Mitsubishi Electric MDS-D/DH Series Instruction manual

Mitsubishi Electric MDS-D/DH Series is a high-performance numerical control unit designed to provide precise and efficient control of AC servo motors and spindles. With its advanced features and capabilities, this device offers a wide range of applications in various industries, including manufacturing, automation, and robotics.

PDF

Document

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

In this section "Precautions for safety", the following items are generically called the "unit".

• Servo drive unit

• Spindle drive unit

• Power supply unit

• Scale interface unit

• Magnetic pole detection unit

POINT

Important matters that should be understood for operation of this machine are indicated as a POINT in this manual.

WARNING

1. Electric shock prevention

Do not open the front cover while the power is ON or during operation. Failure to observe this could lead to electric shocks.

Do not operate the unit with the front cover removed. The high voltage terminals and charged sections will be exposed, and can cause electric shocks.

Do not remove the front cover and connector even when the power is OFF unless carrying out wiring work or periodic inspections. The inside of the units is charged, and can cause electric shocks.

Since the high voltage is supplied to the main circuit connector while the power is ON or during operation, do not touch the main circuit connector with an adjustment screwdriver or the pen tip. Failure to observe this could lead to electric shocks.

Wait at least 15 minutes after turning the power OFF, confirm that the CHARGE lamp has gone out, and check the voltage between P and N terminals with a tester, etc., before starting wiring, maintenance or inspections. Failure to observe this could lead to electric shocks.

Ground the unit and motor. For the motor, ground it via the drive unit.

Wiring, maintenance and inspection work must be done by a qualified technician.

Wire the servo drive unit and servo motor after installation. Failure to observe this could lead to electric shocks.

Do not touch the switches with wet hands. Failure to observe this could lead to electric shocks.

Do not damage, apply forcible stress, place heavy items on the cables or get them caught. Failure to observe this could lead to electric shocks.

Always insulate the power terminal connection section. Failure to observe this could lead to electric shocks.

After assembling the built-in IPM spindle motor, if the rotor is rotated by hand etc., voltage occurs between the terminals of lead. Take care not to get electric shocks.

WARNING

2. Injury prevention

When handling a motor, perform operations in safe clothing.

In the system where the optical communication with CNC is executed, do not see directly the light generated from CN1A/CN1B connector of drive unit or the end of cable. When the light gets into eye, you may feel something is wrong for eye.

(The light source of optical communication corresponds to class1 defined in JISC6802 or IEC60825-1.)

The linear servo motor, direct-drive motor and built-in IPM spindle motor uses permanent magnets in the rotor, so observe the following precautions.

(1)Handling

• The linear servo motor, direct-drive motor and built-in IPM spindle motor could adversely affect medical electronics such as pacemakers, etc., therefore, do not approach the rotor.

• Do not place magnetic materials as iron.

• When a magnetic material as iron is placed, take safety measure not to pinch fingers or hands due to the magnetic attraction force.

• Remove metal items such as watch, piercing jewelry, necklace, etc.

• Do not place portable items that could malfunction or fail due to the influence of the magnetic force.

• When the rotor is not securely fixed to the machine or device, do not leave it unattended but store it in the package properly.

• When installing the motor to the machine, take it out from the package one by one, and then install it.

• It is highly dangerous to lay out the motor or magnetic plates together on the table or pallet, therefore never do so.

(2)Transportation and storage

• Correctly store the rotor in the package to transport and store.

• During transportation and storage, draw people's attention by applying a notice saying "Strong magnet-Handle with care" to the package or storage shelf.

• Do not use a damaged package.

(3)Installation

• Take special care not to pinch fingers, etc., when installing (and unpacking) the linear servo motor.

CAUTION

1. Fire prevention

Install the units, motors and regenerative resistor on non-combustible material. Direct installation on combustible material or near combustible materials could lead to fires.

Always install a circuit protector and contactor on the servo drive unit power input as explained in this manual. Refer to this manual and select the correct circuit protector and contactor. An incorrect selection could result in fire.

Shut off the power on the unit side if a fault occurs in the units. Fires could be caused if a large current continues to flow.

When using a regenerative resistor, provide a sequence that shuts off the power with the regenerative resistor's error signal. The regenerative resistor could abnormally overheat and cause a fire due to a fault in the regenerative transistor, etc.

The battery unit could heat up, ignite or rupture if submerged in water, or if the poles are incorrectly wired.

Cut off the main circuit power with the contactor when an alarm or emergency stop occurs.

2. Injury prevention

Do not apply a voltage other than that specified in this manual, on each terminal. Failure to observe this item could lead to ruptures or damage, etc.

Do not mistake the terminal connections. Failure to observe this item could lead to ruptures or damage, etc.

Do not mistake the polarity (+,- ). Failure to observe this item could lead to ruptures or damage, etc.

Do not touch the radiation fin on unit back face, regenerative resistor or motor, etc., or place parts

(cables, etc.) while the power is turned ON or immediately after turning the power OFF. These parts may reach high temperatures, and can cause burns or part damage.

Structure the cooling fan on the unit back face, etc., etc so that it cannot be touched after installation.

Touching the cooling fan during operation could lead to injuries.

Take care not to suck hair, clothes, etc. into the cooling fan.

CAUTION

3. Various precautions

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

(1) Transportation and installation

Correctly transport the product according to its weight.

Use the motor's hanging bolts only when transporting the motor. Do not transport the machine when the motor is installed on the machine.

Do not stack the products above the tolerable number.

Follow this manual and install the unit or motor in a place where the weight can be borne.

Do not get on top of or place heavy objects on the unit.

Do not hold the cables, axis or encoder when transporting the motor.

Do not hold the connected wires or cables when transporting the units.

Do not hold the front cover when transporting the unit. The unit could drop.

Always observe the installation directions of the units or motors.

Secure the specified distance between the units and control panel, or between the servo drive unit and other devices.

Do not install or run a unit or motor that is damaged or missing parts.

Do not block the intake or exhaust ports of the motor provided with a cooling fan.

Do not let foreign objects enter the units or motors. In particular, if conductive objects such as screws or metal chips, etc., or combustible materials such as oil enter, rupture or breakage could occur.

Provide adequate protection using a material such as connector for conduit to prevent screws, metallic detritus, water and other conductive matter or oil and other combustible matter from entering the motor through the power line lead-out port.

The units, motors and encoders are precision devices, so do not drop them or apply strong impacts to them.

CAUTION

Store and use the units under the following environment conditions.

Environment

Ambient

temperature

Ambient humidity

Atmosphere

Altitude

Vibration/impact

Unit

Operation: 0 to +55°C

(with no freezing),

Storage / Transportation: -15°C to +70°C

(with no freezing)

Operation: 90%RH or less

(with no dew condensation)

Storage / Transportation: 90%RH or less

(with no dew condensation)

Servo motor

Operation: 0 to +40°C

(with no freezing),

Storage: -15°C to +70°C (Note 2)

(with no freezing)

Operation: 80%RH or less

(with no dew condensation),

Storage: 90%RH or less

(with no dew condensation)

Spindle motor

Operation: 0 to +40°C

(with no freezing),

Storage: -20°C to +65°C

(with no freezing)

Operation: 90%RH or less

(with no dew condensation)

Storage: 90%RH or less

(with no dew condensation)

Indoors (no direct sunlight)

With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles

Operation/Storage:

1000 meters or less above sea level,

Transportation:

13000 meters or less above sea level

Operation/Storage:

1000 meters or less above sea level,

Transportation:

10000 meters or less above sea level

According to each unit or motor specification

(Note 1) For details, confirm each unit or motor specifications in addition.

(Note 2) -15°C to +55°C for linear servo motor.

When disinfectants or insecticides must be used to treat wood packaging materials, always use methods other than fumigation (for example, apply heat treatment at the minimum wood core temperature of 56°C for a minimum duration of 30 minutes (ISPM No. 15 (2009))).

If products such as units are directly fumigated or packed with fumigated wooden materials, halogen substances (including fluorine, chlorine, bromine and iodine) contained in fumes may contribute to the erosion of the capacitors.

When exporting the products, make sure to comply with the laws and regulations of each country.

Do not use the products in conjunction with any components that contain halogenated flame retardants

(bromine, etc). Failure to observe this may cause the erosion of the capacitors.

Securely fix the servo motor to the machine. Insufficient fixing could lead to the servo motor slipping off during operation.

Always install the servo motor with reduction gear in the designated direction. Failure to do so could lead to oil leaks.

Structure the rotary sections of the motor so that it can never be touched during operation. Install a cover, etc., on the shaft.

When installing a coupling to a servo motor shaft end, do not apply an impact by hammering, etc. The encoder could be damaged.

Do not apply a load exceeding the tolerable load onto the servo motor shaft. The shaft could break.

Store the motor in the package box.

When inserting the shaft into the built-in IPM spindle motor, do not heat the rotor higher than 130°C. The magnet could be demagnetized, and the specifications characteristics will not be ensured.

Always use a nonmagnetic tool (explosion-proof beryllium copper alloy safety tool: NGK Insulators, etc.) when installing the built-in IPM spindle motor, direct-drive motor and linear servo motor.

Always provide a mechanical stopper on the end of the linear servo motor's travel path.

If the unit has been stored for a long time, always check the operation before starting actual operation.

Please contact the Service Center, Service Station, Sales Office or delayer.

Install the heavy peripheral devices to the lower part in the panel and securely fix it not to be moved due to vibration.

CAUTION

(2) Wiring

Correctly and securely perform the wiring. Failure to do so could lead to abnormal operation of the motor.

Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of the drive unit.

Correctly connect the output side of the drive unit (terminals U, V, W). Failure to do so could lead to abnormal operation of the motor.

When using a power regenerative power supply unit, always install an AC reactor for each power supply unit.

In the main circuit power supply side of the unit, always install an appropriate circuit protector or contactor for each unit. Circuit protector or contactor cannot be shared by several units.

Always connect the motor to the drive unit's output terminals (U, V, W).

Do not directly connect a commercial power supply to the servo motor. Failure to observe this could result in a fault.

When using an inductive load such as a relay, always connect a diode as a noise measure parallel to the load.

When using a capacitance load such as a lamp, always connect a protective resistor as a noise measure serial to the load.

Do not reverse the direction of a diode which connect to a DC relay for the control output signals such as contractor and motor brake output, etc. to suppress a surge. Connecting it

Servo drive unit

COM

(24VDC) backwards could cause the drive unit to malfunction so that signals are not output, and

Control output signal emergency stop and other safety circuits are inoperable.

Servo drive unit

COM

(24VDC)

Control output signal

Do not connect/disconnect the cables connected between the units while the power is ON.

Securely tighten the cable connector fixing screw or fixing mechanism. An insecure fixing could cause the cable to fall off while the power is ON.

When using a shielded cable instructed in the instruction manual, always ground the cable with a cable clamp, etc. (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 does 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 spindle drive unit, Mitsubishi can offer the after-purchase servicing as with the general spindle 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.

1 Introduction ............................................................................................................................................ 1 - 1

1-1 Servo/spindle drive system configuration ............................................................................................................1 - 2

1-1-1 System configuration ..................................................................................................................................1 - 2

1-2 Explanation of type ..............................................................................................................................................1 - 3

1-2-1 Servo motor type.........................................................................................................................................1 - 3

1-2-2 Servo drive unit type ...................................................................................................................................1 - 5

1-2-3 Spindle motor type ......................................................................................................................................1 - 7

1-2-4 Tool spindle motor type...............................................................................................................................1 - 9

1-2-5 Spindle drive unit type...............................................................................................................................1 - 11

1-2-6 Power supply unit type..............................................................................................................................1 - 12

1-2-7 AC reactor type .........................................................................................................................................1 - 13

2 Specifications......................................................................................................................................... 2 - 1

2-1 Servo motor .........................................................................................................................................................2 - 2

2-1-1 Specifications list ........................................................................................................................................2 - 2

2-1-2 Torque characteristics...............................................................................................................................2 - 12

2-2 Spindle motor.....................................................................................................................................................2 - 19

2-2-1 Specifications............................................................................................................................................2 - 19

2-2-2 Output characteristics ...............................................................................................................................2 - 33

2-3 Tool spindle motor .............................................................................................................................................2 - 41

2-3-1 Specifications............................................................................................................................................2 - 41

2-3-2 Output characteristics ...............................................................................................................................2 - 45

2-4 Drive unit............................................................................................................................................................2 - 47

2-4-1 Installation environment conditions...........................................................................................................2 - 47

2-4-2 Servo drive unit .........................................................................................................................................2 - 48

2-4-3 Spindle drive unit ......................................................................................................................................2 - 50

2-4-4 Power supply unit .....................................................................................................................................2 - 52

2-4-5 Unit outline dimension drawing .................................................................................................................2 - 53

2-4-6 AC reactor.................................................................................................................................................2 - 54

2-4-7 Explanation of each part ...........................................................................................................................2 - 57

3 Function Specifications......................................................................................................................... 3 - 1

Function specifications list ........................................................................................................................................3 - 2

3-1 Base control functions..........................................................................................................................................3 - 5

3-1-1 Full closed loop control ...............................................................................................................................3 - 5

3-1-2 Position command synchronous control .....................................................................................................3 - 6

3-1-3 Speed command synchronous control........................................................................................................3 - 6

3-1-4 Distance-coded reference position control..................................................................................................3 - 7

3-1-5 Spindle's continuous position loop control ..................................................................................................3 - 7

3-1-6 Coil changeover control ..............................................................................................................................3 - 7

3-1-7 Gear changeover control ............................................................................................................................3 - 7

3-1-8 Orientation control.......................................................................................................................................3 - 7

3-1-9 Indexing control...........................................................................................................................................3 - 8

3-1-10 Synchronous tapping control ....................................................................................................................3 - 8

3-1-11 Spindle synchronous control .....................................................................................................................3 - 8

3-1-12 Spindle/C axis control ...............................................................................................................................3 - 8

3-1-13 Proximity switch orientation control...........................................................................................................3 - 8

3-1-14 Power regeneration control.......................................................................................................................3 - 8

3-1-15 Resistor regeneration control....................................................................................................................3 - 8

3-2 Servo/Spindle control functions ...........................................................................................................................3 - 9

3-2-1 Torque limit function....................................................................................................................................3 - 9

3-2-2 Variable speed loop gain control.................................................................................................................3 - 9

3-2-3 Gain changeover for synchronous tapping control .....................................................................................3 - 9

3-2-4 Speed loop PID changeover control .........................................................................................................3 - 10

3-2-5 Disturbance torque observer.....................................................................................................................3 - 10

3-2-6 Smooth High Gain control (SHG control)..................................................................................................3 - 10

3-2-7 High-speed synchronous tapping control (OMR-DD control)....................................................................3 - 10

3-2-8 Dual feedback control ...............................................................................................................................3 - 11

3-2-9 HAS control...............................................................................................................................................3 - 11

3-2-10 Control loop gain changeover .................................................................................................................3 - 11

3-2-11 Spindle output stabilizing control ............................................................................................................3 - 12

3-2-12 High-response spindle acceleration/deceleration function......................................................................3 - 12

3-3 Compensation control function ..........................................................................................................................3 - 13

3-3-1 Jitter compensation...................................................................................................................................3 - 13

3-3-2 Notch filter.................................................................................................................................................3 - 13

3-3-3 Adaptive tracking-type notch filter............................................................................................................. 3 - 13

3-3-4 Overshooting compensation ..................................................................................................................... 3 - 14

3-3-5 Machine end compensation control .......................................................................................................... 3 - 14

3-3-6 Lost motion compensation type 2 ............................................................................................................. 3 - 15

3-3-7 Lost motion compensation type 3 ............................................................................................................. 3 - 15

3-3-8 Lost motion compensation type 4 ............................................................................................................. 3 - 16

3-3-9 Spindle motor temperature compensation function .................................................................................. 3 - 16

3-4 Protection function............................................................................................................................................. 3 - 17

3-4-1 Deceleration control at emergency stop ................................................................................................... 3 - 17

3-4-2 Vertical axis drop prevention/pull-up control............................................................................................. 3 - 17

3-4-3 Earth fault detection.................................................................................................................................. 3 - 17

3-4-4 Collision detection function ....................................................................................................................... 3 - 18

3-4-5 Safety observation function ...................................................................................................................... 3 - 18

3-4-6 Fan stop detection .................................................................................................................................... 3 - 18

3-4-7 Open-phase detection .............................................................................................................................. 3 - 18

3-4-8 Contactor weld detection .......................................................................................................................... 3 - 18

3-5 Sequence functions ........................................................................................................................................... 3 - 19

3-5-1 Contactor control function......................................................................................................................... 3 - 19

3-5-2 Motor brake control function ..................................................................................................................... 3 - 19

3-5-3 External emergency stop function ............................................................................................................ 3 - 19

3-5-4 Specified speed output ............................................................................................................................. 3 - 19

3-5-5 Quick READY ON sequence .................................................................................................................... 3 - 19

3-6 Diagnosis function ............................................................................................................................................. 3 - 20

3-6-1 Monitor output function ............................................................................................................................. 3 - 20

3-6-2 Machine resonance frequency display function........................................................................................ 3 - 27

3-6-3 Machine inertia display function................................................................................................................ 3 - 27

3-6-4 Motor temperature display function .......................................................................................................... 3 - 27

3-6-5 Load monitor output function .................................................................................................................... 3 - 27

3-6-6 Open loop control function........................................................................................................................ 3 - 27

3-6-7 Power supply voltage display function...................................................................................................... 3 - 27

4 Characteristics ....................................................................................................................................... 4 - 1

4-1 Servo motor ......................................................................................................................................................... 4 - 2

4-1-1 Environmental conditions ........................................................................................................................... 4 - 2

4-1-2 Quakeproof level......................................................................................................................................... 4 - 2

4-1-3 Shaft characteristics ................................................................................................................................... 4 - 3

4-1-4 Machine accuracy....................................................................................................................................... 4 - 4

4-1-5 Oil / water standards................................................................................................................................... 4 - 5

4-1-6 Installation of servo motor........................................................................................................................... 4 - 6

4-1-7 Overload protection characteristics ............................................................................................................ 4 - 6

4-1-8 Magnetic brake ......................................................................................................................................... 4 - 14

4-1-9 Dynamic brake characteristics ................................................................................................................. 4 - 19

4-2 Spindle motor .................................................................................................................................................... 4 - 22

4-2-1 Environmental conditions ......................................................................................................................... 4 - 22

4-2-2 Shaft characteristics ................................................................................................................................. 4 - 22

4-2-3 Machine accuracy..................................................................................................................................... 4 - 23

4-2-4 Installation of spindle motor ...................................................................................................................... 4 - 23

4-3 Tool spindle motor ............................................................................................................................................. 4 - 24

4-3-1 Environmental conditions ......................................................................................................................... 4 - 24

4-3-2 Shaft characteristics ................................................................................................................................. 4 - 24

4-3-3 Tool spindle temperature characteristics .................................................................................................. 4 - 25

4-4 Drive unit ........................................................................................................................................................... 4 - 26

4-4-1 Environmental conditions ......................................................................................................................... 4 - 26

4-4-2 Heating value............................................................................................................................................ 4 - 27

4-4-3 Drive unit arrangement ............................................................................................................................. 4 - 28

5 Dedicated Options ................................................................................................................................. 5 - 1

5-1 Servo options....................................................................................................................................................... 5 - 2

5-1-1 Dynamic brake unit (MDS-D-DBU) ............................................................................................................. 5 - 7

5-1-2 Battery option (ER6V-C119B, A6BAT, MDS-A-BT, MDS-BTBOX-36) ....................................................... 5 - 9

5-1-3 Ball screw side encoder (OSA105ET2A, OSA166ET2NA)....................................................................... 5 - 21

5-1-4 Machine side encoder............................................................................................................................... 5 - 23

5-2 Spindle options .................................................................................................................................................. 5 - 27

5-2-1 Spindle side ABZ pulse output encoder (OSE-1024 Series) .................................................................... 5 - 28

5-2-2 Spindle side PLG serial output encoder (TS5690, MU1606 Series)......................................................... 5 - 30

5-2-3 Spindle side accuracy serial output encoder (ERM280, MPCI Series)..................................................... 5 - 34

5-2-4 Machine side encoder............................................................................................................................... 5 - 34

5-3 Encoder interface unit........................................................................................................................................ 5 - 35

5-3-1 Serial output interface unit for ABZ analog encoder MDS-B-HR ..............................................................5 - 35

5-3-2 Serial signal division unit MDS-B-SD........................................................................................................5 - 38

5-3-3 Pulse output interface unit for ABZ analog encoder IBV Series (Other manufacturer's product) .............5 - 40

5-3-4 Serial output interface unit for ABZ analog encoder EIB192M (Other manufacturer's product) ...............5 - 41

5-3-5 Serial output interface unit for ABZ analog encoder EIB392M (Other manufacturer's product) ...............5 - 42

5-3-6 Serial output interface unit for ABZ analog encoder ADB-20J Series (Other manufacturer's product).....5 - 43

5-4 Drive unit option .................................................................................................................................................5 - 44

5-4-1 Optical communication repeater unit (FCU7-EX022)................................................................................5 - 44

5-4-2 DC connection bar ....................................................................................................................................5 - 47

5-4-3 Side protection cover ................................................................................................................................5 - 48

5-5 Cables and connectors ......................................................................................................................................5 - 50

5-5-1 Cable connection diagram ........................................................................................................................5 - 50

5-5-2 List of cables and connectors ...................................................................................................................5 - 51

5-5-3 Optical communication cable specifications .............................................................................................5 - 60

6 Specifications of Peripheral Devices ................................................................................................... 6 - 1

6-1 Selection of wire...................................................................................................................................................6 - 2

6-1-1 Example of wires by unit .............................................................................................................................6 - 2

6-2 Selection of circuit protector and contactor..........................................................................................................6 - 8

6-2-1 Selection of circuit protector........................................................................................................................6 - 8

6-2-2 Selection of contactor .................................................................................................................................6 - 9

6-3 Selection of earth leakage breaker ....................................................................................................................6 - 10

6-4 Branch-circuit protection (for control power supply)...........................................................................................6 - 11

6-4-1 Circuit protector.........................................................................................................................................6 - 11

6-4-2 Fuse protection .........................................................................................................................................6 - 11

6-5 Noise filter ..........................................................................................................................................................6 - 12

6-6 Surge absorber ..................................................................................................................................................6 - 13

6-7 Relay..................................................................................................................................................................6 - 14

7 Selection ................................................................................................................................................. 7 - 1

7-1 Selection of the servo motor ................................................................................................................................7 - 2

7-1-1 Outline.........................................................................................................................................................7 - 2

7-1-2 Selection of servo motor capacity ...............................................................................................................7 - 3

7-1-3 Motor shaft conversion load torque...........................................................................................................7 - 11

7-1-4 Expressions for load inertia calculation.....................................................................................................7 - 12

7-2 Selection of the spindle motor............................................................................................................................7 - 13

7-3 Selection of the power supply unit .....................................................................................................................7 - 14

7-3-1 Calculation of spindle output.....................................................................................................................7 - 14

7-3-2 Calculation of servo motor output .............................................................................................................7 - 16

7-3-3 Selection of the power supply unit ............................................................................................................7 - 17

7-3-4 Required capacity of power supply ...........................................................................................................7 - 19

7-3-5 Example for power supply unit and power supply facility capacity............................................................7 - 20

Appendix 1 Cable and Connector Specifications .................................................................Appendix 1 - 1

Appendix 1-1 Selection of cable.................................................................................................................Appendix 1 - 2

Appendix 1-1-1 Cable wire and assembly ............................................................................................Appendix 1 - 2

Appendix 1-2 Cable connection diagram ...................................................................................................Appendix 1 - 5

Appendix 1-2-1 Battery cable ...............................................................................................................Appendix 1 - 5

Appendix 1-2-2 Power supply communication cable and connector ....................................................Appendix 1 - 6

Appendix 1-2-3 Optical communication repeater unit cable.................................................................Appendix 1 - 7

Appendix 1-2-4 Servo / tool spindle encoder cable..............................................................................Appendix 1 - 8

Appendix 1-2-5 Brake connector (Brake connector for motor brake control output) ..........................Appendix 1 - 13

Appendix 1-2-6 Spindle encoder cable ..............................................................................................Appendix 1 - 14

Appendix 1-3 Main circuit cable connection diagram...............................................................................Appendix 1 - 16

Appendix 1-4 Connector outline dimension drawings ..............................................................................Appendix 1 - 17

Appendix 1-4-1 Connector for drive unit.............................................................................................Appendix 1 - 17

Appendix 1-4-2 Connector for servo and tool spindle ........................................................................Appendix 1 - 21

Appendix 1-4-3 Connector for spindle................................................................................................Appendix 1 - 24

Appendix 2 Restrictions for Lithium Batteries......................................................................Appendix 2 - 1

Appendix 2-1 Restriction for Packing .........................................................................................................Appendix 2 - 2

Appendix 2-1-1 Target Products ..........................................................................................................Appendix 2 - 2

Appendix 2-1-2 Handling by User ........................................................................................................Appendix 2 - 3

Appendix 2-1-3 Reference ...................................................................................................................Appendix 2 - 3

Appendix 2-2 Products Information Data Sheet (ER Battery) ....................................................................Appendix 2 - 4

Appendix 2-3 Forbiddance of Transporting Lithium Battery by Passenger Aircraft Provided in

the Code of Federal Regulation ...........................................................................................Appendix 2 - 6

Appendix 2-4 California Code of Regulation "Best Management Practices for Perchlorate Materials" .....Appendix 2 - 6

Appendix 2-5 Restriction Related to EU Battery Directive .........................................................................Appendix 2 - 7

Appendix 2-5-1 Important Notes .......................................................................................................... Appendix 2 - 7

Appendix 2-5-2 Information for End-user ............................................................................................. Appendix 2 - 7

Appendix 3 EC Declaration of Conformity.............................................................................Appendix 3 - 1

Appendix 3-1 Compliance to EC Directives............................................................................................... Appendix 3 - 2

Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard ............................Appendix 4 - 1

Appendix 4-1 Operation Surrounding Air Ambient Temperature ............................................................... Appendix 4 - 2

Appendix 4-2 Notes for AC Servo/Spindle System.................................................................................... Appendix 4 - 2

Appendix 4-2-1 Warning ...................................................................................................................... Appendix 4 - 2

Appendix 4-2-2 Installation................................................................................................................... Appendix 4 - 2

Appendix 4-2-3 Short-circuit Ratings (SCCR)...................................................................................... Appendix 4 - 2

Appendix 4-2-4 Over-temperature Protection for Motor....................................................................... Appendix 4 - 2

Appendix 4-2-5 Peripheral Devices...................................................................................................... Appendix 4 - 3

Appendix 4-2-6 Field Wiring Reference Table for Input and Output (Power Wiring) ........................... Appendix 4 - 5

Appendix 4-2-7 Motor Over Load Protection ..................................................................................... Appendix 4 - 11

Appendix 4-2-8 Flange of Servo Motor .............................................................................................. Appendix 4 - 12

Appendix 4-2-9 Spindle Drive/Motor Combinations ........................................................................... Appendix 4 - 12

Appendix 4-2-10 Servo Drive/Motor Combinations............................................................................ Appendix 4 - 14

Appendix 4-3 AC Servo/Spindle System Connection .............................................................................. Appendix 4 - 15

Appendix 4-3-1 MDS-D, D2/DH, DH2/DM, DM2-Vx/SP Series ......................................................... Appendix 4 - 15

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 .............................................................................................. Appendix 4 - 16

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 .............................................................................................. Appendix 4 - 16

Appendix 4-3-4 MDS-D-SVJ3/SPJ3/MDS-DJ Series......................................................................... Appendix 4 - 17

Appendix 4-3-5 MDS-DM, DM2-SPV Series...................................................................................... Appendix 4 - 18

Outline for MDS-D/DH Series

Instruction Manual (IB-1500025-H)

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 servomotor

1-1-10 Cable stress

1-2 Installation of spindle motor

1-2-1 Environmental conditions

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 tool spindle motor

1-3-1 Environmental conditions

1-3-2 Shaft characteristics

1-4 Installation of the drive unit

1-4-1 Environmental conditions

1-4-2 Installation direction and clearance

1-4-3 Prevention of entering of foreign matter

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

1-4-5 Heating value

1-4-6 Heat radiation countermeasures

1-5 Installation of the spindle detector

1-5-1 Spindle side ABZ pulse output detector (OSE-

1024 Series)

1-5-2 Spindle side PLG serial output detector (TS5690,

MU1606 Series)

1-5-3 Installation accuracy diagnosis for PLG detector

1-6 Noise measures

2 Wiring and Connection

2-1 Part system connection diagram

2-2 Main circuit terminal block/control circuit connector

2-2-1 Names and applications of main circuit terminal block signals and control circuit connectors

2-2-2 Connector pin assignment

2-3 NC and drive unit connection

2-4 Connecting with optical communication repeater unit

2-5 Motor and 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 speed command synchronization control system

2-5-4 Connection of the spindle motor

2-5-5 Connection of tool spindle motor

2-6 Connection of power supply

2-6-1 Power supply input connection

2-6-2 Connecting the grounding cable

2-7 Wiring of the motor brake

2-7-1 Wiring of the motor magnetic brake

2-7-2 Dynamic brake unit wiring

2-8 Peripheral control wiring

2-8-1 Input/output circuit wiring

2-8-2 Wiring of an external emergency stop

2-8-3 Safety observation function

2-8-4 Specified speed output

2-8-5 Spindle coil changeover

2-8-6 Specifications of proximity switch

3 Setup

3-1 Initial setup

3-1-1 Setting the rotary switch

3-1-2 Setting DIP switch

3-1-3 Transition of LED display after power is turned

3-2 Setting the initial parameters for the servo drive unit

3-2-1 Setting of servo specification parameters

3-2-2 Setting of machine side detector

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

3-2-4 Setting of speed command synchronous control

3-2-5 List of standard parameters for each servomotor

3-2-6 Servo parameters

3-3 Setting the initial parameters for the spindle drive unit

3-3-1 Setting of parameters related to the spindle

3-3-2 List of standard parameters for each spindle motor

3-3-3 Spindle specification parameters

3-3-4 Spindle parameters

4 Servo Adjustment

4-1 D/A output specifications for servo drive unit

4-1-1 D/A output specifications

4-1-2 Output data settings

4-1-3 Setting the output magnification

4-2 Servo adjustment procedure

4-3 Gain adjustment

4-3-1 Current loop gain

4-3-2 Speed loop gain

4-3-3 Position loop gain

4-4 Characteristics improvement

4-4-1 Optimal adjustment of cycle time

4-4-2 Vibration suppression measures

4-4-3 Improving the cutting surface precision

4-4-4 Improvement of characteristics during acceleration/deceleration

4-4-5 Improvement of protrusion at quadrant changeover

4-4-6 Improvement of overshooting

4-4-7 Improvement of the interpolation control path

4-5 Adjustment during full closed loop control

4-5-1 Outline

4-5-2 Speed loop delay compensation

4-5-3 Dual feedback control

4-6 Settings for emergency stop

4-6-1 Deceleration control

4-6-2 Vertical axis drop prevention control

4-6-3 Vertical axis pull-up control

4-7 Protective functions

4-7-1 Overload detection

4-7-2 Excessive error detection

4-7-3 Collision detection function

4-8 Servo control signal

4-8-1 Servo control input (NC to Servo)

4-8-2 Servo control output (Servo to NC)

5 Spindle Adjustment

5-1 D/A output specifications for spindle drive unit

5-1-1 D/A output specifications

5-1-2 Setting the output data

5-1-3 Setting the output magnification

5-2 Adjustment procedures for each control

5-2-1 Basic adjustments

5-2-2 Gain adjustment

5-2-3 Adjusting the acceleration/deceleration operation

5-2-4 Orientation adjustment

5-2-5 Synchronous tapping adjustment

5-2-6 High-speed synchronous tapping

5-2-7 Spindle C axis adjustment (For lathe system)

5-2-8 Spindle synchronization adjustment (For lathe system)

5-2-9 Deceleration coil changeover valid function by emergency stop

5-2-10 High-response acceleration/deceleration function

5-2-11 Spindle cutting withstand level improvement

5-3 Settings for emergency stop

5-3-1 Deceleration control

5-4 Spindle control signal

5-4-1 Spindle control input (NC to Spindle)

5-4-2 Spindle control output (Spindle to NC)

6 Troubleshooting

6-1 Points of caution and confirmation

6-1-1 LED display when alarm or warning occurs

6-2 Protective functions list of units

6-2-1 List of alarms

6-2-2 List of warnings

6-3 Troubleshooting

6-3-1 Troubleshooting at power ON

6-3-2 Troubleshooting for each alarm No.

6-3-3 Troubleshooting for each warning No.

6-3-4 Parameter numbers during initial parameter error

6-3-5 Troubleshooting the spindle system when there is no alarm or warning

7 Maintenance

7-1 Periodic inspections

7-1-1 Inspections

7-1-2 Cleaning of spindle motor

7-2 Service parts

7-3 Adding and replacing units and parts

7-3-1 Replacing the drive unit

7-3-2 Replacing the unit fan

7-3-3 Replacing the battery

7-3-4 Replacing the fuse

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 Power supply communication cable and connector

Appendix 1-2-3 Optical communication repeater unit cable

Appendix 1-2-4 Servo / tool spindle detector cable

Appendix 1-2-5 Brake connector (Brake connector for motor brake control output)

Appendix 1-2-6 Spindle 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 and tool spindle

Appendix 1-4-3 Connector for spindle

Appendix 2 Cable and Connector Assembly

Appendix 2-1 CM10-SPxxS-x(D6) plug connector

Appendix 2-2 CM10-APxxS-x(D6) angle plug connector

Appendix 2-3 CM10-SP-CV reinforcing cover for straight plug

Appendix 2-4 CM10-AP-D-CV reinforcing cover for angle plug

Appendix 2-5 1747464-1 plug connector

Appendix 2-5-1 Applicable products

Appendix 2-5-2 Applicable cable

Appendix 2-5-3 Related documents

Appendix 2-5-4 Assembly procedure

Appendix 3 Precautions in Installing Spindle Motor

Appendix 3-1 Precautions in transporting motor

Appendix 3-2 Precautions in selecting motor fittings

Appendix 3-3 Precautions in mounting fittings

Appendix 3-4 Precautions in coupling shafts

Appendix 3-5 Precautions in installing motor in machine

Appendix 3-6 Other Precautions

Appendix 3-7 Example of unbalance correction

Appendix 3-8 Precautions in balancing of motor with key

Appendix 4 Compliance to EC Directives

Appendix 4-1 Compliance to EC Directives

Appendix 4-1-1 European EC Directives

Appendix 4-1-2 Cautions for EC Directive compliance

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 Compliance to EC Directives

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

Introduction

1 - 1

MITSUBISHI CNC

1 Introduction

1-1 Servo/spindle drive system configuration

1-1-1 System configuration

From NC servo drive unit

(MDS-D/DH-V1)

CN2

CN3

L+

L-

1-axis 2-axis servo drive unit

(MDS-D/DH-V2)

2SWLFDO

FRPPXQLFDWLRQ

FDEOH

CN20

CN2L

CN3L

Brake connector

CN2M

CN3M

Spindle drive unit

(MDS-D/DH-SP)

Battery cable

Power supply unit

(MDS-D/DH-CV)

Built in cell battery for servo drive unit or option battery

< Built in cell battery >

2SWLFDO

FRPPXQLFDWLRQ

FDEOH

CN2

CN4

MDS-D Series:

3-phase 200VAC power supply

MDS-DH Series:

3-phase 400VAC power supply

Cell battery built in drive unit

(ER6V-C119B)

Circuit protector

(Note) Prepared

by user.

CN3

Power supply communication cable

Battery unit

(MDS-A-BT)

Battery case

(MDS-BTCASE+A6BAT)

Battery unit

(MDS-BTBOX-36)

AC reactor

(D/DH-AL)

Circuit protector or protection fuse

(Note) Prepared by user.

Contactor

(Note) Prepared

by user.

Power connector

To 2nd axis servo

To 3rd axis servo

To brake control

Power connector

Power supply communication connector

<Connector for contactor control output /

external emergency stop>

Power cable (Only connector is supplied.)

Spindle encoder cable

< Motor side PLG cable >

Spindle encoder cable

< Spindle side encoder cable >

Power cable (Only connector is supplied.)

Brake cable (Only connector is supplied.)

Servo encoder cable

< Motor side encoder cable >

Spindle side encoder

Brake connector

Power connector

Servo motor

Spindle motor

Servo encoder cable

<MDS-B-HR unit cable >

Encoder conversion unit

(MDS-B-HR)

Servo encoder cable

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

Servo encoder cable

< Ball screw side encoder cable >

Servo encoder cable

(Note) Prepared by user.

Ball screw side encoder

ABZ SIN wave signal output

< Linear scale cable for MDS-B-HR >

Mitsubishi serial signal output

Linear scale

(for full closed control)

(Note) Prepared by user.

1 - 2

MDS-D/DH Series Specifications Manual

1-2 Explanation of type

1-2 Explanation of type

1-2-1 Servo motor type

Motor type

Rated rotation speed

Serial No.

Rated output

Motor rating nameplate

Date of manufacture

•109:September, 2010

•13Y:November, 2013

(X:October,Y:November,Z:December)

(1) 200V series

< HF Series >

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

(1) Rated output · Maximum rotation speed

Maximum

Symbol Rated output

Flange size rotation speed (mm)

75 0.75 kW 5000 r/min 90 SQ.

105

104

154

224

204

354

1.0 kW

0.5 kW

1.0 kW

1.5 kW

2.2 kW

2.0 kW

3.5 kW

5000 r/min

4000 r/min

90 SQ.

130 SQ.

176 SQ.

123

223

303

453

703

903

142

302

1.2 kW

2.2 kW

3.0 kW

4.5 kW

7.0 kW

9.0 kW

1.4 kW

3.0 kW

3000 r/min

3500 r/min

3000 r/min

2000 r/min

130 SQ.

176 SQ.

204 SQ.

130 SQ.

176 SQ.

(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

None

Magnetic brake

None

With magnetic brakes

(4) Encoder

Symbol Type

A48 OSA18-100

A51 OSA105S5A

A74N OSA166S5NA

Detection method

Resolution

Absolute

position

260,000 p/rev

1,000,000 p/rev

16,000,000 p/rev

< HP Series >

HP (1) (2) (3) (4)

(1) Rated output · Maximum rotation speed

Symbol Rated output

Maximum rotation speed

Flange size

(mm)

104

154

0.5 kW

1.0 kW

1.5 kW

4000 r/min 130 SQ.

224

204

354

454

704

903

1103

2.2 kW

2.0 kW

3.5 kW

4.5 kW

7.0 kW

9.0 kW

11.0 kW

4000 r/min

3000 r/min

130 SQ.

180 SQ.

220 SQ.

< HF-KP Series >

HF-KP (1) (2) JW04-S6

(3) Shaft end structure

Symbol Shaft end structure

Straight

Taper

(Note) "Taper" is available

for the motor w hose flange

size is 130 SQ. mm.

(2) Magnetic brake

Symbol

None

Magnetic brake

None

With magnetic brake

(4) Encoder

Symbol Type

A48

A51

OSA18-100

OSA105S5A

A74N OSA166S5NA

Detection method

Resolution

Absolute position

260,000 p/rev

1,000,000 p/rev

16,000,000 p/rev

(1) Rated output · Maximum rotation speed

Symbol Rated output

0.2 kW

0.4 kW

0.75 kW

Maximum rotation speed

6000 r/min

Flange size

(mm)

60 SQ.

80 SQ.

(2) Magnetic brake

Symbol

None

Magnetic brake

None

With magnetic brake

1 - 3

MITSUBISHI CNC

1 Introduction

(2) 400V series

< HF-H Series >

HF-H (1) (2) (3) (4)

(1) Rated output · Maximum rotation speed

Symbol

105

104

Rated output

0.75kW

1.0kW

0.5kW

1.0kW

Maximum rotation speed

5000r/min

4000r/min

Flange size

(mm)

90 SQ.

130 SQ.

154

204

354

453

703

903

1.5kW

2.0kW

3.5kW

4.5kW

7.0kW

9.0kW

4000r/min

3500r/min

3000r/min

130 SQ.

176 SQ.

204 SQ.

< HP-H Series >

HP-H (1) (2) (3) (4)

(3) Shaft end structure

Symbol Shaft end structure

Straight

Taper

(Note) "Taper" is available

for the motor w hose flange

size is 90 SQ. mm or 130 SQ. mm.

(2) Magnetic brakes

Symbol Magnetic brakes

None

With magnetic brakes

(4) Encoder

Symbol Type

A48

A51

OSA18-100

OSA105S5A

A74N OSA166S5NA

Detection method

Absolute position

Resolution

260,000 p/rev

1,000,000 p/rev

16,000,000 p/rev

(1) Rated output · Maximum rotation speed

Symbol Rated output

Maximum rotation speed

Flange size

(mm)

104

0.5kW

1.0kW

4000r/min

130 SQ.

154

224

204

354

454

704

1.5kW

2.2kW

2.0kW

3.5kW

4.5kW

7.0kW

4000r/min

130 SQ.

180 SQ.

903

1103

9.0kW

11.0kW

3000r/min

220 SQ.

< HC-H Series >

HC-H (1) S-S10(2)

(3) Shaft end structure

Symbol Shaft end structure

Straight

Taper

(Note) "Taper" is available

for the motor w hose flange

size is 130 SQ.mm.

(2) Magnetic brakes

Symbol Magnetic brakes

None

With magnetic brakes

(4) Encoder

Symbol Type

A48

A51

OSA18-100

OSA105S5A

A74N OSA166S5NA

Detection method

Absolute position

Resolution

260,000 p/rev

1,000,000 p/rev

16,000,000 p/rev

(1) Rated output · Maximum rotation speed

Symbol

1502

Rated output

15.0kW

Maximum rotation speed

2500r/min

Flange size

(mm)

280 SQ.

Compatible w ith DH Series (2) Encoder

Symbol

A48

A51

A74N

Type

OSA18-100

OSA105S5A

OSA166S5NA

Detection method

Absolute position

Resolution

260,000 p/rev

1,000,000 p/rev

16,000,000 p/rev

1 - 4

MDS-D/DH Series Specifications Manual

1-2 Explanation of type

1-2-2 Servo drive unit type

Output

Applicable standard

Software No.

Serial No.

MODEL

SERVO DRIVE UNIT

MDS-D-V1-160W

32:(5N:

,1387$'&9

$3+9+]

287387$3+9+]

(10$18$/,%

DATE

|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||

䠩䠥䠰䠯䠱䠞䠥䠯䠤䠥䚷䠡䠨䠡䠟䠰䠮䠥䠟䚷䠟䠫䠮䠬䠫䠮䠝䠰䠥䠫䠪

TOKYO 100-8310, JAPAN MADE IN JAPAN

Rating nameplate

(1) 200V series

< MDS-D Series >

(a) 1-axis servo drive unit

Type

Input/output conditions

Manual No.

Date of manufacture

(Year-Month)

MDS-D(1)

(1) Unit Type

MDS-D

V1-20

Compatible motor type

Unit width

Stall torque

Unit nominal (N ･ m) maximum current

20A

V1-40

V1-80

V1-160

V1-160W

V1-320

60mm

90mm

120mm

40A

80A

160A

320A

2.0

●

V1-320W 150mm 320A

105

3.0

●

2.9

●

104 154 224 204

HF □

354 123 223 303 453 703 903 142 302

5.9

●

9.0

●

● Indicates the compatible motor for each servo drive unit.

● ●

●

12.0

13.7

22.5

7.0

12.0

22.5

37.2

49.0

58.8

11.0

20.0

3.0

●

104 154

5.9

9.0

224 204

HP □

354 454 704 903 1103

12.0

13.7

22.5

31.9

49.0

70.0

110.0

HF-KP □

43 73

0.64

1.3

2.4

●

● ● ●

● ●

●

● ● ●

(b) 2-axis servo drive unit

MDS-D(1)

(1) Unit Type

MDS-D

Unit width

Unit nominal maximum current

20+20A

Axis

Compatible motor type

Stall torque

(N ･ m)

2.0

105

3.0

2.9

V2-2020

V2-4020

V2-4040

V2-8040

V2-8080

V2-16080

V2-160160

V2-160160W

60mm

40+20A

40+40A

80+40A

80+80A

160+80A

90mm

160+160A

120mm 160+160A

●

● Indicates the compatible motor for each servo drive unit.

104 154 224 204

HF □

354 123 223 303 453 703 903 142 302 54 104 154 224

HP □

204 354 454 704 903 1103 23

HF-KP □

43 73

5.9

9.0

12.0

13.7

22.5

7.0

12.0

22.5

37.2

49.0

58.8

11.0

20.0

3.0

5.9

9.0

12.0

13.7

22.5

31.9

49.0

70.0

110.0

0.64

1.3

2.4

●

● ●

●

● ●

●

CAUTION The dynamic brake unit (MDS-D-DBU) is required for the MDS-D-V1-320W.

1 - 5

MITSUBISHI CNC

1 Introduction

(2) 400V series

< MDS-DH Series >

(a) 1-axis servo drive unit

MDS-DH(1)

(1) Unit type

MDS-DH

Compatible motor type

V1-10

V1-20

V1-40

V1-80

V1-80W

V1-160

V1-160W

V1-200

Unit width

60mm

90mm

120mm

150mm

240mm

(Note)

Unit nominal maximum current

10A

20A

40A

80A

160A

200A

Stall torque

● Indicates the compatible motor for each servo drive unit.

･ m)

2.0

●

105

3.0

●

2.9

●

104

5.9

●

HF-H

154

9.0

●

□

204

13.7

●

354

22.5

●

453

37.2

●

703

49.0

●

903

58.8

●

3.0

●

(Note) DC connection bar is required. Always install a large capacity drive unit in the left side of power supply unit, and connect with DC connection bar.

104

5.9

●

154

9.0

●

224

12.0

●

HP-H □

204

●

354 454 704

13.7

22.5

●

31.9

49.0

70.0

110.0

●

903

●

1103

●

HC-H □

1502S-S10

146.0

●

(b) 2-axis servo drive unit

MDS-DH(1)

(1) Unit type

MDS-DH

Compatible motor type

Stall torque

Unit width

Unit

nominal maximum current

10+10A

Axis

(N ･ m)

V2-1010

V2-2010

V2-2020

V2-4020

V2-4040

60mm

20+10A

20+20A

40+20A

40+40A

V2-8040 80+40A

90mm

V2-8080 80+80A

V2-8080W 120 ｍｍ 80+80A

● Indicates the compatible motor for each servo drive unit.

2.0

●

105 54

HF-H □

104 154 204 354 453 703 903 54 104

HP-H □

154 224 204 354 454 704 903 1103

3.0

●

2.9

●

5.9

●

9.0

●

13.7

22.5

37.2

49.0

58.8

3.0

●

● ●

●

5.9

●

9.0

12.0

13.7

22.5

31.9

●

49.0

70.0

110.0

●

CAUTION

The dynamic brake unit (MDS-D-DBU) is required for the MDS-DH-V1-160W and MDS-DH-V1-

200.

1 - 6

MDS-D/DH Series Specifications Manual

1-2 Explanation of type

1-2-3 Spindle motor type

Motor type

Continuous rated output

Short time rated output

Frame No.

Serial No.

Date of manufacture

(Year-Month)

Rating nameplate

(1) 200V series

< SJ-D Series >

SJ-D (1) (2)

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

(1) Motor series

Symbol Motor Series

None

Standard

Compact & lightweight 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

3.7

5.5

3.7kW

5.5kW

7.5

7.5kW

11kW

15kW

(6) Option (Note)

Symbol Option

None Standard (flange type, without oil seal, without key, coil changeover unavailable, air-cooling, solid shaft)

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

Type

Type 1

Type 2

(Note) This explains the model name system of spindle motors, but does not mean all the combinations are available.

< SJ-V/VL Series >

SJ(1) (2) (3) (4) (5) (6) T

(1) Motor series

Sy mbol

Motor series

Medium-inertia series

Low -inertia series

(3) Shaft configuration

Sy mbol

None

Sy mbol

None

Axis conf iguration

Standard

Hollow shaft

(2) Coil changeover

Coil changeov er

Unavailable

Available

(4) Short time rated output

(For normal specification)

Sy mbol

0.75

1.5

2.2

3.7

5.5

7.5

18.5

Short time rated output

0.75 kW

1.5 kW

2.2 kW

3.7 kW

5.5 kW

7.5 kW

11 kW

15 kW

18.5 kW

22 kW

26 kW

30 kW

37 kW

45 kW

55 kW

(Note) This explains the model name system of spindle motors, but does not mean all the combinations are available.

For MDS-D2/DM2 motor

(6) Special specification

Sy mbol

None

Special specif ication

Standard

High-speed bearing

High-speed bearing front-lock

(5) Specification code

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

code (01 to 99).

1 - 7

MITSUBISHI CNC

1 Introduction

(2) 400V series

< SJ-V Series >

SJ- 4 -

(1) (2) (3) (4) (5) (6) T

(1) Motor series

Symbol

Motor series

Medium-inertia series

(3) Shaft configuration

Symbol Axis configuration

None

Symbol

None

Standard

Hollow shaft

(2) Coil changeover

Coil changeover

Unavailable

(4) Short time rated output

(For normal specification)

Symbol Short time rated output

2.2

2.2kW

3.7

5.5

7.5

18.5

3.7kW

5.5kW

7.5kW

11kW

15kW

18.5kW

22kW

26kW

37kW

45kW

55kW

(6) Special specification

Symbol

None

Special specification

Standard

High-speed bearing

(5) Specification code

The SJ-4-V Series is indicated with

a specification code (01 to 99).

(Note) This explains the model name system of spindle motors, but does not mean all the combinations are available.

1 - 8

MDS-D/DH Series Specifications Manual

1-2 Explanation of type

1-2-4 Tool spindle motor type

Motor type

Rated rotation speed

Serial No.

Motor rating nameplate

Rating nameplate

Rated output

Date of manufacture

•109:September, 2010

•13Y:November, 2013

(X:October,Y:November,Z:December)

(1) 200V series

< HF-KP Series >

HF-KP (1) J (2) W09

Symbol Rated output

0.4 kW

0.5 kW

0.9 kW

Maximum rotation speed

6000 r/min

Flange size (mm)

60 SQ.

80 SQ.

< HF-SP Series >

HF-SP (1) J (2) W09

Symbol

None

Option

Without keyw ay

With keyw ay (w ith key)

(1) Rated output and maximum rotation speed

Maximum

Symbol Rated output

226 2.2kW

rotation speed

6000 r/min

Flange size (mm)

130 SQ.

406 4.0kW

6000 r/min 130 SQ.

< HF Series >

HF (1) (2) (3)

(2) Option

Symbol

None

Option

Without keyw ay

With keyw ay (w ithout key)

(1) Rated output · Maximum rotation speed

Symbol

105

104

154

224

204

354

453

703

903

Rated output

0.75 kW

1.0 kW

0.5 kW

1.0 kW

1.5 kW

2.2 kW

2.0 kW

3.5 kW

4.5 kW

7.0 kW

9.0 kW

Maximum rotation speed

4000 r/min

3000 r/min

Flange size ( mm)

90 SQ.

130 SQ.

176 SQ.

204 SQ.

(2) Shaft end structure

Symbol Shaft end structure

S Straight

(3) Encoder

Symbol

A48

Type

OSA18-100

Resolution

260,000 p/rev

(Note) Encoder A51 and A74N can not be

used with the tool spindle m otor.

1 - 9

MITSUBISHI CNC

1 Introduction

< Combination with spindle drive unit >

(a) 1-axis spindle drive unit

Unit Type

MDS-D-

SP-20

SP-40

SP-80

SP-160

SP-200

SP-240

SP-320

SP-400

SP-640

Unit width

60mm

90mm

120mm

150mm

240mm

300mm

Compatible motor type

Rated torque

(N ･ m)

Rated output

20 A

40 A

80 A

160 A

200 A

240 A

320 A

400 A

640 A

1.8

●

105

2.4

●

1.6

●

104

3.2

●

154

4.8

●

● Indicates the compatible motor for each spindle drive unit.

224

7.0

●

204

HF □

354

6.4

11.1

123

5.7

223 303

10.5

14.3

453 703

37.2

49.0

903

58.8

HF-KP □

56 96

0.64

0.8

1.43

HF-SP □

226 406

3.5

6.37

● ● ● ●

●

● ● ●

● ● ● ●

●

(b) 2-axis spindle drive unit

Unit Type

MDS-D-

SP2-2020

SP2-4020

SP2-4040S

SP2-4040

SP2-8040

SP2-16080S

SP2-8080

SP2-16080

Unit width

60mm

90mm

120mm

Rated output

20+20A

40+20A

40+40A

80+40A

160+80A

80+80A

160+80A

Axis

Compatible motor type

Rated torque

(N ･ m)

1.8

●

105

2.4

●

1.6

●

104

3.2

●

154

4.8

●

224

7.0

●

HF □

204

6.4

●

354

22.5

●

123

5.7

●

223

10.5

●

303

14.3

●

453

14.3

●

703

22.3

●

HF-KP □

56 96

0.64

●

0.8

●

1.43

●

HF-SP □

226 406

3.5

●

● Indicates the compatible motor for each spindle drive unit.

(Note) A 2-axis spindle drive unit (MDS-D-SP2) drives tw o tool spindle motors only. A spindle motor other than tool spindle motor is not usable.

6.37

●

1 - 10

MDS-D/DH Series Specifications Manual

1-2 Explanation of type

1-2-5 Spindle drive unit type

Output

Applicable standard

Software No.

Serial No.

(1) 200V series

< MDS-D Series >

(a) 1-axis spindle drive unit

MDS-D(1)

MODEL

SPINDLE DRIVE UNIT

MDS-D-SP-200

32:(5N:>('@

,1387$'&9

$3+9+]

287387$3+9+]

(10$18$/,%

DATE

|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||

䠩䠥䠰䠯䠱䠞䠥䠯䠤䠥䚷䠡䠨䠡䠟䠰䠮䠥䠟䚷䠟䠫䠮䠬䠫䠮䠝䠰䠥䠫䠪

TOKYO 100-8310, JAPAN MADE IN JAPAN

Rating nameplate

Type

Input/output conditions

Manual No.

Date of manufacture

(Year-Month)

(1) Capacity

Symbol Nominal maximum current

SP-20

SP-40

SP-80

20 A

40 A

80 A

SP-160

SP-200

SP-240

SP-320

SP-400

SP-640

160 A

200 A

240 A

320 A

400 A

640 A

(b) 2-axis spindle drive unit

MDS-D(1)

Unit w idth

60mm w ide

90mm w ide

120mm w ide

150mm w ide (Note)

240mm w ide (Note)

300mm w ide (Note)

(Note) DC connection bar is required. Alw ays install a large capacity

drive unit in the left side of pow er supply unit, and connect w ith

DC connection bar.

(1) Capacity

Symbol

SP2-2020

SP2-4020

SP2-4040S

SP2-4040

SP2-8040

SP2-16080S

SP2-8080

SP2-16080

Nominal maximum current

20+20 A

40+20 A

40+40 A

80+40 A

160+80 A

80+80 A

160+80 A

Unit w idth

60mm w ide

90mm w ide

120mm w ide

(2) 400V series

< MDS-DH Series >

MDS-DH(1)

(1) Capacity

Symbol Nominal maximum current

SP-20

SP-40

SP-80

SP-100

SP-160

20A

40A

80A

100A

160A

SP-200

SP-320

SP-480

200A

320A

480A

Unit w idth

60mm w ide

90mm w ide

120mm w ide

150mm w ide

240mm w ide (Note)

(Note) DC connection bar is required. Alw ays install a large capacity

drive unit in the left side of pow er supply unit, and connect w ith

300mm w ide (Note) DC connection bar.

1 - 11

MITSUBISHI CNC

1 Introduction

1-2-6 Power supply unit type

Output

Applicable standard

Software No.

Serial No.

MODEL

POWER SUPPLY UNIT

MDS-D-CV-370

32:(5N:

,1387$3+9+]

$3+9+]

287387$'&9

(10$18$/,%

DATE

|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||

䠩䠥䠰䠯䠱䠞䠥䠯䠤䠥䚷䠡䠨䠡䠟䠰䠮䠥䠟䚷䠟䠫䠮䠬䠫䠮䠝䠰䠥䠫䠪

TOKYO 100-8310, JAPAN MADE IN JAPAN

Rating nameplate

(1) 200V series

< MDS-D Series >

MDS-D(1)

Type

Input/output conditions

Manual No.

