearance


Manufacturer

Type

Maximum response speed

Output signal





Mass


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

190

180

160

[Unit：mm]

ADB-20J71

10,000r/min

MPRZ Series

0.000043°

(8,388,608p/rev)

43

M4 screw ×4

Part side Label side

CAUTION


IB-1501136-B 106



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.


DC24V input

Optical interface

Environment

Dimension

Mass

Item

Input voltage

Inrush current


Consumption current

Channel number

Connectable number



Operation

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

107 IB-1501136-B




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


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>


Contact: 1-175218-5


Tyco Electronics




Electronics



Contact: 1-175218-5


Tyco Electronics


Connector: 53103-0230

Recommended manufacturer: MOLEX



Contact: 0016020103


MOLEX

< Cable side faston terminal type name >

Type name: 175022-1

(For AWG20-14 250 series)


Electronics

Terminal protection tube:

174817-2 (Yellow)

[Unit:mm]

Φ2.0

5.0

9.6

6.2

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.

IB-1501136-B 108




5 40

OPT1IN

OPT1OUT

OPT2IN

OPT2OUT

FUSE

DCOUT

FG

DCIN

ACFAIL

135

2-M5-0.8 screw

34 6

[Unit: mm]

109 IB-1501136-B



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.

Multi axis unit

(MDS-DM2 Series)

24V stabilized power supply


From NC


Power connector

CN9A

Encoder conversion unit

(MDS-B-HR)

Servo encoder cable

<MDS-B-HR unit cable >

CN3L

CN3M

CN3S

BTA

BT1

CN22

CN9B

OPT1A

CN2SP

CN3SP

CN2L

CN2M

CN2S

To servo for

M/S-axis

Servo encoder cable

< Linear scale cable for MDS-B-HR >


Linear scale cable for M/S-axis (Note) Prepared by user.

Servo encoder cable

< Linear scale cable> (Note) Prepared by user.

Linear scale

(for full closed loop control)

RA circuit for contactor drive


To servo for

M/S-axis Spindle side encoder

Power cable

䠄 *Only connector

is supplied 䠅

<Option battery>

DOCOM

DO(ALM)

LG

+5V

LG

BT

Battery box

(MDS-BTBOX-36)

RA circuit for motor brake


<Built in cell battery>

Cell battery built in drive unit

(ER6V-C119B)

Servo motor

Spindle motor

3-phase 200VAC power supply

Circuit protector

(Note) Prepared

by user.

AC reactor

(D-AL-18.5K)

Contactor

(Note) Prepared

by user.

Brake connector

Power connector

IB-1501136-B 110



5.5.2 List of Cables and Connectors

< Optical communication cable >

Item


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



Industry)

Connector: PF-2D103

For

CN1A/

CN1B/

OPT1A



(outside panel)

For NC - drive unit

G395 L □ M

□ : Length

1, 2, 3, 5, 7, 10m



Industry)

Connector: PF-2D103



Industry)

Connector: PF-2D103



(outside panel)

For optical communication repeater unit

G380 L □ M

□ : Length

5, 10, 12, 15, 20, 25,

30m


(Tyco Electronics)



(Tyco Electronics)


(Note) For details on the optical communication cable, refer to the section "Optical Communication Cable Specification".

< Battery cable and connector >

Item Model Contents


(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


(Hirose Electric)



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


(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


(Hirose Electric)




(Hirose Electric)




(3M)


Shell kit : 10320-52F0-008

Power supply unit side connector

(3M)


Shell kit : 10320-52F0-008

For CN9

Battery cable

Connector set:

FCUA-CS000


(J.S.T)




(J.S.T)



(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.

111 IB-1501136-B



< 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.


(Tyco Electronics)

1971153-1

< Optical communication repeater unit >

For

OPT1/2

Item


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)



(Tyco Electronics)


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


(Tyco Electronics)


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)


Contact:

1-175218-5 (for AWG16) × 3 (Note 1)

1-175217-5 (for AWG22) × 2 (Note 2)


< DCIN >

(Tyco Electronics)


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



IB-1501136-B 112



< Servo encoder cable and connector >

Item

For

CN2/

CN2L/M/

S

For HF

Motor side encoder cable

Model


(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


(MOLEX)

Connector set : 54599-1019

(J.S.T.)

Plug connector : XV-10P-03-L-R

Cable kit : XV-PCK10-R


(3M)

Receptacle : 36210-0100PL

Shell kit : 36310-3200-008

Motor encoder/


(DDK)

Plug : CMV1-AP10S-M2

Contact : CMV1-#22ASC-S1

CNV2E-9P□ M

□ : Length

2, 3, 4, 5,

7, 10, 15, 20,

25, 30m


(MOLEX)


(J.S.T.)



For servo 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)


Φ 6.0 to 9.0mm

Motor encoder/


(DDK)

Plug : CMV1-SP10S-M2

Contact: CMV1-#22ASC-S1 servo motor encoder/


(DDK)

Plug : CMV1-AP10S-M2

Contact: CMV1-#22ASC-S1


113 IB-1501136-B



Item Model


(3M)

Receptacle: 36210-0100PL

Shell kit : 36310-3200-008

Contents

MDS-B-HR unit side connector

(Hirose Electric)

Plug : RM15WTP-8S

Clamp: RM15WTP-CP (10)

CN3 MDS-B-HR unit cable

CNV2E-HP□ M

□ : Length

2, 3, 4, 5,

7, 10, 15, 20,

25, 30m


(MOLEX)


(J.S.T.)




(Hirose Electric)

Plug : RM15WTP-8S (for CON1, 2)

RM15WTP-12P (for CON3)

Clamp: RM15WTP-CP (10)

For MDS-

B-HR unit

MDS-B-HR connector

(For CON1,2: 1)

(For CON3: 1)

CNEHRS(10)


Φ 8.5 to 11mm


(3M)


Shell kit : 36310-3200-008

For

CN2

Encoder connector CNU2S(AWG18)


(MOLEX)


(J.S.T.)




< Brake cable and connector >

Item Model

CNB10-R2S(6)


Φ 4.0 to 6.0mm

Contents

Servo motor side brake connector (DDK)

Plug : CMV1-SP2S-2

Contact: CMV1-#22BSC-S2

For motor brake

Brake connector for

HF

CNB10-R2L(6)


Φ 4.0 to 6.0mm

Servo motor side brake connector (DDK)

Plug : CMV1-AP2S-S

Contact: CMV1-#22BSC-S2

IB-1501136-B 114



< Power connector >

Item Model

CNP18-10S(14)


Φ 10.5 to 14mm

Power connector for

HF54,104,154, 224, 223

CNP18-10L(14)


Φ 10.5 to 14mm

For motor power

CNP22-22S(16)


Φ 12.5 to 16mm

Power connector for

HF204, 354, 303, 453, 302

CNP22-22L(16)


Φ 12.5 to 16mm

For

CN31

L/M/S

Power connector for

MDS-DM2 Series

RCN31S

RCN31M


Φ 1.25 to 5.5mm

Drive unit side power connector (DDK)

Housing: DK-5200M-04R

Contact : DK-5RECSLP1-100

(For AWG 14,16)

Contact : DK-5RECMLP1-100

(For AWG 10,12)

Contents

Motor side power connector (DDK)

Plug: CE05-6A18-10SD-C-BSS

Clamp: CE3057-10A-1 (D240)


Plug: CE05-8A18-10SD-C-BAS

Clamp: CE3057-10A-1 (D240)


Plug: CE05-6A22-22SD-C-BSS

Clamp: CE3057-12A-1 (D240)


Plug: CE05-8A22-22SD-C-BAS

Clamp: CE3057-12A-1 (D240)

RCN22


Φ 0.5 to 1.25mm

Drive unit side control power connector

(DDK)

Housing: DK-3200S-02R

Contact : DK-3RECLLP1-100

For

CN22

Control power connector for

MDS-DM2 Series

RCN22S


Φ 1.25 to 2.2mm

Drive unit side control power connector

(DDK)

Housing: DK-3200S-02R

Contact : DK-3REC2LLP1-100

115 IB-1501136-B



< 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)


Shell kit : 36310-3200-008

Contents

Spindle motor side connector

(Tyco Electronics)

Connector: 172169-1

Contact:170363-1(AWG26-22)

170364-1(AWG22-18)


(MOLEX)

Connector set: 54599-1019

(J.S.T.)




(3M)


Shell kit : 36310-3200-008


(MOLEX)


(J.S.T.)




(3M)


Shell kit : 36310-3200-008


(DDK)

Connector: MS3106A20-29S(D190)

Straight back shell: CE02-20BS-S

Clamp: CE3057-12A-3


(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


(MOLEX)


(J.S.T.)



For spindle motor

Motor side PLG connector

Spindle side accuracy encoder TS5690 connector

CNEPGS


(Tyco Electronics)

Connector: 172169-1

Contact:170363-1(AWG26-22)

170364-1(AWG22-18)

CNE20-29S(10)


Φ 6.8 to 10mm

For spindle motor

Spindle side encoder

OSE-1024 cable

CNE20-29S(10)


Φ 6.8 to 10mm


(DDK)

Connector:MS3106A20-29S(D190)

Straight back shell: CE02-20BS-S

Clamp: CE3057-12A-3


(DDK)

Connector:MS3106A20-29S(D190)

Angle back shell: CE-20BA-S

Clamp: CE3057-12A-3


IB-1501136-B 116



Item Model Contents


(3M)


Shell kit : 36310-3200-008

For

CN2/3

Spindle encoder drive unit side connector

CNU2S(AWG18)


(MOLEX)


(J.S.T.)