Date of manufacture

(Year-Month)

(1) Type

MDS-D-

CV-37

CV-75

CV-110

CV-185

CV-300

CV-370

CV-450

CV-550

3.7kW

7.5kW

11.0kW

18.5kW

30.0kW

37.0kW

45.0kW

55.0kW

Pow er supply unit

30-minute rated output

Continuous rated output

2.2kW

5.5kW

7.5kW

15.0kW

26.0kW

30.0kW

37.0kW

45.0kW

Unit w idth

60mm w ide

90mm w ide

150mm w ide

(Note 2)

300mm w ide (Note 2)

Compatible AC reactor

Compatible contactor

(Mitsubishi)

(Note 1)

D-AL-7.5K

D-AL-11K

D-AL-18.5K

D-AL-30K

D-AL-37K

D-AL-45K

D-AL-55K

S-T12-AC200V

S-T35-AC200V

S-T65-AC200V

S-T80-AC200V

S-N150-AC200V

S-N180-AC200V

Compatible circuit protector

(Mitsubishi)

(Note 1)

NF63-CW3P-20A

NF63-CW3P-40A

NF63-CW3P-50A

NF125-CW3P-100A

NF250-CW3P-125A

NF250-CW3P-175A

NF250-CW3P-200A

NF250-CW3P-225A

(Note 1) This is an optional part, and must be prepared by the user.

(Note 2) When connecting w ith a large capacity drive unit, DC connection bar is required.

Alw ays install a large capacity drive unit in the left side of pow er supply unit, and connect w ith DC connection bar.

(2) 400V series

< MDS-DH Series >

MDS-DH(1)

(1) Type

MDS-DH-

CV-37

CV-75

CV-110

CV-185

CV-300

CV-370

CV-450

CV-550

CV-750

Pow er supply unit

30-minute rated output

Continuous rated output

3.7kW

7.5kW

11.0kW

18.5kW

30.0kW

37.0kW

45.0kW

55.0kW

75.0kW

2.2kW

5.5kW

7.5kW

15.0kW

26.0kW

30.0kW

37.0kW

45.0kW

55.0kW

Unit w idth

90mm w ide

150mm w ide

(Note 2)

300mm w ide

(Note 2)

Compatible AC reactor

Compatible contactor

(Mitsubishi)

(Note 1)

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-T12-AC400V

S-T21-AC400V

S-T35-AC400V

S-T50-AC400V

S-T65-AC400V

S-T80-AC400V

S-N150-AC400V

Compatible circuit protector

(Mitsubishi)

(Note 1)

NF63-CW3P-10A

NF63-CW3P-20A

NF63-CW3P-30A

NF63-CW3P-40A

NF125-CW3P-75A

NF125-CW3P-100A

NF250-CW3P-125A

NF250-CW3P-200A

(Note 1) This is an optional part, and must be prepared by the user.

(Note 2) When connecting w ith a large capacity drive unit, DC connection bar is required.Alw ays

install a large capacity drive unit in the left side of pow er supply unit, and connect w ith DC connection bar.

1 - 12

1-2-7 AC reactor type

Type D-AL-18.5K

Nameplate

(1) 200V series

< MDS-D Series >

D-AL(1)

AC reactor

(1) Type

D-AL-

Capacity

7.5K

7.5kW

11K

18.5K

30K

37K

45K

55K

11.0kW

18.5kW

30.0kW

37.0kW

45.0kW

55.0kW

Compatible pow er 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

Top surface of AC reactor

(2) 400V series

< MDS-DH Series >

DH-AL(1)

AC reactor

(1) Type

DH-AL-

Capacity

7.5K

7.5kW

11K

18.5K

30K

37K

45K

55K

75K

11.0kW

18.5kW

30.0kW

37.0kW

45.0kW

55.0kW

75.0kW

Compatible pow er supply unit

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

MDS-D/DH Series Specifications Manual

1-2 Explanation of type

1 - 13

MITSUBISHI CNC

1 Introduction

1 - 14

Specifications

2 - 1

MITSUBISHI CNC

2 Specifications

2-1 Servo motor

2-1-1 Specifications list

(1) 200V series

< HF Series >

Servo motor type

Compatible servo drive unit type

MDS-D-V1-

MDS-D-V2-

Continuous characteristics

Rated output [kW]

Rated current [A]

Rated torque [N•m]

Stall current [A]

Stall torque [N•m]

Power facility capacity [kVA]

Rated rotation speed [r/min]

Maximum rotation speed [r/min]

Maximum current [A]

Maximum torque [N•m]

Power rate at continuous rated torque

[kW/s]

Motor inertia [×10

-4 kg•m

]

Motor inertia with brake [×10

-4 kg•m

]

Maximum motor shaft conversion load inertia ratio

Motor side encoder

Degree of protection

Environment

Ambient temperature

Ambient humidity

Atmosphere

Altitude

Vibration

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass Without / with brake [kg]

Heat-resistant class

HF75

2020 (L,M)

4020 (M)

0.75

3.1

1.8

3.2

2.0

1.5

14.0

8.0

12.3

2.6

2.8

90 SQ.

126.5

Φ 80

Φ 14

2.5/3.9

4000

5000

HF105

2020 (L,M)

4020 (M)

1.0

3.7

2.4

4.6

3.0

2.0

15.5

11.0

11.2

HF Series

ABS specifications: HF □ -A74N / -A51 / -A48

HF54

4020 (L)

4040 (L,M)

8040 (L)

0.5

2.0

1.6

3.2

2.9

1.1

16.8

13.0

HF104

4020 (L)

4040 (L,M)

8040 (M)

1.0

3.9

3.2

6.6

5.9

2.0

29.0

23.3

HF154

8040 (L)

8080 (L,M)

16080 (M)

1.5

5.6

4.8

9.0

2.8

52.0

42.0

HF224

8040 (L)

8080 (L,M)

16080 (M)

2.2

8.6

7.0

3000

4000

12.0

4.1

57.0

46.5

4.1

8.4

12.7

20.7

HF204

8040 (L)

8080 (L,M)

16080 (M)

2.0

6.8

6.4

13.7

3.7

57.0

47.0

10.6

HF354

160

16080 (L)

160160 (L,M)

160160W (L,M)

3.5

11.1

22.5

6.4

116.0

90.0

16.5

5.1

6.1

11.9

17.8

23.7

38.3

75.0

5.3

90 SQ.

162.5

4.3/5.7

8.3

X,Y:24.5m/s

130 SQ.

118.5

110

4.8/6.7

14.1

(2.5G)

130 SQ.

140.5

110

6.5/8.5

20.0

130 SQ.

162.5

155 (F)

110

8.3/10.3

25.9

130 SQ.

184.5

110

10.0/12.0

48.0

High-speed, high-accuracy machine: 3 times or less of motor inertia

General machine tool (interpolation axis): 5 times or less of motor inertia

General machine (non-interpolation axis): 7 times or less of motor inertia

Resolution per motor revolution

A74N: 16,000,000 pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev

IP67 (The shaft-through portion is excluded.)

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

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

Operation: 80%RH or less (with no dew condensation),

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

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

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

84.7

X:24.5m/s 2 (2.5G)

Y:29.4m/s 2 (3G)

176 SQ.

143.5

176 SQ.

183.5

Φ 114.3

Φ 35

12.0/18.0

Φ 114.3

Φ 35

19.0/25.0

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

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

This motor is not compatible with the conventional MDS-B/C1/CH Series.

(Note 3) The total length will be 3.5mm longer when using an A51 or A74N encoder.

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 2

MDS-D/DH Series Specifications Manual

2-1 Servo motor

< HF Series >

Servo motor type

Compatible servo drive unit type

MDS-D-V1-

MDS-D-V2-

Continuous characteristics

Rated output [kW]

Rated current [A]

Rated torque [N•m]

Stall current [A]

Stall torque [N•m]

Power facility capacity [kVA]

Rated rotation speed [r/min]

Maximum rotation speed [r/min]

Maximum current [A]

Maximum torque [N•m]

Power rate at continuous rated torque

[kW/s]

Motor inertia [×10

-4 kg•m

]

Motor inertia with brake [×10

-4 kg•m

]

HF123

2020 (L,M)

4020 (M)

1.2

5.2

5.7

6.4

7.0

2.3

15.5

17.0

27.3

HF223

4020 (L)

4040 (L,M)

8040 (M)

2.2

9.0

10.5

12.0

4.1

2000

3000

29.0

32.0

46.5

HF Series

ABS specifications: HF □ -A74N / -A51 / -A48

HF303

8040 (L)

8080

(L,M)

16080 (M)

3.0

14.3

22.5

5.5

HF453

160

16080 (L)

160160 (L,M)

160160W

(L,M)

4.5

14.3

37.2

8.1

HF703

160W

160160W

(L,M)

7.0

22.3

49.0

12.5

3000

HF903

320

9.0

28.7

58.8

16.1

48.0

64.0

3500

105.0

122.0

109.0

152.0

3000

204.0

208.0

27.3

18.3

32.2

42.1

HF142

2020 (L,M)

4020 (M)

1.4

5.2

6.7

6.4

11.0

2.7

15.5

26.5

25.2

2000

HF302

4020 (L)

4040 (L,M)

8040 (M)

3.0

14.3

20.0

5.5

29.0

50.0

27.3

Maximum motor shaft conversion load inertia ratio

Motor side encoder

Degree of protection

Environment

Ambient temperature

Ambient humidity

Atmosphere

Altitude

11.9

14.1

23.7

75.0

112.0

154.0

196.0

17.8

25.9

84.7

121.7

163.7

205.7

20.0

High-speed, high-accuracy machine: 3 times or less of motor inertia

General machine tool (interpolation axis): 5 times or less of motor inertia

General machine (non-interpolation axis): 7 times or less of motor inertia

Resolution per motor revolution

A74N: 16,000,000 pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev

IP67 (The shaft-through portion is excluded.)

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

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

Operation: 80%RH or less (with no dew condensation),

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

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

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

75.0

84.7

Vibration

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass Without / with brake [kg]

Heat-resistant class

X,Y:24.5m/s

(2.5G)

130 SQ.

140.5

Φ 110

Φ 24

6.5/8.5

130 SQ.

184.5

Φ 110

Φ 24

10.0/12.0

176 SQ.

183.5

Φ 114.3

Φ 35

19.0/25.0

X:24.5m/s 2 (2.5G)

Y:29.4m/s

(3G)

176 SQ.

223.5

Φ 114.3

Φ 35

25/31

176 SQ.

263.5

Φ 114.3

Φ 35

32.0/38.0

155 (F)

X,Y:

9.8m/s

(1G)

204 SQ.

330

Φ 180

Φ 42

43/49

X,Y:

24.5m/s

(2.5G)

130 SQ.

162.5

Φ 110

Φ 24

8.3/11

X:24.5m/s 2

(2.5G)

Y:29.4m/s

(3G)

176 SQ.

183.5

Φ 114.3

Φ 35

19.0/25.0

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

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

This motor is not compatible with the conventional MDS-B/C1/CH Series.

(Note 3) The total length will be 3.5mm longer when using an A51 or A74N encoder.

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 3

MITSUBISHI CNC

2 Specifications

< HP Series >

Servo motor type

Compatible servo drive unit type

Continuous characteristics

Rated output [kW]

Rated current [A]

Rated torque [N•m]

Stall current [A]

Stall torque [N•m]

Power facility capacity [kVA]

Rated rotation speed [r/min]

Maximum rotation speed [r/min]

Maximum current [A]

Maximum torque [N•m]

Power rate at continuous rated torque

[kW/s]

Motor inertia [×10 -4 kg•m 2 ]

Motor inertia with brake [×10

-4 kg•m

]

Maximum motor shaft conversion load inertia ratio

Motor side encoder

Degree of protection

Environment

MDS-D-V1-

MDS-D-V2-

Ambient temperature

Ambient humidity

Atmosphere

Altitude

Vibration

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass Without / with brake [kg]

Heat-resistant class

HP54

4020 (L)

4040 (L,M)

8040 (M)

0.5

1.8

1.6

4.4

3.0

1.1

16.8

11.0

5.5

4.6

5.1

130 SQ.

133.5

Φ 110

Φ 24

6.0/7.3

HP Series

ABS specifications: HP □ -A74N/ -A51/ -A48

HP104 HP154 HP224

4020 (L)

4040 (L,M)

8040 (M)

8040 (L)

8080 (L,M)

16080 (M)

8040 (L)

8080 (L,M)

16080 (M)

1.0

3.6

3.2

7.8

5.9

2.0

25.6

19.2

1.5

5.1

4.8

9.6

9.0

2.8

3000

4000

52.0

36.5

2.2

6.9

6.4

14.0

12.0

4.1

57.0

46.0

13.0

19.0

20.0

HP204

8040 (L)

8080 (L,M)

16080 (M)

2.0

7.4

6.4

14.6

13.7

3.7

57.0

43.0

14.0

7.7

12.0

20.0

29.0

8.2

12.5

20.5

34.5

High-speed, high-accuracy machine: 3 times or less of motor inertia

General machine tool (interpolation axis): 5 times or less of motor inertia

General machine (non-interpolation axis): 10 times or less of motor inertia

Resolution per motor revolution

A74N: 16,000,000pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev

IP67 (The shaft-through portion is excluded.)

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

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

Operation: 80%RH or less (with no dew condensation),

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

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

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

130 SQ.

152.5

X,Y:24.5m/s

110

7.0/8.5

(2.5G)

130 SQ.

171.5

110

8.0/9.5

155 (F)

130 SQ.

204.5

110

12.0/13.9

X:24.5m/s 2 (2.5G)

Y:29.4m/s

(3G)

180 SQ.

172.5

Φ 114.3

Φ 35

14.0/15.9

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

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

This motor is not compatible with the conventional MDS-B/C1/CH Series.

(Note 3) The total length will be 3.5mm longer when using an A51 or A74N encoder.

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 4

MDS-D/DH Series Specifications Manual

2-1 Servo motor

< HP Series >

Servo motor type

Compatible servo drive unit type

MDS-D-V1-

MDS-D-V2-

Continuous characteristics

Rated output [kW]

Rated current [A]

Rated torque [N•m]

Stall current [A]

Stall torque [N•m]

Power facility capacity [kVA]

Rated rotation speed [r/min]

Maximum rotation speed [r/min]

Maximum current [A]

Maximum torque [N•m]

Power rate at continuous rated torque

[kW/s]

Motor inertia [×10 -4 kg•m 2 ]

Motor inertia with brake [×10

-4 kg•m

]

HP354

160

16080 (L)

160160 (L,M)

160160W (L,M)

3.5

14.5

11.1

29.0

22.5

6.4

116.0

66.0

33.0

HP Series

ABS specifications: HP □ -A74N/ -A51/ -A48

HP454 HP704 HP903

160W 320 160

16080 (L)

160160 (L,M)

160160W (L,M)

160160W (L,M) -

4.5

12.8

14.3

29.6

31.9

8.1

7.0

17.2

22.3

40.2

49.0

12.5

3000

9.0

21.6

28.7

54.0

70.0

16.1

4000

116.0

95.0

116.0

120.0

172.0

170.0

36.0

59.0

52.0

3000

HP1103

320W

11.0

24.6

35.0

79.0

110.0

19.6

212.0

260.0

48.0

Maximum motor shaft conversion load inertia ratio

Motor side encoder

Degree of protection

Environment

Ambient temperature

Ambient humidity

Atmosphere

Altitude

Vibration

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass Without / with brake [kg]

Heat-resistant class

37.0

55.0

82.0

163.0

255.0

42.5

60.5

87.5

187.0

279.0

High-speed, high-accuracy machine: 3 times or less of motor inertia

General machine tool (interpolation axis): 5 times or less of motor inertia

General machine (non-interpolation axis): 10 times or less of motor inertia

Resolution per motor revolution

A74N: 16,000,000pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev

IP67 (The shaft-through portion is excluded.)

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

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

180 SQ.

Operation: 80%RH or less (with no dew condensation),

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

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

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

X:24.5m/s 2 (2.5G) Y:29.4m/s

180 SQ.

2 (3G)

180 SQ.

X,Y:9.8m/s 2 (1G)

220 SQ.

195.5

Φ 114.3

Φ 35

17.0/22.0

225.5

Φ 114.3

Φ 35

21.0/26.0

305.5

Φ 114.3

Φ 35

37.0/43.0

155 (F)

346.5

Φ 200

Φ 55

51.0/61.4

419.5

Φ 200

Φ 55

74.0/84.4

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

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

This motor is not compatible with the conventional MDS-B/C1/CH Series.

(Note 3) The total length will be 3.5mm longer when using an A51 or A74N encoder.

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 5

MITSUBISHI CNC

2 Specifications

< HF-KP Series >

Servo motor type

Compatible servo drive unit type

MDS-D-V1-

MDS-D-V2-

Continuous characteristics

Rated output [kW]

Rated current [A]

Rated torque [N•m]

Stall current [A]

Stall torque [N•m]

Power facility capacity [kVA]

Rated rotation speed [r/min]

Maximum rotation speed [r/min]

Maximum current [A]

Maximum torque [N•m]

Power rate at continuous rated torque

[kW/s]

Motor inertia [×10 -4 kg•m 2 ]

Motor inertia with brake [×10

-4 kg•m

]

Maximum motor shaft conversion load inertia ratio

Motor side encoder

Degree of protection

HF-KP23JW04-S6

2020 (L,M)

4020 (M)

0.2

1.4

0.64

1.4

0.64

0.6

4.3

1.9

16.9

0.23

0.31

HF-KP Series

Absolute position standard

HF-KP43JW04-S6

2020 (L,M)

4020 (M)

0.4

2.9

1.3

2.9

1.3

0.9

3000

6000

8.5

3.8

38.6

0.42

0.50

HF-KP73JW04-S6

2020 (L,M)

4020 (M)

0.75

5.2

2.4

5.2

2.4

1.5

15.5

7.2

39.9

1.43

1.63

General machine (non-interpolation axis): 15 times or less of motor inertia

Environment

Ambient temperature

Ambient humidity

Atmosphere

Altitude

Vibration

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass Without / with brake [kg]

Heat-resistant class

60 SQ.

Φ 50

Φ 14

1.2/1.8

Resolution per motor revolution: 260,000 pulse/rev

IP65 (The shaft-through portion is excluded.)

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

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

Operation: 80%RH or less (with no dew condensation),

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

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

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

X,Y: 49m/s

(5G)

60 SQ.

119.9

1.7/2.3

130 (B)

80 SQ.

134.2

Φ 70

Φ 19

2.9/4.1

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

(Note 2) Use the HF-KP motor in combination with the MDS-D Series drive unit compatible with the 200VAC input. This motor is not compatible with the conventional MDS-B/C1/CH Series.

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 6

MDS-D/DH Series Specifications Manual

2-1 Servo motor

(2) 400V series

< HF-H Series >

Servo motor type

Compatible servo drive unit type

Environment

MDS-DH-V1

MDS-DH-V2

Continuous characteristics

Rated output [kW]

Rated current [A]

Rated torque [N•m]

Stall current [A]

Stall torque [N•m]

Power facility capacity [kVA]

Rated rotation speed [r/min]

Maximum rotation speed [r/min]

Maximum current [A]

Maximum torque [N•m]

Power rate at continuous rated torque

[kW/s]

Motor inertia [×10 -4 kg•m 2 ]

Motor inertia with brake [×10 -4 kg•m 2 ]

Maximum motor shaft conversion load inertia ratio

Motor side encoder

Degree of protection

Ambient temperature

Ambient humidity

Atmosphere

Altitude

Vibration

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass Without / with brake [kg]

Heat-resistant class

HF-H75

1010 (L,M)

2010 (M)

0.75

1.5

1.8

1.6

2.0

1.5

7.0

8.0

12.3

2.6

2.8

90 SQ.

126.5

Φ 80

Φ 14

2.5/3.9

4000

5000

HF-H Series

ABS specifications: HF-H □ -A74N / -A51 / -A48

HF-H105 HF-H54 HF-H104

1010 (L,M)

2010 (M)

2010 (L)

2020 (L,M)

4020 (M)

2010 (L)

2020 (L,M)

4020 (M)

1.0

1.8

2.4

2.3

3.0

2.0

0.5

1.1

1.6

2.9

1.1

1.0

2.0

3.2

3.3

5.9

2.0

3000

4000

7.8

11.0

8.4

13.0

15.0

23.3

11.2

4.1

8.4

5.1

6.1

11.9

5.3

High-speed, high-accuracy machine: 3 times or less of motor inertia

General machine tool (interpolation axis): 5 times or less of motor inertia

General machine (non-interpolation axis): 7 times or less of motor inertia

Resolution per motor revolution

A74N: 16,000,000 pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev

IP67 (The shaft-through portion is excluded.)

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

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

Operation: 80%RH or less (with no dew condensation),

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

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

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

90 SQ.

162.5

4.3/5.7

8.3

X,Y:24.5m/s 2 (2.5G)

130 SQ.

118.5

Φ 110

Φ 24

4.8/6.7

155 (F)

14.1

130 SQ.

140.5

110

6.7/8.6

HF-H154

4020 (L)

4040 (L,M)

8040 (M)

1.5

2.7

4.8

5.5

9.0

2.8

26.0

42.0

12.7

17.8

20.0

130 SQ.

162.5

Φ 110

Φ 24

8.3/11

(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-H motor in combination with the MDS-DH Series drive unit compatible with the 400VAC input. This motor is not compatible with the conventional MDS-B/C1/CH Series.

(Note 3) The total length will be 3.5mm longer when using an A51 or A74N encoder.

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 7

MITSUBISHI CNC

2 Specifications

< HF-H Series >

Servo motor type

Compatible servo drive unit type

Environment

MDS-DH-V1

MDS-DH-V2

Continuous characteristics

Rated output [kW]

Rated current [A]

Rated torque [N•m]

Stall current [A]

Stall torque [N•m]

Power facility capacity [kVA]

Rated rotation speed [r/min]

Maximum rotation speed [r/min]

Maximum current [A]

Maximum torque [N•m]

Power rate at continuous rated torque

[kW/s]

Motor inertia [×10 -4 kg•m 2 ]

Motor inertia with brake [×10

-4 kg•m

]

Maximum motor shaft conversion load inertia ratio

Motor side encoder

Degree of protection

Ambient temperature

Ambient humidity

Atmosphere

Altitude

Vibration

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass Without / with brake [kg]

Heat-resistant class

HF-H204

4020 (L)

4040 (L,M)

8040 (M)

2.0

3.5

6.4

7.3

13.7

3.7

29.0

47.0

10.6

38.3

48.0

176 SQ.

143.5

Φ 114.3

Φ 35

13/19

4000

HF-H Series

ABS specifications: HF-H □ -A74N / -A51 / -A48

HF-H354 HF-H453 HF-H703

80W 80

8040 (L)

8080 (L,M)

8080W (L,M)

8040 (L)

8080 (L,M)

8080W (L,M)

3.5

7.8

11.1

22.5

6.4

4.5

9.3

14.3

37.2

8.1

3000

3500

7.0

22.3

49.0

12.5

58.0

90.0

53.0

122.0

55.0

152.0

16.5

18.3

32.2

3000

HF-H903

160

9.0

28.7

58.8

16.1

102.0

208.0

42.1

75.0

112.0

154.0

196.0

84.7

121.7

163.7

205.7

High-speed, high-accuracy machine: 3 times or less of motor inertia

General machine tool (interpolation axis): 5 times or less of motor inertia

General machine (non-interpolation axis): 7 times or less of motor inertia

Resolution per motor revolution

A74N: 16,000,000 pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev

IP67 (The shaft-through portion is excluded.)

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

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

Operation: 80%RH or less (with no dew condensation),

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

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

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

X:24.5m/s 2 (2.5G) Y:29.4m/s 2 (3G)

176 SQ.

X,Y:9.8m/s 2 (1G)

204 SQ.

183.5

Φ 114.3

Φ 35

19.0/25.0

223.5

Φ 114.3

Φ 35

25/31

155 (F)

263.5

Φ 114.3

Φ 35

32.0/38.0

330

Φ 180

Φ 42

43/49

(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-H motor in combination with the MDS-DH Series drive unit compatible with the 400VAC input. This motor is not compatible with the conventional MDS-B/C1/CH Series.

(Note 3) The total length will be 3.5mm longer when using an A51 or A74N encoder.

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 8

MDS-D/DH Series Specifications Manual

2-1 Servo motor

< HP-H Series >

Servo motor type

Compatible servo drive unit type

Continuous characteristics

Rated output [kW]

Rated current [A]

Rated torque [N•m]

Stall current [A]

Stall torque [N•m]

Power facility capacity [kVA]

Rated rotation speed [r/min]

Maximum rotation speed [r/min]

Maximum current [A]

Maximum torque [N•m]

Power rate at continuous rated torque

[kW/s]

Motor inertia [×10 -4 kg•m 2 ]

Motor inertia with brake [×10

-4 kg•m

]

Maximum motor shaft conversion load inertia ratio

Motor side encoder

Degree of protection

Environment

MDS-DH-V1

MDS-DH-V2

Ambient temperature

Ambient humidity

Atmosphere

Altitude

Vibration

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass Without / with brake [kg]

Heat-resistant class

HP-H54

2010 (L)

2020 (L,M)

4020 (M)

0.5

0.9

1.6

2.2

3.0

1.1

8.4

11.0

5.5

4.6

5.1

130 SQ.

133.5

Φ 110

Φ 24

6.0/7.3

HP-H Series

ABS specifications: HP-H □ -A74N/ -A51/ -A48

HP-H104 HP-H154 HP-H224

2010 (L)

2020 (L,M)

4020 (M)

4020 (L)

4040 (L,M)

8040 (M)

4020 (L)

4040 (L,M)

8040 (M)

1.0

1.8

3.2

3.9

5.9

2.0

12.8

19.2

1.5

3.1

4.8

9.0

2.8

3000

4000

26.0

36.5

2.2

4.0

6.4

7.0

12.0

4.1

28.5

46.0

13.0

19.0

20.0

HP-H204

4020 (L)

4040 (L,M)

8040 (M)

2.0

4.1

6.4

7.3

13.7

3.7

28.5

43.0

14.0

7.7

12.0

20.0

29.0

8.2

12.5

20.5

34.5

High-speed, high-accuracy machine: 3 times or less of motor inertia

General machine tool (interpolation axis): 5 times or less of motor inertia

General machine (non-interpolation axis): 10 times or less of motor inertia

Resolution per motor revolution

A74N: 16,000,000pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev

IP67 (The shaft-through portion is excluded.)

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

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

Operation: 80%RH or less (with no dew condensation),

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

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

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

130 SQ.

152.5

X,Y:24.5m/s

110

7.0/8.5

(2.5G)

130 SQ.

171.5

110

8.0/9.5

155 (F)

130 SQ.

204.5

110

12.0/13.9

X:24.5m/s 2 (2.5G)

Y:29.4m/s

(3G)

180 SQ.

172.5

Φ 114.3

Φ 35

14.0/15.9

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

(Note 2) Use the HP-H motor in combination with the MDS-DH Series drive unit compatible with the 400VAC input. This motor is not compatible with the conventional MDS-B/C1/CH Series.

(Note 3) The total length will be 3.5mm longer when using an A51 or A74N encoder.

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 9

MITSUBISHI CNC

2 Specifications

< HP-H Series >

Servo motor type

Compatible servo drive unit type

MDS-DH-V1

MDS-DH-V2

Continuous characteristics

Rated output [kW]

Rated current [A]

Rated torque [N•m]

Stall current [A]

Stall torque [N•m]

Power facility capacity [kVA]

Rated rotation speed [r/min]

Maximum rotation speed [r/min]

Maximum current [A]

Maximum torque [N•m]

Power rate at continuous rated torque

[kW/s]

Motor inertia [×10 -4 kg•m 2 ]

Motor inertia with brake [×10

-4 kg•m

]

HP-H354

8040 (L)

8080 (L,M)

8080 W (L,M)

3.5

7.4

11.1

14.5

22.5

6.4

58.0

66.0

33.0

HP-H Series

ABS specifications: HP-H □ -A74N/ -A51/ -A48

HP-H454 HP-H704 HP-H903

80W 160 80

8040 (L)

8080 (L,M)

8080 W (L,M)

8080W (L,M) -

4.5

7.6

14.3

14.9

31.9

8.1

7.0

10.6

22.3

20.1

49.0

12.5

3000

9.0

12.9

28.7

32.0

70.0

16.1

4000

58.0

95.0

58.0

120.0

86.0

170.0

36.0

59.0

52.0

3000

HP-H1103

160W

11.0

15.0

35.0

46.0

110.0

19.6

106.0

260.0

48.0

Maximum motor shaft conversion load inertia ratio

Motor side encoder

Degree of protection

Environment

Ambient temperature

Ambient humidity

Atmosphere

Altitude

Vibration

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass Without / with brake [kg]

Heat-resistant class

37.0

55.0

82.0

163.0

255.0

42.5

60.5

87.5

187.0

2790

180 SQ.

195.5

Φ 114.3

Φ 35

17.0/22.0

High-speed, high-accuracy machine: 3 times or less of motor inertia

General machine tool (interpolation axis): 5 times or less of motor inertia

General machine (non-interpolation axis): 10 times or less of motor inertia

Resolution per motor revolution

A74N: 16,000,000pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev

IP67 (The shaft-through portion is excluded.)

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

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

Operation: 80%RH or less (with no dew condensation),

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

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

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

X:24.5m/s 2 (2.5G) Y:29.4m/s 2 (3G)

180 SQ.

X,Y:9.8m/s 2 (1G)

220 SQ.

225.5

114.3

Φ 35

21.0/26.0

305.5

Φ 114.3

Φ 35

37.0/43.0

155 (F)

346.5

200

51.0/61.4

419.5

200

74.0/84.4

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

(Note 2) Use the HP-H motor in combination with the MDS-DH Series drive unit compatible with the 400VAC input. This motor is not compatible with the conventional MDS-B/C1/CH Series.

(Note 3) The total length will be 3.5mm longer when using an A51 or A74N encoder.

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 10

MDS-D/DH Series Specifications Manual

2-1 Servo motor

< HC-H Series >

Servo motor type

HC-H Series

ABS specifications: HC-H □ -A74N / -A51 / -A48

HC-H1502S-S10

200 Compatible servo drive unit type

MDS-DH-V1

MDS-DH-V2

Continuous characteristics

Rated output [kW]

Rated current [A]

Rated torque [N•m]

Stall current [A]

Stall torque [N•m]

Power facility capacity [kVA]

Rated rotation speed [r/min]

Maximum rotation speed [r/min]

Maximum current [A]

Maximum torque [N•m]

Power rate at continuous rated torque

[kW/s]

Motor inertia [×10 -4 kg•m 2 ]

Motor inertia with brake [×10

-4 kg•m

]

15.0

71.6

146.0

26.7

2000

2500

160.0

280.0

104.5

Maximum motor shaft conversion load inertia ratio

Motor side encoder

550

---

High-speed, high-accuracy machine: 3 times or less of motor inertia

General machine tool (interpolation axis): 5 times or less of motor inertia

General machine (non-interpolation axis): 10 times or less of motor inertia

Resolution per motor revolution

A74N: 16,000,000pulse/rev, A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev

IP44 (The shaft-through portion is excluded.)

3-phase 400V

Degree of protection

Input voltage

Cooling fan Maximum power consumption

85W

Environment

Ambient temperature

Ambient humidity

Atmosphere

Altitude

Vibration

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass Without / with brake [kg]

Heat-resistance class

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

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

Operation: 80%RH or less (with no dew condensation),

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

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

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

X,Y:9.8m/s 2 (1G)

280 SQ.

605

Φ 250

Φ 60

160/---

155 (F)

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

(Note 2) Use the HC-H motor in combination with the MDS-DH Series drive unit compatible with the 400VAC input. This motor is not compatible with the conventional MDS-B/C1/CH Series.

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 11

MITSUBISHI CNC

2 Specifications

2-1-2 Torque characteristics

(1) 200V series

< HF Series >

[ HF75 ]

7.5

5 Short time operation range

[ HF105 ]

6 Short time operation range

2.5

Continuous operation range

Rotation speed [r/min]

5000

[ HF54 ]

Short time operation range

Continuous operation range

0 2000

Rotation speed [r/min]

4000

[ HF224 ]

Short time operation range

Continuous operation range

2000

Rotation speed [r/min]

4000

[ HF123 ]

Continuous operation range

2000 4000

Rotation speed [r/min]

5000

[ HF104 ]

[ HF154 ]

20 40

Short time operation range

Continuous operation range

0 2000

Rotation speed [r/min]

4000

Continuous operation range

Rotation speed [r/min]

[ HF204 ] [ HF354 ]

100

Short time operation range Short time operation range

Continuous operation range

Rotation speed [r/min]

4000

Continuous operation range

Rotation speed [r/min]

[ HF223 ] [ HF303 ]

40 80

Short time operation range

5 10

Continuous operation range

0 1000 2000

Rotation speed [r/min]

3000 1000 2000

Rotation speed [r/min]

3000

0 1000 2000

Rotation speed [r/min]

3000

(Note) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is

200VAC or less, the short time operation range is limited.

2 - 12

MDS-D/DH Series Specifications Manual

2-1 Servo motor

< HF Series >

[ HF453 ]

125

160

[ HF703 ]

240

[ HF903 ]

100

120

180

Short time operation range 80 Short time operation range

120

Short time operation range

Continuous operation range

1000

Rotation speed [r/min]

Continuous operation range

Rotation speed [r/min]

3000

Continuous operation range

Rotation speed [r/min]

3000

[ HF142 ] [ HF302 ]

Short time operation range Short time operation range

Continuous operation range

1000

Rotation speed [r/min]

2000

Continuous operation range

1000

Rotation speed [r/min]

2000

(Note) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is

200VAC or less, the short time operation range is limited.

2 - 13

MITSUBISHI CNC

2 Specifications

< HP Series >

[ HP54 ]

[ HP104 ]

[ HP154 ]

15 30

6 Short time operation range 10 Short time operation range 20

Short time operation range

Continuous operation range

Rotation speed [r/min]

[ HP224 ]

Short time operation range

5 10

Continuous operation range

0 2000 4000

Rotation speed [r/min]

Continuous operation range

Rotation speed [r/min]

[ HP204 ] [ HP354 ]

50 75

Short time operation range

10 10

Continuous operation range

Rotation speed [r/min]

4000

Continuous operation range

Rotation speed [r/min]

[ HP454 ] [ HP704 ]

100

150

Continuous operation range

Rotation speed [r/min]

[ HP903 ]

180

80 120

135

60 90

Short time operation range Short time operation range 90 Short time operation range

40 60

20 30

Continuous operation range

2000 4000

Rotation speed [r/min]

Continuous operation range

Rotation speed [r/min]

4000

Continuous operation range

Rotation speed [r/min]

[ HP1103 ]

300

240

180

Short time operation range

120

Continuous operation range

Rotation speed [r/min]

(Note) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is

200VAC or less, the short time operation range is limited.

2 - 14

MDS-D/DH Series Specifications Manual

2-1 Servo motor

< HF-KP Series >

2.0

[ HF-KP23JW04-S6 ]

4.0

[ HF-KP43JW04-S6 ]

8.0

[ HF-KP73JW04-S6 ]

1.5

3.0

6.0

1.0

Short time operation range 2.0

Short time operation range 4.0

Short time operation range

0.5

1.0

2.0

Continuous operation range

0 3000

Rotation speed [r/min]

6000

0 3000

Rotation speed [r/min]

6000

0 3000

Rotation speed [r/min]

6000

(Note) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is

200VAC or less, the short time operation range is limited.

2 - 15

MITSUBISHI CNC

2 Specifications

(2) 400V series

< HF-H Series >

[ HF-H75 ]

7.5

5 Short time operation range

[ HF-H105 ]

6 Short time operation range

2.5

Continuous operation range

Rotation speed [r/min]

5000

Continuous operation range

Rotation speed [r/min]

5000

[ HF-H54 ] [ HF-H104 ]

Short time operation range

Continuous operation range

2000 4000

Rotation speed [r/min]

Continuous operation range

Rotation speed [r/min]

[ HF-H204 ] [ HF-H354 ]

[ HF-H154 ]

Short time operation range

Continuous operation range

Rotation speed [r/min]

[ HF-H453 ]

100

125

100

Short time operation range

Continuous operation range

Rotation speed [r/min]

4000

Continuous operation range

Rotation speed [r/min]

[ HF-H703 ] [ HF-H903 ]

160

240

Continuous operation range

1000

Rotation speed [r/min]

120

180

80 Short time operation range 120 Short time operation range

Continuous operation range Continuous operation range

3000

Rotation speed [r/min] Rotation speed [r/min]

(Note) The above graphs show the data when applied the input voltage of 380VAC. When the input voltage is

380VAC or less, the short time operation range is limited.

2 - 16

MDS-D/DH Series Specifications Manual

2-1 Servo motor

< HP-H Series>

[ HP-H54 ]

[ HP-H104 ]

[ HP-H154 ]

6 Short time operation range

Short time operation range 20 Short time operation range

Continuous operation range

Rotation speed [r/min]

[ HP-H224 ]

Short time operation range

Continuous operation range

0 2000 4000

Rotation speed [r/min]

Continuous operation range

Rotation speed [r/min]

[ HP-H204 ] [ HP-H354 ]

50 75

Short time operation range

Continuous operation range

Rotation speed [r/min]

4000

Continuous operation range

Rotation speed [r/min]

[ HP-H454 ] [ HP-H704 ]

100 150

80 120

Short time operation range

Continuous operation range

2000 4000

Rotation speed [r/min]

Continuous operation range

Rotation speed [r/min]

[ HP-H1103 ]

300

240

Short time operation range

Continuous operation range

Rotation speed [r/min]

[ HP-H903 ]

180

135

90 Short time operation range

Continuous operation range

Rotation speed [r/min]

180

120

Short time operation range

Continuous operation range

Rotation speed [r/min]

(Note) The above graphs show the data when applied the input voltage of 380VAC. When the input voltage is

380VAC or less, the short time operation range is limited.

2 - 17

MITSUBISHI CNC

2 Specifications

< HC-H Series >

[ HC-H1502S-S10 ]

400

300

200

Short time operation range

100

Continuous operation range

2500

Rotation speed [r/min]

(Note) The above graphs show the data when applied the input voltage of 380VAC. When the input voltage is

380VAC or less, the short time operation range is limited.

2 - 18

MDS-D/DH Series Specifications Manual

2-2 Spindle motor

2-2 Spindle motor

2-2-1 Specifications

(1) 200V series

< SJ-D Series (Normal specifications) >

Spindle motor type

MDS-D-SP-

Compatible spindle drive unit type

MDS-D-SP2-

Continuous rating

Output capacity

[kW]

Short time rating

Standard output during acceleration/deceleration

Actual acceleration/ deceleration output (Note 3)

Power facility capacity [kVA]

Base rotation speed [r/min]

Maximum rotation speed [r/min]

Frame No.

Continuous rated torque [N•m]

[kg•m

]

Inertia [kg•m 2 ]

Tolerable radial load [N]

Input voltage

Cooling fan Maximum power consumption

Environment

Ambient temperature

Ambient humidity

Atmosphere

SJ-D3.7/100-01

8040 (L)

16080S (M)

8080 (L,M)

16080 (M)

2.2

3.7

(15-minute rating)

3.7

4.4

6.7

1500

10000

B90

14.0

0.030

0.0074

980

38W

SJ-D5.5/100-01

8040 (L)

16080S (M)

8080 (L,M)

16080 (M)

3.7

5.5

(30-minute rating)

5.5

6.6

9.9

1500

10000

D90

23.6

0.053

0.013

1470

38W

SJ-D7.5/100-01

160

3-phase 200V

16080S (L)

16080 (L)

5.5

7.5

(30-minute rating)

7.5

13.4

1500

10000

A112

35.0

0.094

0.023

1960

50W

SJ-D11/80-01

160

16080S (L)

16080 (L)

7.5

(30-minute rating)

13.2

19.6

1500

8000

B112

47.7

0.122

0.031

1960

50W

Altitude

Degree of protection

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)

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

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

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

Transportation: 10000 meters or less above sea level

174 SQ.

327

150

IP54 (The shaft-through portion is excluded.)

174 SQ.

204 SQ.

417

Φ 150

439

Φ 180

Φ 28

Φ 32

155 (F)

204 SQ.

489

180

(Note 1) The tolerable radial load is the value calculated at the center of output shaft.

(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.

(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 19

MITSUBISHI CNC

2 Specifications

< SJ-DJ Series (Compact & lightweight specifications) >

Spindle motor type

MDS-D-SP-

Compatible spindle drive unit type

MDS-D-SP2-

Continuous rating

Output capacity

[kW]

Short time rating

Standard output during acceleration/deceleration

Actual acceleration/ deceleration output (Note 3)

Power facility capacity [kVA]

Base rotation speed [r/min]

Maximum rotation speed [r/min]

Frame No.

Continuous rated torque [N•m]

GD 2 [kg•m 2 ]

Inertia [kg•m

]

Tolerable radial load [N]

Input voltage

Cooling fan Maximum power consumption

Environment

Ambient temperature

Ambient humidity

Atmosphere

SJ-DJ5.5/100-01

8040 (L)

16080S (M)

8080 (L,M)

16080 (M)

3.7

5.5

(25%ED rating)

5.5

6.6

9.9

(Continuous) 2000

/ (Short time) 1500

10000

B90

17.7

0.030

0.0074

980

38W

SJ-DJ7.5/100-01

160

16080S (L)

16080 (L)

5.5

7.5

(15-minute rating)

7.5

38W

SJ-DJ11/100-01

160

16080S (L)

16080 (L)

7.5

(15-minute rating)

13.2

13.4

(Continuous) 2000

/ (Short time) 1500

10000

D90

26.3

0.053

0.013

1470

3-phase 200V

19.6

(Continuous) 2000

/ (Short time) 1500

10000

A112

35.8

0.094

0.023

1960

50W

SJ-DJ15/80-01

200

(15-minute rating)

(15%ED rating)

26.7

(Continuous) 2000

/ (Short time) 1500

8000

B112

52.5

0.122

0.031

1960

50W

Altitude

Degree of protection

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)

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

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

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

Transportation: 10000 meters or less above sea level

174 SQ.

327

150

IP54 (The shaft-through portion is excluded.)

174 SQ.

204 SQ.

417

Φ 150

439

Φ 180

Φ 28

Φ 32

155 (F)

204 SQ.

489

180

(Note 1) The tolerable radial load is the value calculated at the center of output shaft.

(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.

(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 20

MDS-D/DH Series Specifications Manual

2-2 Spindle motor

< SJ-V Series (Normal specifications) >

Spindle motor type

MDS-D-SP-

Compatible spindle drive unit type

MDS-D-SP2-

Continuous rating

Output capacity

[kW]

Short time rating

Standard output during acceleration/deceleration

Actual acceleration/ deceleration output (Note 3)

Power facility capacity [kVA]

Base rotation speed [r/min]

Maximum rotation speed [r/min]

Frame No.

Continuous rated torque [N•m]

GD 2 [kg•m 2 ]

Inertia [kg•m 2 ]

Tolerable radial load [N]

Input voltage

SJ-VL0.75-01T SJ-VL1.5-01T

20 20

2020 (L,M)

4020 (M)

0.4

0.75

(10-minute rating)

0.75

0.9

1.5

1500

10000

A71

2.55

0.0053

0.0013

490

Single-phase

200V

2020 (L,M)

4020 (M)

0.75

1.5

(10-minute rating)

1.5

1.8

2.8

1500

10000

B71

4.77

0.0096

0.0024

490

Single-phase

200V

SJ-V2.2-01T

4020 (L)

4040S (L,M)

4040 (L,M)

8040 (M)

1.5

2.2

(15-minute rating)

2.2

2.6

4.1

1500

10000

A90

9.5

0.027

0.00675

980

Single-phase

200V

SJ-V3.7-01T

8040 (L)

16080S (M)

8080 (L,M)

16080 (M)

2.2

3.7

(15-minute rating)

3.7

4.4

6.7

1500

10000

B90

14.0

0.035

0.009

980

Single-phase

200V

SJ-V3.7-02ZT

8040 (L)

16080S (M)

8080 (L,M)

16080 (M)

2.2

3.7

(15-minute rating)

3.7

4.4

6.7

3000

15000

A90

7.0

0.027

0.00675

245

Single-phase

200V

SJ-V5.5-01ZT

8040 (L)

16080S (M)

8080 (L,M)

16080 (M)

3.7

5.5

(30-minute rating)

5.5

6.6

9.9

1500

12000

D90

23.6

0.059

0.0148

980

Single-phase

200V

Cooling fan

Environment

Maximum power consumption

Ambient temperature

Ambient humidity

Atmosphere

Altitude

Degree of protection

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

14W 14W 36W 36W 36W 36W

Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)

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

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

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

Transportation: 10000 meters or less above sea level

IP44

130 SQ.

265

Φ 110

Φ 22

130 SQ.

325

Φ 110

Φ 22

174 SQ.

300

Φ 150

Φ 28

174 SQ.

330

Φ 150

Φ 28

174 SQ.

300

Φ 150

Φ 28

174 SQ.

425

Φ 150

Φ 28

155 (F)

(Note 1) The tolerable radial load is the value calculated at the center of output shaft.

(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.

(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 21

MITSUBISHI CNC

2 Specifications

< SJ-V Series (Normal specifications) >

Spindle motor type

Compatible spindle drive unit type

MDS-D-SP-

MDS-D-SP2-

Continuous rating

Output capacity

[kW]

Short time rating

Standard output during acceleration/deceleration

Actual acceleration/ deceleration output (Note 3)

Power facility capacity [kVA]

Base rotation speed [r/min]

Maximum rotation speed [r/min]

Frame No.

Continuous rated torque [N•m]

GD 2 [kg•m 2 ]

Inertia [kg•m 2 ]

Tolerable radial load [N]

Input voltage

Cooling fan Maximum power consumption

Environment

Ambient temperature

Ambient humidity

Atmosphere

SJ-V7.5-01ZT

160

16080S (L)

16080 (L)

5.5

7.5

(30-minute rating)

7.5

13.4

1500

12000

A112

0.098

0.0245

980

3-phase 200V

70W

SJ-V7.5-03ZT

160

16080S (L)

16080 (L)

5.5

7.5

(30-minute rating)

7.5

13.4

1500

12000

A112

0.098

0.0245

980

3-phase 200V

70W

SJ-V11-01ZT

160

16080S (L)

16080 (L)

7.5

(30-minute rating)

13.2

19.6

1500

8000

B112

47.7

0.12

0.03

1960

3-phase 200V

40W

SJ-V11-06ZT

200

5.5

7.5

(30-minute rating)

7.5

13.4

1500

12000

A112

35.0

0.098

0.025

980

3-phase 200V

40W

SJ-V11-08ZT

200

7.5

(30-minute rating)

13.2

19.6

1500

8000

B112

47.7

0.12

0.03

1470

3-phase 200V

40W

SJ-V11-13ZT

200

7.5

(30-minute rating)

13.2

19.6

1500

8000

B112

47.7

0.12

0.03

1960

3-phase 200V

70W

Altitude

Degree of protection

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)

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

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

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

Transportation: 10000 meters or less above sea level

IP44

204 SQ.

440

Φ 180

Φ 32

204 SQ.

440

Φ 180

Φ 32

204 SQ.

490

Φ 180

Φ 48

204 SQ.

440

Φ 180

Φ 32

204 SQ.

490

Φ 180

Φ 48

204 SQ.

490

Φ 180

Φ 48

155 (F)

(Note 1) The tolerable radial load is the value calculated at the center of output shaft.

(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.

(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 22

MDS-D/DH Series Specifications Manual

2-2 Spindle motor

< SJ-V Series (Normal specifications) >

Spindle motor type

Compatible spindle drive unit type

MDS-D-SP-

MDS-D-SP2-

Continuous rating

Output capacity

[kW]

Short time rating

Standard output during acceleration/deceleration

Actual acceleration/ deceleration output (Note 3)

Power facility capacity [kVA]

Base rotation speed [r/min]

Maximum rotation speed [r/min]

Frame No.

Continuous rated torque [N•m]

GD 2 [kg•m 2 ]

Inertia [kg•m

]

Tolerable radial load [N]

Input voltage

Cooling fan Maximum power consumption

Environment

Ambient temperature

Ambient humidity

Atmosphere

SJ-V15-01ZT

200

(30-minute rating)

26.7

1500

8000

A160

0.23

0.0575

2940

3-phase 200V

80W

SJ-V15-09ZT

200

(30-minute rating)

26.7

1500

8000

A160

0.23

0.0575

2940

3-phase 200V

80W

SJ-V18.5-01ZT SJ-V18.5-04ZT

200 240

18.5

(30-minute rating)

18.5

22.2

32.8

1500

8000

A160

95.5

0.23

0.0575

2940

3-phase 200V

80W

18.5

(30-minute rating)

18.5

22.2

32.8

1500

8000

A160

95.5

0.23

0.0575

2940

3-phase 200V

80W

SJ-V22-01ZT

240

18.5

(30-minute rating)

26.4

39.0

1500

8000

B160

118

0.319

0.08

2940

3-phase 200V

80W

SJ-V22-04ZT

320

18.5

(30-minute rating)

26.4

39.0

1500

8000

B160

118

0.319

0.08

2940

3-phase 200V

80W

Altitude

Degree of protection

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)

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

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

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

Transportation: 10000 meters or less above sea level

IP44

250 SQ.

469.5

Φ 230

Φ 48

110

250 SQ.

469.5

Φ 230

Φ 48

110

250 SQ.

469.5

Φ 230

Φ 48

110

250 SQ.

469.5

Φ 230

Φ 48

110

250 SQ.

539.5

Φ 230

Φ 55

135

250 SQ.

539.5

Φ 230

Φ 55

135

155 (F)

(Note 1) The tolerable radial load is the value calculated at the center of output shaft.

(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.

(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 23

MITSUBISHI CNC

2 Specifications

< SJ-V Series (Normal specifications) >

Spindle motor type

Compatible spindle drive unit type

MDS-D-SP-

MDS-D-SP2-

Continuous rating

Output capacity

[kW]

Short time rating

Standard output during acceleration/deceleration

Actual acceleration/ deceleration output (Note 3)

Power facility capacity [kVA]

Base rotation speed [r/min]

Maximum rotation speed [r/min]

Frame No.

Continuous rated torque [N•m]

GD 2 [kg•m 2 ]

Inertia [kg•m

]

Tolerable radial load [N]

Input voltage

Cooling fan Maximum power consumption

Environment

Ambient temperature

Ambient humidity

Atmosphere

SJ-V22-06ZT

240

(30-minute rating)

13.2

26.7

1500

10000

A160

70.0

0.23

0.0575

2450

3-phase 200V

63W

SJ-V26-01ZT

320

(30-minute rating)

31.2

46.1

1500

8000

C160

140

0.37

0.0925

2940

3-phase 200V

63W

SJ-V30-02ZT

320

18.5

(30-minute rating)

26.4

39.0

1500

8000

B160

118

0.32

0.08

2940

3-phase 200V

63W

SJ-V37-01ZT

400

(30-minute rating)

44.4

65.5

1150

6000

B180

249

1.36

0.34

3920

3-phase 200V

175W

SJ-V45-01ZT

640

(30-minute rating)

79.6

1500

6000

B180

236

1.36

0.34

3920

3-phase 200V

175W

SJ-V55-01ZT

640

(30-minute rating)

97.2

1150

4500

A225

374

3.39

0.848

5880

3-phase 200V

115W

Altitude

Degree of protection

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)

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

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

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

Transportation: 10000 meters or less above sea level

IP44

250 SQ.

469.5

Φ 230

Φ 48

110

250 SQ.

585.5

Φ 230

Φ 55

155

250 SQ.

539.5

Φ 230

Φ 55

135

320 SQ.

700

Φ 300

Φ 60

300

320 SQ.

700

Φ 300

Φ 60

300

480 SQ.

724

Φ 450

Φ 75

450

155 (F)

(Note 1) The tolerable radial load is the value calculated at the center of output shaft.

(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.

(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 24

MDS-D/DH Series Specifications Manual

2-2 Spindle motor

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

Spindle motor type

Compatible spindle drive unit type

MDS-D-SP-

MDS-D-SP2-

Output capacity

[kW]

Continuous rating

Short time rating

Standard output during acceleration/deceleration

Actual acceleration/ deceleration output (Note 3)

Power facility capacity [kVA]

Base rotation speed [r/min]

Maximum rotation speed [r/min]

Frame No.

Continuous rated torque [N•m]

GD 2 [kg•m 2 ]

Inertia [kg•m 2 ]

Tolerable radial load [N]

Input voltage

Cooling fan Maximum power consumption

Environment

Ambient temperature

Ambient humidity

Atmosphere

SJ-V11-01T

160

16080S (L)

16080 (L)

3.7

5.5 (30-minute rating)

5.5

6.6

9.9

750

6000

B112

47.1

0.12

0.03

1960

40W

SJ-V11-09T

160

16080S (L)

16080 (L)

5.5

7.5 (30-minute rating)

7.5

13.4

750

6000

A160

70.0

0.23

0.0575

2940

63W

7.5

9 (30-minute rating)

3-phase 200V

SJ-V15-03T

200

10.8

16.1

750

6000

A160

95.5

0.23

0.0575

2940

80W

SJ-V18.5-03T

240

11 (30-minute rating)

13.2

19.6

750

6000

B160

115

0.32

0.08

2940

80W

Altitude

Degree of protection

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)

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

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

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

Transportation: 10000 meters or less above sea level

IP44

204 SQ.

490

Φ 180

Φ 48

250 SQ.

469.5

Φ 230

Φ 48

110

250 SQ.

469.5

Φ 230

Φ 48

110

250 SQ.

539.5

Φ 230

Φ 55

135

155 (F)

(Note 1) The tolerable radial load is the value calculated at the center of output shaft.

(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.

(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 25

MITSUBISHI CNC

2 Specifications

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

Spindle motor type

Compatible spindle drive unit type

MDS-D-SP-

MDS-D-SP2-

Continuous rating

Short time rating

Output capacity

[kW]

Standard output during acceleration/deceleration

Actual acceleration/ deceleration output (Note 3)

Power facility capacity [kVA]

Base rotation speed [r/min]

Maximum rotation speed [r/min]

Frame No.

Continuous rated torque [N•m]

GD 2 [kg•m 2 ]

Inertia [kg•m

]

Tolerable radial load [N]

Input voltage

Cooling fan Maximum power consumption

Environment

Ambient temperature

Ambient humidity

Atmosphere

SJ-V22-05T

320

15 (30-minute rating)

26.7

750

6000

B160

140

0.32

0.08

2940

63W

SJ-V22-09T

320

18.5 (30-minute rating)

18.5

22.2

32.8

500

4500

A180

239

1.23

0.31

3920

175W

SJ-VK22-19ZT

320

18.5 (15-minute rating)

3-phase 200V

18.5

22.2

32.8

330

750

310

B180

1.36

0.34

3920

175W

18.5

22 (30-minute rating)

26.4

39.0

575

6000

307.3

Altitude

Degree of protection

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)

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

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

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

Transportation: 10000 meters or less above sea level

IP44

250 SQ.

539.5

Φ 230

Φ 55

135

320 SQ.

631

Φ 300

Φ 60

280

320 SQ.

700

Φ 300

Φ 60

300

155 (F)

(Note 1) The tolerable radial load is the value calculated at the center of output shaft.

(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.

(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 26

MDS-D/DH Series Specifications Manual

2-2 Spindle motor

< SJ-VL Series (Low-inertia) >

Spindle motor type

Compatible spindle drive unit type

MDS-D-SP-

MDS-D-SP2-

Continuous rating

Output capacity

[kW]

Short time rating

Standard output during acceleration/deceleration

Actual acceleration/ deceleration output (Note 3)

Power facility capacity [kVA]

Base rotation speed [r/min]

Maximum rotation speed [r/min]

Frame No.

Continuous rated torque [N•m]

GD 2 [kg•m 2 ]

Inertia [kg•m

]

Tolerable radial load [N]

Input voltage

SJ-VL2.2-02ZT

4020 (L)

4040S (L,M)

4040 (L,M)

8040 (M)

1.5

2.2

(15-minute rating)

2.2

2.6

4.1

3000

15000

B71

4.77

0.0096

0.0024

196

Single-phase

200V

SJ-VL11-

05FZT-S01

160

16080S (L)

16080 (L)

1.5

(10-minute rating)

13.2

5.5

5000

20000

B71

2.8

0.0096

0.0024

Single-phase

200V

SJ-VL11-10FZT SJ-VL11-10FZT SJ-VL11-07ZT SJ-VL11-07ZT

160

16080S (L)

16080 (L)

2.2

3.7

(15-minute rating)

13.2

6.7

1700

15000

D90

12.4

0.021

0.00525

245

Single-phase

200V

160

3.7

5.5

(15-minute rating)

13.2

9.9

3000

(10-minute rating: 2500)

15000

D90

11.8

0.021

0.00525

245

Single-phase

200V

160

16080S (L)

16080 (L)

5.5

7.5

(30-minute rating)

13.2

13.4

1500

12000

B112

0.072

0.018

980

160

16080S (L)

16080 (L)

7.5

(15-minute rating)

13.2

19.6

2200

12000

B112

32.6

0.072

0.018

980

3-phase 200V 3-phase 200V

Cooling fan

Environment

Maximum power consumption

Ambient temperature

Ambient humidity

Atmosphere

Altitude

Degree of protection

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

14W 14W 41W 41W 70W 70W

Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)

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

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

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

Transportation: 10000 meters or less above sea level

IP44

130 SQ.

325

Φ 110

Φ 22

130 SQ.

335

Φ 110

Φ 22

174 SQ.

441

Φ 150

Φ 28

174 SQ.

441

Φ 150

Φ 28

204 SQ.

490

Φ 180

Φ 32

204 SQ.

490

Φ 180

Φ 32

155 (F)

(Note 1) The tolerable radial load is the value calculated at the center of output shaft.

(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.

(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 27

MITSUBISHI CNC

2 Specifications

(2) 400V series

< SJ-4-V Series (Normal specifications) >

Spindle motor type

Compatible spindle drive unit type

MDS-DH-SP-

Continuous rating

Output capacity

[kW]

Short time rating

Standard output during acceleration/deceleration

Actual acceleration/ deceleration output (Note 3)

Power facility capacity [kVA]

Base rotation speed [r/min]

Maximum rotation speed [r/min]

Frame No.

Continuous rated torque [N•m]

GD 2 [kg•m 2 ]

Inertia [kg•m 2 ]

Tolerable radial load [N]

Input voltage

Cooling fan Maximum power consumption

Environment

Ambient temperature

Ambient humidity

Atmosphere

SJ-4-V2.2-03T SJ-4-V3.7-03T SJ-4-V3.7-05ZT SJ-4-V5.5-07T SJ-4-V7.5-12T SJ-4-V7.5-13ZT

1.5

2.2

(15-minute rating)

2.2

2.6

4.1

A90

9.5

0.027

0.00675

1500

10000

980

2.2

3.7

(15-minute

rating)

3.7

4.4

2.2

3.7

(15-minute

rating)

3.7

4.4

6.7

B90

14.0

0.035

6.7

3000

15000

A90

7.0

0.027

0.00875

0.007

490

Single-phase 400V

30W

3.7

5.5

(30-minute

rating)

5.5

6.6

9.9

D90

23.5

0.059

0.0148

1470

35W

8000

5.5

7.5

(30-minute

rating)

7.5

13.4

1500

13.4

A112

35.0

0.098

12000

A112

35.0

0.098

0.0245

1960

3-phase 400V

980

70W

5.5

7.5

(30-minute

rating)

7.5

Altitude

Degree of protection

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)

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

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

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

Transportation: 10000 meters or less above sea level

IP44

174 SQ.

300

Φ 150

Φ 28

174 SQ.

330

Φ 150

Φ 28

174 SQ.

300

Φ 150

Φ 28

174 SQ.

425

Φ 150

Φ 28

204 SQ.

440

Φ 180

Φ 32

204 SQ.

440

Φ 180

Φ 32

155 (F)

(Note 1) The tolerable radial load is the value calculated at the center of output shaft.

(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.

(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".

(Note 4) The rated output is guaranteed at the rated input voltage (380 to 440VAC 50Hz / 380 to 480VAC 60Hz) to the power supply unit. If the input voltage fluctuates and drops below 380VAC, the rated output may not be attained.

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 28

MDS-D/DH Series Specifications Manual

2-2 Spindle motor

< SJ-4-V Series (Normal specifications) >

Spindle motor type

Compatible spindle drive unit type

MDS-DH-SP-

Continuous rating

Output capacity

[kW]

Short time rating

Standard output during acceleration/deceleration

Actual acceleration/ deceleration output (Note 3)

Power facility capacity [kVA]

Base rotation speed [r/min]

Maximum rotation speed [r/min]

Frame No.

Continuous rated torque [N•m]

GD 2 [kg•m 2 ]

Inertia [kg•m

]

Tolerable radial load [N]

Input voltage

Cooling fan Maximum power consumption

Environment

Ambient temperature

Ambient humidity

Atmosphere

SJ-4-V11-18T SJ-4-V11-22ZT SJ-4-V11-23ZT SJ-4-V15-18T SJ-4-V18.5-14T SJ-4-V22-15T

7.5

(30-minute

rating)

13.2

19.6

6000

B112

47.7

0.12

0.03

1960

100

5.5

7.5

(30-minute

rating)

7.5

13.4

12000

A112

35.0

0.098

0.025

980

70W

100

7.5

(30-minute

rating)

13.2

100

(30-minute

rating)

19.6

26.7

1500

8000

B112

47.7

0.12

0.03

1470

3-phase 400V

A160

70.0

0.23

0.0575

100

18.5

(30-minute rating)

18.5

22.2

32.8

6000

A160

95.5

0.23

0.0575

2940

72W

160

18.5

(30-minute rating)

26.4

39.0

B160

118

0.32

0.08

Altitude

Degree of protection

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)

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

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

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

Transportation: 10000 meters or less above sea level

IP44

204 SQ.

490

Φ 180

Φ 48

204 SQ.

440

Φ 180

Φ 32

204 SQ.

490

Φ 180

Φ 48

250 SQ.

469.5

Φ 230

Φ 48

110

250 SQ.

469.5

Φ 230

Φ 48

110

250 SQ.

539.5

Φ 230

Φ 55

135

155 (F)

(Note 1) The tolerable radial load is the value calculated at the center of output shaft.

(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.

(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 29

MITSUBISHI CNC

2 Specifications

< SJ-4-V Series (Normal specifications) >

Spindle motor type

Compatible spindle drive unit type

MDS-DH-SP-

Continuous rating

Output capacity

[kW]

Short time rating

Standard output during acceleration/deceleration

Actual acceleration/ deceleration output (Note 3)

Power facility capacity [kVA]

Base rotation speed [r/min]

Maximum rotation speed [r/min]

Frame No.

Continuous rated torque [N•m]

GD 2 [kg•m 2 ]

Inertia [kg•m

]

Tolerable radial load [N]

Input voltage

Cooling fan Maximum power consumption

Environment

Ambient temperature

Ambient humidity

Atmosphere

SJ-4-V22-18ZT SJ-4-V26-08T SJ-4-V30-15ZT SJ-4-V37-04ZT SJ-4-V45-02T

160

(30-minute

rating)

26.7

8000

A160

70.0

0.23

0.0575

2940

160

(30-minute rating)

31.2

46.1

1500

6000

C160

140

0.38

0.0925

72W

160

18.5

(30-minute

rating)

26.4

200

(30-minute rating)

44.4

39.0

8000

B160

118

0.32

0.08

1960

3-phase 400V

65.5

1150

6000

B180

249

1.36

0.34

3920

320

(30-minute rating)

79.6

1500

4500

B180

236

1.36

0.34

SJ-4-V55-03T

320

(30-minute rating)

97.2

1150

3450

A225

374

3.39

0.85

5880

Refer to each motor specifications.

Altitude

Degree of protection

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)

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

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

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

Transportation: 10000 meters or less above sea level

IP44

250 SQ.

469.5

Φ 230

Φ 48

110

250 SQ.

585.5

Φ 230

Φ 55

155

250 SQ.

539.5

Φ 230

Φ 55

155

320 SQ.

700

Φ 300

Φ 60

300

320 SQ.

700

Φ 300

Φ 60

300

480 SQ.

724

Φ 450

Φ 75

450

155 (F)

(Note 1) The tolerable radial load is the value calculated at the center of output shaft.

(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.

(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 30

MDS-D/DH Series Specifications Manual

2-2 Spindle motor

< SJ-4-V Series (Wide range constant output)>

Spindle motor type

Compatible spindle drive unit type

MDS-DH-SP-

Continuous rating

Output capacity

[kW]

Short time rating

Standard output during acceleration/deceleration

Actual acceleration/ deceleration output (Note 3)

Power facility capacity [kVA]

Base rotation speed [r/min]

Maximum rotation speed [r/min]

Frame No.

Continuous rated torque [N•m]

GD 2 [kg•m 2 ]

Inertia [kg•m 2 ]

Tolerable radial load [N]

Input voltage

Cooling fan Maximum power consumption

Environment

Ambient temperature

Ambient humidity

Atmosphere

SJ-4-V11-21T

5.5

7.5

(30-minute rating)

7.5

13.4

70.0

0.23

0.06

A160

SJ-4-V15-20T

100

7.5

(30-minute rating)

10.8

16.1

95.5

0.23

0.06

750

6000

SJ-4-V18.5-17T

(30-minute rating)

2940

3-phase 400V

72W

160

13.2

19.6

115

0.32

0.08

B160

SJ-4-V22-16T

160

(30-minute rating)

26.7

140

0.32

0.08

Altitude

Degree of protection

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)

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

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

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

Transportation: 10000 meters or less above sea level

IP44

250 SQ.

469.5

Φ 230

Φ 48

250 SQ.

469.5

Φ 230

Φ 48

250 SQ.

539.5

Φ 230

Φ 55

250 SQ.

539.5

Φ 230

Φ 55

110 135

155 (F)

(Note 1) The tolerable radial load is the value calculated at the center of output shaft.

(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.

(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 31

MITSUBISHI CNC

2 Specifications

< SJ-4-VS Series (Hollow shaft) >

Spindle motor type

Compatible spindle drive unit type

MDS-DH-SP-

Continuous rating

Output capacity

[kW]

Short time rating

Standard output during acceleration/deceleration

Actual acceleration/ deceleration output (Note 3)

Power facility capacity [kVA]

Base rotation speed [r/min]

Maximum rotation speed [r/min]

Frame No.

Continuous rated torque [N•m]

GD 2 [kg•m 2 ]

Inertia [kg•m 2 ]

Tolerable radial load [N]

Input voltage

Cooling fan Maximum power consumption

Environment

Ambient temperature

Ambient humidity

Atmosphere

SJ-4-VS7.5-13ZT

5.5

7.5

(30-minute rating)

7.5

13.4

1500

12000

A112

35.0

0.099

0.025

0 (Note 1)

70W

SJ-4-VS22-18ZT

160

(30-minute rating)

26.7

A160

70.0

0.23

0.058

0 (Note 1)

3-phase 400V

1500

8000

72W

SJ-4-VS30-15ZT

160

18.5

(30-minute rating)

26.4

39.0

B160

118

0.32

0.08

0 (Note 1)

Altitude

Degree of protection

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

Operation: 0 to 40°C (with no freezing), Storage: -20°C to 65°C (with no freezing)

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

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

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

Transportation: 10000 meters or less above sea level

204 SQ.

440

180

IP44

250 SQ.

469.5

Φ 230

Φ 48

115

155 (F)

250 SQ.

539.5

230

140

(Note 1) Do not apply a radial load.

(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the designated combination.

(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold of "Short time rated output".

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 32

MDS-D/DH Series Specifications Manual

2-2 Spindle motor

2-2-2 Output characteristics

(1) 200V series

< SJ-D Series (Normal specifications) >

[ SJ-D3.7/100-01 ]

6.0

4.0

2.0

3.7

15-minute rating

2.2

Continuous rating

0 1500 6000

Rotation speed [r/min]

10000

4.0

2.0

[ SJ-D5.5/100-01 ]

5.5

30-minute rating

3.7

Continuous rating

0 1500 6000

Rotation speed [r/min]

10000

[ SJ-D11/80-01 ]

8.0

6.0

4.0

[ SJ-D7.5/100-01 ]

7.5

30-minute rating

5.5

Continuous rating

2.0

0 1500 6000

Rotation speed [r/min]

10000

30-minute rating

Continuous rating

0 1500 4500

Rotation speed [r/min]

8000

< SJ-DJ Series (Compact & lightweight specifications) >

[ SJ-DJ5.5/100-01 ] [ SJ-DJ7.5/100-01 ]

8.0

7.5

6.0

4.0

5.5

25%ED rating

3.7

Continuous rating

2.0

4.0

2.0

Continuous rating

0 1500 2000 4500

Rotation speed [r/min]

10000

0 1500 2000 4500

Rotation speed [r/min]

10000

[ SJ-DJ11/100-01 ]

Continuous rating

0 1500 2000 4500

Rotation speed [r/min]

10000

[ SJ-DJ15/80-01 ]

15%ED rating

15-minute rating

Continuous rating

0 1500 2000 4000

Rotation speed [r/min]

8000

(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2fold of "Short time rated output".

2 - 33

MITSUBISHI CNC

2 Specifications

< SJ-V Series (Normal specifications) >

[ SJ-VL0.75-01T ]

2.0

1.5

1.0

0.5

0.75

10-minute rating

0.4

Continuous rating

0 1500 6000

Rotation speed [r/min]

10000

[ SJ-VL1.5-01T ]

1.5

1.0

1.5

10-minute rating

0.75

Continuous rating

0.5

0 1500 6000

Rotation speed [r/min]

6.0

[ SJ-V2.2-01T ]

4.0

10000

2.0

2.2

1.5

15-minute rating

Continuous rating

0 1500 6000

Rotation speed [r/min]

10000

6.0

[ SJ-V3.7-01T ]

6.0

[ SJ-V3.7-02ZT ]

4.0

2.0

3.7

15-minute rating

2.2

Continuous rating

0 1500 6000

Rotation speed [r/min]

10000

4.0

2.0

3.7

2.2

15-minute rating

Continuous rating

0 3000 12000 15000

Rotation speed [r/min]

[ SJ-V5.5-01ZT ]

8.0

6.0

4.0

5.5

30-minute rating

3.7

Continuous rating

2.0

0 1500 6000

Rotation speed [r/min]

12000

8.0

6.0

4.0

[ SJ-V7.5-01ZT ]

7.5

30-minute rating

5.5

Continuous rating

4.0

2.0

8.0

6.0

2.0

0 1500 6000

Rotation speed [r/min]

[ SJ-V11-06ZT ]

7.5

5.5

30-minute rating

Continuous rating

12000

8.0

6.0

4.0

2.0

[ SJ-V7.5-03ZT ]

7.5

30-minute rating

5.5

Continuous rating

[ SJ-V11-01ZT ]

30-minute rating

7.5

Continuous rating

0 1500 10000 12000

Rotation speed [r/min]

[ SJ-V11-08ZT ]

7.5

30-minute rating

Continuous rating

0 1500 4500

Rotation speed [r/min]

[ SJ-V11-13ZT ]

7.5

30-minute rating

Continuous rating

8000

0 1500

Rotation speed [r/min]

12000

0 1500

Rotation speed [r/min]

8000

0 1500 6000

Rotation speed [r/min]

8000

(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2fold of "Short time rated output".

2 - 34

MDS-D/DH Series Specifications Manual

2-2 Spindle motor

[ SJ-V15-01ZT ]

30-minute rating

Continuous rating

0 1500 4500

Rotation speed [r/min]

[ SJ-V18.5-04ZT ]

18.5

30-minute rating

Continuous rating

8000

0 1500 6000

Rotation speed [r/min]

8000

[ SJ-V22-06ZT ]

30-minute rating

Continuous rating

0 1500

Rotation speed [r/min]

9500 10000

[ SJ-V37-01ZT ]

30-minute rating

Continuous rating

[ SJ-V15-09ZT ]

30-minute rating

Continuous rating

0 1500 6000

Rotation speed [r/min]

8000

[ SJ-V22-01ZT ]

18.5

30-minute rating

Continuous rating

0 1500 4500

Rotation speed [r/min]

[ SJ-V26-01ZT ]

30-minute rating

Continuous rating

0 1500 6000

Rotation speed [r/min]

8000

[ SJ-V45-01ZT ]

30-minute rating

Continuous rating

[ SJ-V18.5-01ZT ]

18.5

30-minute rating

Continuous rating

0 1500 4500

Rotation speed [r/min]

[ SJ-V22-04ZT ]

18.5

30-minute rating

Continuous rating

8000

0 1500 6000

Rotation speed [r/min]

8000

[ SJ-V30-02ZT ]

18.5

30-minute rating

Continuous rating

0 1500

Rotation speed [r/min]

[ SJ-V55-01ZT ]

30-minute rating

Continuous rating

8000

0 1150 3450

Rotation speed [r/min]

6000

0 1500 4500

Rotation speed [r/min]

6000

0 1150 3450

Rotation speed [r/min]

4500

(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2fold of "Short time rated output".

2 - 35

MITSUBISHI CNC

2 Specifications

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

[ SJ-V11-01T ]

15 15

[ SJ-V11-09T ] [ SJ-V15-03T ]

0 750

5.5

3.7

30-minute rating

Continuous rating

Rotation speed [r/min]

[ SJ-V18.5-03T ]

30-minute rating

Continuous rating

0 750

Rotation speed [r/min]

6000

7.5

5.5

30-minute rating

Continuous rating

0 750

Rotation speed [r/min]

[ SJ-V22-05T ]

30-minute rating

Continuous rating

0 750

Rotation speed [r/min]

6000

[ SJ-VK22-19ZT (in low-speed coil) ]

10-minute rating

18.5

15-minute rating

Continuous rating

[ SJ-VK22-19ZT (in high-speed coil) ]

18.5

30-minute rating

Continuous rating

7.5

30-minute rating

Continuous rating

0 750

Rotation speed [r/min]

[ SJ-V22-09T ]

18.5

30-minute rating

Continuous rating

6000

0 500 600 3500

Rotation speed [r/min]

4500

0 330 400

Rotation speed [r/min]

750

0 575 3450

Rotation speed [r/min]

6000

(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2fold of "Short time rated output".

2 - 36

MDS-D/DH Series Specifications Manual

2-2 Spindle motor

< SJ-VL Series (Low-inertia) >

6.0

[ SJ-VL2.2-02ZT ]

4.0

2.0

2.2

1.5

15-minute rating

Continuous rating

3000

Rotation speed [r/min]

15000

[ SJ-VL11-05FZT-S01 ]

Standard output during acceleration/deceleration

1.5

10-minute rating

Continuous rating

5000 6000

Rotation speed [r/min]

18000 20000

[ SJ-VL11-10FZT ]

Standard output during acceleration/deceleration

3.7

2.2

15-minute rating

Continuous rating

0 1700 5000

Rotation speed [r/min]

15000

[ SJ-VL11-10FZT ] [ SJ-VL11-07ZT ] [ SJ-VL11-07ZT ]

15 15 15

10-minute rating

Standard output during acceleration/deceleration

5.5

3.7

15-minute rating

Continuous rating

0 2500 3000 5000

Rotation speed [r/min]

15000

Standard output during acceleration/deceleration

7.5

5.5

30-minute rating

Continuous rating

0 1500 2200 8000

Rotation speed [r/min]

12000

15-minute rating

7.5

Continuous rating

2200 8000

Rotation speed [r/min]

12000

(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2fold of "Short time rated output".

2 - 37

MITSUBISHI CNC

2 Specifications

(2) 400V series

< SJ-4-V Series (Normal specifications) >

[ SJ-4-V2.2-03T ]

6.0

[ SJ-4-V3.7-03T ]

6.0

[ SJ-4-V3.7-05ZT ]

4.0

2.0

2.2

1.5

15-minute rating

Continuous rating

0 1500 6000

Rotation speed [r/min]

10000

[ SJ-4-V5.5-07T ]

8.0

6.0

4.0

5.5

30-minute rating

3.7

Continuous rating

2.0

0 1500 6000

Rotation speed [r/min]

8000

[ SJ-4-V11-18T ]

7.5

30-minute rating

Continuous rating

1500 4500

Rotation speed [r/min]

6000

8.0

6.0

4.0

2.0

4.0

2.0

3.7

15-minute rating

2.2

Continuous rating

0 1500 6000

Rotation speed [r/min]

10000

[ SJ-4-V7.5-12T ]

7.5

30-minute rating

5.5

Continuous rating

0 1500 6000

Rotation speed [r/min]

8000

8.0

6.0

4.0

2.0

[ SJ-4-V11-22ZT ]

7.5

30-minute rating

5.5

Continuous rating

0 1500

Rotation speed [r/min]

12000

4.0

2.0

3.7

2.2

15-minute rating

Continuous rating

0 3000 12000 15000

Rotation speed [r/min]

8.0

6.0

4.0

[ SJ-4-V7.5-13ZT ]

7.5

30-minute rating

5.5

Continuous rating

2.0

0 1500 10000 12000

Rotation speed [r/min]

[ SJ-4-V11-23ZT ]

7.5

30-minute rating

Continuous rating

0 1500

Rotation speed [r/min]

8000

[ SJ-4-V15-18T ]

30-minute rating

Continuous rating

[ SJ-4-V18.5-14T ]

18.5

30-minute rating

Continuous rating

[ SJ-4-V22-15T ]

18.5

30-minute rating

Continuous rating

5 5

0 1500 4500

Rotation speed [r/min]

6000

0 1500 4500

Rotation speed [r/min]

6000

0 1500 4500

Rotation speed [r/min]

6000

(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2fold of "Short time rated output".

2 - 38

MDS-D/DH Series Specifications Manual

2-2 Spindle motor

[ SJ-4-V22-18ZT ]

30-minute rating

Continuous rating

0 1500

Rotation speed [r/min]

[ SJ-4-V37-04ZT ]

8000

30-minute rating

Continuous rating

[ SJ-4-V26-08T ]

30-minute rating

Continuous rating

0 1500

Rotation speed [r/min]

[ SJ-4-V45-02T ]

30-minute rating

Continuous rating

6000

[ SJ-4-V30-15ZT ]

18.5

30-minute rating

Continuous rating

0 1500

Rotation speed [r/min]

[ SJ-4-V55-03T ]

30-minute rating

Continuous rating

8000

0 1150 3450

Rotation speed [r/min]

6000

0 1500

Rotation speed [r/min]

4500

0 1150

Rotation speed [r/min]

3450

(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2fold of "Short time rated output".

2 - 39

MITSUBISHI CNC

2 Specifications

< SJ-4-V Series (Wide range constant output) >

[ SJ-4-V11-21T ]

7.5

5.5

30-minute rating

Continuous rating

0 750

Rotation speed [r/min]

[ SJ-4-V22-16T ]

30-minute rating

Continuous rating

0 750

Rotation speed [r/min]

6000

[ SJ-4-V15-20T ]

7.5

30-minute rating

Continuous rating

0 750

Rotation speed [r/min]

6000

[ SJ-4-V18.5-17T ]

30-minute rating

Continuous rating

0 750

Rotation speed [r/min]

6000

< SJ-4-VS Series (Hollow shaft) >

[ SJ-4-VS7.5-13ZT ]

8.0

6.0

4.0

7.5

30-minute rating

5.5

Continuous rating

[ SJ-4-VS22-18ZT ]

30-minute rating

Continuous rating

[ SJ-4-VS30-15ZT ]

18.5

30-minute rating

Continuous rating

2.0

0 1500

Rotation speed [r/min]

12000

0 1500

Rotation speed [r/min]

8000

0 1500

Rotation speed [r/min]

8000

(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2fold of "Short time rated output".

2 - 40

MDS-D/DH Series Specifications Manual

2-3 Tool spindle motor

2-3 Tool spindle motor

2-3-1 Specifications

< HF-KP Series >

Tool spindle motor type

Compatible spindle drive unit type

MDS-D-SP-

MDS-D-SP2-

Continuous characteristics

Rated output [kW]

Rated current [A]

Rated torque [N•m]

Power facility capacity [kVA]

Rated rotation speed [r/min]

Maximum rotation speed [r/min]

Maximum current [A]

Maximum torque [N•m]

Motor inertia [×10 -4 kg•m 2 ]

Motor side encoder

Degree of protection

Ambient temperature

Environment

Ambient humidity

Atmosphere

Altitude

Vibration

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

HF-KP46

2020 (L,M)

4020 (M)

0.4

1.5

0.64

0.9

HF-KP Series

HF □ -W09

HF-KP56

2020 (L,M)

4020 (M)

0.5

1.8

0.80

1.1

6000

11.3

HF-KP96

2020 (L,M)

4020 (M)

0.9

3.4

1.43

1.8

5.5

2.5

15.5

6.5

0.24

0.42

1.43

60 SQ.

118.7

Φ 50

Φ 14

1.2

Resolution per motor revolution

260,000 pulse/rev

IP67 (The shaft-through portion is excluded.)

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

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

Operation: 80%RH or less (with no dew condensation),

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

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

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

X,Y: 49m/s

(5G)

60 SQ.

140.6

1.7

130 (B)

80 SQ.

149.1

2.9

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

(Note 2) A 2-axis spindle drive unit (MDS-D-SP2) drives two tool spindle motors only. A spindle motor other than tool spindle motor is not usable.

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 41

MITSUBISHI CNC

2 Specifications

< HF-SP Series >

Tool spindle motor type

Compatible spindle drive unit type

Continuous characteristics

Rated output [kW]

Rated current [A]

Rated torque [N•m]

Power facility capacity [kVA]

Rated rotation speed [r/min]

Maximum rotation speed [r/min]

Maximum current [A]

Maximum torque [N•m]

Motor inertia [×10 -4 kg•m 2 ]

Degree of protection

Ambient temperature

Environment

MDS-D-SP-

MDS-D-SP2-

Motor side encoder

Ambient humidity

Atmosphere

Altitude

Vibration

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

HF-SP Series

HF-SP □ -JW09

HF-SP226

8040 (L)

16080S (M)

8080 (L,M)

16080 (M)

2.2

8.2

3.5

4.1

HF-SP406

160

16080S (L)

16080 (L)

4.0

14.4

6.37

7.3

6000

44.0

22.0

11.9

95.0

50.0

23.7

Resolution per motor revolution

260,000 pulse/rev

IP67 (The shaft-through portion is excluded.)

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

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

Operation: 80%RH or less (with no dew condensation),

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

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

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

X,Y:24.5m/s

(2.5G)

130 SQ.

140.5

Φ 110

Φ 24

6.8

130 SQ.

184.5

Φ 110

Φ 24

10.0

155 (F)

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

(Note 2) A 2-axis spindle drive unit (MDS-D-SP2) drives two tool spindle motors only. A spindle motor other than tool spindle motor is not usable.

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 42

MDS-D/DH Series Specifications Manual

2-3 Tool spindle motor

< HF Series >

Tool spindle motor type

Compatible spindle drive unit type

MDS-D-SP-

MDS-D-SP2-

Continuous characteristics

Rated output [kW]

Rated current [A]

Rated torque [N•m]

Power facility capacity [kVA]

Rated rotation speed [r/min]

Maximum rotation speed [r/min]

Maximum current [A]

Maximum torque [N•m]

Motor inertia [×10 -4 kg•m 2 ]

Motor side encoder

Degree of protection

Ambient temperature

Environment

Ambient humidity

Atmosphere

Altitude

Vibration

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

HF Series

HF75

2020 (L,M)

4020 (M)

0.75

3.1

1.8

1.5

14.0

7.0

2.6

90 SQ.

126.5

2.5

4000

HF105

2020 (L,M)

4020 (M)

1.0

3.7

2.4

2.0

HF54

4020 (L)

4040S (L,M)

4040 (L,M)

8040 (M)

0.5

2.0

1.6

1.1

HF □ -A48

HF104 HF154

4020 (L)

4040S (L,M)

4040 (L,M)

8040 (M)

8040 (L)

16080S(M)

8080 (L,M)

16080 (M)

1.0

3.9

3.2

2.0

1.5

5.6

4.8

2.8

3000

HF224

8040 (L)

16080S(M)

8080 (L,M)

16080 (M)

2.2

8.6

7.0

4.1

29.0

23.3

52.0

33.9

57.0

46.5

11.9

17.8

23.7

HF204

8040 (L)

16080S(M)

8080 (L,M)

16080 (M)

2.0

6.8

6.4

3.7

15.5

8.1

5.1

16.8

12.1

6.1

57.0

46.5

38.3

90 SQ.

162.5

Φ 80

Φ 14

4.3

130 SQ.

118.5

Φ 110

Φ 24

4.8

Resolution per motor revolution

260,000 pulse/rev

IP67 (The shaft-through portion is excluded.)

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

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

Operation: 80%RH or less (with no dew condensation),

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

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

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

X,Y:24.5m/s

(2.5G)

130 SQ.

140.5

110

6.5

155 (F)

130 SQ.

162.5

Φ 110

Φ 24

8.3

130 SQ.

184.5

Φ 110

Φ 24

10.0/

176 SQ.

143.5

Φ 114.3

Φ 35

12.0

HF354

160

16080S(L)

16080 (L)

3.5

11.1

6.4

116.0

74.5

75.0

176 SQ.

183.5

Φ 114.3

Φ 35

19.0

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

(Note 2) A 2-axis spindle drive unit (MDS-D-SP2) drives two tool spindle motors only. A spindle motor other than tool spindle motor is not usable.

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 43

MITSUBISHI CNC

2 Specifications

< HF Series >

Tool spindle motor type

Compatible spindle drive unit type

Continuous characteristics

Rated output [kW]

Rated current [A]

Rated torque [N•m]

Power facility capacity [kVA]

Rated rotation speed [r/min]

Maximum rotation speed [r/min]

Maximum current [A]

Maximum torque [N•m]

Motor inertia [×10 -4 kg•m 2 ]

Motor side encoder

Degree of protection

Ambient temperature

Environment

MDS-D-SP-

MDS-D-SP2-

Ambient humidity

Atmosphere

Altitude

Vibration

Flange size [mm]

Total length (excluding shaft) [mm]

Flange fitting diameter [mm]

Shaft diameter [mm]

Mass [kg]

Heat-resistant class

HF123

2020 (L,M)

4020 (M)

1.2

5.2

5.7

2.3

15.5

17.0

11.9

130 SQ.

140.5

Φ 110

Φ 24

6.5

HF223

4020 (L)

4040S (L,M)

4040 (L,M)

8040 (M)

2.2

9.0

10.5

4.1

2000

29.0

32.0

23.7

HF □ -A48

HF303

8040 (L)

16080S(M)

8080 (L,M)

16080 (M)

3.0

14.3

5.5

48.0

64.0

75.0

HF Series

HF453

160

16080S(L)

16080 (L)

4.5

14.3

8.1

104.2

89.3

112.0

HF703

160

16080S(L)

16080 (L)

7.0

22.3

12.5

3000

108.4

116.5

154.0

Resolution per motor revolution

260,000 pulse/rev

IP67 (The shaft-through portion is excluded.)

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

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

Operation: 80%RH or less (with no dew condensation),

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

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

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

X,Y:24.5m/s

(2.5G)

130 SQ.

184.5

Φ 110

Φ 24

10.0

176 SQ.

183.5

Φ 114.3

Φ 35

19.0

176 SQ.

223.5

Φ 114.3

Φ 35

25.0

176 SQ.

263.5

Φ 114.3

Φ 35

32.0

155 (F)

HF903

320

9.0

28.7

16.1

204.0

171.0

196.0

X,Y:9.8m/s

(1G)

204 SQ.

330

Φ 180

Φ 42

43.0

(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) A 2-axis spindle drive unit (MDS-D-SP2) drives two tool spindle motors only. A spindle motor other than tool spindle motor is not usable.

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 44

MDS-D/DH Series Specifications Manual

2-3 Tool spindle motor

2-3-2 Output characteristics

< HF-KP Series >

[ HF-KP46JW09 ]

3.0

2.5

2.0

1.5

1.0

0.5

0.0

Short time operation range

Continuous operation range

2000 4000

Rotation speed [r/min]

6000

[ HF-KP56JW09 ]

6.0

5.0

4.0

3.0

2.0

Short time operation range

1.0

0.0

Continuous operation range

2000 4000

Rotation speed [r/min]

6000

[ HF-KP96JW09 ]

8.0

6.0

4.0

Short time operation range

2.0

0.0

Continuous operation range

2000 4000

Rotation speed [r/min]

6000

< HF-SP Series >

[ HF-SP226JW09 ]

Short time operation range

Continuous operation range

2000 4000

Rotation speed [r/min]

6000

< HF Series >

[ HF75 ]

7.5

Short time operation range

2.5

Continuous operation range

2000

Rotation speed [r/min]

4000

[ HF-SP406JW09 ]

Short time operation range

Continuous operation range

2000 4000

Rotation speed [r/min]

6000

[ HF105 ]

Short time operation range

Continuous operation range

0 2000

Rotation speed [r/min]

4000

(Note) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is

200VAC or less, the short time operation range is limited.

2 - 45

MITSUBISHI CNC

2 Specifications

< HF Series >

[ HF54 ]

Short time operation range

Continuous operation range

Rotation speed [r/min]

3000

[ HF224 ]

Short time operation range

Continuous operation range

1000 2000

Rotation speed [r/min]

3000

[ HF123 ]

[ HF104 ]

Short time operation range

Continuous operation range

1000 2000

Rotation speed [r/min]

3000

[ HF204 ]

Short time operation range

Continuous operation range

Rotation speed [r/min]

[ HF223 ]

100

[ HF154 ]

Short time operation range

Continuous operation range

Rotation speed [r/min]

3000

[ HF354 ]

Short time operation range

Continuous operation range

1000 2000

Rotation speed [r/min]

3000

[ HF303 ]

Short time operation range

Short time operation range 40 Short time operation range

125

100

Continuous operation range

1000

Rotation speed [r/min]

2000

[ HF453 ]

Short time operation range

Continuous operation range

1000 2000 3000

Rotation speed [r/min]

Continuous operation range

0 1000

Rotation speed [r/min]

2000

[ HF703 ]

160

120

Continuous operation range

1000

Rotation speed [r/min]

2000

240

180

[ HF903 ]

120

Short time operation range

Continuous operation range

Rotation speed [r/min]

3000

Short time operation range

Continuous operation range

Rotation speed [r/min]

3000

(Note) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is

200VAC or less, the short time operation range is limited.

2 - 46

MDS-D/DH Series Specifications Manual

2-4 Drive unit

2-4 Drive unit

2-4-1 Installation environment conditions

Common installation environment conditions for servo, spindle and power supply unit are shown below.

Ambient temperature

Ambient humidity

Environment

Atmosphere

Altitude

Vibration/impact

Operation: 0 to 55°C (with no freezing), Storage / Transportation: -15°C to 70°C (with no freezing)

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

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

Indoors (no direct sunlight)

With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles

Operation/Storage: 1000 meters or less above sea level, Transportation: 13000 meters or less above sea level

4.9m/s

(0.5G) / 49m/s

(5G)

2 - 47

MITSUBISHI CNC

2 Specifications

2-4-2 Servo drive unit

(1) 200V series

< MDS-D Series >

Servo drive unit type

MDS-D-V1-

Nominal maximum current (peak) [A]

Output

Rated voltage [V]

Rated current [A]

Input

Rated voltage [V]

Rated current [A]

Voltage [V]

Control power

Frequency [Hz]

Maximum current [A]

Maximum rush current [A]

Maximum rush conductivity time [ms]

Earth leakage current [mA]

Control method

Braking

Dynamic brakes

External analog output

Degree of protection

Cooling method

Mass [kg]

Heat radiated at rated output [W]

Noise

Unit outline dimension drawing

6.4

7.0

1-axis servo drive unit MDS-D-V1 Series

80 160 160W 320

160

155AC

29.6

270 to 311DC

160

40.2

320

59.6

7.0

14 30 35 45

200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation : between +10% and -15%

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

0.2

320W

320

1 (Max. 2)

Sine wave PWM control method

Regenerative braking and dynamic brakes

Built-in

External

(MDS-D-

DBU)

3.8

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

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

Forced air cooling

96 184

Less than 55dB

4.5

245

A1 A1 B1

5.8

366

7.5

471

Servo drive unit type

MDS-D-V2-

Nominal maximum current (peak) [A]

Output

Rated voltage [V]

Rated current [A]

Input

Rated voltage [V]

Rated current [A]

Voltage [V]

Control power

Frequency [Hz]

Maximum current [A]

Maximum rush current [A]

Maximum rush conductivity time [ms]

Earth leakage current [mA]

Control method

Braking

Dynamic brakes

External analog output

Degree of protection

Cooling method

Mass [kg]

Heat radiated at rated output [W]

Noise

Unit outline dimension drawing

2020

20/20

6.4/6.4

4020

2-axis servo drive unit MDS-D-V2 Series

4040 8040 8080 16080 160160 160160W

40/20

11/6.4

40/40

11/11

80/40 80/80

AC155

16/11 16/16

270 to 311DC

160/80

29.6/16

160/160

29.6/29.6

14 14 21 28 44 60

200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation : between +10% and -15%

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

0.2

160/160

40.2/40.2

1 (Max. 4 For two axes)

Sine wave PWM control method Current control method

Regenerative braking and dynamic brakes

Built-in

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

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

Forced air cooling

4.5

106 144 182 270

Less than 55dB

A1 A1 B1

5.2

358

6.3

480

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 48

MDS-D/DH Series Specifications Manual

2-4 Drive unit

(2) 400V series

< MDS-DH Series >

Servo drive unit type

MDS-DH-V1-

Nominal maximum current (peak) [A]

Output

Rated voltage [V]

Rated current [A]

Input

Control power

Rated voltage [V]

Rated current [A]

Voltage [V]

Frequency [Hz]

Maximum current [A]

Maximum rush current [A]

Maximum rush conductivity time [ms]

Earth leakage current [mA]

Control method

Braking

Dynamic brakes

External analog output

Degree of protection

Cooling method

Mass [kg]

Heat radiated at rated output [W]

Noise

Unit outline dimension drawing

1-axis servo drive unit MDS-DH-V1 Series

10 20 40 80 80W 160 160W 200

10 20 40 80 80 160 160 200

340AC

2.3

3.9

7.3

17 20.1

32 46 76.8

0.9

1.6

2.9

513 to 648DC

6.0

8.0

11.9

16.7

380 to 440AC (50Hz) / 380 to 480AC (60Hz) Tolerable fluctuation : between +10% and -15%

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

0.1

3.8

1 (Max. 2)

Sine wave PWM control method

Regenerative braking and dynamic brakes

Built-in

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

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

Forced air cooling

114

215

4.5

269

Less than 55dB

5.8

390

External (MDS-D-DBU)

7.5

542

16.5

735

Servo drive unit type

MDS-DH-V2-

Nominal maximum current

(peak) [A]

Output

Input

Rated voltage [V]

Rated current [A]

Rated voltage [V]

Rated current [A]

Voltage [V]

Control power

Frequency [Hz]

Maximum current

[A]

Maximum rush current [A]

Maximum rush conductivity time

[ms]

Earth leakage current [mA]

Control method

Braking

Dynamic brakes

External analog output

Degree of protection

Cooling method

Mass [kg]

Heat radiated at rated output [W]

Noise

Unit outline dimension drawing

1010 2010

2-axis servo drive unit MDS-DH-V2 Series

2020 4020 4040 8040 8080 8080W

10/10

2.3 / 2.3

1.8

20/10 20/20 40/20 40/40 80/40 80/80 80/80

3.9 / 2.3

3.9 / 3.9

7.3 / 3.9

340AC

7.3 / 7.3

513 to 648DC

17 / 7.3

17 / 17

2.5

3.2

4.5

5.8

8.9

380 to 440AC (50Hz) / 380 to 480AC (60Hz) Tolerable fluctuation : between +10% and -15%

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

20.1 / 20.1

0.1

104

1 (Max. 4 For two axes)

Sine wave PWM control method Current control method

Regenerative braking and dynamic brakes

3.8

Built-in

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

IP20

Forced air cooling

126

172 218

Less than 55dB

A1 A1

319

5.2

420

6.3

528

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 49

MITSUBISHI CNC

2 Specifications

2-4-3 Spindle drive unit

(1) 200V series

< MDS-D Series >

Spindle drive unit type

MDS-D-SP-

Nominal maximum current (peak) [A]

Output

Rated voltage [V]

Rated current [A]

Input

Rated voltage [V]

Rated current [A]

Voltage [V]

Frequency [Hz]

Control power

Maximum current [A]

Maximum rush current [A]

Maximum rush conductivity time [ms]

Earth leakage current [mA]

Control method

Braking

External analog output

Degree of protection

Cooling method

Mass [kg]

Heat radiated at continuous rated output [W]

Noise

Unit outline dimension drawing

4.5

7.0

40 80

1-axis spindle drive unit MDS-D-SP Series

160 200 240 320 400

40 80 160 200

155AC

240 320 400

10 18 54 94 130 174

13 20 41

270 to 311DC

76 95 140 150

200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation : between +10% and -15%

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

0.2

6 9

3.8

158

6 (Max. 15)

Sine wave PWM control method

Regenerative braking

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

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

Forced air cooling

4.5

290

5.8

481

6.5

620

Less than 55dB

C1 D1

7.5

806

1045

16.5

640

640

200

210

1427

Spindle drive unit type

MDS-D-SP-

Nominal maximum current (peak) [A]

Output

Rated voltage [V]

Rated current [A]

Input

Rated voltage [V]

Rated current [A]

Voltage [V]

Control power

Frequency [Hz]

Maximum current [A]

Maximum rush current [A]

Maximum rush conductivity time [ms]

Earth leakage current [mA]

Control method

Braking

External analog output

Degree of protection

Cooling method

Mass [kg]

Heat radiated at continuous rated output

[W]

Noise

Unit outline dimension drawing

2020 4020

2-axis spindle drive unit MDS-D-SP Series

4040S 4040 8040 16080S 8080 16080

20/20

4.5 / 4.5

40/20 40/40 40/40 80/40

10 / 10

AC155

18 / 10

160/80 80/80

10 / 4.5

10 / 10 54 / 18 18 / 18

20 26

270 to 311DC

26 33 61 40

200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation : between +10% and -15%

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

0.2

160/80

54 / 18

4.5

129

6 (Max. 15)

Sine wave PWM control method

Regenerative braking

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

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

Forced air cooling

4.5

6.5

5.2

168 428

168 232

Less than 55dB

B1 B1 B1

6.5

298

6.5

428

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 50

MDS-D/DH Series Specifications Manual

2-4 Drive unit

(2) 400V series

< MDS-DH Series >

1-axis spindle drive unit MDS-DH-SP Series

Spindle drive unit type

MDS-DH-SP-

Nominal maximum current (peak) [A]

Output

Rated voltage [V]

Rated current [A]

Input

Rated voltage [V]

Rated current [A]

Voltage [V]

Frequency [Hz]

Control power

Maximum current [A]

Maximum rush current [A]

Maximum rush conductivity time [ms]

Earth leakage current [mA]

Control method

Braking

External analog output

Degree of protection

Cooling method

Mass [kg]

Heat radiated at continuous rated output [W]

Noise

Unit outline dimension drawing

9.0

100 160

340AC

30 65

513 to 648DC

200

320

103

480

180

10 15 21 38 72 99 119

380 to 440AC (50Hz) / 380 to 480AC (60Hz) Tolerable fluctuation : between +10% and -15%

150

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

0.1

3.8

120

200

4.5

100 160 200

6 (Max. 15)

Sine wave PWM control method

Regenerative braking

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

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

Forced air cooling

291

5.8

442

7.5

749

Less than 55dB

C1 D1

872

16.5

320

1202

480

22.5

1720

A1 A1 E1 F1

(Note) Rated output capacity and rated speed of the motor used in combination with the drive unit are as indicated when using the power supply voltage and frequency listed. The torque drops when the voltage is less than specified.

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 51

MITSUBISHI CNC

2 Specifications

2-4-4 Power supply unit

(1) 200V series

< MDS-D Series >

Power supply unit type

MDS-D-CV-

30-minute rated output [kW]

Continuous rated output [kW]

Power facility capacity [kVA]

Rated voltage [V]

Input

Output

Frequency [Hz]

Rated current [A]

Rated voltage [V]

Rated current [A]

Voltage [V]

Control power

Frequency [Hz]

Maximum current [A]

Maximum rush current [A]

Maximum rush conductivity time [ms]

Main circuit method

Degree of protection

Cooling method

Mass [kg]

Heat radiated at rated output [W]

Noise

Unit outline dimension drawing

(2) 400V series

< MDS-DH Series >

3.7

2.2

5.3

Power supply unit MDS-D-CV Series

110 185 300 370 450 550

7.5

5.5

11.0

7.5

16.0

18.5

15.0

27.0

30.0

26.0

43.0

37.0

30.0

53.0

45.0

37.0

64.0

200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation : between +10% and -15%

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

35 65 107 121 148

30 41

270 to 311DC

76 144 164 198

200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation : between +10% and -15%

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

0.2

3 6

55.0

45.0

78.0

200

238

4.0

Converter with power regeneration circuit

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

Forced air cooling

124

6.0

10.0

396

193 317

Less than 55dB

B1 D1 D1

496

25.5

595

Power supply unit type

MDS-DH-CV-

30-minute rated output [kW]

Continuous rated output [kW]

Power facility capacity [kVA]

Rated voltage [V]

Input

Output

Frequency [Hz]

Rated current [A]

Rated voltage [V]

Rated current [A]

Voltage [V]

Control power

Frequency [Hz]

Maximum current [A]

Maximum rush current [A]

Maximum rush conductivity time [ms]

Main circuit method

Degree of protection

Cooling method

Mass [kg]

Heat radiated at rated output [W]

Noise

Unit outline dimension drawing

37 75 110

Power supply unit MDS-DH-CV Series

185 300 370 450 550 750

3.7

2.2

5.3

7.5

5.5

11.0

7.5

16.0

18.5

15.0

27.0

30.0

26.0

43.0

37.0

30.0

53.0

45.0

37.0

64.0

55.0

45.0

78.0

75.0

55.0

107.0

380 to 440AC (50Hz)/380 to 480AC (60Hz) Tolerable fluctuation : between +10% and -15%

5.2

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

18 35 61 70 85 106 130

7.1

15 21 38

513 to 648DC

72 82 99 119

380 to 440AC (50Hz)/380 to 480AC (60Hz) Tolerable fluctuation : between +10% and -15%

150

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

0.1

6.0

124

Converter with power regeneration circuit

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

Forced air cooling

193

10.0

402

317

Less than 55dB

D1 D1

496

595

25.5

842

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).

2 - 52

2-4-5 Unit outline dimension drawing

(80)

Panel cut drawing

(80)

MDS-D/DH Series Specifications Manual

2-4 Drive unit

(80)

U nit [m m]

Panel cut drawing

200

60 200 60

60 200 20

120

Panel cut drawing

(80)

Square hole

200 60

112

(80)

Panel cut drawing

200 60

150

Panel cut drawing

(80)

Square hole

200 60

142

150

Panel cut drawing

(80)

Square hole

200 67

142

240

Panel cut drawing

(80)

Square hole

210 92

222

300

(80)

Panel cut drawing

Square hole

210 92

282

2 - 53

MITSUBISHI CNC

2 Specifications

2-4-6 AC reactor

An AC reactor must be installed for each power supply unit.

(1) 200V series

< MDS-D Series >

AC reactor model

D-AL-

Compatible power supply unit type

MDS-D-CV-

Rated capacity [kW]

Rated voltage [V]

Rated current [A]

Frequency [Hz]

Ambient temperature

Ambient humidity

Environment

Atmosphere

Altitude

Vibration / impact

Mass [kg]

7.5K

11K 18.5K

AC reactor

30K 37K 45K 55K

37,75 110 185 300 370 450 550

7.5

11 18.5

30 37 45

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

40 66 110 133

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

162

198

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

Operation: 80%RH or less (with no dew condensation),

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

Indoors (no direct sunlight)

With no corrosive gas, inflammable gas, oil mist or dust

Operation/Storage: 1000 meters or less above sea level, Transportation: 10000 meters or less above sea level

4.2

3.7

5.3

9.8m/s 2 (1G) / 98m/s 2 (10G)

6.1

8.6

9.7

11.5

(2) 400V series

< MDS-DH Series >

AC reactor model

DH-AL-

Compatible power supply unit type

MDS-DH-CV-

Rated capacity [kW]

Rated voltage [V]

Rated current [A]

Frequency [Hz]

Ambient temperature

Ambient humidity

Environment

Atmosphere

Altitude

Vibration / impact

Mass [kg]

7.5K

11K 18.5K

AC reactor

30K 37K 45K 55K 75K

37, 75 110 185 300 370 450 550 750

7.5

18.5

30 37 45

380 to 480AC Tolerable fluctuation : between +10% and -15%

37 65 75 85

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

105

142

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

Operation: 80%RH or less (with no dew condensation),

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

Indoors (no direct sunlight)

With no corrosive gas, inflammable gas, oil mist or dust

Operation/Storage: 1000 meters or less above sea level, Transportation: 10000 meters or less above sea level

4.0

3.7

5.3

9.8m/s 2 (1G) / 98m/s 2 (10G)

6.0

8.5

9.8

10.5

13.0

2 - 54

MDS-D/DH Series Specifications Manual

2-4 Drive unit

Outline dimension drawing

M5 12

Nameplate

L11

L12

L21 L31

Terminal screw 6-M5 12

(Tightening torque: 2.0Nm)

L32

2-M4

Terminal plate

(with cover)

L22

Grounding position

4-M6 hole

Terminal assignment seal

175

Cover

130

Serial number of manufacture

55 r 1.5

165

82 r 1.5

D/DH-AL-7.5K

Terminal screw 6-M6 16

(Tightening torque: 4.0Nm)

L11 L21 L31

M5 12

Nameplate

2-M4

L12 L22 L32

Grounding position

4-M6 hole

Terminal assignment seal

175

Terminal plate

(with cover)

Cover

130

Serial number of manufacture

55 r 1.5

165

D/DH-AL-18.5K

105 r 1.5

M5 12

Nameplate

L11

L12

L21

L22

Terminal screw 6-M5 12

(Tightening torque: 2.0Nm)

L31

L32

2-M4

Terminal plate

(with cover)

Grounding position

4-M6 hole

Terminal assignment seal

175

Cover

130

55 r 1.5

165

D/DH-AL-11K

75 r 1.5

L11 L21 L31

M5 12

FG 2-M4

Nameplate

Terminal screw 6-M6 16

(Tightening torque: 4.0Nm)

L12

L22 L32

Terminal plate

(with cover)

Grounding position 4-M6 hole

Terminal assignment seal

175

Cover

130

55 r 1.5

165

D/DH-AL-30K

110 r 1.5

140

[Unit:mm]

Serial number of manufacture

L11 L21 L31

M5 12

Nameplate

Terminal screw 6-M6 16

(Tightening torque: 4.0Nm)

L12 L22 L32

20 Grounding position

4-M6 hole

Terminal assignment seal

2-M4

Terminal plate

(with cover)

Cover

130

70 r 1.5

215 r 2.5

D/DH-AL-37K

110 r 1.5

150

Serial number of manufacture

L11 L21 L31

M5 12

Nameplate

Terminal screw 6-M6 16

(Tightening torque: 4.0Nm)

L12 L22 L32

2-M4

Terminal plate

(with cover)

Grounding position

4-M6 hole

Terminal assignment seal

Cover

130

Serial number of manufacture

70 r 1.5

215 r 2.5

D/DH-AL-45K

120 r 1.5

160

[Unit:mm]

2 - 55

MITSUBISHI CNC

2 Specifications

L11

M5 12

Nameplate

Grounding position

Terminal screw 6-M10 20

(Tightening torque: 11.0Nm)

L12

L21 L31

2-M4

L22 L32

Terminal assignment seal

Terminal plate

(with cover)

4-M8 hole

Cover

230

Serial number of manufacture

Bar code

200 r 1.5

220 r 2.5

D-AL-55K

120 r 1.5

L11

M5 12

Nameplate

Grounding position

Terminal screw 6-M6 16

(Tightening torque: 11.0Nm)

L12

L21

L22

L31

L32

2-M4

Terminal plate

(with cover)

Terminal assignment seal

4-M8 hole

Cover

230

M5 12

Nameplate

Grounding position

Terminal screw 6-M6 16

(Tightening torque: 11.0Nm)

L11 L21

L22

L31

L32

2-M4

Terminal plate

(with cover)

4-M8 hole

Terminal assignment seal

Cover

230

Serial number of manufacture

N.P

Bar code

200 r 1.5

220 r 2.5

DH-AL-55K

120 r 1.5

Serial number of manufacture

N.P

Bar code

230 r 1.5

250 r 2.5

DH-AL-75K

143 r 1.5

2 - 56

MDS-D/DH Series Specifications Manual

2-4 Drive unit

2-4-7 Explanation of each part

(1) 200V series

< MDS-D Series >

(a) Explanation of each 1-axis servo drive unit part

(8)

(10)

(11)

(1)

(4)

(5)

(2)

(3)

(9)

(12)

(15)

1 2 1 2

(6)

1 2

(7)

(13)

(14)

(16)

(17)

MDS-D-V1

60mm width

Bottom view of left diagram

(17)

MDS-D-V1

90mm width or more

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

(1)

(2)

(3)

(4)

(5)

<Each part name>

LED

SWL

SW1

CN1A

CN1B

Name

---

BTA,BTB --(6) Control circuit

(7)

(8)

(9)

(10)

(11)

(12)

(13)

(14)

(15)

(16)

Main circuit

BT1

CN9

CN4

CN2

CN3

CN20

TE2

TE3

TE1

---

L+

L-

L11

L21

---

U, V, W,

U, V, W

(17) PE

Description

Unit status indication LED

Axis No. setting switch

Unused axis setting switch

NC or master axis optical communication connector

Slave axis optical communication connector

For connecting converged battery unit

Both BTA and BTB are the same function, and they are internally connected each other.

For connecting battery built-in drive unit ER6V-C119B

Maintenance connector (usually not used)

Power supply communication connector

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

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

Motor brake/dynamic brake control connector (Key way: X type)

Converter voltage input terminal (DC input)

Control power input terminal (single-phase AC input)

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

Motor grounding terminal (for 60mm width)

Motor power supply output terminal (for 90mm width or more) (3-phase AC output)

Grounding terminal, Motor grounding terminal

Note that TE1 connector (above "(15)") is used for the motor grounding of the 60mm width unit.

<Screw size>

Type

Unit width (mm)

(13) TE2

(14) TE3

(16) TE1

(17)

20 to 160

M4 x 12

1-axis servo drive unit MDS-D-V1-

160W 320

90 120

M6 x 16

M4 x 12

M5 x 12

320W

150

M8 x 12

2 - 57

MITSUBISHI CNC

2 Specifications

(b) Explanation of each 2-axis servo drive unit part

(8)

(10)

(11)

(12)

(13)

(1)

(4)

(5)

(15)

(2)

(3)

(9)

(14)

(17)

(18)

1 2 1 2

(6)

1 2

(7)

(16)

(21)

(19)

(20)

(21)

MDS-D-V2

90mm width or less

Bottom view

MDS-D-V2

120mm width

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

<Each part name>

(7)

(8)

(9)

(10)

(11)

(12)

(13)

(14)

(15)

(1)

(2)

(3)

(4)

(5)

(6)

(16)

(17)

(18)

(19)

(20)

Control circuit

Main circuit

BT1

CN9

CN4

CN2L

CN3L

CN2M

CN3M

CN20

TE2

LED

SWL,SWM

SW1

CN1A

CN1B

BTA,BTB

Name

TE3

TE1

---

L+

L-

L11

L21

---

MU, MV, MW,

LU, LV, LW,

MU, MV, MW

LU, LV, L

(21) PE

Description

Unit status indication LED

Axis No. setting switch (L,M axis)

Unused axis setting switch (L, M axis)

NC or master axis optical communication connector

Slave axis optical communication connector

For connecting converged battery unit

Both BTA and BTB are the same function, and they are internally connected each other.

For connecting battery built-in drive unit ER6V-C119B

Maintenance connector (usually not used)

Power supply communication connector

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

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

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

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

Motor brake/dynamic brake control connector (Key way: X type)

Converter voltage input terminal (DC input)

Control power input terminal (single-phase AC input)

Motor power supply output connector(3-phase AC output)

Motor grounding terminal (for 90mm width or less)

Motor power supply output connector(3-phase AC output) (for 120mm width)

Grounding terminal, Motor grounding terminal

Note that TE1 connector (above "(17)", "(18)") is used for the motor grounding of the

90mm width or less unit.

<Screw size>

Type

Unit width (mm)

(15) TE2

(16) TE3

(19) (20)TE1

(21)

2020 to 8080

2-axis servo drive unit MDS-D-V2-

16080,160160

M6×16

M4×12

160160W

120

M5×12

2 - 58

MDS-D/DH Series Specifications Manual

2-4 Drive unit

(c) Explanation of each 1-axis spindle drive unit part

(1)

(4)

(5)

(8)

(10)

(11)

(2)

(3)

(9)

(14)

1 2 1 2

(6)

1 2

(7)

(12)

(13)

(16)

(15)

(16)

Bottom view of left diagram MDS-D-SP

60mm width

MDS-D-SP

90mm width or more

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

<Each part name>

(5)

(6)

(7)

(8)

(1)

(2)

(3)

(4)

(9)

(10)

(11)

(12)

Control circuit

(13)

(14)

(15)

Main circuit

LED

SWL

SW1

CN1A

CN1B

BTA,BTB

BT1

CN9

CN4

CN2L

CN3L

Name

TE2

TE3

---

L+

L-

L11

L21

U, V, W,

TE1

U, V, W

(16) PE

Description

Unit status indication LED

Axis No. setting switch

Unused axis setting switch

NC or master axis optical communication connector

Slave axis optical communication connector

(Unused)

Maintenance connector (usually not used)

Power supply communication connector

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

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

Converter voltage input terminal (DC input)

Control power input terminal (single-phase AC input)

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

Motor grounding terminal (for 60mm width)

Motor power supply output terminal (3-phase AC output)

(for 90mm width or more)

Grounding terminal, Motor grounding terminal

Note that TE1 connector (above "(14)") is used for the motor grounding of the 60mm width unit.