< Twin-head magnetic encoder (MBE405W/MBA405W) cable and connector >

Item Model


(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)


(MOLEX)


(J.S.T.)



Encoder preamplifier side connector

(Hirose Electric)

Plug: RM15WTPZK-12S

Cord clamp: JR13WCCA-8 (72)

Contents


(Hirose Electric)

Plug:RM15WTPZK-12S

Clamp:JR13WCCA-8(72)

For CN3

Thermistor connector for MBE405W/

MBA405W

CNEMB3S(8)


(Hirose Electric)

Plug: RM15WTPZ-10S (72)

Cord clamp: JR13WCCA-8 (72)


< 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/

117 IB-1501136-B



5.5.3 Optical Communication Cable 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)


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 OPT1A 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.)

IB-1501136-B 118



(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 OPT1A 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.

119 IB-1501136-B



(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 OPT1A 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 OPT1A 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 OPT1A 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-1501136-B 120

6

Specifications of Peripheral Devices

121 IB-1501136-B


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.

(1) 600V vinyl insulated wire (IV wire) 60°C product (Example according to IEC/EN60204-1, UL508C)

Unit type

TE1

(L1, L2, L3) mm

2 AWG mm

2

5.5

TE1

(U, V, W)

Terminal name

CN31L/M/S

(U,V,W,PE)

AWG mm

2 AWG

10

14 6 3.5

12

CN22

(VDD.SG) mm

2 AWG

Drive unit

MDS-DM2-SPV3-10080

MDS-DM2-SPV3-16080

MDS-DM2-SPV3-20080

MDS-DM2-SPV3-200120

MDS-DM2-SPHV3-20080

MDS-DM2-SPV2-10080

MDS-DM2-SPV2-16080

MDS-DM2-SPV2-20080

30 3

22

5.5

14

22

4

10

6

4

5.5

3.5

3.5

10

12

12

2 14

(2) 600V double (heat proof) vinyl insulated wire (HIV wire) 75°C product

(Example according to IEC/EN60204-1, UL508C)

Drive unit

Unit type

MDS-DM2-SPV3-10080

MDS-DM2-SPV3-16080

MDS-DM2-SPV3-20080

MDS-DM2-SPV3-200120

MDS-DM2-SPHV3-20080

MDS-DM2-SPV2-10080

MDS-DM2-SPV2-16080

MDS-DM2-SPV2-20080

TE1

(L1, L2, L3) mm 2 AWG

22 4 mm 2

5.5

TE1

(U, V, W)

Terminal name

CN31L/M/S

(U,V,W,PE)

AWG mm 2 AWG

10

8 8 3.5

12

22 4

5.5

10

14

5.5

8

22

6

10

8

4

3.5

12

CN22

(VDD.SG) mm 2 AWG

2 14

IB-1501136-B 122



(3) 600V bridge polyethylene insulated wire (IC) 105 °C product

(Example according to JEAC8001)

Unit type

Drive unit

MDS-DM2-SPV3-10080

MDS-DM2-SPV3-16080

MDS-DM2-SPV3-20080

MDS-DM2-SPV3-200120

MDS-DM2-SPHV3-20080

MDS-DM2-SPV2-10080

MDS-DM2-SPV2-16080

MDS-DM2-SPV2-20080

TE1

(L1, L2, L3) mm 2 AWG

14 6 mm 2

3.5

TE1

(U, V, W)

Terminal name

CN31L/M/S

(U,V,W,PE)

AWG mm 2 AWG

12

5.5

10 2 14

14 6 3.5

12

3.5

5.5

14

12

10

6

2 14

CN22

(VDD.SG) mm 2 AWG

1.25

16

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.

123 IB-1501136-B



6.2 Selection of Circuit Protector and Contactor

Always select the circuit protector and contactor properly, and install them to each drive 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 of the drive unit as in the expression below. And then select the minimum capacity circuit protector whose rated current meets the circuit protector selection current.

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

MDS-DM2-SPV3-

Unit type

MDS-DM2-SPHV3-

MDS-DM2-SPV2-

Rated output

Circuit protector selection current for 200V input

Selection example of circuit protector

(Mitsubishi Electric Corp.)

Rated current of the selection example of circuit protector xxx80

200120

20080 xxx80

18.5kW

76A

NF125-CW3P-100A

100A

Option part: A circuit protector is not prepared as an NC unit accessory, so purchase the part from your dealer, etc.

CAUTION

It is dangerous to share a circuit protector for multiple drive units, so do not share it. Always install the circuit protectors for each drive unit.