<Screw size>

Type

Unit width (mm)

(12) TE2

(13) TE3

(15) TE1

(16)

20,40,80

M4 x 12

160

Spindle drive unit MDS-D-SP-

200

120

240,320

150

M6 x 16

M4 x 12

M5 x 12

M8 x 12

400

240

M10 x 20

M4 x 8

M10 x 20

640

300

2 - 59

MITSUBISHI CNC

2 Specifications

(d) Explanation of each 2-axis spindle drive unit part

(8)

(10)

(11)

(12)

(13)

(1)

(4)

(5)

(14)

(2)

(3) 1 2 1 2

(9)

(16)

(17)

1 2

(15)

(6)

(7)

(20)

MDS-D-SP2-2020 to 8080 Bottom view

(18)

(19)

(20)

MDS-D-SP2-16080

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

<Each part name>

(15)

(16)

(17)

(18)

(19)

(5)

(6)

(7)

(8)

(1)

(2)

(3)

(4)

(9)

(10)

(11)

(12)

(13)

(14)

Control

circuit

Main circuit

LED

SWL,SWM

SW1

CN1A

CN1B

BTA,BTB

BT1

CN9

CN4

CN2L

CN3L

CN2M

CN3M

TE2

TE3

TE1

Name

---

L+

L-

L11

L21

---

MU, MV, MW,

LU, LV, LW,

MU, MV, MW

LU, LV, LW

(20) PE

Description

Unit status indication LED

Axis No. setting switch (L,M axis)

Unused axis setting switch (L,M axis)

NC or master axis optical communication connector

Slave axis optical communication connector

(Unused)

For connecting battery built-in drive unit ER6V-C119B

Maintenance connector (usually not used)

Power supply communication connector

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

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

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

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

Converter voltage input terminal (DC input)

Control power input terminal (single-phase AC input)

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

Motor grounding terminal (For other than MDS-D-SP2-2020 to 8080)

Motor power supply output terminal (3-phase AC output)

(For MDS-D-SP2-16080)

Grounding terminal, Motor grounding terminal

Note that TE1 connector (above "(16)","(17)") is used for the motor grounding of

MDS-D-SP2-2020 to 8080 unit.

<Screw size>

Type

Unit width (mm)

(14) TE2

(15) TE3

(18), (19) TE1

(20)

2020, 4020, 4040S

M4×12

2-axis spindle drive unit MDS-D-SP2-

4040, 8040, 16080S 8080

90 120

M6×16

M4×12

M5×12

16080

120

M5×12

2 - 60

MDS-D/DH Series Specifications Manual

2-4 Drive unit

(e) Explanation of each power supply unit part

(2)

(1)

(3)

(4)

(5)

(8)

(9)

(6) (7)

(10)

(7) (6)

(11)

(12)

MDS-D-CV Bottom view

90mm width or more

Bottom view

60mm width

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

<Each part name>

(1)

(2)

(3)

(4)

(5)

(6)

(7)

(8)

Control circuit

(9)

(10)

Main circuit

(11)

(12)

LED

SW1

CN4

CN9

---

CN23A

CN23B

TE2

TE3

TE1

Name

---

Description

Power supply status indication LED

Power supply setting switch

Servo/spindle communication connector (primary)

Servo/spindle communication connector (secondary)

CHARGE LAMP TE2 output charging/discharging circuit indication LED

---

MC1,MC2

External emergency stop input connector (Key way: X type)

External contactor control connector (Key way: Y type)

L+

L-

L11

L21

Converter voltage output terminal (DC output)

Control power input terminal (single-phase AC input)

L1,L2,L3,

L1, L2, L3

Power input terminal (3-phase AC input),

Grounding terminal (for 60mm width)

Power input terminal (3-phase AC input),

(for 90mm width or more)

Grounding terminal (for 90mm width or more)

<Screw size>

Type

Unit width (mm)

(8) TE2

(9) TE3

(10) TE1

(11) TE1

(12)

37, 75

M4 x 12

Power supply unit MDS-D-CV-

110,185

300 to 450

150

M6 x 16

M4 x 12

M5 x 12

M8 x 16

M8 x 14

550

300

M10 x 20

M4 x 8

M10 x 20

2 - 61

MITSUBISHI CNC

2 Specifications

(2) 400V series

< MDS-DH Series >

(a) Explanation of each 1-axis servo drive unit part

(2)

(3)

(8)

(10)

(11)

(1)

(4)

(5)

(9)

(12)

(15)

(13)

(14)

(17)

MDS-DH-V1

90mm width or less

(6)

(7)

(16)

Bottom view of left diagram

(17)

MDS-DH-V1

120mm width or more

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

(6) Control circuit

(7)

(8)

(9)

(10)

(11)

(12)

(13)

(14)

(15)

(16)

Main circuit

(17)

(1)

(2)

(3)

(4)

(5)

<Each part name>

LED

SWL

SW1

CN1A

CN1B

Name

---

BTA,BTB

BT1

CN9

CN4

CN2

CN3

CN20

TE2

TE3

TE1

---

L+

L-

L11

L21

---

U, V, W,

U, V, W

Description

Unit status indication LED

Axis No. setting switch

Unused axis setting switch

NC or master axis optical communication connector

Slave axis optical communication connector

For connecting converged battery unit

Both BTA and BTB are the same function, and they are internally connected each other.

For connecting battery built-in drive unit ER6V-C119B

Maintenance connector (usually not used)

Power supply communication connector

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

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

Motor brake/dynamic brake control connector (Key way: X type)

Converter voltage input terminal (DC input)

Control power input terminal (single-phase AC input)

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

Motor grounding terminal (for 90mm width or less)

Motor power supply output terminal (3-phase AC output) (for 120mm width or more)

Grounding terminal, Motor grounding terminal

Note that TE1 connector (above "(15)") is used for the motor grounding of the 90mm width unit or less.

<Screw size>

Type

Unit width (mm)

(13) TE2

(14) TE3

(16) TE1

(17)

10 to 80

M4×12

80W

1-axis servo drive unit MDS-DH-V1-

160 160W

90 120

M6×16

150

M4×12

M5×12

200

240

M4×8

M8×15

M8×16

2 - 62

MDS-D/DH Series Specifications Manual

2-4 Drive unit

(b) Explanation of each 2-axis servo drive unit part

(1)

(4)

(5)

(8)

(10)

(11)

(12)

(13)

(15)

(2)

(3)

(9)

(14)

(17)

(18)

(16)

(6)

(7)

(19)

MDS-DH-V2 Bottom view

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

<Each part name>

(1)

(2)

(3)

(4)

(5)

(6)

(7)

(8)

(9)

(10)

(11)

(12)

(13)

(14)

(15)

Control circuit

(16)

(17)

(18)

(19)

Main circuit

LED

SWL,SWM

SW1

CN1A

CN1B

BTA,BTB

Name

BT1

CN9

CN4

CN2L

CN3L

CN2M

CN3M

CN20

TE2

TE3

TE1

---

L+

L-

L11

L21

---

MU, MV, MW,

LU, LV, LW,

Description

Unit status indication LED

Axis No. setting switch (L,M axis)

Unused axis setting switch (L, M axis)

NC or master axis optical communication connector

Slave axis optical communication connector

For connecting converged battery unit

Both BTA and BTB are the same function, and they are internally connected each other.

For connecting battery built-in drive unit ER6V-C119B

Maintenance connector (usually not used)

Power supply communication connector

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

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

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

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

Motor brake/dynamic brake control connector (Key way: X type)

Converter voltage input terminal (DC input)

Control power input terminal (single-phase AC input)

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

Grounding terminal

Use TE1 connector for the motor grounding.

<Screw size>

Type

Unit width (mm)

(15) TE2

(16) TE3

(19)

1010 to 4040

2-axis servo drive unit MDS-DH-V2-

8040, 8080

M6×16

M4×12

8080

120

M5×12

2 - 63

MITSUBISHI CNC

2 Specifications

(c) Explanation of each 1-axis spindle drive unit part

(1)

(4)

(5)

(8)

(10)

(11)

(2)

(3)

(9)

(14)

(12)

(13)

(16)

MDS-DH-SP

90mm width or less

(6)

(7)

(15)

Bottom view of left diagram

(16)

MDS-DH-SP

120mm width or more

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

<Each part name>

(5)

(6)

(7)

(8)

(1)

(2)

(3)

(4)

(9)

(10)

(11)

(12)

Control circuit

(13)

(14)

(15)

Main circuit

LED

SWL

SW1

CN1A

CN1B

BTA,BTB

BT1

CN9

CN4

CN2L

CN3L

Name

TE2

TE3

---

L+

L-

L11

L21

U, V, W,

TE1

U, V, W

(16) PE

Description

Unit status indication LED

Axis No. setting switch

Unused axis setting switch

NC or master axis optical communication connector

Slave axis optical communication connector

(Unused)

Maintenance connector (usually not used)

Power supply communication connector

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

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

Converter voltage input terminal (DC input)

Control power input terminal (single-phase AC input)

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

Motor grounding terminal (for 90mm width or less)

Motor power supply output terminal (3-phase AC output)

(for 120mm width or more)

Grounding terminal, Motor grounding terminal

Note that TE1 connector (above "(14)") is used for the motor grounding of the 90mm width or less unit.

<Screw size>

Type

Unit width (mm)

(12) TE2

(13)TE3

(15)TE1

(16)

20, 40

M4×12

Spindle drive unit MDS-DH-SP-

100

120

160

150

M6×16

M4×12

M5×12

200, 320

240

M4×8

M8×15

M8×16

480

300

2 - 64

MDS-D/DH Series Specifications Manual

2-4 Drive unit

(d) Explanation of each power supply unit part

(2)

(1)

(3)

(4)

(5)

(8)

(9)

(6)

(10)

(11)

MDS-DH-CV Bottom view

(7)

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

<Each part name>

(6)

(7)

(8)

(1)

(2)

(3)

(4)

(5)

Control circuit

(9)

(10)

(11)

Main circuit

LED

SW1

CN4

CN9

---

CN23A

CN23B

TE2

TE3

TE1

Name

---

CHARGE

LAMP

---

MC1,MC2

L+

L-

L11

L21

L1, L2, L3

Power supply status indication LED

Description

Power supply setting switch

Servo/spindle communication connector (primary)

Servo/spindle communication connector (secondary)

TE2 output charging/discharging circuit indication LED

External emergency stop input connector (Key way: X type)

External contactor control connector (Key way: Y type)

Converter voltage output terminal (DC output)

Control power input terminal (single-phase AC input)

Power input terminal (3-phase AC input)

Grounding terminal

<Screw size>

Type

Unit width (mm)

(8) TE2

(9) TE3

(10) TE1

(11)

37 to 185

M5×12

Power supply unit MDS-DH-CV-

300 to 450

150

M6×16

M4×12

M8×16

M8×14

550, 750

300

M6×16

M4×8

M8×15

M8×16

2 - 65

MITSUBISHI CNC

2 Specifications

2 - 66

Function Specifications

3 - 1

MITSUBISHI CNC

3 Function Specifications

Function specifications list

<Power supply specification>

Item

Base control functions

Protection function

Sequence function

Diagnosis function

1-14 Power regeneration control

1-15 Resistor regeneration control

4-6 Fan stop detection

4-7 Open-phase detection

4-8 Contactor weld detection

5-1 Contactor control function

5-3 External emergency stop function

5-5 High-speed READY ON sequence

6-7 Power supply voltage display function

●

MDS-D-CV

●

MDS-DH-CV

MDS-DM-SPV built-in converter

●

MDS-D-

SVJ3NA

MDS-D-SVJ3 built-in converter

●

MDS-D-

SPJ3NA

MDS-D-SPJ3 built-in converter

●

3 - 2

MDS-D/DH Series Specifications Manual

<Servo specification>

Base control functions

Servo control function

Compensat ion control function

Protection function

Sequence function

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

3-1 Jitter compensation

3-2 Notch filter

3-3 Adaptive tracking-type notch filter

3-4 Overshooting compensation

3-5 Machine end compensation control

3-6 Lost motion compensation type 2

3-7 Lost motion compensation type 3

3-8 Lost motion compensation type 4

4-1 Deceleration control at emergency stop

4-2 Vertical axis drop prevention/pull-up control

4-3 Earth fault detection

4-4 Collision detection function

4-5 Safety observation function

4-6 Fan stop detection

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

6-4 Motor temperature display function

(Only for linear or direct-drive motor)

MDS-D-

V1/V2

●

Variable frequency: 4

Fixed frequency: 1

●

MDS-DH-

V1/V2

●

Variable frequency: 4

Fixed frequency: 1

●

MDS-DM-

●

(Only for 1-axis)

●

Variable frequency: 4

Fixed frequency: 1

●

MDS-DM-

SPV2F/3F

MDS-DM-

SPV2/3

● (Note2)

●

(Only for 1-axis)

● (Note2)

●

Variable frequency: 4

Fixed frequency: 1

●

(Note 1) For the multiaxis drive unit, a control by each axis is not available.

It is required to turn the servo of all axes OFF in the drive unit in order to enable a motor brake output.

(Note 2) For the drive unit MDS-DM-SPV2/3, this function is not available.

MDS-D-

SVJ3NA

MDS-D-SVJ3

●

Variable frequency: 4

Fixed frequency: 1

●

3 - 3

MITSUBISHI CNC

3 Function Specifications

<Spindle specifications>

Item

MDS-D-

Base control functions

Spindle control functions

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

2-10 Control loop gain changeover

2-11 Spindle output stabilizing control

2-12 High-response spindle acceleration/ deceleration function

3-1 Jitter compensation

●

Compensat ion control function

Protection function

3-2 Notch filter

3-4 Overshooting compensation

3-6 Lost motion compensation type 2

3-9 Spindle motor temperature compensation function

4-1 Deceleration control at emergency stop

4-3 Earth fault detection

4-5 Safety observation function

4-6 Fan stop detection

5-4 Specified speed output

●

Variable frequency: 4

Fixed frequency: 1

●

● 5

Sequence functions

5-5 Quick READY ON sequence ●

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) The motor output effective value cannot be displayed.

●

MDS-D-

SP2

●

Variable frequency: 4

Fixed frequency: 1

●

MDS-DH-

●

Variable frequency: 4

Fixed frequency: 1

●

Variable frequency: 4

Fixed frequency: 1

●

MDS-DM-

SPV2F/3F

MDS-DM-

SPV2/3

●

Variable frequency: 4

Fixed frequency: 1

●

● (Note)

●

MDS-D-

SPJ3NA

MDS-D-SPJ3

●

3 - 4

MDS-D/DH Series Specifications Manual

3-1 Base control functions

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.

Position command

Position FB

Position command

PGN

Speed FB

Current command

VGN

Current FB

Voltage command

ENC

Servo motor

Table

Full closed loop control (servo)

Linear scale

The ball screw side encoder is also applied.

Position command

Position FB

Position command

PGN

Speed FB

Current command

VGN

Current FB

Voltage command

Motor encoder

Full closed loop control (spindle)

Spindle encoder

V-belt

Spindle

3 - 5

MITSUBISHI CNC

3 Function Specifications

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

Program

Compen

-sation

Compen

-sation

Position control

Speed control

Current control

Primary axis

Encoder

Same position command

Position control

Speed control

Current control

Secondary axis

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) 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

Program

CNC

Compen

-sation

Position control

Speed control

Primary axis

Current control

Encoder

Same position command

Same position FB

Same speed command

Position control

Speed control

Current control

Secondary axis

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.

3 - 6

MDS-D/DH Series Specifications Manual

3-1 Base control functions

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. This function can not be used for the linear servo motor and direct-drive motor.

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

Time

Orientation

Speed

Time

0.8

<MDS-D/DH/DM Series>

Time reduced

Zero point return

C-axis positioning

Time

C-axis changeover

<MDS-D/DH/DM Series>

Time

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 - 7

MITSUBISHI CNC

3 Function Specifications

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.

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).

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.

3 - 8

MDS-D/DH Series Specifications Manual

3-2 Servo/Spindle control functions

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 x 1.15

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

VGVS VLMT

(VLMT=Max. speed x 1.15)

VGVN

VGN1

(VGN2)

VGVS VLMT

(VLMT=Max. speed x 1.15)

VGN1:SP005

VGN2:SP008

VGVN:SP073

VGVS:SP074

VLMT: Spindle maximum speed x 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

3 - 9

MITSUBISHI CNC

3 Function Specifications

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

1000

Spindle speed

−1000

Servo/Spindle

−2000 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

−1000

−2000

−3000

−4000

Servo/Spindle synchronous error

Spindle speed

0 0.5

1 1.5

2 2.5

3 3.5

〈 With OMR-DD control 〉 (sec)

3 - 10

MDS-D/DH Series Specifications Manual

3-2 Servo/Spindle control functions

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

Speed command

Servo motor

Linear scale

High frequency

FB element

Position FB

ENC

Low frequency FB element -

Primary delay filter

SV051

Position FB

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.

3-2-10 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 - 11

MITSUBISHI CNC

3 Function Specifications

3-2-11 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.

3-2-12 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.

3 - 12

MDS-D/DH Series Specifications Manual

3-3 Compensation control function

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

Fixed at 1125Hz

50Hz to 2250Hz

Depth compensation

Enabled

Disabled

Enabled

Gain

[dB]

+20

-20

-40

10 30 50 70 100 300 500 700 1k

Frequency

[Hz]

Example of filter characteristic set to 300Hz

Gain

[dB]

+20

-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.

3 - 13

MITSUBISHI CNC

3 Function Specifications

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

Position command

Position droop

Overshoot

Time

[1] Overshooting during rapid traverse settling

Position droop

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

3 - 14

MDS-D/DH Series Specifications Manual

3-3 Compensation control function

3-3-6 Lost motion compensation type 2

Servo motor always drives the machine opposing to the frictional force, and the torque which is required to oppose the friction during the axis movement is outputted by I control (Integral control) of the speed loop PI control. When the movement direction is changed, the frictional force works in the opposite direction momentarily, however, the machine will stop while the command torque is less than the frictional force as it takes some time to reverse the command torque in I control.

When the movement direction is changed, the frictional force works in the opposite direction momentarily, however, the machine will stop while the command torque is less than the frictional force as it takes some time to reverse the command torque in I control.

With the this lost motion compensation function improves the accuracy worsened by the stick motion.

No compensation With compensation

3-3-7 Lost motion compensation type 3

For a machine model where the travel direction is reversed, the compensation in accordance with the changes in the cutting conditions is enabled by also considering the spring component and viscosity component in addition to the friction.

This function can be used to accommodate quadrant projection changes that accompany feed rate and circular radius changes which could not be compensated by Lost motion compensation type 2.

1.Mechanical spring elements can't be ignored.

2.Changes between static and dynamic frictions are

wide and steep.

Not only frictions but spring element and viscosity element can be compensated, thus quadrant protrusions are suppressed within a wide band.

Conventional control can’t perform enough compensation.

+Y +Y

3μm

Conventional compensation control

Lost motion compensation control type 3

3 - 15

MITSUBISHI CNC

3 Function Specifications

3-3-8 Lost motion compensation type 4

When the difference between static and dynamic friction is large, the friction torque changes sharply at the inversion of the travel direction. When the lost motion type 4 is used together with the type 2 or type 3, the acute change of the friction torque is compensated so that the path accuracy at the travel direction inversion can be enhanced.

3-3-9 Spindle motor temperature compensation function

As for the low-temperature state of the IM spindle motor, the output characteristic may deteriorate in comparison with the warm-up state and the acceleration/deceleration time may become long, or the load display during cutting may become high immediately after operation. This function performs the control compensation depending on the motor temperature with the thermistor built into the spindle motor and suppresses the output characteristic deterioration when the temperature is low. Temperature compensation function is not required for IPM spindle motor in principle.

2.50

2.40

2.30

2.20

2.10

2.00

1.90

1.80

1.70

1.60

1.50

Without compensation

[Acceleration]

Without compensation

[Deceleration]

Eﬀect of suppressing acceleration/deceleration time ﬂuctuation

With compensation

[Acceleration]

With compensation

[Deceleration]

Stator (thermistor) temperature[℃]

100

3 - 16

MDS-D/DH Series Specifications Manual

3-4 Protection function

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.

3 - 17

MITSUBISHI CNC

3 Function Specifications

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 Safety observation function

This function is aimed at allowing a safety access to the machine's working part by opening the protection 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.

3 - 18

MDS-D/DH Series Specifications Manual

3-5 Sequence functions

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

MDS-D/DH-V1/V2/SP/SP2

Alarm

Emergency stop

CN1A

Alarm

Optical communication

G391 cable

CN4

SH21 cable

External emergency stop input

(24VDC)

External emergency stop switch

MDS-D/DH-CV

CN4 CN23B

3 MC2

2 (NC)

1 MC1

CN23A

3 EMG2

2 (NC)

1 EMG1

Contactor shutoff command

3-5-4 Specified speed output

This function is to output a signal that indicates whether the machine-end speed has exceeded the speed specified with the parameter.

With this function, the protection 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.

3 - 19

MITSUBISHI CNC

3 Function Specifications

3-6 Diagnosis function

3-6-1 Monitor output function

<Servo drive unit>

Drive unit has a function to D/A output the various control data. The servo adjustment data required for setting the servo parameters to match the machine can be D/A output. Measure using a high-speed waveform recorder, oscilloscope, etc.

(1) D/A output specifications

CN9 connector

Name

Pin Name

M01 M02

Item

No. of channels

Output cycle

Output precision

Output voltage range

Output magnification setting

Output pin (CN9 connector)

Others

MDS-D/DH-V2

Explanation

2ch

0.8ms (min. value)

12bit

0V to 2.5V (zero) to +5V

-32768 to 32767 (1/100-fold)

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

The D/A output for the 2-axis unit is also 2ch. When using the 2-axis unit, always set -1 for the output data (SV061, 62) of the axis that is not to be measured.

When the output data is 0, the offset voltage is 2.5V. If there is an offset voltage, adjust the zero level position in the measuring instrument side.

+5 [V]

Speed FB

+2.5 [V]

0 [V]

+5 [V]

Current FB

+2.5 [V]

0 [V]

Example of D/A output waveform

3 - 20

MDS-D/DH Series Specifications Manual

3-6 Diagnosis function

(2) Output data settings

(Standard output)

【 #2261 】

Input the data number you wish to output to the D/A output channel 1.

When using the 2-axis drive unit, set "-1" to the axis that the data will not be output.

---Setting range---

-1 to 127

【 #2262 】

Input the data number you wish to output to the D/A output channel 2.

When using the 2-axis drive unit, set "-1" to the axis that the data will not be output.

---Setting range---

-1 to 127

No.

-1

Output data

D/A output not selected

Commanded rotation speed

Motor rotation speed

Torque command

Torque feedback

Effective current command

Effective current feedback

Machine vibration frequency

HAS control droop cancel amount

Standard output unit

Linear axis Rotary axis

Output cycle

For 2-axis drive unit (MDS-D/DH-V2).

Set the parameters to another axis in the drive unit that is not D/A output.

1000(r/min)/V

Motor stall rated ratio 100%/V

0.8ms

1mm/V

100%/V

500Hz/V

1°/V

0.8ms

Collision detection estimated torque

Collision detection disturbance estimated torque

Estimated load inertia ratio or moving sections gross weight

Disturbance observer estimated disturbance torque

Position droop

Position command

Position feedback

Position F ∆ T

Deviation from ideal position

(considering servo tracking delay)

Position droop

Position command

Position feedback

Position F ∆ T

Deviation from ideal position

(considering servo tracking delay)

Position droop

Position command

Position feedback

Position F ∆ T

Deviation from ideal position

(considering servo tracking delay)

100%/V

100%/V or 100kg/V (Note)

1 μ m/V

1 μ m/s/V

1 μ m/V

1mm/V

1mm/s/V

1mm/V

1m/V

1m/s/V

1m/V

100%/V

1/1000°/V

1/1000°/s/V

1/1000°/V

1°/V

1°/s/V

1°/V

1000°/V

1000°/s/V

1000°/V

0.8ms

126

127

Saw tooth wave

2.5V test data

0V to 5V

2.5V

0.8ms

(Note) The estimated load inertia ratio (unit: 100%/V) is applied for the rotary motor, and the moving sections gross weight (unit: 100kg/V) for the linear motor.

3 - 21

MITSUBISHI CNC

3 Function Specifications

(Servo control signal)

No.

16384

16385

Servo control input (NC to Servo)

Servo control input 1-0

Servo control input 1-1

Details

READY ON command

Servo ON command

16388

16390

16391

16392

Servo control input 1-4

Servo control input 1-6

Servo control input 1-7

Servo control input 1-8

Position loop gain changeover command

Excessive error detection width changeover command

Alarm reset command

Current limit selection command

16409

16410

16411

Servo control input 2-9

Servo control input 2-A

Servo control input 2-B

16416 Servo control input 3-0

Speed monitor command valid

In door closed (controller)

In door closed (all drive units)

Control axis detachment command

No.

16480

16481

16484

16486

Servo control output (Servo to NC)

Servo control output 1-0

Servo control output 1-1

Details

In READY ON

In servo ON

Servo control output 1-4

Servo control output 1-6

In position loop gain changeover

In excessive error detection width changeover

16487

16488

Servo control output 1-7

Servo control output 1-8

16492

16493

16494

16495

16496

16499

16503

Servo control output 1-C

Servo control output 1-D

Servo control output 1-E

Servo control output 1-F

Servo control output 2-0

Servo control output 2-3

Servo control output 2-7

16505

16506

16507

Servo control output 2-9

Servo control output 2-A

Servo control output 2-B

16512 Servo control output 3-0

In alarm

In current limit selection

In in-position

In current limit

In absolute position data loss

In warning

Z phase passed

In zero speed

In external emergency stop

In speed monitor

In door closed (controller)

In door closed (self drive unit)

In control axis detachment

3 - 22

MDS-D/DH Series Specifications Manual

3-6 Diagnosis function

< Spindle drive unit >

Drive unit has a function to D/A output each control data. The spindle adjustment data required to set the spindle parameters matching the machine can be D/A output. The data can be measured with a high-speed waveform recorder or oscilloscope, etc.

(1) D/A output specifications

CN9 connector

Name

Pin Name

M01 M02

Item

No. of channels

Output cycle

Output precision

Output voltage range

Output magnification setting

Output pin (CN9 connector)

MDS-D/DH-SP

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

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.

Memory

+5 [V]

Scroll

Speed FB

+2.5 [V]

0 [V]

+5 [V]

Current FB

+2.5 [V]

0 [V]

Example of D/A output waveform

3 - 23

MITSUBISHI CNC

3 Function Specifications

(2) Output data settings

(Standard output)

【 #13125 】

Input the desired data number to D/A output channel.

---Setting range---

-32768 to 32767

【 #13126 】

Input the desired data number to D/A output channel.

---Setting range---

-32768 to 32767

No.

-1

Output data

D/A output stop

Commanded motor rotation speed

Motor rotation speed

Torque current command

Torque current feedback

Output unit for standard setting

1000(r/min)/V

Short time rated ratio 100%/V

Output cycle

0.8ms(min)

Disturbance observer estimated disturbance torque

Short time rated torque current value ratio

100%/V

0.8ms(min)

Position droop

Position command

Position feedback

Position F ∆ T

Deviation from ideal position

(considering spindle tracking delay)

1/1000°/V

1/1000°/s/V

1/1000°/V

0.8ms(min)

Position droop

Position command

Position feedback

Position F ∆ T

Deviation from ideal position

(considering spindle tracking delay)

1°/V

1°/s/V

1°/V

0.8ms(min)

Position droop

Position command

Position feedback

Position F ∆ T

Deviation from ideal position

(considering spindle tracking delay)

1000°/V

1000°/s/V

1000°/V

0.8ms(min)

110 3.0V output load meter (Note) 40%/V, 120%/3V 0.8ms(min)

126

127

Saw tooth wave

2.5V test data output

0V to 5V

2.5V

0.8ms(min)

(Note) Load meter displays "100%(=2.5V)" when the control power turns ON and the NC is starting. After the NC has been run, it displays "0%(=0V%)".

3 - 24

MDS-D/DH Series Specifications Manual

3-6 Diagnosis function

(Special output)

The result of PLG(TS5690) installation accuracy diagnosis is output to D/A output. D/A output magnification:SP127(DA1MPY) and SP128(DA2MPY) is 0.

PLG installation diagnosis function can be enabled during the rotation, when open loop control is enabled:SP018(SPEC2)/bit1=1.

D/A output

No.

120

121

122

123

Details

Motor end PLG installation

Gap diagnosis

Motor end PLG installation

All errors diagnosis

Spindle end PLG installation

Gap diagnosis

Spindle end PLG installation

All errors diagnosis

Description

Motor end PLG installation gap is diagnosed.

When the gap is good, 2.5V is output.

When the gap is excessive, 2.5V+1V is output.

When the gap is too small, 2.5V-1V is output.

Motor end PLG installation error (including the gap) is diagnosed.

When the installation is good, 2.5V is output.

When the installation is incorrect, 2.5V+1V is output.

Spindle end PLG installation gap is diagnosed.

Diagnostic procedure is the same as that of motor end PLG.

Spindle end PLG installation error (including the gap) is diagnosed.

Diagnostic procedure is the same as that of motor end PLG.

3 - 25

MITSUBISHI CNC

3 Function Specifications

(Spindle control signal)

Spindle control input (NC to Spindle)

No.

16384 Spindle control input 1-0

16385 Spindle control input 1-1

Details

READY ON command

Servo ON command

16391 Spindle control input 1-7

16392 Spindle control input 1-8

16393 Spindle control input 1-9

16394 Spindle control input 1-A

Alarm reset command

Torque limit 1 selection command

Torque limit 2 selection command

Torque limit 3 selection command

No.

16480

16481

Spindle control output (Spindle to NC)

Spindle control output 1-0

Spindle control output 1-1

Details

In ready ON

In servo ON

16487

16488

16489

16490

Spindle control output 1-7

Spindle control output 1-8

Spindle control output 1-9

Spindle control output 1-A

In alarm

In torque limit 1 selection

In torque limit 2 selection

In torque limit 3 selection

16492 Spindle control output 1-C

16495

16496

Spindle control output 1-F

Spindle control output 2-0

16499 Spindle control output 2-3

16503 Spindle control output 2-7

In in-position

In warning

Z phase passed

In zero speed

In external emergency stop

16409 Spindle control input 2-9

16410 Spindle control input 2-A

16411 Spindle control input 2-B

16432 Spindle control input 4-0

16433 Spindle control input 4-1

16434 Spindle control input 4-2

16436 Spindle control input 4-4

16437 Spindle control input 4-5

16438 Spindle control input 4-6

16445 Spindle control input 4-D

Speed monitor command valid

In door closed (controller)

In door closed (all drive units)

Spindle control mode selection command 1

Spindle control mode selection command 2

Spindle control mode selection command 3

Gear changeover command

Gear selection command 1

Gear selection command 2

L coil selection command

16505

16506

16507

Spindle control output 2-9

Spindle control output 2-A

Spindle control output 2-B

16528

16529

16530

16532

16533

16534

Spindle control output 4-0

Spindle control output 4-1

Spindle control output 4-2

Spindle control output 4-4

Spindle control output 4-5

Spindle control output 4-6

16541 Spindle control output 4-D

16545 Spindle control output 5-1

16550 Spindle control output 5-6

In speed monitor

In door closed (controller)

In door closed (self drive unit)

In spindle control mode selection 1

In spindle control mode selection 2

In spindle control mode selection 3

In gear changeover command

In gear selection 1

In gear selection 2

In L coil selection

Speed detection

In coil changeover

16458 Spindle control input 5-A

16459 Spindle control input 5-B

16460 Spindle control input 5-C

Phase synchronization suppression command

Minimum excitation rate 2 changeover request

Speed gain set 2 changeover request

Zero point re-detection request

16554

16555

16556

Spindle control output 5-A

Spindle control output 5-B

Spindle control output 5-C

In phase synchronization suppression

In minimum excitation rate 2 selection

In speed gain set 2 selection

16461 Spindle control input 5-D

16462 Spindle control input 5-E Spindle holding force up

16557

16558

16559

Spindle control output 5-D

Spindle control output 5-E

Spindle control output 5-F

Zero point re-detection complete

Spindle holding force up completed

In 2nd in-position

(Note 1) Control signal is bit output. Setting the No. of the table above to the data output(SP125, SP126), and when the scale (SP127, SP128) is set to "0", the output is "0V" for bit 0, and "2.5V" for bit 1.

(Note 2) Refer to the section "Spindle control signal" in Instruction Manual for details on the spindle control signal.

3 - 26

MDS-D/DH Series Specifications Manual

3-6 Diagnosis function

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 voltage display function

The converter bus voltage in main circuit power is displayed on the NC monitor screen.

3 - 27

MITSUBISHI CNC

3 Function Specifications

3 - 28

Characteristics

4 - 1

MITSUBISHI CNC

4 Characteristics

4-1 Servo motor

4-1-1 Environmental conditions

Environment

Ambient temperature

Ambient humidity

Storage temperature

Storage humidity

Atmosphere

Altitude

Conditions

0°C to +40°C (with no freezing)

80% RH or less (with no dew condensation)

-15°C to +70°C (with no freezing)

90% RH or less (with no dew condensation)

Indoors (no direct sunlight)

No corrosive gas, inflammable gas, oil mist or dust

Operation / storage: 1000m or less above sea level

Transportation: 10000m or less above sea level

4-1-2 Quakeproof level

100

Series

200V series

400V series

Motor type

HF75, 105

HF54, 104, 154, 224, 123, 223, 142

HP54, 104, 154, 224

HF204, 354, 303, 453, 703, 302

HP204, 354, 454, 704

HF903

HP903, 1103

HF-KP23, 43, 73

HF-H75, 105

HF-H54, 104, 154

HP-H54, 104, 154, 224

HF-H204, 354, 453, 703

HP-H204, 354, 454, 704

HF-H903

HP-H903, 1103

HC-H1502S-S10

Acceleration direction

Axis direction (X) Direction at right angle to axis (Y)

24.5m/s

(2.5G) or less 24.5m/s

(2.5G) or less

24.5m/s

(2.5G) or less

9.8m/s

(1G) or less

49m/s

(5G) or less

24.5m/s

(2.5G) or less

24.5m/s

(2.5G) or less

9.8m/s

(1G) or less

9.8m/s

(1G) or less

29.4m/s

9.8m/s

49m/s

24.5m/s

29.4m/s

9.8m/s

(3G) or less

(1G) or less

(5G) or less

(2.5G) or less

(3G) or less

(1G) or less

The vibration conditions are as shown below.

200

Servo motor

Acceleration

0 1000 2000

Speed (r/min)

3000

4 - 2

MDS-D/DH Series Specifications Manual

4-1 Servo motor

4-1-3 Shaft characteristics

There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction and thrust direction, when mounted on the machine, is below the tolerable values given below. These loads may affect the motor output torque, so consider them when designing the machine.

Series

200V series

400V series

Servo motor

HF75T, 105T (Taper shaft)

HF75S, 105S (Straight shaft)

HF54T, 104T, 154T, 224T,123T, 223T, 142T (Taper shaft)

HF54S, 104S, 154S, 224S,123S, 223S, 142S (Straight shaft)

HF204S, 354S, 303S, 453S, 703S, 302S (Straight shaft)

HF903S (Straight shaft)

HP54T, 104T, 154T, 224T (Taper shaft)

HP54S, 104S, 154S, 224S (Straight shaft)

HP204S, 354S, 454S (Straight shaft)

HP704S (Straight shaft)

HP903S (Straight shaft)

HP1103S (Straight shaft)

HF-KP23, 43 (Straight shaft)

HF-KP73 (Straight shaft)

HF-H75T, 105T (Taper shaft)

HF-H75S, 105S (Straight shaft)

HF-H54T, 104T, 154T (Taper shaft)

HF-H54S, 104S, 154S (Straight shaft)

HF-H204S, 354S, 453S, 703S (Straight shaft)

HF-H903S (Straight shaft)

HP-H54T, 104T, 154T, 224T (Taper shaft)

HP-H54S, 104S, 154S, 224S (Straight shaft)

HP-H204S, 354S, 454S (Straight shaft)

HP-H704S (Straight shaft)

HP-H903S (Straight shaft)

HP-H1103S (Straight shaft)

HC-H1502S-S10 (Straight shaft)

Tolerable radial load

245N (L=33)

392N (L=58)

980N (L=55)

2058N (L=79)

2450N (L=85)

392N (L=52.7)

980N (L=52.7)

1500N (L=52.7)

1300N (L=52.7)

2500N (L=52.7)

2700N (L=52.7)

245N (L=30)

392N (L=40)

245N (L=33)

392N (L=58)

980N (L=55)

2058N (L=79)

2450N (L=85)

392N (L=52.7)

980N (L=52.7)

1500N (L=52.7)

1300N (L=52.7)

2500N (L=52.7)

2700N (L=52.7)

3234N (L=140)

Tolerable thrust load

147N

490N

980N

490N

590N

1100N

1500N

98N

147N

490N

980N

490N

590N

1100N

1500N

1470N

(Note 1) The tolerable radial load and thrust load in the above table are values applied when each motor is used independently.

(Note 2) The symbol L in the table refers to the value of L below.

L

Radial load

Thrust load

L: Length from flange installation surface to center of load mass [mm]

4 - 3

MITSUBISHI CNC

4 Characteristics

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 (mm)

Amplitude of the flange surface to the output shaft

Amplitude of the flange surface's fitting outer diameter

Amplitude of the output shaft end

Measurement point a b c

Flange size [mm]

Less than 100 100 SQ., 130 SQ. 176 SQ. - 250 SQ.

0.05

0.06

0.08

0.04

0.02

0.04

0.02

0.06

0.03

280 or over

0.08

0.03

c b a

4 - 4

MDS-D/DH Series Specifications Manual

4-1 Servo motor

4-1-5 Oil / water standards

(1) The motor protective format uses the IP type, which complies with IEC Standard. (Refer to the section “2-1-1

Specifications list".) However, these Standards are short-term performance specifications. They do not guarantee continuous environmental protection characteristics. Measures such as covers, etc., must be taken if there is any possibility that oil or water will fall on the motor, and the motor will be constantly wet and permeated by water. Note that the motor's IP-type is not indicated as corrosion-resistant.

Oil or water

Servo motor

(2) When a gear box is installed on the servo motor, make sure that the oil level height from the center of the shaft is higher than the values given below. Open a breathing hole on the gear box so that the inner pressure does not rise.

Series

200V series

400V series

Servo motor

HF75, 105

HF54, 104, 154, 224, 123, 223, 142

HP54, 104, 154, 224

HF204, 354, 303, 453, 302

HP204, 354, 454, 704

HF703

HF903

HP903, 1103

HF-KP23, 43

HF-KP73

HF-H75, 105

HF-H54, 104, 154

HP-H54, 104, 154, 224

HF-H204, 354, 453

HP-H204, 354, 454, 704

HF-H703

HF-H903

HP-H903, 1103

HC-H1502S-S10

Oil level (mm)

22.5

12.5

22.5

Gear

Servo motor

Oil level

Lip

Oil seal

4 - 5

MITSUBISHI CNC

4 Characteristics

(3) When installing the servo motor horizontally, set the connector to face downward. When installing vertically or on an inclination, provide a cable trap because the liquid such as oil or water may enter the motor from the connector by running along the cable.

Cable trap

CAUTION

1. The servo motors, including those having IP67 specifications, do not have a completely waterproof (oil-proof) structure. Do not allow oil or water to constantly contact the motor, enter the motor, or accumulate on the motor. Oil can also enter the motor through cutting chip accumulation, so be careful of this also.

2. Oil may enter the motor from the clearance between the cable and connector. Protect with silicon not to make the clearance.

3. When the motor is installed facing upwards, take measures on the machine side so that gear oil, etc., does not flow onto the motor shaft.

4-1-6 Installation of servo motor

Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat dissipation effect:

Flange size

(mm)

150x150x6

250x250x6

250x250x12

300x300x20

800x800x35

Servo Motor

HF, HF-H, HP, HP-H, HF-KP

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.

4 - 6

MDS-D/DH Series Specifications Manual

4-1 Servo motor

(1) 200V series

< HF series >

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

HF75

HF154

When stopped

When rotating

100 200 300 400 500

Motor current value (stall rated current value ratio %)

HF54

600

When stopped

When rotating

100 200 300 400 500

Motor current value (stall rated current value ratio %)

600

When stopped

When rotating

100 200 300 400 500

Motor current value (stall rated current value ratio %)

600

HF204

When stopped

When rotating

100 200 300 400 500

Motor current value (stall rated current value ratio %)

HF123

600

When stopped

When rotating

100 200 300 400

Motor current value (stall rated current value ratio %)

700

500

HF105

10000.0

1000.0

100.0

10.0

1.0

0.1

When stopped

When rotating

10000.0

1000.0

100.0

10.0

1.0

0.1

100 200 300 400 500

Motor current value (stall rated current value ratio %)

HF104

600

When stopped

When rotating

10000.0

1000.0

100 200 300 400 500

Motor current value (stall rated current value ratio %)

HF224

600

When stopped

When rotating

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

100 200 300 400

Motor current value (stall rated current value ratio %)

HF354

When stopped

When rotating

10000.0

1000.0

100.0

10.0

1.0

0.1

100 200 300 400 500

Motor current value (stall rated current value ratio %)

HF223

600

When stopped

When rotating

100 200 300 400

Motor current value (stall rated current value ratio %)

700

500

700

500

4 - 7

MITSUBISHI CNC

4 Characteristics

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

HF303

When stopped

When rotating

100 200 300 400

Motor current value (stall rated current value ratio %)

500

10000.0

1000.0

100.0

10.0

1.0

0.1

0 100 200 300 400

Motor current value (stall rated current value ratio %)

HF703

When stopped

When rotating

100 200 300 400

Motor current value (stall rated current value ratio %)

HF142

When stopped

When rotating

500

10000.0

1000.0

100.0

10.0

1.0

0.1

500

10000.0

1000.0

100.0

10.0

1.0

0.1

HF453

When stopped

When rotating

100 200 300 400

Motor current value (stall rated current value ratio %)

HF903

When stopped

When rotating

500

100 200 300 400

Motor current value (stall rated current value ratio %)

HF302

When stopped

When rotating

500

100 200 300 400

Motor current value (stall rated current value ratio %)

500

4 - 8

MDS-D/DH Series Specifications Manual

4-1 Servo motor

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

< HP series >

HP54

When stopped

When rotating

100 200 300 400 500

Motor current value (stall rated current value ratio %)

600

HP154

When stopped

When rotating

700

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

100 200 300 400 500

Motor current value (stall rated current value ratio %)

600

HP204

When stopped

When rotating

700

500

10000.0

1000.0

100.0

10.0

1.0

0.1

100 200 300 400

Motor current value (stall rated current value ratio %)

HP454

When stopped

When rotating

500

10000.0

1000.0

100.0

10.0

1.0

0.1

0 100 200 300 400

Motor current value (stall rated current value ratio %)

HP903

When stopped

When rotating

100 200 300 400

Motor current value (stall rated current value ratio %)

500

10000.0

1000.0

100.0

10.0

1.0

0.1

100 200 300 400 500

Motor current value (stall rated current value ratio %)

600

HP224

When stopped

When rotating

700

100

HP104

200 300

When stopped

When rotating

400

Motor current value (stall rated current value ratio %)

HP354

When stopped

When rotating

100 200 300 400

Motor current value (stall rated current value ratio %)

HP704

When stopped

When rotating

100 200 300 400

Motor current value (stall rated current value ratio %)

HP1103

When stopped

When rotating

100 200 300 400

Motor current value (stall rated current value ratio %)

500

4 - 9

MITSUBISHI CNC

4 Characteristics

10000.0

1000.0

100.0

10.0

1.0

0.1

< HF-KP series >

10000.0

1000.0

100.0

10.0

1.0

0.1

HF-KP23

When stopped

When rotating

100 200

Motor current value (stall rated current value ratio %)

HF-KP73

300

When stopped

When rotating

100 200

Motor current value (stall rated current value ratio %)

300

HF-KP43

10000.0

1000.0

100.0

10.0

1.0

0.1

When stopped

When rotating

100 200

Motor current value (stall rated current value ratio %)

300

4 - 10

MDS-D/DH Series Specifications Manual

4-1 Servo motor

(2) 400V series

< HF-H series >

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

HF-H75

When stopped

When rotating

100 200 300 400 500

Motor current value (stall rated current value ratio %)

600

HF-H54

When stopped

When rotating

700

100 200 300 400 500

Motor current value (stall rated current value ratio %)

HF-H154

600

When stopped

When rotating

700

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

100 200 300 400 500

Motor current value (stall rated current value ratio %)

600

HF-H354

When stopped

When rotating

700

10000.0

1000.0

100.0

10.0

1.0

0.1

500

10000.0

1000.0

100.0

10.0

1.0

0.1

100 200 300 400

Motor current value (stall rated current value ratio %)

HF-H703

When stopped

When rotating

100 200 300 400

Motor current value (stall rated current value ratio %)

500

10000.0

1000.0

100.0

10.0

1.0

0.1

100

HF-H105

200

HF-H903

300

When stopped

When rotating

100 200 300 400 500

Motor current value (stall rated current value ratio %)

HF-H104

600

When stopped

When rotating

700

100 200 300 400 500

Motor current value (stall rated current value ratio %)

600

HF-H204

When stopped

When rotating

400

Motor current value (stall rated current value ratio %)

HF-H453

When stopped

When rotating

100 200 300 400

Motor current value (stall rated current value ratio %)

When stopped

When rotating

100 200 300 400

Motor current value (stall rated current value ratio %)

700

500

4 - 11

MITSUBISHI CNC

4 Characteristics

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

< HP-H series >

HP-H54

When stopped

When rotating

100 200 300 400 500

Motor current value (stall rated current value ratio %)

600

HP-H154

When stopped

When rotating

700

10000.0

1000.0

100.0

10.0

1.0

0.1

10000.0

1000.0

100.0

10.0

1.0

0.1

0 100 200 300 400 500

Motor current value (stall rated current value ratio %)

600

HP-H204

When stopped

When rotating

700

10000.0

1000.0

100.0

10.0

1.0

0.1

100 200 300 400

Motor current value (stall rated current value ratio %)

HP-H454

When stopped

When rotating

500

10000.0

1000.0

100.0

10.0

1.0

0.1

100 200 300 400

Motor current value (stall rated current value ratio %)

HP-H903

When stopped

When rotating

500

10000.0

1000.0

100.0

10.0

1.0

0.1

100 200 300 400

Motor current value (stall rated current value ratio %)

500

HP-H104

100 200 300 400 500

Motor current value (stall rated current value ratio %)

600

HP-H224

When stopped

When rotating

700

100 200 300 400

Motor current value (stall rated current value ratio %)

HP-H354

HP-H704

When stopped

When rotating

When stopped

When rotating

100 200 300 400

Motor current value (stall rated current value ratio %)

When stopped

When rotating

100 200 300 400

Motor current value (stall rated current value ratio %)

HP-H1103

When stopped

When rotating

100 200 300 400

Motor current value (stall rated current value ratio %)

500

4 - 12

< HC-H series >

HC-H1502S-S10

10000.0

1000.0

100.0

10.0

1.0

0.1

When stopped

When rotating

50 100 150 200

Motor current value (stall rated current value ratio %)

250 300

MDS-D/DH Series Specifications Manual

4-1 Servo motor

4 - 13

MITSUBISHI CNC

4 Characteristics

4-1-8 Magnetic brake

CAUTION

1. The axis will not be mechanically held even when the dynamic brakes are used. If the machine could drop when the power fails, use a servo motor with magnetic brakes or provide an external brake mechanism as holding means to prevent dropping.

2. The magnetic brakes are used for holding, and must not be used for normal braking. There may be cases when holding is not possible due to the life or machine structure (when ball screw and servo motor are coupled with a timing belt, etc.). Provide a stop device on the machine side to ensure safety.

3. When operating the brakes, always turn the servo OFF (or ready OFF). When releasing the brakes, always confirm that the servo is ON first. Sequence control considering this condition is possible by using the brake contact connection terminal on the servo drive unit.

4. When the vertical axis drop prevention function is used, the drop of the vertical axis during an emergency stop can be suppressed to the minimum.

(1) Motor with magnetic brake

(a) Types

The motor with a magnetic brake is set for each motor. The "B" following the standard motor model stands for the motor with a brake.

(b) Applications

When this type of motor is used for the vertical feed axis in a machining center, etc., slipping and dropping of the spindle head can be prevented even when the hydraulic balancer's hydraulic pressure reaches zero when the power turns OFF. When used with a robot, deviation of the posture when the power is turned OFF can be prevented.

When used for the feed axis of a grinding machine, a double safety measures is formed with the deceleration stop

(dynamic brake stop) during emergency stop, and the risks of colliding with the grinding stone and scattering can be prevented.

This motor cannot be used for the purposes other than holding and braking during a power failure (emergency stop). (This cannot be used for normal deceleration, etc.)

(c) Features

[1] The magnetic brakes use a DC excitation method, thus:

• The brake mechanism is simple and the reliability is high.

• There is no need to change the brake tap between 50Hz and 60Hz.

• There is no rush current when the excitation occurs, and shock does not occur.

• The brake section is not larger than the motor section.

[2] The magnetic brake is built into the motor, and the installation dimensions are the same as the motor without brake.

(d) Cautions for using a timing belt

Connecting the motor with magnetic brakes and the load (ball screw, etc.) with a timing belt as shown on the left below could pose a hazard if the belt snaps. Even if the belt's safety coefficient is increased, the belt could snap if the tension is too high or if cutting chips get imbedded. Safety can be maintained by using the method shown on the right below.

Top

Motor

Brake

Timing belt

Bottom

Ball screw

Motor

(No brakes)

Timing belt

Bottom

Ball screw

Brake

4 - 14

MDS-D/DH Series Specifications Manual

4-1 Servo motor

(2) Magnetic brake characteristics

(a) 200V series

< HF Series >

Item

Type (Note 1)

Rated voltage

Rated current at 20°C (A)

Capacity (W)

Static friction torque (N•m)

Inertia (Note 2) (×10

-4 kg•m

)

Release delay time (Note 3) (s)

Braking delay time (DC OFF) (Note 3) (s)

Tolerable braking work amount

Per braking (J)

Per hour (J)

Brake play at motor axis (degree)

Brake life (Note 4)

No. of braking operations (times)

Work amount per braking (J)

< HP Series >

HF75B, HF105B

Motor type

HF54B, HF104B

HF154B,HF224B

HF123B, HF223B

HF142B

HF204B, HF354B

HF303B, HF453

HF703B, HF903B

HF302B

Spring closed non-exciting operation magnetic brakes

(for maintenance and emergency braking)

0.38

2.4

0.2

0.03

640

0.1 to 0.9

20,000

24VDC

0.8

8.3

2.2

0.04

0.03

400

4,000

0.2 to 0.6

20,000

200

1.4

43.1

9.7

0.1

0.03

4,500

45,000

0.2 to 0.6

20,000

1,000

Item

Type (Note 1)

Rated voltage

Rated current at 20°C(A)

Capacity (W)

Static friction torque (N•m)

Inertia (Note 2) (×10

-4 kg•m

)

Release delay time (Note 3) (s)

Braking delay time (DC OFF) (Note 3) (s)

Tolerable braking work amount

Per braking (J)

Per hour (J)

Brake play at motor axis (degree)

No. of braking

Brake life (Note 4) operations (times)

Work amount per braking (J)

HP54B

0.91

3.5

0.5

0.1

700

7,000

0.2 to 0.6

20,000

HP104B

HP154B

Motor type

HP204B

HP224B

HP354B

HP454B

HP704B

Spring closed non-exciting operation magnetic brakes

(for maintenance and emergency braking)

24VDC

0.86

0.5

1.0

5.5

1.4

5.5

1.4

54.9

5.5

0.1

700

7,000

0.2 to 0.6

0.1

700

7,000

0.2 to 0.6

0.12

0.1

4,500

45,000

0.2 to 0.6

0.3

0.1

4,500

45,000

0.2 to 0.6

20,000 20,000 20,000 20,000

HP903B

HP1103B

1.7

0.3

0.1

4,500

45,000

0.2 to 0.6

20,000

200 200 200 1,000 1,000 1,000

(Note 1) There is no manual release mechanism. If handling is required such as during the machine core alignment work, prepare a separate 24VDC power supply, and electrically release a brake.

(Note 2) These are the values added to the servo motor without a brake.

(Note 3) This is the representative value for the initial attraction gap at 20°C.

(Note 4) The brake gap will widen through brake lining wear caused by braking. However, the gap cannot be adjusted. Thus, the brake life is considered to be reached when adjustments are required.

(Note 5) A leakage flux will be generated at the shaft end of the servo motor with a magnetic brake.

(Note 6) When operating in low speed regions, the sound of loose brake lining may be heard. However, this is not a problem in terms of function.

4 - 15

MITSUBISHI CNC

4 Characteristics

< HF-KP Series >

Item

Type (Note 1)

Rated voltage

Rated current at 20°C(A)

Capacity (W)

Static friction torque (N•m)

Inertia (Note 2) (×10

-4 kg•m

)

Release delay time (Note 3) (s)

Braking delay time (DC OFF) (Note 3) (s)

Tolerable braking work amount

Per braking (J)

Per hour (J)

Brake play at motor axis (degree)

Brake life (Note 4)

No. of braking operations (times)

Work amount per braking (J)

Motor type

HF-KP23B, HF-KP43B HF-KP73B

Spring closed non-exciting operation magnetic brakes

(for maintenance and emergency braking)

24VDC

0.33

7.9

0.42

1.3

0.08

2.4

0.2

0.03

0.02

220

1.2

0.04

0.02

640

0.9

20,000 20,000

22 64

(Note 1) There is no manual release mechanism. If handling is required such as during the machine core alignment work, prepare a separate 24VDC power supply, and electrically release a brake.

(Note 2) These are the values added to the servo motor without a brake.

(Note 3) This is the representative value for the initial attraction gap at 20°C.

(Note 4) The brake gap will widen through brake lining wear caused by braking. However, the gap cannot be adjusted. Thus, the brake life is considered to be reached when adjustments are required.

(Note 5) A leakage flux will be generated at the shaft end of the servo motor with a magnetic brake.

(Note 6) When operating in low speed regions, the sound of loose brake lining may be heard. However, this is not a problem in terms of function.

4 - 16

MDS-D/DH Series Specifications Manual

4-1 Servo motor

(b) 400V series

< HF-H Series >

Item

Type (Note 1)

Rated voltage

Rated current at 20°C (A)

Capacity (W)

Static friction torque (N•m)

Inertia (Note 2) (×10 -4 kg•m 2 )

Release delay time (Note 3) (s)

Braking delay time (DC OFF) (Note 3) (s)

Tolerable braking work amount

Per braking (J)

Per hour (J)

Brake play at motor axis (degree)

Brake life (Note 4)

No. of braking operations (times)

Work amount per braking (J)

< HP-H Series >

Motor type

HF-H75B, HF-H105B

HF-H54B, HF-H104B

HF-H154B

HF-H204B, HF-H354B

HF-H453B, HF-H703B

HF-H903B

Spring closed non-exciting operation magnetic brakes

(for maintenance and emergency braking)

0.38

2.4

24VDC

0.8

8.3

1.4

43.1

0.2

0.03

640

0.1 to 0.9

2.2

0.04

0.03

400

4,000

0.2 to 0.6

9.7

0.1

0.03

4,500

45,000

0.2 to 0.6

20,000 20,000 20,000

32 200 1,000

Item

Type (Note 1)

Rated voltage

Rated current at 20°C(A)

Capacity (W)

Static friction torque (N•m)

Inertia (Note 2) (×10

-4 kg•m

)

Release delay time (Note 3) (s)

Braking delay time (DC OFF) (Note 3) (s)

Tolerable braking work amount

Per braking (J)

Per hour (J)

Brake play at motor axis (degree)

No. of braking

Brake life (Note 4) operations (times)

Work amount per braking (J)

HP-H54B

0.91

3.5

0.5

0.1

700

7,000

0.2 to 0.6

20,000

200

HP-H104B

HP-H154B

Motor type

HP-H204B

HP-H224B

HP-H354B

HP-H454B

HP-H704B

Spring closed non-exciting operation magnetic brakes

(for maintenance and emergency braking)

24VDC

0.86

1.0

1.4

0.5

5.5

54.9

5.5

0.1

700

7,000

0.2 to 0.6

0.1

700

7,000

0.2 to 0.6

0.12

0.1

4,500

45,000

0.2 to 0.6

0.3

0.1

4,500

45,000

0.2 to 0.6

20,000 20,000 20,000 20,000

HP-H903B

HP-H1103B

1.7

0.3

0.1

4,500

45,000

0.2 to 0.6

20,000

200 200 1,000 1,000 1,000

(Note 1) There is no manual release mechanism. If handling is required such as during the machine core alignment work, prepare a separate 24VDC power supply, and electrically release a brake.

(Note 2) These are the values added to the servo motor without a brake.

(Note 3) This is the representative value for the initial attraction gap at 20°C.