IB-1501136-B 124



6.2.2 Selection of Contactor

Select the contactor selection current that is calculated from the rated output and the nominal input voltage of the drive unit as in the expression below. And then select the contactor whose conventional free-air thermal current meets the contactor selection current.

(1) For power supply

Contactor selection current [A]=

(Contactor selection current for 200V input [A] / Nominal input voltage [V]) × 200 [V]

Selection of contactor for 200V input

MDS-DM2-SPV3-

Unit type

MDS-DM2-SPHV3-

MDS-DM2-SPV2-

Rated output

Contactor selection current for 200V input

Selection example of contactor

(Mitsubishi Electric Corp.)

Conventional freeair thermal current of the selection example of contactor xxx80

200120

20080 xxx80

18.5kW

76A

S-T65-AC200V

100A

Option part: A contactor is not prepared as an NC unit accessory, so purchase the part from your dealer, etc.

(2) For spindle coil changeover

< Example of selecting a contactor for the coil changeover

(Use a same contactor regardless of low-speed coil or high-speed coil) >

Unit type

MDS-DM2-SPV2-10080

MDS-DM2-SPV3-10080

MDS-DM2-SPV2-16080

MDS-DM2-SPV3-16080

MDS-DM2-SPV2-20080

MDS-DM2-SPV3-20080

MDS-DM2-SPV3-200120

MDS-DM2-SPHV3-20080

Contactor type

S-T35

S-T65

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.

125 IB-1501136-B



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.

Earth leakage current for each unit

Unit

MDS-DM2-SPV3 Series

Earth leakage current

MDS-DM2-SPV2 Series 8mA 19mA

(Note1) Maximum earth leakage current: Value that considers wiring length and grounding, etc. (Commercial frequency 50/60Hz)

9mA

Maximum earth leakage current

21mA

(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.

IB-1501136-B 126



6.4 Noise Filter

(1) Selection

Use an EMC noise filter if the noise conducted to the power line must be reduced. Select an EMC noise filter taking the drive unit's input rated voltage and input rated current into consideration.

(2) Noise filter mounting position

Install the noise filter to the drive unit's power input as the diagram below indicates.

Power distribution panel

Breaker

Power supply

Noise filter

AC reactor Contactor

R

S

T

Drive unit

(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.

127 IB-1501136-B



6.5 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.


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.

IB-1501136-B 128



6.6 Relay

CN9A/CN9B 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.

Switch ON

Switch OFF

Input condition

18VDC to 25.2VDC

4.3mA or more

4VDC or less

2mA or less

Output voltage

Tolerable output current Io

Output condition

24VDC ±5%

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

(CN9A/CN9B)

For digital output signal

(CN9A/CN9B)

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> OMROM: G6B type, MY type

Input circuit

24V

(1)

CN9A connector

13/2/3 4.1k

DICOM

20

Drive unit

Output circuit

CN9A connector/CN9B connector

24V

8

CN9A/CN9B

Relay, etc.

18

16

24V

CN9B connector

13/2/3

4.1k

(1)

DICOM 20

Drive unit

10 24G

(2)

Servo/spindle drive unit

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.

129 IB-1501136-B



Servo input signal

Servo output signal

Spindle input signal

Spindle output signal

Input signal

Output signal

Device name

MPI1

MPI2

MPI3

MPO1

MPO2

MPO3

Servo input/output signal (CN9A,CN9B connector)

Connector pin No.

Signal name

CN9B-13

SLS(Safely Limited Speed) function door state signal

Battery box voltage drop signal

(Reservation) CN9A-2

CN9A-3

CN9B-8

(Reservation)

Motor brake control signal

CN9A-8 Servo specified speed signal

CN9A-18 (Reservation)

Signal changeover parameter

SV082/bitF-C=1

SV082/bitF-C=2

SV082/bit9,8=01

Device name

MPI1

MPI2

MPI3

MPO1

MPO2

MPO3

Spindle input/output signal (CN9A,CN9B connector)

Connector pin No.

Signal name

CN9B-2

SLS(Safely Limited Speed) function door state signal

Proximity switch signal

CN9A-13 (Reservation)

CN9B-3 External emergency stop signal

CN9B-18 Coil changeover signal

CN9B-16 Spindle specified speed signal

CN9A-16 Contactor control signal

Signal changeover parameter

SP227/bitF-C=1

SP227/bitF-C=2

SP032/bit7-0=59

SP229/bitC=1

Input/output signal (CN9A,CN9B connector)

Pin No.

2

3

13

20

8

10

16

18

-

-

(Retract)

CN9A

DICOM

SV specified speed

24G

MC

-

CN9B

Proximity switch, Safety (SP)

EXEMG

MPI1(DOOR), Safety(SV), BT-BOX

DICOM

MBR

24G

SP specified speed

Coil changeover

IB-1501136-B 130

7

Selection

131 IB-1501136-B


7 Selection

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.

IB-1501136-B 132


7 Selection

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 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.

133 IB-1501136-B


7 Selection

(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


(ms)

(rad/s)

(r/min)

(×10

-4 kg•m

2

)

: Motor inertia (×10 -4 kg•m 2 )


: 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

IB-1501136-B 134


7 Selection

(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.


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


: Position loop gain (SV003)

: Motor reach speed


: Motor inertia


(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


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

135 IB-1501136-B


7 Selection

(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.


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



: Motor reach speed


: Motor inertia


(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


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

IB-1501136-B 136


7 Selection

(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


40

20


0


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. 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.

137 IB-1501136-B


7 Selection

(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 inertia



(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)

IB-1501136-B 138


7 Selection

(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.



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.

139 IB-1501136-B


7 Selection

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


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


+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

)




μ :Friction coefficient

IB-1501136-B 140


7 Selection

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)




D

J

L

= W( )

2

2

+J p

J

L


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


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)

141 IB-1501136-B


7 Selection

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.

IB-1501136-B 142

Appendix 1

付録

1

Cable and Connector Specifications

143



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


BD20032

Compound 6-pair shielded cable

Specification No.

Bangishi-16903

Revision No. 3

(Note 2))


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



500VAC/

1min


1000

M Ω /km or more


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-1501136-B

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

144

Sheath

Mesh shield

Intervening wire

Tape



(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


J14B101224-00

Two core shield cable


3.3mm

Sheath material

PVC

No. of pairs

1

(0.2mm

2 )

Configuration

7strands /

0.2mm

Conductive resistor

91.2

Ω /km or less



AC500V/

1min


1000M Ω / km or less


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

145 IB-1501136-B



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) >


(Hirose Electric)


Contact: DF1B-2428SCA

BT

LG

1

2

0.2mm

2

Battery unit side connector

(3M)


Shell kit: 10320-52F0-008

9

1

PE

BT

LG

Case grounding

< DG22 cable connection diagram (Connection cable between drive unit and drive unit) >


(Hirose Electric)



BT

LG

1

2

0.2mm

2

1

2


(Hirose Electric)



BT

LG

< DG23 cable connection diagram (Connection cable between drive unit and MDS-BTBOX-36) >


(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) >


(3M)

Connector

Shell kit

:10120-3000VE

: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.

IB-1501136-B 146



Appendix 1.2.2 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


(Tyco Electronics)

Connector ： 2-178288-3

Contact 1-175218-5 × 3

FG

3

2

1

0V

24VDC

DCIN

< F110 cable connection diagram >

24VDC power side connector

(Tyco Electronics)


Contact ： 1-175218-5 (for AWG16 ) × 3

1-175217-5 (for AWG22 ) × 2

DCOUT

+24V 1B

0V 2B

FG 3B

ACFAIL

0V

1A

2A

AWG16

AWG22


(Tyco Electronics)

<DCIN>


Conntact ： 1-175218-5 × 3

<ACFAIL (CF01)>

005057-9402

0016020103 × 2

DCIN

1

2

+24V

0V

3

CF01

FG

ACFAIL 2

1 0V

Appendix 1.2.3 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)

6

7

8

4

5

3

Drive unit side

(Tyco Electronics)

Connector set: MR-D05UDL3M-B

STO1

STO2

STOCOM

TOF1

TOF2

TOFCOM

CN8

147 IB-1501136-B



Appendix 1.2.4 Servo Encoder Cable

<CNV2E-8P, CNV2E-9P cable connection diagram>


(3M)


Shell kit: 36310-3200-008

(MOLEX)


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/


(DDK)

Plug: CMV1-SP10S-M2 (Straight)

CMV1-AP10S-M2 (Angle)


P5(+5V)

LG

CNT

BT

SD

SD*

RQ

RQ*

SHD


(3M)


Shell kit: 36310-3200-008

(MOLEX)


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/


(DDK)

Plug: CMV1-SP10S-M2 (Straight)

CMV1-AP10S-M2 (Angle)


P5(+5V)

LG

CNT

BT

SD

SD*

RQ

RQ*

SHD

IB-1501136-B 148



<CNV2E-HP cable connection diagram>


(3M)


Shell kit: 36310-3200-008

(MOLEX)


P5(+5V)

Case

LG

RQ

RQ*

SD

SD* grounding

6

7

8

PE

10

3

4

5

1

2

0.5mm

0.5mm

2

2

0.2mm

2

0.2mm

2


(Hirose Electric)

Plug: RM15WTPZ-8S(71)

Clamp: JR13WCCA-10(72)

1

2

3

4

PE

6

8

5

7

P5(+5V)

LG

P5(+5V)

LG

RQ

RQ*

SD

SD*

Case grounding

<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

11

12

PE

10

7

8

1

2

5

6

3

4

0.2mm

2

0.2mm

2

0.2mm

2

0.2mm

2

0.2mm

2

0.5mm

2

0.5mm

2

A+

A-

B+

B-

R+

R-

SD

SD ＊

RQ

RQ ＊

P5(+5V)

LG

Case grounding

(Note) This cable must be prepared by the user.