(Note 4) The brake gap will widen through brake lining wear caused by braking. However, the gap cannot be adjusted. Thus, the brake life is considered to be reached when adjustments are required.

(Note 5) A leakage flux will be generated at the shaft end of the servo motor with a magnetic brake.

(Note 6) When operating in low speed regions, the sound of loose brake lining may be heard. However, this is not a problem in terms of function.

4 - 17

MITSUBISHI CNC

4 Characteristics

(3) Magnetic brake power supply

CAUTION

1. Always install a surge absorber on the brake terminal when using DC OFF.

2. Do not pull out the cannon plug while the brake power is ON. The cannon plug pins could be damaged by sparks.

(a) Brake excitation power supply

[1] Prepare a brake excitation power supply that can accurately ensure the attraction current in consideration of the voltage fluctuation and excitation coil temperature.

[2] The brake terminal polarity is random. Make sure not to mistake the terminals with other circuits.

(b) Bake excitation circuit

When turning OFF the brake excitation power supply (to apply the brake), DC OFF is used to shorten the braking delay time.

A surge absorber will be required. Pay attention to the relay cut off capacity.

<Cautions>

• Provide sufficient DC cut off capacity at the contact.

• Always use a surge absorber.

• When using the cannon plug type, the surge absorber will be further away, so use shielded wires between the motor and surge absorber.

100VAC or

200VAC

24VDC

ZD1

SW1

ZD2

VAR1

SW2

VAR2

(b) Example of DC OFF

ZD1,ZD2

: 24VDC stabilized power supply

: Zener diode for power supply protection (1W, 24V)

VAR1,VAR2 : Surge absorber

Magnetic brake circuits

4 - 18

MDS-D/DH Series Specifications Manual

4-1 Servo motor

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

HF903

HF142

HF302

HP54

HP104

HP154

HP224

HP204

HP354

HP454

HP704

HP903

HP1103

HF-KP23

HF-KP43

HF-KP73

Motor type

(200V series)

HF75

HF105

HF54

HF104

HF154

HF224

HF204

HF354

HF123

HF223

HF303

HF453

HF703

22.5

31.9

49.0

70.0

110.0

0.64

1.3

2.4

58.8

11.0

20.0

3.0

5.9

9.0

12.0

13.7

Stall torque

(N•m)

2.0

3.0

2.9

5.9

9.0

12.0

13.7

22.5

7.0

12.0

22.5

37.2

49.0

0 N dp

Motor speed

Deceleration torque characteristics of a dynamic brake

38.44

61.60

88.38

91.73

158.09

1.04

2.60

2.96

89.23

14.43

29.42

6.36

11.10

17.41

28.74

26.16

20.06

15.97

35.25

9.79

19.95

30.43

53.01

71.93

Tdp

(N•m)

5.43

10.21

3.96

10.02

15.65

2072

1597

1656

2984

2324

1272

1377

962

3755

547

635

716

987

1307

1848

2135

1765

1029

908

750

1059

955

1080

1070

Ndp

(r/min)

1825

1967

758

1060

1356

Max. deceleration torque of a dynamic brake

Motor type

(400V series)

HF-H75

HF-H105

HF-H54

HF-H104

HF-H154

HF-H204

HF-H354

HF-H453

HF-H703

HF-H903

HP-H54

HP-H104

HP-H154

HP-H224

HP-H204

HP-H354

HP-H454

HP-H704

HP-H903

HP-H1103

HC-H1502S-S10

Stall torque

(N•m)

2.0

3.0

2.9

5.9

9.0

13.7

22.5

37.2

49.0

58.8

3.0

5.9

9.0

12.0

13.7

22.5

31.9

49.0

70.0

110.0

146.0

835

657

619

374

1044

614

824

1107

Ndp

(r/min)

1685

1740

690

897

1073

1445

1524

861

939

597

936

704

1828

15.83

37.35

52.90

71.79

89.57

6.32

11.10

18.08

Tdp

(N•m)

5.11

10.19

3.96

10.04

15.04

28.65

28.04

37.93

60.58

95.47

100.47

170.39

237.80

4 - 19

MITSUBISHI CNC

4 Characteristics

(2) Coasting rotation distance during emergency stop

The distance that the motor coasts (angle for rotary axis) when stopping with the dynamic brakes can be approximated with the following expression.

MAX

㸻

㺃 { t e + 㸦 1 㸩

㸧㺃㸦 A 㺃 N 2 㸩 B 㸧 }

L t e

MAX

: 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 next page)

: Coefficient B (Refer to the next page)

[mm, (deg)]

[mm/min, (deg/min)]

[r/min]

[×10 -4 kg•m 2 ]

[×10

-4 kg•m

]

[s] (Normally, 0.03s)

Emergency stop (EMG)

Dynamic brake control output

Actual dynamic brake operation

OFF

Motor speed

Coasting amount

Time t e

Dynamic brake braking diagram

4 - 20

MDS-D/DH Series Specifications Manual

4-1 Servo motor

HP224

HP204

HP354

HP454

HP704

HP903

HP1103

HF-KP23

HF-KP43

HF-KP73

HF223

HF303

HF453

HF703

HF903

HF142

HF302

HP54

HP104

HP154

Motor type

HF75

HF105

HF54

HF104

HF154

HF224

HF204

HF354

HF123

(×10

-4 kg•m

)

2.6

5.1

6.1

11.9

17.8

23.7

38.3

75.0

11.9

75.0

4.6

7.7

12.0

20.0

29.0

37.0

23.7

75.0

112.0

154.0

196.0

17.8

55.0

82.0

163.0

255.0

0.23

0.42

1.43

1.03×10 -9

2.04×10

-9

1.82×10

-9

2.19×10 -9

2.20×10

-9

3.23×10

-9

3.21×10 -9

0.18×10

-9

0.12×10

-9

0.49×10 -9

1.96×10 -9

4.50×10

-9

3.42×10

-9

3.49×10 -9

1.02×10

-9

3.94×10

-9

7.01×10 -9

2.75×10

-9

1.92×10

-9

1.44×10 -9

Coasting amount calculation coefficients table

A B Motor type

HF-H75

(×10

-4 kg•m

)

2.6

0.46×10

-9

0.44×10

-9

3.54×10 -9

1.95×10

-9

1.46×10

-9

1.17×10 -9

4.07×10

-9

4.09×10

-9

2.83×10 -9

4.58×10

-3

5.15×10

-3

6.11×10 -3

6.59×10

-3

8.07×10

-3

10.92×10 -3

12.92×10

-3

10.11×10

-3

4.77×10 -3

HF-H105

HF-H54

HF-H104

HF-H154

HF-H204

HF-H354

HF-H453

HF-H703

5.1

6.1

11.9

17.8

38.3

75.0

112.0

154.0

6.59×10

12.32×10

11.95×10

11.99×10

43.18×10

3.53×10

8.48×10

2.71×10

3.59×10

4.72×10

2.43×10

-3

6.74×10 -3

12.39×10

-3

10.44×10

-3

7.47×10 -3

8.04×10

-3

38.33×10

-3

23.09×10 -3

1.54×10

-3

1.16×10

-3

HF-H903

HP-H54

HP-H104

HP-H154

HP-H224

HP-H204

HP-H354

HP-H454

HP-H704

HP-H903

HP-H1103

HC-H1502S-S10

196.0

4.6

7.7

12.0

20.0

29.0

37.0

55.0

82.0

163.0

255.0

550.0

0.53×10

-9

0.50×10

-9

3.90×10 -9

2.31×10

-9

1.92×10

-9

5.06×10 -9

5.33×10

-9

5.97×10

-9

10.01×10 -9

3.66×10 -9

3.23×10

-9

2.30×10

-9

1.64×10 -9

1.32×10

-9

2.66×10

-9

4.45×10 -9

3.80×10

-9

5.65×10

-9

9.39×10 -9

9.83×10 -9

2.21×10

-9

4.49×10

-3

4.56×10

-3

5.56×10 -3

5.57×10

-3

6.65×10

-3

10.58×10 -3

6.91×10

-3

6.86×10

-3

4.20×10 -3

11.96×10 -3

2.34×10

-3

2.99×10

-3

3.85×10 -3

5.28×10

-3

8.25×10

-3

4.40×10 -3

4.46×10

-3

2.68×10

-3

10.98×10 -3

6.49×10 -3

22.14×10

-3

4 - 21

MITSUBISHI CNC

4 Characteristics

4-2 Spindle motor

4-2-1 Environmental conditions

Environment

Ambient temperature

Ambient humidity

Storage temperature

Storage humidity

Atmosphere

Altitude

Conditions

0°C to +40°C (with no freezing)

90% RH or less (with no dew condensation)

-20°C to +65°C(with no freezing)

90% RH or less (with no dew condensation)

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

Operation/storage: 1000m or less above sea level

Transportation: 10000m or less above sea level

4-2-2 Shaft characteristics

There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction, when mounted on the machine, is below the tolerable values given below. These loads may affect the motor output torque, so consider them when designing the machine.

Series

200V series

400V series

Spindle motor

SJ-VL2.2ZT, SJ-V3.7-02ZT

SJ-VL11-10FZT

SJ-VL0.75-01T, SJ-VL1.5-01T

SJ-D3.7/100-01, SJ-DJ5.5/100-01,

SJ-V2.2-01T, SJ-V3.7-01T, SJ-V5.5-01ZT, SJ-V7.5-01ZT, SJ-V7.5-03ZT,

SJ-V11-06ZT, SJ-VL11-05FZT-S01, SJ-VL11-07ZT

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

SJ-D7.5/100-01, SJ-D11/80-01, SJ-DJ11/100-01, SJ-DJ15/80-01

SJ-V11-01T, SJ-V11-01ZT, J-V11-13ZT, SJ-V22-06ZT, SJ-V30-02ZT

SJ-V11-09T, SJ-V15-01ZT, SJ-V15-03ZT, SJ-V15-09ZT, SJ-V18.5-03T,

SJ-V18.5-01ZT, SJ-V18.5-04ZT, SJ-V22-05T, SJ-V22-01ZT, SJ-V22-04ZT,

SJ-V26-01ZT

SJ-V37-01T, SJ-V45-01T, SJ-V22-09T, SJ-VK22-19ZT

SJ-V55-01T

SJ-4-V3.7-05ZT

SJ-4-V2.2-03T, SJ-4-V3.7-03T, SJ-4-V7.5-13ZT, SJ-4-V11-22ZT

SJ-4-V5.5-07T, SJ-4-V11-23ZT

SJ-4-V7.5-12T, SJ-4-V11-18T, SJ-4-V30-15ZT

SJ-4-V11-21T, SJ-4-V15-18T, SJ-4-V15-20T, SJ-4-V18.5-14T, SJ-4-V18.5-17T,

SJ-4-V22-15T, SJ-4-V22-16T, SJ-4-V22-18ZT, SJ-4-V26-08T

SJ-4-V37-04ZT, SJ-4-V45-02T

SJ-4-V55-03T

Tolerable radial load

196N

245N

490N

980N

1470N

1960N

2940N

3920N

5880N

490N

980N

1470N

1960N

2940N

3920N

5880N

Radial load

(Note) The load point is at the one-half of the shaft length.

CAUTION Consider on the machine side so that the thrust loads are not applied to the spindle motor.

4 - 22

MDS-D/DH Series Specifications Manual

4-2 Spindle motor

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 [mm]

Amplitude of the flange surface to the output shaft

Amplitude of the flange surface's fitting outer diameter

Amplitude of the output shaft end

Measurement point a b c

Flange size [mm]

0.08

0.04

0.02

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.

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

4 - 23

MITSUBISHI CNC

4 Characteristics

4-3 Tool spindle motor

4-3-1 Environmental conditions

Environment

Ambient temperature

Ambient humidity

Storage temperature

Storage humidity

Atmosphere

Altitude

Conditions

0°C to +40°C (with no freezing)

80% RH or less (with no dew condensation)

-15°C to +70°C (with no freezing)

90% RH or less (with no dew condensation)

Indoors (no direct sunlight)

No corrosive gas, inflammable gas, oil mist or dust

Operation / storage: 1000m or less above sea level

Transportation: 10000m or less above sea level

4-3-2 Shaft characteristics

Tool spindle motor

HF-KP46, 56

HF-KP96

HF-SP226, 406

HF75S, 105S

HF54S, 104S, 154S, 224S, 123S, 223S

HF204S, 303S, 354S,453S,703S

HF903S

Tolerable radial load

245N (L=30)

392N (L=40)

980N(L-55

245N (L=33)

980N (L=55)

2058N (L=79)

2450(L=85)

Tolerable thrust load

98N

147N

490N

147N

490N

980N

(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]

4 - 24

MDS-D/DH Series Specifications Manual

4-3 Tool spindle motor

4-3-3 Tool spindle temperature characteristics

< HF-KP Series >

[ HF-KP46J(K)W09 ]

60K 80K 100K

100

40K

20K

0 2000 4000

Rotation speed [r/min]

6000

[ HF-KP96J(K)W09 ]

100

20K 40K 60K

2000 4000

Rotation speed [r/min]

80K

6000

< HF-SP Series >

[HF-SP226J(K)W09 ]

㪈㪇㪇

20K

㪏㪇

㪍㪇

㪋㪇

㪉㪇

㪇

40K 60K

㪉㪇㪇㪇㪋㪇㪇㪇

Rotation speed [r/min]

80K

㪍㪇㪇㪇

100

20K

[ HF-KP56J(K)W09 ]

40K 60K 80K

0 2000 4000

Rotation speed [r/min]

6000

[ HF-SP406J(K)W09 ]

㪈㪇㪇

㪋㪇㪢

㪏㪇

㪉㪇㪢

㪍㪇

㪋㪇

㪉㪇

㪇

㪍㪇㪢

㪉㪇㪇㪇㪋㪇㪇㪇

Rotation speed [r/min]

㪏㪇㪢

㪍㪇㪇㪇

CAUTION

1. The contour lines 20K to 100K in the graph indicate the temperature rising values from the start-up to saturation.

2. The motor temperature tends to rise in a high-speed rotation even if the load rate is low.

4 - 25

MITSUBISHI CNC

4 Characteristics

4-4 Drive unit

4-4-1 Environmental conditions

Environment

Ambient temperature

Ambient humidity

Storage temperature

Storage humidity

Atmosphere

Altitude

Vibration

Conditions

0°C to +55°C (with no freezing)

90% RH or less (with no dew condensation)

-15°C to +70°C (with no freezing)

90% RH or less (with no dew condensation)

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

Operation/storage: 1000m or less above sea level

Transportation: 13000m or less above sea level

Operation/storage: 4.9m/s

(0.5G) or less Transportation: 49m/s

(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 - 26

MDS-D/DH Series Specifications Manual

4-4 Drive unit

4-4-2 Heating value

The values for the servo drive unit apply at the stall output. The values for the spindle drive unit apply for the continuous rated output. The values for the power supply unit include the AC reactor's heating value.

< MDS-D Series >

Type

MDS-D-

V1-20

V1-40

V1-80

V1-160

V1-160W

V1-320

V1-320W

Servo drive unit

Heating value

[W]

Insid e panel

Outsi de panel

Type

MDS-D-

148

V2-2020

V2-4020

V2-4040

V2-8040

201 V2-8080

307 V2-16080

399 V2-160160

V2-16160W

Heating value

[W]

Insid e panel

Outsi de panel

109

142

219

296

403

Type

MDS-D-

SP-20

SP-40

SP-80

SP-160

SP-200

SP-240

SP-320

SP-400

SP-640

Spindle drive unit

Heating value

[W]

Insid e panel

Outsi de panel

Type

MDS-D-

121

236

SP2-2020

SP2-4020

SP2-4040S

SP2-4040

100

118

148

196

404

520

688

897

1231

SP2-8040

SP2-16080S

SP2-8080

SP2-16080

Heating value

[W]

Insid e panel

Outsi de panel

Power supply unit

Type

MDS-D-

CV-37

CV-75

130 CV-110

130 CV-185

Heating value

[W]

Insid e panel

Outsi de panel

161

186 CV-300

358 CV-370

242 CV-450

358 CV-550

104

164

272

343

392

431

Type

MDS-DH-

V1-10

V1-20

V1-40

V1-80

V1-80W

V1-160

V1-160W

V1-200

< MDS-DH Series >

Servo drive unit

Heating value [W]

Inside panel

Outside panel

Type

MDS-DH-

V2-1010

V2-2010

V2-2020

105

175

222

328

461

630

V2-4020

V2-4040

V2-8040

V2-8080

V2-8080W

Heating value [W]

Inside panel

Outside panel

133

173

262

350

445

Type

MDS-DH-

Spindle drive unit

Heating value [W]

Inside panel

Outside panel

SP-20

SP-40

SP-80

158

237

SP-100

SP-160

SP-200

SP-320

SP-480

110

126

168

232

369

639

746

1034

1488

Type

MDS-DH-

CV-37

Power supply unit

Heating value [W]

Inside panel

Outside panel

CV-75

CV-110

CV-185

CV-300

CV-370

CV-450

CV-550

CV-750

104

164

228

161

272

343

392

431

614

POINT

1. Design the panel's heating value taking the actual axis operation (load rate) into consideration.

2. The heating values in the above tables are calculated with the following load rates.

Unit

Servo drive unit

Spindle drive unit

Power supply unit

Load rate

50%

100%

4 - 27

MITSUBISHI CNC

4 Characteristics

4-4-3 Drive unit arrangement

Arrange the drive units in the following procedure.

(1) Install a power supply unit.

(2) Arrange drive units in order of the nominal current from largest from the right.

(3) In the arrangement, the clearance between the units is 1 mm.

(4) Arrange the drive units with the DC connection length from the power supply unit being 800mm or less.

For the arrangement of 800mm or more, multiple power supply units are required.

(5) Arrange large capacity drive units at the left of the power supply unit with the clearance between the drive units being 1mm.

1mm 1mm 1mm 1mm

Use the dedicated connection bar.

800mm or less

POINT

Large Small

Arrange drive units in order of nominal current from largest.

1. Arrange large capacity drive units at the left of the power supply unit with the clearance between the drive units being 1mm.

2. Power supply units equivalent to the number of large capacity drive units are required.

3. When arranging the drive unit at the right of the large capacity power supply unit, remove the side protection cover of the power supply unit.

4. MDS-D-SP-400/640, MDS-DH-SP-200/320/480 and MDS-DH-V1-200 are the large capacity drive units.

4 - 28

MDS-D/DH Series Specifications Manual

4-4 Drive unit

<For separated arrangement of drive units >

Arranging drive units in the horizontal as much as possible is recommended. Thus, if the drive units must be arranged in the vertical, or if the drive units must be separated by more than 30mm, arrange them with the DC connection length of 500mm or less.

1mm

500mm or less

1mm

Twist Fixing band

CAUTION

1. D: For MDS-D-V1-320W, MDS-D-SP-240 to 640, the separated wiring is not available.

DH: For MDS-DH-V1-160W to 200, MDS-DH-SP-160 to 480, the separated wiring is not available.

2. If the drive units are separated by more than 30mm, twist the wires used for the DC connection or bundle them with a fixing band in order to prevent two wires from being separated.

3. Failure to observe the above arrangement could damage the units.

4 - 29

MITSUBISHI CNC

4 Characteristics

4 - 30

Dedicated Options

5 - 1

MITSUBISHI CNC

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

Machine side encoder to be used

Rectangular wave signal output

SR74, SR84

(MAGNESCALE)

Various scale

LS187, LS487

(HEIDENHAIN)

Encoder signal output

Rectangular wave signal

SIN wave signal

Interface unit

IBV series

(HEIDENHAIN)

EIB series

(HEIDENHAIN)

Drive unit input signal

Rectangular wave signal

Mitsubishi serial signal

Battery option

Remarks

Incremental encoder

SIN wave signal output

LS187C, LS487C

(HEIDENHAIN)

Various scale

SIN wave signal

MDS-B-HR-11(P)

(MITSUBISHI ELECTRIC)

MDS-B-HR-11(P)

(MITSUBISHI ELECTRIC)

Mitsubishi serial signal

(Required)

Note

(Required)

Note

Distance-coded reference scale

Distance-coded reference scale is also available

Mitsubishi serial signal output

SR75, SR85

(MAGNESCALE)

Mitsubishi serial signal

Absolute position encoder

Mitsubishi serial signal output

SIN wave signal output

OSA105ET2A,

OSA166ET2NA

(MITSUBISHI)

SR77, SR87

(MAGNESCALE)

LC193M, LC493M

(HEIDENHAIN)

AT343, AT543, AT545

(Mitutoyo)

SAM Series

(FAGOR)

SVAM Series

(FAGOR)

GAM Series

(FAGOR)

LAM Series

(FAGOR)

MPS Series

(Mitsubishi Heavy

Industries Machine Tool)

Mitsubishi serial signal

SIN wave signal

ADB-20J60

(Mitsubishi Heavy

Industries Machine Tool)

Mitsubishi serial signal

Required

Not required

Required

Ball screw end encoder

(Note) 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.

5 - 2

MDS-D/DH Series Specifications Manual

5-1 Servo options

(b) Full closed loop control for rotary axis

Incremental encoder

Machine side encoder to be used

Rectangular wave signal output

Various scale

SIN wave signal output

ERM280 Series

(HEIDENHAIN)

Various scale

Absolute position encoder

Mitsubishi serial signal output

SIN wave signal output

RU77

(MAGNESCALE)

RCN223M, RCN227M

(HEIDENHAIN)

RCN727M, RCN827M

(HEIDENHAIN)

MPRZ Series

(Mitsubishi Heavy

Industries Machine Tool)

MPI Series

(Mitsubishi Heavy

Industries Machine Tool)

Encoder signal output

Rectangular wave signal

SIN wave signal

Mitsubishi serial signal

SIN wave signal

Interface unit

EIB series

(HEIDENHAIN)

MDS-B-HR-11(P)

(MITSUBISHI ELECTRIC)

ADB-20J71

(Mitsubishi Heavy

Industries Machine Tool)

ADB-20J60

(Mitsubishi Heavy

Industries Machine Tool)

Output signal

Rectangular wave signal

Mitsubishi serial signal

Battery option

Required

Not required

<Contact information about machine side encoder>

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

- HEIDENHAIN CORPORATION: http://www.heidenhain.com/

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

- Mitsubishi Heavy Industries Machine Tool: http://www.mhi-machinetool.com/en/index.html

- FAGOR Automation: http://www.fagorautomation.com/

Remarks

POINT

The absolute position system cannot be established in combination with the relative position

(incremental) machine side encoder and absolute position motor side encoder.

5 - 3

MITSUBISHI CNC

5 Dedicated Options

(2) System establishment in the synchronous control

(a) Position command synchronous control

The synchronous control is all executed in the NC, and the each servo is controlled as an independent axis.

Therefore, preparing special options for the synchronous control is not required on the servo side.

(b) Speed command synchronization control

The common position control in two axes is performed by one linear scale. Basically, the two axes integrated type drive unit (MDS-D/DH-V2) is used, and the feedback signal is divided for two axes inside the drive unit.

When the two 1-axis type drive units are used in driving the large capacity servo motor, the linear scale feedback signal must be divided outside.

<Required option in the speed command synchronous control>

Machine side encoder to be used

SIN wave signal output scale

For MDS-D/DH-V2

MDS-B-HR-11(P)

(Serial conversion)

For MDS-D/DH-V1×2units

MDS-B-HR-12(P)

(Serial conversion/signal division)

Remarks

Mitsubishi serial signal output scale

MDS-B-SD (Signal division)

Including the case that an interface unit of the scale manufacturer is used with SIN wave output scale.

(Note) The rectangular wave signal output scale speed command synchronous control is not available.

POINT

1. When executing the synchronous control, use the servo motors of which the type and encoder specifications are same.

2. When performing the speed command synchronous control with 2-axis drive unit (MDS-D/

DH-V2), make sure to set L-axis as primary axis. When performing the speed command synchronous control with 3-axis drive unit (MDS-DM-V3), make sure to set L-axis as primary axis and M-axis as secondary axis. Other settings cause the initial parameter error alarm.

5 - 4

MDS-D/DH Series Specifications Manual

5-1 Servo options

< Speed command synchronization control system configuration >

1) SIN wave signal output scale

< When using MDS-D/DH-V2 >

For the FB signal of the linear scale, the SIN wave signal is converted to Mitsubishi serial signal with the encoder conversion unit (MDS-B-HR-11), and that signal is divided to each axis control inside 2-axis drive unit.

MDS-D/DH-V2

Linear scale

( SIN wave signal output )

Primary axis

Secondary axis

MDS-B-HR-11

Encoder conversion unit

CON3

CON4

CON1

CON2

For the FB signal of the linear scale, the SIN wave signal is converted to Mitsubishi serial signal with the encoder conversion unit (MDS-B-HR-12), and that signal is divided to each drive unit.

MDS-D/DH-V1

( Primary axis)

MDS-D/DH-V1

(Secondary axis)

Linear scale

( SIN wave signal output )

Primary axis

Secondary axis

MDS-B-HR-12

Encoder conversion unit

&21

5 - 5

MITSUBISHI CNC

5 Dedicated Options

2) Mitsubishi serial signal output scale

< When using MDS-D/DH-V2 >

The FB signal of the linear scale is divided to each axis control inside 2-axis drive unit. An external option unit is not required.

MDS-D/DH-V2

Primary axis

Secondary axis

Linear scale

( Mitsubishi serial signal output )

(Note) The conversion unit of the scale manufacturer is included.

< When using two units of MDS-D/DH-V1 >

The FB signal of the linear scale is divided to each drive unit with the signal division unit (MDS-B-SD).

MDS-D/DH-V1

(Primary axis)

MDS-D/DH-V1

(Secondary axis)

Primary axis

MDS-B-SD

Encoder division unit Secondary axis

Linear scale

( Mitsubishi serial signal output )

(Note) The conversion unit of the scale manufacturer is included.

5 - 6

MDS-D/DH Series Specifications Manual

5-1 Servo options

5-1-1 Dynamic brake unit (MDS-D-DBU)

The MDS-D-V1-320W and MDS-DH-V1-160W or larger units do not have dynamic brakes built in, so install an external dynamic brake unit.

(1) Specifications

Type

MDS-D-DBU

Coil specifications

24VDC 160mA

Wire size

5.5mm

or more

(For IV wire)

Compatible drive unit

MDS-D-V1-320W

MDS-DH-V1-160W or larger

Mass (kg)

3kg

(2) Outline dimension drawings

MDS-D-DBU

[Unit: mm]

140

195.4

5 - 7

MITSUBISHI CNC

5 Dedicated Options

(3) Connecting with the servo drive unit

Brake connector

(CN20)

Pin Name

MBR

DBR

P24

CNU20S(AWG14)

External power supply

DC24V GND

Twist wire

To a motor brake

Control terminal block (M3)

Name

Terminal

NC a b

Servo motor

U V W a b

Dynamic brake unit

(MDS-D-DBU)

Power terminal block (M3)

Terminal

Name

Internal circuit diagram

R (0.5

)

M C

13 b a

CAUTION

Correctly wire the dynamic brake unit to the servo drive unit.

Do not use for applications other than emergencies (normal braking, etc.). The internal resistor could heat up, and lead to fires or faults.

POINT

When you use a motor with a brake, please wire (between 1pin and 3pin) for the CN20 connector.

5 - 8

MDS-D/DH Series Specifications Manual

5-1 Servo options

5-1-2 Battery option (ER6V-C119B, A6BAT, MDS-A-BT, 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

(2)

MDS-A-BT□□

Unit and battery integration type

Class9

(excluding MDS-A-BT-2)

2 to 8 axes

Not possible

MDS-BTBOX-36

Unit and battery integration type

Not applicable

Up to 8 axes

Possible

(1) (4)

Battery

A6BAT

(MR-BAT)

(3)

Battery connector

Appearance

To the battery holder バッテリ

Dedicated case

MDS-BTCASE

Battery

(Note) When using the converged battery option, refer to this section "(5) 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 MDS-A-BT Series and 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.

5 - 9

MITSUBISHI CNC

5 Dedicated Options

(1) Cell battery ( ER6V-C119B )

(a) Specifications

Battery option type

Battery model name

Nominal voltage

Nominal capacity

Battery safety

Hazard class

Battery shape

Number of batteries used

Lithium alloy content

Mercury content

Number of connectable axes

Battery continuous backup time

Cell battery

ER6V-C119B (Note 1)

ER6V

3.6V

2000mAh

Single battery

ER6V x 1

0.7g

1g or less

Up to 3 axes (Note 3)

Up to 2 axes: Approx. 10000 hours

3 axes connected: Approx. 6600 hours

Battery useful life

(From date of unit manufacture)

Data save time in battery replacement

Back up time from battery warning to alarm occurrence (Note 2)

Mass

7 years

Approx. 20 hours at time of delivery, approx. 10 hours after 5 years

Up to 2 axes: Approx. 100 hours

3 axes connected: Approx. 60 hours

20g

(Note 1) ER6V-C119B is a battery built in a servo drive unit. Install this battery only in the servo drive unit that executes absolute position control.

(Note 2) This time is a guideline, so does not guarantee the back up time. Replace the battery with a new battery as soon as a battery warning occurs.

(Note 3) When using ball screw side encoder, both ball screw side encoder and motor side encoder need to be backed up by a battery, so the number of load shaft should be two.

(b) Installing the cell battery

Open the upper front cover of the servo drive unit.

Connect the battery connector and then put the battery inside.

Battery connector

Battery connector connection part magnified figure

1 2 1 2

To battery holder

Battery 1 2

BT1

Connector for connecting cell battery

Connect the cell battery with BT1.

(Note) When using a cell battery, do not connect the battery unit, MDS-A-BT and 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.

5 - 10

MDS-D/DH Series Specifications Manual

5-1 Servo options

(2) Cell battery ( A6BAT )

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

(a) Specifications

Battery option type

Battery model name

Nominal voltage

Nominal capacity

Battery safety

Hazard class

Battery shape

Number of batteries used

Lithium alloy content

Mercury content

Number of connectable axes

Battery continuous backup time

Battery useful life

(From date of unit manufacture)

Data save time in battery replacement

Back up time from battery warning to alarm occurrence (Note)

Mass

Cell battery

A6BAT (MR-BAT)

ER17330V

3.6V

1700mAh

Single battery

A6BAT (MR-BAT) x 1

0.48g

1g or less

1 axis / (per 1 battery)

Approx. 10000 hours

5 years

Approx. 20 hours at time of delivery, approx. 10 hours after 5 years

Approx. 80 hours

17g

(Note) This time is a guideline, so does not guarantee the back up time. Replace the battery with a new battery as soon as a battery warning occurs.

(b) Specifications of the dedicated case MDS-BTCASE

Type

Number of batteries installed

Number of connectable axes

MDS-BTCASE

Up to 8 A6BATs (MR-BATs) (Install either 2, 4, 6 or 8 A6BATs (MR-BATs))

Max. 8 axes (It varies depending on the number of batteries installed.)

When A6BAT (MR-BAT) x 2, 1 to 2 axis/axes

When A6BAT (MR-BAT) x 4, 3 to 4 axes

When A6BAT (MR-BAT) x 6, 5 to 6 axes

When A6BAT (MR-BAT) x 8, 7 to 8 axes

(c) Installing the cell battery

Open the cover of the dedicated case. Connect the battery connector and then put the battery inside.

Battery connector

Battery

(MR-BAT)

5 - 11

MITSUBISHI CNC

5 Dedicated Options

(d) Installing A6BAT (MR-BAT) to battery case

Open the cover of the dedicated case. Connect the battery connector and then put the battery inside.

[1] Incorporate batteries in order, from the connector CON1 on the top of the case.

In the same way, install batteries to holders in order, from the holder on the top.

Example of incorporated batteries

(Photo: 8 batteries incorporated)

Corresponding to MDS-A-BT-2

A6BAT

(MR-BAT)

CON1

CN1A

CON2

A6BAT

(MR-BAT)

CON8

Corresponding to MDS-A-BT-6

A6BAT

(MR-BAT)

CON1

CN1A

A6BAT

(MR-BAT)

Corresponding to MDS-A-BT-4

A6BAT

(MR-BAT)

CON1

CN1A

CON4

A6BAT

(MR-BAT)

CON8

Corresponding to MDS-A-BT-8

A6BAT

(MR-BAT)

CON1

CN1A

A6BAT

(MR-BAT)

CON6

CON8

[2] Attach a seal indicating the number of incorporated batteries to the part shown below.

Attach the seal here.

(Attach only numbers)

5 - 12

MDS-D/DH Series Specifications Manual

5-1 Servo options

(e) Outline dimension drawing of the dedicated case MDS-BTCASE

145

130 㧔 15 㧕

2-M5 screw

16.8

6 ޓ

Panel drawing

[Unit:mm]

5 - 13

MITSUBISHI CNC

5 Dedicated Options

(3) Battery unit (MDS-A-BT□ )

(a) Specifications

Battery option type

Lithium battery series

Nominal voltage

Nominal capacity

Hazard class

Battery shape

Battery safety

Number of batteries used

Lithium alloy content

Mercury content

Number of connectable axes

Battery continuous backup time

Battery useful life

(From date of unit manufacture)

Data save time in battery replacement

Back up time from battery warning to alarm occurrence (Note)

Mass

MDS-A-BT-2

4000mAh

ER6V x 2

1.3g

Up to 2 axes

Battery unit

MDS-A-BT-4 MDS-A-BT-6

ER6V

3.6V

8000mAh

Class 9

Set battery

12000mAh

ER6V x 4

2.6g

ER6V x 6

3.9g

1g or less

Up to 4 axes Up to 6 axes

Approx. 20000 hours

7 years

MDS-A-BT-8

ER6V x 8

5.2g

Approx. 20 hours at time of delivery, approx. 10 hours after 5 years

Approx. 100 hours

600g

16000mAh

Up to 8 axes

(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) Outline dimension drawings

MDS-A-BT-2/-4/-6/-8

Use an M5 screw for the 6 DIA. mounting hole

100

[Unit:mm]

5 - 14

MDS-D/DH Series Specifications Manual

5-1 Servo options

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

(a) Specifications

Battery option type

Battery box

MDS-BTBOX-36 size-D alkaline batteries LR20 x 4 pieces Battery model name (Note 1)

Nominal voltage

Number of connectable axes

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

+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]

103

102

（ 87 ）

Square hole

4-M4 Flat head screw

(Tightening torque: 1.0N·m)

Panel cut drawing

Connection terminal block

POINT

Packing Packing area

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.

5 - 15

MITSUBISHI CNC

5 Dedicated Options

(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:

0.2mm to 1.25mm

< 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

DG24 cable

Light blue

White

+5V

24V (I/O power)

Blue

Yellow

DO(ALM)

MDS-BTBOX-36

DOCOM

24G (I/O power)

Battery voltage drop warning signal connection diagram

5 - 16

MDS-D/DH Series Specifications Manual

5-1 Servo options

(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.

5 - 17

MITSUBISHI CNC

5 Dedicated Options

(5) Converged battery option

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

Battery option type

A6BAT (MR-BAT)

MDS-A-BT series

MDS-BTBOX-36

Installation type

Dedicated case type (built-in MDS-BTCASE)

Unit and battery integration type

Battery charge

Possible

Unit exchange

Possible

System configuration

< A6BAT(MR-BAT), MDS-A-BT Series >

1-axis servo drive unit

(MDS-D/DH-V1)

2-axis servo drive unit

(MDS-D/DH-V2)

Spindle drive unit

(MDS-D/DH-SP)

Power supply unit

(MDS-D/DH-CV)

Battery case

MDS-BTCASE +

A6BAT (MR-BAT)

From NC

L+

L-

Servo motor Servo motor

Battery connector connection part magnified figure

BTA

1 2 1 2

BTB

Connector for connecting converged battery

1 2

BT1

Connect the converged battery with BTA or BTB.

POINT

1. This wiring is not required for the drive unit or spindle drive unit which is not an absolute system.

2. Use a shield cable for wiring between drive units.

The drive unit could malfunction.

5 - 18

MDS-D/DH Series Specifications Manual

5-1 Servo options

< MDS-BTBOX-36 >

(a) MDS-D/DH-V1/V2 Series connected in serial

1-axis servo drive unit

(MDS-D/DH-V1)

2-axis servo drive unit

(MDS-D/DH-V2)

DG22

Spindle drive unit

(MDS-D/DH-SP)

DG24

Power supply unit

(MDS-D/DH-CV)

DG23

From NC

CN9

+24V

I/O power

Battery box

MDS-BTBOX-36

DOCOM

DO(ALM)

+5V

L+

L-

Servo motor Servo motor

Servo drive unit

Battery connector connection part magnified figure

BTA BTB

1 2 1 2

Connector for connecting battery unit

1 2

BT1 For cell battery

Connect the battery unit with BTA or BTB.

Connect either the battery unit or the cell battery.

CAUTION

1.24V power for DO output must always be turned ON before the NC power input.

2. Spindle drive unit has no battery voltage drop warning function. Wiring to CN9 of drive unit must be always connected to servo drive unit.

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

5 - 19

MITSUBISHI CNC

5 Dedicated Options

(b) MDS-D/DH-V1/V2 Series connected in parallel

1-axis servo drive unit

(MDS-D/DH-V1)

2-axis servo drive unit

(MDS-D/DH-V2)

Spindle drive unit

(MDS-D/DH-SP)

DG24

Power supply unit

(MDS-D/DH-CV)

DG2

DG23

From NC BTB BTB

To servo drive unit

CN9

L+

L-

+24V

I/O power

Battery box

MDS-BTBOX-36

DOCOM

DO(ALM)

+5V

Provide the terminal block to divide the power for backup.

Connect the +5V power and DO output with one of servo drive units.

Servo motor Servo motor

Servo drive unit

Battery connector connection part magnified figure

BTA

1 2 1 2

BTB

Connector for connecting battery unit

1 2

BT1 For cell battery

Connect the battery unit with BTA or BTB.

Connect either the battery unit or the cell battery.

CAUTION

1. 24V power for DO output must always be turned ON before the NC power input.

2. Spindle drive unit has no battery voltage drop warning function. Wiring to CN9 of drive unit must be always connected to servo drive unit.

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

5 - 20

MDS-D/DH Series Specifications Manual

5-1 Servo options

5-1-3 Ball screw side encoder (OSA105ET2A, OSA166ET2NA)

(1) Specifications

Electrical characteristics

Mechanical characteristics for rotation

(*1)

(*2)

Mechanical configuration

Working environment

Encoder type

Encoder resolution

Detection method

Accuracy (*1)

Tolerable rotation speed at power off (*2)

Encoder output data

Power consumption

Inertia

Shaft friction torque

Shaft angle acceleration

Tolerable continuous rotation speed

Shaft amplitude

(position 15mm from end)

Tolerable load

(thrust direction/radial direction)

Mass

Degree of protection

Recommended coupling

Ambient temperature

Storage temperature

Humidity

Vibration resistance

Impact resistance

OSA105ET2A

1,000,000 pulse/rev

OSA166ET2NA

16,000,000 pulse/rev

Absolute position method

(battery backup method)

±3 seconds

500r/min

Serial data

0.3A

0.5 x 10

-4 kgm

or less

0.1Nm or less

4 x 10 4 rad/s 2 or less

4000r/min

0.02mm or less

9.8N/19.8N

0.6kg

IP65 (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.

5 - 21

MITSUBISHI CNC

5 Dedicated Options

(2) Outline dimension drawings

OSA105ET2A, OSA166ET2NA

2.7

-0.020

DIA.

70 DIA.

8.72

85 SQ.

4-5.5 DIA.

45°

100 DIA.

80 DIA.

A-A

0 -0.020

B-B

CM10-R10P

(3) Explanation of connectors

10 9 8

Pin

Connector pin layout

Function

RQ*

BAT

LG(GND)

Pin

Function

SD*

P5(+5V)

SHD

[Unit OO ]

5 - 22

MDS-D/DH Series Specifications Manual

5-1 Servo options

5-1-4 Machine side encoder

The machine side encoders are all other manufacturer's parts, and must be prepared by the user.

(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

Encoder type

SR75

SR85

LS187, LS187C

LS487, LS487C

ERM280 1200

ERM280 2048

Interface unit type

Not required

EIB192M A4 20 μ m

EIB392M A4 20 μ m

EIB192M C4 1200

EIB392M C4 1200

EIB192M C6 2048

EIB392M C6 2048

Minimum detection resolution

0.1

μ m

0.05

μ m

0.01

μ m

Tolerable maximum speed

200m/min

120m/min 0.0012

μ m

0.0000183°

(19,660,800p/rev)

0.0000107°

(33,554,432p/rev)

20000r/min

11718r/min

<Contact information about machine side encoder>

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

- HEIDENHAIN CORPORATION: http://www.heidenhain.com/

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

5 - 23

MITSUBISHI CNC

5 Dedicated Options

(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

2.0

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) x 200,000 x 60

In use of rotary encoder:

Maximum rotation speed (r/min) = 200,000 / numbers of encoder scale (1/rev) x 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) x 512

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

5 - 24

MDS-D/DH Series Specifications Manual

5-1 Servo options

(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

Encoder type

SR74

SR84

LS187

LS487

Interface unit type

Not required

IBV 101 (10 divisions)

IBV 102 (100 divisions)

IBV 660B (400 divisions)

Minimum detection resolution

1.0

μ m

0.5

μ m

0.1

μ m

0.05

μ m

0.5

μ m

0.05

μ m

0.0125

μ m

Tolerable maximum speed

180m/min

125m/min

25m/min

12m/min

120m/min

24m/min

7.5m/min

<Contact information about machine side encoder>

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

- HEIDENHAIN CORPORATION: http://www.heidenhain.com/

5 - 25

MITSUBISHI CNC

5 Dedicated Options

(2) Absolute position encoder

The applicable absolute position encoders are as follows.

Manufacturer

Magnescale Co., Ltd

HEIDENHAIN

Mitutoyo

Mitsubishi Heavy

Industries Machine Tool

FAGOR

Encoder type

SR77

SR87

RU77

LC193M

LC493M

RCN223M

RCN227M

RCN727M

RCN827M

AT343

AT543

AT545

MPRZ series

MPS Series

MPI Series

SAM Series

SVAM Series

GAM Series

LAM Series

Interface unit type Minimum detection resolution

Not required

ADB-20J71

ADB-20J60

Not required

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

0.0000429°

(8,388,608p/rev)

0.0000027°

(134,217,728p/rev)

0.0000027°

(134,217,728p/rev)

0.05

μ m

0.05

μ m

0.005

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

Tolerable maximum speed

200m/min

2,000r/min

180m/min

1,500r/min

300r/min

120m/min

150m/min

10,000r/min

3600m/min

5,000r/min

120m/min

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

- HEIDENHAIN CORPORATION: http://www.heidenhain.com/

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

- Mitsubishi Heavy Industries Machine Tool: http://www.mhi-machinetool.com/en/index.html

- FAGOR Automation: http://www.fagorautomation.com/

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

5 - 26

MDS-D/DH Series Specifications Manual

5-2 Spindle options

5-2 Spindle options

According to the spindle control to be adopted, select the spindle side encoder based on the following table.

(1) No-variable speed control

(When spindle and motor are directly coupled or coupled with a 1:1 gear ratio)

Spindle control item

Control specifications Without spindle side encoder With spindle side encoder

Spindle control

Orientation control

Synchronous tap control

Spindle synchronous control

C-axis control

Normal cutting control

Constant surface speed control (lathe)

Thread cutting (lathe)

1-point orientation control

Multi-point orientation control

Orientation indexing

Standard synchronous tap

Synchronous tap after zero point return

Without phase alignment function

With phase alignment function

●

This normally is not used for novariable speed control.

C-axis control ● (Note 2) ●

(Note 1) ● :Control possible x :Control not possible

(Note 2) When spindle and motor are coupled with a 1:1 gear ratio, use of a spindle side encoder is recommended to assure the precision.

(2) Variable speed control

(When using V-belt, or when spindle and motor are connected with a gear ratio other than 1:1)

Spindle control item

Control specifications

Without spindle side encoder

With spindle side encoder

TS5690/ERM280/

MPCI Series

OSE-1024

Proximity switch

Spindle control

Normal cutting control

Constant surface speed control (lathe)

Thread cutting (lathe)

1-point orientation control

Orientation control

Multi-point orientation control

Synchronous tap control

Orientation indexing

Standard synchronous tap

Synchronous tap after zero point return

Spindle synchronous control

Without phase alignment function

With phase alignment function

C-axis control C-axis control

●

● (Note 2) x x x x

● (Note 3) x

● (Note 2) x

●

● 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.

●

● (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.

5 - 27

MITSUBISHI CNC

5 Dedicated Options

5-2-1 Spindle side ABZ pulse output encoder (OSE-1024 Series)

When a spindle and motor are connected with a V-belt, or connected with a gear ratio other than 1:1, use this spindle side encoder to detect the position and speed of the spindle. Also use this encoder when orientation control and synchronous tap control, etc are executed under the above conditions.

(1) Specifications

Mechanical characteristics for rotation

Encoder type

Inertia

Shaft friction torque

Shaft angle acceleration

Tolerable continuous rotation speed

Bearing maximum non-lubrication time

Shaft amplitude

(position 15mm from end)

OSE-1024-3-15-68

0.1x10

-4 kgm

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

or less

0.98Nm or less

10 4 rad/s 2 or less

8000 r/min

20000h/8000r/min

0.02mm or less

Mechanical configuration

Working environment

Tolerable load

(thrust direction/radial direction)

Mass

Degree of protection

Squareness of flange to shaft

Flange matching eccentricity

Ambient temperature range

Storage temperature range

Humidity

Vibration resistance

Impact resistance

10kg/20kg

Half of value during operation

1.5kg

IP54

0.05mm or less

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

Pin

Connector pin layout

Function

A+ signal

Z+ signal

B+ signal

Case grounding

+5V

Pin

Function

A- signal

Z- signal

B- signal

5 - 28

MDS-D/DH Series Specifications Manual

5-2 Spindle options

(3) Outline dimension drawings

102 33 غ 68

MS3102A20 -29P

3 2

4Ǿ 5.4 hole

+0.012

1.15

+0.14

Shaft section

Key way magnified figure

Spindle side encoder (OSE-1024-3-15-68, OSE-1024-3-15-68-8)

[Unit: mm]

5 - 29

MITSUBISHI CNC

5 Dedicated Options

5-2-2 Spindle side PLG serial output encoder (TS5690, MU1606 Series)

This encoder is used when a more accurate synchronous tapping control or C-axis control than OSE encoder is performed to the spindle which is not directly-connected to the spindle motor.

(1) Type configuration

<Sensor type>

TS5690N (1) (2)

(1)

Symbol

The number of compatible detection gear teeth

128

256

(2)

Symbol

Length of the cable

400mm

800mm

1200mm

1600mm

2000mm

<Detection gear type>

MU1606N (1) (2)

(1)

Symbol

The number of detection gear teeth

128

256

(2) Each specification number

(2) Specifications

Sensor

Series type xx (The end of the type name)

Length of lead [mm]

Detection gear

Type

The number of teeth

Outer diameter [mm]

Inner diameter [mm]

Thickness [mm]

Shrink fitting [mm]

Notched fitting section

Outer diameter [mm]

Outer diameter tolerance [mm]

A/B phase The number of output pulse

Z phase

Detection resolution [p/rev]

Absolute accuracy at stop

Tolerable speed [r/min]

Signal output

400

±10

TS5690N64xx

20 30 40

800

±20

1200

±20

1600

±30

MU1606N601

Φ 52.8

Φ 40H5

0.020 to 0.040

Φ 72.0

+0.010 to +0.060

2 million

150"

40,000

2000

±30

400

±10

TS5690N12xx

30 40

800

±20

1200

±20

1600

±30

MU1606N709

128

Φ 104.0

Φ 80H5

0.030 to 0.055

Φ 122.0

-0.025 to +0.025

128

4 million

100"

20,000

Mitsubishi high-speed serial

2000

±30

400

±10

TS5690N25xx

30 40

800

±20

1200

±20

1600

±30

MU1606N805

256

Φ 206.4

Φ 140H5

0.050 to 0.085

Φ 223.6

-0.025 to +0.025

256

8 million

95"

10,000

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.

5 - 30

MDS-D/DH Series Specifications Manual

5-2 Spindle options

(3) Outline dimension drawings

CAUTION

Always apply the notched fitting section machining with the specified dimensions to the sensor installation surface.

<TS5690N64xx + MU1606N601>

Sensor mounting face (Note 4)

Ǿ 7

16.5

5.5

Round crimp contact for thermistor 0.5-4

(For M4 screw)

100±10

[Unit: mm]

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

14.5

Name plate

Sensor model and

Serial No. written

2Ǿ 5.8

Ground

Central line of detection gear

(Note 4)

3.3

C0.5

C part

(Note 2)

D part (Note 3)

Ǿ 2 hole for identification

Detection gear

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.

Pay special attention not to apply excessive external force

(Note 2) on the sensor’s detection face. Applying such force will cause a fault.

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.

+ 0.060

+ 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

Projection for connector lock

Seen from Arrow A

3 2 1

RQ MT1 MT2

SD*

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

5 - 31

MITSUBISHI CNC

5 Dedicated Options

<TS5690N12xx + MU1606N709>

Round crimp contact for thermistor 0.5-4

(For M4 screw)

100±10

Sensor mounting face (Note 4)

Ǿ 7

16.5

2Ǿ 5.8

Ground

23.7

14.5

5.5

Central line of detection gear

(Note 4)

3.3

C0.5

Output connector (by Tyco Electronics)

Housing (Cap) #172161-1

Contact (Socket) #170365-4

Accessories (Note 5)

Housing (Plug) #172169-1 Qty: 1

Contact (Pin) #170363-4 Qty: 9

Name plate

Sensor model and

Serial No. written

C part (Note 2)

D part (Note 3)

Ǿ 2 hole for identification

[Unit: mm]

90 2-M5 screw

Detection gear 3

Sensor mounting face

One notch (For Z phase signal)

The number of teeth 128

(For A, B phase signals)

(Note 1) Handle with care as this is a precision component.

Pay special attention not to apply excessive external force on the sensor’s detection face. Applying such force will cause a fault.

(Note 2) In installing the sensor, keep the protruding fitting of on the machine side, and push the C part of the sensor mounting seat against the fitting.

Ǿ 122±0.025

(Note 3)

(Note 4)

In installing the detection gear, make sure that the D part side comes the opposite side of the sensor installation side (sensor’s lead wire side).

The diviation of the center of the detection gear is 16.5±0.25mm from the sensor mounting face.

(Note 5) A connector of the signal cable side (one plug and nine pins) is attached.

Parts name

TS5690N1210

TS5690N1220

TS5690N1230

TS5690N1240

TS5690N1260

Sensor

Lead wire length A [mm]

400±10

800±20

1200±20

1600±30

2000±30

Detection gear

Parts name

MU1606N709

Encoder mounting face of machine side

Projection for connector lock

Seen from Arrow A

3 2 1

RQ MT1

SD*

MT2

RQ*

9 8 7

FG 5G +5V

Pin layout of output connector

5 - 32

MDS-D/DH Series Specifications Manual

5-2 Spindle options

<TS5690N25xx + MU1606N805>

Sensor mounting face (Note 4) 29

16.5

5.5

Central line of detection gear

(Note 4)

3.3

C0.5

[Unit: mm]

Output connector (by Tyco Electronics)

Housing (Cap) #172161-1

Contact (Socket) #170365-4

Accessories (Note 5)

Contact (Pin) #170363-4 Qty: 9

Housing (Plug) #172169-1 Qty: 1

Round crimp contact for thermistor 0.5-4

(For M4 screw)

14.5

2Ǿ 5.8

Ground

100±10

Ａ 23.7

Name plate

Sensor model and

Serial No. written

Ａ

C part (Note 2)

D part (Note 3)

Ǿ 2 hole for identification

180 2-M8 screw

Detection gear

The number of teeth 256

(For A, B phase signals)

8 4

12 1

One notch (For Z phase signal)

(Note 1) Handle with care as this is a precision component.

Pay special attention not to apply excessive external force on the sensor’s detection face. Applying such force will cause a fault.

(Note 2)

(Note 3)

(Note 4)

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.

(Note 5) A connector of the signal cable side (one plug and nine pins) is attached.

Detection gear

Parts name Parts name

TS5690N2510

TS5690N2520

TS5690N2530

TS5690N2540

TS5690N2560

Sensor

Lead wire length A [mm]

400±10

800±20

1200±20

1600±30

2000±30

MU1606N805

Sensor mounting face

Encoder mounting face of machine side

Projection for connector lock

Seen from Arrow A

MT1

MT2

6 5 4

SD* SD RQ*

9 8 7

FG 5G +5V

Pin layout of output connector

5 - 33

MITSUBISHI CNC

5 Dedicated Options

5-2-3 Spindle side accuracy serial output encoder (ERM280, MPCI Series)

C-axis control encoder is used in order to perform an accurate C-axis control.

Manufacturer

HEIDENHAIN

Encoder type

ERM280 1200

ERM280 2048

MPCI series

Interface unit type

EIB192M C4 1200

EIB392M C4 1200

EIB192M C6 2048

EIB392M C6 2048

ADB-20J20

Minimum detection resolution

0.0000183°

(19,660,800p/rev)

0.0000107°

(33,554,432p/rev)

0.00005°

(7200000p/rev)

Tolerable maximum speed

20000 r/min

11718 r/min

10000 r/min

Mitsubishi Heavy

Industries Machine Tool

<Contact information about machine side encoder>

- HEIDENHAIN CORPORATION: http://www.heidenhain.com/

- Mitsubishi Heavy Industries Machine Tool: http://www.mhi-machinetool.com/en/index.html

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

5-2-4 Machine side encoder

Refer to the section "5-1-4 Machine side encoder".

5 - 34

MDS-D/DH Series Specifications Manual

5-3 Encoder interface unit

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

Output number 1

Output number 2 (with division)

(2) Specifications

Type MDS-B-HR-

Compatible scale (example)

Signal 2-division function

Analog signal input specifications

Compatible frequency

Scale resolution

Input/output communication style

Working ambient temperature

Working ambient humidity

Atmosphere

Tolerable vibration

Tolerable impact

Tolerable power voltage

Maximum heating value

Mass

Degree of protection

(2) Degree of protection

Symbol Degree of protection

None

IP65

IP67

12 11P

LS186 / LS486 (HEIDENHAIN)

* -

A-phase, B-phase, Z-phase (Amplitude 1Vp-p)

Analog raw waveform max. 200kHz

Analog raw waveform/512 division

High-speed serial communication I/F, RS485 or equivalent

0 to 55°C

90%RH or less (with no dew condensation)

No toxic gases

98.0 m/s

(10G)

294.0 m/s

(30G)

5VDC±5%

0.5kg or less

IP65 IP67

12P

5 - 35

MITSUBISHI CNC

5 Dedicated Options

(3) Explanation of connectors

Connector name

CON1

CON2

CON3

CON4

Application

For connection with servo drive unit (2nd system)

For connection with servo drive unit

For connection with scale

For connection with pole detection unit

(MDS-B-MD)

Remarks

Not provided for 1-part system specifications

*Used for linear servo system

Pin No.

CON1

Function

RQ+ signal

RQ- signal

SD+ signal

SD- signal

GND

Pin No.

CON2

Function

RQ+ signal

RQ- signal

SD+ signal

SD- signal

GND

Pin No.

CON3

Function

A+ phase signal

A- phase signal

B+ phase signal

B- phase signal

Z+ phase signal

Z- phase signal

GND

Pin No.

CON4

Function

A phase signal

REF signal

B phase signal

REF signal

P24

MOH signal

TH signal

GND

<Connector pin layout >

Connector

CON1

CON2

CON3

CON4

Type

RM15WTR- 8P(Hirose Electric)

RM15WTR-12S(Hirose Electric)

RM15WTR-10S(Hirose Electric)

CON1

CON2

(4) Outline dimension drawings

6.5

8 9 1

CON3

152

CON4

6.5

RM15WTR-10S

RM15WTR-8Px2

RM15WTR-12S

4-5 DIA.

165

[Unit:mm]

5 - 36

MDS-D/DH Series Specifications Manual

5-3 Encoder interface unit

(5) Example of wiring

MDS-D/DH-V1/V2/V3/SP/SP2 MDS-D/DH-CV

CN2/3

MDS-B-HR

CON1 CON2

(Note 1)

(Note 3)

CON3 CON4

(Note 5)

(Note 4)

(Note 2)

Motor/Machine end encoder

Control panel

Grounding bar

(Note 1) Install the MDS-B-HR unit outside the control panel.

(Note 2) For connections between an encoder and MDS-B-HR unit, keep the cable length as short as possible.

(Note 3) Ground the MDS-B-HR unit.

(Note 4) Place a ferrite core as close as possible to the MDS-B-HR unit.

Wind the cable around the unit one time when installing a ferrite core.

(Note 5) Use shielded cables and join the shield to the connector shell.

5 - 37

MITSUBISHI CNC

5 Dedicated Options

5-3-2 Serial signal division unit MDS-B-SD

This unit has a function to divide the position and speed signals fed back from the high-speed serial encoder and high-speed serial linear scale. This unit is used to carry out synchronized control of the motor with two MDS-D/DH-V1 drive units.