149 IB-1501136-B



<Rectangular wave communication encoder (linear scale, etc.) cable connection diagram>


(3M)


Shell kit: 36310-3200-008

(MOLEX)


Machine side rectangular wave communication encoder

0.5mm

2

0.5mm

2

P5(+5V)

LG

ABZS E L*

A

A*

B

B*

Z

Z*

10

3

4

5

1

2

8

9

6

7

Case grounding

PE

0.2mm

2

0.2mm

2

0.2mm

2

B*

Z

Z*

A

A*

B

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.


<Serial communication encoder (linear scale, etc.) cable connection diagram>


(3M)


Shell kit: 36310-3200-008

(MOLEX)


Machine side serial communication encoder

P5(+5V)

LG

RQ

RQ*

SD

SD*

Case grounding

5

6

3

4

7

8

1

2

9

10

PE

0.5mm

2

0.5mm

2

0.2mm

2

0.2mm

2

RQ

RQ*

SD

SD*

SHD

P5(+5V)

LG

(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.


POINT

For compatible encoder, refer to the section "Servo option" in Specifications Manual.

IB-1501136-B 150



Appendix 1.2.5 Spindle Encoder Cable

< CNP2E-1 cable connection diagram >


(3M)


Shell kit: 36310-3200-008

(MOLEX)


P5(+5V)

LG

MT1

MT2

1

2

5

6

0.5mm

0.2mm

2

2


(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".

1

5

(Note)

7

8

2

6

3

4

9

SD

SD*

RQ

RQ*

SHD

P5(+5V)

LG

MT1

MT2

< For 15m or less >


(3M)


Shell kit: 36310-3200-008

(MOLEX)


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


（ 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 >

151 IB-1501136-B



< CNP3EZ-2P, CNP3EZ-3P cable connection diagram >


(3M)


Shell kit: 36310-3200-008

(MOLEX)


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


N

C

K

A

H

R

B

P


(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*


(3M)


Shell kit: 36310-3200-008

(MOLEX)


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


(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 >

IB-1501136-B 152



Appendix 1.2.6 Twin-head Magnetic Encoder Cable

< Twin-head magnetic encoder (MBA Series) connection diagram >


(3M)


Shell kit: 36310-3200-008

(MOLEX)


P5(+5V 䠅

LG

1

2

0.5mm

2


(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


5

2

3

4

7

8

6

11

BAT

MT1

MT2

SD

SD*

RQ

RQ*

SHD


(3M)


Shell kit: 36310-3200-008

(MOLEX)


P5(+5V 䠅

LG

1

2

0.5mm

2


(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).

153 IB-1501136-B



Appendix 1.3 Main Circuit Cable Connection Diagram

The methods for wiring to the main circuit are shown below.

<DRSV1/DRSV2/DRSV3 cable connection diagram>

These cables are used to connect the drive unit's TE1 terminal and HF motor.

• DRSV1 cable:

This is the power line for the multi axis integrated unit (MDS-DM2-SPV2-, MDS-DM2-SPV3-) L-axis.

• DRSV2 cable:

This is the power line for the multi axis integrated unit (MDS-DM2-SPV2-, MDS-DM2-SPV3-) M-axis.

• DRSV3 cable:

This is the power line for the multi axis integrated unit (MDS-DM2-SPV3-) S-axis.

Drive unit side

1: U

2: V

3: W

4:

Motor side

A

B

C

D

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.

IB-1501136-B 154



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]


<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


<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.

155 IB-1501136-B



STO input connector

Drive unit connector for CN8 (STO input)

[Unit:mm]


<Type>

Connector set: 2069250-1

7.3

11

Connector for encoder cable

Spindle drive unit connector for CN2

[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


IB-1501136-B 156



Connector for CN9A/CN9B

[Unit:mm]

12.0


<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

33.3 12.7

[Unit:mm]


<Type>

Connector: 10120-6000EL

Shell kit:10320-3210-000

This connector is integrated with the cable, and is not available as a connector set option.