(1) Specifications

Type

Compatible servo drive unit

Input/output communication style

Working ambient temperature

Working ambient humidity

Atmosphere

Tolerable vibration

Tolerable impact

Tolerable power voltage

Maximum heating value

Mass

Degree of protection

MDS-B-SD

MDS-D/DH-V1□

High-speed serial communication I/F, RS485 or equivalent

0 to 55°C

90%RH or less (with no dew condensation)

No toxic gases

98.0 m/s 2 (10G)

294.0 m/s

(30G)

5VDC±10%

0.5kg or less

IP20

POINT

Always provide one MDS-B-SD unit for one speed command synchronous control operation.

The CN2 system's CN2A and the CN3 system's CN3A cannot be connected to different servo drive units.

(2) Explanation of connectors

Pin No.

Encoder connector : CN2

Name Pin No.

LG 11

BAT

P5 (+5V)

Name

SD*

RQ*

P5 (+5V)

< Connector pin layout >

Encoder connector 㸸 CN2

Pin No.

No.1

No.10

No.11

No.20

5 - 38

(3) Outline dimension drawings

Encoder

CN2

Primary axis

CN2A

Secondary axis

CN2B

CN3

CN3A

CN3B

Wiring allowance

135

MDS-D/DH Series Specifications Manual

5-3 Encoder interface unit

2-M5-0.8 screw

34 6

Mounting hole [Unit: mm]

5 - 39

MITSUBISHI CNC

5 Dedicated Options

5-3-3 Pulse output interface unit for ABZ analog encoder IBV Series

(Other manufacturer's product)

(1) Appearance

IBV100 series

(2) Specifications

Type

Manufacturer

Input signal

Maximum input frequency

Output signal

Interpolation division number

Compatible encoder

Minimum detection resolution

Working temperature

Degree of protection

Mass

IBV600 series

IBV 101

Maximum 10 divisions

LS187, LS487

0.5

μ m

IBV 102

HEIDENHAIN

A-phase, B-phase: SIN wave 1Vpp, Z-phase

400kHz

IBV 660B

Rectangular wave pulse signal

Maximum 100 divisions Maximum 400 divisions

LS187, LS487

0.05

μ m

0°C to 70°C

IP65

300g

LS187, LS487

0.0125

μ m

(3) Outline dimension drawings

IBV100 series

38.5±1

86±0.2

(Note)

14 .5

Φ 4.5

Φ 7.5

(Note) This can be fixed with two screws.

M4 × 16 ISO 4762/DIN 912

IBV600 series

7±1

[Unit: mm]

175

M4 22 74

163±0.2

[Unit : mm]

CAUTION

These are other manufacturer's products. When purchasing these product, contact the manufacturer directly.

5 - 40

MDS-D/DH Series Specifications Manual

5-3 Encoder interface unit

5-3-4 Serial output interface unit for ABZ analog encoder EIB192M

(Other manufacturer's product)

(1) Appearance

(2) Specifications

Type

Manufacturer

Input signal

Maximum input frequency

Output signal

Interpolation division number

Compatible encoder

Minimum detection resolution

Working temperature

Degree of protection

Mass

(3) Outline dimension drawings

EIB192M A4 20 μ m EIB192M C4 1200

HEIDENHAIN

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

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

[Unit : mm]

CAUTION

These are other manufacturer's products. When purchasing these product, contact the manufacturer directly.

5 - 41

MITSUBISHI CNC

5 Dedicated Options

5-3-5 Serial output interface unit for ABZ analog encoder EIB392M

(Other manufacturer's product)

(1) Appearance

(2) Specifications

Type

Manufacturer

Input signal

Maximum input frequency

Output signal

Interpolation division number

Compatible encoder

Minimum detection resolution

Working temperature

Degree of protection

Mass

(3) Outline dimension drawings

EIB392M A4 20 μ m EIB392M C4 1200

HEIDENHAIN

EIB392M C4 2048

A-phase, B-phase: SIN wave 1Vpp, Z-phase

400kHz

Mitsubishi high-speed serial signal (Mitsu02-4)

Maximum 16384 divisions

LS187, LS487

0.0012

μ m

ERM280 1200

0.0000183°

(19,660,800p/rev)

ERM280 2048

0.0000107°

(33,554,432p/rev)

0°C to 70°C

IP40

140g

76.5

[Unit : mm]

CAUTION

These are other manufacturer's products. When purchasing these product, contact the manufacturer directly.

5 - 42

MDS-D/DH Series Specifications Manual

5-3 Encoder interface unit

5-3-6 Serial output interface unit for ABZ analog encoder ADB-20J Series

(Other manufacturer's product)

(1) Appearance

(2) Specifications

Manufacturer

Type

Maximum response speed

Output signal

Compatible encoder

Minimum detection resolution

Working temperature

Degree of protection

Mass

(3) Outline dimension drawings

ADB-20J20

10,000r/min

MPCI series

0.00005°

(7,200,000p/rev)

ADB-20J60

Mitsubishi Heavy Industries Machine Tool Co., Ltd.

3,600m/min 5,000r/min

Mitsubishi high-speed serial signal

MPS Series

0.05

μ m

MPI Series

0.000025°

(1,440,000p/rev)

0°C to 55°C

IP20

0.9kg

ADB-20J71

10,000r/min

MPRZ series

0.000043°

(8,388,608p/rev)

190

180

160

[Unit：mm]

M4 screw ×4

Part side Label side

CAUTION

These are other manufacturer's products. When purchasing these product, contact the manufacturer directly.

5 - 43

MITSUBISHI CNC

5 Dedicated Options

5-4 Drive unit option

5-4-1 Optical communication repeater unit (FCU7-EX022)

When the distance of the optical communication cable between NC control unit and drive unit is over 30m (M700V/M70V/E70

Series: maximum 30m, M700/M70/C70 Series: maximum 20m), the communication can be performed by relaying the optical signal.

Using up to two units, relay of the total length of up to 90m can be performed.

<Product features>

(a) When the distance of the optical communication cable between NC control unit and drive unit is over 30m, the communication can be performed by relaying the optical signal.

(b) The relay between NC control unit and drive unit can be performed for up to two channels.

(c) If the distance between NC control unit and drive unit is even within 30m, the cable can be divided by the relay in transporting the machine.

(d) Same mounting dimension as the remote I/O unit (DX unit).

CAUTION This unit can not be used between drive units.

(1) Specifications

DC24V input

Optical interface

Environment

Dimension

Mass

Item

Input voltage

Inrush current

Power consumption

Consumption current

Channel number

Connectable number

Ambient temperature

Operation

Ambient humidity

Storage

Operation

(long term)

Operation

(short term)

Storage

Operation

Vibration

Transportation

Impact resistance Operation

Atmosphere

Dimension

Mounting method

FCU7-EX022

24V±10% (21.6V to 26.4V)

35A

10W

0.4A

2 channels

Maximum 2

0°C to +55°C

-20°C to +60°C

+10%RH to +75%RH (with no dew condensation)

+10%RH to +95%RH

(with no dew condensation. Short term is within about one month.)

+10%RH to +75%RH (with no dew condensation)

4.9m/s

34.3m/s 2

29.4m/s

No corrosive gas, oil mist, or dust

(depth)135mm × (width)40mm × (height)168mm

Screw cramp with M5 2 screw cramps

0.42kg

5 - 44

MDS-D/DH Series Specifications Manual

5-4 Drive unit option

(2) Explanation of connectors

Connector name

OPT1IN,

OPT1OUT,

OPT2IN,

OPT2OUT

DCIN

DCOUT

ACFAIL

Application

Optical connector

Remarks

DC24V Power connector

DC24V/ Power OFF detection output connector

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 Faston terminal

Pin No.

DCIN

Name

DC24V

0V (RG)

Pin No.

Name

DCOUT

Pin No.

ACFAIL B1

COM

Name

DC24V

0V (RG)

ACFAIL

Pin No.

Name

1 COM

2 ACFAIL

< Connector pin layout >

Optical communication

I/F (OPT1IN, OPT1OUT,

OPT2IN, OPT2OUT)

DC24V input (DCIN)

1 3

DC24V output (DCOUT)

Power OFF input

ACFAIL

(Terminal name:CF01)

B1 B3

2 1

FG terminal (FG)

A1 A3

(PCF type)

Connector: CF-2D101-S

Recommended manufacturer: Japan Aviation

Electronics

(POF type)

Connector: PF-2D101

Recommended manufacturer:

Japan Aviation Electronics

Connector: 2-178293-5

Recommended manufacturer: Tyco

Electronics

Connector: 2-178288-3

Contact: 1-175218-5

Recommended manufacturer:

Tyco Electronics

Connector: 3-178137-5

Recommended manufacturer: Tyco

Electronics

Connector: 2-178127-6

Contact: 1-175218-5

Recommended manufacturer:

Tyco Electronics

Connector: 53103-0230

Recommended manufacturer: MOLEX

Connector: 005057-9402

Contact: 0016020103

Recommended manufacturer:

MOLEX

Type name: 175022-1

(For AWG20-14 250 series)

Recommended manufacturer: Tyco

Electronics

Terminal protection tube:

174817-2 (Yellow)

Φ2.0

6.2

5.0

9.6

0.9

0.8

± 0.025

Unit side tab terminal shape

(Note) The faston terminal

"175022-1" of the cable side is a simple lock type. Make sure to insert until the simple lock pin is in the Φ second hole. Firmly press the simple lock release tab when unplugging it.

5 - 45

MITSUBISHI CNC

5 Dedicated Options

(3) Outline dimension drawings

5 40

OPT1IN

OPT1OUT

OPT2IN

OPT2OUT

FUSE

DCOUT

DCIN

ACFAIL

135

2-M5-0.8 screw

34 6

[Unit: mm]

5 - 46

MDS-D/DH Series Specifications Manual

5-4 Drive unit option

5-4-2 DC connection bar

When connecting a large capacity drive unit with L+L- terminal of power supply unit, DC connection bar is required. In use of the following large capacity drive units, use a dedicated DC connection bar. The DC connection bar to be used depends on the connected power supply, so make a selection according to the following table.

Series Required connection bar

MDS-D

MDS-DH

Large capacity drive unit

MDS-D-SP-400

MDS-D-SP-640

MDS-D-SP-400

MDS-D-SP-640

MDS-DH-SP-200

MDS-DH-SP-320

MDS-DH-SP-480

MDS-DH-V1-200

MDS-DH-SP-200

MDS-DH-SP-320

MDS-DH-V1-200

Power supply unit

MDS-D-CV-300

MDS-D-CV-370

MDS-D-CV-450

MDS-D-CV-550

MDS-DH-CV-550

MDS-DH-CV-750

MDS-DH-CV-300

MDS-DH-CV-370

MDS-DH-CV-450

MDS-DH-CV-185

D-BAR-B1006

D-BAR-A1010

(Two-parts set)

DH-BAR-A0606

(Two-parts set)

DH-BAR-B0606

DH-BAR-C0606

(1) Outline dimension drawings

D-BAR-A1010

24 12 DIA.

D-BAR-B1006

12 DIA.

[Unit:mm]

㧔 17 㧕 57.5

14.5

(Note) D-BAR-A1010 is a set of two DC connection bars.

DH-BAR-A0606

7 DIA.

DH-BAR-B0606

7 DIA.

12 46.5

8.5

(Note) DH-BAR-A0606 is a set of two DC connection bars.

DH-BAR-C0606

7 DIA.

133.5

138

93.5

POINT

Always install a large capacity drive unit in the left side of power supply unit, and connect with

DC connection bar.

5 - 47

MITSUBISHI CNC

5 Dedicated Options

5-4-3 Side protection cover

Install the side protection cover outside the both ends of the connected units.

(Installation method 1): Installation of medium capacity unit

(1)

(2)

(1)

(Installation method 2): Installation of large capacity unit

< For MDS-D series >

(1): Install the side protection cover

(type: D-COVER-1).

(2): Close the front cover.

(Note) For MDS-D2-CV-37/75,

install the cover (type: E-COVER-1).

(1)

(2)

(1): Install the front cover.

(2): Install the side protection cover

on the right side.

5 - 48

MDS-D/DH Series Specifications Manual

5-4 Drive unit option

< For MDS-DH series >

(2)

(1)

(1): Install the front cover.

(2): Install the side protection cover.

(2)

(1)

POINT

< MDS-D Series >

One side cover for the large capacity unit is supplied per large capacity power supply unit as standard.

< MDS-DH Series >

One side cover for the large capacity unit is supplied per large capacity power supply unit and per large capacity drive unit as standard, respectively.

5 - 49

MITSUBISHI CNC

5 Dedicated Options

5-5 Cables and connectors

5-5-1 Cable connection diagram

The cables and connectors that can be ordered from Mitsubishi Electric Corp. as option parts are shown below. Cables can only be ordered in the designated lengths. Purchase a connector set, etc., to create special length cables.

From NC

CN2

CN3

L+

L-

1-axis servo drive unit

(MDS-D/DH-V1)

Optical communication cable

CN20

CN2L

CN3L

Brake connector

CN2M

CN3M

2-axis servo drive unit

(MDS-D/DH-V2)

Spindle drive unit

(MDS-D/DH-SP)

Battery cable

Power supply unit

(MDS-D/DH-CV)

Option battery for servo drive unit

MDS-D series:

3-phase 200VAC power supply

MDS-DH series:

3-phase 400VAC power supply

Optical communication cable

CN2

CN4

Battery unit Battery case

(MDS-A-BT) (MDS-BTCASE+A6BAT)

Circuit protector

(Note) Prepared

by user.

Power supply communication cable

CN3

DOCOM

DO(ALM)

+5V

Battery unit

(MDS-BTBOX-36)

AC reactor

(D/DH-AL)

Circuit protector or protection fuse

(Note) Prepared by user.

Contactor

(Note) Prepared

by user.

Power connector

To 2nd axis servo

To 3rd axis servo

To brake control

Power supply communication connector

Power cable (Only connector is supplied.)

Spindle encoder cable

< Motor side PLG cable >

Spindle encoder cable

< Spindle side encoder cable >

Power cable (Only connector is supplied.)

Brake cable (Only connector is supplied.)

Servo encoder cable

< Motor side encoder cable >

Spindle side encoder

Servo encoder cable

<MDS-B-SD unit cable >

Brake connector

Power connector

Servo motor

Spindle motor

Battery connector

To battery holder

Cell battery built in drive unit

(ER6V-C119B)

Mitsubishi serial signal output

Servo encoder cable

(Note) Prepared by user.

Servo encoder cable

<MDS-B-HR unit cable >

Servo encoder cable

< Linear scale cable>

(Note) Prepared by user.

Servo encoder cable

< Ball screw side encoder cable >

Encoder conversion unit

(MDS-B-HR)

Signal divider unit (MDS-B-SD)

ABZ SIN wave signal output

Servo encoder cable

< Linear scale cable for MDS-B-HR >

(Note) Prepared by user.

Mitsubishi serial signal output

Linear scale

(for full closed control)

(Note) Prepared by user.

Ball screw side encoder

5 - 50

MDS-D/DH Series Specifications Manual

5-5 Cables and connectors

5-5-2 List of cables and connectors

< Optical communication cable >

Item Model

For

CN1A/

CN1B/

OPT1A

Optical communication cable

For wiring between drive units (inside panel)

G396-L

□

: Length

0.3, 0.5, 1, 2, 3, 5m

Drive unit side connector

(Japan Aviation Electronics

Industry)

Connector: PF-2D103

Optical communication cable

For wiring between drive units

(outside panel)

For optical servo communication repeater unit

G380-L □

□ : Length

5, 10, 12, 15, 20, 25, 30m

Drive unit side connector

(Tyco Electronics)

Connector: 1123445-1

Contents

Drive unit side connector

(Japan Aviation Electronics

Industry)

Connector: PF-2D103

Drive unit side connector

(Tyco Electronics)

Connector: 1123445-1

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

< Battery cable and connector >

Item

Battery cable

(For drive unit - battery unit)

For battery unit

Battery cable

(For drive unit - battery box)

5V supply/DO output cable

(For drive unit - battery box)

Model Contents

Drive unit side connector

(Hirose Electric)

Connector: DF1B-2S-2.5R

Contact: DF1B-2428SCA (Note 2)

Battery unit side connector

(3M)

Connector: 10120-3000VE

Shell kit : 10320-52F0-008

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

DG23□ M

□ : Length

0.3, 0.5, 1, 2, 3, 5, 7, 10m

Drive unit side connector

(Hirose Electric)

Connector: DF1B-2S-2.5R

Contact: DF1B-2428SCA (Note 2)

Battery box side (Note 3)

DG24□ M

□ : Length

0.3, 0.5, 1, 2, 3, 5, 7, 10m

Drive unit side connector

(3M)

Connector: 10120-6000EL

Contact: 10320-3210-000

Battery box side (Note 3 )

For drive unit

Battery cable

(For drive unit - drive unit)

*This cable is required to supply the power from the battery unit to multiple drive units.

DG22□ M

□ : Length

0.3, 0.5, 1, 2, 3, 5, 7, 10m

Drive unit side connector

(Hirose Electric)

Connector: DF1B-2S-2.5R

Contact: DF1B-2428SCA (Note 2)

Drive unit side connector

(Hirose Electric)

Connector: DF1B-2S-2.5R

Contact: DF1B-2428SCA (Note 2)

Drive unit side connector

(3M)

Connector: 10120-3000VE

Shell kit : 10320-52F0-008

Power supply unit side connector

(3M)

Connector: 10120-3000VE

Shell kit : 10320-52F0-008

For CN9

Battery cable

Connector set:

FCUA-CS000

Compatible part (Note 1)

(J.S.T)

Connector : MS-P20-L

Shell kit : MS20-2B-28

Compatible part (Note 1)

(J.S.T)

Connector : MS-P20-L

Shell kit : MS20-2B-28

(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.

(Note 2) Hand crimping tools: DF1B-TA2428SHC

(Note 3) The battery box side is connected using a bare conductor or a bar terminal.

5 - 51

MITSUBISHI CNC

5 Dedicated Options

< Power supply communication cable and connector >

Item

For CN4/9 Power supply communication cable

For CN4/9

Power supply communication cable connector set

For CN23

Contactor control output / external emergency stop for connector

Model

SH21

Length:

0.35, 0.5, 0.7, 1, 1.5,

2,2.5,

3, 3.5, 4, 4.5, 5, 6, 7, 8, 9,

10, 15, 20, 30m

Drive unit side connector

(3M)

Connector: 10120-6000EL

Shell kit : 10320-3210-000

Drive unit side connector

(3M)

Connector: 10120-3000VE

Shell kit : 10320-52F0-008

FCUA-CS000

CNU23S(AWG14)

Compatible part (Note)

(J.S.T)

Connector : MS-P20-L

Shell kit : MS20-2B-28

Power supply unit side connector

(DDK)

Connector: DK-3200M-06RXY

Contact: DK-3REC2LLP1-100

Contents

Power supply unit side connector

(3M)

Connector: 10120-6000EL

Shell kit : 10320-3210-000

Power supply unit side connector

(3M)

Connector: 10120-3000VE

Shell kit : 10320-52F0-008

Compatible part (Note)

(J.S.T)

Connector : MS-P20-L

Shell kit : MS20-2B-28

(Note) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.

< Optical communication repeater unit >

For

OPT1/2

Item

Optical communication cable

For wiring between drive unit and optical communication repeater unit/

For wiring between optical communication repeater units

Model

G380-L □ M

□ : Length

5, 10, 12, 15, 20, 25, 30m

For

DCIN

For optical communication repeater unit

DC24V power cable

Contents

Drive unit side/

Optical communication repeater unit side connector

(Tyco Electronics)

Connector: 1123445-1

Optical communication repeater unit side connector

(Tyco Electronics)

Connector: 1123445-1

F070

□ : Length

0.5, 1.5, 3, 5, 8, 10, 15, 20m

DC24V power side terminal

(J.S.T.)

Crimp terminal: V1.25-3 or V1.25-4 × 2

Optical communication repeater unit side connector

(Tyco Electronics)

Connector: 2-178288-3

Contact: 1-175218-5 × 3 (Note 1)

DCIN

For

DCIN/

ACFAIL

For optical communication repeater unit/

For connecting

Mitsubishi power unit

PD25, PD27

DC24V power cable

(power OFF detection)

F110

□ : Length

0.5, 1.5, 3, 5, 8, 10, 15m

DC24V power side connector

(Tyco Electronics)

Connector: 3-178127-6

Contact:

1-175218-5 (for AWG16) × 3 (Note 1)

1-175217-5 (for AWG22) × 2 (Note 2)

Optical communication repeater unit side connector

< DCIN >

(Tyco Electronics)

Connector: 2-178288-3

Contact: 1-175218-5 × 3 (Note 1)

< ACFAIL (CF01) >

(MOLEX)

005057-9402

0016020103 × 2 (Note 3)

DCIN

DCOUT

CF01

(Note 1) Hand crimping tools: 91558-1

(Note 2) Hand crimping tools: 91557-1

(Note 3) Hand crimping tools: 57036-5000

5 - 52

MDS-D/DH Series Specifications Manual

5-5 Cables and connectors

< Servo / tool spindle encoder cable and connector >

Item Model

Drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit : 36310-3200-008

Contents

Motor encoder/

Ball screw side encoder side connector (DDK)

Plug : CMV1-SP10S-M2

Contact: CMV1-#22ASC-S1

CNV2E-8P□ M

□ : Length

2, 3, 4, 5,

7, 10, 15, 20,

25, 30m

Compatible part (Note 1)

(MOLEX)

Connector set : 54599-1019

(J.S.T.)

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

Cable kit : XV-PCK10-R

For

CN2/3

For HF/HF-H, HP/HP-H

/ For HF-KP (Tool spindle)

Motor side encoder cable (for A48/A51/A74N)

Drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit : 36310-3200-008

Motor encoder/

Ball screw side encoder side connector (DDK)

Plug : CMV1-AP10S-M2

Contact: CMV1-#22ASC-S1

CNV2E-9P□ M

□ : Length

2, 3, 4, 5,

7, 10, 15, 20,

25, 30m

Compatible part (Note 1)

(MOLEX)

Connector set : 54599-1019

(J.S.T.)

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

Cable kit : XV-PCK10-R

Drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit : 36310-3200-008

Motor encoder/

Ball screw side encoder side connector (Tyco Electronics)

Connector: 1674320-1

For

CN2/3

Direct connection type

For HF-KP (Servo)

Motor side encoder cable

CNV2E-K1P□ M

Lead out in direction of motor shaft

□ : Length

2, 3, 5, 7, 10,m

Compatible with only IP65

Compatible part (Note 1)

(MOLEX)

Connector set : 54599-1019

(J.S.T.)

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

Cable kit : XV-PCK10-R

Drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit : 36310-3200-008

Motor encoder/

Ball screw side encoder side connector (Tyco Electronics)

Connector: 1674320-1

CNV2E-K2P□ M

Lead out in opposite direction of motor shaft

□ : Length

2, 3, 5, 7, 10,m

Compatible with only IP65

Compatible part (Note 1)

(MOLEX)

Connector set : 54599-1019

(J.S.T.)

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

Cable kit : XV-PCK10-R

(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.

5 - 53

MITSUBISHI CNC

5 Dedicated Options

For

CN2/3

Relay type

(Note 1)

Item Model

CNV22J-K1P-0.3M

Lead out in direction of motor shaft

Length: 0.3m

Compatible with only IP65

Drive unit side connector

(DDK)

Plug: CM10-CR10P-M

For HF-KP (Servo)

Motor side encoder relay cable

(motor side)

CNV22J-K2P-0.3M

Lead out in opposite direction of motor shaft

Length: 0.3m

Compatible with only IP65

Drive unit side connector

(DDK)

Plug: CM10-CR10P-M

Drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit : 36310-3200-008

For HF-KP (Servo)

Motor side encoder relay cable

(Drive unit side)

CNV2E-8P□ M

□ : Length

15, 20, 25, 30m

Compatible part (Note 2)

(MOLEX)

Connector set : 54599-1019

(J.S.T.)

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

Cable kit : XV-PCK10-R

Contents

Motor encoder/

Ball screw side encoder side connector (Tyco Electronics)

Plug : 1747464-1

Contact: 1674335-4

Motor encoder/

Ball screw side encoder side connector (Tyco Electronics)

Plug : 1747464-1

Contact: 1674335-4

Motor encoder/

Ball screw side encoder side connector (DDK)

Plug : CMV1-SP10S-M2

Contact: CMV1-#22ASC-S1

Motor encoder/

Ball screw side encoder side connector (DDK)

Plug : CMV1-SP10S-M2

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

Ball screw side encoder

Motor side encoder connector/

Ball screw side encoder connector

CNE10-R10S(9)

Applicable cable outline

Φ 6.0 to 9.0mm

CNE10-R10L(9)

Applicable cable outline

Φ 6.0 to 9.0mm

Motor encoder/

Ball screw side encoder side connector (DDK)

Plug : CMV1-AP10S-M2

Contact: CMV1-#22ASC-S1

CN3

For MDS-

B-HR unit

MDS-B-HR unit cable

MDS-B-HR connector

(For CON1,2: 1)

(For CON3: 1)

Drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit : 36310-3200-008

CNV2E-HP□ M

□ : Length

2, 3, 4, 5,

7, 10, 15, 20,

25, 30m

CNEHRS(10)

Applicable cable outline

Φ 8.5 to 11mm

Compatible part (Note 2)

(MOLEX)

Connector set : 54599-1019

(J.S.T.)

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

Cable kit : XV-PCK10-R

MDS-B-HR unit side connector

(Hirose Electric)

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

RM15WTPZ-12P(71) (for CON3)

Clamp: JR13WCCA-10(72) (10)

MDS-B-HR unit side connector

(Hirose Electric)

Plug : RM15WTPZ-8S(71)

Clamp: JR13WCCA-10(72)

(Note 1) When using cable of 15m or longer, use relay cable.

(Note 2) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.

5 - 54

MDS-D/DH Series Specifications Manual

5-5 Cables and connectors

Item Model

Drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit : 36310-3200-008

Contents

MDS-B-SD unit side connector

(3M)

Connector: 10120-3000VE

Shell kit : 10320-52F0-008

CN3 MDS-B-SD unit cable

CNV2E-D□ M

□ : Length

2, 3, 4, 5,

7, 10, 15, 20,

25, 30m

Compatible part (Note 1)

(MOLEX)

Connector set : 54599-1019

(J.S.T.)

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

Cable kit : XV-PCK10-R

MDS-B-SD unit side connector

(3M)

Connector: 10120-3000VE

Shell kit : 10320-52F0-008

Compatible part (Note 1)

(MOLEX)

Connector: MS-P20-L

Shell kit: MS20-2B-28

MDS-B-SD unit side connector

(J.S.T)

Connector: 10120-3000VE

Shell kit : 10320-52F0-008

For MDS-

B-SD unit

MDS-B-SD connector

(Two-piece set)

FCUA-CS000

Compatible part (Note 1)

(J.S.T.)

Connector: MS-P20-L

Shell kit: MS20-2B-28

Drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit : 36310-3200-008

Compatible part (Note 1)

(J.S.T.)

Connector: MS-P20-L

Shell kit: MS20-2B-28

For

CN2/3

Encoder connector CNU2S(AWG18)

Compatible part (Note 1)

(MOLEX)

Connector set : 54599-1019

(J.S.T.)

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

Cable kit : XV-PCK10-R

(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.

5 - 55

MITSUBISHI CNC

5 Dedicated Options

< Brake cable and connector >

Item Model

CNB10-R2S(6)

Applicable cable outline

Φ 4.0 to 6.0mm

Brake connector for

< 200V series >

HF,HP

< 400V series >

HF-H, HP-H CNB10-R2L(6)

Applicable cable outline

Φ 4.0 to 6.0mm

For motor brake MR-BKS1CBL □ M-A1-H

Lead out in direction of motor shaft

□ : Length

2, 3, 5, 7, 10m

Brake cable for

< 200V series >

HF-KP

MR-BKS1CBL □ M-A2-H

Lead out in opposite direction of motor shaft

□ : Length

2, 3, 5, 7, 10m

For CN20

Brake connector for motor brake control output

CNU20S(AWG14)

Servo drive unit side connector

(DDK)

Connector : DK-3200S-03R

Contact: DK-3REC2LLP1-100 (Note 1)

Contents

Servo motor side brake connector (DDK)

Plug : CMV1-SP2S-S

Contact: CMV1-#22BSC-S2

Servo motor side brake connector (DDK)

Plug : CMV1-AP2S-S

Contact: CMV1-#22BSC-S2

Servo motor side brake connector

(Japan Aviation Electronics Industry)

Plug : JN4FT02SJ1-R

Contact: ST-TMH-S-C1B-100-(A534G)

Servo motor side brake connector

(Japan Aviation Electronics Industry)

Plug : JN4FT02SJ1-R

Contact: ST-TMH-S-C1B-100-(A534G)

(Note 1) Hand crimping tools: 357J-22113

< Power connector >

Item Model

Power connector for

< 200V series >

HF75, 105, 54,104,154, 224,

123, 223, 142

HP54,104,154,224

< 400V series >

HF-H54,104,154

HP-H54,104,154,224

CNP18-10S(14)

Applicable cable outline

Φ 10.5 to 14mm

CNP18-10L(14)

Applicable cable outline

Φ 10.5 to 14mm

For motor power

CNP22-22S(16)

Applicable cable outline

Φ 12.5 to 16mm

Power connector for

< 200V series >

HF204,354,303, 453, 302

HP204,354,454

< 400V series >

HF-H204,354,453,703

HP-H204,354,454,704

CNP22-22L(16)

Applicable cable outline

Φ 12.5 to 16mm

Contents

Motor side power connector (DDK)

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

Clamp: CE3057-10A-1 (D240)

Motor side power connector (DDK)

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

Clamp: CE3057-10A-1 (D240)

Motor side power connector (DDK)

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

Clamp: CE3057-12A-1 (D240)

Motor side power connector (DDK)

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

Clamp: CE3057-12A-1 (D240)

5 - 56

MDS-D/DH Series Specifications Manual

5-5 Cables and connectors

Item Model

Power connector for

< 200V series >

HF703,903

HP704,903,1103

< 400V series >

HF-H903

HP-H903,1103

CNP32-17S(23)

Applicable cable outline

Φ 22 to 23.8mm

CNP32-17L(23)

Applicable cable outline

Φ 22 to 23.8mm

For motor power

MR-PWS1CBL □ M-A1-H

Lead out in direction of motor shaft

□ : Length

2, 3, 5, 7, 10m

Power cable for

< 200V series >

HF-KP

MR-PWS1CBL □ M-A2-H

Lead out in opposite direction of motor shaft

□ : Length

2, 3, 5, 7, 10m

For TE1

Power connector for

MDS-D-V1-20 to 80

MDS-D-V2-2020 to 8080

MDS-D-SP-20 to 80

MDS-D-SP2-2020 to 4040

MDS-DH-V1-10 to 80

MDS-DH-V2-1010 to 8080

MDS-DH-SP-20,40

Power connector for

MDS-D-V1-160

MDS-D-V2-16080,160160

MDS-D-SP2-8040,8080

MDS-DH-V1-80,80W

MDS-DH-V2-8080W

MDS-DH-SP-80

CNU1S(AWG14)

CNU1S(AWG10)

(Note 1) Hand crimping tools: 357J-22795

(Note 2) Hand crimping tools: 357J-22796

Drive unit side power connector (DDK)

Housing: DK-5200S-04R

Contact : DK-5RECSLP1-100 (Note 1)

Drive unit side power connector (DDK)

Housing: DK-5200S-04R

Contact : DK-5RECMLP1-100 (Note 2)

Contents

Motor side power connector (DDK)

Plug: CE05-6A32-17SD-C-BSS

Clamp: CE3057-20A-1 (D240)

Motor side power connector (DDK)

Plug: CE05-8A32-17SD-C-BAS

Clamp: CE3057-20A-1 (D240)

Motor side power connector

(Japan Aviation Electronics Industry)

Plug: JN4FT04SJ1-R

Contact: ST-TMH-S-C1B-100-(A534G)

Motor side power connector

(Japan Aviation Electronics Industry)

Plug: JN4FT04SJ1-R

Contact: ST-TMH-S-C1B-100-(A534G)

5 - 57

MITSUBISHI CNC

5 Dedicated Options

< Spindle encoder cable and connector >

Item Model

For CN2

Motor side PLG cable

Spindle side accuracy encoder TS5690 cable

CNP2E-1□ M

□ : Length

2, 3, 4, 5,

7, 10, 15, 20,

25, 30m

For CN3

Spindle side encoder

OSE-1024 cable

CNP3EZ-2P□ M

□ : Length

2, 3, 4, 5,

7, 10, 15, 20,

25, 30m

Spindle drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit : 36310-3200-008

Contents

Spindle motor side connector

(Tyco Electronics)

Connector: 172169-1

Contact:170363-1(AWG26-22)

170364-1(AWG22-18)

Compatible part (Note 1)

(MOLEX)

Connector set: 54599-1019

(J.S.T.)

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

Cable kit : XV-PCK10-R

Spindle drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit : 36310-3200-008

Compatible part (Note 1)

(MOLEX)

Connector set: 54599-1019

(J.S.T.)

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

Cable kit : XV-PCK10-R

Spindle drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit : 36310-3200-008

Spindle motor side connector

(DDK)

Connector: MS3106A20-29S(D190)

Straight back shell: CE02-20BS-S

Clamp: CE3057-12A-3

Spindle motor side connector

(DDK)

Connector: MS3106A20-29S(D190)

Angle back shell: CE-20BA-S

Clamp : CE3057-12A-3

CNP3EZ-3P□ M

□ : Length

2, 3, 4, 5,

7, 10, 15, 20,

25, 30m

Compatible part (Note 1)

(MOLEX)

Connector set: 54599-1019

(J.S.T.)

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

Cable kit : XV-PCK10-R

For spindle motor

Motor side PLG connector

Spindle side accuracy encoder TS5690 connector

CNEPGS

Spindle motor side connector

(Tyco Electronics)

Connector: 172169-1

Contact:170363-1(AWG26-22)

170364-1(AWG22-18)

CNE20-29S(10)

Applicable cable outline

Φ 6.8 to 10mm

For spindle motor

Spindle side encoder

OSE-1024 cable

CNE20-29S(10)

Applicable cable outline

Φ 6.8 to 10mm

Spindle motor side connector

(DDK)

Connector:MS3106A20-29S(D190)

Straight back shell: CE02-20BS-S

Clamp: CE3057-12A-3

Spindle motor side connector

(DDK)

Connector:MS3106A20-29S(D190)

Angle back shell: CE-20BA-S

Clamp: CE3057-12A-3

(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.

5 - 58

MDS-D/DH Series Specifications Manual

5-5 Cables and connectors

Item Model Contents

Spindle drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit : 36310-3200-008

For

CN2/3

Spindle encoder drive unit side connector

CNU2S(AWG18)

Compatible part (Note 1)

(MOLEX)

Connector set: 54599-1019

(J.S.T.)

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

Cable kit : XV-PCK10-R

(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.

< 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/

5 - 59

MITSUBISHI CNC

5 Dedicated Options

5-5-3 Optical communication cable specifications

(1) Specifications

Cable model

Specification application

Cable length

Minimum bend radius

Tension strength

Temperature range for use

(Note 1)

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

G380-L □ M

For wiring outside panel

For long distance wiring

5.0, 10, 12, 15, 20, 25, 30m

Enforced covering cable: 50mm cord: 30mm

980N

(Enforced covering cable)

-20 to 70°C

Indoors (no direct sunlight)

No solvent or oil

4.4

± 0.4

Optical communication cable

Cable appearance

[mm]

4.4

± 0.1

7.6

± 0.5

Protection tube

(6.7) (15) (13.4)

Connector appearance

[mm] 37.65

22.7

(Note 1) This temperature range for use is the value for optical cable (cord) only. Temperature condition for the connector is the same as that for drive unit.

(Note 2) Do not see directly the light generated from CN1A/CN1B connector of drive unit or the end of cable. When the light gets into eye, you may feel something is wrong for eye.

(The light source of optical communication corresponds to class1 defined in JISC6802 or IEC60825-1.)

5 - 60

MDS-D/DH Series Specifications Manual

5-5 Cables and connectors

(2) Cautions for using optical communication cable

Optical communication cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available.

Especially, as optical fiber for G396-L □ M is made of synthetic resin, it melts down if being left near the fire or high temperature. Therefore, do not make it touched the part, which becomes high temperature, such as radiator or regenerative brake option of drive unit.

Read described item in this section carefully and handle it with caution.

(a) Minimum bend radius

Make sure to lay the cable with greater radius than the minimum bend radius. Do not press the cable to edges of equipment or others. For the optical communication cable, the appropriate length should be selected with due consideration for the dimensions and arrangement of drive unit so that the cable bend will not become smaller than the minimum bend radius in cable laying. When closing the door of control box, pay careful attention for avoiding the case that optical communication cable is hold down by the door and the cable bend becomes smaller than the minimum bend radius.

Lay the cable so that the numbers of bends will be less than 10 times.

(b) Bundle fixing

When using optical communication cable of 3m or longer, fix the cable at the closest part to the connector with bundle material in order to prevent optical communication cable from putting its own weight on CN1A/CN1B connector of drive unit. Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted.

When tightening up the cable with nylon band, the sheath material should not be distorted. Fix the cable with tightening force of 1 to 2kg or less as a guide.

Minimum bend radius

For wiring inside panel: 25mm

For wiring outside panel: 50mm wall

When laying cable, fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material.

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.

5 - 61

MITSUBISHI CNC

5 Dedicated Options

(c) Tension

If tension is added on optical fiber, the increase of transmission loss occurs because of external force which concentrates on the fixing part of optical fiber or the connecting part of optical connector. At worst, the breakage of optical fiber or damage of optical connector may occur. For cable laying, handle without putting forced tension.

(d) Lateral pressure

If lateral pressure is added on optical communication cable, the optical cable itself distorts, internal optical fiber gets stressed, and then transmission loss will increase. At worst, the breakage of optical cable may occur. As the same condition also occurs at cable laying, do not tighten up optical communication cable with a thing such as nylon band

(TY-RAP).

Do not trample it down or tuck it down with the door of control box or others.

(e) Twisting

If optical fiber is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of optical fiber may occur at worst.

(f) Cable selection

When wiring is outside the power distribution panel or machine cabinet, there is a highly possibility that external power is added. Therefore, make sure to use the cable for wiring outside panel (G380-L □ M)

If a part of the wiring is moved, use the cable for wiring outside panel.

In a place where sparks may fly and flame may be generated, use the cable for wiring outside panel.

(g) Method to lay cable

When laying the cable, do not haul the optical fiver or connector of the optical communication cable strongly. If strong force is added between the optical fiver and connector, it may lead to a poor connection.

(h) Protection when not in use

When the CN1A/CN1B connector of the drive unite or the optical communication cable connector is not used such as pulling out the optical communication cable from drive unit, protect the joint surface with attached cap or tube for edge protection. If the connector is left with its joint surface bared, it may lead to a poor connection caused by dirty.

(i) Attaching /Detaching optical communication cable connector

With holding the connector body, attach/detach the optical communication cable connector. If attaching/detaching the optical communication cable with directly holding it, the cable may be pulled out, and it may cause a poor connection.

When pulling out the optical communication connector, pull out it after releasing the lock of clock lever.

(j) Cleaning

If CN1A and CN1B connector of the drive unit or optical communication cable connector is dirty, it may cause poor connection. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol.

5 - 62

MDS-D/DH Series Specifications Manual

5-5 Cables and connectors

(k) Disposal

(l) Return in troubles

When asking repair of drive unit for some troubles, make sure to put a cap on CN1A/CN1B connector. When the connector is not put a cap, the light device may be damaged at the transit. In this case, exchange and repair of light device is required.

5 - 63

MITSUBISHI CNC

5 Dedicated Options

5 - 64

Specifications of Peripheral Devices

6 - 1

MITSUBISHI CNC

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.

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

< MDS-D Series >

Unit type

Power supply unit

Spindle drive unit

(2-axis)

Servo drive unit

(2-axis)

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-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-SP2-4020

MDS-D-SP2-4040S

MDS-D-SP2-4040

MDS-D-SP2-8040

MDS-D-SP2-16080S

MDS-D-SP2-8080

MDS-D-SP2-16080

MDS-D-V1-20

MDS-D-V1-40

MDS-D-V1-80

MDS-D-V1-160

MDS-D-V1-160W

MDS-D-V1-320

MDS-D-V1-320W

MDS-D-V2-2020

MDS-D-V2-4020

MDS-D-V2-4040

MDS-D-V2-8040

MDS-D-V2-8080

MDS-D-V2-16080

MDS-D-V2-160160

MDS-D-V2-160160W

(Note) The values inside of ( ) are M side.

TE1

2 (2)

5.5 (2)

22 (5.5)

5.5 (5.5)

22 (5.5)

3.5

5.5

2 (2)

3.5 (2)

3.5 (3.5)

5.5 (3.5)

5.5 (5.5)

14 (14)

5.5

(U,V,W, )

2 AWG

5.5

1/0

14 (14)

12 (14)

12 (12)

10 (12)

10 (10)

6 (6)

4 (10)

10 (10)

4 (10)

14 (14)

10 (14)

Terminal name

TE2

(L+, L-) mm 2

3.5

AWG

Bar enclosed

Match with TE2 of selected power supply unit

Bar enclosed

Match with TE2 of selected power supply unit

TE3

(L11, L21, L12, L22, MC1) mm 2 AWG

6 - 2

MDS-D/DH Series Specifications Manual

6-1 Selection of wire

< MDS-DH Series >

Power supply unit

Spindle drive unit

Servo drive unit

(2-axis)

Unit type

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

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-V1-10

MDS-DH-V1-20

MDS-DH-V1-40

MDS-DH-V1-80

MDS-DH-V1-80W

MDS-DH-V1-160

MDS-DH-V1-160W

MDS-DH-V1-200

MDS-DH-V2-1010

MDS-DH-V2-2010

MDS-DH-V2-2020

MDS-DH-V2-4020

MDS-DH-V2-4040

MDS-DH-V2-8040

MDS-DH-V2-8080

MDS-DH-V2-8080W

5.5

2 (2)

3.5

3.5 (2)

3.5 (3.5)

5.5 (5.5)

5.5

2 mm 2

TE1

(U,V,W, )

AWG

3.5

14 (14)

12 (14)

12 (12)

10(10)

(Note) The values inside of ( ) are M side.

3.5

5.5

Terminal name

TE2

(L+, L-) mm 2

AWG

1/0

Bar enclosed

Match with TE2 of selected power supply unit

Bar enclosed

Match with TE2 of selected power supply unit

TE3

(L11, L21, L12, L22, MC1) mm 2 AWG

6 - 3

MITSUBISHI CNC

6 Specifications of Peripheral Devices

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

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

< MDS-D Series >

Power supply unit

Spindle drive unit

(2-axis)

Servo drive unit

(2-axis)

Unit type

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-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-SP2-4020

MDS-D-SP2-4040S

MDS-D-SP2-4040

MDS-D-SP2-8040

MDS-D-SP2-16080S

MDS-D-SP2-8080

MDS-D-SP2-16080

MDS-D-V1-20

MDS-D-V1-40

MDS-D-V1-80

MDS-D-V1-160

MDS-D-V1-160W

MDS-D-V1-320

MDS-D-V1-320W

MDS-D-V2-2020

MDS-D-V2-4020

MDS-D-V2-4040

MDS-D-V2-8040

MDS-D-V2-8080

MDS-D-V2-16080

MDS-D-V2-160160

MDS-D-V2-160160W

3.5 (2)

14 (3.5)

3.5 (3.5)

14 (3.5)

3.5

5.5

2 (2)

3.5 (2)

3.5 (3.5)

5.5 (3.5)

5.5 (5.5)

8 (8)

3.5

14 mm 2

TE1

(U,V,W, )

AWG

5.5

1/0

3/0

14 (14)

12 (14)

12 (12)

10 (12)

10 (10)

8 (8)

12 (14)

6 (12)

12 (12)

6 (12)

1/0

3/0

14 (14)

(Note) The values inside of ( ) are M side.

Terminal name

TE2

(L+, L-) mm 2

3.5

AWG

5.5

Bar enclosed

Match with TE2 of selected power supply unit

Bar enclosed

Match with TE2 of selected power supply unit

TE3

(L11, L21, L12, L22, MC1) mm 2 AWG

6 - 4

MDS-D/DH Series Specifications Manual

6-1 Selection of wire

< MDS-DH Series >

Power supply unit

Unit type

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

Spindle drive unit

Servo drive unit

(2-axis)

MDS-DH-CV-550

MDS-DH-CV-750

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-V1-10

MDS-DH-V1-20

MDS-DH-V1-40

MDS-DH-V1-80

MDS-DH-V1-80W

MDS-DH-V1-160

MDS-DH-V1-160W

MDS-DH-V1-200

MDS-DH-V2-1010

MDS-DH-V2-2010

MDS-DH-V2-2020

MDS-DH-V2-4020

MDS-DH-V2-4040

MDS-DH-V2-8040

MDS-DH-V2-8080

MDS-DH-V2-8080W

(Note) The values inside of ( ) are M side.

5.5

2 (2)

3.5 (2)

3.5 (3.5)

5.5 (5.5)

3.5

5.5

14 mm 2

TE1

(U,V,W, )

AWG

3.5

22 4

14 (14)

12 (14)

12 (12)

10 (10)

3/0

1/0

Terminal name

TE2

(L+, L-) mm 2

AWG

5.5

38 or bar enclosed

2 or bar enclosed

Bar enclosed

TE3

(L11, L21, L12, L22, MC1) mm 2 AWG

2 14

Match with TE2 of selected power supply unit

Bar enclosed

Match with TE2 of selected power supply unit

6 - 5

MITSUBISHI CNC

6 Specifications of Peripheral Devices

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

(Example according to JEAC8001)

< MDS-D Series >

Power supply unit

Spindle drive unit

(2-axis)

Servo drive unit

(2-axis)

Unit type

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-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-SP2-4020

MDS-D-SP2-4040S

MDS-D-SP2-4040

MDS-D-SP2-8040

MDS-D-SP2-16080S

MDS-D-SP2-8080

MDS-D-SP2-16080

MDS-D-V1-20

MDS-D-V1-40

MDS-D-V1-80

MDS-D-V1-160

MDS-D-V1-160W

MDS-D-V1-320

MDS-D-V1-320W

MDS-D-V2-2020

MDS-D-V2-4020

MDS-D-V2-4040

MDS-D-V2-8040

MDS-D-V2-8080

MDS-D-V2-16080

MDS-D-V2-160160

MDS-D-V2-160160W

3.5 (2)

8 (3.5)

3.5 (3.5)

8 (3.5)

3.5

5.5

2 (2)

3.5 (2)

3.5 (3.5)

5.5 (5.5)

3.5

8 mm 2

TE1

(U,V,W, )

AWG

3.5

5.5

1/0

14 (14)

12 (14)

12 (12)

10 (10)

12 (14)

8 (12)

12(12)

8(12)

1/0

3/0

14 (14)

(Note) The values inside of ( ) are M side.

Terminal name

TE2

(L+, L-) mm 2

AWG

3.5

Bar enclosed

1/0

Bar enclosed

TE3

(L11, L21, L12, L22, MC1) mm 2 AWG

1.25 to 2

Match with TE2 of selected power supply unit

1.25 to 2

Match with TE2 of selected power supply unit

1.25 to 2

Match with TE2 of selected power supply unit

1.25 to 2

Match with TE2 of selected power supply unit

1.25 to 2

16 to 14

6 - 6

MDS-D/DH Series Specifications Manual

6-1 Selection of wire

< MDS-DH Series >

Power supply unit

Spindle drive unit

Servo drive unit

(2-axis)

Unit type

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

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-V1-10

MDS-DH-V1-20

MDS-DH-V1-40

MDS-DH-V1-80

MDS-DH-V1-80W

MDS-DH-V1-160

MDS-DH-V1-160W

MDS-DH-V1-200

MDS-DH-V2-1010

MDS-DH-V2-2010

MDS-DH-V2-2020

MDS-DH-V2-4020

MDS-DH-V2-4040

MDS-DH-V2-8040

MDS-DH-V2-8080

MDS-DH-V2-8080W

3.5

2 (2)

3.5

5.5

2 mm 2

TE1

(U,V,W, )

AWG

5.5

14 (14)

1/0

14 (14)

(Note) The values inside of ( ) are M side.

3.5

5.5

Terminal name

TE2

(L+, L-) mm 2

AWG

Bar enclosed

TE3

(L11, L21, L12, L22, MC1) mm 2 AWG

1.25 to 2

Match with TE2 of selected power supply unit

1.25 to 2

Match with TE2 of selected power supply unit

1.25 to 2

Match with TE2 of selected power supply unit

1.25 to 2

16 to 14

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.

6 - 7

MITSUBISHI CNC

6 Specifications of Peripheral Devices

6-2 Selection of circuit protector and contactor

Always select the circuit protector and contactor properly, and install them to each power supply unit to prevent disasters.

6-2-1 Selection of circuit protector

Calculate a circuit protector selection current from the rated output and the nominal input voltage (voltage supplied to the power supply unit) as in the expression below. And then select the minimum capacity circuit protector whose rated current meets the circuit protector selection current.

< MDS-D Series >

Circuit protector selection current [A] =

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

Selection of circuit protector for 200V input

Unit type

MDS-D-CV-

Rated output

Circuit protector selection current for 200V input

3.7kW

15A

7.5kW

31A

110

11kW

45A

185

18.5kW

76A

300

30kW

124A

370

37kW

153A

450

45kW

186A

550

55kW

224A

Selection example of circuit protector

(Mitsubishi Electric Corp.)

NF63-

CW3P-

20A

NF63-

CW3P-

40A

NF63-

CW3P-

50A

NF125-

CW3P-

100A

NF250-

CW3P-

125A

NF250-

CW3P-

175A

NF250-

CW3P-

200A

NF250-

CW3P-

225A

Rated current of the selection example of circuit protector

20A 40A 50A 100A 125A 175A 200A 225A

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

(Example)

Select a circuit protector for using the MDS-D-CV-110 with a 220V nominal input voltage.

Circuit protector selection current = 45/220 × 200 = 40.9[A]

According to the table above, select "NF63-CW3P-50A".

< MDS-DH Series >

Circuit protector selection current [A] =

(Circuit protector selection current for 380V input [A] / Nominal input voltage [V]) × 380 [V]

Selection of circuit protector for 380V input

Unit type

MDS-DH-CV-

Rated output

Circuit protector selection current for

380V input

3.7kW

7.5kW

16A

110 185 300

11kW 18.5kW

30kW

24A 40A 65A

370

37kW

80A

450

45kW

98A

550

55kW

119A

750

75kW

163A

Selection example of circuit protector

(Mitsubishi Electric Corp.)

NF63-

CW3P-

10A

NF63-

CW3P-

20A

NF63-

CW3P-

30A

NF63-

CW3P-

40A

NF125-

CW3P-

75A

NF125-

CW3P-

100A

NF125-

CW3P-

100A

NF250-

CW3P-

125A

NF250-

CW3P-

200A

Rated current of the selection example of circuit protector

10A 20A 30A 40A 75A 100A 100A 125A 200A

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

(Example)

Select a circuit protector for using the MDS-DH-CV-450 with a 480V nominal input voltage.

Circuit protector selection current = 98/480×380 = 77.6[A]

According to the table above, select "NF125-CW3P-100A".

CAUTION

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

2. If the control power (L11, L21) must be protected, select according to the section "6-4-1

Circuit protector ".

6 - 8

MDS-D/DH Series Specifications Manual

6-2 Selection of circuit protector and contactor

6-2-2 Selection of contactor

Select the contactor selection current that is calculated from the rated output and the nominal input voltage (voltage supplied to the power supply unit) as in the expression below. And then select the contactor whose conventional free-air thermal current meets the contactor selection current.

< MDS-D Series >

Contactor selection current [A]=

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

Selection of contactor for 200V input

Unit type

MDS-D-CV-

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

3.7kW

15A

S-T12

-AC200V

20A

7.5kW

31A

S-T35

-AC200V

50A

110

11kW

45A

S-T35

-AC200V

50A

185

18.5kW

76A

S-T65

-AC200V

100A

300

30kW

124A

S-T80

-AC200V

135A

370

37kW

153A

S-N150

-AC200V

200A

450

45kW

186A

S-N150

-AC200V

200A

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

550

55kW

224A

S-N180

-AC200V

260A

(Example)

Select a contactor for using the MDS-D-CV-110 with a 220V nominal input voltage.

Contactor selection current = 45/220 × 200 = 40.9[A]

According to the table above, select "S-T35-AC200V".

< MDS-DH Series >

Contactor selection current [A] =

(Contactor selection current for 380V input [A] / Nominal input voltage [V]) × 380 [V]

Selection of contactor for 380V input

Unit type

MDS-DH-CV-

Rated output

Contactor selection current for 380V input

Selection example of contactor

(Mitsubishi Electric Corp.)

Conventional freeair thermal current of the selection example of contactor

3.7kW

S-T12-

AC400V

20A

7.5kW

16A

S-T12-

AC400V

20A

110

11kW

24A

S-T21-

AC400V

32A

185

18.5kW

40A

S-T35-

AC400V

50A

300

30kW

65A

S-T50-

AC400V

80A

370

37kW

80A

S-T65-

AC400V

100A

450

45kW

98A

S-T65-

AC400V

100A

550

55kW

119A

S-T80-

AC400V

135A

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

750

75kW

163A

S-N150-

AC400V

200A

(Example)

Select a contactor for using the MDS-DH-CV-450 with a 480V nominal input voltage.

Contactor selection current = 98/480×380 = 77.6[A]

According to the table above, select "S-T50-AC400V".

POINT

1. Use an alternating contactor.

2. If the contactor selection current is 20A or less, select the S-T12 product for the contactor.

3. Select a contactor whose excitation coil does not operate at 15mA or less.

6 - 9

MITSUBISHI CNC

6 Specifications of Peripheral Devices

6-3 Selection of earth leakage breaker

When installing an earth leakage breaker, select the breaker on the following basis to prevent the breaker from malfunctioning by the higher frequency earth leakage current generated in the servo or spindle drive unit.

(1) Selection

Obtaining the earth leakage current for all drive units referring to the following table, select an earth leakage breaker within the "rated non-operation sensitivity current".

Usually use an earth leakage breaker for inverter products that function at a leakage current within the commercial frequency range (50 to 60Hz).

If a product sensitive to higher frequencies is used, the breaker could malfunction at a level less than the maximum earth leakage current value.

Series

MDS-D

MDS-DH

Earth leakage current for each unit

Drive unit

MDS-D-SP-20 to 640

MDS-D-SP2-2020 to 16080

Earth leakage current

6mA

MDS-D-V1-20 to 320W

MDS-D-V2-2020 to 160160

1mA

MDS-DH-SP-20 to 480 6mA

MDS-DH-V1-10 to 200

MDS-DH-V2-1010 to 8080

1mA

Maximum earth leakage current

15mA

30mA

2mA

4mA (for two axes)

15mA

2mA

4mA (for two axes)

(Note 1) Maximum earth leakage current: Value that considers wiring length and grounding, etc.(Commercial frequency 50/60Hz)

(Note 2) The earth leakage current in the power supply unit side is included in the drive unit side.

(2) Measurement of earth leakage current

When actually measuring the earth leakage current, use a product that is not easily affected by the higher frequency earth leakage current. The measurement range should be 50 to 60Hz.

POINT

1. The earth leakage current tends to increase as the motor capacity increases.

2. A higher frequency earth leakage current will always be generated because the inverter circuit in the drive unit switches the transistor at high speed. Always ground to reduce the higher frequency earth leakage current as much as possible.

3. An earth leakage current containing higher frequency may reach approx. several hundreds of mA. According to IEC479-2, this level is not hazardous to the human body.

6 - 10

MDS-D/DH Series Specifications Manual

6-4 Branch-circuit protection (for control power supply)

6-4 Branch-circuit protection (for control power supply)

6-4-1 Circuit protector

This breaker is used to switch the control power and to provide overload and short-circuit protection.

When connecting a circuit protector to the power input (TE3 terminals L11 and L21) for the control circuit, use a product that does not trip (incorrectly activate) by a rush current when the power is turned ON. A circuit protector with inertial delay is available to prevent unnecessary tripping. Select the product to be used according to the machine specifications.

The rush current and rush conductivity time differ according to the power impedance and power ON timing, so select a product that does not trip even under the conditions listed in the following table.

Rush current

MDS-D series: Ip=30A

MDS-DH series: Ip=18A

(per 1 unit)

36.8%

I [A] Rush conductivity time:

Time to reach 36.8% of rush current Ip,

equivalent to circuit protector operation characteristics

operation time.

t [ms]

Time constant: MDS-D series: T = 9ms

MDS-DH series: T = 18ms

Note) Rush current of MDS-D-37/75 is 38A.

POINT

When collectively protecting the control circuit power for multiple units, select a circuit protector that satisfies the total sum of the rush current Ip.