20.9

29.7


Power connector

Power connector for drive unit CN31L/M/S, for MDS-DM2-SPV Series

[Unit:mm]

23.76

Manufacturer: DDK

<Type>

Connector: DK-5200M-04R

33.36

10.16

157 IB-1501136-B



Control power connector for drive unit CN22, for MDS-DM2-SPV Series

14.16


<Type>

Connector: DK-3200S-02R

5.08

24.62

㧝㧞

Connector for motor brake control output

Brake connector for motor brake control output

19.24


<Type>

Connector: DK-3200S-03R

5.08

㧝㧞㧟

29.70

㧝㧞㧟㧭

Battery power input connector

Battery connector for drive unit

5.0

2.5

Manufacturer: Hirose Electric

<Type>

Connector: DF1B-2S-2.5R

4.4

[Unit:mm]

[Unit:mm]

[Unit:mm]

IB-1501136-B 158



Appendix 1.4.2 Connector for Servo

Motor encoder connector

Motor side encoder connector / Ball screw side encoder for connector


<Type>

Plug:CMV1-SP10S-M2

50

[Unit:mm]

[Unit:mm]


<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/

Brake connector

Brake connector

[Unit:mm]


<Type>

Plug: CMV1-SP2S-2

50

[Unit:mm]


<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.

Contact: Fujikura Ltd. http://www.fujikura.co.jp/eng/

159 IB-1501136-B



Motor power connector

Motor power connector

[Unit:mm]

W

D or less

7.85 or more

A


Plug:

Type

CE05-6A18-10SD-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


W

Plug:

Type

CE05-8A18-10SD-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

㧔 D 㧕

C

A


H

(Movable range of one side)

Ǿ E

(Inner diameter of cable clamp)

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

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

IB-1501136-B 160



MDS-B-HR connector

MDS-B-HR connector


<Type>

Plug:

RM15WTPZ-8S(71) (for CON1,2)

RM15WTPZ-12P(71) (for CON3)

RM15WTPZ-10P(71) (for CON4)

M19×1 M16×0.75

[Unit:mm]

M16×0.75

8.5 20

36.8

[Unit:mm]


<Type>

Clamp: JR13WCCA-10(72)

Appendix 1.4.3 Connector for Spindle

Motor encoder connector

Motor side PLG (TS5690) connector

23.7

± 0.4

9.3


<Type>

Plug: 172169-1

16 ± 0.4

2.8

8.4

14

4.2

[Unit:mm]

161 IB-1501136-B



Spindle side encoder connector (for OSE-1024)

Spindle side encoder connector (for OSE-1024)

Gasket

18.26

± 0.12

1 1 /

4

-18UNEF-2B


<Type>

Connector: MS3106A20-29S(D190)


<Type>

Straight back shell: CE02-20BS-S


<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]


<Type>

Cable clamp:CE3057-12A-3

Ǿ 19

(Cable clamp inside diameter)

4

(Moveable range of one side)

IB-1501136-B 162

Appendix 2

付録

2

Restrictions for Lithium Batteries

163


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


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


CR2032

(for built-in battery)

CR2450


ER6, ER6V series


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.

IB-1501136-B 164



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/

165 IB-1501136-B



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)

IB-1501136-B 166



(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.

167 IB-1501136-B



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"

IB-1501136-B 168



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!

169 IB-1501136-B



IB-1501136-B 170

Appendix 3

付録

3

EC Declaration of Conformity

171


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.

MDS-DM2 Series

IB-1501136-B 172

Appendix 4

付録

4

Instruction Manual for Compliance with UL/c-UL

Standard

173


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-1501136-B 174



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


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

175 IB-1501136-B



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-SPV3F-200120

MDS-DM-SPV2S-10080






MDS-DM-SPV3S-200120


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


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-1501136-B 176



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)


TE1 (L1, L2, L3, )


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



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



Unit Type

MDS-D(*)-CV-

MDS-DH(*)-CV-

Wire Size (AWG)/Temp Rating

Note 1



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.


185

---

#6/75°C

R14-5

YPT-60-21

550

---

#3/0/75°C

80-10

YPT-150-1

177 IB-1501136-B



(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-)


TE3 (L11, L21)


TE1 (L1, L2, L3, )


CNP1 (L1,L2,L3,N,P1,P2) and CNP3 (U,V,W))


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-


Note 1



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(#)-


Note 1, 2, 3



Unit Type

MDS-D(*)-SP(#)-

MDS-DH(*)-SP(#)-

Wire Size (AWG)/Temp Rating Note 1, 2, 3



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-


Note 1, 2, 3



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


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-1501136-B 178



(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-)


TE3 (L11, L21)


TE1 (L1, L2, L3, )


CNP1 (L1,L2,L3,N,P1,P2) and

CNP3 (U,V,W))


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-


Note 1



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(#)-


Note 1, 2, 3

Unit Type

MDS-D(*)-V1(#)-

MDS-DH(*)-V1(#)-

Wire Size (AWG)/Temp Rating Note 1, 2, 3



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-


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










179 IB-1501136-B



(4) Option Unit : Dynamic Brake Unit (MDS-D-DBU)

Type

Terminal Screw

Size

U, V, W,


MDS-D-DBU

M4

10.6/1.2

TE1 (U, V, W, )

Unit Type

Wire Size (AWG) /Temp Rating Note 1



MDS-D-DBU

#10/75°C

R5.5-4

YHT-2210


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


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)


CN31L/M/S (U,V,W)


PE ( )


-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




-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


Note 2


-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-1501136-B 180



CN31L/M/S (U,V,W) and

MDS-DM(*)-SPV2(###)

Unit Type MDS-DM(*)-SPV3(###)

MDS-DM2-SPHV3


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








(7) Power Backup Unit (MDS-D/DH-PFU)

Unit Type

Terminal

Screw

Size

TE1 (L1,L2,L3)


TE2 (L+, L-))


TE3 (OUT-L11,OUT-L21))


MDS-DH-PFU / MDS-D-PFU

---

---

M6

35.4/4.0

M4

10.6/1.2

TE4 (C+,C-))


TE5 (R1,R2))


PE( )


M6

35.4/4.0

M6

35.4/4.0

M4

10.6/1.2

TE1 (L1, L2,L3)

Unit Type


Note 1



TE2 (L+, L-)

Unit Type




TE3 (OUT-L11, OUT-L21)

Unit Type


Note 1




#14/75°C

---

---


#10/75°C

R5.5-6

YHT-2210


#14/75°C

R2-4

YHT-2210

TE4 (C+,C-)

Unit Type


Note 1




#10/75°C

R5.5-6

YHT-2210

181 IB-1501136-B



TE5 (R1,R2)

Unit Type





#10/75°C

R5.5-6

YHT-2210

PE ( )

Unit Type





#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)


PE( )


TE1 (R1,R2)

Unit Type




R-UNIT-6 / R-UNIT-7

M4

10.6/1.2

M4

10.6/1.2


#10/75°C

R5.5-4

YHT-2210

PE ( )

Unit Type





#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-)


TE2 (C+, C-)


PE( )


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





#10/75°C

R5.5-10

YHT-2210

TE2 (C+, C-)

Unit Type





#10/75°C or more

R5.5-6

YHT-2210

IB-1501136-B 182



PE ( )

Unit Type





#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%

183 IB-1501136-B



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


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-1501136-B 184



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


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.





185 IB-1501136-B



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





-

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-1501136-B 186



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

187 IB-1501136-B



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


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


3 phase




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


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


3 phase



Enclosure Side

Machine Side


Encoder

Servo Motor

Encoder

Servo Motor

Thermal Protection

IB-1501136-B 188



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


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


MDS-DJ : IB-1501130

CN8

CN8

CN1A

CN1B


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

189 IB-1501136-B



Appendix 4.3.5 MDS-DM, DM2-SPV Series

External

Emergency Stop

24V stabilized

Power supply


IB-1500891, IB-1501136

From NC


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-1501136-B 190

Revision History

Date of revision

May 2013

Apr. 2017

Manual No.

IB(NA)1501136-A First edition created.

Revision details

IB(NA)1501136-B - The words "detector" were replaced by "encoder".

- "Introduction" was revised.

- "Servo Motor Type", "Drive Unit Type" and "Spindle Motor Type" were revised.

- Specifications lists of servo motor were revised.

- "Multi Axis Drive Unit" and "AC Reactor" were revised.

- "Function Specifications list" was revised.

- "Speed Command Synchronous Control" was revised.

- "Deceleration and Stop Function at Power Failure" and "Retraction Function at Power Failure" were added.

- "Shaft Characteristics", "Oil / Water Standards" and "Installation of Servo

Motor" in "Servo Motor" were revised.

- "Environmental Conditions" in "Drive Unit" was revised.

- "Servo Options" was revised.

- Manufacturer names and the contact information were updated.

- "Battery Option (ER6V-C119B, A6BAT, MDS-BTBOX-36)", "Ball Screw Side

Encoder (OSA105ET2A)" and "Machine Side Encoder" were revised.

- "Twin-head Magnetic Encoder (MBA Series)" was revised.

- "Spindle Options" was revised.

- "Twin-head Magnetic Encoder (MBE Series)" was revised.

- "Machine Side Encoder" was added in "Spindle Options".

- Example of wiring was added in "Serial Output Interface Unit for ABZ Analog

Encoder MDS-B-HR".

- "List of Cables and Connectors" and "Optical Communication Cable

Specifications" were revised.

- "Example of Wires by Unit" and "Selection of Contactor" was revised.

- "Noise Filter" was revised.

- "Selection of the Servo Motor" was revised.

- "Cable and Connector Specifications" was revised.

- "Restrictions for Lithium Batteries" was revised.

- "EMC Installation Guidelines" and "Compliance with Restrictions in China" were deleted.

- "EC Declaration of Conformity" was revised.

- "Instruction Manual for Compliance with UL/c-UL Standard" was added.

- "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