The largest value is used for the rush conductivity time T.

6-4-2 Fuse protection

The fuse of branch-circuit protection must use UL class CC, J or T. In the selection, please consider rush current and rush conductive time.

Selection of branch-circuit protection fuse

Connected total of unit

Fuse (Class CC)

Rated [V] Current [A]

1 to 4

5 to 8

600

Wire Size

AWG

16 to 14

CAUTION

For continued protection against risk of fire, replace only with same type 600 V, 20 or 35 A

(UL CLASS CC) fuse.

WARNING

Before replacing fuse, confirm all power controlling the drive system is shut-OFF. Be sure to look out the power source to prevent the power from being turned ON while maintenance is being performed.

6 - 11

MITSUBISHI CNC

6 Specifications of Peripheral Devices

6-5 Noise filter

(1) Selection

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

(2) Noise filter mounting position

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

Power distribution panel

Breaker

Power supply

Noise filter

AC reactor Contactor

Power supply unit

MDS-D/DH-CV

(Note) The noise filter must be prepared by the user.

Recommended devices:

MDS-D Series

Densei-lambda MX13 Series

Soshin Electric HF3000C-TM Series

MDS-DH Series

Okaya Electric Industries 3SUP-HL-ER-6B Series

Soshin Electric HF3000C-TMA Series

Contact:

Densei-lambda Co., Ltd. Telephone: 0120-507039 http://www.densei-lambda.com

Soshin Electric Co., Ltd. Telephone: 03-3775-9112 (+81-3-3775-9112) http://www.soshin.co.jp

(Note) The above devices may be changed at the manufacturer's discretion.

Contact each manufacturer for more information.

6 - 12

MDS-D/DH Series Specifications Manual

6-6 Surge absorber

6-6 Surge absorber

When controlling a magnetic brake of a servo motor in DC OFF circuit, a surge absorber must be installed to protect the relay contacts and brakes. Commonly a varistor is used.

(1) Selection of varistor

When a varistor is installed in parallel with the coil, the surge voltage can be adsorbed as heat to protect a circuit.

Commonly a 120V product is applied. When the brake operation time is delayed, use a 220V product. Always confirm the operation with an actual machine.

(2) Specifications

Select a varistor with the following or equivalent specifications. To prevent short-circuiting, attach a flame resistant insulation tube, etc., onto the leads as shown in the following outline dimension drawing.

Varistor type

Varistor voltage rating

(range)

(V)

Tolerable circuit voltage

AC(V) DC(V)

Varistor specifications

Rating

Surge current withstand level

(A)

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)

140

100

180

3500

2500

14.5

27.5

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) ERZV10D820 and ERZV10D121 are manufactured by Panasonic Corporation.

TNR10V820K and TNR10V121K 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.

6 - 13

MITSUBISHI CNC

6 Specifications of Peripheral Devices

6-7 Relay

The input/output circuit to control the external signal such as external emergency stop input and relay changeover signal output is wired.

The input/output circuit for each unit is as follows.

Input circuit

24V

CN9 connector

4.1k

Switch

DI1

DICOM 20

(1) Servo/spindle drive unit

Output circuit

CN9 connector

24V

MPO1

Relay, etc.

D01

MPO2

D02

MPO3

D03

24V

Switch

CN23A connector

3 2k

(1)

Power supply unit

(2)

Servo/spindle drive unit

24G

The part indicated by the " " must be prepared by the user.

(Note) Do not connect "(1)" or "(2)".

If a ground of the external 24V power is same as the 24V power in the drive unit, a fault or abnormal operation could occur.

Connector

CN9

CN23A

Switch ON

Switch OFF

Switch ON

Switch OFF

Input condition

18VDC to 25.2VDC

4.3mA or more

4VDC or less

2mA or less

18VDC to 25.2VDC

9mA or more

4VDC or less

2mA or less

Connector

CN9

Output condition

Output voltage 24VDC ±5%

Tolerable output current

50mA or less

For a switch or relay to be wired, use a switch or relay that satisfies the input/output (voltage, current) conditions.

Interface name

For digital input signal (CN23,CN9)

For digital output signal (CN9)

Selection example

Use a minute signal switch which is stably contacted and operated even with low voltage or current.

<Example> OMRON: G2A, G6B type, MY type, LY type

Use a compact relay operated with rating of 24VDC, 50mA or less.

<Example> OMRON: G6B type, MY type

6 - 14

Selection

7 - 1

MITSUBISHI CNC

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.

7 - 2

MDS-D/DH Series Specifications Manual

7-1 Selection of the servo motor

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.

7 - 3

MITSUBISHI CNC

7 Selection

(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

-2

/ η + J

) N

(0.8

MAX

-T

)

(ms) ••• (7-2)

MAX

: Motor reach speed

: Motor shaft conversion load inertia

: Motor inertia

: Drive system efficiency (Normally 0.8 to 0.95)

: Maximum motor torque

: Motor shaft conversion load (friction, unbalance) torque

(r/min)

(×10

-4 kg•m

)

(×10

-4 kg•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.

7 - 4

MDS-D/DH Series Specifications Manual

7-1 Selection of the servo motor

(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

m) ••• (7-3) ta

Nm =N {1-

1000

Kp ta

(1-

-Kp ta

e )} (r/min) •••(7-4) ta

: Acceleration/deceleration time constant

: Position loop gain (SV003)

: Motor reach speed

: Motor shaft conversion load inertia

(ms)

(rad/s)

(r/min)

(×10

-4 kg•m

)

: Motor inertia (×10 -4 kg•m 2 )

: Drive system efficiency (Normally 0.8 to 0.95)

: Motor shaft conversion load (friction, unbalance) torque (N•m)

Motor speed

(r/min)

NC command

Motor actual speed

Motor acceleration

Ac ta

Time (ms)

Motor acceleration

Motor torque

Ta 1

Speed most required for the motor torque

0 ta

Time (ms)

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

7 - 5

MITSUBISHI CNC

7 Selection

This is a servo’s position control method to achieve a normal command pattern and high precision. SHG control improves the position loop gain by stably controlling a delay of the position loop in the servo system. This allows the settling time to be reduced and a high precision to be achieved.

Using the expression (7-5) and (7-6), approximate the maximum torque "Ta1" and maximum torque occurrence speed "Nm" required for this acceleration/deceleration pattern.

T a

1 = (1 0.586

-2 Kp ta e )+T

m) ••• (7-5) ta

Nm =N {1-

1000

1.3

Kp ta

(1-1.5

-2 Kp ta e )} (r/min) ••• (7-6) ta

Motor speed

㧔 r/min 㧕

NC command

: Acceleration/deceleration time constant

: Position loop gain (SV003)

: Motor reach speed

: Motor shaft conversion load inertia

: Motor inertia

: Drive system efficiency (Normally 0.8 to 0.95)

(ms)

(rad/s)

(r/min)

(×10 -4 kg•m 2 )

(×10

-4 kg•m

: Motor shaft conversion load (friction, unbalance) torque (N•m)

)

Motor actual speed

Motor acceleration

Ac ta

Time (ms)

Motor torque

Ta 1

Motor acceleration

Speed most required for the motor torque

0 ta

Time (ms)

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

7 - 6

MDS-D/DH Series Specifications Manual

7-1 Selection of the servo motor

(d) Approximation when using the NC command soft acceleration/deceleration pattern + feed forward (highspeed accuracy) control

If the feedforward amount is set properly, the delay of the servo position loop is guaranteed. Therefore, this command acceleration pattern can be approximated to the NC command and does not depend on the servo position control method.

Using the expression (7-7) and (7-8), approximate the maximum torque "Ta1" and maximum torque occurrence speed "Nm" required for this acceleration/deceleration pattern.

T a

1 =

1.05

-2

/ η + J

) N ta

m) ••• (7-7)

Nm =N

2 tb ta

(r/min) ••• (7-8) ta tb

: Acceleration/deceleration time constant

: Motor reach speed

: Motor shaft conversion load inertia

: Motor inertia

: Drive system efficiency (Normally 0.8 to 0.95)

(ms)

(r/min)

(×10 -4 kg•m 2 )

(×10

-4

: Motor shaft conversion load (friction, unbalance) torque (N•m) kg•m

)

Motor speed

㧔 r/min 㧕

NC command ѳ Motor actual speed

Motor acceleration

Ac ta ta+tb

Time (ms) Motor torque

Ta 1

Speed most required for the motor torque

0 tb ta ta+ tb

Time (ms)

Nm N

Fig 3. Speed, acceleration and torque characteristic when using the NC command soft acceleration/deceleration pattern + feedforward (high-speed accuracy) control

Motor speed

(r/min)

7 - 7

MITSUBISHI CNC

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

High-speed rotation range torque characteristic

Short time operation range

Continuous operation range

Rotation speed [r/min]

Motor torque characteristics

If they are not in the short time operation range, return to the item "(b)" to "(d)" and make the linear acceleration/ deceleration time constant "ta" large.

If the acceleration specification cannot be changed (the linear acceleration/deceleration time constant cannot be increased), reconsider the selection, such as increasing the motor capacity.

POINT

1. In selecting the maximum torque "Ta1" required for this acceleration/deceleration pattern, the measure of it is 80% of the motor maximum torque "T

MAX

2. In high-speed rotation range, confirm that the maximum torque "Ta1" and maximum torque occurrence speed "Nm" required for this acceleration/deceleration is in the short time operation range.

3. The drive system efficiency is normally approx. 0.95 in the ball screw mechanism and approx. 0.8 in the gear mechanism

4. For the torque characteristics in the motor high-speed rotation range, the AC input voltage is 200V (200V series) or 380V (400V series). If the input voltage is low or if the power wire connecting the servo motor and drive unit is long (20m length), the short time operation range is limited. In this case, an allowance must be provided for the selection of the highspeed rotation range.

7 - 8

MDS-D/DH Series Specifications Manual

7-1 Selection of the servo motor

(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

Motor torque

T2 T4

T3 T6 T8 t1 t2 t3 t4 t5 t6 t7 t8 t0

Time

Fig. 1 Continuous operation pattern

Trms =

·t 1+T2

·t2 +T3

·t3 +T4

·t4 +T5

·t5 +T6

·t6 +T7

·t7 +T8

·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 linear acceleration/deceleration)

T a

1.05

-2

/ η + J

) N ta

M ta

m) ••• (7-11)

: Motor reach speed

: Motor shaft conversion load inertia

: Motor inertia

: Acceleration/deceleration time constant

: Drive system efficiency (Normally 0.8 to 0.95)

(r/min)

(×10

-4 kg•m

)

(×10

-4 kg•m

)

(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.

≦

0.6•Tst ••• (7-12)

7 - 9

MITSUBISHI CNC

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.

The signs are reversed with period <2> when the kinetic friction does not change according to movement direction.

The signs are reversed with period <3> when the kinetic friction does not change according to movement direction.

Calculate so that the static friction torque is always required during a stop.

(b) Unbalance axis load torque

When operations [1] to [8] are for an unbalance axis, calculate so that the following torques are required in each period.

Note that the forward speed shall be an upward movement.

Period

[1]

[2]

[3]

[4]

[5]

[6]

[7]

[8]

Table 7-4 Load torques of unbalance axes

Load torque calculation method

(Amount of acceleration torque) + (Kinetic friction torque) +

(Unbalance torque)

Explanation

Normally the acceleration/deceleration time constant is calculated so that this torque is 80% of the maximum torque of the motor.

(Kinetic friction torque) + (Unbalance torque)

(Amount of deceleration torque) + (Kinetic friction torque) +

(Unbalance torque)

(Static friction torque) + (Unbalance torque)

The 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.

7 - 10

MDS-D/DH Series Specifications Manual

7-1 Selection of the servo motor

7-1-3 Motor shaft conversion load torque

The calculation method for a representative load torque is shown.

Type Mechanism

Linear movement

Servo motor

1 ǯ

F c

Calculation expression

πη N

Δ S

3 πη

: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)

: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

)

F c

:Force applied on axial direction of moving section (N)

:Tightening force on inner surface of table guide (N)

W:Total mass of moving section (kg) g:Gravitational acceleration = 9.8 (m/s

)

μ :Friction coefficient

Rotary movement

Vertical movement

Servo motor

1/n

Servo motor

Load

Counterweight

1 n

η L0

:Load torque (N•m)

:Load torque on load shaft (N•m)

:Motor shaft conversion load friction torque (N•m)

η :Drive system efficiency

:Deceleration ratio n:Deceleration ratio

When rising T

When lowering T

= -T

• η

:Load torque (N•m)

:Unbalanced torque (N•m)

:Friction torque on moving section (N•m)

-W

)

πη N

μ .

)

.g.

Δ S

3 πη

-W

)

.g.

πη

Δ S

:Load mass (kg)

:Counterweight mass (kg)

η : Drive system efficiency g:Gravitational acceleration = 9.8 (m/s

)

V:Speed of object that moves linearly (mm/min)

N:Motor speed (r/min)

∆ S:Object movement amount per motor rotation (mm)

μ :Friction coefficient

7 - 11

MITSUBISHI CNC

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

Rotary shaft

When rotary shaft and cylinder shaft are deviated

= .(D

-D

.(D

+8R

)

Calculation expression

＋

)

:Load inertia (kg•cm

)

ρ : Density of cylinder material (kg/cm

)

L:Length of cylinder (cm)

:Outer diameter of cylinder (cm)

:Inner diameter of cylinder (cm)

W:Mass of cylinder (kg)

Iron:7.80×10

-3

(kg/cm

) Aluminum:2.70×10

-3

(kg/cm

)

Copper:8.96×10 -3 (kg/cm 3 )

Rotary shaft

:Load inertia (kg•cm

)

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 a

= W( +R

)

: Load inertia (kg•cm

W:Mass of cylinder (kg)

) a,b,R:Left diagram (cm)

Object that moves linearly

Servo motor

Suspended object

Converted load

Load B

B J

Servo motor

Load A

π N

= W( )

:Load inertia (kg•cm

)

W:Mass of object that moves linearly (kg)

N:Motor speed (r/min)

V:Speed of object that moves linearly (mm/min)

∆ S:Object movement amount per motor rotation (mm)

)

+J p

:Load inertia (kg•cm 2 )

W:Object mass (kg)

D:Diameter of pulley (cm)

Jp:Inertia of pulley (kg•cm

)

= J

+(J

) .

)

+ (J +J

) .

(

)

:Load inertia (kg•cm 2 )

:Inertia of load A, B (kg•cm

)

to J

:Inertia (kg•cm

)

to N

:Each shaft’s speed (r/min)

7 - 12

MDS-D/DH Series Specifications Manual

7-2 Selection of the spindle motor

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

) from one cycle operation pattern and confirm that the calculated value is less than the continuous rating output of the selected spindle motor.

Motor speed

[1] [2] [3] [4] [5] [6] [7] [8]

Motor torque

Acceleration

Cutting

Deceleration

Stop

Acceleration

Cutting

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)

P1 2 ·t 1+P2 2 ·t2 +P3 2 ·t3 +P4 2 ·t4 +P5 2 t0

·t5 +P6 2 ·t6 +P7 2 ·t7 +P8 2 ·t8

P1 to P8 :Output t1 to t8 :Time t0 :One cycle operation time

POINT

≧ AV

)

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.

7 - 13

MITSUBISHI CNC

7 Selection

7-3 Selection of the power supply unit

For the power supply unit, calculate the spindle motor output and servo motor output each, and select the capacity satisfying the required rated capacity and the maximum momentary output.

7-3-1 Calculation of spindle output

The spindle rated output and spindle maximum momentary rated output are calculated.

(1) Calculation of spindle rated output

The spindle rated output is calculated according to the following procedure.

Spindle motor rated output =

MAX (continuous rated output, short-time rated output × short-time rated output coefficient α ,

%ED rated output × %ED rated output coefficient β )

(Note 1) For the spindle motor rated output, use the maximum value of "continuous rated output", "short-time rated output × short-time rated output coefficient α ", and "%ED rated output × %ED rated output coefficient β ".

(Note 2) Select the maximum value for the spindle motor with multiple %ED rated output characteristics.

For the spindle short-time rated output coefficient α , use the value in the "Table 1.1", and for the %ED rated output coefficient β , use the value in the "Table 1.2".

Table1.1 List of short-time rated output time and short-time rated output coefficient

Short-time rated output time

1 minute

2 minutes

3 minutes

4 minutes

Short-time rated output coefficient

0.2

0.4

0.5

0.6

Short-time rated output time

5 minutes

6 to 7 minutes

8 to 9 minutes

10 minutes or more

Short-time rated output coefficient

0.7

0.8

0.9

1.0

(Note 1) Select the set time for the short-time rated output of your spindle motor from the list.

E.g.) When the set time for the short-time rated output is "1/12h", it means "5 minutes".

(Note 2) For the motor with coil changeover specification, select the set time for the short-time rated output of the high-speed coil.

Table 1.2 List of %ED rated output time and %ED rated output coefficient

%ED rated output time

%ED rated output coefficient

More than or equal to 10% but less than 20%

More than or equal to 20% but less than 30%

More than or equal to 30%

0.7

0.9

1.0

7 - 14

MDS-D/DH Series Specifications Manual

7-3 Selection of the power supply unit

(b) Spindle rated output

The spindle rated output is calculated from the following expression.

Spindle rated output

=Spindle motor rated output x motor output coefficient β of the combined spindle drive unit

For the spindle motor rated output of the above expression, use the value calculated in (a).

For the motor output coefficient of the combined spindle drive unit, use the value corresponding to the used spindle drive unit in the table 2.

Table 2. Motor output coefficient list of combined spindle drive unit

< MDS-D Series >

Spindle motor rated output

to 1.5kW

to 2.2kW

to 3.7kW

to 5.5kW

to 7.5kW

to 11.0kW

to 15.0kW

to 18.5kW

to 22kW

to 26kW

to 30kW

to 37kW

to 45kW

to 55kW

1.00

1.15

1.00

Combined spindle drive unit MDS-D-SP-

160 200 240 320

1.25

1.15

1.30

1.05

1.00

1.20

1.10

1.00

1.20

1.15

1.05

1.20

1.10

1.15

1.00

1.05

1.00

1.10

1.05

1.00

1.10

1.05

1.00

400

1.15

1.10

1.05

1.0

640

< MDS-DH Series >

Spindle motor rated output

to 2.2kW

to 3.7kW

to 5.5kW

to 7.5kW

to 11.0kW

to 15.0kW

to 18.5kW

to 22kW

to 26kW

to 30kW

to 37kW

to 45kW

to 55kW

to 75kW

1.00

1.15

1.05

1.00

Combined spindle drive unit MDS-DH-SP-

80 100 160 200

1.30

1.20

1.10

1.20

1.00

1.15

1.05

1.00

1.15

1.10

1.05

1.10

1.00

1.05

1.00

1.15

1.10

1.05

1.00

320

1.20

1.15

1.10

1.05

1.00

480

POINT

1. When the spindle motor applies to the wide range constant output specification or the hightorque specification, the spindle rated output may become large.

2. The spindle rated output is calculated from the motor output coefficient of the spindle drive unit used in combination with the spindle motor.

7 - 15

MITSUBISHI CNC

7 Selection

(2) Calculation of spindle maximum momentary output

The spindle maximum momentary output is calculated from the following expression.

Spindle maximum momentary output

=MAX (short-time rated output x 1.2, output at acceleration/deceleration x 1.2 or %ED rated output×1.2)

(Note) For the spindle rated output, use the larger one of "short-time rated output × 1.2", "output at acceleration/ deceleration × 1.2" or "%ED rated output×1.2".

7-3-2 Calculation of servo motor output

(1) Selection with rated output

(2) Selection with maximum momentary output

For the rated output and maximum momentary output of the servo motor, use the value corresponding to the servo motor in the table 3.

< 200V series >

Motor HF

Rated output (kW)

Maximum momentary output (kW)

Table 3. Data for servo motor output selection

0.75

2.6

105

1.0

3.6

0.5

2.3

104

1.0

5.0

154

1.5

9.0

224

2.2

12.3

Motor HP

Rated output (kW)

Maximum momentary output (kW)

Motor HP

Rated output (kW)

Maximum momentary output (kW)

123

1.2

4.0

0.5

2.3

Motor HF-KP

Rated output (kW)

0.2

Maximum momentary output (kW)

0.72

223

2.2

7.5

104

1.0

4.3

0.4

1.72

303

3.0

12.0

154

1.5

8.0

0.75

2.85

453

4.5

22.0

224

2.2

11.0

703

7.0

28.0

204

2.0

11.0

903

9.0

41.0

354

3.5

15.0

204

2.0

8.0

142

1.4

3.8

454

4.5

21.0

354

3.5

18.0

302

3.0

7.4

704

7.0

27.0

903

9.0

33.0

1103

11.0

50.0

< 400V series >

Motor HF-H

Rated output (kW)

Maximum momentary output (kW)

Motor HP-H

Rated output (kW)

Maximum momentary output (kW)

Motor HC-H

Rated output (kW)

Maximum momentary output (kW)

0.75

2.6

0.5

2.3

1502S-S10

15.0

59.0

105

1.0

3.6

104

1.0

4.3

0.5

2.3

154

1.5

8.0

104

1.0

5.0

224

2.2

11.0

154

1.5

9.0

204

2.0

11.0

204

2.0

8.0

354

3.5

15.0

354

3.5

18.0

454

4.5

21.0

453

4.5

22.0

704

7.0

27.0

703

7.0

28.0

903

9.0

33.0

903

9.0

41.0

1103

11.0

50.0

(Note) The maximum momentary output in this table is reference data for selecting the power supply unit and is not data which guarantees the maximum output.

7 - 16

MDS-D/DH Series Specifications Manual

7-3 Selection of the power supply unit

7-3-3 Selection of the power supply unit

Select the power supply unit from the total sum of the rate output and the maximum momentary output.

(1) Calculation of required rated output

(a) When there is only one servo motor axis

Power supply unit rated capacity > Σ (Spindle rated output) + (Servo motor rated output)

(b) When there are two or more servo motor axes

Power supply unit rated capacity > Σ (Spindle rated output) + 0.7 Σ (Servo motor rated output)

Substitute the output calculated from "7-2-1(1)" and "7-2-2(1)" to the expression (a) and (b), and calculate the total sum of the spindle rated output and servo motor rated output. According to this, select the power supply unit satisfying the rated capacity from the table 4.

(2) Calculation of required maximum momentary output

Maximum momentary rated capacity of power supply unit

≧

Σ (Spindle maximum momentary output) + Σ (Maximum momentary output of servo motor accelerating/ decelerating simultaneously + Maximum momentary output of direct drive motor accelerating/ decelerating simultaneously)

Substitute the output calculated from "7-2-1(2)" and "7-2-2(2)" to the above expression, and calculate the total sum of the

"spindle maximum momentary output" and "output of servo motor accelerating/ decelerating simultaneously". According to this, select the power supply unit satisfying the maximum momentary rated capacity from the table 4.

(3) Selection of power supply unit

Select the power supply unit of which the capacity is larger than that selected in the item (1) and (2).

Table 4. Power supply unit rated capacity and maximum momentary rated capacity

< MDS-D Series >

Unit

Rated capacity (kW)

MDS-D-CV-

Maximum momentary rated capacity (kW)

4.2

110

11.5

185

300

370

101

450

125

550

175

< MDS-DH Series >

Unit MDS-DH-CV37

Rated capacity (kW) 4.2

Maximum momentary rated capacity (kW) 16

110 185 300

11.5

19 31

39 60 92

370 450

38 46

101 125

550 750

56 76

175 180

7 - 17

MITSUBISHI CNC

7 Selection

CAUTION

1. When two or more servo motor axes are connected, do the calculation with the largest rated capacity of the servo motor if a value obtained by multiplying the total sum of the servo motor rated output by "0.7" is smaller than the largest rated capacity of the servo motors.

Example: HF Series

(1)For "HF903 (9.0kW) + HF104 (1.0kW)", "0.7 x (9.0 + 1.0) =7.0 < 9.0" is applied.

So, do the calculation with applying "9.0kW" to the total sum of the servo motor's rated output.

(2)For "HF903 (9.0kW) + HF903 (9.0kW)", "0.7 x (9.0 + 9.0) = 12.6 > 9.0" is applied.

So, do the calculation with applying "12.6kW" to the total sum of the servo motor's rated output.

Example: HF-H Series

(1)For "HF-H903 (9.0kW) + HF-H104 (1.0kW)", "0.7 x (9.0 + 1.0) =7.0 < 9.0" is applied.

So, do the calculation with applying "9.0kW" to the total sum of the servo motor's rated output.

(2)For "HF-H903 (9.0kW) + HF-H903 (9.0kW)", "0.7 x (9.0 + 9.0) = 12.6 > 9.0" is applied.

So, do the calculation with applying "12.6kW" to the total sum of the servo motor's rated output.

2. When reducing the time constant replacing the conventional motor with the HF, HP, HF-KP,

HF-H, HP-H or HC-H Series motor, the power supply capacity may rise because the motor maximum momentary output increases more than the conventional motor. Therefore, make sure to check the selection with maximum momentary rated capacity.

3. When the large capacity drive unit (MDS-D-SP-400/640, MDS-DH-SP-200/320/450, MDS-DH-

V1-200) is connected to the power supply unit, always install the drive unit proximally in the left side of the power supply unit and connect PN terminal with the dedicated DC connection bar.

4. When using two large capacity drive units or more, the power supply unit is required for each drive unit.

7 - 18

MDS-D/DH Series Specifications Manual

7-3 Selection of the power supply unit

7-3-4 Required capacity of power supply

For the power supply capacity, calculate the required spindle rated output and servo motor rated output each, and select the power supply capacity satisfying them.

(1) Spindle rate output required for power supply

The spindle rate output required for power supply is calculated from the following expression.

Spindle rate output required for power supply =

MAX (Spindle motor continuous rated output, Spindle motor output at accelerating/decelerating, Spindle motor short-time output) x motor output coefficient γ of combined spindle drive unit

(Note) For the spindle rate output required for the power supply, multiply the largest one of "spindle motor continuous rate output", "spindle motor output at acceleration/deceleration" and "spindle motor short-time output" by the motor output coefficient γ of the combined spindle drive unit.

For the motor output coefficient of the combined spindle drive unit, use the value corresponding to the used spindle drive unit in the table 2. of 7-2-1 (1).

(2) Servo motor rate output required for power supply

For the servo motor rate output required for power supply, use the value calculated in 7-2-2 (1).

(3) Calculation of rate output required for power supply

(a) When there is only one servo motor axis

Rated capacity required for power supply =

Σ (Spindle rate output required for power supply) + (servo motor rate output required for power supply)

(b) When there are two or more servo motor axes

Rated capacity required for power supply =

Σ (Spindle rate output required for power supply) + 0.7 Σ (servo motor rate output required for power supply)

Substitute the output calculated from the item (1) and (2) to the expression (a) and (b), and calculate the rated capacity required for the power supply.

(4) Calculation of required power supply

Power supply capacity (kVA) = Σ {(Required rated capacity calculated in the item (3)(kW) / Capacity of selected power supply unit (kW)) x Power supply capacity base value (kVA)}

The power supply capacity base value corresponding to the capacity of the selected power supply unit is as the following table.

< MDS-D Series >

Unit MDS-D-CV-

Power supply capacity base value (kVA)

5.3

11.0

110

16.0

185

27.0

300

43.0

370

53.0

450

64.0

550

78.0

< MDS-DH Series >

Unit MDS-DH-CV-

Power supply capacity base value (kVA)

5.3

11.0

110

16.0

185

27.0

300

43.0

370

53.0

450

64.0

550

78.0

750

107.0

7 - 19

MITSUBISHI CNC

7 Selection

7-3-5 Example for power supply unit and power supply facility capacity

< MDS-D Series >

(Example 1)

Axis name

X-axis

Y-axis

Z-axis

Motor

HF354

Spindle Spindle motor 22kW

Drive unit

(MDS-D-V2-160160)

(MDS-D-V1-160)

MDS-D-SP-320

(Output coefficient 1.0)

Rated output

3.5kW

22kW

Maximum momentary output

18kW

26.4kW

Total

0.7 x (3.5 x 3) + 22

= 29.35kW

< 31kW (D-CV-300)

(18 x 3) + 26.4

= 80.4kW

< 92kW (D-CV-300)

The power supply unit satisfying the total of the rate output and the maximum momentary output is MDS-D-CV-300.

Required power supply capacity (kVA) = (29.35 / 30) x 43 = 42.1 (kVA)

(Example 2)

Axis name

X1-axis

X2-axis

Y-axis

Z-axis

Motor

HF453

HF354

Spindle Spindle motor 15kW

Drive unit

(MDS-D-V2-160160)

MDS-D-SP-200

(Output coefficient 1.0)

Rated output

4.5kW

3.5kW

15kW

Maximum momentary output

22kW

18kW

Total

0.7 x (4.5 x 2 + 3.5 x 2) + 15

= 26.2kW

< 31kW (D-CV-300)

22 x 2 + 18 x 2 + 18

= 98.0kW

< 101kW (D-CV-370)

The power supply unit satisfying the total of the rate output and the maximum momentary output is MDS-D-CV-370.

Required power supply capacity (kVA) = (26.2 / 37) x 53 = 37.5 (kVA)

(Example 3))

Axis name

X-axis

Y-axis

Z-axis

Spindle

Motor

HF354

HF204

Spindle motor 15kW

(High-torque motor)

Drive unit

MDS-D-V1-160

MDS-D-V2-8080

MDS-D-SP-320

(Output coefficient 1.1)

Rated output

3.5kW

2.0kW

16.5kW

Maximum momentary output

18kW

8kW

18kW

Total

0.7 x (3.5 + 2.0 x 2) + 16.5

= 21.75kW

< 31kW (D-CV-300)

18 + 8 x 2 + 18

= 52kW

< 60kW (D-CV-185)

The power supply unit satisfying the total of the rate output and the maximum momentary output is MDS-D-CV-300.

Required power supply capacity (kVA) = (21.75 / 30) x 43 = 31.2 (kVA)

7 - 20

MDS-D/DH Series Specifications Manual

7-3 Selection of the power supply unit

< MDS-DH Series >

(Example 1)

Axis name

X-axis

Y-axis

Z-axis

Spindle

Motor

HF-H354

Spindle motor 22kW

Drive unit

(MDS-DH-V2-8080)

(MDS-DH-V1-80)

MDS-DH-SP-160

(Output 22kW)

Rated output

3.5kW

22kW

Maximum momentary output

18kW

26.4kW

Total

0.7×(3.5×3)+22

=29.35kW

<31kW(DH-CV-300)

(18×3)+26.4

=80.4kW

<92kW(DH-CV-300)

The power supply unit satisfying the total of the rate output and the maximum momentary output is MDS-DH-CV-

300.

Required power supply capacity (kVA) = (29.35 / 30) x 43 = 42.0 (kVA)

(Example 2)

Axis name

X1-axis

X2-axis

Y-axis

Z-axis

Motor

HF-H453

HF-H354

Spindle Spindle motor 15kW

Drive unit

(MDS-DH-V2-8080)

MDS-DH-SP-100

(Output coefficient 1.0)

Rated output

4.5kW

3.5kW

15kW

Maximum momentary output

22kW

18kW

Total

0.7×(4.5×2+3.5×2)+15

=26.2kW

<31kW(DH-CV-300)

22×2+18×2+18

=98.0kW

<101kW(DH-CV-370)

The power supply unit satisfying the total of the rate output and the maximum momentary output is MDS-DH-CV-

370.

Required power supply capacity (kVA) = (26.2 / 30) x 43 = 37.6 (kVA)

(Example 3)

Axis name

X-axis

Y-axis

Z-axis

Spindle

Motor

HF-H354

HF-H204

Spindle motor 15kW

(High-torque motor)

Drive unit

MDS-DH-V1-160

MDS-DH-V2-8080

MDS-DH-SP-320

(Output coefficient 1.1)

Rated output

3.5kW

2.0kW

16.5kW

Maximum momentary output

18kW

8kW

18kW

Total

0.7×(3.5+2.0×2)+16.5

=21.75kW

<31kW(DH-CV-300)

18+8×2+18

=52kW

<60kW(DH-CV-185)

The power supply unit satisfying the total of the rate output and the maximum momentary output is MDS-DH-CV-

370.

Required power supply capacity (kVA) = (21.75 / 30) x 43 = 31.2 (kVA)

7 - 21

MITSUBISHI CNC

7 Selection

7 - 22

Appendix 1

Cable and Connector Specifications

Appendix 1 - 1

MITSUBISHI CNC

Appendix 1 Cable and Connector Specifications

Appendix 1-1 Selection of cable

Appendix 1-1-1 Cable wire and assembly

(1) Cable wire

The specifications of the wire used for each cable, and the machining methods are shown in this section. When manufacturing the 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

(0.5mm

2 )

(0.2mm

2 )

Configuration

100 strands/

0.08mm

40 strands/

0.08mm

Conductive

resistor

Wire characteristics

Withstand voltage

Insulation resistance

Heat resistance temperature

40.7

Ω /km or less

103 Ω /km or less

500VAC/

1min

1000

M Ω /km or more

105°C

Flexibility

70×10 4 times or more at

R200

(b) General-purpose heat resistant specifications cable

Wire type

(other manufacturer's product)

BD20032

Compound 6-pair shielded cable

Specification No.

Bangishi-16903

Revision No. 3

(Note 2))

Finish outer diameter

8.7mm

Sheath material

PVC

No. of pairs

(0.5mm

)

(0.2mm

)

Configuration

100strands/

0.08mm

40strands/

0.08mm

Conductive resistor

40.7

Ω /km or less

103 Ω /km or less

Wire characteristics

Withstand voltage

500VAC/

1min

Insulation resistance

1000

M Ω /km or more

Heat resistance temperature

60°C

Flexibility

100×10 4 times or more at

R200

(Note 1) Bando Electric Wire (http://www.bew.co.jp/)

(Note 2) The Mitsubishi standard cable is the (a) Heat resistant specifications cable. For MDS-C1/CH series, (b) or equivalent is used as the standard cable.

Compound 6-pair cable structure drawing

Cable core

Conductor

Insulator

Sheath

Mesh shield

Intervening wire

Tape

Core identification

Pair No.

Insulator color

L1 L2

Red White A1 (0.5mm

)

A2 (0.5mm

)

B1 (0.2mm

2 )

B2 (0.2mm

2 )

B3 (0.2mm

)

B4 (0.2mm

)

Black

Brown

Blue

Purple

Yellow

White

Orange

Green

White

Appendix 1 - 2

MDS-D/DH Series Specifications Manual

Appendix 1-1 Selection of cable

(c) HF-KP motor encoder cable

Wire type

(other manufacturer's product)

ETFE ・ SVP 60/

0.08mm

4-pair shielded cable

Specification

No.Bangishi-

17669(Note 1))

Finish outer diameter

7.1mm

Sheath material

PVC

No. of pairs

(0.5mm

)

Configuration

60 strands/

0.08mm

(Note 1) BANDO Electric Wire (http://www.bew.co.jp/)

Conductive resistor

Wire characteristics

Withstand voltage

Insulation resistance

Heat resistance temperature

73.0

Ω /km or less

500VAC/

1min

1500

M Ω /km or more

105°C

Flexibility

R200

(70×10

4 times or more)

4-pair shielded cable structure drawing

Sheath

Mesh shield

Tape

Insulated cable core

Insulator

Conductor

Intervening wire

Core identification

No.

Color

Black

White

Red

Green

Yellow

Brown

Blue

Gray

Appendix 1 - 3

MITSUBISHI CNC

Appendix 1 Cable and Connector Specifications

(2) Cable assembly

Assemble the cable with the cable shield wire securely connected to the ground plate of the connector.

Core wire

Connect with a ground plate of connector.

Shield

(external conductor)

Sheath

(3) Battery connection cable

Wire type

(other manufacturer's product)

J14B101224-00

Two core shield cable

Finish outer diameter

3.3mm

Sheath material

PVC

No. of pairs

(0.2mm

)

Configuration

7strands /

0.2mm

Conductive resistor

91.2

Ω /km or less

Wire characteristics

Withstand voltage

AC500V/

1min

Insulation resistance

1000M Ω / km or less

Heat resistance temperature

(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

80°C

Flexibility

R33mm

Sheath

Shield

JUNFLON ETFE wire

Two core shield cable structure drawing

Core identification

No.

Insulator color

Red

Black

Appendix 1 - 4

MDS-D/DH Series Specifications Manual

Appendix 1-2 Cable connection diagram

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 MDS-A-BT/A6BAT (MR-BAT) (MDS-BTCASE)>

Drive unit side connector

(Hirose Electric)

Connector: DF1B-2S-2.5R

Contact: DF1B-2428SCA

0.2mm

Battery unit side connector

(3M)

Connector: 10120-3000VE

Shell kit: 10320-52F0-008

Case grounding

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

Drive unit side connector

(Hirose Electric)

Connector: DF1B-2S-2.5R

Contact: DF1B-2428SCA

0.2mm

Drive unit side connector

(Hirose Electric)

Connector: DF1B-2S-2.5R

Contact: DF1B-2428SCA

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

Drive unit side connector

(Hirose Electric)

Connector : DF1B-2S-2.5R

Contact : DF1B-2428SCA

0.2mm

Battery box side

<DG24 cable connection diagram

(Connection cable for alarm output between drive unit and MDS-BTBOX-36)>

CAUTION

Drive unit side connector

(3M)

Connector

Shell kit

:10120-3000VE

:10320-52F0-008

DICOM

D11

Case grounding

0.2mm

Battery box side

Blue

+24V (I/O power side)

Yellow

DO(ALM)

Light blue

+5V

White

When DG24 cable is used, proximity switch or external emergency stop cannot be wired, so these functions cannot be used.

Appendix 1 - 5

MITSUBISHI CNC

Appendix 1 Cable and Connector Specifications

Appendix 1-2-2 Power supply communication cable and connector

<SH21 cable connection diagram>

Drive unit side connector

（ 3M)

Connector: 10120-3000VE

Shell kit: 10320-52F0-008

<CNU23S connector connection diagram>

External emergency stop input

24G

Power supply unit side connector

（ DDK)

Connector: DK-3200M-06RXY

Contact: DK-3REC2LLP1-100

EMG2

EMG1

Power supply unit side connector

（ 3M)

Connector: 10120-3000VE

Shell kit: 10320-52F0-008

PE Plate

Contactor breaker output

Appendix 1 - 6

MDS-D/DH Series Specifications Manual

Appendix 1-2 Cable connection diagram

Appendix 1-2-3 Optical communication repeater unit cable

< F070 cable connection diagram >

24VDC power side terminal

(J.S.T.)

Crimping Terminal ： V1.25-3 or V1.25-4 × 2

24VDC

Optical communication repeater unit side connector

(Tyco Electronics)

Connector ： 2-178288-3

Contact 1-175218-5 × 3

24VDC

DCIN

< F110 cable connection diagram >

24VDC power side connector

(Tyco Electronics)

Connector ： 3-178127-6

Contact ： 1-175218-5 (for AWG16 ) × 3

1-175217-5 (for AWG22 ) × 2

+24V

DCOUT

ACFAIL

AWG16

AWG22

Optical communication repeater unit side connector

(Tyco Electronics)

<DCIN>

Connector ： 2-178288-3

Conntact ： 1-175218-5 × 3

005057-9402

0016020103 × 2

DCIN

1 +24V

CF01

ACFAIL 2

1 0V

Appendix 1 - 7

MITSUBISHI CNC

Appendix 1 Cable and Connector Specifications

Appendix 1-2-4 Servo / tool spindle encoder cable

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

Drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(MOLEX)

Connector set: 54599-1019

P5(+5V)

SD*

RQ*

Case grounding

0.5mm

0.2mm

<For 15m or less>

Motor encoder/

Ball screw side encoder side connector

(DDK)

Plug: CMV1-SP10S-M2 (Straight)

CMV1-AP10S-M2 (Angle)

Contact: CMV1-#22ASC-S1

P5(+5V)

CNT

SD*

RQ*

SHD

Drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(MOLEX)

Connector set: 54599-1019

P5(+5V)

SD*

RQ*

Case grounding

0.5mm

0.2mm

Motor encoder/

Ball screw side encoder side connector

(DDK)

Plug: CMV1-SP10S-M2 (Straight)

CMV1-AP10S-M2 (Angle)

Contact: CMV1-#22ASC-S1

P5(+5V)

CNT

SD*

RQ*

SHD

<For 15m to 30m>

Appendix 1 - 8

MDS-D/DH Series Specifications Manual

Appendix 1-2 Cable connection diagram

< CNV2E-K1P, CNV2E-K2P cable connection diagram (Direct connection type) >

Drive unit side connector

Receptacle

Shell kit

(3M)

: 36210 - 0100PL

: 36310 - 3200- 008

Connector set

( MOLEX )

: 54599-1019

Motor encoder connector/

Ball screw side encoder side connector

(Tyco Electronics)

Connector : 1674320-1

MRR

MDR

Plate

P5G

MRR

MDR

CONT

< CNV22J-K1P, CNV22J-K2P cable connection diagram (Relay type) >

Drive unit side connector

(DDK)

Plug: CM10-CR10P-M

P5(+5V)

SD*

RQ*

Case grounding

0.08mm

Motor encoder/

Ball screw side encoder side connector

(Tyco Electronics)

Plug: 1747464-1

Contact: 1674335-4

P5(+5V)

CNT

SD*

RQ*

SHD

Appendix 1 - 9

MITSUBISHI CNC

Appendix 1 Cable and Connector Specifications

<CNV2E-HP cable connection diagram>

Drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(MOLEX)

Connector set: 54599-1019

P5(+5V)

Case

RQ*

SD* grounding

0.5mm

0.2mm

MDS-B-HR unit side connector

(Hirose Electric)

Plug: RM15WTPZ-8S(71)

Clamp: JR13WCCA-10(72)

P5(+5V)

RQ*

SD*

Case grounding

<CNV2E-D cable connection diagram>

Drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(MOLEX)

Connector set: 54599-1019

P5(+5V)

RQ*

SD*

Case grounding

0.5mm

0.2mm

MDS-B-SD unit side connector

(3M)

Connector: 10120-3000VE

Shell kit: 10320-52F0-008

P5(+5V)

BAT

RQ*

SD*

Case grounding

Appendix 1 - 10

MDS-D/DH Series Specifications Manual

Appendix 1-2 Cable connection diagram

<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)

0.2mm

0.5mm

SD ＊

RQ ＊

A+

A-

B+

B-

R+

R-

P5(+5V)

Case grounding

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

Appendix 1 - 11

MITSUBISHI CNC

Appendix 1 Cable and Connector Specifications

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

Drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(MOLEX)

Connector set: 54599-1019

Machine side rectangular wave communication encoder

0.5mm

P5(+5V)

ABZS E L*

Case grounding

0.2mm

P5 (+5V)

(Note) Contact the encoder

manufacture about

whether to perform

the P5V wiring or not.

S HD

Contact the encoder manufacture for the details.

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

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

Drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(MOLEX)

Connector set: 54599-1019

Machine side serial communication encoder

P5(+5V)

RQ*

SD*

Case grounding

0.5mm

0.2mm

RQ*

SD*

SHD

P5(+5V)

(Note) Contact the encoder

manufacture about

whether to perform

the P5V wiring or not.

Contact the encoder manufacture for the details.

Note: When using a linear scale manufactured by FAGOR,

ground the encoder side SEL signal to LG.

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

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

Appendix 1 - 12

MDS-D/DH Series Specifications Manual

Appendix 1-2 Cable connection diagram

Appendix 1-2-5 Brake connector (Brake connector for motor brake control output)

<CNU20S connector connection diagram>

• For MDS-D-V1-320 or smaller and MDS-DH-V1-160 or smaller

Drive unit side connector

(DDK)

Connector: DK-3200S-03R

Contact: DK-3REC2LLP1-100

MBR

DBR

P24

CN20

• For MDS-D-V1-320W or larger and MDS-DH-V1-160W or larger

Drive unit side connector

（ DDK)

Connector: DK-3200S-03R

Contact: DK-3REC2LLP1-100

MBR

DBR

P24

CN20

Motor brake

External power (+24V)

Motor brake

Dynamic brake

External power (+24V)

<MR-BKS1CBL □ M-A1-H, MR-BKS1CBL □ M-A2-H cable connection diagram>

Drive unit side connector

(DDK)

Connector: DK-3200S-03R

Contact: DK-3REC2LLP1-100

MBR

DBR

P24

CN20

Motor brake

External power (+24V)

Motor side brake connector

(Japan Aviation Electronics Industry)

Plug: JN4FT02SJ1-R

Contact: ST-TMH-S-C1B-100-(A534G)

2 B2

1 B1

Appendix 1 - 13

MITSUBISHI CNC

Appendix 1 Cable and Connector Specifications

Appendix 1-2-6 Spindle encoder cable

<CNP2E-1 cable connection diagram>

Spindle drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(MOLEX)

Connector set: 54599-1019

P5(+5V)

MT1

MT2

0.5mm

0.2mm

Spindle motor side connector

(Tyco Electronics)

Connector: 172169-1

Contact: 170363-1(AWG26-22)

170364-1(AWG22-18)

SD*

RQ*

Case grounding

0.2mm

(Note) For the pin "7" or "8", use the contact "170364-1".

For the other pins, use the contact "170363-1".

(Note)

MT1

MT2

SD*

RQ*

SHD

P5(+5V)

<For 15m or less>

Spindle drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(MOLEX)

Connector set: 54599-1019

P5(+5V)

MT1

MT2

SD*

RQ*

Case grounding

0.5mm

0.2mm

Spindle motor side connector

（ Tyco Electronics)

Connector: 172169-1

Contact: 170363-1(AWG26-22)

170364-1(AWG22-18)

(Note)

SD*

RQ*

SHD

P5(+5V)

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>

Appendix 1 - 14

MDS-D/DH Series Specifications Manual

Appendix 1-2 Cable connection diagram

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

Spindle drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(MOLEX)

Connector set: 54599-1019

P5(+5V)

ABZSEL*

Case grounding

0.5mm

0.2mm

Spindle motor side connector

(DDK)

Connector: MS3106A20-29S (D190)

Back shell: CE02-20BS-S (straight)

CE-20BA-S (angle)

Clamp: CE3057-12A-3

P5(+5V)

<For 15m or less>

Spindle drive unit side connector

(3M)

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(MOLEX)

Connector set: 54599-1019

P5(+5V)

ABZSEL*

Case grounding

0.5mm

0.2mm

Spindle motor side connector

(DDK)

Connector: MS3106A20-29S (D190)

Back shell: CE02-20BS-S (straight)

CE-20BA-S (angle)

Clamp: CE3057-12A-3

P5(+5V)

<For 15m to 30m>

Appendix 1 - 15

MITSUBISHI CNC

Appendix 1 Cable and Connector Specifications

Appendix 1-3 Main circuit cable connection diagram

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

<DRSV1/DRSV2 cable connection diagram>

These cables are used to connect the drive unit's TE1 terminal and HF, HP, HF-H, HP-H series motor.

• DRSV1 cable: This is the power line for the single-axis unit (MDS-D/DH-V1-) and dual-axis integrated unit

(MDS-D/DH-V2-) L axis.

• DRSV2 cable: This is the power line for the dual-axis integrated unit (MDS-D/DH-V2-) M axis.

Drive unit side

1: U

2: V

3: W

Motor side

<HF-KP motor cable connection diagram>

This cable is used to connect the drive unit's TE1 terminal and HF-KP series motor.

Drive unit side

1: U

2: V

3: W

Motor side power connector

(Japan Aviation Electronics Industry)

Plug: JN4FT04SJ1-R

Contact: ST-TMH-S-C1B-100-(A534G)

2: U

3: V

4: W

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.

Appendix 1 - 16

MDS-D/DH Series Specifications Manual

Appendix 1-4 Connector outline dimension drawings

Appendix 1-4 Connector outline dimension drawings

Appendix 1-4-1 Connector for drive unit

Optical communication cable connector

Optical communication connector

(6.7) (15) (13.4)

For wiring between drive units

(inside panel)

Manufacturer: Japan Aviation

Electronics Industry

<Type>

Connector: PF-2D103

37.65

[Unit:mm]

Cable appearance

<Type>

Connector: PF-2D103 (Japan Aviation

Electronics Industry)

Optical fiber: ESKA Premium

(MITSUBISHI RAYON)

㧔

0.1

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.

Optical communication connector

[Unit:mm]

For wiring between drive units

(outside panel)

Manufacturer: Tyco Electronics

<Type>

Connector: 1123445-1

22.7

Cable appearance

<Type>

Connector: 1123445-1

(Tyco Electronics)

Optical fiber: ESKA Premium

(MITSUBISHI RAYON)

(Note 1) The PCF fiber's light amount will drop depending on how the fibers are wound. So, try to avoid wiring the fibers.

(Note 2) Do not wire the optical fiber cable to moving sections.

For wiring between NC and drive unit

Refer to the instruction manual for CNC.

Appendix 1 - 17

MITSUBISHI CNC

Appendix 1 Cable and Connector Specifications

Connector for encoder cable

Spindle drive unit connector for CN2/CN3

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

22.7

22.4

Connector for CN4/9

Manufacturer: 3M

<Type>

Connector: 10120-3000VE

Shell kit: 10320-52F0-008

Compatible part (Note 1)

(J.S.T.)

Connector: MS-P20-L

Shell kit: MS20-2B-28

22.0 14.0

33.3 12.7

12.0

20.9

Manufacturer: 3M

<Type>

Connector: 10120-6000EL

Shell kit:10320-3210-000

[Unit:mm]

29.7

[Unit:mm]

Manufacturer: J.S.T.

<Type>

Connector: MS-P20-L

Shell kit: MS20-2A-28

33.4

12.7

(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for more information.

Appendix 1 - 18

MDS-D/DH Series Specifications Manual

Appendix 1-4 Connector outline dimension drawings

Power connector

Power connector for drive unit TE1

[Unit:mm]

44.08

Manufacturer: DDK

<Type>

Housing: DK-5200S-04R

㧝㧞㧟㧠

56.08

48.48

10.16

Connector for motor brake control output

Brake connector for motor brake control output

[Unit:mm]

19.24

Manufacturer: DDK

<Type>

Connector: DK-3200S-03R

5.08

㧝㧞㧟

29.70

㧝㧞㧟

㧭

Power supply unit connector for CN23 (Contactor control output / external emergency stop)

Power supply unit connector for CN23 (Connector for contactor control output / external emergency stop)

19.24

[Unit:mm]

Manufacturer: DDK

<Type>

Connector: DK-3200M-06RXY

㸯㸰㸱

27.30

5.08

Appendix 1 - 19

MITSUBISHI CNC

Appendix 1 Cable and Connector Specifications

Battery power input connector

Battery connector for drive unit

Manufacturer: Hirose Electric

<Type>

Connector: DF1B-2S-2.5R

5.0

2.5

4.4

[Unit:mm]

Appendix 1 - 20

MDS-D/DH Series Specifications Manual

Appendix 1-4 Connector outline dimension drawings

Appendix 1-4-2 Connector for servo and tool spindle

Motor encoder connector

Motor side encoder connector / Ball screw side encoder for connector

[Unit:mm]

Manufacturer: DDK

<Type>

Plug:CMV1-SP10S-M2

[Unit:mm]

Manufacturer: DDK

<Type>

Plug:CMV1-AP10S-M2

(Note) For the manufacturing method of CMV1 series connector, refer to the section "Cable and Connector

Assembly" in Instruction Manual.

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

Motor side encoder connector

[Unit:mm]

Manufacturer: Tyco Electronics

<Type>

Assembly: 1674320-1

Ǿ 13.6

14.2

Appendix 1 - 21

MITSUBISHI CNC

Appendix 1 Cable and Connector Specifications

Brake connector

Manufacturer: DDK

<Type>

Plug: CMV1-SP2S-S

[Unit:mm]

Manufacturer: DDK

<Type>

Plug: CMV1-AP2S-S

(Note) For the manufacturing method of CMV1 series connector, refer to the section "Cable and Connector

Assembly" in Instruction Manual.

[Unit:mm]

26.6

12.3

Manufacturer: Japan Aviation

Electronics Industry

<Type>

JN4FT02SJ1-R

12.7

Appendix 1 - 22

MDS-D/DH Series Specifications Manual

Appendix 1-4 Connector outline dimension drawings

Motor power connector

[Unit:mm]

D or less

7.85 or more

Manufacturer: DDK

Plug:

Type

CE05-6A18-10SD-C-BSS

CE05-6A22-22SD-C-BSS

CE05-6A32-17SD-C-BSS

1 1 /

-18UNEF-2B

2-18UNS-2B

-0.38

34.13

40.48

56.33

C±0.8

32.1

38.3

54.2

D or less

D or less

1-20UNEF-2A

-18UNEF-2A

-18UNS-2A

[Unit:mm]

Manufacturer: DDK

Plug:

Type

CE05-8A18-10SD-C-BAS

CE05-8A22-22SD-C-BAS

CE05-8A32-17SD-C-BAS

1 1 /

-18UNEF-2B

1 3 /

-18UNEF-2B

2-18UNS-2B

-0.38

34.13

40.48

56.33

D or less

69.5

75.5

93.5

1-20UNEF-2A

1 3 /

-18UNEF-2A

1 3 /

-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

8.5

[Unit:mm]

V screw

1.6

㧔 D 㧕

Manufacturer: DDK

(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)

Shell size

Total length

23.8

27.8

Outer dia.

30.1

51.6

Avail. screw length

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

43 31.7

23.8

51.6

6.3

Fitting screw

Bushing

Applicable cable

1-20UNEF-2B CE3420-10-1 Φ 10.5 to Φ 14.1

1 3 /

-18UNEF-2B CE3420-12-1 Φ 12.5 to Φ 16.0

-18UNS-2B CE3420-20-1 Φ 22.0 to Φ 23.8

Appendix 1 - 23

MITSUBISHI CNC

Appendix 1 Cable and Connector Specifications

Motor power connector

4-R2

11.7

Manufacturer: Japan Aviation

Electronics Industry

<Type>

JN4FT04SJ1-R

R0.5

12.7

7 ࠑ

MDS-B-HR connector

Manufacturer: Hirose Electric

<Type>

Plug:

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

RM15WTPZ-12P(71) (for CON3)

RM15WTPZ-10P(71) (for CON4)

[Unit:mm]

M19×1 M16×0.75

[Unit:mm]

36.8

[Unit:mm]

M16×0.75

8.5 20

Manufacturer: Hirose Electric

<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

Manufacturer: Tyco Electronics

<Type>

Plug: 172169-1

16 ± 0.4

2.8

8.4

4.2

[Unit:mm]

Appendix 1 - 24

MDS-D/DH Series Specifications Manual

Appendix 1-4 Connector outline dimension drawings

Spindle side encoder connector (for OSE-1024)

Gasket

18.26

± 0.12

1 1 /

-18UNEF-2B

Manufacturer: DDK

<Type>

Connector: MS3106A20-29S(D190)

Manufacturer: DDK

<Type>

Straight back shell: CE02-20BS-S

Manufacturer: DDK

<Type>

Angle back shell: CE-20BA-S

[Unit:mm]

1 1 /

-18UNEF- 2A

12.16

± 0.3

34.11

± 0.5

[Unit:mm]

1 1 /

-18UNEF-2B screw

O-ring

10.9

1 3 /

18UNEF - 2A screw

7.85

or more

(effective screw length)

31.6

(Spanner grip)

50.5 or less

39.6 or less

-18UNEF-2B

[Unit:mm]

O-ring

1 3 /

-18UNEF-2A screw

1 3 /

-18UNEF-2B screw

1.6

㧔 41.3

㧕

23.8

10.3

[Unit:mm]

Manufacturer: DDK

<Type>

Cable clamp:CE3057-12A-3

Ǿ 19

(Cable clamp inside diameter)

(Moveable range of one side)

Appendix 1 - 25

MITSUBISHI CNC

Appendix 1 Cable and Connector Specifications

Appendix 1 - 26

Appendix 2

Restrictions for Lithium Batteries

Appendix 2 - 1

MITSUBISHI CNC

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

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

Outline dimension drawing

Refer to "Battery Option" in the specification manual for drive unit you are using for the outline dimension drawing for servo.

(2) Materials not falling under Class 9

Mitsubishi type

(Type for arrangement)

Battery type

Lithium metal content

Number of incorporated batteries

Application

(Data backup)

Battery class

Outline dimension drawing

CR2032

(for built-in battery)

CR2450

(for built-in battery)

ER6, ER6V series

(for built-in battery)

A6BAT(MR-BAT)

Q6BAT

MDS-BAT6V1SET

MR-BAT6V1SET

CR2032

CR2450

ER6, ER6V

ER17330V

Q6BAT

2CR17335A

0.067g

0.173g

0.65g

0.48g -

0.49g -

1.2g

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.

Appendix 2 - 2

MDS-D/DH Series Specifications Manual

Appendix 2-1 Restriction for Packing

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/

Appendix 2 - 3

MITSUBISHI CNC

Appendix 2 Restrictions for Lithium Batteries

Appendix 2-2 Products Information Data Sheet (ER Battery)

MSDS system does not cover the product used in enclosed state. The ER battery described in this section applies to that product.

This description is applied to the normal use, and is provided as reference but not as guarantee.

This description is based on the lithium battery's (ER battery) hazardous goods data sheet (Products Information Data Sheet) which MITSUBISHI has researched, and will be applied only to the ER batteries described in "Transportation Restrictions for

Lithium Batteries: Restriction for Packing".

(1) Outline of hazard

Principal hazard and effect

Specific hazard

Environmental effect

Possible state of emergency

Not found.

As the chemical substance is stored in a sealed metal container, the battery itself is not hazardous. But when the internal lithium metal attaches to human skin, it causes a chemical skin burn. As a reaction of lithium with water, it may ignite or forms flammable hydrogen gas.

Not found.

Damages or short-circuits may occur due to external mechanical or electrical pressures.

(2) First-aid measure

Inhalation

Skin contact

Eye contact

Ingestion

(3) Fire-fighting measure

Appropriate fire-extinguisher

Special fire-fighting measure

Protectors against fire

(4) Measure for leakage

Environmental precaution

How to remove

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

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)

Appendix 2 - 4

MDS-D/DH Series Specifications Manual

Appendix 2-2 Products Information Data Sheet (ER Battery)

(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

: 500ppm (inhaled administration to rat)

The lungs can be damaged by chronic cough, dyspnea and asthma.

< Aluminum chloride >

Acute toxicity

Local effect

D50

: 3700ppm (oral administration to rat)

Not found.

< Lithium chloride >

Acute toxicity

Local effect

< Carbon black >

Acute toxicity

Carcinogenicity

D50

: 526ppm (oral administration to rat)

The central nerves and kidney can be influenced.

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.

Appendix 2 - 5

MITSUBISHI CNC

Appendix 2 Restrictions for Lithium Batteries

Appendix 2-3 Forbiddance of Transporting Lithium Battery by Passenger

Aircraft Provided in the Code of Federal Regulation

This regulation became effective from Dec.29, 2004. This law is a domestic law of the United States, however it also applies to the domestic flight and international flight departing from or arriving in the United States. Therefore, when transporting lithium batteries to the United State, or within the United State, the shipper must take measures required to transport lithium batteries. Refer to the Federal Register and the code of Federal Regulation for details.

When transporting primary lithium battery by cargo aircraft, indicate that transportation by passenger aircraft is forbidden on the exterior box.

"Lithium Metal batteries forbidden for transport aboard Passenger aircraft"

Appendix 2-4 California Code of Regulation "Best Management Practices for Perchlorate Materials"

When any products that contain primary lithium batteries with perchlorate are shipped to or transported through the State of

California, they are subject to the above regulation.The following information must be indicated on the package, etc. of the products that contain primary lithium batteries (with a perchlorate content of 6 ppb or higher).

"Perchlorate Meterial-special handling may apply. See http://www.dtsc.ca.gov/hazardouswaste/perchlorate"

Appendix 2 - 6

MDS-D/DH Series Specifications Manual

Appendix 2-5 Restriction Related to EU Battery Directive

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.

(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!

Appendix 2 - 7

MITSUBISHI CNC

Appendix 2 Restrictions for Lithium Batteries

Appendix 2 - 8

Appendix 3

付録

EC Declaration of Conformity

MITSUBISHI CNC

Appendix 3 EC Declaration of Conformity

Appendix 3-1 Compliance to EC Directives

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.

Appendix 3 - 2

Appendix 4

付録

Instruction Manual for Compliance with UL/c-UL

Standard

MITSUBISHI CNC

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 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.

Appendix 4 - 2

MDS-D/DH Series Specifications Manual

Appendix 4-2 Notes for AC Servo/Spindle System

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-N300

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

10A

15A

20A

15A

30A

40A

50A

75A

10A

UL Fuse

Class T (300Vac)

10A

20A

40A

70A

15A

40A

60A

90A

125A

175A

20A

15A

Magnetic contactor (AC3)

S-N12/S-T12

S-N21/S-T18

S-N21/S-T20

S-N12/S-T12

S-N21/S-T20

S-N25/S-T35

AC Reactor

D-AL-7.5K

D-AL-11K

D-AL-18.5K

D-AL-30K

D-AL-37K

D-AL-45K

D-AL-55K

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

Appendix 4 - 3

MITSUBISHI CNC

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

Applicable drive unit

MDS-DM(*)-SPV2-10080

MDS-DM(*)-SPV2-16080

MDS-DM(*)-SPV2-20080

MDS-DM(*)-SPV3-10080

MDS-DM(*)-SPV3-16080

MDS-DM(*)-SPV3-20080

MDS-DM2-SPHV3-20080

MDS-DM(*)-SPV3-200120

MDS-DM-SPV2F-10080

MDS-DM-SPV2F-16080

MDS-DM-SPV2F-20080

MDS-DM-SPV3F-10080

MDS-DM-SPV3F-16080

MDS-DM-SPV3F-20080

MDS-DM-SPV3F-200120

MDS-DM-SPV2S-10080

MDS-DM-SPV2S-16080

MDS-DM-SPV2S-20080

MDS-DM-SPV3S-10080

MDS-DM-SPV3S-16080

MDS-DM-SPV3S-20080

MDS-DM-SPV3S-200120

(Note (*)) : may be followed by 2

Applicable

Power Backup Unit

MDS-DH-PFU

MDS-D-PFU

UL489 Circuit

Protector

40A

50A

60A

50A

60A

75A

40A

50A

60A

50A

60A

75A

40A

50A

60A

50A

60A

75A

UL489 Circuit

Protector

10A

UL Fuse

Class T (300Vac)

80A

100A

125A

100A

125A

150A

80A

100A

125A

100A

125A

150A

80A

100A

125A

100A

125A

150A

Magnetic contactor (AC3)

S-N65/S-T65

Regenerative

Resistance Unit

R-UNIT-6

R-UNIT-7

AC Reactor

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.

Appendix 4 - 4

MDS-D/DH Series Specifications Manual

Appendix 4-2 Notes for AC Servo/Spindle System

Appendix 4-2-6 Field Wiring Reference Table for Input and Output (Power Wiring)

Use the UL-approved Round Crimping Terminals to wire the input and output terminals of MDS-D, D2/DH, DH2/DM,

DM2-SPV/DJ Series. Crimp the terminals with the crimping tool recommended by the terminal manufacturer. Please protect terminal ring by the insulation cover.

Following described crimping terminals and tools type are examples of Japan Solderless Terminal Mfg. Co., Ltd.

This wire size is each unit maximum rating. The selection method is indicated in each specification manual.

(See Manual: No. IB-1500158, 1500875, 1500891, 1501130, 1501124 or 1501136)

(1) Power Supply Unit (MDS-D, D2/DH, DH2-CV)

Unit Type

Terminal

Screw

Size

MDS-D(*)-CV-

MDS-DH(*)-CV-

TE2 (L+, L-)

Torque [lb in/ N m]

TE3 (L11, L21)

Torque [lb in/ N m]

TE1 (L1, L2, L3, )

Torque [lb in/ N m]

37 to 75

------

35.4/4.0

10.6/1.2

110 to 185

37 to 185

35.4/4.0

10.6/1.2

17.7/2.0

300 to 450

300 to 750

35.4/4.0

10.6/1.2

53.1/6.0

---

35.4/4.0

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

---

#12

/75°C

R5.5-6

YHT-

2210

110

#10

/75°C

R5.5-6

YHT-

2210

110

185

/75°C

R8-6

YPT-

60-21

185

300,370

/75°C

R22-6

YPT-

60-21

/75°C

R38-6

YPT-

60-21

---

450 or

Busbar

---

300 to 550

550, 750

Bus-bar

---

TE3 (L11, L21)

Unit Type MDS-D(*)/DH(*)-CV-

Wire Size (AWG)/Temp Rating Note 1

Crimping Terminals Type

Crimping Tools Type

37 to 750

#14/75°C

R2-4

YHT-2210

TE1 (L1, L2, L3, )

Unit Type

MDS-D(*)-CV-

MDS-DH(*)-CV-

Wire Size (AWG)/Temp Rating Note 1

Crimping Terminals Type

Crimping Tools Type

Unit Type

MDS-D(*)-CV-

MDS-DH(*)-CV-

Wire Size (AWG)/Temp Rating

Note 1

Crimping Terminals Type

Crimping Tools Type

37, 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

---

#10/75°C

5.5-S4

YHT-2210

300

550

#2/75°C

38-S8

YPT-60-21

110

185

#8/75°C

R8-5

YPT-60-21

370, 450

750

#1/0/75°C

60-S8

YPT-60-21

(Note 1) 75 °C: Grade heat-resistant polyvinyl chloride insulated wires (HIV).

Use copper wire only.

Above listed wire are for use in the electric cabinet on machine or equipment.

(Note (*)) : may be followed by 2

185

---

#6/75°C

R14-5

YPT-60-21

550

---

#3/0/75°C

80-10

YPT-150-1

Appendix 4 - 5

MITSUBISHI CNC

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

(2) Spindle Drive Unit (MDS-D, D2/DH, DH2-SP/SP2, MDS-D-SPJ3, MDS-DJ)

Unit Type

Terminal

Screw

Size

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

MDS-D-SPJ3(#)-

MDS-DJ-SP-

MDS-DJ-SP2-

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

TE2 (L+, L-)

Torque [lb in/ N m]

TE3 (L11, L21)

Torque [lb in/ N m]

TE1 (L1, L2, L3, )

Torque [lb in/ N m]

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

Torque [lb in/ N m]

160 to 200

---

100 to 160

35.4/4.0

10.6/1.2

17.7/2.0

---

240 to 320

---

200 to 480

35.4/4.0

10.6/1.2

53.1/6.0

---

400 to 640

---

M10

97.3/11.0

10.6/1.2

M10

97.3/11.0

---

22, 37(##)

---

5.3/0.6

TE2 (L+, L-)

Wire size depends on the Power Supply Unit (MDS-D,D2/DH,DH2-CV Series).

TE3 or CNP2 (L11, L21)

Unit Type

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

MDS-D-SPJ3(#)-

MDS-DJ-SP-

MDS-DJ-SP2-

Wire Size (AWG)/Temp Rating

Note 1

Crimping Terminals Type

Crimping Tools Type

20 to 640

55(##) to 110(##)

100,120,160

---

#14/75°C

R2-4

YHT-2210

---

075(##) to 37(##)

20,40,80

2020

#14/60 or 75°C

---

22(##)

20,40,80

2020

---

55(##), 75(##),

110(##)

100,120,160

---

M3.5

10.6/1.2

17.7/2.0

---

TE1 (U, V, W, )

Unit Type

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

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

Wire Size (AWG)/Temp Rating

Note 1, 2, 3

Crimping Terminals Type

Crimping Tools Type

Unit Type

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

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

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

Crimping Terminals Type

Crimping Tools Type

20, 40

#14/75°C

---

200

#4/75°C

R22-8

YPT-60-21

#12/75°C

---

240

320

#2/75°C

38-S8

YPT-60-21

---

100

#10/75°C

R5.5-5

YHT-2210

320

---

#1/0/75°C

60-S8

YPT-60-21

160

---

#6/75°C

R8-5

YPT-60-21

200

160

#4/75°C

R14-5

YPT-60-21

400, 640

480

#3/0/75°C

80-10

YPT-150-1

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

Unit Type

MDS-D-SPJ3(#)-

MDS-DJ-SP-

MDS-DJ-SP2-

Wire Size (AWG)/Temp Rating

Note 1, 2, 3

Crimping Terminals Type

Crimping Tools Type

075(##) to 37(##)

20,40,80

2020

#14/60 or 75°C

---

55(##)

100

---

#12/75°C

R5.5-5

YHT-2210

75(##)

120

---

#10/75°C

R5.5-5

YHT-2210

110(##)

160

---

#8/75°C

R8-5

YPT-60-21

(Note 1) 75 °C: Grade heat-resistant polyvinyl chloride insulated wires (HIV).

Use copper wire only. Above listed wire are for use in the electric cabinet on machine or equipment.

(Note (#)) :may be followed by S

(Note (##)) :may be followed by N or NA

(Note (*)) :may be followed by 2

(Note 2) The servo motor cable can be selected in accordance with the stall current.

The spindle motor cable can be selected in accordance with the continuous rated current.

(Note 3) Select the motor so that the current value of motor become below in the current value of drive.

Appendix 4 - 6

MDS-D/DH Series Specifications Manual

Appendix 4-2 Notes for AC Servo/Spindle System

(3) Servo Drive Unit (MDS-D, D2/DH, DH2/DM, DM2-V1/V2/V3/D-SVJ3/DJ)

Unit Type

Terminal

Screw

Size

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

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

MDS-D-SVJ3(#)-

MDS-DJ-V1-

MDS-DJ-V2-

TE2 (L+, L-)

Torque [lb in/ N m]

TE3 (L11, L21)

Torque [lb in/ N m]

TE1 (L1, L2, L3, )

Torque [lb in/ N m]

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

CNP3 (U,V,W))

Torque [lb in/ N m]

160W, 320

160, 160W

---

35.4/4.0

10.6/1.2

17.7/2.0

---

320W

200

---

35.4/4.0

10.6/1.2

53.1/6.0

---

10 to 35(##)

---

5.3/0.6

---

10(##), 20(##)

10, 15, 30, 40, 80,

100

3030

---

TE2 (L+, L-)

Wire size depends on the Power Supply Unit (MDS-D, D2/DH, DH2-CV Series).

TE3 or CNP2 (L11, L21)

Unit Type

MDS-D/DH/DM-V1(#)/V2(#)/V3(#)-

MDS-D-SVJ3(#)-

MDS-DJ-V1-

MDS-DJ-V2-

Wire Size (AWG)/Temp Rating

Note 1

Crimping Terminals Type

Crimping Tools Type

10 to 320W

---

#14/75°C

R2-4

YHT-2210

---

03(##) to 35(##)

10, 15, 30, 40, 80, 100

3030

#14/75°C

---

TE1 (U, V, W, )

Unit Type

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

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

Wire Size (AWG)/Temp Rating

Note 1, 2, 3

Unit Type

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

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

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

Crimping Terminals Type

Crimping Tools Type

20 to 40

10 to 40

#14/75°C

160W

160, 160W

#8/75°C

R8-5

YPT-60-21

320

---

#6/75°C

R14-5

YPT-60-21

#12/75°C

---

200

#4/75°C

R22-8

YPT-60-21

160

80W

#10/75°C

320W

---

#2/75°C

38-S8

YPT-60-21

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

Unit Type

MDS-D-SVJ3(#)-

MDS-DJ-V1-

MDS-DJ-V2-

Wire Size (AWG)/Temp Rating

Note 1, 2, 3

03(##) to 10(##)

10, 15, 30, 40

3030

#14/75°C

20(##)

---

#12/75°C

35(##)

100

#10/75°C

(Note 1) 75 °C: Grade heat-resistant polyvinyl chloride insulated wires (HIV).

Use copper wire only.

Above listed wire are for use in the electric cabinet on machine or equipment.

(Note (#)) :may be followed by S

(Note (##)) :may be followed by N or NA

(Note (*)) :may be followed by 2

(Note 2) The servo motor cable can be selected in accordance with the stall current.

The spindle motor cable can be selected in accordance with the continuous rated current.

(Note 3) Select the motor so that the current value of motor become below in the current value of drive.

Appendix 4 - 7

MITSUBISHI CNC

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

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

Type

Terminal Screw

Size

U, V, W,

Torque [lb in/ N m]

MDS-D-DBU

10.6/1.2

TE1 (U, V, W, )

Unit Type

Wire Size (AWG) /Temp Rating Note 1

Crimping Terminals Type

Crimping Tools Type

MDS-D-DBU

#10/75°C

R5.5-4

YHT-2210

(Note 1) 75 °C: Grade heat-resistant polyvinyl chloride insulated wires (HIV).

Use copper wire only. Above listed wire are for use in the electric cabinet on machine or equipment.

(5) AC Reactor (D/DH-AL)

Type

Terminal

Screw

Size

D-AL-

DH-AL-

L11, L12, L13, L21, L22, L23

Torque [lb in/ N m]

7.5K, 11K

17.7/2.0

18.5K to 45K

18.5K to 75K

35.4/4.0

55K

---

M10

97.3/11.0

Input/Output (L11, L12, L13, L21, L22, L23)

The wire connected with AC Reactor becomes same size as TE1 of the selected Power supply unit.

(6) Multi Axis Unit (Multi-Hybrid drive unit) (MDS-DM, DM2-SPV)

Unit Type

Terminal

Screw

Size

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

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

MDS-DM2-SPHV3

TE1 (L1,L2,L3,U,V,W)

Torque [lb in/ N m]

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

Torque [lb in/ N m]

PE ( )

Torque [lb in/ N m]

-10080

---

17.7 / 2.0

---

17.7 / 2.0

-16080

---

17.7 / 2.0

---

17.7 / 2.0

-20080

17.7 / 2.0

---

17.7 / 2.0

---

-200120

---

17.7 / 2.0

---

17.7 / 2.0

TE1 (L1, L2, L3) and

Unit Type

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

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

MDS-DM2-SPHV3

Wire Size (AWG) /Temp Rating Note 1

Crimping Terminals Type

Crimping Tools Type

-10080

---

#4/75°C

R22-S5

YPT-60-21

-16080

---

#4/75°C

R22-S5

YPT-60-21

-20080

#4/75°C

R22-S5

YPT-60-21

---

-200120

---

#4/75°C

R22-S5

YPT-60-21

TE1 (U, V, W) and

Unit Type

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

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

MDS-DM2-SPHV3

Wire Size (AWG) /Temp Rating

Note 1, 2, 3

Crimping Terminals Type

Note 2

Crimping Tools Type

-10080

---

#10/75°C

R5.5-5

YHT-2210

-16080

---

#8/75°C

R8-5

YPT-60-21

---

-20080

#6/75°C

R14-5

YPT-60-21

-20080

-200120

---

#4/75°C

R22-5

YPT-60-21

Appendix 4 - 8

MDS-D/DH Series Specifications Manual

Appendix 4-2 Notes for AC Servo/Spindle System

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

Unit Type

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

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

MDS-DM2-SPHV3

Wire Size (AWG) /Temp Rating

Note 1, 2, 3

-10080

---

#12/75°C

-16080

---

#12/75°C

-20080

#12/75°C

---

-200120

---

#10/75°C

(Note (###)) :may be followed by F or S

(Note (*)) :may be followed by 2

(Note 1) 75 °C: Grade heat-resistant polyvinyl chloride insulated wires (HIV).

Use copper wire only.

Above listed wire are for use in the electric cabinet on machine or equipment.

(Note 2) The servo motor cable can be selected in accordance with the stall current.

The spindle motor cable can be selected in accordance with the continuous rated current.

(Note 3) Select the motor so that the current value of motor become below in the current value of drive.

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

Unit Type

Terminal

Screw

Size

TE1 (L1,L2,L3)

Torque [lb in/ N m]

TE2 (L+, L-))

Torque [lb in/ N m]

TE3 (OUT-L11,OUT-L21))

Torque [lb in/ N m]

MDS-DH-PFU / MDS-D-PFU

---

35.4/4.0

10.6/1.2

TE4 (C+,C-))

Torque [lb in/ N m]

TE5 (R1,R2))

Torque [lb in/ N m]

PE( )

Torque [lb in/ N m]

35.4/4.0

10.6/1.2

TE1 (L1, L2,L3)

Unit Type

Wire Size (AWG) /Temp Rating

Note 1

Crimping Terminals Type

Crimping Tools Type

TE2 (L+, L-)

Unit Type

Wire Size (AWG) /Temp Rating Note 1

Crimping Terminals Type

Crimping Tools Type

TE3 (OUT-L11, OUT-L21)

Unit Type

Wire Size (AWG) /Temp Rating

Note 1

Crimping Terminals Type

Crimping Tools Type

MDS-DH-PFU / MDS-D-PFU

#14/75°C

---

MDS-DH-PFU / MDS-D-PFU

#10/75°C

R5.5-6

YHT-2210

MDS-DH-PFU / MDS-D-PFU

#14/75°C

R2-4

YHT-2210

TE4 (C+,C-)

Unit Type

Wire Size (AWG) /Temp Rating

Note 1

Crimping Terminals Type

Crimping Tools Type

MDS-DH-PFU / MDS-D-PFU

#10/75°C

R5.5-6

YHT-2210

Appendix 4 - 9

MITSUBISHI CNC

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

TE5 (R1,R2)

Unit Type

Wire Size (AWG) /Temp Rating Note 1

Crimping Terminals Type

Crimping Tools Type

MDS-DH-PFU / MDS-D-PFU

#10/75°C

R5.5-6

YHT-2210

PE ( )

Unit Type

Wire Size (AWG) /Temp Rating Note 1

Crimping Terminals Type

Crimping Tools Type

MDS-DH-PFU / MDS-D-PFU

#14/75°C

R2-4

YHT-2210

Option Unit : R-Unit (R-UNIT-6 / R-UNIT-7)

Unit Type

Terminal

Screw

Size

TE1 (R1, R2)

Torque [lb in/ N m]

PE( )

Torque [lb in/ N m]

TE1 (R1,R2)

Unit Type

Wire Size (AWG) /Temp Rating Note 1

Crimping Terminals Type

Crimping Tools Type

R-UNIT-6 / R-UNIT-7

10.6/1.2

R-UNIT-6 / R-UNIT-7

#10/75°C

R5.5-4

YHT-2210

PE ( )

Unit Type

Wire Size (AWG) /Temp Rating Note 1

Crimping Terminals Type

Crimping Tools Type

R-UNIT-6 / R-UNIT-7

#10/75°C

R5.5-4

YHT-2210

Option Unit : Capacitor Unit (MDS-D-CU / MDS-DH-CU)

Unit Type

Terminal

Screw

Size

TE1 (C+, C-)

Torque [lb in/ N m]

TE2 (C+, C-)

Torque [lb in/ N m]

PE( )

Torque [lb in/ N m]

MDS-D-CU / MDS-DH-CU

M10

97.3/11.0

35.4/4.0

M10

97.3/11.0

TE1 (C+, C-)

Unit Type

Wire Size (AWG) /Temp Rating Note 1

Crimping Terminals Type

Crimping Tools Type

MDS-D-CU / MDS-DH-CU

#10/75°C

R5.5-10

YHT-2210

TE2 (C+, C-)

Unit Type

Wire Size (AWG) /Temp Rating Note 1

Crimping Terminals Type

Crimping Tools Type

MDS-D-CU / MDS-DH-CU

#10/75°C or more

R5.5-6

YHT-2210

Appendix 4 - 10

MDS-D/DH Series Specifications Manual

Appendix 4-2 Notes for AC Servo/Spindle System

PE ( )

Unit Type

Wire Size (AWG) /Temp Rating Note 1

Crimping Terminals Type

Crimping Tools Type

MDS-D-CU / MDS-DH-CU

#10/75°C

R5.5-10

YHT-2210

(8) Notes of Round Crimping Terminals and Terminal Block

The non-insulation ring tongue must have the insulated sleeving described below to prevent electric shock.

The crimp terminal must be provided with SUMITOMO ELECTRIC FINE POLYMER INC. (File No.: E48762,

Catalogue No.: SUMITUBE F(Z) or 939) per the illustration below.

Insulated sleeve

Non-insulated terminal

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%

Appendix 4 - 11

MITSUBISHI CNC

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

Appendix 4-2-8 Flange of Servo Motor

Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat dissipation effect:

Flange size

(mm)

150×150×6

250×250×6

250×250×12

300×300×20

800×800×35

Servo Motor

HF, HF-H, HP, HP-H, HF-KP, HF-MP, HF-SP

50 to 100W

200 to 400W

0.5 to 1.5kW

2.0 to 7.0kW

9.0 to 11.0kW

Appendix 4-2-9 Spindle Drive/Motor Combinations

Following combinations are the Standard combinations.

Drive Unit

MDS-D(*)-SP(#)-20

MDS-D(*)-SP(#)-40

MDS-D(*)-SP(#)-80

MDS-D(*)-SP(#)-160

MDS-D(*)-SP(#)-200

MDS-D(*)-SP(#)-240

MDS-D(*)-SP(#)-320

MDS-D(*)-SP(#)-400

MDS-D(*)-SP(#)-640

MDS-D(*)-SP2(#)-2020

MDS-D(*)-SP2(#)-8040

MDS-D(*)-SP2(#)-8080

MDS-D(*)-SP2(#)-16080

Drive Unit

MDS-DH(*)-SP(#)-20

MDS-DH(*)-SP(#)-40

MDS-DH(*)-SP(#)-80

MDS-DH(*)-SP(#)-100

MDS-DH(*)-SP(#)-160

MDS-DH(*)-SP(#)-200

MDS-DH(*)-SP(#)-320

MDS-DH(*)-SP(#)-480

MDS-DH(*)-SP2(#)-2020

MDS-DH(*)-SP2(#)-4040

MDS-DH(*)-SP2(#)-8040

Rating Output (kW) of Applicable Spindle Motor

SJ, SJ-V/VL Series Note 1

0.75

0.75, 1.5, 2.2

2.2, 3.7, 7.5

7.5, 11

11, 15, 18.5

18.5, 22

22, 26, 30

30, 37, 45

37, 45, 55

0.75, 1.5 / 0.75, 1.5

2.2, 3.7, 7.5 / 0.75, 1.5, 2.2

2.2, 3.7, 7.5 / 2.2, 3.7, 7.5

7.5, 11 / 2.2, 3.7, 7.5

Rating Output (kW) of Applicable Spindle Motor

SJ-4, SJ-4-V/VL Series

Note 1

0.75, 1.5, 2.2, 3.7

2.2, 3.7, 5.5, 7.5

2.2, 3.7, 7.5, 11

7.5, 11, 15, 18.5

18.5, 22, 26, 30

26, 30, 37, 45

30, 37, 45, 55

45, 55, 60

0.75, 1.5, 2.2, 3.7 / 0.75, 1.5, 2.2, 3.7

2.2, 3.7, 5.5, 7.5 / 2.2, 3.7, 5.5, 7.5

2.2, 3.7, 7.5, 11 / 2.2, 3.7, 5.5, 7.5

Appendix 4 - 12

MDS-D/DH Series Specifications Manual

Appendix 4-2 Notes for AC Servo/Spindle System

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-VL11

SJ-VL0.75

Spindle Motor

SJ-D

3.7

5.5

7.5

SJ-DJ

5.5

7.5

HF-KP

46, 56, 96

Drive Unit

Rating Output (kW) of Applicable Spindle Motor

SJ-V Series Note 1 SJ-VL Series Note 1 SJ-DJ Series Note 1 SJ-DL Series Note 1

MDS-DM(*)-SPV2(###)-10080

MDS-DM(*)-SPV3(###)-10080

MDS-DM(*)-SPV2(###)-16080

MDS-DM(*)-SPV3(###)-16080

MDS-DM(*)-SPV2(###)-20080

MDS-DM(*)-SPV3(###)-20080

MDS-DM2-SPHV3-20080

MDS-DM(*)-SPV3(###)-200120

5.5, 7.5

7.5, 11

11, 15

3.7

(Note1) Applicable unit depends on the range of power constant of motor.Inquire of Mitsubishi about the detail of the combinations.

(Note (#)) :may be followed by S

(Note (##)) :may be followed by N or NA

(Note (###)) :may be followed by F or S

(Note (*)) :may be followed by 2

Appendix 4 - 13

MITSUBISHI CNC

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

Appendix 4-2-10 Servo Drive/Motor Combinations

Following combinations are the Standard combinations.

Drive Unit

MDS-D-SVJ3(#)-03(##)

MDS-DJ-V1-10

MDS-D-SVJ3(#)-04(##)

MDS-DJ-V1-15

MDS-D-SVJ3(#)-07(##)

MDS-DJ-V1-30

MDS-D-SVJ3(#)-10(##)

MDS-DJ-V1-40

MDS-D-SVJ3(#)-20(##)

MDS-DJ-V1-80

MDS-D-SVJ3(#)-35(##)

MDS-DJ-V1-100

MDS-DJ-V2-3030

MDS-DM(*)-SPV2(###)-10080

MDS-DM(*)-SPV2(###)-16080

MDS-DM(*)-SPV2(###)-20080

MDS-DM(*)-SPV3(###)-10080

MDS-DM(*)-SPV3(###)-16080

MDS-DM(*)-SPV3(###)-20080

MDS-DM2-SPHV3-20080

MDS-DM(*)-SPV3(###)-200120

(Note (#)) :may be followed by S

(Note (##)) :may be followed by N or NA

(Note (###)) :may be followed by F or S

(Note (*)) :may be followed by 2

HF-KP

053, 13, 23

13, 23, 43, 73

HF-SP

Servo Motor

HF-MP

053, 13, 23

51, 52

81, 102

121, 152, 201, 202

352

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

Appendix 4 - 14

MDS-D/DH Series Specifications Manual

Appendix 4-3 AC Servo/Spindle System Connection

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.

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

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

CN2M CN3M

CN2S CN3S

CN2L CN3L

CN2M CN3M

CN9

SU/SV/SW

MU/MV/MW

LU/LV/LW

Battery Unit

L+/L -

L11/L21

L1/L2/L3

Note: It recommends installing.

U/V/W

CN23A CN23B

(CN24) (CN23)

AC Reactor

Contactor

Fuse or

Circuit Protector (MCCB)

3 phase

DH,DH2 Series: 380 to 480VAC

D,D2/DM,DM2 Series: 200 to 230VAC

Servo Motor Spindle Motor

Servo Motor

Encoder

Servo Motor

FAN

Encoder and

Thermal Protection

Encoder Encoder

Appendix 4 - 15

MITSUBISHI CNC

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

Appendix 4-3-2 MDS-D/DH-CV, D/D2-Vx/SPx, DH/DH2-Vx/SPx, DM/DM2-V3 Series

with MDS-D/DH-PFU

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

CN2M CN3M CN2M CN3M

CN2S CN3S TE2

TE3

SU/SV/SW

LU/LV/LW

TE2

TE3

L+/L-

TE2

L11/L21

TE3

CN23A CN23B

(CN24) (CN23)

External Emergency Stop

Refer to specification manual

D/DH/DM :

IB-1500875 or IB-1500891

D2/DH2/DM2 :

IB-1501124 or IB-1501136

Enclosure Side

Machine Side

AC Reactor

Servo Motor Spindle Motor

Contactor

Battery Unit CN43

MDS-D/DH-PFU

Series

TE5

TE4

TE2

TE3

TE1

L1/L2/L3

Option

R-UNIT-6 or

R-UNIT-7

Fuse or

Circuit Protector (MCCB)

3 phase

DH,DH2 Series: 380 to 480VAC

D,D2/DM,DM2 Series: 200 to 230VAC

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

MDS-D2/DH2-CV

Series

CN4 CN41

Refer to specification manual

D/DH/DM :

IB-1500875 or IB-1500891

D2/DH2/DM2 :

IB-1501124 or IB-1501136 AC Reactor

MDS-D/DH-PFU

Series

CN41 CN42

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

Contactor

Option

R-UNIT-6 or

R-UNIT-7

TE2

TE1

Option

MDS-D-CU or

MDS-DH-CU

Fuse or

Circuit Protector (MCCB)

3 phase

DH,DH2 Series: 380 to 480VAC

D,D2/DM,DM2 Series: 200 to 230VAC

Enclosure Side

Machine Side

Servo Motor Spindle Motor

Servo Motor

Encoder

Appendix 4 - 16

Encoder

Servo Motor

Thermal Protection

MDS-D/DH Series Specifications Manual

Appendix 4-3 AC Servo/Spindle System Connection

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

CNP1 CN9

CNP2

External

Emergency Stop

Refer to specification manual

MDS-D-SVJ3/SPJ3 : IB-1500158

MDS-DJ : IB-1501130

CN8

CN1A

CN8

(Only SVJ3S,

SPJ3S,MDS-DJ)

CN1B

From NC

Regarding the connection of NC, see the CNC manual book.

Relay

CNP3

CN2

CN3

Contactor

Note: It recommends installing.

Fuse or

Circuit Protector

3 phases

200 to 230Vac

Servo/Spindle Motor

Encoder

MDS-DJ-V2

MDS-DJ-SP2

Series

CNP1

CNP2

CN9

External

Emergency Stop

CN8

CN1A

CN1B

Regarding the connection of NC, see the NC manual book.

Refer to specification manual

MDS-DJ : IB-1501130

Relay

CNP3L

CNP3M

CN2 L

CN 2M

Contactor

Note : It recommends installing.

Fuse or

Circuit Protector

3 phases

200 to 230Vac

Enclosure Side

Machine Side

Input

Servo / Spindle Motor Servo / Spindle Motor

Encoder

Appendix 4 - 17

MITSUBISHI CNC

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

Appendix 4-3-5 MDS-DM, DM2-SPV Series

External

Emergency Stop

Power supply

Refer to specification manual

IB-1500891, IB-1501136

From NC

Regarding the connection of NC, see the NC manual book.

24V stabilized

Relay

Contactor

3 phase

200 to 230VAC

Input

Fuse or

Circuit Protector

Enclosure Side

AC Reactor

Note : It recommends installing.

Machine Side

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

Spindle Motor Servo Motor

Encoder

FAN

Encoder and

Thermal Protection

Encoder

Appendix 4 - 18

Revision History

Date of revision

Oct. 2008

Sep. 2009

Manual No.

Revision details

IB(NA)1500875-A First edition created.

MDS-D Specifications Manual (IB1500010) and MDS-DH Specifications

Manual (IB1500002) were integrated.

IB(NA)1500875-B - The following servo motors were added.

HF224, HF123, HF223, HF303, HF142, HF302

- The following drive units were added.

MDS-D-V2-160160W, MDS-DH-V2-8080W

- MDS-D-SP2 Series spindle drive units were added.

- Lineup and specifications of 200V system spindle motors were overall revised.

- "Function specifications" (function specifications list and explanation of each function) were added.

- Explanation of the system establishment in the full closed loop control was revised.

- Explanation of the speed command synchronization control system configuration was added.

- "Machine side encoder" was revised.

- "Spindle side accuracy encoder (TS5690 series)" was added.

- "C-axis control encoder" was revised.

- The following encoder interface units were added.

IBV series, EIB192M, EIB392M, ADB-20J series

- "Optical servo communication repeater unit (FCU7-EX022)" was added.

- The type names of HF/HF-H, HP/HP-H Encoder connector were changed.

- Specifications of HF-KP motor cable and connector were added.

- "Restrictions for Lithium Batteries" was revised.

- "Compliance to EC Directives" was revised.

- "EMC Installation Guidelines" was revised.

- "EC Declaration of conformity" was revised.

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

- "Grobal service network" was revised.

- The outline dimension drawings were deleted form this manual.

For the outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK

(IB-1500273(ENG))".

Feb. 2010 IB(NA)1500875-C - "Outline for MDS-D/DH Series Instruction Manual (IB-1500025-F)" was added.

- "Speed monitoring function" was revised to "Safety monitoring function" .

- "High-speed READY ON sequence" was added.

- "Monitor output function" was revised.

- Descriptions of MDS-D-SP2 Series spindle drive unit was added.

Date of revision

Feb. 2010

Manual No.

Revision details

IB(NA)1500875-C - The section titles were revised in "Servo options" and "Encoder interface unit".

- Explanation of connectors was added to "Serial output interface unit for ABZ analog encoder MDS-B-HR", "Serial signal division unit MDS-B-SD", and

"Optical communication repeater unit (FCU7-EX022)".

- "List of cables and connectors" was revised.

- Input circuit diagram in "Relay" was revised.

- Notes were added to "Calculation of spindle output".

- "Cable and Connector Specifications" was revised.

- "Compliance to EC Directives" was revised.

- "EMC Installation Guidelines" was revised.

- "EC Declaration of Conformity" was revised.

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

- "Global service network" was revised.

- Miswrite is corrected.

Mar. 2011 IB(NA)1500875-D - "Introduction" was revised.

- "System configuration" was revised.

- SJ- D Series and SJ- DJ Series were added.

- Notes were added to "Spindle motor type".

- MDS-D-SP2- 4040S and MDS-D-SP2-16080S were added.

- MDS-D-V2-160160W was added as the compatible drive unit for the servo motors, HF354, HF453, HP354 and HP454.

- MDS-DH-V2-8080W was added as the compatible drive unit for the servo motors, HF-H354, HF-H453, HP-H354, and HP-H454.

- Descriptions for tool spindle motor was added.

- Specifications list of servo motor and spindle motor were revised.

- "Output characteristics" in "Spindle motor" was revised.

- Function specifications list was revised.

- "Proximity switch orientation control" was added.

- "Variable speed loop gain control", "High- speed synchronous tapping control

(OMR- DD control)", "Dual feedback control" were revised.

- "High frequency current control" was added.

- "Spindle motor temperature compensation function" was revised.

- Spindle channel 120,121,122 and 123 were added.

- "D/A output specifications" was revised.

- A caution was added to "Shaft characteristics" in "Spindle motor".

- "Sony Manufacturing Systems Corporation" was changed to " Magnescale

Co., LTD".

- SAM/SVAM/GAM/LAM Series (FAGOR) and MPS/MPI Series (MHI) were added.

- "Dynamic brake unit (MDS- D- DBU)" was revised.

Date of revision

Mar. 2011

Manual No.

Revision details

IB(NA)1500875-D - "FCU6- BTBOX- 36" was replaced by "MDS- BTBOX- 36".

- "System configuration" in "Converged battery option" was revised.

- "Spindle options" was revised.

- "(MITSU02-4)" was added to EIB192M and EIB392M.

- ADB- 20J60 was added.

- "Optical communication repeater unit (FCU7- EX022)" was revised.

- "Cable connection diagram" was revised.

- "List of cable and connectors" was revised.

- The values of M side were added to "Example of wires".

- "Selection of circuit protector and contactor" was revised.

- "Relay" was revised.

- "Selection of the servo motor" was revised.

- "Cable and Connector Specifications" was revised.

- "Compliance to EC Directives" was revised.

- "EMC Installation Guidelines" was revised.

- "EC Declaration of Conformity" was revised.

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

- Miswrite is corrected.

Jan. 2012 IB(NA)1500875-E - "Introduction" was revised.

- "Handling of our product" was added.

- "HF*-A74" and "HP*-A74" were replaced by "-A74N".

- "OSA105-ET2" was replaced by "OSA105ET2".

- "OSA166-ET2" was replaced by "OSA166ET2N".

- "Servo motor type", "Servo drive unit type", "Spindle motor type" and "Tool spindle motor type" were revised.

- Specifications lists in "Servo motor", "Spindle motor" and "Tool spindle motor" were revised.

- "Explanation of each part" was revised.

- Function specifications list was revised.

- "Power regeneration control", "Resistor regeneration control", "Fan stop detection", "Open-phase detection", "Contactor weld detection" and "Power supply voltage display function" were added in "Function specifications".

- "High frequency current control" was deleted

- "Installation of servo motor" was revised.

- Overload protection characteristics for HF104, HF204, HF354, HP54, HP104,

HP903, HP1103, HF-H104, HP-H54, HP-H903 and HP-H1103 were revised.

- "Machine accuracy" and "Installation of spindle motor" were added in "Spindle motor".

- "Servo options" and "Spindle options" were revised.

Date of revision

Jan. 2012

Manual No.

Revision details

IB(NA)1500875-E - "Optical communication repeater unit (FCU7-EX022)" and "DC connection bar" were revised.

- "List of cable and connectors" and "Relay" were revised.

- "Cable and Connector Specifications" was revised.

- "Restrictions for Lithium Batteries" was revised.

- "Compliance to EC Directives" was revised.

- "EMC Installation Guidelines" was revised.

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

- "Compliance with Restrictions in China" was revised.

- Miswrite is corrected.

Apr. 2017 IB(NA)1500875-F - The words "detector" were replaced by "encoder".

- "Introduction" was revised.

- "Servo motor type", "Servo drive unit type", "Spindle motor type", "Tool spindle motor type", "Spindle drive unit type" and "Power supply unit type" were revised.

- Specifications lists of servo motor, spindle motor, and tool spindle motor were revised.

- "Output characteristics" in "Spindle motor" was revised.

- "Drive unit" was revised.

- Function specifications list was revised.

- "Full closed loop control", "Speed command synchronous control", "Highspeed synchronous tapping control (OMR-DD control)" and "Motor temperature display function" were revised.

- "Shaft characteristics", "Oil / water standards", "Installation of servo motor" and "Dynamic brake characteristics" in "Servo motor" were revised.

- "Installation of spindle motor" was revised.

- "Environmental conditions" and "Drive unit arrangement" in "Drive unit" were revised.

- "Servo options" was revised.

- Manufacturer names and the contact information were updated.

- "Dynamic brake unit (MDS-D-DBU)", "Battery option (ER6V-C119B, A6BAT,

MDS-A-BT, MDS-BTBOX-36)", "Ball screw side encoder (OSA105ET2A,

OSA166ET2NA)" and "Machine side encoder" were revised.

- "Spindle options" was revised.

- "Spindle side ABZ pulse output encoder (OSE-1024 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".

- "Optical communication repeater unit (FCU7-EX022)" was revised.

- "List of cables and connectors" was revised.

- "Example of wires by unit" and "Selection of contactor" were revised.

Date of revision

Apr. 2017

Manual No.

Revision details

IB(NA)1500875-F - "Surge absorber" was revised.

- "Selection of the servo motor" and "Selection of the power supply unit" were revised.

- "Cable and Connector Specifications" was revised.

- "Restrictions for Lithium Batteries" was revised.

- "Compliance to EC Directives" and "EMC Installation Guidelines" were deleted.

- "EC Declaration of Conformity" was revised.

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

- "Global Service Network" was revised.

- Miswrite is corrected.

Global Service Network

AMERICA

MITSUBISHI ELECTRIC AUTOMATION INC. (AMERICA FA CENTER)

Central Region Service Center (Chicago)

500 CORPORATE WOODS PARKWAY, VERNON HILLS, ILLINOIS 60061, U.S.A.

TEL: +1-847-478-2500 / FAX: +1-847-478-2650

Minneapolis, MN Service Satellite

Detroit, MI Service Satellite

Grand Rapids, MI Service Satellite

Lima, OH Service Satellite

Cleveland, OH Service Satellite

Indianapolis, IN Service Satellite

St. Louis, MO Service Satellite

South/East Region Service Center (Georgia)

1845 SATTELITE BOULEVARD STE. 450, DULUTH, GEORGIA 30097, U.S.A.

TEL +1-678-258-4529 / FAX +1-678-258-4519

Charleston, SC Service Satellite

Charlotte, NC Service Satellite

Raleigh, NC Service Satellite

Dallas, TX Service Satellite

Houston, TX Service Satellite

Hartford, CT Service Satellite

Knoxville, TN Service Satellite

Nashville, TN Service Satellite

Baltimore, MD Service Satellite

Pittsburg, PA Service Satellite

Allentown, PA Service Satellite

Syracuse, NY Service Satellite

Tampa, FL Service Satellite

Lafayette, LA Service Satellite

Western Region Service Center (California)

5900-B KATELLA AVE. - 5900-A KATELLA AVE. CYPRESS, CALIFORNIA 90630, U.S.A.

TEL: +1-714-699-2625 / FAX: +1-847-478-2650

San Francisco, CA Service Satellite

Seattle, WA Service Satellite

Canada Region Service Center (Tronto)

4299 14TH AVENUE MARKHAM, ONTARIO L3R OJ2, CANADA

TEL: +1-905-754-3805 / FAX: +1-905-475-7935

Edmonton, AB Service Satellite

Montreal, QC Service Satellite

Mexico Region Service Center (Queretaro)

　 Parque Tecnol ó gico Innovaci ó n Quer é taro, Lateral Carretera Estatal 431, Km 2+200, Lote 91 Modulos 1 y 2

　 Hacienda la Machorra, CP 76246, El Marqués, Querétaro, México

TEL: +52-442-153 4250

Monterrey, NL Service Satellite

Mexico City, DF Service Satellite

BRAZIL

Mitsubishi Electric do Brasil Comércio e Serviços Ltda.

Votorantim Office

AV. GISELE CONSTANTINO,1578 ， PARQUE BELA VISTA, VOTORANTIM-SP, BRAZIL CEP:18.110-650

TEL: +55-15-3023-9000

JOVIMAQ – Joinville, SC Service Satellite

MAQSERVICE – Canoas, RS Service Satellite

EUROPE

MITSUBISHI ELECTRIC EUROPE B.V.

European Service Headquarter (Dusseldorf, GERMANY)

Mitsubishi-Electric-Platz 1 40882 RATINGEN, GERMANY

TEL: +49-2102-486-1850 / FAX: +49-2102-486-5910

South Germany Service Center (Stuttgart)

KURZE STRASSE. 40, 70794 FILDERSTADT-BONLANDEN, GERMANY

TEL: + 49-711-770598-123 / FAX: +49-711-770598-141

France Service Center (Paris)

25, BOULEVARD DES BOUVETS, 92741 NANTERRE CEDEX FRANCE

TEL: +33-1-41-02-83-13 / FAX: +33-1-49-01-07-25

France Service Satellite (Lyon)

120, ALLEE JACQUES MONOD 69800 SAINT PRIEST FRANCE

TEL: +33-1-41-02-83-13 / FAX: +33-1-49-01-07-25

Italy Service Center (Milan)

VIALE COLLEONI, 7 - CENTRO DIREZIONALE COLLEONI PALAZZO SIRIO INGRESSO 1,

20864 AGRATE BRIANZA (MB), ITALY

TEL: +39-039-6053-342 / FAX: +39-039-6053-206

Italy Service Satellite (Padova)

VIA G. SAVELLI, 24 - 35129 PADOVA, ITALY

TEL: +39-039-6053-342 / FAX: +39-039-6053-206

U.K. Service Center

TRAVELLERS LANE, HATFIELD, HERTFORDSHIRE, AL10 8XB, U.K.

TEL: +49-2102-486-1850 / FAX: +49-2102-486-5910

Spain Service Center

CTRA. DE RUBI, 76-80-APDO. 420, 08173 SAINT CUGAT DEL VALLES, BARCELONA SPAIN

TEL: +34-935-65-2236 / FAX: +34-935-89-1579

Poland Service Center

UL.KRAKOWSKA 50, 32-083 BALICE, POLAND

TEL: +48-12-347-6500 / FAX: +48-12-630-4701

Hungary Service Center

MADARASZ VIKTOR 47-49 , BUDAPEST XIII; HUNGARY

TEL: +48-12-347-6500 / FAX: +48-12-630-4701

MITSUBISHI ELECTRIC TURKEY A.Ş

Turkey Service Center

SERIFALI MAHALLESI NUTUK SOKAK. NO.5 34775

UMRANIYE, ISTANBUL, TURKEY

TEL: +90-216-526-3990 / FAX: +90-216-526-3995

Czech Republic Service Center

AutoCont Control Systems s.r.o (Service Partner)

KAFKOVA 1853/3, 702 00 OSTRAVA 2, CZECH REPUBLIC

TEL: +420-59-5691-185 / FAX: +420-59-5691-199

Russia Service Center

NC-TECH (Service Partner)

213, B.NOVODMITROVSKAYA STR., 14/2, 127015 MOSCOW, RUSSIA

TEL: +7-495-748-0191 / FAX: +7-495-748-0192

Sweden Service Center

HAMMARBACKEN 14, P.O.BOX 750 SE-19127, SOLLENTUNA, SWEDEN

TEL: +46-8-6251000 / FAX: +46-8-966877

Bulgaria Service Center

AKHNATON Ltd. (Service Partner)

4 ANDREJ LJAPCHEV BLVD. POB 21, BG-1756 SOFIA, BULGARIA

TEL: +359-2-8176009 / FAX: +359-2-9744061

Ukraine Service Center (Kharkov)

CSC Automation Ltd. (Service Partner)

APTEKARSKIY PEREULOK 9-A, OFFICE 3, 61001 KHARKOV, UKRAINE

TEL: +380-57-732-7774 / FAX: +380-57-731-8721

Belarus Service Center

TECHNIKON Ltd. (Service Partner)

NEZAVISIMOSTI PR.177, 220125 MINSK, BELARUS

TEL: +375-17-393-1177 / FAX: +375-17-393-0081

South Africa Service Center

MOTIONTRONIX (Service Partner)

P.O. BOX 9234, EDLEEN, KEMPTON PARK GAUTENG, 1625, SOUTH AFRICA

TEL: +27-11-394-8512 / FAX: +27-11-394-8513

ASEAN

MITSUBISHI ELECTRIC ASIA PTE. LTD. (ASEAN FA CENTER)

Singapore Service Center

307 ALEXANDRA ROAD #05-01/02 MITSUBISHI ELECTRIC BUILDING SINGAPORE 159943

TEL: +65-6473-2308 / FAX: +65-6476-7439

Philippines Service Center

Flexible (Service Partner)

UNIT NO.411, ALABAMG CORPORATE CENTER KM 25. WEST SERVICE ROAD

SOUTH SUPERHIGHWAY, ALABAMG MUNTINLUPA METRO MANILA, PHILIPPINES 1771

TEL: +63-2-807-2416 / FAX: +63-2-807-2417

VIETNAM

MITSUBISHI ELECTRIC VIETNAM CO.,LTD

Vietnam Ho Chi Minh Service Center

UNIT 01-04, 10TH FLOOR, VINCOM CENTER 72 LE THANH TON STREET, DISTRICT 1,

HO CHI MINH CITY, VIETNAM

TEL: +84-8-3910 5945 / FAX: +84-8-3910 5946

Vietnam Hanoi Service Center

6TH FLOOR, DETECH TOWER, 8 TON THAT THUYET STREET, MY DINH 2 WARD,

NAM TU LIEM DISTRICT, HA NOI CITY, VIETNAM

TEL: +84-4-3937-8075 / FAX: +84-4-3937-8076

INDONESIA

PT. MITSUBISHI ELECTRIC INDONESIA

Indonesia Service Center 　 (Cikarang)

JL. KENARI RAYA BLOK G2-07A, DELTA SILICON 5, LIPPO CIKARANG - BEKASI 17550, INDONESIA

TEL: +62-21-2961-7797 / FAX: +62-21-2961-7794

MALAYSIA

MITSUBISHI ELECTRIC SALES MALAYSIA SDN. BHD.

Malaysia Service Center (Kuala Lumpur Service Center)

LOT 11, JALAN 219, P.O BOX 1036, 46860 PETALING JAYA, SELANGOR DARUL EHSAN. MALAYSIA

TEL: +60-3-7960-2628 / FAX: +60-3-7960-2629

Johor Bahru Service satellite

THAILAND

MITSUBISHI ELECTRIC FACTORY AUTOMATION (THAILAND) CO.,LTD

Thailand Service Center

12TH FLOOR, SV.CITY BUILDING, OFFICE TOWER 1, NO. 896/19 AND 20 RAMA 3 ROAD,

KWAENG BANGPONGPANG, KHET YANNAWA, BANGKOK 10120,THAILAND

TEL: +66-2-682-6522 / FAX: +66-2-682-6020

INDIA

MITSUBISHI ELECTRIC INDIA PVT., LTD.

CNC Technical Center (Bangalore)

PLOT NO. 56, 4TH MAIN ROAD, PEENYA PHASE 3,

PEENYA INDUSTRIAL AREA, BANGALORE 560058, KARNATAKA, INDIA

TEL : +91-80-4655-2121 FAX : +91-80-4655-2147

Chennai Service Satellite

Coimbatore Service Satellite

Hyderabad Service Satellite

North India Service Center (Gurgaon)

2ND FLOOR, TOWER A&B, DLF CYBER GREENS, DLF CYBER CITY,

DLF PHASE-III, GURGAON- 122 002, HARYANA, INDIA

TEL : +91-124-4630 300 FAX : +91-124-4630 399

Ludhiana Satellite

Panth Nagar Service Satellite

Delhi Service Satellite

Jamshedpur Service Satellite

West India Service Center (Pune)

EMERALD HOUSE, EL-3, J BLOCK, M.I.D.C., BHOSARI, PUNE - 411026, MAHARASHTRA, INDIA

TEL : +91-20-2710 2000 FAX : +91-20-2710 2100

Kolhapur Service Satellite

Aurangabad Service Satellite

Mumbai Service Satellite

West India Service Center (Ahmedabad)

UNIT NO: B/4, 3RD FLOOR, SAFAL PROFITAIRE, PRAHALADNAGAR CORPORATE ROAD,

PRAHALADNAGAR SATELLITE, AHMEDABAD – 380015, GUJRAT, INDIA

TEL : +91-265-2314699

Rajkot Service Satellite

CHINA

MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. (CHINA FA CENTER)

China Shanghai Service Center

1-3,5-10,18-23/F, NO.1386 HONG QIAO ROAD, CHANG NING QU,

SHANGHAI 200336, CHINA

TEL: +86-21-2322-3030 / FAX: +86-21-2322-3000*8422

China Ningbo Service Partner

China Wuxi Service Partner

China Jinan Service Partner

China Hangzhou Service Partner

China Beijing Service Center

9/F, OFFICE TOWER 1, HENDERSON CENTER, 18 JIANGUOMENNEI DAJIE,

DONGCHENG DISTRICT, BEIJING 100005, CHINA

TEL: +86-10-6518-8830 / FAX: +86-10-6518-8030

China Beijing Service Partner

China Tianjin Service Center

UNIT 2003, TIANJIN CITY TOWER, NO 35 YOUYI ROAD, HEXI DISTRICT,

TIANJIN 300061, CHINA

TEL: +86-22-2813-1015 / FAX: +86-22-2813-1017

China Chengdu Service Center

1501-1503,15F,GUANG-HUA CENTRE BUILDING-C,NO.98 NORTH GUANG HUA 3th RD,

CHENGDU,610000,CHINA

TEL: +86-28-8446-8030 / FAX: +86-28-8446-8630

China Shenzhen Service Center

ROOM 2512-2516, 25/F., GREAT CHINA INTERNATIONAL EXCHANGE SQUARE, JINTIAN RD.S.,

FUTIAN DISTRICT, SHENZHEN 518034, CHINA

TEL: +86-755-2399-8272 / FAX: +86-755-8229-3686

China Xiamen Service Partner

China DongGuang Service Partner

China Dalian Service Center

DONGBEI 3-5, DALIAN ECONOMIC & TECHNICAL DEVELOPMENTZONE, LIAONING PROVINCE,

116600, CHINA

TEL: +86-411-8765-5951 / FAX: +86-411-8765-5952

KOREA

MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD. (KOREA FA CENTER)

Korea Service Center

8F GANGSEO HANGANG XI-TOWER A, 401 YANGCHEON-RO, GANGSEO-GU,

SEOUL 07528 KOREA

TEL: +82-2-3660-9609 / FAX: +82-2-3664-8668

Korea Daegu Service Satellite

TAIWAN

MITSUBISHI ELECTRIC TAIWAN CO., LTD. (TAIWAN FA CENTER)

Taiwan Taichung Service Center

NO.8-1, INDUSTRIAL 16TH RD., TAICHUNG INDUSTRIAL PARK, SITUN DIST.,

TAICHUNG CITY 40768, TAIWAN

TEL: +886-4-2359-0688 / FAX: +886-4-2359-0689

Taiwan Taipei Service Center

10F, NO.88, SEC.6, CHUNG-SHAN N. RD., SHI LIN DIST., TAIPEI CITY 11155, TAIWAN

TEL: +886-2-2833-5430 / FAX: +886-2-2833-5433

Taiwan Tainan Service Center

11F-1., NO.30, ZHONGZHENG S. ROAD, YONGKANG DISTRICT, TAINAN CITY 71067, TAIWAN

TEL: +886-6-252-5030 / FAX: +886-6-252-5031

OCEANIA

MITSUBISHI ELECTRIC AUSTRALIA PTY. LTD.

Oceania Service Center

348 VICTORIA ROAD, RYDALMERE, N.S.W. 2116 AUSTRALIA

TEL: +61-2-9684-7269/ FAX: +61-2-9684-7245

Notice

Every effort has been made to keep up with software and hardware revisions in the contents described in this manual. However, please understand that in some unavoidable cases simultaneous revision is not possible.

Please contact your Mitsubishi Electric dealer with any questions or comments regarding the use of this product.

Duplication Prohibited

This manual may not be reproduced in any form, in part or in whole, without written permission from Mitsubishi Electric Corporation.

Key features

Precise and reliable control of AC servo motors and spindles
Compact and modular design for easy installation and maintenance
Advanced motion control algorithms for smooth and accurate operation
Built-in PLC functionality for enhanced flexibility and control
Extensive I/O connectivity for easy integration with other systems
User-friendly programming and operation interface
Compliance with international safety standards for increased reliability

Frequently asked questions

The MDS-D/DH Series is commonly used in a wide range of applications, including machine tools, robotics, packaging machines, and other industrial automation systems.

The MDS-D/DH Series offers several advantages, such as precise control, compact design, advanced motion control algorithms, built-in PLC functionality, and extensive I/O connectivity.

The MDS-D Series is designed for controlling AC servo motors, while the MDS-DH Series is specifically designed for controlling AC spindle motors.